From 8fdb6813a61bd9b0f5b98ee90d0ebbbcca82fad6 Mon Sep 17 00:00:00 2001 From: Jan Kriz Date: Sun, 27 Jul 2008 17:47:46 +0200 Subject: [PATCH] Fully working solution! fixed simple getting the same device name when reconnected fixed more usb urbs to send and receive messages pending split kernel thread to smaller functions pending commentaries --- lincan/include/usbcan.h | 51 ++-- lincan/src/finish.c | 7 +- lincan/src/main.c | 2 +- lincan/src/setup.c | 3 +- lincan/src/usbcan.c | 522 +++++++++++++++++++++------------------- 5 files changed, 313 insertions(+), 272 deletions(-) diff --git a/lincan/include/usbcan.h b/lincan/include/usbcan.h index 5ddbb12..a7da77d 100644 --- a/lincan/include/usbcan.h +++ b/lincan/include/usbcan.h @@ -15,6 +15,7 @@ #include #include #include +#include #include "../include/kthread.h" @@ -66,7 +67,7 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip); int usbcan_init(void); void usbcan_exit(void); -int usbcan_read_kthread(void *data); +int usbcan_kthread(void *data); int usbcan_chip_queue_status(struct canchip_t *chip); #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS @@ -115,22 +116,30 @@ int usbcan_chip_queue_status(struct canchip_t *chip); #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/ +struct usbcan_usb; + +#define USBCAN_TOT_RX_URBS 8 +#define USBCAN_TOT_TX_URBS 8 + +#define USBCAN_TRANSFER_SIZE 16 + struct usbcan_message { struct urb *u; - u8 msg[16]; + struct usbcan_usb *dev; + u8 msg[USBCAN_TRANSFER_SIZE]; spinlock_t acc; /* access lock */ + struct canque_edge_t *qedge; + struct canque_slot_t *slot; volatile long flags; }; -#define USBCAN_MESSAGE_FREE (1) -#define USBCAN_MESSAGE_READY_TO_SEND (2) -#define USBCAN_MESSAGE_SENDING (3) -#define USBCAN_MESSAGE_TERMINATE (4) -#define USBCAN_MESSAGE_ERROR (5) -#define USBCAN_MESSAGE_DATA_READ (6) - -#define USBCAN_TOT_RX_URBS 8 -#define USBCAN_TOT_TX_URBS 8 +#define USBCAN_MESSAGE_FREE (1) +#define USBCAN_MESSAGE_URB_PENDING (2) +#define USBCAN_MESSAGE_TERMINATE (3) +#define USBCAN_MESSAGE_ERROR (4) +#define USBCAN_MESSAGE_DATA_OK (5) +#define USBCAN_MESSAGE_TYPE_RX (6) +#define USBCAN_MESSAGE_TYPE_TX (7) /* Structure to hold all of our device specific stuff */ struct usbcan_usb { @@ -141,22 +150,24 @@ struct usbcan_usb { u8 bulk_in_endpointAddr; /* the address of the bulk in endpoint */ u8 bulk_out_endpointAddr; /* the address of the bulk out endpoint */ struct mutex io_mutex; /* synchronize I/O with disconnect */ - struct urb *rx; - struct urb *tx; - u8 rx_msg[16]; - u8 tx_msg[16]; + struct usbcan_message rx[USBCAN_TOT_RX_URBS]; + struct usbcan_message tx[USBCAN_TOT_TX_URBS]; struct task_struct *comthread; /* usb communication kernel thread */ + wait_queue_head_t queue; struct canchip_t *chip; volatile long flags; }; -#define USBCAN_DATA_READ (1) -#define USBCAN_TERMINATE (2) -#define USBCAN_ERROR (3) -#define USBCAN_TX_PENDING (4) -#define USBCAN_THREAD_RUNNING (5) +#define USBCAN_DATA_OK (1) +#define USBCAN_DATA_RX (2) +#define USBCAN_DATA_TX (3) +#define USBCAN_TERMINATE (4) +#define USBCAN_ERROR (5) +#define USBCAN_TX_PENDING (6) +#define USBCAN_THREAD_RUNNING (7) +#define USBCAN_FREE_TX_URB (8) #define USBCAN_VENDOR_BAUD_RATE_SET (1) #define USBCAN_VENDOR_BAUD_RATE_STATUS (2) diff --git a/lincan/src/finish.c b/lincan/src/finish.c index 01d8b6b..bccf06b 100644 --- a/lincan/src/finish.c +++ b/lincan/src/finish.c @@ -14,7 +14,7 @@ #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 @@ -37,8 +37,11 @@ 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"); } diff --git a/lincan/src/main.c b/lincan/src/main.c index 94d269a..b59160b 100644 --- a/lincan/src/main.c +++ b/lincan/src/main.c @@ -460,7 +460,7 @@ struct candevice_t* register_usbdev(const char *hwname,void *devdata,void (*chip continue; chipdataregfnc(chip,devdata); - + if(chip->chipspecops->attach_to_chip(chip)<0) { CANMSG("Initial attach to the chip HW failed\n"); goto interrupt_error; diff --git a/lincan/src/setup.c b/lincan/src/setup.c index c966584..5a4ecb6 100644 --- a/lincan/src/setup.c +++ b/lincan/src/setup.c @@ -19,6 +19,8 @@ int init_device_struct(int card, int *chan_param_idx_p, int *irq_param_idx_p); int init_chip_struct(struct candevice_t *candev, int chipnr, int irq, long baudrate); int init_obj_struct(struct candevice_t *candev, struct canchip_t *hostchip, int objnr); +int next_minor=0; + /** * can_base_addr_fixup - relocates board physical memory addresses to the CPU accessible ones * @candev: pointer to the previously filled device/board, chips and message objects structures @@ -78,7 +80,6 @@ int can_check_dev_taken(void *anydev) */ int register_obj_struct(struct msgobj_t *obj, int minorbase) { - static int next_minor=0; int i; if(minorbase>=0) diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c index f29e549..c813715 100644 --- a/lincan/src/usbcan.c +++ b/lincan/src/usbcan.c @@ -263,7 +263,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l int retval; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - u8 usbbuf[16]; + u8 usbbuf[USBCAN_TRANSFER_SIZE]; if (!dev) return -ENODEV; @@ -276,7 +276,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l USBCAN_VENDOR_EXT_MASK_SET, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &usbbuf, 16, + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval<0) return -ENODEV; @@ -286,7 +286,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned l USBCAN_VENDOR_EXT_MASK_STATUS, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &usbbuf, 16, + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -319,7 +319,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int retval; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - u8 usbbuf[16]; + u8 usbbuf[USBCAN_TRANSFER_SIZE]; if (!dev) return -ENODEV; @@ -334,7 +334,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, USBCAN_VENDOR_BAUD_RATE_SET, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &usbbuf, 16, + &usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval<0) return -ENODEV; @@ -344,7 +344,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, USBCAN_VENDOR_BAUD_RATE_STATUS, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - usbbuf, 16, + usbbuf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -388,38 +388,6 @@ int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { - struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - int i=0; - int len; - u8 *ptr; - - if (!dev) - return -ENODEV; - /* Wait until Transmit Buffer Status is released */ - while ( usbcan_chip_queue_status(chip) && - i++tx_msg)=chip->chip_idx & 0xFF; - - len = msg->length; - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - - *(uint8_t *)(dev->tx_msg+1)=len & 0xFF; - *(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags); - *(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id); - - for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) { - *ptr=msg->data[i] & 0xFF; - } - for(; i < 8; ptr++,i++) { - *ptr=0; - } return 0; } @@ -437,43 +405,6 @@ int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { - struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; - int len,retval; - - if (!dev) - return -ENODEV; - - set_bit(USBCAN_TX_PENDING,&dev->flags); - retval=usb_bulk_msg(dev->udev, - usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), - &dev->tx_msg, 16, - &len,10000); - clear_bit(USBCAN_TX_PENDING,&dev->flags); - if (retval){ - CANMSG("URB error %d\n",retval); - return -EIO; - } - if (len!