lincan/src/usbcan.c

   1 /* usbcan.h
   2  * Header file for the Linux CAN-bus driver.
   3  * Written by Jan Kriz email:johen@post.cz
   4  * This software is released under the GPL-License.
   5  * Version lincan-0.3  17 Jul 2008
   6  */
   7
   8 #include "../include/can.h"
   9 #include "../include/can_sysdep.h"
  10 #include "../include/main.h"
  11 #include "../include/devcommon.h"
  12 #include "../include/setup.h"
  13 #include "../include/usbcan.h"
  14
  15 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id);
  16 static void usbcan_disconnect(struct usb_interface *interface);
  17
  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 */
  22 };
  23 MODULE_DEVICE_TABLE(usb, usbcan_table);
  24
  25 static struct usb_driver usbcan_driver = {
  26         .name =         "usbcan",
  27         .id_table = usbcan_table,
  28         .probe =        usbcan_probe,
  29         .disconnect =   usbcan_disconnect,
  30 };
  31
  32 /**
  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
  36  *
  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
  44  * File: src/usbcan.c
  45  */
  46 int usbcan_request_io(struct candevice_t *candev)
  47 {
  48         struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev;
  49
  50         if (!dev){
  51                 CANMSG("USBCAN_REQUEST_IO: Cannot register usbcan while usb device is not present.\n");
  52                 CANMSG("USBCAN_REQUEST_IO: Usbcan registers automatically on device insertion.\n");
  53                 return -ENODEV;
  54         }
  55
  56         /* start kernel thread */
  57         dev->rcvthread.arg = dev;
  58         start_kthread(usbcan_read_kthread, &dev->rcvthread);
  59
  60         /* Adding link to can device into usbcan_usb struct */
  61         ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev;
  62         return 0;
  63 }
  64
  65 /**
  66  * usbcan_release_io - free reserved io memory range
  67  * @candev: pointer to candevice/board which releases io
  68  *
  69  * The function usbcan_release_io() is used to free reserved io-memory.
  70  * In case you have reserved more io memory, don't forget to free it here.
  71  * IO_RANGE is the io-memory range that gets released, please adjust according
  72  * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
  73  * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
  74  * Return Value: The function always returns zero
  75  * File: src/usbcan.c
  76  */
  77 int usbcan_release_io(struct candevice_t *candev)
  78 {
  79         struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev);
  80
  81         /* terminate the kernel thread */
  82         if (dev->rcv){
  83                 usb_kill_urb(dev->rcv);
  84                 usb_free_urb(dev->rcv);
  85         }
  86         stop_kthread(&dev->rcvthread);
  87         return 0;
  88 }
  89
  90 /**
  91  * usbcan_reset - hardware reset routine
  92  * @candev: Pointer to candevice/board structure
  93  *
  94  * The function usbcan_reset() is used to give a hardware reset. This is
  95  * rather hardware specific so I haven't included example code. Don't forget to
  96  * check the reset status of the chip before returning.
  97  * Return Value: The function returns zero on success or %-ENODEV on failure
  98  * File: src/usbcan.c
  99  */
 100 int usbcan_reset(struct candevice_t *candev)
 101 {
 102         return 0;
 103 }
 104
 105 /**
 106  * usbcan_init_hw_data - Initialize hardware cards
 107  * @candev: Pointer to candevice/board structure
 108  *
 109  * The function usbcan_init_hw_data() is used to initialize the hardware
 110  * structure containing information about the installed CAN-board.
 111  * %RESET_ADDR represents the io-address of the hardware reset register.
 112  * %NR_82527 represents the number of Intel 82527 chips on the board.
 113  * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
 114  * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
 115  * the hardware uses programmable interrupts.
 116  * Return Value: The function always returns zero
 117  * File: src/usbcan.c
 118  */
 119 int usbcan_init_hw_data(struct candevice_t *candev)
 120 {
 121         candev->res_addr=RESET_ADDR;
 122         candev->nr_82527_chips=0;
 123         candev->nr_sja1000_chips=0;
 124         candev->nr_all_chips=1;
 125         candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
 126
 127         return 0;
 128 }
 129
 130 /**
 131  * usbcan_init_obj_data - Initialize message buffers
 132  * @chip: Pointer to chip specific structure
 133  * @objnr: Number of the message buffer
 134  *
 135  * The function usbcan_init_obj_data() is used to initialize the hardware
 136  * structure containing information about the different message objects on the
 137  * CAN chip. In case of the sja1000 there's only one message object but on the
 138  * i82527 chip there are 15.
 139  * The code below is for a i82527 chip and initializes the object base addresses
 140  * The entry @obj_base_addr represents the first memory address of the message
 141  * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
 142  * base address.
 143  * Unless the hardware uses a segmented memory map, flags can be set zero.
 144  * Return Value: The function always returns zero
 145  * File: src/usbcan.c
 146  */
 147 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
 148 {
 149         chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
 150
 151         return 0;
 152 }
 153
 154 /**
 155  * usbcan_program_irq - program interrupts
 156  * @candev: Pointer to candevice/board structure
 157  *
 158  * The function usbcan_program_irq() is used for hardware that uses
 159  * programmable interrupts. If your hardware doesn't use programmable interrupts
 160  * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
 161  * leave this function unedited. Again this function is hardware specific so
 162  * there's no example code.
