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
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"
15 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id);
16 static void usbcan_disconnect(struct usb_interface *interface);
18 volatile int usbcan_chip_count=0;
20 /* table of devices that work with this driver */
21 static struct usb_device_id usbcan_table [] = {
22 { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) },
23 { } /* Terminating entry */
25 MODULE_DEVICE_TABLE(usb, usbcan_table);
27 static struct usb_driver usbcan_driver = {
29 .id_table = usbcan_table,
30 .probe = usbcan_probe,
31 .disconnect = usbcan_disconnect,
35 * usbcan_request_io: - reserve io or memory range for can board
36 * @candev: pointer to candevice/board which asks for io. Field @io_addr
37 * of @candev is used in most cases to define start of the range
39 * The function usbcan_request_io() is used to reserve the io-memory. If your
40 * hardware uses a dedicated memory range as hardware control registers you
41 * will have to add the code to reserve this memory as well.
42 * %IO_RANGE is the io-memory range that gets reserved, please adjust according
43 * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
44 * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
45 * Return Value: The function returns zero on success or %-ENODEV on failure
48 int usbcan_request_io(struct candevice_t *candev)
50 struct usbcan_devs *usbdevs = (struct usbcan_devs *)candev->sysdevptr.anydev;
53 CANMSG("USBCAN_REQUEST_IO: Cannot register usbcan while usb device is not present.\n");
54 CANMSG("USBCAN_REQUEST_IO: Usbcan registers automatically on device insertion.\n");
62 * usbcan_release_io - free reserved io memory range
63 * @candev: pointer to candevice/board which releases io
65 * The function usbcan_release_io() is used to free reserved io-memory.
66 * In case you have reserved more io memory, don't forget to free it here.
67 * IO_RANGE is the io-memory range that gets released, please adjust according
68 * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
69 * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
70 * Return Value: The function always returns zero
73 int usbcan_release_io(struct candevice_t *candev)
79 * usbcan_reset - hardware reset routine
80 * @candev: Pointer to candevice/board structure
82 * The function usbcan_reset() is used to give a hardware reset. This is
83 * rather hardware specific so I haven't included example code. Don't forget to
84 * check the reset status of the chip before returning.
85 * Return Value: The function returns zero on success or %-ENODEV on failure
88 int usbcan_reset(struct candevice_t *candev)
94 * usbcan_init_hw_data - Initialize hardware cards
95 * @candev: Pointer to candevice/board structure
97 * The function usbcan_init_hw_data() is used to initialize the hardware
98 * structure containing information about the installed CAN-board.
99 * %RESET_ADDR represents the io-address of the hardware reset register.
100 * %NR_82527 represents the number of Intel 82527 chips on the board.
101 * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
102 * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
103 * the hardware uses programmable interrupts.
104 * Return Value: The function always returns zero
107 int usbcan_init_hw_data(struct candevice_t *candev)
109 candev->res_addr=RESET_ADDR;
110 candev->nr_82527_chips=0;
111 candev->nr_sja1000_chips=0;
112 candev->nr_all_chips=usbcan_chip_count;
113 candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
119 * usbcan_init_obj_data - Initialize message buffers
120 * @chip: Pointer to chip specific structure
121 * @objnr: Number of the message buffer
123 * The function usbcan_init_obj_data() is used to initialize the hardware
124 * structure containing information about the different message objects on the
125 * CAN chip. In case of the sja1000 there's only one message object but on the
126 * i82527 chip there are 15.
127 * The code below is for a i82527 chip and initializes the object base addresses
128 * The entry @obj_base_addr represents the first memory address of the message
129 * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
131 * Unless the hardware uses a segmented memory map, flags can be set zero.
132 * Return Value: The function always returns zero
135 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
137 chip->msgobj[objnr]->obj_base_addr=0;
143 * usbcan_program_irq - program interrupts
144 * @candev: Pointer to candevice/board structure
146 * The function usbcan_program_irq() is used for hardware that uses
147 * programmable interrupts. If your hardware doesn't use programmable interrupts
148 * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
149 * leave this function unedited. Again this function is hardware specific so
150 * there's no example code.
