1 /* 2 * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com> 3 * 4 * This program is free software; you can redistribute it and/or modify 5 * it under the terms of the GNU General Public License as published by 6 * the Free Software Foundation; either version 2 of the License, or 7 * (at your option) any later version. 8 * 9 * You need a userspace library to cooperate with this driver. It (and other 10 * info) may be obtained here: 11 * http://www.fi.muni.cz/~xslaby/phantom.html 12 * or alternatively, you might use OpenHaptics provided by Sensable. 13 */ 14 15 #include <linux/compat.h> 16 #include <linux/kernel.h> 17 #include <linux/module.h> 18 #include <linux/device.h> 19 #include <linux/pci.h> 20 #include <linux/fs.h> 21 #include <linux/poll.h> 22 #include <linux/interrupt.h> 23 #include <linux/cdev.h> 24 #include <linux/slab.h> 25 #include <linux/phantom.h> 26 #include <linux/sched.h> 27 #include <linux/mutex.h> 28 29 #include <linux/atomic.h> 30 #include <asm/io.h> 31 32 #define PHANTOM_VERSION "n0.9.8" 33 34 #define PHANTOM_MAX_MINORS 8 35 36 #define PHN_IRQCTL 0x4c /* irq control in caddr space */ 37 38 #define PHB_RUNNING 1 39 #define PHB_NOT_OH 2 40 41 static DEFINE_MUTEX(phantom_mutex); 42 static struct class *phantom_class; 43 static int phantom_major; 44 45 struct phantom_device { 46 unsigned int opened; 47 void __iomem *caddr; 48 u32 __iomem *iaddr; 49 u32 __iomem *oaddr; 50 unsigned long status; 51 atomic_t counter; 52 53 wait_queue_head_t wait; 54 struct cdev cdev; 55 56 struct mutex open_lock; 57 spinlock_t regs_lock; 58 59 /* used in NOT_OH mode */ 60 struct phm_regs oregs; 61 u32 ctl_reg; 62 }; 63 64 static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; 65 66 static int phantom_status(struct phantom_device *dev, unsigned long newstat) 67 { 68 pr_debug("phantom_status %lx %lx\n", dev->status, newstat); 69 70 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { 71 atomic_set(&dev->counter, 0); 72 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); 73 iowrite32(0x43, dev->caddr + PHN_IRQCTL); 74 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 75 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { 76 iowrite32(0, dev->caddr + PHN_IRQCTL); 77 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 78 } 79 80 dev->status = newstat; 81 82 return 0; 83 } 84 85 /* 86 * File ops 87 */ 88 89 static long phantom_ioctl(struct file *file, unsigned int cmd, 90 unsigned long arg) 91 { 92 struct phantom_device *dev = file->private_data; 93 struct phm_regs rs; 94 struct phm_reg r; 95 void __user *argp = (void __user *)arg; 96 unsigned long flags; 97 unsigned int i; 98 99 switch (cmd) { 100 case PHN_SETREG: 101 case PHN_SET_REG: 102 if (copy_from_user(&r, argp, sizeof(r))) 103 return -EFAULT; 104 105 if (r.reg > 7) 106 return -EINVAL; 107 108 spin_lock_irqsave(&dev->regs_lock, flags); 109 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && 110 phantom_status(dev, dev->status | PHB_RUNNING)){ 111 spin_unlock_irqrestore(&dev->regs_lock, flags); 112 return -ENODEV; 113 } 114 115 pr_debug("phantom: writing %x to %u\n", r.value, r.reg); 116 117 /* preserve amp bit (don't allow to change it when in NOT_OH) */ 118 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) { 119 r.value &= ~PHN_CTL_AMP; 120 r.value |= dev->ctl_reg & PHN_CTL_AMP; 121 dev->ctl_reg = r.value; 122 } 123 124 iowrite32(r.value, dev->iaddr + r.reg); 125 ioread32(dev->iaddr); /* PCI posting */ 126 127 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) 128 phantom_status(dev, dev->status & ~PHB_RUNNING); 129 spin_unlock_irqrestore(&dev->regs_lock, flags); 130 break; 131 case PHN_SETREGS: 132 case PHN_SET_REGS: 133 if (copy_from_user(&rs, argp, sizeof(rs))) 134 return -EFAULT; 