lincan/src/usbcan.c

   1 /* usbcan.h
   2  * Header file for the Linux CAN-bus driver.
   3  * Written by Jan Kriz email:johen@post.cz
   4  * This software is released under the GPL-License.
   5  * Version lincan-0.3  17 Jul 2008
   6  */
   7
   8 #include "../include/can.h"
   9 #include "../include/can_sysdep.h"
  10 #include "../include/main.h"
  11 #include "../include/devcommon.h"
  12 #include "../include/setup.h"
  13 #include "../include/usbcan.h"
  14
  15 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id);
  16 static void usbcan_disconnect(struct usb_interface *interface);
  17
  18 /* table of devices that work with this driver */
  19 static struct usb_device_id usbcan_table [] = {
  20         { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) },
  21         { }                                     /* Terminating entry */
  22 };
  23 MODULE_DEVICE_TABLE(usb, usbcan_table);
  24
  25 static struct usb_driver usbcan_driver = {
  26         .name =         "usbcan",
  27         .id_table = usbcan_table,
  28         .probe =        usbcan_probe,
  29         .disconnect =   usbcan_disconnect,
  30 };
  31
  32 /**
  33  * usbcan_request_io: - reserve io or memory range for can board
  34  * @candev: pointer to candevice/board which asks for io. Field @io_addr
  35  *      of @candev is used in most cases to define start of the range
  36  *
  37  * The function usbcan_request_io() is used to reserve the io-memory. If your
  38  * hardware uses a dedicated memory range as hardware control registers you
  39  * will have to add the code to reserve this memory as well.
  40  * %IO_RANGE is the io-memory range that gets reserved, please adjust according
  41  * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
  42  * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
  43  * Return Value: The function returns zero on success or %-ENODEV on failure
  44  * File: src/usbcan.c
  45  */
  46 int usbcan_request_io(struct candevice_t *candev)
  47 {
  48         struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev;
  49
  50         /* start kernel thread */
  51         dev->rcvthread.arg = dev;
  52         start_kthread(usbcan_read_kthread, &dev->rcvthread);
  53
  54         /* Adding link to can device into usbcan_usb struct */
  55         ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev;
  56         return 0;
  57 }
  58
  59 /**
  60  * usbcan_release_io - free reserved io memory range
  61  * @candev: pointer to candevice/board which releases io
  62  *
  63  * The function usbcan_release_io() is used to free reserved io-memory.
  64  * In case you have reserved more io memory, don't forget to free it here.
  65  * IO_RANGE is the io-memory range that gets released, please adjust according
  66  * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
  67  * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
  68  * Return Value: The function always returns zero
  69  * File: src/usbcan.c
  70  */
  71 int usbcan_release_io(struct candevice_t *candev)
  72 {
  73         struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev);
  74
  75         /* terminate the kernel thread */
  76         if (dev->rcv){
  77                 usb_kill_urb(dev->rcv);
  78                 usb_free_urb(dev->rcv);
  79         }
  80         stop_kthread(&dev->rcvthread);
  81         return 0;
  82 }
  83
  84 /**
  85  * usbcan_reset - hardware reset routine
  86  * @candev: Pointer to candevice/board structure
  87  *
  88  * The function usbcan_reset() is used to give a hardware reset. This is
  89  * rather hardware specific so I haven't included example code. Don't forget to
  90  * check the reset status of the chip before returning.
  91  * Return Value: The function returns zero on success or %-ENODEV on failure
  92  * File: src/usbcan.c
  93  */
  94 int usbcan_reset(struct candevice_t *candev)
  95 {
  96         return 0;
  97 }
  98
  99 /**
 100  * usbcan_init_hw_data - Initialize hardware cards
 101  * @candev: Pointer to candevice/board structure
 102  *
 103  * The function usbcan_init_hw_data() is used to initialize the hardware
 104  * structure containing information about the installed CAN-board.
 105  * %RESET_ADDR represents the io-address of the hardware reset register.
 106  * %NR_82527 represents the number of Intel 82527 chips on the board.
 107  * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
 108  * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
 109  * the hardware uses programmable interrupts.
 110  * Return Value: The function always returns zero
 111  * File: src/usbcan.c
 112  */
 113 int usbcan_init_hw_data(struct candevice_t *candev)
 114 {
 115         candev->res_addr=RESET_ADDR;
 116         candev->nr_82527_chips=0;
 117         candev->nr_sja1000_chips=0;
 118         candev->nr_all_chips=1;
 119         candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
 120
 121         return 0;
 122 }
 123
 124 /**
 125  * usbcan_init_obj_data - Initialize message buffers
 126  * @chip: Pointer to chip specific structure
 127  * @objnr: Number of the message buffer
 128  *
 129  * The function usbcan_init_obj_data() is used to initialize the hardware
 130  * structure containing information about the different message objects on the
 131  * CAN chip. In case of the sja1000 there's only one message object but on the
 132  * i82527 chip there are 15.
 133  * The code below is for a i82527 chip and initializes the object base addresses
 134  * The entry @obj_base_addr represents the first memory address of the message
 135  * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
 136  * base address.
 137  * Unless the hardware uses a segmented memory map, flags can be set zero.
