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* Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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* You need a userspace library to cooperate with this driver. It (and other
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* info) may be obtained here:
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* http://www.fi.muni.cz/~xslaby/phantom.html
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* or alternatively, you might use OpenHaptics provided by Sensable.
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#include <linux/compat.h>
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/device.h>
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#include <linux/pci.h>
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#include <linux/poll.h>
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#include <linux/interrupt.h>
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#include <linux/cdev.h>
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#include <linux/slab.h>
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#include <linux/phantom.h>
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#include <linux/sched.h>
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#include <linux/mutex.h>
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#include <linux/atomic.h>
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#define PHANTOM_VERSION "n0.9.8"
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#define PHANTOM_MAX_MINORS 8
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#define PHN_IRQCTL 0x4c /* irq control in caddr space */
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static DEFINE_MUTEX(phantom_mutex);
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static struct class *phantom_class;
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static int phantom_major;
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struct phantom_device {
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wait_queue_head_t wait;
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struct mutex open_lock;
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/* used in NOT_OH mode */
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struct phm_regs oregs;
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static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
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static int phantom_status(struct phantom_device *dev, unsigned long newstat)
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pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
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if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
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atomic_set(&dev->counter, 0);
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iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
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iowrite32(0x43, dev->caddr + PHN_IRQCTL);
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ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
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} else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING)) {
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iowrite32(0, dev->caddr + PHN_IRQCTL);
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ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
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dev->status = newstat;
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static long phantom_ioctl(struct file *file, unsigned int cmd,
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struct phantom_device *dev = file->private_data;
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void __user *argp = (void __user *)arg;
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if (copy_from_user(&r, argp, sizeof(r)))
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spin_lock_irqsave(&dev->regs_lock, flags);
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if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
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phantom_status(dev, dev->status | PHB_RUNNING)){
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spin_unlock_irqrestore(&dev->regs_lock, flags);
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pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
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/* preserve amp bit (don't allow to change it when in NOT_OH) */
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if (r.reg == PHN_CONTROL && (dev->status & PHB_NOT_OH)) {
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r.value &= ~PHN_CTL_AMP;
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r.value |= dev->ctl_reg & PHN_CTL_AMP;
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dev->ctl_reg = r.value;
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iowrite32(r.value, dev->iaddr + r.reg);
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ioread32(dev->iaddr); /* PCI posting */
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if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
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phantom_status(dev, dev->status & ~PHB_RUNNING);
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spin_unlock_irqrestore(&dev->regs_lock, flags);
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if (copy_from_user(&rs, argp, sizeof(rs)))
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pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask);
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spin_lock_irqsave(&dev->regs_lock, flags);
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if (dev->status & PHB_NOT_OH)
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memcpy(&dev->oregs, &rs, sizeof(rs));
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u32 m = min(rs.count, 8U);
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for (i = 0; i < m; i++)
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if (rs.mask & BIT(i))
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iowrite32(rs.values[i], dev->oaddr + i);
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ioread32(dev->iaddr); /* PCI posting */
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spin_unlock_irqrestore(&dev->regs_lock, flags);
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if (copy_from_user(&r, argp, sizeof(r)))
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r.value = ioread32(dev->iaddr + r.reg);
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if (copy_to_user(argp, &r, sizeof(r)))
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if (copy_from_user(&rs, argp, sizeof(rs)))
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m = min(rs.count, 8U);
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pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
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spin_lock_irqsave(&dev->regs_lock, flags);
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for (i = 0; i < m; i++)
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if (rs.mask & BIT(i))
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rs.values[i] = ioread32(dev->iaddr + i);
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atomic_set(&dev->counter, 0);
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spin_unlock_irqrestore(&dev->regs_lock, flags);
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if (copy_to_user(argp, &rs, sizeof(rs)))
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spin_lock_irqsave(&dev->regs_lock, flags);
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if (dev->status & PHB_RUNNING) {
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printk(KERN_ERR "phantom: you need to set NOT_OH "
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"before you start the device!\n");
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spin_unlock_irqrestore(&dev->regs_lock, flags);
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dev->status |= PHB_NOT_OH;
