[PATCH v3 0/7] can: CAN network device driver interface and drivers

[PATCH v3 0/7] can: CAN network device driver interface and drivers

[Wolfgang Grandegger]

Hello,

here comes v3 of this patch series.

The PF_CAN protocol family for the Controller Area Network is available
in the kernel since version 2.6.25 but drivers for real CAN devices are
still missing. This patch series adds a generic CAN network device
driver interface and, as a start, a few drivers. It is the result of the
on-going discussion and development of the Socket-CAN project hosted at
the BerliOS web-server (http://developer.berlios.de/projects/socketcan).
The patch series consists of the following patches:

 1/7) can: Documentation for the CAN device driver interface
 2/7) can: Update MAINTAINERS and CREDITS file
 3/7) can: CAN Network device driver and Netlink interface
 4/7) can: Driver for the SJA1000 CAN controller
 5/7) can: SJA1000 generic platform bus driver
 6/7) can: SJA1000 driver for EMS PCI cards
 7/7) can: SJA1000 driver for Kvaser PCI cards

Changes since v2:
  (see http://marc.info/?l=linux-netdev&m=124212048701347&w=4)

- Fix dead-lock with netif_tx_lock used in can_restart_now() pointed out
  by Andrew Morton. A restart via netlink interface is now only allowed
  in case of bus-off conditions, which does not require taking the
  netif_tx_lock. Actually no extra locking is required as the device is
  "quiet" and the restart delay can not longer be changed while the
  device is running.

- can_restart_now() now uses "goto out" to handle error conditions
  properly as suggested by Jonathan Corbet.

- Add member "irq_flags" to "struct sja1000_priv" which  will then be
  used by the request_irq() as suggested by Sascha Hauer. The driver
  must set it appropriately, including IRQF_SHARED. This also fixes the
  problem, that drivers used it unnecessarily.

- Fixes for drives/net/can/sja1000.c suggested by Jonathan Corbet:
  - call close_candev() to cleanup if the open function fails.
  - use negative return code if set_reset/normal_mode() fails.
  - call udelay() before the status is checked.

- Fixes for drives/net/can/sja1000_platform.c suggested by Jonathan
  Corbet and Sascha Hauer:
  - use resource_size() where appropriate.
  - call iounmap() before release_mem_region() in the exit path.

- Fixes for drives/net/can/kvasar_pci.c suggested by Jonathan Corbet:
  - dont use the name "tmp" to avoid  reviewers getting grumpy.
  - remove udelay(10) in the loop scanning the device on the card.
  - there is no need to check the return value of netdev_priv().
  - correct procedure of enabling and disabling PCI interrupts.
  - use proper exit label if pci_iomap() fails.
  - fix cleanup code under label failure_iounmap.

- More documentation of the "struct sja1000_priv" as suggested by
  Jonathan Corbet.

- Registration of the netlink interface and netdev devices corrected to
  fix an oops when unloading the driver.

Changes since v1:
  (see http://marc.info/?l=linux-netdev&m=123507025810612&w=4.)

- The SysFS interface has been replaced by the Netlink interface. See
  chapter 6.5 of "Documentation/networking/can.txt" and have a look to
  "include/linux/can/netdev.h" for further information. The patch for
  the "ip" program of the iproute2 utility suite will be provided
  separately.

- The restart function is now properly protected by "dev->tx_lock"
  using the "netif_tx_[lock|unlock]" functions.

- For the  restart, the device driver must now handle CAN_MODE_STOP as
  well, apart from CAN_MODE_START to avoid race conditions.

- The "irq_lock" member of "struct can_priv" has been removed. The CAN
  controller driver may should provide its own synchronization if
  necessary.

- The restart function is now protected by "dev->tx_lock" using the
  "netif_tx_lock/unlock" functions.

- Cleanup timer usage for the restart function.

- The unused do_set/get_ctrlmode member of "struct can_priv" have been
  removed.

- "const" has been added to "struct net_device" for some functions not
  allowed to touch that structure.

- The library functions "can_set_bittiming" and "can_close_cleanup" have
  been renamed to the more general names "open_candev" and
  "close_candev", respectively.

- Use "del_timer_sync" instead of "del_timer" for the  re-start timer.

- The macro "ND2D()" has been replaced by "dev->dev.parent" as it does
  not make the code more readable.

- Fix improper BTR setting for triple-sampling for the SJA1000 as
  pointed out by Oliver.

- Dont use __u8 but __u32 as before for some members of "struct
  can_bittiming[_const]" to avoid alignment trouble.

- Definitions shared with user-space applications have been moved to
  "include/linux/can/netlink.h".

- Various other minor correction suggested on the netdev ML.

- The MSCAN driver for the MPC5200 has been removed. It needs to be
  presented on the Linuxppc-dev and Devicetree-discuss ML as well,
  which will be done by a sub-sequent patch.

- Add more source code documentation, especially for the structures
  and functions related to bit-timing.

Please consider these patches for inclusion.

Thanks,

Wolfgang.

[PATCH v3 1/7] [PATCH 1/8] can: Documentation for the CAN device driver interface

[Wolfgang Grandegger]

[-- Attachment #1: 01-driver-documentation.patch --]
[-- Type: text/plain, Size: 12679 bytes --]

This patch documents the CAN netowrk device drivers interface, removes
obsolete documentation and adds some useful links to CAN resources.

Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
Signed-off-by: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
---
 Documentation/networking/can.txt |  239 ++++++++++++++++++++++++++++++++-------
 1 file changed, 199 insertions(+), 40 deletions(-)

Index: net-next-2.6/Documentation/networking/can.txt
===================================================================
--- net-next-2.6.orig/Documentation/networking/can.txt	2009-05-16 11:09:19.149858631 +0200
+++ net-next-2.6/Documentation/networking/can.txt	2009-05-16 11:17:20.932154505 +0200
@@ -36,10 +36,15 @@
     6.2 local loopback of sent frames
     6.3 CAN controller hardware filters
     6.4 The virtual CAN driver (vcan)
-    6.5 currently supported CAN hardware
-    6.6 todo
+    6.5 The CAN network device driver interface
+      6.5.1 Netlink interface to set/get devices properties
+      6.5.2 Setting the CAN bit-timing
+      6.5.3 Starting and stopping the CAN network device
+    6.6 supported CAN hardware
 
-  7 Credits
+  7 Socket CAN resources
+
+  8 Credits
 
 ============================================================================
 
@@ -234,6 +239,8 @@
   the user application using the common CAN filter mechanisms. Inside
   this filter definition the (interested) type of errors may be
   selected. The reception of error frames is disabled by default.
+  The format of the CAN error frame is briefly decribed in the Linux
+  header file "include/linux/can/error.h".
 
 4. How to use Socket CAN
 ------------------------
@@ -605,61 +612,213 @@
   removal of vcan network devices can be managed with the ip(8) tool:
 
   - Create a virtual CAN network interface:
-       ip link add type vcan
+       $ ip link add type vcan
 
   - Create a virtual CAN network interface with a specific name 'vcan42':
-       ip link add dev vcan42 type vcan
+       $ ip link add dev vcan42 type vcan
 
   - Remove a (virtual CAN) network interface 'vcan42':
-       ip link del vcan42
-
-  The tool 'vcan' from the SocketCAN SVN repository on BerliOS is obsolete.
-
-  Virtual CAN network device creation in older Kernels:
-  In Linux Kernel versions < 2.6.24 the vcan driver creates 4 vcan
-  netdevices at module load time by default. This value can be changed
-  with the module parameter 'numdev'. E.g. 'modprobe vcan numdev=8'
-
-  6.5 currently supported CAN hardware
-
-  On the project website http://developer.berlios.de/projects/socketcan
-  there are different drivers available:
-
-    vcan:    Virtual CAN interface driver (if no real hardware is available)
-    sja1000: Philips SJA1000 CAN controller (recommended)
-    i82527:  Intel i82527 CAN controller
-    mscan:   Motorola/Freescale CAN controller (e.g. inside SOC MPC5200)
-    ccan:    CCAN controller core (e.g. inside SOC h7202)
-    slcan:   For a bunch of CAN adaptors that are attached via a
-             serial line ASCII protocol (for serial / USB adaptors)
+       $ ip link del vcan42
 
-  Additionally the different CAN adaptors (ISA/PCI/PCMCIA/USB/Parport)
-  from PEAK Systemtechnik support the CAN netdevice driver model
-  since Linux driver v6.0: http://www.peak-system.com/linux/index.htm
+  6.5 The CAN network device driver interface
 
-  Please check the Mailing Lists on the berlios OSS project website.
+  The CAN network device driver interface provides a generic interface
+  to setup, configure and monitor CAN network devices. The user can then
+  configure the CAN device, like setting the bit-timing parameters, via
+  the netlink interface using the program "ip" from the "IPROUTE2"
+  utility suite. The following chapter describes briefly how to use it.
+  Furthermore, the interface uses a common data structure and exports a
+  set of common functions, which all real CAN network device drivers
+  should use. Please have a look to the SJA1000 or MSCAN driver to
+  understand how to use them. The name of the module is can-dev.ko.
+
+  6.5.1 Netlink interface to set/get devices properties
+
+  The CAN device must be configured via netlink interface. The supported
+  netlink message types are defined and briefly described in
+  "include/linux/can/netlink.h". CAN link support for the program "ip"
+  of the IPROUTE2 utility suite is avaiable and it can be used as shown
+  below:
+
+  - Setting CAN device properties:
+
+    $ ip link set can0 type can help
+    Usage: ip link set DEVICE type can
+    	[ bitrate BITRATE [ sample-point SAMPLE-POINT] ] |
+    	[ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1
+     	  phase-seg2 PHASE-SEG2 [ sjw SJW ] ]
+
+    	[ loopback { on | off } ]
+    	[ listen-only { on | off } ]
+    	[ triple-sampling { on | off } ]
+
+    	[ restart-ms TIME-MS ]
+    	[ restart ]
+
+    	Where: BITRATE       := { 1..1000000 }
+    	       SAMPLE-POINT  := { 0.000..0.999 }
+    	       TQ            := { NUMBER }
+    	       PROP-SEG      := { 1..8 }
+    	       PHASE-SEG1    := { 1..8 }
+    	       PHASE-SEG2    := { 1..8 }
+    	       SJW           := { 1..4 }
+    	       RESTART-MS    := { 0 | NUMBER }
+
+  - Display CAN device details and statistics:
+
+    $ ip -details -statistics link show can0
+    2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP qlen 10
+      link/can
+      can <TRIPLE-SAMPLING> state ERROR-ACTIVE restart-ms 100
+      bitrate 125000 sample_point 0.875
+      tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
+      sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
+      clock 8000000
+      re-started bus-errors arbit-lost error-warn error-pass bus-off
+      41         17457      0          41         42         41
+      RX: bytes  packets  errors  dropped overrun mcast
+      140859     17608    17457   0       0       0
+      TX: bytes  packets  errors  dropped carrier collsns
+      861        112      0       41      0       0
+
+  More info to the above output:
+
+    "<TRIPLE-SAMPLING>"
+	Shows the list of selected CAN controller modes: LOOPBACK,
+	LISTEN-ONLY, or TRIPLE-SAMPLING.
+
+    "state ERROR-ACTIVE"
+	The current state of the CAN controller: "ERROR-ACTIVE",
+	"ERROR-WARNING", "ERROR-PASSIVE", "BUS-OFF" or "STOPPED"
+
+    "restart-ms 100"
+	Automatic restart delay time. If set to a non-zero value, a
+	restart of the CAN controller will be triggered automatically
+	in case of a bus-off condition after the specified delay time
+	in milliseconds. By default it's off.
+
+    "bitrate 125000 sample_point 0.875"
+	Shows the real bit-rate in bits/sec and the sample-point in the
+	range 0.000..0.999. If the calculation of bit-timing parameters
+	is enabled in the kernel (CONFIG_CAN_CALC_BITTIMING=y), the
+	bit-timing can be defined by setting the "bitrate" argument.
+	Optionally the "sample-point" can be specified. By default it's
+	0.000 assuming CIA-recommended sample-points.
+
+    "tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1"
+	Shows the time quanta in ns, propagation segment, phase buffer
+	segment 1 and 2 and the synchronisation jump width in units of
+	tq. They allow to define the CAN bit-timing in a hardware
+	independent format as proposed by the Bosch CAN 2.0 spec (see
+	chapter 8 of http://www.semiconductors.bosch.de/pdf/can2spec.pdf).
+
+    "sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
+     clock 8000000"
+	Shows the bit-timing constants of the CAN controller, here the
+	"sja1000". The minimum and maximum values of the time segment 1
+	and 2, the synchronisation jump width in units of tq, the
+	bitrate pre-scaler and the CAN system clock frequency in Hz.
+	These constants could be used for user-defined (non-standard)
+	bit-timing calculation algorithms in user-space.
+
+    "re-started bus-errors arbit-lost error-warn error-pass bus-off"
+	Shows the number of restarts, bus and arbitration lost errors,
+	and the state changes to the error-warning, error-passive and
+	bus-off state. RX overrun errors are listed in the "overrun"
+	field of the standard network statistics.
+
+  6.5.2 Setting the CAN bit-timing
+
+  The CAN bit-timing parameters can always be defined in a hardware
+  independent format as proposed in the Bosch CAN 2.0 specification
+  specifying the arguments "tq", "prop_seg", "phase_seg1", "phase_seg2"
+  and "sjw":
+
+    $ ip link set canX type can tq 125 prop-seg 6 \
+				phase-seg1 7 phase-seg2 2 sjw 1
+
+  If the kernel option CONFIG_CAN_CALC_BITTIMING is enabled, CIA
+  recommended CAN bit-timing parameters will be calculated if the bit-
+  rate is specified with the argument "bitrate":
+
+    $ ip link set canX type can bitrate 125000
+
+  Note that this works fine for the most common CAN controllers with
+  standard bit-rates but may *fail* for exotic bit-rates or CAN system
+  clock frequencies. Disabling CONFIG_CAN_CALC_BITTIMING saves some
+  space and allows user-space tools to solely determine and set the
+  bit-timing parameters. The CAN controller specific bit-timing
+  constants can be used for that purpose. They are listed by the
+  following command:
+
+    $ ip -details link show can0
+    ...
+      sja1000: clock 8000000 tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
+
+  6.5.3 Starting and stopping the CAN network device
+
+  A CAN network device is started or stopped as usual with the command
+  "ifconfig canX up/down" or "ip link set canX up/down". Be aware that
+  you *must* define proper bit-timing parameters for real CAN devices
+  before you can start it to avoid error-prone default settings:
+
+    $ ip link set canX up type can bitrate 125000
+
+  A device may enter the "bus-off" state if too much errors occurred on
+  the CAN bus. Then no more messages are received or sent. An automatic
+  bus-off recovery can be enabled by setting the "restart-ms" to a
+  non-zero value, e.g.:
+
+    $ ip link set canX type can restart-ms 100
+
+  Alternatively, the application may realize the "bus-off" condition
+  by monitoring CAN error frames and do a restart when appropriate with
+  the command:
+
+    $ ip link set canX type can restart
+
+  Note that a restart will also create a CAN error frame (see also
+  chapter 3.4).
+
+  6.6 Supported CAN hardware
+
+  Please check the "Kconfig" file in "drivers/net/can" to get an actual
+  list of the support CAN hardware. On the Socket CAN project website
+  (see chapter 7) there might be further drivers available, also for
+  older kernel versions.
+
+7. Socket CAN resources
+-----------------------
+
+  You can find further resources for Socket CAN like user space tools,
+  support for old kernel versions, more drivers, mailing lists, etc.
+  at the BerliOS OSS project website for Socket CAN:
 
-  6.6 todo
+    http://developer.berlios.de/projects/socketcan
 
-  The configuration interface for CAN network drivers is still an open
-  issue that has not been finalized in the socketcan project. Also the
-  idea of having a library module (candev.ko) that holds functions
-  that are needed by all CAN netdevices is not ready to ship.
-  Your contribution is welcome.
+  If you have questions, bug fixes, etc., don't hesitate to post them to
+  the Socketcan-Users mailing list. But please search the archives first.
 
