1// SPDX-License-Identifier: GPL-2.0-or-later
2/*
3 * Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
4 *
5 * You need a userspace library to cooperate with this driver. It (and other
6 * info) may be obtained here:
7 * http://www.fi.muni.cz/~xslaby/phantom.html
8 * or alternatively, you might use OpenHaptics provided by Sensable.
9 */
10
11#include <linux/compat.h>
12#include <linux/kernel.h>
13#include <linux/module.h>
14#include <linux/device.h>
15#include <linux/pci.h>
16#include <linux/fs.h>
17#include <linux/poll.h>
18#include <linux/interrupt.h>
19#include <linux/cdev.h>
20#include <linux/slab.h>
21#include <linux/phantom.h>
22#include <linux/sched.h>
23#include <linux/mutex.h>
24
25#include <linux/atomic.h>
26#include <asm/io.h>
27
28#define PHANTOM_VERSION "n0.9.8"
29
30#define PHANTOM_MAX_MINORS 8
31
32#define PHN_IRQCTL 0x4c /* irq control in caddr space */
33
34#define PHB_RUNNING 1
35#define PHB_NOT_OH 2
36
37static DEFINE_MUTEX(phantom_mutex);
38static int phantom_major;
39
40static const struct class phantom_class = {
41 .name = "phantom",
42};
43
44struct phantom_device {
45 unsigned int opened;
46 void __iomem *caddr;
47 u32 __iomem *iaddr;
48 u32 __iomem *oaddr;
49 unsigned long status;
50 atomic_t counter;
51
52 wait_queue_head_t wait;
53 struct cdev cdev;
54
55 struct mutex open_lock;
56 spinlock_t regs_lock;
57
58 /* used in NOT_OH mode */
59 struct phm_regs oregs;
60 u32 ctl_reg;
61};
62
63static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
64
65static int phantom_status(struct phantom_device *dev, unsigned long newstat)
66{
67 pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
68
69 if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
70 atomic_set(v: &dev->counter, i: 0);
71 iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
72 iowrite32(0x43, dev->caddr + PHN_IRQCTL);
73 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
74 } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) {
75 iowrite32(0, dev->caddr + PHN_IRQCTL);
76 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
77 }
78
79 dev->status = newstat;
80
81 return 0;
82}
83
84/*
85 * File ops
86 */
87
88static long phantom_ioctl(struct file *file, unsigned int cmd,
89 unsigned long arg)
90{
91 struct phantom_device *dev = file->private_data;
92 struct phm_regs rs;
93 struct phm_reg r;
94 void __user *argp = (void __user *)arg;
95 unsigned long flags;
96 unsigned int i;
97
98 switch (cmd) {
99 case PHN_SETREG:
100 case PHN_SET_REG:
101 if (copy_from_user(to: &r, from: argp, n: sizeof(r)))
102 return -EFAULT;
103
104 if (r.reg > 7)
105 return -EINVAL;
106
107 spin_lock_irqsave(&dev->regs_lock, flags);
108 if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
109 phantom_status(dev, newstat: dev->status | PHB_RUNNING)){
110 spin_unlock_irqrestore(lock: &dev->regs_lock, flags);
111 return -ENODEV;
112 }
113
114 pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
115
116 /* preserve amp bit (don't allow to change it when in NOT_OH) */
117 if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) {
118 r.value &= ~PHN_CTL_AMP;
119 r.value |= dev->ctl_reg & PHN_CTL_AMP;
120 dev->ctl_reg = r.value;
121 }
122
123 iowrite32(r.value, dev->iaddr + r.reg);
124 ioread32(dev->iaddr); /* PCI posting */
125
126 if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
127 phantom_status(dev, newstat: dev->status & ~PHB_RUNNING);
128 spin_unlock_irqrestore(lock: &dev->regs_lock, flags);
129 break;
130 case PHN_SETREGS:
131 case PHN_SET_REGS:
132 if (copy_from_user(to: &rs, from: argp, n: sizeof(rs)))
133 return -EFAULT;
134
135 pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask);
136 spin_lock_irqsave(&dev->regs_lock, flags);
137 if (dev->status & PHB_NOT_OH)
138 memcpy(&dev->oregs, &rs, sizeof(rs));
139 else {
