lincan/src/main.c

   1 /* main.c
   2  * Linux CAN-bus device driver.
   3  * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
   4  * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
   5  * email:pisa@cmp.felk.cvut.cz
   6  * This software is released under the GPL-License.
   7  * Version lincan-0.3  17 Jun 2004
   8  */
   9
  10 #ifndef EXPORT_SYMTAB
  11 #define EXPORT_SYMTAB
  12 #endif
  13
  14 #include <linux/autoconf.h>
  15
  16 #include <linux/module.h>
  17
  18 #include <linux/kernel.h>
  19 #include <linux/fs.h>
  20 #include <linux/sched.h>
  21 #include <linux/poll.h>
  22 #include <linux/version.h>
  23 #include <linux/autoconf.h>
  24 #include <linux/interrupt.h>
  25
  26 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
  27  #include <linux/wrapper.h>
  28 #else
  29  #include <linux/device.h>
  30  #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,13)
  31   static struct class *can_class;
  32  #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
  33   static struct class_simple *can_class;
  34   #define class_create class_simple_create
  35   #define class_device_create class_simple_device_add
  36   #define class_device_destroy(a,b) class_simple_device_remove(b)
  37   #define class_destroy class_simple_destroy
  38  #endif
  39 #endif
  40
  41 #if !defined (__GENKSYMS__)
  42 #if (defined (MODVERSIONS) && !defined(NOVER))
  43 #include <linux/modversions.h>
  44 /*#include "../include/main.ver"*/
  45 #endif
  46 #endif
  47
  48 /*#undef CONFIG_DEVFS_FS*/
  49
  50 #ifdef CONFIG_DEVFS_FS
  51 #include <linux/devfs_fs_kernel.h>
  52 #include <linux/miscdevice.h>
  53 #endif
  54
  55 #include "../include/can.h"
  56 #include "../include/can_sysdep.h"
  57 #include "../include/main.h"
  58 #include "../include/modparms.h"
  59 #include "../include/devcommon.h"
  60 #include "../include/setup.h"
  61 #include "../include/proc.h"
  62 #include "../include/open.h"
  63 #include "../include/close.h"
  64 #include "../include/read.h"
  65 #include "../include/select.h"
  66 #include "../include/irq.h"
  67 #include "../include/ioctl.h"
  68 #include "../include/write.h"
  69 #include "../include/finish.h"
  70 #include "../include/fasync.h"
  71
  72 #ifdef CAN_WITH_RTL
  73 #include <rtl_posixio.h>
  74 #include "../include/can_iortl.h"
  75 #endif /*CAN_WITH_RTL*/
  76
  77 can_spinlock_t canuser_manipulation_lock;
  78
  79 int major=CAN_MAJOR;
  80 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};
  81 int extended=0;
  82 int pelican=0;
  83 int baudrate[MAX_TOT_CHIPS];
  84 char *hw[MAX_HW_CARDS]={NULL,};
  85 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};
  86 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
  87 int stdmask=0;
  88 int extmask=0;
  89 int mo15mask=0;
  90 int processlocal=0;
  91
  92 unsigned int minor_specified;
  93 unsigned int baudrate_specified;
  94 unsigned int hw_specified;
  95 unsigned int irq_specified;
  96 unsigned int io_specified;
  97
  98 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0))
  99 /* Module parameters, some must be supplied at module loading time */
 100 MODULE_PARM(major,"1i");
 101 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
 102 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
 103 MODULE_PARM(extended,"1i");
 104 MODULE_PARM(pelican,"1i");
 105 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
 106 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
 107 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
 108 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
 109 MODULE_PARM(stdmask, "1i");
 110 MODULE_PARM(extmask, "1i");
 111 MODULE_PARM(mo15mask, "1i");
 112 MODULE_PARM(processlocal, "1i");
 113
 114 #else /* LINUX_VERSION_CODE >= 2,6,0 */
 115 module_param(major, int, 0);
 116 module_param_array(minor, int, &minor_specified, 0);
 117 module_param(extended, int, 0);
 118 module_param(pelican, int, 0);
 119 module_param_array(baudrate, int, &baudrate_specified, 0);
 120 module_param_array(hw, charp, &hw_specified, 0);
 121 module_param_array(irq, int, &irq_specified, 0);
 122 module_param_array(io, int, &io_specified, 0);
 123 module_param(stdmask, int, 0);
 124 module_param(extmask, int, 0);
 125 module_param(mo15mask, int, 0);
 126 module_param(processlocal, int, 0);
 127 #endif /* LINUX_VERSION_CODE >= 2,6,0 */
 128
 129 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
 130 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
 131 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
 132                         " selects extended frames reception for i82527");
 133 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
 134 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
 135 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
 136 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
 137 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
 138 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
 139 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
 140 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
 141 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
 142                 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
 143
 144 #ifdef CAN_WITH_RTL
 145 int can_rtl_priority=-1;
 146 MODULE_PARM(can_rtl_priority, "1i");
 147 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
 148 #endif /*CAN_WITH_RTL*/
 149
 150 /* Other module attributes */
 151 #ifdef MODULE_SUPPORTED_DEVICE
 152 MODULE_SUPPORTED_DEVICE("can");
 153 #endif
 154 #ifdef MODULE_LICENSE
 155 MODULE_LICENSE("GPL");
 156 #endif
 157 #ifdef MODULE_DESCRIPTION
 158 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 159 #endif
 160 #ifdef MODULE_AUTHOR
 161 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
 162 #endif
 163
 164 /* Global structures, used to describe the installed hardware. */
 165 struct canhardware_t canhardware;
 166 struct canhardware_t *hardware_p=&canhardware;
 167 struct canchip_t *chips_p[MAX_TOT_CHIPS];
 168 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
 169 #ifdef CONFIG_DEVFS_FS
 170 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 171 devfs_handle_t  devfs_handles[MAX_TOT_MSGOBJS];
 172 #endif
 173 #endif
 174
 175 /* Pointers to dynamically allocated memory are maintained in a linked list
 176  * to ease memory deallocation.
