Staging: add cpc-usb driver to the staging tree

This is a CPC CAN USB driver.

Just some comments:
cpcusb.h and cpc-usb_drv.c: Essential driver source code
sja2m16c_2.c: Helper for converting bitrate timings
cpc.h: Structures and definition needed to communicate with the device

From: Sebastian Haas <haas@ems-wuensche.com>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/cpc-usb/cpc-usb_drv.c

@@ -0,0 +1,1232 @@
+/*
+ * CPC-USB CAN Interface Kernel Driver
+ *
+ * Copyright (C) 2004-2009 EMS Dr. Thomas Wuensche
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; version 2 of the License.
+ *
+ * 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.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+ */
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/vmalloc.h>
+#include <linux/module.h>
+#include <linux/poll.h>
+#include <linux/smp_lock.h>
+#include <linux/completion.h>
+#include <asm/uaccess.h>
+#include <linux/usb.h>
+
+#include <linux/version.h>
+
+/* usb_kill_urb has been introduced in kernel version 2.6.8 (RC2) */
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,8))
+#define usb_kill_urb usb_unlink_urb
+#endif
+
+#ifdef CONFIG_PROC_FS
+#   include <linux/proc_fs.h>
+#endif
+
+#include "cpc.h"
+
+#include "cpc_int.h"
+#include "cpcusb.h"
+
+#include "sja2m16c.h"
+
+/* Version Information */
+#define DRIVER_AUTHOR  "Sebastian Haas <haas@ems-wuensche.com>"
+#define DRIVER_DESC    "CPC-USB Driver for Linux Kernel 2.6"
+#define DRIVER_VERSION CPC_DRIVER_VERSION " (CDKL v" CDKL_VERSION ")"
+
+MODULE_AUTHOR(DRIVER_AUTHOR);
+MODULE_DESCRIPTION(DRIVER_DESC);
+MODULE_VERSION(DRIVER_VERSION);
+MODULE_LICENSE("GPL v2");
+
+/* Define these values to match your devices */
+#define USB_CPCUSB_VENDOR_ID	0x12D6
+
+#define USB_CPCUSB_M16C_PRODUCT_ID    0x0888
+#define USB_CPCUSB_LPC2119_PRODUCT_ID 0x0444
+
+#ifndef CONFIG_PROC_FS
+#error "PROCFS needed"
+#endif
+
+#define CPC_USB_PROC_DIR     CPC_PROC_DIR "cpc-usb"
+
+static struct proc_dir_entry *procDir = NULL;
+static struct proc_dir_entry *procEntry = NULL;
+
+/* Module parameters */
+static int debug = 0;
+module_param(debug, int, S_IRUGO);
+
+/* table of devices that work with this driver */
+static struct usb_device_id cpcusb_table[] = {
+	{USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_M16C_PRODUCT_ID)},
+	{USB_DEVICE(USB_CPCUSB_VENDOR_ID, USB_CPCUSB_LPC2119_PRODUCT_ID)},
+	{}			/* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, cpcusb_table);
+
+/* use to prevent kernel panic if driver is unloaded
+ * while a programm has still open the device
+ */
+DECLARE_WAIT_QUEUE_HEAD(rmmodWq);
+atomic_t useCount;
+
+static CPC_USB_T *CPCUSB_Table[CPC_USB_CARD_CNT] = { 0 };
+static unsigned int CPCUsbCnt = 0;
+
+/* prevent races between open() and disconnect() */
+static DECLARE_MUTEX(disconnect_sem);
+
+/* local function prototypes */
+static ssize_t cpcusb_read(struct file *file, char *buffer, size_t count,
+			   loff_t * ppos);
+static ssize_t cpcusb_write(struct file *file, const char *buffer,
+			    size_t count, loff_t * ppos);
+static unsigned int cpcusb_poll(struct file *file, poll_table * wait);
+static int cpcusb_open(struct inode *inode, struct file *file);
+static int cpcusb_release(struct inode *inode, struct file *file);
+
+static int cpcusb_probe(struct usb_interface *interface,
+			const struct usb_device_id *id);
+static void cpcusb_disconnect(struct usb_interface *interface);
+
+static void cpcusb_read_bulk_callback(struct urb *urb
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,19))
+					   , struct pt_regs *regs
+#endif
+);
+static void cpcusb_write_bulk_callback(struct urb *urb
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,19))
+					   , struct pt_regs *regs
+#endif
+);
+static void cpcusb_read_interrupt_callback(struct urb *urb
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,19))
+					   , struct pt_regs *regs
+#endif
+);
+
+static int cpcusb_setup_intrep(CPC_USB_T * card);
+
+static struct file_operations cpcusb_fops = {
+	/*
+	 * The owner field is part of the module-locking
+	 * mechanism. The idea is that the kernel knows
+	 * which module to increment the use-counter of
+	 * BEFORE it calls the device's open() function.
+	 * This also means that the kernel can decrement
+	 * the use-counter again before calling release()
+	 * or should the open() function fail.
+	 */
+	.owner = THIS_MODULE,
+
+	.read = cpcusb_read,
+	.write = cpcusb_write,
+	.poll = cpcusb_poll,
+	.open = cpcusb_open,
+	.release = cpcusb_release,
+};
+
+/*
+ * usb class driver info in order to get a minor number from the usb core,
+ * and to have the device registered with devfs and the driver core
+ */
+static struct usb_class_driver cpcusb_class = {
+	.name = "usb/cpc_usb%d",
+	.fops = &cpcusb_fops,
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,14))
+	.mode =
+	    S_IFCHR | S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH |
+	    S_IWOTH,
+#endif
+	.minor_base = CPC_USB_BASE_MNR,
+};
+
+/* usb specific object needed to register this driver with the usb subsystem */
+static struct usb_driver cpcusb_driver = {
+#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,6,14))
+	.owner = THIS_MODULE,
+#endif
+	.name = "cpc-usb",
+	.probe = cpcusb_probe,
+	.disconnect = cpcusb_disconnect,
+	.id_table = cpcusb_table,
+};
+
+static int cpcusb_create_info_output(char *buf)
+{
+	int i = 0, j;
+
+	for (j = 0; j < CPC_USB_CARD_CNT; j++) {
+		if (CPCUSB_Table[j]) {
+			CPC_USB_T *card = CPCUSB_Table[j];
+			CPC_CHAN_T *chan = card->chan;
+
+			/* MINOR CHANNELNO BUSNO SLOTNO */
+			i += sprintf(&buf[i], "%d %s\n", chan->minor,
+				     card->serialNumber);
+		}
+	}
+
+	return i;
+}
+
+static int cpcusb_proc_read_info(char *page, char **start, off_t off,
+				 int count, int *eof, void *data)
+{
+	int len = cpcusb_create_info_output(page);
+
+	if (len <= off + count)
+		*eof = 1;
+	*start = page + off;
+	len -= off;
+	if (len > count)
+		len = count;
+	if (len < 0)
+		len = 0;
+
+	return len;
+}
+
+/*
+ * Remove CPC-USB and cleanup
+ */
+static inline void cpcusb_delete(CPC_USB_T * card)
+{
+	if (card) {
+		if (card->chan) {
+			if (card->chan->buf)
+				vfree(card->chan->buf);
+
+			if (card->chan->CPCWait_q)
+				kfree(card->chan->CPCWait_q);
+
+			kfree(card->chan);
+		}
+
+		CPCUSB_Table[card->idx] = NULL;
+		kfree(card);
+	}
+}
+
+/*
+ * setup the interrupt IN endpoint of a specific CPC-USB device
+ */
+static int cpcusb_setup_intrep(CPC_USB_T * card)
+{
+	int retval = 0;
+	struct usb_endpoint_descriptor *ep;
+
+	ep = &card->interface->altsetting[0].endpoint[card->num_intr_in].desc;
+
+	card->intr_in_buffer[0] = 0;
+	card->free_slots = 15;	/* initial size */
+
+	/* setup the urb */
+	usb_fill_int_urb(card->intr_in_urb, card->udev,
+	                 usb_rcvintpipe(card->udev, card->num_intr_in),
+	                 card->intr_in_buffer,
+	                 sizeof(card->intr_in_buffer),
+	                 cpcusb_read_interrupt_callback,
+	                 card,
+	                 ep->bInterval);
+
+	card->intr_in_urb->status = 0;	/* needed! */
+
+	/* submit the urb */
+	retval = usb_submit_urb(card->intr_in_urb, GFP_KERNEL);
+
+	if (retval) {
+		err("%s - failed submitting intr urb, error %d", __FUNCTION__, retval);
+	}
+
+	return retval;
+}
+
+static int cpcusb_open(struct inode *inode, struct file *file)
+{
+	CPC_USB_T *card = NULL;
+	struct usb_interface *interface;
+	int subminor;
+	int j, retval = 0;
+
+	subminor = iminor(inode);
+
+	/* prevent disconnects */
+	down(&disconnect_sem);
+
+	interface = usb_find_interface(&cpcusb_driver, subminor);
+	if (!interface) {
+		err("%s - error, can't find device for minor %d",
+				__FUNCTION__, subminor);
+		retval = CPC_ERR_NO_INTERFACE_PRESENT;
+		goto exit_no_device;
+	}
+
+	card = usb_get_intfdata(interface);
+	if (!card) {
+		retval = CPC_ERR_NO_INTERFACE_PRESENT;
+		goto exit_no_device;
+	}
+
+	/* lock this device */
+	down(&card->sem);
+
+	/* increment our usage count for the driver */
+	if (card->open) {
+		dbg("device already opened");
+		retval = CPC_ERR_CHANNEL_ALREADY_OPEN;
+		goto exit_on_error;
+	}
+