 163  * Return value: The function returns zero on success or %-ENODEV on failure
 164  * File: src/usbcan.c
 165  */
 166 int usbcan_program_irq(struct candevice_t *candev)
 167 {
 168         return 0;
 169 }
 170
 171 /* !!! Don't change this function !!! */
 172 int usbcan_register(struct hwspecops_t *hwspecops)
 173 {
 174         hwspecops->request_io = usbcan_request_io;
 175         hwspecops->release_io = usbcan_release_io;
 176         hwspecops->reset = usbcan_reset;
 177         hwspecops->init_hw_data = usbcan_init_hw_data;
 178         hwspecops->init_chip_data = usbcan_init_chip_data;
 179         hwspecops->init_obj_data = usbcan_init_obj_data;
 180         hwspecops->write_register = NULL;
 181         hwspecops->read_register = NULL;
 182         hwspecops->program_irq = usbcan_program_irq;
 183         return 0;
 184 }
 185
 186 // static int sja1000_report_error_limit_counter;
 187
 188 static void sja1000_report_error(struct canchip_t *chip,
 189                                 unsigned sr, unsigned ir, unsigned ecc)
 190 {
 191         /*TODO : Error reporting from device */
 192
 193 /*      if(sja1000_report_error_limit_counter>=100)
 194                 return;
 195
 196         CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
 197                 sr, ir, ecc);
 198
 199         sja1000_report_error_limit_counter+=10;
 200
 201         if(sja1000_report_error_limit_counter>=100){
 202                 sja1000_report_error_limit_counter+=10;
 203                 CANMSG("Error: too many errors, reporting disabled\n");
 204                 return;
 205         }
 206
 207 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
 208         CANMSG("SR: BS=%c  ES=%c  TS=%c  RS=%c  TCS=%c TBS=%c DOS=%c RBS=%c\n",
 209                 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
 210                 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
 211                 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
 212                 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
 213         CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c  TI=%c  RI=%c\n",
 214                 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
 215                 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
 216                 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
 217                 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
 218         if((sr&sjaIR_EI) || 1){
 219                 CANMSG("EI: %s %s %s\n",
 220                        sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
 221                        ecc&sjaECC_DIR?"RX":"TX",
 222                        sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
 223                       );
 224         }
 225 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
 226 }
 227
 228
 229 /**
 230  * usbcan_enable_configuration - enable chip configuration mode
 231  * @chip: pointer to chip state structure
 232  */
 233 int usbcan_enable_configuration(struct canchip_t *chip)
 234 {
 235         return 0;
 236 }
 237
 238 /**
 239  * usbcan_disable_configuration - disable chip configuration mode
 240  * @chip: pointer to chip state structure
 241  */
 242 int usbcan_disable_configuration(struct canchip_t *chip)
 243 {
 244         return 0;
 245 }
 246
 247 /**
 248  * usbcan_chip_config: - can chip configuration
 249  * @chip: pointer to chip state structure
 250  *
 251  * This function configures chip and prepares it for message
 252  * transmission and reception. The function resets chip,
 253  * resets mask for acceptance of all messages by call to
 254  * usbcan_extended_mask() function and then
 255  * computes and sets baudrate with use of function usbcan_baud_rate().
 256  * Return Value: negative value reports error.
 257  * File: src/usbcan.c
 258  */
 259 int usbcan_chip_config(struct canchip_t *chip)
 260 {
 261         return 0;
 262 }
 263
 264 /**
 265  * usbcan_extended_mask: - setup of extended mask for message filtering
 266  * @chip: pointer to chip state structure
 267  * @code: can message acceptance code
 268  * @mask: can message acceptance mask
 269  *
 270  * Return Value: negative value reports error.
 271  * File: src/usbcan.c
 272  */
 273 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  long mask)
 274 {
 275         int retval;
 276         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 277
 278         u8 usbbuf[16];
 279
 280         *(uint32_t *)(usbbuf)=cpu_to_le32(mask);
 281         *(uint32_t *)(usbbuf+4)=cpu_to_le32(code);
 282
 283         retval=usb_control_msg(dev->udev,
 284                 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 285                 USBCAN_VENDOR_EXT_MASK_SET,
 286                 USB_TYPE_VENDOR,
 287                 0, chip->chip_idx,
 288                 &usbbuf, 16,
 289                 10000);
 290         if (retval<0)
 291                 return -ENODEV;
 292
 293         retval = usb_control_msg(dev->udev,
 294                 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 295                 USBCAN_VENDOR_EXT_MASK_STATUS,
 296                 USB_TYPE_VENDOR,
 297                 0, chip->chip_idx,
 298                 &usbbuf, 16,
 299                 10000);
 300
 301         if (retval==1){
 302                 if(usbbuf[0]==1){
 303                         DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
 304                         DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
 305                         return 0;
 306                 }
 307         }
 308
 309         CANMSG("Setting extended mask failed\n");
 310         return -EINVAL;
 311 }
 312
 313 /**
 314  * usbcan_baud_rate: - set communication parameters.
 315  * @chip: pointer to chip state structure
 316  * @rate: baud rate in Hz
 317  * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
 318  * @sjw: synchronization jump width (0-3) prescaled clock cycles
 319  * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
 320  * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
 321  *
 322  * Return Value: negative value reports error.
