X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/24dde2b186e49d6d597d5a02e2b5f51e2147ca6e..d70622f27a4e224e2c94bdeef7728232d23fee2b:/lincan/src/usbcan.c diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c index cb1c9b0..f29e549 100644 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@ -5,7 +5,6 @@ * Version lincan-0.3 17 Jul 2008 */ -#include "../include/kthread.h" #include "../include/can.h" #include "../include/can_sysdep.h" #include "../include/main.h" @@ -13,6 +12,25 @@ #include "../include/setup.h" #include "../include/usbcan.h" +static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id); +static void usbcan_disconnect(struct usb_interface *interface); + +volatile int usbcan_chip_count=0; + +/* 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 * @candev: pointer to candevice/board which asks for io. Field @io_addr @@ -29,14 +47,14 @@ */ int usbcan_request_io(struct candevice_t *candev) { - struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev; + struct usbcan_devs *usbdevs = (struct usbcan_devs *)candev->sysdevptr.anydev; - /* start kernel thread */ - dev->rcvthread.arg = dev; - start_kthread(usbcan_read_kthread, &dev->rcvthread); + if (!usbdevs){ + CANMSG("USBCAN_REQUEST_IO: Cannot register usbcan while usb device is not present.\n"); + CANMSG("USBCAN_REQUEST_IO: Usbcan registers automatically on device insertion.\n"); + return -ENODEV; + } - /* Adding link to can device into usbcan_usb struct */ - ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev; return 0; } @@ -54,14 +72,6 @@ int usbcan_request_io(struct candevice_t *candev) */ int usbcan_release_io(struct candevice_t *candev) { - 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; } @@ -99,7 +109,7 @@ int usbcan_init_hw_data(struct candevice_t *candev) candev->res_addr=RESET_ADDR; candev->nr_82527_chips=0; candev->nr_sja1000_chips=0; - candev->nr_all_chips=1; + candev->nr_all_chips=usbcan_chip_count; candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0; return 0; @@ -124,7 +134,7 @@ int usbcan_init_hw_data(struct candevice_t *candev) */ 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=0; return 0; } @@ -161,7 +171,7 @@ int usbcan_register(struct hwspecops_t *hwspecops) return 0; } -static int sja1000_report_error_limit_counter; +// static int sja1000_report_error_limit_counter; static void sja1000_report_error(struct canchip_t *chip, unsigned sr, unsigned ir, unsigned ecc) @@ -251,33 +261,36 @@ int usbcan_chip_config(struct canchip_t *chip) int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask) { int retval; - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + u8 usbbuf[16]; + + if (!dev) + return -ENODEV; - struct usbcan_mask_t mask={ - .code=code; - .mask=mask; - }; + *(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), + usb_sndctrlpipe(dev->udev, 0), USBCAN_VENDOR_EXT_MASK_SET, USB_TYPE_VENDOR, - 0, chip->chip_idx, - &mask, sizeof(usbcan_mask_t), + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, 16, 10000); if (retval<0) return -ENODEV; retval = usb_control_msg(dev->udev, - usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + usb_rcvctrlpipe(dev->udev, 0), USBCAN_VENDOR_EXT_MASK_STATUS, USB_TYPE_VENDOR, - 0, chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, 16, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1){ + 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; @@ -304,37 +317,38 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int sampl_pt, int flags) { int retval; - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + u8 usbbuf[16]; - // Data too big to use single receive control message - struct can_baudparams_t baud={ - .flags=flags, - .baudrate=rate, - .sjw=sjw, - .sample_pt=sampl_pt, - }; + if (!dev) + return -ENODEV; + *(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), + usb_sndctrlpipe(dev->udev, 0), USBCAN_VENDOR_BAUD_RATE_SET, USB_TYPE_VENDOR, - 0, chip->chip_idx, - &baud, sizeof(can_baudparams_t), + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, 16, 10000); if (retval<0) return -ENODEV; retval = usb_control_msg(dev->udev, - usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + usb_rcvctrlpipe(dev->udev, 