+	/* save our object in the file's private structure */
+	file->private_data = card;
+	for (j = 0; j < CPC_USB_URB_CNT; j++) {
+		usb_fill_bulk_urb(card->urbs[j].urb, card->udev,
+		                  usb_rcvbulkpipe(card->udev, card->num_bulk_in),
+		                  card->urbs[j].buffer, card->urbs[j].size,
+		                  cpcusb_read_bulk_callback, card);
+
+		retval = usb_submit_urb(card->urbs[j].urb, GFP_KERNEL);
+
+		if (retval) {
+			err("%s - failed submitting read urb, error %d",
+			    __FUNCTION__, retval);
+			retval = CPC_ERR_TRANSMISSION_FAILED;
+			goto exit_on_error;
+		}
+	}
+
+	info("%s - %d URB's submitted", __FUNCTION__, j);
+
+	ResetBuffer(card->chan);
+
+	cpcusb_setup_intrep(card);
+	card->open = 1;
+
+	atomic_inc(&useCount);
+
+exit_on_error:
+	/* unlock this device */
+	up(&card->sem);
+
+exit_no_device:
+	up(&disconnect_sem);
+
+	return retval;
+}
+
+static unsigned int cpcusb_poll(struct file *file, poll_table * wait)
+{
+	CPC_USB_T *card = (CPC_USB_T *) file->private_data;
+	unsigned int retval = 0;
+
+	if (!card) {
+		err("%s - device object lost", __FUNCTION__);
+		return -EIO;
+	}
+
+	poll_wait(file, card->chan->CPCWait_q, wait);
+
+	if (IsBufferNotEmpty(card->chan) || !(card->present))
+		retval |= (POLLIN | POLLRDNORM);
+
+	if (card->free_slots)
+		retval |= (POLLOUT | POLLWRNORM);
+
+	return retval;
+}
+
+static int cpcusb_release(struct inode *inode, struct file *file)
+{
+	CPC_USB_T *card = (CPC_USB_T *) file->private_data;
+	int j, retval = 0;
+
+	if (card == NULL) {
+		dbg("%s - object is NULL", __FUNCTION__);
+		return CPC_ERR_NO_INTERFACE_PRESENT;
+	}
+
+	/* lock our device */
+	down(&card->sem);
+
+	if (!card->open) {
+		dbg("%s - device not opened", __FUNCTION__);
+		retval = CPC_ERR_NO_INTERFACE_PRESENT;
+		goto exit_not_opened;
+	}
+
+	/* if device wasn't unplugged kill all urbs */
+	if (card->present) {
+		/* kill read urbs */
+		for (j = 0; j < CPC_USB_URB_CNT; j++) {
+			usb_kill_urb(card->urbs[j].urb);
+		}
+
+		/* kill irq urb */
+		usb_kill_urb(card->intr_in_urb);
+
+		/* kill write urbs */
+		for (j = 0; j < CPC_USB_URB_CNT; j++) {
+			if (atomic_read(&card->wrUrbs[j].busy)) {
+				usb_kill_urb(card->wrUrbs[j].urb);
+				wait_for_completion(&card->wrUrbs[j].finished);
+			}
+		}
+	}
+
+	atomic_dec(&useCount);
+
+	/* last process detached */
+	if (atomic_read(&useCount) == 0) {
+		wake_up(&rmmodWq);
+	}
+
+	if (!card->present && card->open) {
+		/* the device was unplugged before the file was released */
+		up(&card->sem);
+		cpcusb_delete(card);
+		return 0;
+	}
+
+	card->open = 0;
+
+exit_not_opened:
+	up(&card->sem);
+
+	return 0;
+}
+
+static ssize_t cpcusb_read(struct file *file, char *buffer, size_t count,
+			   loff_t * ppos)
+{
+	CPC_USB_T *card = (CPC_USB_T *) file->private_data;
+	CPC_CHAN_T *chan;
+	int retval = 0;
+
+	if (count < sizeof(CPC_MSG_T))
+		return CPC_ERR_UNKNOWN;
+
+	/* check if can read from the given address */
+	if (!access_ok(VERIFY_WRITE, buffer, count))
+		return CPC_ERR_UNKNOWN;
+
+	/* lock this object */
+	down(&card->sem);
+
+	/* verify that the device wasn't unplugged */
+	if (!card->present) {
+		up(&card->sem);
+		return CPC_ERR_NO_INTERFACE_PRESENT;
+	}
+
+	if (IsBufferEmpty(card->chan)) {
+		retval = 0;
+	} else {
+		chan = card->chan;
+
+#if 0
+		/* convert LPC2119 params back to SJA1000 params */
+		if (card->deviceRevision >= 0x0200
+		    && chan->buf[chan->oidx].type == CPC_MSG_T_CAN_PRMS) {
+			LPC2119_TO_SJA1000_Params(&chan->buf[chan->oidx]);
+		}
+#endif
+
+		if (copy_to_user(buffer, &chan->buf[chan->oidx], count) != 0) {
+			retval = CPC_ERR_IO_TRANSFER;
+		} else {
+			chan->oidx = (chan->oidx + 1) % CPC_MSG_BUF_CNT;
+			chan->WnR = 1;
+			retval = sizeof(CPC_MSG_T);
+		}
+	}
+//    spin_unlock_irqrestore(&card->slock, flags);
+
+	/* unlock the device */
+	up(&card->sem);
+
+	return retval;
+}
+
+#define SHIFT  1
+static void inline cpcusb_align_buffer_alignment(unsigned char *buf)
+{
+	// CPC-USB uploads packed bytes.
+	CPC_MSG_T *cpc = (CPC_MSG_T *) buf;
+	unsigned int i;
+
+	for (i = 0; i < cpc->length + (2 * sizeof(unsigned long)); i++) {
+		((unsigned char *) &cpc->msgid)[1 + i] =
+		    ((unsigned char *) &cpc->msgid)[1 + SHIFT + i];
+	}
+}
+
+static int cpc_get_buffer_count(CPC_CHAN_T * chan)
+{
+	// check the buffer parameters
+	if (chan->iidx == chan->oidx)
+		return !chan->WnR ? CPC_MSG_BUF_CNT : 0;
+	else if (chan->iidx >= chan->oidx)
+		return (chan->iidx - chan->oidx) % CPC_MSG_BUF_CNT;
+
+	return (chan->iidx + CPC_MSG_BUF_CNT - chan->oidx) % CPC_MSG_BUF_CNT;
+}
+
+static ssize_t cpcusb_write(struct file *file, const char *buffer,
+			    size_t count, loff_t * ppos)
+{
+	CPC_USB_T *card = (CPC_USB_T *) file->private_data;
+	CPC_USB_WRITE_URB_T *wrUrb = NULL;
+
+	ssize_t bytes_written = 0;
+	int retval = 0;
+	int j;
+
+	unsigned char *obuf = NULL;
+	unsigned char type = 0;
+	CPC_MSG_T *info = NULL;
+
+	dbg("%s - entered minor %d, count = %d, present = %d",
+	    __FUNCTION__, card->minor, count, card->present);
+
+	if (count > sizeof(CPC_MSG_T))
+		return CPC_ERR_UNKNOWN;
+
+	/* check if can read from the given address */
+	if (!access_ok(VERIFY_READ, buffer, count))
+		return CPC_ERR_UNKNOWN;
+
+	/* lock this object */
+	down(&card->sem);
+
+	/* verify that the device wasn't unplugged */
+	if (!card->present) {
+		retval = CPC_ERR_NO_INTERFACE_PRESENT;
+		goto exit;
+	}
+
+	/* verify that we actually have some data to write */
+	if (count == 0) {
+		dbg("%s - write request of 0 bytes", __FUNCTION__);
+		goto exit;
+	}
+
+	if (card->free_slots <= 5) {
+		info = (CPC_MSG_T *) buffer;
+
+		if (info->type != CPC_CMD_T_CLEAR_CMD_QUEUE
+		    || card->free_slots <= 0) {
+			dbg("%s - send buffer full please try again %d",
+			    __FUNCTION__, card->free_slots);
+			retval = CPC_ERR_CAN_NO_TRANSMIT_BUF;
+			goto exit;
+		}
+	}
+
+	/* Find a free write urb */
+	for (j = 0; j < CPC_USB_URB_CNT; j++) {
+		if (!atomic_read(&card->wrUrbs[j].busy)) {
+			wrUrb = &card->wrUrbs[j];	/* remember found URB */
+			atomic_set(&wrUrb->busy, 1);	/* lock this URB      */
+			init_completion(&wrUrb->finished);	/* init completion    */
+			dbg("WR URB no. %d started", j);
+			break;
+		}
+	}
+
+	/* don't found write urb say error */
+	if (!wrUrb) {
+		dbg("%s - no free send urb available", __FUNCTION__);
+		retval = CPC_ERR_CAN_NO_TRANSMIT_BUF;
+		goto exit;
+	}
+	dbg("URB write req");
+
+	obuf = (unsigned char *) wrUrb->urb->transfer_buffer;
+
+	/* copy the data from userspace into our transfer buffer;
+	 * this is the only copy required.
+	 */
+	if (copy_from_user(&obuf[4], buffer, count) != 0) {
+		atomic_set(&wrUrb->busy, 0);	/* release urb */
+		retval = CPC_ERR_IO_TRANSFER;
+		goto exit;
+	}
+
+	/* check if it is a DRIVER information message, so we can
+	 * response to that message and not the USB
+	 */
+	info = (CPC_MSG_T *) & obuf[4];
+
+	bytes_written = 11 + info->length;
+	if (bytes_written >= wrUrb->size) {
+		retval = CPC_ERR_IO_TRANSFER;
+		goto exit;
+	}
+
+	switch (info->type) {
+	case CPC_CMD_T_CLEAR_MSG_QUEUE:
+		ResetBuffer(card->chan);
+		break;
+
+	case CPC_CMD_T_INQ_MSG_QUEUE_CNT:
+		retval = cpc_get_buffer_count(card->chan);
+		atomic_set(&wrUrb->busy, 0);
+
+		goto exit;
+
+	case CPC_CMD_T_INQ_INFO:
+		if (info->msg.info.source == CPC_INFOMSG_T_DRIVER) {
+			/* release urb cause we'll use it for driver
+			 * information
+			 */
+			atomic_set(&wrUrb->busy, 0);
+			if (IsBufferFull(card->chan)) {
+				retval = CPC_ERR_IO_TRANSFER;
+				goto exit;
+			}
+
+			/* it is a driver information request message and we have
+			 * free rx slots to store the response
+			 */
+			type = info->msg.info.type;
+			info = &card->chan->buf[card->chan->iidx];
+
+			info->type = CPC_MSG_T_INFO;
+			info->msg.info.source = CPC_INFOMSG_T_DRIVER;
+			info->msg.info.type = type;
+
+			switch (type) {
+			case CPC_INFOMSG_T_VERSION:
+				info->length = strlen(CPC_DRIVER_VERSION) + 2;
+				sprintf(info->msg.info.msg, "%s\n",
+					CPC_DRIVER_VERSION);
+				break;
+
+			case CPC_INFOMSG_T_SERIAL:
+				info->length = strlen(CPC_DRIVER_SERIAL) + 2;