=16){ - CANMSG("CAN message not sent\n"); - return -EIO; - } - CANMSG("Message sent\n"); - - if(obj->tx_slot){ - // Do local transmitted message distribution if enabled - if (processlocal){ - // fill CAN message timestamp - can_filltimestamp(&obj->tx_slot->msg.timestamp); - - obj->tx_slot->msg.flags |= MSG_LOCAL; - canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg); - } - // Free transmitted slot - canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); - obj->tx_slot=NULL; - } - - can_msgobj_clear_fl(obj,TX_PENDING); return 0; } @@ -509,7 +440,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, unsigned short btr1) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF); @@ -521,7 +452,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, USBCAN_VENDOR_SET_BTREGS, USB_TYPE_VENDOR, cpu_to_le16(value), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -541,7 +472,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0, int usbcan_start_chip(struct canchip_t *chip) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; if (!dev) @@ -552,7 +483,7 @@ int usbcan_start_chip(struct canchip_t *chip) USBCAN_VENDOR_START_CHIP, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -574,7 +505,7 @@ int usbcan_start_chip(struct canchip_t *chip) int usbcan_chip_queue_status(struct canchip_t *chip) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; if (!dev) @@ -584,7 +515,7 @@ int usbcan_chip_queue_status(struct canchip_t *chip) USBCAN_VENDOR_CHECK_TX_STAT, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -608,7 +539,7 @@ int usbcan_chip_queue_status(struct canchip_t *chip) int usbcan_stop_chip(struct canchip_t *chip) { int retval; - u8 buf[16]; + u8 buf[USBCAN_TRANSFER_SIZE]; struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data; if (!dev) @@ -619,7 +550,7 @@ int usbcan_stop_chip(struct canchip_t *chip) USBCAN_VENDOR_STOP_CHIP, USB_TYPE_VENDOR, cpu_to_le16(0), cpu_to_le16(chip->chip_idx), - &buf, 16, + &buf, USBCAN_TRANSFER_SIZE, 10000); if (retval==1){ @@ -663,7 +594,7 @@ int usbcan_attach_to_chip(struct canchip_t *chip) struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data; /* start kernel thread */ - dev->comthread=can_kthread_run(usbcan_read_kthread, (void *)dev, "usbcan_%d",chip->chip_idx); + dev->comthread=can_kthread_run(usbcan_kthread, (void *)dev, "usbcan_%d",chip->chip_idx); return 0; } @@ -682,7 +613,9 @@ int usbcan_release_chip(struct canchip_t *chip) usbcan_stop_chip(chip); /* terminate the kernel thread */ - can_kthread_stop(dev->comthread); + set_bit(USBCAN_TERMINATE,&dev->flags); + wake_up_process(dev->comthread); +// can_kthread_stop(dev->comthread); return 0; } @@ -811,95 +744,6 @@ void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj) */ int usbcan_irq_handler(int irq, struct canchip_t *chip) { -/* int irq_register, status, error_code; - struct msgobj_t *obj=chip->msgobj[0]; - int loop_cnt=CHIP_MAX_IRQLOOP; - - irq_register=can_read_reg(chip,SJAIR); -// DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register); -// DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n", -// can_read_reg(chip,SJASR)); - - if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0) - return CANCHIP_IRQ_NONE; - - if(!