-7. Credits
+8. Credits
 ----------
 
-  Oliver Hartkopp (PF_CAN core, filters, drivers, bcm)
+  Oliver Hartkopp (PF_CAN core, filters, drivers, bcm, SJA1000 driver)
   Urs Thuermann (PF_CAN core, kernel integration, socket interfaces, raw, vcan)
   Jan Kizka (RT-SocketCAN core, Socket-API reconciliation)
-  Wolfgang Grandegger (RT-SocketCAN core & drivers, Raw Socket-API reviews)
+  Wolfgang Grandegger (RT-SocketCAN core & drivers, Raw Socket-API reviews,
+                       CAN device driver interface, MSCAN driver)
   Robert Schwebel (design reviews, PTXdist integration)
   Marc Kleine-Budde (design reviews, Kernel 2.6 cleanups, drivers)
   Benedikt Spranger (reviews)
   Thomas Gleixner (LKML reviews, coding style, posting hints)
-  Andrey Volkov (kernel subtree structure, ioctls, mscan driver)
+  Andrey Volkov (kernel subtree structure, ioctls, MSCAN driver)
   Matthias Brukner (first SJA1000 CAN netdevice implementation Q2/2003)
   Klaus Hitschler (PEAK driver integration)
   Uwe Koppe (CAN netdevices with PF_PACKET approach)
   Michael Schulze (driver layer loopback requirement, RT CAN drivers review)
+  Pavel Pisa (Bit-timing calculation)
+  Sascha Hauer (SJA1000 platform driver)
+  Sebastian Haas (SJA1000 EMS PCI driver)
+  Markus Plessing (SJA1000 EMS PCI driver)
+  Per Dalen (SJA1000 Kvaser PCI driver)
+  Sam Ravnborg (reviews, coding style, kbuild help)

[PATCH v3 2/7] [PATCH 2/8] can: Update MAINTAINERS and CREDITS file

[Wolfgang Grandegger]

[-- Attachment #1: 02-driver-maintainers.patch --]
[-- Type: text/plain, Size: 1185 bytes --]

Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
---
 CREDITS     |    4 ++++
 MAINTAINERS |    7 +++++++
 2 files changed, 11 insertions(+)

Index: net-next-2.6/CREDITS
===================================================================
--- net-next-2.6.orig/CREDITS	2009-05-16 11:09:19.073112853 +0200
+++ net-next-2.6/CREDITS	2009-05-16 11:17:20.991718798 +0200
@@ -1253,6 +1253,10 @@
 S: Sterling Heights, Michigan 48313
 S: USA
 
+N: Wolfgang Grandegger
+E: wg@grandegger.com
+D: Controller Area Network (device drivers)
+
 N: William Greathouse
 E: wgreathouse@smva.com
 E: wgreathouse@myfavoritei.com
Index: net-next-2.6/MAINTAINERS
===================================================================
--- net-next-2.6.orig/MAINTAINERS	2009-05-16 11:09:19.078821762 +0200
+++ net-next-2.6/MAINTAINERS	2009-05-16 11:17:20.999719092 +0200
@@ -1278,6 +1278,13 @@
 F:	include/linux/can/
 F:	include/linux/can.h
 
+CAN NETWORK DRIVERS
+P:	Wolfgang Grandegger
+M:	wg@grandegger.com
+L:	socketcan-core@lists.berlios.de (subscribers-only)
+W:	http://developer.berlios.de/projects/socketcan/
+S:	Maintained
+
 CELL BROADBAND ENGINE ARCHITECTURE
 P:	Arnd Bergmann
 M:	arnd@arndb.de

[PATCH v3 3/7] [PATCH 3/8] can: CAN Network device driver and Netlink interface

[Wolfgang Grandegger]

[-- Attachment #1: 03-driver-interface.patch --]
[-- Type: text/plain, Size: 26361 bytes --]

The CAN network device driver interface provides a generic interface to
setup, configure and monitor CAN network devices. It exports a set of
common data structures and functions, which all real CAN network device
drivers should use. Please have a look to the SJA1000 or MSCAN driver
to understand how to use them. The name of the module is can-dev.ko.

Furthermore, it adds a Netlink interface allowing to configure the CAN
device using the program "ip" from the iproute2 utility suite.

For further information please check "Documentation/networking/can.txt"

Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
Signed-off-by: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
---
 drivers/net/can/Kconfig     |   23 +
 drivers/net/can/Makefile    |    5 
 drivers/net/can/dev.c       |  657 ++++++++++++++++++++++++++++++++++++++++++++
 include/linux/can/Kbuild    |    1 
 include/linux/can/dev.h     |   70 ++++
 include/linux/can/netlink.h |  113 +++++++
 6 files changed, 869 insertions(+)
 create mode 100644 drivers/net/can/dev.c
 create mode 100644 drivers/net/can/sysfs.c
 create mode 100644 drivers/net/can/sysfs.h
 create mode 100644 include/linux/can/dev.h

Index: net-next-2.6/drivers/net/can/Kconfig
===================================================================
--- net-next-2.6.orig/drivers/net/can/Kconfig	2009-05-16 11:09:18.909719618 +0200
+++ net-next-2.6/drivers/net/can/Kconfig	2009-05-16 11:17:45.016721577 +0200
@@ -12,6 +12,29 @@
 	  This driver can also be built as a module.  If so, the module
 	  will be called vcan.
 
+config CAN_DEV
+	tristate "Platform CAN drivers with Netlink support"
+	depends on CAN
+	default Y
+	---help---
+	  Enables the common framework for platform CAN drivers with Netlink
+	  support. This is the standard library for CAN drivers.
+	  If unsure, say Y.
+
+config CAN_CALC_BITTIMING
+	bool "CAN bit-timing calculation"
+	depends on CAN_DEV
+	default Y
+	---help---
+	  If enabled, CAN bit-timing parameters will be calculated for the
+	  bit-rate specified via Netlink argument "bitrate" when the device
+	  get started. This works fine for the most common CAN controllers
+	  with standard bit-rates but may fail for exotic bit-rates or CAN
+	  source clock frequencies. Disabling saves some space, but then the
+	  bit-timing parameters must be specified directly using the Netlink
+	  arguments "tq", "prop_seg", "phase_seg1", "phase_seg2" and "sjw".
+	  If unsure, say Y.
+
 config CAN_DEBUG_DEVICES
 	bool "CAN devices debugging messages"
 	depends on CAN
Index: net-next-2.6/drivers/net/can/Makefile
===================================================================
--- net-next-2.6.orig/drivers/net/can/Makefile	2009-05-16 11:09:18.910719481 +0200
+++ net-next-2.6/drivers/net/can/Makefile	2009-05-16 11:17:45.016721577 +0200
@@ -3,3 +3,8 @@
 #
 
