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 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,20))
  15  #include <linux/freezer.h>
  16 #endif
  17 #include <linux/smp_lock.h>
  18
  19 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id);
  20 static void usbcan_disconnect(struct usb_interface *interface);
  21 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10))
  22 void release_device(struct kref *refcount);
  23 #else
  24 void release_device(struct candevice_t *candev);
  25 #endif
  26
  27 volatile int usbcan_chip_count=0;
  28
  29 /* table of devices that work with this driver */
  30 static struct usb_device_id usbcan_table [] = {
  31         { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) },
  32         { }                                     /* Terminating entry */
  33 };
  34 MODULE_DEVICE_TABLE(usb, usbcan_table);
  35
  36 static struct usb_driver usbcan_driver = {
  37         .name =         "usbcan",
  38         .id_table = usbcan_table,
  39         .probe =        usbcan_probe,
  40         .disconnect =   usbcan_disconnect,
  41 };
  42
  43 /**
  44  * usbcan_request_io: - reserve io or memory range for can board
  45  * @candev: pointer to candevice/board which asks for io. Field @io_addr
  46  *      of @candev is used in most cases to define start of the range
  47  *
  48  * The function usbcan_request_io() is used to reserve the io-memory. If your
  49  * hardware uses a dedicated memory range as hardware control registers you
  50  * will have to add the code to reserve this memory as well.
  51  * %IO_RANGE is the io-memory range that gets reserved, please adjust according
  52  * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
  53  * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
  54  * Return Value: The function returns zero on success or %-ENODEV on failure
  55  * File: src/usbcan.c
  56  */
  57 int usbcan_request_io(struct candevice_t *candev)
  58 {
  59         struct usbcan_devs *usbdevs = (struct usbcan_devs *)candev->sysdevptr.anydev;
  60
  61         if (!usbdevs){
  62                 CANMSG("USBCAN_REQUEST_IO: Cannot register usbcan while usb device is not present.\n");
  63                 CANMSG("USBCAN_REQUEST_IO: Usbcan registers automatically on device insertion.\n");
  64                 return -ENODEV;
  65         }
  66
  67         return 0;
  68 }
  69
  70 /**
  71  * usbcan_release_io - free reserved io memory range
  72  * @candev: pointer to candevice/board which releases io
  73  *
  74  * The function usbcan_release_io() is used to free reserved io-memory.
  75  * In case you have reserved more io memory, don't forget to free it here.
  76  * IO_RANGE is the io-memory range that gets released, please adjust according
  77  * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
  78  * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
  79  * Return Value: The function always returns zero
  80  * File: src/usbcan.c
  81  */
  82 int usbcan_release_io(struct candevice_t *candev)
  83 {
  84         return 0;
  85 }
  86
  87 /**
  88  * usbcan_reset - hardware reset routine
  89  * @candev: Pointer to candevice/board structure
  90  *
  91  * The function usbcan_reset() is used to give a hardware reset. This is
  92  * rather hardware specific so I haven't included example code. Don't forget to
  93  * check the reset status of the chip before returning.
  94  * Return Value: The function returns zero on success or %-ENODEV on failure
  95  * File: src/usbcan.c
  96  */
  97 int usbcan_reset(struct candevice_t *candev)
  98 {
  99         return 0;
 100 }
 101
 102 /**
 103  * usbcan_init_hw_data - Initialize hardware cards
 104  * @candev: Pointer to candevice/board structure
 105  *
 106  * The function usbcan_init_hw_data() is used to initialize the hardware
 107  * structure containing information about the installed CAN-board.
 108  * %RESET_ADDR represents the io-address of the hardware reset register.
 109  * %NR_82527 represents the number of Intel 82527 chips on the board.
 110  * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
 111  * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
 112  * the hardware uses programmable interrupts.
 113  * Return Value: The function always returns zero
 114  * File: src/usbcan.c
 115  */
 116 int usbcan_init_hw_data(struct candevice_t *candev)
 117 {
 118         candev->res_addr=RESET_ADDR;
 119         candev->nr_82527_chips=0;
 120         candev->nr_sja1000_chips=0;
 121         candev->nr_all_chips=usbcan_chip_count;
 122         candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
 123
 124         return 0;
 125 }
 126
 127 /**
 128  * usbcan_init_obj_data - Initialize message buffers
 129  * @chip: Pointer to chip specific structure
 130  * @objnr: Number of the message buffer
 131  *
 132  * The function usbcan_init_obj_data() is used to initialize the hardware
 133  * structure containing information about the different message objects on the
 134  * CAN chip. In case of the sja1000 there's only one message object but on the
 135  * i82527 chip there are 15.
 136  * The code below is for a i82527 chip and initializes the object base addresses
 137  * The entry @obj_base_addr represents the first memory address of the message
 138  * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
 139  * base address.
 140  * Unless the hardware uses a segmented memory map, flags can be set zero.
 141  * Return Value: The function always returns zero
 142  * File: src/usbcan.c
 143  */
 144 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
 145 {
 146         chip->msgobj[objnr]->obj_base_addr=0;
 147
 148         return 0;
 149 }
 150
 151 /**
 152  * usbcan_program_irq - program interrupts
 153  * @candev: Pointer to candevice/board structure
 154  *
 155  * The function usbcan_program_irq() is used for hardware that uses
 156  * programmable interrupts. If your hardware doesn't use programmable interrupts
 157  * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
 158  * leave this function unedited. Again this function is hardware specific so
 159  * there's no example code.
 160  * Return value: The function returns zero on success or %-ENODEV on failure
 161  * File: src/usbcan.c
 162  */
 163 int usbcan_program_irq(struct candevice_t *candev)
 164 {
 165         return 0;
 166 }
 167
 168 int usbcan_register(struct hwspecops_t *hwspecops)
 169 {
 170         hwspecops->request_io = usbcan_request_io;
 171         hwspecops->release_io = usbcan_release_io;
 172         hwspecops->reset = usbcan_reset;
 173         hwspecops->init_hw_data = usbcan_init_hw_data;
 174         hwspecops->init_chip_data = usbcan_init_chip_data;
 175         hwspecops->init_obj_data = usbcan_init_obj_data;
 176         hwspecops->write_register = NULL;
 177         hwspecops->read_register = NULL;
 178         hwspecops->program_irq = usbcan_program_irq;
 179 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10))
 180         hwspecops->release_device = release_device;
 181 #endif
 182         return 0;
 183 }
 184
 185 // static int sja1000_report_error_limit_counter;
 186
 187 static void usbcan_report_error(struct canchip_t *chip,
 188                                 unsigned sr, unsigned ir, unsigned ecc)
 189 {
 190         /*TODO : Error reporting from device */
 191
 192 #if 0
 193         if(sja1000_report_error_limit_counter>=100)
 194                 return;
 195
 196         CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
 197                 sr, ir, ecc);
 198
 199         sja1000_report_error_limit_counter+=10;
 200
 201         if(sja1000_report_error_limit_counter>=100){
 202                 sja1000_report_error_limit_counter+=10;
 203                 CANMSG("Error: too many errors, reporting disabled\n");
 204                 return;
 205         }
 206
 207 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
 208         CANMSG("SR: BS=%c  ES=%c  TS=%c  RS=%c  TCS=%c TBS=%c DOS=%c RBS=%c\n",
 209                 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
 210                 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
 211                 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
 212                 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
 213         CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c  TI=%c  RI=%c\n",
 214                 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
 215                 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
 216                 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
 217                 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
 218         if((sr&sjaIR_EI) || 1){
 219                 CANMSG("EI: %s %s %s\n",
 220                        sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
 221                        ecc&sjaECC_DIR?"RX":"TX",
 222                        sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
 223                       );
 224         }
 225 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
 226 #endif
 227 }
 228
 229
 230 /**
 231  * usbcan_enable_configuration - enable chip configuration mode
 232  * @chip: pointer to chip state structure
 233  */
 234 int usbcan_enable_configuration(struct canchip_t *chip)
 235 {
 236         return 0;
 237 }
 238
 239 /**
 240  * usbcan_disable_configuration - disable chip configuration mode
 241  * @chip: pointer to chip state structure
 242  */
 243 int usbcan_disable_configuration(struct canchip_t *chip)
 244 {
 245         return 0;
 246 }
 247
 248 /**
 249  * usbcan_chip_config: - can chip configuration
 250  * @chip: pointer to chip state structure
 251  *
 252  * This function configures chip and prepares it for message
 253  * transmission and reception. The function resets chip,
 254  * resets mask for acceptance of all messages by call to
 255  * usbcan_extended_mask() function and then
 256  * computes and sets baudrate with use of function usbcan_baud_rate().