151 * Return value: The function returns zero on success or %-ENODEV on failure
154 int usbcan_program_irq(struct candevice_t *candev)
159 /* !!! Don't change this function !!! */
160 int usbcan_register(struct hwspecops_t *hwspecops)
162 hwspecops->request_io = usbcan_request_io;
163 hwspecops->release_io = usbcan_release_io;
164 hwspecops->reset = usbcan_reset;
165 hwspecops->init_hw_data = usbcan_init_hw_data;
166 hwspecops->init_chip_data = usbcan_init_chip_data;
167 hwspecops->init_obj_data = usbcan_init_obj_data;
168 hwspecops->write_register = NULL;
169 hwspecops->read_register = NULL;
170 hwspecops->program_irq = usbcan_program_irq;
174 // static int sja1000_report_error_limit_counter;
176 static void sja1000_report_error(struct canchip_t *chip,
177 unsigned sr, unsigned ir, unsigned ecc)
179 /*TODO : Error reporting from device */
181 /* if(sja1000_report_error_limit_counter>=100)
184 CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
187 sja1000_report_error_limit_counter+=10;
189 if(sja1000_report_error_limit_counter>=100){
190 sja1000_report_error_limit_counter+=10;
191 CANMSG("Error: too many errors, reporting disabled\n");
195 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
196 CANMSG("SR: BS=%c ES=%c TS=%c RS=%c TCS=%c TBS=%c DOS=%c RBS=%c\n",
197 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
198 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
199 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
200 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
201 CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c TI=%c RI=%c\n",
202 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
203 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
204 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
205 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
206 if((sr&sjaIR_EI) || 1){
207 CANMSG("EI: %s %s %s\n",
208 sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
209 ecc&sjaECC_DIR?"RX":"TX",
210 sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
213 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
218 * usbcan_enable_configuration - enable chip configuration mode
219 * @chip: pointer to chip state structure
221 int usbcan_enable_configuration(struct canchip_t *chip)
227 * usbcan_disable_configuration - disable chip configuration mode
228 * @chip: pointer to chip state structure
230 int usbcan_disable_configuration(struct canchip_t *chip)
236 * usbcan_chip_config: - can chip configuration
237 * @chip: pointer to chip state structure
239 * This function configures chip and prepares it for message
240 * transmission and reception. The function resets chip,
241 * resets mask for acceptance of all messages by call to
242 * usbcan_extended_mask() function and then
243 * computes and sets baudrate with use of function usbcan_baud_rate().
244 * Return Value: negative value reports error.
247 int usbcan_chip_config(struct canchip_t *chip)
253 * usbcan_extended_mask: - setup of extended mask for message filtering
254 * @chip: pointer to chip state structure
255 * @code: can message acceptance code
256 * @mask: can message acceptance mask
258 * Return Value: negative value reports error.
261 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask)
264 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
266 u8 usbbuf[USBCAN_TRANSFER_SIZE];
271 *(uint32_t *)(usbbuf)=cpu_to_le32(mask);
272 *(uint32_t *)(usbbuf+4)=cpu_to_le32(code);
274 retval=usb_control_msg(dev->udev,
275 usb_sndctrlpipe(dev->udev, 0),
276 USBCAN_VENDOR_EXT_MASK_SET,
278 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
279 &usbbuf, USBCAN_TRANSFER_SIZE,
284 retval = usb_control_msg(dev->udev,
285 usb_rcvctrlpipe(dev->udev, 0),
286 USBCAN_VENDOR_EXT_MASK_STATUS,
288 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
289 &usbbuf, USBCAN_TRANSFER_SIZE,
294 DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
295 DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
300 CANMSG("Setting extended mask failed\n");
305 * usbcan_baud_rate: - set communication parameters.
306 * @chip: pointer to chip state structure
307 * @rate: baud rate in Hz
308 * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
309 * @sjw: synchronization jump width (0-3) prescaled clock cycles
310 * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
311 * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
313 * Return Value: negative value reports error.
316 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
317 int sampl_pt, int flags)
320 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
322 u8 usbbuf[USBCAN_TRANSFER_SIZE];
327 *(int32_t *)(usbbuf)=cpu_to_le32(rate);
328 *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw);
329 *(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt);
330 *(int32_t *)(usbbuf+12)=cpu_to_le32(flags);
332 retval=usb_control_msg(dev->udev,
333 usb_sndctrlpipe(dev->udev, 0),
334 USBCAN_VENDOR_BAUD_RATE_SET,
336 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
337 &usbbuf, USBCAN_TRANSFER_SIZE,
342 retval = usb_control_msg(dev->udev,
343 usb_rcvctrlpipe(dev->udev, 0),
344 USBCAN_VENDOR_BAUD_RATE_STATUS,
346 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
347 usbbuf, USBCAN_TRANSFER_SIZE,
355 CANMSG("baud rate %d is not possible to set\n",
361 * usbcan_pre_read_config: - prepares message object for message reception
362 * @chip: pointer to chip state structure
363 * @obj: pointer to message object state structure
365 * Return Value: negative value reports error.
366 * Positive value indicates immediate reception of message.
369 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
374 #define MAX_TRANSMIT_WAIT_LOOPS 10
376 * usbcan_pre_write_config: - prepares message object for message transmission
377 * @chip: pointer to chip state structure
378 * @obj: pointer to message object state structure
379 * @msg: pointer to CAN message
381 * This function prepares selected message object for future initiation
382 * of message transmission by usbcan_send_msg() function.