 obj-$(CONFIG_CAN_VCAN)		+= vcan.o
+
+obj-$(CONFIG_CAN_DEV)		+= can-dev.o
+can-dev-y			:= dev.o
+
+ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: net-next-2.6/drivers/net/can/dev.c
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/dev.c	2009-05-16 11:17:21.034720693 +0200
@@ -0,0 +1,657 @@
+/*
+ * Copyright (C) 2005 Marc Kleine-Budde, Pengutronix
+ * Copyright (C) 2006 Andrey Volkov, Varma Electronics
+ * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ */
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/netdevice.h>
+#include <linux/if_arp.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/netlink.h>
+#include <net/rtnetlink.h>
+
+#define MOD_DESC "CAN device driver interface"
+
+MODULE_DESCRIPTION(MOD_DESC);
+MODULE_LICENSE("GPL v2");
+MODULE_AUTHOR("Wolfgang Grandegger <wg@grandegger.com>");
+
+#ifdef CONFIG_CAN_CALC_BITTIMING
+#define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */
+
+/*
+ * Bit-timing calculation derived from:
+ *
+ * Code based on LinCAN sources and H8S2638 project
+ * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
+ * Copyright 2005      Stanislav Marek
+ * email: pisa@cmp.felk.cvut.cz
+ *
+ * Calculates proper bit-timing parameters for a specified bit-rate
+ * and sample-point, which can then be used to set the bit-timing
+ * registers of the CAN controller. You can find more information
+ * in the header file linux/can/netlink.h.
+ */
+static int can_update_spt(const struct can_bittiming_const *btc,
+			  int sampl_pt, int tseg, int *tseg1, int *tseg2)
+{
+	*tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000;
+	if (*tseg2 < btc->tseg2_min)
+		*tseg2 = btc->tseg2_min;
+	if (*tseg2 > btc->tseg2_max)
+		*tseg2 = btc->tseg2_max;
+	*tseg1 = tseg - *tseg2;
+	if (*tseg1 > btc->tseg1_max) {
+		*tseg1 = btc->tseg1_max;
+		*tseg2 = tseg - *tseg1;
+	}
+	return 1000 * (tseg + 1 - *tseg2) / (tseg + 1);
+}
+
+static int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	const struct can_bittiming_const *btc = priv->bittiming_const;
+	long rate, best_rate = 0;
+	long best_error = 1000000000, error = 0;
+	int best_tseg = 0, best_brp = 0, brp = 0;
+	int tsegall, tseg = 0, tseg1 = 0, tseg2 = 0;
+	int spt_error = 1000, spt = 0, sampl_pt;
+	u64 v64;
+
+	if (!priv->bittiming_const)
+		return -ENOTSUPP;
+
+	/* Use CIA recommended sample points */
+	if (bt->sample_point) {
+		sampl_pt = bt->sample_point;
+	} else {
+		if (bt->bitrate > 800000)
+			sampl_pt = 750;
+		else if (bt->bitrate > 500000)
+			sampl_pt = 800;
+		else
+			sampl_pt = 875;
+	}
+
+	/* tseg even = round down, odd = round up */
+	for (tseg = (btc->tseg1_max + btc->tseg2_max) * 2 + 1;
+	     tseg >= (btc->tseg1_min + btc->tseg2_min) * 2; tseg--) {
+		tsegall = 1 + tseg / 2;
+		/* Compute all possible tseg choices (tseg=tseg1+tseg2) */
+		brp = priv->clock.freq / (tsegall * bt->bitrate) + tseg % 2;
+		/* chose brp step which is possible in system */
+		brp = (brp / btc->brp_inc) * btc->brp_inc;
+		if ((brp < btc->brp_min) || (brp > btc->brp_max))
+			continue;
+		rate = priv->clock.freq / (brp * tsegall);
+		error = bt->bitrate - rate;
+		/* tseg brp biterror */
+		if (error < 0)
+			error = -error;
+		if (error > best_error)
+			continue;
+		best_error = error;
+		if (error == 0) {
+			spt = can_update_spt(btc, sampl_pt, tseg / 2,
+					     &tseg1, &tseg2);
+			error = sampl_pt - spt;
+			if (error < 0)
+				error = -error;
+			if (error > spt_error)
+				continue;
+			spt_error = error;
+		}
+		best_tseg = tseg / 2;
+		best_brp = brp;
+		best_rate = rate;
+		if (error == 0)
+			break;
+	}
+
+	if (best_error) {
+		/* Error in one-tenth of a percent */
+		error = (best_error * 1000) / bt->bitrate;
+		if (error > CAN_CALC_MAX_ERROR) {
+			dev_err(dev->dev.parent,
+				"bitrate error %ld.%ld%% too high\n",
+				error / 10, error % 10);
+			return -EDOM;
+		} else {
+			dev_warn(dev->dev.parent, "bitrate error %ld.%ld%%\n",
+				 error / 10, error % 10);
+		}
+	}
+
+	/* real sample point */
+	bt->sample_point = can_update_spt(btc, sampl_pt, best_tseg,
+					  &tseg1, &tseg2);
+
+	v64 = (u64)best_brp * 1000000000UL;
+	do_div(v64, priv->clock.freq);
+	bt->tq = (u32)v64;
+	bt->prop_seg = tseg1 / 2;
+	bt->phase_seg1 = tseg1 - bt->prop_seg;
+	bt->phase_seg2 = tseg2;
+	bt->sjw = 1;
+	bt->brp = best_brp;
+	/* real bit-rate */
+	bt->bitrate = priv->clock.freq / (bt->brp * (tseg1 + tseg2 + 1));
+
+	return 0;
+}
+#else /* !CONFIG_CAN_CALC_BITTIMING */
+static int can_calc_bittiming(struct net_device *dev, struct can_bittiming *bt)
+{
+	dev_err(dev->dev.parent, "bit-timing calculation not available\n");
+	return -EINVAL;
+}
+#endif /* CONFIG_CAN_CALC_BITTIMING */
+
+/*
+ * Checks the validity of the specified bit-timing parameters prop_seg,
+ * phase_seg1, phase_seg2 and sjw and tries to determine the bitrate
+ * prescaler value brp. You can find more information in the header
+ * file linux/can/netlink.h.
+ */
+static int can_fixup_bittiming(struct net_device *dev, struct can_bittiming *bt)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	const struct can_bittiming_const *btc = priv->bittiming_const;
+	int tseg1, alltseg;
+	u64 brp64;
+
+	if (!priv->bittiming_const)
+		return -ENOTSUPP;
+
+	tseg1 = bt->prop_seg + bt->phase_seg1;
+	if (!bt->sjw)
+		bt->sjw = 1;
+	if (bt->sjw > btc->sjw_max ||
+	    tseg1 < btc->tseg1_min || tseg1 > btc->tseg1_max ||
+	    bt->phase_seg2 < btc->tseg2_min || bt->phase_seg2 > btc->tseg2_max)
+		return -ERANGE;
+
+	brp64 = (u64)priv->clock.freq * (u64)bt->tq;
+	if (btc->brp_inc > 1)
+		do_div(brp64, btc->brp_inc);
+	brp64 += 500000000UL - 1;
+	do_div(brp64, 1000000000UL); /* the practicable BRP */
+	if (btc->brp_inc > 1)
+		brp64 *= btc->brp_inc;
+	bt->brp = (u32)brp64;
+
+	if (bt->brp < btc->brp_min || bt->brp > btc->brp_max)
+		return -EINVAL;
+
+	alltseg = bt->prop_seg + bt->phase_seg1 + bt->phase_seg2 + 1;
+	bt->bitrate = priv->clock.freq / (bt->brp * alltseg);
+	bt->sample_point = ((tseg1 + 1) * 1000) / alltseg;
+
+	return 0;
+}
+
+int can_get_bittiming(struct net_device *dev, struct can_bittiming *bt)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	int err;
+
+	/* Check if the CAN device has bit-timing parameters */
+	if (priv->bittiming_const) {
+
+		/* Non-expert mode? Check if the bitrate has been pre-defined */
+		if (!bt->tq)
+			/* Determine bit-timing parameters */
+			err = can_calc_bittiming(dev, bt);
+		else
+			/* Check bit-timing params and calculate proper brp */
+			err = can_fixup_bittiming(dev, bt);
+		if (err)
+			return err;
+	}
+
+	return 0;
+}
+
+/*
+ * Local echo of CAN messages
+ *
+ * CAN network devices *should* support a local echo functionality
+ * (see Documentation/networking/can.txt). To test the handling of CAN
+ * interfaces that do not support the local echo both driver types are
+ * implemented. In the case that the driver does not support the echo
+ * the IFF_ECHO remains clear in dev->flags. This causes the PF_CAN core
+ * to perform the echo as a fallback solution.
+ */
+static void can_flush_echo_skb(struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	struct net_device_stats *stats = &dev->stats;
+	int i;
+
+	for (i = 0; i < CAN_ECHO_SKB_MAX; i++) {
+		if (priv->echo_skb[i]) {
+			kfree_skb(priv->echo_skb[i]);
+			priv->echo_skb[i] = NULL;
+			stats->tx_dropped++;
+			stats->tx_aborted_errors++;
+		}
+	}
+}
+
+/*
+ * Put the skb on the stack to be looped backed locally lateron
+ *
+ * The function is typically called in the start_xmit function
+ * of the device driver. The driver must protect access to
+ * priv->echo_skb, if necessary.
+ */
+void can_put_echo_skb(struct sk_buff *skb, struct net_device *dev, int idx)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	/* check flag whether this packet has to be looped back */
+	if (!(dev->flags & IFF_ECHO) || skb->pkt_type != PACKET_LOOPBACK) {
+		kfree_skb(skb);
+		return;
+	}
+
+	if (!priv->echo_skb[idx]) {
+		struct sock *srcsk = skb->sk;
+
+		if (atomic_read(&skb->users) != 1) {
+			struct sk_buff *old_skb = skb;
+
+			skb = skb_clone(old_skb, GFP_ATOMIC);
+			kfree_skb(old_skb);
+			if (!skb)
+				return;
+		} else
+			skb_orphan(skb);
+
+		skb->sk = srcsk;
+
+		/* make settings for echo to reduce code in irq context */
+		skb->protocol = htons(ETH_P_CAN);
+		skb->pkt_type = PACKET_BROADCAST;
+		skb->ip_summed = CHECKSUM_UNNECESSARY;
+		skb->dev = dev;
+
+		/* save this skb for tx interrupt echo handling */
+		priv->echo_skb[idx] = skb;
+	} else {
+		/* locking problem with netif_stop_queue() ?? */
+		dev_err(dev->dev.parent, "%s: BUG! echo_skb is occupied!\n",
+			__func__);
+		kfree_skb(skb);
+	}
+}
+EXPORT_SYMBOL_GPL(can_put_echo_skb);
+
+/*
+ * Get the skb from the stack and loop it back locally
+ *
+ * The function is typically called when the TX done interrupt
+ * is handled in the device driver. The driver must protect
+ * access to priv->echo_skb, if necessary.
+ */
+void can_get_echo_skb(struct net_device *dev, int idx)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	if ((dev->flags & IFF_ECHO) && priv->echo_skb[idx]) {
+		netif_rx(priv->echo_skb[idx]);
+		priv->echo_skb[idx] = NULL;
+	}
+}
+EXPORT_SYMBOL_GPL(can_get_echo_skb);
+
+/*
+ * CAN device restart for bus-off recovery
+ */
+void can_restart(unsigned long data)
+{
+	struct net_device *dev = (struct net_device *)data;
+	struct can_priv *priv = netdev_priv(dev);
+	struct net_device_stats *stats = &dev->stats;
+	struct sk_buff *skb;
+	struct can_frame *cf;
+	int err;
+
+	BUG_ON(netif_carrier_ok(dev));
+
+	/*
+	 * No synchronization needed because the device is bus-off and
+	 * no messages can come in or go out.
+	 */
+	can_flush_echo_skb(dev);
+
+	/* send restart message upstream */
+	skb = dev_alloc_skb(sizeof(struct can_frame));
+	if (skb == NULL) {
+		err = -ENOMEM;
+		goto out;
+	}
+	skb->dev = dev;
+	skb->protocol = htons(ETH_P_CAN);
+	cf = (struct can_frame *)skb_put(skb, sizeof(struct can_frame));
+	memset(cf, 0, sizeof(struct can_frame));
+	cf->can_id = CAN_ERR_FLAG | CAN_ERR_RESTARTED;
+	cf->can_dlc = CAN_ERR_DLC;
+
+	netif_rx(skb);
+
+	dev->last_rx = jiffies;
+	stats->rx_packets++;
+	stats->rx_bytes += cf->can_dlc;
+
+	dev_dbg(dev->dev.parent, "restarted\n");
+	priv->can_stats.restarts++;
+
+	/* Now restart the device */
+	err = priv->do_set_mode(dev, CAN_MODE_START);
+
+out:
+	netif_carrier_on(dev);
+	if (err)
+		dev_err(dev->dev.parent, "Error %d during restart", err);
+}
+
+int can_restart_now(struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	/*
+	 * A manual restart is only permitted if automatic restart is
+	 * disabled and the device is in the bus-off state
+	 */
+	if (priv->restart_ms)
+		return -EINVAL;
+	if (priv->state != CAN_STATE_BUS_OFF)
+		return -EBUSY;
+
+	/* Runs as soon as possible in the timer context */
+	mod_timer(&priv->restart_timer, jiffies);
+
+	return 0;
+}
+
+/*
+ * CAN bus-off
+ *
+ * This functions should be called when the device goes bus-off to
+ * tell the netif layer that no more packets can be sent or received.
+ * If enabled, a timer is started to trigger bus-off recovery.
+ */
+void can_bus_off(struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	dev_dbg(dev->dev.parent, "bus-off\n");
+
+	netif_carrier_off(dev);
+	priv->can_stats.bus_off++;
+
+	if (priv->restart_ms)
+		mod_timer(&priv->restart_timer,
+			  jiffies + (priv->restart_ms * HZ) / 1000);
+}
+EXPORT_SYMBOL_GPL(can_bus_off);
+
+static void can_setup(struct net_device *dev)
+{
+	dev->type = ARPHRD_CAN;
+	dev->mtu = sizeof(struct can_frame);
+	dev->hard_header_len = 0;
+	dev->addr_len = 0;
+	dev->tx_queue_len = 10;
+
+	/* New-style flags. */
+	dev->flags = IFF_NOARP;
+	dev->features = NETIF_F_NO_CSUM;
+}
+
+/*
+ * Allocate and setup space for the CAN network device
+ */
+struct net_device *alloc_candev(int sizeof_priv)
+{
+	struct net_device *dev;
+	struct can_priv *priv;
+
+	dev = alloc_netdev(sizeof_priv, "can%d", can_setup);
+	if (!dev)
+		return NULL;
+
+	priv = netdev_priv(dev);
+
+	priv->state = CAN_STATE_STOPPED;
+
+	init_timer(&priv->restart_timer);
+
+	return dev;
+}
+EXPORT_SYMBOL_GPL(alloc_candev);
+
+/*
+ * Free space of the CAN network device
+ */
+void free_candev(struct net_device *dev)
+{
+	free_netdev(dev);
+}
+EXPORT_SYMBOL_GPL(free_candev);
+
+/*
+ * Common open function when the device gets opened.
+ *
+ * This function should be called in the open function of the device
+ * driver.
+ */
+int open_candev(struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	if (!priv->bittiming.tq && !priv->bittiming.bitrate) {
+		dev_err(dev->dev.parent, "bit-timing not yet defined\n");
+		return -EINVAL;
+	}
+
+	setup_timer(&priv->restart_timer, can_restart, (unsigned long)dev);
+
+	return 0;
+}
+EXPORT_SYMBOL(open_candev);
+
+/*
+ * Common close function for cleanup before the device gets closed.
+ *
+ * This function should be called in the close function of the device
+ * driver.
+ */
+void close_candev(struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	if (del_timer_sync(&priv->restart_timer))
+		dev_put(dev);
+	can_flush_echo_skb(dev);
+}
+EXPORT_SYMBOL_GPL(close_candev);
+
+/*
+ * CAN netlink interface
+ */
+static const struct nla_policy can_policy[IFLA_CAN_MAX + 1] = {
+	[IFLA_CAN_STATE]	= { .type = NLA_U32 },
+	[IFLA_CAN_CTRLMODE]	= { .len = sizeof(struct can_ctrlmode) },
+	[IFLA_CAN_RESTART_MS]	= { .type = NLA_U32 },
+	[IFLA_CAN_RESTART]	= { .type = NLA_U32 },
+	[IFLA_CAN_BITTIMING]	= { .len = sizeof(struct can_bittiming) },
+	[IFLA_CAN_BITTIMING_CONST]
+				= { .len = sizeof(struct can_bittiming_const) },
+	[IFLA_CAN_CLOCK]	= { .len = sizeof(struct can_clock) },
+};
+
+static int can_changelink(struct net_device *dev,
+			  struct nlattr *tb[], struct nlattr *data[])
+{
+	struct can_priv *priv = netdev_priv(dev);
+	int err;
+
+	/* We need synchronization with dev->stop() */
+	ASSERT_RTNL();
+
+	if (data[IFLA_CAN_CTRLMODE]) {
+		struct can_ctrlmode *cm;
+
+		/* Do not allow changing controller mode while running */
+		if (dev->flags & IFF_UP)
+			return -EBUSY;
+		cm = nla_data(data[IFLA_CAN_CTRLMODE]);
+		priv->ctrlmode &= ~cm->mask;
+		priv->ctrlmode |= cm->flags;
+	}
+
+	if (data[IFLA_CAN_BITTIMING]) {
+		struct can_bittiming bt;
+
+		/* Do not allow changing bittiming while running */
+		if (dev->flags & IFF_UP)
+			return -EBUSY;
+		memcpy(&bt, nla_data(data[IFLA_CAN_BITTIMING]), sizeof(bt));
+		if ((!bt.bitrate && !bt.tq) || (bt.bitrate && bt.tq))
+			return -EINVAL;
+		err = can_get_bittiming(dev, &bt);
+		if (err)
+			return err;
+		memcpy(&priv->bittiming, &bt, sizeof(bt));
+
+		if (priv->do_set_bittiming) {
+			/* Finally, set the bit-timing registers */
+			err = priv->do_set_bittiming(dev);
+			if (err)
+				return err;
+		}
+	}
+
+	if (data[IFLA_CAN_RESTART_MS]) {
+		/* Do not allow changing restart delay while running */
+		if (dev->flags & IFF_UP)
+			return -EBUSY;
+		priv->restart_ms = nla_get_u32(data[IFLA_CAN_RESTART_MS]);
+	}
+
+	if (data[IFLA_CAN_RESTART]) {
+		/* Do not allow a restart while not running */
+		if (!(dev->flags & IFF_UP))
+			return -EINVAL;
+		err = can_restart_now(dev);
+		if (err)
+			return err;
+	}
+
+	return 0;
+}
+
+static int can_fill_info(struct sk_buff *skb, const struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+	struct can_ctrlmode cm = {.flags = priv->ctrlmode};
+	enum can_state state = priv->state;
+
+	if (priv->do_get_state)
+		priv->do_get_state(dev, &state);
+	NLA_PUT_U32(skb, IFLA_CAN_STATE, state);
+	NLA_PUT(skb, IFLA_CAN_CTRLMODE, sizeof(cm), &cm);
+	NLA_PUT_U32(skb, IFLA_CAN_RESTART_MS, priv->restart_ms);
+	NLA_PUT(skb, IFLA_CAN_BITTIMING,
+		sizeof(priv->bittiming), &priv->bittiming);
+	NLA_PUT(skb, IFLA_CAN_CLOCK, sizeof(cm), &priv->clock);
+	if (priv->bittiming_const)
+		NLA_PUT(skb, IFLA_CAN_BITTIMING_CONST,
+			sizeof(*priv->bittiming_const), priv->bittiming_const);
+
+	return 0;
+
+nla_put_failure:
+	return -EMSGSIZE;
+}
+
+static int can_fill_xstats(struct sk_buff *skb, const struct net_device *dev)
+{
+	struct can_priv *priv = netdev_priv(dev);
+
+	NLA_PUT(skb, IFLA_INFO_XSTATS,
+		sizeof(priv->can_stats), &priv->can_stats);
+
+	return 0;
+
+nla_put_failure:
+	return -EMSGSIZE;
+}
+
+static struct rtnl_link_ops can_link_ops __read_mostly = {
+	.kind		= "can",
+	.maxtype	= IFLA_CAN_MAX,
+	.policy		= can_policy,
+	.setup		= can_setup,
+	.changelink	= can_changelink,
+	.fill_info	= can_fill_info,
+	.fill_xstats	= can_fill_xstats,
+};
+
+/*
+ * Register the CAN network device
+ */
+int register_candev(struct net_device *dev)
+{
+	dev->rtnl_link_ops = &can_link_ops;
+	return register_netdev(dev);
+}
+EXPORT_SYMBOL_GPL(register_candev);
+
+/*
+ * Unregister the CAN network device
+ */
+void unregister_candev(struct net_device *dev)
+{
+	unregister_netdev(dev);
+}
+EXPORT_SYMBOL_GPL(unregister_candev);
+
+static __init int can_dev_init(void)
+{
+	int err;
+
+	err = rtnl_link_register(&can_link_ops);
+	if (!err)
+		printk(KERN_INFO MOD_DESC "\n");
+
+	return err;
+}
+module_init(can_dev_init);
+
+static __exit void can_dev_exit(void)
+{
+	rtnl_link_unregister(&can_link_ops);
+}
+module_exit(can_dev_exit);
+
+MODULE_ALIAS_RTNL_LINK("can");
Index: net-next-2.6/include/linux/can/dev.h
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/include/linux/can/dev.h	2009-05-16 11:17:21.038720700 +0200
@@ -0,0 +1,70 @@
+/*
+ * linux/can/dev.h
+ *
+ * Definitions for the CAN network device driver interface
+ *
+ * Copyright (C) 2006 Andrey Volkov <avolkov@varma-el.com>
+ *               Varma Electronics Oy
+ *
+ * Copyright (C) 2008 Wolfgang Grandegger <wg@grandegger.com>
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ */
+
+#ifndef CAN_DEV_H
+#define CAN_DEV_H
+
+#include <linux/can/netlink.h>
+#include <linux/can/error.h>
+
+/*
+ * CAN mode
+ */
+enum can_mode {
+	CAN_MODE_STOP = 0,
+	CAN_MODE_START,
+	CAN_MODE_SLEEP
+};
+
+/*
+ * CAN common private data
+ */
+#define CAN_ECHO_SKB_MAX  4
+
+struct can_priv {
+	struct can_device_stats can_stats;
+
+	struct can_bittiming bittiming;
+	struct can_bittiming_const *bittiming_const;
+	struct can_clock clock;
+
+	enum can_state state;
+	u32 ctrlmode;
+
+	int restart_ms;
+	struct timer_list restart_timer;
+
+	struct sk_buff *echo_skb[CAN_ECHO_SKB_MAX];
+
+	int (*do_set_bittiming)(struct net_device *dev);
+	int (*do_set_mode)(struct net_device *dev, enum can_mode mode);
+	int (*do_get_state)(const struct net_device *dev,
+			    enum can_state *state);
+};
+
+struct net_device *alloc_candev(int sizeof_priv);
+void free_candev(struct net_device *dev);
+
+int open_candev(struct net_device *dev);
+void close_candev(struct net_device *dev);
+
+int register_candev(struct net_device *dev);
+void unregister_candev(struct net_device *dev);
+
+int can_restart_now(struct net_device *dev);
+void can_bus_off(struct net_device *dev);
+
+void can_put_echo_skb(struct sk_buff *skb, struct net_device *dev, int idx);
+void can_get_echo_skb(struct net_device *dev, int idx);
+
+#endif /* CAN_DEV_H */
Index: net-next-2.6/include/linux/can/netlink.h
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/include/linux/can/netlink.h	2009-05-16 11:17:21.039720841 +0200
@@ -0,0 +1,113 @@
+/*
+ * linux/can/netlink.h
+ *
+ * Definitions for the CAN netlink interface
+ *
+ * Copyright (c) 2009 Wolfgang Grandegger <wg@grandegger.com>
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#ifndef CAN_NETLINK_H
+#define CAN_NETLINK_H
+
+#include <linux/types.h>
+
+/*
+ * CAN bit-timing parameters
+ *
+ * For futher information, please read chapter "8 BIT TIMING
+ * REQUIREMENTS" of the "Bosch CAN Specification version 2.0"
+ * at http://www.semiconductors.bosch.de/pdf/can2spec.pdf.
+ */
+struct can_bittiming {
+	__u32 bitrate;		/* Bit-rate in bits/second */
+	__u32 sample_point;	/* Sample point in one-tenth of a percent */
+	__u32 tq;		/* Time quanta (TQ) in nanoseconds */
+	__u32 prop_seg;		/* Propagation segment in TQs */
+	__u32 phase_seg1;	/* Phase buffer segment 1 in TQs */
+	__u32 phase_seg2;	/* Phase buffer segment 2 in TQs */
+	__u32 sjw;		/* Synchronisation jump width in TQs */
+	__u32 brp;		/* Bit-rate prescaler */
+};
+
+/*
+ * CAN harware-dependent bit-timing constant
+ *
+ * Used for calculating and checking bit-timing parameters
+ */
+struct can_bittiming_const {
+	char name[16];		/* Name of the CAN controller hardware */
+	__u32 tseg1_min;	/* Time segement 1 = prop_seg + phase_seg1 */
+	__u32 tseg1_max;
+	__u32 tseg2_min;	/* Time segement 2 = phase_seg2 */
+	__u32 tseg2_max;
+	__u32 sjw_max;		/* Synchronisation jump width */
+	__u32 brp_min;		/* Bit-rate prescaler */
+	__u32 brp_max;
+	__u32 brp_inc;
+};
+
+/*
+ * CAN clock parameters
+ */
+struct can_clock {
+	__u32 freq;		/* CAN system clock frequency in Hz */
+};
+
+/*
+ * CAN operational and error states
+ */
+enum can_state {
+	CAN_STATE_ERROR_ACTIVE = 0,	/* RX/TX error count < 96 */
+	CAN_STATE_ERROR_WARNING,	/* RX/TX error count < 128 */
+	CAN_STATE_ERROR_PASSIVE,	/* RX/TX error count < 256 */
+	CAN_STATE_BUS_OFF,		/* RX/TX error count >= 256 */
+	CAN_STATE_STOPPED,		/* Device is stopped */
+	CAN_STATE_SLEEPING,		/* Device is sleeping */
+	CAN_STATE_MAX
+};
+
+/*
+ * CAN controller mode
+ */
+struct can_ctrlmode {
+	__u32 mask;
+	__u32 flags;
+};
+
+#define CAN_CTRLMODE_LOOPBACK	0x1	/* Loopback mode */
+#define CAN_CTRLMODE_LISTENONLY	0x2 	/* Listen-only mode */
+#define CAN_CTRLMODE_3_SAMPLES	0x4	/* Triple sampling mode */
+
+/*
+ * CAN device statistics
+ */
+struct can_device_stats {
+	__u32 bus_error;	/* Bus errors */
+	__u32 error_warning;	/* Changes to error warning state */
+	__u32 error_passive;	/* Changes to error passive state */
+	__u32 bus_off;		/* Changes to bus off state */
+	__u32 arbitration_lost; /* Arbitration lost errors */
+	__u32 restarts;		/* CAN controller re-starts */
+};
+
+/*
+ * CAN netlink interface
+ */
+enum {
+	IFLA_CAN_UNSPEC,
+	IFLA_CAN_BITTIMING,
+	IFLA_CAN_BITTIMING_CONST,
+	IFLA_CAN_CLOCK,
+	IFLA_CAN_STATE,
+	IFLA_CAN_CTRLMODE,
+	IFLA_CAN_RESTART_MS,
+	IFLA_CAN_RESTART,
+	__IFLA_CAN_MAX
+};
+
+#define IFLA_CAN_MAX	(__IFLA_CAN_MAX - 1)
+
+#endif /* CAN_NETLINK_H */
Index: net-next-2.6/include/linux/can/Kbuild
===================================================================
--- net-next-2.6.orig/include/linux/can/Kbuild	2009-05-16 11:09:18.992859876 +0200
+++ net-next-2.6/include/linux/can/Kbuild	2009-05-16 11:17:21.050808444 +0200
@@ -1,3 +1,4 @@
 header-y += raw.h
 header-y += bcm.h
 header-y += error.h
+header-y += netlink.h

