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->comthread=can_kthread_run(usbcan_read_kthread, (void *)dev, "usbcan");
  58
  59         /* Adding link to can device into usbcan_usb struct */
  60         ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev;
  61         return 0;
  62 }
  63
  64 /**
  65  * usbcan_release_io - free reserved io memory range
  66  * @candev: pointer to candevice/board which releases io
  67  *
  68  * The function usbcan_release_io() is used to free reserved io-memory.
  69  * In case you have reserved more io memory, don't forget to free it here.
  70  * IO_RANGE is the io-memory range that gets released, please adjust according
  71  * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
  72  * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
  73  * Return Value: The function always returns zero
  74  * File: src/usbcan.c
  75  */
  76 int usbcan_release_io(struct candevice_t *candev)
  77 {
  78         struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev);
  79         if (!dev)
  80                 return 0;
  81
  82         /* terminate the kernel thread */
  83         can_kthread_stop(dev->comthread);
  84
  85         return 0;
  86 }
  87
  88 /**
  89  * usbcan_reset - hardware reset routine
  90  * @candev: Pointer to candevice/board structure
  91  *
  92  * The function usbcan_reset() is used to give a hardware reset. This is
  93  * rather hardware specific so I haven't included example code. Don't forget to
  94  * check the reset status of the chip before returning.
  95  * Return Value: The function returns zero on success or %-ENODEV on failure
  96  * File: src/usbcan.c
  97  */
  98 int usbcan_reset(struct candevice_t *candev)
  99 {
 100         return 0;
 101 }
 102
 103 /**
 104  * usbcan_init_hw_data - Initialize hardware cards
 105  * @candev: Pointer to candevice/board structure
 106  *
 107  * The function usbcan_init_hw_data() is used to initialize the hardware
 108  * structure containing information about the installed CAN-board.
 109  * %RESET_ADDR represents the io-address of the hardware reset register.
 110  * %NR_82527 represents the number of Intel 82527 chips on the board.
 111  * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
 112  * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
 113  * the hardware uses programmable interrupts.
 114  * Return Value: The function always returns zero
 115  * File: src/usbcan.c
 116  */
 117 int usbcan_init_hw_data(struct candevice_t *candev)
 118 {
 119         candev->res_addr=RESET_ADDR;
 120         candev->nr_82527_chips=0;
 121         candev->nr_sja1000_chips=0;
 122         candev->nr_all_chips=1;
 123         candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
 124
 125         return 0;
 126 }
 127
 128 /**
 129  * usbcan_init_obj_data - Initialize message buffers
 130  * @chip: Pointer to chip specific structure
 131  * @objnr: Number of the message buffer
 132  *
 133  * The function usbcan_init_obj_data() is used to initialize the hardware
 134  * structure containing information about the different message objects on the
 135  * CAN chip. In case of the sja1000 there's only one message object but on the
 136  * i82527 chip there are 15.
 137  * The code below is for a i82527 chip and initializes the object base addresses
 138  * The entry @obj_base_addr represents the first memory address of the message
 139  * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
 140  * base address.
 141  * Unless the hardware uses a segmented memory map, flags can be set zero.
 142  * Return Value: The function always returns zero
 143  * File: src/usbcan.c
 144  */
 145 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
 146 {
 147         chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
 148
 149         return 0;
 150 }
 151
 152 /**
 153  * usbcan_program_irq - program interrupts
 154  * @candev: Pointer to candevice/board structure
 155  *
 156  * The function usbcan_program_irq() is used for hardware that uses
 157  * programmable interrupts. If your hardware doesn't use programmable interrupts
 158  * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
 159  * leave this function unedited. Again this function is hardware specific so
 160  * there's no example code.
 161  * Return value: The function returns zero on success or %-ENODEV on failure
 162  * File: src/usbcan.c
 163  */
 164 int usbcan_program_irq(struct candevice_t *candev)
 165 {
 166         return 0;
 167 }
 168
 169 /* !!! Don't change this function !!! */
 170 int usbcan_register(struct hwspecops_t *hwspecops)
 171 {
 172         hwspecops->request_io = usbcan_request_io;
 173         hwspecops->release_io = usbcan_release_io;
 174         hwspecops->reset = usbcan_reset;
 175         hwspecops->init_hw_data = usbcan_init_hw_data;
 176         hwspecops->init_chip_data = usbcan_init_chip_data;
 177         hwspecops->init_obj_data = usbcan_init_obj_data;
 178         hwspecops->write_register = NULL;
 179         hwspecops->read_register = NULL;
 180         hwspecops->program_irq = usbcan_program_irq;
 181         return 0;
 182 }
 183
 184 // static int sja1000_report_error_limit_counter;
 185
 186 static void sja1000_report_error(struct canchip_t *chip,
 187                                 unsigned sr, unsigned ir, unsigned ecc)
 188 {
 189         /*TODO : Error reporting from device */
 190
 191 /*      if(sja1000_report_error_limit_counter>=100)
 192                 return;
 193
 194         CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
 195                 sr, ir, ecc);
 196
 197         sja1000_report_error_limit_counter+=10;
 198
 199         if(sja1000_report_error_limit_counter>=100){
 200                 sja1000_report_error_limit_counter+=10;
 201                 CANMSG("Error: too many errors, reporting disabled\n");
 202                 return;
 203         }
 204
 205 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
 206         CANMSG("SR: BS=%c  ES=%c  TS=%c  RS=%c  TCS=%c TBS=%c DOS=%c RBS=%c\n",
 207                 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
 208                 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
 209                 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
