1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com> 4 * 5 * You need a userspace library to cooperate with this driver. It (and other 6 * info) may be obtained here: 7 * http://www.fi.muni.cz/~xslaby/phantom.html 8 * or alternatively, you might use OpenHaptics provided by Sensable. 9 */ 10 11 #include <linux/compat.h> 12 #include <linux/kernel.h> 13 #include <linux/module.h> 14 #include <linux/device.h> 15 #include <linux/pci.h> 16 #include <linux/fs.h> 17 #include <linux/poll.h> 18 #include <linux/interrupt.h> 19 #include <linux/cdev.h> 20 #include <linux/slab.h> 21 #include <linux/phantom.h> 22 #include <linux/sched.h> 23 #include <linux/mutex.h> 24 25 #include <linux/atomic.h> 26 #include <asm/io.h> 27 28 #define PHANTOM_VERSION "n0.9.8" 29 30 #define PHANTOM_MAX_MINORS 8 31 32 #define PHN_IRQCTL 0x4c /* irq control in caddr space */ 33 34 #define PHB_RUNNING 1 35 #define PHB_NOT_OH 2 36 37 static DEFINE_MUTEX(phantom_mutex); 38 static struct class *phantom_class; 39 static int phantom_major; 40 41 struct phantom_device { 42 unsigned int opened; 43 void __iomem *caddr; 44 u32 __iomem *iaddr; 45 u32 __iomem *oaddr; 46 unsigned long status; 47 atomic_t counter; 48 49 wait_queue_head_t wait; 50 struct cdev cdev; 51 52 struct mutex open_lock; 53 spinlock_t regs_lock; 54 55 /* used in NOT_OH mode */ 56 struct phm_regs oregs; 57 u32 ctl_reg; 58 }; 59 60 static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; 61 62 static int phantom_status(struct phantom_device *dev, unsigned long newstat) 63 { 64 pr_debug("phantom_status %lx %lx\n", dev->status, newstat); 65 66 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { 67 atomic_set(&dev->counter, 0); 68 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); 69 iowrite32(0x43, dev->caddr + PHN_IRQCTL); 70 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 71 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { 72 iowrite32(0, dev->caddr + PHN_IRQCTL); 73 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 74 } 75 76 dev->status = newstat; 77 78 return 0; 79 } 80 81 /* 82 * File ops 83 */ 84 85 static long phantom_ioctl(struct file *file, unsigned int cmd, 86 unsigned long arg) 87 { 88 struct phantom_device *dev = file->private_data; 89 struct phm_regs rs; 90 struct phm_reg r; 91 void __user *argp = (void __user *)arg; 92 unsigned long flags; 93 unsigned int i; 94 95 switch (cmd) { 96 case PHN_SETREG: 97 case PHN_SET_REG: 98 if (copy_from_user(&r, argp, sizeof(r))) 99 return -EFAULT; 100 101 if (r.reg > 7) 102 return -EINVAL; 103 104 spin_lock_irqsave(&dev->regs_lock, flags); 105 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && 106 phantom_status(dev, dev->status | PHB_RUNNING)){ 107 spin_unlock_irqrestore(&dev->regs_lock, flags); 108 return -ENODEV; 109 } 110 111 pr_debug("phantom: writing %x to %u\n", r.value, r.reg); 112 113 /* preserve amp bit (don't allow to change it when in NOT_OH) */ 114 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) { 115 r.value &= ~PHN_CTL_AMP; 116 r.value |= dev->ctl_reg & PHN_CTL_AMP; 117 dev->ctl_reg = r.value; 118 } 119 120 iowrite32(r.value, dev->iaddr + r.reg); 121 ioread32(dev->iaddr); /* PCI posting */ 122 123 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) 124 phantom_status(dev, dev->status & ~PHB_RUNNING); 125 spin_unlock_irqrestore(&dev->regs_lock, flags); 126 break; 127 case PHN_SETREGS: 128 case PHN_SET_REGS: 129 if (copy_from_user(&rs, argp, sizeof(rs))) 130 return -EFAULT; 131 132 pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask); 133 spin_lock_irqsave(&dev->regs_lock, flags); 134 if (dev->status & PHB_NOT_OH) 135 memcpy(&dev->oregs, &rs, sizeof(rs)); 136 