git.oblomov.eu Git - linux-2.6/blob - drivers/staging/rspiusb/rspiusb.c

   1 /*
   2  * rspiusb.c
   3  *
   4  * Copyright (C) 2005, 2006 Princeton Instruments
   5  *
   6  * This program is free software; you can redistribute it and/or modify
   7  * it under the terms of the GNU General Public License as published by
   8  * the Free Software Foundation version 2 of the License
   9  *
  10  * This program is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  * GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this program; if not, write to the Free Software
  17  * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  18  */
  19
  20 #include <linux/vmalloc.h>
  21 #include <linux/kernel.h>
  22 #include <linux/errno.h>
  23 #include <linux/init.h>
  24 #include <linux/slab.h>
  25 #include <linux/module.h>
  26 #include <linux/smp_lock.h>
  27 #include <linux/completion.h>
  28 #include <linux/scatterlist.h>
  29 #include <linux/usb.h>
  30 #include <linux/mm.h>
  31 #include <linux/pagemap.h>
  32 #include <linux/ioctl.h>
  33 #include "rspiusb.h"
  34
  35 #ifdef CONFIG_USB_DEBUG
  36 static int debug = 1;
  37 #else
  38 static int debug;
  39 #endif
  40 /* Use our own dbg macro */
  41 #undef dbg
  42 #define dbg(format, arg...) do { if (debug) printk(KERN_DEBUG __FILE__ ": " format "\n" , ## arg); } while (0)
  43
  44 /* Version Information */
  45 #define DRIVER_VERSION "V1.0.1"
  46 #define DRIVER_AUTHOR  "Princeton Instruments"
  47 #define DRIVER_DESC    "PI USB2.0 Device Driver for Linux"
  48
  49 /* Define these values to match your devices */
  50 #define VENDOR_ID   0x0BD7
  51 #define ST133_PID   0xA010
  52 #define PIXIS_PID   0xA026
  53
  54 /* Get a minor range for your devices from the usb maintainer */
  55 #ifdef CONFIG_USB_DYNAMIC_MINORS
  56 #define PIUSB_MINOR_BASE    0
  57 #else
  58 #define PIUSB_MINOR_BASE    192
  59 #endif
  60
  61 /* prevent races between open() and disconnect() */
  62 static DECLARE_MUTEX(disconnect_sem);
  63
  64 /* Structure to hold all of our device specific stuff */
  65 struct device_extension {
  66         struct usb_device *udev;        /* save off the usb device pointer */
  67         struct usb_interface *interface;        /* the interface for this device */
  68         unsigned char minor;    /* the starting minor number for this device */
  69         size_t bulk_in_size_returned;
  70         int bulk_in_byte_trk;
  71         struct urb ***PixelUrb;
  72         int frameIdx;
  73         int urbIdx;
  74         unsigned int *maplist_numPagesMapped;
  75         int open;               /* if the port is open or not */
  76         int present;            /* if the device is not disconnected */
  77         int userBufMapped;      /* has the user buffer been mapped? */
  78         struct scatterlist **sgl;       /* scatter-gather list for user buffer */
  79         unsigned int *sgEntries;
  80         struct kref kref;
  81         int gotPixelData;
  82         int pendingWrite;
  83         char **pendedPixelUrbs;
  84         int iama;               /*PIXIS or ST133 */
  85         int num_frames;         /* the number of frames that will fit in the user buffer */
  86         int active_frame;
  87         unsigned long frameSize;
  88         struct semaphore sem;
  89         //FX2 specific endpoints
  90         unsigned int hEP[8];
  91 };
  92 #define to_pi_dev(d) container_of( d, struct device_extension, kref )
  93
  94 static int MapUserBuffer(struct ioctl_struct *, struct device_extension *);
  95 static int UnMapUserBuffer(struct device_extension *);
  96 static int piusb_ioctl(struct inode *inode, struct file *file, unsigned int cmd,
  97                        unsigned long arg);
  98 static int piusb_output(struct ioctl_struct *, unsigned char *, int, struct device_extension *);
  99 static struct usb_driver piusb_driver;
 100
 101 /* table of devices that work with this driver */
 102 static struct usb_device_id pi_device_table[] = {
 103         {USB_DEVICE(VENDOR_ID, ST133_PID)},
 104         {USB_DEVICE(VENDOR_ID, PIXIS_PID)},
 105         {0, }                   /* Terminating entry */
 106 };
 107
 108 MODULE_DEVICE_TABLE(usb, pi_device_table);
 109
 110 static int lastErr = 0;
 111 static int errCnt = 0;
 112
 113 static void piusb_delete(struct kref *kref)
 114 {
 115         struct device_extension *pdx = to_pi_dev(kref);
 116
 117         dev_dbg(&pdx->udev->dev, "%s\n", __func__);
 118         usb_put_dev(pdx->udev);
 119         kfree(pdx);
 120 }
 121
 122 static int piusb_open(struct inode *inode, struct file *file)
 123 {
 124         struct device_extension *pdx = NULL;
 125         struct usb_interface *interface;
 126         int subminor;
 127         int retval = 0;
 128
 129         dbg("Piusb_Open()");
 130         subminor = iminor(inode);
 131         interface = usb_find_interface(&piusb_driver, subminor);
 132         if (!interface) {
 133                 printk(KERN_ERR "%s - error, can't find device for minor %d\n",
 134                        __func__, subminor);
 135                 retval = -ENODEV;
 136                 goto exit_no_device;
 137         }
 138
 139         pdx = usb_get_intfdata(interface);
 140         if (!pdx) {
 141                 retval = -ENODEV;
 142                 goto exit_no_device;
 143         }
 144         dbg("Alternate Setting = %d", interface->num_altsetting);
 145
 146         pdx->frameIdx = pdx->urbIdx = 0;
 147         pdx->gotPixelData = 0;
 148         pdx->pendingWrite = 0;
 149         pdx->frameSize = 0;