[PATCH v3 4/7] [PATCH 4/8] can: Driver for the SJA1000 CAN controller

[Wolfgang Grandegger]

[-- Attachment #1: 04-sja1000-driver.patch --]
[-- Type: text/plain, Size: 24832 bytes --]

This patch adds the generic Socket-CAN driver for the Philips SJA1000
full CAN controller.

Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
Signed-off-by: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
---
 drivers/net/can/Kconfig           |    6 
 drivers/net/can/Makefile          |    2 
 drivers/net/can/sja1000/Makefile  |    7 
 drivers/net/can/sja1000/sja1000.c |  637 ++++++++++++++++++++++++++++++++++++++
 drivers/net/can/sja1000/sja1000.h |  180 ++++++++++
 5 files changed, 832 insertions(+)
 create mode 100644 drivers/net/can/sja1000/Makefile
 create mode 100644 drivers/net/can/sja1000/sja1000.c
 create mode 100644 drivers/net/can/sja1000/sja1000.h

Index: net-next-2.6/drivers/net/can/Kconfig
===================================================================
--- net-next-2.6.orig/drivers/net/can/Kconfig	2009-05-16 11:17:21.017720522 +0200
+++ net-next-2.6/drivers/net/can/Kconfig	2009-05-16 11:17:44.289720954 +0200
@@ -35,6 +35,12 @@
 	  arguments "tq", "prop_seg", "phase_seg1", "phase_seg2" and "sjw".
 	  If unsure, say Y.
 
+config CAN_SJA1000
+	depends on CAN_DEV
+	tristate "Philips SJA1000"
+	---help---
+	  Driver for the SJA1000 CAN controllers from Philips or NXP
+
 config CAN_DEBUG_DEVICES
 	bool "CAN devices debugging messages"
 	depends on CAN
Index: net-next-2.6/drivers/net/can/Makefile
===================================================================
--- net-next-2.6.orig/drivers/net/can/Makefile	2009-05-16 11:17:21.018720663 +0200
+++ net-next-2.6/drivers/net/can/Makefile	2009-05-16 11:17:21.089718697 +0200
@@ -7,4 +7,6 @@
 obj-$(CONFIG_CAN_DEV)		+= can-dev.o
 can-dev-y			:= dev.o
 
