lincan/src/main.c

   1 /* main.c
   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
   8  */
   9
  10 #ifndef EXPORT_SYMTAB
  11 #define EXPORT_SYMTAB
  12 #endif
  13
  14 #include <linux/autoconf.h>
  15
  16 #include <linux/module.h>
  17
  18 #include <linux/kernel.h>
  19 #include <linux/fs.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>
  25
  26 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
  27  #include <linux/wrapper.h>
  28 #else
  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
  38  #endif
  39 #endif
  40
  41 #if !defined (__GENKSYMS__)
  42 #if (defined (MODVERSIONS) && !defined(NOVER))
  43 #include <linux/modversions.h>
  44 /*#include "../include/main.ver"*/
  45 #endif
  46 #endif
  47
  48 /*#undef CONFIG_DEVFS_FS*/
  49
  50 #ifdef CONFIG_DEVFS_FS
  51 #include <linux/devfs_fs_kernel.h>
  52 #include <linux/miscdevice.h>
  53 #endif
  54
  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"
  71
  72 #ifdef CAN_WITH_RTL
  73 #include <rtl_posixio.h>
  74 #include "../include/can_iortl.h"
  75 #endif /*CAN_WITH_RTL*/
  76
  77 can_spinlock_t canuser_manipulation_lock;
  78
  79 /* Module parameters, some must be supplied at module loading time */
  80 int major=CAN_MAJOR;
  81 MODULE_PARM(major,"1i");
  82 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
  83 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};
  84 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
  85 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
  86 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
  87 int extended=0;
  88 MODULE_PARM(extended,"1i");
  89 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
  90                         " selects extended frames reception for i82527");
  91 int pelican=0;
  92 MODULE_PARM(pelican,"1i");
  93 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
  94 int baudrate[MAX_TOT_CHIPS];
  95 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
  96 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
  97 char *hw[MAX_HW_CARDS]={NULL,};
  98 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
  99 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
 100 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};
 101 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
 102 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
 103 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
 104 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
 105 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
 106 int stdmask=0;
 107 MODULE_PARM(stdmask, "1i");
 108 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
 109 int extmask=0;
 110 MODULE_PARM(extmask, "1i");
 111 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
 112 int mo15mask=0;
 113 MODULE_PARM(mo15mask, "1i");
 114 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
 115 int processlocal=0;
 116 MODULE_PARM(processlocal, "1i");
 117 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
 118                 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
 119 #ifdef CAN_WITH_RTL
 120 int can_rtl_priority=-1;
 121 MODULE_PARM(can_rtl_priority, "1i");
 122 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
 123 #endif /*CAN_WITH_RTL*/
 124
 125 /* Other module attributes */
 126 #ifdef MODULE_SUPPORTED_DEVICE
 127 MODULE_SUPPORTED_DEVICE("can");
 128 #endif
 129 #ifdef MODULE_LICENSE
 130 MODULE_LICENSE("GPL");
 131 #endif
 132 #ifdef MODULE_DESCRIPTION
 133 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 134 #endif
 135 #ifdef MODULE_AUTHOR
 136 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
 137 #endif
 138
 139 /* Global structures, used to describe the installed hardware. */
 140 struct canhardware_t canhardware;
 141 struct canhardware_t *hardware_p=&canhardware;
 142 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 143 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 144 #ifdef CONFIG_DEVFS_FS
 145 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 146 devfs_handle_t  devfs_handles[MAX_TOT_MSGOBJS];
 147 #endif
 148 #endif
 149
 150 /* Pointers to dynamically allocated memory are maintained in a linked list
 151  * to ease memory deallocation.
