checkpoint: About to change a lot in kernel driver.
Jessy Diamond Exum
parent
ce819333dc
commit
dd636d5b2e
146
driver/panda.c
146
driver/panda.c
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@ -36,19 +36,27 @@
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#define PANDA_DLC_MASK 0x0F
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struct panda_usb_ctx {
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struct panda_priv *priv;
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struct panda_inf_priv *priv;
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u32 ndx;
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u8 dlc;
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};
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struct panda_priv {
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struct panda_dev_priv;
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struct panda_inf_priv {
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struct can_priv can;
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struct panda_usb_ctx tx_context[PANDA_MAX_TX_URBS];
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struct usb_device *udev;
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struct net_device *netdev;
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struct usb_anchor tx_submitted;
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struct usb_anchor rx_submitted;
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atomic_t free_ctx_cnt;
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u8 interface_num;
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struct panda_dev_priv *priv_dev;
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};
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struct panda_dev_priv {
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struct usb_device *udev;
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struct panda_inf_priv *interfaces[3];
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};
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struct __packed panda_usb_can_msg {
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@ -57,6 +65,9 @@ struct __packed panda_usb_can_msg {
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u8 data[8];
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};
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// panda: CAN1 = 0 CAN2 = 1 CAN3 = 4
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const int can_numbering[] = {0,1,4};
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static const struct usb_device_id panda_usb_table[] = {
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{ USB_DEVICE(PANDA_VENDOR_ID, PANDA_PRODUCT_ID) },
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{} /* Terminating entry */
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@ -65,7 +76,7 @@ static const struct usb_device_id panda_usb_table[] = {
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MODULE_DEVICE_TABLE(usb, panda_usb_table);
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// CTX handling shamlessly ripped from mcba_usb.c linux driver
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static inline void panda_init_ctx(struct panda_priv *priv)
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static inline void panda_init_ctx(struct panda_inf_priv *priv)
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{
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int i = 0;
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@ -77,7 +88,7 @@ static inline void panda_init_ctx(struct panda_priv *priv)
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atomic_set(&priv->free_ctx_cnt, ARRAY_SIZE(priv->tx_context));
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}
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static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_priv *priv,
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static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_inf_priv *priv,
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struct can_frame *cf)
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{
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int i = 0;
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@ -120,23 +131,19 @@ static inline void panda_usb_free_ctx(struct panda_usb_ctx *ctx)
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static void panda_urb_unlink(struct panda_priv *priv)
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static void panda_urb_unlink(struct panda_inf_priv *priv)
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{
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usb_kill_anchored_urbs(&priv->rx_submitted);
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usb_kill_anchored_urbs(&priv->tx_submitted);
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}
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static int panda_set_output_enable(struct panda_priv* priv, bool enable){
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return usb_control_msg(priv->udev, usb_sndctrlpipe(priv->udev, 0),
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static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable){
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return usb_control_msg(priv->priv_dev->udev,
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usb_sndctrlpipe(priv->priv_dev->udev, 0),
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0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE,
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enable ? 0x1337 : 0, 0, NULL, 0, USB_CTRL_SET_TIMEOUT);
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}
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//static int panda_write_can(struct panda_priv* priv, u8 *buf, unsigned int len, int *actual_len){
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// return usb_bulk_msg(priv->udev, usb_sndbulkpipe(priv->udev, 3),
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// buf, len, actual_len, 5000);
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//}
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static void panda_usb_write_bulk_callback(struct urb *urb)
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{
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struct panda_usb_ctx *ctx = urb->context;
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@ -166,7 +173,7 @@ static void panda_usb_write_bulk_callback(struct urb *urb)
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}
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static netdev_tx_t panda_usb_xmit(struct panda_priv *priv,
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static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv,
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struct panda_usb_can_msg *usb_msg,
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struct panda_usb_ctx *ctx)
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{
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@ -179,7 +186,8 @@ static netdev_tx_t panda_usb_xmit(struct panda_priv *priv,
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if (!urb)
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return -ENOMEM;
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buf = usb_alloc_coherent(priv->udev, PANDA_USB_TX_BUFF_SIZE, GFP_ATOMIC,
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buf = usb_alloc_coherent(priv->priv_dev->udev,
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PANDA_USB_TX_BUFF_SIZE, GFP_ATOMIC,
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&urb->transfer_dma);
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if (!buf) {
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err = -ENOMEM;
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@ -188,8 +196,8 @@ static netdev_tx_t panda_usb_xmit(struct panda_priv *priv,
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memcpy(buf, usb_msg, PANDA_USB_TX_BUFF_SIZE);
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usb_fill_bulk_urb(urb, priv->udev,
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usb_sndbulkpipe(priv->udev, 3), buf,
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usb_fill_bulk_urb(urb, priv->priv_dev->udev,
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usb_sndbulkpipe(priv->priv_dev->udev, 3), buf,
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PANDA_USB_TX_BUFF_SIZE, panda_usb_write_bulk_callback,
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ctx);
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@ -207,7 +215,7 @@ static netdev_tx_t panda_usb_xmit(struct panda_priv *priv,
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failed:
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usb_unanchor_urb(urb);
