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
14 #include <linux/autoconf.h>
16 #include <linux/module.h>
18 #include <linux/kernel.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>
26 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
27 #include <linux/wrapper.h>
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
41 #if !defined (__GENKSYMS__)
42 #if (defined (MODVERSIONS) && !defined(NOVER))
43 #include <linux/modversions.h>
44 /*#include "../include/main.ver"*/
48 /*#undef CONFIG_DEVFS_FS*/
50 #ifdef CONFIG_DEVFS_FS
51 #include <linux/devfs_fs_kernel.h>
52 #include <linux/miscdevice.h>
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"
73 #include <rtl_posixio.h>
74 #include "../include/can_iortl.h"
75 #endif /*CAN_WITH_RTL*/
77 can_spinlock_t canuser_manipulation_lock;
79 /* Module parameters, some must be supplied at module loading time */
81 MODULE_PARM(major,"1i");
82 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
83 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};
84 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
85 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
86 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
88 MODULE_PARM(extended,"1i");
89 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
90 " selects extended frames reception for i82527");
92 MODULE_PARM(pelican,"1i");
93 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
94 int baudrate[MAX_TOT_CHIPS];
95 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
96 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
97 char *hw[MAX_HW_CARDS]={NULL,};
98 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
99 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
100 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};
101 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
102 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
103 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
104 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
105 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
107 MODULE_PARM(stdmask, "1i");
108 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
110 MODULE_PARM(extmask, "1i");
111 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
113 MODULE_PARM(mo15mask, "1i");
114 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
116 MODULE_PARM(processlocal, "1i");
117 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
118 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
120 int can_rtl_priority=-1;
121 MODULE_PARM(can_rtl_priority, "1i");
122 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
123 #endif /*CAN_WITH_RTL*/
125 /* Other module attributes */
126 #ifdef MODULE_SUPPORTED_DEVICE
127 MODULE_SUPPORTED_DEVICE("can");
129 #ifdef MODULE_LICENSE
130 MODULE_LICENSE("GPL");
132 #ifdef MODULE_DESCRIPTION
133 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
136 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
139 /* Global structures, used to describe the installed hardware. */
140 struct canhardware_t canhardware;
141 struct canhardware_t *hardware_p=&canhardware;
142 struct canchip_t *chips_p[MAX_TOT_CHIPS];
143 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
144 #ifdef CONFIG_DEVFS_FS
145 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
146 devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
150 /* Pointers to dynamically allocated memory are maintained in a linked list
151 * to ease memory deallocation.
153 struct mem_addr *mem_head=NULL;
155 struct file_operations can_fops=
157 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
166 #ifdef CAN_ENABLE_KERN_FASYNC
168 #endif /*CAN_ENABLE_KERN_FASYNC*/
171 EXPORT_SYMBOL(can_fops);
175 struct rtl_file_operations can_fops_rtl = {
177 read: can_read_rtl_posix,
178 write: can_write_rtl_posix,
179 ioctl: can_ioctl_rtl_posix,
181 open: can_open_rtl_posix,
182 release: can_release_rtl_posix
184 #endif /*CAN_WITH_RTL*/
188 2.6 kernel attributes for sysfs
190 static ssize_t show_xxx(struct class_device *cdev, char *buf)
192 return sprintf(buf, "xxxx\n");
195 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
199 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
201 ret = class_device_create_file(class_dev, class_device_attr_xxx);
207 int init_module(void)
210 struct candevice_t *candev;
211 struct canchip_t *chip;
213 if (parse_mod_parms())
216 can_spin_lock_init(&canuser_manipulation_lock);
217 canqueue_kern_initialize();
219 if (init_hw_struct())
226 res=register_chrdev(major,DEVICE_NAME, &can_fops);
228 CANMSG("Error registering driver.\n");
233 can_spin_lock_init(&can_irq_manipulation_lock);
234 canqueue_rtl_initialize();
235 res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
237 CANMSG("Error registering RT-Linux major number.\n");
240 #endif /*CAN_WITH_RTL*/
242 for (i=0; i<hardware_p->nr_boards; i++) {
243 candev=hardware_p->candevice[i];
244 if (candev->hwspecops->request_io(candev))
245 goto request_io_error;
246 candev->flags|=CANDEV_IO_RESERVED;
249 for (i=0; i<hardware_p->nr_boards; i++) {
250 candev=hardware_p->candevice[i];
251 if (candev->hwspecops->reset(candev))
255 can_spin_lock_init(&hardware_p->rtr_lock);
256 hardware_p->rtr_queue=NULL;
258 for (i=0; i<hardware_p->nr_boards; i++) {
259 candev=hardware_p->candevice[i];
260 for(j=0; j<candev->nr_all_chips; j++) {
261 if((chip=candev->chip[j])==NULL)
264 if(chip->chipspecops->attach_to_chip(chip)<0) {
265 CANMSG("Initial attach to the chip HW failed\n");
266 goto interrupt_error;
269 chip->flags |= CHIP_ATTACHED;
271 if(can_chip_setup_irq(chip)<0) {
272 CANMSG("Error to setup chip IRQ\n");
273 goto interrupt_error;
277 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
278 if (candev->hwspecops->program_irq(candev)){
279 CANMSG("Error to program board interrupt\n");
280 goto interrupt_error;
284 #ifdef CONFIG_PROC_FS
285 if (can_init_procdir())
289 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
290 can_class=class_create(THIS_MODULE, "can");
293 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
295 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
298 struct class_device *this_dev;
301 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
302 if(!objects_p[i]) continue;
303 dev_minor=objects_p[i]->minor;
304 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
305 sprintf (dev_name, "can%d", dev_minor);
306 devfs_handles[i]=devfs_register(NULL, dev_name,
307 DEVFS_FL_DEFAULT, major, dev_minor,
308 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
309 &can_fops, (void*)objects_p[i]);
311 this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
313 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
315 this_dev->class_data=objects_p[i];
317 #ifdef CONFIG_DEVFS_FS
318 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
326 #ifdef CONFIG_PROC_FS
328 CANMSG("Error registering /proc entry.\n");
336 CANMSG("Error resetting device.\n");
340 CANMSG("Error to request IO resources for device.\n");
344 canhardware_done(hardware_p);
347 rtl_unregister_rtldev(major,DEVICE_NAME);
350 #endif /*CAN_WITH_RTL*/
352 res=unregister_chrdev(major,DEVICE_NAME);
354 CANMSG("Error unloading CAN driver, error: %d\n",res);
356 CANMSG("No CAN devices or driver setup error.\n");
359 if ( can_del_mem_list() )
360 CANMSG("Error deallocating memory\n");
365 void cleanup_module(void)
369 #ifdef CONFIG_PROC_FS
370 if (can_delete_procdir())
371 CANMSG("Error unregistering /proc/can entry.\n");
374 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
375 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
376 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
378 devfs_unregister(devfs_handles[i]);
381 if(!objects_p[i]) continue;
382 dev_minor=objects_p[i]->minor;
384 #ifdef CONFIG_DEVFS_FS
385 devfs_remove("can%d", dev_minor);
387 class_device_destroy(can_class, MKDEV(major, dev_minor));
393 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
394 class_destroy(can_class);
397 canhardware_done(hardware_p);
400 rtl_unregister_rtldev(major,DEVICE_NAME);
402 #endif /*CAN_WITH_RTL*/
404 if ( can_del_mem_list() )
405 CANMSG("Error deallocating memory\n");
407 res=unregister_chrdev(major,DEVICE_NAME);
409 CANMSG("Error unregistering CAN driver, error: %d\n",res);