Root/drivers/misc/phantom.c

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
41static DEFINE_MUTEX(phantom_mutex);
42static struct class *phantom_class;
43static int phantom_major;
44
45struct 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
64static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
65
66static 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
89static 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
201static 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
214static 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
244static 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
259static unsigned int phantom_poll(struct file *file, poll_table *wait)
260{
261    struct phantom_device *dev = file->private_data;
262    unsigned int 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 = POLLERR;
269    else if (atomic_read(&dev->counter))
270        mask = POLLIN | POLLRDNORM;
271
272    pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
273
274    return mask;
275}
276
277static 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
286static 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
327static unsigned int __devinit 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
338static int __devinit 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 | IRQF_DISABLED, "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;
418err_irq:
419    free_irq(pdev->irq, pht);
420err_unmo:
421    pci_iounmap(pdev, pht->oaddr);
422err_unmi:
423    pci_iounmap(pdev, pht->iaddr);
424err_unmc:
425    pci_iounmap(pdev, pht->caddr);
426err_fr:
427    kfree(pht);
428err_reg:
429    pci_release_regions(pdev);
430err_null:
431    phantom_devices[minor] = 0;
432err_dis:
433    pci_disable_device(pdev);
434err:
435    return retval;
436}
437
438static void __devexit 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
465static 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
477static 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
490static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
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};
496MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
497
498static struct pci_driver phantom_pci_driver = {
499    .name = "phantom",
500    .id_table = phantom_pci_tbl,
501    .probe = phantom_probe,
502    .remove = __devexit_p(phantom_remove),
503    .suspend = phantom_suspend,
504    .resume = phantom_resume
505};
506
507static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
508
509static 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;
543err_unchr:
544    unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
545err_attr:
546    class_remove_file(phantom_class, &class_attr_version.attr);
547err_class:
548    class_destroy(phantom_class);
549err:
550    return retval;
551}
552
553static 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
565module_init(phantom_init);
566module_exit(phantom_exit);
567
568MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
569MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)");
570MODULE_LICENSE("GPL");
571MODULE_VERSION(PHANTOM_VERSION);
572

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