lincan/src/main.c

   1 /* main.c
   2  * Linux CAN-bus device driver.
   3  * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
   4  * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
   5  * email:pisa@cmp.felk.cvut.cz
   6  * This software is released under the GPL-License.
   7  * Version lincan-0.3  17 Jun 2004
   8  */
   9
  10 #ifndef EXPORT_SYMTAB
  11 #define EXPORT_SYMTAB
  12 #endif
  13
  14 #include <linux/autoconf.h>
  15
  16 #include <linux/module.h>
  17
  18 #include <linux/kernel.h>
  19 #include <linux/fs.h>
  20 #include <linux/sched.h>
  21 #include <linux/poll.h>
  22 #include <linux/version.h>
  23 #include <linux/autoconf.h>
  24 #include <linux/interrupt.h>
  25
  26 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
  27 #include <linux/wrapper.h>
  28 #endif
  29
  30 #if !defined (__GENKSYMS__)
  31 #if (defined (MODVERSIONS) && !defined(NOVER))
  32 #include <linux/modversions.h>
  33 /*#include "../include/main.ver"*/
  34 #endif
  35 #endif
  36
  37 /*#undef CONFIG_DEVFS_FS*/
  38
  39 #ifdef CONFIG_DEVFS_FS
  40 #include <linux/devfs_fs_kernel.h>
  41 #include <linux/miscdevice.h>
  42 #endif
  43
  44 #include "../include/can.h"
  45 #include "../include/can_sysdep.h"
  46 #include "../include/main.h"
  47 #include "../include/modparms.h"
  48 #include "../include/devcommon.h"
  49 #include "../include/setup.h"
  50 #include "../include/proc.h"
  51 #include "../include/open.h"
  52 #include "../include/close.h"
  53 #include "../include/read.h"
  54 #include "../include/select.h"
  55 #include "../include/irq.h"
  56 #include "../include/ioctl.h"
  57 #include "../include/write.h"
  58 #include "../include/finish.h"
  59 #include "../include/fasync.h"
  60
  61 #ifdef CAN_WITH_RTL
  62 #include <rtl_posixio.h>
  63 #include "../include/can_iortl.h"
  64 #endif /*CAN_WITH_RTL*/
  65
  66 can_spinlock_t canuser_manipulation_lock;
  67
  68 /* Module parameters, some must be supplied at module loading time */
  69 int major=CAN_MAJOR;
  70 MODULE_PARM(major,"1i");
  71 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
  72 int minor[MAX_TOT_CHIPS]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
  73 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
  74 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
  75 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
  76 int extended=0;
  77 MODULE_PARM(extended,"1i");
  78 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
  79                         " selects extended frames reception for i82527");
  80 int pelican=0;
  81 MODULE_PARM(pelican,"1i");
  82 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
  83 int baudrate[MAX_TOT_CHIPS];
  84 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
  85 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
  86 char *hw[MAX_HW_CARDS]={NULL,};
  87 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
  88 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
  89 int irq[MAX_IRQ]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
  90 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
  91 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
  92 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
  93 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
  94 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
  95 int stdmask=0;
  96 MODULE_PARM(stdmask, "1i");
  97 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
  98 int extmask=0;
  99 MODULE_PARM(extmask, "1i");
 100 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
 101 int mo15mask=0;
 102 MODULE_PARM(mo15mask, "1i");
 103 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
 104 int processlocal=0;
 105 MODULE_PARM(processlocal, "1i");
 106 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
 107                 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
 108 #ifdef CAN_WITH_RTL
 109 int can_rtl_priority=-1;
 110 MODULE_PARM(can_rtl_priority, "1i");
 111 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
 112 #endif /*CAN_WITH_RTL*/
 113
 114 /* Other module attributes */
 115 #ifdef MODULE_SUPPORTED_DEVICE
 116 MODULE_SUPPORTED_DEVICE("can");
 117 #endif
 118 #ifdef MODULE_LICENSE
 119 MODULE_LICENSE("GPL");
 120 #endif
 121 #ifdef MODULE_DESCRIPTION
 122 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 123 #endif
 124 #ifdef MODULE_AUTHOR
 125 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
 126 #endif
 127
 128 /* Global structures, used to describe the installed hardware. */
 129 struct canhardware_t canhardware;
 130 struct canhardware_t *hardware_p=&canhardware;
 131 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 132 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 133 #ifdef CONFIG_DEVFS_FS
 134 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,60))
 135 devfs_handle_t  devfs_handles[MAX_TOT_MSGOBJS];
 136 #endif
 137 #endif
 138
 139 /* Pointers to dynamically allocated memory are maintained in a linked list
 140  * to ease memory deallocation.
