2 * Header file for the Linux CAN-bus driver.
3 * Written by Jan Kriz email:johen@post.cz
4 * This software is released under the GPL-License.
5 * Version lincan-0.3 17 Jul 2008
8 #include "../include/kthread.h"
9 #include "../include/can.h"
10 #include "../include/can_sysdep.h"
11 #include "../include/main.h"
12 #include "../include/devcommon.h"
13 #include "../include/setup.h"
14 #include "../include/usbcan.h"
17 * usbcan_request_io: - reserve io or memory range for can board
18 * @candev: pointer to candevice/board which asks for io. Field @io_addr
19 * of @candev is used in most cases to define start of the range
21 * The function usbcan_request_io() is used to reserve the io-memory. If your
22 * hardware uses a dedicated memory range as hardware control registers you
23 * will have to add the code to reserve this memory as well.
24 * %IO_RANGE is the io-memory range that gets reserved, please adjust according
25 * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
26 * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
27 * Return Value: The function returns zero on success or %-ENODEV on failure
30 int usbcan_request_io(struct candevice_t *candev)
32 struct usbcan_usb *dev = (struct usbcan_usb*)candev->sysdevptr.anydev;
34 /* start kernel thread */
35 dev->rcvthread.arg = dev;
36 start_kthread(usbcan_read_kthread, &dev->rcvthread);
38 /* Adding link to can device into usbcan_usb struct */
39 ((struct usbcan_usb*)candev->sysdevptr.anydev)->candev=candev;
44 * usbcan_release_io - free reserved io memory range
45 * @candev: pointer to candevice/board which releases io
47 * The function usbcan_release_io() is used to free reserved io-memory.
48 * In case you have reserved more io memory, don't forget to free it here.
49 * IO_RANGE is the io-memory range that gets released, please adjust according
50 * your hardware. Example: #define IO_RANGE 0x100 for i82527 chips or
51 * #define IO_RANGE 0x20 for sja1000 chips in basic CAN mode.
52 * Return Value: The function always returns zero
55 int usbcan_release_io(struct candevice_t *candev)
57 struct usbcan_usb *dev = ((struct usbcan_usb*)candev->sysdevptr.anydev);
59 /* terminate the kernel thread */
61 usb_kill_urb(dev->rcv);
62 usb_free_urb(dev->rcv);
64 stop_kthread(&dev->rcvthread);
69 * usbcan_reset - hardware reset routine
70 * @candev: Pointer to candevice/board structure
72 * The function usbcan_reset() is used to give a hardware reset. This is
73 * rather hardware specific so I haven't included example code. Don't forget to
74 * check the reset status of the chip before returning.
75 * Return Value: The function returns zero on success or %-ENODEV on failure
78 int usbcan_reset(struct candevice_t *candev)
84 * usbcan_init_hw_data - Initialize hardware cards
85 * @candev: Pointer to candevice/board structure
87 * The function usbcan_init_hw_data() is used to initialize the hardware
88 * structure containing information about the installed CAN-board.
89 * %RESET_ADDR represents the io-address of the hardware reset register.
90 * %NR_82527 represents the number of Intel 82527 chips on the board.
91 * %NR_SJA1000 represents the number of Philips sja1000 chips on the board.
92 * The flags entry can currently only be %CANDEV_PROGRAMMABLE_IRQ to indicate that
93 * the hardware uses programmable interrupts.
94 * Return Value: The function always returns zero
97 int usbcan_init_hw_data(struct candevice_t *candev)
99 candev->res_addr=RESET_ADDR;
100 candev->nr_82527_chips=0;
101 candev->nr_sja1000_chips=0;
102 candev->nr_all_chips=1;
103 candev->flags |= CANDEV_PROGRAMMABLE_IRQ*0;
109 * usbcan_init_obj_data - Initialize message buffers
110 * @chip: Pointer to chip specific structure
111 * @objnr: Number of the message buffer
113 * The function usbcan_init_obj_data() is used to initialize the hardware
114 * structure containing information about the different message objects on the
115 * CAN chip. In case of the sja1000 there's only one message object but on the
116 * i82527 chip there are 15.
117 * The code below is for a i82527 chip and initializes the object base addresses
118 * The entry @obj_base_addr represents the first memory address of the message
119 * object. In case of the sja1000 @obj_base_addr is taken the same as the chips
121 * Unless the hardware uses a segmented memory map, flags can be set zero.
