#include "../include/can.h"
#include "../include/can_sysdep.h"
#include "../include/main.h"
+#include "../include/devcommon.h"
+#include "../include/setup.h"
#include "../include/usbcan.h"
-/*
- * IO_RANGE is the io-memory range that gets reserved, please adjust according
- * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
- * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
- */
-#define IO_RANGE 0x100
+static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id);
+static void usbcan_disconnect(struct usb_interface *interface);
+
+/* table of devices that work with this driver */
+static struct usb_device_id usbcan_table [] = {
+ { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) },
+ { } /* Terminating entry */
+};
+MODULE_DEVICE_TABLE(usb, usbcan_table);
+
+static struct usb_driver usbcan_driver = {
+ .name = "usbcan",
+ .id_table = usbcan_table,
+ .probe = usbcan_probe,
+ .disconnect = usbcan_disconnect,
+};
/**
* usbcan_request_io: - reserve io or memory range for can board
*/
int usbcan_request_io(struct candevice_t *candev)
{
- if (!can_request_io_region(candev->io_addr,IO_RANGE,DEVICE_NAME)) {
- CANMSG("Unable to open port: 0x%lx\n",candev->io_addr);
- return -ENODEV;
- }else {
- DEBUGMSG("Registered IO-memory: 0x%lx - 0x%lx\n", candev->io_addr, candev->io_addr + IO_RANGE - 1);
- }
+ struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev;
+
+ /* start kernel thread */
+ dev->rcvthread.arg = dev;
+ start_kthread(usbcan_read_kthread, &dev->rcvthread);
+
+ /* Adding link to can device into usbcan_usb struct */
+ ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev;
return 0;
}
*/
int usbcan_release_io(struct candevice_t *candev)
{
- can_release_io_region(candev->io_addr,IO_RANGE);
+ struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev);
+ /* terminate the kernel thread */
+ if (dev->rcv){
+ usb_kill_urb(dev->rcv);
+ usb_free_urb(dev->rcv);
+ }
+ stop_kthread(&dev->rcvthread);
return 0;
}
return 0;
}
-#define RESET_ADDR 0x0
-
/**
* usbcan_init_hw_data - Initialize hardware cards
* @candev: Pointer to candevice/board structure
return 0;
}
-/**
- * usbcan_init_chip_data - Initialize chips
- * @candev: Pointer to candevice/board structure
- * @chipnr: Number of the CAN chip on the hardware card
- *
- * The function usbcan_init_chip_data() is used to initialize the hardware
- * structure containing information about the CAN chips.
- * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
- * "sja1000".
- * The @chip_base_addr entry represents the start of the 'official' memory map
- * of the installed chip. It's likely that this is the same as the @io_addr
- * argument supplied at module loading time.
- * The @clock entry holds the chip clock value in Hz.
- * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
- * register. Options defined in the %sja1000.h file:
- * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
- * The entry @sja_ocr_reg holds hardware specific options for the Output Control
- * register. Options defined in the %sja1000.h file:
- * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
- * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
- * The entry @int_clk_reg holds hardware specific options for the Clock Out
- * register. Options defined in the %i82527.h file:
- * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
- * The entry @int_bus_reg holds hardware specific options for the Bus
- * Configuration register. Options defined in the %i82527.h file:
- * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
- * The entry @int_cpu_reg holds hardware specific options for the cpu interface
- * register. Options defined in the %i82527.h file:
- * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
- * Return Value: The function always returns zero
- * File: src/usbcan.c
- */
-int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
-{
- canchip_t chip=candev->chip[chipnr];
-
- chip->chip_type="usbcan";
- chip->max_objects=1;
- usbcan_register(chip->chipspecops);
-
- CANMSG("initializing usbcan chip operations\n");
- chipspecops->chip_config=usbcan_chip_config;
- chipspecops->baud_rate=usbcan_baud_rate;
- chipspecops->standard_mask=usbcan_standard_mask;
- chipspecops->extended_mask=usbcan_extended_mask;
- chipspecops->message15_mask=usbcan_extended_mask;
- chipspecops->clear_objects=usbcan_clear_objects;
- chipspecops->config_irqs=usbcan_config_irqs;
- chipspecops->pre_read_config=usbcan_pre_read_config;
- chipspecops->pre_write_config=usbcan_pre_write_config;
- chipspecops->send_msg=usbcan_send_msg;
- chipspecops->check_tx_stat=usbcan_check_tx_stat;
- chipspecops->wakeup_tx=usbcan_wakeup_tx;
- chipspecops->remote_request=usbcan_remote_request;
- chipspecops->enable_configuration=usbcan_enable_configuration;
- chipspecops->disable_configuration=usbcan_disable_configuration;
- chipspecops->attach_to_chip=usbcan_attach_to_chip;
- chipspecops->release_chip=usbcan_release_chip;
- chipspecops->set_btregs=usbcan_set_btregs;
- chipspecops->start_chip=usbcan_start_chip;
- chipspecops->stop_chip=usbcan_stop_chip;
- chipspecops->irq_handler=usbcan_irq_handler;
- chipspecops->irq_accept=NULL;
-
- candev->chip[chipnr]->chip_base_addr=candev->io_addr;
- candev->chip[chipnr]->clock = 16000000;
- candev->chip[chipnr]->int_cpu_reg = iCPU_DSC;
- candev->chip[chipnr]->int_clk_reg = iCLK_SL1;
- candev->chip[chipnr]->int_bus_reg = iBUS_CBY;
- candev->chip[chipnr]->sja_cdr_reg = sjaCDR_CBP | sjaCDR_CLK_OFF;
- candev->chip[chipnr]->sja_ocr_reg = sjaOCR_MODE_NORMAL |
- sjaOCR_TX0_LH;
-
- return 0;
-}
-
/**
* usbcan_init_obj_data - Initialize message buffers
* @chip: Pointer to chip specific structure
*/
int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
{
- chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
+ chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
return 0;
}
return 0;
}
-/**
- * usbcan_write_register - Low level write register routine
- * @data: data to be written
- * @address: memory address to write to
- *
- * The function usbcan_write_register() is used to write to hardware registers
- * on the CAN chip. You should only have to edit this function if your hardware
- * uses some specific write process.
