lincan/src/main.c

   1 /* main.c
   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
   8  */
   9
  10 #ifndef EXPORT_SYMTAB
  11 #define EXPORT_SYMTAB
  12 #endif
  13
  14 #include <linux/autoconf.h>
  15
  16 #include <linux/module.h>
  17
  18 #include <linux/kernel.h>
  19 #include <linux/fs.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>
  25
  26 #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
  27  #include <linux/wrapper.h>
  28 #else
  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
  38  #endif
  39 #endif
  40
  41 #if !defined (__GENKSYMS__)
  42 #if (defined (MODVERSIONS) && !defined(NOVER))
  43 #include <linux/modversions.h>
  44 /*#include "../include/main.ver"*/
  45 #endif
  46 #endif
  47
  48 /*#undef CONFIG_DEVFS_FS*/
  49
  50 #ifdef CONFIG_DEVFS_FS
  51 #include <linux/devfs_fs_kernel.h>
  52 #include <linux/miscdevice.h>
  53 #endif
  54
  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"
  71
  72 #ifdef CAN_WITH_RTL
  73 #include <rtl_posixio.h>
  74 #include "../include/can_iortl.h"
  75 #endif /*CAN_WITH_RTL*/
  76
  77 can_spinlock_t canuser_manipulation_lock;
  78
  79 int major=CAN_MAJOR;
  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};
  81 int extended=0;
  82 int pelican=0;
  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];
  88 int stdmask=0;
  89 int extmask=0;
  90 int mo15mask=0;
  91 int processlocal=0;
  92
  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;
  99
 100 #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,0))
 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");
 116
 117 #else /* LINUX_VERSION_CODE >= 2,6,0 */
 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 >= 2,6,0 */
 132
 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");
 148
 149 #ifdef CAN_WITH_RTL
 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*/
 154
 155 /* Other module attributes */
 156 #ifdef MODULE_SUPPORTED_DEVICE
 157 MODULE_SUPPORTED_DEVICE("can");
 158 #endif
 159 #ifdef MODULE_LICENSE
 160 MODULE_LICENSE("GPL");
 161 #endif
 162 #ifdef MODULE_DESCRIPTION
 163 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 164 #endif
 165 #ifdef MODULE_AUTHOR
 166 MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
 167 #endif
 168
 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];
 177 #endif
 178 #endif
 179
 180 /* Pointers to dynamically allocated memory are maintained in a linked list
 181  * to ease memory deallocation.
 182  */
 183 struct mem_addr *mem_head=NULL;
 184
 185 struct file_operations can_fops=
 186 {
 187  #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
 188         owner:          THIS_MODULE,
 189  #endif
 190         read:           can_read,
 191         write:          can_write,
 192         poll:           can_poll,
 193         ioctl:          can_ioctl,
 194         open:           can_open,
 195         release:        can_close,
 196   #ifdef CAN_ENABLE_KERN_FASYNC
 197         fasync:         can_fasync
 198   #endif /*CAN_ENABLE_KERN_FASYNC*/
 199 };
 200
 201 EXPORT_SYMBOL(can_fops);
 202
 203
 204 #ifdef CAN_WITH_RTL
 205 struct rtl_file_operations can_fops_rtl = {
 206         llseek:         NULL,
 207         read:           can_read_rtl_posix,
 208         write:          can_write_rtl_posix,
 209         ioctl:          can_ioctl_rtl_posix,
 210         mmap:           NULL,
 211         open:           can_open_rtl_posix,
 212         release:        can_release_rtl_posix
 213 };
 214 #endif /*CAN_WITH_RTL*/
 215
 216
 217 /*
 218  2.6 kernel attributes for sysfs
 219
 220 static ssize_t show_xxx(struct class_device *cdev, char *buf)
 221 {
 222         return sprintf(buf, "xxxx\n");
 223 }
 224
 225 static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
 226 {
 227 }
 228
 229 static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
 230
 231 ret = class_device_create_file(class_dev, class_device_attr_xxx);
 232 if (ret)
 233         goto err_unregister;
 234
 235 */
 236
 237 int init_module(void)
 238 {
 239         int res=0,i=0, j;
 240         struct candevice_t *candev;
 241         struct canchip_t *chip;
 242
 243         if (parse_mod_parms())
 244                 return -EINVAL;
 245
 246         can_spin_lock_init(&canuser_manipulation_lock);
 247         canqueue_kern_initialize();
 248
 249         if (init_hw_struct())
 250                 return -ENODEV;
 251
 252         #ifdef CAN_DEBUG
 253                 list_hw();
 254         #endif
 255
 256         res=register_chrdev(major,DEVICE_NAME, &can_fops);
 257         if (res<0) {
 258                 CANMSG("Error registering driver.\n");
 259                 goto register_error;
 260         }
 261
 262         #ifdef CAN_WITH_RTL
 263         can_spin_lock_init(&can_irq_manipulation_lock);
 264         canqueue_rtl_initialize();
 265         res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
 266         if (res<0) {
 267                 CANMSG("Error registering RT-Linux major number.\n");
 268                 goto rtldev_error;
 269         }
 270         #endif /*CAN_WITH_RTL*/
 271
 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;
 277         }
 278
 279         for (i=0; i<hardware_p->nr_boards; i++) {
 280                 candev=hardware_p->candevice[i];
 281                 if (candev->hwspecops->reset(candev))
 282                         goto reset_error;
 283         }
 284
 285         can_spin_lock_init(&hardware_p->rtr_lock);
 286         hardware_p->rtr_queue=NULL;
 287
 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)
 292                                 continue;
 293
 294                         if(chip->chipspecops->attach_to_chip(chip)<0) {
 295                                 CANMSG("Initial attach to the chip HW failed\n");