122 * Return Value: The function always returns zero
125 int usbcan_init_obj_data(struct canchip_t *chip, int objnr)
127 chip->msgobj[objnr]->obj_base_addr=chip->chip_base_addr+(objnr+1)*0x10;
133 * usbcan_program_irq - program interrupts
134 * @candev: Pointer to candevice/board structure
136 * The function usbcan_program_irq() is used for hardware that uses
137 * programmable interrupts. If your hardware doesn't use programmable interrupts
138 * you should not set the @candevices_t->flags entry to %CANDEV_PROGRAMMABLE_IRQ and
139 * leave this function unedited. Again this function is hardware specific so
140 * there's no example code.
141 * Return value: The function returns zero on success or %-ENODEV on failure
144 int usbcan_program_irq(struct candevice_t *candev)
149 /* !!! Don't change this function !!! */
150 int usbcan_register(struct hwspecops_t *hwspecops)
152 hwspecops->request_io = usbcan_request_io;
153 hwspecops->release_io = usbcan_release_io;
154 hwspecops->reset = usbcan_reset;
155 hwspecops->init_hw_data = usbcan_init_hw_data;
156 hwspecops->init_chip_data = usbcan_init_chip_data;
157 hwspecops->init_obj_data = usbcan_init_obj_data;
158 hwspecops->write_register = NULL;
159 hwspecops->read_register = NULL;
160 hwspecops->program_irq = usbcan_program_irq;
164 static int sja1000_report_error_limit_counter;
166 static void sja1000_report_error(struct canchip_t *chip,
167 unsigned sr, unsigned ir, unsigned ecc)
169 /*TODO : Error reporting from device */
171 /* if(sja1000_report_error_limit_counter>=100)
174 CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
177 sja1000_report_error_limit_counter+=10;
179 if(sja1000_report_error_limit_counter>=100){
180 sja1000_report_error_limit_counter+=10;
181 CANMSG("Error: too many errors, reporting disabled\n");
185 #ifdef CONFIG_OC_LINCAN_DETAILED_ERRORS
186 CANMSG("SR: BS=%c ES=%c TS=%c RS=%c TCS=%c TBS=%c DOS=%c RBS=%c\n",
187 sr&sjaSR_BS?'1':'0',sr&sjaSR_ES?'1':'0',
188 sr&sjaSR_TS?'1':'0',sr&sjaSR_RS?'1':'0',
189 sr&sjaSR_TCS?'1':'0',sr&sjaSR_TBS?'1':'0',
190 sr&sjaSR_DOS?'1':'0',sr&sjaSR_RBS?'1':'0');
191 CANMSG("IR: BEI=%c ALI=%c EPI=%c WUI=%c DOI=%c EI=%c TI=%c RI=%c\n",
192 sr&sjaIR_BEI?'1':'0',sr&sjaIR_ALI?'1':'0',
193 sr&sjaIR_EPI?'1':'0',sr&sjaIR_WUI?'1':'0',
194 sr&sjaIR_DOI?'1':'0',sr&sjaIR_EI?'1':'0',
195 sr&sjaIR_TI?'1':'0',sr&sjaIR_RI?'1':'0');
196 if((sr&sjaIR_EI) || 1){
197 CANMSG("EI: %s %s %s\n",
198 sja1000_ecc_errc_str[(ecc&(sjaECC_ERCC1|sjaECC_ERCC0))/sjaECC_ERCC0],
199 ecc&sjaECC_DIR?"RX":"TX",
200 sja1000_ecc_seg_str[ecc&sjaECC_SEG_M]
203 #endif /*CONFIG_OC_LINCAN_DETAILED_ERRORS*/
208 * usbcan_enable_configuration - enable chip configuration mode
209 * @chip: pointer to chip state structure
211 int usbcan_enable_configuration(struct canchip_t *chip)
217 * usbcan_disable_configuration - disable chip configuration mode
218 * @chip: pointer to chip state structure
220 int usbcan_disable_configuration(struct canchip_t *chip)
226 * usbcan_chip_config: - can chip configuration
227 * @chip: pointer to chip state structure
229 * This function configures chip and prepares it for message
230 * transmission and reception. The function resets chip,
231 * resets mask for acceptance of all messages by call to
232 * usbcan_extended_mask() function and then
233 * computes and sets baudrate with use of function usbcan_baud_rate().
234 * Return Value: negative value reports error.
