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: Jiri Slaby <[email protected]>
---
commit e820ffda8d5f6c8a1d463955f6df7cf18544ca92
tree bba23481215cfcb6f3b7d6fec1d57d6902dc1098
parent 931e139b87d4fdb9fcae6a39cc0a157ff2fc07e1
author Jiri Slaby <[email protected]> Mon, 15 Oct 2007 16:03:38 +0200
committer Jiri Slaby <[email protected]> Mon, 15 Oct 2007 16:03:38 +0200
drivers/misc/phantom.c | 79 +++++++++++++++++++++++++++++++++++++----------
include/linux/phantom.h | 6 +++-
2 files changed, 68 insertions(+), 17 deletions(-)
diff --git a/drivers/misc/phantom.c b/drivers/misc/phantom.c
index bc532ac..4a610cc 100644
--- a/drivers/misc/phantom.c
+++ b/drivers/misc/phantom.c
@@ -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 +103,42 @@ 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))
+ dev->ctl_reg = r.value = (r.value & ~PHN_CTL_AMP) |
+ (dev->ctl_reg & PHN_CTL_AMP);
+
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 {
+ for (i = 0; i < min(rs.count, 8U); 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)))
@@ -141,15 +157,26 @@ static long phantom_ioctl(struct file *file, unsigned int cmd,
return -EFAULT;
pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
- spin_lock(&dev->ioctl_lock);
+ spin_lock_irqsave(&dev->regs_lock, flags);
for (i = 0; i < min(rs.count, 8U); i++)
- if ((1 << i) & rs.mask)
+ 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 +199,11 @@ 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 +218,7 @@ 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 +252,28 @@ 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)
+ for (i = 0; i < min(dev->oregs.count, 8U); i++)
+ if (dev->oregs.mask & BIT(i))
+ iowrite32(dev->oregs.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 +345,7 @@ 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;
diff --git a/include/linux/phantom.h b/include/linux/phantom.h
index d3ebbfa..96f4048 100644
--- a/include/linux/phantom.h
+++ b/include/linux/phantom.h
@@ -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 */
-
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