Commit cef2cf07 authored by Jiri Slaby's avatar Jiri Slaby Committed by Linus Torvalds
Browse files

Misc: add sensable phantom driver 



Add sensable phantom driver

Signed-off-by: default avatarJiri Slaby <jirislaby@gmail.com>
Signed-off-by: default avatarAndrew Morton <akpm@linux-foundation.org>
Signed-off-by: default avatarLinus Torvalds <torvalds@linux-foundation.org>
parent 6f7f02e7

Documentation/ioctl-number.txt

+2 −1
Original line number Diff line number Diff line
@@ -138,7 +138,8 @@ Code Seq# Include File Comments 
'm'	00-1F	net/irda/irmod.h	conflict!

'n'	00-7F	linux/ncp_fs.h

'n'	E0-FF	video/matrox.h          matroxfb

'p'	00-3F	linux/mc146818rtc.h

'p'	00-0F	linux/phantom.h		conflict! (OpenHaptics needs this)

'p'	00-3F	linux/mc146818rtc.h	conflict!

'p'	40-7F	linux/nvram.h

'p'	80-9F				user-space parport

					<mailto:tim@cyberelk.net>

MAINTAINERS

+5 −0
Original line number Diff line number Diff line
@@ -3108,6 +3108,11 @@ L: selinux@tycho.nsa.gov (subscribers-only, general discussion) 
W:	http://www.nsa.gov/selinux

S:	Supported



SENSABLE PHANTOM

P:	Jiri Slaby

M:	jirislaby@gmail.com

S:	Maintained



SERIAL ATA (SATA) SUBSYSTEM:

P:	Jeff Garzik

M:	jgarzik@pobox.com

drivers/misc/Kconfig

+9 −0
Original line number Diff line number Diff line
@@ -25,6 +25,15 @@ config IBM_ASM 
	  information on the specific driver level and support statement

	  for your IBM server.



config PHANTOM

	tristate "Sensable PHANToM"

	depends on PCI

	help

	  Say Y here if you want to build a driver for Sensable PHANToM device.



	  If you choose to build module, its name will be phantom. If unsure,

	  say N here.





	  If unsure, say N.

drivers/misc/Makefile

+1 −0
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@@ -11,6 +11,7 @@ obj-$(CONFIG_BLINK) += blink.o 
obj-$(CONFIG_LKDTM)		+= lkdtm.o

obj-$(CONFIG_TIFM_CORE)       	+= tifm_core.o

obj-$(CONFIG_TIFM_7XX1)       	+= tifm_7xx1.o

obj-$(CONFIG_PHANTOM)		+= phantom.o

obj-$(CONFIG_SGI_IOC4)		+= ioc4.o

obj-$(CONFIG_SONY_LAPTOP)	+= sony-laptop.o

obj-$(CONFIG_THINKPAD_ACPI)	+= thinkpad_acpi.o

drivers/misc/phantom.c

0 → 100644
+463 −0
Original line number Diff line number Diff line 
/*

 *  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 an userspace library to cooperate with this driver. It (and other

 *  info) may be obtained here:

 *  http://www.fi.muni.cz/~xslaby/phantom.html

 */



#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/phantom.h>



#include <asm/atomic.h>

#include <asm/io.h>



#define PHANTOM_VERSION		"n0.9.5"



#define PHANTOM_MAX_MINORS	8



#define PHN_IRQCTL		0x4c    /* irq control in caddr space */



#define PHB_RUNNING		1



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;

};



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);

	} else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING))

		iowrite32(0, dev->caddr + PHN_IRQCTL);



	dev->status = newstat;



	return 0;

}



/*

 * File ops

 */



static int phantom_ioctl(struct inode *inode, struct file *file, u_int cmd,

	u_long arg)