 210                 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
 211         CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c  TI=%c  RI=%c\n",
 212                 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
 213                 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
 214                 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
 215                 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
 216         if((sr&sjaIR_EI) || 1){
 217                 CANMSG("EI: %s %s %s\n",
 218                        sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
 219                        ecc&sjaECC_DIR?"RX":"TX",
 220                        sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
 221                       );
 222         }
 223 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
 224 }
 225
 226
 227 /**
 228  * usbcan_enable_configuration - enable chip configuration mode
 229  * @chip: pointer to chip state structure
 230  */
 231 int usbcan_enable_configuration(struct canchip_t *chip)
 232 {
 233         return 0;
 234 }
 235
 236 /**
 237  * usbcan_disable_configuration - disable chip configuration mode
 238  * @chip: pointer to chip state structure
 239  */
 240 int usbcan_disable_configuration(struct canchip_t *chip)
 241 {
 242         return 0;
 243 }
 244
 245 /**
 246  * usbcan_chip_config: - can chip configuration
 247  * @chip: pointer to chip state structure
 248  *
 249  * This function configures chip and prepares it for message
 250  * transmission and reception. The function resets chip,
 251  * resets mask for acceptance of all messages by call to
 252  * usbcan_extended_mask() function and then
 253  * computes and sets baudrate with use of function usbcan_baud_rate().
 254  * Return Value: negative value reports error.
 255  * File: src/usbcan.c
 256  */
 257 int usbcan_chip_config(struct canchip_t *chip)
 258 {
 259         return 0;
 260 }
 261
 262 /**
 263  * usbcan_extended_mask: - setup of extended mask for message filtering
 264  * @chip: pointer to chip state structure
 265  * @code: can message acceptance code
 266  * @mask: can message acceptance mask
 267  *
 268  * Return Value: negative value reports error.
 269  * File: src/usbcan.c
 270  */
 271 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  long mask)
 272 {
 273         int retval;
 274         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 275
 276         u8 usbbuf[16];
 277
 278         if (!dev)
 279                 return -ENODEV;
 280
 281         *(uint32_t *)(usbbuf)=cpu_to_le32(mask);
 282         *(uint32_t *)(usbbuf+4)=cpu_to_le32(code);
 283
 284         retval=usb_control_msg(dev->udev,
 285                 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 286                 USBCAN_VENDOR_EXT_MASK_SET,
 287                 USB_TYPE_VENDOR,
 288                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 289                 &usbbuf, 16,
 290                 10000);
 291         if (retval<0)
 292                 return -ENODEV;
 293
 294         retval = usb_control_msg(dev->udev,
 295                 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 296                 USBCAN_VENDOR_EXT_MASK_STATUS,
 297                 USB_TYPE_VENDOR,
 298                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 299                 &usbbuf, 16,
 300                 10000);
 301
 302         if (retval==1){
 303                 if(usbbuf[0]==1){
 304                         DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
 305                         DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
 306                         return 0;
 307                 }
 308         }
 309
 310         CANMSG("Setting extended mask failed\n");
 311         return -EINVAL;
 312 }
 313
 314 /**
 315  * usbcan_baud_rate: - set communication parameters.
 316  * @chip: pointer to chip state structure
 317  * @rate: baud rate in Hz
 318  * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
 319  * @sjw: synchronization jump width (0-3) prescaled clock cycles
 320  * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
 321  * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
 322  *
 323  * Return Value: negative value reports error.
 324  * File: src/usbcan.c
 325  */
 326 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 327                                                         int sampl_pt, int flags)
 328 {
 329         int retval;
 330         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 331
 332         u8 usbbuf[16];
 333
 334         if (!dev)
 335                 return -ENODEV;
 336
 337         *(int32_t *)(usbbuf)=cpu_to_le32(rate);
 338         *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw);
 339         *(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt);
 340         *(int32_t *)(usbbuf+12)=cpu_to_le32(flags);
 341
 342         retval=usb_control_msg(dev->udev,
 343                 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
 344                 USBCAN_VENDOR_BAUD_RATE_SET,
 345                 USB_TYPE_VENDOR,
 346                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 347                 &usbbuf, 16,
 348                 10000);
 349         if (retval<0)
 350                 return -ENODEV;
 351
 352         retval = usb_control_msg(dev->udev,
 353                 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 354                 USBCAN_VENDOR_BAUD_RATE_STATUS,
 355                 USB_TYPE_VENDOR,
 356                 cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 357                 usbbuf, 16,
 358                 10000);
 359
 360         if (retval==1){
 361                 if(usbbuf[0]==1)
 362                         return 0;
 363         }
 364
 365         CANMSG("baud rate %d is not possible to set\n",
 366                 rate);
 367         return -EINVAL;
 368 }
 369
 370 /**
 371  * usbcan_pre_read_config: - prepares message object for message reception
 372  * @chip: pointer to chip state structure
 373  * @obj: pointer to message object state structure
 374  *
 375  * Return Value: negative value reports error.