 150         pdx->num_frames = 0;
 151         pdx->active_frame = 0;
 152         pdx->bulk_in_byte_trk = 0;
 153         pdx->userBufMapped = 0;
 154         pdx->pendedPixelUrbs = NULL;
 155         pdx->sgEntries = NULL;
 156         pdx->sgl = NULL;
 157         pdx->maplist_numPagesMapped = NULL;
 158         pdx->PixelUrb = NULL;
 159         pdx->bulk_in_size_returned = 0;
 160         /* increment our usage count for the device */
 161         kref_get(&pdx->kref);
 162         /* save our object in the file's private structure */
 163         file->private_data = pdx;
 164       exit_no_device:
 165         return retval;
 166 }
 167
 168 static int piusb_release(struct inode *inode, struct file *file)
 169 {
 170         struct device_extension *pdx;
 171         int retval = 0;
 172
 173         dbg("Piusb_Release()");
 174         pdx = (struct device_extension *)file->private_data;
 175         if (pdx == NULL) {
 176                 dbg("%s - object is NULL", __func__);
 177                 return -ENODEV;
 178         }
 179         /* decrement the count on our device */
 180         kref_put(&pdx->kref, piusb_delete);
 181         return retval;
 182 }
 183
 184 /**
 185  *      piusb_ioctl
 186  */
 187 static int piusb_ioctl(struct inode *inode, struct file *file, unsigned int cmd,
 188                        unsigned long arg)
 189 {
 190         struct device_extension *pdx;
 191         char dummyCtlBuf[] = { 0, 0, 0, 0, 0, 0, 0, 0 };
 192         unsigned long devRB = 0;
 193         int i = 0;
 194         int err = 0;
 195         int retval = 0;
 196         struct ioctl_struct ctrl;
 197         unsigned char *uBuf;
 198         int numbytes = 0;
 199         unsigned short controlData = 0;
 200
 201         pdx = (struct device_extension *)file->private_data;
 202         /* verify that the device wasn't unplugged */
 203         if (!pdx->present) {
 204                 dbg("No Device Present\n");
 205                 return -ENODEV;
 206         }
 207         /* fill in your device specific stuff here */
 208         if (_IOC_DIR(cmd) & _IOC_READ)
 209                 err = !access_ok(VERIFY_WRITE, (void __user *)arg, _IOC_SIZE(cmd));
 210         else if (_IOC_DIR(cmd) & _IOC_WRITE)
 211                 err = !access_ok(VERIFY_READ, (void __user *)arg, _IOC_SIZE(cmd));
 212         if (err) {
 213                 dev_err(&pdx->udev->dev, "return with error = %d\n", err);
 214                 return -EFAULT;
 215         }
 216         switch (cmd) {
 217         case PIUSB_GETVNDCMD:
 218                 if (copy_from_user
 219                     (&ctrl, (void __user *)arg, sizeof(struct ioctl_struct)))
 220                         dev_err(&pdx->udev->dev, "copy_from_user failed\n");
 221                 dbg("%s %x\n", "Get Vendor Command = ", ctrl.cmd);
 222                 retval =
 223                     usb_control_msg(pdx->udev, usb_rcvctrlpipe(pdx->udev, 0),
 224                                     ctrl.cmd, USB_DIR_IN, 0, 0, &devRB,
 225                                     ctrl.numbytes, HZ * 10);
 226                 if (ctrl.cmd == 0xF1) {
 227                         dbg("FW Version returned from HW = %ld.%ld",
 228                             (devRB >> 8), (devRB & 0xFF));
 229                 }
 230                 return devRB;
 231         case PIUSB_SETVNDCMD:
 232                 if (copy_from_user
 233                     (&ctrl, (void __user *)arg, sizeof(struct ioctl_struct)))
 234                         dev_err(&pdx->udev->dev, "copy_from_user failed\n");
 235 //            dbg( "%s %x", "Set Vendor Command = ",ctrl.cmd );
 236                 controlData = ctrl.pData[0];
 237                 controlData |= (ctrl.pData[1] << 8);
 238 //            dbg( "%s %d", "Vendor Data =",controlData );
 239                 retval = usb_control_msg(pdx->udev, usb_sndctrlpipe(pdx->udev, 0), ctrl.cmd, (USB_DIR_OUT | USB_TYPE_VENDOR),   /* | USB_RECIP_ENDPOINT), */
 240                                          controlData,
 241                                          0,
 242                                          &dummyCtlBuf, ctrl.numbytes, HZ * 10);
 243                 return retval;
 244                 break;
 245         case PIUSB_ISHIGHSPEED:
 246                 return ((pdx->udev->speed == USB_SPEED_HIGH) ? 1 : 0);
 247                 break;
 248         case PIUSB_WRITEPIPE:
 249                 if (copy_from_user(&ctrl, (void __user *)arg, _IOC_SIZE(cmd)))
 250                         dev_err(&pdx->udev->dev, "copy_from_user WRITE_DUMMY failed\n");
 251                 if (!access_ok(VERIFY_READ, ctrl.pData, ctrl.numbytes)) {
 252                         dbg("can't access pData");
 253                         return 0;
 254                 }
 255                 piusb_output(&ctrl, ctrl.pData /*uBuf */ , ctrl.numbytes, pdx);
 256                 return ctrl.numbytes;
 257                 break;
 258         case PIUSB_USERBUFFER:
 259                 if (copy_from_user
 260                     (&ctrl, (void __user *)arg, sizeof(struct ioctl_struct)))
 261                         dev_err(&pdx->udev->dev, "copy_from_user failed\n");
 262                 return MapUserBuffer((struct ioctl_struct *) & ctrl, pdx);
 263                 break;
 264         case PIUSB_UNMAP_USERBUFFER:
 265                 UnMapUserBuffer(pdx);
 266                 return 0;
 267                 break;
 268         case PIUSB_READPIPE:
 269                 if (copy_from_user
 270                     (&ctrl, (void __user *)arg, sizeof(struct ioctl_struct)))
