1 /**************************************************************************/
2 /* File: main.c - the CAN driver top level glue code (needs rewrite) */
4 /* LinCAN - (Not only) Linux CAN bus driver */
5 /* Copyright (C) 2002-2009 DCE FEE CTU Prague <http://dce.felk.cvut.cz> */
6 /* Copyright (C) 2002-2009 Pavel Pisa <pisa@cmp.felk.cvut.cz> */
7 /* Funded by OCERA and FRESCOR IST projects */
8 /* Based on CAN driver code by Arnaud Westenberg <arnaud@wanadoo.nl> */
10 /* LinCAN is free software; you can redistribute it and/or modify it */
11 /* under terms of the GNU General Public License as published by the */
12 /* Free Software Foundation; either version 2, or (at your option) any */
13 /* later version. LinCAN is distributed in the hope that it will be */
14 /* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */
15 /* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */
16 /* General Public License for more details. You should have received a */
17 /* copy of the GNU General Public License along with LinCAN; see file */
18 /* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */
19 /* Cambridge, MA 02139, USA. */
21 /* To allow use of LinCAN in the compact embedded systems firmware */
22 /* and RT-executives (RTEMS for example), main authors agree with next */
23 /* special exception: */
25 /* Including LinCAN header files in a file, instantiating LinCAN generics */
26 /* or templates, or linking other files with LinCAN objects to produce */
27 /* an application image/executable, does not by itself cause the */
28 /* resulting application image/executable to be covered by */
29 /* the GNU General Public License. */
30 /* This exception does not however invalidate any other reasons */
31 /* why the executable file might be covered by the GNU Public License. */
32 /* Publication of enhanced or derived LinCAN files is required although. */
33 /**************************************************************************/
39 #include <linux/module.h>
41 #include <linux/kernel.h>
43 #include <linux/sched.h>
44 #include <linux/poll.h>
45 #include <linux/version.h>
46 #include <linux/interrupt.h>
48 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
49 #include <linux/autoconf.h>
50 #include <linux/wrapper.h>
52 #include <linux/device.h>
53 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,13)
54 static struct class *can_class;
55 #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
56 static struct class_simple *can_class;
57 #define class_create class_simple_create
58 #define class_device_create class_simple_device_add
59 #define class_device_destroy(a,b) class_simple_device_remove(b)
60 #define class_destroy class_simple_destroy
64 #if !defined (__GENKSYMS__)
65 #if (defined (MODVERSIONS) && !defined(NOVER))
66 #include <linux/modversions.h>
67 /*#include "../include/main.ver"*/
71 /*#undef CONFIG_DEVFS_FS*/
73 #ifdef CONFIG_DEVFS_FS
74 #include <linux/devfs_fs_kernel.h>
75 #include <linux/miscdevice.h>
78 #include "../include/can.h"
79 #include "../include/can_sysdep.h"
80 #include "../include/main.h"
81 #include "../include/modparms.h"
82 #include "../include/devcommon.h"
83 #include "../include/setup.h"
84 #include "../include/proc.h"
85 #include "../include/open.h"
86 #include "../include/close.h"
87 #include "../include/read.h"
88 #include "../include/select.h"
89 #include "../include/irq.h"
90 #include "../include/ioctl.h"
91 #include "../include/write.h"
92 #include "../include/finish.h"
93 #include "../include/fasync.h"
96 #include <rtl_posixio.h>
97 #include "../include/can_iortl.h"
98 #endif /*CAN_WITH_RTL*/
100 #if defined(CONFIG_OC_LINCAN_CARD_usbcan)
101 #include "../include/usbcan.h"
104 can_spinlock_t canuser_manipulation_lock;
107 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};
110 int baudrate[MAX_TOT_CHIPS];
111 char *hw[MAX_HW_CARDS]={NULL,};
112 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};
113 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
114 long clockfreq[MAX_HW_CARDS];
120 unsigned int minor_specified;
121 unsigned int baudrate_specified;
122 unsigned int hw_specified;
123 unsigned int irq_specified;
124 unsigned int io_specified;
125 unsigned int clockfreq_specified;
127 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,12))
128 /* Module parameters, some must be supplied at module loading time */
129 MODULE_PARM(major,"1i");
130 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
