X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/49e5d02a7ffce9534cdbb70d0b4e1181755da074..ab5f414f57a41d64ce202bfc90b847a78c444e82:/lincan/src/usbcan.c diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c index 1be7a90..b7b595f 100644 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@ -12,9 +12,15 @@ #include "../include/setup.h" #include "../include/usbcan.h" +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,20)) + #include +#endif + 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) }, @@ -45,14 +51,14 @@ static struct usb_driver usbcan_driver = { */ 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; } @@ -70,14 +76,6 @@ 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; } @@ -115,7 +113,7 @@ 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; @@ -140,7 +138,7 @@ 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; } @@ -179,12 +177,13 @@ int usbcan_register(struct hwspecops_t *hwspecops) // static int sja1000_report_error_limit_counter; -static void sja1000_report_error(struct canchip_t *chip, +static void usbcan_report_error(struct canchip_t *chip, unsigned sr, unsigned ir, unsigned ecc) { /*TODO : Error reporting from device */ -/* if(sja1000_report_error_limit_counter>=100) +#if 0 + if(sja1000_report_error_limit_counter>=100) return; CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n", @@ -217,6 +216,7 @@ static void sja1000_report_error(struct canchip_t *chip, ); } #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ +#endif } @@ -267,32 +267,35 @@ 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[USBCAN_TRANSFER_SIZE]; - __u8 usbbuf[16]; + if (!dev) + return -ENODEV; *(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, - &usbbuf, 16, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, USBCAN_TRANSFER_SIZE, 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, - &usbbuf, 16, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); - if (retval==16){ + if (retval==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); @@ -320,9 +323,12 @@ 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]; + u8 usbbuf[USBCAN_TRANSFER_SIZE]; + + if (!dev) + return -ENODEV; *(int32_t *)(usbbuf)=cpu_to_le32(rate); *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw); @@ -330,24 +336,24 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, *(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, - &usbbuf, 16, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, USBCAN_TRANSFER_SIZE, 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, - usbbuf, 16, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + usbbuf, USBCAN_TRANSFER_SIZE, 10000); - if (retval==16){ + if (retval==1){ if(usbbuf[0]==1) return 0; } @@ -388,36 +394,6 @@ 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; - int i=0; - int len; - __u8 *ptr; - - /* Wait until Transmit Buffer Status is released */ - while ( usbcan_chip_queue_status(chip) && - i++tx_msg)=chip->chip_idx & 0xFF; - - len = msg->length; - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - - *(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; } @@ -435,24 +411,6 @@ 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,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; } @@ -467,7 +425,10 @@ 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; } @@ -485,19 +446,23 @@ 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[USBCAN_TRANSFER_SIZE]; + 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, - cpu_to_le16(value), chip->chip_idx, - dev->ctl_in_buffer, dev->ctl_in_size, + cpu_to_le16(value), cpu_to_le16(chip->chip_idx), + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + if(buf[0]==1) return 0; } return -ENODEV; @@ -513,18 +478,22 @@ 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[USBCAN_TRANSFER_SIZE]; + 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, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + if(buf[0]==1) return 0; } return -ENODEV; @@ -542,22 +511,27 @@ 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[USBCAN_TRANSFER_SIZE]; + 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, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ - if(dev->ctl_in_buffer[0]==1) + CANMSG("Chip_queue_status: %d\n",buf[0]); + if(buf[0]==1) return 0; - if(dev->ctl_in_buffer[0]==0) + if(buf[0]==0) return 