237 int usbcan_chip_config(struct canchip_t *chip)
243 * usbcan_extended_mask: - setup of extended mask for message filtering
244 * @chip: pointer to chip state structure
245 * @code: can message acceptance code
246 * @mask: can message acceptance mask
248 * Return Value: negative value reports error.
251 int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask)
254 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
256 struct usbcan_mask_t mask={
261 retval=usb_control_msg(dev->udev,
262 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
263 USBCAN_VENDOR_EXT_MASK_SET,
266 &mask, sizeof(usbcan_mask_t),
271 retval = usb_control_msg(dev->udev,
272 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
273 USBCAN_VENDOR_EXT_MASK_STATUS,
276 dev->ctl_in_buffer, dev->ctl_in_size,
280 if(dev->ctl_in_buffer[0]==1){
281 DEBUGMSG("Setting acceptance code to 0x%lx\n",(unsigned long)code);
282 DEBUGMSG("Setting acceptance mask to 0x%lx\n",(unsigned long)mask);
287 CANMSG("Setting extended mask failed\n");
292 * usbcan_baud_rate: - set communication parameters.
293 * @chip: pointer to chip state structure
294 * @rate: baud rate in Hz
295 * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
296 * @sjw: synchronization jump width (0-3) prescaled clock cycles
297 * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
298 * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
300 * Return Value: negative value reports error.
303 int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
304 int sampl_pt, int flags)
307 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
309 // Data too big to use single receive control message
310 struct can_baudparams_t baud={
318 retval=usb_control_msg(dev->udev,
319 usb_sndctrlpipe(dev->udev, dev->ctl_out_endpointAddr),
320 USBCAN_VENDOR_BAUD_RATE_SET,
323 &baud, sizeof(can_baudparams_t),
328 retval = usb_control_msg(dev->udev,
329 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
330 USBCAN_VENDOR_BAUD_RATE_STATUS,
333 dev->ctl_in_buffer, dev->ctl_in_size,
337 if(dev->ctl_in_buffer[0]==1)
341 CANMSG("baud rate %d is not possible to set\n",
347 * usbcan_pre_read_config: - prepares message object for message reception
348 * @chip: pointer to chip state structure
349 * @obj: pointer to message object state structure
351 * Return Value: negative value reports error.
352 * Positive value indicates immediate reception of message.
355 int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
360 #define MAX_TRANSMIT_WAIT_LOOPS 10
362 * usbcan_pre_write_config: - prepares message object for message transmission
363 * @chip: pointer to chip state structure
364 * @obj: pointer to message object state structure
365 * @msg: pointer to CAN message
367 * This function prepares selected message object for future initiation
368 * of message transmission by usbcan_send_msg() function.
369 * The CAN message data and message ID are transfered from @msg slot
370 * into chip buffer in this function.
371 * Return Value: negative value reports error.
374 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
375 struct canmsg_t *msg)
377 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
381 /* Wait until Transmit Buffer Status is released */
382 while ( usbcan_chip_queue_status(chip) &&
383 i++<MAX_TRANSMIT_WAIT_LOOPS) {
386 if (usbcan_chip_queue_status(chip)){
387 CANMSG("Buffer full, cannot send message\n");
391 dev->tx_msg.chip_id=(__u8)chip->chip_idx;
394 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
395 dev->tx_msg.length=(__u8)len;
396 dev->tx_msg.flags=(__u16)msg->flags;
398 if(msg->flags&MSG_EXT) {
399 dev->tx_msg.id[0]=(msg->id) & 0xff;
400 dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
401 dev->tx_msg.id[2]=(msg->id>>16) & 0xff;
402 dev->tx_msg.id[3]=(msg->id>>24) & 0xff;
404 dev->tx_msg.id[0]=(msg->id) & 0xff;
405 dev->tx_msg.id[1]=(msg->id>>8) & 0xff;
409 for(i=0; i < len; i++) {
410 dev->tx_msg.data[i]=(__u8) msg->data[i];
413 dev->tx_msg.data[i]=0;
419 * usbcan_send_msg: - initiate message transmission
420 * @chip: pointer to chip state structure
421 * @obj: pointer to message object state structure
422 * @msg: pointer to CAN message
424 * This function is called after usbcan_pre_write_config() function,
425 * which prepares data in chip buffer.
426 * Return Value: negative value reports error.