383 * The CAN message data and message ID are transfered from @msg slot
384 * into chip buffer in this function.
385 * Return Value: negative value reports error.
388 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
389 struct canmsg_t *msg)
395 * usbcan_send_msg: - initiate message transmission
396 * @chip: pointer to chip state structure
397 * @obj: pointer to message object state structure
398 * @msg: pointer to CAN message
400 * This function is called after usbcan_pre_write_config() function,
401 * which prepares data in chip buffer.
402 * Return Value: negative value reports error.
405 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
406 struct canmsg_t *msg)
412 * usbcan_check_tx_stat: - checks state of transmission engine
413 * @chip: pointer to chip state structure
415 * Return Value: negative value reports error.
416 * Positive return value indicates transmission under way status.
417 * Zero value indicates finishing of all issued transmission requests.
420 int usbcan_check_tx_stat(struct canchip_t *chip)
422 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
425 if (test_bit(USBCAN_TX_PENDING,&dev->flags))
431 * usbcan_set_btregs: - configures bitrate registers
432 * @chip: pointer to chip state structure
433 * @btr0: bitrate register 0
434 * @btr1: bitrate register 1
436 * Return Value: negative value reports error.
439 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
443 u8 buf[USBCAN_TRANSFER_SIZE];
444 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
445 uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
450 retval = usb_control_msg(dev->udev,
451 usb_rcvctrlpipe(dev->udev, 0),
452 USBCAN_VENDOR_SET_BTREGS,
454 cpu_to_le16(value), cpu_to_le16(chip->chip_idx),
455 &buf, USBCAN_TRANSFER_SIZE,
466 * usbcan_start_chip: - starts chip message processing
467 * @chip: pointer to chip state structure
469 * Return Value: negative value reports error.
472 int usbcan_start_chip(struct canchip_t *chip)
475 u8 buf[USBCAN_TRANSFER_SIZE];
476 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
481 retval = usb_control_msg(dev->udev,
482 usb_rcvctrlpipe(dev->udev, 0),
483 USBCAN_VENDOR_START_CHIP,
485 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
486 &buf, USBCAN_TRANSFER_SIZE,
497 * usbcan_chip_queue_status: - gets queue status from usb device
498 * @chip: pointer to chip state structure
500 * Return Value: negative value reports error.
501 * 0 means queue is not full
502 * 1 means queue is full
505 int usbcan_chip_queue_status(struct canchip_t *chip)
508 u8 buf[USBCAN_TRANSFER_SIZE];
509 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
513 retval = usb_control_msg(dev->udev,
514 usb_rcvctrlpipe(dev->udev, 0),
515 USBCAN_VENDOR_CHECK_TX_STAT,
517 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
518 &buf, USBCAN_TRANSFER_SIZE,
522 CANMSG("Chip_queue_status: %d\n",buf[0]);
528 CANMSG("Chip_queue_status error: %d\n",retval);
533 * usbcan_stop_chip: - stops chip message processing
534 * @chip: pointer to chip state structure
536 * Return Value: negative value reports error.
539 int usbcan_stop_chip(struct canchip_t *chip)
542 u8 buf[USBCAN_TRANSFER_SIZE];
543 struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
548 retval = usb_control_msg(dev->udev,
549 usb_rcvctrlpipe(dev->udev, 0),
550 USBCAN_VENDOR_STOP_CHIP,
552 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
553 &buf, USBCAN_TRANSFER_SIZE,
564 * usbcan_register_devs: - attaches usb device data to the chip structure
565 * @chip: pointer to chip state structure
566 * @data: usb device data
570 void usbcan_register_devs(struct canchip_t *chip,void *data){
571 struct usbcan_devs *usbdevs=(struct usbcan_devs *)data;
573 CANMSG("Bad structure given\n");
576 if (chip->chip_idx>=usbdevs->count) {
577 CANMSG("Requested chip number is bigger than chip count\n");
581 usbdevs->devs[chip->chip_idx]->chip=chip;
582 chip->chip_data=(void *)usbdevs->devs[chip->chip_idx];
586 * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
587 * @chip: pointer to chip state structure
589 * Return Value: negative value reports error.
592 int usbcan_attach_to_chip(struct canchip_t *chip)
594 struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data;
596 /* start kernel thread */
597 dev->comthread=can_kthread_run(usbcan_kthread, (void *)dev, "usbcan_%d",chip->chip_idx);
603 * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
604 * @chip: pointer to chip state structure
606 * Return Value: negative value reports error.
609 int usbcan_release_chip(struct canchip_t *chip)
611 struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data;
613 usbcan_stop_chip(chip);
615 /* terminate the kernel thread */
616 set_bit(USBCAN_TERMINATE,&dev->flags);
617 wake_up_process(dev->comthread);
618 // can_kthread_stop(dev->comthread);
624 * usbcan_remote_request: - configures message object and asks for RTR message
625 * @chip: pointer to chip state structure
626 * @obj: pointer to message object structure
628 * Return Value: negative value reports error.