 323  * File: src/usbcan.c
 324  */
 325 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 326                                                         int sampl_pt, int flags)
 327 {
 328         int retval;
 329         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 330
 331         u8 usbbuf[16];
 332
 333         *(int32_t *)(usbbuf)=cpu_to_le32(rate);
 334         *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw);
 335         *(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt);
 336         *(int32_t *)(usbbuf+12)=cpu_to_le32(flags);
 337
 338         retval=usb_control_msg(dev->udev,
 339                 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 340                 USBCAN_VENDOR_BAUD_RATE_SET,
 341                 USB_TYPE_VENDOR,
 342                 0, chip->chip_idx,
 343                 &usbbuf, 16,
 344                 10000);
 345         if (retval<0)
 346                 return -ENODEV;
 347
 348         retval = usb_control_msg(dev->udev,
 349                 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 350                 USBCAN_VENDOR_BAUD_RATE_STATUS,
 351                 USB_TYPE_VENDOR,
 352                 0, chip->chip_idx,
 353                 usbbuf, 16,
 354                 10000);
 355
 356         if (retval==1){
 357                 if(usbbuf[0]==1)
 358                         return 0;
 359         }
 360
 361         CANMSG("baud rate %d is not possible to set\n",
 362                 rate);
 363         return -EINVAL;
 364 }
 365
 366 /**
 367  * usbcan_pre_read_config: - prepares message object for message reception
 368  * @chip: pointer to chip state structure
 369  * @obj: pointer to message object state structure
 370  *
 371  * Return Value: negative value reports error.
 372  *      Positive value indicates immediate reception of message.
 373  * File: src/usbcan.c
 374  */
 375 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
 376 {
 377         return 0;
 378 }
 379
 380 #define MAX_TRANSMIT_WAIT_LOOPS 10
 381 /**
 382  * usbcan_pre_write_config: - prepares message object for message transmission
 383  * @chip: pointer to chip state structure
 384  * @obj: pointer to message object state structure
 385  * @msg: pointer to CAN message
 386  *
 387  * This function prepares selected message object for future initiation
 388  * of message transmission by usbcan_send_msg() function.
 389  * The CAN message data and message ID are transfered from @msg slot
 390  * into chip buffer in this function.
 391  * Return Value: negative value reports error.
 392  * File: src/usbcan.c
 393  */
 394 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 395                                                         struct canmsg_t *msg)
 396 {
 397         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 398         int i=0;
 399         int len;
 400         u8 *ptr;
 401
 402         /* Wait until Transmit Buffer Status is released */
 403         while ( usbcan_chip_queue_status(chip) &&
 404                                                 i++<MAX_TRANSMIT_WAIT_LOOPS) {
 405                 udelay(i);
 406         }
 407         if (usbcan_chip_queue_status(chip)){
 408                 CANMSG("Buffer full, cannot send message\n");
 409                 return -EIO;
 410         }
 411
 412         *(uint8_t *)(dev->tx_msg)=chip->chip_idx & 0xFF;
 413
 414         len = msg->length;
 415         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
 416
 417         *(uint8_t *)(dev->tx_msg+1)=len & 0xFF;
 418         *(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags);
 419         *(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id);
 420
 421         for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) {
 422                 *ptr=msg->data[i] & 0xFF;
 423         }
 424         for(; i < 8; ptr++,i++) {
 425                 *ptr=0;
 426         }
 427         return 0;
 428 }
 429
 430 /**
 431  * usbcan_send_msg: - initiate message transmission
 432  * @chip: pointer to chip state structure
 433  * @obj: pointer to message object state structure
 434  * @msg: pointer to CAN message
 435  *
 436  * This function is called after usbcan_pre_write_config() function,
 437  * which prepares data in chip buffer.
 438  * Return Value: negative value reports error.
 439  * File: src/usbcan.c
 440  */
 441 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
 442                                                         struct canmsg_t *msg)
 443 {
 444         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 445         int len,retval;
 446
 447         set_bit(USBCAN_TX_PENDING,&dev->flags);
 448         retval=usb_bulk_msg(dev->udev,
 449                         usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
 450                         &dev->tx_msg, 16,
 451                         &len,10000);
 452         clear_bit(USBCAN_TX_PENDING,&dev->flags);
 453         if (retval){
 454                 CANMSG("URB error %d\n",retval);
 455                 return -EIO;
 456         }
 457         if (len!=16){
 458                 CANMSG("CAN message not sent\n");
 459                 return -EIO;
 460         }
 461
 462         return 0;
 463 }
 464
 465 /**
 466  * usbcan_check_tx_stat: - checks state of transmission engine
 467  * @chip: pointer to chip state structure
 468  *
 469  * Return Value: negative value reports error.
 470  *      Positive return value indicates transmission under way status.
 471  *      Zero value indicates finishing of all issued transmission requests.
 472  * File: src/usbcan.c
 473  */
 474 int usbcan_check_tx_stat(struct canchip_t *chip)
 475 {
 476         if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags))
 477                 return 1;
 478         return 0;
 479 }
 480
 481 /**
 482  * usbcan_set_btregs: -  configures bitrate registers
 483  * @chip: pointer to chip state structure
 484  * @btr0: bitrate register 0
 485  * @btr1: bitrate register 1
 486  *
 487  * Return Value: negative value reports error.
