Gitweb:
http://git.kernel.org/git/?p=linux/kernel/git/torvalds/linux-2.6.git;a=commit;h=cef2cf07273d12ac3453d2baff096423f17b7403
Commit: cef2cf07273d12ac3453d2baff096423f17b7403
Parent: 6f7f02e78a75a09195d963e0392b195bc2d55c5c
Author: Jiri Slaby <[EMAIL PROTECTED]>
AuthorDate: Tue May 8 00:31:45 2007 -0700
Committer: Linus Torvalds <[EMAIL PROTECTED]>
CommitDate: Tue May 8 11:15:14 2007 -0700
Misc: add sensable phantom driver
Add sensable phantom driver
Signed-off-by: Jiri Slaby <[EMAIL PROTECTED]>
Signed-off-by: Andrew Morton <[EMAIL PROTECTED]>
Signed-off-by: Linus Torvalds <[EMAIL PROTECTED]>
---
Documentation/ioctl-number.txt | 3 +-
MAINTAINERS | 5 +
drivers/misc/Kconfig | 9 +
drivers/misc/Makefile | 1 +
drivers/misc/phantom.c | 463 ++++++++++++++++++++++++++++++++++++++++
include/linux/Kbuild | 1 +
include/linux/phantom.h | 42 ++++
7 files changed, 523 insertions(+), 1 deletions(-)
diff --git a/Documentation/ioctl-number.txt b/Documentation/ioctl-number.txt
index 8f750c0..3de7d37 100644
--- a/Documentation/ioctl-number.txt
+++ b/Documentation/ioctl-number.txt
@@ -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:[EMAIL PROTECTED]>
diff --git a/MAINTAINERS b/MAINTAINERS
index 36e48a4..69f3f66 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -3108,6 +3108,11 @@ L: [EMAIL PROTECTED] (subscribers-only, general
discussion)
W: http://www.nsa.gov/selinux
S: Supported
+SENSABLE PHANTOM
+P: Jiri Slaby
+M: [EMAIL PROTECTED]
+S: Maintained
+
SERIAL ATA (SATA) SUBSYSTEM:
P: Jeff Garzik
M: [EMAIL PROTECTED]
diff --git a/drivers/misc/Kconfig b/drivers/misc/Kconfig
index bfb02c1..877e790 100644
--- a/drivers/misc/Kconfig
+++ b/drivers/misc/Kconfig
@@ -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.
diff --git a/drivers/misc/Makefile b/drivers/misc/Makefile
index ece6baf..5b6d46d 100644
--- a/drivers/misc/Makefile
+++ b/drivers/misc/Makefile
@@ -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
index 0000000..35b139b
--- /dev/null
+++ b/drivers/misc/phantom.c
@@ -0,0 +1,463 @@
+/*
+ * Copyright (C) 2005-2007 Jiri Slaby <[EMAIL PROTECTED]>
+ *
+ * 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 <[EMAIL PROTECTED]>");
+MODULE_DESCRIPTION("Sensable Phantom driver");
+MODULE_LICENSE("GPL");
+MODULE_VERSION(PHANTOM_VERSION);
diff --git a/include/linux/Kbuild b/include/linux/Kbuild
index d61983d..a124c32 100644
--- a/include/linux/Kbuild
+++ b/include/linux/Kbuild
@@ -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
index 0000000..d3ebbfa
--- /dev/null
+++ b/include/linux/phantom.h
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2005-2007 Jiri Slaby <[EMAIL PROTECTED]>
+ *
+ * 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
-
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