 257  * Return Value: negative value reports error.
 258  * File: src/usbcan.c
 259  */
 260 int usbcan_chip_config(struct canchip_t *chip)
 261 {
 262         return 0;
 263 }
 264
 265 /**
 266  * usbcan_extended_mask: - setup of extended mask for message filtering
 267  * @chip: pointer to chip state structure
 268  * @code: can message acceptance code
 269  * @mask: can message acceptance mask
 270  *
 271  * Return Value: negative value reports error.
 272  * File: src/usbcan.c
 273  */
 274 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  long mask)
 275 {
 276         int retval;
 277         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 278
 279         u8 usbbuf[USBCAN_TRANSFER_SIZE];
 280
 281         if (!dev)
 282                 return -ENODEV;
 283
 284         *(uint32_t *)(usbbuf)=cpu_to_le32(mask);
 285         *(uint32_t *)(usbbuf+4)=cpu_to_le32(code);
 286
 287         retval=usb_control_msg(dev->udev,
 288                 usb_sndctrlpipe(dev->udev, 0),
 289                 USBCAN_VENDOR_EXT_MASK_SET,
 290                 USB_TYPE_VENDOR,
 291                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 292                 &usbbuf, USBCAN_TRANSFER_SIZE,
 293                 10000);
 294         if (retval<0)
 295                 return -ENODEV;
 296
 297         retval = usb_control_msg(dev->udev,
 298                 usb_rcvctrlpipe(dev->udev, 0),
 299                 USBCAN_VENDOR_EXT_MASK_STATUS,
 300                 USB_TYPE_VENDOR,
 301                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 302                 &usbbuf, USBCAN_TRANSFER_SIZE,
 303                 10000);
 304
 305         if (retval==1){
 306                 if(usbbuf[0]==1){
 307                         DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
 308                         DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
 309                         return 0;
 310                 }
 311         }
 312
 313         CANMSG("Setting extended mask failed\n");
 314         return -EINVAL;
 315 }
 316
 317 /**
 318  * usbcan_baud_rate: - set communication parameters.
 319  * @chip: pointer to chip state structure
 320  * @rate: baud rate in Hz
 321  * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
 322  * @sjw: synchronization jump width (0-3) prescaled clock cycles
 323  * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
 324  * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
 325  *
 326  * Return Value: negative value reports error.
 327  * File: src/usbcan.c
 328  */
 329 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 330                                                         int sampl_pt, int flags)
 331 {
 332         int retval;
 333         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 334
 335         u8 usbbuf[USBCAN_TRANSFER_SIZE];
 336
 337         if (!dev)
 338                 return -ENODEV;
 339
 340         *(int32_t *)(usbbuf)=cpu_to_le32(rate);
 341         *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw);
 342         *(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt);
 343         *(int32_t *)(usbbuf+12)=cpu_to_le32(flags);
 344
 345         retval=usb_control_msg(dev->udev,
 346                 usb_sndctrlpipe(dev->udev, 0),
 347                 USBCAN_VENDOR_BAUD_RATE_SET,
 348                 USB_TYPE_VENDOR,
 349                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 350                 &usbbuf, USBCAN_TRANSFER_SIZE,
 351                 10000);
 352         if (retval<0)
 353                 return -ENODEV;
 354
 355         retval = usb_control_msg(dev->udev,
 356                 usb_rcvctrlpipe(dev->udev, 0),
 357                 USBCAN_VENDOR_BAUD_RATE_STATUS,
 358                 USB_TYPE_VENDOR,
 359                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 360                 usbbuf, USBCAN_TRANSFER_SIZE,
 361                 10000);
 362
 363         if (retval==1){
 364                 if(usbbuf[0]==1)
 365                         return 0;
 366         }
 367
 368         CANMSG("baud rate %d is not possible to set\n",
 369                 rate);
 370         return -EINVAL;
 371 }
 372
 373 /**
 374  * usbcan_pre_read_config: - prepares message object for message reception
 375  * @chip: pointer to chip state structure
 376  * @obj: pointer to message object state structure
 377  *
 378  * Return Value: negative value reports error.
 379  *      Positive value indicates immediate reception of message.
 380  * File: src/usbcan.c
 381  */
 382 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
 383 {
 384         return 0;
 385 }
 386
 387 #define MAX_TRANSMIT_WAIT_LOOPS 10
 388 /**
 389  * usbcan_pre_write_config: - prepares message object for message transmission
 390  * @chip: pointer to chip state structure
 391  * @obj: pointer to message object state structure
 392  * @msg: pointer to CAN message
 393  *
 394  * This function prepares selected message object for future initiation
 395  * of message transmission by usbcan_send_msg() function.
 396  * The CAN message data and message ID are transfered from @msg slot
 397  * into chip buffer in this function.
 398  * Return Value: negative value reports error.
 399  * File: src/usbcan.c
 400  */
 401 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 402                                                         struct canmsg_t *msg)
 403 {
 404         return 0;
 405 }
 406
 407 /**
 408  * usbcan_send_msg: - initiate message transmission
 409  * @chip: pointer to chip state structure
 410  * @obj: pointer to message object state structure
 411  * @msg: pointer to CAN message
 412  *
 413  * This function is called after usbcan_pre_write_config() function,
 414  * which prepares data in chip buffer.
 415  * Return Value: negative value reports error.
 416  * File: src/usbcan.c
 417  */
 418 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
 419                                                         struct canmsg_t *msg)
 420 {
 421         return 0;
 422 }
 423
 424 /**
 425  * usbcan_check_tx_stat: - checks state of transmission engine
 426  * @chip: pointer to chip state structure
 427  *
 428  * Return Value: negative value reports error.
