From 8fd565c492003b545ab6b2353d1337d166c773da Mon Sep 17 00:00:00 2001 From: Jan Kriz Date: Sat, 19 Jul 2008 05:09:47 +0200 Subject: [PATCH] Added support for usb bulk and vendor communication with device --- lincan/include/usbcan.h | 144 ++++++ lincan/src/usbcan.c | 972 +++++++++++++++++----------------------- 2 files changed, 546 insertions(+), 570 deletions(-) diff --git a/lincan/include/usbcan.h b/lincan/include/usbcan.h index d2be18f..80566cd 100644 --- a/lincan/include/usbcan.h +++ b/lincan/include/usbcan.h @@ -16,6 +16,28 @@ #include #include +/* our private defines. if this grows any larger, use your own .h file */ +#define MAX_TRANSFER (PAGE_SIZE - 512) +/* MAX_TRANSFER is chosen so that the VM is not stressed by + allocations > PAGE_SIZE and the number of packets in a page + is an integer 512 is the largest possible packet on EHCI */ +#define WRITES_IN_FLIGHT 8 +/* arbitrarily chosen */ + +/* Define these values to match your devices */ +#define USBCAN_VENDOR_ID 0xDEAD +#define USBCAN_PRODUCT_ID 0x1001 + +#define RESET_ADDR 0x0 + +/* + * IO_RANGE is the io-memory range that gets reserved, please adjust according + * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or + * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode. + */ +#define IO_RANGE 0x100 + + int usbcan_request_io(struct candevice_t *candev); int usbcan_release_io(struct candevice_t *candev); int usbcan_reset(struct candevice_t *candev); @@ -25,6 +47,7 @@ int usbcan_init_obj_data(struct canchip_t *chip, int objnr); void usbcan_write_register(unsigned data, unsigned long address); unsigned usbcan_read_register(unsigned long address); int usbcan_program_irq(struct candevice_t *candev); +int usbcan_register(struct hwspecops_t *hwspecops); int usbcan_chip_config(struct canchip_t *chip); int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask); @@ -38,7 +61,128 @@ int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, int usbcan_fill_chipspecops(struct canchip_t *chip); int usbcan_irq_handler(int irq, struct canchip_t *chip); +void usbcan_read_kthread(kthread_t *kthread); +int usbcan_chip_queue_status(struct canchip_t *chip); + int usbcan_init(void); void usbcan_exit(void); +static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id); +static void usbcan_disconnect(struct usb_interface *interface); + +#ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS + +static const char *sja1000_ecc_errc_str[]={ + "bit error", + "form error", + "stuff error", + "other type of error" +}; + +static const char *sja1000_ecc_seg_str[]={ + "?0?", + "?1?", + "ID.28 to ID.21", + "start of frame", + "bit SRTR", + "bit IDE", + "ID.20 to ID.18", + "ID.17 to ID.13", + "CRC sequence", + "reserved bit 0", + "data field", + "data length code", + "bit RTR", + "reserved bit 1", + "ID.4 to ID.0", + "ID.12 to ID.5", + "?16?" + "active error flag", + "intermission", + "tolerate dominant bits", + "?20?", + "?21?", + "passive error flag", + "error delimiter", + "CRC delimiter", + "acknowledge slot", + "end of frame", + "acknowledge delimiter", + "overload flag", + "?29?", + "?30?", + "?31?" +}; + +#endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ + +/* CAN message over usb */ +struct usbcan_canmsg_t{ + __u8 chip_id; + __u16 flags; + __u8 id[4]; + __u8 length; + __u8 data[8]; +}; + +/* CAN extended mask */ +struct usbcan_mask_t{ + __u32 code; + __u32 mask; +}; + +/* Structure to hold all of our device specific stuff */ +struct usbcan_usb { + struct usb_device *udev; /* the usb device for this device */ + struct usb_interface *interface; /* the interface for this device */ + struct semaphore limit_sem; /* limiting the number of writes in progress */ + struct usb_anchor submitted; /* in case we need to retract our submissions */ + unsigned char *bulk_in_buffer; /* the buffer to receive data */ + unsigned char *ctl_in_buffer; /* the buffer to receive data */ + size_t bulk_in_size; /* the size of the receive buffer */ + size_t ctl_in_size; /* the size of the receive buffer */ + __u8 ctl_in_endpointAddr; /* the address of the bulk in endpoint */ + __u8 ctl_out_endpointAddr; /* the address of the bulk in endpoint */ + __u8 bulk_in_endpointAddr; /* the address of the bulk in endpoint */ + __u8 bulk_out_endpointAddr; /* the address of the bulk out endpoint */ + int errors; /* the last request tanked */ + int open_count; /* count the number of openers */ + spinlock_t err_lock; /* lock for errors */ + struct mutex io_mutex; /* synchronize I/O with disconnect */ + struct urb *rcv; + struct usbcan_canmsg_t rcv_msg; + struct usbcan_canmsg_t tx_msg; + kthread_t rcvthread; /* usb receive kernel thread */ + + struct candevice_t *candev; + long flags; +}; + +#define USBCAN_DATA_READ (1) +#define USBCAN_TERMINATE (2) +#define USBCAN_ERROR (3) +#define USBCAN_TX_PENDING (4) + +#define USBCAN_VENDOR_BAUD_RATE_SET (1) +#define USBCAN_VENDOR_BAUD_RATE_STATUS (2) +#define USBCAN_VENDOR_SET_BTREGS (3) +#define