 177  */
 178 struct mem_addr *mem_head=NULL;
 179
 180 struct file_operations can_fops=
 181 {
 182  #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
 183         owner:          THIS_MODULE,
 184  #endif
 185         read:           can_read,
 186         write:          can_write,
 187         poll:           can_poll,
 188         ioctl:          can_ioctl,
 189         open:           can_open,
 190         release:        can_close,
 191   #ifdef CAN_ENABLE_KERN_FASYNC
 192         fasync:         can_fasync
 193   #endif /*CAN_ENABLE_KERN_FASYNC*/
 194 };
 195
 196 EXPORT_SYMBOL(can_fops);
 197
 198
 199 #ifdef CAN_WITH_RTL
 200 struct rtl_file_operations can_fops_rtl = {
 201         llseek:         NULL,
 202         read:           can_read_rtl_posix,
 203         write:          can_write_rtl_posix,
 204         ioctl:          can_ioctl_rtl_posix,
 205         mmap:           NULL,
 206         open:           can_open_rtl_posix,
 207         release:        can_release_rtl_posix
 208 };
 209 #endif /*CAN_WITH_RTL*/
 210
 211
 212 /*
 213  2.6 kernel attributes for sysfs
 214
 215 static ssize_t show_xxx(struct class_device *cdev, char *buf)
 216 {
 217         return sprintf(buf, "xxxx\n");
 218 }
 219
 220 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
 221 {
 222 }
 223
 224 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
 225
 226 ret = class_device_create_file(class_dev, class_device_attr_xxx);
 227 if (ret)
 228         goto err_unregister;
 229
 230 */
 231
 232 int init_module(void)
 233 {
 234         int res=0,i=0, j;
 235         struct candevice_t *candev;
 236         struct canchip_t *chip;
 237
 238         if (parse_mod_parms())
 239                 return -EINVAL;
 240
 241         can_spin_lock_init(&canuser_manipulation_lock);
 242         canqueue_kern_initialize();
 243
 244         if (init_hw_struct())
 245                 return -ENODEV;
 246
 247         #ifdef CAN_DEBUG
 248                 list_hw();
 249         #endif
 250
 251         res=register_chrdev(major,DEVICE_NAME, &can_fops);
 252         if (res<0) {
 253                 CANMSG("Error registering driver.\n");
 254                 goto register_error;
 255         }
 256
 257         #ifdef CAN_WITH_RTL
 258         can_spin_lock_init(&can_irq_manipulation_lock);
 259         canqueue_rtl_initialize();
 260         res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
 261         if (res<0) {
 262                 CANMSG("Error registering RT-Linux major number.\n");
 263                 goto rtldev_error;
 264         }
 265         #endif /*CAN_WITH_RTL*/
 266
 267         for (i=0; i<hardware_p->nr_boards; i++) {
 268                 candev=hardware_p->candevice[i];
 269                 if (candev->hwspecops->request_io(candev))
 270                         goto request_io_error;
 271                 candev->flags|=CANDEV_IO_RESERVED;
 272         }
 273
 274         for (i=0; i<hardware_p->nr_boards; i++) {
 275                 candev=hardware_p->candevice[i];
 276                 if (candev->hwspecops->reset(candev))
 277                         goto reset_error;
 278         }
 279
 280         can_spin_lock_init(&hardware_p->rtr_lock);
 281         hardware_p->rtr_queue=NULL;
 282
 283         for (i=0; i<hardware_p->nr_boards; i++) {
 284                 candev=hardware_p->candevice[i];
 285                 for(j=0; j<candev->nr_all_chips; j++) {
 286                         if((chip=candev->chip[j])==NULL)
 287                                 continue;
 288
 289                         if(chip->chipspecops->attach_to_chip(chip)<0) {
 290                                 CANMSG("Initial attach to the chip HW failed\n");
 291                                 goto interrupt_error;
 292                         }
 293
 294                         chip->flags |= CHIP_ATTACHED;
 295
 296                         if(can_chip_setup_irq(chip)<0) {
 297                                 CANMSG("Error to setup chip IRQ\n");
 298                                 goto interrupt_error;
 299                         }
 300                 }
 301
 302                 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
 303                         if (candev->hwspecops->program_irq(candev)){
 304                                 CANMSG("Error to program board interrupt\n");
 305                                 goto interrupt_error;
 306                         }
 307         }
 308
 309 #ifdef CONFIG_PROC_FS
 310         if (can_init_procdir())
 311                 goto proc_error;
 312 #endif
 313
 314 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 315         can_class=class_create(THIS_MODULE, "can");
 316 #endif
 317
 318 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 319         {
