From: Pavel Pisa Date: Sat, 1 Oct 2011 18:08:22 +0000 (+0200) Subject: Merge branch 'master' into can-usb1 X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/commitdiff_plain/50e9e47fc21191ea9ea758fea1e7f2bd5a275e98?hp=-c Merge branch 'master' into can-usb1 --- 50e9e47fc21191ea9ea758fea1e7f2bd5a275e98 diff --combined lincan/include/main.h index d827594,5b4e0e0..977724a --- a/lincan/include/main.h +++ b/lincan/include/main.h @@@ -113,10 -113,6 +113,10 @@@ struct candevice_t struct canhardware_t *hosthardware_p; +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) + struct kref refcount; +#endif - ++ union { void *anydev; #ifdef CAN_ENABLE_PCI_SUPPORT @@@ -185,7 -181,7 +185,7 @@@ struct canchip_t int chip_idx; /* chip index in candevice_t.chip[] */ int chip_irq; can_ioptr_t chip_base_addr; - unsigned int flags; + uint16_t flags; long clock; /* Chip clock in Hz */ long baudrate; @@@ -331,11 -327,6 +331,11 @@@ struct hwspecops_t int (*program_irq)(struct candevice_t *candev); void (*write_register)(unsigned data, can_ioptr_t address); unsigned (*read_register)(can_ioptr_t address); + +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) + void (*release_device)(struct kref *refcount); +#endif - ++ }; /** @@@ -553,7 -544,3 +553,7 @@@ void can_filltimestamp(canmsg_tstamp_t #ifdef CAN_WITH_RTL extern int can_rtl_priority; #endif /*CAN_WITH_RTL*/ + +extern struct candevice_t* register_hotplug_dev(const char *hwname,int (*chipdataregfnc)(struct canchip_t *chip,void *data),void *devdata); +extern void deregister_hotplug_dev(struct candevice_t *dev); +extern void cleanup_hotplug_dev(struct candevice_t *dev); diff --combined lincan/src/close.c index 157acfa,2e0090d..a4dfe12 --- a/lincan/src/close.c +++ b/lincan/src/close.c @@@ -45,23 -45,18 +45,23 @@@ int can_close(struct inode *inode, struct file *file) { struct canuser_t *canuser = (struct canuser_t*)(file->private_data); + struct canchip_t *chip; struct canque_ends_t *qends; struct msgobj_t *obj; can_spin_irqflags_t iflags; - + if(!canuser || (canuser->magic != CAN_USER_MAGIC)){ CANMSG("can_close: bad canuser magic\n"); return -ENODEV; } + if ((chip=objects_p[MINOR_NR]->hostchip) == NULL) { + CANMSG("There is no hardware support for the device file with minor nr.: %d\n",MINOR_NR); + return -ENODEV; + } - + obj = canuser->msgobj; qends = canuser->qends; - + #ifdef CAN_ENABLE_KERN_FASYNC can_fasync(-1, file, 0); @@@ -81,14 -76,9 +81,14 @@@ can_msgobj_clear_fl(obj,OPENED); }; can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags); - + #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,5,50)) MOD_DEC_USE_COUNT; #endif + +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) + if (chip->hostdevice->hwspecops->release_device) + kref_put(&chip->hostdevice->refcount,chip->hostdevice->hwspecops->release_device); +#endif return 0; } diff --combined lincan/src/finish.c index d1f6a87,be30f84..226c4e2 --- a/lincan/src/finish.c +++ b/lincan/src/finish.c @@@ -39,7 -39,7 +39,7 @@@ #include "../include/finish.h" #include "../include/setup.h" - +extern int next_minor; /** * msgobj_done - destroys one CAN message object * @obj: pointer to CAN message object structure @@@ -62,11 -62,8 +62,11 @@@ void msgobj_done(struct msgobj_t *obj } if((obj->minor>=0)) { - if(objects_p[obj->minor] == obj) + if(objects_p[obj->minor] == obj){ objects_p[obj->minor] = NULL; + if (--next_minor<0) + next_minor=0; + } else CANMSG("msgobj_done: not registered as minor\n"); } @@@ -118,10 -115,6 +118,10 @@@ void canchip_done(struct canchip_t *chi } can_checked_free(chip->chipspecops); - ++ + if(~chip->flags & CHIP_KEEP_DATA) + can_checked_free(chip->chip_data); + chip->chip_data = NULL; chip->chipspecops=NULL; } @@@ -162,7 -155,7 +162,7 @@@ void canhardware_done(struct canhardwar int i; struct candevice_t *candev; - for(i=0; inr_boards; i++){ + for(i=0; icandevice[i])==NULL) continue; candevice_done(candev); diff --combined lincan/src/hcan2.c index f81ae58,f06fdd1..279a4e9 --- a/lincan/src/hcan2.c +++ b/lincan/src/hcan2.c @@@ -76,7 -76,7 +76,7 @@@ uint16_t IRQs = ~(HCAN2_IRR_DFRI + HCAN int hcan2_chip_config(struct canchip_t *chip) { DEBUGMSG("Configuring chip...\n"); - + if (hcan2_enable_configuration(chip)) return -ENODEV; @@@ -236,7 -236,7 +236,7 @@@ int hcan2_baud_rate(struct canchip_t *c bcr1 = (((tseg1 - 1) & 0x000f) << 12) + (((tseg2 - 1) & 0x0007) << 8) + ((sjw & 0x0003) << 4); bcr0 = (best_brp - 1) & 0x00ff; - hcan2_set_btregs(chip, bcr0, bcr1); + hcan2_set_btregs(chip, bcr0, bcr1); hcan2_disable_configuration(chip); @@@ -254,7 -254,7 +254,7 @@@ int hcan2_set_btregs(struct canchip_t * can_write_reg_w(chip, bcr1, HCAN2_BCR1); can_write_reg_w(chip, bcr0, HCAN2_BCR0); - + /* DEBUGMSG("BCR0 and BCR1 successfully set.