631 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
633 CANMSG("usbcan_remote_request not implemented\n");
638 * usbcan_standard_mask: - setup of mask for message filtering
639 * @chip: pointer to chip state structure
640 * @code: can message acceptance code
641 * @mask: can message acceptance mask
643 * Return Value: negative value reports error.
646 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
649 CANMSG("usbcan_standard_mask not implemented\n");
654 * usbcan_clear_objects: - clears state of all message object residing in chip
655 * @chip: pointer to chip state structure
657 * Return Value: negative value reports error.
660 int usbcan_clear_objects(struct canchip_t *chip)
662 CANMSG("usbcan_clear_objects not implemented\n");
667 * usbcan_config_irqs: - tunes chip hardware interrupt delivery
668 * @chip: pointer to chip state structure
669 * @irqs: requested chip IRQ configuration
671 * Return Value: negative value reports error.
674 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
676 CANMSG("usbcan_config_irqs not implemented\n");
681 * usbcan_kthread_read_handler: - part of kthread code responsible for receive completed events
682 * @dev: pointer to usb device related structure
683 * @obj: pointer to attached message object description
685 * The main purpose of this function is to read message from usb urb
686 * and transfer message contents to CAN queue ends.
687 * This subroutine is called by
691 void usbcan_kthread_read_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
692 int i, j, len, retval;
693 CANMSG("USBCAN RX handler\n");
694 for (i=0;i<USBCAN_TOT_RX_URBS;i++){
695 if (test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&dev->rx[i].flags)){
696 CANMSG("USBCAN Thread has received a message\n");
697 if ((dev->chip)&&(dev->chip->flags & CHIP_CONFIGURED)){
699 struct usbcan_message *mess=&dev->rx[i];
701 len=*(u8 *)(mess->msg+1);
702 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
703 obj->rx_msg.length = len;
705 obj->rx_msg.flags=le16_to_cpu(*(u16 *)(mess->msg+2));
706 obj->rx_msg.id=le32_to_cpu((*(u32 *)(mess->msg+4)));
708 for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) {
709 obj->rx_msg.data[j]=*ptr;
712 // fill CAN message timestamp
713 can_filltimestamp(&obj->rx_msg.timestamp);
714 canque_filter_msg2edges(obj->qends, &obj->rx_msg);
717 CANMSG("Destination chip not found\n");
719 if (!test_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags)){
720 CANMSG("Renewing RX urb\n");
721 retval = usb_submit_urb (dev->rx[i].u, GFP_KERNEL);
723 CANMSG("%d. URB error %d\n", i, retval);
724 set_bit(USBCAN_ERROR,&dev->flags);
727 set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags);
733 * usbcan_kthread_write_handler: - part of kthread code responsible for transmit done events
734 * @dev: pointer to usb device related structure
735 * @obj: pointer to attached message object description
737 * The main purpose of this function is to free allocated resources on transmit done event
738 * This subroutine is called by
742 void usbcan_kthread_write_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
744 CANMSG("USBCAN TX handler\n");
745 for (i=0;i<USBCAN_TOT_TX_URBS;i++){
746 if (test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&dev->tx[i].flags)){
747 struct usbcan_message *mess=&dev->tx[i];
748 CANMSG("USBCAN Message successfully sent\n");
751 // Do local transmitted message distribution if enabled
753 // fill CAN message timestamp
754 can_filltimestamp(&mess->slot->msg.timestamp);
756 mess->slot->msg.flags |= MSG_LOCAL;
757 canque_filter_msg2edges(obj->qends, &mess->slot->msg);
759 // Free transmitted slot
760 canque_free_outslot(obj->qends, mess->qedge, mess->slot);
763 can_msgobj_clear_fl(obj,TX_PENDING);
765 set_bit(USBCAN_FREE_TX_URB,&dev->flags);
766 set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
768 // Test if some new messages arrived
769 set_bit(USBCAN_TX_PENDING,&dev->flags);
775 * usbcan_kthread_write_request_handler: - part of kthread code responsible for sending transmit urbs
776 * @dev: pointer to usb device related structure
777 * @obj: pointer to attached message object description
779 * The main purpose of this function is to create a usb transmit safe object
780 * and send it via free transmit usb urb
781 * This subroutine is called by
785 void usbcan_kthread_write_request_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
786 int i, j, cmd, len, retval;
787 for (i=0;i<USBCAN_TOT_TX_URBS;i++){
788 if (test_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags)){
789 struct usbcan_message *mess=&dev->tx[i];
791 cmd=canque_test_outslot(obj->qends, &mess->qedge, &mess->slot);