 488  * File: src/usbcan.c
 489  */
 490 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 491                                                         unsigned short btr1)
 492 {
 493         int retval;
 494         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 495         uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
 496
 497         retval = usb_control_msg(dev->udev,
 498         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 499         USBCAN_VENDOR_SET_BTREGS,
 500         USB_TYPE_VENDOR,
 501         cpu_to_le16(value), chip->chip_idx,
 502         dev->ctl_in_buffer, dev->ctl_in_size,
 503         10000);
 504
 505         if (retval==1){
 506                 if(dev->ctl_in_buffer[0]==1)
 507                         return 0;
 508         }
 509         return -ENODEV;
 510 }
 511
 512 /**
 513  * usbcan_start_chip: -  starts chip message processing
 514  * @chip: pointer to chip state structure
 515  *
 516  * Return Value: negative value reports error.
 517  * File: src/usbcan.c
 518  */
 519 int usbcan_start_chip(struct canchip_t *chip)
 520 {
 521         int retval;
 522         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 523
 524         retval = usb_control_msg(dev->udev,
 525         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 526         USBCAN_VENDOR_START_CHIP,
 527         USB_TYPE_VENDOR,
 528         0, chip->chip_idx,
 529         dev->ctl_in_buffer, dev->ctl_in_size,
 530         10000);
 531
 532         if (retval==1){
 533                 if(dev->ctl_in_buffer[0]==1)
 534                         return 0;
 535         }
 536         return -ENODEV;
 537 }
 538
 539 /**
 540  * usbcan_chip_queue_status: -  gets queue status from usb device
 541  * @chip: pointer to chip state structure
 542  *
 543  * Return Value: negative value reports error.
 544  * 0 means queue is not full
 545  * 1 means queue is full
 546  * File: src/usbcan.c
 547  */
 548 int usbcan_chip_queue_status(struct canchip_t *chip)
 549 {
 550         int retval;
 551         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 552
 553         retval = usb_control_msg(dev->udev,
 554         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 555         USBCAN_VENDOR_CHECK_TX_STAT,
 556         USB_TYPE_VENDOR,
 557         0, chip->chip_idx,
 558         dev->ctl_in_buffer, dev->ctl_in_size,
 559         10000);
 560
 561         if (retval==1){
 562                 if(dev->ctl_in_buffer[0]==1)
 563                         return 0;
 564                 if(dev->ctl_in_buffer[0]==0)
 565                         return 1;
 566         }
 567         return -ENODEV;
 568 }
 569
 570 /**
 571  * usbcan_stop_chip: -  stops chip message processing
 572  * @chip: pointer to chip state structure
 573  *
 574  * Return Value: negative value reports error.
 575  * File: src/usbcan.c
 576  */
 577 int usbcan_stop_chip(struct canchip_t *chip)
 578 {
 579         int retval;
 580         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 581
 582         retval = usb_control_msg(dev->udev,
 583         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 584         USBCAN_VENDOR_STOP_CHIP,
 585         USB_TYPE_VENDOR,
 586         0, chip->chip_idx,
 587         dev->ctl_in_buffer, dev->ctl_in_size,
 588         10000);
 589
 590         if (retval==1){
 591                 if(dev->ctl_in_buffer[0]==1)
 592                         return 0;
 593         }
 594         return -ENODEV;
 595 }
 596
 597 /**
 598  * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
 599  * @chip: pointer to chip state structure
 600  *
 601  * Return Value: negative value reports error.
 602  * File: src/usbcan.c
 603  */
 604 int usbcan_attach_to_chip(struct canchip_t *chip)
 605 {
 606         return 0;
 607 }
 608
 609 /**
 610  * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
 611  * @chip: pointer to chip state structure
 612  *
 613  * Return Value: negative value reports error.
 614  * File: src/usbcan.c
 615  */
 616 int usbcan_release_chip(struct canchip_t *chip)
 617 {
 618         usbcan_stop_chip(chip);
 619         return 0;
 620 }
 621
 622 /**
 623  * usbcan_remote_request: - configures message object and asks for RTR message
 624  * @chip: pointer to chip state structure
 625  * @obj: pointer to message object structure
 626  *
 627  * Return Value: negative value reports error.
 628  * File: src/usbcan.c
 629  */
 630 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
 631 {
 632         CANMSG("usbcan_remote_request not implemented\n");
 633         return -ENOSYS;
 634 }
 635
 636 /**
 637  * usbcan_standard_mask: - setup of mask for message filtering
 638  * @chip: pointer to chip state structure
 639  * @code: can message acceptance code
 640  * @mask: can message acceptance mask
 641  *
 642  * Return Value: negative value reports error.
 643  * File: src/usbcan.c
 644  */
 645 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
 646                 unsigned short mask)
 647 {
 648         CANMSG("usbcan_standard_mask not implemented\n");
 649         return -ENOSYS;
 650 }
 651
 652 /**
 653  * usbcan_clear_objects: - clears state of all message object residing in chip
 654  * @chip: pointer to chip state structure
 655  *
 656  * Return Value: negative value reports error.