\n"); */ return 0; } @@@ -289,8 -289,8 +289,8 @@@ int hcan2_stop_chip(struct canchip_t *c int hcan2_attach_to_chip(struct canchip_t *chip) { /* DEBUGMSG("Attaching to chip %d.\n", chip->chip_idx); */ - - /* initialize chip */ + + /* initialize chip */ if (hcan2_enable_configuration(chip)) return -ENODEV; @@@ -318,9 -318,9 +318,9 @@@ int hcan2_release_chip(struct canchip_ { hcan2_stop_chip(chip); can_disable_irq(chip->chip_irq); - + hcan2_clear_objects(chip); - + DEBUGMSG("Chip released [%02d]\n", chip->chip_idx); return 0; } @@@ -332,10 -332,10 +332,10 @@@ int hcan2_standard_mask(struct canchip_ struct msgobj_t * obj; int obj_idx = (int) (chip->chip_data); - if (code & 0x1ffff800) + if (code & 0x1ffff800) return hcan2_extended_mask(chip, code, mask); - + if (obj_idx > 0 && obj_idx <= 32) obj = chip->msgobj[obj_idx - 1]; else @@@ -347,7 -347,7 +347,7 @@@ ctrl0 = ((code & 0x07ff) << 4); lafm0 = ((mask & 0x07ff) << 4); lafm0 |= 0x0003; /* ignore Ext ID 17:16 */ - + can_write_reg_w(chip, ctrl0, (int) obj->obj_base_addr + HCAN2_MB_CTRL0); can_write_reg_w(chip, 0x0000, (int) obj->obj_base_addr + HCAN2_MB_CTRL1); can_write_reg_w(chip, lafm0, (int) obj->obj_base_addr + HCAN2_MB_MASK); @@@ -364,7 -364,7 +364,7 @@@ int hcan2_extended_mask(struct canchip_ struct msgobj_t * obj; int obj_idx = (int) (chip->chip_data); - + if (obj_idx > 0 && obj_idx <= 32) obj = chip->msgobj[obj_idx - 1]; else @@@ -380,14 -380,14 +380,14 @@@ lafm0 = ((mask & 0x1ffc0000) >> 14); lafm0 |=((mask & 0x00030000) >> 16); lafm1 = (mask & 0x0000ffff); - + can_write_reg_w(chip, ctrl0, (int) obj->obj_base_addr + HCAN2_MB_CTRL0); can_write_reg_w(chip, ctrl1, (int) obj->obj_base_addr + HCAN2_MB_CTRL1); can_write_reg_w(chip, lafm0, (int) obj->obj_base_addr + HCAN2_MB_MASK); can_write_reg_w(chip, lafm1, (int) obj->obj_base_addr + HCAN2_MB_MASK + 2); - + DEBUGMSG("MB%02d: Set extended_mask [id:0x%08x, m:0x%08x]\n", obj_idx, (uint32_t)code, (uint32_t)mask); - + return 0; } @@@ -400,7 -400,7 +400,7 @@@ int hcan2_pre_read_config(struct canchi /* clears mailbox and setup LFA to accept all Exted Messages */ hcan2_setup_mbox4read(obj); - + hcan2_disable_configuration(chip); return 0; @@@ -410,15 -410,15 +410,15 @@@ int hcan2_pre_write_config(struct canch { DEBUGMSG("Pre write config\n"); - /* change Mailbox header only if neccessary */ + /* change Mailbox header only if neccessary */ /* otherwise change only data */ if (hcan2_compare_msg(obj, msg)) { if (hcan2_enable_configuration(chip)) return -ENODEV; - + hcan2_setup_mbox4write(obj, msg); - + if (hcan2_disable_configuration(chip)) return -ENODEV; } @@@ -431,10 -431,10 +431,10 @@@ int hcan2_send_msg(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { unsigned obj_bit; - int b_addr = ((obj->object - 1) / 16) * (-2); + int b_addr = ((obj->object - 1) / 16) * (-2); obj_bit = (1 << ((obj->object - 1) % 16)); - + /* CANMSG("Sending message [obj: %d]\n", obj->object - 1); */ can_write_reg_w(chip, obj_bit, b_addr + HCAN2_TXPR0); @@@ -533,7 -533,7 +533,7 @@@ int hcan2_irq_handler(int irq, struct c CANMSG("Warning: entering ERROR PASSIVE state\nTEC: %d REC: %d\n", (uint16_t)((tecrec >> 8) & 0x00ff), (uint16_t)(tecrec & 0x00ff)); - + /* Show warning only */ /* reset flag - by writing '1' */ @@@ -541,17 -541,17 +541,17 @@@ } /* Message Overrun/Overwritten */ - if (irq_reg & HCAN2_IRR_MOOI) { + if (irq_reg & HCAN2_IRR_MOOI) { /* put get Unread Message Status Register */ rxdf = (can_read_reg_w(chip, HCAN2_UMSR1) << 16) + can_read_reg_w(chip, HCAN2_UMSR0); /* find the message object */ for (idx = 0; (idx < chip->max_objects) && !(rxdf & (1<max_objects) + if (idx < chip->max_objects) hcan2_notifyRXends(chip->msgobj[idx], CANQUEUE_NOTIFY_ERROR); /* reset flag */ @@@ -573,12 -573,12 +573,12 @@@ can_write_reg_w(chip, 0xffff, HCAN2_ABACK0); can_write_reg_w(chip, 0xffff, HCAN2_ABACK1); return CANCHIP_IRQ_HANDLED; - } + } - /* Clear TXACK flag */ + /* Clear TXACK flag */ can_write_reg_w(chip, 1 << (idx % 16), HCAN2_TXACK0 - 2 * (idx / 16)); - /* sends message */ + /* sends message */ hcan2_wakeup_tx(chip, chip->msgobj[idx]); } @@@ -599,11 -599,11 +599,11 @@@ int hcan2_config_irqs(struct canchip_t hcan2_clear_irq_flags(chip); can_write_reg_w(chip, irqs, HCAN2_IMR); - + /* allow all mailboxes to generate IRQ */ can_write_reg_w(chip, 0, HCAN2_MBIMR0); can_write_reg_w(chip, 