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Subject[PATCH 1/1] Input: add sensable phantom driver
From
Date
add sensable phantom driver

Signed-off-by: Jiri Slaby <jirislaby@gmail.com>

---
commit bb9798e15d86ada19f4d15e31124dc240df78899
tree 06d0ac31976d92128b4e43b4d009810292bdf7a0
parent 551535195b52a4d02b476bbbdf5ca613b8e1afa2
author Jiri Slaby <jirislaby@gmail.com> Wed, 07 Mar 2007 12:29:27 +0100
committer Jiri Slaby <jirislaby@gmail.com> Wed, 07 Mar 2007 12:29:27 +0100

Documentation/ioctl-number.txt | 1
MAINTAINERS | 5
drivers/input/misc/Kconfig | 9 +
drivers/input/misc/Makefile | 1
drivers/input/misc/phantom.c | 447 ++++++++++++++++++++++++++++++++++++++++
include/linux/phantom.h | 48 ++++
6 files changed, 511 insertions(+), 0 deletions(-)

diff --git a/Documentation/ioctl-number.txt b/Documentation/ioctl-number.txt
index 8f750c0..38da829 100644
--- a/Documentation/ioctl-number.txt
+++ b/Documentation/ioctl-number.txt
@@ -128,6 +128,7 @@ Code Seq# Include File Comments
<mailto:zapman@interlan.net>
'i' 00-3F linux/i2o.h
'j' 00-3F linux/joystick.h
+'k' 00-0F linux/phantom.h Sensable PHANToM
'l' 00-3F linux/tcfs_fs.h transparent cryptographic file system
<http://mikonos.dia.unisa.it/tcfs>
'l' 40-7F linux/udf_fs_i.h in development:
diff --git a/MAINTAINERS b/MAINTAINERS
index 00fa7f1..d4ee114 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -3076,6 +3076,11 @@ 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
diff --git a/drivers/input/misc/Kconfig b/drivers/input/misc/Kconfig
index 5694115..68fed97 100644
--- a/drivers/input/misc/Kconfig
+++ b/drivers/input/misc/Kconfig
@@ -98,4 +98,13 @@ config HP_SDC_RTC
Say Y here if you want to support the built-in real time clock
of the HP SDC controller.