 271                         dev_err(&pdx->udev->dev, "copy_from_user failed\n");
 272                 switch (ctrl.endpoint) {
 273                 case 0: //ST133 Pixel Data or PIXIS IO
 274                         if (pdx->iama == PIXIS_PID) {
 275                                 unsigned int numToRead = 0;
 276                                 unsigned int totalRead = 0;
 277                                 uBuf = kmalloc(ctrl.numbytes, GFP_KERNEL);
 278                                 if (!uBuf) {
 279                                         dbg("Alloc for uBuf failed");
 280                                         return 0;
 281                                 }
 282                                 numbytes = ctrl.numbytes;
 283                                 numToRead = numbytes;
 284                                 dbg("numbytes to read = %d", numbytes);
 285                                 dbg("endpoint # %d", ctrl.endpoint);
 286                                 if (copy_from_user(uBuf, ctrl.pData, numbytes))
 287                                         dbg("copying ctrl.pData to dummyBuf failed");
 288                                 do {
 289                                         i = usb_bulk_msg(pdx->udev, pdx->hEP[ctrl.endpoint], (uBuf + totalRead), (numToRead > 64) ? 64 : numToRead, &numbytes, HZ * 10);        //EP0 can only handle 64 bytes at a time
 290                                         if (i) {
 291                                                 dbg("CMD = %s, Address = 0x%02X", ((uBuf[3] == 0x02) ? "WRITE" : "READ"), uBuf[1]);
 292                                                 dbg("Number of bytes Attempted to read = %d", (int)ctrl.numbytes);
 293                                                 dbg("Blocking ReadI/O Failed with status %d", i);
 294                                                 kfree(uBuf);
 295                                                 return -1;
 296                                         } else {
 297                                                 dbg("Pixis EP0 Read %d bytes",
 298                                                     numbytes);
 299                                                 totalRead += numbytes;
 300                                                 numToRead -= numbytes;
 301                                         }
 302                                 }
 303                                 while (numToRead);
 304                                 memcpy(ctrl.pData, uBuf, totalRead);
 305                                 dbg("Total Bytes Read from PIXIS EP0 = %d",
 306                                     totalRead);
 307                                 ctrl.numbytes = totalRead;
 308                                 if (copy_to_user
 309                                     ((struct ioctl_struct *) arg, &ctrl,
 310                                      sizeof(struct ioctl_struct)))
 311                                         dbg("copy_to_user failed in IORB");
 312                                 kfree(uBuf);
 313                                 return ctrl.numbytes;
 314                         } else  //ST133 Pixel Data
 315                         {
 316                                 if (!pdx->gotPixelData)
 317                                         return 0;
 318                                 else {
 319                                         pdx->gotPixelData = 0;
 320                                         ctrl.numbytes =
 321                                             pdx->bulk_in_size_returned;
 322                                         pdx->bulk_in_size_returned -=
 323                                             pdx->frameSize;
 324                                         for (i = 0; i < pdx->maplist_numPagesMapped[pdx->active_frame]; i++)
 325                                                 SetPageDirty(pdx->sgl[pdx->active_frame][i].page_link);
 326                                         pdx->active_frame =
 327                                             ((pdx->active_frame +
 328                                               1) % pdx->num_frames);
 329                                         return ctrl.numbytes;
 330                                 }
 331                         }
 332                         break;
 333                 case 1: //ST133IO
 334                 case 4: //PIXIS IO
 335                         uBuf = kmalloc(ctrl.numbytes, GFP_KERNEL);
 336                         if (!uBuf) {
 337                                 dbg("Alloc for uBuf failed");
 338                                 return 0;
 339                         }
 340                         numbytes = ctrl.numbytes;
 341 //                                      dbg( "numbytes to read = %d", numbytes );
 342                         if (copy_from_user(uBuf, ctrl.pData, numbytes))
 343                                 dbg("copying ctrl.pData to dummyBuf failed");
 344                         i = usb_bulk_msg(pdx->udev, pdx->hEP[ctrl.endpoint],
 345                                          uBuf, numbytes, &numbytes, HZ * 10);
 346                         if (i) {
 347                                 dbg("Blocking ReadI/O Failed with status %d",
 348                                     i);
 349                                 kfree(uBuf);
 350                                 return -1;
 351                         } else {
 352                                 ctrl.numbytes = numbytes;
 353                                 memcpy(ctrl.pData, uBuf, numbytes);
