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/*
* Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* You need a userspace library to cooperate with this driver. It (and other
* info) may be obtained here:
* http://www.fi.muni.cz/~xslaby/phantom.html
* or alternatively, you might use OpenHaptics provided by Sensable.
*/
#include <linux/compat.h>
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/device.h>
#include <linux/pci.h>
#include <linux/fs.h>
#include <linux/poll.h>
#include <linux/interrupt.h>
#include <linux/cdev.h>
#include <linux/slab.h>
#include <linux/phantom.h>
#include <linux/sched.h>
#include <linux/mutex.h>
#include <asm/atomic.h>
#include <asm/io.h>
#define PHANTOM_VERSION "n0.9.8"
#define PHANTOM_MAX_MINORS 8
#define PHN_IRQCTL 0x4c /* irq control in caddr space */
#define PHB_RUNNING 1
#define PHB_NOT_OH 2
static DEFINE_MUTEX(phantom_mutex);
static struct class *phantom_class;
static int phantom_major;
struct phantom_device {
unsigned int opened;
void __iomem *caddr;
u32 __iomem *iaddr;
u32 __iomem *oaddr;
unsigned long status;
atomic_t counter;
wait_queue_head_t wait;
struct cdev cdev;
struct mutex open_lock;
spinlock_t regs_lock;
/* used in NOT_OH mode */
struct phm_regs oregs;
u32 ctl_reg;
};
static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
static int phantom_status(struct phantom_device *dev, unsigned long newstat)
{
pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
atomic_set(&dev->counter, 0);
iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
iowrite32(0x43, dev->caddr + PHN_IRQCTL);
ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
} else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) {
iowrite32(0, dev->caddr + PHN_IRQCTL);
ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
}
dev->status = newstat;
return 0;
}
/*
* File ops
*/
static long phantom_ioctl(struct file *file, unsigned int cmd,
unsigned long arg)
{
struct phantom_device *dev = file->private_data;
struct phm_regs rs;
struct phm_reg r;
void __user *argp = (void __user *)arg;
unsigned long flags;
unsigned int i;
switch (cmd) {
case PHN_SETREG:
case PHN_SET_REG:
if (copy_from_user(&r, argp, sizeof(r)))
return -EFAULT;
if (r.reg > 7)
return -EINVAL;
spin_lock_irqsave(&dev->regs_lock, flags);
if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
phantom_status(dev, dev->status | PHB_RUNNING)){
spin_unlock_irqrestore(&dev->regs_lock, flags);
return -ENODEV;
}
pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
/* preserve amp bit (don't allow to change it when in NOT_OH) */
if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) {
r.value &= ~PHN_CTL_AMP;
r.value |= dev->ctl_reg & PHN_CTL_AMP;
dev->ctl_reg = r.value;
}
iowrite32(r.value, dev->iaddr + r.reg);
ioread32(dev->iaddr); /* PCI posting */
if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
phantom_status(dev, dev->status & ~PHB_RUNNING);
spin_unlock_irqrestore(&dev->regs_lock, flags);
break;
case PHN_SETREGS:
case PHN_SET_REGS:
if (copy_from_user(&rs, argp, sizeof(rs)))
return -EFAULT;
pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask);
spin_lock_irqsave(&dev->regs_lock, flags);
if (dev->status & PHB_NOT_OH)
memcpy(&dev->oregs, &rs, sizeof(rs));
else {
u32 m = min(rs.count, 8U);
for (i = 0; i < m; i++)
if (rs.mask & BIT(i))
iowrite32(rs.values[i], dev->oaddr + i);
ioread32(dev->iaddr); /* PCI posting */
}
spin_unlock_irqrestore(&dev->regs_lock, flags);
break;
case PHN_GETREG:
case PHN_GET_REG:
if (copy_from_user(&r, argp, sizeof(r)))
return -EFAULT;
if (r.reg > 7)
return -EINVAL;
r.value = ioread32(dev->iaddr + r.reg);
if (copy_to_user(argp, &r, sizeof(r)))
return -EFAULT;
break;
case PHN_GETREGS:
case PHN_GET_REGS: {
u32 m;
if (copy_from_user(&rs, argp, sizeof(rs)))
return -EFAULT;
m = min(rs.count, 8U);
pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
spin_lock_irqsave(&dev->regs_lock, flags);
for (i = 0; i < m; i++)
if (rs.mask & BIT(i))
rs.values[i] = ioread32(dev->iaddr + i);
atomic_set(&dev->counter, 0);
spin_unlock_irqrestore(&dev->regs_lock, flags);
if (copy_to_user(argp, &rs, sizeof(rs)))
return -EFAULT;
break;
} case PHN_NOT_OH:
spin_lock_irqsave(&dev->regs_lock, flags);
if (dev->status & PHB_RUNNING) {
