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/kernel.h>
  16 #include <linux/module.h>
  17 #include <linux/device.h>
  18 #include <linux/pci.h>
  19 #include <linux/fs.h>
  20 #include <linux/poll.h>
  21 #include <linux/interrupt.h>
  22 #include <linux/cdev.h>
  23 #include <linux/phantom.h>
  24
  25 #include <asm/atomic.h>
  26 #include <asm/io.h>
  27
  28 #define PHANTOM_VERSION         "n0.9.7"
  29
  30 #define PHANTOM_MAX_MINORS      8
  31
  32 #define PHN_IRQCTL              0x4c    /* irq control in caddr space */
  33
  34 #define PHB_RUNNING             1
  35 #define PHB_NOT_OH              2
  36
  37 static struct class *phantom_class;
  38 static int phantom_major;
  39
  40 struct phantom_device {
  41         unsigned int opened;
  42         void __iomem *caddr;
  43         u32 __iomem *iaddr;
  44         u32 __iomem *oaddr;
  45         unsigned long status;
  46         atomic_t counter;
  47
  48         wait_queue_head_t wait;
  49         struct cdev cdev;
  50
  51         struct mutex open_lock;
  52         spinlock_t regs_lock;
  53
  54         /* used in NOT_OH mode */
  55         struct phm_regs oregs;
  56         u32 ctl_reg;
  57 };
  58
  59 static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
  60
  61 static int phantom_status(struct phantom_device *dev, unsigned long newstat)
  62 {
  63         pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
  64
  65         if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
  66                 atomic_set(&dev->counter, 0);
  67                 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
  68                 iowrite32(0x43, dev->caddr + PHN_IRQCTL);
  69                 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
  70         } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) {
  71                 iowrite32(0, dev->caddr + PHN_IRQCTL);
  72                 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
  73         }
  74
  75         dev->status = newstat;
  76
  77         return 0;
  78 }
  79
  80 /*
  81  * File ops
  82  */
  83
  84 static long phantom_ioctl(struct file *file, unsigned int cmd,
  85                 unsigned long arg)
  86 {
  87         struct phantom_device *dev = file->private_data;
  88         struct phm_regs rs;
  89         struct phm_reg r;
  90         void __user *argp = (void __user *)arg;
  91         unsigned long flags;
  92         unsigned int i;
  93
  94         if (_IOC_TYPE(cmd) != PH_IOC_MAGIC ||
  95                         _IOC_NR(cmd) > PH_IOC_MAXNR)
  96                 return -ENOTTY;
  97
  98         switch (cmd) {
  99         case PHN_SET_REG:
 100                 if (copy_from_user(&r, argp, sizeof(r)))
 101                         return -EFAULT;
 102
 103                 if (r.reg > 7)
 104                         return -EINVAL;
 105
 106                 spin_lock_irqsave(&dev->regs_lock, flags);
 107                 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
 108                                 phantom_status(dev, dev->status | PHB_RUNNING)){
 109                         spin_unlock_irqrestore(&dev->regs_lock, flags);
 110                         return -ENODEV;
 111                 }
 112
 113                 pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
 114
 115                 /* preserve amp bit (don't allow to change it when in NOT_OH) */
 116                 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) {
 117                         r.value &= ~PHN_CTL_AMP;
 118                         r.value |= dev->ctl_reg & PHN_CTL_AMP;
 119                         dev->ctl_reg = r.value;
 120                 }
 121
 122                 iowrite32(r.value, dev->iaddr + r.reg);
 123                 ioread32(dev->iaddr); /* PCI posting */
 124
 125                 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
 126                         phantom_status(dev, dev->status & ~PHB_RUNNING);
 127                 spin_unlock_irqrestore(&dev->regs_lock, flags);
 128                 break;
 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_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_GET_REGS: {
 159                 u32 m;
 160