+obj-$(CONFIG_CAN_SJA1000)	+= sja1000/
+
 ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: net-next-2.6/drivers/net/can/sja1000/Makefile
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:44.289720954 +0200
@@ -0,0 +1,7 @@
+#
+#  Makefile for the SJA1000 CAN controller drivers.
+#
+
+obj-$(CONFIG_CAN_SJA1000) += sja1000.o
+
+ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: net-next-2.6/drivers/net/can/sja1000/sja1000.c
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/sja1000/sja1000.c	2009-05-16 11:17:21.095720384 +0200
@@ -0,0 +1,637 @@
+/*
+ * sja1000.c -  Philips SJA1000 network device driver
+ *
+ * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
+ * 38106 Braunschweig, GERMANY
+ *
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/kernel.h>
+#include <linux/sched.h>
+#include <linux/types.h>
+#include <linux/fcntl.h>
+#include <linux/interrupt.h>
+#include <linux/ptrace.h>
+#include <linux/string.h>
+#include <linux/errno.h>
+#include <linux/netdevice.h>
+#include <linux/if_arp.h>
+#include <linux/if_ether.h>
+#include <linux/skbuff.h>
+#include <linux/delay.h>
+
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/error.h>
+#include <linux/can/dev.h>
+
+#include "sja1000.h"
+
+#define DRV_NAME "sja1000"
+
+MODULE_AUTHOR("Oliver Hartkopp <oliver.hartkopp@volkswagen.de>");
+MODULE_LICENSE("Dual BSD/GPL");
+MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver");
+
+static struct can_bittiming_const sja1000_bittiming_const = {
+	.name = DRV_NAME,
+	.tseg1_min = 1,
+	.tseg1_max = 16,
+	.tseg2_min = 1,
+	.tseg2_max = 8,
+	.sjw_max = 4,
+	.brp_min = 1,
+	.brp_max = 64,
+	.brp_inc = 1,
+};
+
+static int sja1000_probe_chip(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+
+	if (dev->base_addr && (priv->read_reg(dev, 0) == 0xFF)) {
+		printk(KERN_INFO "%s: probing @0x%lX failed\n",
+		       DRV_NAME, dev->base_addr);
+		return 0;
+	}
+	return -1;
+}
+
+static void set_reset_mode(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	unsigned char status = priv->read_reg(dev, REG_MOD);
+	int i;
+
+	/* disable interrupts */
+	priv->write_reg(dev, REG_IER, IRQ_OFF);
+
+	for (i = 0; i < 100; i++) {
+		/* check reset bit */
+		if (status & MOD_RM) {
+			priv->can.state = CAN_STATE_STOPPED;
+			return;
+		}
+
+		priv->write_reg(dev, REG_MOD, MOD_RM);	/* reset chip */
+		udelay(10);
+		status = priv->read_reg(dev, REG_MOD);
+	}
+
+	dev_err(dev->dev.parent, "setting SJA1000 into reset mode failed!\n");
+}
+
+static void set_normal_mode(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	unsigned char status = priv->read_reg(dev, REG_MOD);
+	int i;
+
+	for (i = 0; i < 100; i++) {
+		/* check reset bit */
+		if ((status & MOD_RM) == 0) {
+			priv->can.state = CAN_STATE_ERROR_ACTIVE;
+			/* enable all interrupts */
+			priv->write_reg(dev, REG_IER, IRQ_ALL);
+			return;
+		}
+
+		/* set chip to normal mode */
+		priv->write_reg(dev, REG_MOD, 0x00);
+		udelay(10);
+		status = priv->read_reg(dev, REG_MOD);
+	}
+
+	dev_err(dev->dev.parent, "setting SJA1000 into normal mode failed!\n");
+}
+
+static void sja1000_start(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+
+	/* leave reset mode */
+	if (priv->can.state != CAN_STATE_STOPPED)
+		set_reset_mode(dev);
+
+	/* Clear error counters and error code capture */
+	priv->write_reg(dev, REG_TXERR, 0x0);
+	priv->write_reg(dev, REG_RXERR, 0x0);
+	priv->read_reg(dev, REG_ECC);
+
+	/* leave reset mode */
+	set_normal_mode(dev);
+}
+
+static int sja1000_set_mode(struct net_device *dev, enum can_mode mode)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+
+	if (!priv->open_time)
+		return -EINVAL;
+
+	switch (mode) {
+	case CAN_MODE_START:
+		sja1000_start(dev);
+		if (netif_queue_stopped(dev))
+			netif_wake_queue(dev);
+		break;
+
+	default:
+		return -EOPNOTSUPP;
+	}
+
+	return 0;
+}
+
+static int sja1000_set_bittiming(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct can_bittiming *bt = &priv->can.bittiming;
+	u8 btr0, btr1;
+
+	btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
+	btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
+		(((bt->phase_seg2 - 1) & 0x7) << 4);
+	if (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
+		btr1 |= 0x80;
+
+	dev_info(dev->dev.parent,
+		 "setting BTR0=0x%02x BTR1=0x%02x\n", btr0, btr1);
+
+	priv->write_reg(dev, REG_BTR0, btr0);
+	priv->write_reg(dev, REG_BTR1, btr1);
+
+	return 0;
+}
+
+/*
+ * initialize SJA1000 chip:
+ *   - reset chip
+ *   - set output mode
+ *   - set baudrate
+ *   - enable interrupts
+ *   - start operating mode
+ */
+static void chipset_init(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+
+	/* set clock divider and output control register */
+	priv->write_reg(dev, REG_CDR, priv->cdr | CDR_PELICAN);
+
+	/* set acceptance filter (accept all) */
+	priv->write_reg(dev, REG_ACCC0, 0x00);
+	priv->write_reg(dev, REG_ACCC1, 0x00);
+	priv->write_reg(dev, REG_ACCC2, 0x00);
+	priv->write_reg(dev, REG_ACCC3, 0x00);
+
+	priv->write_reg(dev, REG_ACCM0, 0xFF);
+	priv->write_reg(dev, REG_ACCM1, 0xFF);
+	priv->write_reg(dev, REG_ACCM2, 0xFF);
+	priv->write_reg(dev, REG_ACCM3, 0xFF);
+
+	priv->write_reg(dev, REG_OCR, priv->ocr | OCR_MODE_NORMAL);
+}
+
+/*
+ * transmit a CAN message
+ * message layout in the sk_buff should be like this:
+ * xx xx xx xx	 ff	 ll   00 11 22 33 44 55 66 77
+ * [  can-id ] [flags] [len] [can data (up to 8 bytes]
+ */
+static int sja1000_start_xmit(struct sk_buff *skb, struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct net_device_stats *stats = &dev->stats;
+	struct can_frame *cf = (struct can_frame *)skb->data;
+	uint8_t fi;
+	uint8_t dlc;
+	canid_t id;
+	uint8_t dreg;
+	int i;
+
+	netif_stop_queue(dev);
+
+	fi = dlc = cf->can_dlc;
+	id = cf->can_id;
+
+	if (id & CAN_RTR_FLAG)
+		fi |= FI_RTR;
+
+	if (id & CAN_EFF_FLAG) {
+		fi |= FI_FF;
+		dreg = EFF_BUF;
+		priv->write_reg(dev, REG_FI, fi);
+		priv->write_reg(dev, REG_ID1, (id & 0x1fe00000) >> (5 + 16));
+		priv->write_reg(dev, REG_ID2, (id & 0x001fe000) >> (5 + 8));
+		priv->write_reg(dev, REG_ID3, (id & 0x00001fe0) >> 5);
+		priv->write_reg(dev, REG_ID4, (id & 0x0000001f) << 3);
+	} else {
+		dreg = SFF_BUF;
+		priv->write_reg(dev, REG_FI, fi);
+		priv->write_reg(dev, REG_ID1, (id & 0x000007f8) >> 3);
+		priv->write_reg(dev, REG_ID2, (id & 0x00000007) << 5);
+	}
+
+	for (i = 0; i < dlc; i++)
+		priv->write_reg(dev, dreg++, cf->data[i]);
+
+	stats->tx_bytes += dlc;
+	dev->trans_start = jiffies;
+
+	can_put_echo_skb(skb, dev, 0);
+
+	priv->write_reg(dev, REG_CMR, CMD_TR);
+
+	return 0;
+}
+
+static void sja1000_rx(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct net_device_stats *stats = &dev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	uint8_t fi;
+	uint8_t dreg;
+	canid_t id;
+	uint8_t dlc;
+	int i;
+
+	skb = dev_alloc_skb(sizeof(struct can_frame));
+	if (skb == NULL)
+		return;
+	skb->dev = dev;
+	skb->protocol = htons(ETH_P_CAN);
+
+	fi = priv->read_reg(dev, REG_FI);
+	dlc = fi & 0x0F;
+
+	if (fi & FI_FF) {
+		/* extended frame format (EFF) */
+		dreg = EFF_BUF;
+		id = (priv->read_reg(dev, REG_ID1) << (5 + 16))
+		    | (priv->read_reg(dev, REG_ID2) << (5 + 8))
+		    | (priv->read_reg(dev, REG_ID3) << 5)
+		    | (priv->read_reg(dev, REG_ID4) >> 3);
+		id |= CAN_EFF_FLAG;
+	} else {
+		/* standard frame format (SFF) */
+		dreg = SFF_BUF;
+		id = (priv->read_reg(dev, REG_ID1) << 3)
+		    | (priv->read_reg(dev, REG_ID2) >> 5);
+	}
+
+	if (fi & FI_RTR)
+		id |= CAN_RTR_FLAG;
+
+	cf = (struct can_frame *)skb_put(skb, sizeof(struct can_frame));
+	memset(cf, 0, sizeof(struct can_frame));
+	cf->can_id = id;
+	cf->can_dlc = dlc;
+	for (i = 0; i < dlc; i++)
+		cf->data[i] = priv->read_reg(dev, dreg++);
+
+	while (i < 8)
+		cf->data[i++] = 0;
+
+	/* release receive buffer */
+	priv->write_reg(dev, REG_CMR, CMD_RRB);
+
+	netif_rx(skb);
+
+	dev->last_rx = jiffies;
+	stats->rx_packets++;
+	stats->rx_bytes += dlc;
+}
+
+static int sja1000_err(struct net_device *dev, uint8_t isrc, uint8_t status)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct net_device_stats *stats = &dev->stats;
+	struct can_frame *cf;
+	struct sk_buff *skb;
+	enum can_state state = priv->can.state;
+	uint8_t ecc, alc;
+
+	skb = dev_alloc_skb(sizeof(struct can_frame));
+	if (skb == NULL)
+		return -ENOMEM;
+	skb->dev = dev;
+	skb->protocol = htons(ETH_P_CAN);
+	cf = (struct can_frame *)skb_put(skb, sizeof(struct can_frame));
+	memset(cf, 0, sizeof(struct can_frame));
+	cf->can_id = CAN_ERR_FLAG;
+	cf->can_dlc = CAN_ERR_DLC;
+
+	if (isrc & IRQ_DOI) {
+		/* data overrun interrupt */
+		dev_dbg(dev->dev.parent, "data overrun interrupt\n");
+		cf->can_id |= CAN_ERR_CRTL;
+		cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
+		stats->rx_over_errors++;
+		stats->rx_errors++;
+		priv->write_reg(dev, REG_CMR, CMD_CDO);	/* clear bit */
+	}
+
+	if (isrc & IRQ_EI) {
+		/* error warning interrupt */
+		dev_dbg(dev->dev.parent, "error warning interrupt\n");
+
+		if (status & SR_BS) {
+			state = CAN_STATE_BUS_OFF;
+			cf->can_id |= CAN_ERR_BUSOFF;
+			can_bus_off(dev);
+		} else if (status & SR_ES) {
+			state = CAN_STATE_ERROR_WARNING;
+		} else
+			state = CAN_STATE_ERROR_ACTIVE;
+	}
+	if (isrc & IRQ_BEI) {
+		/* bus error interrupt */
+		priv->can.can_stats.bus_error++;
+		stats->rx_errors++;
+
+		ecc = priv->read_reg(dev, REG_ECC);
+
+		cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
+
+		switch (ecc & ECC_MASK) {
+		case ECC_BIT:
+			cf->data[2] |= CAN_ERR_PROT_BIT;
+			break;
+		case ECC_FORM:
+			cf->data[2] |= CAN_ERR_PROT_FORM;
+			break;
+		case ECC_STUFF:
+			cf->data[2] |= CAN_ERR_PROT_STUFF;
+			break;
+		default:
+			cf->data[2] |= CAN_ERR_PROT_UNSPEC;
+			cf->data[3] = ecc & ECC_SEG;
+			break;
+		}
+		/* Error occured during transmission? */
+		if ((ecc & ECC_DIR) == 0)
+			cf->data[2] |= CAN_ERR_PROT_TX;
+	}
+	if (isrc & IRQ_EPI) {
+		/* error passive interrupt */
+		dev_dbg(dev->dev.parent, "error passive interrupt\n");
+		if (status & SR_ES)
+			state = CAN_STATE_ERROR_PASSIVE;
+		else
+			state = CAN_STATE_ERROR_ACTIVE;
+	}
+	if (isrc & IRQ_ALI) {
+		/* arbitration lost interrupt */
+		dev_dbg(dev->dev.parent, "arbitration lost interrupt\n");
+		alc = priv->read_reg(dev, REG_ALC);
+		priv->can.can_stats.arbitration_lost++;
+		stats->rx_errors++;
+		cf->can_id |= CAN_ERR_LOSTARB;
+		cf->data[0] = alc & 0x1f;
+	}
+
+	if (state != priv->can.state && (state == CAN_STATE_ERROR_WARNING ||
+					 state == CAN_STATE_ERROR_PASSIVE)) {
+		uint8_t rxerr = priv->read_reg(dev, REG_RXERR);
+		uint8_t txerr = priv->read_reg(dev, REG_TXERR);
+		cf->can_id |= CAN_ERR_CRTL;
+		if (state == CAN_STATE_ERROR_WARNING) {
+			priv->can.can_stats.error_warning++;
+			cf->data[1] = (txerr > rxerr) ?
+				CAN_ERR_CRTL_TX_WARNING :
+				CAN_ERR_CRTL_RX_WARNING;
+		} else {
+			priv->can.can_stats.error_passive++;
+			cf->data[1] = (txerr > rxerr) ?
+				CAN_ERR_CRTL_TX_PASSIVE :
+				CAN_ERR_CRTL_RX_PASSIVE;
+		}
+	}
+
+	priv->can.state = state;
+
+	netif_rx(skb);
+
+	dev->last_rx = jiffies;
+	stats->rx_packets++;
+	stats->rx_bytes += cf->can_dlc;
+
+	return 0;
+}
+
+irqreturn_t sja1000_interrupt(int irq, void *dev_id)
+{
+	struct net_device *dev = (struct net_device *)dev_id;
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct net_device_stats *stats = &dev->stats;
+	uint8_t isrc, status;
+	int n = 0;
+
+	/* Shared interrupts and IRQ off? */
+	if (priv->read_reg(dev, REG_IER) == IRQ_OFF)
+		return IRQ_NONE;
+
+	if (priv->pre_irq)
+		priv->pre_irq(dev);
+
+	while ((isrc = priv->read_reg(dev, REG_IR)) && (n < SJA1000_MAX_IRQ)) {
+		n++;
+		status = priv->read_reg(dev, REG_SR);
+
+		if (isrc & IRQ_WUI)
+			dev_warn(dev->dev.parent, "wakeup interrupt\n");
+
+		if (isrc & IRQ_TI) {
+			/* transmission complete interrupt */
+			stats->tx_packets++;
+			can_get_echo_skb(dev, 0);
+			netif_wake_queue(dev);
+		}
+		if (isrc & IRQ_RI) {
+			/* receive interrupt */
+			while (status & SR_RBS) {
+				sja1000_rx(dev);
+				status = priv->read_reg(dev, REG_SR);
+			}
+		}
+		if (isrc & (IRQ_DOI | IRQ_EI | IRQ_BEI | IRQ_EPI | IRQ_ALI)) {
+			/* error interrupt */
+			if (sja1000_err(dev, isrc, status))
+				break;
+		}
+	}
+
+	if (priv->post_irq)
+		priv->post_irq(dev);
+
+	if (n >= SJA1000_MAX_IRQ)
+		dev_dbg(dev->dev.parent, "%d messages handled in ISR", n);
+
+	return (n) ? IRQ_HANDLED : IRQ_NONE;
+}
+EXPORT_SYMBOL_GPL(sja1000_interrupt);
+
+static int sja1000_open(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	int err;
+
+	/* set chip into reset mode */
+	set_reset_mode(dev);
+
+	/* common open */
+	err = open_candev(dev);
+	if (err)
+		return err;
+
+	/* register interrupt handler, if not done by the device driver */
+	if (!(priv->flags & SJA1000_CUSTOM_IRQ_HANDLER)) {
+		err = request_irq(dev->irq, &sja1000_interrupt, priv->irq_flags,
+				  dev->name, (void *)dev);
+		if (err) {
+			return -EAGAIN;
+			close_candev(dev);
+		}
+	}
+
+	/* init and start chi */
+	sja1000_start(dev);
+	priv->open_time = jiffies;
+
+	netif_start_queue(dev);
+
+	return 0;
+}
+
+static int sja1000_close(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+
+	netif_stop_queue(dev);
+	set_reset_mode(dev);
+
+	if (!(priv->flags & SJA1000_CUSTOM_IRQ_HANDLER))
+		free_irq(dev->irq, (void *)dev);
+
+	close_candev(dev);
+
+	priv->open_time = 0;
+
+	return 0;
+}
+
+struct net_device *alloc_sja1000dev(int sizeof_priv)
+{
+	struct net_device *dev;
+	struct sja1000_priv *priv;
+
+	dev = alloc_candev(sizeof(struct sja1000_priv) + sizeof_priv);
+	if (!dev)
+		return NULL;
+
+	priv = netdev_priv(dev);
+
+	priv->dev = dev;
+	priv->can.bittiming_const = &sja1000_bittiming_const;
+	priv->can.do_set_bittiming = sja1000_set_bittiming;
+	priv->can.do_set_mode = sja1000_set_mode;
+
+	if (sizeof_priv)
+		priv->priv = (void *)priv + sizeof(struct sja1000_priv);
+
+	return dev;
+}
+EXPORT_SYMBOL_GPL(alloc_sja1000dev);
+
+void free_sja1000dev(struct net_device *dev)
+{
+	free_candev(dev);
+}
+EXPORT_SYMBOL_GPL(free_sja1000dev);
+
+static const struct net_device_ops sja1000_netdev_ops = {
+       .ndo_open               = sja1000_open,
+       .ndo_stop               = sja1000_close,
+       .ndo_start_xmit         = sja1000_start_xmit,
+};
+
+int register_sja1000dev(struct net_device *dev)
+{
+	if (!sja1000_probe_chip(dev))
+		return -ENODEV;
+
+	dev->flags |= IFF_ECHO;	/* we support local echo */
+	dev->netdev_ops = &sja1000_netdev_ops;
+
+	set_reset_mode(dev);
+	chipset_init(dev);
+
+	return register_candev(dev);
+}
+EXPORT_SYMBOL_GPL(register_sja1000dev);
+
+void unregister_sja1000dev(struct net_device *dev)
+{
+	set_reset_mode(dev);
+	unregister_candev(dev);
+}
+EXPORT_SYMBOL_GPL(unregister_sja1000dev);
+
+static __init int sja1000_init(void)
+{
+	printk(KERN_INFO "%s CAN netdevice driver\n", DRV_NAME);
+
+	return 0;
+}
+
+module_init(sja1000_init);
+
+static __exit void sja1000_exit(void)
+{
+	printk(KERN_INFO "%s: driver removed\n", DRV_NAME);
+}
+
+module_exit(sja1000_exit);
Index: net-next-2.6/drivers/net/can/sja1000/sja1000.h
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/sja1000/sja1000.h	2009-05-16 11:17:21.099868178 +0200
@@ -0,0 +1,180 @@
+/*
+ * sja1000.h -  Philips SJA1000 network device driver
+ *
+ * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
+ * 38106 Braunschweig, GERMANY
+ *
+ * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of Volkswagen nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * Alternatively, provided that this notice is retained in full, this
+ * software may be distributed under the terms of the GNU General
+ * Public License ("GPL") version 2, in which case the provisions of the
+ * GPL apply INSTEAD OF those given above.
+ *
+ * The provided data structures and external interfaces from this code
+ * are not restricted to be used by modules with a GPL compatible license.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ * Send feedback to <socketcan-users@lists.berlios.de>
+ *
+ */
+
+#ifndef SJA1000_DEV_H
+#define SJA1000_DEV_H
+
+#include <linux/can/dev.h>
+#include <linux/can/platform/sja1000.h>
+
+#define SJA1000_MAX_IRQ 20	/* max. number of interrupts handled in ISR */
+
+/* SJA1000 registers - manual section 6.4 (Pelican Mode) */
+#define REG_MOD		0x00
+#define REG_CMR		0x01
+#define REG_SR		0x02
+#define REG_IR		0x03
+#define REG_IER		0x04
+#define REG_ALC		0x0B
+#define REG_ECC		0x0C
+#define REG_EWL		0x0D
+#define REG_RXERR	0x0E
+#define REG_TXERR	0x0F
+#define REG_ACCC0	0x10
+#define REG_ACCC1	0x11
+#define REG_ACCC2	0x12
+#define REG_ACCC3	0x13
+#define REG_ACCM0	0x14
+#define REG_ACCM1	0x15
+#define REG_ACCM2	0x16
+#define REG_ACCM3	0x17
+#define REG_RMC		0x1D
+#define REG_RBSA	0x1E
+
+/* Common registers - manual section 6.5 */
+#define REG_BTR0	0x06
+#define REG_BTR1	0x07
+#define REG_OCR		0x08
+#define REG_CDR		0x1F
+
+#define REG_FI		0x10
+#define SFF_BUF		0x13
+#define EFF_BUF		0x15
+
+#define FI_FF		0x80
+#define FI_RTR		0x40
+
+#define REG_ID1		0x11
+#define REG_ID2		0x12
+#define REG_ID3		0x13
+#define REG_ID4		0x14
+
+#define CAN_RAM		0x20
+
+/* mode register */
+#define MOD_RM		0x01
+#define MOD_LOM		0x02
+#define MOD_STM		0x04
+#define MOD_AFM		0x08
+#define MOD_SM		0x10
+
+/* commands */
+#define CMD_SRR		0x10
+#define CMD_CDO		0x08
+#define CMD_RRB		0x04
+#define CMD_AT		0x02
+#define CMD_TR		0x01
+
+/* interrupt sources */
+#define IRQ_BEI		0x80
+#define IRQ_ALI		0x40
+#define IRQ_EPI		0x20
+#define IRQ_WUI		0x10
+#define IRQ_DOI		0x08
+#define IRQ_EI		0x04
+#define IRQ_TI		0x02
+#define IRQ_RI		0x01
+#define IRQ_ALL		0xFF
+#define IRQ_OFF		0x00
+
+/* status register content */
+#define SR_BS		0x80
+#define SR_ES		0x40
+#define SR_TS		0x20
+#define SR_RS		0x10
+#define SR_TCS		0x08
+#define SR_TBS		0x04
+#define SR_DOS		0x02
+#define SR_RBS		0x01
+
+#define SR_CRIT (SR_BS|SR_ES)
+
+/* ECC register */
+#define ECC_SEG		0x1F
+#define ECC_DIR		0x20
+#define ECC_ERR		6
+#define ECC_BIT		0x00
+#define ECC_FORM	0x40
+#define ECC_STUFF	0x80
+#define ECC_MASK	0xc0
+
+/*
+ * Flags for sja1000priv.flags
+ */
+#define SJA1000_CUSTOM_IRQ_HANDLER 0x1
+
+/*
+ * SJA1000 private data structure
+ */
+struct sja1000_priv {
+	struct can_priv can;	/* must be the first member */
+	int open_time;
+	struct sk_buff *echo_skb;
+
+	/* the lower-layer is responsible for appropriate locking */
+	u8 (*read_reg) (const struct net_device *dev, int reg);
+	void (*write_reg) (const struct net_device *dev, int reg, u8 val);
+	void (*pre_irq) (const struct net_device *dev);
+	void (*post_irq) (const struct net_device *dev);
+
+	void *priv;		/* for board-specific data */
+	struct net_device *dev;
+
+	unsigned long irq_flags; /* for request_irq() */
+
+	u16 flags;		/* custom mode flags */
+	u8 ocr;			/* output control register */
+	u8 cdr;			/* clock divider register */
+};
+
+struct net_device *alloc_sja1000dev(int sizeof_priv);
+void free_sja1000dev(struct net_device *dev);
+int register_sja1000dev(struct net_device *dev);
+void unregister_sja1000dev(struct net_device *dev);
+
+irqreturn_t sja1000_interrupt(int irq, void *dev_id);
+
+#endif /* SJA1000_DEV_H */

