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