* Rewritten for new CAN queues by Pavel Pisa - OCERA team member
* email:pisa@cmp.felk.cvut.cz
* This software is released under the GPL-License.
- * Version lincan-0.2 9 Jul 2003
+ * Version lincan-0.3 17 Jun 2004
*/
+#ifndef EXPORT_SYMTAB
#define EXPORT_SYMTAB
+#endif
#include <linux/autoconf.h>
#include <linux/autoconf.h>
#include <linux/interrupt.h>
-#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
-#include <linux/wrapper.h>
+#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
+ #include <linux/wrapper.h>
+#else
+ #include <linux/device.h>
+ #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,13)
+ static struct class *can_class;
+ #elif LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
+ static struct class_simple *can_class;
+ #define class_create class_simple_create
+ #define class_device_create class_simple_device_add
+ #define class_device_destroy(a,b) class_simple_device_remove(b)
+ #define class_destroy class_simple_destroy
+ #endif
#endif
#if !defined (__GENKSYMS__)
#include "../include/ioctl.h"
#include "../include/write.h"
#include "../include/finish.h"
+#include "../include/fasync.h"
-#define EXPORT_SYMTAB
+#ifdef CAN_WITH_RTL
+#include <rtl_posixio.h>
+#include "../include/can_iortl.h"
+#endif /*CAN_WITH_RTL*/
+
+can_spinlock_t canuser_manipulation_lock;
/* Module parameters, some must be supplied at module loading time */
int major=CAN_MAJOR;
MODULE_PARM(major,"1i");
+MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]");
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};
/*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/
MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
+MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel");
int extended=0;
MODULE_PARM(extended,"1i");
+MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047,"
+ " selects extended frames reception for i82527");
int pelican=0;
MODULE_PARM(pelican,"1i");
+MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips");
int baudrate[MAX_TOT_CHIPS];
MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i");
+MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz");
char *hw[MAX_HW_CARDS]={NULL,};
MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s");
+MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,...");
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};
MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i");
+MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual");
unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1};
MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i");
+MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual");
int stdmask=0;
MODULE_PARM(stdmask, "1i");
+MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips");
int extmask=0;
MODULE_PARM(extmask, "1i");
+MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips");
int mo15mask=0;
MODULE_PARM(mo15mask, "1i");
+MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips");
int processlocal=0;
MODULE_PARM(processlocal, "1i");
+MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - "
+ "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default");
+#ifdef CAN_WITH_RTL
+int can_rtl_priority=-1;
+MODULE_PARM(can_rtl_priority, "1i");
+MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread");
+#endif /*CAN_WITH_RTL*/
/* Other module attributes */
#ifdef MODULE_SUPPORTED_DEVICE
#ifdef MODULE_DESCRIPTION
MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
#endif
+#ifdef MODULE_AUTHOR
+MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
+#endif
/* Global structures, used to describe the installed hardware. */
struct canhardware_t canhardware;
struct canhardware_t *hardware_p=&canhardware;
-struct chip_t *chips_p[MAX_TOT_CHIPS];
+struct canchip_t *chips_p[MAX_TOT_CHIPS];
struct msgobj_t *objects_p[MAX_TOT_MSGOBJS];
#ifdef CONFIG_DEVFS_FS
-#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,60))
+#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS];
#endif
#endif
*/
struct mem_addr *mem_head=NULL;
-#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,3,0))
-struct file_operations can_fops=
-{
- NULL, /* llseek */
- read: can_read,
- write: can_write,
- NULL, /* readdir */
- poll: can_poll,
- ioctl: can_ioctl,
- NULL, /* mmap */
- open: can_open,
- NULL, /* flush */
- release: can_close,
- NULL, /* fsync */
-};
-#else
struct file_operations can_fops=
{
+ #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0))
owner: THIS_MODULE,
+ #endif
read: can_read,
write: can_write,
poll: can_poll,
ioctl: can_ioctl,
open: can_open,
release: can_close,
+ #ifdef CAN_ENABLE_KERN_FASYNC
+ fasync: can_fasync
+ #endif /*CAN_ENABLE_KERN_FASYNC*/
};
-#endif
EXPORT_SYMBOL(can_fops);
+
+#ifdef CAN_WITH_RTL
+struct rtl_file_operations can_fops_rtl = {
+ llseek: NULL,
+ read: can_read_rtl_posix,
+ write: can_write_rtl_posix,
+ ioctl: can_ioctl_rtl_posix,
+ mmap: NULL,
+ open: can_open_rtl_posix,
+ release: can_release_rtl_posix
+};
+#endif /*CAN_WITH_RTL*/
+
+
+/*
+ 2.6 kernel attributes for sysfs
+
+static ssize_t show_xxx(struct class_device *cdev, char *buf)
+{
+ return sprintf(buf, "xxxx\n");
+}
+
