Commit bc552f77 authored by Jiri Slaby's avatar Jiri Slaby Committed by Linus Torvalds
Browse files

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: default avatarJiri Slaby <jirislaby@gmail.com>
Signed-off-by: default avatarAndrew Morton <akpm@linux-foundation.org>
Signed-off-by: default avatarLinus Torvalds <torvalds@linux-foundation.org>
parent b2afe331

drivers/misc/phantom.c

+76 −18
Original line number Diff line number Diff line
@@ -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;
@@ -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)

		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(&dev->ioctl_lock);

		}

		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;

include/linux/phantom.h

+5 −1
Original line number Diff line number Diff line
@@ -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 */

CRA Git | Maintained and supported by SUSTech CRA and CCSE