 296                                 goto interrupt_error;
 297                         }
 298
 299                         chip->flags |= CHIP_ATTACHED;
 300
 301                         if(can_chip_setup_irq(chip)<0) {
 302                                 CANMSG("Error to setup chip IRQ\n");
 303                                 goto interrupt_error;
 304                         }
 305                 }
 306
 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;
 311                         }
 312         }
 313
 314 #ifdef CONFIG_PROC_FS
 315         if (can_init_procdir())
 316                 goto proc_error;
 317 #endif
 318
 319 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 320         can_class=class_create(THIS_MODULE, "can");
 321 #endif
 322
 323 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 324         {
 325             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 326                 char dev_name[32];
 327             #else
 328                 struct class_device *this_dev;
 329             #endif
 330                 int dev_minor;
 331                 for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 332                         if(!objects_p[i]) continue;
 333                         dev_minor=objects_p[i]->minor;
 334                     #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 335                         sprintf (dev_name, "can%d", dev_minor);
 336                         devfs_handles[i]=devfs_register(NULL, dev_name,
 337                                 DEVFS_FL_DEFAULT, major, dev_minor,
 338                                 S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
 339                                 &can_fops, (void*)objects_p[i]);
 340                     #else
 341                       #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
 342                         this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 343                       #else /* >= 2.6.15 */
 344                         this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL,  "can%d", dev_minor);
 345                       #endif /* >= 2.6.15 */
 346                         if(IS_ERR(this_dev)){
 347                                 CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
 348                         }else{
 349                                 /*this_dev->class_data=objects_p[i];*/
 350                                 class_set_devdata(this_dev,objects_p[i]);
 351                         }
 352                       #ifdef CONFIG_DEVFS_FS
 353                         devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
 354                       #endif
 355                     #endif
 356                 }
 357         }
 358 #endif
 359         return 0;
 360
 361 #ifdef CONFIG_PROC_FS
 362         proc_error: ;
 363                 CANMSG("Error registering /proc entry.\n");
 364                 goto memory_error;
 365 #endif
 366
 367         interrupt_error: ;
 368                 goto memory_error;
 369
 370         reset_error: ;
 371                 CANMSG("Error resetting device.\n");
 372                 goto memory_error;
 373
 374         request_io_error: ;
 375                 CANMSG("Error to request IO resources for device.\n");
 376                 goto memory_error;
 377
 378         memory_error: ;
 379                 canhardware_done(hardware_p);
 380
 381                 #ifdef CAN_WITH_RTL
 382                 rtl_unregister_rtldev(major,DEVICE_NAME);
 383         rtldev_error:
 384                 canqueue_rtl_done();
 385                 #endif /*CAN_WITH_RTL*/
 386
 387                 res=unregister_chrdev(major,DEVICE_NAME);
 388                 if (res<0)
 389                         CANMSG("Error unloading CAN driver, error: %d\n",res);
 390                 else
 391                         CANMSG("No CAN devices or driver setup error.\n");
 392
 393         register_error:
 394                 if ( can_del_mem_list() )
 395                         CANMSG("Error deallocating memory\n");
 396
 397                 return -ENODEV;
 398 }
 399
 400 void cleanup_module(void)
 401 {
 402         int res=0,i=0;
 403
 404 #ifdef CONFIG_PROC_FS
 405         if (can_delete_procdir())
 406                 CANMSG("Error unregistering /proc/can entry.\n");
 407 #endif
 408
 409 #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 410         for(i=0;i<MAX_TOT_MSGOBJS;i++) {
 411             #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
 412                 if(devfs_handles[i])
 413                         devfs_unregister(devfs_handles[i]);
 414             #else
 415                 int dev_minor;
 416                 if(!objects_p[i]) continue;
 417                 dev_minor=objects_p[i]->minor;
 418                 if(minor>=0){
 419                     #ifdef CONFIG_DEVFS_FS
 420                         devfs_remove("can%d", dev_minor);
 421                     #endif
 422                         class_device_destroy(can_class, MKDEV(major, dev_minor));
 423                 }
 424             #endif
 425         }
 426 #endif
 427
 428 #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
 429         class_destroy(can_class);
 430 #endif
 431
 432         canhardware_done(hardware_p);
 433
 434         #ifdef CAN_WITH_RTL
 435         rtl_unregister_rtldev(major,DEVICE_NAME);
 436         canqueue_rtl_done();
 437         #endif /*CAN_WITH_RTL*/
 438
 439         if ( can_del_mem_list() )
 440                 CANMSG("Error deallocating memory\n");
 441
 442         res=unregister_chrdev(major,DEVICE_NAME);
 443         if (res<0)
 444                 CANMSG("Error unregistering CAN driver, error: %d\n",res);
 445 }