 161                 if (copy_from_user(&rs, argp, sizeof(rs)))
 162                         return -EFAULT;
 163
 164                 m = min(rs.count, 8U);
 165
 166                 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
 167                 spin_lock_irqsave(&dev->regs_lock, flags);
 168                 for (i = 0; i < m; i++)
 169                         if (rs.mask & BIT(i))
 170                                 rs.values[i] = ioread32(dev->iaddr + i);
 171                 spin_unlock_irqrestore(&dev->regs_lock, flags);
 172
 173                 if (copy_to_user(argp, &rs, sizeof(rs)))
 174                         return -EFAULT;
 175                 break;
 176         } case PHN_NOT_OH:
 177                 spin_lock_irqsave(&dev->regs_lock, flags);
 178                 if (dev->status & PHB_RUNNING) {
 179                         printk(KERN_ERR "phantom: you need to set NOT_OH "
 180                                         "before you start the device!\n");
 181                         spin_unlock_irqrestore(&dev->regs_lock, flags);
 182                         return -EINVAL;
 183                 }
 184                 dev->status |= PHB_NOT_OH;
 185                 spin_unlock_irqrestore(&dev->regs_lock, flags);
 186                 break;
 187         default:
 188                 return -ENOTTY;
 189         }
 190
 191         return 0;
 192 }
 193
 194 static int phantom_open(struct inode *inode, struct file *file)
 195 {
 196         struct phantom_device *dev = container_of(inode->i_cdev,
 197                         struct phantom_device, cdev);
 198
 199         nonseekable_open(inode, file);
 200
 201         if (mutex_lock_interruptible(&dev->open_lock))
 202                 return -ERESTARTSYS;
 203
 204         if (dev->opened) {
 205                 mutex_unlock(&dev->open_lock);
 206                 return -EINVAL;
 207         }
 208
 209         WARN_ON(dev->status & PHB_NOT_OH);
 210
 211         file->private_data = dev;
 212
 213         atomic_set(&dev->counter, 0);
 214         dev->opened++;
 215         mutex_unlock(&dev->open_lock);
 216
 217         return 0;
 218 }
 219
 220 static int phantom_release(struct inode *inode, struct file *file)
 221 {
 222         struct phantom_device *dev = file->private_data;
 223
 224         mutex_lock(&dev->open_lock);
 225
 226         dev->opened = 0;
 227         phantom_status(dev, dev->status & ~PHB_RUNNING);
 228         dev->status &= ~PHB_NOT_OH;
 229
 230         mutex_unlock(&dev->open_lock);
 231
 232         return 0;
 233 }
 234
 235 static unsigned int phantom_poll(struct file *file, poll_table *wait)
 236 {
 237         struct phantom_device *dev = file->private_data;
 238         unsigned int mask = 0;
 239
 240         pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
 241         poll_wait(file, &dev->wait, wait);
 242         if (atomic_read(&dev->counter)) {
 243                 mask = POLLIN | POLLRDNORM;
 244                 atomic_dec(&dev->counter);
 245         } else if ((dev->status & PHB_RUNNING) == 0)
 246                 mask = POLLIN | POLLRDNORM | POLLERR;
 247         pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
 248
 249         return mask;
 250 }
 251
 252 static struct file_operations phantom_file_ops = {
 253         .open = phantom_open,
 254         .release = phantom_release,
 255         .unlocked_ioctl = phantom_ioctl,
 256         .poll = phantom_poll,
 257 };
 258
 259 static irqreturn_t phantom_isr(int irq, void *data)
 260 {
 261         struct phantom_device *dev = data;
 262         unsigned int i;
 263         u32 ctl;
 264
 265         spin_lock(&dev->regs_lock);
 266         ctl = ioread32(dev->iaddr + PHN_CONTROL);
 267         if (!(ctl & PHN_CTL_IRQ)) {
 268                 spin_unlock(&dev->regs_lock);
 269                 return IRQ_NONE;
 270         }
 271
 272         iowrite32(0, dev->iaddr);
 273         iowrite32(0xc0, dev->iaddr);
 274
 275         if (dev->status & PHB_NOT_OH) {
 276                 struct phm_regs *r = &dev->oregs;
 277                 u32 m = min(r->count, 8U);
 278
 279                 for (i = 0; i < m; i++)
 280                         if (r->mask & BIT(i))
 281                                 iowrite32(r->values[i], dev->oaddr + i);
