X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/cf02612f3f000d0430121af43cb1d11c773f3a69..41a1b398bf97d389f4542666b8498f4c45121060:/lincan/src/usbcan.c diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c index 7017123..4492f61 100644 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@ -12,60 +12,29 @@ #include "../include/setup.h" #include "../include/usbcan.h" -/* our private defines. if this grows any larger, use your own .h file */ -#define MAX_TRANSFER (PAGE_SIZE - 512) -/* MAX_TRANSFER is chosen so that the VM is not stressed by - allocations > PAGE_SIZE and the number of packets in a page - is an integer 512 is the largest possible packet on EHCI */ -#define WRITES_IN_FLIGHT 8 -/* arbitrarily chosen */ - -/* Define these values to match your devices */ -#define USB_SKEL_VENDOR_ID 0xDEAD -#define USB_SKEL_PRODUCT_ID 0x1001 +#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(USB_SKEL_VENDOR_ID, USB_SKEL_PRODUCT_ID) }, + { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) }, { } /* Terminating entry */ }; MODULE_DEVICE_TABLE(usb, usbcan_table); -extern struct file_operations can_fops; - -int usbcan_register(struct hwspecops_t *hwspecops); - -/* - * IO_RANGE is the io-memory range that gets reserved, please adjust according - * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or - * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode. - */ -#define IO_RANGE 0x100 - -/* Structure to hold all of our device specific stuff */ -struct usb_usbcan { - struct usb_device *udev; /* the usb device for this device */ - struct usb_interface *interface; /* the interface for this device */ - struct semaphore limit_sem; /* limiting the number of writes in progress */ - struct usb_anchor submitted; /* in case we need to retract our submissions */ - unsigned char *bulk_in_buffer; /* the buffer to receive data */ - size_t bulk_in_size; /* the size of the receive buffer */ - unsigned char *int_in_buffer; /* the buffer to receive data */ - size_t int_in_size; /* the size of the receive buffer */ - __u8 bulk_in_endpointAddr; /* the address of the bulk in endpoint */ - __u8 bulk_out_endpointAddr; /* the address of the bulk out endpoint */ - __u8 int_in_endpointAddr; /* the address of the interrupt in endpoint */ - int int_in_interval; - int errors; /* the last request tanked */ - int open_count; /* count the number of openers */ - spinlock_t err_lock; /* lock for errors */ - struct mutex io_mutex; /* synchronize I/O with disconnect */ - struct urb *irq; - struct candevice_t *candev; +static struct usb_driver usbcan_driver = { + .name = "usbcan", + .id_table = usbcan_table, + .probe = usbcan_probe, + .disconnect = usbcan_disconnect, }; -static struct usb_driver usbcan_driver; - /** * usbcan_request_io: - reserve io or memory range for can board * @candev: pointer to candevice/board which asks for io. Field @io_addr @@ -82,7 +51,14 @@ static struct usb_driver usbcan_driver; */ int usbcan_request_io(struct candevice_t *candev) { - ((struct usb_ul_usb1*)candev->sysdevptr.anydev)->candev=candev; + struct usbcan_devs *usbdevs = (struct usbcan_devs *)candev->sysdevptr.anydev; + + 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; + } + return 0; } @@ -100,21 +76,6 @@ int usbcan_request_io(struct candevice_t *candev) */ int usbcan_release_io(struct candevice_t *candev) { - struct usb_ul_usb1 *dev; - if (candev->sysdevptr.anydev){ - dev=(struct usb_ul_usb1*) candev->sysdevptr.anydev; - usb_put_dev(dev->udev); - usb_kill_urb(dev->irq); - usb_free_urb(dev->irq); - kfree(dev->bulk_in_buffer); - kfree(dev->int_in_buffer); - if (dev->candev){ - dev->candev->sysdevptr.anydev=NULL; - //cleanup_usbdev(dev->candev); - } - kfree(dev); - } - return 0; } @@ -133,8 +94,6 @@ int usbcan_reset(struct candevice_t *candev) return 0; } -#define RESET_ADDR 0x0 - /** * usbcan_init_hw_data - Initialize hardware cards * @candev: Pointer to candevice/board structure @@ -154,7 +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; @@ -179,7 +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; } @@ -201,37 +160,6 @@ int usbcan_program_irq(struct candevice_t *candev) return 0; } -/** - * usbcan_write_register - Low level write register routine - * @data: data to be written - * @address: memory address to write to - * - * The function usbcan_write_register() is used to write to hardware registers - * on the CAN chip. You should only have to edit this function if your hardware - * uses some specific write process. - * Return Value: The function does not return a value - * File: src/usbcan.c - */ -void usbcan_write_register(unsigned data, unsigned long address) -{ - outb(data,address); -} - -/** - * usbcan_read_register - Low level read register routine - * @address: memory address to read from - * - * The function usbcan_read_register() is used to read from hardware registers - * on the CAN chip. You should only have to edit this function if your hardware - * uses some specific read process. - * Return Value: The function returns the value stored in @address - * File: src/usbcan.c - */ -unsigned usbcan_read_register(unsigned long address) -{ - return inb(address); -} - /* !!! Don't change this function !!! */ int usbcan_register(struct hwspecops_t *hwspecops) { @@ -241,64 +169,21 @@ int usbcan_register(struct hwspecops_t *hwspecops) hwspecops->init_hw_data = usbcan_init_hw_data; hwspecops->init_chip_data = usbcan_init_chip_data; hwspecops->init_obj_data = usbcan_init_obj_data; - hwspecops->write_register = usbcan_write_register; - hwspecops->read_register = usbcan_read_register; + hwspecops->write_register = NULL; + hwspecops->read_register = NULL; hwspecops->program_irq = usbcan_program_irq; return 0; } -#ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS - -static const char *sja1000_ecc_errc_str[]={ - "bit error", - "form error", - "stuff error", - "other type of error" -}; +// static int sja1000_report_error_limit_counter; -static const char *sja1000_ecc_seg_str[]={ - "?0?", - "?1?", - "ID.28 to ID.21", - "start of frame", - "bit SRTR", - "bit IDE", - "ID.20 to ID.18", - "ID.17 to ID.13", - "CRC sequence", - "reserved bit 0", - "data field", - "data length code", - "bit RTR", - "reserved bit 1", - "ID.4 to ID.0", - "ID.12 to ID.5", - "?16?" - "active error flag", - "intermission", - "tolerate dominant bits", - "?20?", - "?21?", - "passive error flag", - "error delimiter", - "CRC delimiter", - "acknowledge slot", - "end of frame", - "acknowledge delimiter", - "overload flag", - "?29?", - "?30?", - "?31?" -}; - -#endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ - -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) { -/* if(sja1000_report_error_limit_counter>=100) + /*TODO : Error reporting from device */ + +#if 0 + if(sja1000_report_error_limit_counter>=100) return; CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n", @@ -331,6 +216,7 @@ static void sja1000_report_error(struct canchip_t *chip, ); } #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ +#endif } @@ -340,27 +226,6 @@ static void sja1000_report_error(struct canchip_t *chip, */ int usbcan_enable_configuration(struct canchip_t *chip) { -/* int i=0; - enum sja1000_PeliCAN_MOD flags; - - can_disable_irq(chip->chip_irq); - - flags=can_read_reg(chip,SJAMOD); - - while ((!(flags & sjaMOD_RM)) && (i<=10)) { - can_write_reg(chip, sjaMOD_RM, SJAMOD); -// TODO: configurable sjaMOD_AFM (32/16 bit acceptance filter) -// config sjaMOD_LOM (listen only) - udelay(100); - i++; - flags=can_read_reg(chip, SJAMOD); - } - if (i>=10) { - CANMSG("Reset error\n"); - can_enable_irq(chip->chip_irq); - return -ENODEV; - } -*/ return 0; } @@ -370,27 +235,6 @@ int usbcan_enable_configuration(struct canchip_t *chip) */ int usbcan_disable_configuration(struct canchip_t *chip) { -/* int i=0; - enum sja1000_PeliCAN_MOD flags; - - flags=can_read_reg(chip,SJAMOD); - - while ( (flags & sjaMOD_RM) && (i<=50) ) { -// could be as long as 11*128 bit times after buss-off - can_write_reg(chip, 0, SJAMOD); -// TODO: configurable sjaMOD_AFM (32/16 bit acceptance filter) -// config sjaMOD_LOM (listen only) - udelay(100); - i++; - flags=can_read_reg(chip, SJAMOD); - } - if (i>=10) { - CANMSG("Error leaving reset status\n"); - return -ENODEV; - } - - can_enable_irq(chip->chip_irq); -*/ return 0; } @@ -408,48 +252,6 @@ int usbcan_disable_configuration(struct canchip_t *chip) */ int usbcan_chip_config(struct canchip_t *chip) { -/* int i; - unsigned char n, r; - - if (usbcan_enable_configuration(chip)) - return -ENODEV; - - // Set mode, clock out, comparator - can_write_reg(chip,sjaCDR_PELICAN|chip->sja_cdr_reg,SJACDR); - - // Ensure, that interrupts are disabled even on the chip level now - can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); - - // Set driver output configuration - can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); - - // Simple check for chip presence - for (i=0, n=0x5a; i<8; i++, n+=0xf) { - can_write_reg(chip,n,SJAACR0+i); - } - for (i=0, n=0x5a; i<8; i++, n+=0xf) { - r = n^can_read_reg(chip,SJAACR0+i); - if (r) { - CANMSG("usbcan_chip_config: chip connection broken," - " readback differ 0x%02x\n", r); - return -ENODEV; - } - } - - - if (usbcan_extended_mask(chip,0x00000000, 0xffffffff)) - return -ENODEV; - - if (!chip->baudrate) - chip->baudrate=1000000; - if (usbcan_baud_rate(chip,chip->baudrate,chip->clock,0,75,0)) - return -ENODEV; - - // Enable hardware interrupts - can_write_reg(chip, sjaENABLE_INTERRUPTS, SJAIER); - - usbcan_disable_configuration(chip); -*/ return 0; } @@ -464,25 +266,45 @@ int usbcan_chip_config(struct canchip_t *chip) */ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask) { -/* int i; + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + u8 usbbuf[USBCAN_TRANSFER_SIZE]; - if (usbcan_enable_configuration(chip)) + if (!dev) return -ENODEV; -// LSB to +3, MSB to +0 - for(i=SJA_PeliCAN_AC_LEN; --i>=0;) { - can_write_reg(chip,code&0xff,SJAACR0+i); - can_write_reg(chip,mask&0xff,SJAAMR0+i); - code >>= 8; - mask >>= 8; - } + *(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, 0), + USBCAN_VENDOR_EXT_MASK_SET, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, USBCAN_TRANSFER_SIZE, + 10000); + if (retval<0) + return -ENODEV; - DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code); - DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask); + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, 0), + USBCAN_VENDOR_EXT_MASK_STATUS, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, USBCAN_TRANSFER_SIZE, + 10000); + + 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); + return 0; + } + } - usbcan_disable_configuration(chip); -*/ - return 0; + CANMSG("Setting extended mask failed\n"); + return -EINVAL; } /** @@ -500,105 +322,45 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int sampl_pt, int flags) { -// int best_error = 1000000000, error; -// int best_tseg=0, best_brp=0, best_rate=0, brp=0; -// int tseg=0, tseg1=0, tseg2=0; -// -// if (usbcan_enable_configuration(chip)) -// return -ENODEV; -// -// clock /=2; -// -// // tseg even = round down, odd = round up -// for (tseg=(0+0+2)*2; tseg<=(sjaMAX_TSEG2+sjaMAX_TSEG1+2)*2+1; tseg++) { -// brp = clock/((1+tseg/2)*rate)+tseg%2; -// if (brp == 0 || brp > 64) -// continue; -// error = rate - clock/(brp*(1+tseg/2)); -// if (error < 0) -// error = -error; -// if (error <= best_error) { -// best_error = error; -// best_tseg = tseg/2; -// best_brp = brp-1; -// best_rate = clock/(brp*(1+tseg/2)); -// } -// } -// if (best_error && (rate/best_error < 10)) { -// CANMSG("baud rate %d is not possible with %d Hz clock\n", -// rate, 2*clock); -// CANMSG("%d bps. brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d\n", -// best_rate, best_brp, best_tseg, tseg1, tseg2); -// return -EINVAL; -// } -// tseg2 = best_tseg-(sampl_pt*(best_tseg+1))/100; -// if (tseg2 < 0) -// tseg2 = 0; -// if (tseg2 > sjaMAX_TSEG2) -// tseg2 = sjaMAX_TSEG2; -// tseg1 = best_tseg-tseg2-2; -// if (tseg1>sjaMAX_TSEG1) { -// tseg1 = sjaMAX_TSEG1; -// tseg2 = best_tseg-tseg1-2; -// } -// -// DEBUGMSG("Setting %d bps.\n", best_rate); -// DEBUGMSG("brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d, sampl_pt=%d\n", -// best_brp, best_tseg, tseg1, tseg2, -// (100*(best_tseg-tseg2)/(best_tseg+1))); -// -// -// can_write_reg(chip, sjw<<6 | best_brp, SJABTR0); -// can_write_reg(chip, ((flags & BTR1_SAM) != 0)<<7 | (tseg2<<4) -// | tseg1, SJABTR1); -// -// usbcan_disable_configuration(chip); + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - return 0; -} + u8 usbbuf[USBCAN_TRANSFER_SIZE]; -/** - * usbcan_read: - reads and distributes one or more received messages - * @chip: pointer to chip state structure - * @obj: pinter to CAN message queue information - * - * File: src/usbcan.c - */ -void usbcan_read(struct canchip_t *chip, struct msgobj_t *obj) { -/* int i, flags, len, datastart; - do { - flags = can_read_reg(chip,SJAFRM); - if(flags&sjaFRM_FF) { - obj->rx_msg.id = - (can_read_reg(chip,SJAID0)<<21) + - (can_read_reg(chip,SJAID1)<<13) + - (can_read_reg(chip,SJAID2)<<5) + - (can_read_reg(chip,SJAID3)>>3); - datastart = SJADATE; - } else { - obj->rx_msg.id = - (can_read_reg(chip,SJAID0)<<3) + - (can_read_reg(chip,SJAID1)>>5); - datastart = SJADATS; - } - obj->rx_msg.flags = - ((flags & sjaFRM_RTR) ? MSG_RTR : 0) | - ((flags & sjaFRM_FF) ? MSG_EXT : 0); - len = flags & sjaFRM_DLC_M; - obj->rx_msg.length = len; - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - for(i=0; i< len; i++) { - obj->rx_msg.data[i]=can_read_reg(chip,datastart+i); - } - - // fill CAN message timestamp - can_filltimestamp(&obj->rx_msg.timestamp); + if (!dev) + return -ENODEV; - canque_filter_msg2edges(obj->qends, &obj->rx_msg); + *(int32_t *)(usbbuf)=cpu_to_le32(rate); + *(int32_t *)(usbbuf+4)=cpu_to_le32(sjw); + *(int32_t *)(usbbuf+8)=cpu_to_le32(sampl_pt); + *(int32_t *)(usbbuf+12)=cpu_to_le32(flags); + + retval=usb_control_msg(dev->udev, + usb_sndctrlpipe(dev->udev, 0), + USBCAN_VENDOR_BAUD_RATE_SET, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &usbbuf, USBCAN_TRANSFER_SIZE, + 10000); + if (retval<0) + return -ENODEV; - can_write_reg(chip, sjaCMR_RRB, SJACMR); + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, 0), + USBCAN_VENDOR_BAUD_RATE_STATUS, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + usbbuf, USBCAN_TRANSFER_SIZE, + 10000); + + if (retval==1){ + if(usbbuf[0]==1) + return 0; + } - } while (can_read_reg(chip, SJASR) & sjaSR_RBS);*/ + CANMSG("baud rate %d is not possible to set\n", + rate); + return -EINVAL; } /** @@ -612,27 +374,7 @@ void usbcan_read(struct canchip_t *chip, struct msgobj_t *obj) { */ int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) { -/* int status; - status=can_read_reg(chip,SJASR); - - if(status & sjaSR_BS) { - // Try to recover from error condition - DEBUGMSG("usbcan_pre_read_config bus-off recover 0x%x\n",status); - usbcan_enable_configuration(chip); - can_write_reg(chip, 0, SJARXERR); - can_write_reg(chip, 0, SJATXERR1); - can_read_reg(chip, SJAECC); - usbcan_disable_configuration(chip); - } - - if (!(status&sjaSR_RBS)) { - return 0; - } - - can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); //disable interrupts for a moment - usbcan_read(chip, obj); - can_write_reg(chip, sjaENABLE_INTERRUPTS, SJAIER); //enable interrupts*/ - return 1; + return 0; } #define MAX_TRANSMIT_WAIT_LOOPS 10 @@ -652,68 +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) { -/* int i=0; - unsigned int id; - int status; - int len; - - // Wait until Transmit Buffer Status is released - while ( !