(chip->flags&CHIP_CONFIGURED)) { - CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register); - return CANCHIP_IRQ_NONE; - } - - status=can_read_reg(chip,SJASR); - - do { - - if(!loop_cnt--) { - CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq); - return CANCHIP_IRQ_STUCK; - } - - // (irq_register & sjaIR_TI) - // old variant using SJAIR, collides with intended use with irq_accept - if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))|| - (can_msgobj_test_fl(obj,TX_REQUEST))) { - DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n"); - obj->ret = 0; - can_msgobj_set_fl(obj,TX_REQUEST); - while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){ - can_msgobj_clear_fl(obj,TX_REQUEST); - - if (can_read_reg(chip, SJASR) & sjaSR_TBS) - usbcan_irq_write_handler(chip, obj); - - can_msgobj_clear_fl(obj,TX_LOCK); - if(!can_msgobj_test_fl(obj,TX_REQUEST)) break; - DEBUGMSG("TX looping in sja1000_irq_handler\n"); - } - } - if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) { - // Some error happened - error_code=can_read_reg(chip,SJAECC); - sja1000_report_error(chip, status, irq_register, error_code); -// FIXME: chip should be brought to usable state. Transmission cancelled if in progress. -// Reset flag set to 0 if chip is already off the bus. Full state report - obj->ret=-1; - - if(error_code == 0xd9) { - obj->ret= -ENXIO; - // no such device or address - no ACK received - } - if(obj->tx_retry_cnt++>MAX_RETR) { - can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition - obj->tx_retry_cnt = 0; - } - if(status&sjaSR_BS) { - CANMSG("bus-off, resetting usbcan\n"); - can_write_reg(chip, 0, SJAMOD); - } - - if(obj->tx_slot){ - canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS); - //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot); - //obj->tx_slot=NULL; - } - - } else { - if(sja1000_report_error_limit_counter) - sja1000_report_error_limit_counter--; - obj->tx_retry_cnt=0; - } - - irq_register=can_read_reg(chip,SJAIR); - - status=can_read_reg(chip,SJASR); - - if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) || - (irq_register & sjaIR_TI)) - can_msgobj_set_fl(obj,TX_REQUEST); - - } while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) || - (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) || - (status & sjaSR_RBS)); -*/ return CANCHIP_IRQ_HANDLED; } @@ -916,6 +760,8 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip) */ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) { + struct usbcan_usb *dev=(struct usbcan_usb *)chip->chip_data; + CANMSG("Trying to send message\n"); can_preempt_disable(); @@ -924,14 +770,16 @@ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj) while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){ can_msgobj_clear_fl(obj,TX_REQUEST); - if (!usbcan_chip_queue_status(chip)){ + if (test_and_clear_bit(USBCAN_FREE_TX_URB,&dev->flags)){ obj->tx_retry_cnt=0; - usbcan_irq_write_handler(chip, obj); + set_bit(USBCAN_TX_PENDING,&dev->flags); + if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + wake_up_process(dev->comthread); } can_msgobj_clear_fl(obj,TX_LOCK); if(!can_msgobj_test_fl(obj,TX_REQUEST)) break; - DEBUGMSG("TX looping in usbcan_wakeup_tx\n"); + CANMSG("TX looping in usbcan_wakeup_tx\n"); } can_preempt_enable(); @@ -1044,7 +892,8 @@ static int usbcan_sleep_thread(struct usbcan_usb *dev) } if ( can_kthread_should_stop() || - test_bit(USBCAN_DATA_READ,&dev->flags) || + test_bit(USBCAN_DATA_OK,&dev->flags) || + test_bit(USBCAN_TX_PENDING,&dev->flags) || test_bit(USBCAN_TERMINATE,&dev->flags) || test_bit(USBCAN_ERROR,&dev->flags) ) @@ -1055,130 +904,297 @@ static int usbcan_sleep_thread(struct usbcan_usb *dev) return rc; } -static void usbcan_rcv(struct urb *urb) +static void usbcan_callback(struct urb *urb) { - struct usbcan_usb *dev = urb->context; + struct usbcan_message *mess = urb->context; int retval; - if (!test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) + if (!test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags)) + return; + if (test_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags)) return; switch (urb->status) { case 0: /* success */ - set_bit(USBCAN_DATA_READ,&dev->flags); - CANMSG("Message received\n"); - if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) - wake_up_process(dev->comthread); + CANMSG("%s > Message OK\n", __FUNCTION__); + set_bit(USBCAN_DATA_OK,&mess->dev->flags); + set_bit(USBCAN_MESSAGE_DATA_OK,&mess->flags); + if (test_bit(USBCAN_MESSAGE_TYPE_RX,&mess->flags)){ + CANMSG("%s > RX flag set\n", __FUNCTION__); + set_bit(USBCAN_DATA_RX,&mess->dev->flags); + } + if (test_bit(USBCAN_MESSAGE_TYPE_TX,&mess->flags)) + CANMSG("%s > TX flag set\n", __FUNCTION__); + set_bit(USBCAN_DATA_TX,&mess->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags)) + wake_up_process(mess->dev->comthread); + else + CANMSG("%s > USBCAN thread not running\n", __FUNCTION__); +// wake_up(&mess->dev->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); + CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status); + set_bit(USBCAN_TERMINATE,&mess->dev->flags); + set_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); return; default: -// CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status); + //CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status); break; } + // Try to send urb again on non significant errors retval = usb_submit_urb (urb, GFP_ATOMIC); if (retval<0){ - CANMSG("%s - usb_submit_urb failed with result %d ... retrying\n", - __FUNCTION__, retval); - set_bit(USBCAN_ERROR,&dev->flags); - if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags)) - wake_up_process(dev->comthread); + CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval); + set_bit(USBCAN_ERROR,&mess->dev->flags); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags)) + wake_up_process(mess->dev->comthread); +// wake_up(&mess->dev->queue); } } -int usbcan_read_kthread(void *data) +int usbcan_kthread(void *data) { - int retval=0; + int i,retval=0; struct usbcan_usb *dev=(struct usbcan_usb *)data; struct msgobj_t *obj; - /* this is normal work to do */ - CANMSG ("usbcan thread started!\n"); + CANMSG("Usbcan thread started...\n"); - dev->rx = usb_alloc_urb(0, GFP_KERNEL); - if (!dev->rx){ - CANMSG("Error allocating usb urb\n"); + if (!dev->chip) goto error; + obj=dev->chip->msgobj[0]; + + /* Prepare receive urbs */ + for (i=0;irx[i].u = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->rx[i].u){ + CANMSG("Error allocating %d. usb receive urb\n",i); + goto error; + } + dev->rx[i].u->dev = dev->udev; + dev->rx[i].dev = dev; + usb_fill_bulk_urb(dev->rx[i].u, dev->udev, + usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), + dev->rx[i].msg, USBCAN_TRANSFER_SIZE, + usbcan_callback, &dev->rx[i]); + set_bit(USBCAN_MESSAGE_TYPE_RX,&dev->rx[i].flags); + } + + /* Prepare transmit urbs */ + for (i=0;itx[i].u = usb_alloc_urb(0, GFP_KERNEL); + if (!dev->tx[i].u){ + CANMSG("Error allocating %d. usb transmit urb\n",i); + goto error; + } + dev->tx[i].u->dev = dev->udev; + dev->tx[i].dev = dev; + usb_fill_bulk_urb(dev->tx[i].u, dev->udev, + usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr), + dev->tx[i].msg, USBCAN_TRANSFER_SIZE, + usbcan_callback, &dev->tx[i]); + set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + set_bit(USBCAN_MESSAGE_TYPE_TX,&dev->tx[i].flags); } - dev->rx->dev = dev->udev; - usb_fill_bulk_urb(dev->rx, dev->udev, - usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr), - &dev->rx_msg, 16, - usbcan_rcv, dev); set_bit(USBCAN_THREAD_RUNNING,&dev->flags); - /* an endless loop in which we are doing our work */ - for(;;) - { - retval=usb_submit_urb(dev->rx, GFP_ATOMIC); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + + for (i=0;irx[i].u, GFP_KERNEL); if (retval){ - CANMSG("URB error %d\n",retval); + CANMSG("%d. URB error %d\n",i,retval); set_bit(USBCAN_ERROR,&dev->flags); - break; + goto exit; } + else + set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags); + } + /* an endless loop in which we are doing our work */ + for(;;) + { /* We need to do a memory barrier here to be sure that the flags are visible on all CPUs. */ mb(); /* fall asleep */ - usbcan_sleep_thread(dev); + if (!