 282
 283                 dev->ctl_reg ^= PHN_CTL_AMP;
 284                 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
 285         }
 286         spin_unlock(&dev->regs_lock);
 287
 288         ioread32(dev->iaddr); /* PCI posting */
 289
 290         atomic_inc(&dev->counter);
 291         wake_up_interruptible(&dev->wait);
 292
 293         return IRQ_HANDLED;
 294 }
 295
 296 /*
 297  * Init and deinit driver
 298  */
 299
 300 static unsigned int __devinit phantom_get_free(void)
 301 {
 302         unsigned int i;
 303
 304         for (i = 0; i < PHANTOM_MAX_MINORS; i++)
 305                 if (phantom_devices[i] == 0)
 306                         break;
 307
 308         return i;
 309 }
 310
 311 static int __devinit phantom_probe(struct pci_dev *pdev,
 312         const struct pci_device_id *pci_id)
 313 {
 314         struct phantom_device *pht;
 315         unsigned int minor;
 316         int retval;
 317
 318         retval = pci_enable_device(pdev);
 319         if (retval)
 320                 goto err;
 321
 322         minor = phantom_get_free();
 323         if (minor == PHANTOM_MAX_MINORS) {
 324                 dev_err(&pdev->dev, "too many devices found!\n");
 325                 retval = -EIO;
 326                 goto err_dis;
 327         }
 328
 329         phantom_devices[minor] = 1;
 330
 331         retval = pci_request_regions(pdev, "phantom");
 332         if (retval)
 333                 goto err_null;
 334
 335         retval = -ENOMEM;
 336         pht = kzalloc(sizeof(*pht), GFP_KERNEL);
 337         if (pht == NULL) {
 338                 dev_err(&pdev->dev, "unable to allocate device\n");
 339                 goto err_reg;
 340         }
 341
 342         pht->caddr = pci_iomap(pdev, 0, 0);
 343         if (pht->caddr == NULL) {
 344                 dev_err(&pdev->dev, "can't remap conf space\n");
 345                 goto err_fr;
 346         }
 347         pht->iaddr = pci_iomap(pdev, 2, 0);
 348         if (pht->iaddr == NULL) {
 349                 dev_err(&pdev->dev, "can't remap input space\n");
 350                 goto err_unmc;
 351         }
 352         pht->oaddr = pci_iomap(pdev, 3, 0);
 353         if (pht->oaddr == NULL) {
 354                 dev_err(&pdev->dev, "can't remap output space\n");
 355                 goto err_unmi;
 356         }
 357
 358         mutex_init(&pht->open_lock);
 359         spin_lock_init(&pht->regs_lock);
 360         init_waitqueue_head(&pht->wait);
 361         cdev_init(&pht->cdev, &phantom_file_ops);
 362         pht->cdev.owner = THIS_MODULE;
 363
 364         iowrite32(0, pht->caddr + PHN_IRQCTL);
 365         ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
 366         retval = request_irq(pdev->irq, phantom_isr,
 367                         IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
 368         if (retval) {
 369                 dev_err(&pdev->dev, "can't establish ISR\n");
 370                 goto err_unmo;
 371         }
 372
 373         retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
 374         if (retval) {
 375                 dev_err(&pdev->dev, "chardev registration failed\n");
 376                 goto err_irq;
 377         }
 378
 379         if (IS_ERR(device_create(phantom_class, &pdev->dev, MKDEV(phantom_major,
 380                         minor), "phantom%u", minor)))
 381                 dev_err(&pdev->dev, "can't create device\n");
 382
 383         pci_set_drvdata(pdev, pht);
 384
 385         return 0;
 386 err_irq:
 387         free_irq(pdev->irq, pht);
 388 err_unmo:
 389         pci_iounmap(pdev, pht->oaddr);
 390 err_unmi:
 391         pci_iounmap(pdev, pht->iaddr);
 392 err_unmc:
 393         pci_iounmap(pdev, pht->caddr);
 394 err_fr:
 395         kfree(pht);
 396 err_reg:
 397         pci_release_regions(pdev);
 398 err_null:
 399         phantom_devices[minor] = 0;
 400 err_dis:
 401         pci_disable_device(pdev);
 402 err:
 403         return retval;
 404 }
 405
 406 static void __devexit phantom_remove(struct pci_dev *pdev)
 407 {
 408         struct phantom_device *pht = pci_get_drvdata(pdev);
 409         unsigned int minor = MINOR(pht->cdev.dev);
 410
 411         device_destroy(phantom_class, MKDEV(phantom_major, minor));