793 CANMSG("USBCAN Sending a message\n");
795 can_msgobj_set_fl(obj,TX_PENDING);
796 clear_bit(USBCAN_FREE_TX_URB,&dev->flags);
797 clear_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
799 *(u8 *)(mess->msg)=0;
800 len = mess->slot->msg.length;
801 if(len > CAN_MSG_LENGTH)
802 len = CAN_MSG_LENGTH;
803 *(u8 *)(mess->msg+1)=len & 0xFF;
804 *(u16 *)(mess->msg+2)=cpu_to_le16(mess->slot->msg.flags);
805 *(u32 *)(mess->msg+4)=cpu_to_le32(mess->slot->msg.id);
807 for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) {
808 *ptr=mess->slot->msg.data[j] & 0xFF;
810 for(; j < 8; ptr++,j++) {
814 set_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
815 retval = usb_submit_urb (dev->tx[i].u, GFP_KERNEL);
817 CANMSG("%d. URB error %d\n",i,retval);
818 clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
819 set_bit(USBCAN_FREE_TX_URB,&dev->flags);
820 set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
822 canque_notify_inends(mess->qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
823 canque_free_outslot(obj->qends, mess->qedge, mess->slot);
828 set_bit(USBCAN_FREE_TX_URB,&dev->flags);
838 * usbcan_irq_handler: - interrupt service routine
839 * @irq: interrupt vector number, this value is system specific
840 * @chip: pointer to chip state structure
842 * Interrupt handler is activated when state of CAN controller chip changes,
843 * there is message to be read or there is more space for new messages or
844 * error occurs. The receive events results in reading of the message from
845 * CAN controller chip and distribution of message through attached
849 int usbcan_irq_handler(int irq, struct canchip_t *chip)
851 return CANCHIP_IRQ_HANDLED;
855 * usbcan_wakeup_tx: - wakeups TX processing
856 * @chip: pointer to chip state structure
857 * @obj: pointer to message object structure
859 * Function is responsible for initiating message transmition.
860 * It is responsible for clearing of object TX_REQUEST flag
862 * Return Value: negative value reports error.
865 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
867 struct usbcan_usb *dev=(struct usbcan_usb *)chip->chip_data;
869 CANMSG("Trying to send message\n");
870 can_preempt_disable();
872 can_msgobj_set_fl(obj,TX_PENDING);
873 can_msgobj_set_fl(obj,TX_REQUEST);
874 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
875 can_msgobj_clear_fl(obj,TX_REQUEST);
877 if (test_and_clear_bit(USBCAN_FREE_TX_URB,&dev->flags)){
879 set_bit(USBCAN_TX_PENDING,&dev->flags);
880 if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags))
881 wake_up_process(dev->comthread);
884 can_msgobj_clear_fl(obj,TX_LOCK);
885 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
886 CANMSG("TX looping in usbcan_wakeup_tx\n");
889 can_preempt_enable();
893 int usbcan_chipregister(struct chipspecops_t *chipspecops)
895 CANMSG("initializing usbcan chip operations\n");
896 chipspecops->chip_config=usbcan_chip_config;
897 chipspecops->baud_rate=usbcan_baud_rate;
898 chipspecops->standard_mask=usbcan_standard_mask;
899 chipspecops->extended_mask=usbcan_extended_mask;
900 chipspecops->message15_mask=usbcan_extended_mask;
901 chipspecops->clear_objects=usbcan_clear_objects;
902 chipspecops->config_irqs=usbcan_config_irqs;
903 chipspecops->pre_read_config=usbcan_pre_read_config;
904 chipspecops->pre_write_config=usbcan_pre_write_config;
905 chipspecops->send_msg=usbcan_send_msg;
906 chipspecops->check_tx_stat=usbcan_check_tx_stat;
907 chipspecops->wakeup_tx=usbcan_wakeup_tx;
908 chipspecops->remote_request=usbcan_remote_request;
909 chipspecops->enable_configuration=usbcan_enable_configuration;
910 chipspecops->disable_configuration=usbcan_disable_configuration;
911 chipspecops->attach_to_chip=usbcan_attach_to_chip;
912 chipspecops->release_chip=usbcan_release_chip;
913 chipspecops->set_btregs=usbcan_set_btregs;
914 chipspecops->start_chip=usbcan_start_chip;
915 chipspecops->stop_chip=usbcan_stop_chip;
916 chipspecops->irq_handler=usbcan_irq_handler;
917 chipspecops->irq_accept=NULL;
922 * usbcan_fill_chipspecops - fills chip specific operations
923 * @chip: pointer to chip representation structure
925 * The function fills chip specific operations for sja1000 (PeliCAN) chip.
927 * Return Value: returns negative number in the case of fail
929 int usbcan_fill_chipspecops(struct canchip_t *chip)
931 chip->chip_type="usbcan";
933 usbcan_chipregister(chip->chipspecops);
938 * usbcan_init_chip_data - Initialize chips
939 * @candev: Pointer to candevice/board structure
940 * @chipnr: Number of the CAN chip on the hardware card
942 * The function usbcan_init_chip_data() is used to initialize the hardware
943 * structure containing information about the CAN chips.
