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563 lines
13 KiB
563 lines
13 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* Copyright (C) 2005-2007 Jiri Slaby <[email protected]> |
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* |
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* You need a userspace library to cooperate with this driver. It (and other |
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* info) may be obtained here: |
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* http://www.fi.muni.cz/~xslaby/phantom.html |
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* or alternatively, you might use OpenHaptics provided by Sensable. |
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*/ |
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#include <linux/compat.h> |
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#include <linux/kernel.h> |
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#include <linux/module.h> |
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#include <linux/device.h> |
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#include <linux/pci.h> |
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#include <linux/fs.h> |
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#include <linux/poll.h> |
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#include <linux/interrupt.h> |
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#include <linux/cdev.h> |
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#include <linux/slab.h> |
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#include <linux/phantom.h> |
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#include <linux/sched.h> |
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#include <linux/mutex.h> |
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#include <linux/atomic.h> |
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#include <asm/io.h> |
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#define PHANTOM_VERSION "n0.9.8" |
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#define PHANTOM_MAX_MINORS 8 |
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#define PHN_IRQCTL 0x4c /* irq control in caddr space */ |
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#define PHB_RUNNING 1 |
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#define PHB_NOT_OH 2 |
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static DEFINE_MUTEX(phantom_mutex); |
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static struct class *phantom_class; |
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static int phantom_major; |
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struct phantom_device { |
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unsigned int opened; |
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void __iomem *caddr; |
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u32 __iomem *iaddr; |
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u32 __iomem *oaddr; |
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unsigned long status; |
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atomic_t counter; |
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wait_queue_head_t wait; |
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struct cdev cdev; |
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struct mutex open_lock; |
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spinlock_t regs_lock; |
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/* used in NOT_OH mode */ |
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struct phm_regs oregs; |
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u32 ctl_reg; |
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}; |
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static unsigned char phantom_devices[PHANTOM_MAX_MINORS]; |
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static int phantom_status(struct phantom_device *dev, unsigned long newstat) |
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{ |
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pr_debug("phantom_status %lx %lx\n", dev->status, newstat); |
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|
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if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) { |
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atomic_set(&dev->counter, 0); |
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iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL); |
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iowrite32(0x43, dev->caddr + PHN_IRQCTL); |
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ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
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} else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) { |
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iowrite32(0, dev->caddr + PHN_IRQCTL); |
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ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
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} |
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dev->status = newstat; |
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return 0; |
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} |
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/* |
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* File ops |
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*/ |
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static long phantom_ioctl(struct file *file, unsigned int cmd, |
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unsigned long arg) |
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{ |
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struct phantom_device *dev = file->private_data; |
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struct phm_regs rs; |
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struct phm_reg r; |
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void __user *argp = (void __user *)arg; |
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unsigned long flags; |
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unsigned int i; |
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switch (cmd) { |
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case PHN_SETREG: |
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case PHN_SET_REG: |
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if (copy_from_user(&r, argp, sizeof(r))) |
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return -EFAULT; |
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if (r.reg > 7) |
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return -EINVAL; |
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spin_lock_irqsave(&dev->regs_lock, flags); |
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if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) && |
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phantom_status(dev, dev->status | PHB_RUNNING)){ |
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spin_unlock_irqrestore(&dev->regs_lock, flags); |
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return -ENODEV; |
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} |
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pr_debug("phantom: writing %x to %u\n", r.value, r.reg); |
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/* preserve amp bit (don't allow to change it when in NOT_OH) */ |
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if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) { |
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r.value &= ~PHN_CTL_AMP; |
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r.value |= dev->ctl_reg & PHN_CTL_AMP; |
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dev->ctl_reg = r.value; |
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} |
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iowrite32(r.value, dev->iaddr + r.reg); |
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ioread32(dev->iaddr); /* PCI posting */ |
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if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ)) |
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phantom_status(dev, dev->status & ~PHB_RUNNING); |
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spin_unlock_irqrestore(&dev->regs_lock, flags); |
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break; |
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case PHN_SETREGS: |
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case PHN_SET_REGS: |
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if (copy_from_user(&rs, argp, sizeof(rs))) |
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return -EFAULT; |
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pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask); |
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spin_lock_irqsave(&dev->regs_lock, flags); |
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if (dev->status & PHB_NOT_OH) |
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memcpy(&dev->oregs, &rs, sizeof(rs)); |
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else { |
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u32 m = min(rs.count, 8U); |