 376  *      Positive value indicates immediate reception of message.
 377  * File: src/usbcan.c
 378  */
 379 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
 380 {
 381         return 0;
 382 }
 383
 384 #define MAX_TRANSMIT_WAIT_LOOPS 10
 385 /**
 386  * usbcan_pre_write_config: - prepares message object for message transmission
 387  * @chip: pointer to chip state structure
 388  * @obj: pointer to message object state structure
 389  * @msg: pointer to CAN message
 390  *
 391  * This function prepares selected message object for future initiation
 392  * of message transmission by usbcan_send_msg() function.
 393  * The CAN message data and message ID are transfered from @msg slot
 394  * into chip buffer in this function.
 395  * Return Value: negative value reports error.
 396  * File: src/usbcan.c
 397  */
 398 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 399                                                         struct canmsg_t *msg)
 400 {
 401         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 402         int i=0;
 403         int len;
 404         u8 *ptr;
 405
 406         if (!dev)
 407                 return -ENODEV;
 408         /* Wait until Transmit Buffer Status is released */
 409         while ( usbcan_chip_queue_status(chip) &&
 410                                                 i++<MAX_TRANSMIT_WAIT_LOOPS) {
 411                 udelay(i);
 412         }
 413         if (usbcan_chip_queue_status(chip)){
 414                 CANMSG("Buffer full, cannot send message\n");
 415                 return -EIO;
 416         }
 417
 418         *(uint8_t *)(dev->tx_msg)=chip->chip_idx & 0xFF;
 419
 420         len = msg->length;
 421         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
 422
 423         *(uint8_t *)(dev->tx_msg+1)=len & 0xFF;
 424         *(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags);
 425         *(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id);
 426
 427         for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) {
 428                 *ptr=msg->data[i] & 0xFF;
 429         }
 430         for(; i < 8; ptr++,i++) {
 431                 *ptr=0;
 432         }
 433         return 0;
 434 }
 435
 436 /**
 437  * usbcan_send_msg: - initiate message transmission
 438  * @chip: pointer to chip state structure
 439  * @obj: pointer to message object state structure
 440  * @msg: pointer to CAN message
 441  *
 442  * This function is called after usbcan_pre_write_config() function,
 443  * which prepares data in chip buffer.
 444  * Return Value: negative value reports error.
 445  * File: src/usbcan.c
 446  */
 447 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
 448                                                         struct canmsg_t *msg)
 449 {
 450         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 451         int len,retval;
 452
 453         if (!dev)
 454                 return -ENODEV;
 455
 456         set_bit(USBCAN_TX_PENDING,&dev->flags);
 457         retval=usb_bulk_msg(dev->udev,
 458                         usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
 459                         &dev->tx_msg, 16,
 460                         &len,10000);
 461         clear_bit(USBCAN_TX_PENDING,&dev->flags);
 462         if (retval){
 463                 CANMSG("URB error %d\n",retval);
 464                 return -EIO;
 465         }
 466         if (len!=16){
 467                 CANMSG("CAN message not sent\n");
 468                 return -EIO;
 469         }
 470         CANMSG("Message sent\n");
 471
 472         if(obj->tx_slot){
 473                 // Do local transmitted message distribution if enabled
 474                 if (processlocal){
 475                         // fill CAN message timestamp
 476                         can_filltimestamp(&obj->tx_slot->msg.timestamp);
 477
 478                         obj->tx_slot->msg.flags |= MSG_LOCAL;
 479                         canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
 480                 }
 481                 // Free transmitted slot
 482                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 483                 obj->tx_slot=NULL;
 484         }
 485
 486         can_msgobj_clear_fl(obj,TX_PENDING);
 487         return 0;
 488 }
 489
 490 /**
 491  * usbcan_check_tx_stat: - checks state of transmission engine
 492  * @chip: pointer to chip state structure
 493  *
 494  * Return Value: negative value reports error.
 495  *      Positive return value indicates transmission under way status.
 496  *      Zero value indicates finishing of all issued transmission requests.
 497  * File: src/usbcan.c
 498  */
 499 int usbcan_check_tx_stat(struct canchip_t *chip)
 500 {
 501         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 502         if (!dev)
 503                 return 0;
 504         if (test_bit(USBCAN_TX_PENDING,&dev->flags))
 505                 return 1;
 506         return 0;
 507 }
 508
 509 /**
 510  * usbcan_set_btregs: -  configures bitrate registers
 511  * @chip: pointer to chip state structure
 512  * @btr0: bitrate register 0
 513  * @btr1: bitrate register 1
 514  *
 515  * Return Value: negative value reports error.
 516  * File: src/usbcan.c
 517  */
 518 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 519                                                         unsigned short btr1)
 520 {
 521         int retval;
 522         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 523         uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
 524
 525         if (!dev)
 526                 return -ENODEV;
 527
 528         retval = usb_control_msg(dev->udev,
 529         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 530         USBCAN_VENDOR_SET_BTREGS,
 531         USB_TYPE_VENDOR,
 532         cpu_to_le16(value), cpu_to_le16(chip->chip_idx),
 533         dev->ctl_in_buffer, dev->ctl_in_size,
 534         10000);
 535
 536         if (retval==1){
 537                 if(dev->ctl_in_buffer[0]==1)
 538                         return 0;
 539         }
 540         return -ENODEV;
 541 }
 542
 543 /**
 544  * usbcan_start_chip: -  starts chip message processing
 545  * @chip: pointer to chip state structure
 546  *
 547  * Return Value: negative value reports error.
