Misc: add sensable phantom driver
Jiri Slaby [Tue, 8 May 2007 07:31:45 +0000 (00:31 -0700)]
Add sensable phantom driver

Signed-off-by: Jiri Slaby <jirislaby@gmail.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>

Documentation/ioctl-number.txt
MAINTAINERS
drivers/misc/Kconfig
drivers/misc/Makefile
drivers/misc/phantom.c [new file with mode: 0644]
include/linux/Kbuild
include/linux/phantom.h [new file with mode: 0644]

index 8f750c0..3de7d37 100644 (file)
@@ -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>
index 36e48a4..69f3f66 100644 (file)
@@ -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
index bfb02c1..877e790 100644 (file)
@@ -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.
 
index ece6baf..5b6d46d 100644 (file)
@@ -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
diff --git a/drivers/misc/phantom.c b/drivers/misc/phantom.c
new file mode 100644 (file)
index 0000000..35b139b
--- /dev/null
@@ -0,0 +1,463 @@
+/*
+ *  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);
index d61983d..a124c32 100644 (file)
@@ -121,6 +121,7 @@ header-y += pci_regs.h
 header-y += personality.h
 header-y += pfkeyv2.h
 header-y += pg.h
+header-y += phantom.h
 header-y += pkt_cls.h
 header-y += pkt_sched.h
 header-y += posix_types.h
diff --git a/include/linux/phantom.h b/include/linux/phantom.h
new file mode 100644 (file)
index 0000000..d3ebbfa
--- /dev/null
@@ -0,0 +1,42 @@
+/*
+ *  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.
+ */
+
+#ifndef __PHANTOM_H
+#define __PHANTOM_H
+
+#include <asm/types.h>
+
+/* PHN_(G/S)ET_REG param */
+struct phm_reg {
+       __u32 reg;
+       __u32 value;
+};
+
+/* PHN_(G/S)ET_REGS param */
+struct phm_regs {
+       __u32 count;
+       __u32 mask;
+       __u32 values[8];
+};
+
+#define PH_IOC_MAGIC           'p'
+#define PHN_GET_REG            _IOWR(PH_IOC_MAGIC, 0, struct phm_reg *)
+#define PHN_SET_REG            _IOW (PH_IOC_MAGIC, 1, struct phm_reg *)
+#define PHN_GET_REGS           _IOWR(PH_IOC_MAGIC, 2, struct phm_regs *)
+#define PHN_SET_REGS           _IOW (PH_IOC_MAGIC, 3, struct phm_regs *)
+#define PH_IOC_MAXNR           3
+
+#define PHN_CONTROL            0x6     /* control byte in iaddr space */
+#define PHN_CTL_AMP            0x1     /*   switch after torques change */
+#define PHN_CTL_BUT            0x2     /*   is button switched */
+#define PHN_CTL_IRQ            0x10    /*   is irq enabled */
+
+#define PHN_ZERO_FORCE         2048    /* zero torque on motor */
+
+#endif