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for (i = 0; i < m; i++) |
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if (rs.mask & BIT(i)) |
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iowrite32(rs.values[i], dev->oaddr + i); |
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ioread32(dev->iaddr); /* PCI posting */ |
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} |
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spin_unlock_irqrestore(&dev->regs_lock, flags); |
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break; |
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case PHN_GETREG: |
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case PHN_GET_REG: |
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if (copy_from_user(&r, argp, sizeof(r))) |
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return -EFAULT; |
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if (r.reg > 7) |
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return -EINVAL; |
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r.value = ioread32(dev->iaddr + r.reg); |
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if (copy_to_user(argp, &r, sizeof(r))) |
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return -EFAULT; |
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break; |
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case PHN_GETREGS: |
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case PHN_GET_REGS: { |
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u32 m; |
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if (copy_from_user(&rs, argp, sizeof(rs))) |
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return -EFAULT; |
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m = min(rs.count, 8U); |
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pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask); |
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spin_lock_irqsave(&dev->regs_lock, flags); |
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for (i = 0; i < m; i++) |
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if (rs.mask & BIT(i)) |
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rs.values[i] = ioread32(dev->iaddr + i); |
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atomic_set(&dev->counter, 0); |
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spin_unlock_irqrestore(&dev->regs_lock, flags); |
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if (copy_to_user(argp, &rs, sizeof(rs))) |
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return -EFAULT; |
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break; |
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} case PHN_NOT_OH: |
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spin_lock_irqsave(&dev->regs_lock, flags); |
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if (dev->status & PHB_RUNNING) { |
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printk(KERN_ERR "phantom: you need to set NOT_OH " |
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"before you start the device!\n"); |
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spin_unlock_irqrestore(&dev->regs_lock, flags); |
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return -EINVAL; |
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} |
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dev->status |= PHB_NOT_OH; |
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spin_unlock_irqrestore(&dev->regs_lock, flags); |
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break; |
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default: |
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return -ENOTTY; |
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} |
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return 0; |
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} |
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#ifdef CONFIG_COMPAT |
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static long phantom_compat_ioctl(struct file *filp, unsigned int cmd, |
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unsigned long arg) |
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{ |
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if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) { |
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cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT); |
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cmd |= sizeof(void *) << _IOC_SIZESHIFT; |
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} |
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return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); |
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} |
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#else |
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#define phantom_compat_ioctl NULL |
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#endif |
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static int phantom_open(struct inode *inode, struct file *file) |
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{ |
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struct phantom_device *dev = container_of(inode->i_cdev, |
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struct phantom_device, cdev); |
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mutex_lock(&phantom_mutex); |
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nonseekable_open(inode, file); |
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if (mutex_lock_interruptible(&dev->open_lock)) { |
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mutex_unlock(&phantom_mutex); |
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return -ERESTARTSYS; |
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} |
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if (dev->opened) { |
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mutex_unlock(&dev->open_lock); |
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mutex_unlock(&phantom_mutex); |
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return -EINVAL; |
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} |
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WARN_ON(dev->status & PHB_NOT_OH); |
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file->private_data = dev; |
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atomic_set(&dev->counter, 0); |
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dev->opened++; |
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mutex_unlock(&dev->open_lock); |
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mutex_unlock(&phantom_mutex); |
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return 0; |
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} |
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static int phantom_release(struct inode *inode, struct file *file) |
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{ |
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struct phantom_device *dev = file->private_data; |
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mutex_lock(&dev->open_lock); |
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dev->opened = 0; |
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phantom_status(dev, dev->status & ~PHB_RUNNING); |
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dev->status &= ~PHB_NOT_OH; |
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mutex_unlock(&dev->open_lock); |
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return 0; |
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} |
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static __poll_t phantom_poll(struct file *file, poll_table *wait) |
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{ |
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struct phantom_device *dev = file->private_data; |
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__poll_t mask = 0; |
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pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter)); |
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poll_wait(file, &dev->wait, wait); |
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if (!(dev->status & PHB_RUNNING)) |
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mask = EPOLLERR; |
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else if (atomic_read(&dev->counter)) |
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mask = EPOLLIN | EPOLLRDNORM; |
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pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter)); |
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return mask; |
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} |
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static const struct file_operations phantom_file_ops = { |
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.open = phantom_open, |
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.release = phantom_release, |
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.unlocked_ioctl = phantom_ioctl, |
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.compat_ioctl = phantom_compat_ioctl, |
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.poll = phantom_poll, |