429 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
430 struct canmsg_t *msg)
432 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
435 set_bit(USBCAN_TX_PENDING,&dev->flags);
436 retval=usb_bulk_msg(dev->udev,
437 usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
438 &dev->tx_msg, sizeof(usbcan_canmsg_t),
440 clear_bit(USBCAN_TX_PENDING,&dev->flags);
442 CANMSG("URB error %d\n",retval);
445 if (len!=sizeof(struct usbcan_canmsg_t)){
446 CANMSG("CAN message not sent\n");
454 * usbcan_check_tx_stat: - checks state of transmission engine
455 * @chip: pointer to chip state structure
457 * Return Value: negative value reports error.
458 * Positive return value indicates transmission under way status.
459 * Zero value indicates finishing of all issued transmission requests.
462 int usbcan_check_tx_stat(struct canchip_t *chip)
464 if (test_bit(USBCAN_TX_PENDING,&((struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev)->flags))
470 * usbcan_set_btregs: - configures bitrate registers
471 * @chip: pointer to chip state structure
472 * @btr0: bitrate register 0
473 * @btr1: bitrate register 1
475 * Return Value: negative value reports error.
478 int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
482 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
484 retval = usb_control_msg(dev->udev,
485 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
486 USBCAN_VENDOR_SET_BTREGS,
488 btr1<<8 | btr0, chip->chip_idx,
489 dev->ctl_in_buffer, dev->ctl_in_size,
493 if(dev->ctl_in_buffer[0]==1)
500 * usbcan_start_chip: - starts chip message processing
501 * @chip: pointer to chip state structure
503 * Return Value: negative value reports error.
506 int usbcan_start_chip(struct canchip_t *chip)
509 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
511 retval = usb_control_msg(dev->udev,
512 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
513 USBCAN_VENDOR_START_CHIP,
516 dev->ctl_in_buffer, dev->ctl_in_size,
520 if(dev->ctl_in_buffer[0]==1)
527 * usbcan_chip_queue_status: - gets queue status from usb device
528 * @chip: pointer to chip state structure
530 * Return Value: negative value reports error.
531 * 0 means queue is not full
532 * 1 means queue is full
535 int usbcan_chip_queue_status(struct canchip_t *chip)
538 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
540 retval = usb_control_msg(dev->udev,
541 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
542 USBCAN_VENDOR_CHECK_TX_STAT,
545 dev->ctl_in_buffer, dev->ctl_in_size,
549 if(dev->ctl_in_buffer[0]==1)
551 if(dev->ctl_in_buffer[0]==0)
558 * usbcan_stop_chip: - stops chip message processing
559 * @chip: pointer to chip state structure
561 * Return Value: negative value reports error.
564 int usbcan_stop_chip(struct canchip_t *chip)
567 struct usbcan_usb *dev=(struct usbcan_usb*)chip->hostdevice->sysdevptr.anydev;
569 retval = usb_control_msg(dev->udev,
570 usb_rcvctrlpipe(dev->udev, dev->ctl_in_endpointAddr),
571 USBCAN_VENDOR_STOP_CHIP,
574 dev->ctl_in_buffer, dev->ctl_in_size,
578 if(dev->ctl_in_buffer[0]==1)
585 * usbcan_attach_to_chip: - attaches to the chip, setups registers and state
586 * @chip: pointer to chip state structure
588 * Return Value: negative value reports error.
591 int usbcan_attach_to_chip(struct canchip_t *chip)
597 * usbcan_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
598 * @chip: pointer to chip state structure
600 * Return Value: negative value reports error.
603 int usbcan_release_chip(struct canchip_t *chip)
605 usbcan_stop_chip(chip);
610 * usbcan_remote_request: - configures message object and asks for RTR message
611 * @chip: pointer to chip state structure
612 * @obj: pointer to message object structure
614 * Return Value: negative value reports error.
617 int usbcan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
619 CANMSG("usbcan_remote_request not implemented\n");
624 * usbcan_standard_mask: - setup of mask for message filtering
625 * @chip: pointer to chip state structure
626 * @code: can message acceptance code
627 * @mask: can message acceptance mask
629 * Return Value: negative value reports error.
632 int usbcan_standard_mask(struct canchip_t *chip, unsigned short code,
635 CANMSG("usbcan_standard_mask not implemented\n");
640 * usbcan_clear_objects: - clears state of all message object residing in chip
641 * @chip: pointer to chip state structure
643 * Return Value: negative value reports error.
646 int usbcan_clear_objects(struct canchip_t *chip)
648 CANMSG("usbcan_clear_objects not implemented\n");
653 * usbcan_config_irqs: - tunes chip hardware interrupt delivery
654 * @chip: pointer to chip state structure
655 * @irqs: requested chip IRQ configuration
657 * Return Value: negative value reports error.