944 * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
946 * The @chip_base_addr entry represents the start of the 'official' memory map
947 * of the installed chip. It's likely that this is the same as the @io_addr
948 * argument supplied at module loading time.
949 * The @clock entry holds the chip clock value in Hz.
950 * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
951 * register. Options defined in the %sja1000.h file:
952 * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
953 * The entry @sja_ocr_reg holds hardware specific options for the Output Control
954 * register. Options defined in the %sja1000.h file:
955 * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
956 * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
957 * The entry @int_clk_reg holds hardware specific options for the Clock Out
958 * register. Options defined in the %i82527.h file:
959 * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
960 * The entry @int_bus_reg holds hardware specific options for the Bus
961 * Configuration register. Options defined in the %i82527.h file:
962 * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
963 * The entry @int_cpu_reg holds hardware specific options for the cpu interface
964 * register. Options defined in the %i82527.h file:
965 * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
966 * Return Value: The function always returns zero
969 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
971 struct canchip_t *chip=candev->chip[chipnr];
973 usbcan_fill_chipspecops(chip);
975 candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
976 candev->chip[chipnr]->chip_base_addr=0;
977 candev->chip[chipnr]->clock = 0;
983 /** *********************************
984 * USB related functions
985 * ********************************* */
987 static int usbcan_sleep_thread(struct usbcan_usb *dev)
991 /* Wait until a signal arrives or we are woken up */
994 set_current_state(TASK_INTERRUPTIBLE);
995 if (signal_pending(current)) {
1000 can_kthread_should_stop() ||
1001 test_bit(USBCAN_DATA_OK,&dev->flags) ||
1002 test_bit(USBCAN_TX_PENDING,&dev->flags) ||
1003 test_bit(USBCAN_TERMINATE,&dev->flags) ||
1004 test_bit(USBCAN_ERROR,&dev->flags)
1009 __set_current_state(TASK_RUNNING);
1013 static void usbcan_callback(struct urb *urb)
1015 struct usbcan_message *mess = urb->context;
1018 if (!test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags))
1020 if (test_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags))
1023 switch (urb->status) {
1026 CANMSG("%s > Message OK\n", __FUNCTION__);
1027 set_bit(USBCAN_DATA_OK,&mess->dev->flags);
1028 set_bit(USBCAN_MESSAGE_DATA_OK,&mess->flags);
1029 if (test_bit(USBCAN_MESSAGE_TYPE_RX,&mess->flags)){
1030 CANMSG("%s > RX flag set\n", __FUNCTION__);
1031 set_bit(USBCAN_DATA_RX,&mess->dev->flags);
1033 if (test_bit(USBCAN_MESSAGE_TYPE_TX,&mess->flags))
1034 CANMSG("%s > TX flag set\n", __FUNCTION__);
1035 set_bit(USBCAN_DATA_TX,&mess->dev->flags);
1036 clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
1037 if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags))
1038 wake_up_process(mess->dev->comthread);
1040 CANMSG("%s > USBCAN thread not running\n", __FUNCTION__);
1041 // wake_up(&mess->dev->queue);
1046 /* this urb is terminated, clean up */
1047 CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status);
1048 set_bit(USBCAN_TERMINATE,&mess->dev->flags);
1049 set_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags);
1050 clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
1053 //CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status);
1057 // Try to send urb again on non significant errors
1058 retval = usb_submit_urb (urb, GFP_ATOMIC);
1060 CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval);
1061 set_bit(USBCAN_ERROR,&mess->dev->flags);
1062 clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
1063 if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags))
1064 wake_up_process(mess->dev->comthread);
1065 // wake_up(&mess->dev->queue);
1069 int usbcan_kthread(void *data)
1072 struct usbcan_usb *dev=(struct usbcan_usb *)data;
1073 struct msgobj_t *obj;