+				sprintf(info->msg.info.msg, "%s\n",
+					CPC_DRIVER_SERIAL);
+				break;
+
+			default:
+				info->length = 2;
+				info->msg.info.type =
+				    CPC_INFOMSG_T_UNKNOWN_TYPE;
+			}
+
+			card->chan->WnR = 0;
+			card->chan->iidx =
+			    (card->chan->iidx + 1) % CPC_MSG_BUF_CNT;
+
+			retval = info->length;
+			goto exit;
+		}
+		break;
+	case CPC_CMD_T_CAN_PRMS:
+		/* Check the controller type. If it's the new CPC-USB, make sure if these are SJA1000 params */
+		if (info->msg.canparams.cc_type != SJA1000
+		    && info->msg.canparams.cc_type != M16C_BASIC
+		    && (card->productId == USB_CPCUSB_LPC2119_PRODUCT_ID
+			&& info->msg.canparams.cc_type != SJA1000)) {
+			/* don't forget to release the urb */
+			atomic_set(&wrUrb->busy, 0);
+			retval = CPC_ERR_WRONG_CONTROLLER_TYPE;
+			goto exit;
+		}
+		break;
+	}
+
+	/* just convert the params if it is an old CPC-USB with M16C controller */
+	if (card->productId == USB_CPCUSB_M16C_PRODUCT_ID) {
+		/* if it is a parameter message convert it from SJA1000 controller
+		 * settings to M16C Basic controller settings
+		 */
+		SJA1000_TO_M16C_BASIC_Params((CPC_MSG_T *) & obuf[4]);
+	}
+
+	/* don't forget the byte alignment */
+	cpcusb_align_buffer_alignment(&obuf[4]);
+
+	/* setup a the 4 byte header */
+	obuf[0] = obuf[1] = obuf[2] = obuf[3] = 0;
+
+	/* this urb was already set up, except for this write size */
+	wrUrb->urb->transfer_buffer_length = bytes_written + 4;
+
+	/* send the data out the bulk port */
+	/* a character device write uses GFP_KERNEL,
+	   unless a spinlock is held */
+	retval = usb_submit_urb(wrUrb->urb, GFP_KERNEL);
+	if (retval) {
+		atomic_set(&wrUrb->busy, 0);	/* release urb */
+		err("%s - failed submitting write urb, error %d",
+		    __FUNCTION__, retval);
+	} else {
+		retval = bytes_written;
+	}
+
+exit:
+	/* unlock the device */
+	up(&card->sem);
+
+	dbg("%s - leaved", __FUNCTION__);
+
+	return retval;
+}
+
+/*
+ * callback for interrupt IN urb
+ */
+static void cpcusb_read_interrupt_callback(struct urb *urb
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,19))
+					   , struct pt_regs *regs
+#endif
+)
+{
+	CPC_USB_T *card = (CPC_USB_T *) urb->context;
+	int retval;
+	unsigned long flags;
+
+	spin_lock_irqsave(&card->slock, flags);
+
+	if (!card->present) {
+		spin_unlock_irqrestore(&card->slock, flags);
+		info("%s - no such device", __FUNCTION__);
+		return;
+	}
+
+	switch (urb->status) {
+	case 0: /* success */
+		card->free_slots = card->intr_in_buffer[1];
+		break;
+	case -ECONNRESET:
+	case -ENOENT:
+	case -ESHUTDOWN:
+		/* urb was killed */
+		spin_unlock_irqrestore(&card->slock, flags);
+		dbg("%s - intr urb killed", __FUNCTION__);
+		return;
+	default:
+		info("%s - nonzero urb status %d", __FUNCTION__, urb->status);
+		break;
+	}
+
+	retval = usb_submit_urb(urb, GFP_ATOMIC);
+	if (retval) {
+		err("%s - failed resubmitting intr urb, error %d",
+		    __FUNCTION__, retval);
+	}
+
+	spin_unlock_irqrestore(&card->slock, flags);
+	wake_up_interruptible(card->chan->CPCWait_q);
+
+	return;
+}
+
+#define UN_SHIFT  1
+#define CPCMSG_HEADER_LEN_FIRMWARE   11
+static int inline cpcusb_unalign_and_copy_buffy(unsigned char *out,
+					unsigned char *in)
+{
+	unsigned int i, j;
+
+	for (i = 0; i < 3; i++) {
+		out[i] = in[i];
+	}
+
+	for (j = 0; j < (in[1] + (CPCMSG_HEADER_LEN_FIRMWARE - 3)); j++) {
+		out[j + i + UN_SHIFT] = in[j + i];
+	}
+
+	return i + j;
+}
+
+/*
+ * callback for bulk IN urb
+ */
+static void cpcusb_read_bulk_callback(struct urb *urb
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,19))
+					   , struct pt_regs *regs
+#endif
+)
+{
+	CPC_USB_T *card = (CPC_USB_T *) urb->context;
+	CPC_CHAN_T *chan;
+	unsigned char *ibuf = urb->transfer_buffer;
+	int retval, msgCnt, start, again = 0;
+	unsigned long flags;
+
+	if (!card) {
+		err("%s - device object lost", __FUNCTION__);
+		return;
+	}
+
+	spin_lock_irqsave(&card->slock, flags);
+
+	if (!card->present) {
+		spin_unlock_irqrestore(&card->slock, flags);
+		info("%s - no such device", __FUNCTION__);
+		return;
+	}
+
+	switch (urb->status) {
+	case 0:		/* success */
+		break;
+	case -ECONNRESET:
+	case -ENOENT:
+	case -ESHUTDOWN:
+		/* urb was killed */
+		spin_unlock_irqrestore(&card->slock, flags);
+		dbg("%s - read urb killed", __FUNCTION__);
+		return;
+	default:
+		info("%s - nonzero urb status %d", __FUNCTION__, urb->status);
+		break;
+	}
+
+	if (urb->actual_length) {
+		msgCnt = ibuf[0] & ~0x80;
+		again = ibuf[0] & 0x80;
+
+		/* we have a 4 byte header */
+		start = 4;
+		chan = card->chan;
+		while (msgCnt) {
+			if (!(IsBufferFull(card->chan))) {
+				start +=
+				    cpcusb_unalign_and_copy_buffy((unsigned char *)
+							  &chan->buf[chan->iidx], &ibuf[start]);
+
+				if (start > urb->transfer_buffer_length) {
+					err("%d > %d", start, urb->transfer_buffer_length);
+					break;
+				}
+
+				chan->WnR = 0;
+				chan->iidx = (chan->iidx + 1) % CPC_MSG_BUF_CNT;
+				msgCnt--;
+			} else {
+				break;
+			}
+		}
+	}
+
+	usb_fill_bulk_urb(urb, card->udev,
+	                  usb_rcvbulkpipe(card->udev, card->num_bulk_in),
+	                  urb->transfer_buffer,
+	                  urb->transfer_buffer_length,
+	                  cpcusb_read_bulk_callback, card);
+
+	retval = usb_submit_urb(urb, GFP_ATOMIC);
+
+	if (retval) {
+		err("%s - failed resubmitting read urb, error %d", __FUNCTION__, retval);
+	}
+
+	spin_unlock_irqrestore(&card->slock, flags);
+
+	wake_up_interruptible(card->chan->CPCWait_q);
+}
+
+/*
+ * callback for bulk IN urb
+ */
+static void cpcusb_write_bulk_callback(struct urb *urb
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,6,19))
+					   , struct pt_regs *regs
+#endif
+)
+{
+	CPC_USB_T *card = (CPC_USB_T *) urb->context;
+	unsigned long flags;
+	int j;
+
+	spin_lock_irqsave(&card->slock, flags);
+
+	/* find this urb */
+	for (j = 0; j < CPC_USB_URB_CNT; j++) {
+		if (card->wrUrbs[j].urb == urb) {
+			dbg("URB found no. %d", j);
+			/* notify anyone waiting that the write has finished */
+			complete(&card->wrUrbs[j].finished);
+			atomic_set(&card->wrUrbs[j].busy, 0);
+			break;
+		}
+	}
+
+	switch (urb->status) {
+	case 0:		/* success */
+		break;
+	case -ECONNRESET:
+	case -ENOENT:
+	case -ESHUTDOWN:
+		/* urb was killed */
+		spin_unlock_irqrestore(&card->slock, flags);
+		dbg("%s - write urb no. %d killed", __FUNCTION__, j);
+		return;
+	default:
+		info("%s - nonzero urb status %d", __FUNCTION__, urb->status);
+		break;
+	}
+
+	spin_unlock_irqrestore(&card->slock, flags);
+
+	wake_up_interruptible(card->chan->CPCWait_q);
+}
+
+static inline int cpcusb_get_free_slot(void)
+{
+	int i;
+
+	for (i = 0; i < CPC_USB_CARD_CNT; i++) {
+		if (!CPCUSB_Table[i])
+			return i;
+	}
+
+	return -1;
+}
+
+/*
+ * probe function for new CPC-USB devices
+ */
+static int cpcusb_probe(struct usb_interface *interface,
+		                const struct usb_device_id *id)
+{
+	CPC_USB_T *card = NULL;
+	CPC_CHAN_T *chan = NULL;
+
+	struct usb_device *udev = interface_to_usbdev(interface);
+	struct usb_host_interface *iface_desc;
+	struct usb_endpoint_descriptor *endpoint;
+
+	int i, j, retval = -ENOMEM, slot;
+
+	if ((slot = cpcusb_get_free_slot()) < 0) {
+		info("No more devices supported");
+		return -ENOMEM;
+	}
+
+	/* allocate memory for our device state and initialize it */
+	card = kzalloc(sizeof(CPC_USB_T), GFP_KERNEL);
+	if (!card) {
+		err("Out of memory");
+		return -ENOMEM;
+	}
+	CPCUSB_Table[slot] = card;
+
+	/* allocate and initialize the channel struct */
+	card->chan = kmalloc(sizeof(CPC_CHAN_T), GFP_KERNEL);
+	if (!card) {
+		kfree(card);
+		err("Out of memory");
+		return -ENOMEM;
+	}
+
+	chan = card->chan;
+	memset(chan, 0, sizeof(CPC_CHAN_T));
+	ResetBuffer(chan);
+
+	init_MUTEX(&card->sem);
+	spin_lock_init(&card->slock);
+
+	card->udev = udev;
+	card->interface = interface;
+	if (udev->descriptor.iSerialNumber) {
+		usb_string(udev, udev->descriptor.iSerialNumber, card->serialNumber,
+				   128);
+		info("Serial %s", card->serialNumber);
+	}
+
+	card->productId = udev->descriptor.idProduct;
+	info("Product %s",
+	     card->productId == USB_CPCUSB_LPC2119_PRODUCT_ID ?