 429  *      Positive return value indicates transmission under way status.
 430  *      Zero value indicates finishing of all issued transmission requests.
 431  * File: src/usbcan.c
 432  */
 433 int usbcan_check_tx_stat(struct canchip_t *chip)
 434 {
 435         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 436         if (!dev)
 437                 return 0;
 438         if (test_bit(USBCAN_TX_PENDING,&dev->flags))
 439                 return 1;
 440         return 0;
 441 }
 442
 443 /**
 444  * usbcan_set_btregs: -  configures bitrate registers
 445  * @chip: pointer to chip state structure
 446  * @btr0: bitrate register 0
 447  * @btr1: bitrate register 1
 448  *
 449  * Return Value: negative value reports error.
 450  * File: src/usbcan.c
 451  */
 452 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 453                                                         unsigned short btr1)
 454 {
 455         int retval;
 456         u8      buf[USBCAN_TRANSFER_SIZE];
 457         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 458         uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
 459
 460         if (!dev)
 461                 return -ENODEV;
 462
 463         retval = usb_control_msg(dev->udev,
 464         usb_rcvctrlpipe(dev->udev, 0),
 465         USBCAN_VENDOR_SET_BTREGS,
 466         USB_TYPE_VENDOR,
 467         cpu_to_le16(value), cpu_to_le16(chip->chip_idx),
 468         &buf, USBCAN_TRANSFER_SIZE,
 469         10000);
 470
 471         if (retval==1){
 472                 if(buf[0]==1)
 473                         return 0;
 474         }
 475         return -ENODEV;
 476 }
 477
 478 /**
 479  * usbcan_start_chip: -  starts chip message processing
 480  * @chip: pointer to chip state structure
 481  *
 482  * Return Value: negative value reports error.
 483  * File: src/usbcan.c
 484  */
 485 int usbcan_start_chip(struct canchip_t *chip)
 486 {
 487         int retval;
 488         u8      buf[USBCAN_TRANSFER_SIZE];
 489         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 490
 491         if (!dev)
 492                 return -ENODEV;
 493
 494         retval = usb_control_msg(dev->udev,
 495         usb_rcvctrlpipe(dev->udev, 0),
 496         USBCAN_VENDOR_START_CHIP,
 497         USB_TYPE_VENDOR,
 498         cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 499         &buf, USBCAN_TRANSFER_SIZE,
 500         10000);
 501
 502         if (retval==1){
 503                 if(buf[0]==1)
 504                         return 0;
 505         }
 506         return -ENODEV;
 507 }
 508
 509 /**
 510  * usbcan_chip_queue_status: -  gets queue status from usb device
 511  * @chip: pointer to chip state structure
 512  *
 513  * Return Value: negative value reports error.
 514  * 0 means queue is not full
 515  * 1 means queue is full
 516  * File: src/usbcan.c
 517  */
 518 int usbcan_chip_queue_status(struct canchip_t *chip)
 519 {
 520         int retval;
 521         u8      buf[USBCAN_TRANSFER_SIZE];
 522         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 523
 524         if (!dev)
 525                 return -ENODEV;
 526         retval = usb_control_msg(dev->udev,
 527         usb_rcvctrlpipe(dev->udev, 0),
 528         USBCAN_VENDOR_CHECK_TX_STAT,
 529         USB_TYPE_VENDOR,
 530         cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 531         &buf, USBCAN_TRANSFER_SIZE,
 532         10000);
 533
 534         if (retval==1){
 535                 DEBUGMSG("Chip_queue_status: %d\n",buf[0]);
 536                 if(buf[0]==1)
 537                         return 0;
 538                 if(buf[0]==0)
 539                         return 1;
 540         }
 541         CANMSG("Chip_queue_status error: %d\n",retval);
 542         return -ENODEV;
 543 }
 544
 545 /**
 546  * usbcan_stop_chip: -  stops chip message processing
 547  * @chip: pointer to chip state structure
 548  *
 549  * Return Value: negative value reports error.
 550  * File: src/usbcan.c
 551  */
 552 int usbcan_stop_chip(struct canchip_t *chip)
 553 {
 554         int retval;
 555         u8      buf[USBCAN_TRANSFER_SIZE];
 556         struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 557
 558         if (!dev)
 559                 return -ENODEV;
 560
 561         retval = usb_control_msg(dev->udev,
 562         usb_rcvctrlpipe(dev->udev, 0),
 563         USBCAN_VENDOR_STOP_CHIP,
 564         USB_TYPE_VENDOR,
 565         cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 566         &buf, USBCAN_TRANSFER_SIZE,
 567         10000);
 568
 569         if (retval==1){
 570                 if(buf[0]==1)
 571                         return 0;
 572         }
 573         return -ENODEV;
 574 }
 575
 576 /**
 577  * usbcan_register_devs: - attaches usb device data to the chip structure
 578  * @chip: pointer to chip state structure
 579  * @data: usb device data
 580  *
 581  * File: src/usbcan.c
 582  */
 583 int usbcan_register_devs(struct canchip_t *chip,void *data){
 584         struct usbcan_devs *usbdevs=(struct usbcan_devs *)data;
 585         if (!usbdevs){
 586             CANMSG("Bad structure given\n");
 587             return -1;
 588         }
 589         if (chip->chip_idx>=usbdevs->count) {
 590             CANMSG("Requested chip number is bigger than chip count\n");
 591             return -1;
 592         }
 593
 594         usbdevs->devs[chip->chip_idx]->chip=chip;
 595         chip->chip_data=(void *)usbdevs->devs[chip->chip_idx];
 596         return 0;
 597 }
 598
 599 /**
 600  * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
 601  * @chip: pointer to chip state structure
 602  *
 603  * Return Value: negative value reports error.
 604  * File: src/usbcan.c
 605  */
 606 int usbcan_attach_to_chip(struct canchip_t *chip)
 607 {
 608         struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data;
 609
 610         /* start kernel thread */
 611         dev->comthread=can_kthread_run(usbcan_kthread, (void *)dev, "usbcan_%d",chip->chip_idx);
 612
 613         return 0;
 614 }
 615
 616 /**
 617  * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
 618  * @chip: pointer to chip state structure
 619  *
 620  * Return Value: negative value reports error.
 621  * File: src/usbcan.c
 622  */
 623 int usbcan_release_chip(struct canchip_t *chip)
 624 {
 625         struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data;
 626
 627         usbcan_stop_chip(chip);
 628
 629         /* terminate the kernel thread */
 630         set_bit(USBCAN_TERMINATE,&dev->flags);
 631 //      wake_up_process(dev->comthread);
 632         can_kthread_stop(dev->comthread);
 633
 634         return 0;
 635 }
 636
 637 /**
 638  * usbcan_remote_request: - configures message object and asks for RTR message
 639  * @chip: pointer to chip state structure
 640  * @obj: pointer to message object structure
 641  *
 642  * Return Value: negative value reports error.
 643  * File: src/usbcan.c
 644  */
 645 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
 646 {
 647         CANMSG("usbcan_remote_request not implemented\n");
 648         return -ENOSYS;
 649 }
 650
 651 /**
 652  * usbcan_standard_mask: - setup of mask for message filtering
 653  * @chip: pointer to chip state structure
 654  * @code: can message acceptance code
 655  * @mask: can message acceptance mask
 656  *
 657  * Return Value: negative value reports error.