 320             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 321                 char dev_name[32];
 322             #else
 323                 struct class_device *this_dev;
 324             #endif
 325                 int dev_minor;
 326                 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 327                         if(!objects_p[i]) continue;
 328                         dev_minor=objects_p[i]->minor;
 329                     #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 330                         sprintf (dev_name, "can%d", dev_minor);
 331                         devfs_handles[i]=devfs_register(NULL, dev_name,
 332                                 DEVFS_FL_DEFAULT, major, dev_minor,
 333                                 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
 334                                 &can_fops, (void*)objects_p[i]);
 335                     #else
 336                       #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
 337                         this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 338                       #else /* >= 2.6.15 */
 339                         this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 340                       #endif /* >= 2.6.15 */
 341                         if(IS_ERR(this_dev)){
 342                                 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
 343                         }else{
 344                                 /*this_dev->class_data=objects_p[i];*/
 345                                 class_set_devdata(this_dev,objects_p[i]);
 346                         }
 347                       #ifdef CONFIG_DEVFS_FS
 348                         devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
 349                       #endif
 350                     #endif
 351                 }
 352         }
 353 #endif
 354         return 0;
 355
 356 #ifdef CONFIG_PROC_FS
 357         proc_error: ;
 358                 CANMSG("Error registering /proc entry.\n");
 359                 goto memory_error;
 360 #endif
 361
 362         interrupt_error: ;
 363                 goto memory_error;
 364
 365         reset_error: ;
 366                 CANMSG("Error resetting device.\n");
 367                 goto memory_error;
 368
 369         request_io_error: ;
 370                 CANMSG("Error to request IO resources for device.\n");
 371                 goto memory_error;
 372
 373         memory_error: ;
 374                 canhardware_done(hardware_p);
 375
 376                 #ifdef CAN_WITH_RTL
 377                 rtl_unregister_rtldev(major,DEVICE_NAME);
 378         rtldev_error:
 379                 canqueue_rtl_done();
 380                 #endif /*CAN_WITH_RTL*/
 381
 382                 res=unregister_chrdev(major,DEVICE_NAME);
 383                 if (res<0)
 384                         CANMSG("Error unloading CAN driver, error: %d\n",res);
 385                 else
 386                         CANMSG("No CAN devices or driver setup error.\n");
 387
 388         register_error:
 389                 if ( can_del_mem_list() )
 390                         CANMSG("Error deallocating memory\n");
 391
 392                 return -ENODEV;
 393 }
 394
 395 void cleanup_module(void)
 396 {
 397         int res=0,i=0;
 398
 399 #ifdef CONFIG_PROC_FS
 400         if (can_delete_procdir())
 401                 CANMSG("Error unregistering /proc/can entry.\n");
 402 #endif
 403
 404 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 405         for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 406             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 407                 if(devfs_handles[i])
 408                         devfs_unregister(devfs_handles[i]);
 409             #else
 410                 int dev_minor;
 411                 if(!objects_p[i]) continue;
 412                 dev_minor=objects_p[i]->minor;
 413                 if(minor>=0){
 414                     #ifdef CONFIG_DEVFS_FS
 415                         devfs_remove("can%d", dev_minor);
 416                     #endif
 417                         class_device_destroy(can_class, MKDEV(major, dev_minor));
 418                 }
 419             #endif
 420         }
 421 #endif
 422
 423 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 424         class_destroy(can_class);
 425 #endif
 426
 427         canhardware_done(hardware_p);
 428
 429         #ifdef CAN_WITH_RTL
 430         rtl_unregister_rtldev(major,DEVICE_NAME);
 431         canqueue_rtl_done();
 432         #endif /*CAN_WITH_RTL*/
 433
 434         if ( can_del_mem_list() )
 435                 CANMSG("Error deallocating memory\n");
 436
 437         res=unregister_chrdev(major,DEVICE_NAME);
 438         if (res<0)
 439                 CANMSG("Error unregistering CAN driver, error: %d\n",res);
 440 }