USBCAN_VENDOR_CHECK_TX_STAT (4) +#define USBCAN_VENDOR_START_CHIP (5) +#define USBCAN_VENDOR_STOP_CHIP (6) + +/* 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, +}; + + #endif /*USBCAN_H*/ diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c index 7017123..cb1c9b0 100644 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@ -5,6 +5,7 @@ * Version lincan-0.3 17 Jul 2008 */ +#include "../include/kthread.h" #include "../include/can.h" #include "../include/can_sysdep.h" #include "../include/main.h" @@ -12,60 +13,6 @@ #include "../include/setup.h" #include "../include/usbcan.h" -/* our private defines. if this grows any larger, use your own .h file */ -#define MAX_TRANSFER (PAGE_SIZE - 512) -/* MAX_TRANSFER is chosen so that the VM is not stressed by - allocations > PAGE_SIZE and the number of packets in a page - is an integer 512 is the largest possible packet on EHCI */ -#define WRITES_IN_FLIGHT 8 -/* arbitrarily chosen */ - -/* Define these values to match your devices */ -#define USB_SKEL_VENDOR_ID 0xDEAD -#define USB_SKEL_PRODUCT_ID 0x1001 - -/* table of devices that work with this driver */ -static struct usb_device_id usbcan_table [] = { - { USB_DEVICE(USB_SKEL_VENDOR_ID, USB_SKEL_PRODUCT_ID) }, - { } /* Terminating entry */ -}; -MODULE_DEVICE_TABLE(usb, usbcan_table); - -extern struct file_operations can_fops; - -int usbcan_register(struct hwspecops_t *hwspecops); - -/* - * IO_RANGE is the io-memory range that gets reserved, please adjust according - * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or - * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode. - */ -#define IO_RANGE 0x100 - -/* Structure to hold all of our device specific stuff */ -struct usb_usbcan { - struct usb_device *udev; /* the usb device for this device */ - struct usb_interface *interface; /* the interface for this device */ - struct semaphore limit_sem; /* limiting the number of writes in progress */ - struct usb_anchor submitted; /* in case we need to retract our submissions */ - unsigned char *bulk_in_buffer; /* the buffer to receive data */ - size_t bulk_in_size; /* the size of the receive buffer */ - unsigned char *int_in_buffer; /* the buffer to receive data */ - size_t int_in_size; /* the size of the receive buffer */ - __u8 bulk_in_endpointAddr; /* the address of the bulk in endpoint */ - __u8 bulk_out_endpointAddr; /* the address of the bulk out endpoint */ - __u8 int_in_endpointAddr; /* the address of the interrupt in endpoint */ - int int_in_interval; - int errors; /* the last request tanked */ - int open_count; /* count the number of openers */ - spinlock_t err_lock; /* lock for errors */ - struct mutex io_mutex; /* synchronize I/O with disconnect */ - struct urb *irq; - struct candevice_t *candev; -}; - -static struct usb_driver usbcan_driver; - /** * usbcan_request_io: - reserve io or memory range for can board * @candev: pointer to candevice/board which asks for io. Field @io_addr @@ -82,7 +29,14 @@ static struct usb_driver usbcan_driver; */ int usbcan_request_io(struct candevice_t *candev) { - ((struct usb_ul_usb1*)candev->sysdevptr.anydev)->candev=candev; + struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev; + + /* start kernel thread */ + dev->rcvthread.arg = dev; + start_kthread(usbcan_read_kthread, &dev->rcvthread); + + /* Adding link to can device into usbcan_usb struct */ + ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev; return 0; } @@ -100,21 +54,14 @@ int usbcan_request_io(struct candevice_t *candev) */ int usbcan_release_io(struct candevice_t *candev) { - struct usb_ul_usb1 *dev; - if (candev->sysdevptr.anydev){ - dev=(struct usb_ul_usb1*) candev->sysdevptr.anydev; - usb_put_dev(dev->udev); - usb_kill_urb(dev->irq); - usb_free_urb(dev->irq); - kfree(dev->bulk_in_buffer); - kfree(dev->int_in_buffer); - if (dev->candev){ - dev->candev->sysdevptr.anydev=NULL; - //cleanup_usbdev(dev->candev); - } - kfree(dev); - } + struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev); + /* terminate the kernel thread */ + if (dev->rcv){ + usb_kill_urb(dev->rcv); + usb_free_urb(dev->rcv); + } + stop_kthread(&dev->rcvthread); return 0; } @@ -133,8 +80,6 @@ int usbcan_reset(struct candevice_t *candev) return 0; } -#define RESET_ADDR 0x0 - /** * usbcan_init_hw_data - Initialize hardware cards * @candev: Pointer to candevice/board structure @@ -179,7 +124,7 @@ int usbcan_init_hw_data(struct candevice_t *candev) */ int usbcan_init_obj_data(struct canchip_t *chip, int objnr) { - chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10; + chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10; return 0; } @@ -201,37 +146,6 @@ int usbcan_program_irq(struct candevice_t *candev) return 0; } -/** - * usbcan_write_register - Low level write register routine - * @data: data to be written - * @address: memory address to write to - * - * The function usbcan_write_register() is used to write to hardware registers - * on the CAN chip. You should only have