 354                                 if (copy_to_user
 355                                     ((struct ioctl_struct *) arg, &ctrl,
 356                                      sizeof(struct ioctl_struct)))
 357                                         dbg("copy_to_user failed in IORB");
 358                                 kfree(uBuf);
 359                                 return ctrl.numbytes;
 360                         }
 361                         break;
 362
 363                 case 2: //PIXIS Ping
 364                 case 3: //PIXIS Pong
 365                         if (!pdx->gotPixelData)
 366                                 return 0;
 367                         else {
 368                                 pdx->gotPixelData = 0;
 369                                 ctrl.numbytes = pdx->bulk_in_size_returned;
 370                                 pdx->bulk_in_size_returned -= pdx->frameSize;
 371                                 for (i = 0;
 372                                      i <
 373                                      pdx->maplist_numPagesMapped[pdx->
 374                                                                  active_frame];
 375                                      i++)
 376                                         SetPageDirty(pdx->sgl[pdx->active_frame][i].page_link);
 377                                 pdx->active_frame =
 378                                     ((pdx->active_frame + 1) % pdx->num_frames);
 379                                 return ctrl.numbytes;
 380                         }
 381                         break;
 382                 }
 383                 break;
 384         case PIUSB_WHATCAMERA:
 385                 return pdx->iama;
 386         case PIUSB_SETFRAMESIZE:
 387                 dbg("PIUSB_SETFRAMESIZE");
 388                 if (copy_from_user
 389                     (&ctrl, (void __user *)arg, sizeof(struct ioctl_struct)))
 390                         dev_err(&pdx->udev->dev, "copy_from_user failed\n");
 391                 pdx->frameSize = ctrl.numbytes;
 392                 pdx->num_frames = ctrl.numFrames;
 393                 if (!pdx->sgl)
 394                         pdx->sgl =
 395                             kmalloc(sizeof(struct scatterlist *) *
 396                                     pdx->num_frames, GFP_KERNEL);
 397                 if (!pdx->sgEntries)
 398                         pdx->sgEntries =
 399                             kmalloc(sizeof(unsigned int) * pdx->num_frames,
 400                                     GFP_KERNEL);
 401                 if (!pdx->PixelUrb)
 402                         pdx->PixelUrb =
 403                             kmalloc(sizeof(struct urb **) * pdx->num_frames,
 404                                     GFP_KERNEL);
 405                 if (!pdx->maplist_numPagesMapped)
 406                         pdx->maplist_numPagesMapped =
 407                             vmalloc(sizeof(unsigned int) * pdx->num_frames);
 408                 if (!pdx->pendedPixelUrbs)
 409                         pdx->pendedPixelUrbs =
 410                             kmalloc(sizeof(char *) * pdx->num_frames,
 411                                     GFP_KERNEL);
 412                 return 0;
 413         default:
 414                 dbg("%s\n", "No IOCTL found");
 415                 break;
 416
 417         }
 418         /* return that we did not understand this ioctl call */
 419         dbg("Returning -ENOTTY");
 420         return -ENOTTY;
 421 }
 422
 423 static void piusb_write_bulk_callback(struct urb *urb)
 424 {
 425         struct device_extension *pdx = urb->context;
 426         int status = urb->status;
 427
 428         /* sync/async unlink faults aren't errors */
 429         if (status && !(status == -ENOENT || status == -ECONNRESET))
 430                 dev_dbg(&urb->dev->dev,
 431                         "%s - nonzero write bulk status received: %d",
 432                         __func__, status);
 433
 434         pdx->pendingWrite = 0;
 435         usb_buffer_free(urb->dev, urb->transfer_buffer_length,
 436                         urb->transfer_buffer, urb->transfer_dma);
 437 }
 438
 439 int piusb_output(struct ioctl_struct * io, unsigned char *uBuf, int len,
 440                  struct device_extension *pdx)
 441 {
 442         struct urb *urb = NULL;
 443         int err = 0;
 444         unsigned char *kbuf = NULL;
 445
 446         urb = usb_alloc_urb(0, GFP_KERNEL);
 447         if (urb != NULL) {
 448                 kbuf =
 449                     usb_buffer_alloc(pdx->udev, len, GFP_KERNEL,
 450                                      &urb->transfer_dma);
 451                 if (!kbuf) {
 452                         dev_err(&pdx->udev->dev, "buffer_alloc failed\n");
 453                         return -ENOMEM;
 454                 }
 455                 memcpy(kbuf, uBuf, len);
 456                 usb_fill_bulk_urb(urb, pdx->udev, pdx->hEP[io->endpoint], kbuf,
 457                                   len, piusb_write_bulk_callback, pdx);
 458                 urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
 459                 err = usb_submit_urb(urb, GFP_KERNEL);
 460                 if (err) {
 461                         dev_err(&pdx->udev->dev,
 462                                 "WRITE ERROR:submit urb error = %d\n", err);
 463                 }
 464                 pdx->pendingWrite = 1;
 465                 usb_free_urb(urb);
 466         }
 467         return -EINPROGRESS;
 468 }
 469
 470 static int UnMapUserBuffer(struct device_extension *pdx)
 471 {
 472         int i = 0;
