Misc: add sensable phantom driver

add sensable phantom driver

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;
	}

	file->private_data = dev;

	dev->opened++;
	mutex_unlock(&dev->open_lock);

	return 0;
}

drivers/misc/phantom.c new file +4 -0

+static int phantom_release(struct inode *inode, struct file *file)
+{
+	struct phantom_device *dev = file->private_data;
+

drivers/misc/phantom.c new file +29 -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->counter);
+	poll_wait(file, &dev->wait, wait);
+	if (dev->counter) {
+		mask = POLLIN | POLLRDNORM;
+		dev->counter--;
+	} else if ((dev->status & PHB_RUNNING) == 0)
+		mask = POLLIN | POLLRDNORM | POLLERR;
+	pr_debug("phantom_poll end: %x/%u\n", mask, 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))

drivers/misc/phantom.c new file +4 -0

+/*
+ * Init and deinit driver
+ */
+

drivers/misc/phantom.c new file +127 -0

+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;
+}

drivers/misc/phantom.c new file +7 -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);
+

index 0000000..d3ebbfa

include/linux/phantom.h new file +16 -0

@@ -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 {

include/linux/phantom.h new file +5 -0

+#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 *)

Quoted 2 lines

add sensable phantom driver

<googles>

Is that one of these?
http://www.est-kl.com/aufbau_general/index_hard_haptic.html?http://www.est-kl.com/hardware/haptic/sensable/phantom_omni.html

I don't think we've ever had a driver for a device like that before. I wonder how you designed the userspace interface to it.

drivers/misc/phantom.c line 73

Quoted 2 lines

drivers/misc/phantom.c new file +2 -0

+static int phantom_ioctl(struct inode *inode, struct file *file, u_int cmd,
+	u_long arg)

Could we please use standard-looking types in this driver? u32 and u64 and things?

However in this case, as it's an ioctl handler it should be "int" and "unsigned long".

Does this driver require compat handling? (Seems not?)

Quoted 10 lines

drivers/misc/phantom.c new file +10 -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);
+

drivers/misc/phantom.c line 162

Quoted 4 lines

drivers/misc/phantom.c new file +4 -0

+	mutex_unlock(&dev->open_lock);
+
+	return 0;
+}

The mutex_lock_interruptible() is wrong, I think. This function is called when we do the final close(). If the signal _is_ taken then it's game
over: the device can no longer be opened.

Quoted 10 lines

drivers/misc/phantom.c new file +10 -0

+/*
+ * 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)

drivers/misc/phantom.c line 232

Quoted 4 lines

drivers/misc/phantom.c new file +4 -0

+			break;
+
+	return i;
+}

This function assumes that the phantom_devices[] array will never have any holes in it. But if phantom_remove() is called out-of-order, it _will_ have holes. Perhaps - I didn't look too hard.

Quoted 10 lines

Quoted 10 lines

drivers/misc/phantom.c new file +10 -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);
+

Quoted 8 lines

drivers/misc/phantom.c line 162

Quoted 4 lines

drivers/misc/phantom.c new file +4 -0

+	mutex_unlock(&dev->open_lock);
+
+	return 0;
+}

The mutex_lock_interruptible() is wrong, I think. This function is called when we do the final close(). If the signal _is_ taken then it's game
over: the device can no longer be opened.

Yes, starving at sys_close, I think so.

<fast searching in drivers/*>

Wouldn't this be a problem here too:
drivers/media/dvb/cinergyT2/cinergyT2.c drivers/usb/misc/auerswald.c
at least that the device won't be stopped or something like that?

Quoted 10 lines

Quoted 10 lines

drivers/misc/phantom.c new file +10 -0

+/*
+ * 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)

Quoted 8 lines

drivers/misc/phantom.c line 232

Quoted 4 lines

drivers/misc/phantom.c new file +4 -0

+			break;
+
+	return i;
+}

This function assumes that the phantom_devices[] array will never have any holes in it. But if phantom_remove() is called out-of-order, it _will_ have holes. Perhaps - I didn't look too hard.

I'm afraid I didn't get this. It goes through all phantom_devices and returns first free index. If a hole is present it will return "i" which corresponds to the hole, because phantom_devices[i] is 0. Note that it is unsigned char array.

drivers/misc/phantom.c line 73

Quoted 2 lines

drivers/misc/phantom.c new file +2 -0

+static int phantom_ioctl(struct inode *inode, struct file *file, u_int cmd,
+	u_long arg)

Could we please use standard-looking types in this driver? u32 and u64 and things?

However in this case, as it's an ioctl handler it should be "int" and "unsigned long".