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 /* table of devices that work with this driver */
19 static struct usb_device_id usbcan_table [] = {
20 { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) },
21 { } /* Terminating entry */
23 MODULE_DEVICE_TABLE(usb, usbcan_table);
25 static struct usb_driver usbcan_driver = {
27 .id_table = usbcan_table,
28 .probe = usbcan_probe,
29 .disconnect = usbcan_disconnect,
33 * usbcan_request_io: - reserve io or memory range for can board
34 * @candev: pointer to candevice/board which asks for io. Field @io_addr
35 * of @candev is used in most cases to define start of the range
37 * The function usbcan_request_io() is used to reserve the io-memory. If your
38 * hardware uses a dedicated memory range as hardware control registers you
39 * will have to add the code to reserve this memory as well.
40 * %IO_RANGE is the io-memory range that gets reserved, please adjust according
41 * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
42 * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
43 * Return Value: The function returns zero on success or %-ENODEV on failure
46 int usbcan_request_io(struct candevice_t *candev)
48 struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev;
50 /* start kernel thread */
51 dev->rcvthread.arg = dev;
52 start_kthread(usbcan_read_kthread, &dev->rcvthread);
54 /* Adding link to can device into usbcan_usb struct */
55 ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev;
60 * usbcan_release_io - free reserved io memory range
61 * @candev: pointer to candevice/board which releases io
63 * The function usbcan_release_io() is used to free reserved io-memory.
64 * In case you have reserved more io memory, don't forget to free it here.
65 * IO_RANGE is the io-memory range that gets released, please adjust according
66 * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
67 * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
68 * Return Value: The function always returns zero
71 int usbcan_release_io(struct candevice_t *candev)
73 struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev);
75 /* terminate the kernel thread */
77 usb_kill_urb(dev->rcv);
78 usb_free_urb(dev->rcv);
80 stop_kthread(&dev->rcvthread);
85 * usbcan_reset - hardware reset routine
86 * @candev: Pointer to candevice/board structure
88 * The function usbcan_reset() is used to give a hardware reset. This is
89 * rather hardware specific so I haven't included example code. Don't forget to
90 * check the reset status of the chip before returning.
91 * Return Value: The function returns zero on success or %-ENODEV on failure
94 int usbcan_reset(struct candevice_t *candev)
100 * usbcan_init_hw_data - Initialize hardware cards
101 * @candev: Pointer to candevice/board structure
103 * The function usbcan_init_hw_data() is used to initialize the hardware
104 * structure containing information about the installed CAN-board.
105 * %RESET_ADDR represents the io-address of the hardware reset register.
106 * %NR_82527 represents the number of Intel 82527 chips on the board.
107 * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
108 * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
109 * the hardware uses programmable interrupts.
110 * Return Value: The function always returns zero
113 int usbcan_init_hw_data(struct candevice_t *candev)
115 candev->res_addr=RESET_ADDR;
116 candev->nr_82527_chips=0;
117 candev->nr_sja1000_chips=0;
118 candev->nr_all_chips=1;
119 candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
125 * usbcan_init_obj_data - Initialize message buffers
126 * @chip: Pointer to chip specific structure
127 * @objnr: Number of the message buffer
129 * The function usbcan_init_obj_data() is used to initialize the hardware
130 * structure containing information about the different message objects on the
131 * CAN chip. In case of the sja1000 there's only one message object but on the
132 * i82527 chip there are 15.
133 * The code below is for a i82527 chip and initializes the object base addresses
134 * The entry @obj_base_addr represents the first memory address of the message
135 * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
137 * Unless the hardware uses a segmented memory map, flags can be set zero.
138 * Return Value: The function always returns zero
141 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
143 chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
149 * usbcan_program_irq - program interrupts
150 * @candev: Pointer to candevice/board structure
152 * The function usbcan_program_irq() is used for hardware that uses
153 * programmable interrupts. If your hardware doesn't use programmable interrupts
154 * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
155 * leave this function unedited. Again this function is hardware specific so
156 * there's no example code.