- * Return Value: The function does not return a value
- * File: src/usbcan.c
- */
-void usbcan_write_register(unsigned data, unsigned long address)
-{
- outb(data,address);
-}
-
-/**
- * usbcan_read_register - Low level read register routine
- * @address: memory address to read from
- *
- * The function usbcan_read_register() is used to read from hardware registers
- * on the CAN chip. You should only have to edit this function if your hardware
- * uses some specific read process.
- * Return Value: The function returns the value stored in @address
- * File: src/usbcan.c
- */
-unsigned usbcan_read_register(unsigned long address)
-{
- return inb(address);
-}
-
/* !!! Don't change this function !!! */
int usbcan_register(struct hwspecops_t *hwspecops)
{
hwspecops->init_hw_data = usbcan_init_hw_data;
hwspecops->init_chip_data = usbcan_init_chip_data;
hwspecops->init_obj_data = usbcan_init_obj_data;
- hwspecops->write_register = usbcan_write_register;
- hwspecops->read_register = usbcan_read_register;
+ hwspecops->write_register = NULL;
+ hwspecops->read_register = NULL;
hwspecops->program_irq = usbcan_program_irq;
return 0;
}
-static const char *sja1000_ecc_errc_str[]={
- "bit error",
- "form error",
- "stuff error",
- "other type of error"
-};
-
-static const char *sja1000_ecc_seg_str[]={
- "?0?",
- "?1?",
- "ID.28 to ID.21",
- "start of frame",
- "bit SRTR",
- "bit IDE",
- "ID.20 to ID.18",
- "ID.17 to ID.13",
- "CRC sequence",
- "reserved bit 0",
- "data field",
- "data length code",
- "bit RTR",
- "reserved bit 1",
- "ID.4 to ID.0",
- "ID.12 to ID.5",
- "?16?"
- "active error flag",
- "intermission",
- "tolerate dominant bits",
- "?20?",
- "?21?",
- "passive error flag",
- "error delimiter",
- "CRC delimiter",
- "acknowledge slot",
- "end of frame",
- "acknowledge delimiter",
- "overload flag",
- "?29?",
- "?30?",
- "?31?"
-};
-
-#endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
-
static int sja1000_report_error_limit_counter;
static void sja1000_report_error(struct canchip_t *chip,
unsigned sr, unsigned ir, unsigned ecc)
{
- if(sja1000_report_error_limit_counter>=100)
+ /*TODO : Error reporting from device */
+
+/* if(sja1000_report_error_limit_counter>=100)
return;
CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
*/
int usbcan_enable_configuration(struct canchip_t *chip)
{
- int i=0;
- enum sja1000_PeliCAN_MOD flags;
-
- can_disable_irq(chip->chip_irq);
-
- flags=can_read_reg(chip,SJAMOD);
-
- while ((!(flags & sjaMOD_RM)) && (i<=10)) {
- can_write_reg(chip, sjaMOD_RM, SJAMOD);
-// TODO: configurable sjaMOD_AFM (32/16 bit acceptance filter)
-// config sjaMOD_LOM (listen only)
- udelay(100);
- i++;
- flags=can_read_reg(chip, SJAMOD);
- }
- if (i>=10) {
- CANMSG("Reset error\n");
- can_enable_irq(chip->chip_irq);
- return -ENODEV;
- }
-
return 0;
}
*/
int usbcan_disable_configuration(struct canchip_t *chip)
{
- int i=0;
- enum sja1000_PeliCAN_MOD flags;
-
- flags=can_read_reg(chip,SJAMOD);
-
- while ( (flags & sjaMOD_RM) && (i<=50) ) {
-// could be as long as 11*128 bit times after buss-off
- can_write_reg(chip, 0, SJAMOD);
-// TODO: configurable sjaMOD_AFM (32/16 bit acceptance filter)
-// config sjaMOD_LOM (listen only)
- udelay(100);
- i++;
- flags=can_read_reg(chip, SJAMOD);
- }
- if (i>=10) {
- CANMSG("Error leaving reset status\n");
- return -ENODEV;
- }
-
- can_enable_irq(chip->chip_irq);
-
return 0;
}
*/
int usbcan_chip_config(struct canchip_t *chip)
{
- int i;
- unsigned char n, r;
-
- if (usbcan_enable_configuration(chip))
- return -ENODEV;
-
- /* Set mode, clock out, comparator */
- can_write_reg(chip,sjaCDR_PELICAN|chip->sja_cdr_reg,SJACDR);
-
- /* Ensure, that interrupts are disabled even on the chip level now */
