3 files changed, 257 insertions, 0 deletions

diff --git a/drivers/uio/Kconfig b/drivers/uio/Kconfig
index 4190be64917f..04b954cfce76 100644
--- a/drivers/uio/Kconfig
+++ b/drivers/uio/Kconfig
@@ -58,4 +58,17 @@ config UIO_SMX
 
           If you compile this as a module, it will be called uio_smx.
 
+config UIO_SERCOS3
+        tristate "Automata Sercos III PCI card driver"
+        default n
+        help
+          Userspace I/O interface for the Sercos III PCI card from
+          Automata GmbH. The userspace part of this driver will be
+          available for download from the Automata GmbH web site.
+
+          Automata GmbH:        http://www.automataweb.com
+          Sercos III interface: http://www.sercos.com
+
+          If you compile this as a module, it will be called uio_sercos3.
+
 endif
diff --git a/drivers/uio/Makefile b/drivers/uio/Makefile
index 8667bbdef904..e69558149859 100644
--- a/drivers/uio/Makefile
+++ b/drivers/uio/Makefile
@@ -3,3 +3,4 @@ obj-$(CONFIG_UIO_CIF)	+= uio_cif.o
 obj-$(CONFIG_UIO_PDRV)  += uio_pdrv.o
 obj-$(CONFIG_UIO_PDRV_GENIRQ)   += uio_pdrv_genirq.o
 obj-$(CONFIG_UIO_SMX)   += uio_smx.o
+obj-$(CONFIG_UIO_SERCOS3)       += uio_sercos3.o
diff --git a/drivers/uio/uio_sercos3.c b/drivers/uio/uio_sercos3.c
new file mode 100644
index 000000000000..a6d1b2bc47f3
--- /dev/null
+++ b/drivers/uio/uio_sercos3.c
@@ -0,0 +1,243 @@
+/* sercos3: UIO driver for the Automata Sercos III PCI card
+
+   Copyright (C) 2008 Linutronix GmbH
+     Author: John Ogness <john.ogness@linutronix.de>
+
+   This is a straight-forward UIO driver, where interrupts are disabled
+   by the interrupt handler and re-enabled via a write to the UIO device
+   by the userspace-part.
+
+   The only part that may seem odd is the use of a logical OR when
+   storing and restoring enabled interrupts. This is done because the
+   userspace-part could directly modify the Interrupt Enable Register
+   at any time. To reduce possible conflicts, the kernel driver uses
+   a logical OR to make more controlled changes (rather than blindly
+   overwriting previous values).
+
+   Race conditions exist if the userspace-part directly modifies the
+   Interrupt Enable Register while in operation. The consequences are
+   that certain interrupts would fail to be enabled or disabled. For
+   this reason, the userspace-part should only directly modify the
+   Interrupt Enable Register at the beginning (to get things going).
+   The userspace-part can safely disable interrupts at any time using
+   a write to the UIO device.
+*/
+
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/pci.h>
+#include <linux/uio_driver.h>
+#include <linux/io.h>
+
+/* ID's for SERCOS III PCI card (PLX 9030) */
+#define SERCOS_SUB_VENDOR_ID  0x1971
+#define SERCOS_SUB_SYSID_3530 0x3530
+#define SERCOS_SUB_SYSID_3535 0x3535
+#define SERCOS_SUB_SYSID_3780 0x3780
+
+/* Interrupt Enable Register */
+#define IER0_OFFSET 0x08
+
+/* Interrupt Status Register */
+#define ISR0_OFFSET 0x18
+
+struct sercos3_priv {
+        u32 ier0_cache;
+        spinlock_t ier0_cache_lock;
+};
+
+/* this function assumes ier0_cache_lock is locked! */
+static void sercos3_disable_interrupts(struct uio_info *info,
+                                       struct sercos3_priv *priv)
+{
+        void __iomem *ier0 = info->mem[3].internal_addr + IER0_OFFSET;
+
+        /* add enabled interrupts to cache */
+        priv->ier0_cache |= ioread32(ier0);
+
+        /* disable interrupts */
+        iowrite32(0, ier0);
+}
+
+/* this function assumes ier0_cache_lock is locked! */
+static void sercos3_enable_interrupts(struct uio_info *info,
+                                      struct sercos3_priv *priv)
+{
+        void __iomem *ier0 = info->mem[3].internal_addr + IER0_OFFSET;
+
+        /* restore previously enabled interrupts */
+        iowrite32(ioread32(ier0) | priv->ier0_cache, ier0);
+        priv->ier0_cache = 0;
+}
+
+static irqreturn_t sercos3_handler(int irq, struct uio_info *info)
+{
+        struct sercos3_priv *priv = info->priv;
+        void __iomem *isr0 = info->mem[3].internal_addr + ISR0_OFFSET;
+        void __iomem *ier0 = info->mem[3].internal_addr + IER0_OFFSET;
+
+        if (!(ioread32(isr0) & ioread32(ier0)))
+                return IRQ_NONE;
+
+        spin_lock(&priv->ier0_cache_lock);
+        sercos3_disable_interrupts(info, priv);
+        spin_unlock(&priv->ier0_cache_lock);
+
+        return IRQ_HANDLED;
+}
+
+static int sercos3_irqcontrol(struct uio_info *info, s32 irq_on)
+{
+        struct sercos3_priv *priv = info->priv;
+
+        spin_lock_irq(&priv->ier0_cache_lock);
+        if (irq_on)
