X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/786c7d54e8d820e89997e507c29ea716c0d55fd9..cd956e65f376d8ab9734cdd3904745a56fccfb20:/lincan/src/main.c diff --git a/lincan/src/main.c b/lincan/src/main.c index f21e78f..c4fb22a 100644 --- a/lincan/src/main.c +++ b/lincan/src/main.c @@ -1,36 +1,41 @@ /* 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-0.3 17 Jun 2004 */ +#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(2,3,0)) -#include +#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0)) + #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__) @@ -40,12 +45,18 @@ #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" @@ -55,33 +66,61 @@ #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_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 @@ -93,59 +132,90 @@ MODULE_LICENSE("GPL"); #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 /* 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(2,3,0)) -struct file_operations can_fops= -{ - NULL, /* llseek */ - read: can_read, - write: can_write, - NULL, /* readdir */ - poll: can_poll, - ioctl: can_ioctl, - NULL, /* mmap */ - open: can_open, - NULL, /* flush */ - release: can_close, - NULL, /* fsync */ -}; -#else struct file_operations can_fops= { + #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0)) owner: THIS_MODULE, + #endif read: can_read, write: can_write, poll: can_poll, ioctl: can_ioctl, open: can_open, release: can_close, + #ifdef CAN_ENABLE_KERN_FASYNC + fasync: can_fasync + #endif /*CAN_ENABLE_KERN_FASYNC*/ }; -#endif EXPORT_SYMBOL(can_fops); + +#ifdef CAN_WITH_RTL +struct rtl_file_operations can_fops_rtl = { + llseek: NULL, + read: can_read_rtl_posix, + write: can_write_rtl_posix, + ioctl: can_ioctl_rtl_posix, + mmap: NULL, + open: can_open_rtl_posix, + release: can_release_rtl_posix +}; +#endif /*CAN_WITH_RTL*/ + + +/* + 2.6 kernel attributes for sysfs + +static ssize_t show_xxx(struct class_device *cdev, char *buf) +{ + return sprintf(buf, "xxxx\n"); +} + +static ssize_t store_xxx(struct class_device *cdev, const char * buf, size_t count) +{ +} + +static CLASS_DEVICE_ATTR(xxx, S_IRUGO, show_xxx, store_xxx/NULL); + +ret = class_device_create_file(class_dev, class_device_attr_xxx); +if (ret) + goto err_unregister; + +*/ + int init_module(void) { - int res=0,i=0; + 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; @@ -156,45 +226,59 @@ 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; } - spin_lock_init(&hardware_p->rtr_lock); + can_spin_lock_init(&hardware_p->rtr_lock); hardware_p->rtr_queue=NULL; - 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])) + 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; + } } #ifdef CONFIG_PROC_FS @@ -202,18 +286,42 @@ int init_module(void) goto proc_error; #endif -#ifdef CONFIG_DEVFS_FS +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) + can_class=class_create(THIS_MODULE, "can"); +#endif + +#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) { + #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0)) char dev_name[32]; + #else + struct class_device *this_dev; + #endif int dev_minor; for(i=0;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); + #else /* >= 2.6.15 */ + this_dev=class_device_create(can_class, NULL, MKDEV(major, dev_minor), NULL, "can%d", dev_minor); + #endif /* >= 2.6.15 */ + if(!this_dev){ + CANMSG("problem to create device \"can%d\" in the class \"can\"\n", dev_minor); + }else{ + this_dev->class_data=objects_p[i]; + } + #ifdef CONFIG_DEVFS_FS + devfs_mk_cdev(MKDEV(major, dev_minor), S_IFCHR | S_IRUGO | S_IWUGO, "can%d", dev_minor); + #endif + #endif } } #endif @@ -226,25 +334,36 @@ int init_module(void) #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); + + #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"); - return -ENODEV; + 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) @@ -256,22 +375,37 @@ void cleanup_module(void) CANMSG("Error unregistering /proc/can entry.\n"); #endif -#ifdef CONFIG_DEVFS_FS +#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) for(i=0;iminor; + if(minor>=0){ + #ifdef CONFIG_DEVFS_FS + devfs_remove("can%d", dev_minor); + #endif + class_device_destroy(can_class, MKDEV(major, dev_minor)); + } + #endif } #endif - i=0; - while ( (chips_p[i] != NULL) & (i < MAX_TOT_CHIPS) ) { - free_irq(chips_p[i]->chip_irq, chips_p[i]); - i++; - } - for (i=0; inr_boards; i++) - candevices_p[i]->hwspecops->release_io(candevices_p[i]->io_addr); +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) + class_destroy(can_class); +#endif + + canhardware_done(hardware_p); + + #ifdef CAN_WITH_RTL + rtl_unregister_rtldev(major,DEVICE_NAME); + canqueue_rtl_done(); + #endif /*CAN_WITH_RTL*/ - if ( del_mem_list() ) + if ( can_del_mem_list() ) CANMSG("Error deallocating memory\n"); res=unregister_chrdev(major,DEVICE_NAME);