else { 137 u32 m = min(rs.count, 8U); 138 for (i = 0; i < m; i++) 139 if (rs.mask & BIT(i)) 140 iowrite32(rs.values[i], dev->oaddr + i); 141 ioread32(dev->iaddr); /* PCI posting */ 142 } 143 spin_unlock_irqrestore(&dev->regs_lock, flags); 144 break; 145 case PHN_GETREG: 146 case PHN_GET_REG: 147 if (copy_from_user(&r, argp, sizeof(r))) 148 return -EFAULT; 149 150 if (r.reg > 7) 151 return -EINVAL; 152 153 r.value = ioread32(dev->iaddr + r.reg); 154 155 if (copy_to_user(argp, &r, sizeof(r))) 156 return -EFAULT; 157 break; 158 case PHN_GETREGS: 159 case PHN_GET_REGS: { 160 u32 m; 161 162 if (copy_from_user(&rs, argp, sizeof(rs))) 163 return -EFAULT; 164 165 m = min(rs.count, 8U); 166 167 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); 168 spin_lock_irqsave(&dev->regs_lock, flags); 169 for (i = 0; i < m; i++) 170 if (rs.mask & BIT(i)) 171 rs.values[i] = ioread32(dev->iaddr + i); 172 atomic_set(&dev->counter, 0); 173 spin_unlock_irqrestore(&dev->regs_lock, flags); 174 175 if (copy_to_user(argp, &rs, sizeof(rs))) 176 return -EFAULT; 177 break; 178 } case PHN_NOT_OH: 179 spin_lock_irqsave(&dev->regs_lock, flags); 180 if (dev->status & PHB_RUNNING) { 181 printk(KERN_ERR "phantom: you need to set NOT_OH " 182 "before you start the device!\n"); 183 spin_unlock_irqrestore(&dev->regs_lock, flags); 184 return -EINVAL; 185 } 186 dev->status |= PHB_NOT_OH; 187 spin_unlock_irqrestore(&dev->regs_lock, flags); 188 break; 189 default: 190 return -ENOTTY; 191 } 192 193 return 0; 194 } 195 196 #ifdef CONFIG_COMPAT 197 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, 198 unsigned long arg) 199 { 200 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { 201 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); 202 cmd |= sizeof(void *) << _IOC_SIZESHIFT; 203 } 204 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); 205 } 206 #else 207 #define phantom_compat_ioctl NULL 208 #endif 209 210 static int phantom_open(struct inode *inode, struct file *file) 211 { 212 struct phantom_device *dev = container_of(inode->i_cdev, 213 struct phantom_device, cdev); 214 215 mutex_lock(&phantom_mutex); 216 nonseekable_open(inode, file); 217 218 if (mutex_lock_interruptible(&dev->open_lock)) { 219 mutex_unlock(&phantom_mutex); 220 return -ERESTARTSYS; 221 } 222 223 if (dev->opened) { 224 mutex_unlock(&dev->open_lock); 225 mutex_unlock(&phantom_mutex); 226 return -EINVAL; 227 } 228 229 WARN_ON(dev->status & PHB_NOT_OH); 230 231 file->private_data = dev; 232 233 atomic_set(&dev->counter, 0); 234 dev->opened++; 235 mutex_unlock(&dev->open_lock); 236 mutex_unlock(&phantom_mutex); 237 return 0; 238 } 239 240 static int phantom_release(struct inode *inode, struct file *file) 241 { 242 struct phantom_device *dev = file->private_data; 243 244 mutex_lock(&dev->open_lock); 245 246 dev->opened = 0; 247 phantom_status(dev, dev->status & ~PHB_RUNNING); 248 dev->status &= ~PHB_NOT_OH; 249 250 mutex_unlock(&dev->open_lock); 251 252 return 0; 253 } 254 255 static __poll_t phantom_poll(struct file *file, poll_table *wait) 256 { 257 struct phantom_device *dev = file->private_data; 258 __poll_t mask = 0; 259 260 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); 261 poll_wait(file, &dev->wait, wait); 262 263 if (!(dev->status & PHB_RUNNING)) 264 mask = EPOLLERR; 265 else if (atomic_read(&dev->counter)) 266 mask = EPOLLIN | EPOLLRDNORM; 267 268 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); 269 270 return mask; 271 } 272 273 static const struct file_operations phantom_file_ops = { 274 .open = phantom_open, 275 .release = phantom_release, 276 .unlocked_ioctl = phantom_ioctl, 277 .compat_ioctl = phantom_compat_ioctl, 278 .poll = phantom_poll, 279 .llseek = no_llseek, 280 }; 281 282 static irqreturn_t phantom_isr(int irq, void *data) 283 { 284 struct phantom_device *dev = data; 285 unsigned int i; 286 u32 ctl; 287 288 spin_lock(&dev->regs_lock); 289 ctl = ioread32(dev->iaddr + PHN_CONTROL); 290 if (!