printk(KERN_ERR "phantom: you need to set NOT_OH "
"before you start the device!\n");
spin_unlock_irqrestore(&dev->regs_lock, flags);
return -EINVAL;
}
dev->status |= PHB_NOT_OH;
spin_unlock_irqrestore(&dev->regs_lock, flags);
break;
default:
return -ENOTTY;
}
return 0;
}
#ifdef CONFIG_COMPAT
static long phantom_compat_ioctl(struct file *filp, unsigned int cmd,
unsigned long arg)
{
if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) {
cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT);
cmd |= sizeof(void *) << _IOC_SIZESHIFT;
}
return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg));
}
#else
#define phantom_compat_ioctl NULL
#endif
static int phantom_open(struct inode *inode, struct file *file)
{
struct phantom_device *dev = container_of(inode->i_cdev,
struct phantom_device, cdev);
mutex_lock(&phantom_mutex);
nonseekable_open(inode, file);
if (mutex_lock_interruptible(&dev->open_lock)) {
mutex_unlock(&phantom_mutex);
return -ERESTARTSYS;
}
if (dev->opened) {
mutex_unlock(&dev->open_lock);
mutex_unlock(&phantom_mutex);
return -EINVAL;
}
WARN_ON(dev->status & PHB_NOT_OH);
file->private_data = dev;
atomic_set(&dev->counter, 0);
dev->opened++;
mutex_unlock(&dev->open_lock);
mutex_unlock(&phantom_mutex);
return 0;
}
static int phantom_release(struct inode *inode, struct file *file)
{
struct phantom_device *dev = file->private_data;
mutex_lock(&dev->open_lock);
dev->opened = 0;
phantom_status(dev, dev->status & ~PHB_RUNNING);
dev->status &= ~PHB_NOT_OH;
mutex_unlock(&dev->open_lock);
return 0;
}
static unsigned int phantom_poll(struct file *file, poll_table *wait)
{
struct phantom_device *dev = file->private_data;
unsigned int mask = 0;
pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
poll_wait(file, &dev->wait, wait);
if (!(dev->status & PHB_RUNNING))
mask = POLLERR;
else if (atomic_read(&dev->counter))
mask = POLLIN | POLLRDNORM;
pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
return mask;
}
static const struct file_operations phantom_file_ops = {
.open = phantom_open,
.release = phantom_release,
.unlocked_ioctl = phantom_ioctl,
.compat_ioctl = phantom_compat_ioctl,
.poll = phantom_poll,
.llseek = no_llseek,
};
static irqreturn_t phantom_isr(int irq, void *data)
{
struct phantom_device *dev = data;
unsigned int i;
u32 ctl;
spin_lock(&dev->regs_lock);
ctl = ioread32(dev->iaddr + PHN_CONTROL);
if (!(ctl & PHN_CTL_IRQ)) {
spin_unlock(&dev->regs_lock);
return IRQ_NONE;
}
iowrite32(0, dev->iaddr);
iowrite32(0xc0, dev->iaddr);
if (dev->status & PHB_NOT_OH) {
struct phm_regs *r = &dev->oregs;
u32 m = min(r->count, 8U);
for (i = 0; i < m; i++)
if (r->mask & BIT(i))
iowrite32(r->values[i], dev->oaddr + i);
dev->ctl_reg ^= PHN_CTL_AMP;
iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
}
spin_unlock(&dev->regs_lock);
ioread32(dev->iaddr); /* PCI posting */
atomic_inc(&dev->counter);
wake_up_interruptible(&dev->wait);
return IRQ_HANDLED;
}
/*
* Init and deinit driver
*/
static unsigned int __devinit phantom_get_free(void)
{
unsigned int i;
for (i = 0; i < PHANTOM_MAX_MINORS; i++)
if (phantom_devices[i] == 0)
break;
return i;
}
static int __devinit phantom_probe(struct pci_dev *pdev,
const struct pci_device_id *pci_id)
{
struct phantom_device *pht;
unsigned int minor;
int retval;
retval = pci_enable_device(pdev);
if (retval) {
dev_err(&pdev->dev, "pci_enable_device failed!\n");
goto err;
}
minor = phantom_get_free();
if (minor == PHANTOM_MAX_MINORS) {
dev_err(&pdev->dev, "too many devices found!\n");
retval = -EIO;
goto err_dis;
}
phantom_devices[minor] = 1;
retval = pci_request_regions(pdev, "phantom");
if (retval) {
dev_err(&pdev->dev, "pci_request_regions failed!\n");
goto err_null;
}
retval = -ENOMEM;
pht = kzalloc(sizeof(*pht), GFP_KERNEL);
if (pht == NULL) {
dev_err(&pdev->dev, "unable to allocate device\n");
goto err_reg;
}
pht->caddr = pci_iomap(pdev, 0, 0);
if (pht->caddr == NULL) {
dev_err(&pdev->dev, "can't remap conf space\n");
goto err_fr;
}
pht->iaddr = pci_iomap(pdev, 2, 0);
if (pht->iaddr == NULL) {
dev_err(&pdev->dev, "can't remap input space\n");
goto err_unmc;
}
pht->oaddr = pci_iomap(pdev, 3, 0);
if (pht->oaddr == NULL) {
dev_err(&pdev->dev, "can't remap output space\n");
goto err_unmi;
}