0), USBCAN_VENDOR_BAUD_RATE_STATUS, USB_TYPE_VENDOR, - 0, chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + usbbuf, 16, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + if(usbbuf[0]==1) return 0; } @@ -374,10 +388,13 @@ int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) 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; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; int i=0; int len; + u8 *ptr; + if (!dev) + return -ENODEV; /* Wait until Transmit Buffer Status is released */ while ( usbcan_chip_queue_status(chip) && i++tx_msg.chip_id=(__u8)chip->chip_idx; + *(uint8_t *)(dev->tx_msg)=chip->chip_idx & 0xFF; len = msg->length; if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - dev->tx_msg.length=(__u8)len; - dev->tx_msg.flags=(__u16)msg->flags; - - if(msg->flags&MSG_EXT) { - dev->tx_msg.id[0]=(msg->id) & 0xff; - dev->tx_msg.id[1]=(msg->id>>8) & 0xff; - dev->tx_msg.id[2]=(msg->id>>16) & 0xff; - dev->tx_msg.id[3]=(msg->id>>24) & 0xff; - } else { - dev->tx_msg.id[0]=(msg->id) & 0xff; - dev->tx_msg.id[1]=(msg->id>>8) & 0xff; - dev->tx_msg.id[2]=0; - dev->tx_msg.id[3]=0; - } - for(i=0; i < len; i++) { - dev->tx_msg.data[i]=(__u8) msg->data[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; i < 8; i++) { - dev->tx_msg.data[i]=0; + for(; i < 8; ptr++,i++) { + *ptr=0; } return 0; } @@ -429,24 +437,43 @@ int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; - int len; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + int len,retval; + + if (!dev) + return -ENODEV; set_bit(USBCAN_TX_PENDING,&dev->flags); retval=usb_bulk_msg(dev->udev, usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), - &dev->tx_msg, sizeof(usbcan_canmsg_t), + &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)){ + if (len!=16){ CANMSG("CAN message not sent\n"); return -EIO; } + CANMSG("Message sent\n"); + + if(obj->tx_slot){ + // Do local transmitted message distribution if enabled + if (processlocal){ + // 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 + canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); + obj->tx_slot=NULL; + } + can_msgobj_clear_fl(obj,TX_PENDING); return 0; } @@ -461,7 +488,10 @@ int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, */ int usbcan_check_tx_stat(struct canchip_t *chip) { - if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags)) + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + if (!dev) + return 0; + if (test_bit(USBCAN_TX_PENDING,&dev->flags)) return 1; return 0; } @@ -479,18 +509,23 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, unsigned short btr1) { int retval; - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + u8 buf[16]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF); + + if (!dev) + return -ENODEV; retval = usb_control_msg(dev->udev, - usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + usb_rcvctrlpipe(dev->udev, 0), USBCAN_VENDOR_SET_BTREGS, USB_TYPE_VENDOR, - btr1<<8 | btr0, chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(value), cpu_to_le16(chip->chip_idx), + &buf, 16, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + if(buf[0]==1) return 0; } return -ENODEV; @@ -506,18 +541,22 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, int usbcan_start_chip(struct canchip_t *chip) { int retval; - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + u8 buf[16]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + if (!dev) + return -ENODEV; retval = usb_control_msg(dev->udev, - usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + usb_rcvctrlpipe(dev->udev, 0), USBCAN_VENDOR_START_CHIP, USB_TYPE_VENDOR, - 0, chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &buf, 16, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + if(buf[0]==1) return 0; } return -ENODEV; @@ -535,22 +574,27 @@ int usbcan_start_chip(struct canchip_t *chip) int usbcan_chip_queue_status(struct canchip_t *chip) { int retval; - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + u8 buf[16]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + if (!dev) + return -ENODEV; retval = usb_control_msg(dev->udev, - usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + usb_rcvctrlpipe(dev->udev, 