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