mutex_init(&pht->open_lock);
spin_lock_init(&pht->regs_lock);
init_waitqueue_head(&pht->wait);
cdev_init(&pht->cdev, &phantom_file_ops);
pht->cdev.owner = THIS_MODULE;
iowrite32(0, pht->caddr + PHN_IRQCTL);
ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
retval = request_irq(pdev->irq, phantom_isr,
IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
if (retval) {
dev_err(&pdev->dev, "can't establish ISR\n");
goto err_unmo;
}
retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
if (retval) {
dev_err(&pdev->dev, "chardev registration failed\n");
goto err_irq;
}
if (IS_ERR(device_create(phantom_class, &pdev->dev,
MKDEV(phantom_major, minor), NULL,
"phantom%u", minor)))
dev_err(&pdev->dev, "can't create device\n");
pci_set_drvdata(pdev, pht);
return 0;
err_irq:
free_irq(pdev->irq, pht);
err_unmo:
pci_iounmap(pdev, pht->oaddr);
err_unmi:
pci_iounmap(pdev, pht->iaddr);
err_unmc:
pci_iounmap(pdev, pht->caddr);
err_fr:
kfree(pht);
err_reg:
pci_release_regions(pdev);
err_null:
phantom_devices[minor] = 0;
err_dis:
pci_disable_device(pdev);
err:
return retval;
}
static void __devexit phantom_remove(struct pci_dev *pdev)
{
struct phantom_device *pht = pci_get_drvdata(pdev);
unsigned int minor = MINOR(pht->cdev.dev);
device_destroy(phantom_class, MKDEV(phantom_major, minor));
cdev_del(&pht->cdev);
iowrite32(0, pht->caddr + PHN_IRQCTL);
ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
free_irq(pdev->irq, pht);
pci_iounmap(pdev, pht->oaddr);
pci_iounmap(pdev, pht->iaddr);
pci_iounmap(pdev, pht->caddr);
kfree(pht);
pci_release_regions(pdev);
phantom_devices[minor] = 0;
pci_disable_device(pdev);
}
#ifdef CONFIG_PM
static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
{
struct phantom_device *dev = pci_get_drvdata(pdev);
iowrite32(0, dev->caddr + PHN_IRQCTL);
ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
synchronize_irq(pdev->irq);
return 0;
}
static int phantom_resume(struct pci_dev *pdev)
{
struct phantom_device *dev = pci_get_drvdata(pdev);
iowrite32(0, dev->caddr + PHN_IRQCTL);
return 0;
}
#else
#define phantom_suspend NULL
#define phantom_resume NULL
#endif
static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
{ .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050,
.subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050,
.class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
{ 0, }
};
MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
static struct pci_driver phantom_pci_driver = {
.name = "phantom",
.id_table = phantom_pci_tbl,
.probe = phantom_probe,
.remove = __devexit_p(phantom_remove),
.suspend = phantom_suspend,
.resume = phantom_resume
};
static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
static int __init phantom_init(void)
{
int retval;
dev_t dev;
phantom_class = class_create(THIS_MODULE, "phantom");
if (IS_ERR(phantom_class)) {
retval = PTR_ERR(phantom_class);
printk(KERN_ERR "phantom: can't register phantom class\n");
goto err;
}
retval = class_create_file(phantom_class, &class_attr_version.attr);
if (retval) {
printk(KERN_ERR "phantom: can't create sysfs version file\n");
goto err_class;
}
retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
if (retval) {
printk(KERN_ERR "phantom: can't register character device\n");
goto err_attr;
}
phantom_major = MAJOR(dev);
retval = pci_register_driver(&phantom_pci_driver);
if (retval) {
printk(KERN_ERR "phantom: can't register pci driver\n");
goto err_unchr;
}
printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
"init OK\n");
return 0;
err_unchr:
unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
err_attr:
class_remove_file(phantom_class, &class_attr_version.attr);
err_class:
class_destroy(phantom_class);
err:
return retval;
}
static void __exit phantom_exit(void)
{
pci_unregister_driver(&phantom_pci_driver);
unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
class_remove_file(phantom_class, &class_attr_version.attr);
class_destroy(phantom_class);
pr_debug("phantom: module successfully removed\n");
}
module_init(phantom_init);
module_exit(phantom_exit);
MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)");
MODULE_LICENSE("GPL");
MODULE_VERSION(PHANTOM_VERSION);
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