131 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
132 MODULE_PARM(extended,"1i");
133 MODULE_PARM(pelican,"1i");
134 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
135 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
136 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
137 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
138 MODULE_PARM(clockfreq, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
139 MODULE_PARM(stdmask, "1i");
140 MODULE_PARM(extmask, "1i");
141 MODULE_PARM(mo15mask, "1i");
142 MODULE_PARM(processlocal, "1i");
144 #else /* LINUX_VERSION_CODE >= 2,6,12 */
145 module_param(major, int, 0);
146 module_param_array(minor, int, &minor_specified, 0);
147 module_param(extended, int, 0);
148 module_param(pelican, int, 0);
149 module_param_array(baudrate, int, &baudrate_specified, 0);
150 module_param_array(hw, charp, &hw_specified, 0);
151 module_param_array(irq, int, &irq_specified, 0);
152 module_param_array(io, ulong, &io_specified, 0);
153 module_param_array(clockfreq, long, &clockfreq_specified, 0);
154 module_param(stdmask, int, 0);
155 module_param(extmask, int, 0);
156 module_param(mo15mask, int, 0);
157 module_param(processlocal, int, 0);
158 #endif /* LINUX_VERSION_CODE >= 2,6,12 */
160 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
161 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
162 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
163 " selects extended frames reception for i82527");
164 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
165 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
166 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
167 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
168 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
169 MODULE_PARM_DESC(clockfreq,"base board clock source frequency in step of 1kHz");
170 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
171 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
172 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
173 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
174 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
177 int can_rtl_priority=-1;
178 MODULE_PARM(can_rtl_priority, "1i");
179 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
180 #endif /*CAN_WITH_RTL*/
182 /* Other module attributes */
183 #ifdef MODULE_SUPPORTED_DEVICE
184 MODULE_SUPPORTED_DEVICE("can");
186 #ifdef MODULE_LICENSE
187 MODULE_LICENSE("GPL");
189 #ifdef MODULE_DESCRIPTION
190 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
193 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
196 /* Global structures, used to describe the installed hardware. */
197 struct canhardware_t canhardware;
198 struct canhardware_t *hardware_p=&canhardware;
199 struct canchip_t *chips_p[MAX_TOT_CHIPS];
200 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
201 #ifdef CONFIG_DEVFS_FS
202 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
203 devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
207 /* Pointers to dynamically allocated memory are maintained in a linked list
208 * to ease memory deallocation.
210 struct mem_addr *mem_head=NULL;
212 struct file_operations can_fops=
214 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
223 #ifdef CAN_ENABLE_KERN_FASYNC
225 #endif /*CAN_ENABLE_KERN_FASYNC*/
228 EXPORT_SYMBOL(can_fops);
232 struct rtl_file_operations can_fops_rtl = {
234 read: can_read_rtl_posix,
235 write: can_write_rtl_posix,
236 ioctl: can_ioctl_rtl_posix,
238 open: can_open_rtl_posix,
239 release: can_release_rtl_posix
241 #endif /*CAN_WITH_RTL*/
245 2.6 kernel attributes for sysfs
247 static ssize_t show_xxx(struct class_device *cdev, char *buf)
249 return sprintf(buf, "xxxx\n");
252 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
256 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
258 ret = class_device_create_file(class_dev, class_device_attr_xxx);
264 int init_module(void)
267 struct candevice_t *candev;
268 struct canchip_t *chip;
270 if (parse_mod_parms())
273 can_spin_lock_init(&canuser_manipulation_lock);
274 canqueue_kern_initialize();
276 if (init_hw_struct())
283 res=register_chrdev(major,DEVICE_NAME, &can_fops);
285 CANMSG("Error registering driver.\n");
290 can_spin_lock_init(&can_irq_manipulation_lock);
291 canqueue_rtl_initialize();
292 res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
