* 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
+ * or alternatively, you might use OpenHaptics provided by Sensable.
*/
#include <linux/kernel.h>
#include <asm/atomic.h>
#include <asm/io.h>
-#define PHANTOM_VERSION "n0.9.5"
+#define PHANTOM_VERSION "n0.9.7"
#define PHANTOM_MAX_MINORS 8
#define PHN_IRQCTL 0x4c /* irq control in caddr space */
#define PHB_RUNNING 1
+#define PHB_NOT_OH 2
static struct class *phantom_class;
static int phantom_major;
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];
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))
+ 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;
* File ops
*/
-static int phantom_ioctl(struct inode *inode, struct file *file, u_int cmd,
- u_long arg)
+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;
if (_IOC_TYPE(cmd) != PH_IOC_MAGIC ||
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))
+ 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_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);
+ 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_GET_REG:
if (copy_from_user(&r, argp, sizeof(r)))
if (copy_to_user(argp, &r, sizeof(r)))
return -EFAULT;
break;
- case PHN_GET_REGS:
+ 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);
- for (i = 0; i < min(rs.count, 8U); i++)
- if ((1 << i) & 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);
+ 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 -EINVAL;
}
+ WARN_ON(dev->status & PHB_NOT_OH);
+
file->private_data = dev;
+ atomic_set(&dev->counter, 0);
dev->opened++;
mutex_unlock(&dev->open_lock);
dev->opened = 0;
phantom_status(dev, dev->status & ~PHB_RUNNING);
+ dev->status &= ~PHB_NOT_OH;
mutex_unlock(&dev->open_lock);
static struct file_operations phantom_file_ops = {
.open = phantom_open,
.release = phantom_release,
- .ioctl = phantom_ioctl,
+ .unlocked_ioctl = phantom_ioctl,
.poll = phantom_poll,
};
static irqreturn_t phantom_isr(int irq, void *data)
{
struct phantom_device *dev = data;
+ unsigned int i;
+ u32 ctl;
- if (!(ioread32(dev->iaddr + PHN_CONTROL) & PHN_CTL_IRQ))
+ 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);
}
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 | IRQF_DISABLED, "phantom", pht);
if (retval) {
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);
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;
}
git://ftp.safe.ca / safe / jmp / linux-2.6 / blobdiff