 473         int k = 0;
 474         unsigned int epAddr;
 475         for (k = 0; k < pdx->num_frames; k++) {
 476                 dbg("Killing Urbs for Frame %d", k);
 477                 for (i = 0; i < pdx->sgEntries[k]; i++) {
 478                         usb_kill_urb(pdx->PixelUrb[k][i]);
 479                         usb_free_urb(pdx->PixelUrb[k][i]);
 480                         pdx->pendedPixelUrbs[k][i] = 0;
 481                 }
 482                 dbg("Urb error count = %d", errCnt);
 483                 errCnt = 0;
 484                 dbg("Urbs free'd and Killed for Frame %d", k);
 485         }
 486
 487         for (k = 0; k < pdx->num_frames; k++) {
 488                 if (pdx->iama == PIXIS_PID)     //if so, which EP should we map this frame to
 489                 {
 490                         if (k % 2)      //check to see if this should use EP4(PONG)
 491                         {
 492                                 epAddr = pdx->hEP[3];   //PONG, odd frames
 493                         } else {
 494                                 epAddr = pdx->hEP[2];   //PING, even frames and zero
 495                         }
 496                 } else          //ST133 only has 1 endpoint for Pixel data transfer
 497                 {
 498                         epAddr = pdx->hEP[0];
 499                 }
 500                 usb_buffer_unmap_sg(pdx->udev, epAddr, pdx->sgl[k],
 501                                     pdx->maplist_numPagesMapped[k]);
 502                 for (i = 0; i < pdx->maplist_numPagesMapped[k]; i++) {
 503                         page_cache_release(pdx->sgl[k][i].page_link);
 504                 }
 505                 kfree(pdx->sgl[k]);
 506                 kfree(pdx->PixelUrb[k]);
 507                 kfree(pdx->pendedPixelUrbs[k]);
 508                 pdx->sgl[k] = NULL;
 509                 pdx->PixelUrb[k] = NULL;
 510                 pdx->pendedPixelUrbs[k] = NULL;
 511         }
 512         kfree(pdx->sgEntries);
 513         vfree(pdx->maplist_numPagesMapped);
 514         pdx->sgEntries = NULL;
 515         pdx->maplist_numPagesMapped = NULL;
 516         kfree(pdx->sgl);
 517         kfree(pdx->pendedPixelUrbs);
 518         kfree(pdx->PixelUrb);
 519         pdx->sgl = NULL;
 520         pdx->pendedPixelUrbs = NULL;
 521         pdx->PixelUrb = NULL;
 522         return 0;
 523 }
 524
 525 static void piusb_readPIXEL_callback(struct urb *urb)
 526 {
 527         int i = 0;
 528         struct device_extension *pdx = urb->context;
 529         int status = urb->status;
 530
 531         if (status && !(status == -ENOENT || status == -ECONNRESET)) {
 532                 dbg("%s - nonzero read bulk status received: %d", __func__,
 533                     status);
 534                 dbg("Error in read EP2 callback");
 535                 dbg("FrameIndex = %d", pdx->frameIdx);
 536                 dbg("Bytes received before problem occurred = %d",
 537                     pdx->bulk_in_byte_trk);
 538                 dbg("Urb Idx = %d", pdx->urbIdx);
 539                 pdx->pendedPixelUrbs[pdx->frameIdx][pdx->urbIdx] = 0;
 540         } else {
 541                 pdx->bulk_in_byte_trk += urb->actual_length;
 542                 {
 543                         i = usb_submit_urb(urb, GFP_ATOMIC);    //resubmit the URB
 544                         if (i) {
 545                                 errCnt++;
 546                                 if (i != lastErr) {
 547                                         dbg("submit urb in callback failed with error code %d", i);
 548                                         lastErr = i;
 549                                 }
 550                         } else {
 551                                 pdx->urbIdx++;  //point to next URB when we callback
 552                                 if (pdx->bulk_in_byte_trk >= pdx->frameSize) {
 553                                         pdx->bulk_in_size_returned =
 554                                             pdx->bulk_in_byte_trk;
 555                                         pdx->bulk_in_byte_trk = 0;
 556                                         pdx->gotPixelData = 1;
 557                                         pdx->frameIdx =
 558                                             ((pdx->frameIdx +
 559                                               1) % pdx->num_frames);
 560                                         pdx->urbIdx = 0;
 561                                 }
 562                         }
 563                 }
 564         }
 565 }
 566
 567 /* MapUserBuffer(
 568         inputs:
 569         struct ioctl_struct *io - structure containing user address, frame #, and size
 570         struct device_extension *pdx - the PIUSB device extension
 571         returns:
 572         int - status of the task
 573         Notes:
 574         MapUserBuffer maps a buffer passed down through an ioctl.  The user buffer is Page Aligned by the app
 575         and then passed down.  The function get_free_pages(...) does the actual mapping of the buffer from user space to
 576         kernel space.  From there a scatterlist is created from all the pages.  The next function called is to usb_buffer_map_sg
 577         which allocated DMA addresses for each page, even coalescing them if possible.  The DMA address is placed in the scatterlist
 578         structure.  The function returns the number of DMA addresses.  This may or may not be equal to the number of pages that
 579         the user buffer uses.  We then build an URB for each DMA address and then submit them.