 152  */
 153 struct mem_addr *mem_head=NULL;
 154
 155 struct file_operations can_fops=
 156 {
 157  #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
 158         owner:          THIS_MODULE,
 159  #endif
 160         read:           can_read,
 161         write:          can_write,
 162         poll:           can_poll,
 163         ioctl:          can_ioctl,
 164         open:           can_open,
 165         release:        can_close,
 166   #ifdef CAN_ENABLE_KERN_FASYNC
 167         fasync:         can_fasync
 168   #endif /*CAN_ENABLE_KERN_FASYNC*/
 169 };
 170
 171 EXPORT_SYMBOL(can_fops);
 172
 173
 174 #ifdef CAN_WITH_RTL
 175 struct rtl_file_operations can_fops_rtl = {
 176         llseek:         NULL,
 177         read:           can_read_rtl_posix,
 178         write:          can_write_rtl_posix,
 179         ioctl:          can_ioctl_rtl_posix,
 180         mmap:           NULL,
 181         open:           can_open_rtl_posix,
 182         release:        can_release_rtl_posix
 183 };
 184 #endif /*CAN_WITH_RTL*/
 185
 186
 187 /*
 188  2.6 kernel attributes for sysfs
 189
 190 static ssize_t show_xxx(struct class_device *cdev, char *buf)
 191 {
 192         return sprintf(buf, "xxxx\n");
 193 }
 194
 195 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
 196 {
 197 }
 198
 199 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
 200
 201 ret = class_device_create_file(class_dev, class_device_attr_xxx);
 202 if (ret)
 203         goto err_unregister;
 204
 205 */
 206
 207 int init_module(void)
 208 {
 209         int res=0,i=0, j;
 210         struct candevice_t *candev;
 211         struct canchip_t *chip;
 212
 213         if (parse_mod_parms())
 214                 return -EINVAL;
 215
 216         can_spin_lock_init(&canuser_manipulation_lock);
 217         canqueue_kern_initialize();
 218
 219         if (init_hw_struct())
 220                 return -ENODEV;
 221
 222         #ifdef CAN_DEBUG
 223                 list_hw();
 224         #endif
 225
 226         res=register_chrdev(major,DEVICE_NAME, &can_fops);
 227         if (res<0) {
 228                 CANMSG("Error registering driver.\n");
 229                 goto register_error;
 230         }
 231
 232         #ifdef CAN_WITH_RTL
 233         can_spin_lock_init(&can_irq_manipulation_lock);
 234         canqueue_rtl_initialize();
 235         res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
 236         if (res<0) {
 237                 CANMSG("Error registering RT-Linux major number.\n");
 238                 goto rtldev_error;
 239         }
 240         #endif /*CAN_WITH_RTL*/
 241
 242         for (i=0; i<hardware_p->nr_boards; i++) {
 243                 candev=hardware_p->candevice[i];
 244                 if (candev->hwspecops->request_io(candev))
 245                         goto request_io_error;
 246                 candev->flags|=CANDEV_IO_RESERVED;
 247         }
 248
 249         for (i=0; i<hardware_p->nr_boards; i++) {
 250                 candev=hardware_p->candevice[i];
 251                 if (candev->hwspecops->reset(candev))
 252                         goto reset_error;
 253         }
 254
 255         can_spin_lock_init(&hardware_p->rtr_lock);
 256         hardware_p->rtr_queue=NULL;
 257
 258         for (i=0; i<hardware_p->nr_boards; i++) {
 259                 candev=hardware_p->candevice[i];
 260                 for(j=0; j<candev->nr_all_chips; j++) {
 261                         if((chip=candev->chip[j])==NULL)
 262                                 continue;
 263
 264                         if(chip->chipspecops->attach_to_chip(chip)<0) {
 265                                 CANMSG("Initial attach to the chip HW failed\n");
 266                                 goto interrupt_error;
 267                         }
 268
 269                         chip->flags |= CHIP_ATTACHED;
 270
 271                         if(can_chip_setup_irq(chip)<0) {
 272                                 CANMSG("Error to setup chip IRQ\n");
 273                                 goto interrupt_error;
 274                         }
 275                 }
 276
 277                 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 278                         if (candev->hwspecops->program_irq(candev)){
 279                                 CANMSG("Error to program board interrupt\n");
 280                                 goto interrupt_error;
 281                         }
 282         }
 283
 284 #ifdef CONFIG_PROC_FS
 285         if (can_init_procdir())
 286                 goto proc_error;
 287 #endif
 288
 289 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 290         can_class=class_create(THIS_MODULE, "can");
 291 #endif
 292
 293 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 294         {