to edit this function if your hardware - * uses some specific write process. - * Return Value: The function does not return a value - * File: src/usbcan.c - */ -void usbcan_write_register(unsigned data, unsigned long address) -{ - outb(data,address); -} - -/** - * usbcan_read_register - Low level read register routine - * @address: memory address to read from - * - * The function usbcan_read_register() is used to read from hardware registers - * on the CAN chip. You should only have to edit this function if your hardware - * uses some specific read process. - * Return Value: The function returns the value stored in @address - * File: src/usbcan.c - */ -unsigned usbcan_read_register(unsigned long address) -{ - return inb(address); -} - /* !!! Don't change this function !!! */ int usbcan_register(struct hwspecops_t *hwspecops) { @@ -241,63 +155,19 @@ int usbcan_register(struct hwspecops_t *hwspecops) hwspecops->init_hw_data = usbcan_init_hw_data; hwspecops->init_chip_data = usbcan_init_chip_data; hwspecops->init_obj_data = usbcan_init_obj_data; - hwspecops->write_register = usbcan_write_register; - hwspecops->read_register = usbcan_read_register; + hwspecops->write_register = NULL; + hwspecops->read_register = NULL; hwspecops->program_irq = usbcan_program_irq; return 0; } -#ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS - -static const char *sja1000_ecc_errc_str[]={ - "bit error", - "form error", - "stuff error", - "other type of error" -}; - -static const char *sja1000_ecc_seg_str[]={ - "?0?", - "?1?", - "ID.28 to ID.21", - "start of frame", - "bit SRTR", - "bit IDE", - "ID.20 to ID.18", - "ID.17 to ID.13", - "CRC sequence", - "reserved bit 0", - "data field", - "data length code", - "bit RTR", - "reserved bit 1", - "ID.4 to ID.0", - "ID.12 to ID.5", - "?16?" - "active error flag", - "intermission", - "tolerate dominant bits", - "?20?", - "?21?", - "passive error flag", - "error delimiter", - "CRC delimiter", - "acknowledge slot", - "end of frame", - "acknowledge delimiter", - "overload flag", - "?29?", - "?30?", - "?31?" -}; - -#endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ - static int sja1000_report_error_limit_counter; static void sja1000_report_error(struct canchip_t *chip, unsigned sr, unsigned ir, unsigned ecc) { + /*TODO : Error reporting from device */ + /* if(sja1000_report_error_limit_counter>=100) return; @@ -340,27 +210,6 @@ static void sja1000_report_error(struct canchip_t *chip, */ int usbcan_enable_configuration(struct canchip_t *chip) { -/* int i=0; - enum sja1000_PeliCAN_MOD flags; - - can_disable_irq(chip->chip_irq); - - flags=can_read_reg(chip,SJAMOD); - - while ((!(flags & sjaMOD_RM)) && (i<=10)) { - can_write_reg(chip, sjaMOD_RM, SJAMOD); -// TODO: configurable sjaMOD_AFM (32/16 bit acceptance filter) -// config sjaMOD_LOM (listen only) - udelay(100); - i++; - flags=can_read_reg(chip, SJAMOD); - } - if (i>=10) { - CANMSG("Reset error\n"); - can_enable_irq(chip->chip_irq); - return -ENODEV; - } -*/ return 0; } @@ -370,27 +219,6 @@ int usbcan_enable_configuration(struct canchip_t *chip) */ int usbcan_disable_configuration(struct canchip_t *chip) { -/* int i=0; - enum sja1000_PeliCAN_MOD flags; - - flags=can_read_reg(chip,SJAMOD); - - while ( (flags & sjaMOD_RM) && (i<=50) ) { -// could be as long as 11*128 bit times after buss-off - can_write_reg(chip, 0, SJAMOD); -// TODO: configurable sjaMOD_AFM (32/16 bit acceptance filter) -// config sjaMOD_LOM (listen only) - udelay(100); - i++; - flags=can_read_reg(chip, SJAMOD); - } - if (i>=10) { - CANMSG("Error leaving reset status\n"); - return -ENODEV; - } - - can_enable_irq(chip->chip_irq); -*/ return 0; } @@ -408,48 +236,6 @@ int usbcan_disable_configuration(struct canchip_t *chip) */ int usbcan_chip_config(struct canchip_t *chip) { -/* int i; - unsigned char n, r; - - if (usbcan_enable_configuration(chip)) - return -ENODEV; - - // Set mode, clock out, comparator - can_write_reg(chip,sjaCDR_PELICAN|chip->sja_cdr_reg,SJACDR); - - // Ensure, that interrupts are disabled even on the chip level now - can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); - - // Set driver output configuration - can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); - - // Simple check for chip presence - for (i=0, n=0x5a; i<8; i++, n+=0xf) { - can_write_reg(chip,n,SJAACR0+i); - } - for (i=0, n=0x5a; i<8; i++, n+=0xf) { - r = n^can_read_reg(chip,SJAACR0+i); - if (r) { - CANMSG("usbcan_chip_config: chip connection broken," - " readback differ 0x%02x\n", r); - return -ENODEV; - } - } - - - if (usbcan_extended_mask(chip,0x00000000, 0xffffffff)) - return -ENODEV; - - if (!chip->baudrate) - chip->baudrate=1000000; - if (usbcan_baud_rate(chip,chip->baudrate,chip->clock,0,75,0)) - return -ENODEV; - - // Enable hardware interrupts - can_write_reg(chip, sjaENABLE_INTERRUPTS, SJAIER); - - usbcan_disable_configuration(chip); -*/ return 0; } @@ -464,25 +250,42 @@ int usbcan_chip_config(struct