135 136 pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask); 137 spin_lock_irqsave(&dev->regs_lock, flags); 138 if (dev->status & PHB_NOT_OH) 139 memcpy(&dev->oregs, &rs, sizeof(rs)); 140 else { 141 u32 m = min(rs.count, 8U); 142 for (i = 0; i < m; i++) 143 if (rs.mask & BIT(i)) 144 iowrite32(rs.values[i], dev->oaddr + i); 145 ioread32(dev->iaddr); /* PCI posting */ 146 } 147 spin_unlock_irqrestore(&dev->regs_lock, flags); 148 break; 149 case PHN_GETREG: 150 case PHN_GET_REG: 151 if (copy_from_user(&r, argp, sizeof(r))) 152 return -EFAULT; 153 154 if (r.reg > 7) 155 return -EINVAL; 156 157 r.value = ioread32(dev->iaddr + r.reg); 158 159 if (copy_to_user(argp, &r, sizeof(r))) 160 return -EFAULT; 161 break; 162 case PHN_GETREGS: 163 case PHN_GET_REGS: { 164 u32 m; 165 166 if (copy_from_user(&rs, argp, sizeof(rs))) 167 return -EFAULT; 168 169 m = min(rs.count, 8U); 170 171 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); 172 spin_lock_irqsave(&dev->regs_lock, flags); 173 for (i = 0; i < m; i++) 174 if (rs.mask & BIT(i)) 175 rs.values[i] = ioread32(dev->iaddr + i); 176 atomic_set(&dev->counter, 0); 177 spin_unlock_irqrestore(&dev->regs_lock, flags); 178 179 if (copy_to_user(argp, &rs, sizeof(rs))) 180 return -EFAULT; 181 break; 182 } case PHN_NOT_OH: 183 spin_lock_irqsave(&dev->regs_lock, flags); 184 if (dev->status & PHB_RUNNING) { 185 printk(KERN_ERR "phantom: you need to set NOT_OH " 186 "before you start the device!\n"); 187 spin_unlock_irqrestore(&dev->regs_lock, flags); 188 return -EINVAL; 189 } 190 dev->status |= PHB_NOT_OH; 191 spin_unlock_irqrestore(&dev->regs_lock, flags); 192 break; 193 default: 194 return -ENOTTY; 195 } 196 197 return 0; 198 } 199 200 #ifdef CONFIG_COMPAT 201 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, 202 unsigned long arg) 203 { 204 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { 205 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); 206 cmd |= sizeof(void *) << _IOC_SIZESHIFT; 207 } 208 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); 209 } 210 #else 211 #define phantom_compat_ioctl NULL 212 #endif 213 214 static int phantom_open(struct inode *inode, struct file *file) 215 { 216 struct phantom_device *dev = container_of(inode->i_cdev, 217 struct phantom_device, cdev); 218 219 mutex_lock(&phantom_mutex); 220 nonseekable_open(inode, file); 221 222 if (mutex_lock_interruptible(&dev->open_lock)) { 223 mutex_unlock(&phantom_mutex); 224 return -ERESTARTSYS; 225 } 226 227 if (dev->opened) { 228 mutex_unlock(&dev->open_lock); 229 mutex_unlock(&phantom_mutex); 230 return -EINVAL; 231 } 232 233 WARN_ON(dev->status & PHB_NOT_OH); 234 235 file->private_data = dev; 236 237 atomic_set(&dev->counter, 0); 238 dev->opened++; 239 mutex_unlock(&dev->open_lock); 240 mutex_unlock(&phantom_mutex); 241 return 0; 242 } 243 244 static int phantom_release(struct inode *inode, struct file *file) 245 { 246 struct phantom_device *dev = file->private_data; 247 248 mutex_lock(&dev->open_lock); 249 250 dev->opened = 0; 251 phantom_status(dev, dev->status & ~PHB_RUNNING); 252 dev->status &= ~PHB_NOT_OH; 253 254 mutex_unlock(&dev->open_lock); 255 256 return 0; 257 } 258 259 static __poll_t phantom_poll(struct file *file, poll_table *wait) 260 { 261 struct phantom_device *dev = file->private_data; 262 __poll_t mask = 0; 263 264 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); 265 poll_wait(file, &dev->wait, wait); 266 267 if (!