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Misc: phantom, improved data passing
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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 <jirislaby@gmail.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
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Jiri Slaby authored and Linus Torvalds committed Oct 19, 2007
1 parent b2afe33 commit bc552f7
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Showing 2 changed files with 81 additions and 19 deletions.
94 changes: 76 additions & 18 deletions drivers/misc/phantom.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,14 @@
#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;
Expand All @@ -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];
Expand Down Expand Up @@ -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 ||
Expand All @@ -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)))
Expand All @@ -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;
}
Expand All @@ -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);

Expand All @@ -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);

Expand Down Expand Up @@ -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);
Expand Down Expand Up @@ -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;
Expand Down
6 changes: 5 additions & 1 deletion include/linux/phantom.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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 */
Expand Down

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