0, HCAN2_MBIMR1); - + /* CANMSG("IRQ Mask set [0x%02x]\n", irqs); */ return 0; } @@@ -633,7 -633,7 +633,7 @@@ int hcan2_check_tx_stat(struct canchip_ int hcan2_check_MB_tx_stat(struct canchip_t *chip, struct msgobj_t *obj) { /* Transmition is complete return 0 - no error */ - + /* MB1-MB15 are in CANTXPR0 and MB16-MB31 are in CANTXPR1 CANTXPR0 = CANTXPR1 + 0x0002 MB0 - receive only */ @@@ -648,9 -648,9 +648,9 @@@ int hcan2_wakeup_tx(struct canchip_t *c if (obj->object == 1) /* msgbox 0 cant transmit only receive ! */ return -ENODEV; - + can_preempt_disable(); - + can_msgobj_set_fl(obj,TX_REQUEST); if(!can_msgobj_test_and_set_fl(obj,TX_LOCK) && !hcan2_check_MB_tx_stat(chip, obj)) @@@ -658,7 -658,7 +658,7 @@@ can_msgobj_clear_fl(obj,TX_REQUEST); hcan2_irq_write_handler(chip, obj); - + can_msgobj_clear_fl(obj,TX_LOCK); } else @@@ -687,10 -687,8 +687,10 @@@ int hcan2_filtch_rq(struct canchip_t *c /* HCAN2 uses oposite logic for LAFM: 1-ignore bit, 0-use bit as mask */ +#if myDEBUG DEBUGMSG("CNT: %d ID: 0x%08x MASK: 0x%08x\n", num, (uint32_t) (filter.id) & 0x1fffffff, (uint32_t) (~filter.mask) & 0x1fffffff); +#endif - + if (filter.flags & MSG_EXT) /* Extended ID */ return hcan2_extended_mask(chip, filter.id, ~filter.mask); else /* Standard ID */ @@@ -704,7 -702,7 +704,7 @@@ void hcan2_irq_read_handler(struct canc unsigned ctrl0, ctrl2, data; unsigned long flag_addr; uint16_t mb_offset; - + mb_offset = (int ) obj->obj_base_addr; @@@ -716,7 -714,7 +716,7 @@@ obj->rx_msg.length = len = ctrl2 & HCAN2_MBCT2_DLC; obj->rx_msg.flags = (ctrl0 & HCAN2_MBCT0_RTR) ? MSG_RTR : 0; obj->rx_msg.cob = obj->object - 1; - + /* get ID of received message */ if (ctrl0 & HCAN2_MBCT0_IDE) { @@@ -743,7 -741,7 +743,7 @@@ * HCAN2_RXPR1, HCAN2_RXPR0, HCAN2_RFPR1, HCAN2_RFPR0 */ flag_addr = HCAN2_RXPR0 - (int)((obj->object - 1) / 16) * 2; - + /* Reset flag by writing 1 to its position */ can_write_reg_w(chip, (1 << ((obj->object - 1) % 16)), flag_addr); @@@ -832,7 -830,7 +832,7 @@@ int hcan2_fill_chipspecops(struct canch chip->max_objects = 32; chip->write_register = chip->hostdevice->hwspecops->write_register; chip->read_register = chip->hostdevice->hwspecops->read_register; - + /* chip->flags; chip->baudrate; @@@ -864,7 -862,7 +864,7 @@@ int hcan2_reset_chip(struct canchip_t * * 11 recessive bits to join CAN bus activity */ - int i; + int i; unsigned gsr_reset; DEBUGMSG("Resetting HCAN2 chip %d...\n", chip->chip_idx); @@@ -872,7 -870,7 +872,7 @@@ /* send Reset Request */ can_write_reg_w(chip, HCAN2_MCR_RESET, HCAN2_MCR ); - /* Check hardware reset status */ + /* Check hardware reset status */ i = 0; gsr_reset = can_read_reg_w(chip, HCAN2_GSR) & HCAN2_GSR_RESET; while (!(gsr_reset) && ((i++) <= MAX_SETTING_WAIT_LOOPS)) @@@ -979,14 -977,14 +979,14 @@@ void hcan2_clear_mbox(struct canchip_t void hcan2_setup_mbox4write(struct msgobj_t * obj, struct canmsg_t * msg) { int mb_offset; - uint16_t ctrl0, ctrl1, ctrl2; + uint16_t ctrl0, ctrl1, ctrl2; struct canchip_t * chip = obj->hostchip; DEBUGMSG("Change Header\n"); mb_offset = (int) obj->obj_base_addr; - + hcan2_setup_ctrl_regs(msg, &ctrl0, &ctrl1, &ctrl2); can_write_reg_w(chip, ctrl0, mb_offset + HCAN2_MB_CTRL0); @@@ -1000,17 -998,17 +1000,17 @@@ void hcan2_setup_mbox4write_data(struct msgobj_t * obj, struct canmsg_t * msg) { int len,i, mb_offset; - uint16_t data; - + uint16_t data; + struct canchip_t * chip = obj->hostchip; DEBUGMSG("Change Data\n"); mb_offset = (int) obj->obj_base_addr; - + len = msg->length; if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - + for (i = 0; i < len; i+=2) { data = (msg->data[i] << 8) + (i+1 < len ? msg->data[i+1] : 0); @@@ -1021,7 -1019,7 +1021,7 @@@ void hcan2_setup_mbox4read(struct msgobj_t * obj) { struct canchip_t * chip = obj->hostchip; - + hcan2_clear_mbox(chip, obj->object - 1); // in structure chip->chip_data is Mailbox number @@@ -1066,7 -1064,7 +1066,7 @@@ int hcan2_compare_msg(struct msgobj_t uint16_t ctrl0, ctrl1, ctrl2; uint16_t mb_offset; uint16_t c0,c1,c2; - + struct canchip_t * chip = obj->hostchip; mb_offset = (int) obj->obj_base_addr; @@@ -1080,7 -1078,7 +1080,7 @@@ /* if using EXT ID conpare also ctrl1 */ if (msg->flags & MSG_EXT && ctrl1 ^ c1) return 1; - + DEBUGMSG("C0 0x%04x HW: 0x%04x\n", ctrl0, c0); DEBUGMSG("C1 0x%04x HW: 0x%04x\n", ctrl1, c1); diff --combined lincan/src/open.c index f0c3fd2,f785e2c..942225a --- a/lincan/src/open.c +++ b/lincan/src/open.c @@@ -51,7 -51,7 +51,7 @@@ int can_open(struct inode *inode, struc can_spin_irqflags_t iflags; char openflag; // Martin Petera: Object already opened - if ( ((obj=objects_p[MINOR_NR]) == NULL) || + if ( ((obj=objects_p[MINOR_NR]) == NULL) || ((chip=objects_p[MINOR_NR]->hostchip) == NULL) ) { CANMSG("There is no hardware support for the device file with minor nr.: %d\n",MINOR_NR); return -ENODEV; @@@ -62,13 -62,13 +62,13 @@@ openflag = can_msgobj_test_fl(obj,OPENED); // Martin Petera: store previous status can_msgobj_set_fl(obj,OPENED); - if (chip->flags & CHIP_CONFIGURED) + if (chip->flags & CHIP_CONFIGURED) DEBUGMSG("Device is already configured.