 138  * Return Value: The function always returns zero
 139  * File: src/usbcan.c
 140  */
 141 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
 142 {
 143         chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
 144
 145         return 0;
 146 }
 147
 148 /**
 149  * usbcan_program_irq - program interrupts
 150  * @candev: Pointer to candevice/board structure
 151  *
 152  * The function usbcan_program_irq() is used for hardware that uses
 153  * programmable interrupts. If your hardware doesn't use programmable interrupts
 154  * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
 155  * leave this function unedited. Again this function is hardware specific so
 156  * there's no example code.
 157  * Return value: The function returns zero on success or %-ENODEV on failure
 158  * File: src/usbcan.c
 159  */
 160 int usbcan_program_irq(struct candevice_t *candev)
 161 {
 162         return 0;
 163 }
 164
 165 /* !!! Don't change this function !!! */
 166 int usbcan_register(struct hwspecops_t *hwspecops)
 167 {
 168         hwspecops->request_io = usbcan_request_io;
 169         hwspecops->release_io = usbcan_release_io;
 170         hwspecops->reset = usbcan_reset;
 171         hwspecops->init_hw_data = usbcan_init_hw_data;
 172         hwspecops->init_chip_data = usbcan_init_chip_data;
 173         hwspecops->init_obj_data = usbcan_init_obj_data;
 174         hwspecops->write_register = NULL;
 175         hwspecops->read_register = NULL;
 176         hwspecops->program_irq = usbcan_program_irq;
 177         return 0;
 178 }
 179
 180 static int sja1000_report_error_limit_counter;
 181
 182 static void sja1000_report_error(struct canchip_t *chip,
 183                                 unsigned sr, unsigned ir, unsigned ecc)
 184 {
 185         /*TODO : Error reporting from device */
 186
 187 /*      if(sja1000_report_error_limit_counter>=100)
 188                 return;
 189
 190         CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
 191                 sr, ir, ecc);
 192
 193         sja1000_report_error_limit_counter+=10;
 194
 195         if(sja1000_report_error_limit_counter>=100){
 196                 sja1000_report_error_limit_counter+=10;
 197                 CANMSG("Error: too many errors, reporting disabled\n");
 198                 return;
 199         }
 200
 201 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
 202         CANMSG("SR: BS=%c  ES=%c  TS=%c  RS=%c  TCS=%c TBS=%c DOS=%c RBS=%c\n",
 203                 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
 204                 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
 205                 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
 206                 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
 207         CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c  TI=%c  RI=%c\n",
 208                 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
 209                 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
 210                 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
 211                 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
 212         if((sr&sjaIR_EI) || 1){
 213                 CANMSG("EI: %s %s %s\n",
 214                        sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
 215                        ecc&sjaECC_DIR?"RX":"TX",
 216                        sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
 217                       );
 218         }
 219 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
 220 }
 221
 222
 223 /**
 224  * usbcan_enable_configuration - enable chip configuration mode
 225  * @chip: pointer to chip state structure
 226  */
 227 int usbcan_enable_configuration(struct canchip_t *chip)
 228 {
 229         return 0;
 230 }
 231
 232 /**
 233  * usbcan_disable_configuration - disable chip configuration mode
 234  * @chip: pointer to chip state structure
 235  */
 236 int usbcan_disable_configuration(struct canchip_t *chip)
 237 {
 238         return 0;
 239 }
 240
 241 /**
 242  * usbcan_chip_config: - can chip configuration
 243  * @chip: pointer to chip state structure
 244  *
 245  * This function configures chip and prepares it for message
 246  * transmission and reception. The function resets chip,
 247  * resets mask for acceptance of all messages by call to
 248  * usbcan_extended_mask() function and then
 249  * computes and sets baudrate with use of function usbcan_baud_rate().
 250  * Return Value: negative value reports error.
 251  * File: src/usbcan.c
 252  */
 253 int usbcan_chip_config(struct canchip_t *chip)
 254 {
 255         return 0;
 256 }
 257
 258 /**
 259  * usbcan_extended_mask: - setup of extended mask for message filtering
 260  * @chip: pointer to chip state structure
 261  * @code: can message acceptance code
 262  * @mask: can message acceptance mask
 263  *
 264  * Return Value: negative value reports error.
 265  * File: src/usbcan.c
 266  */
 267 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  long mask)
 268 {
 269         int retval;
 270         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 271
 272         struct usbcan_mask_t usbmask = {
 273                 .code=code,
 274                 .mask=mask,
 275         };
 276
 277         retval=usb_control_msg(dev->udev,
 278                 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 279                 USBCAN_VENDOR_EXT_MASK_SET,
 280                 USB_TYPE_VENDOR,
 281                 0, chip->chip_idx,
 282                 &usbmask, sizeof(struct usbcan_mask_t),
 283                 10000);
 284         if (retval<0)
 285                 return -ENODEV;
 286
 287         retval = usb_control_msg(dev->udev,
 288                 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 289                 USBCAN_VENDOR_EXT_MASK_STATUS,
 290                 USB_TYPE_VENDOR,
 291                 0, chip->chip_idx,
 292                 dev->ctl_in_buffer, dev->ctl_in_size,
 293                 10000);
 294
 295         if (retval==1){
 296                 if(dev->ctl_in_buffer[0]==1){
 297                         DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
 298                         DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
 299                         return 0;
 300                 }
 301         }
 302
 303         CANMSG("Setting extended mask failed\n");
 304         return -EINVAL;
 305 }
 306
 307 /**
 308  * usbcan_baud_rate: - set communication parameters.
 309  * @chip: pointer to chip state structure
 310  * @rate: baud rate in Hz
 311  * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
 312  * @sjw: synchronization jump width (0-3) prescaled clock cycles
 313  * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
 314  * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
 315  *
 316  * Return Value: negative value reports error.
