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 an 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/phantom.h>
  25
  26 #include <asm/atomic.h>
  27 #include <asm/io.h>
  28
  29 #define PHANTOM_VERSION         "n0.9.8"
  30
  31 #define PHANTOM_MAX_MINORS      8
  32
  33 #define PHN_IRQCTL              0x4c    /* irq control in caddr space */
  34
  35 #define PHB_RUNNING             1
  36 #define PHB_NOT_OH              2
  37
  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                 spin_unlock_irqrestore(&dev->regs_lock, flags);
 173
 174                 if (copy_to_user(argp, &rs, sizeof(rs)))
 175                         return -EFAULT;
 176                 break;
 177         } case PHN_NOT_OH:
 178                 spin_lock_irqsave(&dev->regs_lock, flags);
 179                 if (dev->status & PHB_RUNNING) {
 180                         printk(KERN_ERR "phantom: you need to set NOT_OH "
 181                                         "before you start the device!\n");
 182                         spin_unlock_irqrestore(&dev->regs_lock, flags);
 183                         return -EINVAL;
 184                 }
 185                 dev->status |= PHB_NOT_OH;
 186                 spin_unlock_irqrestore(&dev->regs_lock, flags);
 187                 break;
 188         default:
 189                 return -ENOTTY;
 190         }
 191
 192         return 0;
 193 }
 194
 195 #ifdef CONFIG_COMPAT
 196 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd,
 197                 unsigned long arg)
 198 {
 199         if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) {
 200                 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT);
 201                 cmd |= sizeof(void *) << _IOC_SIZESHIFT;
 202         }
 203         return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg));
 204 }
 205 #else
 206 #define phantom_compat_ioctl NULL
 207 #endif
 208
 209 static int phantom_open(struct inode *inode, struct file *file)
 210 {
 211         struct phantom_device *dev = container_of(inode->i_cdev,
 212                         struct phantom_device, cdev);
 213
 214         nonseekable_open(inode, file);
 215
 216         if (mutex_lock_interruptible(&dev->open_lock))
 217                 return -ERESTARTSYS;
 218
 219         if (dev->opened) {
 220                 mutex_unlock(&dev->open_lock);
 221                 return -EINVAL;
 222         }
 223
 224         WARN_ON(dev->status & PHB_NOT_OH);
 225
 226         file->private_data = dev;
 227
 228         atomic_set(&dev->counter, 0);
 229         dev->opened++;
 230         mutex_unlock(&dev->open_lock);
 231
 232         return 0;
 233 }
 234
 235 static int phantom_release(struct inode *inode, struct file *file)
 236 {
 237         struct phantom_device *dev = file->private_data;
 238
 239         mutex_lock(&dev->open_lock);
 240
 241         dev->opened = 0;
 242         phantom_status(dev, dev->status & ~PHB_RUNNING);
 243         dev->status &= ~PHB_NOT_OH;
 244
 245         mutex_unlock(&dev->open_lock);
 246
 247         return 0;
 248 }
 249
 250 static unsigned int phantom_poll(struct file *file, poll_table *wait)
 251 {
 252         struct phantom_device *dev = file->private_data;
 253         unsigned int mask = 0;
 254
 255         pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
 256         poll_wait(file, &dev->wait, wait);
 257         if (atomic_read(&dev->counter)) {
 258                 mask = POLLIN | POLLRDNORM;
 259                 atomic_dec(&dev->counter);
 260         } else if ((dev->status & PHB_RUNNING) == 0)
 261                 mask = POLLIN | POLLRDNORM | POLLERR;
 262         pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
 263
 264         return mask;
 265 }
 266
 267 static struct file_operations phantom_file_ops = {
 268         .open = phantom_open,
 269         .release = phantom_release,
 270         .unlocked_ioctl = phantom_ioctl,
 271         .compat_ioctl = phantom_compat_ioctl,
 272         .poll = phantom_poll,
 273 };
 274
 275 static irqreturn_t phantom_isr(int irq, void *data)
 276 {
 277         struct phantom_device *dev = data;
 278         unsigned int i;
 279         u32 ctl;
 280
 281         spin_lock(&dev->regs_lock);
 282         ctl = ioread32(dev->iaddr + PHN_CONTROL);
 283         if (!(ctl & PHN_CTL_IRQ)) {
 284                 spin_unlock(&dev->regs_lock);
 285                 return IRQ_NONE;
 286         }
 287