 580 */
 581 //int MapUserBuffer( unsigned long uaddr, unsigned long numbytes, unsigned long frameInfo, struct device_extension *pdx )
 582 static int MapUserBuffer(struct ioctl_struct *io, struct device_extension *pdx)
 583 {
 584         unsigned long uaddr;
 585         unsigned long numbytes;
 586         int frameInfo;          //which frame we're mapping
 587         unsigned int epAddr = 0;
 588         unsigned long count = 0;
 589         int i = 0;
 590         int k = 0;
 591         int err = 0;
 592         struct page **maplist_p;
 593         int numPagesRequired;
 594         frameInfo = io->numFrames;
 595         uaddr = (unsigned long)io->pData;
 596         numbytes = io->numbytes;
 597
 598         if (pdx->iama == PIXIS_PID)     //if so, which EP should we map this frame to
 599         {
 600                 if (frameInfo % 2)      //check to see if this should use EP4(PONG)
 601                 {
 602                         epAddr = pdx->hEP[3];   //PONG, odd frames
 603                 } else {
 604                         epAddr = pdx->hEP[2];   //PING, even frames and zero
 605                 }
 606                 dbg("Pixis Frame #%d: EP=%d", frameInfo,
 607                     (epAddr == pdx->hEP[2]) ? 2 : 4);
 608         } else                  //ST133 only has 1 endpoint for Pixel data transfer
 609         {
 610                 epAddr = pdx->hEP[0];
 611                 dbg("ST133 Frame #%d: EP=2", frameInfo);
 612         }
 613         count = numbytes;
 614         dbg("UserAddress = 0x%08lX", uaddr);
 615         dbg("numbytes = %d", (int)numbytes);
 616         //number of pages to map the entire user space DMA buffer
 617         numPagesRequired =
 618             ((uaddr & ~PAGE_MASK) + count + ~PAGE_MASK) >> PAGE_SHIFT;
 619         dbg("Number of pages needed = %d", numPagesRequired);
 620         maplist_p = vmalloc(numPagesRequired * sizeof(struct page));    //, GFP_ATOMIC);
 621         if (!maplist_p) {
 622                 dbg("Can't Allocate Memory for maplist_p");
 623                 return -ENOMEM;
 624         }
 625         //map the user buffer to kernel memory
 626         down_write(&current->mm->mmap_sem);
 627         pdx->maplist_numPagesMapped[frameInfo] = get_user_pages(current, current->mm, (uaddr & PAGE_MASK), numPagesRequired, WRITE, 0,  //Don't Force
 628                                                                 maplist_p,
 629                                                                 NULL);
 630         up_write(&current->mm->mmap_sem);
 631         dbg("Number of pages mapped = %d",
 632             pdx->maplist_numPagesMapped[frameInfo]);
 633         for (i = 0; i < pdx->maplist_numPagesMapped[frameInfo]; i++)
 634                 flush_dcache_page(maplist_p[i]);
 635         if (!pdx->maplist_numPagesMapped[frameInfo]) {
 636                 dbg("get_user_pages() failed");
 637                 vfree(maplist_p);
 638                 return -ENOMEM;
 639         }
 640         //need to create a scatterlist that spans each frame that can fit into the mapped buffer
 641         pdx->sgl[frameInfo] =
 642             kmalloc((pdx->maplist_numPagesMapped[frameInfo] *
 643                      sizeof(struct scatterlist)), GFP_ATOMIC);
 644         if (!pdx->sgl[frameInfo]) {
 645                 vfree(maplist_p);
 646                 dbg("can't allocate mem for sgl");
 647                 return -ENOMEM;
 648         }
 649         pdx->sgl[frameInfo][0].page_link = maplist_p[0];
 650         pdx->sgl[frameInfo][0].offset = uaddr & ~PAGE_MASK;
 651         if (pdx->maplist_numPagesMapped[frameInfo] > 1) {
 652                 pdx->sgl[frameInfo][0].length =
 653                     PAGE_SIZE - pdx->sgl[frameInfo][0].offset;