- can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER);
-
- /* Set driver output configuration */
- can_write_reg(chip,chip->sja_ocr_reg,SJAOCR);
-
- /* Simple check for chip presence */
- for (i=0, n=0x5a; i<8; i++, n+=0xf) {
- can_write_reg(chip,n,SJAACR0+i);
- }
- for (i=0, n=0x5a; i<8; i++, n+=0xf) {
- r = n^can_read_reg(chip,SJAACR0+i);
- if (r) {
- CANMSG("usbcan_chip_config: chip connection broken,"
- " readback differ 0x%02x\n", r);
- return -ENODEV;
- }
- }
-
-
- if (usbcan_extended_mask(chip,0x00000000, 0xffffffff))
- return -ENODEV;
-
- if (!chip->baudrate)
- chip->baudrate=1000000;
- if (usbcan_baud_rate(chip,chip->baudrate,chip->clock,0,75,0))
- return -ENODEV;
-
- /* Enable hardware interrupts */
- can_write_reg(chip, sjaENABLE_INTERRUPTS, SJAIER);
-
- usbcan_disable_configuration(chip);
-
return 0;
}
*/
int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask)
{
- int i;
-
- if (usbcan_enable_configuration(chip))
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+
+ __u8 usbbuf[16];
+
+ *(uint32_t *)(usbbuf)=cpu_to_le32(mask);
+ *(uint32_t *)(usbbuf+4)=cpu_to_le32(code);
+
+ retval=usb_control_msg(dev->udev,
+ usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
+ USBCAN_VENDOR_EXT_MASK_SET,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ &usbbuf, 16,
+ 10000);
+ if (retval<0)
return -ENODEV;
-// LSB to +3, MSB to +0
- for(i=SJA_PeliCAN_AC_LEN; --i>=0;) {
- can_write_reg(chip,code&0xff,SJAACR0+i);
- can_write_reg(chip,mask&0xff,SJAAMR0+i);
- code >>= 8;
- mask >>= 8;
+ retval = usb_control_msg(dev->udev,
+ usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
+ USBCAN_VENDOR_EXT_MASK_STATUS,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ &usbbuf, 16,
+ 10000);
+
+ if (retval==16){
+ if(usbbuf[0]==1){
+ DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
+ DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
+ return 0;
+ }
}
- DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
- DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
-
- usbcan_disable_configuration(chip);
-
- return 0;
+ CANMSG("Setting extended mask failed\n");
+ return -EINVAL;
}
/**
int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
int sampl_pt, int flags)
{
- int best_error = 1000000000, error;
- int best_tseg=0, best_brp=0, best_rate=0, brp=0;
- int tseg=0, tseg1=0, tseg2=0;
-
- if (usbcan_enable_configuration(chip))
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+
+ __u8 usbbuf[16];
+
+ *(int32_t *)(usbbuf)=cpu_to_le32(rate);
+ *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw);
+ *(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt);
+ *(int32_t *)(usbbuf+12)=cpu_to_le32(flags);
+
+ retval=usb_control_msg(dev->udev,
+ usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
+ USBCAN_VENDOR_BAUD_RATE_SET,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ &usbbuf, 16,
+ 10000);
+ if (retval<0)
return -ENODEV;
- clock /=2;
-
- /* tseg even = round down, odd = round up */
- for (tseg=(0+0+2)*2; tseg<=(sjaMAX_TSEG2+sjaMAX_TSEG1+2)*2+1; tseg++) {
- brp = clock/((1+tseg/2)*rate)+tseg%2;
- if (brp == 0 || brp > 64)
- continue;
- error = rate - clock/(brp*(1+tseg/2));
- if (error < 0)
- error = -error;
- if (error <= best_error) {
- best_error = error;
- best_tseg = tseg/2;
- best_brp = brp-1;
- best_rate = clock/(brp*(1+tseg/2));
- }
+ retval = usb_control_msg(dev->udev,
+ usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
+ USBCAN_VENDOR_BAUD_RATE_STATUS,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ usbbuf, 16,
+ 10000);
+
+ if (retval==16){
+ if(usbbuf[0]==1)
+ return 0;
}
- if (best_error && (rate/best_error < 10)) {
- CANMSG("baud rate %d is not possible with %d Hz clock\n",
- rate, 2*clock);
- CANMSG("%d bps. brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d\n",