+	    		 "CPC-USB/ARM7" : "CPC-USB/M16C");
+
+	/* set up the endpoint information */
+	/* check out the endpoints */
+	/* use only the first bulk-in and bulk-out endpoints */
+	iface_desc = &interface->altsetting[0];
+	for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
+		endpoint = &iface_desc->endpoint[i].desc;
+
+		if (!card->num_intr_in &&
+		    (endpoint->bEndpointAddress & USB_DIR_IN) &&
+		    ((endpoint->bmAttributes & USB_ENDPOINT_XFERTYPE_MASK)
+		     == USB_ENDPOINT_XFER_INT)) {
+			card->intr_in_urb = usb_alloc_urb(0, GFP_KERNEL);
+			card->num_intr_in = 1;
+
+			if (!card->intr_in_urb) {
+				err("No free urbs available");
+				goto error;
+			}
+
+			dbg("intr_in urb %d", card->num_intr_in);
+		}
+
+		if (!card->num_bulk_in &&
+		    (endpoint->bEndpointAddress & USB_DIR_IN) &&
+		    ((endpoint->bmAttributes & USB_ENDPOINT_XFERTYPE_MASK)
+		     == USB_ENDPOINT_XFER_BULK)) {
+			card->num_bulk_in = 2;
+			for (j = 0; j < CPC_USB_URB_CNT; j++) {
+				card->urbs[j].size = endpoint->wMaxPacketSize;
+				card->urbs[j].urb = usb_alloc_urb(0, GFP_KERNEL);
+				if (!card->urbs[j].urb) {
+					err("No free urbs available");
+					goto error;
+				}
+				card->urbs[j].buffer =
+				    usb_buffer_alloc(udev,
+						     card->urbs[j].size,
+						     GFP_KERNEL,
+						     &card->urbs[j].urb->transfer_dma);
+				if (!card->urbs[j].buffer) {
+					err("Couldn't allocate bulk_in_buffer");
+					goto error;
+				}
+			}
+			info("%s - %d reading URB's allocated",
+			     __FUNCTION__, CPC_USB_URB_CNT);
+		}
+
+		if (!card->num_bulk_out &&
+		    !(endpoint->bEndpointAddress & USB_DIR_IN) &&
+		    ((endpoint->bmAttributes & USB_ENDPOINT_XFERTYPE_MASK)
+		     == USB_ENDPOINT_XFER_BULK)) {
+
+			card->num_bulk_out = 2;
+
+			for (j = 0; j < CPC_USB_URB_CNT; j++) {
+				card->wrUrbs[j].size =
+				    endpoint->wMaxPacketSize;
+				card->wrUrbs[j].urb =
+				    usb_alloc_urb(0, GFP_KERNEL);
+				if (!card->wrUrbs[j].urb) {
+					err("No free urbs available");
+					goto error;
+				}
+				card->wrUrbs[j].buffer = usb_buffer_alloc(udev,
+				                               card->wrUrbs[j].size, GFP_KERNEL,
+				                               &card->wrUrbs[j].urb->transfer_dma);
+
+				if (!card->wrUrbs[j].buffer) {
+					err("Couldn't allocate bulk_out_buffer");
+					goto error;
+				}
+
+				usb_fill_bulk_urb(card->wrUrbs[j].urb, udev,
+						usb_sndbulkpipe(udev, endpoint->bEndpointAddress),
+						card->wrUrbs[j].buffer,
+						card->wrUrbs[j].size,
+						cpcusb_write_bulk_callback,
+						card);
+			}
+
+			info("%s - %d writing URB's allocated", __FUNCTION__, CPC_USB_URB_CNT);
+		}
+	}
+
+	if (!(card->num_bulk_in && card->num_bulk_out)) {
+		err("Couldn't find both bulk-in and bulk-out endpoints");
+		goto error;
+	}
+
+	/* allow device read, write and ioctl */
+	card->present = 1;
+
+	/* we can register the device now, as it is ready */
+	usb_set_intfdata(interface, card);
+	retval = usb_register_dev(interface, &cpcusb_class);
+
+	if (retval) {
+		/* something prevented us from registering this driver */
+		err("Not able to get a minor for this device.");
+		usb_set_intfdata(interface, NULL);
+		goto error;
+	}
+
+	card->chan->minor = card->minor = interface->minor;
+
+	chan->buf = vmalloc(sizeof(CPC_MSG_T) * CPC_MSG_BUF_CNT);
+	if (chan->buf == NULL) {
+		err("Out of memory");
+		retval = -ENOMEM;
+		goto error;
+	}
+	info("Allocated memory for %d messages (%d kbytes)",
+	     CPC_MSG_BUF_CNT, (sizeof(CPC_MSG_T) * CPC_MSG_BUF_CNT) / 1000);
+	memset(chan->buf, 0, sizeof(CPC_MSG_T) * CPC_MSG_BUF_CNT);
+
+	ResetBuffer(chan);
+
+	card->chan->CPCWait_q = kmalloc(sizeof(wait_queue_head_t), GFP_KERNEL);
+	if (!card->chan->CPCWait_q) {
+		err("Out of memory");
+		retval = -ENOMEM;
+		goto error;
+	}
+	init_waitqueue_head(card->chan->CPCWait_q);
+
+	CPCUSB_Table[slot] = card;
+	card->idx = slot;
+	CPCUsbCnt++;
+
+	/* let the user know what node this device is now attached to */
+	info("Device now attached to USB-%d", card->minor);
+	return 0;
+
+error:
+	for (j = 0; j < CPC_USB_URB_CNT; j++) {
+		if (card->urbs[j].buffer) {
+			usb_buffer_free(card->udev, card->urbs[j].size,
+					card->urbs[j].buffer,
+					card->urbs[j].urb->transfer_dma);
+			card->urbs[j].buffer = NULL;
+		}
+		if (card->urbs[j].urb) {
+			usb_free_urb(card->urbs[j].urb);
+			card->urbs[j].urb = NULL;
+		}
+	}
+
+	cpcusb_delete(card);
+	return retval;
+}
+
+/*
+ * called by the usb core when the device is removed from the system
+ */
+static void cpcusb_disconnect(struct usb_interface *interface)
+{
+	CPC_USB_T *card = NULL;
+	int minor, j;
+
+	/* prevent races with open() */
+	down(&disconnect_sem);
+
+	card = usb_get_intfdata(interface);
+	usb_set_intfdata(interface, NULL);
+
+	down(&card->sem);
+
+	/* prevent device read, write and ioctl */
+	card->present = 0;
+
+	minor = card->minor;
+
+	/* free all urbs and their buffers */
+	for (j = 0; j < CPC_USB_URB_CNT; j++) {
+		/* terminate an ongoing write */
+		if (atomic_read(&card->wrUrbs[j].busy)) {
+			usb_kill_urb(card->wrUrbs[j].urb);
+			wait_for_completion(&card->wrUrbs[j].finished);
+		}
+		usb_buffer_free(card->udev, card->wrUrbs[j].size,
+				card->wrUrbs[j].buffer,
+				card->wrUrbs[j].urb->transfer_dma);
+		usb_free_urb(card->wrUrbs[j].urb);
+	}
+	info("%d write URBs freed", CPC_USB_URB_CNT);
+
+	/* free all urbs and their buffers */
+	for (j = 0; j < CPC_USB_URB_CNT; j++) {
+		usb_buffer_free(card->udev, card->urbs[j].size,
+				card->urbs[j].buffer,
+				card->urbs[j].urb->transfer_dma);
+		usb_free_urb(card->urbs[j].urb);
+	}
+	info("%d read URBs freed", CPC_USB_URB_CNT);
+	usb_free_urb(card->intr_in_urb);
+
+	/* give back our minor */
+	usb_deregister_dev(interface, &cpcusb_class);
+
+	up(&card->sem);
+
+	/* if the device is opened, cpcusb_release will clean this up */
+	if (!card->open)
+		cpcusb_delete(card);
+	else
+		wake_up_interruptible(card->chan->CPCWait_q);
+
+	up(&disconnect_sem);
+
+	CPCUsbCnt--;
+	info("USB-%d now disconnected", minor);
+}
+
+static int __init CPCUsb_Init(void)
+{
+	int result, i;
+
+	info(DRIVER_DESC " v" DRIVER_VERSION);
+	info("Build on " __DATE__ " at " __TIME__);
+
+	for (i = 0; i < CPC_USB_CARD_CNT; i++)
+		CPCUSB_Table[i] = 0;
+
+	/* register this driver with the USB subsystem */
+	result = usb_register(&cpcusb_driver);
+	if (result) {
+		err("usb_register failed. Error number %d", result);
+		return result;
+	}
+
+	procDir = proc_mkdir(CPC_USB_PROC_DIR, NULL);
+	if (!procDir) {
+		err("Could not create proc entry");
+	} else {
+		procDir->owner = THIS_MODULE;
+		procEntry = create_proc_read_entry("info", 0444, procDir,
+						   cpcusb_proc_read_info,
+						   NULL);
+		if (!procEntry) {
+			err("Could not create proc entry %s", CPC_USB_PROC_DIR "/info");
+			remove_proc_entry(CPC_USB_PROC_DIR, NULL);
+			procDir = NULL;
+		} else {
+			procEntry->owner = THIS_MODULE;
+		}
+	}
+
+	return 0;
+}
+
+static void __exit CPCUsb_Exit(void)
+{
+	wait_event(rmmodWq, !atomic_read(&useCount));
+
+	/* deregister this driver with the USB subsystem */
+	usb_deregister(&cpcusb_driver);
+
+	if (procDir) {
+		if (procEntry)
+			remove_proc_entry("info", procDir);
+		remove_proc_entry(CPC_USB_PROC_DIR, NULL);
+	}
+}
+
+module_init(CPCUsb_Init);
+module_exit(CPCUsb_Exit);

drivers/staging/cpc-usb/cpc.h

@@ -0,0 +1,440 @@
+/*
+ * CPC CAN Interface Definitions
+ *
+ * Copyright (C) 2000-2008 EMS Dr. Thomas Wuensche
+ *
+ * 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.
+ */
+#ifndef CPC_HEADER
+#define CPC_HEADER
+
+// the maximum length of the union members within a CPC_MSG
+// this value can be defined by the customer, but has to be
+// >= 64 bytes
+// however, if not defined before, we set a length of 64 byte
+#if !defined(CPC_MSG_LEN) || (CPC_MSG_LEN < 64)
+#undef CPC_MSG_LEN
+#define CPC_MSG_LEN 64
+#endif
+
+// check the operating system used
+#ifdef _WIN32 // running a Windows OS
+
+// define basic types on Windows platforms
+#ifdef _MSC_VER // Visual Studio
+	typedef unsigned __int8 u8;
+	typedef unsigned __int16 u16;
+	typedef unsigned __int32 u32;
+#else // Borland Compiler
+	typedef unsigned char u8;
+	typedef unsigned short u16;
+	typedef unsigned int u32;
+#endif
+	// on Windows OS we use a byte alignment of 1
+	#pragma pack(push, 1)
+
+	// set the calling conventions for the library function calls
+	#define CALL_CONV __stdcall
+#else
+	// Kernel headers already define this types
+	#ifndef __KERNEL__
+		// define basic types
+		typedef unsigned char u8;
+		typedef unsigned short u16;
+		typedef unsigned int u32;
+	#endif
+
+	// Linux does not use this calling convention
+	#define CALL_CONV
+#endif
+
+// Transmission of events from CPC interfaces to PC can be individually
+// controlled per event type. Default state is: don't transmit
+// Control values are constructed by bit-or of Subject and Action
+// and passed to CPC_Control()
+
+// Control-Values for CPC_Control() Command Subject Selection
+#define CONTR_CAN_Message 0x04
+#define CONTR_Busload	  0x08
+#define	CONTR_CAN_State	  0x0C
+#define	CONTR_SendAck	  0x10
+#define	CONTR_Filter	  0x14
+#define CONTR_CmdQueue    0x18	// reserved, do not use
+#define CONTR_BusError    0x1C
+
+// Control Command Actions
+#define CONTR_CONT_OFF    0
+#define CONTR_CONT_ON     1
+#define CONTR_SING_ON     2
+// CONTR_SING_ON doesn't change CONTR_CONT_ON state, so it should be
+// read as: transmit at least once
+
+// defines for confirmed request
+#define DO_NOT_CONFIRM 0
+#define DO_CONFIRM     1
+
+// event flags
+#define EVENT_READ 0x01
+#define EVENT_WRITE 0x02
+
+// Messages from CPC to PC contain a message object type field.
+// The following message types are sent by CPC and can be used in
+// handlers, others should be ignored.