 658  * File: src/usbcan.c
 659  */
 660 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
 661                 unsigned short mask)
 662 {
 663         CANMSG("usbcan_standard_mask not implemented\n");
 664         return -ENOSYS;
 665 }
 666
 667 /**
 668  * usbcan_clear_objects: - clears state of all message object residing in chip
 669  * @chip: pointer to chip state structure
 670  *
 671  * Return Value: negative value reports error.
 672  * File: src/usbcan.c
 673  */
 674 int usbcan_clear_objects(struct canchip_t *chip)
 675 {
 676         CANMSG("usbcan_clear_objects not implemented\n");
 677         return -ENOSYS;
 678 }
 679
 680 /**
 681  * usbcan_config_irqs: - tunes chip hardware interrupt delivery
 682  * @chip: pointer to chip state structure
 683  * @irqs: requested chip IRQ configuration
 684  *
 685  * Return Value: negative value reports error.
 686  * File: src/usbcan.c
 687  */
 688 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
 689 {
 690         CANMSG("usbcan_config_irqs not implemented\n");
 691         return -ENOSYS;
 692 }
 693
 694
 695 static void usbcan_usb_message_move_list(struct usbcan_usb *dev,
 696                         struct usbcan_message *m, struct list_head *head)
 697 {
 698         can_spin_irqflags_t flags;
 699         can_spin_lock_irqsave(&dev->list_lock, flags);
 700         list_del(&m->list_node);
 701         list_add_tail(&m->list_node, head);
 702         can_spin_unlock_irqrestore(&dev->list_lock, flags);
 703 }
 704
 705
 706 /**
 707  * usbcan_kthread_read_handler: - part of kthread code responsible for receive completed events
 708  * @dev: pointer to usb device related structure
 709  * @obj: pointer to attached message object description
 710  *
 711  * The main purpose of this function is to read message from usb urb
 712  * and transfer message contents to CAN queue ends.
 713  * This subroutine is called by
 714  * usbcan_kthread().
 715  * File: src/usbcan.c
 716  */
 717 void usbcan_kthread_read_handler(struct usbcan_usb *dev, struct usbcan_message *m,
 718                                 struct msgobj_t *obj)
 719 {
 720         int i, len, retval;
 721         u8 *ptr;
 722
 723         DEBUGMSG("USBCAN RX handler\n");
 724
 725         if (!test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&m->flags)) {
 726                 CANMSG("Strange, Rx handler USBCAN_MESSAGE_DATA_OK not set\n");
 727                 goto skip_msg;
 728         }
 729
 730         if (!(dev->chip)||!(dev->chip->flags & CHIP_CONFIGURED)) {
 731                 CANMSG("Destination chip not found\n");
 732                 goto skip_msg;
 733         }
 734
 735
 736         DEBUGMSG("USBCAN Thread has received a message\n");
 737
 738         len=*(u8 *)(m->msg+1);
 739         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
 740         obj->rx_msg.length = len;
 741
 742         obj->rx_msg.flags=le16_to_cpu(*(u16 *)(m->msg+2));
 743         obj->rx_msg.id=le32_to_cpu((*(u32 *)(m->msg+4)));
 744
 745         for(ptr=m->msg+8,i=0; i < len; ptr++,i++) {
 746                 obj->rx_msg.data[i]=*ptr;
 747         }
 748
 749         // fill CAN message timestamp
 750         can_filltimestamp(&obj->rx_msg.timestamp);
 751         canque_filter_msg2edges(obj->qends, &obj->rx_msg);
 752
 753 skip_msg:
 754         set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
 755         DEBUGMSG("Renewing RX urb\n");
 756
 757         usbcan_usb_message_move_list(dev, m, &dev->rx_pend_list);
 758         retval = usb_submit_urb (m->u, GFP_KERNEL);
 759         if (retval<0) {
 760                 CANMSG("URB error %d\n", retval);
 761                 set_bit(USBCAN_ERROR,&dev->flags);
 762         }
 763 }
 764
 765 /**
 766  * usbcan_kthread_write_handler: - part of kthread code responsible for transmit done events
 767  * @dev: pointer to usb device related structure
 768  * @obj: pointer to attached message object description
 769  *
 770  * The main purpose of this function is to free allocated resources on transmit done event
 771  * This subroutine is called by
 772  * usbcan_kthread().
 773  * File: src/usbcan.c
 774  */
 775 void usbcan_kthread_write_handler(struct usbcan_usb *dev, struct usbcan_message *m,
 776                                 struct msgobj_t *obj)
 777 {
 778         if (!test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&m->flags)) {
 779                 CANMSG("Strange, Tx handler USBCAN_MESSAGE_DATA_OK not set\n");
 780                 goto skip_msg;
 781         }
 782
 783         DEBUGMSG("USBCAN Message successfully sent\n");
 784
 785         if(m->slot){
 786                 // Do local transmitted message distribution if enabled
 787                 if (processlocal){
 788                         // fill CAN message timestamp
 789                         can_filltimestamp(&m->slot->msg.timestamp);
 790
 791                         m->slot->msg.flags |= MSG_LOCAL;
 792                         canque_filter_msg2edges(obj->qends, &m->slot->msg);
 793                 }
 794                 // Free transmitted slot
 795                 canque_free_outslot(obj->qends, m->qedge, m->slot);
 796                 m->slot=NULL;
 797         }
 798
 799         /*FIXME - why there*/
 800         can_msgobj_clear_fl(obj,TX_PENDING);
 801
 802 skip_msg:
 803         set_bit(USBCAN_FREE_TX_URB,&dev->flags);
 804         set_bit(USBCAN_MESSAGE_FREE,&m->flags);
 805
 806         set_bit(USBCAN_TX_PENDING,&dev->flags);
 807
 808         usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list);
 809 }
 810
 811 /**
 812  * usbcan_kthread_write_request_handler: - part of kthread code responsible for sending transmit urbs
 813  * @dev: pointer to usb device related structure
 814  * @obj: pointer to attached message object description
 815  *
 816  * The main purpose of this function is to create a usb transmit safe object
 817  * and send it via free transmit usb urb
 818  * This subroutine is called by
 819  * usbcan_kthread().