 317  * File: src/usbcan.c
 318  */
 319 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 320                                                         int sampl_pt, int flags)
 321 {
 322         int retval;
 323         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 324
 325         // Data too big to use single receive control message
 326         struct can_baudparams_t baud={
 327                 .flags=flags,
 328                 .baudrate=rate,
 329                 .sjw=sjw,
 330                 .sample_pt=sampl_pt,
 331         };
 332
 333
 334         retval=usb_control_msg(dev->udev,
 335                 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 336                 USBCAN_VENDOR_BAUD_RATE_SET,
 337                 USB_TYPE_VENDOR,
 338                 0, chip->chip_idx,
 339                 &baud, sizeof(struct can_baudparams_t),
 340                 10000);
 341         if (retval<0)
 342                 return -ENODEV;
 343
 344         retval = usb_control_msg(dev->udev,
 345                 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 346                 USBCAN_VENDOR_BAUD_RATE_STATUS,
 347                 USB_TYPE_VENDOR,
 348                 0, chip->chip_idx,
 349                 dev->ctl_in_buffer, dev->ctl_in_size,
 350                 10000);
 351
 352         if (retval==1){
 353                 if(dev->ctl_in_buffer[0]==1)
 354                         return 0;
 355         }
 356
 357         CANMSG("baud rate %d is not possible to set\n",
 358                 rate);
 359         return -EINVAL;
 360 }
 361
 362 /**
 363  * usbcan_pre_read_config: - prepares message object for message reception
 364  * @chip: pointer to chip state structure
 365  * @obj: pointer to message object state structure
 366  *
 367  * Return Value: negative value reports error.
 368  *      Positive value indicates immediate reception of message.
 369  * File: src/usbcan.c
 370  */
 371 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
 372 {
 373         return 0;
 374 }
 375
 376 #define MAX_TRANSMIT_WAIT_LOOPS 10
 377 /**
 378  * usbcan_pre_write_config: - prepares message object for message transmission
 379  * @chip: pointer to chip state structure
 380  * @obj: pointer to message object state structure
 381  * @msg: pointer to CAN message
 382  *
 383  * This function prepares selected message object for future initiation
 384  * of message transmission by usbcan_send_msg() function.
 385  * The CAN message data and message ID are transfered from @msg slot
 386  * into chip buffer in this function.
 387  * Return Value: negative value reports error.
 388  * File: src/usbcan.c
 389  */
 390 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 391                                                         struct canmsg_t *msg)
 392 {
 393         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 394         int i=0;
 395         int len;
 396
 397         /* Wait until Transmit Buffer Status is released */
 398         while ( usbcan_chip_queue_status(chip) &&
 399                                                 i++<MAX_TRANSMIT_WAIT_LOOPS) {
 400                 udelay(i);
 401         }
 402         if (usbcan_chip_queue_status(chip)){
 403                 CANMSG("Buffer full, cannot send message\n");
 404                 return -EIO;
 405         }
 406
 407         dev->tx_msg.chip_id=(__u8)chip->chip_idx;
 408
 409         len = msg->length;
 410         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
 411         dev->tx_msg.length=(__u8)len;
 412         dev->tx_msg.flags=(__u16)msg->flags;
 413
 414         if(msg->flags&MSG_EXT) {
 415                 dev->tx_msg.id[0]=(msg->id) & 0xff;
 416                 dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
 417                 dev->tx_msg.id[2]=(msg->id>>16) & 0xff;
 418                 dev->tx_msg.id[3]=(msg->id>>24) & 0xff;
 419         } else {
 420                 dev->tx_msg.id[0]=(msg->id) & 0xff;
 421                 dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
 422                 dev->tx_msg.id[2]=0;
 423                 dev->tx_msg.id[3]=0;
 424         }
 425         for(i=0; i < len; i++) {
 426                 dev->tx_msg.data[i]=(__u8) msg->data[i];
 427         }
 428         for(i; i < 8; i++) {
 429                 dev->tx_msg.data[i]=0;
 430         }
 431         return 0;
 432 }
 433
 434 /**
 435  * usbcan_send_msg: - initiate message transmission
 436  * @chip: pointer to chip state structure
 437  * @obj: pointer to message object state structure
 438  * @msg: pointer to CAN message
 439  *
 440  * This function is called after usbcan_pre_write_config() function,
 441  * which prepares data in chip buffer.
 442  * Return Value: negative value reports error.
 443  * File: src/usbcan.c
 444  */
 445 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
 446                                                         struct canmsg_t *msg)
 447 {
 448         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 449         int len,retval;
 450
 451         set_bit(USBCAN_TX_PENDING,&dev->flags);
 452         retval=usb_bulk_msg(dev->udev,
 453                         usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
 454                         &dev->tx_msg, sizeof(struct usbcan_canmsg_t),
 455                         &len,10000);
 456         clear_bit(USBCAN_TX_PENDING,&dev->flags);
 457         if (retval){
 458                 CANMSG("URB error %d\n",retval);
 459                 return -EIO;
 460         }
 461         if (len!=sizeof(struct usbcan_canmsg_t)){
 462                 CANMSG("CAN message not sent\n");
 463                 return -EIO;
 464         }
 465
 466         return 0;
 467 }
 468
 469 /**
 470  * usbcan_check_tx_stat: - checks state of transmission engine
 471  * @chip: pointer to chip state structure
 472  *
 473  * Return Value: negative value reports error.