(ctl & PHN_CTL_IRQ)) { 291 spin_unlock(&dev->regs_lock); 292 return IRQ_NONE; 293 } 294 295 iowrite32(0, dev->iaddr); 296 iowrite32(0xc0, dev->iaddr); 297 298 if (dev->status & PHB_NOT_OH) { 299 struct phm_regs *r = &dev->oregs; 300 u32 m = min(r->count, 8U); 301 302 for (i = 0; i < m; i++) 303 if (r->mask & BIT(i)) 304 iowrite32(r->values[i], dev->oaddr + i); 305 306 dev->ctl_reg ^= PHN_CTL_AMP; 307 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); 308 } 309 spin_unlock(&dev->regs_lock); 310 311 ioread32(dev->iaddr); /* PCI posting */ 312 313 atomic_inc(&dev->counter); 314 wake_up_interruptible(&dev->wait); 315 316 return IRQ_HANDLED; 317 } 318 319 /* 320 * Init and deinit driver 321 */ 322 323 static unsigned int phantom_get_free(void) 324 { 325 unsigned int i; 326 327 for (i = 0; i < PHANTOM_MAX_MINORS; i++) 328 if (phantom_devices[i] == 0) 329 break; 330 331 return i; 332 } 333 334 static int phantom_probe(struct pci_dev *pdev, 335 const struct pci_device_id *pci_id) 336 { 337 struct phantom_device *pht; 338 unsigned int minor; 339 int retval; 340 341 retval = pci_enable_device(pdev); 342 if (retval) { 343 dev_err(&pdev->dev, "pci_enable_device failed!\n"); 344 goto err; 345 } 346 347 minor = phantom_get_free(); 348 if (minor == PHANTOM_MAX_MINORS) { 349 dev_err(&pdev->dev, "too many devices found!\n"); 350 retval = -EIO; 351 goto err_dis; 352 } 353 354 phantom_devices[minor] = 1; 355 356 retval = pci_request_regions(pdev, "phantom"); 357 if (retval) { 358 dev_err(&pdev->dev, "pci_request_regions failed!\n"); 359 goto err_null; 360 } 361 362 retval = -ENOMEM; 363 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 364 if (pht == NULL) { 365 dev_err(&pdev->dev, "unable to allocate device\n"); 366 goto err_reg; 367 } 368 369 pht->caddr = pci_iomap(pdev, 0, 0); 370 if (pht->caddr == NULL) { 371 dev_err(&pdev->dev, "can't remap conf space\n"); 372 goto err_fr; 373 } 374 pht->iaddr = pci_iomap(pdev, 2, 0); 375 if (pht->iaddr == NULL) { 376 dev_err(&pdev->dev, "can't remap input space\n"); 377 goto err_unmc; 378 } 379 pht->oaddr = pci_iomap(pdev, 3, 0); 380 if (pht->oaddr == NULL) { 381 dev_err(&pdev->dev, "can't remap output space\n"); 382 goto err_unmi; 383 } 384 385 mutex_init(&pht->open_lock); 386 spin_lock_init(&pht->regs_lock); 387 init_waitqueue_head(&pht->wait); 388 cdev_init(&pht->cdev, &phantom_file_ops); 389 pht->cdev.owner = THIS_MODULE; 390 391 iowrite32(0, pht->caddr + PHN_IRQCTL); 392 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 393 retval = request_irq(pdev->irq, phantom_isr, 394 IRQF_SHARED, "phantom", pht); 395 if (retval) { 396 dev_err(&pdev->dev, "can't establish ISR\n"); 397 goto err_unmo; 398 } 399 400 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 401 if (retval) { 402 dev_err(&pdev->dev, "chardev registration failed\n"); 403 goto err_irq; 404 } 405 406 if (IS_ERR(device_create(phantom_class, &pdev->dev, 407 MKDEV(phantom_major, minor), NULL, 408 "phantom%u", minor))) 409 dev_err(&pdev->dev, "can't create device\n"); 410 411 pci_set_drvdata(pdev, pht); 412 413 return 0; 414 err_irq: 415 free_irq(pdev->irq, pht); 416 err_unmo: 417 pci_iounmap(pdev, pht->oaddr); 418 err_unmi: 419 pci_iounmap(pdev, pht->iaddr); 420 err_unmc: 421 pci_iounmap(pdev, pht->caddr); 422 err_fr: 423 kfree(pht); 424 err_reg: 425 pci_release_regions(pdev); 426 err_null: 427 phantom_devices[minor] = 