2 * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
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.
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.
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>
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>
29 #include <asm/atomic.h>
32 #define PHANTOM_VERSION "n0.9.8"
34 #define PHANTOM_MAX_MINORS 8
36 #define PHN_IRQCTL 0x4c /* irq control in caddr space */
41 static DEFINE_MUTEX(phantom_mutex);
42 static struct class *phantom_class;
43 static int phantom_major;
45 struct phantom_device {
53 wait_queue_head_t wait;
56 struct mutex open_lock;
59 /* used in NOT_OH mode */
60 struct phm_regs oregs;
64 static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
66 static int phantom_status(struct phantom_device *dev, unsigned long newstat)
68 pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
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 */
80 dev->status = newstat;
89 static long phantom_ioctl(struct file *file, unsigned int cmd,
92 struct phantom_device *dev = file->private_data;
95 void __user *argp = (void __user *)arg;
102 if (copy_from_user(&r, argp, sizeof(r)))
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);
115 pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
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;
124 iowrite32(r.value, dev->iaddr + r.reg);
125 ioread32(dev->iaddr); /* PCI posting */
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);
133 if (copy_from_user(&rs, argp, sizeof(rs)))
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));
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 */
147 spin_unlock_irqrestore(&dev->regs_lock, flags);
151 if (copy_from_user(&r, argp, sizeof(r)))
157 r.value = ioread32(dev->iaddr + r.reg);
159 if (copy_to_user(argp, &r, sizeof(r)))
166 if (copy_from_user(&rs, argp, sizeof(rs)))
169 m = min(rs.count, 8U);
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);
179 if (copy_to_user(argp, &rs, sizeof(rs)))
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);
190 dev->status |= PHB_NOT_OH;
191 spin_unlock_irqrestore(&dev->regs_lock, flags);
201 static long phantom_compat_ioctl(struct file *filp, unsigned int cmd,
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;
208 return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg));
211 #define phantom_compat_ioctl NULL
214 static int phantom_open(struct inode *inode, struct file *file)
216 struct phantom_device *dev = container_of(inode->i_cdev,
217 struct phantom_device, cdev);
219 mutex_lock(&phantom_mutex);
220 nonseekable_open(inode, file);
222 if (mutex_lock_interruptible(&dev->open_lock)) {
223 mutex_unlock(&phantom_mutex);
228 mutex_unlock(&dev->open_lock);
229 mutex_unlock(&phantom_mutex);
233 WARN_ON(dev->status & PHB_NOT_OH);
235 file->private_data = dev;
237 atomic_set(&dev->counter, 0);
239 mutex_unlock(&dev->open_lock);
240 mutex_unlock(&phantom_mutex);
244 static int phantom_release(struct inode *inode, struct file *file)
246 struct phantom_device *dev = file->private_data;
248 mutex_lock(&dev->open_lock);
251 phantom_status(dev, dev->status & ~PHB_RUNNING);
252 dev->status &= ~PHB_NOT_OH;
254 mutex_unlock(&dev->open_lock);
259 static unsigned int phantom_poll(struct file *file, poll_table *wait)
261 struct phantom_device *dev = file->private_data;
262 unsigned int mask = 0;
264 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
265 poll_wait(file, &dev->wait, wait);
267 if (!(dev->status & PHB_RUNNING))
269 else if (atomic_read(&dev->counter))
270 mask = POLLIN | POLLRDNORM;
272 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
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,
286 static irqreturn_t phantom_isr(int irq, void *data)
288 struct phantom_device *dev = data;
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);
299 iowrite32(0, dev->iaddr);
300 iowrite32(0xc0, dev->iaddr);
302 if (dev->status & PHB_NOT_OH) {
303 struct phm_regs *r = &dev->oregs;
304 u32 m = min(r->count, 8U);
306 for (i = 0; i < m; i++)
307 if (r->mask & BIT(i))
308 iowrite32(r->values[i], dev->oaddr + i);
310 dev->ctl_reg ^= PHN_CTL_AMP;
311 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
313 spin_unlock(&dev->regs_lock);
315 ioread32(dev->iaddr); /* PCI posting */
317 atomic_inc(&dev->counter);
318 wake_up_interruptible(&dev->wait);
324 * Init and deinit driver
327 static unsigned int __devinit phantom_get_free(void)
331 for (i = 0; i < PHANTOM_MAX_MINORS; i++)
332 if (phantom_devices[i] == 0)
338 static int __devinit phantom_probe(struct pci_dev *pdev,
339 const struct pci_device_id *pci_id)
341 struct phantom_device *pht;
345 retval = pci_enable_device(pdev);
349 minor = phantom_get_free();