\n"); else { if (chip->chipspecops->chip_config(chip)) CANMSG("Error configuring chip.\n"); else - chip->flags |= CHIP_CONFIGURED; + chip->flags |= CHIP_CONFIGURED; } /* End of chip configuration */ @@@ -82,10 -82,6 +82,10 @@@ CANMSG("Error initializing chip for receiving\n"); } +#if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,10)) + if (chip->hostdevice->hwspecops->release_device) + kref_get(&chip->hostdevice->refcount); +#endif canuser = (struct canuser_t *)kmalloc(sizeof(struct canuser_t), GFP_KERNEL); if(canuser == NULL) goto no_canuser; @@@ -99,7 -95,7 +99,7 @@@ if(qends == NULL) goto no_qends; canqueue_ends_init_kern(qends); canuser->qends = qends; - + /*required to synchronize with RT-Linux context*/ can_spin_lock_irqsave(&canuser_manipulation_lock, iflags); list_add(&canuser->peers, &obj->obj_users); @@@ -116,7 -112,7 +116,7 @@@ #if (LINUX_VERSION_CODE < KERNEL_VERSION(2,5,50)) MOD_INC_USE_COUNT; - #endif + #endif return 0; diff --combined lincan/src/usbcan.c index 3e1306a,e69de29..f76d5c6 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@@ -1,1559 -1,0 +1,1559 @@@ +/* usbcan.h + * Header file for the Linux CAN-bus driver. + * Written by Jan Kriz email:johen@post.cz + * This software is released under the GPL-License. + * Version lincan-0.3 17 Jul 2008 + */ + +#include "../include/can.h" +#include "../include/can_sysdep.h" +#include "../include/main.h" +#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; + +/* table of devices that work with this driver */ +static struct usb_device_id usbcan_table [] = { + { USB_DEVICE(USBCAN_VENDOR_ID, USBCAN_PRODUCT_ID) }, + { } /* Terminating entry */ +}; +MODULE_DEVICE_TABLE(usb, usbcan_table); + +static struct usb_driver usbcan_driver = { + .name = "usbcan", + .id_table = usbcan_table, + .probe = usbcan_probe, + .disconnect = usbcan_disconnect, +}; + +/** + * usbcan_request_io: - reserve io or memory range for can board + * @candev: pointer to candevice/board which asks for io. Field @io_addr + * of @candev is used in most cases to define start of the range + * + * The function usbcan_request_io() is used to reserve the io-memory. If your + * hardware uses a dedicated memory range as hardware control registers you + * will have to add the code to reserve this memory as well. + * %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. + * Return Value: The function returns zero on success or %-ENODEV on failure + * File: src/usbcan.c + */ +int usbcan_request_io(struct candevice_t *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; +} + +/** + * usbcan_release_io - free reserved io memory range + * @candev: pointer to candevice/board which releases io + * + * The function usbcan_release_io() is used to free reserved io-memory. + * In case you have reserved more io memory, don't forget to free it here. + * IO_RANGE is the io-memory range that gets released, 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. + * Return Value: The function always returns zero + * File: src/usbcan.c + */ +int usbcan_release_io(struct candevice_t *candev) +{ + return 0; +} + +/** + * usbcan_reset - hardware reset routine + * @candev: Pointer to candevice/board structure + * + * The function usbcan_reset() is used to give a hardware reset. This is + * rather hardware specific so I haven't included example code. Don't forget to + * check the reset status of the chip before returning. + * Return Value: The function returns zero on success or %-ENODEV on failure + * File: src/usbcan.c + */ +int usbcan_reset(struct candevice_t *candev) +{ + return 0; +} + +/** + * usbcan_init_hw_data - Initialize hardware cards + * @candev: Pointer to candevice/board structure + * + * The function usbcan_init_hw_data() is used to initialize the hardware + * structure containing information about the installed CAN-board. + * %RESET_ADDR represents the io-address of the hardware reset register. + * %NR_82527 represents the number of Intel 82527 chips on the board. + * %NR_SJA1000 represents the number of Philips