 548  * File: src/usbcan.c
 549  */
 550 int usbcan_start_chip(struct canchip_t *chip)
 551 {
 552         int retval;
 553         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 554
 555         if (!dev)
 556                 return -ENODEV;
 557
 558         retval = usb_control_msg(dev->udev,
 559         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 560         USBCAN_VENDOR_START_CHIP,
 561         USB_TYPE_VENDOR,
 562         cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 563         dev->ctl_in_buffer, dev->ctl_in_size,
 564         10000);
 565
 566         if (retval==1){
 567                 if(dev->ctl_in_buffer[0]==1)
 568                         return 0;
 569         }
 570         return -ENODEV;
 571 }
 572
 573 /**
 574  * usbcan_chip_queue_status: -  gets queue status from usb device
 575  * @chip: pointer to chip state structure
 576  *
 577  * Return Value: negative value reports error.
 578  * 0 means queue is not full
 579  * 1 means queue is full
 580  * File: src/usbcan.c
 581  */
 582 int usbcan_chip_queue_status(struct canchip_t *chip)
 583 {
 584         int retval,i;
 585         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 586
 587         if (!dev)
 588                 return -ENODEV;
 589         retval = usb_control_msg(dev->udev,
 590         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 591         USBCAN_VENDOR_CHECK_TX_STAT,
 592         USB_TYPE_VENDOR,
 593         cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 594         dev->ctl_in_buffer, dev->ctl_in_size,
 595         10000);
 596
 597         for (i=0;i<dev->ctl_in_size;i++)
 598                 CANMSG("Buffer content: %d\n",dev->ctl_in_buffer[i]);
 599         if (retval==1){
 600                 CANMSG("Chip_queue_status: %d\n",dev->ctl_in_buffer[0]);
 601                 if(dev->ctl_in_buffer[0]==1)
 602                         return 0;
 603                 if(dev->ctl_in_buffer[0]==0)
 604                         return 1;
 605         }
 606         CANMSG("Chip_queue_status error: %d\n",retval);
 607         return -ENODEV;
 608 }
 609
 610 /**
 611  * usbcan_stop_chip: -  stops chip message processing
 612  * @chip: pointer to chip state structure
 613  *
 614  * Return Value: negative value reports error.
 615  * File: src/usbcan.c
 616  */
 617 int usbcan_stop_chip(struct canchip_t *chip)
 618 {
 619         int retval;
 620         struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
 621
 622         if (!dev)
 623                 return -ENODEV;
 624
 625         retval = usb_control_msg(dev->udev,
 626         usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
 627         USBCAN_VENDOR_STOP_CHIP,
 628         USB_TYPE_VENDOR,
 629         cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
 630         dev->ctl_in_buffer, dev->ctl_in_size,
 631         10000);
 632
 633         if (retval==1){
 634                 if(dev->ctl_in_buffer[0]==1)
 635                         return 0;
 636         }
 637         return -ENODEV;
 638 }
 639
 640 /**
 641  * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
 642  * @chip: pointer to chip state structure
 643  *
 644  * Return Value: negative value reports error.
 645  * File: src/usbcan.c
 646  */
 647 int usbcan_attach_to_chip(struct canchip_t *chip)
 648 {
 649         return 0;
 650 }
 651
 652 /**
 653  * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
 654  * @chip: pointer to chip state structure
 655  *
 656  * Return Value: negative value reports error.
 657  * File: src/usbcan.c
 658  */
 659 int usbcan_release_chip(struct canchip_t *chip)
 660 {
 661         usbcan_stop_chip(chip);
 662         return 0;
 663 }
 664
 665 /**
 666  * usbcan_remote_request: - configures message object and asks for RTR message
 667  * @chip: pointer to chip state structure
 668  * @obj: pointer to message object structure
 669  *
 670  * Return Value: negative value reports error.
 671  * File: src/usbcan.c
 672  */
 673 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
 674 {
 675         CANMSG("usbcan_remote_request not implemented\n");
 676         return -ENOSYS;
 677 }
 678
 679 /**
 680  * usbcan_standard_mask: - setup of mask for message filtering
 681  * @chip: pointer to chip state structure
 682  * @code: can message acceptance code
 683  * @mask: can message acceptance mask
 684  *
 685  * Return Value: negative value reports error.
 686  * File: src/usbcan.c
 687  */
 688 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
 689                 unsigned short mask)
 690 {
 691         CANMSG("usbcan_standard_mask not implemented\n");
 692         return -ENOSYS;
 693 }
 694
 695 /**
 696  * usbcan_clear_objects: - clears state of all message object residing in chip
 697  * @chip: pointer to chip state structure
 698  *
 699  * Return Value: negative value reports error.
 700  * File: src/usbcan.c
 701  */
 702 int usbcan_clear_objects(struct canchip_t *chip)
 703 {
 704         CANMSG("usbcan_clear_objects not implemented\n");
 705         return -ENOSYS;
 706 }
 707
 708 /**
 709  * usbcan_config_irqs: - tunes chip hardware interrupt delivery
 710  * @chip: pointer to chip state structure
 711  * @irqs: requested chip IRQ configuration
 712  *
 713  * Return Value: negative value reports error.