- best_rate, best_brp, best_tseg, tseg1, tseg2);
- return -EINVAL;
- }
- tseg2 = best_tseg-(sampl_pt*(best_tseg+1))/100;
- if (tseg2 < 0)
- tseg2 = 0;
- if (tseg2 > sjaMAX_TSEG2)
- tseg2 = sjaMAX_TSEG2;
- tseg1 = best_tseg-tseg2-2;
- if (tseg1>sjaMAX_TSEG1) {
- tseg1 = sjaMAX_TSEG1;
- tseg2 = best_tseg-tseg1-2;
- }
-
- DEBUGMSG("Setting %d bps.\n", best_rate);
- DEBUGMSG("brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d, sampl_pt=%d\n",
- best_brp, best_tseg, tseg1, tseg2,
- (100*(best_tseg-tseg2)/(best_tseg+1)));
-
-
- can_write_reg(chip, sjw<<6 | best_brp, SJABTR0);
- can_write_reg(chip, ((flags & BTR1_SAM) != 0)<<7 | (tseg2<<4)
- | tseg1, SJABTR1);
-
- usbcan_disable_configuration(chip);
-
- return 0;
-}
-
-/**
- * usbcan_read: - reads and distributes one or more received messages
- * @chip: pointer to chip state structure
- * @obj: pinter to CAN message queue information
- *
- * File: src/usbcan.c
- */
-void usbcan_read(struct canchip_t *chip, struct msgobj_t *obj) {
- int i, flags, len, datastart;
- do {
- flags = can_read_reg(chip,SJAFRM);
- if(flags&sjaFRM_FF) {
- obj->rx_msg.id =
- (can_read_reg(chip,SJAID0)<<21) +
- (can_read_reg(chip,SJAID1)<<13) +
- (can_read_reg(chip,SJAID2)<<5) +
- (can_read_reg(chip,SJAID3)>>3);
- datastart = SJADATE;
- } else {
- obj->rx_msg.id =
- (can_read_reg(chip,SJAID0)<<3) +
- (can_read_reg(chip,SJAID1)>>5);
- datastart = SJADATS;
- }
- obj->rx_msg.flags =
- ((flags & sjaFRM_RTR) ? MSG_RTR : 0) |
- ((flags & sjaFRM_FF) ? MSG_EXT : 0);
- len = flags & sjaFRM_DLC_M;
- obj->rx_msg.length = len;
- if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
- for(i=0; i< len; i++) {
- obj->rx_msg.data[i]=can_read_reg(chip,datastart+i);
- }
-
- /* fill CAN message timestamp */
- can_filltimestamp(&obj->rx_msg.timestamp);
-
- canque_filter_msg2edges(obj->qends, &obj->rx_msg);
- can_write_reg(chip, sjaCMR_RRB, SJACMR);
-
- } while (can_read_reg(chip, SJASR) & sjaSR_RBS);
+ CANMSG("baud rate %d is not possible to set\n",
+ rate);
+ return -EINVAL;
}
/**
*/
int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
{
- int status;
- status=can_read_reg(chip,SJASR);
-
- if(status & sjaSR_BS) {
- /* Try to recover from error condition */
- DEBUGMSG("usbcan_pre_read_config bus-off recover 0x%x\n",status);
- usbcan_enable_configuration(chip);
- can_write_reg(chip, 0, SJARXERR);
- can_write_reg(chip, 0, SJATXERR1);
- can_read_reg(chip, SJAECC);
- usbcan_disable_configuration(chip);
- }
-
- if (!(status&sjaSR_RBS)) {
- return 0;
- }
-
- can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); //disable interrupts for a moment
- usbcan_read(chip, obj);
- can_write_reg(chip, sjaENABLE_INTERRUPTS, SJAIER); //enable interrupts
- return 1;
+ return 0;
}
#define MAX_TRANSMIT_WAIT_LOOPS 10
int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
struct canmsg_t *msg)
{
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
int i=0;
- unsigned int id;
- int status;
int len;
+ __u8 *ptr;
/* Wait until Transmit Buffer Status is released */
- while ( !((status=can_read_reg(chip, SJASR)) & sjaSR_TBS) &&
+ while ( usbcan_chip_queue_status(chip) &&
i++<MAX_TRANSMIT_WAIT_LOOPS) {
udelay(i);
}
-
- if(status & sjaSR_BS) {
- /* Try to recover from error condition */
- DEBUGMSG("usbcan_pre_write_config bus-off recover 0x%x\n",status);
- usbcan_enable_configuration(chip);
- can_write_reg(chip, 0, SJARXERR);
- can_write_reg(chip, 0, SJATXERR1);
- can_read_reg(chip, SJAECC);
- usbcan_disable_configuration(chip);
- }
- if (!(can_read_reg(chip, SJASR) & sjaSR_TBS)) {
- CANMSG("Transmit timed out, cancelling\n");
-// here we should check if there is no write/select waiting for this
-// transmit. If so, set error ret and wake up.