0; 428 err_dis: 429 pci_disable_device(pdev); 430 err: 431 return retval; 432 } 433 434 static void phantom_remove(struct pci_dev *pdev) 435 { 436 struct phantom_device *pht = pci_get_drvdata(pdev); 437 unsigned int minor = MINOR(pht->cdev.dev); 438 439 device_destroy(phantom_class, MKDEV(phantom_major, minor)); 440 441 cdev_del(&pht->cdev); 442 443 iowrite32(0, pht->caddr + PHN_IRQCTL); 444 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 445 free_irq(pdev->irq, pht); 446 447 pci_iounmap(pdev, pht->oaddr); 448 pci_iounmap(pdev, pht->iaddr); 449 pci_iounmap(pdev, pht->caddr); 450 451 kfree(pht); 452 453 pci_release_regions(pdev); 454 455 phantom_devices[minor] = 0; 456 457 pci_disable_device(pdev); 458 } 459 460 static int __maybe_unused phantom_suspend(struct device *dev_d) 461 { 462 struct phantom_device *dev = dev_get_drvdata(dev_d); 463 464 iowrite32(0, dev->caddr + PHN_IRQCTL); 465 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 466 467 synchronize_irq(to_pci_dev(dev_d)->irq); 468 469 return 0; 470 } 471 472 static int __maybe_unused phantom_resume(struct device *dev_d) 473 { 474 struct phantom_device *dev = dev_get_drvdata(dev_d); 475 476 iowrite32(0, dev->caddr + PHN_IRQCTL); 477 478 return 0; 479 } 480 481 static struct pci_device_id phantom_pci_tbl[] = { 482 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 483 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 484 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 485 { 0, } 486 }; 487 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 488 489 static SIMPLE_DEV_PM_OPS(phantom_pm_ops, phantom_suspend, phantom_resume); 490 491 static struct pci_driver phantom_pci_driver = { 492 .name = "phantom", 493 .id_table = phantom_pci_tbl, 494 .probe = phantom_probe, 495 .remove = phantom_remove, 496 .driver.pm = &phantom_pm_ops, 497 }; 498 499 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); 500 501 static int __init phantom_init(void) 502 { 503 int retval; 504 dev_t dev; 505 506 phantom_class = class_create(THIS_MODULE, "phantom"); 507 if (IS_ERR(phantom_class)) { 508 retval = PTR_ERR(phantom_class); 509 printk(KERN_ERR "phantom: can't register phantom class\n"); 510 goto err; 511 } 512 retval = class_create_file(phantom_class, &class_attr_version.attr); 513 if (retval) { 514 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 515 goto err_class; 516 } 517 518 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 519 if (retval) { 520 printk(KERN_ERR "phantom: can't register character device\n"); 521 goto err_attr; 522 } 523 phantom_major = MAJOR(dev); 524 525 retval = pci_register_driver(&phantom_pci_driver); 526 if (retval) { 527 printk(KERN_ERR "phantom: can't register pci driver\n"); 528 goto err_unchr; 529 } 530 531 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 532 "init OK\n"); 533 534 return 0; 535 err_unchr: 536 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 537 err_attr: 538 class_remove_file(phantom_class, &class_attr_version.attr); 539 err_class: 540 class_destroy(phantom_class); 541 err: 542 return retval; 543 } 544 545 static void __exit phantom_exit(void) 546 { 547 pci_unregister_driver(&phantom_pci_driver); 548 549 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 550 551 class_remove_file(phantom_class, &class_attr_version.attr); 552 class_destroy(phantom_class); 553 554 pr_debug("phantom: module successfully removed\n"); 555 } 556 557 module_init(phantom_init); 558 module_exit(phantom_exit); 559 560 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 561 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 562 MODULE_LICENSE("GPL"); 563 MODULE_VERSION(PHANTOM_VERSION); 564