 654                 count -= pdx->sgl[frameInfo][0].length;
 655                 for (k = 1; k < pdx->maplist_numPagesMapped[frameInfo]; k++) {
 656                         pdx->sgl[frameInfo][k].offset = 0;
 657                         pdx->sgl[frameInfo][k].page_link = maplist_p[k];
 658                         pdx->sgl[frameInfo][k].length =
 659                             (count < PAGE_SIZE) ? count : PAGE_SIZE;
 660                         count -= PAGE_SIZE;     //example had PAGE_SIZE here;
 661                 }
 662         } else {
 663                 pdx->sgl[frameInfo][0].length = count;
 664         }
 665         pdx->sgEntries[frameInfo] =
 666             usb_buffer_map_sg(pdx->udev, epAddr, pdx->sgl[frameInfo],
 667                               pdx->maplist_numPagesMapped[frameInfo]);
 668         dbg("number of sgEntries = %d", pdx->sgEntries[frameInfo]);
 669         pdx->userBufMapped = 1;
 670         vfree(maplist_p);
 671         //Create and Send the URB's for each s/g entry
 672         pdx->PixelUrb[frameInfo] =
 673             kmalloc(pdx->sgEntries[frameInfo] * sizeof(struct urb *),
 674                     GFP_KERNEL);
 675         if (!pdx->PixelUrb[frameInfo]) {
 676                 dbg("Can't Allocate Memory for Urb");
 677                 return -ENOMEM;
 678         }
 679         for (i = 0; i < pdx->sgEntries[frameInfo]; i++) {
 680                 pdx->PixelUrb[frameInfo][i] = usb_alloc_urb(0, GFP_KERNEL);     //0 because we're using BULK transfers
 681                 usb_fill_bulk_urb(pdx->PixelUrb[frameInfo][i],
 682                                   pdx->udev,
 683                                   epAddr,
 684                                   (dma_addr_t *) sg_dma_address(&pdx->
 685                                                                 sgl[frameInfo]
 686                                                                 [i]),
 687                                   sg_dma_len(&pdx->sgl[frameInfo][i]),
 688                                   piusb_readPIXEL_callback, (void *)pdx);
 689                 pdx->PixelUrb[frameInfo][i]->transfer_dma =
 690                     sg_dma_address(&pdx->sgl[frameInfo][i]);
 691                 pdx->PixelUrb[frameInfo][i]->transfer_flags =
 692                     URB_NO_TRANSFER_DMA_MAP | URB_NO_INTERRUPT;
 693         }
 694         pdx->PixelUrb[frameInfo][--i]->transfer_flags &= ~URB_NO_INTERRUPT;     //only interrupt when last URB completes
 695         pdx->pendedPixelUrbs[frameInfo] =
 696             kmalloc((pdx->sgEntries[frameInfo] * sizeof(char)), GFP_KERNEL);
 697         if (!pdx->pendedPixelUrbs[frameInfo])
 698                 dbg("Can't allocate Memory for pendedPixelUrbs");
 699         for (i = 0; i < pdx->sgEntries[frameInfo]; i++) {
 700                 err = usb_submit_urb(pdx->PixelUrb[frameInfo][i], GFP_ATOMIC);
 701                 if (err) {
 702                         dbg("%s %d\n", "submit urb error =", err);
 703                         pdx->pendedPixelUrbs[frameInfo][i] = 0;
 704                         return err;
 705                 } else
 706                         pdx->pendedPixelUrbs[frameInfo][i] = 1;;
 707         }
 708         return 0;
 709 }
 710
 711 static struct file_operations piusb_fops = {
 712         .owner = THIS_MODULE,
 713         .ioctl = piusb_ioctl,
 714         .open = piusb_open,
 715         .release = piusb_release,
 716 };
 717
 718 static struct usb_class_driver piusb_class = {
 719         .name = "usb/rspiusb%d",
 720         .fops = &piusb_fops,
 721         .minor_base = PIUSB_MINOR_BASE,
 722 };
 723
 724 /**
 725  *      piusb_probe
 726  *
 727  *      Called by the usb core when a new device is connected that it thinks
 728  *      this driver might be interested in.