-// CHECKME: if we do not disable sjaIER_TIE (TX IRQ) here we get interrupt
-// immediately
- can_write_reg(chip, sjaCMR_AT, SJACMR);
- i=0;
- while ( !(can_read_reg(chip, SJASR) & sjaSR_TBS) &&
- i++<MAX_TRANSMIT_WAIT_LOOPS) {
- udelay(i);
- }
- if (!(can_read_reg(chip, SJASR) & sjaSR_TBS)) {
- CANMSG("Could not cancel, please reset\n");
- return -EIO;
- }
+ if (usbcan_chip_queue_status(chip)){
+ CANMSG("Buffer full, cannot send message\n");
+ return -EIO;
}
+
+ *(uint8_t *)(dev->tx_msg)=chip->chip_idx & 0xFF;
+
len = msg->length;
if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
- /* len &= sjaFRM_DLC_M; ensured by above condition already */
- can_write_reg(chip, ((msg->flags&MSG_EXT)?sjaFRM_FF:0) |
- ((msg->flags & MSG_RTR) ? sjaFRM_RTR : 0) | len, SJAFRM);
- if(msg->flags&MSG_EXT) {
- id=msg->id<<3;
- can_write_reg(chip, id & 0xff, SJAID3);
- id >>= 8;
- can_write_reg(chip, id & 0xff, SJAID2);
- id >>= 8;
- can_write_reg(chip, id & 0xff, SJAID1);
- id >>= 8;
- can_write_reg(chip, id, SJAID0);
- for(i=0; i < len; i++) {
- can_write_reg(chip, msg->data[i], SJADATE+i);
- }
- } else {
- id=msg->id<<5;
- can_write_reg(chip, (id >> 8) & 0xff, SJAID0);
- can_write_reg(chip, id & 0xff, SJAID1);
- for(i=0; i < len; i++) {
- can_write_reg(chip, msg->data[i], SJADATS+i);
- }
+
+ *(uint8_t *)(dev->tx_msg+1)=len & 0xFF;
+ *(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags);
+ *(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id);
+
+ for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) {
+ *ptr=msg->data[i] & 0xFF;
+ }
+ for(; i < 8; ptr++,i++) {
+ *ptr=0;
}
return 0;
}
int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
struct canmsg_t *msg)
{
- can_write_reg(chip, sjaCMR_TR, SJACMR);
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+ int len,retval;
+
+ set_bit(USBCAN_TX_PENDING,&dev->flags);
+ retval=usb_bulk_msg(dev->udev,
+ usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
+ &dev->tx_msg, 16,
+ &len,10000);
+ clear_bit(USBCAN_TX_PENDING,&dev->flags);
+ if (retval){
+ CANMSG("URB error %d\n",retval);
+ return -EIO;
+ }
+ if (len!=sizeof(struct usbcan_canmsg_t)){
+ CANMSG("CAN message not sent\n");
+ return -EIO;
+ }
return 0;
}
*/
int usbcan_check_tx_stat(struct canchip_t *chip)
{
- if (can_read_reg(chip,SJASR) & sjaSR_TCS)
- return 0;
- else
+ if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags))
return 1;
+ return 0;
}
/**
int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
unsigned short btr1)
{
- if (usbcan_enable_configuration(chip))
- return -ENODEV;
-
- can_write_reg(chip, btr0, SJABTR0);
- can_write_reg(chip, btr1, SJABTR1);
-
- usbcan_disable_configuration(chip);
-
- return 0;
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+ uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
+
+ retval = usb_control_msg(dev->udev,
+ usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
+ USBCAN_VENDOR_SET_BTREGS,
+ USB_TYPE_VENDOR,
+ cpu_to_le16(value), chip->chip_idx,
+ dev->ctl_in_buffer, dev->ctl_in_size,
+ 10000);
+
+ if (retval==1){
+ if(dev->ctl_in_buffer[0]==1)
+ return 0;
+ }
+ return -ENODEV;
}
/**
*/
int usbcan_start_chip(struct canchip_t *chip)
{
- enum sja1000_PeliCAN_MOD flags;
-
- flags = can_read_reg(chip, SJAMOD) & (sjaMOD_LOM|sjaMOD_STM|sjaMOD_AFM|sjaMOD_SM);
- can_write_reg(chip, flags, SJAMOD);
-
- sja1000_report_error_limit_counter=0;
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+
+ retval = usb_control_msg(dev->udev,
+ usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
+ USBCAN_VENDOR_START_CHIP,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ dev->ctl_in_buffer, dev->ctl_in_size,
+ 10000);
+
+ if (retval==1){
+ if(dev->ctl_in_buffer[0]==1)
+ return 0;
+ }
+ return -ENODEV;
+}
- return 0;
+/**
+ * usbcan_chip_queue_status: - gets queue status from usb device
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * 0 means queue is not full
+ * 1 means queue is full
+ * File: src/usbcan.c
+ */
+int usbcan_chip_queue_status(struct canchip_t *chip)
+{
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+
+ retval = usb_control_msg(dev->udev,
+ usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
+ USBCAN_VENDOR_CHECK_TX_STAT,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ dev->ctl_in_buffer, dev->ctl_in_size,
+ 10000);
+
+ if (retval==1){
+ if(dev->ctl_in_buffer[0]==1)
+ return 0;
+ if(dev->ctl_in_buffer[0]==0)
+ return 1;
+ }
+ return -ENODEV;
}
/**
*/
int usbcan_stop_chip(struct canchip_t *chip)
{
- enum sja1000_PeliCAN_MOD flags;
-
- flags = can_read_reg(chip, SJAMOD) & (sjaMOD_LOM|sjaMOD_STM|sjaMOD_AFM|sjaMOD_SM);