 657  * File: src/usbcan.c
 658  */
 659 int usbcan_clear_objects(struct canchip_t *chip)
 660 {
 661         CANMSG("usbcan_clear_objects not implemented\n");
 662         return -ENOSYS;
 663 }
 664
 665 /**
 666  * usbcan_config_irqs: - tunes chip hardware interrupt delivery
 667  * @chip: pointer to chip state structure
 668  * @irqs: requested chip IRQ configuration
 669  *
 670  * Return Value: negative value reports error.
 671  * File: src/usbcan.c
 672  */
 673 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
 674 {
 675         CANMSG("usbcan_config_irqs not implemented\n");
 676         return -ENOSYS;
 677 }
 678
 679 /**
 680  * usbcan_irq_write_handler: - part of ISR code responsible for transmit events
 681  * @chip: pointer to chip state structure
 682  * @obj: pointer to attached queue description
 683  *
 684  * The main purpose of this function is to read message from attached queues
 685  * and transfer message contents into CAN controller chip.
 686  * This subroutine is called by
 687  * usbcan_irq_write_handler() for transmit events.
 688  * File: src/usbcan.c
 689  */
 690 void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
 691 {
 692         int cmd;
 693
 694         if(obj->tx_slot){
 695                 // Do local transmitted message distribution if enabled
 696                 if (processlocal){
 697                         // fill CAN message timestamp
 698                         can_filltimestamp(&obj->tx_slot->msg.timestamp);
 699
 700                         obj->tx_slot->msg.flags |= MSG_LOCAL;
 701                         canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
 702                 }
 703                 // Free transmitted slot
 704                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 705                 obj->tx_slot=NULL;
 706         }
 707
 708         can_msgobj_clear_fl(obj,TX_PENDING);
 709         cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
 710         if(cmd<0)
 711                 return;
 712         can_msgobj_set_fl(obj,TX_PENDING);
 713
 714         if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
 715                 obj->ret = -1;
 716                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
 717                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 718                 obj->tx_slot=NULL;
 719                 return;
 720         }
 721         if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
 722                 obj->ret = -1;
 723                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
 724                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 725                 obj->tx_slot=NULL;
 726                 return;
 727         }
 728 }
 729
 730 #define MAX_RETR 10
 731
 732 /**
 733  * usbcan_irq_handler: - interrupt service routine
 734  * @irq: interrupt vector number, this value is system specific
 735  * @chip: pointer to chip state structure
 736  *
 737  * Interrupt handler is activated when state of CAN controller chip changes,
 738  * there is message to be read or there is more space for new messages or
 739  * error occurs. The receive events results in reading of the message from
 740  * CAN controller chip and distribution of message through attached
 741  * message queues.
 742  * File: src/usbcan.c
 743  */
 744 int usbcan_irq_handler(int irq, struct canchip_t *chip)
 745 {
 746 /*      int irq_register, status, error_code;
 747         struct msgobj_t *obj=chip->msgobj[0];
 748         int loop_cnt=CHIP_MAX_IRQLOOP;
 749
 750         irq_register=can_read_reg(chip,SJAIR);
 751 //      DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
 752 //      DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
 753 //                                      can_read_reg(chip,SJASR));
 754
 755         if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
 756                 return CANCHIP_IRQ_NONE;
 757
 758         if(!(chip->flags&CHIP_CONFIGURED)) {
 759                 CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
 760                 return CANCHIP_IRQ_NONE;
 761         }
 762
 763         status=can_read_reg(chip,SJASR);
 764
 765         do {
 766
 767                 if(!loop_cnt--) {
 768                         CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq);
 769                         return CANCHIP_IRQ_STUCK;
 770                 }
 771
 772                 // (irq_register & sjaIR_TI)
 773                 //      old variant using SJAIR, collides with intended use with irq_accept
 774                 if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
 775                     (can_msgobj_test_fl(obj,TX_REQUEST))) {
 776                         DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
 777                         obj->ret = 0;
 778                         can_msgobj_set_fl(obj,TX_REQUEST);
 779                         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 780                                 can_msgobj_clear_fl(obj,TX_REQUEST);
 781
 782                                 if (can_read_reg(chip, SJASR) & sjaSR_TBS)
 783                                         usbcan_irq_write_handler(chip, obj);
 784
 785                                 can_msgobj_clear_fl(obj,TX_LOCK);
 786                                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 787                                 DEBUGMSG("TX looping in sja1000_irq_handler\n");
 788                         }
 789                 }
 790                 if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) {
 791                         // Some error happened
 792                         error_code=can_read_reg(chip,SJAECC);
 793                         sja1000_report_error(chip, status, irq_register, error_code);
 794 // FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
 795 // Reset flag set to 0 if chip is already off the bus. Full state report
 796                         obj->ret=-1;
 797
 798                         if(error_code == 0xd9) {
 799                                 obj->ret= -ENXIO;
 800                                 // no such device or address - no ACK received
 801                         }
 802                         if(obj->tx_retry_cnt++>MAX_RETR) {
 803                                 can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
 804                                 obj->tx_retry_cnt = 0;
 805                         }
 806                         if(status&sjaSR_BS) {
 807                                 CANMSG("bus-off, resetting usbcan\n");
 808                                 can_write_reg(chip, 0, SJAMOD);
 809                         }
 810
 811                         if(obj->tx_slot){
 812                                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
 813                                 //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 814                                 //obj->tx_slot=NULL;
 815                         }
 816
 817                 } else {
 818                         if(sja1000_report_error_limit_counter)
 819                                 sja1000_report_error_limit_counter--;
 820                         obj->tx_retry_cnt=0;
 821                 }
 822
 823                 irq_register=can_read_reg(chip,SJAIR);
 824
 825                 status=can_read_reg(chip,SJASR);
 826
 827                 if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
 828                    (irq_register & sjaIR_TI))
 829                          can_msgobj_set_fl(obj,TX_REQUEST);
 830
 831         } while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
 832                 (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
 833                 (status & sjaSR_RBS));
 834 */
 835         return CANCHIP_IRQ_HANDLED;
 836 }
 837
 838 /**
 839  * usbcan_wakeup_tx: - wakeups TX processing
 840  * @chip: pointer to chip state structure
 841  * @obj: pointer to message object structure
 842  *
 843  * Function is responsible for initiating message transmition.