sja1000 chips on the board. + * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that + * the hardware uses programmable interrupts. + * Return Value: The function always returns zero + * File: src/usbcan.c + */ +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=usbcan_chip_count; + candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0; + + return 0; +} + +/** + * usbcan_init_obj_data - Initialize message buffers + * @chip: Pointer to chip specific structure + * @objnr: Number of the message buffer + * + * The function usbcan_init_obj_data() is used to initialize the hardware + * structure containing information about the different message objects on the + * CAN chip. In case of the sja1000 there's only one message object but on the + * i82527 chip there are 15. + * The code below is for a i82527 chip and initializes the object base addresses + * The entry @obj_base_addr represents the first memory address of the message + * object. In case of the sja1000 @obj_base_addr is taken the same as the chips + * base address. + * Unless the hardware uses a segmented memory map, flags can be set zero. + * Return Value: The function always returns zero + * File: src/usbcan.c + */ +int usbcan_init_obj_data(struct canchip_t *chip, int objnr) +{ + chip->msgobj[objnr]->obj_base_addr=0; + + return 0; +} + +/** + * usbcan_program_irq - program interrupts + * @candev: Pointer to candevice/board structure + * + * The function usbcan_program_irq() is used for hardware that uses + * programmable interrupts. If your hardware doesn't use programmable interrupts + * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and + * leave this function unedited. Again this function is hardware specific so + * there's no example code. + * Return value: The function returns zero on success or %-ENODEV on failure + * File: src/usbcan.c + */ +int usbcan_program_irq(struct candevice_t *candev) +{ + return 0; +} + +int usbcan_register(struct hwspecops_t *hwspecops) +{ + hwspecops->request_io = usbcan_request_io; + hwspecops->release_io = usbcan_release_io; + hwspecops->reset = usbcan_reset; + 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 = 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 usbcan_report_error(struct canchip_t *chip, + unsigned sr, unsigned ir, unsigned ecc) +{ + /*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", + sr, ir, ecc); + + sja1000_report_error_limit_counter+=10; + + if(sja1000_report_error_limit_counter>=100){ + sja1000_report_error_limit_counter+=10; + CANMSG("Error: too many errors, reporting disabled\n"); + return; + } + +#ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS + CANMSG("SR: BS=%c ES=%c TS=%c RS=%c TCS=%c TBS=%c DOS=%c RBS=%c\n", + sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0', + sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0', + sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0', + sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0'); + CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c TI=%c RI=%c\n", + sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0', + sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0', + sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0', + sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0'); + if((sr&sjaIR_EI) || 1){ + CANMSG("EI: %s %s %s\n", + sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0], + ecc&sjaECC_DIR?"RX":"TX", + sja1000_ecc_seg_str[ecc&sjaECC_SEG_M] + ); + } +#endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ +#endif +} + + +/** + * usbcan_enable_configuration - enable chip configuration mode + * @chip: pointer to chip state structure + */ +int usbcan_enable_configuration(struct canchip_t *chip) +{ + return 0; +} + +/** + * usbcan_disable_configuration - disable chip configuration mode + * @chip: pointer to chip state structure + */ +int usbcan_disable_configuration(struct canchip_t *chip) +{ + return 0; +} + +/** + * usbcan_chip_config: - can chip configuration + * @chip: pointer to chip state structure + * + * This function configures chip and prepares it for message + * transmission and reception. The function resets chip, + * resets mask for acceptance of all messages by call to + * usbcan_extended_mask() function and then + * computes and sets baudrate with use of function usbcan_baud_rate(). + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_chip_config(struct canchip_t *chip) +{ + return 0; +} + +/** + * usbcan_extended_mask: - setup of extended mask for message filtering + * @chip: pointer to