canchip_t *chip) */ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask) { -/* int i; - - if (usbcan_enable_configuration(chip)) + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + + struct usbcan_mask_t mask={ + .code=code; + .mask=mask; + }; + + retval=usb_control_msg(dev->udev, + usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr), + USBCAN_VENDOR_EXT_MASK_SET, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + &mask, sizeof(usbcan_mask_t), + 10000); + if (retval<0) return -ENODEV; -// LSB to +3, MSB to +0 - for(i=SJA_PeliCAN_AC_LEN; --i>=0;) { - can_write_reg(chip,code&0xff,SJAACR0+i); - can_write_reg(chip,mask&0xff,SJAAMR0+i); - code >>= 8; - mask >>= 8; + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + USBCAN_VENDOR_EXT_MASK_STATUS, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + dev->ctl_in_buffer, dev->ctl_in_size, + 10000); + + if (retval==1){ + if(dev->ctl_in_buffer[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; + } } - DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code); - DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask); - - usbcan_disable_configuration(chip); -*/ - return 0; + CANMSG("Setting extended mask failed\n"); + return -EINVAL; } /** @@ -500,105 +303,44 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int sampl_pt, int flags) { -// int best_error = 1000000000, error; -// int best_tseg=0, best_brp=0, best_rate=0, brp=0; -// int tseg=0, tseg1=0, tseg2=0; -// -// if (usbcan_enable_configuration(chip)) -// return -ENODEV; -// -// clock /=2; -// -// // tseg even = round down, odd = round up -// for (tseg=(0+0+2)*2; tseg<=(sjaMAX_TSEG2+sjaMAX_TSEG1+2)*2+1; tseg++) { -// brp = clock/((1+tseg/2)*rate)+tseg%2; -// if (brp == 0 || brp > 64) -// continue; -// error = rate - clock/(brp*(1+tseg/2)); -// if (error < 0) -// error = -error; -// if (error <= best_error) { -// best_error = error; -// best_tseg = tseg/2; -// best_brp = brp-1; -// best_rate = clock/(brp*(1+tseg/2)); -// } -// } -// if (best_error && (rate/best_error < 10)) { -// CANMSG("baud rate %d is not possible with %d Hz clock\n", -// rate, 2*clock); -// CANMSG("%d bps. brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d\n", -// best_rate, best_brp, best_tseg, tseg1, tseg2); -// return -EINVAL; -// } -// tseg2 = best_tseg-(sampl_pt*(best_tseg+1))/100; -// if (tseg2 < 0) -// tseg2 = 0; -// if (tseg2 > sjaMAX_TSEG2) -// tseg2 = sjaMAX_TSEG2; -// tseg1 = best_tseg-tseg2-2; -// if (tseg1>sjaMAX_TSEG1) { -// tseg1 = sjaMAX_TSEG1; -// tseg2 = best_tseg-tseg1-2; -// } -// -// DEBUGMSG("Setting %d bps.\n", best_rate); -// DEBUGMSG("brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d, sampl_pt=%d\n", -// best_brp, best_tseg, tseg1, tseg2, -// (100*(best_tseg-tseg2)/(best_tseg+1))); -// -// -// can_write_reg(chip, sjw<<6 | best_brp, SJABTR0); -// can_write_reg(chip, ((flags & BTR1_SAM) != 0)<<7 | (tseg2<<4) -// | tseg1, SJABTR1); -// -// usbcan_disable_configuration(chip); - - return 0; -} - -/** - * usbcan_read: - reads and distributes one or more received messages - * @chip: pointer to chip state structure - * @obj: pinter to CAN message queue information - * - * File: src/usbcan.c - */ -void usbcan_read(struct canchip_t *chip, struct msgobj_t *obj) { -/* int i, flags, len, datastart; - do { - flags = can_read_reg(chip,SJAFRM); - if(flags&sjaFRM_FF) { - obj->rx_msg.id = - (can_read_reg(chip,SJAID0)<<21) + - (can_read_reg(chip,SJAID1)<<13) + - (can_read_reg(chip,SJAID2)<<5) + - (can_read_reg(chip,SJAID3)>>3); - datastart = SJADATE; - } else { - obj->rx_msg.id = - (can_read_reg(chip,SJAID0)<<3) + - (can_read_reg(chip,SJAID1)>>5); - datastart = SJADATS; - } - obj->rx_msg.flags = - ((flags & sjaFRM_RTR) ? MSG_RTR : 0) | - ((flags & sjaFRM_FF) ? MSG_EXT : 0); - len = flags & sjaFRM_DLC_M; - obj->rx_msg.length = len; - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - for(i=0; i< len; i++) { - obj->rx_msg.data[i]=can_read_reg(chip,datastart+i); - } - - // fill CAN message timestamp - can_filltimestamp(&obj->rx_msg.timestamp); - - canque_filter_msg2edges(obj->qends, &obj->rx_msg); + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + + // Data too big to use single receive control message + struct can_baudparams_t baud={ + .flags=flags, + .baudrate=rate, + .sjw=sjw, + .sample_pt=sampl_pt, + }; + + + retval=usb_control_msg(dev->udev, + usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr), + USBCAN_VENDOR_BAUD_RATE_SET, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + &baud, sizeof(can_baudparams_t), + 10000); + if (retval<0) + return -ENODEV; - can_write_reg(chip, sjaCMR_RRB, SJACMR); + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + USBCAN_VENDOR_BAUD_RATE_STATUS, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + dev->ctl_in_buffer, dev->ctl_in_size, + 10000); + + if (retval==1){ + if(dev->ctl_in_buffer[0]==1) + return 0; + } - } while (can_read_reg(chip, SJASR) & sjaSR_RBS);*/ + CANMSG("baud rate %d is not possible to set\n", + rate); + return -EINVAL; } /** @@ -612,27 +354,7 @@ void usbcan_read(struct canchip_t *chip, struct msgobj_t *obj) { */ int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) { -/* int status; - status=can_read_reg(chip,SJASR); - - if(status & sjaSR_BS) { - // Try to recover from error condition - DEBUGMSG("usbcan_pre_read_config bus-off recover 0x%x\n",status); - usbcan_enable_configuration(chip); - can_write_reg(chip, 0, SJARXERR); - can_write_reg(chip, 0, SJATXERR1); - can_read_reg(chip, SJAECC); - usbcan_disable_configuration(chip); - } - - if (!