 412
 413         cdev_del(&pht->cdev);
 414
 415         iowrite32(0, pht->caddr + PHN_IRQCTL);
 416         ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
 417         free_irq(pdev->irq, pht);
 418
 419         pci_iounmap(pdev, pht->oaddr);
 420         pci_iounmap(pdev, pht->iaddr);
 421         pci_iounmap(pdev, pht->caddr);
 422
 423         kfree(pht);
 424
 425         pci_release_regions(pdev);
 426
 427         phantom_devices[minor] = 0;
 428
 429         pci_disable_device(pdev);
 430 }
 431
 432 #ifdef CONFIG_PM
 433 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
 434 {
 435         struct phantom_device *dev = pci_get_drvdata(pdev);
 436
 437         iowrite32(0, dev->caddr + PHN_IRQCTL);
 438         ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
 439
 440         synchronize_irq(pdev->irq);
 441
 442         return 0;
 443 }
 444
 445 static int phantom_resume(struct pci_dev *pdev)
 446 {
 447         struct phantom_device *dev = pci_get_drvdata(pdev);
 448
 449         iowrite32(0, dev->caddr + PHN_IRQCTL);
 450
 451         return 0;
 452 }
 453 #else
 454 #define phantom_suspend NULL
 455 #define phantom_resume  NULL
 456 #endif
 457
 458 static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
 459         { PCI_DEVICE(PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9050),
 460                 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
 461         { 0, }
 462 };
 463 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
 464
 465 static struct pci_driver phantom_pci_driver = {
 466         .name = "phantom",
 467         .id_table = phantom_pci_tbl,
 468         .probe = phantom_probe,
 469         .remove = __devexit_p(phantom_remove),
 470         .suspend = phantom_suspend,
 471         .resume = phantom_resume
 472 };
 473
 474 static ssize_t phantom_show_version(struct class *cls, char *buf)
 475 {
 476         return sprintf(buf, PHANTOM_VERSION "\n");
 477 }
 478
 479 static CLASS_ATTR(version, 0444, phantom_show_version, NULL);
 480
 481 static int __init phantom_init(void)
 482 {
 483         int retval;
 484         dev_t dev;
 485
 486         phantom_class = class_create(THIS_MODULE, "phantom");
 487         if (IS_ERR(phantom_class)) {
 488                 retval = PTR_ERR(phantom_class);
 489                 printk(KERN_ERR "phantom: can't register phantom class\n");
 490                 goto err;
 491         }
 492         retval = class_create_file(phantom_class, &class_attr_version);
 493         if (retval) {
 494                 printk(KERN_ERR "phantom: can't create sysfs version file\n");
 495                 goto err_class;
 496         }
 497
 498         retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
 499         if (retval) {
 500                 printk(KERN_ERR "phantom: can't register character device\n");
 501                 goto err_attr;
 502         }
 503         phantom_major = MAJOR(dev);
 504
 505         retval = pci_register_driver(&phantom_pci_driver);
 506         if (retval) {
 507                 printk(KERN_ERR "phantom: can't register pci driver\n");
 508                 goto err_unchr;
 509         }
 510
 511         printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
 512                         "init OK\n");
 513
 514         return 0;
 515 err_unchr:
 516         unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
 517 err_attr:
 518         class_remove_file(phantom_class, &class_attr_version);
 519 err_class:
 520         class_destroy(phantom_class);
 521 err:
 522         return retval;
 523 }
 524
 525 static void __exit phantom_exit(void)
 526 {
 527         pci_unregister_driver(&phantom_pci_driver);
 528
 529         unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
 530
 531         class_remove_file(phantom_class, &class_attr_version);
 532         class_destroy(phantom_class);
 533
 534         pr_debug("phantom: module successfully removed\n");
 535 }
 536
 537 module_init(phantom_init);
 538 module_exit(phantom_exit);
 539
 540 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
 541 MODULE_DESCRIPTION("Sensable Phantom driver");
 542 MODULE_LICENSE("GPL");
 543 MODULE_VERSION(PHANTOM_VERSION);