{

	struct phantom_device *dev = file->private_data;

	struct phm_regs rs;

	struct phm_reg r;

	void __user *argp = (void __user *)arg;

	unsigned int i;



	if (_IOC_TYPE(cmd) != PH_IOC_MAGIC ||

			_IOC_NR(cmd) > PH_IOC_MAXNR)

		return -ENOTTY;



	switch (cmd) {

	case PHN_SET_REG:

		if (copy_from_user(&r, argp, sizeof(r)))

			return -EFAULT;



		if (r.reg > 7)

			return -EINVAL;



		if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&

				phantom_status(dev, dev->status | PHB_RUNNING))

			return -ENODEV;



		pr_debug("phantom: writing %x to %u\n", r.value, r.reg);

		iowrite32(r.value, dev->iaddr + r.reg);



		if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))

			phantom_status(dev, dev->status & ~PHB_RUNNING);

		break;

	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);

		for (i = 0; i < min(rs.count, 8U); i++)

			if ((1 << i) & rs.mask)

				iowrite32(rs.values[i], dev->oaddr + i);

		break;

	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_GET_REGS:

		if (copy_from_user(&rs, argp, sizeof(rs)))

			return -EFAULT;



		pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);

		for (i = 0; i < min(rs.count, 8U); i++)

			if ((1 << i) & rs.mask)

				rs.values[i] = ioread32(dev->iaddr + i);



		if (copy_to_user(argp, &rs, sizeof(rs)))

			return -EFAULT;

		break;

	default:

		return -ENOTTY;

	}



	return 0;

}



static int phantom_open(struct inode *inode, struct file *file)

{

	struct phantom_device *dev = container_of(inode->i_cdev,

			struct phantom_device, cdev);



	nonseekable_open(inode, file);



	if (mutex_lock_interruptible(&dev->open_lock))

		return -ERESTARTSYS;



	if (dev->opened) {

		mutex_unlock(&dev->open_lock);

		return -EINVAL;

	}



	file->private_data = dev;



	dev->opened++;

	mutex_unlock(&dev->open_lock);



	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);



	mutex_unlock(&dev->open_lock);



	return 0;

}



static unsigned int phantom_poll(struct file *file, poll_table *wait)

{

	struct phantom_device *dev = file->private_data;

	unsigned int mask = 0;



	pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));

	poll_wait(file, &dev->wait, wait);

	if (atomic_read(&dev->counter)) {

		mask = POLLIN | POLLRDNORM;

		atomic_dec(&dev->counter);

	} else if ((dev->status & PHB_RUNNING) == 0)

		mask = POLLIN | POLLRDNORM | POLLERR;

	pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));



	return mask;

}



static struct file_operations phantom_file_ops = {

	.open = phantom_open,

	.release = phantom_release,

	.ioctl = phantom_ioctl,

	.poll = phantom_poll,

};



static irqreturn_t phantom_isr(int irq, void *data)

{

	struct phantom_device *dev = data;



	if (!(ioread32(dev->iaddr + PHN_CONTROL) & PHN_CTL_IRQ))

		return IRQ_NONE;



	iowrite32(0, dev->iaddr);

	iowrite32(0xc0, dev->iaddr);



	atomic_inc(&dev->counter);

	wake_up_interruptible(&dev->wait);



	return IRQ_HANDLED;

}



/*

 * Init and deinit driver

 */



static unsigned int __devinit 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 __devinit 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)

		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)

		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);

	init_waitqueue_head(&pht->wait);

	cdev_init(&pht->cdev, &phantom_file_ops);

	pht->cdev.owner = THIS_MODULE;



	iowrite32(0, pht->caddr + PHN_IRQCTL);

	retval = request_irq(pdev->irq, phantom_isr,

			IRQF_SHARED | IRQF_DISABLED, "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), "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 __devexit 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);

	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);



	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[] __devinitdata = {

	{ PCI_DEVICE(PCI_VENDOR_ID_PLX, 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 = __devexit_p(phantom_remove),

	.suspend = phantom_suspend,

	.resume = phantom_resume

};



static ssize_t phantom_show_version(struct class *cls, char *buf)

{

	return sprintf(buf, PHANTOM_VERSION "\n");

}



static CLASS_ATTR(version, 0444, phantom_show_version, NULL);



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);

	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);

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);

	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");

MODULE_LICENSE("GPL");

MODULE_VERSION(PHANTOM_VERSION);