(status&sjaSR_RBS)) { - return 0; - } - - can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); //disable interrupts for a moment - usbcan_read(chip, obj); - can_write_reg(chip, sjaENABLE_INTERRUPTS, SJAIER); //enable interrupts*/ - return 1; + return 0; } #define MAX_TRANSMIT_WAIT_LOOPS 10 @@ -652,68 +374,44 @@ int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { -/* int i=0; - unsigned int id; - int status; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + int i=0; int len; - // Wait until Transmit Buffer Status is released - while ( !((status=can_read_reg(chip, SJASR)) & sjaSR_TBS) && + /* Wait until Transmit Buffer Status is released */ + while ( usbcan_chip_queue_status(chip) && i++tx_msg.chip_id=(__u8)chip->chip_idx; + len = msg->length; if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - // len &= sjaFRM_DLC_M; ensured by above condition already - can_write_reg(chip, ((msg->flags&MSG_EXT)?sjaFRM_FF:0) | - ((msg->flags & MSG_RTR) ? sjaFRM_RTR : 0) | len, SJAFRM); + dev->tx_msg.length=(__u8)len; + dev->tx_msg.flags=(__u16)msg->flags; + if(msg->flags&MSG_EXT) { - id=msg->id<<3; - can_write_reg(chip, id & 0xff, SJAID3); - id >>= 8; - can_write_reg(chip, id & 0xff, SJAID2); - id >>= 8; - can_write_reg(chip, id & 0xff, SJAID1); - id >>= 8; - can_write_reg(chip, id, SJAID0); - for(i=0; i < len; i++) { - can_write_reg(chip, msg->data[i], SJADATE+i); - } + dev->tx_msg.id[0]=(msg->id) & 0xff; + dev->tx_msg.id[1]=(msg->id>>8) & 0xff; + dev->tx_msg.id[2]=(msg->id>>16) & 0xff; + dev->tx_msg.id[3]=(msg->id>>24) & 0xff; } else { - id=msg->id<<5; - can_write_reg(chip, (id >> 8) & 0xff, SJAID0); - can_write_reg(chip, id & 0xff, SJAID1); - for(i=0; i < len; i++) { - can_write_reg(chip, msg->data[i], SJADATS+i); - } - }*/ + dev->tx_msg.id[0]=(msg->id) & 0xff; + dev->tx_msg.id[1]=(msg->id>>8) & 0xff; + dev->tx_msg.id[2]=0; + dev->tx_msg.id[3]=0; + } + for(i=0; i < len; i++) { + dev->tx_msg.data[i]=(__u8) msg->data[i]; + } + for(i; i < 8; i++) { + dev->tx_msg.data[i]=0; + } return 0; } @@ -731,8 +429,24 @@ int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { -/* can_write_reg(chip, sjaCMR_TR, SJACMR); -*/ + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + int len; + + set_bit(USBCAN_TX_PENDING,&dev->flags); + retval=usb_bulk_msg(dev->udev, + usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), + &dev->tx_msg, sizeof(usbcan_canmsg_t), + &len,10000); + clear_bit(USBCAN_TX_PENDING,&dev->flags); + if (retval){ + CANMSG("URB error %d\n",retval); + return -EIO; + } + if (len!=sizeof(struct usbcan_canmsg_t)){ + CANMSG("CAN message not sent\n"); + return -EIO; + } + return 0; } @@ -747,10 +461,9 @@ int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, */ int usbcan_check_tx_stat(struct canchip_t *chip) { -// if (can_read_reg(chip,SJASR) & sjaSR_TCS) - return 0; -// else -// return 1; + if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags)) + return 1; + return 0; } /** @@ -765,15 +478,22 @@ int usbcan_check_tx_stat(struct canchip_t *chip) int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, unsigned short btr1) { -/* if (usbcan_enable_configuration(chip)) - return -ENODEV; - - can_write_reg(chip, btr0, SJABTR0); - can_write_reg(chip, btr1, SJABTR1); - - usbcan_disable_configuration(chip); -*/ - return 0; + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + USBCAN_VENDOR_SET_BTREGS, + USB_TYPE_VENDOR, + btr1<<8 | btr0, chip->chip_idx, + dev->ctl_in_buffer, dev->ctl_in_size, + 10000); + + if (retval==1){ + if(dev->ctl_in_buffer[0]==1) + return 0; + } + return -ENODEV; } /** @@ -785,14 +505,53 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, */ int usbcan_start_chip(struct canchip_t *chip) { -/* enum sja1000_PeliCAN_MOD flags; - - flags = can_read_reg(chip, SJAMOD) & (sjaMOD_LOM|sjaMOD_STM|sjaMOD_AFM|sjaMOD_SM); - can_write_reg(chip, flags, SJAMOD); + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + USBCAN_VENDOR_START_CHIP, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + dev->ctl_in_buffer, dev->ctl_in_size, + 10000); + + if (retval==1){ + if(dev->ctl_in_buffer[0]==1) + return 0; + } + return -ENODEV; +} - sja1000_report_error_limit_counter=0; -*/ - return 0; +/** + * 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; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + USBCAN_VENDOR_CHECK_TX_STAT, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + dev->ctl_in_buffer, dev->ctl_in_size, + 10000); + + if (retval==1){ + if(dev->ctl_in_buffer[0]==1) + return 1; + if(dev->ctl_in_buffer[0]==0) + return 0; + } + return -ENODEV; } /** @@ -804,12 +563,22 @@ int usbcan_start_chip(struct canchip_t *chip) */ int usbcan_stop_chip(struct canchip_t *chip) { -/* enum sja1000_PeliCAN_MOD flags; - - flags = can_read_reg(chip, SJAMOD) & (sjaMOD_LOM|sjaMOD_STM|sjaMOD_AFM|sjaMOD_SM); - can_write_reg(chip, flags|sjaMOD_RM, SJAMOD); -*/ - return 0; + int retval; + struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev; + + retval = usb_control_msg(dev->udev, + usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr), + USBCAN_VENDOR_STOP_CHIP, + USB_TYPE_VENDOR, + 0, chip->chip_idx, + dev->ctl_in_buffer, dev->ctl_in_size, + 10000); + + if (retval==1){ + if(dev->ctl_in_buffer[0]==1) + return 0; + } + return -ENODEV; } /** @@ -833,9 +602,7 @@ int usbcan_attach_to_chip(struct canchip_t *chip) */ int usbcan_release_chip(struct canchip_t *chip) { -/* usbcan_stop_chip(chip); - can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER); -*/ + usbcan_stop_chip(chip); return 0; } @@ -909,7 +676,7 @@ int usbcan_config_irqs(struct canchip_t *chip, short irqs) */ void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj) { -/* int cmd; + int cmd; if(obj->tx_slot){ // Do local transmitted message distribution if enabled @@ -945,7 +712,6 @@ void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj) obj->tx_slot=NULL; return; } -*/ } #define MAX_RETR 10 @@ -990,14 +756,6 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip) return CANCHIP_IRQ_STUCK; } - // (irq_register & sjaIR_RI) - // old variant using SJAIR, collides with intended use with irq_accept - if (status & sjaSR_RBS) { - DEBUGMSG("sja1000_irq_handler: RI or RBS\n"); - usbcan_read(chip,obj); - obj->ret = 0; - } - // (irq_register & sjaIR_TI) // old variant using SJAIR, collides with intended use with irq_accept if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))|| @@ -1078,14 +836,14 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip) int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) { -/* can_preempt_disable(); + can_preempt_disable(); can_msgobj_set_fl(obj,TX_PENDING); can_msgobj_set_fl(obj,TX_REQUEST); while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){ can_msgobj_clear_fl(obj,TX_REQUEST); - if (can_read_reg(chip, SJASR) & sjaSR_TBS){ + if (!usbcan_chip_queue_status(chip)){ obj->tx_retry_cnt=0; usbcan_irq_write_handler(chip, obj); } @@ -1095,12 +853,35 @@ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) DEBUGMSG("TX looping in usbcan_wakeup_tx\n"); } - can_preempt_enable();*/ + can_preempt_enable(); return 0; } int usbcan_chipregister(struct chipspecops_t *chipspecops) { + CANMSG("initializing usbcan chip operations\n"); + chipspecops->chip_config=usbcan_chip_config; + chipspecops->baud_rate=usbcan_baud_rate; + chipspecops->standard_mask=usbcan_standard_mask; + chipspecops->extended_mask=usbcan_extended_mask; + chipspecops->message15_mask=usbcan_extended_mask; + chipspecops->clear_objects=usbcan_clear_objects; + chipspecops->config_irqs=usbcan_config_irqs; + chipspecops->pre_read_config=usbcan_pre_read_config; + chipspecops->pre_write_config=usbcan_pre_write_config; + chipspecops->send_msg=usbcan_send_msg; + chipspecops->check_tx_stat=usbcan_check_tx_stat; + chipspecops->wakeup_tx=usbcan_wakeup_tx; + chipspecops->remote_request=usbcan_remote_request; + chipspecops->enable_configuration=usbcan_enable_configuration; + chipspecops->disable_configuration=usbcan_disable_configuration; + chipspecops->attach_to_chip=usbcan_attach_to_chip; + chipspecops->release_chip=usbcan_release_chip; + chipspecops->set_btregs=usbcan_set_btregs; + chipspecops->start_chip=usbcan_start_chip; + chipspecops->stop_chip=usbcan_stop_chip; + chipspecops->irq_handler=usbcan_irq_handler; + chipspecops->irq_accept=NULL; return 0; } @@ -1114,6 +895,9 @@ int usbcan_chipregister(struct chipspecops_t *chipspecops) */ int usbcan_fill_chipspecops(struct canchip_t *chip) { + chip->chip_type="usbcan"; + chip->max_objects=1; + usbcan_chipregister(chip->chipspecops); return 0; } @@ -1153,42 +937,11 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) { struct canchip_t *chip=candev->chip[chipnr]; - chip->chip_type="usbcan"; - chip->max_objects=1; - usbcan_chipregister(chip->chipspecops); + usbcan_fill_chipspecops(chip); - CANMSG("initializing usbcan chip