+#define CPC_MSG_T_RESYNC        0 // Normally to be ignored
+#define CPC_MSG_T_CAN           1 // CAN data frame
+#define CPC_MSG_T_BUSLOAD       2 // Busload message
+#define CPC_MSG_T_STRING        3 // Normally to be ignored
+#define CPC_MSG_T_CONTI         4 // Normally to be ignored
+#define CPC_MSG_T_MEM           7 // Normally not to be handled
+#define	CPC_MSG_T_RTR           8 // CAN remote frame
+#define CPC_MSG_T_TXACK	        9 // Send acknowledge
+#define CPC_MSG_T_POWERUP      10 // Power-up message
+#define	CPC_MSG_T_CMD_NO       11 // Normally to be ignored
+#define	CPC_MSG_T_CAN_PRMS     12 // Actual CAN parameters
+#define	CPC_MSG_T_ABORTED      13 // Command aborted message
+#define	CPC_MSG_T_CANSTATE     14 // CAN state message
+#define CPC_MSG_T_RESET        15 // used to reset CAN-Controller
+#define	CPC_MSG_T_XCAN         16 // XCAN data frame
+#define CPC_MSG_T_XRTR         17 // XCAN remote frame
+#define CPC_MSG_T_INFO         18 // information strings
+#define CPC_MSG_T_CONTROL      19 // used for control of interface/driver behaviour
+#define CPC_MSG_T_CONFIRM      20 // response type for confirmed requests
+#define CPC_MSG_T_OVERRUN      21 // response type for overrun conditions
+#define CPC_MSG_T_KEEPALIVE    22 // response type for keep alive conditions
+#define CPC_MSG_T_CANERROR     23 // response type for bus error conditions
+#define CPC_MSG_T_DISCONNECTED 24 // response type for a disconnected interface
+#define CPC_MSG_T_ERR_COUNTER  25 // RX/TX error counter of CAN controller
+
+#define CPC_MSG_T_FIRMWARE    100 // response type for USB firmware download
+
+// Messages from the PC to the CPC interface contain a command field
+// Most of the command types are wrapped by the library functions and have therefore
+// normally not to be used.
+// However, programmers who wish to circumvent the library and talk directly
+// to the drivers (mainly Linux programmers) can use the following
+// command types:
+
+#define CPC_CMD_T_CAN                 1	// CAN data frame
+#define CPC_CMD_T_CONTROL             3	// used for control of interface/driver behaviour
+#define	CPC_CMD_T_CAN_PRMS            6	// set CAN parameters
+#define	CPC_CMD_T_CLEARBUF            8	// clears input queue; this is depricated, use CPC_CMD_T_CLEAR_MSG_QUEUE instead
+#define	CPC_CMD_T_INQ_CAN_PARMS      11	// inquire actual CAN parameters
+#define	CPC_CMD_T_FILTER_PRMS        12	// set filter parameter
+#define	CPC_CMD_T_RTR                13	// CAN remote frame
+#define	CPC_CMD_T_CANSTATE           14	// CAN state message
+#define	CPC_CMD_T_XCAN               15	// XCAN data frame
+#define CPC_CMD_T_XRTR               16	// XCAN remote frame
+#define CPC_CMD_T_RESET              17	// used to reset CAN-Controller
+#define CPC_CMD_T_INQ_INFO           18	// miscellanous information strings
+#define CPC_CMD_T_OPEN_CHAN          19	// open a channel
+#define CPC_CMD_T_CLOSE_CHAN         20	// close a channel
+#define CPC_CMD_T_CNTBUF             21	// this is depricated, use CPC_CMD_T_INQ_MSG_QUEUE_CNT instead
+#define CPC_CMD_T_CAN_EXIT          200 // exit the CAN (disable interrupts; reset bootrate; reset output_cntr; mode = 1)
+
+#define CPC_CMD_T_INQ_MSG_QUEUE_CNT  CPC_CMD_T_CNTBUF   // inquires the count of elements in the message queue
+#define CPC_CMD_T_INQ_ERR_COUNTER    25	                // request the CAN controllers error counter
+#define	CPC_CMD_T_CLEAR_MSG_QUEUE    CPC_CMD_T_CLEARBUF // clear CPC_MSG queue
+#define	CPC_CMD_T_CLEAR_CMD_QUEUE    28	                // clear CPC_CMD queue
+#define CPC_CMD_T_FIRMWARE          100                 // reserved, must not be used
+#define CPC_CMD_T_USB_RESET         101                 // reserved, must not be used
+#define CPC_CMD_T_WAIT_NOTIFY       102                 // reserved, must not be used
+#define CPC_CMD_T_WAIT_SETUP        103                 // reserved, must not be used
+#define	CPC_CMD_T_ABORT             255                 // Normally not to be used
+
+// definitions for CPC_MSG_T_INFO
+// information sources
+#define CPC_INFOMSG_T_UNKNOWN_SOURCE 0
+#define CPC_INFOMSG_T_INTERFACE      1
+#define CPC_INFOMSG_T_DRIVER         2
+#define CPC_INFOMSG_T_LIBRARY        3
+
+// information types
+#define CPC_INFOMSG_T_UNKNOWN_TYPE   0
+#define CPC_INFOMSG_T_VERSION        1
+#define CPC_INFOMSG_T_SERIAL         2
+
+// definitions for controller types
+#define PCA82C200   1 // Philips basic CAN controller, replaced by SJA1000
+#define SJA1000     2 // Philips basic CAN controller
+#define AN82527     3 // Intel full CAN controller
+#define M16C_BASIC  4 // M16C controller running in basic CAN (not full CAN) mode
+
+// channel open error codes
+#define CPC_ERR_NO_FREE_CHANNEL            -1	// no more free space within the channel array
+#define CPC_ERR_CHANNEL_ALREADY_OPEN       -2	// the channel is already open
+#define CPC_ERR_CHANNEL_NOT_ACTIVE         -3	// access to a channel not active failed
+#define CPC_ERR_NO_DRIVER_PRESENT          -4	// no driver at the location searched by the library
+#define CPC_ERR_NO_INIFILE_PRESENT         -5	// the library could not find the inifile
+#define CPC_ERR_WRONG_PARAMETERS           -6	// wrong parameters in the inifile
+#define CPC_ERR_NO_INTERFACE_PRESENT       -7	// 1. The specified interface is not connected
+						// 2. The interface (mostly CPC-USB) was disconnected upon operation
+#define CPC_ERR_NO_MATCHING_CHANNEL        -8	// the driver couldn't find a matching channel
+#define CPC_ERR_NO_BUFFER_AVAILABLE        -9	// the driver couldn't allocate buffer for messages
+#define CPC_ERR_NO_INTERRUPT               -10	// the requested interrupt couldn't be claimed
+#define CPC_ERR_NO_MATCHING_INTERFACE      -11	// no interface type related to this channel was found
+#define CPC_ERR_NO_RESOURCES               -12	// the requested resources could not be claimed
+#define CPC_ERR_SOCKET                     -13	// error concerning TCP sockets
+
+// init error codes
+#define CPC_ERR_WRONG_CONTROLLER_TYPE      -14	// wrong CAN controller type within initialization
+#define CPC_ERR_NO_RESET_MODE              -15	// the controller could not be set into reset mode
+#define CPC_ERR_NO_CAN_ACCESS              -16	// the CAN controller could not be accessed
+
+// transmit error codes
+#define CPC_ERR_CAN_WRONG_ID               -20	// the provided CAN id is too big
+#define CPC_ERR_CAN_WRONG_LENGTH           -21	// the provided CAN length is too long
+#define CPC_ERR_CAN_NO_TRANSMIT_BUF        -22	// the transmit buffer was occupied
+#define CPC_ERR_CAN_TRANSMIT_TIMEOUT       -23	// The message could not be sent within a
+						// specified time
+
+// other error codes
+#define CPC_ERR_SERVICE_NOT_SUPPORTED      -30	// the requested service is not supported by the interface
+#define CPC_ERR_IO_TRANSFER                -31	// a transmission error down to the driver occurred
+#define CPC_ERR_TRANSMISSION_FAILED        -32	// a transmission error down to the interface occurred
+#define CPC_ERR_TRANSMISSION_TIMEOUT       -33	// a timeout occurred within transmission to the interface
+#define CPC_ERR_OP_SYS_NOT_SUPPORTED       -35	// the operating system is not supported
+#define CPC_ERR_UNKNOWN                    -40	// an unknown error ocurred (mostly IOCTL errors)
+
+#define CPC_ERR_LOADING_DLL                -50	// the library 'cpcwin.dll' could not be loaded
+#define CPC_ERR_ASSIGNING_FUNCTION         -51	// the specified function could not be assigned
+#define CPC_ERR_DLL_INITIALIZATION         -52	// the DLL was not initialized correctly
+#define CPC_ERR_MISSING_LICFILE            -55	// the file containing the licenses does not exist
+#define CPC_ERR_MISSING_LICENSE            -56	// a required license was not found
+
+// CAN state bit values. Ignore any bits not listed
+#define CPC_CAN_STATE_BUSOFF     0x80
+#define CPC_CAN_STATE_ERROR      0x40
+
+// Mask to help ignore undefined bits
+#define CPC_CAN_STATE_MASK       0xc0
+
+// CAN-Message representation in a CPC_MSG
+// Message object type is CPC_MSG_T_CAN or CPC_MSG_T_RTR
+// or CPC_MSG_T_XCAN or CPC_MSG_T_XRTR
+typedef struct CPC_CAN_MSG {
+	u32 id;
+	u8 length;
+	u8 msg[8];
+} CPC_CAN_MSG_T;
+
+
+// representation of the CAN parameters for the PCA82C200 controller
+typedef struct CPC_PCA82C200_PARAMS {
+	u8 acc_code;	// Acceptance-code for receive, Standard: 0
+	u8 acc_mask;	// Acceptance-mask for receive, Standard: 0xff (everything)
+	u8 btr0;	// Bus-timing register 0
+	u8 btr1;	// Bus-timing register 1
+	u8 outp_contr;	// Output-control register
+} CPC_PCA82C200_PARAMS_T;
+
+// representation of the CAN parameters for the SJA1000 controller
+typedef struct CPC_SJA1000_PARAMS {
+	u8 mode;	// enables single or dual acceptance filtering
+	u8 acc_code0;	// Acceptance-code for receive, Standard: 0
+	u8 acc_code1;
+	u8 acc_code2;
+	u8 acc_code3;
+	u8 acc_mask0;	// Acceptance-mask for receive, Standard: 0xff (everything)
+	u8 acc_mask1;
+	u8 acc_mask2;
+	u8 acc_mask3;
+	u8 btr0;	// Bus-timing register 0
+	u8 btr1;	// Bus-timing register 1
+	u8 outp_contr;	// Output-control register
+} CPC_SJA1000_PARAMS_T;
+
+// representation of the CAN parameters for the M16C controller
+// in basic CAN mode (means no full CAN)
+typedef struct CPC_M16C_BASIC_PARAMS {
+	u8 con0;
+	u8 con1;
+	u8 ctlr0;
+	u8 ctlr1;
+	u8 clk;
+	u8 acc_std_code0;
+	u8 acc_std_code1;
+	u8 acc_ext_code0;
+	u8 acc_ext_code1;
+	u8 acc_ext_code2;
+	u8 acc_ext_code3;
+	u8 acc_std_mask0;
+	u8 acc_std_mask1;
+	u8 acc_ext_mask0;
+	u8 acc_ext_mask1;
+	u8 acc_ext_mask2;
+	u8 acc_ext_mask3;
+} CPC_M16C_BASIC_PARAMS_T;
+
+// CAN params message representation
+typedef struct CPC_CAN_PARAMS {
+	u8 cc_type;	// represents the controller type
+	union {
+		CPC_M16C_BASIC_PARAMS_T m16c_basic;
+		CPC_SJA1000_PARAMS_T sja1000;
+		CPC_PCA82C200_PARAMS_T pca82c200;
+	} cc_params;
+} CPC_CAN_PARAMS_T;
+
+// the following structures are slightly different for Windows and Linux
+// To be able to use the 'Select' mechanism with Linux the application
+// needs to know the devices file desciptor.
