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/autoconf.h>
41 #include <linux/module.h>
43 #include <linux/kernel.h>
45 #include <linux/sched.h>
46 #include <linux/poll.h>
47 #include <linux/version.h>
48 #include <linux/autoconf.h>
49 #include <linux/interrupt.h>
51 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
52 #include <linux/wrapper.h>
54 #include <linux/device.h>
55 #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,13)
56 static struct class *can_class;
57 #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
58 static struct class_simple *can_class;
59 #define class_create class_simple_create
60 #define class_device_create class_simple_device_add
61 #define class_device_destroy(a,b) class_simple_device_remove(b)
62 #define class_destroy class_simple_destroy
66 #if !defined (__GENKSYMS__)
67 #if (defined (MODVERSIONS) && !defined(NOVER))
68 #include <linux/modversions.h>
69 /*#include "../include/main.ver"*/
73 /*#undef CONFIG_DEVFS_FS*/
75 #ifdef CONFIG_DEVFS_FS
76 #include <linux/devfs_fs_kernel.h>
77 #include <linux/miscdevice.h>
80 #include "../include/can.h"
81 #include "../include/can_sysdep.h"
82 #include "../include/main.h"
83 #include "../include/modparms.h"
84 #include "../include/devcommon.h"
85 #include "../include/setup.h"
86 #include "../include/proc.h"
87 #include "../include/open.h"
88 #include "../include/close.h"
89 #include "../include/read.h"
90 #include "../include/select.h"
91 #include "../include/irq.h"
92 #include "../include/ioctl.h"
93 #include "../include/write.h"
94 #include "../include/finish.h"
95 #include "../include/fasync.h"
98 #include <rtl_posixio.h>
99 #include "../include/can_iortl.h"
100 #endif /*CAN_WITH_RTL*/
102 can_spinlock_t canuser_manipulation_lock;
105 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};
108 int baudrate[MAX_TOT_CHIPS];
109 char *hw[MAX_HW_CARDS]={NULL,};
110 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};
111 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
112 long clockfreq[MAX_HW_CARDS];
118 unsigned int minor_specified;
119 unsigned int baudrate_specified;
120 unsigned int hw_specified;
121 unsigned int irq_specified;
122 unsigned int io_specified;
123 unsigned int clockfreq_specified;
125 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,12))
126 /* Module parameters, some must be supplied at module loading time */
127 MODULE_PARM(major,"1i");
128 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
129 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
130 MODULE_PARM(extended,"1i");
131 MODULE_PARM(pelican,"1i");
132 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
133 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
134 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
135 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
136 MODULE_PARM(clockfreq, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
137 MODULE_PARM(stdmask, "1i");
138 MODULE_PARM(extmask, "1i");
139 MODULE_PARM(mo15mask, "1i");
140 MODULE_PARM(processlocal, "1i");
142 #else /* LINUX_VERSION_CODE >= 2,6,12 */
143 module_param(major, int, 0);
144 module_param_array(minor, int, &minor_specified, 0);
145 module_param(extended, int, 0);
146 module_param(pelican, int, 0);
147 module_param_array(baudrate, int, &baudrate_specified, 0);
148 module_param_array(hw, charp, &hw_specified, 0);
149 module_param_array(irq, int, &irq_specified, 0);
150 module_param_array(io, ulong, &io_specified, 0);
151 module_param_array(clockfreq, long, &clockfreq_specified, 0);
152 module_param(stdmask, int, 0);
153 module_param(extmask, int, 0);
154 module_param(mo15mask, int, 0);
155 module_param(processlocal, int, 0);
156 #endif /* LINUX_VERSION_CODE >= 2,6,12 */
158 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
159 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
160 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
161 " selects extended frames reception for i82527");
162 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
163 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
164 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
165 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
166 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
167 MODULE_PARM_DESC(clockfreq,"base board clock source frequency in step of 1kHz");
168 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
169 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
170 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
171 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
172 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
175 int can_rtl_priority=-1;
176 MODULE_PARM(can_rtl_priority, "1i");
177 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
178 #endif /*CAN_WITH_RTL*/
180 /* Other module attributes */
181 #ifdef MODULE_SUPPORTED_DEVICE
182 MODULE_SUPPORTED_DEVICE("can");
184 #ifdef MODULE_LICENSE
185 MODULE_LICENSE("GPL");
187 #ifdef MODULE_DESCRIPTION
188 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
191 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
194 /* Global structures, used to describe the installed hardware. */
195 struct canhardware_t canhardware;
196 struct canhardware_t *hardware_p=&canhardware;
197 struct canchip_t *chips_p[MAX_TOT_CHIPS];
198 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
199 #ifdef CONFIG_DEVFS_FS
200 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
201 devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
205 /* Pointers to dynamically allocated memory are maintained in a linked list
206 * to ease memory deallocation.