140 u32 m = min(rs.count, 8U);
141 for (i = 0; i < m; i++)
142 if (rs.mask & BIT(i))
143 iowrite32(rs.values[i], dev->oaddr + i);
144 ioread32(dev->iaddr); /* PCI posting */
145 }
146 spin_unlock_irqrestore(lock: &dev->regs_lock, flags);
147 break;
148 case PHN_GETREG:
149 case PHN_GET_REG:
150 if (copy_from_user(to: &r, from: argp, n: sizeof(r)))
151 return -EFAULT;
152
153 if (r.reg > 7)
154 return -EINVAL;
155
156 r.value = ioread32(dev->iaddr + r.reg);
157
158 if (copy_to_user(to: argp, from: &r, n: sizeof(r)))
159 return -EFAULT;
160 break;
161 case PHN_GETREGS:
162 case PHN_GET_REGS: {
163 u32 m;
164
165 if (copy_from_user(to: &rs, from: argp, n: sizeof(rs)))
166 return -EFAULT;
167
168 m = min(rs.count, 8U);
169
170 pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
171 spin_lock_irqsave(&dev->regs_lock, flags);
172 for (i = 0; i < m; i++)
173 if (rs.mask & BIT(i))
174 rs.values[i] = ioread32(dev->iaddr + i);
175 atomic_set(v: &dev->counter, i: 0);
176 spin_unlock_irqrestore(lock: &dev->regs_lock, flags);
177
178 if (copy_to_user(to: argp, from: &rs, n: sizeof(rs)))
179 return -EFAULT;
180 break;
181 } case PHN_NOT_OH:
182 spin_lock_irqsave(&dev->regs_lock, flags);
183 if (dev->status & PHB_RUNNING) {
184 printk(KERN_ERR "phantom: you need to set NOT_OH "
185 "before you start the device!\n");
186 spin_unlock_irqrestore(lock: &dev->regs_lock, flags);
187 return -EINVAL;
188 }
189 dev->status |= PHB_NOT_OH;
190 spin_unlock_irqrestore(lock: &dev->regs_lock, flags);
191 break;
192 default:
193 return -ENOTTY;
194 }
195
196 return 0;
197}
198
199#ifdef CONFIG_COMPAT
200static long phantom_compat_ioctl(struct file *filp, unsigned int cmd,
201 unsigned long arg)
202{
203 if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) {
204 cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT);
205 cmd |= sizeof(void *) << _IOC_SIZESHIFT;
206 }
207 return phantom_ioctl(file: filp, cmd, arg: (unsigned long)compat_ptr(uptr: arg));
208}
209#else
210#define phantom_compat_ioctl NULL
211#endif
212
213static int phantom_open(struct inode *inode, struct file *file)
214{
215 struct phantom_device *dev = container_of(inode->i_cdev,
216 struct phantom_device, cdev);
217
218 mutex_lock(&phantom_mutex);
219 nonseekable_open(inode, filp: file);
220
221 if (mutex_lock_interruptible(&dev->open_lock)) {
222 mutex_unlock(lock: &phantom_mutex);
223 return -ERESTARTSYS;
224 }
225
226 if (dev->opened) {
227 mutex_unlock(lock: &dev->open_lock);
228 mutex_unlock(lock: &phantom_mutex);
229 return -EINVAL;
230 }
231
232 WARN_ON(dev->status & PHB_NOT_OH);
233
234 file->private_data = dev;
235
236 atomic_set(v: &dev->counter, i: 0);
237 dev->opened++;
238 mutex_unlock(lock: &dev->open_lock);
239 mutex_unlock(lock: &phantom_mutex);
240 return 0;
241}
242
243static int phantom_release(struct inode *inode, struct file *file)
244{
245 struct phantom_device *dev = file->private_data;
246
247 mutex_lock(&dev->open_lock);
248
249 dev->opened = 0;
250 phantom_status(dev, newstat: dev->status & ~PHB_RUNNING);
251 dev->status &= ~PHB_NOT_OH;
252
253 mutex_unlock(lock: &dev->open_lock);
254
255 return 0;
256}
257
258static __poll_t phantom_poll(struct file *file, poll_table *wait)
259{
260 struct phantom_device *dev = file->private_data;
261 __poll_t mask = 0;
262
263 pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
264 poll_wait(filp: file, wait_address: &dev->wait, p: wait);
265
266 if (!(dev->status & PHB_RUNNING))
267 mask = EPOLLERR;
268 else if (atomic_read(v: &dev->counter))
269 mask = EPOLLIN | EPOLLRDNORM;
270
271 pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
272
273 return mask;
274}
275
276static const struct file_operations phantom_file_ops = {
277 .open = phantom_open,
278 .release = phantom_release,
279 .unlocked_ioctl = phantom_ioctl,
