X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/4cf24de229090b1ab6279570a564d224e13dd706..2827b727d2910a3b48f9de7d67b3a67f59e256c7:/lincan/src/main.c diff --git a/lincan/src/main.c b/lincan/src/main.c index 4ff1523..23bd6da 100644 --- a/lincan/src/main.c +++ b/lincan/src/main.c @@ -1,128 +1,190 @@ /* main.c * Linux CAN-bus device driver. * Written by Arnaud Westenberg email:arnaud@wanadoo.nl + * 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 0.7 6 Aug 2001 + * Version lincan-0.2 9 Jul 2003 */ +#ifndef EXPORT_SYMTAB #define EXPORT_SYMTAB +#endif #include -#if defined (CONFIG_MODVERSIONS) && !defined (MODVERSIONS) -#define MODVERSIONS -#endif #include -#if defined (MODVERSIONS) -#include -#endif - #include #include -#include #include +#include #include #include +#include -#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,2,19)) -#include -#else -#include +#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50)) +#include #endif #if !defined (__GENKSYMS__) #if (defined (MODVERSIONS) && !defined(NOVER)) #include -#include "../include/main.ver" +/*#include "../include/main.ver"*/ #endif #endif +/*#undef CONFIG_DEVFS_FS*/ + +#ifdef CONFIG_DEVFS_FS +#include +#include +#endif + +#include "../include/can.h" +#include "../include/can_sysdep.h" #include "../include/main.h" #include "../include/modparms.h" +#include "../include/devcommon.h" #include "../include/setup.h" #include "../include/proc.h" #include "../include/open.h" #include "../include/close.h" #include "../include/read.h" +#include "../include/select.h" #include "../include/irq.h" #include "../include/ioctl.h" #include "../include/write.h" +#include "../include/finish.h" +#include "../include/fasync.h" -#define EXPORT_SYMTAB +#ifdef CAN_WITH_RTL +#include +#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)"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"); -int baudrate=0; -MODULE_PARM(baudrate,"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 +MODULE_SUPPORTED_DEVICE("can"); +#endif +#ifdef MODULE_LICENSE +MODULE_LICENSE("GPL"); +#endif +#ifdef MODULE_DESCRIPTION +MODULE_DESCRIPTION("Universal Linux CAN-bus device driver"); +#endif +#ifdef MODULE_AUTHOR +MODULE_AUTHOR("Pavel Pisa , Arnaud Westenberg"); +#endif /* Global structures, used to describe the installed hardware. */ struct canhardware_t canhardware; struct canhardware_t *hardware_p=&canhardware; -struct candevice_t *candevices_p[MAX_HW_CARDS]; struct chip_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)) +devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS]; +#endif +#endif /* Pointers to dynamically allocated memory are maintained in a linked list * to ease memory deallocation. */ struct mem_addr *mem_head=NULL; -#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,2,19)) -struct file_operations can_fops= -{ - NULL, /* llseek */ - read: can_read, - write: can_write, - NULL, /* readdir */ - NULL, /* 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*/ + + int init_module(void) { - int res=0,i=0; + int res=0,i=0, j; + struct candevice_t *candev; + struct chip_t *chip; if (parse_mod_parms()) return -EINVAL; + can_spin_lock_init(&canuser_manipulation_lock); + canqueue_kern_initialize(); + if (init_hw_struct()) return -ENODEV; @@ -136,49 +198,72 @@ int init_module(void) return -ENODEV; } + #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; inr_boards; i++) { - if (candevices_p[i]->hwspecops->request_io(candevices_p[i]->io_addr)) - goto memory_error; + candev=hardware_p->candevice[i]; + if (candev->hwspecops->request_io(candev)) + goto memory_error; + candev->flags|=CANDEV_IO_RESERVED; } for (i=0; inr_boards; i++) { - if (candevices_p[i]->hwspecops->reset(i)) + candev=hardware_p->candevice[i]; + if (candev->hwspecops->reset(candev)) goto reset_error; } - i=0; - while ( (chips_p[i] != NULL) && (i < MAX_TOT_CHIPS) ) { - if (!strcmp(chips_p[i]->chip_type,"i82527")) { - if (request_irq(chips_p[i]->chip_irq,i82527_irq_handler,SA_SHIRQ,DEVICE_NAME,chips_p[i])) - goto interrupt_error; - else - DEBUGMSG("Registered interrupt %d\n",chips_p[i]->chip_irq); - } - if (!strcmp(chips_p[i]->chip_type,"sja1000p") || - !strcmp(chips_p[i]->chip_type,"sja1000")) { - if (request_irq(chips_p[i]->chip_irq, - chips_p[i]->chipspecops->irq_handler,SA_SHIRQ,DEVICE_NAME,chips_p[i])) - goto interrupt_error; - else - DEBUGMSG("Registered interrupt %d\n",chips_p[i]->chip_irq); - } - i++; - } + can_spin_lock_init(&hardware_p->rtr_lock); + hardware_p->rtr_queue=NULL; for (i=0; inr_boards; i++) { - if (candevices_p[i]->flags & PROGRAMMABLE_IRQ) - if (candevices_p[i]->hwspecops->program_irq(i)) + candev=hardware_p->candevice[i]; + for(j=0; jnr_all_chips; j++) { + if((chip=candev->chip[j])==NULL) + continue; + if(can_chip_setup_irq(chip)<0) { + CANMSG("IRQ setup failed\n"); + goto interrupt_error; + } + } + + if (candev->flags & CANDEV_PROGRAMMABLE_IRQ) + if (candev->hwspecops->program_irq(candev)) goto interrupt_error; } - spin_lock_init(&hardware_p->rtr_lock); - hardware_p->rtr_queue=NULL; - #ifdef CONFIG_PROC_FS if (can_init_procdir()) goto proc_error; #endif +#ifdef CONFIG_DEVFS_FS + { + char dev_name[32]; + int dev_minor; + for(i=0;iminor; + #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,5,50)) + 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 + devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor); + #endif + } + } +#endif return 0; #ifdef CONFIG_PROC_FS @@ -195,16 +280,19 @@ int init_module(void) goto memory_error; memory_error: ; - for (i=0; inr_boards; i++) - candevices_p[i]->hwspecops->release_io(candevices_p[i]->io_addr); - goto register_error; + canhardware_done(hardware_p); + + #ifdef CAN_WITH_RTL + rtl_unregister_rtldev(major,DEVICE_NAME); + rtldev_error: + canqueue_rtl_done(); + #endif /*CAN_WITH_RTL*/ - register_error: ; res=unregister_chrdev(major,DEVICE_NAME); if (res<0) CANMSG("Error unloading CAN driver, error: %d\n",res); else - CANMSG("Successfully unloaded CAN driver.\n"); + CANMSG("No CAN devices or driver setup error.\n"); return -ENODEV; } @@ -218,15 +306,29 @@ void cleanup_module(void) CANMSG("Error unregistering /proc/can entry.\n"); #endif - while ( (chips_p[i] != NULL) & (i < MAX_TOT_CHIPS) ) { - free_irq(chips_p[i]->chip_irq, chips_p[i]); - i++; - } +#ifdef CONFIG_DEVFS_FS + for(i=0;iminor; + if(minor>=0) + devfs_remove("can%d", dev_minor); + #endif + } +#endif + + canhardware_done(hardware_p); - for (i=0; inr_boards; i++) - candevices_p[i]->hwspecops->release_io(candevices_p[i]->io_addr); + #ifdef CAN_WITH_RTL + rtl_unregister_rtldev(major,DEVICE_NAME); + canqueue_rtl_done(); + #endif /*CAN_WITH_RTL*/ - if ( del_mem_list() ) + if ( can_del_mem_list() ) CANMSG("Error deallocating memory\n"); res=unregister_chrdev(major,DEVICE_NAME);