1075 CANMSG("Usbcan thread started...\n");
1079 obj=dev->chip->msgobj[0];
1081 /* Prepare receive urbs */
1082 for (i=0;i<USBCAN_TOT_RX_URBS;i++){
1083 dev->rx[i].u = usb_alloc_urb(0, GFP_KERNEL);
1085 CANMSG("Error allocating %d. usb receive urb\n",i);
1088 dev->rx[i].u->dev = dev->udev;
1089 dev->rx[i].dev = dev;
1090 usb_fill_bulk_urb(dev->rx[i].u, dev->udev,
1091 usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1092 dev->rx[i].msg, USBCAN_TRANSFER_SIZE,
1093 usbcan_callback, &dev->rx[i]);
1094 set_bit(USBCAN_MESSAGE_TYPE_RX,&dev->rx[i].flags);
1097 /* Prepare transmit urbs */
1098 for (i=0;i<USBCAN_TOT_TX_URBS;i++){
1099 dev->tx[i].u = usb_alloc_urb(0, GFP_KERNEL);
1101 CANMSG("Error allocating %d. usb transmit urb\n",i);
1104 dev->tx[i].u->dev = dev->udev;
1105 dev->tx[i].dev = dev;
1106 usb_fill_bulk_urb(dev->tx[i].u, dev->udev,
1107 usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
1108 dev->tx[i].msg, USBCAN_TRANSFER_SIZE,
1109 usbcan_callback, &dev->tx[i]);
1110 set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
1111 set_bit(USBCAN_MESSAGE_TYPE_TX,&dev->tx[i].flags);
1114 set_bit(USBCAN_THREAD_RUNNING,&dev->flags);
1115 set_bit(USBCAN_FREE_TX_URB,&dev->flags);
1117 for (i=0;i<USBCAN_TOT_RX_URBS;i++){
1118 retval=usb_submit_urb(dev->rx[i].u, GFP_KERNEL);
1120 CANMSG("%d. URB error %d\n",i,retval);
1121 set_bit(USBCAN_ERROR,&dev->flags);
1125 set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags);
1127 /* an endless loop in which we are doing our work */
1130 /* We need to do a memory barrier here to be sure that
1131 the flags are visible on all CPUs. */
1134 if (!(can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags))){
1135 if (usbcan_sleep_thread(dev)<0)
1137 /* wait_event_interruptible(dev->queue,
1138 can_kthread_should_stop() ||
1139 test_bit(USBCAN_DATA_OK,&dev->flags) ||
1140 test_bit(USBCAN_TX_PENDING,&dev->flags) ||
1141 test_bit(USBCAN_TERMINATE,&dev->flags) ||
1142 test_bit(USBCAN_ERROR,&dev->flags)
1145 /* We need to do a memory barrier here to be sure that
1146 the flags are visible on all CPUs. */
1149 /* here we are back from sleep because we caught a signal. */
1150 if (can_kthread_should_stop()){
1151 /* we received a request to terminate ourself */
1155 /* here we are back from sleep because we caught a signal. */
1156 if (test_bit(USBCAN_TERMINATE,&dev->flags)){
1157 /* we received a request to terminate ourself */
1161 { /* Normal work to do */
1162 if (test_and_clear_bit(USBCAN_DATA_OK,&dev->flags)){
1163 CANMSG("USBCAN Succesfull data transfer\n");
1165 if (test_and_clear_bit(USBCAN_DATA_RX,&dev->flags)){
1166 usbcan_kthread_read_handler(dev, obj);
1168 if (test_and_clear_bit(USBCAN_DATA_TX,&dev->flags)){
1169 usbcan_kthread_write_handler(dev, obj);
1172 if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)){
1173 usbcan_kthread_write_request_handler(dev, obj);
1177 set_bit(USBCAN_TERMINATE,&dev->flags);
1179 /* here we go only in case of termination of the thread */
1180 for (i=0;i<USBCAN_TOT_RX_URBS;i++){
1182 set_bit(USBCAN_MESSAGE_TERMINATE,&dev->rx[i].flags);
1183 usb_kill_urb(dev->rx[i].u);
1184 usb_free_urb(dev->rx[i].u);
1187 for (i=0;i<USBCAN_TOT_TX_URBS;i++){
1189 set_bit(USBCAN_MESSAGE_TERMINATE,&dev->tx[i].flags);
1190 usb_kill_urb(dev->tx[i].u);
1191 usb_free_urb(dev->tx[i].u);
1194 clear_bit(USBCAN_THREAD_RUNNING,&dev->flags);
1196 CANMSG ("usbcan thread finished!\n");
1199 /* cleanup the thread, leave */
1200 CANMSG ("kernel thread terminated!\n");
1204 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1206 struct usbcan_devs *usbdevs=NULL;
1207 struct usb_host_interface *iface_desc;
1208 struct usb_endpoint_descriptor *endpoint;
1211 int retval = -ENOMEM;
1213 iface_desc = interface->cur_altsetting;
1214 if (iface_desc->desc.bNumEndpoints % 2){
1215 err("Endpoint count must be even");
1219 usbcan_chip_count = iface_desc->desc.bNumEndpoints / 2;
1221 usbdevs = (struct usbcan_devs *) can_checked_malloc(sizeof(struct usbcan_devs));
1223 err("Out of memory");
1226 memset(usbdevs, 0, sizeof(struct usbcan_devs));
1228 usbdevs->count=usbcan_chip_count;