280 .compat_ioctl = phantom_compat_ioctl,
281 .poll = phantom_poll,
282 .llseek = no_llseek,
283};
284
285static irqreturn_t phantom_isr(int irq, void *data)
286{
287 struct phantom_device *dev = data;
288 unsigned int i;
289 u32 ctl;
290
291 spin_lock(lock: &dev->regs_lock);
292 ctl = ioread32(dev->iaddr + PHN_CONTROL);
293 if (!(ctl & PHN_CTL_IRQ)) {
294 spin_unlock(lock: &dev->regs_lock);
295 return IRQ_NONE;
296 }
297
298 iowrite32(0, dev->iaddr);
299 iowrite32(0xc0, dev->iaddr);
300
301 if (dev->status & PHB_NOT_OH) {
302 struct phm_regs *r = &dev->oregs;
303 u32 m = min(r->count, 8U);
304
305 for (i = 0; i < m; i++)
306 if (r->mask & BIT(i))
307 iowrite32(r->values[i], dev->oaddr + i);
308
309 dev->ctl_reg ^= PHN_CTL_AMP;
310 iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
311 }
312 spin_unlock(lock: &dev->regs_lock);
313
314 ioread32(dev->iaddr); /* PCI posting */
315
316 atomic_inc(v: &dev->counter);
317 wake_up_interruptible(&dev->wait);
318
319 return IRQ_HANDLED;
320}
321
322/*
323 * Init and deinit driver
324 */
325
326static unsigned int phantom_get_free(void)
327{
328 unsigned int i;
329
330 for (i = 0; i < PHANTOM_MAX_MINORS; i++)
331 if (phantom_devices[i] == 0)
332 break;
333
334 return i;
335}
336
337static int phantom_probe(struct pci_dev *pdev,
338 const struct pci_device_id *pci_id)
339{
340 struct phantom_device *pht;
341 unsigned int minor;
342 int retval;
343
344 retval = pci_enable_device(dev: pdev);
345 if (retval) {
346 dev_err(&pdev->dev, "pci_enable_device failed!\n");
347 goto err;
348 }
349
350 minor = phantom_get_free();
351 if (minor == PHANTOM_MAX_MINORS) {
352 dev_err(&pdev->dev, "too many devices found!\n");
353 retval = -EIO;
354 goto err_dis;
355 }
356
357 phantom_devices[minor] = 1;
358
359 retval = pci_request_regions(pdev, "phantom");
360 if (retval) {
361 dev_err(&pdev->dev, "pci_request_regions failed!\n");
362 goto err_null;
363 }
364
365 retval = -ENOMEM;
366 pht = kzalloc(size: sizeof(*pht), GFP_KERNEL);
367 if (pht == NULL) {
368 dev_err(&pdev->dev, "unable to allocate device\n");
369 goto err_reg;
370 }
371
372 pht->caddr = pci_iomap(dev: pdev, bar: 0, max: 0);
373 if (pht->caddr == NULL) {
374 dev_err(&pdev->dev, "can't remap conf space\n");
375 goto err_fr;
376 }
377 pht->iaddr = pci_iomap(dev: pdev, bar: 2, max: 0);
378 if (pht->iaddr == NULL) {
379 dev_err(&pdev->dev, "can't remap input space\n");
380 goto err_unmc;
381 }
382 pht->oaddr = pci_iomap(dev: pdev, bar: 3, max: 0);
383 if (pht->oaddr == NULL) {
384 dev_err(&pdev->dev, "can't remap output space\n");
385 goto err_unmi;
386 }
387
388 mutex_init(&pht->open_lock);
389 spin_lock_init(&pht->regs_lock);
390 init_waitqueue_head(&pht->wait);
391 cdev_init(&pht->cdev, &phantom_file_ops);
392 pht->cdev.owner = THIS_MODULE;
393
394 iowrite32(0, pht->caddr + PHN_IRQCTL);
395 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
396 retval = request_irq(irq: pdev->irq, handler: phantom_isr,
397 IRQF_SHARED, name: "phantom", dev: pht);
398 if (retval) {
399 dev_err(&pdev->dev, "can't establish ISR\n");
400 goto err_unmo;
401 }
402
403 retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
404 if (retval) {
405 dev_err(&pdev->dev, "chardev registration failed\n");
406 goto err_irq;
407 }
408
409 if (IS_ERR(ptr: device_create(cls: &phantom_class, parent: &pdev->dev,
410 MKDEV(phantom_major, minor), NULL,
411 fmt: "phantom%u", minor)))
412 dev_err(&pdev->dev, "can't create device\n");
413
414 pci_set_drvdata(pdev, data: pht);
415
416 return 0;
417err_irq:
418 free_irq(pdev->irq, pht);
419err_unmo:
420 pci_iounmap(dev: pdev, pht->oaddr);
421err_unmi:
422 pci_iounmap(dev: pdev, pht->iaddr);
423err_unmc:
424 pci_iounmap(dev: pdev, pht->caddr);
425err_fr:
426 kfree(objp: pht);
427err_reg:
428 pci_release_regions(pdev);
429err_null:
430 phantom_devices[minor] = 0;
431err_dis:
432 pci_disable_device(dev: pdev);
433err:
434 return retval;
435}
436
437static void phantom_remove(struct pci_dev *pdev)
438{
439 struct phantom_device *pht = pci_get_drvdata(pdev);
440 unsigned int minor = MINOR(pht->cdev.dev);
441
442 device_destroy(cls: &phantom_class, MKDEV(phantom_major, minor));
443
444 cdev_del(&pht->cdev);
445
446 iowrite32(0, pht->caddr + PHN_IRQCTL);
447 ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
448 free_irq(pdev->irq, pht);
449
450 pci_iounmap(dev: pdev, pht->oaddr);
451 pci_iounmap(dev: pdev, pht->iaddr);
452 pci_iounmap(dev: pdev, pht->caddr);
453
454 kfree(objp: pht);
455
456 pci_release_regions(pdev);
457
458 phantom_devices[minor] = 0;
459
460 pci_disable_device(dev: pdev);
461}
462
463static int __maybe_unused phantom_suspend(struct device *dev_d)
464{
465 struct phantom_device *dev = dev_get_drvdata(dev: dev_d);
466
467 iowrite32(0, dev->caddr + PHN_IRQCTL);
468 ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
469
470 synchronize_irq(to_pci_dev(dev_d)->irq);
471
472 return 0;
473}
474
475static int __maybe_unused phantom_resume(struct device *dev_d)
476{
477 struct phantom_device *dev = dev_get_drvdata(dev: dev_d);
478
479 iowrite32(0, dev->caddr + PHN_IRQCTL);
480
481 return 0;
482}
483
484static struct pci_device_id phantom_pci_tbl[] = {
485 { .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050,
486 .subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050,
487 .class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
488 { 0, }
489};
490MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
491
492static SIMPLE_DEV_PM_OPS(phantom_pm_ops, phantom_suspend, phantom_resume);
493
494static struct pci_driver phantom_pci_driver = {
495 .name = "phantom",
496 .id_table = phantom_pci_tbl,
497 .probe = phantom_probe,
498 .remove = phantom_remove,
499 .driver.pm = &phantom_pm_ops,
500};
501
502static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
503
504static int __init phantom_init(void)
505{
506 int retval;
507 dev_t dev;
508
509 retval = class_register(class: &phantom_class);
510 if (retval) {
511 printk(KERN_ERR "phantom: can't register phantom class\n");
512 goto err;
513 }
514 retval = class_create_file(class: &phantom_class, attr: &class_attr_version.attr);
515 if (retval) {
516 printk(KERN_ERR "phantom: can't create sysfs version file\n");
517 goto err_class;
518 }
519
520 retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
521 if (retval) {
522 printk(KERN_ERR "phantom: can't register character device\n");
523 goto err_attr;
524 }
525 phantom_major = MAJOR(dev);
526
527 retval = pci_register_driver(&phantom_pci_driver);
528 if (retval) {
529 printk(KERN_ERR "phantom: can't register pci driver\n");
530 goto err_unchr;
531 }
532
533 printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
534 "init OK\n");
535
536 return 0;
537err_unchr:
538 unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
539err_attr:
540 class_remove_file(class: &phantom_class, attr: &class_attr_version.attr);
541err_class:
542 class_unregister(class: &phantom_class);
543err:
544 return retval;
545}
546
547static void __exit phantom_exit(void)
548{
549 pci_unregister_driver(dev: &phantom_pci_driver);
550
551 unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
552
553 class_remove_file(class: &phantom_class, attr: &class_attr_version.attr);
554 class_unregister(class: &phantom_class);
555
556 pr_debug("phantom: module successfully removed\n");
557}
558
559module_init(phantom_init);
560module_exit(phantom_exit);
561
562MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
563MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)");
564MODULE_LICENSE("GPL");
565MODULE_VERSION(PHANTOM_VERSION);
566

source code of linux/drivers/misc/phantom.c