[PATCH v3 5/7] [PATCH 5/8] can: SJA1000 generic platform bus driver

[Wolfgang Grandegger]

[-- Attachment #1: 05-sja1000-platform-driver.patch --]
[-- Type: text/plain, Size: 7784 bytes --]

This driver adds support for the SJA1000 chips connected to the
"platform bus", which can be found on various embedded systems.

Signed-off-by: Sascha Hauer <s.hauer@pengutronix.de>
Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
Signed-off-by: Marc Kleine-Budde <mkl@pengutronix.de>
Signed-off-by: Oliver Hartkopp <oliver.hartkopp@volkswagen.de>
---
 drivers/net/can/Kconfig                    |   10 +
 drivers/net/can/sja1000/Makefile           |    1 
 drivers/net/can/sja1000/sja1000_platform.c |  164 +++++++++++++++++++++++++++++
 include/linux/can/platform/sja1000.h       |   32 +++++
 4 files changed, 207 insertions(+)
 create mode 100644 drivers/net/can/sja1000/sja1000_platform.c
 create mode 100644 include/linux/can/platform/sja1000.h

Index: net-next-2.6/drivers/net/can/Kconfig
===================================================================
--- net-next-2.6.orig/drivers/net/can/Kconfig	2009-05-16 11:17:21.089139006 +0200
+++ net-next-2.6/drivers/net/can/Kconfig	2009-05-16 11:17:43.574721470 +0200
@@ -41,6 +41,16 @@
 	---help---
 	  Driver for the SJA1000 CAN controllers from Philips or NXP
 
+config CAN_SJA1000_PLATFORM
+	depends on CAN_SJA1000
+	tristate "Generic Platform Bus based SJA1000 driver"
+	---help---
+	  This driver adds support for the SJA1000 chips connected to
+	  the "platform bus" (Linux abstraction for directly to the
+	  processor attached devices).  Which can be found on various
+	  boards from Phytec (http://www.phytec.de) like the PCM027,
+	  PCM038.
+
 config CAN_DEBUG_DEVICES
 	bool "CAN devices debugging messages"
 	depends on CAN
Index: net-next-2.6/drivers/net/can/sja1000/Makefile
===================================================================
--- net-next-2.6.orig/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:21.092720519 +0200
+++ net-next-2.6/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:43.574721470 +0200
@@ -3,5 +3,6 @@
 #
 
 obj-$(CONFIG_CAN_SJA1000) += sja1000.o
+obj-$(CONFIG_CAN_SJA1000_PLATFORM) += sja1000_platform.o
 
 ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: net-next-2.6/drivers/net/can/sja1000/sja1000_platform.c
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/sja1000/sja1000_platform.c	2009-05-16 11:17:21.298718659 +0200
@@ -0,0 +1,164 @@
+/*
+ * Copyright (C) 2005 Sascha Hauer, Pengutronix
+ * Copyright (C) 2007 Wolfgang Grandegger <wg@grandegger.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/interrupt.h>
+#include <linux/netdevice.h>
+#include <linux/delay.h>
+#include <linux/pci.h>
+#include <linux/platform_device.h>
+#include <linux/irq.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/can/platform/sja1000.h>
+#include <linux/io.h>
+
+#include "sja1000.h"
+
+#define DRV_NAME "sja1000_platform"
+
+MODULE_AUTHOR("Sascha Hauer <s.hauer@pengutronix.de>");
+MODULE_DESCRIPTION("Socket-CAN driver for SJA1000 on the platform bus");
+MODULE_LICENSE("GPL v2");
+
+static u8 sp_read_reg(const struct net_device *dev, int reg)
+{
+	return ioread8((void __iomem *)(dev->base_addr + reg));
+}
+
+static void sp_write_reg(const struct net_device *dev, int reg, u8 val)
+{
+	iowrite8(val, (void __iomem *)(dev->base_addr + reg));
+}
+
+static int sp_probe(struct platform_device *pdev)
+{
+	int err;
+	void __iomem *addr;
+	struct net_device *dev;
+	struct sja1000_priv *priv;
+	struct resource *res_mem, *res_irq;
+	struct sja1000_platform_data *pdata;
+
+	pdata = pdev->dev.platform_data;
+	if (!pdata) {
+		dev_err(&pdev->dev, "No platform data provided!\n");
+		err = -ENODEV;
+		goto exit;
+	}
+
+	res_mem = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	res_irq = platform_get_resource(pdev, IORESOURCE_IRQ, 0);
+	if (!res_mem || !res_irq) {
+		err = -ENODEV;
+		goto exit;
+	}
+
+	if (!request_mem_region(res_mem->start, resource_size(res_mem),
+				DRV_NAME)) {
+		err = -EBUSY;
+		goto exit;
+	}
+
+	addr = ioremap_nocache(res_mem->start, resource_size(res_mem));
+	if (!addr) {
+		err = -ENOMEM;
+		goto exit_release;
+	}
+
+	dev = alloc_sja1000dev(0);
+	if (!dev) {
+		err = -ENOMEM;
+		goto exit_iounmap;
+	}
+	priv = netdev_priv(dev);
+
+	dev->base_addr = (unsigned long)addr;
+	dev->irq = res_irq->start;
+	priv->irq_flags = res_irq->flags & IRQF_TRIGGER_MASK;
+	priv->read_reg = sp_read_reg;
+	priv->write_reg = sp_write_reg;
+	priv->can.clock.freq = pdata->clock;
+	priv->ocr = pdata->ocr;
+	priv->cdr = pdata->cdr;
+
+	dev_set_drvdata(&pdev->dev, dev);
+	SET_NETDEV_DEV(dev, &pdev->dev);
+
+	err = register_sja1000dev(dev);
+	if (err) {
+		dev_err(&pdev->dev, "registering %s failed (err=%d)\n",
+			DRV_NAME, err);
+		goto exit_free;
+	}
+
+	dev_info(&pdev->dev, "%s device registered (base_addr=%#lx, irq=%d)\n",
+		 DRV_NAME, dev->base_addr, dev->irq);
+	return 0;
+
+ exit_free:
+	free_sja1000dev(dev);
+ exit_iounmap:
+	iounmap(addr);
+ exit_release:
+	release_mem_region(res_mem->start, resource_size(res_mem));
+ exit:
+	return err;
+}
+
+static int sp_remove(struct platform_device *pdev)
+{
+	struct net_device *dev = dev_get_drvdata(&pdev->dev);
+	struct resource *res;
+
+	unregister_sja1000dev(dev);
+	dev_set_drvdata(&pdev->dev, NULL);
+
+	if (dev->base_addr)
+		iounmap((void __iomem *)dev->base_addr);
+
+	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	release_mem_region(res->start, resource_size(res));
+
+	free_sja1000dev(dev);
+
+	return 0;
+}
+
+static struct platform_driver sp_driver = {
+	.probe = sp_probe,
+	.remove = sp_remove,
+	.driver = {
+		.name = DRV_NAME,
+		.owner = THIS_MODULE,
+	},
+};
+
+static int __init sp_init(void)
+{
+	return platform_driver_register(&sp_driver);
+}
+
+static void __exit sp_exit(void)
+{
+	platform_driver_unregister(&sp_driver);
+}
+
+module_init(sp_init);
+module_exit(sp_exit);
Index: net-next-2.6/include/linux/can/platform/sja1000.h
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/include/linux/can/platform/sja1000.h	2009-05-16 11:17:21.304718670 +0200
@@ -0,0 +1,32 @@
+#ifndef _CAN_PLATFORM_SJA1000_H_
+#define _CAN_PLATFORM_SJA1000_H_
+
+/* clock divider register */
+#define CDR_CLKOUT_MASK 0x07
+#define CDR_CLK_OFF	0x08 /* Clock off (CLKOUT pin) */
+#define CDR_RXINPEN	0x20 /* TX1 output is RX irq output */
+#define CDR_CBP		0x40 /* CAN input comparator bypass */
+#define CDR_PELICAN	0x80 /* PeliCAN mode */
+
+/* output control register */
+#define OCR_MODE_BIPHASE  0x00
+#define OCR_MODE_TEST     0x01
+#define OCR_MODE_NORMAL   0x02
+#define OCR_MODE_CLOCK    0x03
+#define OCR_TX0_INVERT    0x04
+#define OCR_TX0_PULLDOWN  0x08
+#define OCR_TX0_PULLUP    0x10
+#define OCR_TX0_PUSHPULL  0x18
+#define OCR_TX1_INVERT    0x20
+#define OCR_TX1_PULLDOWN  0x40
+#define OCR_TX1_PULLUP    0x80
+#define OCR_TX1_PUSHPULL  0xc0
+
+struct sja1000_platform_data {
+	u32 clock;	/* CAN bus oscillator frequency in Hz */
+
+	u8 ocr;		/* output control register */
+	u8 cdr;		/* clock divider register */
+};
+
+#endif	/* !_CAN_PLATFORM_SJA1000_H_ */

[PATCH v3 6/7] [PATCH 6/8] can: SJA1000 driver for EMS PCI cards

[Wolfgang Grandegger]

[-- Attachment #1: 06-sja1000-ems-pci-driver.patch --]
[-- Type: text/plain, Size: 10923 bytes --]

The patch adds support for the one or two channel CPC-PCI and CPC-PCIe
cards from EMS Dr. Thomas Wuensche (http://www.ems-wuensche.de).

Signed-off-by: Sebastian Haas <haas@ems-wuensche.com>
Signed-off-by: Markus Plessing <plessing@ems-wuensche.com>
Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
---
 drivers/net/can/Kconfig           |    7 
 drivers/net/can/sja1000/Makefile  |    1 
 drivers/net/can/sja1000/ems_pci.c |  329 ++++++++++++++++++++++++++++++++++++++
 3 files changed, 337 insertions(+)
 create mode 100644 drivers/net/can/sja1000/ems_pci.c

Index: net-next-2.6/drivers/net/can/Kconfig
===================================================================
--- net-next-2.6.orig/drivers/net/can/Kconfig	2009-05-16 11:17:21.117970739 +0200
+++ net-next-2.6/drivers/net/can/Kconfig	2009-05-16 11:17:42.738719670 +0200
@@ -51,6 +51,13 @@
 	  boards from Phytec (http://www.phytec.de) like the PCM027,
 	  PCM038.
 