157 * Return value: The function returns zero on success or %-ENODEV on failure
160 int usbcan_program_irq(struct candevice_t *candev)
165 /* !!! Don't change this function !!! */
166 int usbcan_register(struct hwspecops_t *hwspecops)
168 hwspecops->request_io = usbcan_request_io;
169 hwspecops->release_io = usbcan_release_io;
170 hwspecops->reset = usbcan_reset;
171 hwspecops->init_hw_data = usbcan_init_hw_data;
172 hwspecops->init_chip_data = usbcan_init_chip_data;
173 hwspecops->init_obj_data = usbcan_init_obj_data;
174 hwspecops->write_register = NULL;
175 hwspecops->read_register = NULL;
176 hwspecops->program_irq = usbcan_program_irq;
180 static int sja1000_report_error_limit_counter;
182 static void sja1000_report_error(struct canchip_t *chip,
183 unsigned sr, unsigned ir, unsigned ecc)
185 /*TODO : Error reporting from device */
187 /* if(sja1000_report_error_limit_counter>=100)
190 CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
193 sja1000_report_error_limit_counter+=10;
195 if(sja1000_report_error_limit_counter>=100){
196 sja1000_report_error_limit_counter+=10;
197 CANMSG("Error: too many errors, reporting disabled\n");
201 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
202 CANMSG("SR: BS=%c ES=%c TS=%c RS=%c TCS=%c TBS=%c DOS=%c RBS=%c\n",
203 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
204 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
205 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
206 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
207 CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c TI=%c RI=%c\n",
208 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
209 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
210 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
211 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
212 if((sr&sjaIR_EI) || 1){
213 CANMSG("EI: %s %s %s\n",
214 sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
215 ecc&sjaECC_DIR?"RX":"TX",
216 sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
219 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
224 * usbcan_enable_configuration - enable chip configuration mode
225 * @chip: pointer to chip state structure
227 int usbcan_enable_configuration(struct canchip_t *chip)
233 * usbcan_disable_configuration - disable chip configuration mode
234 * @chip: pointer to chip state structure
236 int usbcan_disable_configuration(struct canchip_t *chip)
242 * usbcan_chip_config: - can chip configuration
243 * @chip: pointer to chip state structure
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.
253 int usbcan_chip_config(struct canchip_t *chip)
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
264 * Return Value: negative value reports error.
267 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask)
270 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
272 struct usbcan_mask_t usbmask = {
277 retval=usb_control_msg(dev->udev,
278 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
279 USBCAN_VENDOR_EXT_MASK_SET,
282 &usbmask, sizeof(struct usbcan_mask_t),
287 retval = usb_control_msg(dev->udev,
288 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
289 USBCAN_VENDOR_EXT_MASK_STATUS,
292 dev->ctl_in_buffer, dev->ctl_in_size,
296 if(dev->ctl_in_buffer[0]==1){
297 DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
298 DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
303 CANMSG("Setting extended mask failed\n");
308 * usbcan_baud_rate: - set communication parameters.
309 * @chip: pointer to chip state structure
310 * @rate: baud rate in Hz
311 * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
312 * @sjw: synchronization jump width (0-3) prescaled clock cycles
313 * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
314 * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
316 * Return Value: negative value reports error.
319 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
320 int sampl_pt, int flags)
323 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
325 // Data too big to use single receive control message
326 struct can_baudparams_t baud={
334 retval=usb_control_msg(dev->udev,
335 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
336 USBCAN_VENDOR_BAUD_RATE_SET,
339 &baud, sizeof(struct can_baudparams_t),
344 retval = usb_control_msg(dev->udev,
345 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
346 USBCAN_VENDOR_BAUD_RATE_STATUS,
349 dev->ctl_in_buffer, dev->ctl_in_size,
353 if(dev->ctl_in_buffer[0]==1)
357 CANMSG("baud rate %d is not possible to set\n",
363 * usbcan_pre_read_config: - prepares message object for message reception
364 * @chip: pointer to chip state structure
365 * @obj: pointer to message object state structure
367 * Return Value: negative value reports error.
368 * Positive value indicates immediate reception of message.
371 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
376 #define MAX_TRANSMIT_WAIT_LOOPS 10
378 * usbcan_pre_write_config: - prepares message object for message transmission
379 * @chip: pointer to chip state structure
380 * @obj: pointer to message object state structure
381 * @msg: pointer to CAN message
383 * This function prepares selected message object for future initiation
384 * of message transmission by usbcan_send_msg() function.
385 * The CAN message data and message ID are transfered from @msg slot
386 * into chip buffer in this function.
387 * Return Value: negative value reports error.
