X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/cd29136f5e7d59be1b9868691436df0fb54d1ecd..831ccb1f14f7472962fc2d185f32e18105209bd7:/lincan/src/main.c diff --git a/lincan/src/main.c b/lincan/src/main.c index c0c6d00..b8edf46 100644 --- a/lincan/src/main.c +++ b/lincan/src/main.c @@ -74,6 +74,10 @@ #include "../include/can_iortl.h" #endif /*CAN_WITH_RTL*/ +#if defined(CONFIG_OC_LINCAN_CARD_usbcan) + #include "../include/usbcan.h" +#endif + can_spinlock_t canuser_manipulation_lock; int major=CAN_MAJOR; @@ -362,6 +366,15 @@ int init_module(void) } } #endif + +#if defined(CONFIG_OC_LINCAN_CARD_usbcan) + res = usbcan_init(); + if (res){ + CANMSG("usb_register for usbcan failed. Error number %d.\n", res); + return -ENODEV; + } +#endif + return 0; #ifdef CONFIG_PROC_FS @@ -400,12 +413,225 @@ int init_module(void) return -ENODEV; } + + + + +struct candevice_t* register_usbdev(const char *hwname,void *devdata,void (*chipdataregfnc)(struct canchip_t *ch,void *data)){ + int i=0, j, board=0; + struct candevice_t *candev; + struct canchip_t *chip; + struct boardtype_t *brp; + + while ( (hw[board] != NULL) && (board < MAX_HW_CARDS) ) + board++; + if (board>=MAX_HW_CARDS){ + CANMSG("Maximum number of devices has been reached, no space for new device"); + return NULL; + } + brp = boardtype_find(hwname); + if(!brp) { + CANMSG("Sorry, hardware \"%s\" is currently not supported.\n",hw[board]); + return NULL; + } + if (board==MAX_HW_CARDS){ + CANMSG("Device \"%s\" could not be registered due to internal limits.\n",hw[board]); + return NULL; + } + hw[board]=brp->boardtype; + + if (init_new_hw_struct(board)) + return NULL; + + #ifdef CAN_DEBUG + list_hw(); + #endif + + candev=hardware_p->candevice[board]; + + /* Adding link to usb device structure into can device */ + candev->sysdevptr.anydev=devdata; + + if (candev->hwspecops->request_io(candev)) + goto request_io_error; + candev->flags|=CANDEV_IO_RESERVED; + + if (candev->hwspecops->reset(candev)) + goto reset_error; + + for(j=0; jnr_all_chips; j++) { + if((chip=candev->chip[j])==NULL) + continue; + + chipdataregfnc(chip,devdata); + + if(chip->chipspecops->attach_to_chip(chip)<0) { + CANMSG("Initial attach to the chip HW failed\n"); + goto interrupt_error; + } + + chip->flags |= CHIP_ATTACHED; + + if(can_chip_setup_irq(chip)<0) { + CANMSG("Error to setup chip IRQ\n"); + goto interrupt_error; + } + } + + 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 + if (can_init_procentry(board)) + goto proc_error; +#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;ihostchip->hostdevice != candev) continue; + + dev_minor=objects_p[i]->minor; + #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); + #else /* >= 2.6.26 */ + this_dev=device_create_drvdata(can_class, NULL, MKDEV(major, dev_minor), objects_p[i], "can%d", dev_minor); + #endif /* >= 2.6.26 */ + 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 candev; + +#ifdef CONFIG_PROC_FS + proc_error: ; + CANMSG("Error registering /proc entry.\n"); + goto memory_error; +#endif + + interrupt_error: ; + 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: ; + + #ifdef CAN_WITH_RTL + rtldev_error: + #endif /*CAN_WITH_RTL*/ + +// register_error: + if ( can_del_mem_list() ) + CANMSG("Error deallocating memory\n"); + + return NULL; +} + + + + + + + +void cleanup_usbdev(struct candevice_t *dev) +{ + int i=0; + int dev_minor; + + if (!dev) + return; + +#ifdef CONFIG_PROC_FS + if (can_delete_procentry(dev)) + CANMSG("Error unregistering /proc/can entry.\n"); +#endif + +#if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) + for(i=0;ihostchip->hostdevice != dev) continue; + #if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,0)) + if(devfs_handles[i]) + devfs_unregister(devfs_handles[i]); + #else + dev_minor=objects_p[i]->minor; + if(dev_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 + + for(i=0;ihostdevice != dev) continue; + chips_p[i]=NULL; + } + + hardware_p->candevice[dev->candev_idx]=NULL; + hardware_p->nr_boards--; + hw[dev->candev_idx]=NULL; + + candevice_done(dev); + can_checked_free(dev); +} + + + + void cleanup_module(void) { #if defined(CONFIG_DEVFS_FS) || (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)) int i=0; #endif +#if defined(CONFIG_OC_LINCAN_CARD_usbcan) + usbcan_exit(); +#endif + #ifdef CONFIG_PROC_FS if (can_delete_procdir()) CANMSG("Error unregistering /proc/can entry.\n");