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