660 int usbcan_config_irqs(struct canchip_t *chip, short irqs)
662 CANMSG("usbcan_config_irqs not implemented\n");
667 * usbcan_irq_write_handler: - part of ISR code responsible for transmit events
668 * @chip: pointer to chip state structure
669 * @obj: pointer to attached queue description
671 * The main purpose of this function is to read message from attached queues
672 * and transfer message contents into CAN controller chip.
673 * This subroutine is called by
674 * usbcan_irq_write_handler() for transmit events.
677 void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
682 // Do local transmitted message distribution if enabled
684 // fill CAN message timestamp
685 can_filltimestamp(&obj->tx_slot->msg.timestamp);
687 obj->tx_slot->msg.flags |= MSG_LOCAL;
688 canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
690 // Free transmitted slot
691 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
695 can_msgobj_clear_fl(obj,TX_PENDING);
696 cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
699 can_msgobj_set_fl(obj,TX_PENDING);
701 if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
703 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
704 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
708 if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
710 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
711 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
720 * usbcan_irq_handler: - interrupt service routine
721 * @irq: interrupt vector number, this value is system specific
722 * @chip: pointer to chip state structure
724 * Interrupt handler is activated when state of CAN controller chip changes,
725 * there is message to be read or there is more space for new messages or
726 * error occurs. The receive events results in reading of the message from
727 * CAN controller chip and distribution of message through attached
731 int usbcan_irq_handler(int irq, struct canchip_t *chip)
733 /* int irq_register, status, error_code;
734 struct msgobj_t *obj=chip->msgobj[0];
735 int loop_cnt=CHIP_MAX_IRQLOOP;
737 irq_register=can_read_reg(chip,SJAIR);
738 // DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
739 // DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
740 // can_read_reg(chip,SJASR));
742 if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
743 return CANCHIP_IRQ_NONE;
745 if(!(chip->flags&CHIP_CONFIGURED)) {
746 CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
747 return CANCHIP_IRQ_NONE;
750 status=can_read_reg(chip,SJASR);
755 CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq);
756 return CANCHIP_IRQ_STUCK;
759 // (irq_register & sjaIR_TI)
760 // old variant using SJAIR, collides with intended use with irq_accept
761 if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
762 (can_msgobj_test_fl(obj,TX_REQUEST))) {
763 DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
765 can_msgobj_set_fl(obj,TX_REQUEST);
766 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
767 can_msgobj_clear_fl(obj,TX_REQUEST);
769 if (can_read_reg(chip, SJASR) & sjaSR_TBS)
770 usbcan_irq_write_handler(chip, obj);
772 can_msgobj_clear_fl(obj,TX_LOCK);
773 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
774 DEBUGMSG("TX looping in sja1000_irq_handler\n");
777 if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) {
778 // Some error happened
779 error_code=can_read_reg(chip,SJAECC);
780 sja1000_report_error(chip, status, irq_register, error_code);
781 // FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
782 // Reset flag set to 0 if chip is already off the bus. Full state report
785 if(error_code == 0xd9) {
787 // no such device or address - no ACK received
789 if(obj->tx_retry_cnt++>MAX_RETR) {
790 can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
791 obj->tx_retry_cnt = 0;
793 if(status&sjaSR_BS) {
794 CANMSG("bus-off, resetting usbcan\n");
795 can_write_reg(chip, 0, SJAMOD);
799 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
800 //canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
805 if(sja1000_report_error_limit_counter)
806 sja1000_report_error_limit_counter--;
810 irq_register=can_read_reg(chip,SJAIR);
812 status=can_read_reg(chip,SJASR);
814 if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
815 (irq_register & sjaIR_TI))
816 can_msgobj_set_fl(obj,TX_REQUEST);
818 } while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
819 (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
820 (status & sjaSR_RBS));
822 return CANCHIP_IRQ_HANDLED;
826 * usbcan_wakeup_tx: - wakeups TX processing
827 * @chip: pointer to chip state structure
828 * @obj: pointer to message object structure
830 * Function is responsible for initiating message transmition.
831 * It is responsible for clearing of object TX_REQUEST flag
833 * Return Value: negative value reports error.