operations\n"); - chip->chipspecops->chip_config=usbcan_chip_config; - chip->chipspecops->baud_rate=usbcan_baud_rate; - chip->chipspecops->standard_mask=usbcan_standard_mask; - chip->chipspecops->extended_mask=usbcan_extended_mask; - chip->chipspecops->message15_mask=usbcan_extended_mask; - chip->chipspecops->clear_objects=usbcan_clear_objects; - chip->chipspecops->config_irqs=usbcan_config_irqs; - chip->chipspecops->pre_read_config=usbcan_pre_read_config; - chip->chipspecops->pre_write_config=usbcan_pre_write_config; - chip->chipspecops->send_msg=usbcan_send_msg; - chip->chipspecops->check_tx_stat=usbcan_check_tx_stat; - chip->chipspecops->wakeup_tx=usbcan_wakeup_tx; - chip->chipspecops->remote_request=usbcan_remote_request; - chip->chipspecops->enable_configuration=usbcan_enable_configuration; - chip->chipspecops->disable_configuration=usbcan_disable_configuration; - chip->chipspecops->attach_to_chip=usbcan_attach_to_chip; - chip->chipspecops->release_chip=usbcan_release_chip; - chip->chipspecops->set_btregs=usbcan_set_btregs; - chip->chipspecops->start_chip=usbcan_start_chip; - chip->chipspecops->stop_chip=usbcan_stop_chip; - chip->chipspecops->irq_handler=usbcan_irq_handler; - chip->chipspecops->irq_accept=NULL; - - candev->chip[chipnr]->chip_base_addr=candev->io_addr; - candev->chip[chipnr]->clock = 16000000; -/* candev->chip[chipnr]->int_cpu_reg = iCPU_DSC; - candev->chip[chipnr]->int_clk_reg = iCLK_SL1; - candev->chip[chipnr]->int_bus_reg = iBUS_CBY; - candev->chip[chipnr]->sja_cdr_reg = sjaCDR_CBP | sjaCDR_CLK_OFF; - candev->chip[chipnr]->sja_ocr_reg = sjaOCR_MODE_NORMAL | - sjaOCR_TX0_LH;*/ + candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM; + candev->chip[chipnr]->chip_base_addr=0; + candev->chip[chipnr]->clock = 0; return 0; } @@ -1197,69 +950,153 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr) /* --------------------------------------------------------------------------------------------------- */ - -static void usbcan_irq(struct urb *urb) +static void usbcan_rcv(struct urb *urb) { - struct usb_usbcan *dev = urb->context; + struct usbcan_usb *dev = urb->context; int retval; - CANMSG("Interrupt poll\n"); - switch (urb->status) { case 0: /* success */ - break; + set_bit(USBCAN_DATA_READ,&dev->flags); + wake_up(&dev->rcvthread.queue); + 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); + wake_up(&dev->rcvthread.queue); return; default: CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status); - goto exit; + break; } - dev->candev->chip[0]->chipspecops->irq_handler(0,dev->candev->chip[0]); - CANMSG("Interrupt caught\n"); - - exit: retval = usb_submit_urb (urb, GFP_ATOMIC); - if (retval) + if (retval<0){ CANMSG("%s - usb_submit_urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&dev->flags); + wake_up(&dev->rcvthread.queue); + } } -static void usbcan_delete(struct usb_usbcan *dev) +void usbcan_read_kthread(kthread_t *kthread) { - usb_put_dev(dev->udev); - usb_kill_urb(dev->irq); - usb_free_urb(dev->irq); - kfree(dev->bulk_in_buffer); - kfree(dev->int_in_buffer); - if (dev->candev){ - dev->candev->sysdevptr.anydev=NULL; - cleanup_usbdev(dev->candev); + int retval; + struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg; + struct msgobj_t *obj; + + /* setup the thread environment */ + init_kthread(kthread, "usbcan"); + + /* this is normal work to do */ + CANMSG ("usbcan thread started!\n"); + + dev->rcv = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->rcv){ + CANMSG("Error allocating usb urb\n"); + goto error; } - kfree(dev); + dev->rcv->dev = dev->udev; + usb_fill_bulk_urb(dev->rcv, dev->udev, + usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), + &dev->rcv_msg, sizeof(usbcan_canmsg_t), + usbcan_rcv, dev); + + /* an endless loop in which we are doing our work */ + for(;;) + { + retval=usb_submit_urb(dev->rcv, GFP_KERNEL); + if (retval){ + CANMSG("URB error %d\n",retval); + break; + } + /* fall asleep */ + wait_event_interruptible(kthread->queue, + test_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags) + || test_bit(USBCAN_CHIP_TERMINATE,&chip_data->flags) + || test_bit(USBCAN_CHIP_ERROR,&chip_data->flags) + ); + + /* We need to do a memory barrier here to be sure that + the flags are visible on all CPUs. */ + mb(); + + /* here we are back from sleep because we caught a signal. */ + if (kthread->terminate) + { + /* we received a request to terminate ourself */ + break; + } + + if (test_bit(USBCAN_CHIP_ERROR,&chip_data->flags)){ + CANMSG("URB error %d\n",retval); + break; + } + + { /* Normal work to do */ + if (test_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags)){ + int i, len; + clear_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags); + + if ((dev->candev->chip[dev->rcv_msg.chip_id])&& + (dev->candev->chip[dev->rcv_msg.chip_id].flags & CHIP_CONFIGURED)){ + + obj=dev->candev->chip[dev->rcv_msg.chip_id]->msgobj[0]; + if (dev->rcv_msg.flags & MSG_EXT) { + obj->rx_msg.id = + (dev->rcv_msg.id[0]) + + (dev->rcv_msg.id[1]<<8) + + (dev->rcv_msg.id[2]<<16) + + (dev->rcv_msg.id[3]<<24); + } else { + obj->rx_msg.id = + (dev->rcv_msg.id[0]) + + (dev->rcv_msg.id[1]<<8); + } + obj->rx_msg.flags = dev->rcv_msg.flags; + len=dev->rcv_msg.length; + if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; + obj->rx_msg.length = len; + for(i=0; i< len; i++) { + obj->rx_msg.data[i]=obj->rx_msg.data[i]; + } + + // fill CAN message timestamp + can_filltimestamp(&obj->rx_msg.timestamp); + canque_filter_msg2edges(obj->qends, &obj->rx_msg); + } + } + } + } + /* here we go only in case of termination of the thread */ +error: + /* cleanup the thread, leave */ + CANMSG ("kernel thread terminated!