 288         iowrite32(0, dev->iaddr);
 289         iowrite32(0xc0, dev->iaddr);
 290
 291         if (dev->status & PHB_NOT_OH) {
 292                 struct phm_regs *r = &dev->oregs;
 293                 u32 m = min(r->count, 8U);
 294
 295                 for (i = 0; i < m; i++)
 296                         if (r->mask & BIT(i))
 297                                 iowrite32(r->values[i], dev->oaddr + i);
 298
 299                 dev->ctl_reg ^= PHN_CTL_AMP;
 300                 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
 301         }
 302         spin_unlock(&dev->regs_lock);
 303
 304         ioread32(dev->iaddr); /* PCI posting */
 305
 306         atomic_inc(&dev->counter);
 307         wake_up_interruptible(&dev->wait);
 308
 309         return IRQ_HANDLED;
 310 }
 311
 312 /*
 313  * Init and deinit driver
 314  */
 315
 316 static unsigned int __devinit phantom_get_free(void)
 317 {
 318         unsigned int i;
 319
 320         for (i = 0; i < PHANTOM_MAX_MINORS; i++)
 321                 if (phantom_devices[i] == 0)
 322                         break;
 323
 324         return i;
 325 }
 326
 327 static int __devinit phantom_probe(struct pci_dev *pdev,
 328         const struct pci_device_id *pci_id)
 329 {
 330         struct phantom_device *pht;
 331         unsigned int minor;
 332         int retval;
 333
 334         retval = pci_enable_device(pdev);
 335         if (retval)
 336                 goto err;
 337
 338         minor = phantom_get_free();
 339         if (minor == PHANTOM_MAX_MINORS) {
 340                 dev_err(&pdev->dev, "too many devices found!\n");
 341                 retval = -EIO;
 342                 goto err_dis;
 343         }
 344
 345         phantom_devices[minor] = 1;
 346
 347         retval = pci_request_regions(pdev, "phantom");
 348         if (retval)
 349                 goto err_null;
 350
 351         retval = -ENOMEM;
 352         pht = kzalloc(sizeof(*pht), GFP_KERNEL);
 353         if (pht == NULL) {
 354                 dev_err(&pdev->dev, "unable to allocate device\n");
 355                 goto err_reg;
 356         }
 357
 358         pht->caddr = pci_iomap(pdev, 0, 0);
 359         if (pht->caddr == NULL) {
 360                 dev_err(&pdev->dev, "can't remap conf space\n");
 361                 goto err_fr;
 362         }
 363         pht->iaddr = pci_iomap(pdev, 2, 0);
 364         if (pht->iaddr == NULL) {
 365                 dev_err(&pdev->dev, "can't remap input space\n");
 366                 goto err_unmc;
 367         }
 368         pht->oaddr = pci_iomap(pdev, 3, 0);
 369         if (pht->oaddr == NULL) {
 370                 dev_err(&pdev->dev, "can't remap output space\n");
 371                 goto err_unmi;
 372         }
 373
 374         mutex_init(&pht->open_lock);
 375         spin_lock_init(&pht->regs_lock);
 376         init_waitqueue_head(&pht->wait);
 377         cdev_init(&pht->cdev, &phantom_file_ops);
 378         pht->cdev.owner = THIS_MODULE;
 379
 380         iowrite32(0, pht->caddr + PHN_IRQCTL);
 381         ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
 382         retval = request_irq(pdev->irq, phantom_isr,
 383                         IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
 384         if (retval) {
 385                 dev_err(&pdev->dev, "can't establish ISR\n");
 386                 goto err_unmo;
 387         }
 388
 389         retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
 390         if (retval) {
 391                 dev_err(&pdev->dev, "chardev registration failed\n");
 392                 goto err_irq;
 393         }
 394
 395         if (IS_ERR(device_create(phantom_class, &pdev->dev, MKDEV(phantom_major,
 396                         minor), "phantom%u", minor)))
 397                 dev_err(&pdev->dev, "can't create device\n");
 398
 399         pci_set_drvdata(pdev, pht);
 400
 401         return 0;
 402 err_irq:
 403         free_irq(pdev->irq, pht);
 404 err_unmo:
 405         pci_iounmap(pdev, pht->oaddr);
 406 err_unmi:
 407         pci_iounmap(pdev, pht->iaddr);
 408 err_unmc:
 409         pci_iounmap(pdev, pht->caddr);
 410 err_fr:
 411         kfree(pht);
 412 err_reg:
 413         pci_release_regions(pdev);
 414 err_null:
 415         phantom_devices[minor] = 0;
 416 err_dis:
 417         pci_disable_device(pdev);
 418 err:
 419         return retval;
 420 }
 421
 422 static void __devexit phantom_remove(struct pci_dev *pdev)
 423 {