208 struct mem_addr *mem_head=NULL;
210 struct file_operations can_fops=
212 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
221 #ifdef CAN_ENABLE_KERN_FASYNC
223 #endif /*CAN_ENABLE_KERN_FASYNC*/
226 EXPORT_SYMBOL(can_fops);
230 struct rtl_file_operations can_fops_rtl = {
232 read: can_read_rtl_posix,
233 write: can_write_rtl_posix,
234 ioctl: can_ioctl_rtl_posix,
236 open: can_open_rtl_posix,
237 release: can_release_rtl_posix
239 #endif /*CAN_WITH_RTL*/
243 2.6 kernel attributes for sysfs
245 static ssize_t show_xxx(struct class_device *cdev, char *buf)
247 return sprintf(buf, "xxxx\n");
250 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
254 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
256 ret = class_device_create_file(class_dev, class_device_attr_xxx);
262 int init_module(void)
265 struct candevice_t *candev;
266 struct canchip_t *chip;
268 if (parse_mod_parms())
271 can_spin_lock_init(&canuser_manipulation_lock);
272 canqueue_kern_initialize();
274 if (init_hw_struct())
281 res=register_chrdev(major,DEVICE_NAME, &can_fops);
283 CANMSG("Error registering driver.\n");
288 can_spin_lock_init(&can_irq_manipulation_lock);
289 canqueue_rtl_initialize();
290 res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
292 CANMSG("Error registering RT-Linux major number.\n");
295 #endif /*CAN_WITH_RTL*/
297 for (i=0; i<hardware_p->nr_boards; i++) {
298 candev=hardware_p->candevice[i];
299 if (candev->hwspecops->request_io(candev))
300 goto request_io_error;
301 candev->flags|=CANDEV_IO_RESERVED;
304 for (i=0; i<hardware_p->nr_boards; i++) {
305 candev=hardware_p->candevice[i];
306 if (candev->hwspecops->reset(candev))
310 can_spin_lock_init(&hardware_p->rtr_lock);
311 hardware_p->rtr_queue=NULL;
313 for (i=0; i<hardware_p->nr_boards; i++) {
314 candev=hardware_p->candevice[i];
315 for(j=0; j<candev->nr_all_chips; j++) {
316 if((chip=candev->chip[j])==NULL)
319 if(chip->chipspecops->attach_to_chip(chip)<0) {
320 CANMSG("Initial attach to the chip HW failed\n");
321 goto interrupt_error;
324 chip->flags |= CHIP_ATTACHED;
326 if(can_chip_setup_irq(chip)<0) {
327 CANMSG("Error to setup chip IRQ\n");
328 goto interrupt_error;
332 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
333 if (candev->hwspecops->program_irq(candev)){
334 CANMSG("Error to program board interrupt\n");
335 goto interrupt_error;
339 #ifdef CONFIG_PROC_FS
340 if (can_init_procdir())
344 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
345 can_class=class_create(THIS_MODULE, "can");
348 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
350 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
352 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
353 struct class_device *this_dev;
355 struct device *this_dev;
358 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
359 if(!objects_p[i]) continue;
360 dev_minor=objects_p[i]->minor;
361 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
362 sprintf (dev_name, "can%d", dev_minor);
363 devfs_handles[i]=devfs_register(NULL, dev_name,
364 DEVFS_FL_DEFAULT, major, dev_minor,
365 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
366 &can_fops, (void*)objects_p[i]);
368 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
369 this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
370 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
371 this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
372 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,27)
373 this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
374 #else /* >= 2.6.28 */
375 this_dev=device_create(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor);
376 #endif /* >= 2.6.28 */
377 if(IS_ERR(this_dev)){
378 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
379 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
381 /*this_dev->class_data=objects_p[i];*/
382 class_set_devdata(this_dev,objects_p[i]);
383 #endif /* <= 2.6.25 */
385 #ifdef CONFIG_DEVFS_FS
386 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
394 #ifdef CONFIG_PROC_FS
396 CANMSG("Error registering /proc entry.\n");
404 CANMSG("Error resetting device.\n");
408 CANMSG("Error to request IO resources for device.\n");
412 canhardware_done(hardware_p);
415 rtl_unregister_rtldev(major,DEVICE_NAME);
418 #endif /*CAN_WITH_RTL*/
420 unregister_chrdev(major,DEVICE_NAME);
421 CANMSG("No CAN devices or driver setup error.\n");
424 if ( can_del_mem_list() )
425 CANMSG("Error deallocating memory\n");
430 void cleanup_module(void)
432 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
436 #ifdef CONFIG_PROC_FS
437 if (can_delete_procdir())
438 CANMSG("Error unregistering /proc/can entry.\n");
441 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
442 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
443 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
445 devfs_unregister(devfs_handles[i]);
448 if(!objects_p[i]) continue;
449 dev_minor=objects_p[i]->minor;
451 #ifdef CONFIG_DEVFS_FS
452 devfs_remove("can%d", dev_minor);
454 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25)
455 class_device_destroy(can_class, MKDEV(major, dev_minor));
456 #else /* >= 2.6.26 */
457 device_destroy(can_class, MKDEV(major, dev_minor));
458 #endif /* >= 2.6.26 */
464 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
465 class_destroy(can_class);
468 canhardware_done(hardware_p);
471 rtl_unregister_rtldev(major,DEVICE_NAME);
473 #endif /*CAN_WITH_RTL*/
475 if ( can_del_mem_list() )
476 CANMSG("Error deallocating memory\n");
478 unregister_chrdev(major,DEVICE_NAME);