(dev->status & PHB_RUNNING)) 268 mask = EPOLLERR; 269 else if (atomic_read(&dev->counter)) 270 mask = EPOLLIN | EPOLLRDNORM; 271 272 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); 273 274 return mask; 275 } 276 277 static const struct file_operations phantom_file_ops = { 278 .open = phantom_open, 279 .release = phantom_release, 280 .unlocked_ioctl = phantom_ioctl, 281 .compat_ioctl = phantom_compat_ioctl, 282 .poll = phantom_poll, 283 .llseek = no_llseek, 284 }; 285 286 static irqreturn_t phantom_isr(int irq, void *data) 287 { 288 struct phantom_device *dev = data; 289 unsigned int i; 290 u32 ctl; 291 292 spin_lock(&dev->regs_lock); 293 ctl = ioread32(dev->iaddr + PHN_CONTROL); 294 if (!(ctl & PHN_CTL_IRQ)) { 295 spin_unlock(&dev->regs_lock); 296 return IRQ_NONE; 297 } 298 299 iowrite32(0, dev->iaddr); 300 iowrite32(0xc0, dev->iaddr); 301 302 if (dev->status & PHB_NOT_OH) { 303 struct phm_regs *r = &dev->oregs; 304 u32 m = min(r->count, 8U); 305 306 for (i = 0; i < m; i++) 307 if (r->mask & BIT(i)) 308 iowrite32(r->values[i], dev->oaddr + i); 309 310 dev->ctl_reg ^= PHN_CTL_AMP; 311 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); 312 } 313 spin_unlock(&dev->regs_lock); 314 315 ioread32(dev->iaddr); /* PCI posting */ 316 317 atomic_inc(&dev->counter); 318 wake_up_interruptible(&dev->wait); 319 320 return IRQ_HANDLED; 321 } 322 323 /* 324 * Init and deinit driver 325 */ 326 327 static unsigned int phantom_get_free(void) 328 { 329 unsigned int i; 330 331 for (i = 0; i < PHANTOM_MAX_MINORS; i++) 332 if (phantom_devices[i] == 0) 333 break; 334 335 return i; 336 } 337 338 static int phantom_probe(struct pci_dev *pdev, 339 const struct pci_device_id *pci_id) 340 { 341 struct phantom_device *pht; 342 unsigned int minor; 343 int retval; 344 345 retval = pci_enable_device(pdev); 346 if (retval) { 347 dev_err(&pdev->dev, "pci_enable_device failed!\n"); 348 goto err; 349 } 350 351 minor = phantom_get_free(); 352 if (minor == PHANTOM_MAX_MINORS) { 353 dev_err(&pdev->dev, "too many devices found!\n"); 354 retval = -EIO; 355 goto err_dis; 356 } 357 358 phantom_devices[minor] = 1; 359 360 retval = pci_request_regions(pdev, "phantom"); 361 if (retval) { 362 dev_err(&pdev->dev, "pci_request_regions failed!\n"); 363 goto err_null; 364 } 365 366 retval = -ENOMEM; 367 pht = kzalloc(sizeof(*pht), GFP_KERNEL); 368 if (pht == NULL) { 369 dev_err(&pdev->dev, "unable to allocate device\n"); 370 goto err_reg; 371 } 372 373 pht->caddr = pci_iomap(pdev, 0, 0); 374 if (pht->caddr == NULL) { 375 dev_err(&pdev->dev, "can't remap conf space\n"); 376 goto err_fr; 377 } 378 pht->iaddr = pci_iomap(pdev, 2, 0); 379 if (pht->iaddr == NULL) { 380 dev_err(&pdev->dev, "can't remap input space\n"); 381 goto err_unmc; 382 } 383 pht->oaddr = pci_iomap(pdev, 3, 0); 384 if (pht->oaddr == NULL) { 385 dev_err(&pdev->dev, "can't remap output space\n"); 386 goto err_unmi; 387 } 388 389 mutex_init(&pht->open_lock); 390 spin_lock_init(&pht->regs_lock); 391 init_waitqueue_head(&pht->wait); 392 cdev_init(&pht->cdev, &phantom_file_ops); 393 pht->cdev.owner = THIS_MODULE; 394 395 iowrite32(0, pht->caddr + PHN_IRQCTL); 396 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 397 retval = request_irq(pdev->irq, phantom_isr, 398 IRQF_SHARED, "phantom", pht); 399 if (retval) { 400 dev_err(&pdev->dev, "can't establish ISR\n"); 401 goto err_unmo; 402 } 403 404 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); 405 if (retval) { 406 dev_err(&pdev->dev, "chardev registration failed\n"); 407 goto err_irq; 408 } 409 410 if (IS_ERR(device_create(phantom_class, &pdev->dev, 411 MKDEV(phantom_major, minor), NULL, 412 "phantom%u", minor))) 413 dev_err(&pdev->dev, "can't create device\n"); 414 415 pci_set_drvdata(pdev, pht); 416 417 return 0; 418 err_irq: 419 free_irq(pdev->irq, pht); 420 err_unmo: 421 pci_iounmap(pdev, pht->oaddr); 422 err_unmi: 423 pci_iounmap(pdev, pht->iaddr); 424 err_unmc: 425 pci_iounmap(pdev, pht->caddr); 426 err_fr: 427 kfree(pht); 428 err_reg: 429 pci_release_regions(pdev); 430 err_null: 