X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/d70622f27a4e224e2c94bdeef7728232d23fee2b..142761e5d7465e36ffa2d980213ff066139f8963:/lincan/src/usbcan.c diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c index f29e549..70e0a84 100644 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@ -11,9 +11,18 @@ #include "../include/devcommon.h" #include "../include/setup.h" #include "../include/usbcan.h" +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,20)) + #include +#endif +#include static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id); static void usbcan_disconnect(struct usb_interface *interface); +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) +void release_device(struct kref *refcount); +#else +void release_device(struct candevice_t *candev); +#endif volatile int usbcan_chip_count=0; @@ -156,7 +165,6 @@ int usbcan_program_irq(struct candevice_t *candev) return 0; } -/* !!! Don't change this function !!! */ int usbcan_register(struct hwspecops_t *hwspecops) { hwspecops->request_io = usbcan_request_io; @@ -168,17 +176,21 @@ int usbcan_register(struct hwspecops_t *hwspecops) hwspecops->write_register = NULL; hwspecops->read_register = NULL; hwspecops->program_irq = usbcan_program_irq; +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) + hwspecops->release_device = release_device; +#endif return 0; } // 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) { /*TODO : Error reporting from device */ -/* if(sja1000_report_error_limit_counter>=100) +#if 0 + if(sja1000_report_error_limit_counter>=100) return; CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n", @@ -211,6 +223,7 @@ static void sja1000_report_error(struct canchip_t *chip, ); } #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ +#endif } @@ -263,7 +276,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l int retval; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - u8 usbbuf[16]; + u8 usbbuf[USBCAN_TRANSFER_SIZE]; if (!dev) return -ENODEV; @@ -276,7 +289,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l USBCAN_VENDOR_EXT_MASK_SET, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &usbbuf, 16, + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval<0) return -ENODEV; @@ -286,7 +299,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l USBCAN_VENDOR_EXT_MASK_STATUS, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &usbbuf, 16, + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -319,7 +332,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int retval; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - u8 usbbuf[16]; + u8 usbbuf[USBCAN_TRANSFER_SIZE]; if (!dev) return -ENODEV; @@ -334,7 +347,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, USBCAN_VENDOR_BAUD_RATE_SET, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &usbbuf, 16, + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval<0) return -ENODEV; @@ -344,7 +357,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, USBCAN_VENDOR_BAUD_RATE_STATUS, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - usbbuf, 16, + usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -388,38 +401,6 @@ 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) { - struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - int i=0; - int len; - u8 *ptr; - - if (!dev) - return -ENODEV; - /* Wait until Transmit Buffer Status is released */ - while ( usbcan_chip_queue_status(chip) && - i++tx_msg)=chip->chip_idx & 0xFF; - - len = msg->length; - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - - *(uint8_t *)(dev->tx_msg+1)=len & 0xFF; - *(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags); - *(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id); - - for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) { - *ptr=msg->data[i] & 0xFF; - } - for(; i < 8; ptr++,i++) { - *ptr=0; - } return 0; } @@ -437,43 +418,6 @@ 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) { - struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - int len,retval; - - if (!dev) - return -ENODEV; - - set_bit(USBCAN_TX_PENDING,&dev->flags); - retval=usb_bulk_msg(dev->udev, - usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), - &dev->tx_msg, 16, - &len,10000); - clear_bit(USBCAN_TX_PENDING,&dev->flags); - if (retval){ - CANMSG("URB error %d\n",retval); - return -EIO; - } - if (len!