+// This mechanism is not implemented within Windows and the file descriptor
+// is therefore not needed
+#ifdef _WIN32
+
+// CAN init params message representation
+typedef struct CPC_INIT_PARAMS {
+	CPC_CAN_PARAMS_T canparams;
+} CPC_INIT_PARAMS_T;
+
+#else// Linux
+
+// CHAN init params representation
+typedef struct CPC_CHAN_PARAMS {
+	int fd;
+} CPC_CHAN_PARAMS_T;
+
+// CAN init params message representation
+typedef struct CPC_INIT_PARAMS {
+	CPC_CHAN_PARAMS_T chanparams;
+	CPC_CAN_PARAMS_T canparams;
+} CPC_INIT_PARAMS_T;
+
+#endif
+
+// structure for confirmed message handling
+typedef struct CPC_CONFIRM {
+	u8 result; // error code
+} CPC_CONFIRM_T;
+
+// structure for information requests
+typedef struct CPC_INFO {
+	u8 source;                 // interface, driver or library
+	u8 type;                   // version or serial number
+	char msg[CPC_MSG_LEN - 2]; // string holding the requested information
+} CPC_INFO_T;
+
+// OVERRUN ///////////////////////////////////////
+// In general two types of overrun may occur.
+// A hardware overrun, where the CAN controller
+// lost a message, because the interrupt was
+// not handled before the next messgae comes in.
+// Or a software overrun, where i.e. a received
+// message could not be stored in the CPC_MSG
+// buffer.
+
+// After a software overrun has occurred
+// we wait until we have CPC_OVR_GAP slots
+// free in the CPC_MSG buffer.
+#define CPC_OVR_GAP               10
+
+// Two types of software overrun may occur.
+// A received CAN message or a CAN state event
+// can cause an overrun.
+// Note: A CPC_CMD which would normally store
+// its result immediately in the CPC_MSG
+// queue may fail, because the message queue is full.
+// This will not generate an overrun message, but
+// will halt command execution, until this command
+// is able to store its message in the message queue.
+#define CPC_OVR_EVENT_CAN       0x01
+#define CPC_OVR_EVENT_CANSTATE  0x02
+#define CPC_OVR_EVENT_BUSERROR  0x04
+
+// If the CAN controller lost a message
+// we indicate it with the highest bit
+// set in the count field.
+#define CPC_OVR_HW              0x80
+
+// structure for overrun conditions
+typedef struct {
+	u8 event;
+	u8 count;
+} CPC_OVERRUN_T;
+
+// CAN errors ////////////////////////////////////
+// Each CAN controller type has different
+// registers to record errors.
+// Therefor a structure containing the specific
+// errors is set up for each controller here
+
+// SJA1000 error structure
+// see the SJA1000 datasheet for detailed
+// explanation of the registers
+typedef struct CPC_SJA1000_CAN_ERROR {
+	u8 ecc;   // error capture code register
+	u8 rxerr; // RX error counter register
+	u8 txerr; // TX error counter register
+} CPC_SJA1000_CAN_ERROR_T;
+
+// M16C error structure
+// see the M16C datasheet for detailed
+// explanation of the registers
+typedef struct CPC_M16C_CAN_ERROR {
+	u8 tbd;	// to be defined
+} CPC_M16C_CAN_ERROR_T;
+
+// structure for CAN error conditions
+#define  CPC_CAN_ECODE_ERRFRAME   0x01
+typedef struct CPC_CAN_ERROR {
+	u8 ecode;
+	struct {
+		u8 cc_type; // CAN controller type
+		union {
+			CPC_SJA1000_CAN_ERROR_T sja1000;
+			CPC_M16C_CAN_ERROR_T m16c;
+		} regs;
+	} cc;
+} CPC_CAN_ERROR_T;
+
+// Structure containing RX/TX error counter.
+// This structure is used to request the
+// values of the CAN controllers TX and RX
+// error counter.
+typedef struct CPC_CAN_ERR_COUNTER {
+	u8 rx;
+	u8 tx;
+} CPC_CAN_ERR_COUNTER_T;
+
+// If this flag is set, transmissions from PC to CPC are protected against loss
+#define CPC_SECURE_TO_CPC	0x01
+
+// If this flag is set, transmissions from CPC to PC are protected against loss
+#define CPC_SECURE_TO_PC	0x02
+
+// If this flag is set, the CAN-transmit buffer is checked to be free before sending a message
+#define CPC_SECURE_SEND		0x04
+
+// If this flag is set, the transmission complete flag is checked
+// after sending a message
+// THIS IS CURRENTLY ONLY IMPLEMENTED IN THE PASSIVE INTERFACE DRIVERS
+#define CPC_SECURE_TRANSMIT	0x08
+
+// main message type used between library and application
+typedef struct CPC_MSG {
+	u8 type;	// type of message
+	u8 length;	// length of data within union 'msg'
+	u8 msgid;	// confirmation handle
+	u32 ts_sec;	// timestamp in seconds
+	u32 ts_nsec;	// timestamp in nano seconds
+	union {
+		u8 generic[CPC_MSG_LEN];
+		CPC_CAN_MSG_T canmsg;
+		CPC_CAN_PARAMS_T canparams;
+		CPC_CONFIRM_T confirmation;
+		CPC_INFO_T info;
+		CPC_OVERRUN_T overrun;
+		CPC_CAN_ERROR_T error;
+		CPC_CAN_ERR_COUNTER_T err_counter;
+		u8 busload;
+		u8 canstate;
+	} msg;
+} CPC_MSG_T;
+
+#ifdef _WIN32
+#pragma pack(pop)		// reset the byte alignment
+#endif
+
+#endif				// CPC_HEADER

drivers/staging/cpc-usb/cpc_int.h

@@ -0,0 +1,85 @@
+/*
+ * CPCLIB
+ *
+ * Copyright (C) 2000-2008 EMS Dr. Thomas Wuensche
+ *
+ * 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.
+ *
+ */
+#ifndef CPC_INT_H
+#define CPC_INT_H
+
+#include <linux/wait.h>
+
+#define CPC_MSG_BUF_CNT	1500
+
+#ifdef CONFIG_PROC_FS
+#   define CPC_PROC_DIR "driver/"
+#endif
+
+#undef dbg
+#undef err
+#undef info
+
+/* Use our own dbg macro */
+#define dbg(format, arg...) do { if (debug) printk( KERN_INFO format "\n" , ## arg); } while (0)
+#define err(format, arg...) do { printk( KERN_INFO "ERROR " format "\n" , ## arg); } while (0)
+#define info(format, arg...) do { printk( KERN_INFO format "\n" , ## arg); } while (0)
+
+/* Macros help using of our buffers */
+#define IsBufferFull(x)     (!(x)->WnR) && ((x)->iidx == (x)->oidx)
+#define IsBufferEmpty(x)    ((x)->WnR) && ((x)->iidx == (x)->oidx)
+#define IsBufferNotEmpty(x) (!(x)->WnR) || ((x)->iidx != (x)->oidx)
+#define ResetBuffer(x)      do { (x)->oidx = (x)->iidx=0; (x)->WnR = 1; } while(0);
+
+#define CPC_BufWriteAllowed ((chan->oidx != chan->iidx) || chan->WnR)
+
+typedef void (*chan_write_byte_t) (void *chan, unsigned int reg,
+				   unsigned char val);
+typedef unsigned char (*chan_read_byte_t) (void *chan, unsigned int reg);
+
+typedef struct CPC_CHAN {
+	void __iomem * canBase;	// base address of SJA1000
+	chan_read_byte_t read_byte;	// CAN controller read access routine
+	chan_write_byte_t write_byte;	// CAN controller write access routine
+	CPC_MSG_T *buf;		// buffer for CPC msg
+	unsigned int iidx;
+	unsigned int oidx;
+	unsigned int WnR;
+	unsigned int minor;
+	unsigned int locked;
+	unsigned int irqDisabled;
+
+	unsigned char cpcCtrlCANMessage;
+	unsigned char cpcCtrlCANState;
+	unsigned char cpcCtrlBUSState;
+
+	unsigned char controllerType;
+
+	unsigned long ovrTimeSec;
+	unsigned long ovrTimeNSec;
+	unsigned long ovrLockedBuffer;
+	CPC_OVERRUN_T ovr;
+
+	/* for debugging only */
+	unsigned int handledIrqs;
+	unsigned int lostMessages;
+
+	unsigned int sentStdCan;
+	unsigned int sentExtCan;
+	unsigned int sentStdRtr;
+	unsigned int sentExtRtr;
+
+	unsigned int recvStdCan;
+	unsigned int recvExtCan;
+	unsigned int recvStdRtr;
+	unsigned int recvExtRtr;
+
+	wait_queue_head_t *CPCWait_q;
+
+	void *private;
+} CPC_CHAN_T;
+
+#endif

drivers/staging/cpc-usb/cpcusb.h

@@ -0,0 +1,86 @@
+/* Header for CPC-USB Driver ********************
+ * Copyright 1999, 2000, 2001
+ *
+ * Company:  EMS Dr. Thomas Wuensche
+ *           Sonnenhang 3
+ *           85304 Ilmmuenster
+ *           Phone: +49-8441-490260
+ *           Fax:   +49-8441-81860
+ *           email: support@ems-wuensche.com
+ *           WWW:   www.ems-wuensche.com
+ */
+
+#ifndef CPCUSB_H
+#define CPCUSB_H
+
+#undef err
+#undef dbg
+#undef info
+
+/* Use our own dbg macro */
+#define dbg(format, arg...) do { if (debug) printk(KERN_INFO "CPC-USB: " format "\n" , ## arg); } while (0)
+#define info(format, arg...) do { printk(KERN_INFO "CPC-USB: " format "\n" , ## arg); } while (0)
+#define err(format, arg...) do { printk(KERN_INFO "CPC-USB(ERROR): " format "\n" , ## arg); } while (0)
+
+#define CPC_USB_CARD_CNT      4
+
+typedef struct CPC_USB_READ_URB {
+	unsigned char *buffer;	/* the buffer to send data */
+	size_t size;		/* the size of the send buffer */
+	struct urb *urb;	/* the urb used to send data */
+} CPC_USB_READ_URB_T;
+
+typedef struct CPC_USB_WRITE_URB {
+	unsigned char *buffer;	/* the buffer to send data */
+	size_t size;		/* the size of the send buffer */
+	struct urb *urb;	/* the urb used to send data */
+	atomic_t busy;		/* true if write urb is busy */
+	struct completion finished;	/* wait for the write to finish */
+} CPC_USB_WRITE_URB_T;
+
+#define CPC_USB_URB_CNT  10
+
+typedef struct CPC_USB {
+	struct usb_device *udev;	/* save off the usb device pointer */
+	struct usb_interface *interface;	/* the interface for this device */