+config CAN_EMS_PCI
+	tristate "EMS CPC-PCI and CPC-PCIe Card"
+	depends on PCI && CAN_SJA1000
+	---help---
+	  This driver is for the one or two channel CPC-PCI and CPC-PCIe
+	  cards from EMS Dr. Thomas Wuensche (http://www.ems-wuensche.de).
+
 config CAN_DEBUG_DEVICES
 	bool "CAN devices debugging messages"
 	depends on CAN
Index: net-next-2.6/drivers/net/can/sja1000/Makefile
===================================================================
--- net-next-2.6.orig/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:21.298718659 +0200
+++ net-next-2.6/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:42.738719670 +0200
@@ -4,5 +4,6 @@
 
 obj-$(CONFIG_CAN_SJA1000) += sja1000.o
 obj-$(CONFIG_CAN_SJA1000_PLATFORM) += sja1000_platform.o
+obj-$(CONFIG_CAN_EMS_PCI) += ems_pci.o
 
 ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: net-next-2.6/drivers/net/can/sja1000/ems_pci.c
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/sja1000/ems_pci.c	2009-05-16 11:17:21.519720597 +0200
@@ -0,0 +1,329 @@
+/*
+ * Copyright (C) 2007 Wolfgang Grandegger <wg@grandegger.com>
+ * Copyright (C) 2008 Markus Plessing <plessing@ems-wuensche.com>
+ * Copyright (C) 2008 Sebastian Haas <haas@ems-wuensche.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/interrupt.h>
+#include <linux/netdevice.h>
+#include <linux/delay.h>
+#include <linux/pci.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/io.h>
+
+#include "sja1000.h"
+
+#define DRV_NAME  "ems_pci"
+
+MODULE_AUTHOR("Sebastian Haas <haas@ems-wuenche.com>");
+MODULE_DESCRIPTION("Socket-CAN driver for EMS CPC-PCI/PCIe CAN cards");
+MODULE_SUPPORTED_DEVICE("EMS CPC-PCI/PCIe CAN card");
+MODULE_LICENSE("GPL v2");
+
+#define EMS_PCI_MAX_CHAN 2
+
+struct ems_pci_card {
+	int channels;
+
+	struct pci_dev *pci_dev;
+	struct net_device *net_dev[EMS_PCI_MAX_CHAN];
+
+	void __iomem *conf_addr;
+	void __iomem *base_addr;
+};
+
+#define EMS_PCI_CAN_CLOCK (16000000 / 2)
+
+/*
+ * Register definitions and descriptions are from LinCAN 0.3.3.
+ *
+ * PSB4610 PITA-2 bridge control registers
+ */
+#define PITA2_ICR           0x00	/* Interrupt Control Register */
+#define PITA2_ICR_INT0      0x00000002	/* [RC] INT0 Active/Clear */
+#define PITA2_ICR_INT0_EN   0x00020000	/* [RW] Enable INT0 */
+
+#define PITA2_MISC          0x1c	/* Miscellaneous Register */
+#define PITA2_MISC_CONFIG   0x04000000	/* Multiplexed parallel interface */
+
+/*
+ * The board configuration is probably following:
+ * RX1 is connected to ground.
+ * TX1 is not connected.
+ * CLKO is not connected.
+ * Setting the OCR register to 0xDA is a good idea.
+ * This means  normal output mode , push-pull and the correct polarity.
+ */
+#define EMS_PCI_OCR         (OCR_TX0_PUSHPULL | OCR_TX1_PUSHPULL)
+
+/*
+ * In the CDR register, you should set CBP to 1.
+ * You will probably also want to set the clock divider value to 7
+ * (meaning direct oscillator output) because the second SJA1000 chip
+ * is driven by the first one CLKOUT output.
+ */
+#define EMS_PCI_CDR             (CDR_CBP | CDR_CLKOUT_MASK)
+#define EMS_PCI_MEM_SIZE        4096  /* Size of the remapped io-memory */
+#define EMS_PCI_CAN_BASE_OFFSET 0x400 /* offset where the controllers starts */
+#define EMS_PCI_CAN_CTRL_SIZE   0x200 /* memory size for each controller */
+
+#define EMS_PCI_PORT_BYTES  0x4     /* Each register occupies 4 bytes */
+
+#define EMS_PCI_VENDOR_ID   0x110a  /* PCI device and vendor ID */
+#define EMS_PCI_DEVICE_ID   0x2104
+
+static struct pci_device_id ems_pci_tbl[] = {
+	{EMS_PCI_VENDOR_ID, EMS_PCI_DEVICE_ID, PCI_ANY_ID, PCI_ANY_ID,},
+	{0,}
+};
+MODULE_DEVICE_TABLE(pci, ems_pci_tbl);
+
+/*
+ * Helper to read internal registers from card logic (not CAN)
+ */
+static u8 ems_pci_readb(struct ems_pci_card *card, unsigned int port)
+{
+	return readb((void __iomem *)card->base_addr
+			+ (port * EMS_PCI_PORT_BYTES));
+}
+
+static u8 ems_pci_read_reg(const struct net_device *dev, int port)
+{
+	return readb((void __iomem *)dev->base_addr
+			+ (port * EMS_PCI_PORT_BYTES));
+}
+
+static void ems_pci_write_reg(const struct net_device *dev, int port, u8 val)
+{
+	writeb(val, (void __iomem *)dev->base_addr
+		+ (port * EMS_PCI_PORT_BYTES));
+}
+
+static void ems_pci_post_irq(const struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct ems_pci_card *card = (struct ems_pci_card *)priv->priv;
+
+	/* reset int flag of pita */
+	writel(PITA2_ICR_INT0_EN | PITA2_ICR_INT0, card->conf_addr
+		+ PITA2_ICR);
+}
+
+/*
+ * Check if a CAN controller is present at the specified location
+ * by trying to set 'em into the PeliCAN mode
+ */
+static inline int ems_pci_check_chan(struct net_device *dev)
+{
+	unsigned char res;
+
+	/* Make sure SJA1000 is in reset mode */
+	ems_pci_write_reg(dev, REG_MOD, 1);
+
+	ems_pci_write_reg(dev, REG_CDR, CDR_PELICAN);
+
+	/* read reset-values */
+	res = ems_pci_read_reg(dev, REG_CDR);
+
+	if (res == CDR_PELICAN)
+		return 1;
+
+	return 0;
+}
+
+static void ems_pci_del_card(struct pci_dev *pdev)
+{
+	struct ems_pci_card *card = pci_get_drvdata(pdev);
+	struct net_device *dev;
+	int i = 0;
+
+	for (i = 0; i < card->channels; i++) {
+		dev = card->net_dev[i];
+
+		if (!dev)
+			continue;
+
+		dev_info(&pdev->dev, "Removing %s.\n", dev->name);
+		unregister_sja1000dev(dev);
+		free_sja1000dev(dev);
+	}
+
+	if (card->base_addr != NULL)
+		pci_iounmap(card->pci_dev, card->base_addr);
+
+	if (card->conf_addr != NULL)
+		pci_iounmap(card->pci_dev, card->conf_addr);
+
+	kfree(card);
+
+	pci_disable_device(pdev);
+	pci_set_drvdata(pdev, NULL);
+}
+
+static void ems_pci_card_reset(struct ems_pci_card *card)
+{
+	/* Request board reset */
+	writeb(0, card->base_addr);
+}
+
+/*
+ * Probe PCI device for EMS CAN signature and register each available
+ * CAN channel to SJA1000 Socket-CAN subsystem.
+ */
+static int __devinit ems_pci_add_card(struct pci_dev *pdev,
+					const struct pci_device_id *ent)
+{
+	struct sja1000_priv *priv;
+	struct net_device *dev;
+	struct ems_pci_card *card;
+	int err, i;
+
+	/* Enabling PCI device */
+	if (pci_enable_device(pdev) < 0) {
+		dev_err(&pdev->dev, "Enabling PCI device failed\n");
+		return -ENODEV;
+	}
+
+	/* Allocating card structures to hold addresses, ... */
+	card = kzalloc(sizeof(struct ems_pci_card), GFP_KERNEL);
+	if (card == NULL) {
+		dev_err(&pdev->dev, "Unable to allocate memory\n");
+		pci_disable_device(pdev);
+		return -ENOMEM;
+	}
+
+	pci_set_drvdata(pdev, card);
+
+	card->pci_dev = pdev;
+
+	card->channels = 0;
+
+	/* Remap PITA configuration space, and controller memory area */
+	card->conf_addr = pci_iomap(pdev, 0, EMS_PCI_MEM_SIZE);
+	if (card->conf_addr == NULL) {
+		err = -ENOMEM;
+
+		goto failure_cleanup;
+	}
+
+	card->base_addr = pci_iomap(pdev, 1, EMS_PCI_MEM_SIZE);
+	if (card->base_addr == NULL) {
+		err = -ENOMEM;
+
+		goto failure_cleanup;
+	}
+
+	/* Configure PITA-2 parallel interface (enable MUX) */
+	writel(PITA2_MISC_CONFIG, card->conf_addr + PITA2_MISC);
+
+	/* Check for unique EMS CAN signature */
+	if (ems_pci_readb(card, 0) != 0x55 ||
+	    ems_pci_readb(card, 1) != 0xAA ||
+	    ems_pci_readb(card, 2) != 0x01 ||
+	    ems_pci_readb(card, 3) != 0xCB ||
+	    ems_pci_readb(card, 4) != 0x11) {
+		dev_err(&pdev->dev, "Not EMS Dr. Thomas Wuensche interface\n");
+
+		err = -ENODEV;
+		goto failure_cleanup;
+	}
+
+	ems_pci_card_reset(card);
+
+	/* Detect available channels */
+	for (i = 0; i < EMS_PCI_MAX_CHAN; i++) {
+		dev = alloc_sja1000dev(0);
+		if (dev == NULL) {
+			err = -ENOMEM;
+			goto failure_cleanup;
+		}
+
+		card->net_dev[i] = dev;
+		priv = netdev_priv(dev);
+		priv->priv = card;
+		priv->irq_flags = IRQF_SHARED;
+
+		dev->irq = pdev->irq;
+		dev->base_addr = (unsigned long)(card->base_addr
+						+ EMS_PCI_CAN_BASE_OFFSET
+						+ (i * EMS_PCI_CAN_CTRL_SIZE));
+
+		/* Check if channel is present */
+		if (ems_pci_check_chan(dev)) {
+			priv->read_reg  = ems_pci_read_reg;
+			priv->write_reg = ems_pci_write_reg;
+			priv->post_irq  = ems_pci_post_irq;
+			priv->can.clock.freq = EMS_PCI_CAN_CLOCK;
+			priv->ocr = EMS_PCI_OCR;
+			priv->cdr = EMS_PCI_CDR;
+
+			SET_NETDEV_DEV(dev, &pdev->dev);
+
+			/* Enable interrupts from card */
+			writel(PITA2_ICR_INT0_EN, card->conf_addr + PITA2_ICR);
+
+			/* Register SJA1000 device */
+			err = register_sja1000dev(dev);
+			if (err) {
+				dev_err(&pdev->dev, "Registering device failed "
+							"(err=%d)\n", err);
+				free_sja1000dev(dev);
+				goto failure_cleanup;
+			}
+
+			card->channels++;
+
+			dev_info(&pdev->dev, "Channel #%d at %#lX, irq %d\n",
+						i + 1, dev->base_addr,
+						dev->irq);
+		} else {
+			free_sja1000dev(dev);
+		}
+	}
+
+	return 0;
+
+failure_cleanup:
+	dev_err(&pdev->dev, "Error: %d. Cleaning Up.\n", err);
+
+	ems_pci_del_card(pdev);
+
+	return err;
+}
+
+static struct pci_driver ems_pci_driver = {
+	.name = DRV_NAME,
+	.id_table = ems_pci_tbl,
+	.probe = ems_pci_add_card,
+	.remove = ems_pci_del_card,
+};
+
+static int __init ems_pci_init(void)
+{
+	return pci_register_driver(&ems_pci_driver);
+}
+
+static void __exit ems_pci_exit(void)
+{
+	pci_unregister_driver(&ems_pci_driver);
+}
+
+module_init(ems_pci_init);
+module_exit(ems_pci_exit);
+

[PATCH v3 7/7] The patch adds support for the PCI cards: PCIcan and PCIcanx (1, 2 or 4 channel) from Kvaser (http://www.kvaser.com).

[Wolfgang Grandegger]

[-- Attachment #1: 07-sja1000-kvaser-pci-driver.patch --]
[-- Type: text/plain, Size: 12883 bytes --]

Signed-off-by: Per Dalen <per.dalen@cnw.se>
Signed-off-by: Wolfgang Grandegger <wg@grandegger.com>
---
 drivers/net/can/Kconfig              |    7 
 drivers/net/can/sja1000/Makefile     |    1 
 drivers/net/can/sja1000/kvaser_pci.c |  411 +++++++++++++++++++++++++++++++++++
 3 files changed, 419 insertions(+)
 create mode 100644 drivers/net/can/sja1000/kvaser_pci.c

Index: net-next-2.6/drivers/net/can/Kconfig
===================================================================
--- net-next-2.6.orig/drivers/net/can/Kconfig	2009-05-16 11:17:21.511091164 +0200
+++ net-next-2.6/drivers/net/can/Kconfig	2009-05-16 11:17:21.537720630 +0200
@@ -58,6 +58,13 @@
 	  This driver is for the one or two channel CPC-PCI and CPC-PCIe
 	  cards from EMS Dr. Thomas Wuensche (http://www.ems-wuensche.de).
 