+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.
+
endif
diff --git a/drivers/input/misc/Makefile b/drivers/input/misc/Makefile
index 9f08f27..3ab3cc2 100644
--- a/drivers/input/misc/Makefile
+++ b/drivers/input/misc/Makefile
@@ -13,3 +13,4 @@ obj-$(CONFIG_INPUT_WISTRON_BTNS) += wistron_btns.o
obj-$(CONFIG_INPUT_ATLAS_BTNS) += atlas_btns.o
obj-$(CONFIG_HP_SDC_RTC) += hp_sdc_rtc.o
obj-$(CONFIG_INPUT_IXP4XX_BEEPER) += ixp4xx-beeper.o
+obj-$(CONFIG_PHANTOM) += phantom.o
diff --git a/drivers/input/misc/phantom.c b/drivers/input/misc/phantom.c
new file mode 100644
index 0000000..1dcf775
--- /dev/null
+++ b/drivers/input/misc/phantom.c
@@ -0,0 +1,447 @@
+/*
+ * 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 library. It 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/rtc.h>
+
+#include <asm/io.h>
+
+#include <linux/phantom.h>
+
+#define PHANTOM_VERSION "n0.9.1"
+
+#define PHANTOM_MAX_MINORS 8
+
+#define phantom_write_cfgl(p, val, off) do { \
+ writel(val, (p)->caddr + (off)); \
+ readl((p)->caddr + PHN_IRQCTL); \
+} while (0)
+
+#define phantom_write_inl(p, val, off) do { \
+ outl(val, (p)->ibase + (off)); \
+ inl((p)->ibase); \
+} while (0)
+
+static struct class *phantom_class;
+static int phantom_major;
+
+struct phantom_device {
+ unsigned int opened;
+ void __iomem *caddr;
+ unsigned long ibase;
+ unsigned long obase;
+ struct phantom_status *stat;
+ unsigned long status;
+ unsigned int tCu[3];
+ unsigned int tFe[3];
+
+ wait_queue_head_t wait;
+ struct cdev cdev;
+
+ struct mutex open_lock;
+};
+
+static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
+
+/*
+ * Update status of phantom; turn off and/or start task if necessary
+ *
+ * spinlock should be here for safety
+ */
+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))
+ phantom_write_cfgl(dev, 0x43, PHN_IRQCTL);
+ else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING))
+ phantom_write_cfgl(dev, 0, 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;
+
+ if (_IOC_TYPE(cmd) != PH_IOC_MAGIC ||
+ _IOC_NR(cmd) > PH_IOC_MAXNR)
+ return -ENOTTY;
+
+ switch (cmd) {
+ case PH_IOCSTART:
+ return phantom_status(dev, dev->status | PHB_RUNNING);
+ case PH_IOCSTOP:
+ return phantom_status(dev, dev->status & ~PHB_RUNNING);
+ case PH_IOCGET_STATUS:
+ if (put_user(dev->status, (int __user *)arg))
+ 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);
+
+ if (mutex_lock_interruptible(&dev->open_lock))
+ return -ERESTARTSYS;
+
+ if (dev->opened) {
+ mutex_unlock(&dev->open_lock);
+ return -EINVAL;
+ }
+
+ memset(dev->stat, 0, PAGE_ALIGN(sizeof(*dev->stat)));
+ memcpy(dev->stat->tCu, dev->tCu, sizeof(dev->tCu));
+ memcpy(dev->stat->tFe, dev->tFe, sizeof(dev->tFe));
+ dev->stat->reset = !!(dev->status & PHB_RESET);
+
+ 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;
+
+ if (mutex_lock_interruptible(&dev->open_lock))
+ return -ERESTARTSYS;
+
+ dev->opened = 0;
+ phantom_status(dev, dev->status & ~PHB_RUNNING);
+ memcpy(dev->tCu, dev->stat->tCu, sizeof(dev->tCu));
+ memcpy(dev->tFe, dev->stat->tFe, sizeof(dev->tFe));
+ if (dev->stat->reset)
+ dev->status |= PHB_RESET;
+
+ 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: %u\n", dev->stat->counter);
+ poll_wait(file, &dev->wait, wait);
+ if (dev->stat->counter)
+ mask = POLLIN | POLLRDNORM;
+ else if ((dev->status & PHB_RUNNING) == 0)
+ mask = POLLIN | POLLRDNORM | POLLERR;
+ pr_debug("phantom_poll end: %x/%u\n", mask, dev->stat->counter);
+
+ return mask;
+}
+
+#define phantom_remap(io, vma, addr) ({ \
+ vma->vm_pgoff = (addr) >> PAGE_SHIFT; \
+ io ## remap_pfn_range(vma, (vma)->vm_start, (vma)->vm_pgoff, \
+ (vma)->vm_end - (vma)->vm_start, (vma)->vm_page_prot); \
+})
+
+static int phantom_mmap(struct file *file, struct vm_area_struct *vma)
+{
+ struct phantom_device *dev = file->private_data;
+ int retval;
+
+ switch (vma->vm_pgoff) {
+ case 0:
+ retval = phantom_remap(, vma, virt_to_phys(dev->stat));
+ break;
+ case 1:
+ retval = phantom_remap(io_, vma, dev->ibase);