chip state structure + * @code: can message acceptance code + * @mask: can message acceptance mask + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask) +{ + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + u8 usbbuf[USBCAN_TRANSFER_SIZE]; + + if (!dev) + return -ENODEV; + + *(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; + + 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; + } + } + + CANMSG("Setting extended mask failed\n"); + return -EINVAL; +} + +/** + * usbcan_baud_rate: - set communication parameters. + * @chip: pointer to chip state structure + * @rate: baud rate in Hz + * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000) + * @sjw: synchronization jump width (0-3) prescaled clock cycles + * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio + * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, + int sampl_pt, int flags) +{ + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + + u8 usbbuf[USBCAN_TRANSFER_SIZE]; + + if (!dev) + return -ENODEV; + + *(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; + + 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; + } + + CANMSG("baud rate %d is not possible to set\n", + rate); + return -EINVAL; +} + +/** + * usbcan_pre_read_config: - prepares message object for message reception + * @chip: pointer to chip state structure + * @obj: pointer to message object state structure + * + * Return Value: negative value reports error. + * Positive value indicates immediate reception of message. + * File: src/usbcan.c + */ +int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) +{ + return 0; +} + +#define MAX_TRANSMIT_WAIT_LOOPS 10 +/** + * usbcan_pre_write_config: - prepares message object for message transmission + * @chip: pointer to chip state structure + * @obj: pointer to message object state structure + * @msg: pointer to CAN message + * + * This function prepares selected message object for future initiation + * of message transmission by usbcan_send_msg() function. + * The CAN message data and message ID are transfered from @msg slot + * into chip buffer in this function. + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, + struct canmsg_t *msg) +{ + return 0; +} + +/** + * usbcan_send_msg: - initiate message transmission + * @chip: pointer to chip state structure + * @obj: pointer to message object state structure + * @msg: pointer to CAN message + * + * This function is called after usbcan_pre_write_config() function, + * which prepares data in chip buffer. + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, + struct canmsg_t *msg) +{ + return 0; +} + +/** + * usbcan_check_tx_stat: - checks state of transmission engine + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * Positive return value indicates transmission under way status. + * Zero value indicates finishing of all issued transmission requests. + * File: src/usbcan.c + */ +int usbcan_check_tx_stat(struct canchip_t *chip) +{ + struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; + if (!dev) + return 0; + if (test_bit(USBCAN_TX_PENDING,&dev->flags)) + return 1; + return 0; +} + +/** + * usbcan_set_btregs: - configures bitrate registers + * @chip: pointer to chip state structure + * @btr0: bitrate register 0 + * @btr1: bitrate register 1 + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, + unsigned short btr1) +{ + 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); + + if (!dev) + return -ENODEV; + + 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; +} + +/** + * usbcan_start_chip: - starts chip message processing + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_start_chip(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_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; +} + +/** + * usbcan_stop_chip: - stops chip message processing + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_stop_chip(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_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 + */ +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 -1; + } + if (chip->chip_idx>=usbdevs->count) { + CANMSG("Requested chip number is bigger than chip count\n"); + return -1; + } + + usbdevs->devs[chip->chip_idx]->chip=chip; + chip->chip_data=(void *)usbdevs->devs[chip->chip_idx]; + return 0; +} + +/** + * usbcan_attach_to_chip: - attaches to the chip, setups registers and state + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +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; +} + +/** + * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_release_chip(struct