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.llseek = no_llseek, |
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}; |
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static irqreturn_t phantom_isr(int irq, void *data) |
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{ |
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struct phantom_device *dev = data; |
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unsigned int i; |
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u32 ctl; |
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spin_lock(&dev->regs_lock); |
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ctl = ioread32(dev->iaddr + PHN_CONTROL); |
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if (!(ctl & PHN_CTL_IRQ)) { |
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spin_unlock(&dev->regs_lock); |
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return IRQ_NONE; |
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} |
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iowrite32(0, dev->iaddr); |
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iowrite32(0xc0, dev->iaddr); |
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if (dev->status & PHB_NOT_OH) { |
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struct phm_regs *r = &dev->oregs; |
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u32 m = min(r->count, 8U); |
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for (i = 0; i < m; i++) |
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if (r->mask & BIT(i)) |
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iowrite32(r->values[i], dev->oaddr + i); |
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dev->ctl_reg ^= PHN_CTL_AMP; |
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iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL); |
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} |
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spin_unlock(&dev->regs_lock); |
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ioread32(dev->iaddr); /* PCI posting */ |
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atomic_inc(&dev->counter); |
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wake_up_interruptible(&dev->wait); |
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return IRQ_HANDLED; |
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} |
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/* |
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* Init and deinit driver |
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*/ |
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static unsigned int phantom_get_free(void) |
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{ |
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unsigned int i; |
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for (i = 0; i < PHANTOM_MAX_MINORS; i++) |
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if (phantom_devices[i] == 0) |
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break; |
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return i; |
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} |
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static int phantom_probe(struct pci_dev *pdev, |
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const struct pci_device_id *pci_id) |
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{ |
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struct phantom_device *pht; |
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unsigned int minor; |
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int retval; |
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retval = pci_enable_device(pdev); |
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if (retval) { |
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dev_err(&pdev->dev, "pci_enable_device failed!\n"); |
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goto err; |
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} |
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minor = phantom_get_free(); |
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if (minor == PHANTOM_MAX_MINORS) { |
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dev_err(&pdev->dev, "too many devices found!\n"); |
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retval = -EIO; |
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goto err_dis; |
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} |
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phantom_devices[minor] = 1; |
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retval = pci_request_regions(pdev, "phantom"); |
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if (retval) { |
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dev_err(&pdev->dev, "pci_request_regions failed!\n"); |
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goto err_null; |
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} |
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retval = -ENOMEM; |
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pht = kzalloc(sizeof(*pht), GFP_KERNEL); |
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if (pht == NULL) { |
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dev_err(&pdev->dev, "unable to allocate device\n"); |
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goto err_reg; |
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} |
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pht->caddr = pci_iomap(pdev, 0, 0); |
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if (pht->caddr == NULL) { |
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dev_err(&pdev->dev, "can't remap conf space\n"); |
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goto err_fr; |
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} |
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pht->iaddr = pci_iomap(pdev, 2, 0); |
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if (pht->iaddr == NULL) { |
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dev_err(&pdev->dev, "can't remap input space\n"); |
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goto err_unmc; |
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} |
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pht->oaddr = pci_iomap(pdev, 3, 0); |
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if (pht->oaddr == NULL) { |
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dev_err(&pdev->dev, "can't remap output space\n"); |
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goto err_unmi; |
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} |
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mutex_init(&pht->open_lock); |
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spin_lock_init(&pht->regs_lock); |
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init_waitqueue_head(&pht->wait); |
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cdev_init(&pht->cdev, &phantom_file_ops); |
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pht->cdev.owner = THIS_MODULE; |
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iowrite32(0, pht->caddr + PHN_IRQCTL); |
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ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ |
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retval = request_irq(pdev->irq, phantom_isr, |
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IRQF_SHARED, "phantom", pht); |
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if (retval) { |
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dev_err(&pdev->dev, "can't establish ISR\n"); |
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goto err_unmo; |
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} |
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retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1); |
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if (retval) { |
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dev_err(&pdev->dev, "chardev registration failed\n"); |
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goto err_irq; |
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} |
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if (IS_ERR(device_create(phantom_class, &pdev->dev, |
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MKDEV(phantom_major, minor), NULL, |
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"phantom%u", minor))) |
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dev_err(&pdev->dev, "can't create device\n"); |
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pci_set_drvdata(pdev, pht); |
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return 0; |
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err_irq: |
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free_irq(pdev->irq, pht); |
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err_unmo: |
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pci_iounmap(pdev, pht->oaddr); |
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err_unmi: |
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pci_iounmap(pdev, pht->iaddr); |
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err_unmc: |
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pci_iounmap(pdev, pht->caddr); |