 714  * File: src/usbcan.c
 715  */
 716 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
 717 {
 718         CANMSG("usbcan_config_irqs not implemented\n");
 719         return -ENOSYS;
 720 }
 721
 722 /**
 723  * usbcan_irq_write_handler: - part of ISR code responsible for transmit events
 724  * @chip: pointer to chip state structure
 725  * @obj: pointer to attached queue description
 726  *
 727  * The main purpose of this function is to read message from attached queues
 728  * and transfer message contents into CAN controller chip.
 729  * This subroutine is called by
 730  * usbcan_irq_write_handler() for transmit events.
 731  * File: src/usbcan.c
 732  */
 733 void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
 734 {
 735         int cmd;
 736
 737         if(obj->tx_slot){
 738                 // Do local transmitted message distribution if enabled
 739                 if (processlocal){
 740                         // fill CAN message timestamp
 741                         can_filltimestamp(&obj->tx_slot->msg.timestamp);
 742
 743                         obj->tx_slot->msg.flags |= MSG_LOCAL;
 744                         canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
 745                 }
 746                 // Free transmitted slot
 747                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 748                 obj->tx_slot=NULL;
 749         }
 750
 751         can_msgobj_clear_fl(obj,TX_PENDING);
 752         cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
 753         if(cmd<0)
 754                 return;
 755         can_msgobj_set_fl(obj,TX_PENDING);
 756
 757         if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
 758                 obj->ret = -1;
 759                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
 760                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 761                 obj->tx_slot=NULL;
 762                 return;
 763         }
 764         if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
 765                 obj->ret = -1;
 766                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
 767                 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 768                 obj->tx_slot=NULL;
 769                 return;
 770         }
 771 }
 772
 773 #define MAX_RETR 10
 774
 775 /**
 776  * usbcan_irq_handler: - interrupt service routine
 777  * @irq: interrupt vector number, this value is system specific
 778  * @chip: pointer to chip state structure
 779  *
 780  * Interrupt handler is activated when state of CAN controller chip changes,
 781  * there is message to be read or there is more space for new messages or
 782  * error occurs. The receive events results in reading of the message from
 783  * CAN controller chip and distribution of message through attached
 784  * message queues.
 785  * File: src/usbcan.c
 786  */
 787 int usbcan_irq_handler(int irq, struct canchip_t *chip)
 788 {
 789 /*      int irq_register, status, error_code;
 790         struct msgobj_t *obj=chip->msgobj[0];
 791         int loop_cnt=CHIP_MAX_IRQLOOP;
 792
 793         irq_register=can_read_reg(chip,SJAIR);
 794 //      DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
 795 //      DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
 796 //                                      can_read_reg(chip,SJASR));
 797
 798         if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
 799                 return CANCHIP_IRQ_NONE;
 800
 801         if(!(chip->flags&CHIP_CONFIGURED)) {
 802                 CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
 803                 return CANCHIP_IRQ_NONE;
 804         }
 805
 806         status=can_read_reg(chip,SJASR);
 807
 808         do {
 809
 810                 if(!loop_cnt--) {
 811                         CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq);
 812                         return CANCHIP_IRQ_STUCK;
 813                 }
 814
 815                 // (irq_register & sjaIR_TI)
 816                 //      old variant using SJAIR, collides with intended use with irq_accept
 817                 if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
 818                     (can_msgobj_test_fl(obj,TX_REQUEST))) {
 819                         DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
 820                         obj->ret = 0;
 821                         can_msgobj_set_fl(obj,TX_REQUEST);
 822                         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 823                                 can_msgobj_clear_fl(obj,TX_REQUEST);
 824
 825                                 if (can_read_reg(chip, SJASR) & sjaSR_TBS)
 826                                         usbcan_irq_write_handler(chip, obj);
 827
 828                                 can_msgobj_clear_fl(obj,TX_LOCK);
 829                                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 830                                 DEBUGMSG("TX looping in sja1000_irq_handler\n");
 831                         }
 832                 }
 833                 if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) {
 834                         // Some error happened
 835                         error_code=can_read_reg(chip,SJAECC);
 836                         sja1000_report_error(chip, status, irq_register, error_code);
 837 // FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
 838 // Reset flag set to 0 if chip is already off the bus. Full state report
 839                         obj->ret=-1;
 840
 841                         if(error_code == 0xd9) {
 842                                 obj->ret= -ENXIO;
 843                                 // no such device or address - no ACK received
 844                         }
 845                         if(obj->tx_retry_cnt++>MAX_RETR) {
 846                                 can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
 847                                 obj->tx_retry_cnt = 0;
 848                         }
 849                         if(status&sjaSR_BS) {
 850                                 CANMSG("bus-off, resetting usbcan\n");
 851                                 can_write_reg(chip, 0, SJAMOD);
 852                         }
 853
 854                         if(obj->tx_slot){
 855                                 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
 856                                 //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
 857                                 //obj->tx_slot=NULL;
 858                         }
 859
 860                 } else {
 861                         if(sja1000_report_error_limit_counter)
 862                                 sja1000_report_error_limit_counter--;
 863                         obj->tx_retry_cnt=0;
 864                 }
 865
 866                 irq_register=can_read_reg(chip,SJAIR);
 867
 868                 status=can_read_reg(chip,SJASR);
 869
 870                 if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
 871                    (irq_register & sjaIR_TI))
 872                          can_msgobj_set_fl(obj,TX_REQUEST);
 873
 874         } while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
 875                 (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
 876                 (status & sjaSR_RBS));
 877 */
 878         return CANCHIP_IRQ_HANDLED;
 879 }
 880
 881 /**
 882  * usbcan_wakeup_tx: - wakeups TX processing
 883  * @chip: pointer to chip state structure
 884  * @obj: pointer to message object structure
 885  *
 886  * Function is responsible for initiating message transmition.