=16){ - CANMSG("CAN message not sent\n"); - return -EIO; - } - CANMSG("Message sent\n"); - - if(obj->tx_slot){ - // Do local transmitted message distribution if enabled - if (processlocal){ - // fill CAN message timestamp - can_filltimestamp(&obj->tx_slot->msg.timestamp); - - obj->tx_slot->msg.flags |= MSG_LOCAL; - canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg); - } - // Free transmitted slot - canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); - obj->tx_slot=NULL; - } - - can_msgobj_clear_fl(obj,TX_PENDING); return 0; } @@ -509,7 +453,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, unsigned short btr1) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF); @@ -521,7 +465,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, USBCAN_VENDOR_SET_BTREGS, USB_TYPE_VENDOR, cpu_to_le16(value), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -541,7 +485,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, int usbcan_start_chip(struct canchip_t *chip) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; if (!dev) @@ -552,7 +496,7 @@ int usbcan_start_chip(struct canchip_t *chip) USBCAN_VENDOR_START_CHIP, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -574,7 +518,7 @@ int usbcan_start_chip(struct canchip_t *chip) int usbcan_chip_queue_status(struct canchip_t *chip) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; if (!dev) @@ -584,11 +528,11 @@ int usbcan_chip_queue_status(struct canchip_t *chip) USBCAN_VENDOR_CHECK_TX_STAT, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ - CANMSG("Chip_queue_status: %d\n",buf[0]); + DEBUGMSG("Chip_queue_status: %d\n",buf[0]); if(buf[0]==1) return 0; if(buf[0]==0) @@ -608,7 +552,7 @@ int usbcan_chip_queue_status(struct canchip_t *chip) int usbcan_stop_chip(struct canchip_t *chip) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; if (!dev) @@ -619,7 +563,7 @@ int usbcan_stop_chip(struct canchip_t *chip) USBCAN_VENDOR_STOP_CHIP, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -636,19 +580,20 @@ int usbcan_stop_chip(struct canchip_t *chip) * * File: src/usbcan.c */ -void usbcan_register_devs(struct canchip_t *chip,void *data){ +int 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; + return -1; } if (chip->chip_idx>=usbdevs->count) { CANMSG("Requested chip number is bigger than chip count\n"); - return; + return -1; } usbdevs->devs[chip->chip_idx]->chip=chip; chip->chip_data=(void *)usbdevs->devs[chip->chip_idx]; + return 0; } /** @@ -663,7 +608,7 @@ 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_read_kthread, (void *)dev, "usbcan_%d",chip->chip_idx); + dev->comthread=can_kthread_run(usbcan_kthread, (void *)dev, "usbcan_%d",chip->chip_idx); return 0; } @@ -682,7 +627,9 @@ int usbcan_release_chip(struct canchip_t *chip) usbcan_stop_chip(chip); /* terminate the kernel thread */ - can_kthread_stop(dev->comthread); + set_bit(USBCAN_TERMINATE,&dev->flags); +// wake_up_process(dev->comthread); + can_kthread_stop(dev->comthread); return 0; } @@ -744,54 +691,183 @@ 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; + } - if(obj->tx_slot){ + // fill CAN message timestamp + can_filltimestamp(&obj->rx_msg.timestamp); + canque_filter_msg2edges(obj->qends, &obj->rx_msg); + +skip_msg: + 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(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_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); + + *(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; + } + + + 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); + set_bit(USBCAN_FREE_TX_URB,&dev->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); } } @@ -811,95 +887,6 @@ 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_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; } @@ -916,7 +903,9 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip) */ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) { - CANMSG("Trying to send message\n"); + struct usbcan_usb *dev=(struct usbcan_usb *)chip->chip_data; + + DEBUGMSG("Trying to send message\n"); can_preempt_disable(); can_msgobj_set_fl(obj,TX_PENDING); @@ -924,14 +913,16 @@ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){ can_msgobj_clear_fl(obj,TX_REQUEST); - if (!usbcan_chip_queue_status(chip)){ + 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(); @@ -1020,7 +1011,7 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) usbcan_fill_chipspecops(chip); - candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM; + candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM|CHIP_KEEP_DATA; candev->chip[chipnr]->chip_base_addr=0; candev->chip[chipnr]->clock = 0; @@ -1028,8 +1019,10 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) } +/** ********************************* + * USB related functions + * ********************************* */ -/* --------------------------------------------------------------------------------------------------- */ static int usbcan_sleep_thread(struct usbcan_usb *dev) { int rc = 0; @@ -1044,7 +1037,8 @@ static int usbcan_sleep_thread(struct usbcan_usb *dev) } if ( can_kthread_should_stop() || - test_bit(USBCAN_DATA_READ,&dev->flags) || + 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) ) @@ -1055,137 +1049,288 @@ static int usbcan_sleep_thread(struct usbcan_usb *dev) return rc; } -static void usbcan_rcv(struct urb *urb) +static void usbcan_tx_callback(struct urb *urb) { - struct usbcan_usb *dev = urb->context; + struct usbcan_message *m = urb->context; int retval; - if (!test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + 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 */ - set_bit(USBCAN_DATA_READ,&dev->flags); - CANMSG("Message received\n"); - if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) - wake_up_process(dev->comthread); + 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); + 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); - set_bit(USBCAN_TERMINATE,&dev->flags); + 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); return; default: -// CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status); + //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<0){ - CANMSG("%s - usb_submit_urb failed with result %d ... retrying\n", - __FUNCTION__, retval); - set_bit(USBCAN_ERROR,&dev->flags); - if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) - wake_up_process(dev->comthread); + CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&m->dev->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); + } +} + +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); + 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); + 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<0){ + CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&m->dev->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); + } + } -int usbcan_read_kthread(void *data) +int usbcan_kthread(void *data) { - int retval=0; + int i,retval=0; struct usbcan_usb *dev=(struct usbcan_usb *)data; struct msgobj_t *obj; - /* this is normal work to do */ - CANMSG ("usbcan thread started!\n"); + CANMSG("Usbcan thread started...\n"); - dev->rx = usb_alloc_urb(0, GFP_KERNEL); - if (!dev->rx){ - CANMSG("Error allocating usb urb\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); + + 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); + + list_add_tail(&m->list_node, &dev->tx_idle_list); + } - dev->rx->dev = dev->udev; - usb_fill_bulk_urb(dev->rx, dev->udev, - usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), - &dev->rx_msg, 16, - usbcan_rcv, dev); set_bit(USBCAN_THREAD_RUNNING,&dev->flags); - /* an endless loop in which we are doing our work */ - for(;;) - { - retval=usb_submit_urb(dev->rx, GFP_ATOMIC); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + + for (i=0;irx_ready_list, typeof(*m), list_node); + usbcan_usb_message_move_list(dev, m, &dev->rx_pend_list); + + retval=usb_submit_urb(m->u, GFP_KERNEL); if (retval){ - CANMSG("URB error %d\n",retval); + CANMSG("%d. URB error %d\n",i,retval); set_bit(USBCAN_ERROR,&dev->flags); - break; + usbcan_usb_message_move_list(dev, m, &dev->rx_ready_list); + goto exit; } + } + /* 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 */ - usbcan_sleep_thread(dev); - /* We need to do a memory barrier here to be sure that - the flags are visible on all CPUs. */ + if (!can_kthread_should_stop() && !test_bit(USBCAN_TERMINATE,&dev->flags) && (usbcan_sleep_thread(dev)<0)){ + break; + } + /* 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 */ + if (can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags)){ break; } - { /* Normal work to do */ - if (test_bit(USBCAN_DATA_READ,&dev->flags)){ - int i, len; - clear_bit(USBCAN_DATA_READ,&dev->flags); - CANMSG("Thread got received message\n"); + clear_bit(USBCAN_DATA_OK,&dev->flags); - if ((dev->chip)&& - (dev->chip->flags & CHIP_CONFIGURED) - ){ - u8 *ptr; + mb(); - obj=dev->chip->msgobj[0]; + 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); + } - len=*(uint8_t *)(dev->rx_msg+1); - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - obj->rx_msg.length = len; + 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); + } - obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rx_msg+2)); - obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rx_msg+4))); + if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)) { + usbcan_kthread_write_request_handler(dev, obj); + } + } - for(ptr=dev->rx_msg+8,i=0; i < len; ptr++,i++) { - obj->rx_msg.data[i]=*ptr; - } + set_bit(USBCAN_TERMINATE,&dev->flags); +exit: - // fill CAN message timestamp - can_filltimestamp(&obj->rx_msg.timestamp); - canque_filter_msg2edges(obj->qends, &obj->rx_msg); - } - else - CANMSG("Destination chip not found\n"); - } - } - } + usbcan_kthread_free_urbs(dev); clear_bit(USBCAN_THREAD_RUNNING,&dev->flags); - /* here we go only in case of termination of the thread */ - if (dev->rx){ - usb_kill_urb(dev->rx); - usb_free_urb(dev->rx); - } - - CANMSG ("usbcan thread finished!\n"); - return 0; + CANMSG ("usbcan thread finished!\n"); + return 0; error: - /* cleanup the thread, leave */ - CANMSG ("kernel thread terminated!