canchip_t *chip) +{ + 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; +} + +/** + * usbcan_remote_request: - configures message object and asks for RTR message + * @chip: pointer to chip state structure + * @obj: pointer to message object structure + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj) +{ + CANMSG("usbcan_remote_request not implemented\n"); + return -ENOSYS; +} + +/** + * usbcan_standard_mask: - setup of mask for message filtering + * @chip: pointer to chip state structure + * @code: can message acceptance code + * @mask: can message acceptance mask + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_standard_mask(struct canchip_t *chip, unsigned short code, + unsigned short mask) +{ + CANMSG("usbcan_standard_mask not implemented\n"); + return -ENOSYS; +} + +/** + * usbcan_clear_objects: - clears state of all message object residing in chip + * @chip: pointer to chip state structure + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_clear_objects(struct canchip_t *chip) +{ + CANMSG("usbcan_clear_objects not implemented\n"); + return -ENOSYS; +} + +/** + * usbcan_config_irqs: - tunes chip hardware interrupt delivery + * @chip: pointer to chip state structure + * @irqs: requested chip IRQ configuration + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_config_irqs(struct canchip_t *chip, short irqs) +{ + CANMSG("usbcan_config_irqs not implemented\n"); + 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_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 usb urb + * and transfer message contents to CAN queue ends. + * This subroutine is called by + * usbcan_kthread(). + * File: src/usbcan.c + */ +void usbcan_kthread_read_handler(struct usbcan_usb *dev, struct usbcan_message *m, + struct msgobj_t *obj) +{ + 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(m->slot){ + // Do local transmitted message distribution if enabled + if (processlocal){ + // fill CAN message timestamp + can_filltimestamp(&m->slot->msg.timestamp); + + m->slot->msg.flags |= MSG_LOCAL; + canque_filter_msg2edges(obj->qends, &m->slot->msg); + } + // Free transmitted slot + canque_free_outslot(obj->qends, m->qedge, m->slot); + m->slot=NULL; + } - ++ + /*FIXME - why there*/ + can_msgobj_clear_fl(obj,TX_PENDING); + +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; + } - ++ + 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 + +/** + * usbcan_irq_handler: - interrupt service routine + * @irq: interrupt vector number, this value is system specific + * @chip: pointer to chip state structure + * + * Interrupt handler is activated when state of CAN controller chip changes, + * there is message to be read or there is more space for new messages or + * error occurs. The receive events results in reading of the message from + * CAN controller chip and distribution of message through attached + * message queues. + * File: src/usbcan.c + */ +int usbcan_irq_handler(int irq, struct canchip_t *chip) +{ + return CANCHIP_IRQ_HANDLED; +} + +/** + * usbcan_wakeup_tx: - wakeups TX processing + * @chip: pointer to chip state structure + * @obj: pointer to message object structure + * + * Function is responsible for initiating message transmition. + * It is responsible for clearing of object TX_REQUEST flag + * + * Return Value: negative value reports error. + * File: src/usbcan.c + */ +int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) +{ + 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); + 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 (test_and_clear_bit(USBCAN_FREE_TX_URB,&dev->flags)){ + obj->tx_retry_cnt=0; + 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; + CANMSG("TX looping in usbcan_wakeup_tx\n"); + } + + 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; +} + +/** + * usbcan_fill_chipspecops - fills chip specific operations + * @chip: pointer to chip representation structure + * + * The function fills chip specific operations for sja1000 (PeliCAN) chip. + * + * Return Value: returns negative number in the case of fail + */ +int usbcan_fill_chipspecops(struct canchip_t *chip) +{ + chip->chip_type="usbcan"; + chip->max_objects=1; + usbcan_chipregister(chip->chipspecops); + return 0; +} + +/** + * usbcan_init_chip_data - Initialize chips + * @candev: Pointer to candevice/board structure + * @chipnr: Number of the CAN chip on the hardware card + * + * The function usbcan_init_chip_data() is used to initialize the hardware + * structure containing information about the CAN