 820  * File: src/usbcan.c
 821  */
 822 void usbcan_kthread_write_request_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
 823         int i, cmd, len, retval;
 824         u8 *ptr;
 825         struct usbcan_message *m;
 826
 827         if(list_empty(&dev->tx_idle_list)) {
 828                 clear_bit(USBCAN_FREE_TX_URB,&dev->flags);
 829                 return;
 830         }
 831
 832         m = list_first_entry(&dev->tx_idle_list, typeof(*m), list_node);
 833
 834         cmd=canque_test_outslot(obj->qends, &m->qedge, &m->slot);
 835         if(cmd>=0){
 836                 DEBUGMSG("USBCAN Sending a message\n");
 837
 838                 can_msgobj_set_fl(obj,TX_PENDING);
 839                 clear_bit(USBCAN_FREE_TX_URB,&dev->flags);
 840                 clear_bit(USBCAN_MESSAGE_FREE,&m->flags);
 841
 842                 *(u8 *)(m->msg)=0;
 843                 len = m->slot->msg.length;
 844                 if(len > CAN_MSG_LENGTH)
 845                 len = CAN_MSG_LENGTH;
 846                 *(u8 *)(m->msg+1)=len & 0xFF;
 847                 *(u16 *)(m->msg+2)=cpu_to_le16(m->slot->msg.flags);
 848                 *(u32 *)(m->msg+4)=cpu_to_le32(m->slot->msg.id);
 849
 850                 for(ptr=m->msg+8, i=0; i < len; ptr++,i++) {
 851                         *ptr=m->slot->msg.data[i] & 0xFF;
 852                 }
 853                 for(; i < 8; ptr++,i++) {
 854                         *ptr=0;
 855                 }
 856
 857                 set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
 858
 859                 usbcan_usb_message_move_list(dev, m, &dev->tx_pend_list);
 860
 861                 retval = usb_submit_urb (m->u, GFP_KERNEL);
 862                 if (retval){
 863                         CANMSG("%d. URB error %d\n",i,retval);
 864                         clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
 865                         set_bit(USBCAN_FREE_TX_URB,&dev->flags);
 866                         set_bit(USBCAN_MESSAGE_FREE,&m->flags);
 867                         obj->ret = -1;
 868                         canque_notify_inends(m->qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
 869                         canque_free_outslot(obj->qends, m->qedge, m->slot);
 870                         m->slot=NULL;
 871                         usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list);
 872                 } else {
 873                         set_bit(USBCAN_TX_PENDING,&dev->flags);
 874                 }
 875         } else {
 876                 set_bit(USBCAN_FREE_TX_URB,&dev->flags);
 877         }
 878 }
 879
 880 #define MAX_RETR 10
 881
 882 /**
 883  * usbcan_irq_handler: - interrupt service routine
 884  * @irq: interrupt vector number, this value is system specific
 885  * @chip: pointer to chip state structure
 886  *
 887  * Interrupt handler is activated when state of CAN controller chip changes,
 888  * there is message to be read or there is more space for new messages or
 889  * error occurs. The receive events results in reading of the message from
 890  * CAN controller chip and distribution of message through attached
 891  * message queues.
 892  * File: src/usbcan.c
 893  */
 894 int usbcan_irq_handler(int irq, struct canchip_t *chip)
 895 {
 896         return CANCHIP_IRQ_HANDLED;
 897 }
 898
 899 /**
 900  * usbcan_wakeup_tx: - wakeups TX processing
 901  * @chip: pointer to chip state structure
 902  * @obj: pointer to message object structure
 903  *
 904  * Function is responsible for initiating message transmition.
 905  * It is responsible for clearing of object TX_REQUEST flag
 906  *
 907  * Return Value: negative value reports error.
 908  * File: src/usbcan.c
 909  */
 910 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 911 {
 912         struct usbcan_usb *dev=(struct usbcan_usb *)chip->chip_data;
 913
 914         DEBUGMSG("Trying to send message\n");
 915         can_preempt_disable();
 916
 917         can_msgobj_set_fl(obj,TX_PENDING);
 918         can_msgobj_set_fl(obj,TX_REQUEST);
 919         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 920                 can_msgobj_clear_fl(obj,TX_REQUEST);
 921
 922                 if (test_and_clear_bit(USBCAN_FREE_TX_URB,&dev->flags)){
 923                         obj->tx_retry_cnt=0;
 924                         set_bit(USBCAN_TX_PENDING,&dev->flags);
 925                         if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags))
 926                                 wake_up_process(dev->comthread);
 927                 }
 928
 929                 can_msgobj_clear_fl(obj,TX_LOCK);
 930                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 931                 CANMSG("TX looping in usbcan_wakeup_tx\n");
 932         }
 933
 934         can_preempt_enable();
 935         return 0;
 936 }
 937
 938 int usbcan_chipregister(struct chipspecops_t *chipspecops)
 939 {
 940         CANMSG("initializing usbcan chip operations\n");
 941         chipspecops->chip_config=usbcan_chip_config;
 942         chipspecops->baud_rate=usbcan_baud_rate;
 943         chipspecops->standard_mask=usbcan_standard_mask;
 944         chipspecops->extended_mask=usbcan_extended_mask;
 945         chipspecops->message15_mask=usbcan_extended_mask;
 946         chipspecops->clear_objects=usbcan_clear_objects;
 947         chipspecops->config_irqs=usbcan_config_irqs;
 948         chipspecops->pre_read_config=usbcan_pre_read_config;
 949         chipspecops->pre_write_config=usbcan_pre_write_config;
 950         chipspecops->send_msg=usbcan_send_msg;
 951         chipspecops->check_tx_stat=usbcan_check_tx_stat;
 952         chipspecops->wakeup_tx=usbcan_wakeup_tx;
 953         chipspecops->remote_request=usbcan_remote_request;
 954         chipspecops->enable_configuration=usbcan_enable_configuration;
 955         chipspecops->disable_configuration=usbcan_disable_configuration;
 956         chipspecops->attach_to_chip=usbcan_attach_to_chip;
 957         chipspecops->release_chip=usbcan_release_chip;
 958         chipspecops->set_btregs=usbcan_set_btregs;
 959         chipspecops->start_chip=usbcan_start_chip;
 960         chipspecops->stop_chip=usbcan_stop_chip;
 961         chipspecops->irq_handler=usbcan_irq_handler;
 962         chipspecops->irq_accept=NULL;
 963         return 0;
 964 }
 965
 966 /**
 967  * usbcan_fill_chipspecops - fills chip specific operations
 968  * @chip: pointer to chip representation structure
 969  *
 970  * The function fills chip specific operations for sja1000 (PeliCAN) chip.
 971  *
 972  * Return Value: returns negative number in the case of fail
 973  */
 974 int usbcan_fill_chipspecops(struct canchip_t *chip)
 975 {
 976         chip->chip_type="usbcan";
 977         chip->max_objects=1;
 978         usbcan_chipregister(chip->chipspecops);
 979         return 0;
 980 }
 981
 982 /**
 983  * usbcan_init_chip_data - Initialize chips
 984  * @candev: Pointer to candevice/board structure
 985  * @chipnr: Number of the CAN chip on the hardware card
 986  *
 987  * The function usbcan_init_chip_data() is used to initialize the hardware
 988  * structure containing information about the CAN chips.
 989  * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
 990  * "sja1000".
 991  * The @chip_base_addr entry represents the start of the 'official' memory map
 992  * of the installed chip. It's likely that this is the same as the @io_addr
 993  * argument supplied at module loading time.
 994  * The @clock entry holds the chip clock value in Hz.