1; } + CANMSG("Chip_queue_status error: %d\n",retval); return -ENODEV; } @@ -571,23 +545,49 @@ 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[USBCAN_TRANSFER_SIZE]; + 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, USBCAN_TRANSFER_SIZE, 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 @@ -597,6 +597,11 @@ 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_kthread, (void *)dev, "usbcan_%d",chip->chip_idx); + return 0; } @@ -609,7 +614,15 @@ 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 */ + set_bit(USBCAN_TERMINATE,&dev->flags); + wake_up_process(dev->comthread); +// can_kthread_stop(dev->comthread); + return 0; } @@ -671,53 +684,157 @@ int usbcan_config_irqs(struct canchip_t *chip, short irqs) } /** - * usbcan_irq_write_handler: - part of ISR code responsible for transmit events - * @chip: pointer to chip state structure - * @obj: pointer to attached queue description + * usbcan_kthread_read_handler: - part of kthread code responsible for receive completed events + * @dev: pointer to usb device related structure + * @obj: pointer to attached message object description * - * The main purpose of this function is to read message from attached queues - * and transfer message contents into CAN controller chip. + * The main purpose of this function is to read message from usb urb + * and transfer message contents to CAN queue ends. * This subroutine is called by - * usbcan_irq_write_handler() for transmit events. + * usbcan_kthread(). * File: src/usbcan.c */ -void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj) -{ - int cmd; - - if(obj->tx_slot){ - // Do local transmitted message distribution if enabled - if (processlocal){ - // fill CAN message timestamp - can_filltimestamp(&obj->tx_slot->msg.timestamp); +void usbcan_kthread_read_handler(struct usbcan_usb *dev, struct msgobj_t *obj){ + int i, j, len, retval; + CANMSG("USBCAN RX handler\n"); + for (i=0;irx[i].flags)){ + CANMSG("USBCAN Thread has received a message\n"); + if ((dev->chip)&&(dev->chip->flags & CHIP_CONFIGURED)){ + u8 *ptr; + struct usbcan_message *mess=&dev->rx[i]; + + len=*(u8 *)(mess->msg+1); + if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; + obj->rx_msg.length = len; + + obj->rx_msg.flags=le16_to_cpu(*(u16 *)(mess->msg+2)); + obj->rx_msg.id=le32_to_cpu((*(u32 *)(mess->msg+4))); + + for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) { + obj->rx_msg.data[j]=*ptr; + } - obj->tx_slot->msg.flags |= MSG_LOCAL; - canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg); + // 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"); + } + if (!test_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags)){ + CANMSG("Renewing RX urb\n"); + retval = usb_submit_urb (dev->rx[i].u, GFP_KERNEL); + if (retval<0){ + CANMSG("%d. URB error %d\n", i, retval); + set_bit(USBCAN_ERROR,&dev->flags); + } + else + set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags); } - // 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); - cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot); - if(cmd<0) - return; - can_msgobj_set_fl(obj,TX_PENDING); +/** + * usbcan_kthread_write_handler: - part of kthread code responsible for transmit done events + * @dev: pointer to usb device related structure + * @obj: pointer to attached message object description + * + * The main purpose of this function is to free allocated resources on transmit done event + * This subroutine is called by + * usbcan_kthread(). + * File: src/usbcan.c + */ +void usbcan_kthread_write_handler(struct usbcan_usb *dev, struct msgobj_t *obj){ + int i; + CANMSG("USBCAN TX handler\n"); + for (i=0;itx[i].flags)){ + struct usbcan_message *mess=&dev->tx[i]; + CANMSG("USBCAN Message successfully sent\n"); + + if(mess->slot){ + // Do local transmitted message distribution if enabled + if (processlocal){ + // fill CAN message timestamp + can_filltimestamp(&mess->slot->msg.timestamp); - if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) { - obj->ret = -1; - canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP); - canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); - obj->tx_slot=NULL; - return; + mess->slot->msg.flags |= MSG_LOCAL; + canque_filter_msg2edges(obj->qends, &mess->slot->msg); + } + // Free transmitted slot + canque_free_outslot(obj->qends, mess->qedge, mess->slot); + mess->slot=NULL; + } + can_msgobj_clear_fl(obj,TX_PENDING); + + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + + // Test if some new messages arrived + set_bit(USBCAN_TX_PENDING,&dev->flags); + } } - if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) { - obj->ret = -1; - canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND); - canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); - obj->tx_slot=NULL; - return; +} + +/** + * usbcan_kthread_write_request_handler: - part of kthread code responsible for sending transmit urbs + * @dev: pointer to usb device related structure + * @obj: pointer to attached message object description + * + * The main purpose of this function is to create a usb transmit safe object + * and send it via free transmit usb urb + * This subroutine is called by + * usbcan_kthread(). + * File: src/usbcan.c + */ +void usbcan_kthread_write_request_handler(struct usbcan_usb *dev, struct msgobj_t *obj){ + int i, j, cmd, len, retval; + for (i=0;itx[i].flags)){ + struct usbcan_message *mess=&dev->tx[i]; + u8 *ptr; + cmd=canque_test_outslot(obj->qends, &mess->qedge, &mess->slot); + if(cmd>=0){ + CANMSG("USBCAN Sending a message\n"); + + can_msgobj_set_fl(obj,TX_PENDING); + clear_bit(USBCAN_FREE_TX_URB,&dev->flags); + clear_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + + *(u8 *)(mess->msg)=0; + len = mess->slot->msg.length; + if(len > CAN_MSG_LENGTH) + len = CAN_MSG_LENGTH; + *(u8 *)(mess->msg+1)=len & 0xFF; + *(u16 *)(mess->msg+2)=cpu_to_le16(mess->slot->msg.flags); + *(u32 *)(mess->msg+4)=cpu_to_le32(mess->slot->msg.id); + + for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) { + *ptr=mess->slot->msg.data[j] & 0xFF; + } + for(; j < 8; ptr++,j++) { + *ptr=0; + } + + set_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + retval = usb_submit_urb (dev->tx[i].u, GFP_KERNEL); + if (retval){ + CANMSG("%d. URB error %d\n",i,retval); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + obj->ret = -1; + canque_notify_inends(mess->qedge, CANQUEUE_NOTIFY_ERRTX_SEND); + canque_free_outslot(obj->qends, mess->qedge, mess->slot); + mess->slot=NULL; + } + } + else{ + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + break; + } + } } } @@ -737,95 +854,6 @@ void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj) */ int usbcan_irq_handler(int irq, struct canchip_t *chip) { -/* int irq_register, status, error_code; - struct msgobj_t *obj=chip->msgobj[0]; - int loop_cnt=CHIP_MAX_IRQLOOP; - - irq_register=can_read_reg(chip,SJAIR); -// DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register); -// DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n", -// can_read_reg(chip,SJASR)); - - if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0) - return CANCHIP_IRQ_NONE; - - if(!(chip->flags&CHIP_CONFIGURED)) { - CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register); - return CANCHIP_IRQ_NONE; - } - - status=can_read_reg(chip,SJASR); - - do { - - if(!loop_cnt--) { - CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq); - return CANCHIP_IRQ_STUCK; - } - - // (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"); - obj->ret = 0; - can_msgobj_set_fl(obj,TX_REQUEST); - 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) - usbcan_irq_write_handler(chip, obj); - - can_msgobj_clear_fl(obj,TX_LOCK); - if(!can_msgobj_test_fl(obj,TX_REQUEST)) break; - DEBUGMSG("TX looping in sja1000_irq_handler\n"); - } - } - if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) { - // Some error happened - error_code=can_read_reg(chip,SJAECC); - sja1000_report_error(chip, status, irq_register, error_code); -// FIXME: chip should be brought to usable state. Transmission cancelled if in progress. -// Reset flag set to 0 if chip is already off the bus. Full state report - obj->ret=-1; - - if(error_code == 0xd9) { - obj->ret= -ENXIO; - // 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 - obj->tx_retry_cnt = 0; - } - if(status&sjaSR_BS) { - CANMSG("bus-off, resetting usbcan\n"); - can_write_reg(chip, 0, SJAMOD); - } - - 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; - } - - } else { - if(sja1000_report_error_limit_counter) - sja1000_report_error_limit_counter--; - obj->tx_retry_cnt=0; - } - - irq_register=can_read_reg(chip,SJAIR); - - status=can_read_reg(chip,SJASR); - - if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) || - (irq_register & sjaIR_TI)) - can_msgobj_set_fl(obj,TX_REQUEST); - - } 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; } @@ -842,7 +870,9 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip) */ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) { + struct usbcan_usb *dev=(struct usbcan_usb *)chip->chip_data; + CANMSG("Trying to send message\n"); can_preempt_disable(); can_msgobj_set_fl(obj,TX_PENDING); @@ -850,14 +880,16 @@ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){ can_msgobj_clear_fl(obj,TX_REQUEST); - if (!usbcan_chip_queue_status(chip)){ + if (test_and_clear_bit(USBCAN_FREE_TX_URB,&dev->flags)){ obj->tx_retry_cnt=0; - usbcan_irq_write_handler(chip, obj); + set_bit(USBCAN_TX_PENDING,&dev->flags); + if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + wake_up_process(dev->comthread); } can_msgobj_clear_fl(obj,TX_LOCK); if(!can_msgobj_test_fl(obj,TX_REQUEST)) break; - DEBUGMSG("TX looping in usbcan_wakeup_tx\n"); + CANMSG("TX looping in usbcan_wakeup_tx\n"); } can_preempt_enable(); @@ -954,264 +986,404 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) } +/** ********************************* + * USB related functions + * ********************************* */ -/* --------------------------------------------------------------------------------------------------- */ +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_OK,&dev->flags) || + test_bit(USBCAN_TX_PENDING,&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) +static void usbcan_callback(struct urb *urb) { - struct usbcan_usb *dev = urb->context; + struct usbcan_message *mess = urb->context; int retval; + if (!test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags)) + return; + if (test_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags)) + return; + switch (urb->status) { case 0: /* success */ - set_bit(USBCAN_DATA_READ,&dev->flags); - wake_up(&dev->rcvthread.queue); + CANMSG("%s > Message OK\n", __FUNCTION__); + set_bit(USBCAN_DATA_OK,&mess->dev->flags); + set_bit(USBCAN_MESSAGE_DATA_OK,&mess->flags); + if (test_bit(USBCAN_MESSAGE_TYPE_RX,&mess->flags)){ + CANMSG("%s > RX flag set\n", __FUNCTION__); + set_bit(USBCAN_DATA_RX,&mess->dev->flags); + } + if (test_bit(USBCAN_MESSAGE_TYPE_TX,&mess->flags)) + CANMSG("%s > TX flag set\n", __FUNCTION__); + set_bit(USBCAN_DATA_TX,&mess->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags)) + wake_up_process(mess->dev->comthread); + else + CANMSG("%s > USBCAN thread not running\n", __FUNCTION__); +// wake_up(&mess->dev->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); + CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status); + set_bit(USBCAN_TERMINATE,&mess->dev->flags); + set_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); return; default: - CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status); + //CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status); break; } + // Try to send urb again on non significant errors 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); + CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&mess->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags)) + wake_up_process(mess->dev->comthread); +// wake_up(&mess->dev->queue); } } -void usbcan_read_kthread(kthread_t *kthread) +int usbcan_kthread(void *data) { - int retval; - struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg; + int i,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"); + CANMSG("Usbcan thread started...\n"); - dev->rcv = usb_alloc_urb(0, GFP_KERNEL); - if (!dev->rcv){ - CANMSG("Error allocating usb urb\n"); + if (!dev->chip) goto error; + obj=dev->chip->msgobj[0]; + + /* Prepare receive urbs */ + for (i=0;irx[i].u = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->rx[i].u){ + CANMSG("Error allocating %d. usb receive urb\n",i); + goto error; + } + dev->rx[i].u->dev = dev->udev; + dev->rx[i].dev = dev; + usb_fill_bulk_urb(dev->rx[i].u, dev->udev, + usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), + dev->rx[i].msg, USBCAN_TRANSFER_SIZE, + usbcan_callback, &dev->rx[i]); + set_bit(USBCAN_MESSAGE_TYPE_RX,&dev->rx[i].flags); } - 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); + /* Prepare