2 * Linux CAN-bus device driver.
3 * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
4 * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
5 * email:pisa@cmp.felk.cvut.cz
6 * This software is released under the GPL-License.
7 * Version lincan-0.3 17 Jun 2004
14 #include <linux/autoconf.h>
16 #include <linux/module.h>
18 #include <linux/kernel.h>
20 #include <linux/sched.h>
21 #include <linux/poll.h>
22 #include <linux/version.h>
23 #include <linux/autoconf.h>
24 #include <linux/interrupt.h>
26 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
27 #include <linux/wrapper.h>
29 #include <linux/device.h>
30 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,13)
31 static struct class *can_class;
32 #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
33 static struct class_simple *can_class;
34 #define class_create class_simple_create
35 #define class_device_create class_simple_device_add
36 #define class_device_destroy(a,b) class_simple_device_remove(b)
37 #define class_destroy class_simple_destroy
41 #if !defined (__GENKSYMS__)
42 #if (defined (MODVERSIONS) && !defined(NOVER))
43 #include <linux/modversions.h>
44 /*#include "../include/main.ver"*/
48 /*#undef CONFIG_DEVFS_FS*/
50 #ifdef CONFIG_DEVFS_FS
51 #include <linux/devfs_fs_kernel.h>
52 #include <linux/miscdevice.h>
55 #include "../include/can.h"
56 #include "../include/can_sysdep.h"
57 #include "../include/main.h"
58 #include "../include/modparms.h"
59 #include "../include/devcommon.h"
60 #include "../include/setup.h"
61 #include "../include/proc.h"
62 #include "../include/open.h"
63 #include "../include/close.h"
64 #include "../include/read.h"
65 #include "../include/select.h"
66 #include "../include/irq.h"
67 #include "../include/ioctl.h"
68 #include "../include/write.h"
69 #include "../include/finish.h"
70 #include "../include/fasync.h"
73 #include <rtl_posixio.h>
74 #include "../include/can_iortl.h"
75 #endif /*CAN_WITH_RTL*/
77 can_spinlock_t canuser_manipulation_lock;
80 int minor[MAX_TOT_CHIPS]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
83 int baudrate[MAX_TOT_CHIPS];
84 char *hw[MAX_HW_CARDS]={NULL,};
85 int irq[MAX_IRQ]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
86 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
92 unsigned int minor_specified;
93 unsigned int baudrate_specified;
94 unsigned int hw_specified;
95 unsigned int irq_specified;
96 unsigned int io_specified;
98 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0))
99 /* Module parameters, some must be supplied at module loading time */
100 MODULE_PARM(major,"1i");
101 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
102 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
103 MODULE_PARM(extended,"1i");
104 MODULE_PARM(pelican,"1i");
105 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
106 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
107 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
108 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
109 MODULE_PARM(stdmask, "1i");
110 MODULE_PARM(extmask, "1i");
111 MODULE_PARM(mo15mask, "1i");
112 MODULE_PARM(processlocal, "1i");
114 #else /* LINUX_VERSION_CODE >= 2,6,0 */
115 module_param(major, int, 0);
116 module_param_array(minor, int, &minor_specified, 0);
117 module_param(extended, int, 0);
118 module_param(pelican, int, 0);
119 module_param_array(baudrate, int, &baudrate_specified, 0);
120 module_param_array(hw, charp, &hw_specified, 0);
121 module_param_array(irq, int, &irq_specified, 0);
122 module_param_array(io, int, &io_specified, 0);
123 module_param(stdmask, int, 0);
124 module_param(extmask, int, 0);
125 module_param(mo15mask, int, 0);
126 module_param(processlocal, int, 0);
127 #endif /* LINUX_VERSION_CODE >= 2,6,0 */
129 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
130 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
131 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
132 " selects extended frames reception for i82527");
133 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
134 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
135 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
136 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
137 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
138 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
139 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
140 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
141 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
142 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
145 int can_rtl_priority=-1;
146 MODULE_PARM(can_rtl_priority, "1i");
147 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
148 #endif /*CAN_WITH_RTL*/
150 /* Other module attributes */
151 #ifdef MODULE_SUPPORTED_DEVICE
152 MODULE_SUPPORTED_DEVICE("can");
154 #ifdef MODULE_LICENSE
155 MODULE_LICENSE("GPL");
157 #ifdef MODULE_DESCRIPTION
158 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
161 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
164 /* Global structures, used to describe the installed hardware. */
165 struct canhardware_t canhardware;
166 struct canhardware_t *hardware_p=&canhardware;
167 struct canchip_t *chips_p[MAX_TOT_CHIPS];
168 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
169 #ifdef CONFIG_DEVFS_FS
170 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
171 devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
175 /* Pointers to dynamically allocated memory are maintained in a linked list
176 * to ease memory deallocation.