 995  * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
 996  * register. Options defined in the %sja1000.h file:
 997  * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
 998  * The entry @sja_ocr_reg holds hardware specific options for the Output Control
 999  * register. Options defined in the %sja1000.h file:
1000  * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
1001  * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
1002  * The entry @int_clk_reg holds hardware specific options for the Clock Out
1003  * register. Options defined in the %i82527.h file:
1004  * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
1005  * The entry @int_bus_reg holds hardware specific options for the Bus
1006  * Configuration register. Options defined in the %i82527.h file:
1007  * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
1008  * The entry @int_cpu_reg holds hardware specific options for the cpu interface
1009  * register. Options defined in the %i82527.h file:
1010  * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
1011  * Return Value: The function always returns zero
1012  * File: src/usbcan.c
1013  */
1014 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
1015 {
1016         struct canchip_t *chip=candev->chip[chipnr];
1017
1018         usbcan_fill_chipspecops(chip);
1019
1020         candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM|CHIP_KEEP_DATA;
1021         candev->chip[chipnr]->chip_base_addr=0;
1022         candev->chip[chipnr]->clock = 0;
1023
1024         return 0;
1025 }
1026
1027
1028 /** *********************************
1029  *    USB related functions
1030  *  ********************************* */
1031
1032 static int usbcan_sleep_thread(struct usbcan_usb *dev)
1033 {
1034         int     rc = 0;
1035
1036         /* Wait until a signal arrives or we are woken up */
1037         for (;;) {
1038                 try_to_freeze();
1039                 set_current_state(TASK_INTERRUPTIBLE);
1040                 if (signal_pending(current)) {
1041                         rc = -EINTR;
1042                         break;
1043                 }
1044                 if (
1045                         can_kthread_should_stop() ||
1046                         test_bit(USBCAN_DATA_OK,&dev->flags) ||
1047                         test_bit(USBCAN_TX_PENDING,&dev->flags) ||
1048                         test_bit(USBCAN_TERMINATE,&dev->flags) ||
1049                         test_bit(USBCAN_ERROR,&dev->flags)
1050                 )
1051                         break;
1052                 schedule();
1053         }
1054         __set_current_state(TASK_RUNNING);
1055         return rc;
1056 }
1057
1058 static void usbcan_tx_callback(struct urb *urb)
1059 {
1060         struct usbcan_message *m = urb->context;
1061         int retval;
1062
1063         if (!test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags))
1064                 return;
1065         if (test_bit(USBCAN_MESSAGE_TERMINATE,&m->flags))
1066                 return;
1067
1068         switch (urb->status) {
1069         case 0:
1070                 /* success */
1071                 DEBUGMSG("%s > Message OK\n", __FUNCTION__);
1072                 set_bit(USBCAN_DATA_OK,&m->dev->flags);
1073                 set_bit(USBCAN_MESSAGE_DATA_OK,&m->flags);
1074                 DEBUGMSG("%s > TX flag set\n", __FUNCTION__);
1075                 set_bit(USBCAN_DATA_TX,&m->dev->flags);
1076                 clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1077                 usbcan_usb_message_move_list(m->dev, m, &m->dev->tx_ready_list);
1078                 if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags))
1079                         wake_up_process(m->dev->comthread);
1080                 else
1081                         CANMSG("%s > USBCAN thread not running\n", __FUNCTION__);
1082                 return;
1083         case -ECONNRESET:
1084         case -ENOENT:
1085         case -ESHUTDOWN:
1086                 /* this urb is terminated, clean up */
1087                 CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status);
1088 //              set_bit(USBCAN_TERMINATE,&m->dev->flags);
1089                 set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags);
1090                 clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1091                 return;
1092         default:
1093                 //CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status);
1094                 break;
1095         }
1096
1097         // Try to send urb again on non significant errors
1098         retval = usb_submit_urb (urb, GFP_ATOMIC);
1099         if (retval<0){
1100                 CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval);
1101                 set_bit(USBCAN_ERROR,&m->dev->flags);
1102                 clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1103                 usbcan_usb_message_move_list(m->dev, m, &m->dev->tx_ready_list);
1104                 if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags))
1105                         wake_up_process(m->dev->comthread);
1106         }
1107 }
1108
1109 static void usbcan_rx_callback(struct urb *urb)
1110 {
1111         struct usbcan_message *m = urb->context;
1112         int retval;
1113
1114         if (!test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags))
1115                 return;
1116         if (test_bit(USBCAN_MESSAGE_TERMINATE,&m->flags))
1117                 return;
1118
1119         switch (urb->status) {
1120         case 0:
1121                 /* success */
1122                 DEBUGMSG("%s > Message OK\n", __FUNCTION__);
1123                 set_bit(USBCAN_DATA_OK,&m->dev->flags);
1124                 set_bit(USBCAN_MESSAGE_DATA_OK,&m->flags);
1125                 DEBUGMSG("%s > RX flag set\n", __FUNCTION__);
1126                 set_bit(USBCAN_DATA_RX,&m->dev->flags);
1127                 clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1128                 usbcan_usb_message_move_list(m->dev, m, &m->dev->rx_ready_list);
1129                 if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags))
1130                         wake_up_process(m->dev->comthread);
1131                 else
1132                         CANMSG("%s > USBCAN thread not running\n", __FUNCTION__);
1133                 return;
1134         case -ECONNRESET:
1135         case -ENOENT:
1136         case -ESHUTDOWN:
1137                 /* this urb is terminated, clean up */
1138                 CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status);
1139 //              set_bit(USBCAN_TERMINATE,&m->dev->flags);
1140                 set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags);
1141                 clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1142                 return;
1143         default:
1144                 //CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status);
1145                 break;
1146         }
1147
1148         // Try to send urb again on non significant errors
1149         retval = usb_submit_urb (urb, GFP_ATOMIC);
1150         if (retval<0){
1151                 CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval);
1152                 set_bit(USBCAN_ERROR,&m->dev->flags);
1153                 clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1154                 usbcan_usb_message_move_list(m->dev, m, &m->dev->rx_ready_list);
1155                 if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags))
1156                         wake_up_process(m->dev->comthread);
1157         }
1158 }
1159
1160
1161 static void usbcan_kthread_free_urbs(struct usbcan_usb *dev)
1162 {
1163         while(!list_empty(&dev->rx_pend_list)) {
1164                 struct usbcan_message *m;
1165                 m = list_first_entry(&dev->rx_pend_list, typeof(*m), list_node);
1166                 set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags);
1167                 usb_kill_urb(m->u);
1168                 usbcan_usb_message_move_list(dev, m, &dev->rx_ready_list);
1169         }
1170
1171         while(!list_empty(&dev->tx_pend_list)) {
1172                 struct usbcan_message *m;
