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;
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};
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 long clockfreq[MAX_HW_CARDS];
93 unsigned int minor_specified;
94 unsigned int baudrate_specified;
95 unsigned int hw_specified;
96 unsigned int irq_specified;
97 unsigned int io_specified;
98 unsigned int clockfreq_specified;
100 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,12))
101 /* Module parameters, some must be supplied at module loading time */
102 MODULE_PARM(major,"1i");
103 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
104 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
105 MODULE_PARM(extended,"1i");
106 MODULE_PARM(pelican,"1i");
107 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
108 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
109 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
110 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
111 MODULE_PARM(clockfreq, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
112 MODULE_PARM(stdmask, "1i");
113 MODULE_PARM(extmask, "1i");
114 MODULE_PARM(mo15mask, "1i");
115 MODULE_PARM(processlocal, "1i");
117 #else /* LINUX_VERSION_CODE >= 2,6,12 */
118 module_param(major, int, 0);
119 module_param_array(minor, int, &minor_specified, 0);
120 module_param(extended, int, 0);
121 module_param(pelican, int, 0);
122 module_param_array(baudrate, int, &baudrate_specified, 0);
123 module_param_array(hw, charp, &hw_specified, 0);
124 module_param_array(irq, int, &irq_specified, 0);
125 module_param_array(io, ulong, &io_specified, 0);
126 module_param_array(clockfreq, long, &clockfreq_specified, 0);
127 module_param(stdmask, int, 0);
128 module_param(extmask, int, 0);
129 module_param(mo15mask, int, 0);
130 module_param(processlocal, int, 0);
131 #endif /* LINUX_VERSION_CODE >= 2,6,12 */
133 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
134 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
135 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
136 " selects extended frames reception for i82527");
137 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
138 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
139 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
140 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
141 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
142 MODULE_PARM_DESC(clockfreq,"base board clock source frequency in step of 1kHz");
143 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
144 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
145 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
146 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
147 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
150 int can_rtl_priority=-1;
151 MODULE_PARM(can_rtl_priority, "1i");
152 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
153 #endif /*CAN_WITH_RTL*/
155 /* Other module attributes */
156 #ifdef MODULE_SUPPORTED_DEVICE
157 MODULE_SUPPORTED_DEVICE("can");
159 #ifdef MODULE_LICENSE
160 MODULE_LICENSE("GPL");
162 #ifdef MODULE_DESCRIPTION
163 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
166 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
169 /* Global structures, used to describe the installed hardware. */
170 struct canhardware_t canhardware;
171 struct canhardware_t *hardware_p=&canhardware;
172 struct canchip_t *chips_p[MAX_TOT_CHIPS];
173 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
174 #ifdef CONFIG_DEVFS_FS
175 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
176 devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
180 /* Pointers to dynamically allocated memory are maintained in a linked list
181 * to ease memory deallocation.
183 struct mem_addr *mem_head=NULL;
185 struct file_operations can_fops=
187 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
196 #ifdef CAN_ENABLE_KERN_FASYNC
198 #endif /*CAN_ENABLE_KERN_FASYNC*/
201 EXPORT_SYMBOL(can_fops);
205 struct rtl_file_operations can_fops_rtl = {
207 read: can_read_rtl_posix,
208 write: can_write_rtl_posix,
209 ioctl: can_ioctl_rtl_posix,
211 open: can_open_rtl_posix,
212 release: can_release_rtl_posix
214 #endif /*CAN_WITH_RTL*/
218 2.6 kernel attributes for sysfs
220 static ssize_t show_xxx(struct class_device *cdev, char *buf)
222 return sprintf(buf, "xxxx\n");
225 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
229 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
231 ret = class_device_create_file(class_dev, class_device_attr_xxx);
237 int init_module(void)