((status=can_read_reg(chip, SJASR)) & sjaSR_TBS) && - i++length; - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - // len &= sjaFRM_DLC_M; ensured by above condition already - can_write_reg(chip, ((msg->flags&MSG_EXT)?sjaFRM_FF:0) | - ((msg->flags & MSG_RTR) ? sjaFRM_RTR : 0) | len, SJAFRM); - if(msg->flags&MSG_EXT) { - id=msg->id<<3; - can_write_reg(chip, id & 0xff, SJAID3); - id >>= 8; - can_write_reg(chip, id & 0xff, SJAID2); - id >>= 8; - can_write_reg(chip, id & 0xff, SJAID1); - id >>= 8; - can_write_reg(chip, id, SJAID0); - for(i=0; i < len; i++) { - can_write_reg(chip, msg->data[i], SJADATE+i); - } - } else { - id=msg->id<<5; - can_write_reg(chip, (id >> 8) & 0xff, SJAID0); - can_write_reg(chip, id & 0xff, SJAID1); - for(i=0; i < len; i++) { - can_write_reg(chip, msg->data[i], SJADATS+i); - } - }*/ return 0; } @@ -731,8 +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) { -/* can_write_reg(chip, sjaCMR_TR, SJACMR); -*/ return 0; } @@ -747,10 +425,12 @@ int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, */ int usbcan_check_tx_stat(struct canchip_t *chip) { -// if (can_read_reg(chip,SJASR) & sjaSR_TCS) + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + if (!dev) return 0; -// else -// return 1; + if (test_bit(USBCAN_TX_PENDING,&dev->flags)) + return 1; + return 0; } /** @@ -765,15 +445,27 @@ int usbcan_check_tx_stat(struct canchip_t *chip) int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, unsigned short btr1) { -/* if (usbcan_enable_configuration(chip)) - return -ENODEV; + int retval; + u8 buf[USBCAN_TRANSFER_SIZE]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF); - can_write_reg(chip, btr0, SJABTR0); - can_write_reg(chip, btr1, SJABTR1); + if (!dev) + return -ENODEV; - usbcan_disable_configuration(chip); -*/ - return 0; + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, 0), + USBCAN_VENDOR_SET_BTREGS, + USB_TYPE_VENDOR, + cpu_to_le16(value), cpu_to_le16(chip->chip_idx), + &buf, USBCAN_TRANSFER_SIZE, + 10000); + + if (retval==1){ + if(buf[0]==1) + return 0; + } + return -ENODEV; } /** @@ -785,14 +477,62 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, */ int usbcan_start_chip(struct canchip_t *chip) { -/* enum sja1000_PeliCAN_MOD flags; + int retval; + u8 buf[USBCAN_TRANSFER_SIZE]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - flags = can_read_reg(chip, SJAMOD) & (sjaMOD_LOM|sjaMOD_STM|sjaMOD_AFM|sjaMOD_SM); - can_write_reg(chip, flags, SJAMOD); + if (!dev) + return -ENODEV; - sja1000_report_error_limit_counter=0; -*/ - return 0; + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, 0), + USBCAN_VENDOR_START_CHIP, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &buf, USBCAN_TRANSFER_SIZE, + 10000); + + if (retval==1){ + if(buf[0]==1) + return 0; + } + return -ENODEV; +} + +/** + * usbcan_chip_queue_status: - gets queue status from usb device + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * 0 means queue is not full + * 1 means queue is full + * File: src/usbcan.c + */ +int usbcan_chip_queue_status(struct canchip_t *chip) +{ + int retval; + 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, 0), + USBCAN_VENDOR_CHECK_TX_STAT, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &buf, USBCAN_TRANSFER_SIZE, + 10000); + + if (retval==1){ + DEBUGMSG("Chip_queue_status: %d\n",buf[0]); + if(buf[0]==1) + return 0; + if(buf[0]==0) + return 1; + } + CANMSG("Chip_queue_status error: %d\n",retval); + return -ENODEV; } /** @@ -804,12 +544,48 @@ int usbcan_start_chip(struct canchip_t *chip) */ int usbcan_stop_chip(struct canchip_t *chip) { -/* enum sja1000_PeliCAN_MOD flags; + int retval; + u8 buf[USBCAN_TRANSFER_SIZE]; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - flags = can_read_reg(chip, SJAMOD) & (sjaMOD_LOM|sjaMOD_STM|sjaMOD_AFM|sjaMOD_SM); - can_write_reg(chip, flags|sjaMOD_RM, SJAMOD); -*/ - return 0; + if (!dev) + return -ENODEV; + + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, 0), + USBCAN_VENDOR_STOP_CHIP, + USB_TYPE_VENDOR, + cpu_to_le16(0), cpu_to_le16(chip->chip_idx), + &buf, USBCAN_TRANSFER_SIZE, + 10000); + + if (retval==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]; } /** @@ -821,6 +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; } @@ -833,9 +614,15 @@ int usbcan_attach_to_chip(struct canchip_t *chip) */ int usbcan_release_chip(struct canchip_t *chip) { -/* usbcan_stop_chip(chip); - can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); -*/ + 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; } @@ -896,56 +683,190 @@ int usbcan_config_irqs(struct canchip_t *chip, short irqs) return -ENOSYS; } + +static void usbcan_usb_message_move_list(struct usbcan_usb *dev, + struct usbcan_message *m, struct list_head *head) +{ + can_spin_irqflags_t flags; + can_spin_lock_irqsave(&dev->list_lock, flags); + list_del(&m->list_node); + list_add_tail(&m->list_node, head); + can_spin_unlock_irqrestore(&dev->list_lock, flags); +} + + /** - * 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) +void usbcan_kthread_read_handler(struct usbcan_usb *dev, struct usbcan_message *m, + struct msgobj_t *obj) { -/* int cmd; + int i, len, retval; + u8 *ptr; + + DEBUGMSG("USBCAN RX handler\n"); + + if (!test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&m->flags)) { + CANMSG("Strange, Rx handler USBCAN_MESSAGE_DATA_OK not set\n"); + goto skip_msg; + } + + if (!