// SPDX-License-Identifier: GPL-2.0-or-later /* * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com> * * 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);