390 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
391 struct canmsg_t *msg)
393 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
397 /* Wait until Transmit Buffer Status is released */
398 while ( usbcan_chip_queue_status(chip) &&
399 i++<MAX_TRANSMIT_WAIT_LOOPS) {
402 if (usbcan_chip_queue_status(chip)){
403 CANMSG("Buffer full, cannot send message\n");
407 dev->tx_msg.chip_id=(__u8)chip->chip_idx;
410 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
411 dev->tx_msg.length=(__u8)len;
412 dev->tx_msg.flags=(__u16)msg->flags;
414 if(msg->flags&MSG_EXT) {
415 dev->tx_msg.id[0]=(msg->id) & 0xff;
416 dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
417 dev->tx_msg.id[2]=(msg->id>>16) & 0xff;
418 dev->tx_msg.id[3]=(msg->id>>24) & 0xff;
420 dev->tx_msg.id[0]=(msg->id) & 0xff;
421 dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
425 for(i=0; i < len; i++) {
426 dev->tx_msg.data[i]=(__u8) msg->data[i];
429 dev->tx_msg.data[i]=0;
435 * usbcan_send_msg: - initiate message transmission
436 * @chip: pointer to chip state structure
437 * @obj: pointer to message object state structure
438 * @msg: pointer to CAN message
440 * This function is called after usbcan_pre_write_config() function,
441 * which prepares data in chip buffer.
442 * Return Value: negative value reports error.
445 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
446 struct canmsg_t *msg)
448 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
451 set_bit(USBCAN_TX_PENDING,&dev->flags);
452 retval=usb_bulk_msg(dev->udev,
453 usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
454 &dev->tx_msg, sizeof(struct usbcan_canmsg_t),
456 clear_bit(USBCAN_TX_PENDING,&dev->flags);
458 CANMSG("URB error %d\n",retval);
461 if (len!=sizeof(struct usbcan_canmsg_t)){
462 CANMSG("CAN message not sent\n");
470 * usbcan_check_tx_stat: - checks state of transmission engine
471 * @chip: pointer to chip state structure
473 * Return Value: negative value reports error.
474 * Positive return value indicates transmission under way status.
475 * Zero value indicates finishing of all issued transmission requests.
478 int usbcan_check_tx_stat(struct canchip_t *chip)
480 if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags))
486 * usbcan_set_btregs: - configures bitrate registers
487 * @chip: pointer to chip state structure
488 * @btr0: bitrate register 0
489 * @btr1: bitrate register 1
491 * Return Value: negative value reports error.
494 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
498 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
500 retval = usb_control_msg(dev->udev,
501 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
502 USBCAN_VENDOR_SET_BTREGS,
504 btr1<<8 | btr0, chip->chip_idx,
505 dev->ctl_in_buffer, dev->ctl_in_size,
509 if(dev->ctl_in_buffer[0]==1)
516 * usbcan_start_chip: - starts chip message processing
517 * @chip: pointer to chip state structure
519 * Return Value: negative value reports error.
522 int usbcan_start_chip(struct canchip_t *chip)
525 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
527 retval = usb_control_msg(dev->udev,
528 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
529 USBCAN_VENDOR_START_CHIP,
532 dev->ctl_in_buffer, dev->ctl_in_size,
536 if(dev->ctl_in_buffer[0]==1)
543 * usbcan_chip_queue_status: - gets queue status from usb device
544 * @chip: pointer to chip state structure
546 * Return Value: negative value reports error.
547 * 0 means queue is not full
548 * 1 means queue is full
551 int usbcan_chip_queue_status(struct canchip_t *chip)
554 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
556 retval = usb_control_msg(dev->udev,
557 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
558 USBCAN_VENDOR_CHECK_TX_STAT,
561 dev->ctl_in_buffer, dev->ctl_in_size,
565 if(dev->ctl_in_buffer[0]==1)
567 if(dev->ctl_in_buffer[0]==0)
574 * usbcan_stop_chip: - stops chip message processing
575 * @chip: pointer to chip state structure
577 * Return Value: negative value reports error.
580 int usbcan_stop_chip(struct canchip_t *chip)
583 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
585 retval = usb_control_msg(dev->udev,
586 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
587 USBCAN_VENDOR_STOP_CHIP,
590 dev->ctl_in_buffer, dev->ctl_in_size,
594 if(dev->ctl_in_buffer[0]==1)
601 * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
602 * @chip: pointer to chip state structure
604 * Return Value: negative value reports error.