 844  * It is responsible for clearing of object TX_REQUEST flag
 845  *
 846  * Return Value: negative value reports error.
 847  * File: src/usbcan.c
 848  */
 849 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 850 {
 851
 852         can_preempt_disable();
 853
 854         can_msgobj_set_fl(obj,TX_PENDING);
 855         can_msgobj_set_fl(obj,TX_REQUEST);
 856         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 857                 can_msgobj_clear_fl(obj,TX_REQUEST);
 858
 859                 if (!usbcan_chip_queue_status(chip)){
 860                         obj->tx_retry_cnt=0;
 861                         usbcan_irq_write_handler(chip, obj);
 862                 }
 863
 864                 can_msgobj_clear_fl(obj,TX_LOCK);
 865                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 866                 DEBUGMSG("TX looping in usbcan_wakeup_tx\n");
 867         }
 868
 869         can_preempt_enable();
 870         return 0;
 871 }
 872
 873 int usbcan_chipregister(struct chipspecops_t *chipspecops)
 874 {
 875         CANMSG("initializing usbcan chip operations\n");
 876         chipspecops->chip_config=usbcan_chip_config;
 877         chipspecops->baud_rate=usbcan_baud_rate;
 878         chipspecops->standard_mask=usbcan_standard_mask;
 879         chipspecops->extended_mask=usbcan_extended_mask;
 880         chipspecops->message15_mask=usbcan_extended_mask;
 881         chipspecops->clear_objects=usbcan_clear_objects;
 882         chipspecops->config_irqs=usbcan_config_irqs;
 883         chipspecops->pre_read_config=usbcan_pre_read_config;
 884         chipspecops->pre_write_config=usbcan_pre_write_config;
 885         chipspecops->send_msg=usbcan_send_msg;
 886         chipspecops->check_tx_stat=usbcan_check_tx_stat;
 887         chipspecops->wakeup_tx=usbcan_wakeup_tx;
 888         chipspecops->remote_request=usbcan_remote_request;
 889         chipspecops->enable_configuration=usbcan_enable_configuration;
 890         chipspecops->disable_configuration=usbcan_disable_configuration;
 891         chipspecops->attach_to_chip=usbcan_attach_to_chip;
 892         chipspecops->release_chip=usbcan_release_chip;
 893         chipspecops->set_btregs=usbcan_set_btregs;
 894         chipspecops->start_chip=usbcan_start_chip;
 895         chipspecops->stop_chip=usbcan_stop_chip;
 896         chipspecops->irq_handler=usbcan_irq_handler;
 897         chipspecops->irq_accept=NULL;
 898         return 0;
 899 }
 900
 901 /**
 902  * usbcan_fill_chipspecops - fills chip specific operations
 903  * @chip: pointer to chip representation structure
 904  *
 905  * The function fills chip specific operations for sja1000 (PeliCAN) chip.
 906  *
 907  * Return Value: returns negative number in the case of fail
 908  */
 909 int usbcan_fill_chipspecops(struct canchip_t *chip)
 910 {
 911         chip->chip_type="usbcan";
 912         chip->max_objects=1;
 913         usbcan_chipregister(chip->chipspecops);
 914         return 0;
 915 }
 916
 917 /**
 918  * usbcan_init_chip_data - Initialize chips
 919  * @candev: Pointer to candevice/board structure
 920  * @chipnr: Number of the CAN chip on the hardware card
 921  *
 922  * The function usbcan_init_chip_data() is used to initialize the hardware
 923  * structure containing information about the CAN chips.
 924  * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
 925  * "sja1000".
 926  * The @chip_base_addr entry represents the start of the 'official' memory map
 927  * of the installed chip. It's likely that this is the same as the @io_addr
 928  * argument supplied at module loading time.
 929  * The @clock entry holds the chip clock value in Hz.