 474  *      Positive return value indicates transmission under way status.
 475  *      Zero value indicates finishing of all issued transmission requests.
 476  * File: src/usbcan.c
 477  */
 478 int usbcan_check_tx_stat(struct canchip_t *chip)
 479 {
 480         if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags))
 481                 return 1;
 482         return 0;
 483 }
 484
 485 /**
 486  * usbcan_set_btregs: -  configures bitrate registers
 487  * @chip: pointer to chip state structure
 488  * @btr0: bitrate register 0
 489  * @btr1: bitrate register 1
 490  *
 491  * Return Value: negative value reports error.
 492  * File: src/usbcan.c
 493  */
 494 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 495                                                         unsigned short btr1)
 496 {
 497         int retval;
 498         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 499
 500         retval = usb_control_msg(dev->udev,
 501         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 502         USBCAN_VENDOR_SET_BTREGS,
 503         USB_TYPE_VENDOR,
 504         btr1<<8 | btr0, chip->chip_idx,
 505         dev->ctl_in_buffer, dev->ctl_in_size,
 506         10000);
 507
 508         if (retval==1){
 509                 if(dev->ctl_in_buffer[0]==1)
 510                         return 0;
 511         }
 512         return -ENODEV;
 513 }
 514
 515 /**
 516  * usbcan_start_chip: -  starts chip message processing
 517  * @chip: pointer to chip state structure
 518  *
 519  * Return Value: negative value reports error.
 520  * File: src/usbcan.c
 521  */
 522 int usbcan_start_chip(struct canchip_t *chip)
 523 {
 524         int retval;
 525         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 526
 527         retval = usb_control_msg(dev->udev,
 528         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 529         USBCAN_VENDOR_START_CHIP,
 530         USB_TYPE_VENDOR,
 531         0, chip->chip_idx,
 532         dev->ctl_in_buffer, dev->ctl_in_size,
 533         10000);
 534
 535         if (retval==1){
 536                 if(dev->ctl_in_buffer[0]==1)
 537                         return 0;
 538         }
 539         return -ENODEV;
 540 }
 541
 542 /**
 543  * usbcan_chip_queue_status: -  gets queue status from usb device
 544  * @chip: pointer to chip state structure
 545  *
 546  * Return Value: negative value reports error.
 547  * 0 means queue is not full
 548  * 1 means queue is full
 549  * File: src/usbcan.c
 550  */
 551 int usbcan_chip_queue_status(struct canchip_t *chip)
 552 {
 553         int retval;
 554         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 555
 556         retval = usb_control_msg(dev->udev,
 557         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 558         USBCAN_VENDOR_CHECK_TX_STAT,
 559         USB_TYPE_VENDOR,
 560         0, chip->chip_idx,
 561         dev->ctl_in_buffer, dev->ctl_in_size,
 562         10000);
 563
 564         if (retval==1){
 565                 if(dev->ctl_in_buffer[0]==1)
 566                         return 1;
 567                 if(dev->ctl_in_buffer[0]==0)
 568                         return 0;
 569         }
 570         return -ENODEV;
 571 }
 572
 573 /**
 574  * usbcan_stop_chip: -  stops chip message processing
 575  * @chip: pointer to chip state structure
 576  *
 577  * Return Value: negative value reports error.
 578  * File: src/usbcan.c
 579  */
 580 int usbcan_stop_chip(struct canchip_t *chip)
 581 {
 582         int retval;
 583         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 584
 585         retval = usb_control_msg(dev->udev,
 586         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 587         USBCAN_VENDOR_STOP_CHIP,
 588         USB_TYPE_VENDOR,
 589         0, chip->chip_idx,
 590         dev->ctl_in_buffer, dev->ctl_in_size,
 591         10000);
 592
 593         if (retval==1){
 594                 if(dev->ctl_in_buffer[0]==1)
 595                         return 0;
 596         }
 597         return -ENODEV;
 598 }
 599
 600 /**
 601  * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
 602  * @chip: pointer to chip state structure
 603  *
 604  * Return Value: negative value reports error.
 605  * File: src/usbcan.c
 606  */
 607 int usbcan_attach_to_chip(struct canchip_t *chip)
 608 {
 609         return 0;
 610 }
 611
 612 /**
 613  * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
 614  * @chip: pointer to chip state structure
 615  *
 616  * Return Value: negative value reports error.
 617  * File: src/usbcan.c
 618  */
 619 int usbcan_release_chip(struct canchip_t *chip)
 620 {
 621         usbcan_stop_chip(chip);
 622         return 0;
 623 }
 624
 625 /**
 626  * usbcan_remote_request: - configures message object and asks for RTR message
 627  * @chip: pointer to chip state structure
 628  * @obj: pointer to message object structure
 629  *
 630  * Return Value: negative value reports error.
 631  * File: src/usbcan.c
 632  */
 633 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
 634 {
 635         CANMSG("usbcan_remote_request not implemented\n");
 636         return -ENOSYS;
 637 }
 638
 639 /**
 640  * usbcan_standard_mask: - setup of mask for message filtering
 641  * @chip: pointer to chip state structure
 642  * @code: can message acceptance code
 643  * @mask: can message acceptance mask
 644  *
 645  * Return Value: negative value reports error.