1230 usbdevs->devs = (struct usbcan_usb **) can_checked_malloc(usbcan_chip_count * sizeof(struct usbcan_usb *));
1231 if (!usbdevs->devs) {
1232 err("Out of memory");
1235 memset(usbdevs->devs, 0, usbcan_chip_count * sizeof(struct usbcan_usb *));
1237 for (j=0;j<usbcan_chip_count;j++){
1238 struct usbcan_usb *dev;
1241 /* allocate memory for our device state and initialize it */
1242 usbdevs->devs[j] = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1243 if (!usbdevs->devs[j]) {
1244 err("Out of memory");
1247 memset(usbdevs->devs[j], 0, sizeof(struct usbcan_usb));
1248 dev=usbdevs->devs[j];
1250 mutex_init(&dev->io_mutex);
1251 init_waitqueue_head(&dev->queue);
1252 dev->udev = interface_to_usbdev(interface);
1253 dev->interface = interface;
1255 /* set up the endpoint information */
1256 for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1257 endpoint = &iface_desc->endpoint[i].desc;
1262 if ((usbdevs->devs[k]->bulk_in_endpointAddr & USB_ENDPOINT_NUMBER_MASK) == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK))
1266 epnum=endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK;
1269 if (!dev->bulk_in_endpointAddr &&
1270 usb_endpoint_is_bulk_in(endpoint)) {
1271 if (epnum == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)){
1272 /* we found a bulk in endpoint */
1273 buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1274 dev->bulk_in_size = buffer_size;
1275 dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1276 dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1277 if (!dev->bulk_in_buffer) {
1278 err("Could not allocate bulk_in_buffer");
1284 if (!dev->bulk_out_endpointAddr &&
1285 usb_endpoint_is_bulk_out(endpoint)) {
1286 if (epnum == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)){
1287 /* we found a bulk out endpoint */
1288 dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1293 if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1294 err("Could not find all bulk-in and bulk-out endpoints for chip %d",j);
1298 /* save our data pointer in this interface device */
1299 usb_set_intfdata(interface, usbdevs);
1301 if (!(usbdevs->candev=register_usbdev("usbcan",(void *) usbdevs, usbcan_register_devs)))
1302 goto register_error;
1304 /* let the user know what node this device is now attached to */
1305 CANMSG("USBCAN device now attached\n");
1309 cleanup_usbdev(usbdevs->candev);
1313 if (usbdevs->devs[0]){
1314 usb_put_dev(usbdevs->devs[0]->udev);
1316 for (j=0;j<usbdevs->count;j++){
1317 if (!usbdevs->devs[j]) continue;
1319 if (usbdevs->devs[j]->bulk_in_buffer)
1320 can_checked_free(usbdevs->devs[j]->bulk_in_buffer);
1321 if (usbdevs->devs[j]->chip){
1322 usbdevs->devs[j]->chip->chip_data=NULL;
1324 can_checked_free(usbdevs->devs[j]);
1326 can_checked_free(usbdevs->devs);
1328 can_checked_free(usbdevs);
1334 // Physically disconnected device
1335 static void usbcan_disconnect(struct usb_interface *interface)
1337 struct usbcan_devs *usbdevs;
1339 usbdevs = usb_get_intfdata(interface);
1341 CANMSG("USBCAN device seems to be removed\n");
1344 usb_set_intfdata(interface, NULL);
1347 usb_put_dev((*usbdevs->devs)->udev);
1349 cleanup_usbdev(usbdevs->candev);
1351 for (j=0;j<usbdevs->count;j++){
1352 if (!usbdevs->devs[j]) continue;
1354 /* prevent more I/O from starting */
1355 mutex_lock(&usbdevs->devs[j]->io_mutex);
1356 usbdevs->devs[j]->interface = NULL;
1357 mutex_unlock(&usbdevs->devs[j]->io_mutex);
1359 while (test_bit(USBCAN_THREAD_RUNNING,&usbdevs->devs[j]->flags))
1361 CANMSG("USBCAN thread has not stopped, trying to wake...\n");
1362 set_bit(USBCAN_TERMINATE,&usbdevs->devs[j]->flags);
1363 wake_up_process(usbdevs->devs[j]->comthread);
1365 // can_kthread_stop(dev->comthread);
1368 if (usbdevs->devs[j]->bulk_in_buffer)
1369 can_checked_free(usbdevs->devs[j]->bulk_in_buffer);
1370 // if (usbdevs->devs[j]->chip){
1371 // usbdevs->devs[j]->chip->chip_data=NULL;
1373 can_checked_free(usbdevs->devs[j]);
1374 usbdevs->devs[j]=NULL;
1376 can_checked_free(usbdevs->devs);
1378 can_checked_free(usbdevs);
1380 CANMSG("USBCAN now disconnected\n");
1383 int usbcan_init(void){
1384 return usb_register(&usbcan_driver);
1387 void usbcan_exit(void){
1388 usb_deregister(&usbcan_driver);