240 struct candevice_t *candev;
241 struct canchip_t *chip;
243 if (parse_mod_parms())
246 can_spin_lock_init(&canuser_manipulation_lock);
247 canqueue_kern_initialize();
249 if (init_hw_struct())
256 res=register_chrdev(major,DEVICE_NAME, &can_fops);
258 CANMSG("Error registering driver.\n");
263 can_spin_lock_init(&can_irq_manipulation_lock);
264 canqueue_rtl_initialize();
265 res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
267 CANMSG("Error registering RT-Linux major number.\n");
270 #endif /*CAN_WITH_RTL*/
272 for (i=0; i<hardware_p->nr_boards; i++) {
273 candev=hardware_p->candevice[i];
274 if (candev->hwspecops->request_io(candev))
275 goto request_io_error;
276 candev->flags|=CANDEV_IO_RESERVED;
279 for (i=0; i<hardware_p->nr_boards; i++) {
280 candev=hardware_p->candevice[i];
281 if (candev->hwspecops->reset(candev))
285 can_spin_lock_init(&hardware_p->rtr_lock);
286 hardware_p->rtr_queue=NULL;
288 for (i=0; i<hardware_p->nr_boards; i++) {
289 candev=hardware_p->candevice[i];
290 for(j=0; j<candev->nr_all_chips; j++) {
291 if((chip=candev->chip[j])==NULL)
294 if(chip->chipspecops->attach_to_chip(chip)<0) {
295 CANMSG("Initial attach to the chip HW failed\n");
296 goto interrupt_error;
299 chip->flags |= CHIP_ATTACHED;
301 if(can_chip_setup_irq(chip)<0) {
302 CANMSG("Error to setup chip IRQ\n");
303 goto interrupt_error;
307 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
308 if (candev->hwspecops->program_irq(candev)){
309 CANMSG("Error to program board interrupt\n");
310 goto interrupt_error;
314 #ifdef CONFIG_PROC_FS
315 if (can_init_procdir())
319 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
320 can_class=class_create(THIS_MODULE, "can");
323 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
325 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
327 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
328 struct class_device *this_dev;
330 struct device *this_dev;
333 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
334 if(!objects_p[i]) continue;
335 dev_minor=objects_p[i]->minor;
336 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
337 sprintf (dev_name, "can%d", dev_minor);
338 devfs_handles[i]=devfs_register(NULL, dev_name,
339 DEVFS_FL_DEFAULT, major, dev_minor,
340 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
341 &can_fops, (void*)objects_p[i]);
343 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
344 this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
345 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
346 this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
347 #else /* >= 2.6.26 */
348 this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
349 #endif /* >= 2.6.26 */
350 if(IS_ERR(this_dev)){
351 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
352 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
354 /*this_dev->class_data=objects_p[i];*/
355 class_set_devdata(this_dev,objects_p[i]);
356 #endif /* <= 2.6.25 */
358 #ifdef CONFIG_DEVFS_FS
359 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
367 #ifdef CONFIG_PROC_FS
369 CANMSG("Error registering /proc entry.\n");
377 CANMSG("Error resetting device.\n");
381 CANMSG("Error to request IO resources for device.\n");
385 canhardware_done(hardware_p);
388 rtl_unregister_rtldev(major,DEVICE_NAME);
391 #endif /*CAN_WITH_RTL*/
393 unregister_chrdev(major,DEVICE_NAME);
394 CANMSG("No CAN devices or driver setup error.\n");
397 if ( can_del_mem_list() )
398 CANMSG("Error deallocating memory\n");
403 void cleanup_module(void)
405 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
409 #ifdef CONFIG_PROC_FS
410 if (can_delete_procdir())
411 CANMSG("Error unregistering /proc/can entry.\n");
414 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
415 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
416 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
418 devfs_unregister(devfs_handles[i]);
421 if(!objects_p[i]) continue;
422 dev_minor=objects_p[i]->minor;
424 #ifdef CONFIG_DEVFS_FS
425 devfs_remove("can%d", dev_minor);
427 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
428 class_device_destroy(can_class, MKDEV(major, dev_minor));
429 #else /* >= 2.6.26 */
430 device_destroy(can_class, MKDEV(major, dev_minor));
431 #endif /* >= 2.6.26 */
437 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
438 class_destroy(can_class);
441 canhardware_done(hardware_p);
444 rtl_unregister_rtldev(major,DEVICE_NAME);
446 #endif /*CAN_WITH_RTL*/
448 if ( can_del_mem_list() )
449 CANMSG("Error deallocating memory\n");
451 unregister_chrdev(major,DEVICE_NAME);