836 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
839 can_preempt_disable();
841 can_msgobj_set_fl(obj,TX_PENDING);
842 can_msgobj_set_fl(obj,TX_REQUEST);
843 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
844 can_msgobj_clear_fl(obj,TX_REQUEST);
846 if (!usbcan_chip_queue_status(chip)){
848 usbcan_irq_write_handler(chip, obj);
851 can_msgobj_clear_fl(obj,TX_LOCK);
852 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
853 DEBUGMSG("TX looping in usbcan_wakeup_tx\n");
856 can_preempt_enable();
860 int usbcan_chipregister(struct chipspecops_t *chipspecops)
862 CANMSG("initializing usbcan chip operations\n");
863 chipspecops->chip_config=usbcan_chip_config;
864 chipspecops->baud_rate=usbcan_baud_rate;
865 chipspecops->standard_mask=usbcan_standard_mask;
866 chipspecops->extended_mask=usbcan_extended_mask;
867 chipspecops->message15_mask=usbcan_extended_mask;
868 chipspecops->clear_objects=usbcan_clear_objects;
869 chipspecops->config_irqs=usbcan_config_irqs;
870 chipspecops->pre_read_config=usbcan_pre_read_config;
871 chipspecops->pre_write_config=usbcan_pre_write_config;
872 chipspecops->send_msg=usbcan_send_msg;
873 chipspecops->check_tx_stat=usbcan_check_tx_stat;
874 chipspecops->wakeup_tx=usbcan_wakeup_tx;
875 chipspecops->remote_request=usbcan_remote_request;
876 chipspecops->enable_configuration=usbcan_enable_configuration;
877 chipspecops->disable_configuration=usbcan_disable_configuration;
878 chipspecops->attach_to_chip=usbcan_attach_to_chip;
879 chipspecops->release_chip=usbcan_release_chip;
880 chipspecops->set_btregs=usbcan_set_btregs;
881 chipspecops->start_chip=usbcan_start_chip;
882 chipspecops->stop_chip=usbcan_stop_chip;
883 chipspecops->irq_handler=usbcan_irq_handler;
884 chipspecops->irq_accept=NULL;
889 * usbcan_fill_chipspecops - fills chip specific operations
890 * @chip: pointer to chip representation structure
892 * The function fills chip specific operations for sja1000 (PeliCAN) chip.
894 * Return Value: returns negative number in the case of fail
896 int usbcan_fill_chipspecops(struct canchip_t *chip)
898 chip->chip_type="usbcan";
900 usbcan_chipregister(chip->chipspecops);
905 * usbcan_init_chip_data - Initialize chips
906 * @candev: Pointer to candevice/board structure
907 * @chipnr: Number of the CAN chip on the hardware card
909 * The function usbcan_init_chip_data() is used to initialize the hardware
910 * structure containing information about the CAN chips.
911 * %CHIP_TYPE represents the type of CAN chip. %CHIP_TYPE can be "i82527" or
913 * The @chip_base_addr entry represents the start of the 'official' memory map
914 * of the installed chip. It's likely that this is the same as the @io_addr
915 * argument supplied at module loading time.
916 * The @clock entry holds the chip clock value in Hz.
917 * The entry @sja_cdr_reg holds hardware specific options for the Clock Divider
918 * register. Options defined in the %sja1000.h file:
919 * %sjaCDR_CLKOUT_MASK, %sjaCDR_CLK_OFF, %sjaCDR_RXINPEN, %sjaCDR_CBP, %sjaCDR_PELICAN
920 * The entry @sja_ocr_reg holds hardware specific options for the Output Control
921 * register. Options defined in the %sja1000.h file:
922 * %sjaOCR_MODE_BIPHASE, %sjaOCR_MODE_TEST, %sjaOCR_MODE_NORMAL, %sjaOCR_MODE_CLOCK,
923 * %sjaOCR_TX0_LH, %sjaOCR_TX1_ZZ.
924 * The entry @int_clk_reg holds hardware specific options for the Clock Out
925 * register. Options defined in the %i82527.h file:
926 * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1.
927 * The entry @int_bus_reg holds hardware specific options for the Bus
928 * Configuration register. Options defined in the %i82527.h file:
929 * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY.
930 * The entry @int_cpu_reg holds hardware specific options for the cpu interface
931 * register. Options defined in the %i82527.h file:
932 * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST.