+                sercos3_enable_interrupts(info, priv);
+        else
+                sercos3_disable_interrupts(info, priv);
+        spin_unlock_irq(&priv->ier0_cache_lock);
+
+        return 0;
+}
+
+static int sercos3_setup_iomem(struct pci_dev *dev, struct uio_info *info,
+                               int n, int pci_bar)
+{
+        info->mem[n].addr = pci_resource_start(dev, pci_bar);
+        if (!info->mem[n].addr)
+                return -1;
+        info->mem[n].internal_addr = ioremap(pci_resource_start(dev, pci_bar),
+                                             pci_resource_len(dev, pci_bar));
+        if (!info->mem[n].internal_addr)
+                return -1;
+        info->mem[n].size = pci_resource_len(dev, pci_bar);
+        info->mem[n].memtype = UIO_MEM_PHYS;
+        return 0;
+}
+
+static int __devinit sercos3_pci_probe(struct pci_dev *dev,
+                                       const struct pci_device_id *id)
+{
+        struct uio_info *info;
+        struct sercos3_priv *priv;
+        int i;
+
+        info = kzalloc(sizeof(struct uio_info), GFP_KERNEL);
+        if (!info)
+                return -ENOMEM;
+
+        priv = kzalloc(sizeof(struct sercos3_priv), GFP_KERNEL);
+        if (!priv)
+                goto out_free;
+
+        if (pci_enable_device(dev))
+                goto out_free_priv;
+
+        if (pci_request_regions(dev, "sercos3"))
+                goto out_disable;
+
+        /* we only need PCI BAR's 0, 2, 3, 4, 5 */
+        if (sercos3_setup_iomem(dev, info, 0, 0))
+                goto out_unmap;
+        if (sercos3_setup_iomem(dev, info, 1, 2))
+                goto out_unmap;
+        if (sercos3_setup_iomem(dev, info, 2, 3))
+                goto out_unmap;
+        if (sercos3_setup_iomem(dev, info, 3, 4))
+                goto out_unmap;
+        if (sercos3_setup_iomem(dev, info, 4, 5))
+                goto out_unmap;
+
+        spin_lock_init(&priv->ier0_cache_lock);
+        info->priv = priv;
+        info->name = "Sercos_III_PCI";
+        info->version = "0.0.1";
+        info->irq = dev->irq;
+        info->irq_flags = IRQF_DISABLED | IRQF_SHARED;
+        info->handler = sercos3_handler;
+        info->irqcontrol = sercos3_irqcontrol;
+
+        pci_set_drvdata(dev, info);
+
+        if (uio_register_device(&dev->dev, info))
+                goto out_unmap;
+
+        return 0;
+
+out_unmap:
+        for (i = 0; i < 5; i++) {
+                if (info->mem[i].internal_addr)
+                        iounmap(info->mem[i].internal_addr);
+        }
+        pci_release_regions(dev);
+out_disable:
+        pci_disable_device(dev);
+out_free_priv:
+        kfree(priv);
+out_free:
+        kfree(info);
+        return -ENODEV;
+}
+
+static void sercos3_pci_remove(struct pci_dev *dev)
+{
+        struct uio_info *info = pci_get_drvdata(dev);
+        int i;
+
+        uio_unregister_device(info);
+        pci_release_regions(dev);
+        pci_disable_device(dev);
+        pci_set_drvdata(dev, NULL);
+        for (i = 0; i < 5; i++) {
+                if (info->mem[i].internal_addr)
+                        iounmap(info->mem[i].internal_addr);
+        }
+        kfree(info->priv);
+        kfree(info);
+}
+
+static struct pci_device_id sercos3_pci_ids[] __devinitdata = {
+        {
+                .vendor =       PCI_VENDOR_ID_PLX,
+                .device =       PCI_DEVICE_ID_PLX_9030,
+                .subvendor =    SERCOS_SUB_VENDOR_ID,
+                .subdevice =    SERCOS_SUB_SYSID_3530,
+        },
+        {
+                .vendor =       PCI_VENDOR_ID_PLX,
+                .device =       PCI_DEVICE_ID_PLX_9030,
+                .subvendor =    SERCOS_SUB_VENDOR_ID,
+                .subdevice =    SERCOS_SUB_SYSID_3535,
+        },
+        {
+                .vendor =       PCI_VENDOR_ID_PLX,
+                .device =       PCI_DEVICE_ID_PLX_9030,
+                .subvendor =    SERCOS_SUB_VENDOR_ID,
+                .subdevice =    SERCOS_SUB_SYSID_3780,
+        },
+        { 0, }
+};
+
+static struct pci_driver sercos3_pci_driver = {
+        .name = "sercos3",
+        .id_table = sercos3_pci_ids,
+        .probe = sercos3_pci_probe,
+        .remove = sercos3_pci_remove,
+};
+
+static int __init sercos3_init_module(void)
+{
+        return pci_register_driver(&sercos3_pci_driver);
+}
+
+static void __exit sercos3_exit_module(void)
+{
+        pci_unregister_driver(&sercos3_pci_driver);
+}
+
+module_init(sercos3_init_module);
+module_exit(sercos3_exit_module);
+
+MODULE_DESCRIPTION("UIO driver for the Automata Sercos III PCI card");
+MODULE_AUTHOR("John Ogness <john.ogness@linutronix.de>");
+MODULE_LICENSE("GPL v2");