(dev->chip)||!(dev->chip->flags & CHIP_CONFIGURED)) { + CANMSG("Destination chip not found\n"); + goto skip_msg; + } + + + DEBUGMSG("USBCAN Thread has received a message\n"); + + len=*(u8 *)(m->msg+1); + if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; + obj->rx_msg.length = len; + + obj->rx_msg.flags=le16_to_cpu(*(u16 *)(m->msg+2)); + obj->rx_msg.id=le32_to_cpu((*(u32 *)(m->msg+4))); + + for(ptr=m->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); + +skip_msg: + set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + DEBUGMSG("Renewing RX urb\n"); + + usbcan_usb_message_move_list(dev, m, &dev->rx_pend_list); + retval = usb_submit_urb (m->u, GFP_KERNEL); + if (retval<0) { + CANMSG("URB error %d\n", retval); + set_bit(USBCAN_ERROR,&dev->flags); + } +} + +/** + * 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 usbcan_message *m, + struct msgobj_t *obj) +{ + if (!test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&m->flags)) { + CANMSG("Strange, Tx handler USBCAN_MESSAGE_DATA_OK not set\n"); + goto skip_msg; + } + + DEBUGMSG("USBCAN Message successfully sent\n"); - if(obj->tx_slot){ + if(m->slot){ // Do local transmitted message distribution if enabled if (processlocal){ // fill CAN message timestamp - can_filltimestamp(&obj->tx_slot->msg.timestamp); + can_filltimestamp(&m->slot->msg.timestamp); - obj->tx_slot->msg.flags |= MSG_LOCAL; - canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg); + m->slot->msg.flags |= MSG_LOCAL; + canque_filter_msg2edges(obj->qends, &m->slot->msg); } // Free transmitted slot - canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); - obj->tx_slot=NULL; + canque_free_outslot(obj->qends, m->qedge, m->slot); + m->slot=NULL; } - + + /*FIXME - why there*/ 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); - 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; +skip_msg: + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + set_bit(USBCAN_MESSAGE_FREE,&m->flags); + + set_bit(USBCAN_TX_PENDING,&dev->flags); + + usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list); +} + +/** + * 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, cmd, len, retval; + u8 *ptr; + struct usbcan_message *m; + + if(list_empty(&dev->tx_idle_list)) { + clear_bit(USBCAN_FREE_TX_URB,&dev->flags); return; } - 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; + + m = list_first_entry(&dev->tx_idle_list, typeof(*m), list_node); + + cmd=canque_test_outslot(obj->qends, &m->qedge, &m->slot); + if(cmd>=0){ + DEBUGMSG("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,&m->flags); + + *(u8 *)(m->msg)=0; + len = m->slot->msg.length; + if(len > CAN_MSG_LENGTH) + len = CAN_MSG_LENGTH; + *(u8 *)(m->msg+1)=len & 0xFF; + *(u16 *)(m->msg+2)=cpu_to_le16(m->slot->msg.flags); + *(u32 *)(m->msg+4)=cpu_to_le32(m->slot->msg.id); + + for(ptr=m->msg+8, i=0; i < len; ptr++,i++) { + *ptr=m->slot->msg.data[i] & 0xFF; + } + for(; i < 8; ptr++,i++) { + *ptr=0; + } + + set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + + usbcan_usb_message_move_list(dev, m, &dev->tx_pend_list); + + retval = usb_submit_urb (m->u, GFP_KERNEL); + if (retval){ + CANMSG("%d. URB error %d\n",i,retval); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + set_bit(USBCAN_MESSAGE_FREE,&m->flags); + obj->ret = -1; + canque_notify_inends(m->qedge, CANQUEUE_NOTIFY_ERRTX_SEND); + canque_free_outslot(obj->qends, m->qedge, m->slot); + m->slot=NULL; + usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list); + } else { + set_bit(USBCAN_TX_PENDING,&dev->flags); + } + } else { + set_bit(USBCAN_FREE_TX_URB,&dev->flags); } -*/ } #define MAX_RETR 10 @@ -964,103 +885,6 @@ 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_RI) - // old variant using SJAIR, collides with intended use with irq_accept - if (status & sjaSR_RBS) { - DEBUGMSG("sja1000_irq_handler: RI or RBS\n"); - usbcan_read(chip,obj); - obj->ret = 0; - } - - // (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; } @@ -1077,30 +901,57 @@ 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; -/* can_preempt_disable(); + DEBUGMSG("Trying to send message\n"); + can_preempt_disable(); can_msgobj_set_fl(obj,TX_PENDING); 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){ + 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();*/ + can_preempt_enable(); return 0; } int usbcan_chipregister(struct chipspecops_t *chipspecops) { + CANMSG("initializing usbcan chip