1173                 m = list_first_entry(&dev->tx_pend_list, typeof(*m), list_node);
1174                 set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags);
1175                 usb_kill_urb(m->u);
1176                 usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list);
1177         }
1178
1179         while(!list_empty(&dev->rx_ready_list)) {
1180                 struct usbcan_message *m;
1181                 m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node);
1182                 list_del(&m->list_node);
1183                 usb_free_urb(m->u);
1184                 kfree(m);
1185         }
1186
1187         while(!list_empty(&dev->tx_ready_list)) {
1188                 struct usbcan_message *m;
1189                 m = list_first_entry(&dev->tx_ready_list, typeof(*m), list_node);
1190                 list_del(&m->list_node);
1191                 usb_free_urb(m->u);
1192                 kfree(m);
1193         }
1194
1195         while(!list_empty(&dev->tx_idle_list)) {
1196                 struct usbcan_message *m;
1197                 m = list_first_entry(&dev->tx_idle_list, typeof(*m), list_node);
1198                 list_del(&m->list_node);
1199                 usb_free_urb(m->u);
1200                 kfree(m);
1201         }
1202
1203 }
1204
1205 int usbcan_kthread(void *data)
1206 {
1207         int i,retval=0;
1208         struct usbcan_usb *dev=(struct usbcan_usb *)data;
1209         struct msgobj_t *obj;
1210
1211         CANMSG("Usbcan thread started...\n");
1212
1213         if (!dev->chip)
1214                 goto error;
1215         obj=dev->chip->msgobj[0];
1216
1217         INIT_LIST_HEAD(&dev->rx_pend_list);
1218         INIT_LIST_HEAD(&dev->rx_ready_list);
1219         INIT_LIST_HEAD(&dev->tx_idle_list);
1220         INIT_LIST_HEAD(&dev->tx_pend_list);
1221         INIT_LIST_HEAD(&dev->tx_ready_list);
1222
1223         if (1) {
1224                 struct sched_param param = { .sched_priority = 1 };
1225                 sched_setscheduler(current, SCHED_FIFO, &param);
1226         }
1227
1228
1229         /* Prepare receive urbs  */
1230         for (i=0;i<USBCAN_TOT_RX_URBS;i++){
1231                 struct usbcan_message *m;
1232                 struct urb *u = usb_alloc_urb(0, GFP_KERNEL);
1233                 if (!u){
1234                         CANMSG("Error allocating %d. usb receive urb\n",i);
1235                         goto error;
1236                 }
1237                 m = kmalloc(sizeof(struct usbcan_message), GFP_KERNEL);
1238                 if(!m) {
1239                         usb_free_urb(u);
1240                         CANMSG("Error allocating %d. receive usbcan_message\n",i);
1241                         goto error;
1242                 }
1243                 m->u = u;
1244                 u->dev = dev->udev;
1245                 m->dev = dev;
1246                 usb_fill_bulk_urb(u, dev->udev,
1247                         usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1248                         m->msg, USBCAN_TRANSFER_SIZE, usbcan_rx_callback, m);
1249                 set_bit(USBCAN_MESSAGE_TYPE_RX, &m->flags);
1250                 list_add_tail(&m->list_node, &dev->rx_ready_list);
1251         }
1252
1253         /* Prepare transmit urbs  */
1254         for (i=0;i<USBCAN_TOT_TX_URBS;i++){
1255                 struct usbcan_message *m;
1256                 struct urb *u = usb_alloc_urb(0, GFP_KERNEL);
1257                 if (!u){
1258                         CANMSG("Error allocating %d. usb transmit urb\n",i);
1259                         goto error;
1260                 }
1261                 m = kmalloc(sizeof(struct usbcan_message), GFP_KERNEL);
1262                 if(!m) {
1263                         usb_free_urb(u);
1264                         CANMSG("Error allocating %d. transmit usbcan_message\n",i);
1265                         goto error;
1266                 }
1267                 m->u = u;
1268                 u->dev = dev->udev;
1269                 m->dev = dev;
1270                 usb_fill_bulk_urb(u, dev->udev,
1271                         usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
1272                         m->msg, USBCAN_TRANSFER_SIZE, usbcan_tx_callback, m);
1273
1274                 set_bit(USBCAN_MESSAGE_FREE,&m->flags);
1275                 set_bit(USBCAN_MESSAGE_TYPE_TX,&m->flags);
1276                 list_add_tail(&m->list_node, &dev->tx_idle_list);
1277
1278         }
1279
1280         set_bit(USBCAN_THREAD_RUNNING,&dev->flags);
1281         set_bit(USBCAN_FREE_TX_URB,&dev->flags);
1282
1283         for (i=0;i<USBCAN_TOT_RX_URBS;i++){
1284                 struct usbcan_message *m;
1285                 m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node);
1286                 set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
1287                 usbcan_usb_message_move_list(dev, m, &dev->rx_pend_list);
1288
1289                 retval=usb_submit_urb(m->u, GFP_KERNEL);
1290                 if (retval){
1291                         CANMSG("%d. URB error %d\n",i,retval);
1292                         set_bit(USBCAN_ERROR,&dev->flags);
1293                         usbcan_usb_message_move_list(dev, m, &dev->rx_ready_list);
1294                         goto exit;
1295                 }
1296         }
1297         /* an endless loop in which we are doing our work */
1298         for(;;)
1299         {
1300                 /* We need to do a memory barrier here to be sure that
1301                 the flags are visible on all CPUs. */
1302                 mb();
1303                 /* fall asleep */
1304                 if (!can_kthread_should_stop() && !test_bit(USBCAN_TERMINATE,&dev->flags) && (usbcan_sleep_thread(dev)<0)){
1305                         break;
1306                 }
1307                 /* We need to do a memory barrier here to be sure that the flags are visible on all CPUs. */
1308                 mb();
1309
1310                 if (can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags)){
1311                         break;
1312                 }
1313
1314                 clear_bit(USBCAN_DATA_OK,&dev->flags);
1315
1316                 mb();
1317
1318                 while(!list_empty(&dev->rx_ready_list)) {
1319                         struct usbcan_message *m;
1320                         m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node);
1321                         usbcan_kthread_read_handler(dev, m, obj);
1322                 }
1323
1324                 while(!list_empty(&dev->tx_ready_list)) {
1325                         struct usbcan_message *m;
1326                         m = list_first_entry(&dev->tx_ready_list, typeof(*m), list_node);
1327                         usbcan_kthread_write_handler(dev, m, obj);
1328                 }
1329
1330                 if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)) {
1331                         usbcan_kthread_write_request_handler(dev, obj);
1332                 }
1333         }
1334
1335         set_bit(USBCAN_TERMINATE,&dev->flags);
1336 exit:
1337
1338         usbcan_kthread_free_urbs(dev);
1339         clear_bit(USBCAN_THREAD_RUNNING,&dev->flags);
1340
1341         CANMSG ("usbcan thread finished!\n");
1342         return 0;
1343 error:
1344         /* cleanup the thread, leave */
1345         usbcan_kthread_free_urbs(dev);
1346
1347         CANMSG ("kernel thread terminated!\n");
1348         return -ENOMEM;
1349 }
1350
1351 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1352 {
1353         struct usbcan_devs *usbdevs=NULL;
1354         struct usb_host_interface *iface_desc;
1355         struct usb_endpoint_descriptor *endpoint;
1356         size_t buffer_size;
1357         int i,j,k;
1358         int retval = -ENOMEM;
1359
1360         iface_desc = interface->cur_altsetting;
1361         if (iface_desc->desc.bNumEndpoints % 2){
1362                 CANMSG("Endpoint count must be even");
1363                 goto noalloc;
1364         }
1365
1366         usbcan_chip_count = iface_desc->desc.bNumEndpoints / 2;
1367
1368         usbdevs = (struct usbcan_devs *) can_checked_malloc(sizeof(struct usbcan_devs));
1369         if (!usbdevs) {
1370                 goto noalloc;
1371         }
