lincan/src/main.c

   1 /**************************************************************************/
   2 /* File: main.c - the CAN driver top level glue code (needs rewrite)      */
   3 /*                                                                        */
   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>      */
   9 /*                                                                        */
  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.                                              */
  20 /*                                                                        */
  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:                                                     */
  24 /*                                                                        */
  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 /**************************************************************************/
  34
  35 #ifndef EXPORT_SYMTAB
  36 #define EXPORT_SYMTAB
  37 #endif
  38
  39 #include <linux/autoconf.h>
  40
  41 #include <linux/module.h>
  42
  43 #include <linux/kernel.h>
  44 #include <linux/fs.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>
  50
  51 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
  52  #include <linux/wrapper.h>
  53 #else
  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
  63  #endif
  64 #endif
  65
  66 #if !defined (__GENKSYMS__)
  67 #if (defined (MODVERSIONS) && !defined(NOVER))
  68 #include <linux/modversions.h>
  69 /*#include "../include/main.ver"*/
  70 #endif
  71 #endif
  72
  73 /*#undef CONFIG_DEVFS_FS*/
  74
  75 #ifdef CONFIG_DEVFS_FS
  76 #include <linux/devfs_fs_kernel.h>
  77 #include <linux/miscdevice.h>
  78 #endif
  79
  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"
  96
  97 #ifdef CAN_WITH_RTL
  98 #include <rtl_posixio.h>
  99 #include "../include/can_iortl.h"
 100 #endif /*CAN_WITH_RTL*/
 101
 102 can_spinlock_t canuser_manipulation_lock;
 103
 104 int major=CAN_MAJOR;
 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};
 106 int extended=0;
 107 int pelican=0;
 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];
 113 int stdmask=0;
 114 int extmask=0;
 115 int mo15mask=0;
 116 int processlocal=0;
 117
 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;
 124
 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");
 141
 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 */
 157
 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");
 173
 174 #ifdef CAN_WITH_RTL
 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*/
 179
 180 /* Other module attributes */
 181 #ifdef MODULE_SUPPORTED_DEVICE
 182 MODULE_SUPPORTED_DEVICE("can");
 183 #endif
 184 #ifdef MODULE_LICENSE
 185 MODULE_LICENSE("GPL");
 186 #endif
 187 #ifdef MODULE_DESCRIPTION
 188 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 189 #endif
 190 #ifdef MODULE_AUTHOR
 191 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
 192 #endif
 193
 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];
 202 #endif
 203 #endif
 204
 205 /* Pointers to dynamically allocated memory are maintained in a linked list
 206  * to ease memory deallocation.
 207  */
 208 struct mem_addr *mem_head=NULL;
 209
 210 struct file_operations can_fops=
 211 {
 212  #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
 213         owner:          THIS_MODULE,
 214  #endif
 215         read:           can_read,
 216         write:          can_write,
 217         poll:           can_poll,
 218         ioctl:          can_ioctl,
 219         open:           can_open,
 220         release:        can_close,
 221   #ifdef CAN_ENABLE_KERN_FASYNC
 222         fasync:         can_fasync
 223   #endif /*CAN_ENABLE_KERN_FASYNC*/
 224 };
 225
 226 EXPORT_SYMBOL(can_fops);
 227
 228
 229 #ifdef CAN_WITH_RTL
 230 struct rtl_file_operations can_fops_rtl = {
 231         llseek:         NULL,
 232         read:           can_read_rtl_posix,
 233         write:          can_write_rtl_posix,
 234         ioctl:          can_ioctl_rtl_posix,
 235         mmap:           NULL,
 236         open:           can_open_rtl_posix,
 237         release:        can_release_rtl_posix
 238 };
 239 #endif /*CAN_WITH_RTL*/
 240
 241
 242 /*
 243  2.6 kernel attributes for sysfs
 244
 245 static ssize_t show_xxx(struct class_device *cdev, char *buf)
 246 {
 247         return sprintf(buf, "xxxx\n");
 248 }
 249
 250 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
 251 {
 252 }
 253
 254 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
 255
 256 ret = class_device_create_file(class_dev, class_device_attr_xxx);
 257 if (ret)
 258         goto err_unregister;
 259
 260 */
 261
 262 int init_module(void)
 263 {
 264         int res=0,i=0, j;
 265         struct candevice_t *candev;
 266         struct canchip_t *chip;
 267
 268         if (parse_mod_parms())
 269                 return -EINVAL;
 270
 271         can_spin_lock_init(&canuser_manipulation_lock);
 272         canqueue_kern_initialize();
 273
 274         if (init_hw_struct())
 275                 return -ENODEV;
 276
 277         #ifdef CAN_DEBUG
 278                 list_hw();
 279         #endif
 280
 281         res=register_chrdev(major,DEVICE_NAME, &can_fops);
 282         if (res<0) {
 283                 CANMSG("Error registering driver.\n");
 284                 goto register_error;
 285         }
 286
 287         #ifdef CAN_WITH_RTL
 288         can_spin_lock_init(&can_irq_manipulation_lock);