 887  * It is responsible for clearing of object TX_REQUEST flag
 888  *
 889  * Return Value: negative value reports error.
 890  * File: src/usbcan.c
 891  */
 892 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 893 {
 894         CANMSG("Trying to send message\n");
 895         can_preempt_disable();
 896
 897         can_msgobj_set_fl(obj,TX_PENDING);
 898         can_msgobj_set_fl(obj,TX_REQUEST);
 899         while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 900                 can_msgobj_clear_fl(obj,TX_REQUEST);
 901
 902                 if (!usbcan_chip_queue_status(chip)){
 903                         obj->tx_retry_cnt=0;
 904                         usbcan_irq_write_handler(chip, obj);
 905                 }
 906
 907                 can_msgobj_clear_fl(obj,TX_LOCK);
 908                 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
 909                 DEBUGMSG("TX looping in usbcan_wakeup_tx\n");
 910         }
 911
 912         can_preempt_enable();
 913         return 0;
 914 }
 915
 916 int usbcan_chipregister(struct chipspecops_t *chipspecops)
 917 {
 918         CANMSG("initializing usbcan chip operations\n");
 919         chipspecops->chip_config=usbcan_chip_config;
 920         chipspecops->baud_rate=usbcan_baud_rate;
 921         chipspecops->standard_mask=usbcan_standard_mask;
 922         chipspecops->extended_mask=usbcan_extended_mask;
 923         chipspecops->message15_mask=usbcan_extended_mask;
 924         chipspecops->clear_objects=usbcan_clear_objects;
 925         chipspecops->config_irqs=usbcan_config_irqs;
 926         chipspecops->pre_read_config=usbcan_pre_read_config;
 927         chipspecops->pre_write_config=usbcan_pre_write_config;
 928         chipspecops->send_msg=usbcan_send_msg;
 929         chipspecops->check_tx_stat=usbcan_check_tx_stat;
 930         chipspecops->wakeup_tx=usbcan_wakeup_tx;
 931         chipspecops->remote_request=usbcan_remote_request;
 932         chipspecops->enable_configuration=usbcan_enable_configuration;
 933         chipspecops->disable_configuration=usbcan_disable_configuration;
 934         chipspecops->attach_to_chip=usbcan_attach_to_chip;
 935         chipspecops->release_chip=usbcan_release_chip;
 936         chipspecops->set_btregs=usbcan_set_btregs;
 937         chipspecops->start_chip=usbcan_start_chip;
 938         chipspecops->stop_chip=usbcan_stop_chip;
 939         chipspecops->irq_handler=usbcan_irq_handler;
 940         chipspecops->irq_accept=NULL;
 941         return 0;
 942 }
 943
 944 /**
 945  * usbcan_fill_chipspecops - fills chip specific operations
 946  * @chip: pointer to chip representation structure
 947  *
 948  * The function fills chip specific operations for sja1000 (PeliCAN) chip.
 949  *
 950  * Return Value: returns negative number in the case of fail
 951  */
 952 int usbcan_fill_chipspecops(struct canchip_t *chip)
 953 {
 954         chip->chip_type="usbcan";
 955         chip->max_objects=1;
 956         usbcan_chipregister(chip->chipspecops);
 957         return 0;
 958 }
 959
 960 /**
 961  * usbcan_init_chip_data - Initialize chips
 962  * @candev: Pointer to candevice/board structure
 963  * @chipnr: Number of the CAN chip on the hardware card
 964  *
 965  * The function usbcan_init_chip_data() is used to initialize the hardware
 966  * structure containing information about the CAN chips.
 967  * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
 968  * "sja1000".
 969  * The @chip_base_addr entry represents the start of the 'official' memory map
 970  * of the installed chip. It's likely that this is the same as the @io_addr
 971  * argument supplied at module loading time.
 972  * The @clock entry holds the chip clock value in Hz.