1372         memset(usbdevs, 0, sizeof(struct usbcan_devs));
1373
1374         usbdevs->count = usbcan_chip_count;
1375         usbdevs->udev = interface_to_usbdev(interface);
1376
1377         usbdevs->devs = (struct usbcan_usb **) can_checked_malloc(usbcan_chip_count * sizeof(struct usbcan_usb *));
1378         if (!usbdevs->devs) {
1379                 goto error;
1380         }
1381         memset(usbdevs->devs, 0, usbcan_chip_count * sizeof(struct usbcan_usb *));
1382
1383         for (j=0;j<usbcan_chip_count;j++){
1384                 struct usbcan_usb *dev;
1385                 int epnum=-1,was;
1386
1387                 /* allocate memory for our device state and initialize it */
1388                 usbdevs->devs[j] = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1389                 if (!usbdevs->devs[j]) {
1390                         goto error;
1391                 }
1392                 memset(usbdevs->devs[j], 0, sizeof(struct usbcan_usb));
1393                 dev=usbdevs->devs[j];
1394                 spin_lock_init(&dev->list_lock);
1395
1396                 mutex_init(&dev->io_mutex);
1397                 init_waitqueue_head(&dev->queue);
1398                 dev->udev = usbdevs->udev;
1399                 dev->interface = interface;
1400
1401                 /* set up the endpoint information */
1402                 for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1403                         endpoint = &iface_desc->endpoint[i].desc;
1404
1405                         if (epnum==-1){
1406                                 was=0;
1407                                 for (k=0;k<j;k++){
1408                                         if ((usbdevs->devs[k]->bulk_in_endpointAddr & USB_ENDPOINT_NUMBER_MASK) == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK))
1409                                                 was=1;
1410                                 }
1411                                 if (was) continue;
1412                                 epnum=endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK;
1413                         }
1414
1415                         if (!dev->bulk_in_endpointAddr &&
1416                                         usb_endpoint_is_bulk_in(endpoint)) {
1417                                 if (epnum == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)){
1418                                         /* we found a bulk in endpoint */
1419                                         buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1420                                         dev->bulk_in_size = buffer_size;
1421                                         dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1422                                         dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1423                                         if (!dev->bulk_in_buffer) {
1424                                                 CANMSG("Could not allocate bulk_in_buffer");
1425                                                 goto error;
1426                                         }
1427                                 }
1428                         }
1429
1430                         if (!dev->bulk_out_endpointAddr &&
1431                                         usb_endpoint_is_bulk_out(endpoint)) {
1432                                 if (epnum == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)){
1433                                 /* we found a bulk out endpoint */
1434                                         dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1435                                 }
1436                         }
1437
1438                 }
1439                 if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1440                         CANMSG("Could not find all bulk-in and bulk-out endpoints for chip %d",j);
1441                         goto error;
1442                 }
1443         }
1444
1445         usb_get_dev(usbdevs->udev);
1446
1447         /* save our data pointer in this interface device */
1448         usb_set_intfdata(interface, usbdevs);
1449
1450         usbdevs->candev=register_hotplug_dev("usbcan", usbcan_register_devs,(void *) usbdevs);
1451         if (!(usbdevs->candev)){
1452                 CANMSG("register_hotplug_dev() failed\n");
1453                 goto register_error;
1454         }
1455
1456         /* let the user know what node this device is now attached to */
1457         CANMSG("USBCAN device now attached\n");
1458         return 0;
1459
1460 register_error:
1461 //      cleanup_hotplug_dev(usbdevs->candev);
1462         usb_put_dev(usbdevs->udev);
1463 error:
1464         if (usbdevs){
1465                 if (usbdevs->devs){
1466                         for (j=0;j<usbdevs->count;j++){
1467                                 if (!usbdevs->devs[j])  continue;
1468
1469                                 if (usbdevs->devs[j]->bulk_in_buffer)
1470                                         can_checked_free(usbdevs->devs[j]->bulk_in_buffer);
1471                                 if (usbdevs->devs[j]->chip){
1472                                         usbdevs->devs[j]->chip->chip_data=NULL;
1473                                 }
1474                                 can_checked_free(usbdevs->devs[j]);
1475                         }
1476                         can_checked_free(usbdevs->devs);
1477                 }
1478                 can_checked_free(usbdevs);
1479         }
1480 noalloc:
1481         return retval;
1482 }
1483
1484 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10))
1485 void release_device(struct kref *refcount){
1486         struct candevice_t *candev = container_of(refcount,struct candevice_t,refcount);
1487 #else
1488 void release_device(struct candevice_t *candev){
1489 #endif
1490         struct usbcan_devs *usbdevs = (struct usbcan_devs *)candev->sysdevptr.anydev;
1491         int j;
1492
1493         if (!usbdevs)
1494                 return;
1495
1496         cleanup_hotplug_dev(usbdevs->candev);
1497
1498         if (usbdevs->devs){
1499                 /* Finally, release all structures in USB subsystem */
1500                 if (!usbdevs->udev)
1501                         panic("udev is already null on device release");
1502                 usb_put_dev(usbdevs->udev);
1503
1504                 for (j=0;j<usbdevs->count;j++){
1505                         if (!usbdevs->devs[j])  continue;
1506
1507                         if (usbdevs->devs[j]->bulk_in_buffer)
1508                                 can_checked_free(usbdevs->devs[j]->bulk_in_buffer);
1509                         can_checked_free(usbdevs->devs[j]);
1510                         usbdevs->devs[j]=NULL;
1511                 }
1512                 can_checked_free(usbdevs->devs);
1513         }
1514         can_checked_free(usbdevs);
1515
1516         CANMSG("USBCAN now disconnected\n");
1517 }
1518
1519 // Physically disconnected device
1520 static void usbcan_disconnect(struct usb_interface *interface)
1521 {
1522         struct usbcan_devs *usbdevs;
1523         int j;
1524
1525         /* prevent more I/O from starting */
1526         lock_kernel();
1527
1528         usbdevs = usb_get_intfdata(interface);
1529         if (usbdevs==NULL){
1530                 CANMSG("USBCAN device seems to be already removed\n");
1531                 unlock_kernel();
1532                 return;
1533         }
1534         usb_set_intfdata(interface, NULL);
1535         deregister_hotplug_dev(usbdevs->candev);
1536
1537         for (j=0;j<usbdevs->count;j++){
1538                 if (!usbdevs->devs[j])  continue;
1539                 mutex_lock(&usbdevs->devs[j]->io_mutex);
1540                 usbdevs->devs[j]->interface = NULL;
1541                 mutex_unlock(&usbdevs->devs[j]->io_mutex);
1542         }
1543
1544         unlock_kernel();
1545
1546 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10))
1547         kref_put(&usbdevs->candev->refcount,release_device);
1548 #else
1549         release_device(&usbdevs->candev);
1550 #endif
1551 }
1552
1553 int usbcan_init(void){
1554         return usb_register(&usbcan_driver);
1555 }
1556
1557 void usbcan_exit(void){
1558         usb_deregister(&usbcan_driver);
1559 }