 424         struct phantom_device *pht = pci_get_drvdata(pdev);
 425         unsigned int minor = MINOR(pht->cdev.dev);
 426
 427         device_destroy(phantom_class, MKDEV(phantom_major, minor));
 428
 429         cdev_del(&pht->cdev);
 430
 431         iowrite32(0, pht->caddr + PHN_IRQCTL);
 432         ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
 433         free_irq(pdev->irq, pht);
 434
 435         pci_iounmap(pdev, pht->oaddr);
 436         pci_iounmap(pdev, pht->iaddr);
 437         pci_iounmap(pdev, pht->caddr);
 438
 439         kfree(pht);
 440
 441         pci_release_regions(pdev);
 442
 443         phantom_devices[minor] = 0;
 444
 445         pci_disable_device(pdev);
 446 }
 447
 448 #ifdef CONFIG_PM
 449 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
 450 {
 451         struct phantom_device *dev = pci_get_drvdata(pdev);
 452
 453         iowrite32(0, dev->caddr + PHN_IRQCTL);
 454         ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
 455
 456         synchronize_irq(pdev->irq);
 457
 458         return 0;
 459 }
 460
 461 static int phantom_resume(struct pci_dev *pdev)
 462 {
 463         struct phantom_device *dev = pci_get_drvdata(pdev);
 464
 465         iowrite32(0, dev->caddr + PHN_IRQCTL);
 466
 467         return 0;
 468 }
 469 #else
 470 #define phantom_suspend NULL
 471 #define phantom_resume  NULL
 472 #endif
 473
 474 static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
 475         { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050,
 476           .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050,
 477           .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
 478         { 0, }
 479 };
 480 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
 481
 482 static struct pci_driver phantom_pci_driver = {
 483         .name = "phantom",
 484         .id_table = phantom_pci_tbl,
 485         .probe = phantom_probe,
 486         .remove = __devexit_p(phantom_remove),
 487         .suspend = phantom_suspend,
 488         .resume = phantom_resume
 489 };
 490
 491 static ssize_t phantom_show_version(struct class *cls, char *buf)
 492 {
 493         return sprintf(buf, PHANTOM_VERSION "\n");
 494 }
 495
 496 static CLASS_ATTR(version, 0444, phantom_show_version, NULL);
 497
 498 static int __init phantom_init(void)
 499 {
 500         int retval;
 501         dev_t dev;
 502
 503         phantom_class = class_create(THIS_MODULE, "phantom");
 504         if (IS_ERR(phantom_class)) {
 505                 retval = PTR_ERR(phantom_class);
 506                 printk(KERN_ERR "phantom: can't register phantom class\n");
 507                 goto err;
 508         }
 509         retval = class_create_file(phantom_class, &class_attr_version);
 510         if (retval) {
 511                 printk(KERN_ERR "phantom: can't create sysfs version file\n");
 512                 goto err_class;
 513         }
 514
 515         retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
 516         if (retval) {
 517                 printk(KERN_ERR "phantom: can't register character device\n");
 518                 goto err_attr;
 519         }
 520         phantom_major = MAJOR(dev);
 521
 522         retval = pci_register_driver(&phantom_pci_driver);
 523         if (retval) {
 524                 printk(KERN_ERR "phantom: can't register pci driver\n");
 525                 goto err_unchr;
 526         }
 527
 528         printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
 529                         "init OK\n");
 530
 531         return 0;
 532 err_unchr:
 533         unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
 534 err_attr:
 535         class_remove_file(phantom_class, &class_attr_version);
 536 err_class:
 537         class_destroy(phantom_class);
 538 err:
 539         return retval;
 540 }
 541
 542 static void __exit phantom_exit(void)
 543 {
 544         pci_unregister_driver(&phantom_pci_driver);
 545
 546         unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
 547
 548         class_remove_file(phantom_class, &class_attr_version);
 549         class_destroy(phantom_class);
 550
 551         pr_debug("phantom: module successfully removed\n");
 552 }
 553
 554 module_init(phantom_init);
 555 module_exit(phantom_exit);
 556
 557 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
 558 MODULE_DESCRIPTION("Sensable Phantom driver");
 559 MODULE_LICENSE("GPL");
 560 MODULE_VERSION(PHANTOM_VERSION);