178 struct mem_addr *mem_head=NULL;
180 struct file_operations can_fops=
182 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
191 #ifdef CAN_ENABLE_KERN_FASYNC
193 #endif /*CAN_ENABLE_KERN_FASYNC*/
196 EXPORT_SYMBOL(can_fops);
200 struct rtl_file_operations can_fops_rtl = {
202 read: can_read_rtl_posix,
203 write: can_write_rtl_posix,
204 ioctl: can_ioctl_rtl_posix,
206 open: can_open_rtl_posix,
207 release: can_release_rtl_posix
209 #endif /*CAN_WITH_RTL*/
213 2.6 kernel attributes for sysfs
215 static ssize_t show_xxx(struct class_device *cdev, char *buf)
217 return sprintf(buf, "xxxx\n");
220 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
224 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
226 ret = class_device_create_file(class_dev, class_device_attr_xxx);
232 int init_module(void)
235 struct candevice_t *candev;
236 struct canchip_t *chip;
238 if (parse_mod_parms())
241 can_spin_lock_init(&canuser_manipulation_lock);
242 canqueue_kern_initialize();
244 if (init_hw_struct())
251 res=register_chrdev(major,DEVICE_NAME, &can_fops);
253 CANMSG("Error registering driver.\n");
258 can_spin_lock_init(&can_irq_manipulation_lock);
259 canqueue_rtl_initialize();
260 res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
262 CANMSG("Error registering RT-Linux major number.\n");
265 #endif /*CAN_WITH_RTL*/
267 for (i=0; i<hardware_p->nr_boards; i++) {
268 candev=hardware_p->candevice[i];
269 if (candev->hwspecops->request_io(candev))
270 goto request_io_error;
271 candev->flags|=CANDEV_IO_RESERVED;
274 for (i=0; i<hardware_p->nr_boards; i++) {
275 candev=hardware_p->candevice[i];
276 if (candev->hwspecops->reset(candev))
280 can_spin_lock_init(&hardware_p->rtr_lock);
281 hardware_p->rtr_queue=NULL;
283 for (i=0; i<hardware_p->nr_boards; i++) {
284 candev=hardware_p->candevice[i];
285 for(j=0; j<candev->nr_all_chips; j++) {
286 if((chip=candev->chip[j])==NULL)
289 if(chip->chipspecops->attach_to_chip(chip)<0) {
290 CANMSG("Initial attach to the chip HW failed\n");
291 goto interrupt_error;
294 chip->flags |= CHIP_ATTACHED;
296 if(can_chip_setup_irq(chip)<0) {
297 CANMSG("Error to setup chip IRQ\n");
298 goto interrupt_error;
302 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
303 if (candev->hwspecops->program_irq(candev)){
304 CANMSG("Error to program board interrupt\n");
305 goto interrupt_error;
309 #ifdef CONFIG_PROC_FS
310 if (can_init_procdir())
314 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
315 can_class=class_create(THIS_MODULE, "can");
318 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
320 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
323 struct class_device *this_dev;
326 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
327 if(!objects_p[i]) continue;
328 dev_minor=objects_p[i]->minor;
329 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
330 sprintf (dev_name, "can%d", dev_minor);
331 devfs_handles[i]=devfs_register(NULL, dev_name,
332 DEVFS_FL_DEFAULT, major, dev_minor,
333 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
334 &can_fops, (void*)objects_p[i]);
336 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
337 this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
338 #else /* >= 2.6.15 */
339 this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
340 #endif /* >= 2.6.15 */
341 if(IS_ERR(this_dev)){
342 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
344 /*this_dev->class_data=objects_p[i];*/
345 class_set_devdata(this_dev,objects_p[i]);
347 #ifdef CONFIG_DEVFS_FS
348 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
356 #ifdef CONFIG_PROC_FS
358 CANMSG("Error registering /proc entry.\n");
366 CANMSG("Error resetting device.\n");
370 CANMSG("Error to request IO resources for device.\n");
374 canhardware_done(hardware_p);
377 rtl_unregister_rtldev(major,DEVICE_NAME);
380 #endif /*CAN_WITH_RTL*/
382 res=unregister_chrdev(major,DEVICE_NAME);
384 CANMSG("Error unloading CAN driver, error: %d\n",res);
386 CANMSG("No CAN devices or driver setup error.\n");
389 if ( can_del_mem_list() )
390 CANMSG("Error deallocating memory\n");
395 void cleanup_module(void)
399 #ifdef CONFIG_PROC_FS
400 if (can_delete_procdir())
401 CANMSG("Error unregistering /proc/can entry.\n");
404 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
405 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
406 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
408 devfs_unregister(devfs_handles[i]);
411 if(!objects_p[i]) continue;
412 dev_minor=objects_p[i]->minor;
414 #ifdef CONFIG_DEVFS_FS
415 devfs_remove("can%d", dev_minor);
417 class_device_destroy(can_class, MKDEV(major, dev_minor));
423 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
424 class_destroy(can_class);
427 canhardware_done(hardware_p);
430 rtl_unregister_rtldev(major,DEVICE_NAME);
432 #endif /*CAN_WITH_RTL*/
434 if ( can_del_mem_list() )
435 CANMSG("Error deallocating memory\n");
437 res=unregister_chrdev(major,DEVICE_NAME);
439 CANMSG("Error unregistering CAN driver, error: %d\n",res);