X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/4cf24de229090b1ab6279570a564d224e13dd706..HEAD:/lincan/src/main.c diff --git a/lincan/src/main.c b/lincan/src/main.c index 4ff1523..c2c8b1e 100644 --- a/lincan/src/main.c +++ b/lincan/src/main.c @@ -1,128 +1,285 @@ -/* main.c - * Linux CAN-bus device driver. - * Written by Arnaud Westenberg email:arnaud@wanadoo.nl - * This software is released under the GPL-License. - * Version 0.7 6 Aug 2001 - */ - +/**************************************************************************/ +/* File: main.c - the CAN driver top level glue code (needs rewrite) */ +/* */ +/* LinCAN - (Not only) Linux CAN bus driver */ +/* Copyright (C) 2002-2009 DCE FEE CTU Prague */ +/* Copyright (C) 2002-2009 Pavel Pisa */ +/* Funded by OCERA and FRESCOR IST projects */ +/* Based on CAN driver code by Arnaud Westenberg */ +/* */ +/* LinCAN is free software; you can redistribute it and/or modify it */ +/* under terms of the GNU General Public License as published by the */ +/* Free Software Foundation; either version 2, or (at your option) any */ +/* later version. LinCAN is distributed in the hope that it will be */ +/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */ +/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */ +/* General Public License for more details. You should have received a */ +/* copy of the GNU General Public License along with LinCAN; see file */ +/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */ +/* Cambridge, MA 02139, USA. */ +/* */ +/* To allow use of LinCAN in the compact embedded systems firmware */ +/* and RT-executives (RTEMS for example), main authors agree with next */ +/* special exception: */ +/* */ +/* Including LinCAN header files in a file, instantiating LinCAN generics */ +/* or templates, or linking other files with LinCAN objects to produce */ +/* an application image/executable, does not by itself cause the */ +/* resulting application image/executable to be covered by */ +/* the GNU General Public License. */ +/* This exception does not however invalidate any other reasons */ +/* why the executable file might be covered by the GNU Public License. */ +/* Publication of enhanced or derived LinCAN files is required although. */ +/**************************************************************************/ + +#ifndef EXPORT_SYMTAB #define EXPORT_SYMTAB - -#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 +#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0)) + #include + #include #else -#include + #include + #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__) +#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"); 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"); int extended=0; -MODULE_PARM(extended,"1i"); int pelican=0; -MODULE_PARM(pelican,"1i"); -int baudrate=0; -MODULE_PARM(baudrate,"1i"); +int baudrate[MAX_TOT_CHIPS]; char *hw[MAX_HW_CARDS]={NULL,}; -MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s"); 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"); unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1}; -MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i"); +long clockfreq[MAX_HW_CARDS]; int stdmask=0; -MODULE_PARM(stdmask, "1i"); int extmask=0; -MODULE_PARM(extmask, "1i"); int mo15mask=0; +int processlocal=0; + +unsigned int minor_specified; +unsigned int baudrate_specified; +unsigned int hw_specified; +unsigned int irq_specified; +unsigned int io_specified; +unsigned int clockfreq_specified; + +#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,12)) +/* Module parameters, some must be supplied at module loading time */ +MODULE_PARM(major,"1i"); +/*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/ +MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i"); +MODULE_PARM(extended,"1i"); +MODULE_PARM(pelican,"1i"); +MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i"); +MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s"); +MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i"); +MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i"); +MODULE_PARM(clockfreq, "1-" __MODULE_STRING(MAX_HW_CARDS)"i"); +MODULE_PARM(stdmask, "1i"); +MODULE_PARM(extmask, "1i"); MODULE_PARM(mo15mask, "1i"); +MODULE_PARM(processlocal, "1i"); + +#else /* LINUX_VERSION_CODE >= 2,6,12 */ +module_param(major, int, 0); +module_param_array(minor, int, &minor_specified, 0); +module_param(extended, int, 0); +module_param(pelican, int, 0); +module_param_array(baudrate, int, &baudrate_specified, 0); +module_param_array(hw, charp, &hw_specified, 0); +module_param_array(irq, int, &irq_specified, 0); +module_param_array(io, ulong, &io_specified, 0); +module_param_array(clockfreq, long, &clockfreq_specified, 0); +module_param(stdmask, int, 0); +module_param(extmask, int, 0); +module_param(mo15mask, int, 0); +module_param(processlocal, int, 0); +#endif /* LINUX_VERSION_CODE >= 2,6,12 */ + +MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]"); +MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel"); +MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047," + " selects extended frames reception for i82527"); +MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips"); +MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz"); +MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,..."); +MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual"); +MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual"); +MODULE_PARM_DESC(clockfreq,"base