\n"); - return -ENOMEM; + /* 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) @@ -1199,7 +1344,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device iface_desc = interface->cur_altsetting; if (iface_desc->desc.bNumEndpoints % 2){ - err("Endpoint count must be even"); + CANMSG("Endpoint count must be even"); goto noalloc; } @@ -1207,16 +1352,15 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device usbdevs = (struct usbcan_devs *) can_checked_malloc(sizeof(struct usbcan_devs)); if (!usbdevs) { - err("Out of memory"); - goto error; + goto noalloc; } memset(usbdevs, 0, sizeof(struct usbcan_devs)); - usbdevs->count=usbcan_chip_count; + usbdevs->count = usbcan_chip_count; + usbdevs->udev = interface_to_usbdev(interface); usbdevs->devs = (struct usbcan_usb **) can_checked_malloc(usbcan_chip_count * sizeof(struct usbcan_usb *)); if (!usbdevs->devs) { - err("Out of memory"); goto error; } memset(usbdevs->devs, 0, usbcan_chip_count * sizeof(struct usbcan_usb *)); @@ -1228,14 +1372,15 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device /* allocate memory for our device state and initialize it */ usbdevs->devs[j] = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb)); if (!usbdevs->devs[j]) { - err("Out of memory"); goto error; } memset(usbdevs->devs[j], 0, sizeof(struct usbcan_usb)); dev=usbdevs->devs[j]; + spin_lock_init(&dev->list_lock); mutex_init(&dev->io_mutex); - dev->udev = interface_to_usbdev(interface); + init_waitqueue_head(&dev->queue); + dev->udev = usbdevs->udev; dev->interface = interface; /* set up the endpoint information */ @@ -1261,7 +1406,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device dev->bulk_in_endpointAddr = endpoint->bEndpointAddress; dev->bulk_in_buffer = can_checked_malloc(buffer_size); if (!dev->bulk_in_buffer) { - err("Could not allocate bulk_in_buffer"); + CANMSG("Could not allocate bulk_in_buffer"); goto error; } } @@ -1277,28 +1422,32 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device } if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) { - err("Could not find all bulk-in and bulk-out endpoints for chip %d",j); + CANMSG("Could not find all bulk-in and bulk-out endpoints for chip %d",j); goto error; } } + + usb_get_dev(usbdevs->udev); + /* save our data pointer in this interface device */ usb_set_intfdata(interface, usbdevs); - if (!(usbdevs->candev=register_usbdev("usbcan",(void *) usbdevs, usbcan_register_devs))) + usbdevs->candev=register_hotplug_dev("usbcan", usbcan_register_devs,(void *) usbdevs); + if (!(usbdevs->candev)){ + CANMSG("register_hotplug_dev() failed\n"); goto register_error; + } /* let the user know what node this device is now attached to */ - DEBUGMSG("USBCAN device now attached"); + CANMSG("USBCAN device now attached\n"); return 0; register_error: - cleanup_usbdev(usbdevs->candev); +// cleanup_hotplug_dev(usbdevs->candev); + usb_put_dev(usbdevs->udev); error: 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; @@ -1317,36 +1466,31 @@ noalloc: return retval; } -// Physically disconnected device -static void usbcan_disconnect(struct usb_interface *interface) -{ - struct usbcan_devs *usbdevs; +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) +void release_device(struct kref *refcount){ + struct candevice_t *candev = container_of(refcount,struct candevice_t,refcount); +#else +void release_device(struct candevice_t *candev){ +#endif + struct usbcan_devs *usbdevs = (struct usbcan_devs *)candev->sysdevptr.anydev; int j; - usbdevs = usb_get_intfdata(interface); - if (usbdevs==NULL){ - CANMSG("USBCAN device seems to be removed\n"); + + if (!usbdevs) return; - } - usb_set_intfdata(interface, NULL); + + cleanup_hotplug_dev(usbdevs->candev); if (usbdevs->devs){ - usb_put_dev((*usbdevs->devs)->udev); - } - cleanup_usbdev(usbdevs->candev); - if (usbdevs->devs){ + /* Finally, release all structures in USB subsystem */ + if (!usbdevs->udev) + panic("udev is already null on device release"); + usb_put_dev(usbdevs->udev); + 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); - 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; } @@ -1354,7 +1498,41 @@ static void usbcan_disconnect(struct usb_interface *interface) } can_checked_free(usbdevs); - DEBUGMSG("USBCAN now disconnected"); + CANMSG("USBCAN now disconnected\n"); +} + +// Physically disconnected device +static void usbcan_disconnect(struct usb_interface *interface) +{ + struct usbcan_devs *usbdevs; + int j; + + /* prevent more I/O from starting */ + lock_kernel(); + + usbdevs = usb_get_intfdata(interface); + if (usbdevs==NULL){ + CANMSG("USBCAN device seems to be already removed\n"); + unlock_kernel(); + return; + } + usb_set_intfdata(interface, NULL); + deregister_hotplug_dev(usbdevs->candev); + + for (j=0;jcount;j++){ + if (!usbdevs->devs[j]) continue; + mutex_lock(&usbdevs->devs[j]->io_mutex); + usbdevs->devs[j]->interface = NULL; + mutex_unlock(&usbdevs->devs[j]->io_mutex); + } + + unlock_kernel(); + +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) + kref_put(&usbdevs->candev->refcount,release_device); +#else + release_device(&usbdevs->candev); +#endif } int usbcan_init(void){