lincan/src/main.c

   1 /**************************************************************************/
   2 /* File: main.c - the CAN driver top level glue code (needs rewrite)      */
   3 /*                                                                        */
   4 /* LinCAN - (Not only) Linux CAN bus driver                               */
   5 /* Copyright (C) 2002-2009 DCE FEE CTU Prague <http://dce.felk.cvut.cz>   */
   6 /* Copyright (C) 2002-2009 Pavel Pisa <pisa@cmp.felk.cvut.cz>             */
   7 /* Funded by OCERA and FRESCOR IST projects                               */
   8 /* Based on CAN driver code by Arnaud Westenberg <arnaud@wanadoo.nl>      */
   9 /*                                                                        */
  10 /* LinCAN is free software; you can redistribute it and/or modify it      */
  11 /* under terms of the GNU General Public License as published by the      */
  12 /* Free Software Foundation; either version 2, or (at your option) any    */
  13 /* later version.  LinCAN is distributed in the hope that it will be      */
  14 /* useful, but WITHOUT ANY WARRANTY; without even the implied warranty    */
  15 /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU    */
  16 /* General Public License for more details. You should have received a    */
  17 /* copy of the GNU General Public License along with LinCAN; see file     */
  18 /* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,  */
  19 /* Cambridge, MA 02139, USA.                                              */
  20 /*                                                                        */
  21 /* To allow use of LinCAN in the compact embedded systems firmware        */
  22 /* and RT-executives (RTEMS for example), main authors agree with next    */
  23 /* special exception:                                                     */
  24 /*                                                                        */
  25 /* Including LinCAN header files in a file, instantiating LinCAN generics */
  26 /* or templates, or linking other files with LinCAN objects to produce    */
  27 /* an application image/executable, does not by itself cause the          */
  28 /* resulting application image/executable to be covered by                */
  29 /* the GNU General Public License.                                        */
  30 /* This exception does not however invalidate any other reasons           */
  31 /* why the executable file might be covered by the GNU Public License.    */
  32 /* Publication of enhanced or derived LinCAN files is required although.  */
  33 /**************************************************************************/
  34
  35 #ifndef EXPORT_SYMTAB
  36 #define EXPORT_SYMTAB
  37 #endif
  38
  39 #include <linux/module.h>
  40
  41 #include <linux/kernel.h>
  42 #include <linux/fs.h>
  43 #include <linux/sched.h>
  44 #include <linux/poll.h>
  45 #include <linux/version.h>
  46 #include <linux/interrupt.h>
  47
  48 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
  49  #include <linux/autoconf.h>
  50  #include <linux/wrapper.h>
  51 #else
  52  #include <linux/device.h>
  53  #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,13)
  54   static struct class *can_class;
  55  #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
  56   static struct class_simple *can_class;
  57   #define class_create class_simple_create
  58   #define class_device_create class_simple_device_add
  59   #define class_device_destroy(a,b) class_simple_device_remove(b)
  60   #define class_destroy class_simple_destroy
  61  #endif
  62 #endif
  63
  64 #if !defined (__GENKSYMS__)
  65 #if (defined (MODVERSIONS) && !defined(NOVER))
  66 #include <linux/modversions.h>
  67 /*#include "../include/main.ver"*/
  68 #endif
  69 #endif
  70
  71 /*#undef CONFIG_DEVFS_FS*/
  72
  73 #ifdef CONFIG_DEVFS_FS
  74 #include <linux/devfs_fs_kernel.h>
  75 #include <linux/miscdevice.h>
  76 #endif
  77
  78 #include "../include/can.h"
  79 #include "../include/can_sysdep.h"
  80 #include "../include/main.h"
  81 #include "../include/modparms.h"
  82 #include "../include/devcommon.h"
  83 #include "../include/setup.h"
  84 #include "../include/proc.h"
  85 #include "../include/open.h"
  86 #include "../include/close.h"
  87 #include "../include/read.h"
  88 #include "../include/select.h"
  89 #include "../include/irq.h"
  90 #include "../include/ioctl.h"
  91 #include "../include/write.h"
  92 #include "../include/finish.h"
  93 #include "../include/fasync.h"
  94
  95 #ifdef CAN_WITH_RTL
  96 #include <rtl_posixio.h>
  97 #include "../include/can_iortl.h"