350 if (minor == PHANTOM_MAX_MINORS) {
351 dev_err(&pdev->dev, "too many devices found!\n");
356 phantom_devices[minor] = 1;
358 retval = pci_request_regions(pdev, "phantom");
363 pht = kzalloc(sizeof(*pht), GFP_KERNEL);
365 dev_err(&pdev->dev, "unable to allocate device\n");
369 pht->caddr = pci_iomap(pdev, 0, 0);
370 if (pht->caddr == NULL) {
371 dev_err(&pdev->dev, "can't remap conf space\n");
374 pht->iaddr = pci_iomap(pdev, 2, 0);
375 if (pht->iaddr == NULL) {
376 dev_err(&pdev->dev, "can't remap input space\n");
379 pht->oaddr = pci_iomap(pdev, 3, 0);
380 if (pht->oaddr == NULL) {
381 dev_err(&pdev->dev, "can't remap output space\n");
385 mutex_init(&pht->open_lock);
386 spin_lock_init(&pht->regs_lock);
387 init_waitqueue_head(&pht->wait);
388 cdev_init(&pht->cdev, &phantom_file_ops);
389 pht->cdev.owner = THIS_MODULE;
391 iowrite32(0, pht->caddr + PHN_IRQCTL);
392 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
393 retval = request_irq(pdev->irq, phantom_isr,
394 IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
396 dev_err(&pdev->dev, "can't establish ISR\n");
400 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
402 dev_err(&pdev->dev, "chardev registration failed\n");
406 if (IS_ERR(device_create(phantom_class, &pdev->dev,
407 MKDEV(phantom_major, minor), NULL,
408 "phantom%u", minor)))
409 dev_err(&pdev->dev, "can't create device\n");
411 pci_set_drvdata(pdev, pht);
415 free_irq(pdev->irq, pht);
417 pci_iounmap(pdev, pht->oaddr);
419 pci_iounmap(pdev, pht->iaddr);
421 pci_iounmap(pdev, pht->caddr);
425 pci_release_regions(pdev);
427 phantom_devices[minor] = 0;
429 pci_disable_device(pdev);
434 static void __devexit phantom_remove(struct pci_dev *pdev)
436 struct phantom_device *pht = pci_get_drvdata(pdev);
437 unsigned int minor = MINOR(pht->cdev.dev);
439 device_destroy(phantom_class, MKDEV(phantom_major, minor));
441 cdev_del(&pht->cdev);
443 iowrite32(0, pht->caddr + PHN_IRQCTL);
444 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
445 free_irq(pdev->irq, pht);
447 pci_iounmap(pdev, pht->oaddr);
448 pci_iounmap(pdev, pht->iaddr);
449 pci_iounmap(pdev, pht->caddr);
453 pci_release_regions(pdev);
455 phantom_devices[minor] = 0;
457 pci_disable_device(pdev);
461 static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
463 struct phantom_device *dev = pci_get_drvdata(pdev);
465 iowrite32(0, dev->caddr + PHN_IRQCTL);
466 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
468 synchronize_irq(pdev->irq);
473 static int phantom_resume(struct pci_dev *pdev)
475 struct phantom_device *dev = pci_get_drvdata(pdev);
477 iowrite32(0, dev->caddr + PHN_IRQCTL);
482 #define phantom_suspend NULL
483 #define phantom_resume NULL
486 static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
487 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050,
488 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050,
489 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
492 MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
494 static struct pci_driver phantom_pci_driver = {
496 .id_table = phantom_pci_tbl,
497 .probe = phantom_probe,
498 .remove = __devexit_p(phantom_remove),
499 .suspend = phantom_suspend,
500 .resume = phantom_resume
503 static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
505 static int __init phantom_init(void)
510 phantom_class = class_create(THIS_MODULE, "phantom");
511 if (IS_ERR(phantom_class)) {
512 retval = PTR_ERR(phantom_class);
513 printk(KERN_ERR "phantom: can't register phantom class\n");
516 retval = class_create_file(phantom_class, &class_attr_version.attr);
518 printk(KERN_ERR "phantom: can't create sysfs version file\n");
522 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
524 printk(KERN_ERR "phantom: can't register character device\n");
527 phantom_major = MAJOR(dev);
529 retval = pci_register_driver(&phantom_pci_driver);
531 printk(KERN_ERR "phantom: can't register pci driver\n");
535 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
540 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
542 class_remove_file(phantom_class, &class_attr_version.attr);
544 class_destroy(phantom_class);
549 static void __exit phantom_exit(void)
551 pci_unregister_driver(&phantom_pci_driver);
553 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
555 class_remove_file(phantom_class, &class_attr_version.attr);
556 class_destroy(phantom_class);
558 pr_debug("phantom: module successfully removed\n");
561 module_init(phantom_init);
562 module_exit(phantom_exit);
564 MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
565 MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)");
566 MODULE_LICENSE("GPL");
567 MODULE_VERSION(PHANTOM_VERSION);