0), USBCAN_VENDOR_CHECK_TX_STAT, USB_TYPE_VENDOR, - 0, chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &buf, 16, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) - return 1; - if(dev->ctl_in_buffer[0]==0) + CANMSG("Chip_queue_status: %d\n",buf[0]); + if(buf[0]==1) return 0; + if(buf[0]==0) + return 1; } + CANMSG("Chip_queue_status error: %d\n",retval); return -ENODEV; } @@ -564,23 +608,49 @@ int usbcan_chip_queue_status(struct canchip_t *chip) int usbcan_stop_chip(struct canchip_t *chip) { int retval; - struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + u8 buf[16]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + if (!dev) + return -ENODEV; retval = usb_control_msg(dev->udev, - usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + usb_rcvctrlpipe(dev->udev, 0), USBCAN_VENDOR_STOP_CHIP, USB_TYPE_VENDOR, - 0, chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &buf, 16, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + if(buf[0]==1) return 0; } return -ENODEV; } +/** + * usbcan_register_devs: - attaches usb device data to the chip structure + * @chip: pointer to chip state structure + * @data: usb device data + * + * File: src/usbcan.c + */ +void usbcan_register_devs(struct canchip_t *chip,void *data){ + struct usbcan_devs *usbdevs=(struct usbcan_devs *)data; + if (!usbdevs){ + CANMSG("Bad structure given\n"); + return; + } + if (chip->chip_idx>=usbdevs->count) { + CANMSG("Requested chip number is bigger than chip count\n"); + return; + } + + usbdevs->devs[chip->chip_idx]->chip=chip; + chip->chip_data=(void *)usbdevs->devs[chip->chip_idx]; +} + /** * usbcan_attach_to_chip: - attaches to the chip, setups registers and state * @chip: pointer to chip state structure @@ -590,6 +660,11 @@ int usbcan_stop_chip(struct canchip_t *chip) */ int usbcan_attach_to_chip(struct canchip_t *chip) { + struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data; + + /* start kernel thread */ + dev->comthread=can_kthread_run(usbcan_read_kthread, (void *)dev, "usbcan_%d",chip->chip_idx); + return 0; } @@ -602,7 +677,13 @@ int usbcan_attach_to_chip(struct canchip_t *chip) */ int usbcan_release_chip(struct canchip_t *chip) { + struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data; + usbcan_stop_chip(chip); + + /* terminate the kernel thread */ + can_kthread_stop(dev->comthread); + return 0; } @@ -835,7 +916,7 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip) */ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) { - + CANMSG("Trying to send message\n"); can_preempt_disable(); can_msgobj_set_fl(obj,TX_PENDING); @@ -949,17 +1030,46 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) /* --------------------------------------------------------------------------------------------------- */ +static int usbcan_sleep_thread(struct usbcan_usb *dev) +{ + int rc = 0; + + /* Wait until a signal arrives or we are woken up */ + for (;;) { + try_to_freeze(); + set_current_state(TASK_INTERRUPTIBLE); + if (signal_pending(current)) { + rc = -EINTR; + break; + } + if ( + can_kthread_should_stop() || + test_bit(USBCAN_DATA_READ,&dev->flags) || + test_bit(USBCAN_TERMINATE,&dev->flags) || + test_bit(USBCAN_ERROR,&dev->flags) + ) + break; + schedule(); + } + __set_current_state(TASK_RUNNING); + return rc; +} static void usbcan_rcv(struct urb *urb) { struct usbcan_usb *dev = urb->context; int retval; + if (!test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + return; + switch (urb->status) { case 0: /* success */ set_bit(USBCAN_DATA_READ,&dev->flags); - wake_up(&dev->rcvthread.queue); + CANMSG("Message received\n"); + if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + wake_up_process(dev->comthread); return; case -ECONNRESET: case -ENOENT: @@ -967,246 +1077,284 @@ static void usbcan_rcv(struct urb *urb) /* 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); +// 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", + CANMSG("%s - usb_submit_urb failed with result %d ... retrying\n", __FUNCTION__, retval); set_bit(USBCAN_ERROR,&dev->flags); - wake_up(&dev->rcvthread.queue); + if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + wake_up_process(dev->comthread); } } -void usbcan_read_kthread(kthread_t *kthread) +int usbcan_read_kthread(void *data) { - int retval; - struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg; + int retval=0; + struct usbcan_usb *dev=(struct usbcan_usb *)data; 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){ + dev->rx = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->rx){ CANMSG("Error allocating usb urb\n"); goto error; } - dev->rcv->dev = dev->udev; - usb_fill_bulk_urb(dev->rcv, dev->udev, + dev->rx->dev = dev->udev; + usb_fill_bulk_urb(dev->rx, dev->udev, usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), - &dev->rcv_msg, sizeof(usbcan_canmsg_t), + &dev->rx_msg, 16, usbcan_rcv, dev); + set_bit(USBCAN_THREAD_RUNNING,&dev->flags); /* an endless loop in which we are doing our work */ for(;;) { - retval=usb_submit_urb(dev->rcv, GFP_KERNEL); + retval=usb_submit_urb(dev->rx, GFP_ATOMIC); if (retval){ CANMSG("URB error %d\n",retval); + set_bit(USBCAN_ERROR,&dev->flags); break; } + /* We need to do a memory barrier here to be sure that + the flags are visible on all CPUs. */ + mb(); /* fall asleep */ - wait_event_interruptible(kthread->queue, - test_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags) - || test_bit(USBCAN_CHIP_TERMINATE,&chip_data->flags) - || test_bit(USBCAN_CHIP_ERROR,&chip_data->flags) - ); - + usbcan_sleep_thread(dev); /* 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) + if (can_kthread_should_stop()) { /* we received a request to terminate ourself */ break; } - if (test_bit(USBCAN_CHIP_ERROR,&chip_data->flags)){ - CANMSG("URB error %d\n",retval); - break; - } - { /* Normal work to do */ - if (test_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags)){ + if (test_bit(USBCAN_DATA_READ,&dev->flags)){ int i, len; - clear_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags); - - if ((dev->candev->chip[dev->rcv_msg.chip_id])&& - (dev->candev->chip[dev->rcv_msg.chip_id].flags & CHIP_CONFIGURED)){ - - obj=dev->candev->chip[dev->rcv_msg.chip_id]->msgobj[0]; - if (dev->rcv_msg.flags & MSG_EXT) { - obj->rx_msg.id = - (dev->rcv_msg.id[0]) + - (dev->rcv_msg.id[1]<<8) + - (dev->rcv_msg.id[2]<<16) + - (dev->rcv_msg.id[3]<<24); - } else { - obj->rx_msg.id = - (dev->rcv_msg.id[0]) + - (dev->rcv_msg.id[1]<<8); - } - obj->rx_msg.flags = dev->rcv_msg.flags; - len=dev->rcv_msg.length; + clear_bit(USBCAN_DATA_READ,&dev->flags); + CANMSG("Thread got received message\n"); + + if ((dev->chip)&& + (dev->chip->flags & CHIP_CONFIGURED) + ){ + u8 *ptr; + + obj=dev->chip->msgobj[0]; + + len=*(uint8_t *)(dev->rx_msg+1); if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; obj->rx_msg.length = len; - for(i=0; i< len; i++) { - obj->rx_msg.data[i]=obj->rx_msg.data[i]; + + obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rx_msg+2)); + obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rx_msg+4))); + + for(ptr=dev->rx_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); } + else + CANMSG("Destination chip not found\n"); } } } + clear_bit(USBCAN_THREAD_RUNNING,&dev->flags); + /* here we go only in case of termination of the thread */ + if (dev->rx){ + usb_kill_urb(dev->rx); + usb_free_urb(dev->rx); + } + + CANMSG ("usbcan thread finished!\n"); + return 0; error: /* cleanup the thread, leave */ CANMSG ("kernel thread terminated!\n"); - exit_kthread(kthread); - - /* returning from the thread here calls the exit functions */ + return -ENOMEM; } static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id) { - struct usbcan_usb *dev; + struct usbcan_devs *usbdevs=NULL; struct usb_host_interface *iface_desc; struct usb_endpoint_descriptor *endpoint; size_t buffer_size; - int i; + int i,j,k; 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) { + iface_desc = interface->cur_altsetting; + if (iface_desc->desc.bNumEndpoints % 2){ + err("Endpoint count must be even"); + goto noalloc; + } + + usbcan_chip_count = iface_desc->desc.bNumEndpoints / 2; + + usbdevs = (struct usbcan_devs *) can_checked_malloc(sizeof(struct usbcan_devs)); + if (!usbdevs) { err("Out of memory"); goto error; } + memset(usbdevs, 0, sizeof(struct