  98 #endif /*CAN_WITH_RTL*/
  99
 100 can_spinlock_t canuser_manipulation_lock;
 101
 102 int major=CAN_MAJOR;
 103 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};
 104 int extended=0;
 105 int pelican=0;
 106 int baudrate[MAX_TOT_CHIPS];
 107 char *hw[MAX_HW_CARDS]={NULL,};
 108 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};
 109 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
 110 long clockfreq[MAX_HW_CARDS];
 111 int stdmask=0;
 112 int extmask=0;
 113 int mo15mask=0;
 114 int processlocal=0;
 115
 116 unsigned int minor_specified;
 117 unsigned int baudrate_specified;
 118 unsigned int hw_specified;
 119 unsigned int irq_specified;
 120 unsigned int io_specified;
 121 unsigned int clockfreq_specified;
 122
 123 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,12))
 124 /* Module parameters, some must be supplied at module loading time */
 125 MODULE_PARM(major,"1i");
 126 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
 127 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
 128 MODULE_PARM(extended,"1i");
 129 MODULE_PARM(pelican,"1i");
 130 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
 131 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
 132 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
 133 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
 134 MODULE_PARM(clockfreq, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
 135 MODULE_PARM(stdmask, "1i");
 136 MODULE_PARM(extmask, "1i");
 137 MODULE_PARM(mo15mask, "1i");
 138 MODULE_PARM(processlocal, "1i");
 139
 140 #else /* LINUX_VERSION_CODE >= 2,6,12 */
 141 module_param(major, int, 0);
 142 module_param_array(minor, int, &minor_specified, 0);
 143 module_param(extended, int, 0);
 144 module_param(pelican, int, 0);
 145 module_param_array(baudrate, int, &baudrate_specified, 0);
 146 module_param_array(hw, charp, &hw_specified, 0);
 147 module_param_array(irq, int, &irq_specified, 0);
 148 module_param_array(io, ulong, &io_specified, 0);
 149 module_param_array(clockfreq, long, &clockfreq_specified, 0);
 150 module_param(stdmask, int, 0);
 151 module_param(extmask, int, 0);
 152 module_param(mo15mask, int, 0);
 153 module_param(processlocal, int, 0);
 154 #endif /* LINUX_VERSION_CODE >= 2,6,12 */
 155
 156 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
 157 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
 158 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
 159                         " selects extended frames reception for i82527");
 160 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
 161 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
 162 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
 163 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
 164 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
 165 MODULE_PARM_DESC(clockfreq,"base board clock source frequency in step of 1kHz");
 166 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
 167 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
 168 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
 169 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
 170                 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
 171
 172 #ifdef CAN_WITH_RTL
 173 int can_rtl_priority=-1;
 174 MODULE_PARM(can_rtl_priority, "1i");
 175 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
 176 #endif /*CAN_WITH_RTL*/
 177
 178 /* Other module attributes */
 179 #ifdef MODULE_SUPPORTED_DEVICE
 180 MODULE_SUPPORTED_DEVICE("can");
 181 #endif
 182 #ifdef MODULE_LICENSE
 183 MODULE_LICENSE("GPL");
 184 #endif
 185 #ifdef MODULE_DESCRIPTION
 186 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 187 #endif
 188 #ifdef MODULE_AUTHOR
 189 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
 190 #endif
 191
 192 /* Global structures, used to describe the installed hardware. */
 193 struct canhardware_t canhardware;
 194 struct canhardware_t *hardware_p=&canhardware;
 195 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 196 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 197 #ifdef CONFIG_DEVFS_FS
 198 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 199 devfs_handle_t  devfs_handles[MAX_TOT_MSGOBJS];
 200 #endif
 201 #endif
 202
 203 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,36))
 204 static int can_oldapi_ioctl(struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg)
 205 {
 206         return can_ioctl(file, cmd, arg);
 207 }
 208 #endif /* 2.6.36 */
 209
 210 /* Pointers to dynamically allocated memory are maintained in a linked list
 211  * to ease memory deallocation.