 973  * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
 974  * register. Options defined in the %sja1000.h file:
 975  * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
 976  * The entry @sja_ocr_reg holds hardware specific options for the Output Control
 977  * register. Options defined in the %sja1000.h file:
 978  * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
 979  * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
 980  * The entry @int_clk_reg holds hardware specific options for the Clock Out
 981  * register. Options defined in the %i82527.h file:
 982  * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
 983  * The entry @int_bus_reg holds hardware specific options for the Bus
 984  * Configuration register. Options defined in the %i82527.h file:
 985  * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
 986  * The entry @int_cpu_reg holds hardware specific options for the cpu interface
 987  * register. Options defined in the %i82527.h file:
 988  * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
 989  * Return Value: The function always returns zero
 990  * File: src/usbcan.c
 991  */
 992 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
 993 {
 994         struct canchip_t *chip=candev->chip[chipnr];
 995
 996         usbcan_fill_chipspecops(chip);
 997
 998         candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
 999         candev->chip[chipnr]->chip_base_addr=0;
1000         candev->chip[chipnr]->clock = 0;
1001
1002         return 0;
1003 }
1004
1005
1006
1007 /* --------------------------------------------------------------------------------------------------- */
1008 static int usbcan_sleep_thread(struct usbcan_usb *dev)
1009 {
1010         int     rc = 0;
1011
1012         /* Wait until a signal arrives or we are woken up */
1013         for (;;) {
1014                 try_to_freeze();
1015                 set_current_state(TASK_INTERRUPTIBLE);
1016                 if (signal_pending(current)) {
1017                         rc = -EINTR;
1018                         break;
1019                 }
1020                 if (
1021                         can_kthread_should_stop() ||
1022                         test_bit(USBCAN_DATA_READ,&dev->flags) ||
1023                         test_bit(USBCAN_TERMINATE,&dev->flags) ||
1024                         test_bit(USBCAN_ERROR,&dev->flags)
1025                 )
1026                         break;
1027                 schedule();
1028         }
1029         __set_current_state(TASK_RUNNING);
1030         return rc;
1031 }
1032
1033 static void usbcan_rcv(struct urb *urb)
1034 {
1035         struct usbcan_usb *dev = urb->context;
1036         int retval;
1037
1038         switch (urb->status) {
1039         case 0:
1040                 /* success */
1041                 set_bit(USBCAN_DATA_READ,&dev->flags);
1042                 CANMSG("Message received\n");
1043                 wake_up_process(dev->comthread);
1044                 return;
1045         case -ECONNRESET:
1046         case -ENOENT:
1047         case -ESHUTDOWN:
1048                 /* this urb is terminated, clean up */
1049                 CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
1050                 set_bit(USBCAN_TERMINATE,&dev->flags);
1051                 wake_up_process(dev->comthread);
1052                 return;
1053         default:
1054 //              CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
1055                 break;
1056         }
1057
1058         retval = usb_submit_urb (urb, GFP_ATOMIC);
1059         if (retval<0){
1060                 CANMSG("%s - usb_submit_urb failed with result %d\n",
1061                      __FUNCTION__, retval);
1062                 set_bit(USBCAN_ERROR,&dev->flags);
1063                 wake_up_process(dev->comthread);
1064         }
1065 }
1066
1067 int usbcan_read_kthread(void *data)
1068 {
1069         int retval;
1070         struct usbcan_usb *dev=(struct usbcan_usb *)data;
1071         struct msgobj_t *obj;
1072
1073   /* this is normal work to do */
1074   CANMSG ("usbcan thread started!\n");
1075
1076         dev->rx = usb_alloc_urb(0, GFP_KERNEL);
1077         if (!dev->rx){
1078                 CANMSG("Error allocating usb urb\n");
1079                 goto error;
1080         }
1081         dev->rx->dev = dev->udev;
1082         usb_fill_bulk_urb(dev->rx, dev->udev,
1083                          usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1084                          &dev->rx_msg, 16,
1085                          usbcan_rcv, dev);
1086
1087   /* an endless loop in which we are doing our work */
1088   for(;;)
1089   {
1090                 if (!can_kthread_should_stop()){
1091                     retval=usb_submit_urb(dev->rx, GFP_KERNEL);
1092                     if (retval){
1093                         CANMSG("URB error %d\n",retval);
1094                         break;
1095                     }
1096
1097
1098                     /* fall asleep */
1099                     usbcan_sleep_thread(dev);
1100                 }
1101                 /* We need to do a memory barrier here to be sure that
1102                 the flags are visible on all CPUs. */
1103                 mb();
1104
1105                 /* here we are back from sleep because we caught a signal. */
1106                 if (can_kthread_should_stop())
1107                 {
1108                         /* we received a request to terminate ourself */
1109                         break;
1110                 }
1111
1112                 if (test_bit(USBCAN_ERROR,&dev->flags)){
1113                         CANMSG("URB error %d\n",retval);
1114                         clear_bit(USBCAN_ERROR,&dev->flags);
1115                 }
1116
1117                 { /* Normal work to do */
1118                         if (test_bit(USBCAN_DATA_READ,&dev->flags)){
1119                                 int i, len;
1120                                 clear_bit(USBCAN_DATA_READ,&dev->flags);
1121                                 CANMSG("Thread got received message\n");
1122
1123                                 if ((dev->candev->chip[dev->rx_msg[0]])&&
1124                                         (dev->candev->chip[dev->rx_msg[0]]->flags & CHIP_CONFIGURED)
1125                                 ){
1126                                         u8 *ptr;
1127
1128                                         obj=dev->candev->chip[dev->rx_msg[0]]->msgobj[0];