usbcan_devs)); - sema_init(&dev->limit_sem, WRITES_IN_FLIGHT); - spin_lock_init(&dev->err_lock); - init_usb_anchor(&dev->submitted); + usbdevs->count=usbcan_chip_count; -// dev->udev = usb_get_dev(interface_to_usbdev(interface)); - dev->udev = interface_to_usbdev(interface); - dev->interface = interface; + usbdevs->devs = (struct usbcan_usb **) can_checked_malloc(usbcan_chip_count * sizeof(struct usbcan_usb *)); + if (!usbdevs->devs) { + err("Out of memory"); + goto error; + } + memset(usbdevs->devs, 0, usbcan_chip_count * sizeof(struct usbcan_usb *)); - /* 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; - } - } + for (j=0;jbulk_out_endpointAddr && - usb_endpoint_is_bulk_out(endpoint)) { - /* we found a bulk out endpoint */ - dev->bulk_out_endpointAddr = endpoint->bEndpointAddress; + /* allocate memory for our device state and initialize it */ + usbdevs->devs[j] = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb)); + if (!usbdevs->devs[j]) { + err("Out of memory"); + goto error; } + memset(usbdevs->devs[j], 0, sizeof(struct usbcan_usb)); + dev=usbdevs->devs[j]; + + mutex_init(&dev->io_mutex); + dev->udev = interface_to_usbdev(interface); + dev->interface = interface; + + /* set up the endpoint information */ + for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) { + endpoint = &iface_desc->endpoint[i].desc; + + if (epnum==-1){ + was=0; + for (k=0;kdevs[k]->bulk_in_endpointAddr & USB_ENDPOINT_NUMBER_MASK) == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)) + was=1; + } + if (was) continue; + epnum=endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK; + } - 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->bulk_in_endpointAddr && + usb_endpoint_is_bulk_in(endpoint)) { + if (epnum == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)){ + /* 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)) { + if (epnum == (endpoint->bEndpointAddress & USB_ENDPOINT_NUMBER_MASK)){ + /* we found a bulk out endpoint */ + dev->bulk_out_endpointAddr = endpoint->bEndpointAddress; + } } - } - 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 for chip %d",j); + goto error; } } - 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); + usb_set_intfdata(interface, usbdevs); - register_usbdev("usbcan",(void *) dev); + if (!(usbdevs->candev=register_usbdev("usbcan",(void *) usbdevs, usbcan_register_devs))) + goto register_error; /* let the user know what node this device is now attached to */ - info("USB Skeleton device now attached"); + DEBUGMSG("USBCAN device now attached"); return 0; +register_error: + cleanup_usbdev(usbdevs->candev); 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); + if (usbdevs){ + if (usbdevs->devs){ + if (usbdevs->devs[0]){ + usb_put_dev(usbdevs->devs[0]->udev); + } + for (j=0;jcount;j++){ + if (!usbdevs->devs[j]) continue; + + if (usbdevs->devs[j]->bulk_in_buffer) + can_checked_free(usbdevs->devs[j]->bulk_in_buffer); + if (usbdevs->devs[j]->chip){ + usbdevs->devs[j]->chip->chip_data=NULL; + } + can_checked_free(usbdevs->devs[j]); + } + can_checked_free(usbdevs->devs); + } + can_checked_free(usbdevs); } - can_checked_free(dev); +noalloc: 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); + struct usbcan_devs *usbdevs; + int j; + usbdevs = usb_get_intfdata(interface); + if (usbdevs==NULL){ + CANMSG("USBCAN device seems to be removed\n"); + return; + } 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); + if (usbdevs->devs){ + usb_put_dev((*usbdevs->devs)->udev); + } + cleanup_usbdev(usbdevs->candev); + if (usbdevs->devs){ + for (j=0;jcount;j++){ + if (!usbdevs->devs[j]) continue; + + /* prevent more I/O from starting */ + mutex_lock(&usbdevs->devs[j]->io_mutex); + usbdevs->devs[j]->interface = NULL; + mutex_unlock(&usbdevs->devs[j]->io_mutex); + + if (usbdevs->devs[j]->bulk_in_buffer) + can_checked_free(usbdevs->devs[j]->bulk_in_buffer); + // if (usbdevs->devs[j]->chip){ + // usbdevs->devs[j]->chip->chip_data=NULL; + // } + can_checked_free(usbdevs->devs[j]); + usbdevs->devs[j]=NULL; + } + can_checked_free(usbdevs->devs); } - can_checked_free(dev); + can_checked_free(usbdevs); - info("USB Skeleton now disconnected"); + DEBUGMSG("USBCAN now disconnected"); } int usbcan_init(void){