 646  * File: src/usbcan.c
 647  */
 648 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
 649                 unsigned short mask)
 650 {
 651         CANMSG("usbcan_standard_mask not implemented\n");
 652         return -ENOSYS;
 653 }
 654
 655 /**
 656  * usbcan_clear_objects: - clears state of all message object residing in chip
 657  * @chip: pointer to chip state structure
 658  *
 659  * Return Value: negative value reports error.
 660  * File: src/usbcan.c
 661  */
 662 int usbcan_clear_objects(struct canchip_t *chip)
 663 {
 664         CANMSG("usbcan_clear_objects not implemented\n");
 665         return -ENOSYS;
 666 }
 667
 668 /**
 669  * usbcan_config_irqs: - tunes chip hardware interrupt delivery
 670  * @chip: pointer to chip state structure
 671  * @irqs: requested chip IRQ configuration
 672  *
 673  * Return Value: negative value reports error.
 674  * File: src/usbcan.c
 675  */
 676 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
 677 {
 678         CANMSG("usbcan_config_irqs not implemented\n");
 679         return -ENOSYS;
 680 }
 681
 682 /**
 683  * usbcan_irq_write_handler: - part of ISR code responsible for transmit events
 684  * @chip: pointer to chip state structure
 685  * @obj: pointer to attached queue description
 686  *
 687  * The main purpose of this function is to read message from attached queues
 688  * and transfer message contents into CAN controller chip.
 689  * This subroutine is called by
 690  * usbcan_irq_write_handler() for transmit events.
 691  * File: src/usbcan.c
 692  */
 693 void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
 694 {
 695         int cmd;
 696
 697         if(obj->tx_slot){
 698                 // Do local transmitted message distribution if enabled
 699                 if (processlocal){
 700                         // fill CAN message timestamp
 701                         can_filltimestamp(&obj->tx_slot->msg.timestamp);
 702
 703                         obj->tx_slot->msg.flags |= MSG_LOCAL;
 704                         canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
 705                 }
 706                 // Free transmitted slot
 707                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 708                 obj->tx_slot=NULL;
 709         }
 710
 711         can_msgobj_clear_fl(obj,TX_PENDING);
 712         cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
 713         if(cmd<0)
 714                 return;
 715         can_msgobj_set_fl(obj,TX_PENDING);
 716
 717         if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
 718                 obj->ret = -1;
 719                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
 720                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 721                 obj->tx_slot=NULL;
 722                 return;
 723         }
 724         if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
 725                 obj->ret = -1;
 726                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
 727                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 728                 obj->tx_slot=NULL;
 729                 return;
 730         }
 731 }
 732
 733 #define MAX_RETR 10
 734
 735 /**
 736  * usbcan_irq_handler: - interrupt service routine
 737  * @irq: interrupt vector number, this value is system specific
 738  * @chip: pointer to chip state structure
 739  *
 740  * Interrupt handler is activated when state of CAN controller chip changes,
 741  * there is message to be read or there is more space for new messages or
 742  * error occurs. The receive events results in reading of the message from
 743  * CAN controller chip and distribution of message through attached
 744  * message queues.
 745  * File: src/usbcan.c
 746  */
 747 int usbcan_irq_handler(int irq, struct canchip_t *chip)
 748 {
 749 /*      int irq_register, status, error_code;
 750         struct msgobj_t *obj=chip->msgobj[0];
 751         int loop_cnt=CHIP_MAX_IRQLOOP;
 752
 753         irq_register=can_read_reg(chip,SJAIR);
 754 //      DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
 755 //      DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
 756 //                                      can_read_reg(chip,SJASR));
 757
 758         if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
 759                 return CANCHIP_IRQ_NONE;
 760
 761         if(!(chip->flags&CHIP_CONFIGURED)) {
 762                 CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
 763                 return CANCHIP_IRQ_NONE;
 764         }
 765
 766         status=can_read_reg(chip,SJASR);
 767
 768         do {
 769
 770                 if(!loop_cnt--) {
 771                         CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq);
 772                         return CANCHIP_IRQ_STUCK;
 773                 }
 774
 775                 // (irq_register & sjaIR_TI)
 776                 //      old variant using SJAIR, collides with intended use with irq_accept
 777                 if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
 778                     (can_msgobj_test_fl(obj,TX_REQUEST))) {
 779                         DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
 780                         obj->ret = 0;
 781                         can_msgobj_set_fl(obj,TX_REQUEST);
 782                         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 783                                 can_msgobj_clear_fl(obj,TX_REQUEST);
 784
 785                                 if (can_read_reg(chip, SJASR) & sjaSR_TBS)
 786                                         usbcan_irq_write_handler(chip, obj);
 787
 788                                 can_msgobj_clear_fl(obj,TX_LOCK);
 789                                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 790                                 DEBUGMSG("TX looping in sja1000_irq_handler\n");
 791                         }
 792                 }
 793                 if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) {
 794                         // Some error happened
 795                         error_code=can_read_reg(chip,SJAECC);
 796                         sja1000_report_error(chip, status, irq_register, error_code);
 797 // FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
 798 // Reset flag set to 0 if chip is already off the bus. Full state report
 799                         obj->ret=-1;
 800
 801                         if(error_code == 0xd9) {
 802                                 obj->ret= -ENXIO;
 803                                 // no such device or address - no ACK received
 804                         }
 805                         if(obj->tx_retry_cnt++>MAX_RETR) {
 806                                 can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
 807                                 obj->tx_retry_cnt = 0;
 808                         }
 809                         if(status&sjaSR_BS) {
 810                                 CANMSG("bus-off, resetting usbcan\n");
 811                                 can_write_reg(chip, 0, SJAMOD);
 812                         }
 813
 814                         if(obj->tx_slot){
 815                                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
 816                                 //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 817                                 //obj->tx_slot=NULL;
 818                         }
 819
 820                 } else {
 821                         if(sja1000_report_error_limit_counter)
 822                                 sja1000_report_error_limit_counter--;
 823                         obj->tx_retry_cnt=0;
 824                 }
 825
 826                 irq_register=can_read_reg(chip,SJAIR);
 827
 828                 status=can_read_reg(chip,SJASR);
 829
 830                 if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
 831                    (irq_register & sjaIR_TI))
 832                          can_msgobj_set_fl(obj,TX_REQUEST);
 833
 834         } while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
 835                 (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
 836                 (status & sjaSR_RBS));
 837 */
 838         return CANCHIP_IRQ_HANDLED;
 839 }
 840
 841 /**
 842  * usbcan_wakeup_tx: - wakeups TX processing
 843  * @chip: pointer to chip state structure
 844  * @obj: pointer to message object structure
 845  *
 846  * Function is responsible for initiating message transmition.