transmit urbs */ + for (i=0;itx[i].u = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->tx[i].u){ + CANMSG("Error allocating %d. usb transmit urb\n",i); + goto error; + } + dev->tx[i].u->dev = dev->udev; + dev->tx[i].dev = dev; + usb_fill_bulk_urb(dev->tx[i].u, dev->udev, + usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), + dev->tx[i].msg, USBCAN_TRANSFER_SIZE, + usbcan_callback, &dev->tx[i]); + set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + set_bit(USBCAN_MESSAGE_TYPE_TX,&dev->tx[i].flags); + } + + set_bit(USBCAN_THREAD_RUNNING,&dev->flags); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + + for (i=0;irx[i].u, GFP_KERNEL); + if (retval){ + CANMSG("%d. URB error %d\n",i,retval); + set_bit(USBCAN_ERROR,&dev->flags); + goto exit; + } + else + set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags); + } /* 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; - } + /* 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_DATA_READ,&dev->flags) - || test_bit(USBCAN_TERMINATE,&dev->flags) - || test_bit(USBCAN_ERROR,&dev->flags) - ); - + if (!(can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags))){ + if (usbcan_sleep_thread(dev)<0) + break; +/* wait_event_interruptible(dev->queue, + can_kthread_should_stop() || + test_bit(USBCAN_DATA_OK,&dev->flags) || + test_bit(USBCAN_TX_PENDING,&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) - { + if (can_kthread_should_stop()){ /* we received a request to terminate ourself */ break; } - if (test_bit(USBCAN_ERROR,&dev->flags)){ - CANMSG("URB error %d\n",retval); - clear_bit(USBCAN_ERROR,&dev->flags); + /* here we are back from sleep because we caught a signal. */ + if (test_bit(USBCAN_TERMINATE,&dev->flags)){ + /* we received a request to terminate ourself */ + break; } { /* Normal work to do */ - if (test_bit(USBCAN_DATA_READ,&dev->flags)){ - int i, len; - clear_bit(USBCAN_DATA_READ,&dev->flags); + if (test_and_clear_bit(USBCAN_DATA_OK,&dev->flags)){ + CANMSG("USBCAN Succesfull data transfer\n"); - 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); + if (test_and_clear_bit(USBCAN_DATA_RX,&dev->flags)){ + usbcan_kthread_read_handler(dev, obj); } + if (test_and_clear_bit(USBCAN_DATA_TX,&dev->flags)){ + usbcan_kthread_write_handler(dev, obj); + } + } + if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)){ + usbcan_kthread_write_request_handler(dev, obj); } } } + set_bit(USBCAN_TERMINATE,&dev->flags); +exit: /* here we go only in case of termination of the thread */ + for (i=0;irx[i].u){ + set_bit(USBCAN_MESSAGE_TERMINATE,&dev->rx[i].flags); + usb_kill_urb(dev->rx[i].u); + usb_free_urb(dev->rx[i].u); + } + } + for (i=0;itx[i].u){ + set_bit(USBCAN_MESSAGE_TERMINATE,&dev->tx[i].flags); + usb_kill_urb(dev->tx[i].u); + usb_free_urb(dev->tx[i].u); + } + } + clear_bit(USBCAN_THREAD_RUNNING,&dev->flags); + + 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) { - err("Out of memory"); + iface_desc = interface->cur_altsetting; + if (iface_desc->desc.bNumEndpoints % 2){ + CANMSG("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) { + CANMSG("Out of memory"); goto error; } - memset(dev, 0, sizeof(struct usbcan_usb)); + 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) { + CANMSG("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]) { + CANMSG("Out of memory"); + goto error; } + memset(usbdevs->devs[j], 0, sizeof(struct usbcan_usb)); + dev=usbdevs->devs[j]; + + mutex_init(&dev->io_mutex); + init_waitqueue_head(&dev->queue); + 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) { + CANMSG("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)) { + CANMSG("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"); + CANMSG("USBCAN device now attached\n"); 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); - if (!dev) + 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); + + while (test_bit(USBCAN_THREAD_RUNNING,&usbdevs->devs[j]->flags)) + { + CANMSG("USBCAN thread has not stopped, trying to wake...\n"); + set_bit(USBCAN_TERMINATE,&usbdevs->devs[j]->flags); + wake_up_process(usbdevs->devs[j]->comthread); + schedule(); +// can_kthread_stop(dev->comthread); + } + + 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"); + CANMSG("USBCAN now disconnected\n"); } int usbcan_init(void){