 930  * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
 931  * register. Options defined in the %sja1000.h file:
 932  * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
 933  * The entry @sja_ocr_reg holds hardware specific options for the Output Control
 934  * register. Options defined in the %sja1000.h file:
 935  * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
 936  * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
 937  * The entry @int_clk_reg holds hardware specific options for the Clock Out
 938  * register. Options defined in the %i82527.h file:
 939  * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
 940  * The entry @int_bus_reg holds hardware specific options for the Bus
 941  * Configuration register. Options defined in the %i82527.h file:
 942  * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
 943  * The entry @int_cpu_reg holds hardware specific options for the cpu interface
 944  * register. Options defined in the %i82527.h file:
 945  * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
 946  * Return Value: The function always returns zero
 947  * File: src/usbcan.c
 948  */
 949 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
 950 {
 951         struct canchip_t *chip=candev->chip[chipnr];
 952
 953         usbcan_fill_chipspecops(chip);
 954
 955         candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
 956         candev->chip[chipnr]->chip_base_addr=0;
 957         candev->chip[chipnr]->clock = 0;
 958
 959         return 0;
 960 }
 961
 962
 963
 964 /* --------------------------------------------------------------------------------------------------- */
 965
 966 static void usbcan_rcv(struct urb *urb)
 967 {
 968         struct usbcan_usb *dev = urb->context;
 969         int retval;
 970
 971         switch (urb->status) {
 972         case 0:
 973                 /* success */
 974                 set_bit(USBCAN_DATA_READ,&dev->flags);
 975                 wake_up(&dev->rcvthread.queue);
 976                 return;
 977         case -ECONNRESET:
 978         case -ENOENT:
 979         case -ESHUTDOWN:
 980                 /* this urb is terminated, clean up */
 981                 CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
 982                 set_bit(USBCAN_TERMINATE,&dev->flags);
 983                 wake_up(&dev->rcvthread.queue);
 984                 return;
 985         default:
 986                 CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
 987                 break;
 988         }
 989
 990         retval = usb_submit_urb (urb, GFP_ATOMIC);
 991         if (retval<0){
 992                 CANMSG("%s - usb_submit_urb failed with result %d\n",
 993                      __FUNCTION__, retval);
 994                 set_bit(USBCAN_ERROR,&dev->flags);
 995                 wake_up(&dev->rcvthread.queue);
 996         }
 997 }
 998
 999 void usbcan_read_kthread(kthread_t *kthread)
1000 {
1001         int retval;
1002         struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg;
1003         struct msgobj_t *obj;
1004
1005   /* setup the thread environment */
1006   init_kthread(kthread, "usbcan");
1007
1008   /* this is normal work to do */
1009   CANMSG ("usbcan thread started!\n");
1010
1011         dev->rcv = usb_alloc_urb(0, GFP_KERNEL);
1012         if (!dev->rcv){
1013                 CANMSG("Error allocating usb urb\n");
1014                 goto error;
1015         }
1016         dev->rcv->dev = dev->udev;
1017         usb_fill_bulk_urb(dev->rcv, dev->udev,
1018                          usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1019                          &dev->rcv_msg, 16,
1020                          usbcan_rcv, dev);
1021
1022   /* an endless loop in which we are doing our work */
1023   for(;;)
1024   {
1025                 retval=usb_submit_urb(dev->rcv, GFP_KERNEL);
1026                 if (retval){
1027                         CANMSG("URB error %d\n",retval);
1028                         break;
1029                 }
1030                 /* fall asleep */
1031                 wait_event_interruptible(kthread->queue,
1032                         test_bit(USBCAN_DATA_READ,&dev->flags)
1033                         || test_bit(USBCAN_TERMINATE,&dev->flags)
1034                         || test_bit(USBCAN_ERROR,&dev->flags)
1035                 );
1036
1037                 /* We need to do a memory barrier here to be sure that
1038                 the flags are visible on all CPUs. */
1039                 mb();
1040
1041                 /* here we are back from sleep because we caught a signal. */
1042                 if (kthread->terminate)
1043                 {
1044                         /* we received a request to terminate ourself */
1045                         break;
1046                 }
1047
1048                 if (test_bit(USBCAN_ERROR,&dev->flags)){
1049                         CANMSG("URB error %d\n",retval);
1050                         clear_bit(USBCAN_ERROR,&dev->flags);
1051                 }
1052
1053                 { /* Normal work to do */
1054                         if (test_bit(USBCAN_DATA_READ,&dev->flags)){
1055                                 int i, len;
1056                                 clear_bit(USBCAN_DATA_READ,&dev->flags);
1057
1058                                 if ((dev->candev->chip[dev->rcv_msg[0]])&&
1059                                         (dev->candev->chip[dev->rcv_msg[0]]->flags & CHIP_CONFIGURED)
1060                                 ){
1061                                         u8 *ptr;
1062
1063                                         obj=dev->candev->chip[dev->rcv_msg[0]]->msgobj[0];
1064
1065                                         len=*(uint8_t *)(dev->rcv_msg+1);
1066                                         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
1067                                         obj->rx_msg.length = len;
1068
1069                                         obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rcv_msg+2));
1070                                         obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rcv_msg+4)));
1071
1072                                         for(ptr=dev->rcv_msg+8,i=0; i < len; ptr++,i++) {
1073                                                 obj->rx_msg.data[i]=*ptr;
1074                                         }