 212  */
 213 struct mem_addr *mem_head=NULL;
 214
 215 struct file_operations can_fops=
 216 {
 217  #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
 218         owner:          THIS_MODULE,
 219  #endif
 220         read:           can_read,
 221         write:          can_write,
 222         poll:           can_poll,
 223   #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,36))
 224         ioctl:          can_oldapi_ioctl,
 225   #else /* Linux 3.x */
 226         unlocked_ioctl: can_ioctl,
 227   #endif /* Linux 3.x */
 228         open:           can_open,
 229         release:        can_close,
 230   #ifdef CAN_ENABLE_KERN_FASYNC
 231         fasync:         can_fasync
 232   #endif /*CAN_ENABLE_KERN_FASYNC*/
 233 };
 234
 235 EXPORT_SYMBOL(can_fops);
 236
 237
 238 #ifdef CAN_WITH_RTL
 239 struct rtl_file_operations can_fops_rtl = {
 240         llseek:         NULL,
 241         read:           can_read_rtl_posix,
 242         write:          can_write_rtl_posix,
 243         ioctl:          can_ioctl_rtl_posix,
 244         mmap:           NULL,
 245         open:           can_open_rtl_posix,
 246         release:        can_release_rtl_posix
 247 };
 248 #endif /*CAN_WITH_RTL*/
 249
 250
 251 /*
 252  2.6 kernel attributes for sysfs
 253
 254 static ssize_t show_xxx(struct class_device *cdev, char *buf)
 255 {
 256         return sprintf(buf, "xxxx\n");
 257 }
 258
 259 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
 260 {
 261 }
 262
 263 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
 264
 265 ret = class_device_create_file(class_dev, class_device_attr_xxx);
 266 if (ret)
 267         goto err_unregister;
 268
 269 */
 270
 271 int init_module(void)
 272 {
 273         int res=0,i=0, j;
 274         struct candevice_t *candev;
 275         struct canchip_t *chip;
 276
 277         if (parse_mod_parms())
 278                 return -EINVAL;
 279
 280         can_spin_lock_init(&canuser_manipulation_lock);
 281         canqueue_kern_initialize();
 282
 283         if (init_hw_struct())
 284                 return -ENODEV;
 285
 286         #ifdef CAN_DEBUG
 287                 list_hw();
 288         #endif
 289
 290         res=register_chrdev(major,DEVICE_NAME, &can_fops);
 291         if (res<0) {
 292                 CANMSG("Error registering driver.\n");
 293                 goto register_error;
 294         }
 295
 296         #ifdef CAN_WITH_RTL
 297         can_spin_lock_init(&can_irq_manipulation_lock);
 298         canqueue_rtl_initialize();
 299         res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
 300         if (res<0) {
 301                 CANMSG("Error registering RT-Linux major number.\n");
 302                 goto rtldev_error;
 303         }
 304         #endif /*CAN_WITH_RTL*/
 305
 306         for (i=0; i<hardware_p->nr_boards; i++) {
 307                 candev=hardware_p->candevice[i];
 308                 if (candev->hwspecops->request_io(candev))
 309                         goto request_io_error;
 310                 candev->flags|=CANDEV_IO_RESERVED;
 311         }
 312
 313         for (i=0; i<hardware_p->nr_boards; i++) {
 314                 candev=hardware_p->candevice[i];
 315                 if (candev->hwspecops->reset(candev))
 316                         goto reset_error;
 317         }
 318
 319         can_spin_lock_init(&hardware_p->rtr_lock);
 320         hardware_p->rtr_queue=NULL;
 321
 322         for (i=0; i<hardware_p->nr_boards; i++) {
 323                 candev=hardware_p->candevice[i];
 324                 for(j=0; j<candev->nr_all_chips; j++) {
 325                         if((chip=candev->chip[j])==NULL)
 326                                 continue;
 327
 328                         if(chip->chipspecops->attach_to_chip(chip)<0) {
 329                                 CANMSG("Initial attach to the chip HW failed\n");
 330                                 goto interrupt_error;
 331                         }
 332
 333                         chip->flags |= CHIP_ATTACHED;
 334
 335                         if(can_chip_setup_irq(chip)<0) {
 336                                 CANMSG("Error to setup chip IRQ\n");
 337                                 goto interrupt_error;
 338                         }
 339                 }
 340
 341                 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 342                         if (candev->hwspecops->program_irq(candev)){
 343                                 CANMSG("Error to program board interrupt\n");
 344                                 goto interrupt_error;
 345                         }
 346         }
 347
 348 #ifdef CONFIG_PROC_FS
 349         if (can_init_procdir())
 350                 goto proc_error;
 351 #endif
 352
 353 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 354         can_class=class_create(THIS_MODULE, "can");
 355 #endif
 356
 357 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 358         {
 359             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 360                 char dev_name[32];
 361             #elif  LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
 362                 struct class_device *this_dev;
 363             #else
 364                 struct device *this_dev;
 365             #endif