607 int usbcan_attach_to_chip(struct canchip_t *chip)
613 * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
614 * @chip: pointer to chip state structure
616 * Return Value: negative value reports error.
619 int usbcan_release_chip(struct canchip_t *chip)
621 usbcan_stop_chip(chip);
626 * usbcan_remote_request: - configures message object and asks for RTR message
627 * @chip: pointer to chip state structure
628 * @obj: pointer to message object structure
630 * Return Value: negative value reports error.
633 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
635 CANMSG("usbcan_remote_request not implemented\n");
640 * usbcan_standard_mask: - setup of mask for message filtering
641 * @chip: pointer to chip state structure
642 * @code: can message acceptance code
643 * @mask: can message acceptance mask
645 * Return Value: negative value reports error.
648 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
651 CANMSG("usbcan_standard_mask not implemented\n");
656 * usbcan_clear_objects: - clears state of all message object residing in chip
657 * @chip: pointer to chip state structure
659 * Return Value: negative value reports error.
662 int usbcan_clear_objects(struct canchip_t *chip)
664 CANMSG("usbcan_clear_objects not implemented\n");
669 * usbcan_config_irqs: - tunes chip hardware interrupt delivery
670 * @chip: pointer to chip state structure
671 * @irqs: requested chip IRQ configuration
673 * Return Value: negative value reports error.
676 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
678 CANMSG("usbcan_config_irqs not implemented\n");
683 * usbcan_irq_write_handler: - part of ISR code responsible for transmit events
684 * @chip: pointer to chip state structure
685 * @obj: pointer to attached queue description
687 * The main purpose of this function is to read message from attached queues
688 * and transfer message contents into CAN controller chip.
689 * This subroutine is called by
690 * usbcan_irq_write_handler() for transmit events.
693 void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
698 // Do local transmitted message distribution if enabled
700 // fill CAN message timestamp
701 can_filltimestamp(&obj->tx_slot->msg.timestamp);
703 obj->tx_slot->msg.flags |= MSG_LOCAL;
704 canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
706 // Free transmitted slot
707 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
711 can_msgobj_clear_fl(obj,TX_PENDING);
712 cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
715 can_msgobj_set_fl(obj,TX_PENDING);
717 if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
719 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
720 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
724 if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
726 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
727 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
736 * usbcan_irq_handler: - interrupt service routine
737 * @irq: interrupt vector number, this value is system specific
738 * @chip: pointer to chip state structure
740 * Interrupt handler is activated when state of CAN controller chip changes,
741 * there is message to be read or there is more space for new messages or
742 * error occurs. The receive events results in reading of the message from
743 * CAN controller chip and distribution of message through attached
747 int usbcan_irq_handler(int irq, struct canchip_t *chip)
749 /* int irq_register, status, error_code;
750 struct msgobj_t *obj=chip->msgobj[0];
751 int loop_cnt=CHIP_MAX_IRQLOOP;
753 irq_register=can_read_reg(chip,SJAIR);
754 // DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
755 // DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
756 // can_read_reg(chip,SJASR));
758 if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
759 return CANCHIP_IRQ_NONE;
761 if(!(chip->flags&CHIP_CONFIGURED)) {
762 CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
763 return CANCHIP_IRQ_NONE;
766 status=can_read_reg(chip,SJASR);
771 CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq);
772 return CANCHIP_IRQ_STUCK;
775 // (irq_register & sjaIR_TI)
776 // old variant using SJAIR, collides with intended use with irq_accept
777 if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
778 (can_msgobj_test_fl(obj,TX_REQUEST))) {
779 DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
781 can_msgobj_set_fl(obj,TX_REQUEST);
782 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
783 can_msgobj_clear_fl(obj,TX_REQUEST);
785 if (can_read_reg(chip, SJASR) & sjaSR_TBS)
786 usbcan_irq_write_handler(chip, obj);
788 can_msgobj_clear_fl(obj,TX_LOCK);
789 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
790 DEBUGMSG("TX looping in sja1000_irq_handler\n");
793 if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) {
794 // Some error happened
795 error_code=can_read_reg(chip,SJAECC);
796 sja1000_report_error(chip, status, irq_register, error_code);
797 // FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
798 // Reset flag set to 0 if chip is already off the bus. Full state report
801 if(error_code == 0xd9) {
803 // no such device or address - no ACK received
805 if(obj->tx_retry_cnt++>MAX_RETR) {
806 can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
807 obj->tx_retry_cnt = 0;
809 if(status&sjaSR_BS) {
810 CANMSG("bus-off, resetting usbcan\n");
811 can_write_reg(chip, 0, SJAMOD);
815 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
816 //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
821 if(sja1000_report_error_limit_counter)
822 sja1000_report_error_limit_counter--;
826 irq_register=can_read_reg(chip,SJAIR);
828 status=can_read_reg(chip,SJASR);
830 if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
831 (irq_register & sjaIR_TI))
832 can_msgobj_set_fl(obj,TX_REQUEST);
834 } while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
835 (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
836 (status & sjaSR_RBS));
838 return CANCHIP_IRQ_HANDLED;
842 * usbcan_wakeup_tx: - wakeups TX processing
843 * @chip: pointer to chip state structure
844 * @obj: pointer to message object structure
846 * Function is responsible for initiating message transmition.
