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