 729  */
 730 static int piusb_probe(struct usb_interface *interface,
 731                        const struct usb_device_id *id)
 732 {
 733         struct device_extension *pdx = NULL;
 734         struct usb_host_interface *iface_desc;
 735         struct usb_endpoint_descriptor *endpoint;
 736         int i;
 737         int retval = -ENOMEM;
 738
 739         dev_dbg(&interface->dev, "%s - Looking for PI USB Hardware", __func__);
 740
 741         pdx = kzalloc(sizeof(struct device_extension), GFP_KERNEL);
 742         if (pdx == NULL) {
 743                 dev_err(&interface->dev, "Out of memory\n");
 744                 goto error;
 745         }
 746         kref_init(&pdx->kref);
 747         pdx->udev = usb_get_dev(interface_to_usbdev(interface));
 748         pdx->interface = interface;
 749         iface_desc = interface->cur_altsetting;
 750
 751         /* See if the device offered us matches what we can accept */
 752         if ((pdx->udev->descriptor.idVendor != VENDOR_ID)
 753             || ((pdx->udev->descriptor.idProduct != PIXIS_PID)
 754                 && (pdx->udev->descriptor.idProduct != ST133_PID))) {
 755                 return -ENODEV;
 756         }
 757         pdx->iama = pdx->udev->descriptor.idProduct;
 758
 759         if (debug) {
 760                 if (pdx->udev->descriptor.idProduct == PIXIS_PID)
 761                         dbg("PIUSB:Pixis Camera Found");
 762                 else
 763                         dbg("PIUSB:ST133 USB Controller Found");
 764                 if (pdx->udev->speed == USB_SPEED_HIGH)
 765                         dbg("Highspeed(USB2.0) Device Attached");
 766                 else
 767                         dbg("Lowspeed (USB1.1) Device Attached");
 768
 769                 dbg("NumEndpoints in Configuration: %d",
 770                     iface_desc->desc.bNumEndpoints);
 771         }
 772         for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
 773                 endpoint = &iface_desc->endpoint[i].desc;
 774                 if (debug) {
 775                         dbg("Endpoint[%d]->bDescriptorType = %d", i,
 776                             endpoint->bDescriptorType);
 777                         dbg("Endpoint[%d]->bEndpointAddress = 0x%02X", i,
 778                             endpoint->bEndpointAddress);
 779                         dbg("Endpoint[%d]->bbmAttributes = %d", i,
 780                             endpoint->bmAttributes);
 781                         dbg("Endpoint[%d]->MaxPacketSize = %d\n", i,
 782                             endpoint->wMaxPacketSize);
 783                 }
 784                 if (usb_endpoint_xfer_bulk(endpoint)) {
 785                         if (usb_endpoint_dir_in(endpoint))
 786                                 pdx->hEP[i] =
 787                                     usb_rcvbulkpipe(pdx->udev,
 788                                                     endpoint->bEndpointAddress);
 789                         else
 790                                 pdx->hEP[i] =
 791                                     usb_sndbulkpipe(pdx->udev,
 792                                                     endpoint->bEndpointAddress);
 793                 }
 794         }
 795         usb_set_intfdata(interface, pdx);
 796         retval = usb_register_dev(interface, &piusb_class);
 797         if (retval) {
 798                 err("Not able to get a minor for this device.");
 799                 usb_set_intfdata(interface, NULL);
 800                 goto error;
 801         }
 802         pdx->present = 1;
 803
 804         /* we can register the device now, as it is ready */
 805         pdx->minor = interface->minor;
 806         /* let the user know what node this device is now attached to */
 807         dbg("PI USB2.0 device now attached to piusb-%d", pdx->minor);
 808         return 0;
 809
 810       error:
 811         if (pdx)
 812                 kref_put(&pdx->kref, piusb_delete);
 813         return retval;
 814 }
 815
 816 /**
 817  *      piusb_disconnect
 818  *
 819  *      Called by the usb core when the device is removed from the system.
 820  *
 821  *      This routine guarantees that the driver will not submit any more urbs
 822  *      by clearing pdx->udev.  It is also supposed to terminate any currently
 823  *      active urbs.  Unfortunately, usb_bulk_msg(), used in piusb_read(), does
 824  *      not provide any way to do this.  But at least we can cancel an active
 825  *      write.
 826  */
 827 static void piusb_disconnect(struct usb_interface *interface)
 828 {
 829         struct device_extension *pdx;
 830         int minor = interface->minor;
 831         lock_kernel();
 832         pdx = usb_get_intfdata(interface);
 833         usb_set_intfdata(interface, NULL);
 834         /* give back our minor */
 835         usb_deregister_dev(interface, &piusb_class);
 836         unlock_kernel();
 837         /* prevent device read, write and ioctl */
 838         pdx->present = 0;
 839         kref_put(&pdx->kref, piusb_delete);
 840         dbg("PI USB2.0 device #%d now disconnected\n", minor);
 841 }
 842
 843 static struct usb_driver piusb_driver = {
 844         .name = "sub",
 845         .probe = piusb_probe,
 846         .disconnect = piusb_disconnect,
 847         .id_table = pi_device_table,
 848 };
 849
 850 /**
 851  *      piusb_init
 852  */
 853 static int __init piusb_init(void)
 854 {
 855         int result;
 856         /* register this driver with the USB subsystem */
 857         result = usb_register(&piusb_driver);
 858         if (result) {
 859                 printk(KERN_ERR KBUILD_MODNAME
 860                        ": usb_register failed. Error number %d\n", result);
 861                 return result;
 862         }
 863         printk(KERN_INFO KBUILD_MODNAME ":%s: %s\n", DRIVER_DESC,
 864                DRIVER_VERSION);
 865         return 0;
 866 }
 867
 868 /**
 869  *      piusb_exit
 870  */
 871 static void __exit piusb_exit(void)
 872 {
 873         /* deregister this driver with the USB subsystem */
 874         usb_deregister(&piusb_driver);
 875 }
 876
 877 module_init(piusb_init);
 878 module_exit(piusb_exit);
 879
 880 /* Module parameters */
 881 module_param(debug, int, 0);
 882 MODULE_PARM_DESC(debug, "Debug enabled or not");
 883
 884 MODULE_AUTHOR(DRIVER_AUTHOR);
 885 MODULE_DESCRIPTION(DRIVER_DESC);
 886 MODULE_LICENSE("GPL v2");