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usb_free_coherent(priv->udev, PANDA_USB_TX_BUFF_SIZE, buf, urb->transfer_dma);
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usb_free_coherent(priv->priv_dev->udev, PANDA_USB_TX_BUFF_SIZE, buf, urb->transfer_dma);
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if (err == -ENODEV)
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netif_device_detach(priv->netdev);
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@ -220,7 +228,7 @@ static netdev_tx_t panda_usb_xmit(struct panda_priv *priv,
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return err;
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}
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static void panda_usb_process_can_rx(struct panda_priv *priv,
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static void panda_usb_process_can_rx(struct panda_inf_priv *priv,
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struct panda_usb_can_msg *msg)
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{
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struct can_frame *cf;
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@ -254,7 +262,7 @@ static void panda_usb_process_can_rx(struct panda_priv *priv,
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static void panda_usb_read_int_callback(struct urb *urb)
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{
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struct panda_priv *priv = urb->context;
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struct panda_inf_priv *priv = urb->context;
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struct net_device *netdev;
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int retval;
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int pos = 0;
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@ -293,8 +301,8 @@ static void panda_usb_read_int_callback(struct urb *urb)
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}
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resubmit_urb:
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usb_fill_int_urb(urb, priv->udev,
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usb_rcvintpipe(priv->udev, 1),
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usb_fill_int_urb(urb, priv->priv_dev->udev,
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usb_rcvintpipe(priv->priv_dev->udev, 1),
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urb->transfer_buffer, PANDA_USB_RX_BUFF_SIZE,
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panda_usb_read_int_callback, priv, 5);
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@ -307,16 +315,16 @@ static void panda_usb_read_int_callback(struct urb *urb)
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}
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static int panda_usb_start(struct panda_priv *priv)
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static int panda_usb_start(struct panda_inf_priv *priv_inf)
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{
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struct net_device *netdev = priv->netdev;
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struct net_device *netdev = priv_inf->netdev;
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int err;
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struct urb *urb = NULL;
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u8 *buf;
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panda_init_ctx(priv);
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panda_init_ctx(priv_inf);
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err = usb_set_interface(priv->udev, 0, 1);
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err = usb_set_interface(priv_inf->priv_dev->udev, 0, 1);
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if (err) {
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netdev_err(netdev, "Can not set alternate setting to 1, error: %i", err);
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return err;
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@ -328,7 +336,7 @@ static int panda_usb_start(struct panda_priv *priv)
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return -ENOMEM;
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}
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buf = usb_alloc_coherent(priv->udev, PANDA_USB_RX_BUFF_SIZE,
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buf = usb_alloc_coherent(priv_inf->priv_dev->udev, PANDA_USB_RX_BUFF_SIZE,
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GFP_KERNEL, &urb->transfer_dma);
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if (!buf) {
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netdev_err(netdev, "No memory left for USB buffer\n");
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@ -336,17 +344,18 @@ static int panda_usb_start(struct panda_priv *priv)
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return -ENOMEM;
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}
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usb_fill_int_urb(urb, priv->udev,
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usb_rcvintpipe(priv->udev, 1),
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usb_fill_int_urb(urb, priv_inf->priv_dev->udev,
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usb_rcvintpipe(priv_inf->priv_dev->udev, 1),
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buf, PANDA_USB_RX_BUFF_SIZE,
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panda_usb_read_int_callback, priv, 10);
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panda_usb_read_int_callback, priv_inf, 5);
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urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
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usb_anchor_urb(urb, &priv->rx_submitted);
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usb_anchor_urb(urb, &priv_inf->rx_submitted);
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err = usb_submit_urb(urb, GFP_KERNEL);
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if (err) {
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usb_unanchor_urb(urb);
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usb_free_coherent(priv->udev, PANDA_USB_RX_BUFF_SIZE, buf, urb->transfer_dma);
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usb_free_coherent(priv_inf->priv_dev->udev, PANDA_USB_RX_BUFF_SIZE,
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buf, urb->transfer_dma);
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usb_free_urb(urb);
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netdev_err(netdev, "Failed in start, while submitting urb.\n");
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return err;
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@ -362,7 +371,7 @@ static int panda_usb_start(struct panda_priv *priv)
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/* Open USB device */
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static int panda_usb_open(struct net_device *netdev)
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{
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struct panda_priv *priv = netdev_priv(netdev);
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struct panda_inf_priv *priv = netdev_priv(netdev);
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int err;
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/* common open */
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@ -381,7 +390,7 @@ static int panda_usb_open(struct net_device *netdev)
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/* Close USB device */
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static int panda_usb_close(struct net_device *netdev)
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{
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struct panda_priv *priv = netdev_priv(netdev);
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struct panda_inf_priv *priv = netdev_priv(netdev);
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priv->can.state = CAN_STATE_STOPPED;
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@ -398,7 +407,7 @@ static int panda_usb_close(struct net_device *netdev)
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static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb,
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struct net_device *netdev)
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{
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struct panda_priv *priv = netdev_priv(netdev);
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struct panda_inf_priv *priv = netdev_priv(netdev);
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struct can_frame *cf = (struct can_frame *)skb->data;