 289         canqueue_rtl_initialize();
 290         res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
 291         if (res<0) {
 292                 CANMSG("Error registering RT-Linux major number.\n");
 293                 goto rtldev_error;
 294         }
 295         #endif /*CAN_WITH_RTL*/
 296
 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;
 302         }
 303
 304         for (i=0; i<hardware_p->nr_boards; i++) {
 305                 candev=hardware_p->candevice[i];
 306                 if (candev->hwspecops->reset(candev))
 307                         goto reset_error;
 308         }
 309
 310         can_spin_lock_init(&hardware_p->rtr_lock);
 311         hardware_p->rtr_queue=NULL;
 312
 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)
 317                                 continue;
 318
 319                         if(chip->chipspecops->attach_to_chip(chip)<0) {
 320                                 CANMSG("Initial attach to the chip HW failed\n");
 321                                 goto interrupt_error;
 322                         }
 323
 324                         chip->flags |= CHIP_ATTACHED;
 325
 326                         if(can_chip_setup_irq(chip)<0) {
 327                                 CANMSG("Error to setup chip IRQ\n");
 328                                 goto interrupt_error;
 329                         }
 330                 }
 331
 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;
 336                         }
 337         }
 338
 339 #ifdef CONFIG_PROC_FS
 340         if (can_init_procdir())
 341                 goto proc_error;
 342 #endif
 343
 344 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 345         can_class=class_create(THIS_MODULE, "can");
 346 #endif
 347
 348 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 349         {
 350             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 351                 char dev_name[32];
 352             #elif  LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */
 353                 struct class_device *this_dev;
 354             #else
 355                 struct device *this_dev;
 356             #endif
 357                 int dev_minor;
 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]);
 367                     #else
 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)
 380                         }else{
 381                                 /*this_dev->class_data=objects_p[i];*/
 382                                 class_set_devdata(this_dev,objects_p[i]);
 383                       #endif /* <= 2.6.25 */
 384                         }
 385                       #ifdef CONFIG_DEVFS_FS
 386                         devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
 387                       #endif
 388                     #endif
 389                 }
 390         }
 391 #endif
 392         return 0;
 393
 394 #ifdef CONFIG_PROC_FS
 395         proc_error: ;
 396                 CANMSG("Error registering /proc entry.\n");
 397                 goto memory_error;
 398 #endif
 399
 400         interrupt_error: ;
 401                 goto memory_error;
 402
 403         reset_error: ;
 404                 CANMSG("Error resetting device.\n");
 405                 goto memory_error;
 406
 407         request_io_error: ;
 408                 CANMSG("Error to request IO resources for device.\n");
 409                 goto memory_error;
 410
 411         memory_error: ;
 412                 canhardware_done(hardware_p);
 413
 414                 #ifdef CAN_WITH_RTL
 415                 rtl_unregister_rtldev(major,DEVICE_NAME);
 416         rtldev_error:
 417                 canqueue_rtl_done();
 418                 #endif /*CAN_WITH_RTL*/
 419
 420                 unregister_chrdev(major,DEVICE_NAME);
 421                 CANMSG("No CAN devices or driver setup error.\n");
 422
 423         register_error:
 424                 if ( can_del_mem_list() )
 425                         CANMSG("Error deallocating memory\n");
 426
 427                 return -ENODEV;
 428 }
 429
 430 void cleanup_module(void)
 431 {
 432 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 433         int i=0;
 434 #endif
 435
 436 #ifdef CONFIG_PROC_FS
 437         if (can_delete_procdir())
 438                 CANMSG("Error unregistering /proc/can entry.\n");
 439 #endif
 440
 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))
 444                 if(devfs_handles[i])
 445                         devfs_unregister(devfs_handles[i]);
 446             #else
 447                 int dev_minor;
 448                 if(!objects_p[i]) continue;
 449                 dev_minor=objects_p[i]->minor;
 450                 if(minor>=0){
 451                     #ifdef CONFIG_DEVFS_FS
 452                         devfs_remove("can%d", dev_minor);
 453                     #endif
 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 */
 459                 }
 460             #endif
 461         }
 462 #endif
 463
 464 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 465         class_destroy(can_class);
 466 #endif
 467
 468         canhardware_done(hardware_p);
 469
 470         #ifdef CAN_WITH_RTL
 471         rtl_unregister_rtldev(major,DEVICE_NAME);
 472         canqueue_rtl_done();
 473         #endif /*CAN_WITH_RTL*/
 474
 475         if ( can_del_mem_list() )
 476                 CANMSG("Error deallocating memory\n");
 477
 478         unregister_chrdev(major,DEVICE_NAME);
 479 }