+static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count)
+{
+}
+
+static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL);
+
+ret = class_device_create_file(class_dev, class_device_attr_xxx);
+if (ret)
+ goto err_unregister;
+
+*/
+
int init_module(void)
{
int res=0,i=0, j;
struct candevice_t *candev;
- struct chip_t *chip;
+ struct canchip_t *chip;
if (parse_mod_parms())
return -EINVAL;
+ can_spin_lock_init(&canuser_manipulation_lock);
canqueue_kern_initialize();
if (init_hw_struct())
res=register_chrdev(major,DEVICE_NAME, &can_fops);
if (res<0) {
CANMSG("Error registering driver.\n");
- return -ENODEV;
+ goto register_error;
}
+ #ifdef CAN_WITH_RTL
+ can_spin_lock_init(&can_irq_manipulation_lock);
+ canqueue_rtl_initialize();
+ res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
+ if (res<0) {
+ CANMSG("Error registering RT-Linux major number.\n");
+ goto rtldev_error;
+ }
+ #endif /*CAN_WITH_RTL*/
+
for (i=0; i<hardware_p->nr_boards; i++) {
candev=hardware_p->candevice[i];
if (candev->hwspecops->request_io(candev))
- goto memory_error;
+ goto request_io_error;
candev->flags|=CANDEV_IO_RESERVED;
}
goto reset_error;
}
- spin_lock_init(&hardware_p->rtr_lock);
+ can_spin_lock_init(&hardware_p->rtr_lock);
hardware_p->rtr_queue=NULL;
for (i=0; i<hardware_p->nr_boards; i++) {
for(j=0; j<candev->nr_all_chips; j++) {
if((chip=candev->chip[j])==NULL)
continue;
- if(!chip->chipspecops->irq_handler)
- continue;
-
- if (request_irq(chip->chip_irq,chip->chipspecops->irq_handler,SA_SHIRQ,DEVICE_NAME,chip))
+
+ if(chip->chipspecops->attach_to_chip(chip)<0) {
+ CANMSG("Initial attach to the chip HW failed\n");
+ goto interrupt_error;
+ }
+
+ chip->flags |= CHIP_ATTACHED;
+
+ if(can_chip_setup_irq(chip)<0) {
+ CANMSG("Error to setup chip IRQ\n");
goto interrupt_error;
- else {
- DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
- chip->flags |= CHIP_IRQ_SETUP;
}
}
-
+
if (candev->flags & CANDEV_PROGRAMMABLE_IRQ)
- if (candev->hwspecops->program_irq(candev))
+ if (candev->hwspecops->program_irq(candev)){
+ CANMSG("Error to program board interrupt\n");
goto interrupt_error;
+ }
}
#ifdef CONFIG_PROC_FS
goto proc_error;
#endif
-#ifdef CONFIG_DEVFS_FS
+#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
+ can_class=class_create(THIS_MODULE, "can");
+#endif
+
+#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
{
+ #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
char dev_name[32];
+ #else
+ struct class_device *this_dev;
+ #endif
int dev_minor;
for(i=0;i<MAX_TOT_MSGOBJS;i++) {
if(!objects_p[i]) continue;
dev_minor=objects_p[i]->minor;
- #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
+ #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
sprintf (dev_name, "can%d", dev_minor);
devfs_handles[i]=devfs_register(NULL, dev_name,
DEVFS_FL_DEFAULT, major, dev_minor,
S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP,
&can_fops, (void*)objects_p[i]);
#else
+ #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
+ this_dev=class_device_create(can_class, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
+ #else /* >= 2.6.15 */
+ this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor);
+ #endif /* >= 2.6.15 */
+ if(!this_dev){
+ CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor);
+ }else{
+ this_dev->class_data=objects_p[i];
+ }
+ #ifdef CONFIG_DEVFS_FS
devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor);
+ #endif
#endif
}
}
#endif
interrupt_error: ;
- CANMSG("Error registering interrupt line.\n");
goto memory_error;
reset_error: ;
+ CANMSG("Error resetting device.\n");
+ goto memory_error;
+
+ request_io_error: ;
+ CANMSG("Error to request IO resources for device.\n");
goto memory_error;
memory_error: ;
canhardware_done(hardware_p);
+ #ifdef CAN_WITH_RTL
+ rtl_unregister_rtldev(major,DEVICE_NAME);
+ rtldev_error:
+ canqueue_rtl_done();
+ #endif /*CAN_WITH_RTL*/
+
res=unregister_chrdev(major,DEVICE_NAME);
if (res<0)
CANMSG("Error unloading CAN driver, error: %d\n",res);
else
CANMSG("No CAN devices or driver setup error.\n");
- return -ENODEV;
+ register_error:
+ if ( can_del_mem_list() )
+ CANMSG("Error deallocating memory\n");
+
+ return -ENODEV;
}
void cleanup_module(void)
CANMSG("Error unregistering /proc/can entry.\n");
#endif
-#ifdef CONFIG_DEVFS_FS
+#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
for(i=0;i<MAX_TOT_MSGOBJS;i++) {
- #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50))
+ #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0))
if(devfs_handles[i])
devfs_unregister(devfs_handles[i]);
#else
int dev_minor;
if(!objects_p[i]) continue;
dev_minor=objects_p[i]->minor;
- if(minor>=0)
+ if(minor>=0){
+ #ifdef CONFIG_DEVFS_FS
devfs_remove("can%d", dev_minor);
+ #endif
+ class_device_destroy(can_class, MKDEV(major, dev_minor));
+ }
#endif
}
#endif
+#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0))
+ class_destroy(can_class);
+#endif
+
canhardware_done(hardware_p);
+ #ifdef CAN_WITH_RTL
+ rtl_unregister_rtldev(major,DEVICE_NAME);
+ canqueue_rtl_done();
+ #endif /*CAN_WITH_RTL*/
+
if ( can_del_mem_list() )
CANMSG("Error deallocating memory\n");
projects / lincan.git / blobdiff