+ break;
+ default:
+ retval = phantom_remap(io_, vma, dev->obase);
+ }
+
+ return retval ? -EINVAL : 0;
+}
+
+static struct file_operations phantom_file_ops = {
+ .open = phantom_open,
+ .release = phantom_release,
+ .ioctl = phantom_ioctl,
+ .poll = phantom_poll,
+ .mmap = phantom_mmap,
+};
+
+static irqreturn_t phantom_isr(int irq, void *data)
+{
+ static unsigned int cnt;
+ struct phantom_device *dev = data;
+
+ if (!(inl(dev->ibase + PHN_CONTROL) & 0x10))
+ return IRQ_NONE;
+
+ phantom_write_inl(dev, 0, 0);
+ phantom_write_inl(dev, 0xc0, 0);
+ if (++cnt >= 22) { /* 22 times ~ 2kHz */
+ dev->stat->counter++;
+ wake_up_interruptible(&dev->wait);
+ cnt = 0;
+ }
+
+ 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;
+ }
+
+ 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->stat = (void *)__get_free_page(GFP_KERNEL | __GFP_WAIT);
+ if (pht->stat == NULL)
+ goto err_fr;
+
+ pht->caddr = pci_iomap(pdev, 0, 0);
+ if (pht->caddr == NULL) {
+ dev_err(&pdev->dev, "can't remap conf space\n");
+ goto err_frp;
+ }
+ pht->ibase = pci_resource_start(pdev, 2);
+ pht->obase = pci_resource_start(pdev, 3);
+
+ mutex_init(&pht->open_lock);
+ init_waitqueue_head(&pht->wait);
+
+ phantom_write_cfgl(pht, 0, 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_unm;
+ }
+
+ cdev_init(&pht->cdev, &phantom_file_ops);
+ pht->cdev.owner = THIS_MODULE;
+ retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
+ if (retval) {
+ dev_err(&pdev->dev, "chardev registration failed\n");
+ goto err_irq;
+ }
+
+ device_create(phantom_class, &pdev->dev, MKDEV(phantom_major, minor),
+ "phantom%u", minor);
+
+ pci_set_drvdata(pdev, pht);
+
+ return 0;
+err_irq:
+ free_irq(pdev->irq, pht);
+err_unm:
+ pci_iounmap(pdev, pht->caddr);
+err_frp:
+ free_page((unsigned long)pht->stat);
+err_fr:
+ kfree(pht);
+err_reg:
+ pci_release_regions(pdev);
+err_null:
+ phantom_devices[minor] = 0;
+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);
+
+ phantom_write_cfgl(pht, 0, PHN_IRQCTL);
+ free_irq(pdev->irq, pht);
+
+ pci_iounmap(pdev, pht->caddr);
+
+ free_page((unsigned long)pht->stat);
+
+ phantom_devices[minor] = 0;
+ kfree(pht);
+
+ pci_release_regions(pdev);
+}
+
+static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
+{
+ struct phantom_device *dev = pci_get_drvdata(pdev);
+
+ phantom_write_cfgl(dev, 0, PHN_IRQCTL);
+
+ return 0;
+}
+
+static int phantom_resume(struct pci_dev *pdev)
+{
+ struct phantom_device *dev = pci_get_drvdata(pdev);
+
+ phantom_write_cfgl(dev, 0, PHN_IRQCTL);
+
+ return 0;
+}
+
+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(KERN_INFO "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");
diff --git a/include/linux/phantom.h b/include/linux/phantom.h
new file mode 100644
index 0000000..57a8616
--- /dev/null
+++ b/include/linux/phantom.h
@@ -0,0 +1,48 @@
+/*
+ * 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
+
+/* some common public defines & structures */
+#define PH_IOC_MAGIC 'k'
+#define PH_IOCSTOP _IO (PH_IOC_MAGIC, 1)
+#define PH_IOCSTART _IO (PH_IOC_MAGIC, 2)
+#define PH_IOCGET_STATUS _IOR(PH_IOC_MAGIC, 3, int)
+#define PH_IOC_MAXNR 3
+
+#define PHB_RUNNING 1
+#define PHB_RESET 2
+
+#define PHN_BUTTON_BIT 2
+#define PHN_CONTROL 6
+#define PHN_IRQCTL 0x4c
+#define PHN_ZERO_FORCE 2048
+
+/* pointer for location of shared memory - its useful to put
+ * shared memory to some special address - especially for debugging :-)
+ *
+ * process mmap-ing phantom memory should use this constant;
+ */
+
+struct phantom_status {
+ unsigned int counter;
+ unsigned int tCu[3];
+ unsigned int tFe[3];
+ unsigned int reset:1;
+};
+
+#define PHANTOM_MMAP_OFF_STAT 0x00000000
+#define PHANTOM_MMAP_LEN_STAT sizeof(struct phantom_status)
+#define PHANTOM_MMAP_OFF_IBASE 0x00001000
+#define PHANTOM_MMAP_LEN_IBASE 0x00000020
+#define PHANTOM_MMAP_OFF_OBASE 0x00002000
+#define PHANTOM_MMAP_LEN_OBASE 0x00000020
+
+#endif
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