294 CANMSG("Error registering RT-Linux major number.\n");
297 #endif /*CAN_WITH_RTL*/
299 for (i=0; i<hardware_p->nr_boards; i++) {
300 candev=hardware_p->candevice[i];
301 if (candev->hwspecops->request_io(candev))
302 goto request_io_error;
303 candev->flags|=CANDEV_IO_RESERVED;
306 for (i=0; i<hardware_p->nr_boards; i++) {
307 candev=hardware_p->candevice[i];
308 if (candev->hwspecops->reset(candev))
312 can_spin_lock_init(&hardware_p->rtr_lock);
313 hardware_p->rtr_queue=NULL;
315 for (i=0; i<hardware_p->nr_boards; i++) {
316 candev=hardware_p->candevice[i];
317 for(j=0; j<candev->nr_all_chips; j++) {
318 if((chip=candev->chip[j])==NULL)
321 if(chip->chipspecops->attach_to_chip(chip)<0) {
322 CANMSG("Initial attach to the chip HW failed\n");
323 goto interrupt_error;
326 chip->flags |= CHIP_ATTACHED;
328 if(can_chip_setup_irq(chip)<0) {
329 CANMSG("Error to setup chip IRQ\n");
330 goto interrupt_error;
334 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
335 if (candev->hwspecops->program_irq(candev)){
336 CANMSG("Error to program board interrupt\n");
337 goto interrupt_error;
341 #ifdef CONFIG_PROC_FS
342 if (can_init_procdir())
346 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
347 can_class=class_create(THIS_MODULE, "can");
350 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
352 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
354 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
355 struct class_device *this_dev;
357 struct device *this_dev;
360 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
361 if(!objects_p[i]) continue;
362 dev_minor=objects_p[i]->minor;
363 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
364 sprintf (dev_name, "can%d", dev_minor);
365 devfs_handles[i]=devfs_register(NULL, dev_name,
366 DEVFS_FL_DEFAULT, major, dev_minor,
367 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
368 &can_fops, (void*)objects_p[i]);
370 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
371 this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
372 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
373 this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
374 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,27)
375 this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
376 #else /* >= 2.6.28 */
377 this_dev=device_create(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
378 #endif /* >= 2.6.28 */
379 if(IS_ERR(this_dev)){
380 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
381 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
383 /*this_dev->class_data=objects_p[i];*/
384 class_set_devdata(this_dev,objects_p[i]);
385 #endif /* <= 2.6.25 */
387 #ifdef CONFIG_DEVFS_FS
388 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
395 #if defined(CONFIG_OC_LINCAN_CARD_usbcan)
398 CANMSG("usb_register for usbcan failed. Error number %d.\n", res);
405 #ifdef CONFIG_PROC_FS
407 CANMSG("Error registering /proc entry.\n");
415 CANMSG("Error resetting device.\n");
419 CANMSG("Error to request IO resources for device.\n");
423 canhardware_done(hardware_p);
426 rtl_unregister_rtldev(major,DEVICE_NAME);
429 #endif /*CAN_WITH_RTL*/
431 unregister_chrdev(major,DEVICE_NAME);
432 CANMSG("No CAN devices or driver setup error.\n");
435 if ( can_del_mem_list() )
436 CANMSG("Error deallocating memory\n");
445 struct candevice_t* register_usbdev(const char *hwname,void *devdata,void (*chipdataregfnc)(struct canchip_t *ch,void *data)){
447 struct candevice_t *candev;
448 struct canchip_t *chip;
449 struct boardtype_t *brp;
451 while ( (hw[board] != NULL) && (board < MAX_HW_CARDS) )
453 if (board>=MAX_HW_CARDS){
454 CANMSG("Maximum number of devices has been reached, no space for new device");
457 brp = boardtype_find(hwname);
459 CANMSG("Sorry, hardware \"%s\" is currently not supported.\n",hw[board]);
462 if (board==MAX_HW_CARDS){
463 CANMSG("Device \"%s\" could not be registered due to internal limits.\n",hw[board]);
466 hw[board]=brp->boardtype;
468 if (init_new_hw_struct(board))
475 candev=hardware_p->candevice[board];
477 /* Adding link to usb device structure into can device */
478 candev->sysdevptr.anydev=devdata;
480 if (candev->hwspecops->request_io(candev))
481 goto request_io_error;
482 candev->flags|=CANDEV_IO_RESERVED;
484 if (candev->hwspecops->reset(candev))
487 for(j=0; j<candev->nr_all_chips; j++) {
488 if((chip=candev->chip[j])==NULL)
491 chipdataregfnc(chip,devdata);