- can_write_reg(chip, flags|sjaMOD_RM, SJAMOD);
-
- return 0;
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
+
+ retval = usb_control_msg(dev->udev,
+ usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
+ USBCAN_VENDOR_STOP_CHIP,
+ USB_TYPE_VENDOR,
+ 0, chip->chip_idx,
+ dev->ctl_in_buffer, dev->ctl_in_size,
+ 10000);
+
+ if (retval==1){
+ if(dev->ctl_in_buffer[0]==1)
+ return 0;
+ }
+ return -ENODEV;
}
/**
int usbcan_release_chip(struct canchip_t *chip)
{
usbcan_stop_chip(chip);
- can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER);
-
return 0;
}
int cmd;
if(obj->tx_slot){
- /* Do local transmitted message distribution if enabled */
+ // Do local transmitted message distribution if enabled
if (processlocal){
- /* fill CAN message timestamp */
+ // fill CAN message timestamp
can_filltimestamp(&obj->tx_slot->msg.timestamp);
obj->tx_slot->msg.flags |= MSG_LOCAL;
canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
}
- /* Free transmitted slot */
+ // Free transmitted slot
canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
obj->tx_slot=NULL;
}
obj->tx_slot=NULL;
return;
}
-
}
#define MAX_RETR 10
*/
int usbcan_irq_handler(int irq, struct canchip_t *chip)
{
- int irq_register, status, error_code;
+/* int irq_register, status, error_code;
struct msgobj_t *obj=chip->msgobj[0];
int loop_cnt=CHIP_MAX_IRQLOOP;
return CANCHIP_IRQ_STUCK;
}
- /* (irq_register & sjaIR_RI) */
- /* old variant using SJAIR, collides with intended use with irq_accept */
- if (status & sjaSR_RBS) {
- DEBUGMSG("sja1000_irq_handler: RI or RBS\n");
- usbcan_read(chip,obj);
- obj->ret = 0;
- }
-
- /* (irq_register & sjaIR_TI) */
- /* old variant using SJAIR, collides with intended use with irq_accept */
+ // (irq_register & sjaIR_TI)
+ // old variant using SJAIR, collides with intended use with irq_accept
if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
(can_msgobj_test_fl(obj,TX_REQUEST))) {
DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
if(error_code == 0xd9) {
obj->ret= -ENXIO;
- /* no such device or address - no ACK received */
+ // no such device or address - no ACK received
}
if(obj->tx_retry_cnt++>MAX_RETR) {
can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
if(obj->tx_slot){
canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
- /*canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
- obj->tx_slot=NULL;*/
+ //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ //obj->tx_slot=NULL;
}
} else {
} while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
(can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
(status & sjaSR_RBS));
-
+*/
return CANCHIP_IRQ_HANDLED;
}
while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
can_msgobj_clear_fl(obj,TX_REQUEST);
- if (can_read_reg(chip, SJASR) & sjaSR_TBS){
+ if (!usbcan_chip_queue_status(chip)){
obj->tx_retry_cnt=0;
usbcan_irq_write_handler(chip, obj);
}
return 0;
}
-int usbcan_register(struct chipspecops_t *chipspecops)
+int usbcan_chipregister(struct chipspecops_t *chipspecops)
{
+ CANMSG("initializing usbcan chip operations\n");
+ chipspecops->chip_config=usbcan_chip_config;
+ chipspecops->baud_rate=usbcan_baud_rate;
+ chipspecops->standard_mask=usbcan_standard_mask;
+ chipspecops->extended_mask=usbcan_extended_mask;
+ chipspecops->message15_mask=usbcan_extended_mask;
+ chipspecops->clear_objects=usbcan_clear_objects;
+ chipspecops->config_irqs=usbcan_config_irqs;
+ chipspecops->pre_read_config=usbcan_pre_read_config;
+ chipspecops->pre_write_config=usbcan_pre_write_config;
+ chipspecops->send_msg=usbcan_send_msg;
+ chipspecops->check_tx_stat=usbcan_check_tx_stat;
+ chipspecops->wakeup_tx=usbcan_wakeup_tx;
+ chipspecops->remote_request=usbcan_remote_request;
+ chipspecops->enable_configuration=usbcan_enable_configuration;
+ chipspecops->disable_configuration=usbcan_disable_configuration;
+ chipspecops->attach_to_chip=usbcan_attach_to_chip;
+ chipspecops->release_chip=usbcan_release_chip;
+ chipspecops->set_btregs=usbcan_set_btregs;
+ chipspecops->start_chip=usbcan_start_chip;
+ chipspecops->stop_chip=usbcan_stop_chip;
+ chipspecops->irq_handler=usbcan_irq_handler;
+ chipspecops->irq_accept=NULL;
return 0;
}
*/
int usbcan_fill_chipspecops(struct canchip_t *chip)
{
+ chip->chip_type="usbcan";
+ chip->max_objects=1;
+ usbcan_chipregister(chip->chipspecops);
+ return 0;
+}
+
+/**
+ * usbcan_init_chip_data - Initialize chips
+ * @candev: Pointer to candevice/board structure
+ * @chipnr: Number of the CAN chip on the hardware card
+ *
+ * The function usbcan_init_chip_data() is used to initialize the hardware
+ * structure containing information about the CAN chips.
+ * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
+ * "sja1000".
+ * The @chip_base_addr entry represents the start of the 'official' memory map
+ * of the installed chip. It's likely that this is the same as the @io_addr
+ * argument supplied at module loading time.
+ * The @clock entry holds the chip clock value in Hz.
+ * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
+ * register. Options defined in the %sja1000.h file:
+ * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
+ * The entry @sja_ocr_reg holds hardware specific options for the Output Control
+ * register. Options defined in the %sja1000.h file:
+ * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
+ * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
+ * The entry @int_clk_reg holds hardware specific options for the Clock Out
+ * register. Options defined in the %i82527.h file:
+ * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
+ * The entry @int_bus_reg holds hardware specific options for the Bus
+ * Configuration register. Options defined in the %i82527.h file:
+ * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
+ * The entry @int_cpu_reg holds hardware specific options for the cpu interface
+ * register. Options defined in the %i82527.h file:
+ * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
+ * Return Value: The function always returns zero
+ * File: src/usbcan.c
+ */
+int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
+{
+ struct canchip_t *chip=candev->chip[chipnr];
+
+ usbcan_fill_chipspecops(chip);
+
+ candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
+ candev->chip[chipnr]->chip_base_addr=0;
+ candev->chip[chipnr]->clock = 0;
+
return 0;
}
+
+
+
+/* --------------------------------------------------------------------------------------------------- */
+
+static void usbcan_rcv(struct urb *urb)
+{
+ struct usbcan_usb *dev = urb->context;
+ int retval;
+
+ switch (urb->status) {
+ case 0:
+ /* success */
+ set_bit(USBCAN_DATA_READ,&dev->flags);
+ wake_up(&dev->rcvthread.queue);
+ return;
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ /* this urb is terminated, clean up */
+ CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
+ set_bit(USBCAN_TERMINATE,&dev->flags);
+ wake_up(&dev->rcvthread.queue);
+ return;
+ default:
+ CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
+ break;
+ }
+
+ retval = usb_submit_urb (urb, GFP_ATOMIC);
+ if (retval<0){
+ CANMSG("%s - usb_submit_urb failed with result %d\n",
+ __FUNCTION__, retval);
+ set_bit(USBCAN_ERROR,&dev->flags);
+ wake_up(&dev->rcvthread.queue);
+ }
+}
+
+void usbcan_read_kthread(kthread_t *kthread)
+{
+ int retval;
+ struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg;
+ struct msgobj_t *obj;
+
+ /* setup the thread environment */
+ init_kthread(kthread, "usbcan");
+
+ /* this is normal work to do */
+ CANMSG ("usbcan thread started!\n");
+
+ dev->rcv = usb_alloc_urb(0, GFP_KERNEL);
+ if (!dev->rcv){
+ CANMSG("Error allocating usb urb\n");
+ goto error;
+ }
+ dev->rcv->dev = dev->udev;
+ usb_fill_bulk_urb(dev->rcv, dev->udev,
+ usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
+ &dev->rcv_msg, 16,
+ usbcan_rcv, dev);
+
+ /* an endless loop in which we are doing our work */
+ for(;;)
+ {
+ retval=usb_submit_urb(dev->rcv, GFP_KERNEL);
+ if (retval){
+ CANMSG("URB error %d\n",retval);
+ break;
+ }
+ /* fall asleep */
+ wait_event_interruptible(kthread->queue,
+ test_bit(USBCAN_DATA_READ,&dev->flags)
+ || test_bit(USBCAN_TERMINATE,&dev->flags)
+ || test_bit(USBCAN_ERROR,&dev->flags)
+ );
+
+ /* We need to do a memory barrier here to be sure that
+ the flags are visible on all CPUs. */
+ mb();
+
+ /* here we are back from sleep because we caught a signal. */
+ if (kthread->terminate)
+ {
+ /* we received a request to terminate ourself */
+ break;
+ }
+
+ if (test_bit(USBCAN_ERROR,&dev->flags)){
+ CANMSG("URB error %d\n",retval);
+ break;
+ }
+
+ { /* Normal work to do */
+ if (test_bit(USBCAN_DATA_READ,&dev->flags)){
+ int i, len;
+ clear_bit(USBCAN_DATA_READ,&dev->flags);
+
+ if ((dev->candev->chip[dev->rcv_msg[0]])&&
+ (dev->candev->chip[dev->rcv_msg[0]]->flags & CHIP_CONFIGURED)
+ ){
+ __u8 *ptr;
+
+ obj=dev->candev->chip[dev->rcv_msg[0]]->msgobj[0];
+
+ len=*(uint8_t *)(dev->rcv_msg+1);
+ if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+ obj->rx_msg.length = len;
+
+ obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rcv_msg+2));
+ obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rcv_msg+4)));
+
+ for(ptr=dev->rcv_msg+8,i=0; i < len; ptr++,i++) {
+ obj->rx_msg.data[i]=*ptr;
+ }
+
+ // fill CAN message timestamp
+ can_filltimestamp(&obj->rx_msg.timestamp);
+ canque_filter_msg2edges(obj->qends, &obj->rx_msg);
+ }
+ }
+ }
+ }
+ /* here we go only in case of termination of the thread */
+error:
+ /* cleanup the thread, leave */
+ CANMSG ("kernel thread terminated!\n");
+ exit_kthread(kthread);
+
+ /* returning from the thread here calls the exit functions */
+}
+
+static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
+{
+ struct usbcan_usb *dev;
+ struct usb_host_interface *iface_desc;
+ struct usb_endpoint_descriptor *endpoint;
+ size_t buffer_size;
+ int i;
+ int retval = -ENOMEM;
+
+ /* allocate memory for our device state and initialize it */
+ dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
+ if (!dev) {
+ err("Out of memory");
+ goto error;
+ }
+
+ sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
+ spin_lock_init(&dev->err_lock);
+ init_usb_anchor(&dev->submitted);
+
+// dev->udev = usb_get_dev(interface_to_usbdev(interface));
+ dev->udev = interface_to_usbdev(interface);
+ dev->interface = interface;
+
+ /* set up the endpoint information */
+ /* use only the first bulk-in and bulk-out endpoints */
+ iface_desc = interface->cur_altsetting;
+ for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
+ endpoint = &iface_desc->endpoint[i].desc;
+
+ if (!dev->bulk_in_endpointAddr &&
+ usb_endpoint_is_bulk_in(endpoint)) {
+ /* we found a bulk in endpoint */
+ buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
+ dev->bulk_in_size = buffer_size;
+ dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
+ dev->bulk_in_buffer = can_checked_malloc(buffer_size);
+ if (!dev->bulk_in_buffer) {
+ err("Could not allocate bulk_in_buffer");
+ goto error;
+ }
+ }
+
+ if (!dev->bulk_out_endpointAddr &&
+ usb_endpoint_is_bulk_out(endpoint)) {
+ /* we found a bulk out endpoint */
+ dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
+ }
+
+ if (!dev->ctl_in_endpointAddr &&
+ usb_endpoint_xfer_control(endpoint) &&
+ usb_endpoint_dir_in(endpoint)) {
+ /* we found a bulk in endpoint */
+ buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
+ dev->ctl_in_size = buffer_size;
+ dev->ctl_in_endpointAddr = endpoint->bEndpointAddress;
+ dev->ctl_in_buffer = can_checked_malloc(buffer_size);
+ if (!dev->ctl_in_buffer) {
+ err("Could not allocate bulk_in_buffer");
+ goto error;
+ }
+ }
+
+ if (!dev->ctl_out_endpointAddr &&
+ usb_endpoint_xfer_control(endpoint) &&
+ usb_endpoint_dir_out(endpoint)) {
+ /* we found a bulk out endpoint */
+ dev->ctl_out_endpointAddr = endpoint->bEndpointAddress;
+ }
+ }
+ if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
+ err("Could not find all bulk-in and bulk-out endpoints");
+ goto error;
+ }
+
+ /* save our data pointer in this interface device */
+ usb_set_intfdata(interface, dev);
+
+ register_usbdev("usbcan",(void *) dev);
+
+ /* let the user know what node this device is now attached to */
+ info("USB Skeleton device now attached");
+ return 0;
+
+error:
+ usb_put_dev(dev->udev);
+ if (dev->bulk_in_buffer)
+ can_checked_free(dev->bulk_in_buffer);
+ if (dev->ctl_in_buffer)
+ can_checked_free(dev->ctl_in_buffer);
+ if (dev->candev){
+ dev->candev->sysdevptr.anydev=NULL;
+ cleanup_usbdev(dev->candev);
+ }
+ can_checked_free(dev);
+ return retval;
+}
+
+// Physically disconnected device
+static void usbcan_disconnect(struct usb_interface *interface)
+{
+ struct usbcan_usb *dev;
+ int minor = interface->minor;
+
+ dev = usb_get_intfdata(interface);
+ usb_set_intfdata(interface, NULL);
+
+ /* prevent more I/O from starting */
+ mutex_lock(&dev->io_mutex);
+ dev->interface = NULL;
+ mutex_unlock(&dev->io_mutex);
+
+ //usb_kill_anchored_urbs(&dev->submitted);
+
+ usb_put_dev(dev->udev);
+ if (dev->bulk_in_buffer)
+ can_checked_free(dev->bulk_in_buffer);
+ if (dev->ctl_in_buffer)
+ can_checked_free(dev->ctl_in_buffer);
+ if (dev->candev){
+ dev->candev->sysdevptr.anydev=NULL;
+ cleanup_usbdev(dev->candev);
+ }
+ can_checked_free(dev);
+
+ info("USB Skeleton now disconnected");
+}
+
+int usbcan_init(void){
+ return usb_register(&usbcan_driver);
+}
+
+void usbcan_exit(void){
+ usb_deregister(&usbcan_driver);
+}
projects / lincan.git / blobdiff