+	unsigned char minor;	/* the starting minor number for this device */
+	unsigned char num_ports;	/* the number of ports this device has */
+	int num_intr_in;	/* number of interrupt in endpoints we have */
+	int num_bulk_in;	/* number of bulk in endpoints we have */
+	int num_bulk_out;	/* number of bulk out endpoints we have */
+
+	CPC_USB_READ_URB_T urbs[CPC_USB_URB_CNT];
+
+	unsigned char intr_in_buffer[4];	/* interrupt transfer buffer */
+	struct urb *intr_in_urb;	/* interrupt transfer urb */
+
+	CPC_USB_WRITE_URB_T wrUrbs[CPC_USB_URB_CNT];
+
+	int open;		/* if the port is open or not */
+	int present;		/* if the device is not disconnected */
+	struct semaphore sem;	/* locks this structure */
+
+	int free_slots;		/* free send slots of CPC-USB */
+	int idx;
+
+	spinlock_t slock;
+
+	char serialNumber[128];	/* serial number */
+	int productId;		/* product id to differ between M16C and LPC2119 */
+	CPC_CHAN_T *chan;
+} CPC_USB_T;
+
+#define CPCTable               CPCUSB_Table
+
+#define CPC_DRIVER_VERSION "0.724"
+#define CPC_DRIVER_SERIAL  "not applicable"
+
+#define OBUF_SIZE 255		// 4096
+
+/* read timeouts -- RD_NAK_TIMEOUT * RD_EXPIRE = Number of seconds */
+#define RD_NAK_TIMEOUT (10*HZ)	/* Default number of X seconds to wait */
+#define RD_EXPIRE 12		/* Number of attempts to wait X seconds */
+
+#define CPC_USB_BASE_MNR 0	/* CPC-USB start at minor 0  */
+
+#endif

drivers/staging/cpc-usb/sja2m16c.h

@@ -0,0 +1,41 @@
+#ifndef SJA2M16C_H
+#define SJA2M16C_H
+
+#include "cpc.h"
+
+#define BAUDRATE_TOLERANCE_PERCENT      1
+#define SAMPLEPOINT_TOLERANCE_PERCENT   5
+#define SAMPLEPOINT_UPPER_LIMIT        88
+
+// M16C parameters
+    typedef struct FIELD_C0CONR {
+	unsigned int brp:4;
+	 unsigned int sam:1;
+	 unsigned int pr:3;
+	 unsigned int dummy:8;
+} FIELD_C0CONR_T;
+typedef struct FIELD_C1CONR {
+	unsigned int ph1:3;
+	 unsigned int ph2:3;
+	 unsigned int sjw:2;
+	 unsigned int dummy:8;
+} FIELD_C1CONR_T;
+typedef union C0CONR {
+	unsigned char c0con;
+	 FIELD_C0CONR_T bc0con;
+} C0CONR_T;
+typedef union C1CONR {
+	unsigned char c1con;
+	 FIELD_C1CONR_T bc1con;
+} C1CONR_T;
+
+#define SJA_TSEG1  ((pParams->btr1 & 0x0f)+1)
+#define SJA_TSEG2  (((pParams->btr1 & 0x70)>>4)+1)
+#define SJA_BRP    ((pParams->btr0 & 0x3f)+1)
+#define SJA_SJW    ((pParams->btr0 & 0xc0)>>6)
+#define SJA_SAM    ((pParams->btr1 & 0x80)>>7)
+int baudrate_m16c(int clk, int brp, int pr, int ph1, int ph2);
+int samplepoint_m16c(int brp, int pr, int ph1, int ph2);
+int SJA1000_TO_M16C_BASIC_Params(CPC_MSG_T * pMsg);
+
+#endif	/*  */

drivers/staging/cpc-usb/sja2m16c_2.c

@@ -0,0 +1,452 @@
+/****************************************************************************
+*
+*      Copyright (c) 2003,2004 by EMS Dr. Thomas Wuensche
+*
+*                  - All rights reserved -
+*
+* This code is provided "as is" without warranty of any kind, either
+* expressed or implied, including but not limited to the liability
+* concerning the freedom from material defects, the fitness for parti-
+* cular purposes or the freedom of proprietary rights of third parties.
+*
+*****************************************************************************
+* Module name.: cpcusb
+*****************************************************************************
+* Include file: cpc.h
+*****************************************************************************
+* Project.....: Windows Driver Development Kit
+* Filename....: sja2m16c.cpp
+* Authors.....: (GU) Gerhard Uttenthaler
+*               (CS) Christian Schoett
+*****************************************************************************
+* Short descr.: converts baudrate between SJA1000 and M16C
+*****************************************************************************
+* Description.: handles the baudrate conversion from SJA1000 parameters to
+*               M16C parameters
+*****************************************************************************
+* Address     : EMS Dr. Thomas Wuensche
+*               Sonnenhang 3
+*               D-85304 Ilmmuenster
+*               Tel. : +49-8441-490260
+*               Fax. : +49-8441-81860
+*               email: support@ems-wuensche.com
+*****************************************************************************
+*                            History
+*****************************************************************************
+* Version  Date        Auth Remark
+*
+* 01.00    ??          GU   - initial release
+* 01.10    ??????????  CS   - adapted to fit into the USB Windows driver
+* 02.00    18.08.2004  GU   - improved the baudrate calculating algorithm
+*                           - implemented acceptance filtering
+* 02.10    10.09.2004  CS   - adapted to fit into the USB Windows driver
+*****************************************************************************
+*                            ToDo's
+*****************************************************************************
+*/
+
+/****************************************************************************/
+/*     I N C L U D E S
+*/
+#include <linux/kernel.h>
+#include <linux/errno.h>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/vmalloc.h>
+#include <linux/module.h>
+#include <linux/poll.h>
+#include <linux/smp_lock.h>
+#include <linux/completion.h>
+#include <asm/uaccess.h>
+#include <linux/usb.h>
+
+#include "cpc.h"
+#include "cpc_int.h"
+#include "cpcusb.h"
+
+#include "sja2m16c.h"
+
+/*********************************************************************/
+int baudrate_m16c(int clk, int brp, int pr, int ph1, int ph2)
+{
+	return (16000000 / (1 << clk)) / 2 / (brp + 1) / (1 + pr + 1 +
+							    ph1 + 1 + ph2 +
+							    1);
+}
+
+
+/*********************************************************************/
+int samplepoint_m16c(int brp, int pr, int ph1, int ph2)
+{
+	return (100 * (1 + pr + 1 + ph1 + 1)) / (1 + pr + 1 + ph1 + 1 +
+						  ph2 + 1);
+}
+
+
+/****************************************************************************
+* Function.....: SJA1000_TO_M16C_BASIC_Params
+*
+* Task.........: This routine converts SJA1000 CAN btr parameters into M16C
+*                parameters based on the sample point and the error. In
+*                addition it converts the acceptance filter parameters to
+*                suit the M16C parameters
+*
+* Parameters...: None
+*
+* Return values: None
+*
+* Comments.....:
+*****************************************************************************
+*                History
+*****************************************************************************
+* 19.01.2005  CS   - modifed the conversion of SJA1000 filter params into
+*                    M16C params. Due to compatibility reasons with the
+*                    older 82C200 CAN controller the SJA1000
+****************************************************************************/
+int SJA1000_TO_M16C_BASIC_Params(CPC_MSG_T * in)
+{
+	int sjaBaudrate;
+	int sjaSamplepoint;
+	int *baudrate_error;	// BRP[0..15], PR[0..7], PH1[0..7], PH2[0..7]
+	int *samplepoint_error;	// BRP[0..15], PR[0..7], PH1[0..7], PH2[0..7]
+	int baudrate_error_merk;
+	int clk, brp, pr, ph1, ph2;
+	int clk_merk, brp_merk, pr_merk, ph1_merk, ph2_merk;
+	int index;
+	unsigned char acc_code0, acc_code1, acc_code2, acc_code3;
+	unsigned char acc_mask0, acc_mask1, acc_mask2, acc_mask3;
+	CPC_MSG_T * out;
+	C0CONR_T c0con;
+	C1CONR_T c1con;
+	int tmpAccCode;
+	int tmpAccMask;
+
+	    // we have to convert the parameters into M16C parameters
+	    CPC_SJA1000_PARAMS_T * pParams;
+
+	    // check if the type is CAN parameters and if we have to convert the given params
+	    if (in->type != CPC_CMD_T_CAN_PRMS
+		|| in->msg.canparams.cc_type != SJA1000)
+		return 0;
+	pParams =
+	    (CPC_SJA1000_PARAMS_T *) & in->msg.canparams.cc_params.sja1000;
+	acc_code0 = pParams->acc_code0;
+	acc_code1 = pParams->acc_code1;
+	acc_code2 = pParams->acc_code2;
+	acc_code3 = pParams->acc_code3;
+	acc_mask0 = pParams->acc_mask0;
+	acc_mask1 = pParams->acc_mask1;
+	acc_mask2 = pParams->acc_mask2;
+	acc_mask3 = pParams->acc_mask3;
+
+#ifdef _DEBUG_OUTPUT_CAN_PARAMS
+	    info("acc_code0: %2.2Xh\n", acc_code0);
+	info("acc_code1: %2.2Xh\n", acc_code1);
+	info("acc_code2: %2.2Xh\n", acc_code2);
+	info("acc_code3: %2.2Xh\n", acc_code3);
+	info("acc_mask0: %2.2Xh\n", acc_mask0);
+	info("acc_mask1: %2.2Xh\n", acc_mask1);
+	info("acc_mask2: %2.2Xh\n", acc_mask2);
+	info("acc_mask3: %2.2Xh\n", acc_mask3);
+
+#endif	/*  */
+	    if (!
+		 (baudrate_error =
+		  (int *) vmalloc(sizeof(int) * 16 * 8 * 8 * 8 * 5))) {
+		err("Could not allocate memory\n");
+		return -3;
+	}
+	if (!