 141  */
 142 struct mem_addr *mem_head=NULL;
 143
 144 struct file_operations can_fops=
 145 {
 146  #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
 147         owner:          THIS_MODULE,
 148  #endif
 149         read:           can_read,
 150         write:          can_write,
 151         poll:           can_poll,
 152         ioctl:          can_ioctl,
 153         open:           can_open,
 154         release:        can_close,
 155   #ifdef CAN_ENABLE_KERN_FASYNC
 156         fasync:         can_fasync
 157   #endif /*CAN_ENABLE_KERN_FASYNC*/
 158 };
 159
 160 EXPORT_SYMBOL(can_fops);
 161
 162
 163 #ifdef CAN_WITH_RTL
 164 struct rtl_file_operations can_fops_rtl = {
 165         llseek:         NULL,
 166         read:           can_read_rtl_posix,
 167         write:          can_write_rtl_posix,
 168         ioctl:          can_ioctl_rtl_posix,
 169         mmap:           NULL,
 170         open:           can_open_rtl_posix,
 171         release:        can_release_rtl_posix
 172 };
 173 #endif /*CAN_WITH_RTL*/
 174
 175
 176 int init_module(void)
 177 {
 178         int res=0,i=0, j;
 179         struct candevice_t *candev;
 180         struct canchip_t *chip;
 181
 182         if (parse_mod_parms())
 183                 return -EINVAL;
 184
 185         can_spin_lock_init(&canuser_manipulation_lock);
 186         canqueue_kern_initialize();
 187
 188         if (init_hw_struct())
 189                 return -ENODEV;
 190
 191         #ifdef CAN_DEBUG
 192                 list_hw();
 193         #endif
 194
 195         res=register_chrdev(major,DEVICE_NAME, &can_fops);
 196         if (res<0) {
 197                 CANMSG("Error registering driver.\n");
 198                 goto register_error;
 199         }
 200
 201         #ifdef CAN_WITH_RTL
 202         can_spin_lock_init(&can_irq_manipulation_lock);
 203         canqueue_rtl_initialize();
 204         res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
 205         if (res<0) {
 206                 CANMSG("Error registering RT-Linux major number.\n");
 207                 goto rtldev_error;
 208         }
 209         #endif /*CAN_WITH_RTL*/
 210
 211         for (i=0; i<hardware_p->nr_boards; i++) {
 212                 candev=hardware_p->candevice[i];
 213                 if (candev->hwspecops->request_io(candev))
 214                         goto request_io_error;
 215                 candev->flags|=CANDEV_IO_RESERVED;
 216         }
 217
 218         for (i=0; i<hardware_p->nr_boards; i++) {
 219                 candev=hardware_p->candevice[i];
 220                 if (candev->hwspecops->reset(candev))
 221                         goto reset_error;
 222         }
 223
 224         can_spin_lock_init(&hardware_p->rtr_lock);
 225         hardware_p->rtr_queue=NULL;
 226
 227         for (i=0; i<hardware_p->nr_boards; i++) {
 228                 candev=hardware_p->candevice[i];
 229                 for(j=0; j<candev->nr_all_chips; j++) {
 230                         if((chip=candev->chip[j])==NULL)
 231                                 continue;
 232
 233                         if(chip->chipspecops->attach_to_chip(chip)<0) {
 234                                 CANMSG("Initial attach to the chip HW failed\n");
 235                                 goto interrupt_error;
 236                         }
 237
 238                         chip->flags |= CHIP_ATTACHED;
 239
 240                         if(can_chip_setup_irq(chip)<0) {
 241                                 CANMSG("Error to setup chip IRQ\n");
 242                                 goto interrupt_error;
 243                         }
 244                 }
 245
 246                 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 247                         if (candev->hwspecops->program_irq(candev)){
 248                                 CANMSG("Error to program board interrupt\n");