(can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags))){ + if (usbcan_sleep_thread(dev)<0) + break; +/* wait_event_interruptible(dev->queue, + can_kthread_should_stop() || + test_bit(USBCAN_DATA_OK,&dev->flags) || + test_bit(USBCAN_TX_PENDING,&dev->flags) || + test_bit(USBCAN_TERMINATE,&dev->flags) || + test_bit(USBCAN_ERROR,&dev->flags) + );*/ + } /* We need to do a memory barrier here to be sure that the flags are visible on all CPUs. */ mb(); /* here we are back from sleep because we caught a signal. */ - if (can_kthread_should_stop()) - { + if (can_kthread_should_stop()){ /* we received a request to terminate ourself */ break; } - { /* Normal work to do */ - if (test_bit(USBCAN_DATA_READ,&dev->flags)){ - int i, len; - clear_bit(USBCAN_DATA_READ,&dev->flags); - CANMSG("Thread got received message\n"); - - if ((dev->chip)&& - (dev->chip->flags & CHIP_CONFIGURED) - ){ - u8 *ptr; - - obj=dev->chip->msgobj[0]; - - len=*(uint8_t *)(dev->rx_msg+1); - if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; - obj->rx_msg.length = len; - - obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rx_msg+2)); - obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rx_msg+4))); + /* here we are back from sleep because we caught a signal. */ + if (test_bit(USBCAN_TERMINATE,&dev->flags)){ + /* we received a request to terminate ourself */ + break; + } - for(ptr=dev->rx_msg+8,i=0; i < len; ptr++,i++) { - obj->rx_msg.data[i]=*ptr; + { /* Normal work to do */ + if (test_and_clear_bit(USBCAN_DATA_OK,&dev->flags)){ + int j, len; + CANMSG("USBCAN Succesfull data transfer\n"); + if (test_and_clear_bit(USBCAN_DATA_RX,&dev->flags)){ + CANMSG("USBCAN RX handler\n"); + for (i=0;irx[i].flags)){ + CANMSG("USBCAN Thread has received a message\n"); + if ((dev->chip)&&(dev->chip->flags & CHIP_CONFIGURED)){ + u8 *ptr; + struct usbcan_message *mess=&dev->rx[i]; + + len=*(u8 *)(mess->msg+1); + if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH; + obj->rx_msg.length = len; + + obj->rx_msg.flags=le16_to_cpu(*(u16 *)(mess->msg+2)); + obj->rx_msg.id=le32_to_cpu((*(u32 *)(mess->msg+4))); + + for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) { + obj->rx_msg.data[j]=*ptr; + } + + // fill CAN message timestamp + can_filltimestamp(&obj->rx_msg.timestamp); + canque_filter_msg2edges(obj->qends, &obj->rx_msg); + } + else + CANMSG("Destination chip not found\n"); + } + if (!test_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags)){ + CANMSG("Renewing RX urb\n"); + retval = usb_submit_urb (dev->rx[i].u, GFP_KERNEL); + if (retval<0){ + CANMSG("%d. URB error %d\n", i, retval); + set_bit(USBCAN_ERROR,&dev->flags); + } + else + set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags); + } + } + } + if (test_and_clear_bit(USBCAN_DATA_TX,&dev->flags)){ + CANMSG("USBCAN TX handler\n"); + for (i=0;itx[i].flags)){ + struct usbcan_message *mess=&dev->tx[i]; + CANMSG("USBCAN Message successfully sent\n"); + + if(mess->slot){ + // Do local transmitted message distribution if enabled + if (processlocal){ + // fill CAN message timestamp + can_filltimestamp(&mess->slot->msg.timestamp); + + mess->slot->msg.flags |= MSG_LOCAL; + canque_filter_msg2edges(obj->qends, &mess->slot->msg); + } + // Free