933 * Return Value: The function always returns zero
936 int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
938 struct canchip_t *chip=candev->chip[chipnr];
940 usbcan_fill_chipspecops(chip);
942 candev->chip[chipnr]->flags|=CHIP_IRQ_CUSTOM;
943 candev->chip[chipnr]->chip_base_addr=0;
944 candev->chip[chipnr]->clock = 0;
951 /* --------------------------------------------------------------------------------------------------- */
953 static void usbcan_rcv(struct urb *urb)
955 struct usbcan_usb *dev = urb->context;
958 switch (urb->status) {
961 set_bit(USBCAN_DATA_READ,&dev->flags);
962 wake_up(&dev->rcvthread.queue);
967 /* this urb is terminated, clean up */
968 CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
969 set_bit(USBCAN_TERMINATE,&dev->flags);
970 wake_up(&dev->rcvthread.queue);
973 CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
977 retval = usb_submit_urb (urb, GFP_ATOMIC);
979 CANMSG("%s - usb_submit_urb failed with result %d\n",
980 __FUNCTION__, retval);
981 set_bit(USBCAN_ERROR,&dev->flags);
982 wake_up(&dev->rcvthread.queue);
986 void usbcan_read_kthread(kthread_t *kthread)
989 struct usbcan_usb *dev=(struct usbcan_usb *)kthread->arg;
990 struct msgobj_t *obj;
992 /* setup the thread environment */
993 init_kthread(kthread, "usbcan");
995 /* this is normal work to do */
996 CANMSG ("usbcan thread started!\n");
998 dev->rcv = usb_alloc_urb(0, GFP_KERNEL);
1000 CANMSG("Error allocating usb urb\n");
1003 dev->rcv->dev = dev->udev;
1004 usb_fill_bulk_urb(dev->rcv, dev->udev,
1005 usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
1006 &dev->rcv_msg, sizeof(usbcan_canmsg_t),
1009 /* an endless loop in which we are doing our work */
1012 retval=usb_submit_urb(dev->rcv, GFP_KERNEL);
1014 CANMSG("URB error %d\n",retval);
1018 wait_event_interruptible(kthread->queue,
1019 test_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags)
1020 || test_bit(USBCAN_CHIP_TERMINATE,&chip_data->flags)
1021 || test_bit(USBCAN_CHIP_ERROR,&chip_data->flags)
1024 /* We need to do a memory barrier here to be sure that
1025 the flags are visible on all CPUs. */
1028 /* here we are back from sleep because we caught a signal. */
1029 if (kthread->terminate)
1031 /* we received a request to terminate ourself */
1035 if (test_bit(USBCAN_CHIP_ERROR,&chip_data->flags)){
1036 CANMSG("URB error %d\n",retval);
1040 { /* Normal work to do */
1041 if (test_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags)){
1043 clear_bit(USBCAN_CHIP_DATA_READ,&chip_data->flags);
1045 if ((dev->candev->chip[dev->rcv_msg.chip_id])&&
1046 (dev->candev->chip[dev->rcv_msg.chip_id].flags & CHIP_CONFIGURED)){
1048 obj=dev->candev->chip[dev->rcv_msg.chip_id]->msgobj[0];
1049 if (dev->rcv_msg.flags & MSG_EXT) {
1051 (dev->rcv_msg.id[0]) +
1052 (dev->rcv_msg.id[1]<<8) +
1053 (dev->rcv_msg.id[2]<<16) +
1054 (dev->rcv_msg.id[3]<<24);
1057 (dev->rcv_msg.id[0]) +
1058 (dev->rcv_msg.id[1]<<8);
1060 obj->rx_msg.flags = dev->rcv_msg.flags;
1061 len=dev->rcv_msg.length;
1062 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
1063 obj->rx_msg.length = len;
1064 for(i=0; i< len; i++) {
1065 obj->rx_msg.data[i]=obj->rx_msg.data[i];
1068 // fill CAN message timestamp
1069 can_filltimestamp(&obj->rx_msg.timestamp);
1070 canque_filter_msg2edges(obj->qends, &obj->rx_msg);
1075 /* here we go only in case of termination of the thread */
1077 /* cleanup the thread, leave */
1078 CANMSG ("kernel thread terminated!\n");
1079 exit_kthread(kthread);
1081 /* returning from the thread here calls the exit functions */
1084 static int usbcan_probe(struct usb_interface *interface, const struct usb_device_id *id)
1086 struct usbcan_usb *dev;