 847  * It is responsible for clearing of object TX_REQUEST flag
 848  *
 849  * Return Value: negative value reports error.
 850  * File: src/usbcan.c
 851  */
 852 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 853 {
 854
 855         can_preempt_disable();
 856
 857         can_msgobj_set_fl(obj,TX_PENDING);
 858         can_msgobj_set_fl(obj,TX_REQUEST);
 859         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 860                 can_msgobj_clear_fl(obj,TX_REQUEST);
 861
 862                 if (!usbcan_chip_queue_status(chip)){
 863                         obj->tx_retry_cnt=0;
 864                         usbcan_irq_write_handler(chip, obj);
 865                 }
 866
 867                 can_msgobj_clear_fl(obj,TX_LOCK);
 868                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 869                 DEBUGMSG("TX looping in usbcan_wakeup_tx\n");
 870         }
 871
 872         can_preempt_enable();
 873         return 0;
 874 }
 875
 876 int usbcan_chipregister(struct chipspecops_t *chipspecops)
 877 {
 878         CANMSG("initializing usbcan chip operations\n");
 879         chipspecops->chip_config=usbcan_chip_config;
 880         chipspecops->baud_rate=usbcan_baud_rate;
 881         chipspecops->standard_mask=usbcan_standard_mask;
 882         chipspecops->extended_mask=usbcan_extended_mask;
 883         chipspecops->message15_mask=usbcan_extended_mask;
 884         chipspecops->clear_objects=usbcan_clear_objects;
 885         chipspecops->config_irqs=usbcan_config_irqs;
 886         chipspecops->pre_read_config=usbcan_pre_read_config;
 887         chipspecops->pre_write_config=usbcan_pre_write_config;
 888         chipspecops->send_msg=usbcan_send_msg;
 889         chipspecops->check_tx_stat=usbcan_check_tx_stat;
 890         chipspecops->wakeup_tx=usbcan_wakeup_tx;
 891         chipspecops->remote_request=usbcan_remote_request;
 892         chipspecops->enable_configuration=usbcan_enable_configuration;
 893         chipspecops->disable_configuration=usbcan_disable_configuration;
 894         chipspecops->attach_to_chip=usbcan_attach_to_chip;
 895         chipspecops->release_chip=usbcan_release_chip;
 896         chipspecops->set_btregs=usbcan_set_btregs;
 897         chipspecops->start_chip=usbcan_start_chip;
 898         chipspecops->stop_chip=usbcan_stop_chip;
 899         chipspecops->irq_handler=usbcan_irq_handler;
 900         chipspecops->irq_accept=NULL;
 901         return 0;
 902 }
 903
 904 /**
 905  * usbcan_fill_chipspecops - fills chip specific operations
 906  * @chip: pointer to chip representation structure
 907  *
 908  * The function fills chip specific operations for sja1000 (PeliCAN) chip.
 909  *
 910  * Return Value: returns negative number in the case of fail
 911  */
 912 int usbcan_fill_chipspecops(struct canchip_t *chip)
 913 {
 914         chip->chip_type="usbcan";
 915         chip->max_objects=1;
 916         usbcan_chipregister(chip->chipspecops);
 917         return 0;
 918 }
 919
 920 /**
 921  * usbcan_init_chip_data - Initialize chips
 922  * @candev: Pointer to candevice/board structure
 923  * @chipnr: Number of the CAN chip on the hardware card
 924  *
 925  * The function usbcan_init_chip_data() is used to initialize the hardware
 926  * structure containing information about the CAN chips.
 927  * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
 928  * "sja1000".
 929  * The @chip_base_addr entry represents the start of the 'official' memory map
 930  * of the installed chip. It's likely that this is the same as the @io_addr
 931  * argument supplied at module loading time.
 932  * The @clock entry holds the chip clock value in Hz.