 295             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 296                 char dev_name[32];
 297             #else
 298                 struct class_device *this_dev;
 299             #endif
 300                 int dev_minor;
 301                 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 302                         if(!objects_p[i]) continue;
 303                         dev_minor=objects_p[i]->minor;
 304                     #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 305                         sprintf (dev_name, "can%d", dev_minor);
 306                         devfs_handles[i]=devfs_register(NULL, dev_name,
 307                                 DEVFS_FL_DEFAULT, major, dev_minor,
 308                                 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
 309                                 &can_fops, (void*)objects_p[i]);
 310                     #else
 311                       #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
 312                         this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 313                       #else /* >= 2.6.15 */
 314                         this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 315                       #endif /* >= 2.6.15 */
 316                         if(IS_ERR(this_dev)){
 317                                 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
 318                         }else{
 319                                 /*this_dev->class_data=objects_p[i];*/
 320                                 class_set_devdata(this_dev,objects_p[i]);
 321                         }
 322                       #ifdef CONFIG_DEVFS_FS
 323                         devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
 324                       #endif
 325                     #endif
 326                 }
 327         }
 328 #endif
 329         return 0;
 330
 331 #ifdef CONFIG_PROC_FS
 332         proc_error: ;
 333                 CANMSG("Error registering /proc entry.\n");
 334                 goto memory_error;
 335 #endif
 336
 337         interrupt_error: ;
 338                 goto memory_error;
 339
 340         reset_error: ;
 341                 CANMSG("Error resetting device.\n");
 342                 goto memory_error;
 343
 344         request_io_error: ;
 345                 CANMSG("Error to request IO resources for device.\n");
 346                 goto memory_error;
 347
 348         memory_error: ;
 349                 canhardware_done(hardware_p);
 350
 351                 #ifdef CAN_WITH_RTL
 352                 rtl_unregister_rtldev(major,DEVICE_NAME);
 353         rtldev_error:
 354                 canqueue_rtl_done();
 355                 #endif /*CAN_WITH_RTL*/
 356
 357                 res=unregister_chrdev(major,DEVICE_NAME);
 358                 if (res<0)
 359                         CANMSG("Error unloading CAN driver, error: %d\n",res);
 360                 else
 361                         CANMSG("No CAN devices or driver setup error.\n");
 362
 363         register_error:
 364                 if ( can_del_mem_list() )
 365                         CANMSG("Error deallocating memory\n");
 366
 367                 return -ENODEV;
 368 }
 369
 370 void cleanup_module(void)
 371 {
 372         int res=0,i=0;
 373
 374 #ifdef CONFIG_PROC_FS
 375         if (can_delete_procdir())
 376                 CANMSG("Error unregistering /proc/can entry.\n");
 377 #endif
 378
 379 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 380         for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 381             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 382                 if(devfs_handles[i])
 383                         devfs_unregister(devfs_handles[i]);
 384             #else
 385                 int dev_minor;
 386                 if(!objects_p[i]) continue;
 387                 dev_minor=objects_p[i]->minor;
 388                 if(minor>=0){
 389                     #ifdef CONFIG_DEVFS_FS
 390                         devfs_remove("can%d", dev_minor);
 391                     #endif
 392                         class_device_destroy(can_class, MKDEV(major, dev_minor));
 393                 }
 394             #endif
 395         }
 396 #endif
 397
 398 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 399         class_destroy(can_class);
 400 #endif
 401
 402         canhardware_done(hardware_p);
 403
 404         #ifdef CAN_WITH_RTL
 405         rtl_unregister_rtldev(major,DEVICE_NAME);
 406         canqueue_rtl_done();
 407         #endif /*CAN_WITH_RTL*/
 408
 409         if ( can_del_mem_list() )
 410                 CANMSG("Error deallocating memory\n");
 411
 412         res=unregister_chrdev(major,DEVICE_NAME);
 413         if (res<0)
 414                 CANMSG("Error unregistering CAN driver, error: %d\n",res);
 415 }