\n"); + exit_kthread(kthread); + + /* returning from the thread here calls the exit functions */ } static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id) { - struct usb_usbcan *dev; + struct usbcan_usb *dev; struct usb_host_interface *iface_desc; struct usb_endpoint_descriptor *endpoint; - struct candevice_t *candev; size_t buffer_size; int i; int retval = -ENOMEM; /* allocate memory for our device state and initialize it */ - dev = kzalloc(sizeof(*dev), GFP_KERNEL); + dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb)); if (!dev) { err("Out of memory"); goto error; } + sema_init(&dev->limit_sem, WRITES_IN_FLIGHT); spin_lock_init(&dev->err_lock); init_usb_anchor(&dev->submitted); @@ -1280,7 +1117,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device buffer_size = le16_to_cpu(endpoint->wMaxPacketSize); dev->bulk_in_size = buffer_size; dev->bulk_in_endpointAddr = endpoint->bEndpointAddress; - dev->bulk_in_buffer = kmalloc(buffer_size, GFP_KERNEL); + dev->bulk_in_buffer = can_checked_malloc(buffer_size); if (!dev->bulk_in_buffer) { err("Could not allocate bulk_in_buffer"); goto error; @@ -1293,22 +1130,29 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device dev->bulk_out_endpointAddr = endpoint->bEndpointAddress; } -/* if (!dev->int_in_endpointAddr && - usb_endpoint_is_int_in(endpoint)) { - // we found an interrupt in endpoint + if (!dev->ctl_in_endpointAddr && + usb_endpoint_xfer_control(endpoint) && + usb_endpoint_dir_in(endpoint)) { + /* we found a bulk in endpoint */ buffer_size = le16_to_cpu(endpoint->wMaxPacketSize); - dev->int_in_size = buffer_size; - dev->int_in_endpointAddr = endpoint->bEndpointAddress; - dev->int_in_buffer = kmalloc(buffer_size, GFP_KERNEL); - dev->int_in_interval = endpoint->bInterval; - if (!dev->int_in_buffer) { - err("Could not allocate int_in_buffer"); + dev->ctl_in_size = buffer_size; + dev->ctl_in_endpointAddr = endpoint->bEndpointAddress; + dev->ctl_in_buffer = can_checked_malloc(buffer_size); + if (!dev->ctl_in_buffer) { + err("Could not allocate bulk_in_buffer"); goto error; } - }*/ + } + + if (!dev->ctl_out_endpointAddr && + usb_endpoint_xfer_control(endpoint) && + usb_endpoint_dir_out(endpoint)) { + /* we found a bulk out endpoint */ + dev->ctl_out_endpointAddr = endpoint->bEndpointAddress; + } } if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) { - err("Could not find all bulk-in, bulk-out and interrupt endpoints"); + err("Could not find all bulk-in and bulk-out endpoints"); goto error; } @@ -1317,42 +1161,28 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device register_usbdev("usbcan",(void *) dev); -/* dev->irq = usb_alloc_urb(0, GFP_KERNEL); - if (!dev->irq){ - CANMSG("Error allocating usb urb\n"); - goto error; - } - dev->irq->dev = dev->udev; - usb_fill_int_urb(dev->irq, dev->udev, - usb_rcvintpipe(dev->udev, dev->int_in_endpointAddr), - dev->int_in_buffer, dev->int_in_size, - usbcan_irq, dev, dev->int_in_interval);*/ -/* usb_fill_bulk_urb(dev->irq, dev->udev, - usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), - dev->int_in_buffer, dev->int_in_size, - usbcan_irq, dev);*/ - -/* dev->irq->transfer_dma = wacom->data_dma; - dev->irq->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;*/ -// retval=usb_submit_urb(dev->irq, GFP_KERNEL); -// if (retval){ -// CANMSG("INT URB %d\n",retval); -// return -EIO; -// }else -// CANMSG("INT URB SUCCCESS\n"); - /* let the user know what node this device is now attached to */ info("USB Skeleton device now attached"); return 0; error: - usbcan_delete(dev); + usb_put_dev(dev->udev); + if (dev->bulk_in_buffer) + can_checked_free(dev->bulk_in_buffer); + if (dev->ctl_in_buffer) + can_checked_free(dev->ctl_in_buffer); + if (dev->candev){ + dev->candev->sysdevptr.anydev=NULL; + cleanup_usbdev(dev->candev); + } + can_checked_free(dev); return retval; } +// Physically disconnected device static void usbcan_disconnect(struct usb_interface *interface) { - struct usb_usbcan *dev; + struct usbcan_usb *dev; int minor = interface->minor; dev = usb_get_intfdata(interface); @@ -1365,18 +1195,20 @@ static void usbcan_disconnect(struct usb_interface *interface) //usb_kill_anchored_urbs(&dev->submitted); - usbcan_delete(dev); + usb_put_dev(dev->udev); + if (dev->bulk_in_buffer) + can_checked_free(dev->bulk_in_buffer); + if (dev->ctl_in_buffer) + can_checked_free(dev->ctl_in_buffer); + if (dev->candev){ + dev->candev->sysdevptr.anydev=NULL; + cleanup_usbdev(dev->candev); + } + can_checked_free(dev); info("USB Skeleton now disconnected"); } -static struct usb_driver usbcan_driver = { - .name = "usbcan", - .id_table = usbcan_table, - .probe = usbcan_probe, - .disconnect = usbcan_disconnect, -}; - int usbcan_init(void){ return usb_register(&usbcan_driver); } -- 2.39.2