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-rw-r--r--drivers/misc/phantom.c571
1 files changed, 571 insertions, 0 deletions
diff --git a/drivers/misc/phantom.c b/drivers/misc/phantom.c
new file mode 100644
index 000000000..b084245f6
--- /dev/null
+++ b/drivers/misc/phantom.c
@@ -0,0 +1,571 @@
+/*
+ * 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 <linux/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 __poll_t phantom_poll(struct file *file, poll_table *wait)
+{
+ struct phantom_device *dev = file->private_data;
+ __poll_t mask = 0;
+
+ pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
+ poll_wait(file, &dev->wait, wait);
+
+ if (!(dev->status & PHB_RUNNING))
+ mask = EPOLLERR;
+ else if (atomic_read(&dev->counter))
+ mask = EPOLLIN | EPOLLRDNORM;
+
+ 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 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 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, "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 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[] = {
+ { .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 = 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);
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-28 18:46:49 +0000