1087 struct usb_host_interface *iface_desc;
1088 struct usb_endpoint_descriptor *endpoint;
1091 int retval = -ENOMEM;
1093 /* allocate memory for our device state and initialize it */
1094 dev = (struct usbcan_usb *) can_checked_malloc(sizeof(struct usbcan_usb));
1096 err("Out of memory");
1100 sema_init(&dev->limit_sem, WRITES_IN_FLIGHT);
1101 spin_lock_init(&dev->err_lock);
1102 init_usb_anchor(&dev->submitted);
1104 // dev->udev = usb_get_dev(interface_to_usbdev(interface));
1105 dev->udev = interface_to_usbdev(interface);
1106 dev->interface = interface;
1108 /* set up the endpoint information */
1109 /* use only the first bulk-in and bulk-out endpoints */
1110 iface_desc = interface->cur_altsetting;
1111 for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
1112 endpoint = &iface_desc->endpoint[i].desc;
1114 if (!dev->bulk_in_endpointAddr &&
1115 usb_endpoint_is_bulk_in(endpoint)) {
1116 /* we found a bulk in endpoint */
1117 buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1118 dev->bulk_in_size = buffer_size;
1119 dev->bulk_in_endpointAddr = endpoint->bEndpointAddress;
1120 dev->bulk_in_buffer = can_checked_malloc(buffer_size);
1121 if (!dev->bulk_in_buffer) {
1122 err("Could not allocate bulk_in_buffer");
1127 if (!dev->bulk_out_endpointAddr &&
1128 usb_endpoint_is_bulk_out(endpoint)) {
1129 /* we found a bulk out endpoint */
1130 dev->bulk_out_endpointAddr = endpoint->bEndpointAddress;
1133 if (!dev->ctl_in_endpointAddr &&
1134 usb_endpoint_xfer_control(endpoint) &&
1135 usb_endpoint_dir_in(endpoint)) {
1136 /* we found a bulk in endpoint */
1137 buffer_size = le16_to_cpu(endpoint->wMaxPacketSize);
1138 dev->ctl_in_size = buffer_size;
1139 dev->ctl_in_endpointAddr = endpoint->bEndpointAddress;
1140 dev->ctl_in_buffer = can_checked_malloc(buffer_size);
1141 if (!dev->ctl_in_buffer) {
1142 err("Could not allocate bulk_in_buffer");
1147 if (!dev->ctl_out_endpointAddr &&
1148 usb_endpoint_xfer_control(endpoint) &&
1149 usb_endpoint_dir_out(endpoint)) {
1150 /* we found a bulk out endpoint */
1151 dev->ctl_out_endpointAddr = endpoint->bEndpointAddress;
1154 if (!(dev->bulk_in_endpointAddr && dev->bulk_out_endpointAddr)) {
1155 err("Could not find all bulk-in and bulk-out endpoints");
1159 /* save our data pointer in this interface device */
1160 usb_set_intfdata(interface, dev);
1162 register_usbdev("usbcan",(void *) dev);
1164 /* let the user know what node this device is now attached to */
1165 info("USB Skeleton device now attached");
1169 usb_put_dev(dev->udev);
1170 if (dev->bulk_in_buffer)
1171 can_checked_free(dev->bulk_in_buffer);
1172 if (dev->ctl_in_buffer)
1173 can_checked_free(dev->ctl_in_buffer);
1175 dev->candev->sysdevptr.anydev=NULL;
1176 cleanup_usbdev(dev->candev);
1178 can_checked_free(dev);
1182 // Physically disconnected device
1183 static void usbcan_disconnect(struct usb_interface *interface)
1185 struct usbcan_usb *dev;
1186 int minor = interface->minor;
1188 dev = usb_get_intfdata(interface);
1189 usb_set_intfdata(interface, NULL);
1191 /* prevent more I/O from starting */
1192 mutex_lock(&dev->io_mutex);
1193 dev->interface = NULL;
1194 mutex_unlock(&dev->io_mutex);
1196 //usb_kill_anchored_urbs(&dev->submitted);
1198 usb_put_dev(dev->udev);
1199 if (dev->bulk_in_buffer)
1200 can_checked_free(dev->bulk_in_buffer);
1201 if (dev->ctl_in_buffer)
1202 can_checked_free(dev->ctl_in_buffer);
1204 dev->candev->sysdevptr.anydev=NULL;
1205 cleanup_usbdev(dev->candev);
1207 can_checked_free(dev);
1209 info("USB Skeleton now disconnected");
1212 int usbcan_init(void){
1213 return usb_register(&usbcan_driver);
1216 void usbcan_exit(void){
1217 usb_deregister(&usbcan_driver);