+	      (samplepoint_error =
+	       (int *) vmalloc(sizeof(int) * 16 * 8 * 8 * 8 * 5))) {
+		err("Could not allocate memory\n");
+		vfree(baudrate_error);
+		return -3;
+	}
+	memset(baudrate_error, 0xff, sizeof(baudrate_error));
+	memset(samplepoint_error, 0xff, sizeof(baudrate_error));
+	sjaBaudrate =
+	    16000000 / 2 / SJA_BRP / (1 + SJA_TSEG1 + SJA_TSEG2);
+	sjaSamplepoint =
+	    100 * (1 + SJA_TSEG1) / (1 + SJA_TSEG1 + SJA_TSEG2);
+	if (sjaBaudrate == 0) {
+		vfree(baudrate_error);
+		vfree(samplepoint_error);
+		return -2;
+	}
+
+#ifdef _DEBUG_OUTPUT_CAN_PARAMS
+	    info("\nStarting SJA CAN params\n");
+	info("-------------------------\n");
+	info("TS1     : %2.2Xh TS2 : %2.2Xh\n", SJA_TSEG1, SJA_TSEG2);
+	info("BTR0    : %2.2Xh BTR1: %2.2Xh\n", pParams->btr0,
+	      pParams->btr1);
+	info("Baudrate: %d.%dkBaud\n", sjaBaudrate / 1000,
+	      sjaBaudrate % 1000);
+	info("Sample P: 0.%d\n", sjaSamplepoint);
+	info("\n");
+
+#endif	/*  */
+	    c0con.bc0con.sam = SJA_SAM;
+	c1con.bc1con.sjw = SJA_SJW;
+
+	    // calculate errors for all baudrates
+	    index = 0;
+	for (clk = 0; clk < 5; clk++) {
+		for (brp = 0; brp < 16; brp++) {
+			for (pr = 0; pr < 8; pr++) {
+				for (ph1 = 0; ph1 < 8; ph1++) {
+					for (ph2 = 0; ph2 < 8; ph2++) {
+						baudrate_error[index] =
+						    100 *
+						    abs(baudrate_m16c
+							(clk, brp, pr, ph1,
+							 ph2) -
+							sjaBaudrate) /
+						    sjaBaudrate;
+						samplepoint_error[index] =
+						    abs(samplepoint_m16c
+							(brp, pr, ph1,
+							 ph2) -
+							sjaSamplepoint);
+
+#if 0
+						    info
+						    ("Baudrate      : %d kBaud\n",
+						     baudrate_m16c(clk,
+								   brp, pr,
+								   ph1,
+								   ph2));
+						info
+						    ("Baudrate Error: %d\n",
+						     baudrate_error
+						     [index]);
+						info
+						    ("Sample P Error: %d\n",
+						     samplepoint_error
+						     [index]);
+						info
+						    ("clk           : %d\n",
+						     clk);
+
+#endif	/*  */
+						    index++;
+					}
+				}
+			}
+		}
+	}
+
+	    // mark all baudrate_error entries which are outer limits
+	    index = 0;
+	for (clk = 0; clk < 5; clk++) {
+		for (brp = 0; brp < 16; brp++) {
+			for (pr = 0; pr < 8; pr++) {
+				for (ph1 = 0; ph1 < 8; ph1++) {
+					for (ph2 = 0; ph2 < 8; ph2++) {
+						if ((baudrate_error[index]
+						      >
+						      BAUDRATE_TOLERANCE_PERCENT)
+						     ||
+						     (samplepoint_error
+						       [index] >
+						       SAMPLEPOINT_TOLERANCE_PERCENT)
+						     ||
+						     (samplepoint_m16c
+						       (brp, pr, ph1,
+							ph2) >
+						       SAMPLEPOINT_UPPER_LIMIT))
+						{
+							baudrate_error
+							    [index] = -1;
+						} else
+						    if (((1 + pr + 1 +
+							  ph1 + 1 + ph2 +
+							  1) < 8)
+							||
+							((1 + pr + 1 +
+							  ph1 + 1 + ph2 +
+							  1) > 25)) {
+							baudrate_error
+							    [index] = -1;
+						}
+
+#if 0
+						    else {
+							info
+							    ("Baudrate      : %d kBaud\n",
+							     baudrate_m16c
+							     (clk, brp, pr,
+							      ph1, ph2));
+							info
+							    ("Baudrate Error: %d\n",
+							     baudrate_error
+							     [index]);
+							info
+							    ("Sample P Error: %d\n",
+							     samplepoint_error
+							     [index]);
+						}
+
+#endif	/*  */
+						    index++;
+					}
+				}
+			}
+		}
+	}
+
+	    // find list of minimum of baudrate_error within unmarked entries
+	    clk_merk = brp_merk = pr_merk = ph1_merk = ph2_merk = 0;
+	baudrate_error_merk = 100;
+	index = 0;
+	for (clk = 0; clk < 5; clk++) {
+		for (brp = 0; brp < 16; brp++) {
+			for (pr = 0; pr < 8; pr++) {
+				for (ph1 = 0; ph1 < 8; ph1++) {
+					for (ph2 = 0; ph2 < 8; ph2++) {
+						if (baudrate_error[index]
+						     != -1) {
+							if (baudrate_error
+							     [index] <
+							     baudrate_error_merk)
+							{
+								baudrate_error_merk
+								    =
+								    baudrate_error
+								    [index];
+								brp_merk =
+								    brp;
+								pr_merk =
+								    pr;
+								ph1_merk =
+								    ph1;
+								ph2_merk =
+								    ph2;
+								clk_merk =
+								    clk;
+
+#if 0
+								    info
+								    ("brp: %2.2Xh pr: %2.2Xh ph1: %2.2Xh ph2: %2.2Xh\n",
+								     brp,
+								     pr,
+								     ph1,
+								     ph2);
+								info
+								    ("Baudrate      : %d kBaud\n",
+								     baudrate_m16c
+								     (clk,
+								      brp,
+								      pr,
+								      ph1,
+								      ph2));
+								info
+								    ("Baudrate Error: %d\n",
+								     baudrate_error
+								     [index]);
+								info
+								    ("Sample P Error: %d\n",
+								     samplepoint_error
+								     [index]);
+
+#endif	/*  */
+							}
+						}
+						index++;
+					}
+				}
+			}
+		}
+	}
+	if (baudrate_error_merk == 100) {
+		info("ERROR: Could not convert CAN init parameter\n");
+		vfree(baudrate_error);
+		vfree(samplepoint_error);
+		return -1;
+	}
+
+	    // setting m16c CAN parameter
+	    c0con.bc0con.brp = brp_merk;
+	c0con.bc0con.pr = pr_merk;
+	c1con.bc1con.ph1 = ph1_merk;
+	c1con.bc1con.ph2 = ph2_merk;
+
+#ifdef _DEBUG_OUTPUT_CAN_PARAMS
+	    info("\nResulting M16C CAN params\n");
+	info("-------------------------\n");
+	info("clk     : %2.2Xh\n", clk_merk);
+	info("ph1     : %2.2Xh ph2: %2.2Xh\n", c1con.bc1con.ph1 + 1,
+	      c1con.bc1con.ph2 + 1);
+	info("pr      : %2.2Xh brp: %2.2Xh\n", c0con.bc0con.pr + 1,
+	      c0con.bc0con.brp + 1);
+	info("sjw     : %2.2Xh sam: %2.2Xh\n", c1con.bc1con.sjw,
+	      c0con.bc0con.sam);
+	info("co1     : %2.2Xh co0: %2.2Xh\n", c1con.c1con, c0con.c0con);
+	info("Baudrate: %d.%dBaud\n",
+	       baudrate_m16c(clk_merk, c0con.bc0con.brp, c0con.bc0con.pr,
+			     c1con.bc1con.ph1, c1con.bc1con.ph2) / 1000,
+	       baudrate_m16c(clk_merk, c0con.bc0con.brp, c0con.bc0con.pr,
+			      c1con.bc1con.ph1, c1con.bc1con.ph2) % 1000);
+	info("Sample P: 0.%d\n",
+	      samplepoint_m16c(c0con.bc0con.brp, c0con.bc0con.pr,
+			       c1con.bc1con.ph1, c1con.bc1con.ph2));
+	info("\n");
+
+#endif	/*  */
+	    out = in;
+	out->type = 6;
+	out->length = sizeof(CPC_M16C_BASIC_PARAMS_T) + 1;
+	out->msg.canparams.cc_type = M16C_BASIC;
+	out->msg.canparams.cc_params.m16c_basic.con0 = c0con.c0con;
+	out->msg.canparams.cc_params.m16c_basic.con1 = c1con.c1con;
+	out->msg.canparams.cc_params.m16c_basic.ctlr0 = 0x4C;
+	out->msg.canparams.cc_params.m16c_basic.ctlr1 = 0x00;
+	out->msg.canparams.cc_params.m16c_basic.clk = clk_merk;
+	out->msg.canparams.cc_params.m16c_basic.acc_std_code0 =
+	    acc_code0;
+	out->msg.canparams.cc_params.m16c_basic.acc_std_code1 = acc_code1;
+
+//      info("code0: 0x%2.2X, code1: 0x%2.2X\n", out->msg.canparams.cc_params.m16c_basic.acc_std_code0, out->msg.canparams.cc_params.m16c_basic.acc_std_code1);
+	    tmpAccCode = (acc_code1 >> 5) + (acc_code0 << 3);
+	out->msg.canparams.cc_params.m16c_basic.acc_std_code0 =
+	    (unsigned char) tmpAccCode;
+	out->msg.canparams.cc_params.m16c_basic.acc_std_code1 =
+	    (unsigned char) (tmpAccCode >> 8);
+
+//      info("code0: 0x%2.2X, code1: 0x%2.2X\n", out->msg.canparams.cc_params.m16c_basic.acc_std_code0, out->msg.canparams.cc_params.m16c_basic.acc_std_code1);
+	    out->msg.canparams.cc_params.m16c_basic.acc_std_mask0 =
+	    ~acc_mask0;
+	out->msg.canparams.cc_params.m16c_basic.acc_std_mask1 =
+	    ~acc_mask1;
+
+//      info("mask0: 0x%2.2X, mask1: 0x%2.2X\n", out->msg.canparams.cc_params.m16c_basic.acc_std_mask0, out->msg.canparams.cc_params.m16c_basic.acc_std_mask1);
+	    tmpAccMask = ((acc_mask1) >> 5) + ((acc_mask0) << 3);
+
+//      info("tmpAccMask: 0x%4.4X\n", tmpAccMask);
+	    out->msg.canparams.cc_params.m16c_basic.acc_std_mask0 =
+	    (unsigned char) ~tmpAccMask;
+	out->msg.canparams.cc_params.m16c_basic.acc_std_mask1 =
+	    (unsigned char) ~(tmpAccMask >> 8);
+
+//      info("mask0: 0x%2.2X, mask1: 0x%2.2X\n", out->msg.canparams.cc_params.m16c_basic.acc_std_mask0, out->msg.canparams.cc_params.m16c_basic.acc_std_mask1);
+	    out->msg.canparams.cc_params.m16c_basic.acc_ext_code0 =
+	    (unsigned char) tmpAccCode;
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_code1 =
+	    (unsigned char) (tmpAccCode >> 8);
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_code2 = acc_code2;
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_code3 = acc_code3;
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_mask0 =
+	    (unsigned char) ~tmpAccMask;
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_mask1 =
+	    (unsigned char) ~(tmpAccMask >> 8);
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_mask2 =
+	    ~acc_mask2;
+	out->msg.canparams.cc_params.m16c_basic.acc_ext_mask3 =
+	    ~acc_mask3;
+	vfree(baudrate_error);
+	vfree(samplepoint_error);
+	return 0;
+}
+
+