Commit | Line | Data |
---|---|---|
cef2cf07 JS |
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 | |
b2afe331 | 12 | * or alternatively, you might use OpenHaptics provided by Sensable. |
cef2cf07 JS |
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 | ||
bc552f77 | 28 | #define PHANTOM_VERSION "n0.9.7" |
cef2cf07 JS |
29 | |
30 | #define PHANTOM_MAX_MINORS 8 | |
31 | ||
32 | #define PHN_IRQCTL 0x4c /* irq control in caddr space */ | |
33 | ||
34 | #define PHB_RUNNING 1 | |
bc552f77 | 35 | #define PHB_NOT_OH 2 |
cef2cf07 JS |
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; | |
bc552f77 JS |
52 | spinlock_t regs_lock; |
53 | ||
54 | /* used in NOT_OH mode */ | |
55 | struct phm_regs oregs; | |
56 | u32 ctl_reg; | |
cef2cf07 JS |
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); | |
c8511f94 JS |
69 | ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
70 | } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { | |
cef2cf07 | 71 | iowrite32(0, dev->caddr + PHN_IRQCTL); |
c8511f94 JS |
72 | ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
73 | } | |
cef2cf07 JS |
74 | |
75 | dev->status = newstat; | |
76 | ||
77 | return 0; | |
78 | } | |
79 | ||
80 | /* | |
81 | * File ops | |
82 | */ | |
83 | ||
c15395c0 JS |
84 | static long phantom_ioctl(struct file *file, unsigned int cmd, |
85 | unsigned long arg) | |
cef2cf07 JS |
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; | |
bc552f77 | 91 | unsigned long flags; |
cef2cf07 JS |
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 | ||
bc552f77 | 106 | spin_lock_irqsave(&dev->regs_lock, flags); |
cef2cf07 | 107 | if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && |
c15395c0 | 108 | phantom_status(dev, dev->status | PHB_RUNNING)){ |
bc552f77 | 109 | spin_unlock_irqrestore(&dev->regs_lock, flags); |
cef2cf07 | 110 | return -ENODEV; |
c15395c0 | 111 | } |
cef2cf07 JS |
112 | |
113 | pr_debug("phantom: writing %x to %u\n", r.value, r.reg); | |
bc552f77 JS |
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 | ||
cef2cf07 | 122 | iowrite32(r.value, dev->iaddr + r.reg); |
c8511f94 | 123 | ioread32(dev->iaddr); /* PCI posting */ |
cef2cf07 JS |
124 | |
125 | if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) | |
126 | phantom_status(dev, dev->status & ~PHB_RUNNING); | |
bc552f77 | 127 | spin_unlock_irqrestore(&dev->regs_lock, flags); |
cef2cf07 JS |
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); | |
bc552f77 JS |
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); | |
cef2cf07 JS |
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; | |
bc552f77 JS |
158 | case PHN_GET_REGS: { |
159 | u32 m; | |
160 | ||
cef2cf07 JS |
161 | if (copy_from_user(&rs, argp, sizeof(rs))) |
162 | return -EFAULT; | |
163 | ||
bc552f77 JS |
164 | m = min(rs.count, 8U); |
165 | ||
cef2cf07 | 166 | pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); |
bc552f77 JS |
167 | spin_lock_irqsave(&dev->regs_lock, flags); |
168 | for (i = 0; i < m; i++) | |
169 | if (rs.mask & BIT(i)) | |
cef2cf07 | 170 | rs.values[i] = ioread32(dev->iaddr + i); |
bc552f77 | 171 | spin_unlock_irqrestore(&dev->regs_lock, flags); |
cef2cf07 JS |
172 | |
173 | if (copy_to_user(argp, &rs, sizeof(rs))) | |
174 | return -EFAULT; | |
175 | break; | |
bc552f77 JS |
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; | |
cef2cf07 JS |
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 | ||
bc552f77 JS |
209 | WARN_ON(dev->status & PHB_NOT_OH); |
210 | ||
cef2cf07 JS |
211 | file->private_data = dev; |
212 | ||
bc552f77 | 213 | atomic_set(&dev->counter, 0); |
cef2cf07 JS |
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); | |
bc552f77 | 228 | dev->status &= ~PHB_NOT_OH; |
cef2cf07 JS |
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, | |
c15395c0 | 255 | .unlocked_ioctl = phantom_ioctl, |
cef2cf07 JS |
256 | .poll = phantom_poll, |
257 | }; | |
258 | ||
259 | static irqreturn_t phantom_isr(int irq, void *data) | |
260 | { | |
261 | struct phantom_device *dev = data; | |
bc552f77 JS |
262 | unsigned int i; |
263 | u32 ctl; | |
cef2cf07 | 264 | |
bc552f77 JS |
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); | |
cef2cf07 | 269 | return IRQ_NONE; |
bc552f77 | 270 | } |
cef2cf07 JS |
271 | |
272 | iowrite32(0, dev->iaddr); | |
273 | iowrite32(0xc0, dev->iaddr); | |
bc552f77 JS |
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 | ||
c8511f94 | 288 | ioread32(dev->iaddr); /* PCI posting */ |
cef2cf07 JS |
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); | |
bc552f77 | 359 | spin_lock_init(&pht->regs_lock); |
cef2cf07 JS |
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); | |
c8511f94 | 365 | ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ |
cef2cf07 JS |
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); | |
c8511f94 | 416 | ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ |
cef2cf07 JS |
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); | |
c8511f94 | 438 | ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
cef2cf07 | 439 | |
aee8447c JS |
440 | synchronize_irq(pdev->irq); |
441 | ||
cef2cf07 JS |
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); |