operations\n"); + chipspecops->chip_config=usbcan_chip_config; + chipspecops->baud_rate=usbcan_baud_rate; + chipspecops->standard_mask=usbcan_standard_mask; + chipspecops->extended_mask=usbcan_extended_mask; + chipspecops->message15_mask=usbcan_extended_mask; + chipspecops->clear_objects=usbcan_clear_objects; + chipspecops->config_irqs=usbcan_config_irqs; + chipspecops->pre_read_config=usbcan_pre_read_config; + chipspecops->pre_write_config=usbcan_pre_write_config; + chipspecops->send_msg=usbcan_send_msg; + chipspecops->check_tx_stat=usbcan_check_tx_stat; + chipspecops->wakeup_tx=usbcan_wakeup_tx; + chipspecops->remote_request=usbcan_remote_request; + chipspecops->enable_configuration=usbcan_enable_configuration; + chipspecops->disable_configuration=usbcan_disable_configuration; + chipspecops->attach_to_chip=usbcan_attach_to_chip; + chipspecops->release_chip=usbcan_release_chip; + chipspecops->set_btregs=usbcan_set_btregs; + chipspecops->start_chip=usbcan_start_chip; + chipspecops->stop_chip=usbcan_stop_chip; + chipspecops->irq_handler=usbcan_irq_handler; + chipspecops->irq_accept=NULL; return 0; } @@ -1114,6 +965,9 @@ int usbcan_chipregister(struct chipspecops_t *chipspecops) */ int usbcan_fill_chipspecops(struct canchip_t *chip) { + chip->chip_type="usbcan"; + chip->max_objects=1; + usbcan_chipregister(chip->chipspecops); return 0; } @@ -1153,230 +1007,540 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) { struct canchip_t *chip=candev->chip[chipnr]; - chip->chip_type="usbcan"; - chip->max_objects=1; - usbcan_chipregister(chip->chipspecops); + usbcan_fill_chipspecops(chip); - CANMSG("initializing usbcan chip operations\n"); - chip->chipspecops->chip_config=usbcan_chip_config; - chip->chipspecops->baud_rate=usbcan_baud_rate; - chip->chipspecops->standard_mask=usbcan_standard_mask; - chip->chipspecops->extended_mask=usbcan_extended_mask; - chip->chipspecops->message15_mask=usbcan_extended_mask; - chip->chipspecops->clear_objects=usbcan_clear_objects; - chip->chipspecops->config_irqs=usbcan_config_irqs; - chip->chipspecops->pre_read_config=usbcan_pre_read_config; - chip->chipspecops->pre_write_config=usbcan_pre_write_config; - chip->chipspecops->send_msg=usbcan_send_msg; - chip->chipspecops->check_tx_stat=usbcan_check_tx_stat; - chip->chipspecops->wakeup_tx=usbcan_wakeup_tx; - chip->chipspecops->remote_request=usbcan_remote_request; - chip->chipspecops->enable_configuration=usbcan_enable_configuration; - chip->chipspecops->disable_configuration=usbcan_disable_configuration; - chip->chipspecops->attach_to_chip=usbcan_attach_to_chip; - chip->chipspecops->release_chip=usbcan_release_chip; - chip->chipspecops->set_btregs=usbcan_set_btregs; - chip->chipspecops->start_chip=usbcan_start_chip; - chip->chipspecops->stop_chip=usbcan_stop_chip; - chip->chipspecops->irq_handler=usbcan_irq_handler; - chip->chipspecops->irq_accept=NULL; - - candev->chip[chipnr]->chip_base_addr=candev->io_addr; - candev->chip[chipnr]->clock = 16000000; -/* candev->chip[chipnr]->int_cpu_reg = iCPU_DSC; - candev->chip[chipnr]->int_clk_reg = iCLK_SL1; - candev->chip[chipnr]->int_bus_reg = iBUS_CBY; - candev->chip[chipnr]->sja_cdr_reg = sjaCDR_CBP | sjaCDR_CLK_OFF; - candev->chip[chipnr]->sja_ocr_reg = sjaOCR_MODE_NORMAL | - sjaOCR_TX0_LH;*/ + candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM; + candev->chip[chipnr]->chip_base_addr=0; + candev->chip[chipnr]->clock = 0; return 0; } +/** ********************************* + * 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_irq(struct urb *urb) +static void usbcan_tx_callback(struct urb *urb) { - struct usb_usbcan *dev = urb->context; + struct usbcan_message *m = urb->context; int retval; - CANMSG("Interrupt poll\n"); + if (!test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags)) + return; + if (test_bit(USBCAN_MESSAGE_TERMINATE,&m->flags)) + return; switch (urb->status) { case 0: /* success */ - break; + DEBUGMSG("%s > Message OK\n", __FUNCTION__); + set_bit(USBCAN_DATA_OK,&m->dev->flags); + set_bit(USBCAN_MESSAGE_DATA_OK,&m->flags); + DEBUGMSG("%s > TX flag set\n", __FUNCTION__); + set_bit(USBCAN_DATA_TX,&m->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + usbcan_usb_message_move_list(m->dev, m, &m->dev->tx_ready_list); + if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags)) + wake_up_process(m->dev->comthread); + else + CANMSG("%s > USBCAN thread not running\n", __FUNCTION__); + 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); + CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status); + set_bit(USBCAN_TERMINATE,&m->dev->flags); + set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); return; default: - CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status); - goto exit; + //CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status); + break; } - dev->candev->chip[0]->chipspecops->irq_handler(0,dev->candev->chip[0]); - CANMSG("Interrupt caught\n"); + // Try to send urb again on non significant errors + retval = usb_submit_urb (urb, GFP_ATOMIC); + if (retval<0){ + CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&m->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + usbcan_usb_message_move_list(m->dev, m, &m->dev->tx_ready_list); + if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags)) + wake_up_process(m->dev->comthread); + } +} - exit: +static void usbcan_rx_callback(struct urb *urb) +{ + struct usbcan_message *m = urb->context; + int retval; + + if (!test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags)) + return; + if (test_bit(USBCAN_MESSAGE_TERMINATE,&m->flags)) + return; + + switch (urb->status) { + case 0: + /* success */ + DEBUGMSG("%s > Message OK\n", __FUNCTION__); + set_bit(USBCAN_DATA_OK,&m->dev->flags); + set_bit(USBCAN_MESSAGE_DATA_OK,&m->flags); + DEBUGMSG("%s > RX flag set\n", __FUNCTION__); + set_bit(USBCAN_DATA_RX,&m->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + usbcan_usb_message_move_list(m->dev, m, &m->dev->rx_ready_list); + if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags)) + wake_up_process(m->dev->comthread); + else + CANMSG("%s > USBCAN thread not running\n", __FUNCTION__); + 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,&m->dev->flags); + set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + return; + default: + //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) - CANMSG("%s - usb_submit_urb failed with result %d\n", - __FUNCTION__, retval); + if (retval<0){ + CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&m->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + usbcan_usb_message_move_list(m->dev, m, &m->dev->rx_ready_list); + if (test_bit(USBCAN_THREAD_RUNNING,&m->dev->flags)) + wake_up_process(m->dev->comthread); + } +} + + +static void usbcan_kthread_free_urbs(struct usbcan_usb *dev) +{ + while(!list_empty(&dev->rx_pend_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->rx_pend_list, typeof(*m), list_node); + set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags); + usb_kill_urb(m->u); + usbcan_usb_message_move_list(dev, m, &dev->rx_ready_list); + } + + while(!list_empty(&dev->tx_pend_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->tx_pend_list, typeof(*m), list_node); + set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags); + usb_kill_urb(m->u); + usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list); + } + + while(!list_empty(&dev->rx_ready_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node); + list_del(&m->list_node); + usb_free_urb(m->u); + kfree(m); + } + + while(!list_empty(&dev->tx_ready_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->tx_ready_list, typeof(*m), list_node); + list_del(&m->list_node); + usb_free_urb(m->u); + kfree(m); + } + + while(!list_empty(&dev->tx_idle_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->tx_idle_list, typeof(*m), list_node); + list_del(&m->list_node); + usb_free_urb(m->u); + kfree(m); + } + } -static void usbcan_delete(struct usb_usbcan *dev) +int usbcan_kthread(void *data) { - usb_put_dev(dev->udev); - usb_kill_urb(dev->irq); - usb_free_urb(dev->irq); - kfree(dev->bulk_in_buffer); - kfree(dev->int_in_buffer); - if (dev->candev){ - dev->candev->sysdevptr.anydev=NULL; - cleanup_usbdev(dev->candev); + int i,retval=0; + struct usbcan_usb *dev=(struct usbcan_usb *)data; + struct msgobj_t *obj; + + CANMSG("Usbcan thread started...\n"); + + if (!dev->chip) + goto error; + obj=dev->chip->msgobj[0]; + + + INIT_LIST_HEAD(&dev->rx_pend_list); + INIT_LIST_HEAD(&dev->rx_ready_list); + INIT_LIST_HEAD(&dev->tx_idle_list); + INIT_LIST_HEAD(&dev->tx_pend_list); + INIT_LIST_HEAD(&dev->tx_ready_list); + + if (1) { + struct sched_param param = { .sched_priority = 1 }; + sched_setscheduler(current, SCHED_FIFO, ¶m); + } + + + /* Prepare receive urbs */ + for (i=0;iu = u; + u->dev = dev->udev; + m->dev = dev; + usb_fill_bulk_urb(u, dev->udev, + usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), + m->msg, USBCAN_TRANSFER_SIZE, usbcan_rx_callback, m); + set_bit(USBCAN_MESSAGE_TYPE_RX, &m->flags); + list_add_tail(&m->list_node, &dev->rx_ready_list); + } + + /* Prepare transmit urbs */ + for (i=0;iu = u; + u->dev = dev->udev; + m->dev = dev; + usb_fill_bulk_urb(u, dev->udev, + usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), + m->msg, USBCAN_TRANSFER_SIZE, usbcan_tx_callback, m); + + set_bit(USBCAN_MESSAGE_FREE,&m->flags); + set_bit(USBCAN_MESSAGE_TYPE_TX,&m->flags); + list_add_tail(&m->list_node, &dev->tx_idle_list); + + } + + set_bit(USBCAN_THREAD_RUNNING,&dev->flags); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + + for (i=0;irx_ready_list, typeof(*m), list_node); + set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags); + usbcan_usb_message_move_list(dev, m, &dev->rx_pend_list); + + retval=usb_submit_urb(m->u, GFP_KERNEL); + if (retval){ + CANMSG("%d. URB error %d\n",i,retval); + set_bit(USBCAN_ERROR,&dev->flags); + usbcan_usb_message_move_list(dev, m, &dev->rx_ready_list); + goto exit; + } } - kfree(dev); + /* an endless loop in which we are doing our work */ + for(;;) + { + /* We need to do a memory barrier here to be sure that + the flags are visible on all CPUs. */ + mb(); + /* fall asleep */ + 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 (can_kthread_should_stop()){ + /* we received a request to terminate ourself */ + break; + } + + /* 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; + } + + clear_bit(USBCAN_DATA_OK,&dev->flags); + + mb(); + + while(!list_empty(&dev->rx_ready_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node); + usbcan_kthread_read_handler(dev, m, obj); + } + + while(!list_empty(&dev->tx_ready_list)) { + struct usbcan_message *m; + m = list_first_entry(&dev->tx_ready_list, typeof(*m), list_node); + usbcan_kthread_write_handler(dev, m, 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 */ + + usbcan_kthread_free_urbs(dev); + + + clear_bit(USBCAN_THREAD_RUNNING,&dev->flags); + + CANMSG ("usbcan thread finished!