847 * It is responsible for clearing of object TX_REQUEST flag
849 * Return Value: negative value reports error.
852 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
855 can_preempt_disable();
857 can_msgobj_set_fl(obj,TX_PENDING);
858 can_msgobj_set_fl(obj,TX_REQUEST);
859 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
860 can_msgobj_clear_fl(obj,TX_REQUEST);
862 if (!usbcan_chip_queue_status(chip)){
864 usbcan_irq_write_handler(chip, obj);
867 can_msgobj_clear_fl(obj,TX_LOCK);
868 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
869 DEBUGMSG("TX looping in usbcan_wakeup_tx\n");
872 can_preempt_enable();
876 int usbcan_chipregister(struct chipspecops_t *chipspecops)
878 CANMSG("initializing usbcan chip operations\n");
879 chipspecops->chip_config=usbcan_chip_config;
880 chipspecops->baud_rate=usbcan_baud_rate;
881 chipspecops->standard_mask=usbcan_standard_mask;
882 chipspecops->extended_mask=usbcan_extended_mask;
883 chipspecops->message15_mask=usbcan_extended_mask;
884 chipspecops->clear_objects=usbcan_clear_objects;
885 chipspecops->config_irqs=usbcan_config_irqs;
886 chipspecops->pre_read_config=usbcan_pre_read_config;
887 chipspecops->pre_write_config=usbcan_pre_write_config;
888 chipspecops->send_msg=usbcan_send_msg;
889 chipspecops->check_tx_stat=usbcan_check_tx_stat;
890 chipspecops->wakeup_tx=usbcan_wakeup_tx;
891 chipspecops->remote_request=usbcan_remote_request;
892 chipspecops->enable_configuration=usbcan_enable_configuration;
893 chipspecops->disable_configuration=usbcan_disable_configuration;
894 chipspecops->attach_to_chip=usbcan_attach_to_chip;
895 chipspecops->release_chip=usbcan_release_chip;
896 chipspecops->set_btregs=usbcan_set_btregs;
897 chipspecops->start_chip=usbcan_start_chip;
898 chipspecops->stop_chip=usbcan_stop_chip;
899 chipspecops->irq_handler=usbcan_irq_handler;
900 chipspecops->irq_accept=NULL;
905 * usbcan_fill_chipspecops - fills chip specific operations
906 * @chip: pointer to chip representation structure
908 * The function fills chip specific operations for sja1000 (PeliCAN) chip.
910 * Return Value: returns negative number in the case of fail
912 int usbcan_fill_chipspecops(struct canchip_t *chip)
914 chip->chip_type="usbcan";
916 usbcan_chipregister(chip->chipspecops);
921 * usbcan_init_chip_data - Initialize chips
922 * @candev: Pointer to candevice/board structure
923 * @chipnr: Number of the CAN chip on the hardware card
925 * The function usbcan_init_chip_data() is used to initialize the hardware
926 * structure containing information about the CAN chips.
927 * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
929 * The @chip_base_addr entry represents the start of the 'official' memory map
930 * of the installed chip. It's likely that this is the same as the @io_addr
931 * argument supplied at module loading time.
932 * The @clock entry holds the chip clock value in Hz.