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spin_unlock_irqrestore(&dev->regs_lock, flags);
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static long phantom_compat_ioctl(struct file *filp, unsigned int cmd,
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if (_IOC_NR(cmd) <= 3 && _IOC_SIZE(cmd) == sizeof(compat_uptr_t)) {
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cmd &= ~(_IOC_SIZEMASK << _IOC_SIZESHIFT);
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cmd |= sizeof(void *) << _IOC_SIZESHIFT;
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return phantom_ioctl(filp, cmd, (unsigned long)compat_ptr(arg));
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#define phantom_compat_ioctl NULL
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static int phantom_open(struct inode *inode, struct file *file)
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struct phantom_device *dev = container_of(inode->i_cdev,
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struct phantom_device, cdev);
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mutex_lock(&phantom_mutex);
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nonseekable_open(inode, file);
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if (mutex_lock_interruptible(&dev->open_lock)) {
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mutex_unlock(&phantom_mutex);
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mutex_unlock(&dev->open_lock);
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mutex_unlock(&phantom_mutex);
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WARN_ON(dev->status & PHB_NOT_OH);
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file->private_data = dev;
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atomic_set(&dev->counter, 0);
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mutex_unlock(&dev->open_lock);
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mutex_unlock(&phantom_mutex);
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static int phantom_release(struct inode *inode, struct file *file)
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struct phantom_device *dev = file->private_data;
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mutex_lock(&dev->open_lock);
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phantom_status(dev, dev->status & ~PHB_RUNNING);
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dev->status &= ~PHB_NOT_OH;
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mutex_unlock(&dev->open_lock);
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static unsigned int phantom_poll(struct file *file, poll_table *wait)
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struct phantom_device *dev = file->private_data;
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unsigned int mask = 0;
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pr_debug("phantom_poll: %d\n", atomic_read(&dev->counter));
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poll_wait(file, &dev->wait, wait);
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if (!(dev->status & PHB_RUNNING))
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else if (atomic_read(&dev->counter))
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mask = POLLIN | POLLRDNORM;
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pr_debug("phantom_poll end: %x/%d\n", mask, atomic_read(&dev->counter));
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static const struct file_operations phantom_file_ops = {
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.open = phantom_open,
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.release = phantom_release,
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.unlocked_ioctl = phantom_ioctl,
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.compat_ioctl = phantom_compat_ioctl,
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.poll = phantom_poll,
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static irqreturn_t phantom_isr(int irq, void *data)
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struct phantom_device *dev = data;
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spin_lock(&dev->regs_lock);
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ctl = ioread32(dev->iaddr + PHN_CONTROL);
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if (!(ctl & PHN_CTL_IRQ)) {
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spin_unlock(&dev->regs_lock);
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iowrite32(0, dev->iaddr);
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iowrite32(0xc0, dev->iaddr);
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if (dev->status & PHB_NOT_OH) {
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struct phm_regs *r = &dev->oregs;
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u32 m = min(r->count, 8U);
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for (i = 0; i < m; i++)
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if (r->mask & BIT(i))
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iowrite32(r->values[i], dev->oaddr + i);
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dev->ctl_reg ^= PHN_CTL_AMP;
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iowrite32(dev->ctl_reg, dev->iaddr + PHN_CONTROL);
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spin_unlock(&dev->regs_lock);
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ioread32(dev->iaddr); /* PCI posting */
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atomic_inc(&dev->counter);
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wake_up_interruptible(&dev->wait);
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* Init and deinit driver
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static unsigned int __devinit phantom_get_free(void)
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for (i = 0; i < PHANTOM_MAX_MINORS; i++)
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if (phantom_devices[i] == 0)
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static int __devinit phantom_probe(struct pci_dev *pdev,
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const struct pci_device_id *pci_id)
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struct phantom_device *pht;
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retval = pci_enable_device(pdev);
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dev_err(&pdev->dev, "pci_enable_device failed!\n");
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minor = phantom_get_free();
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if (minor == PHANTOM_MAX_MINORS) {
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dev_err(&pdev->dev, "too many devices found!\n");
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phantom_devices[minor] = 1;
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retval = pci_request_regions(pdev, "phantom");
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dev_err(&pdev->dev, "pci_request_regions failed!\n");
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pht = kzalloc(sizeof(*pht), GFP_KERNEL);
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dev_err(&pdev->dev, "unable to allocate device\n");
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pht->caddr = pci_iomap(pdev, 0, 0);
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if (pht->caddr == NULL) {
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dev_err(&pdev->dev, "can't remap conf space\n");
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pht->iaddr = pci_iomap(pdev, 2, 0);
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if (pht->iaddr == NULL) {
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dev_err(&pdev->dev, "can't remap input space\n");
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pht->oaddr = pci_iomap(pdev, 3, 0);
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if (pht->oaddr == NULL) {
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dev_err(&pdev->dev, "can't remap output space\n");
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mutex_init(&pht->open_lock);
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spin_lock_init(&pht->regs_lock);
