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(2,5,50))
27 #include <linux/wrapper.h>
30 #if !defined (__GENKSYMS__)
31 #if (defined (MODVERSIONS) && !defined(NOVER))
32 #include <linux/modversions.h>
33 /*#include "../include/main.ver"*/
37 /*#undef CONFIG_DEVFS_FS*/
39 #ifdef CONFIG_DEVFS_FS
40 #include <linux/devfs_fs_kernel.h>
41 #include <linux/miscdevice.h>
44 #include "../include/can.h"
45 #include "../include/can_sysdep.h"
46 #include "../include/main.h"
47 #include "../include/modparms.h"
48 #include "../include/devcommon.h"
49 #include "../include/setup.h"
50 #include "../include/proc.h"
51 #include "../include/open.h"
52 #include "../include/close.h"
53 #include "../include/read.h"
54 #include "../include/select.h"
55 #include "../include/irq.h"
56 #include "../include/ioctl.h"
57 #include "../include/write.h"
58 #include "../include/finish.h"
59 #include "../include/fasync.h"
62 #include <rtl_posixio.h>
63 #include "../include/can_iortl.h"
64 #endif /*CAN_WITH_RTL*/
66 can_spinlock_t canuser_manipulation_lock;
68 /* Module parameters, some must be supplied at module loading time */
70 MODULE_PARM(major,"1i");
71 MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
72 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};
73 /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
74 MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
75 MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
77 MODULE_PARM(extended,"1i");
78 MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
79 " selects extended frames reception for i82527");
81 MODULE_PARM(pelican,"1i");
82 MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
83 int baudrate[MAX_TOT_CHIPS];
84 MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
85 MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
86 char *hw[MAX_HW_CARDS]={NULL,};
87 MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
88 MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
89 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};
90 MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
91 MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
92 unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
93 MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
94 MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
96 MODULE_PARM(stdmask, "1i");
97 MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
99 MODULE_PARM(extmask, "1i");
100 MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
102 MODULE_PARM(mo15mask, "1i");
103 MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
105 MODULE_PARM(processlocal, "1i");
106 MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
107 "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
109 int can_rtl_priority=-1;
110 MODULE_PARM(can_rtl_priority, "1i");
111 MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
112 #endif /*CAN_WITH_RTL*/
114 /* Other module attributes */
115 #ifdef MODULE_SUPPORTED_DEVICE
116 MODULE_SUPPORTED_DEVICE("can");
118 #ifdef MODULE_LICENSE
119 MODULE_LICENSE("GPL");
121 #ifdef MODULE_DESCRIPTION
122 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
125 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
128 /* Global structures, used to describe the installed hardware. */
129 struct canhardware_t canhardware;
130 struct canhardware_t *hardware_p=&canhardware;
131 struct canchip_t *chips_p[MAX_TOT_CHIPS];
132 struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
133 #ifdef CONFIG_DEVFS_FS
134 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,60))
135 devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
139 /* Pointers to dynamically allocated memory are maintained in a linked list
140 * to ease memory deallocation.
142 struct mem_addr *mem_head=NULL;
144 struct file_operations can_fops=
146 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
155 #ifdef CAN_ENABLE_KERN_FASYNC
157 #endif /*CAN_ENABLE_KERN_FASYNC*/
160 EXPORT_SYMBOL(can_fops);
164 struct rtl_file_operations can_fops_rtl = {
166 read: can_read_rtl_posix,
167 write: can_write_rtl_posix,
168 ioctl: can_ioctl_rtl_posix,
170 open: can_open_rtl_posix,
171 release: can_release_rtl_posix
173 #endif /*CAN_WITH_RTL*/
176 int init_module(void)
179 struct candevice_t *candev;
180 struct canchip_t *chip;
182 if (parse_mod_parms())
185 can_spin_lock_init(&canuser_manipulation_lock);
186 canqueue_kern_initialize();
188 if (init_hw_struct())
195 res=register_chrdev(major,DEVICE_NAME, &can_fops);
197 CANMSG("Error registering driver.\n");
202 can_spin_lock_init(&can_irq_manipulation_lock);
203 canqueue_rtl_initialize();
204 res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
206 CANMSG("Error registering RT-Linux major number.\n");
209 #endif /*CAN_WITH_RTL*/
211 for (i=0; i<hardware_p->nr_boards; i++) {
212 candev=hardware_p->candevice[i];
213 if (candev->hwspecops->request_io(candev))
214 goto request_io_error;
215 candev->flags|=CANDEV_IO_RESERVED;
218 for (i=0; i<hardware_p->nr_boards; i++) {
219 candev=hardware_p->candevice[i];
220 if (candev->hwspecops->reset(candev))
224 can_spin_lock_init(&hardware_p->rtr_lock);
225 hardware_p->rtr_queue=NULL;
227 for (i=0; i<hardware_p->nr_boards; i++) {
228 candev=hardware_p->candevice[i];
229 for(j=0; j<candev->nr_all_chips; j++) {
230 if((chip=candev->chip[j])==NULL)
233 if(chip->chipspecops->attach_to_chip(chip)<0) {
234 CANMSG("Initial attach to the chip HW failed\n");
235 goto interrupt_error;
238 chip->flags |= CHIP_ATTACHED;
240 if(can_chip_setup_irq(chip)<0) {
241 CANMSG("Error to setup chip IRQ\n");
242 goto interrupt_error;
246 if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
247 if (candev->hwspecops->program_irq(candev)){
248 CANMSG("Error to program board interrupt\n");
249 goto interrupt_error;
253 #ifdef CONFIG_PROC_FS
254 if (can_init_procdir())
258 #ifdef CONFIG_DEVFS_FS
260 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
264 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
265 if(!objects_p[i]) continue;
266 dev_minor=objects_p[i]->minor;
267 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
268 sprintf (dev_name, "can%d", dev_minor);
269 devfs_handles[i]=devfs_register(NULL, dev_name,
270 DEVFS_FL_DEFAULT, major, dev_minor,
271 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
272 &can_fops, (void*)objects_p[i]);
274 devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
281 #ifdef CONFIG_PROC_FS
283 CANMSG("Error registering /proc entry.\n");
291 CANMSG("Error resetting device.\n");
295 CANMSG("Error to request IO resources for device.\n");
299 canhardware_done(hardware_p);
302 rtl_unregister_rtldev(major,DEVICE_NAME);
305 #endif /*CAN_WITH_RTL*/
307 res=unregister_chrdev(major,DEVICE_NAME);
309 CANMSG("Error unloading CAN driver, error: %d\n",res);
311 CANMSG("No CAN devices or driver setup error.\n");
314 if ( can_del_mem_list() )
315 CANMSG("Error deallocating memory\n");
320 void cleanup_module(void)
324 #ifdef CONFIG_PROC_FS
325 if (can_delete_procdir())
326 CANMSG("Error unregistering /proc/can entry.\n");
329 #ifdef CONFIG_DEVFS_FS
330 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
331 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
333 devfs_unregister(devfs_handles[i]);
336 if(!objects_p[i]) continue;
337 dev_minor=objects_p[i]->minor;
339 devfs_remove("can%d", dev_minor);
344 canhardware_done(hardware_p);
347 rtl_unregister_rtldev(major,DEVICE_NAME);
349 #endif /*CAN_WITH_RTL*/
351 if ( can_del_mem_list() )
352 CANMSG("Error deallocating memory\n");
354 res=unregister_chrdev(major,DEVICE_NAME);
356 CANMSG("Error unregistering CAN driver, error: %d\n",res);