 933  * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
 934  * register. Options defined in the %sja1000.h file:
 935  * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
 936  * The entry @sja_ocr_reg holds hardware specific options for the Output Control
 937  * register. Options defined in the %sja1000.h file:
 938  * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
 939  * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
 940  * The entry @int_clk_reg holds hardware specific options for the Clock Out
 941  * register. Options defined in the %i82527.h file:
 942  * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
 943  * The entry @int_bus_reg holds hardware specific options for the Bus
 944  * Configuration register. Options defined in the %i82527.h file:
 945  * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
 946  * The entry @int_cpu_reg holds hardware specific options for the cpu interface
 947  * register. Options defined in the %i82527.h file:
 948  * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
 949  * Return Value: The function always returns zero
 950  * File: src/usbcan.c
 951  */
 952 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
 953 {
 954         struct canchip_t *chip=candev->chip[chipnr];
 955
 956         usbcan_fill_chipspecops(chip);
 957
 958         candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
 959         candev->chip[chipnr]->chip_base_addr=0;
 960         candev->chip[chipnr]->clock = 0;
 961
 962         return 0;
 963 }
 964
 965
 966
 967 /* --------------------------------------------------------------------------------------------------- */
 968
 969 static void usbcan_rcv(struct urb *urb)
 970 {
 971         struct usbcan_usb *dev = urb->context;
 972         int retval;
 973
 974         switch (urb->status) {
 975         case 0:
 976                 /* success */
 977                 set_bit(USBCAN_DATA_READ,&dev->flags);
 978                 wake_up(&dev->rcvthread.queue);
 979                 return;
 980         case -ECONNRESET:
 981         case -ENOENT:
 982         case -ESHUTDOWN:
 983                 /* this urb is terminated, clean up */
 984                 CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
 985                 set_bit(USBCAN_TERMINATE,&dev->flags);
 986                 wake_up(&dev->rcvthread.queue);
 987                 return;
 988         default:
 989                 CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
 990                 break;
 991         }
 992
 993         retval = usb_submit_urb (urb, GFP_ATOMIC);
 994         if (retval<0){
 995                 CANMSG("%s - usb_submit_urb failed with result %d\n",
 996                      __FUNCTION__, retval);
 997                 set_bit(USBCAN_ERROR,&dev->flags);
 998                 wake_up(&dev->rcvthread.queue);
 999         }
1000 }
1001
1002 void usbcan_read_kthread(kthread_t *kthread)
1003 {
1004         int retval;
1005         struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg;
1006         struct msgobj_t *obj;
1007
1008   /* setup the thread environment */
1009   init_kthread(kthread, "usbcan");
1010
1011   /* this is normal work to do */
1012   CANMSG ("usbcan thread started!\n");
1013
1014         dev->rcv = usb_alloc_urb(0, GFP_KERNEL);
1015         if (!dev->rcv){
1016                 CANMSG("Error allocating usb urb\n");
1017                 goto error;
1018         }
1019         dev->rcv->dev = dev->udev;
1020         usb_fill_bulk_urb(dev->rcv, dev->udev,
1021                          usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1022                          &dev->rcv_msg, sizeof(struct usbcan_canmsg_t),
1023                          usbcan_rcv, dev);
1024
1025   /* an endless loop in which we are doing our work */
1026   for(;;)
1027   {
1028                 retval=usb_submit_urb(dev->rcv, GFP_KERNEL);
1029                 if (retval){
1030                         CANMSG("URB error %d\n",retval);
1031                         break;
1032                 }
1033                 /* fall asleep */
1034                 wait_event_interruptible(kthread->queue,
1035                         test_bit(USBCAN_DATA_READ,&dev->flags)
1036                         || test_bit(USBCAN_TERMINATE,&dev->flags)
1037                         || test_bit(USBCAN_ERROR,&dev->flags)
1038                 );
1039
1040                 /* We need to do a memory barrier here to be sure that
1041                 the flags are visible on all CPUs. */
1042                 mb();
1043
1044                 /* here we are back from sleep because we caught a signal. */
1045                 if (kthread->terminate)
1046                 {
1047                         /* we received a request to terminate ourself */
1048                         break;
1049                 }
1050
1051                 if (test_bit(USBCAN_ERROR,&dev->flags)){
1052                         CANMSG("URB error %d\n",retval);
1053                         break;
1054                 }
1055
1056                 { /* Normal work to do */
1057                         if (test_bit(USBCAN_DATA_READ,&dev->flags)){
1058                                 int i, len;
1059                                 clear_bit(USBCAN_DATA_READ,&dev->flags);
1060
1061                                 if ((dev->candev->chip[dev->rcv_msg.chip_id])&&
1062                                         (dev->candev->chip[dev->rcv_msg.chip_id]->flags & CHIP_CONFIGURED)){
1063
1064                                         obj=dev->candev->chip[dev->rcv_msg.chip_id]->msgobj[0];
1065                                         if (dev->rcv_msg.flags & MSG_EXT) {
1066                                                 obj->rx_msg.id =
1067                                                         (dev->rcv_msg.id[0]) +
1068                                                         (dev->rcv_msg.id[1]<<8) +
1069                                                         (dev->rcv_msg.id[2]<<16) +
1070                                                         (dev->rcv_msg.id[3]<<24);
1071                                         } else {
1072                                                 obj->rx_msg.id =
1073                                                         (dev->rcv_msg.id[0]) +
1074                                                         (dev->rcv_msg.id[1]<<8);
1075                                         }
1076                                         obj->rx_msg.flags = dev->rcv_msg.flags;
1077                                         len=dev->rcv_msg.length;