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init_waitqueue_head(&pht->wait);
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cdev_init(&pht->cdev, &phantom_file_ops);
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pht->cdev.owner = THIS_MODULE;
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iowrite32(0, pht->caddr + PHN_IRQCTL);
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ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
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retval = request_irq(pdev->irq, phantom_isr,
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IRQF_SHARED | IRQF_DISABLED, "phantom", pht);
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dev_err(&pdev->dev, "can't establish ISR\n");
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retval = cdev_add(&pht->cdev, MKDEV(phantom_major, minor), 1);
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dev_err(&pdev->dev, "chardev registration failed\n");
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if (IS_ERR(device_create(phantom_class, &pdev->dev,
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MKDEV(phantom_major, minor), NULL,
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"phantom%u", minor)))
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dev_err(&pdev->dev, "can't create device\n");
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pci_set_drvdata(pdev, pht);
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free_irq(pdev->irq, pht);
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pci_iounmap(pdev, pht->oaddr);
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pci_iounmap(pdev, pht->iaddr);
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pci_iounmap(pdev, pht->caddr);
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pci_release_regions(pdev);
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phantom_devices[minor] = 0;
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pci_disable_device(pdev);
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static void __devexit phantom_remove(struct pci_dev *pdev)
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struct phantom_device *pht = pci_get_drvdata(pdev);
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unsigned int minor = MINOR(pht->cdev.dev);
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device_destroy(phantom_class, MKDEV(phantom_major, minor));
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cdev_del(&pht->cdev);
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iowrite32(0, pht->caddr + PHN_IRQCTL);
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ioread32(pht->caddr + PHN_IRQCTL); /* PCI posting */
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free_irq(pdev->irq, pht);
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pci_iounmap(pdev, pht->oaddr);
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pci_iounmap(pdev, pht->iaddr);
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pci_iounmap(pdev, pht->caddr);
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pci_release_regions(pdev);
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phantom_devices[minor] = 0;
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pci_disable_device(pdev);
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static int phantom_suspend(struct pci_dev *pdev, pm_message_t state)
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struct phantom_device *dev = pci_get_drvdata(pdev);
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iowrite32(0, dev->caddr + PHN_IRQCTL);
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ioread32(dev->caddr + PHN_IRQCTL); /* PCI posting */
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synchronize_irq(pdev->irq);
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static int phantom_resume(struct pci_dev *pdev)
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struct phantom_device *dev = pci_get_drvdata(pdev);
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iowrite32(0, dev->caddr + PHN_IRQCTL);
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#define phantom_suspend NULL
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#define phantom_resume NULL
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static struct pci_device_id phantom_pci_tbl[] __devinitdata = {
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{ .vendor = PCI_VENDOR_ID_PLX, .device = PCI_DEVICE_ID_PLX_9050,
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.subvendor = PCI_VENDOR_ID_PLX, .subdevice = PCI_DEVICE_ID_PLX_9050,
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.class = PCI_CLASS_BRIDGE_OTHER << 8, .class_mask = 0xffff00 },
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MODULE_DEVICE_TABLE(pci, phantom_pci_tbl);
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static struct pci_driver phantom_pci_driver = {
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.id_table = phantom_pci_tbl,
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.probe = phantom_probe,
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.remove = __devexit_p(phantom_remove),
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.suspend = phantom_suspend,
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.resume = phantom_resume
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static CLASS_ATTR_STRING(version, 0444, PHANTOM_VERSION);
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static int __init phantom_init(void)
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phantom_class = class_create(THIS_MODULE, "phantom");
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if (IS_ERR(phantom_class)) {
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retval = PTR_ERR(phantom_class);
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printk(KERN_ERR "phantom: can't register phantom class\n");
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retval = class_create_file(phantom_class, &class_attr_version.attr);
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printk(KERN_ERR "phantom: can't create sysfs version file\n");
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retval = alloc_chrdev_region(&dev, 0, PHANTOM_MAX_MINORS, "phantom");
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printk(KERN_ERR "phantom: can't register character device\n");
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phantom_major = MAJOR(dev);
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retval = pci_register_driver(&phantom_pci_driver);
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printk(KERN_ERR "phantom: can't register pci driver\n");
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printk(KERN_INFO "Phantom Linux Driver, version " PHANTOM_VERSION ", "
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unregister_chrdev_region(dev, PHANTOM_MAX_MINORS);
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class_remove_file(phantom_class, &class_attr_version.attr);
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class_destroy(phantom_class);
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static void __exit phantom_exit(void)
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pci_unregister_driver(&phantom_pci_driver);
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unregister_chrdev_region(MKDEV(phantom_major, 0), PHANTOM_MAX_MINORS);
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class_remove_file(phantom_class, &class_attr_version.attr);
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class_destroy(phantom_class);
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pr_debug("phantom: module successfully removed\n");
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module_init(phantom_init);
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module_exit(phantom_exit);
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MODULE_AUTHOR("Jiri Slaby <jirislaby@gmail.com>");
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MODULE_DESCRIPTION("Sensable Phantom driver (PCI devices)");
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MODULE_LICENSE("GPL");
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MODULE_VERSION(PHANTOM_VERSION);