From bc552f77157d1bae79d0d3a5541da9579c39cb70 Mon Sep 17 00:00:00 2001 From: Jiri Slaby Date: Thu, 18 Oct 2007 23:40:24 -0700 Subject: [PATCH] Misc: phantom, improved data passing This new version guarantees amb_bit switch in small enough intervals, so that the device won't stop working in the middle of a movement anymore. However it preserves old (openhaptics) functionality. Signed-off-by: Jiri Slaby Signed-off-by: Andrew Morton Signed-off-by: Linus Torvalds --- drivers/misc/phantom.c | 94 +++++++++++++++++++++++++++++++++++++++---------- include/linux/phantom.h | 6 +++- 2 files changed, 81 insertions(+), 19 deletions(-) diff --git a/drivers/misc/phantom.c b/drivers/misc/phantom.c index bc532ac..cd221fd 100644 --- a/drivers/misc/phantom.c +++ b/drivers/misc/phantom.c @@ -25,13 +25,14 @@ #include #include -#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; @@ -48,7 +49,11 @@ struct phantom_device { struct cdev cdev; struct mutex open_lock; - spinlock_t ioctl_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]; @@ -83,6 +88,7 @@ static long phantom_ioctl(struct file *file, unsigned int cmd, 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 || @@ -97,32 +103,45 @@ static long phantom_ioctl(struct file *file, unsigned int cmd, if (r.reg > 7) return -EINVAL; - spin_lock(&dev->ioctl_lock); + 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(&dev->ioctl_lock); + 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(&dev->ioctl_lock); + 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); - spin_lock(&dev->ioctl_lock); - for (i = 0; i < min(rs.count, 8U); i++) - if ((1 << i) & rs.mask) - iowrite32(rs.values[i], dev->oaddr + i); - ioread32(dev->iaddr); /* PCI posting */ - spin_unlock(&dev->ioctl_lock); + 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))) @@ -136,20 +155,35 @@ static long phantom_ioctl(struct file *file, unsigned int cmd, 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); - spin_lock(&dev->ioctl_lock); - 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(&dev->ioctl_lock); + 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; } @@ -172,8 +206,11 @@ static int phantom_open(struct inode *inode, struct file *file) 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); @@ -188,6 +225,7 @@ static int phantom_release(struct inode *inode, struct file *file) dev->opened = 0; phantom_status(dev, dev->status & ~PHB_RUNNING); + dev->status &= ~PHB_NOT_OH; mutex_unlock(&dev->open_lock); @@ -221,12 +259,32 @@ static struct file_operations phantom_file_ops = { 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); @@ -298,7 +356,7 @@ static int __devinit phantom_probe(struct pci_dev *pdev, } mutex_init(&pht->open_lock); - spin_lock_init(&pht->ioctl_lock); + spin_lock_init(&pht->regs_lock); init_waitqueue_head(&pht->wait); cdev_init(&pht->cdev, &phantom_file_ops); pht->cdev.owner = THIS_MODULE; diff --git a/include/linux/phantom.h b/include/linux/phantom.h index d3ebbfa..96f4048 100644 --- a/include/linux/phantom.h +++ b/include/linux/phantom.h @@ -30,7 +30,11 @@ struct phm_regs { #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 +/* this ioctl tells the driver, that the caller is not OpenHaptics and might + * use improved registers update (no more phantom switchoffs when using + * libphantom) */ +#define PHN_NOT_OH _IO (PH_IOC_MAGIC, 4) +#define PH_IOC_MAXNR 4 #define PHN_CONTROL 0x6 /* control byte in iaddr space */ #define PHN_CTL_AMP 0x1 /* switch after torques change */ -- 1.8.2.3