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