933 * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
934 * register. Options defined in the %sja1000.h file:
935 * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
936 * The entry @sja_ocr_reg holds hardware specific options for the Output Control
937 * register. Options defined in the %sja1000.h file:
938 * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
939 * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
940 * The entry @int_clk_reg holds hardware specific options for the Clock Out
941 * register. Options defined in the %i82527.h file:
942 * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
943 * The entry @int_bus_reg holds hardware specific options for the Bus
944 * Configuration register. Options defined in the %i82527.h file:
945 * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
946 * The entry @int_cpu_reg holds hardware specific options for the cpu interface
947 * register. Options defined in the %i82527.h file:
948 * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
949 * Return Value: The function always returns zero
952 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
954 struct canchip_t *chip=candev->chip[chipnr];
956 usbcan_fill_chipspecops(chip);
958 candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
959 candev->chip[chipnr]->chip_base_addr=0;
960 candev->chip[chipnr]->clock = 0;
967 /* --------------------------------------------------------------------------------------------------- */
969 static void usbcan_rcv(struct urb *urb)
971 struct usbcan_usb *dev = urb->context;
974 switch (urb->status) {
977 set_bit(USBCAN_DATA_READ,&dev->flags);
978 wake_up(&dev->rcvthread.queue);
983 /* this urb is terminated, clean up */
984 CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
985 set_bit(USBCAN_TERMINATE,&dev->flags);
986 wake_up(&dev->rcvthread.queue);
989 CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
993 retval = usb_submit_urb (urb, GFP_ATOMIC);
995 CANMSG("%s - usb_submit_urb failed with result %d\n",
996 __FUNCTION__, retval);
997 set_bit(USBCAN_ERROR,&dev->flags);
998 wake_up(&dev->rcvthread.queue);
1002 void usbcan_read_kthread(kthread_t *kthread)
1005 struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg;
1006 struct msgobj_t *obj;
1008 /* setup the thread environment */
1009 init_kthread(kthread, "usbcan");
1011 /* this is normal work to do */
1012 CANMSG ("usbcan thread started!\n");
1014 dev->rcv = usb_alloc_urb(0, GFP_KERNEL);
1016 CANMSG("Error allocating usb urb\n");
1019 dev->rcv->dev = dev->udev;
1020 usb_fill_bulk_urb(dev->rcv, dev->udev,
1021 usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1022 &dev->rcv_msg, sizeof(struct usbcan_canmsg_t),
1025 /* an endless loop in which we are doing our work */
1028 retval=usb_submit_urb(dev->rcv, GFP_KERNEL);
1030 CANMSG("URB error %d\n",retval);
1034 wait_event_interruptible(kthread->queue,
1035 test_bit(USBCAN_DATA_READ,&dev->flags)
1036 || test_bit(USBCAN_TERMINATE,&dev->flags)
1037 || test_bit(USBCAN_ERROR,&dev->flags)
1040 /* We need to do a memory barrier here to be sure that
1041 the flags are visible on all CPUs. */
1044 /* here we are back from sleep because we caught a signal. */
1045 if (kthread->terminate)
1047 /* we received a request to terminate ourself */
1051 if (test_bit(USBCAN_ERROR,&dev->flags)){
1052 CANMSG("URB error %d\n",retval);
1056 { /* Normal work to do */
1057 if (test_bit(USBCAN_DATA_READ,&dev->flags)){
1059 clear_bit(USBCAN_DATA_READ,&dev->flags);
1061 if ((dev->candev->chip[dev->rcv_msg.chip_id])&&
1062 (dev->candev->chip[dev->rcv_msg.chip_id]->flags & CHIP_CONFIGURED)){
1064 obj=dev->candev->chip[dev->rcv_msg.chip_id]->msgobj[0];
1065 if (dev->rcv_msg.flags & MSG_EXT) {
1067 (dev->rcv_msg.id[0]) +
1068 (dev->rcv_msg.id[1]<<8) +
1069 (dev->rcv_msg.id[2]<<16) +
1070 (dev->rcv_msg.id[3]<<24);
1073 (dev->rcv_msg.id[0]) +
1074 (dev->rcv_msg.id[1]<<8);
1076 obj->rx_msg.flags = dev->rcv_msg.flags;
1077 len=dev->rcv_msg.length;
1078 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
1079 obj->rx_msg.length = len;
1080 for(i=0; i< len; i++) {
1081 obj->rx_msg.data[i]=obj->rx_msg.data[i];