1078                                         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
1079                                         obj->rx_msg.length = len;
1080                                         for(i=0; i< len; i++) {
1081                                                 obj->rx_msg.data[i]=obj->rx_msg.data[i];
1082                                         }
1083
1084                                         // fill CAN message timestamp
1085                                         can_filltimestamp(&obj->rx_msg.timestamp);
1086                                         canque_filter_msg2edges(obj->qends, &obj->rx_msg);
1087                                 }
1088                         }
1089     }
1090   }
1091   /* here we go only in case of termination of the thread */
1092 error:
1093   /* cleanup the thread, leave */
1094   CANMSG ("kernel thread terminated!\n");
1095   exit_kthread(kthread);
1096
1097   /* returning from the thread here calls the exit functions */
1098 }
1099
1100 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1101 {
1102         struct usbcan_usb *dev;
1103         struct usb_host_interface *iface_desc;
1104         struct usb_endpoint_descriptor *endpoint;
1105         size_t buffer_size;
1106         int i;
1107         int retval = -ENOMEM;
1108
1109         /* allocate memory for our device state and initialize it */
1110         dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1111         if (!dev) {
1112                 err("Out of memory");
1113                 goto error;
1114         }
1115
1116         sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
1117         spin_lock_init(&dev->err_lock);
1118         init_usb_anchor(&dev->submitted);
1119
1120 //      dev->udev = usb_get_dev(interface_to_usbdev(interface));
1121         dev->udev = interface_to_usbdev(interface);
1122         dev->interface = interface;
1123
1124         /* set up the endpoint information */
1125         /* use only the first bulk-in and bulk-out endpoints */
1126         iface_desc = interface->cur_altsetting;
1127         for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1128                 endpoint = &iface_desc->endpoint[i].desc;
1129
1130                 if (!dev->bulk_in_endpointAddr &&
1131                     usb_endpoint_is_bulk_in(endpoint)) {
1132                         /* we found a bulk in endpoint */
1133                         buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1134                         dev->bulk_in_size = buffer_size;
1135                         dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1136                         dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1137                         if (!dev->bulk_in_buffer) {
1138                                 err("Could not allocate bulk_in_buffer");
1139                                 goto error;
1140                         }
1141                 }
1142
1143                 if (!dev->bulk_out_endpointAddr &&
1144                     usb_endpoint_is_bulk_out(endpoint)) {
1145                         /* we found a bulk out endpoint */
1146                                 dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1147                 }
1148
1149                 if (!dev->ctl_in_endpointAddr &&
1150                     usb_endpoint_xfer_control(endpoint) &&
1151                     usb_endpoint_dir_in(endpoint)) {
1152                         /* we found a bulk in endpoint */
1153                         buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1154                         dev->ctl_in_size = buffer_size;
1155                         dev->ctl_in_endpointAddr = endpoint->bEndpointAddress;
1156                         dev->ctl_in_buffer = can_checked_malloc(buffer_size);
1157                         if (!dev->ctl_in_buffer) {
1158                                 err("Could not allocate bulk_in_buffer");
1159                                 goto error;
1160                         }
1161                 }
1162
1163                 if (!dev->ctl_out_endpointAddr &&
1164                     usb_endpoint_xfer_control(endpoint) &&
1165                     usb_endpoint_dir_out(endpoint)) {
1166                         /* we found a bulk out endpoint */
1167                                 dev->ctl_out_endpointAddr = endpoint->bEndpointAddress;
1168                 }
1169         }
1170         if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1171                 err("Could not find all bulk-in and bulk-out endpoints");
1172                 goto error;
1173         }
1174
1175         /* save our data pointer in this interface device */
1176         usb_set_intfdata(interface, dev);
1177
1178         register_usbdev("usbcan",(void *) dev);
1179
1180         /* let the user know what node this device is now attached to */
1181         info("USB Skeleton device now attached");
1182         return 0;
1183
1184 error:
1185         usb_put_dev(dev->udev);
1186         if (dev->bulk_in_buffer)
1187                 can_checked_free(dev->bulk_in_buffer);
1188         if (dev->ctl_in_buffer)
1189                 can_checked_free(dev->ctl_in_buffer);
1190         if (dev->candev){
1191                 dev->candev->sysdevptr.anydev=NULL;
1192                 cleanup_usbdev(dev->candev);
1193         }
1194         can_checked_free(dev);
1195         return retval;
1196 }
1197
1198 // Physically disconnected device
1199 static void usbcan_disconnect(struct usb_interface *interface)
1200 {
1201         struct usbcan_usb *dev;
1202         int minor = interface->minor;
1203
1204         dev = usb_get_intfdata(interface);
1205         usb_set_intfdata(interface, NULL);
1206
1207         /* prevent more I/O from starting */
1208         mutex_lock(&dev->io_mutex);
1209         dev->interface = NULL;
1210         mutex_unlock(&dev->io_mutex);
1211
1212         //usb_kill_anchored_urbs(&dev->submitted);
1213
1214         usb_put_dev(dev->udev);
1215         if (dev->bulk_in_buffer)
1216                 can_checked_free(dev->bulk_in_buffer);
1217         if (dev->ctl_in_buffer)
1218                 can_checked_free(dev->ctl_in_buffer);
1219         if (dev->candev){
1220                 dev->candev->sysdevptr.anydev=NULL;
1221                 cleanup_usbdev(dev->candev);
1222         }
1223         can_checked_free(dev);
1224
1225         info("USB Skeleton now disconnected");
1226 }
1227
1228 int usbcan_init(void){
1229         return usb_register(&usbcan_driver);
1230 }
1231
1232 void usbcan_exit(void){
1233         usb_deregister(&usbcan_driver);
1234 }