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struct panda_usb_ctx *ctx = NULL;
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struct net_device_stats *stats = &priv->netdev->stats;
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@ -458,34 +467,46 @@ static int panda_usb_probe(struct usb_interface *intf,
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const struct usb_device_id *id)
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{
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struct net_device *netdev;
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struct panda_priv *priv;
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struct panda_inf_priv *priv_inf;
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int err = -ENOMEM;
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struct panda_dev_priv *priv_dev;
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struct usb_device *usbdev = interface_to_usbdev(intf);
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netdev = alloc_candev(sizeof(struct panda_priv), PANDA_MAX_TX_URBS);
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if (!netdev) {
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dev_err(&intf->dev, "Couldn't alloc candev\n");
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priv_dev = kmalloc(sizeof(struct panda_dev_priv), GFP_KERNEL);
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if (!priv_dev) {
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dev_err(&intf->dev, "Couldn't alloc priv_dev\n");
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return -ENOMEM;
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}
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priv_dev->udev = usbdev;
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usb_set_intfdata(intf, priv_dev);
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priv = netdev_priv(netdev);
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////// Interface privs
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netdev = alloc_candev(sizeof(struct panda_inf_priv), PANDA_MAX_TX_URBS);
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if (!netdev) {
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dev_err(&intf->dev, "Couldn't alloc candev\n");
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goto cleanup_free_priv_dev;
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}
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priv->udev = usbdev;
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priv->netdev = netdev;
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priv_inf = netdev_priv(netdev);
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init_usb_anchor(&priv->rx_submitted);
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init_usb_anchor(&priv->tx_submitted);
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priv_dev->interfaces[0] = priv_inf;
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priv_inf->interface_num = 0;
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priv_inf->priv_dev = priv_dev;
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priv_inf->netdev = netdev;
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init_usb_anchor(&priv_inf->rx_submitted);
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init_usb_anchor(&priv_inf->tx_submitted);
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usb_set_intfdata(intf, priv);
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/* Init CAN device */
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priv->can.state = CAN_STATE_STOPPED;
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//priv->can.do_set_termination = panda_set_termination;
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//priv->can.do_set_mode = panda_net_set_mode;
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//priv->can.do_get_berr_counter = panda_net_get_berr_counter;
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//priv->can.do_set_bittiming = panda_net_set_bittiming;
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priv_inf->can.state = CAN_STATE_STOPPED;
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//priv_inf->can.do_set_termination = panda_set_termination;
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//priv_inf->can.do_set_mode = panda_net_set_mode;
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//priv_inf->can.do_get_berr_counter = panda_net_get_berr_counter;
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//priv_inf->can.do_set_bittiming = panda_net_set_bittiming;
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priv->can.bittiming.bitrate = PANDA_BITRATE;
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priv_inf->can.bittiming.bitrate = PANDA_BITRATE;
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netdev->netdev_ops = &panda_netdev_ops;
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@ -499,13 +520,13 @@ static int panda_usb_probe(struct usb_interface *intf,
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goto cleanup_free_candev;
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}
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err = panda_usb_start(priv);
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err = panda_usb_start(priv_inf);
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if (err) {
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dev_err(&intf->dev, "Failed to initialize Comma.ai Panda CAN controller\n");
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goto cleanup_unregister_candev;
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}
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err = panda_set_output_enable(priv, true);
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err = panda_set_output_enable(priv_inf, true);
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if (err) {
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dev_info(&intf->dev, "Failed to initialize send enable message to Panda.\n");
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goto cleanup_unregister_candev;
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@ -516,10 +537,13 @@ static int panda_usb_probe(struct usb_interface *intf,
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return 0;
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cleanup_unregister_candev:
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unregister_candev(priv->netdev);
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unregister_candev(priv_inf->netdev);
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cleanup_free_candev:
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free_candev(priv->netdev);
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free_candev(priv_inf->netdev);
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cleanup_free_priv_dev:
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kfree(priv_dev);
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return err;
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}
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@ -527,16 +551,18 @@ static int panda_usb_probe(struct usb_interface *intf,
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/* Called by the usb core when driver is unloaded or device is removed */
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static void panda_usb_disconnect(struct usb_interface *intf)
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{
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struct panda_priv *priv = usb_get_intfdata(intf);
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struct panda_dev_priv *priv_dev = usb_get_intfdata(intf);
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struct panda_inf_priv *priv_inf = priv_dev->interfaces[0];
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usb_set_intfdata(intf, NULL);
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netdev_info(priv->netdev, "device disconnected\n");
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netdev_info(priv_inf->netdev, "device disconnected\n");
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unregister_candev(priv->netdev);
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free_candev(priv->netdev);
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unregister_candev(priv_inf->netdev);
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free_candev(priv_inf->netdev);
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panda_urb_unlink(priv);
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panda_urb_unlink(priv_inf);
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kfree(priv_dev);
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}
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static struct usb_driver panda_usb_driver = {
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