chips. + * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or + * "sja1000". + * The @chip_base_addr entry represents the start of the 'official' memory map + * of the installed chip. It's likely that this is the same as the @io_addr + * argument supplied at module loading time. + * The @clock entry holds the chip clock value in Hz. + * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider + * register. Options defined in the %sja1000.h file: + * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN + * The entry @sja_ocr_reg holds hardware specific options for the Output Control + * register. Options defined in the %sja1000.h file: + * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK, + * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ. + * The entry @int_clk_reg holds hardware specific options for the Clock Out + * register. Options defined in the %i82527.h file: + * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1. + * The entry @int_bus_reg holds hardware specific options for the Bus + * Configuration register. Options defined in the %i82527.h file: + * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY. + * The entry @int_cpu_reg holds hardware specific options for the cpu interface + * register. Options defined in the %i82527.h file: + * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST. + * Return Value: The function always returns zero + * File: src/usbcan.c + */ +int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) +{ + struct canchip_t *chip=candev->chip[chipnr]; + + usbcan_fill_chipspecops(chip); + + candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM|CHIP_KEEP_DATA; + 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_tx_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 > 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); +// 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<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); + } +} + +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<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); + } + +} + +int usbcan_kthread(void *data) +{ + 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; + } + } + /* 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) && (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(); + + if (can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags)){ + 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: + + 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 usbcan_devs *usbdevs=NULL; + struct usb_host_interface *iface_desc; + struct usb_endpoint_descriptor *endpoint; + size_t buffer_size; + int i,j,k; + int retval = -ENOMEM; + + iface_desc = interface->cur_altsetting; + if (iface_desc->desc.bNumEndpoints % 2){ + CANMSG("Endpoint count must be even"); + goto noalloc; + } + + usbcan_chip_count = iface_desc->desc.bNumEndpoints / 2; + + usbdevs = (struct usbcan_devs *) can_checked_malloc(sizeof(struct usbcan_devs)); + if (!usbdevs) { + goto noalloc; + } + memset(usbdevs, 0, sizeof(struct usbcan_devs)); + + 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) { + goto error; + } + memset(usbdevs->devs, 0, usbcan_chip_count * sizeof(struct usbcan_usb *)); + + for (j=0;jdevs[j] = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb)); + if (!usbdevs->devs[j]) { + 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); + init_waitqueue_head(&dev->queue); + dev->udev = usbdevs->udev; + 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; + } + + 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; + } + } + + usb_get_dev(usbdevs->udev); - ++ + /* save our data pointer in this interface device */ + usb_set_intfdata(interface, usbdevs); + + 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 */ + CANMSG("USBCAN device now attached\n"); + return 0; + +register_error: +// cleanup_hotplug_dev(usbdevs->candev); + usb_put_dev(usbdevs->udev); +error: + if (usbdevs){ + if (usbdevs->devs){ + 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; +} + +#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; - ++ + if (!usbdevs) + return; - ++ + cleanup_hotplug_dev(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; + + if (usbdevs->devs[j]->bulk_in_buffer) + can_checked_free(usbdevs->devs[j]->bulk_in_buffer); + can_checked_free(usbdevs->devs[j]); + usbdevs->devs[j]=NULL; + } + can_checked_free(usbdevs->devs); + } + can_checked_free(usbdevs); + + 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){ + return usb_register(&usbcan_driver); +} + +void usbcan_exit(void){ + usb_deregister(&usbcan_driver); +}