1084 // fill CAN message timestamp
1085 can_filltimestamp(&obj->rx_msg.timestamp);
1086 canque_filter_msg2edges(obj->qends, &obj->rx_msg);
1091 /* here we go only in case of termination of the thread */
1093 /* cleanup the thread, leave */
1094 CANMSG ("kernel thread terminated!\n");
1095 exit_kthread(kthread);
1097 /* returning from the thread here calls the exit functions */
1100 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1102 struct usbcan_usb *dev;
1103 struct usb_host_interface *iface_desc;
1104 struct usb_endpoint_descriptor *endpoint;
1107 int retval = -ENOMEM;
1109 /* allocate memory for our device state and initialize it */
1110 dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1112 err("Out of memory");
1116 sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
1117 spin_lock_init(&dev->err_lock);
1118 init_usb_anchor(&dev->submitted);
1120 // dev->udev = usb_get_dev(interface_to_usbdev(interface));
1121 dev->udev = interface_to_usbdev(interface);
1122 dev->interface = interface;
1124 /* set up the endpoint information */
1125 /* use only the first bulk-in and bulk-out endpoints */
1126 iface_desc = interface->cur_altsetting;
1127 for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1128 endpoint = &iface_desc->endpoint[i].desc;
1130 if (!dev->bulk_in_endpointAddr &&
1131 usb_endpoint_is_bulk_in(endpoint)) {
1132 /* we found a bulk in endpoint */
1133 buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1134 dev->bulk_in_size = buffer_size;
1135 dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1136 dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1137 if (!dev->bulk_in_buffer) {
1138 err("Could not allocate bulk_in_buffer");
1143 if (!dev->bulk_out_endpointAddr &&
1144 usb_endpoint_is_bulk_out(endpoint)) {
1145 /* we found a bulk out endpoint */
1146 dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1149 if (!dev->ctl_in_endpointAddr &&
1150 usb_endpoint_xfer_control(endpoint) &&
1151 usb_endpoint_dir_in(endpoint)) {
1152 /* we found a bulk in endpoint */
1153 buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1154 dev->ctl_in_size = buffer_size;
1155 dev->ctl_in_endpointAddr = endpoint->bEndpointAddress;
1156 dev->ctl_in_buffer = can_checked_malloc(buffer_size);
1157 if (!dev->ctl_in_buffer) {
1158 err("Could not allocate bulk_in_buffer");
1163 if (!dev->ctl_out_endpointAddr &&
1164 usb_endpoint_xfer_control(endpoint) &&
1165 usb_endpoint_dir_out(endpoint)) {
1166 /* we found a bulk out endpoint */
1167 dev->ctl_out_endpointAddr = endpoint->bEndpointAddress;
1170 if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1171 err("Could not find all bulk-in and bulk-out endpoints");
1175 /* save our data pointer in this interface device */
1176 usb_set_intfdata(interface, dev);
1178 register_usbdev("usbcan",(void *) dev);
1180 /* let the user know what node this device is now attached to */
1181 info("USB Skeleton device now attached");
1185 usb_put_dev(dev->udev);
1186 if (dev->bulk_in_buffer)
1187 can_checked_free(dev->bulk_in_buffer);
1188 if (dev->ctl_in_buffer)
1189 can_checked_free(dev->ctl_in_buffer);
1191 dev->candev->sysdevptr.anydev=NULL;
1192 cleanup_usbdev(dev->candev);
1194 can_checked_free(dev);
1198 // Physically disconnected device
1199 static void usbcan_disconnect(struct usb_interface *interface)
1201 struct usbcan_usb *dev;
1202 int minor = interface->minor;
1204 dev = usb_get_intfdata(interface);
1205 usb_set_intfdata(interface, NULL);
1207 /* prevent more I/O from starting */
1208 mutex_lock(&dev->io_mutex);
1209 dev->interface = NULL;
1210 mutex_unlock(&dev->io_mutex);
1212 //usb_kill_anchored_urbs(&dev->submitted);
1214 usb_put_dev(dev->udev);
1215 if (dev->bulk_in_buffer)
1216 can_checked_free(dev->bulk_in_buffer);
1217 if (dev->ctl_in_buffer)
1218 can_checked_free(dev->ctl_in_buffer);
1220 dev->candev->sysdevptr.anydev=NULL;
1221 cleanup_usbdev(dev->candev);
1223 can_checked_free(dev);
1225 info("USB Skeleton now disconnected");
1228 int usbcan_init(void){
1229 return usb_register(&usbcan_driver);
1232 void usbcan_exit(void){
1233 usb_deregister(&usbcan_driver);