 366                 int dev_minor;
 367                 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 368                         if(!objects_p[i]) continue;
 369                         dev_minor=objects_p[i]->minor;
 370                     #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 371                         sprintf (dev_name, "can%d", dev_minor);
 372                         devfs_handles[i]=devfs_register(NULL, dev_name,
 373                                 DEVFS_FL_DEFAULT, major, dev_minor,
 374                                 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
 375                                 &can_fops, (void*)objects_p[i]);
 376                     #else
 377                       #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
 378                         this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 379                       #elif  LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
 380                         this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 381                       #elif  LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,27)
 382                         this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i],  "can%d", dev_minor);
 383                       #else /* >= 2.6.28 */
 384                         this_dev=device_create(can_class, NULL, MKDEV(major, dev_minor), objects_p[i],  "can%d", dev_minor);
 385                       #endif /* >= 2.6.28 */
 386                         if(IS_ERR(this_dev)){
 387                                 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
 388                       #if  LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
 389                         }else{
 390                                 /*this_dev->class_data=objects_p[i];*/
 391                                 class_set_devdata(this_dev,objects_p[i]);
 392                       #endif /* <= 2.6.25 */
 393                         }
 394                       #ifdef CONFIG_DEVFS_FS
 395                         devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
 396                       #endif
 397                     #endif
 398                 }
 399         }
 400 #endif
 401         return 0;
 402
 403 #ifdef CONFIG_PROC_FS
 404         proc_error: ;
 405                 CANMSG("Error registering /proc entry.\n");
 406                 goto memory_error;
 407 #endif
 408
 409         interrupt_error: ;
 410                 goto memory_error;
 411
 412         reset_error: ;
 413                 CANMSG("Error resetting device.\n");
 414                 goto memory_error;
 415
 416         request_io_error: ;
 417                 CANMSG("Error to request IO resources for device.\n");
 418                 goto memory_error;
 419
 420         memory_error: ;
 421                 canhardware_done(hardware_p);
 422
 423                 #ifdef CAN_WITH_RTL
 424                 rtl_unregister_rtldev(major,DEVICE_NAME);
 425         rtldev_error:
 426                 canqueue_rtl_done();
 427                 #endif /*CAN_WITH_RTL*/
 428
 429                 unregister_chrdev(major,DEVICE_NAME);
 430                 CANMSG("No CAN devices or driver setup error.\n");
 431
 432         register_error:
 433                 if ( can_del_mem_list() )
 434                         CANMSG("Error deallocating memory\n");
 435
 436                 return -ENODEV;
 437 }
 438
 439 void cleanup_module(void)
 440 {
 441 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 442         int i=0;
 443 #endif
 444
 445 #ifdef CONFIG_PROC_FS
 446         if (can_delete_procdir())
 447                 CANMSG("Error unregistering /proc/can entry.\n");
 448 #endif
 449
 450 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 451         for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 452             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 453                 if(devfs_handles[i])
 454                         devfs_unregister(devfs_handles[i]);
 455             #else
 456                 int dev_minor;
 457                 if(!objects_p[i]) continue;
 458                 dev_minor=objects_p[i]->minor;
 459                 if(minor>=0){
 460                     #ifdef CONFIG_DEVFS_FS
 461                         devfs_remove("can%d", dev_minor);
 462                     #endif
 463                     #if  LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
 464                         class_device_destroy(can_class, MKDEV(major, dev_minor));
 465                     #else /* >= 2.6.26 */
 466                         device_destroy(can_class, MKDEV(major, dev_minor));
 467                     #endif /* >= 2.6.26 */
 468                 }
 469             #endif
 470         }
 471 #endif
 472
 473 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 474         class_destroy(can_class);
 475 #endif
 476
 477         canhardware_done(hardware_p);
 478
 479         #ifdef CAN_WITH_RTL
 480         rtl_unregister_rtldev(major,DEVICE_NAME);
 481         canqueue_rtl_done();
 482         #endif /*CAN_WITH_RTL*/
 483
 484         if ( can_del_mem_list() )
 485                 CANMSG("Error deallocating memory\n");
 486
 487         unregister_chrdev(major,DEVICE_NAME);
 488 }