\n"); + return 0; +error: + /* cleanup the thread, leave */ + usbcan_kthread_free_urbs(dev); + + CANMSG ("kernel thread terminated!\n"); + return -ENOMEM; } static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id) { - struct usb_usbcan *dev; + struct usbcan_devs *usbdevs=NULL; struct usb_host_interface *iface_desc; struct usb_endpoint_descriptor *endpoint; - struct candevice_t *candev; size_t buffer_size; - int i; + int i,j,k; int retval = -ENOMEM; - /* allocate memory for our device state and initialize it */ - dev = kzalloc(sizeof(*dev), GFP_KERNEL); - if (!dev) { - err("Out of memory"); - goto error; + iface_desc = interface->cur_altsetting; + if (iface_desc->desc.bNumEndpoints % 2){ + CANMSG("Endpoint count must be even"); + goto noalloc; } - sema_init(&dev->limit_sem, WRITES_IN_FLIGHT); - spin_lock_init(&dev->err_lock); - init_usb_anchor(&dev->submitted); -// dev->udev = usb_get_dev(interface_to_usbdev(interface)); - dev->udev = interface_to_usbdev(interface); - dev->interface = interface; + usbcan_chip_count = iface_desc->desc.bNumEndpoints / 2; - /* 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 = kmalloc(buffer_size, GFP_KERNEL); - if (!dev->bulk_in_buffer) { - err("Could not allocate bulk_in_buffer"); - goto error; - } - } + usbdevs = (struct usbcan_devs *) can_checked_malloc(sizeof(struct usbcan_devs)); + if (!usbdevs) { + CANMSG("Out of memory"); + goto error; + } + memset(usbdevs, 0, sizeof(struct usbcan_devs)); - if (!dev->bulk_out_endpointAddr && - usb_endpoint_is_bulk_out(endpoint)) { - /* we found a bulk out endpoint */ - dev->bulk_out_endpointAddr = endpoint->bEndpointAddress; - } + usbdevs->count=usbcan_chip_count; -/* if (!dev->int_in_endpointAddr && - usb_endpoint_is_int_in(endpoint)) { - // we found an interrupt in endpoint - buffer_size = le16_to_cpu(endpoint->wMaxPacketSize); - dev->int_in_size = buffer_size; - dev->int_in_endpointAddr = endpoint->bEndpointAddress; - dev->int_in_buffer = kmalloc(buffer_size, GFP_KERNEL); - dev->int_in_interval = endpoint->bInterval; - if (!dev->int_in_buffer) { - err("Could not allocate int_in_buffer"); - goto error; - } - }*/ - } - if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) { - err("Could not find all bulk-in, bulk-out and interrupt endpoints"); + 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 *)); - /* save our data pointer in this interface device */ - usb_set_intfdata(interface, dev); + for (j=0;jdevs[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]; + spin_lock_init(&usbdevs->devs[j]->list_lock); + + 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; + } -/* dev->irq = usb_alloc_urb(0, GFP_KERNEL); - if (!dev->irq){ - CANMSG("Error allocating usb urb\n"); - 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->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) { + CANMSG("Could not find all bulk-in and bulk-out endpoints for chip %d",j); + goto error; + } } - dev->irq->dev = dev->udev; - usb_fill_int_urb(dev->irq, dev->udev, - usb_rcvintpipe(dev->udev, dev->int_in_endpointAddr), - dev->int_in_buffer, dev->int_in_size, - usbcan_irq, dev, dev->int_in_interval);*/ -/* usb_fill_bulk_urb(dev->irq, dev->udev, - usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), - dev->int_in_buffer, dev->int_in_size, - usbcan_irq, dev);*/ - -/* dev->irq->transfer_dma = wacom->data_dma; - dev->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;*/ -// retval=usb_submit_urb(dev->irq, GFP_KERNEL); -// if (retval){ -// CANMSG("INT URB %d\n",retval); -// return -EIO; -// }else -// CANMSG("INT URB SUCCCESS\n"); + /* save our data pointer in this interface device */ + usb_set_intfdata(interface, usbdevs); + + if (!(usbdevs->candev=register_hotplug_dev("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_hotplug_dev(usbdevs->candev); error: - usbcan_delete(dev); + 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); + } +noalloc: return retval; } +// Physically disconnected device static void usbcan_disconnect(struct usb_interface *interface) { - struct usb_usbcan *dev; - int minor = interface->minor; - - dev = usb_get_intfdata(interface); + 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); + if (usbdevs->devs){ + usb_put_dev((*usbdevs->devs)->udev); + } + cleanup_hotplug_dev(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); + } - usbcan_delete(dev); + 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(usbdevs); - info("USB Skeleton now disconnected"); + CANMSG("USBCAN now disconnected\n"); } -static struct usb_driver usbcan_driver = { - .name = "usbcan", - .id_table = usbcan_table, - .probe = usbcan_probe, - .disconnect = usbcan_disconnect, -}; - int usbcan_init(void){ return usb_register(&usbcan_driver); }