493 if(chip->chipspecops->attach_to_chip(chip)<0) {
494 CANMSG("Initial attach to the chip HW failed\n");
495 goto interrupt_error;
498 chip->flags |= CHIP_ATTACHED;
500 if(can_chip_setup_irq(chip)<0) {
501 CANMSG("Error to setup chip IRQ\n");
502 goto interrupt_error;
506 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
507 if (candev->hwspecops->program_irq(candev)){
508 CANMSG("Error to program board interrupt\n");
509 goto interrupt_error;
512 #ifdef CONFIG_PROC_FS
513 if (can_init_procentry(board))
517 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
519 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
522 struct class_device *this_dev;
525 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
526 if(!objects_p[i]) continue;
527 if(objects_p[i]->hostchip->hostdevice != candev) continue;
529 dev_minor=objects_p[i]->minor;
530 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
531 sprintf (dev_name, "can%d", dev_minor);
532 devfs_handles[i]=devfs_register(NULL, dev_name,
533 DEVFS_FL_DEFAULT, major, dev_minor,
534 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
535 &can_fops, (void*)objects_p[i]);
537 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
538 this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
539 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
540 this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
541 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,27)
542 this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
543 #else /* >= 2.6.28 */
544 this_dev=device_create(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
545 #endif /* >= 2.6.28 */
546 if(IS_ERR(this_dev)){
547 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
548 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
550 /*this_dev->class_data=objects_p[i];*/
551 class_set_devdata(this_dev,objects_p[i]);
552 #endif /* <= 2.6.25 */
554 #ifdef CONFIG_DEVFS_FS
555 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
563 #ifdef CONFIG_PROC_FS
565 CANMSG("Error registering /proc entry.\n");
573 CANMSG("Error resetting device.\n");
577 CANMSG("Error to request IO resources for device.\n");
584 #endif /*CAN_WITH_RTL*/
587 if ( can_del_mem_list() )
588 CANMSG("Error deallocating memory\n");
599 void cleanup_usbdev(struct candevice_t *dev)
607 #ifdef CONFIG_PROC_FS
608 if (can_delete_procentry(dev))
609 CANMSG("Error unregistering /proc/can entry.\n");
612 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
613 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
614 if(!objects_p[i]) continue;
615 if(objects_p[i]->hostchip->hostdevice != dev) continue;
616 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
618 devfs_unregister(devfs_handles[i]);
620 dev_minor=objects_p[i]->minor;
622 #ifdef CONFIG_DEVFS_FS
623 devfs_remove("can%d", dev_minor);
625 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
626 class_device_destroy(can_class, MKDEV(major, dev_minor));
627 #else /* >= 2.6.26 */
628 device_destroy(can_class, MKDEV(major, dev_minor));
629 #endif /* >= 2.6.26 */
635 for(i=0;i<MAX_TOT_CHIPS;i++){
636 if(!chips_p[i]) continue;
637 if(chips_p[i]->hostdevice != dev) continue;
641 hardware_p->candevice[dev->candev_idx]=NULL;
642 hardware_p->nr_boards--;
643 hw[dev->candev_idx]=NULL;
646 can_checked_free(dev);
652 void cleanup_module(void)
654 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
658 #if defined(CONFIG_OC_LINCAN_CARD_usbcan)
662 #ifdef CONFIG_PROC_FS
663 if (can_delete_procdir())
664 CANMSG("Error unregistering /proc/can entry.\n");
667 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
668 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
669 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
671 devfs_unregister(devfs_handles[i]);
674 if(!objects_p[i]) continue;
675 dev_minor=objects_p[i]->minor;
677 #ifdef CONFIG_DEVFS_FS
678 devfs_remove("can%d", dev_minor);
680 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
681 class_device_destroy(can_class, MKDEV(major, dev_minor));
682 #else /* >= 2.6.26 */
683 device_destroy(can_class, MKDEV(major, dev_minor));
684 #endif /* >= 2.6.26 */
690 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
691 class_destroy(can_class);
694 canhardware_done(hardware_p);
697 rtl_unregister_rtldev(major,DEVICE_NAME);
699 #endif /*CAN_WITH_RTL*/
701 if ( can_del_mem_list() )
702 CANMSG("Error deallocating memory\n");
704 unregister_chrdev(major,DEVICE_NAME);