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err_fr: |
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kfree(pht); |
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err_reg: |
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pci_release_regions(pdev); |
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err_null: |
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phantom_devices[minor] = 0; |
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err_dis: |
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pci_disable_device(pdev); |
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err: |
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return retval; |
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} |
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static void phantom_remove(struct pci_dev *pdev) |
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{ |
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struct phantom_device *pht = pci_get_drvdata(pdev); |
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unsigned int minor = MINOR(pht->cdev.dev); |
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device_destroy(phantom_class, MKDEV(phantom_major, minor)); |
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cdev_del(&pht->cdev); |
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iowrite32(0, pht->caddr + PHN_IRQCTL); |
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ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */ |
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free_irq(pdev->irq, pht); |
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pci_iounmap(pdev, pht->oaddr); |
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pci_iounmap(pdev, pht->iaddr); |
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pci_iounmap(pdev, pht->caddr); |
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kfree(pht); |
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pci_release_regions(pdev); |
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phantom_devices[minor] = 0; |
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pci_disable_device(pdev); |
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} |
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static int __maybe_unused phantom_suspend(struct device *dev_d) |
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{ |
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struct phantom_device *dev = dev_get_drvdata(dev_d); |
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iowrite32(0, dev->caddr + PHN_IRQCTL); |
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ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */ |
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synchronize_irq(to_pci_dev(dev_d)->irq); |
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return 0; |
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} |
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static int __maybe_unused phantom_resume(struct device *dev_d) |
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{ |
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struct phantom_device *dev = dev_get_drvdata(dev_d); |
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iowrite32(0, dev->caddr + PHN_IRQCTL); |
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return 0; |
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} |
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static struct pci_device_id phantom_pci_tbl[] = { |
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{ .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050, |
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.subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050, |
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.class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 }, |
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{ 0, } |
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}; |
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MODULE_DEVICE_TABLE(pci, phantom_pci_tbl); |
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static SIMPLE_DEV_PM_OPS(phantom_pm_ops, phantom_suspend, phantom_resume); |
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static struct pci_driver phantom_pci_driver = { |
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.name = "phantom", |
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.id_table = phantom_pci_tbl, |
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.probe = phantom_probe, |
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.remove = phantom_remove, |
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.driver.pm = &phantom_pm_ops, |
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}; |
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static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION); |
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static int __init phantom_init(void) |
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{ |
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int retval; |
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dev_t dev; |
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phantom_class = class_create(THIS_MODULE, "phantom"); |
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if (IS_ERR(phantom_class)) { |
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retval = PTR_ERR(phantom_class); |
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printk(KERN_ERR "phantom: can't register phantom class\n"); |
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goto err; |
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} |
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retval = class_create_file(phantom_class, &class_attr_version.attr); |
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if (retval) { |
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printk(KERN_ERR "phantom: can't create sysfs version file\n"); |
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goto err_class; |
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} |
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retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom"); |
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if (retval) { |
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printk(KERN_ERR "phantom: can't register character device\n"); |
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goto err_attr; |
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} |
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phantom_major = MAJOR(dev); |
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retval = pci_register_driver(&phantom_pci_driver); |
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if (retval) { |
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printk(KERN_ERR "phantom: can't register pci driver\n"); |
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goto err_unchr; |
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} |
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printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", " |
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"init OK\n"); |
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return 0; |
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err_unchr: |
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unregister_chrdev_region(dev, PHANTOM_MAX_MINORS); |
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err_attr: |
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class_remove_file(phantom_class, &class_attr_version.attr); |
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err_class: |
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class_destroy(phantom_class); |
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err: |
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return retval; |
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} |
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static void __exit phantom_exit(void) |
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{ |
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pci_unregister_driver(&phantom_pci_driver); |
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unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS); |
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class_remove_file(phantom_class, &class_attr_version.attr); |
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class_destroy(phantom_class); |
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pr_debug("phantom: module successfully removed\n"); |
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} |
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module_init(phantom_init); |
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module_exit(phantom_exit); |
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MODULE_AUTHOR("Jiri Slaby <[email protected]>"); |
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MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)"); |
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MODULE_LICENSE("GPL"); |
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MODULE_VERSION(PHANTOM_VERSION);
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