431 phantom_devices[minor] = 0; 432 err_dis: 433 pci_disable_device(pdev); 434 err: 435 return retval; 436 } 437 438 static void phantom_remove(struct pci_dev *pdev) 439 { 440 struct phantom_device *pht = pci_get_drvdata(pdev); 441 unsigned int minor = MINOR(pht->cdev.dev); 442 443 device_destroy(phantom_class, MKDEV(phantom_major, minor)); 444 445 cdev_del(&pht->cdev); 446 447 iowrite32(0, pht->caddr + PHN_IRQCTL); 448 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ 449 free_irq(pdev->irq, pht); 450 451 pci_iounmap(pdev, pht->oaddr); 452 pci_iounmap(pdev, pht->iaddr); 453 pci_iounmap(pdev, pht->caddr); 454 455 kfree(pht); 456 457 pci_release_regions(pdev); 458 459 phantom_devices[minor] = 0; 460 461 pci_disable_device(pdev); 462 } 463 464 #ifdef CONFIG_PM 465 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state) 466 { 467 struct phantom_device *dev = pci_get_drvdata(pdev); 468 469 iowrite32(0, dev->caddr + PHN_IRQCTL); 470 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ 471 472 synchronize_irq(pdev->irq); 473 474 return 0; 475 } 476 477 static int phantom_resume(struct pci_dev *pdev) 478 { 479 struct phantom_device *dev = pci_get_drvdata(pdev); 480 481 iowrite32(0, dev->caddr + PHN_IRQCTL); 482 483 return 0; 484 } 485 #else 486 #define phantom_suspend NULL 487 #define phantom_resume NULL 488 #endif 489 490 static struct pci_device_id phantom_pci_tbl[] = { 491 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, 492 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, 493 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, 494 { 0, } 495 }; 496 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); 497 498 static struct pci_driver phantom_pci_driver = { 499 .name = "phantom", 500 .id_table = phantom_pci_tbl, 501 .probe = phantom_probe, 502 .remove = phantom_remove, 503 .suspend = phantom_suspend, 504 .resume = phantom_resume 505 }; 506 507 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); 508 509 static int __init phantom_init(void) 510 { 511 int retval; 512 dev_t dev; 513 514 phantom_class = class_create(THIS_MODULE, "phantom"); 515 if (IS_ERR(phantom_class)) { 516 retval = PTR_ERR(phantom_class); 517 printk(KERN_ERR "phantom: can't register phantom class\n"); 518 goto err; 519 } 520 retval = class_create_file(phantom_class, &class_attr_version.attr); 521 if (retval) { 522 printk(KERN_ERR "phantom: can't create sysfs version file\n"); 523 goto err_class; 524 } 525 526 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); 527 if (retval) { 528 printk(KERN_ERR "phantom: can't register character device\n"); 529 goto err_attr; 530 } 531 phantom_major = MAJOR(dev); 532 533 retval = pci_register_driver(&phantom_pci_driver); 534 if (retval) { 535 printk(KERN_ERR "phantom: can't register pci driver\n"); 536 goto err_unchr; 537 } 538 539 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " 540 "init OK\n"); 541 542 return 0; 543 err_unchr: 544 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); 545 err_attr: 546 class_remove_file(phantom_class, &class_attr_version.attr); 547 err_class: 548 class_destroy(phantom_class); 549 err: 550 return retval; 551 } 552 553 static void __exit phantom_exit(void) 554 { 555 pci_unregister_driver(&phantom_pci_driver); 556 557 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); 558 559 class_remove_file(phantom_class, &class_attr_version.attr); 560 class_destroy(phantom_class); 561 562 pr_debug("phantom: module successfully removed\n"); 563 } 564 565 module_init(phantom_init); 566 module_exit(phantom_exit); 567 568 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>"); 569 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); 570 MODULE_LICENSE("GPL"); 571 MODULE_VERSION(PHANTOM_VERSION); 572