board clock source frequency in step of 1kHz"); +MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips"); +MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips"); +MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips"); +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 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(2,6,0)) +devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS]; +#endif +#endif + +#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,36)) +static int can_oldapi_ioctl(struct inode *inode, struct file *file, unsigned int cmd, unsigned long arg) +{ + return can_ioctl(file, cmd, arg); +} +#endif /* 2.6.36 */ /* 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= { - owner: THIS_MODULE, + #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0)) + owner: THIS_MODULE, + #endif read: can_read, write: can_write, - ioctl: can_ioctl, + poll: can_poll, + #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,36)) + ioctl: can_oldapi_ioctl, + #else /* Linux 3.x */ + unlocked_ioctl: can_ioctl, + #endif /* Linux 3.x */ 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; + int res=0,i=0, j; + struct candevice_t *candev; + struct canchip_t *chip; if (parse_mod_parms()) return -EINVAL; + can_spin_lock_init(&canuser_manipulation_lock); + canqueue_kern_initialize(); + if (init_hw_struct()) return -ENODEV; @@ -133,103 +290,199 @@ int init_module(void) 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; 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 request_io_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])) + can_spin_lock_init(&hardware_p->rtr_lock); + hardware_p->rtr_queue=NULL; + + for (i=0; inr_boards; i++) { + candev=hardware_p->candevice[i]; + for(j=0; jnr_all_chips; j++) { + if((chip=candev->chip[j])==NULL) + continue; + + if(chip->chipspecops->attach_to_chip(chip)<0) { + CANMSG("Initial attach to the chip HW failed\n"); 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])) + } + + 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",chips_p[i]->chip_irq); + } } - i++; - } - for (i=0; inr_boards; i++) { - if (candevices_p[i]->flags & PROGRAMMABLE_IRQ) - if (candevices_p[i]->hwspecops->program_irq(i)) + if (candev->flags & CANDEV_PROGRAMMABLE_IRQ) + if (candev->hwspecops->program_irq(candev)){ + CANMSG("Error to program board interrupt\n"); 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 +#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]; + #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */ + struct class_device *this_dev; + #else + struct device *this_dev; + #endif + int dev_minor; + for(i=0;iminor; + #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); + #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) /* >= 2.6.15 */ + this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor); + #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,27) + this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor); + #else /* >= 2.6.28 */ + this_dev=device_create(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor); + #endif /* >= 2.6.28 */ + if(IS_ERR(this_dev)){ + CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor); + #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) + }else{ + /*this_dev->class_data=objects_p[i];*/ + class_set_devdata(this_dev,objects_p[i]); + #endif /* <= 2.6.25 */ + } + #ifdef CONFIG_DEVFS_FS + devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor); + #endif + #endif + } + } +#endif return 0; #ifdef CONFIG_PROC_FS proc_error: ; CANMSG("Error registering /proc entry.\n"); - goto memory_error; + goto memory_error; #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: ; - for (i=0; inr_boards; i++) - candevices_p[i]->hwspecops->release_io(candevices_p[i]->io_addr); - goto register_error; + canhardware_done(hardware_p); - 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"); - return -ENODEV; + #ifdef CAN_WITH_RTL + rtl_unregister_rtldev(major,DEVICE_NAME); + rtldev_error: + canqueue_rtl_done(); + #endif /*CAN_WITH_RTL*/ + + unregister_chrdev(major,DEVICE_NAME); + CANMSG("No CAN devices or driver setup error.\n"); + register_error: + if ( can_del_mem_list() ) + CANMSG("Error deallocating memory\n"); + + return -ENODEV; } void cleanup_module(void) { - int res=0,i=0; +#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) + int i=0; +#endif #ifdef CONFIG_PROC_FS if (can_delete_procdir()) - CANMSG("Error unregistering /proc/can entry.\n"); + 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++; - } +#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) + for(i=0;iminor; + if(minor>=0){ + #ifdef CONFIG_DEVFS_FS + devfs_remove("can%d", dev_minor); + #endif + #if LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,25) + class_device_destroy(can_class, MKDEV(major, dev_minor)); + #else /* >= 2.6.26 */ + device_destroy(can_class, MKDEV(major, dev_minor)); + #endif /* >= 2.6.26 */ + } + #endif + } +#endif + +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) + class_destroy(can_class); +#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); - if (res<0) - CANMSG("Error unregistering CAN driver, error: %d\n",res); + unregister_chrdev(major,DEVICE_NAME); }