1129
1130                                         len=*(uint8_t *)(dev->rx_msg+1);
1131                                         if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
1132                                         obj->rx_msg.length = len;
1133
1134                                         obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rx_msg+2));
1135                                         obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rx_msg+4)));
1136
1137                                         for(ptr=dev->rx_msg+8,i=0; i < len; ptr++,i++) {
1138                                                 obj->rx_msg.data[i]=*ptr;
1139                                         }
1140
1141                                         // fill CAN message timestamp
1142                                         can_filltimestamp(&obj->rx_msg.timestamp);
1143                                         canque_filter_msg2edges(obj->qends, &obj->rx_msg);
1144                                 }
1145                                 else
1146                                         CANMSG("Destination chip not found\n");
1147                         }
1148     }
1149   }
1150   /* here we go only in case of termination of the thread */
1151         if (dev->rx){
1152                 usb_kill_urb(dev->rx);
1153                 usb_free_urb(dev->rx);
1154         }
1155   return 0;
1156 error:
1157   /* cleanup the thread, leave */
1158   CANMSG ("kernel thread terminated!\n");
1159   return -ENOMEM;
1160 //   exit_kthread(kthread);
1161
1162   /* returning from the thread here calls the exit functions */
1163 }
1164
1165 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1166 {
1167         struct usbcan_usb *dev;
1168         struct usb_host_interface *iface_desc;
1169         struct usb_endpoint_descriptor *endpoint;
1170         size_t buffer_size;
1171         int i;
1172         int retval = -ENOMEM;
1173
1174         /* allocate memory for our device state and initialize it */
1175         dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1176         if (!dev) {
1177                 err("Out of memory");
1178                 goto error;
1179         }
1180         memset(dev, 0, sizeof(struct usbcan_usb));
1181
1182         sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
1183         mutex_init(&dev->io_mutex);
1184         spin_lock_init(&dev->err_lock);
1185         init_usb_anchor(&dev->submitted);
1186
1187 //      dev->udev = usb_get_dev(interface_to_usbdev(interface));
1188         dev->udev = interface_to_usbdev(interface);
1189         dev->interface = interface;
1190
1191         /* set up the endpoint information */
1192         /* use only the first bulk-in and bulk-out endpoints */
1193         iface_desc = interface->cur_altsetting;
1194         for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1195                 endpoint = &iface_desc->endpoint[i].desc;
1196
1197                 if (!dev->bulk_in_endpointAddr &&
1198                     usb_endpoint_is_bulk_in(endpoint)) {
1199                         /* we found a bulk in endpoint */
1200                         buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1201                         dev->bulk_in_size = buffer_size;
1202                         dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1203                         dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1204                         if (!dev->bulk_in_buffer) {
1205                                 err("Could not allocate bulk_in_buffer");
1206                                 goto error;
1207                         }
1208                 }
1209
1210                 if (!dev->bulk_out_endpointAddr &&
1211                     usb_endpoint_is_bulk_out(endpoint)) {
1212                         /* we found a bulk out endpoint */
1213                                 dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1214                 }
1215
1216         }
1217         if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1218                 err("Could not find all bulk-in and bulk-out endpoints");
1219                 goto error;
1220         }
1221         dev->ctl_in_endpointAddr=0;
1222         dev->ctl_in_size=16;
1223         dev->ctl_in_buffer = can_checked_malloc(dev->ctl_in_size);
1224         dev->ctl_out_endpointAddr=0;
1225
1226         /* save our data pointer in this interface device */
1227         usb_set_intfdata(interface, dev);
1228
1229         register_usbdev("usbcan",(void *) dev);
1230
1231         /* let the user know what node this device is now attached to */
1232         info("USB Skeleton device now attached");
1233         return 0;
1234
1235 error:
1236         usb_put_dev(dev->udev);
1237         if (dev->bulk_in_buffer)
1238                 can_checked_free(dev->bulk_in_buffer);
1239         if (dev->ctl_in_buffer)
1240                 can_checked_free(dev->ctl_in_buffer);
1241         if (dev->candev){
1242                 dev->candev->sysdevptr.anydev=NULL;
1243                 cleanup_usbdev(dev->candev);
1244         }
1245         can_checked_free(dev);
1246         return retval;
1247 }
1248
1249 // Physically disconnected device
1250 static void usbcan_disconnect(struct usb_interface *interface)
1251 {
1252         struct usbcan_usb *dev;
1253         int minor = interface->minor;
1254
1255         dev = usb_get_intfdata(interface);
1256         if (!dev)
1257                 return;
1258         usb_set_intfdata(interface, NULL);
1259
1260         /* prevent more I/O from starting */
1261         mutex_lock(&dev->io_mutex);
1262         dev->interface = NULL;
1263         mutex_unlock(&dev->io_mutex);
1264
1265         //usb_kill_anchored_urbs(&dev->submitted);
1266
1267         usb_put_dev(dev->udev);
1268
1269         if (dev->candev){
1270                 dev->candev->sysdevptr.anydev=NULL;
1271                 cleanup_usbdev(dev->candev);
1272         }
1273
1274         if (dev->bulk_in_buffer)
1275                 can_checked_free(dev->bulk_in_buffer);
1276         if (dev->ctl_in_buffer)
1277                 can_checked_free(dev->ctl_in_buffer);
1278
1279         can_checked_free(dev);
1280
1281         info("USB Skeleton now disconnected");
1282 }
1283
1284 int usbcan_init(void){
1285         return usb_register(&usbcan_driver);
1286 }
1287
1288 void usbcan_exit(void){
1289         usb_deregister(&usbcan_driver);
1290 }