+config CAN_KVASER_PCI
+	tristate "Kvaser PCIcanx and Kvaser PCIcan PCI Cards"
+	depends on PCI && CAN_SJA1000
+	---help---
+	  This driver is for the the PCIcanx and PCIcan cards (1, 2 or
+	  4 channel) from Kvaser (http://www.kvaser.com).
+
 config CAN_DEBUG_DEVICES
 	bool "CAN devices debugging messages"
 	depends on CAN
Index: net-next-2.6/drivers/net/can/sja1000/Makefile
===================================================================
--- net-next-2.6.orig/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:21.511720862 +0200
+++ net-next-2.6/drivers/net/can/sja1000/Makefile	2009-05-16 11:17:21.538720492 +0200
@@ -5,5 +5,6 @@
 obj-$(CONFIG_CAN_SJA1000) += sja1000.o
 obj-$(CONFIG_CAN_SJA1000_PLATFORM) += sja1000_platform.o
 obj-$(CONFIG_CAN_EMS_PCI) += ems_pci.o
+obj-$(CONFIG_CAN_KVASER_PCI) += kvaser_pci.o
 
 ccflags-$(CONFIG_CAN_DEBUG_DEVICES) := -DDEBUG
Index: net-next-2.6/drivers/net/can/sja1000/kvaser_pci.c
===================================================================
--- /dev/null	1970-01-01 00:00:00.000000000 +0000
+++ net-next-2.6/drivers/net/can/sja1000/kvaser_pci.c	2009-05-16 11:17:21.542720779 +0200
@@ -0,0 +1,411 @@
+/*
+ * Copyright (C) 2008 Per Dalen <per.dalen@cnw.se>
+ *
+ * Parts of this software are based on (derived) the following:
+ *
+ * - Kvaser linux driver, version 4.72 BETA
+ *   Copyright (C) 2002-2007 KVASER AB
+ *
+ * - Lincan driver, version 0.3.3, OCERA project
+ *   Copyright (C) 2004 Pavel Pisa
+ *   Copyright (C) 2001 Arnaud Westenberg
+ *
+ * - Socketcan SJA1000 drivers
+ *   Copyright (C) 2007 Wolfgang Grandegger <wg@grandegger.com>
+ *   Copyright (c) 2002-2007 Volkswagen Group Electronic Research
+ *   Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
+ *   38106 Braunschweig, GERMANY
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/interrupt.h>
+#include <linux/netdevice.h>
+#include <linux/delay.h>
+#include <linux/pci.h>
+#include <linux/can.h>
+#include <linux/can/dev.h>
+#include <linux/io.h>
+
+#include "sja1000.h"
+
+#define DRV_NAME  "kvaser_pci"
+
+MODULE_AUTHOR("Per Dalen <per.dalen@cnw.se>");
+MODULE_DESCRIPTION("Socket-CAN driver for KVASER PCAN PCI cards");
+MODULE_SUPPORTED_DEVICE("KVASER PCAN PCI CAN card");
+MODULE_LICENSE("GPL v2");
+
+#define MAX_NO_OF_CHANNELS        4 /* max no of channels on a single card */
+
+struct kvaser_pci {
+	int channel;
+	struct pci_dev *pci_dev;
+	struct net_device *slave_dev[MAX_NO_OF_CHANNELS-1];
+	void __iomem *conf_addr;
+	void __iomem *res_addr;
+	int no_channels;
+	u8 xilinx_ver;
+};
+
+#define KVASER_PCI_CAN_CLOCK      (16000000 / 2)
+
+/*
+ * The board configuration is probably following:
+ * RX1 is connected to ground.
+ * TX1 is not connected.
+ * CLKO is not connected.
+ * Setting the OCR register to 0xDA is a good idea.
+ * This means  normal output mode , push-pull and the correct polarity.
+ */
+#define KVASER_PCI_OCR            (OCR_TX0_PUSHPULL | OCR_TX1_PUSHPULL)
+
+/*
+ * In the CDR register, you should set CBP to 1.
+ * You will probably also want to set the clock divider value to 0
+ * (meaning divide-by-2), the Pelican bit, and the clock-off bit
+ * (you will have no need for CLKOUT anyway).
+ */
+#define KVASER_PCI_CDR            (CDR_CBP | CDR_CLKOUT_MASK)
+
+/*
+ * These register values are valid for revision 14 of the Xilinx logic.
+ */
+#define XILINX_VERINT             7   /* Lower nibble simulate interrupts,
+					 high nibble version number. */
+
+#define XILINX_PRESUMED_VERSION   14
+
+/*
+ * Important S5920 registers
+ */
+#define S5920_INTCSR              0x38
+#define S5920_PTCR                0x60
+#define INTCSR_ADDON_INTENABLE_M  0x2000
+
+
+#define KVASER_PCI_PORT_BYTES     0x20
+
+#define PCI_CONFIG_PORT_SIZE      0x80      /* size of the config io-memory */
+#define PCI_PORT_SIZE             0x80      /* size of a channel io-memory */
+#define PCI_PORT_XILINX_SIZE      0x08      /* size of a xilinx io-memory */
+
+#define KVASER_PCI_VENDOR_ID1     0x10e8    /* the PCI device and vendor IDs */
+#define KVASER_PCI_DEVICE_ID1     0x8406
+
+#define KVASER_PCI_VENDOR_ID2     0x1a07    /* the PCI device and vendor IDs */
+#define KVASER_PCI_DEVICE_ID2     0x0008
+
+static struct pci_device_id kvaser_pci_tbl[] = {
+	{KVASER_PCI_VENDOR_ID1, KVASER_PCI_DEVICE_ID1, PCI_ANY_ID, PCI_ANY_ID,},
+	{KVASER_PCI_VENDOR_ID2, KVASER_PCI_DEVICE_ID2, PCI_ANY_ID, PCI_ANY_ID,},
+	{ 0,}
+};
+
+MODULE_DEVICE_TABLE(pci, kvaser_pci_tbl);
+
+static u8 kvaser_pci_read_reg(const struct net_device *dev, int port)
+{
+	return ioread8((void __iomem *)(dev->base_addr + port));
+}
+
+static void kvaser_pci_write_reg(const struct net_device *dev, int port, u8 val)
+{
+	iowrite8(val, (void __iomem *)(dev->base_addr + port));
+}
+
+static void kvaser_pci_disable_irq(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct kvaser_pci *board = priv->priv;
+	u32 intcsr;
+
+	/* Disable interrupts from card */
+	intcsr = ioread32(board->conf_addr + S5920_INTCSR);
+	intcsr &= ~INTCSR_ADDON_INTENABLE_M;
+	iowrite32(intcsr, board->conf_addr + S5920_INTCSR);
+}
+
+static void kvaser_pci_enable_irq(struct net_device *dev)
+{
+	struct sja1000_priv *priv = netdev_priv(dev);
+	struct kvaser_pci *board = priv->priv;
+	u32 tmp_en_io;
+
+	/* Enable interrupts from card */
+	tmp_en_io = ioread32(board->conf_addr + S5920_INTCSR);
+	tmp_en_io |= INTCSR_ADDON_INTENABLE_M;
+	iowrite32(tmp_en_io, board->conf_addr + S5920_INTCSR);
+}
+
+static int number_of_sja1000_chip(void __iomem *base_addr)
+{
+	u8 status;
+	int i;
+
+	for (i = 0; i < MAX_NO_OF_CHANNELS; i++) {
+		/* reset chip */
+		iowrite8(MOD_RM, base_addr +
+			 (i * KVASER_PCI_PORT_BYTES) + REG_MOD);
+		status = ioread8(base_addr +
+				 (i * KVASER_PCI_PORT_BYTES) + REG_MOD);
+		/* check reset bit */
+		if (!(status & MOD_RM))
+			break;
+	}
+
+	return i;
+}
+
+static void kvaser_pci_del_chan(struct net_device *dev)
+{
+	struct sja1000_priv *priv;
+	struct kvaser_pci *board;
+	int i;
+
+	if (!dev)
+		return;
+	priv = netdev_priv(dev);
+	board = priv->priv;
+	if (!board)
+		return;
+
+	dev_info(&board->pci_dev->dev, "Removing device %s\n",
+		 dev->name);
+
+	/* Disable PCI interrupts */
+	kvaser_pci_disable_irq(dev);
+
+	for (i = 0; i < board->no_channels - 1; i++) {
+		if (board->slave_dev[i]) {
+			dev_info(&board->pci_dev->dev, "Removing device %s\n",
+				 board->slave_dev[i]->name);
+			unregister_sja1000dev(board->slave_dev[i]);
+			free_sja1000dev(board->slave_dev[i]);
+		}
+	}
+	unregister_sja1000dev(dev);
+
+	pci_iounmap(board->pci_dev, (void __iomem *)dev->base_addr);
+	pci_iounmap(board->pci_dev, board->conf_addr);
+	pci_iounmap(board->pci_dev, board->res_addr);
+
+	free_sja1000dev(dev);
+}
+
+static int kvaser_pci_add_chan(struct pci_dev *pdev, int channel,
+			       struct net_device **master_dev,
+			       void __iomem *conf_addr,
+			       void __iomem *res_addr,
+			       unsigned long base_addr)
+{
+	struct net_device *dev;
+	struct sja1000_priv *priv;
+	struct kvaser_pci *board;
+	int err, init_step;
+
+	dev = alloc_sja1000dev(sizeof(struct kvaser_pci));
+	if (dev == NULL)
+		return -ENOMEM;
+
+	priv = netdev_priv(dev);
+	board = priv->priv;
+
+	board->pci_dev = pdev;
+	board->channel = channel;
+
+	/* S5920 */
+	board->conf_addr = conf_addr;
+
+	/* XILINX board wide address */
+	board->res_addr = res_addr;
+
+	if (channel == 0) {
+		board->xilinx_ver =
+			ioread8(board->res_addr + XILINX_VERINT) >> 4;
+		init_step = 2;
+
+		/* Assert PTADR# - we're in passive mode so the other bits are
+		   not important */
+		iowrite32(0x80808080UL, board->conf_addr + S5920_PTCR);
+
+		/* Enable interrupts from card */
+		kvaser_pci_enable_irq(dev);
+	} else {
+		struct sja1000_priv *master_priv = netdev_priv(*master_dev);
+		struct kvaser_pci *master_board = master_priv->priv;
+		master_board->slave_dev[channel - 1] = dev;
+		master_board->no_channels = channel + 1;
+		board->xilinx_ver = master_board->xilinx_ver;
+	}
+
+	dev->base_addr = base_addr + channel * KVASER_PCI_PORT_BYTES;
+
+	priv->read_reg = kvaser_pci_read_reg;
+	priv->write_reg = kvaser_pci_write_reg;
+
+	priv->can.clock.freq = KVASER_PCI_CAN_CLOCK;
+
+	priv->ocr = KVASER_PCI_OCR;
+	priv->cdr = KVASER_PCI_CDR;
+
+	priv->irq_flags = IRQF_SHARED;
+	dev->irq = pdev->irq;
+
+	init_step = 4;
+
+	dev_info(&pdev->dev, "base_addr=%#lx conf_addr=%p irq=%d\n",
+		 dev->base_addr, board->conf_addr, dev->irq);
+
+	SET_NETDEV_DEV(dev, &pdev->dev);
+
+	/* Register SJA1000 device */
+	err = register_sja1000dev(dev);
+	if (err) {
+		dev_err(&pdev->dev, "Registering device failed (err=%d)\n",
+			err);
+		goto failure;
+	}
+
+	if (channel == 0)
+		*master_dev = dev;
+
+	return 0;
+
+failure:
+	kvaser_pci_del_chan(dev);
+	return err;
+}
+
+static int __devinit kvaser_pci_init_one(struct pci_dev *pdev,
+					 const struct pci_device_id *ent)
+{
+	int err;
+	struct net_device *master_dev = NULL;
+	struct sja1000_priv *priv;
+	struct kvaser_pci *board;
+	int no_channels;
+	void __iomem *base_addr = NULL;
+	void __iomem *conf_addr = NULL;
+	void __iomem *res_addr = NULL;
+	int i;
+
+	dev_info(&pdev->dev, "initializing device %04x:%04x\n",
+		 pdev->vendor, pdev->device);
+
+	err = pci_enable_device(pdev);
+	if (err)
+		goto failure;
+
+	err = pci_request_regions(pdev, DRV_NAME);
+	if (err)
+		goto failure_release_pci;
+
+	/* S5920 */
+	conf_addr = pci_iomap(pdev, 0, PCI_CONFIG_PORT_SIZE);
+	if (conf_addr == NULL) {
+		err = -ENODEV;
+		goto failure_release_regions;
+	}
+
+	/* XILINX board wide address */
+	res_addr = pci_iomap(pdev, 2, PCI_PORT_XILINX_SIZE);
+	if (res_addr == NULL) {
+		err = -ENOMEM;
+		goto failure_iounmap;
+	}
+
+	base_addr = pci_iomap(pdev, 1, PCI_PORT_SIZE);
+	if (base_addr == NULL) {
+		err = -ENOMEM;
+		goto failure_iounmap;
+	}
+
+	no_channels = number_of_sja1000_chip(base_addr);
+	if (no_channels == 0) {
+		err = -ENOMEM;
+		goto failure_iounmap;
+	}
+
+	for (i = 0; i < no_channels; i++) {
+		err = kvaser_pci_add_chan(pdev, i, &master_dev,
+					  conf_addr, res_addr,
+					  (unsigned long)base_addr);
+		if (err)
+			goto failure_cleanup;
+	}
+
+	priv = netdev_priv(master_dev);
+	board = priv->priv;
+
+	dev_info(&pdev->dev, "xilinx version=%d number of channels=%d\n",
+		 board->xilinx_ver, board->no_channels);
+
+	pci_set_drvdata(pdev, master_dev);
+	return 0;
+
+failure_cleanup:
+	kvaser_pci_del_chan(master_dev);
+
+failure_iounmap:
+	if (conf_addr != NULL)
+		pci_iounmap(pdev, conf_addr);
+	if (res_addr != NULL)
+		pci_iounmap(pdev, res_addr);
+	if (base_addr != NULL)
+		pci_iounmap(pdev, base_addr);
+
+failure_release_regions:
+	pci_release_regions(pdev);
+
+failure_release_pci:
+	pci_disable_device(pdev);
+
+failure:
+	return err;
+
+}
+
+static void __devexit kvaser_pci_remove_one(struct pci_dev *pdev)
+{
+	struct net_device *dev = pci_get_drvdata(pdev);
+
+	kvaser_pci_del_chan(dev);
+
+	pci_release_regions(pdev);
+	pci_disable_device(pdev);
+	pci_set_drvdata(pdev, NULL);
+}
+
+static struct pci_driver kvaser_pci_driver = {
+	.name = DRV_NAME,
+	.id_table = kvaser_pci_tbl,
+	.probe = kvaser_pci_init_one,
+	.remove = __devexit_p(kvaser_pci_remove_one),
+};
+
+static int __init kvaser_pci_init(void)
+{
+	return pci_register_driver(&kvaser_pci_driver);
+}
+
+static void __exit kvaser_pci_exit(void)
+{
+	pci_unregister_driver(&kvaser_pci_driver);
+}
+
+module_init(kvaser_pci_init);
+module_exit(kvaser_pci_exit);

Re: [PATCH v3 0/7] can: CAN network device driver interface and drivers

[David Miller]

From: Wolfgang Grandegger <wg@grandegger.com>
Date: Sat, 16 May 2009 11:39:26 +0200

> here comes v3 of this patch series.

I've applied these to net-next-2.6, thanks.

Re: [PATCH v3 0/7] can: CAN network device driver interface and drivers

[Wolfgang Grandegger]

David Miller wrote:
> From: Wolfgang Grandegger <wg@grandegger.com>
> Date: Sat, 16 May 2009 11:39:26 +0200
> 
>> here comes v3 of this patch series.
> 
> I've applied these to net-next-2.6, thanks.

Great, we have more patches for various CAN controllers in the pipeline
and I actually intend to ask for an account on kernel.org and a GIT
repository "can-2.6" to simplify maintenance.

Thanks,

Wolfgang.