 249                                 goto interrupt_error;
 250                         }
 251         }
 252
 253 #ifdef CONFIG_PROC_FS
 254         if (can_init_procdir())
 255                 goto proc_error;
 256 #endif
 257
 258 #ifdef CONFIG_DEVFS_FS
 259         {
 260             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
 261                 char dev_name[32];
 262             #endif
 263                 int dev_minor;
 264                 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 265                         if(!objects_p[i]) continue;
 266                         dev_minor=objects_p[i]->minor;
 267                     #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
 268                         sprintf (dev_name, "can%d", dev_minor);
 269                         devfs_handles[i]=devfs_register(NULL, dev_name,
 270                                 DEVFS_FL_DEFAULT, major, dev_minor,
 271                                 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
 272                                 &can_fops, (void*)objects_p[i]);
 273                     #else
 274                         devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
 275                     #endif
 276                 }
 277         }
 278 #endif
 279         return 0;
 280
 281 #ifdef CONFIG_PROC_FS
 282         proc_error: ;
 283                 CANMSG("Error registering /proc entry.\n");
 284                 goto memory_error;
 285 #endif
 286
 287         interrupt_error: ;
 288                 goto memory_error;
 289
 290         reset_error: ;
 291                 CANMSG("Error resetting device.\n");
 292                 goto memory_error;
 293
 294         request_io_error: ;
 295                 CANMSG("Error to request IO resources for device.\n");
 296                 goto memory_error;
 297
 298         memory_error: ;
 299                 canhardware_done(hardware_p);
 300
 301                 #ifdef CAN_WITH_RTL
 302                 rtl_unregister_rtldev(major,DEVICE_NAME);
 303         rtldev_error:
 304                 canqueue_rtl_done();
 305                 #endif /*CAN_WITH_RTL*/
 306
 307                 res=unregister_chrdev(major,DEVICE_NAME);
 308                 if (res<0)
 309                         CANMSG("Error unloading CAN driver, error: %d\n",res);
 310                 else
 311                         CANMSG("No CAN devices or driver setup error.\n");
 312
 313         register_error:
 314                 if ( can_del_mem_list() )
 315                         CANMSG("Error deallocating memory\n");
 316
 317                 return -ENODEV;
 318 }
 319
 320 void cleanup_module(void)
 321 {
 322         int res=0,i=0;
 323
 324 #ifdef CONFIG_PROC_FS
 325         if (can_delete_procdir())
 326                 CANMSG("Error unregistering /proc/can entry.\n");
 327 #endif
 328
 329 #ifdef CONFIG_DEVFS_FS
 330         for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 331             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
 332                 if(devfs_handles[i])
 333                         devfs_unregister(devfs_handles[i]);
 334             #else
 335                 int dev_minor;
 336                 if(!objects_p[i]) continue;
 337                 dev_minor=objects_p[i]->minor;
 338                 if(minor>=0)
 339                         devfs_remove("can%d", dev_minor);
 340             #endif
 341         }
 342 #endif
 343
 344         canhardware_done(hardware_p);
 345
 346         #ifdef CAN_WITH_RTL
 347         rtl_unregister_rtldev(major,DEVICE_NAME);
 348         canqueue_rtl_done();
 349         #endif /*CAN_WITH_RTL*/
 350
 351         if ( can_del_mem_list() )
 352                 CANMSG("Error deallocating memory\n");
 353
 354         res=unregister_chrdev(major,DEVICE_NAME);
 355         if (res<0)
 356                 CANMSG("Error unregistering CAN driver, error: %d\n",res);
 357 }