transmitted slot + canque_free_outslot(obj->qends, mess->qedge, mess->slot); + mess->slot=NULL; + } + can_msgobj_clear_fl(obj,TX_PENDING); + + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + + // Test if some new messages arrived + set_bit(USBCAN_TX_PENDING,&dev->flags); + } + } + } + } + if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)){ + int i, cmd,j,len; + for (i=0;itx[i].flags)){ + struct usbcan_message *mess=&dev->tx[i]; + u8 *ptr; + cmd=canque_test_outslot(obj->qends, &mess->qedge, &mess->slot); + if(cmd>=0){ + CANMSG("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,&dev->tx[i].flags); + + *(u8 *)(mess->msg)=0; + len = mess->slot->msg.length; + if(len > CAN_MSG_LENGTH) + len = CAN_MSG_LENGTH; + *(u8 *)(mess->msg+1)=len & 0xFF; + *(u16 *)(mess->msg+2)=cpu_to_le16(mess->slot->msg.flags); + *(u32 *)(mess->msg+4)=cpu_to_le32(mess->slot->msg.id); + + for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) { + *ptr=mess->slot->msg.data[j] & 0xFF; + } + for(; j < 8; ptr++,j++) { + *ptr=0; + } + + set_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + retval = usb_submit_urb (dev->tx[i].u, GFP_KERNEL); + if (retval){ + CANMSG("%d. URB error %d\n",i,retval); + clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags); + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags); + obj->ret = -1; + canque_notify_inends(mess->qedge, CANQUEUE_NOTIFY_ERRTX_SEND); + canque_free_outslot(obj->qends, mess->qedge, mess->slot); + mess->slot=NULL; + } + } + else{ + set_bit(USBCAN_FREE_TX_URB,&dev->flags); + break; + } } - - // fill CAN message timestamp - can_filltimestamp(&obj->rx_msg.timestamp); - canque_filter_msg2edges(obj->qends, &obj->rx_msg); } - else - CANMSG("Destination chip not found\n"); } } } - clear_bit(USBCAN_THREAD_RUNNING,&dev->flags); - + set_bit(USBCAN_TERMINATE,&dev->flags); +exit: /* here we go only in case of termination of the thread */ - if (dev->rx){ - usb_kill_urb(dev->rx); - usb_free_urb(dev->rx); + for (i=0;irx[i].u){ + set_bit(USBCAN_MESSAGE_TERMINATE,&dev->rx[i].flags); + usb_kill_urb(dev->rx[i].u); + usb_free_urb(dev->rx[i].u); + } + } + for (i=0;itx[i].u){ + set_bit(USBCAN_MESSAGE_TERMINATE,&dev->tx[i].flags); + usb_kill_urb(dev->tx[i].u); + usb_free_urb(dev->tx[i].u); + } } + clear_bit(USBCAN_THREAD_RUNNING,&dev->flags); CANMSG ("usbcan thread finished!\n"); return 0; @@ -1235,6 +1251,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device dev=usbdevs->devs[j]; mutex_init(&dev->io_mutex); + init_waitqueue_head(&dev->queue); dev->udev = interface_to_usbdev(interface); dev->interface = interface; @@ -1288,7 +1305,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device goto register_error; /* let the user know what node this device is now attached to */ - DEBUGMSG("USBCAN device now attached"); + CANMSG("USBCAN device now attached\n"); return 0; register_error: @@ -1342,6 +1359,15 @@ static void usbcan_disconnect(struct usb_interface *interface) usbdevs->devs[j]->interface = NULL; mutex_unlock(&usbdevs->devs[j]->io_mutex); + while (test_bit(USBCAN_THREAD_RUNNING,&usbdevs->devs[j]->flags)) + { + CANMSG("USBCAN thread has not stopped, trying to wake...\n"); + set_bit(USBCAN_TERMINATE,&usbdevs->devs[j]->flags); + wake_up_process(usbdevs->devs[j]->comthread); + schedule(); +// can_kthread_stop(dev->comthread); + } + if (usbdevs->devs[j]->bulk_in_buffer) can_checked_free(usbdevs->devs[j]->bulk_in_buffer); // if (usbdevs->devs[j]->chip){ @@ -1354,7 +1380,7 @@ static void usbcan_disconnect(struct usb_interface *interface) } can_checked_free(usbdevs); - DEBUGMSG("USBCAN now disconnected"); + CANMSG("USBCAN now disconnected\n"); } int usbcan_init(void){ -- 2.39.2