1075
1076                                         // fill CAN message timestamp
1077                                         can_filltimestamp(&obj->rx_msg.timestamp);
1078                                         canque_filter_msg2edges(obj->qends, &obj->rx_msg);
1079                                 }
1080                         }
1081     }
1082   }
1083   /* here we go only in case of termination of the thread */
1084 error:
1085   /* cleanup the thread, leave */
1086   CANMSG ("kernel thread terminated!\n");
1087   exit_kthread(kthread);
1088
1089   /* returning from the thread here calls the exit functions */
1090 }
1091
1092 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1093 {
1094         struct usbcan_usb *dev;
1095         struct usb_host_interface *iface_desc;
1096         struct usb_endpoint_descriptor *endpoint;
1097         size_t buffer_size;
1098         int i;
1099         int retval = -ENOMEM;
1100
1101         /* allocate memory for our device state and initialize it */
1102         dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1103         if (!dev) {
1104                 err("Out of memory");
1105                 goto error;
1106         }
1107         memset(dev, 0, sizeof(struct usbcan_usb));
1108
1109         sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
1110         spin_lock_init(&dev->err_lock);
1111         init_usb_anchor(&dev->submitted);
1112
1113 //      dev->udev = usb_get_dev(interface_to_usbdev(interface));
1114         dev->udev = interface_to_usbdev(interface);
1115         dev->interface = interface;
1116
1117         /* set up the endpoint information */
1118         /* use only the first bulk-in and bulk-out endpoints */
1119         iface_desc = interface->cur_altsetting;
1120         for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1121                 endpoint = &iface_desc->endpoint[i].desc;
1122
1123                 if (!dev->bulk_in_endpointAddr &&
1124                     usb_endpoint_is_bulk_in(endpoint)) {
1125                         /* we found a bulk in endpoint */
1126                         buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1127                         dev->bulk_in_size = buffer_size;
1128                         dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1129                         dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1130                         if (!dev->bulk_in_buffer) {
1131                                 err("Could not allocate bulk_in_buffer");
1132                                 goto error;
1133                         }
1134                 }
1135
1136                 if (!dev->bulk_out_endpointAddr &&
1137                     usb_endpoint_is_bulk_out(endpoint)) {
1138                         /* we found a bulk out endpoint */
1139                                 dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1140                 }
1141
1142                 if (!dev->ctl_in_endpointAddr &&
1143                     usb_endpoint_xfer_control(endpoint) &&
1144                     usb_endpoint_dir_in(endpoint)) {
1145                         /* we found a bulk in endpoint */
1146                         buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1147                         dev->ctl_in_size = buffer_size;
1148                         dev->ctl_in_endpointAddr = endpoint->bEndpointAddress;
1149                         dev->ctl_in_buffer = can_checked_malloc(buffer_size);
1150                         if (!dev->ctl_in_buffer) {
1151                                 err("Could not allocate bulk_in_buffer");
1152                                 goto error;
1153                         }
1154                 }
1155
1156                 if (!dev->ctl_out_endpointAddr &&
1157                     usb_endpoint_xfer_control(endpoint) &&
1158                     usb_endpoint_dir_out(endpoint)) {
1159                         /* we found a bulk out endpoint */
1160                                 dev->ctl_out_endpointAddr = endpoint->bEndpointAddress;
1161                 }
1162         }
1163         if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1164                 err("Could not find all bulk-in and bulk-out endpoints");
1165                 goto error;
1166         }
1167
1168         /* save our data pointer in this interface device */
1169         usb_set_intfdata(interface, dev);
1170
1171         register_usbdev("usbcan",(void *) dev);
1172
1173         /* let the user know what node this device is now attached to */
1174         info("USB Skeleton device now attached");
1175         return 0;
1176
1177 error:
1178         usb_put_dev(dev->udev);
1179         if (dev->bulk_in_buffer)
1180                 can_checked_free(dev->bulk_in_buffer);
1181         if (dev->ctl_in_buffer)
1182                 can_checked_free(dev->ctl_in_buffer);
1183         if (dev->candev){
1184                 dev->candev->sysdevptr.anydev=NULL;
1185                 cleanup_usbdev(dev->candev);
1186         }
1187         can_checked_free(dev);
1188         return retval;
1189 }
1190
1191 // Physically disconnected device
1192 static void usbcan_disconnect(struct usb_interface *interface)
1193 {
1194         struct usbcan_usb *dev;
1195         int minor = interface->minor;
1196
1197         dev = usb_get_intfdata(interface);
1198         if (!dev)
1199                 return;
1200         usb_set_intfdata(interface, NULL);
1201
1202         /* prevent more I/O from starting */
1203         mutex_lock(&dev->io_mutex);
1204         dev->interface = NULL;
1205         mutex_unlock(&dev->io_mutex);
1206
1207         //usb_kill_anchored_urbs(&dev->submitted);
1208
1209         usb_put_dev(dev->udev);
1210         if (dev->bulk_in_buffer)
1211                 can_checked_free(dev->bulk_in_buffer);
1212         if (dev->ctl_in_buffer)
1213                 can_checked_free(dev->ctl_in_buffer);
1214         if (dev->candev){
1215                 dev->candev->sysdevptr.anydev=NULL;
1216                 cleanup_usbdev(dev->candev);
1217         }
1218         can_checked_free(dev);
1219
1220         info("USB Skeleton now disconnected");
1221 }
1222
1223 int usbcan_init(void){
1224         return usb_register(&usbcan_driver);
1225 }
1226
1227 void usbcan_exit(void){
1228         usb_deregister(&usbcan_driver);
1229 }