legousbtower.c

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/*
 * LEGO USB Tower driver
 *
 * Copyright (C) 2003 David Glance <[email protected]>
 *               2001-2004 Juergen Stuber <[email protected]>
 *
 *  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; either version 2 of
 *  the License, or (at your option) any later version.
 *
 * derived from USB Skeleton driver - 0.5
 * Copyright (C) 2001 Greg Kroah-Hartman ([email protected])
 *
 * History:
 *
 * 2001-10-13 - 0.1 js
 *   - first version
 * 2001-11-03 - 0.2 js
 *   - simplified buffering, one-shot URBs for writing
 * 2001-11-10 - 0.3 js
 *   - removed IOCTL (setting power/mode is more complicated, postponed)
 * 2001-11-28 - 0.4 js
 *   - added vendor commands for mode of operation and power level in open
 * 2001-12-04 - 0.5 js
 *   - set IR mode by default (by oversight 0.4 set VLL mode)
 * 2002-01-11 - 0.5? pcchan
 *   - make read buffer reusable and work around bytes_to_write issue between
 *     uhci and legusbtower
 * 2002-09-23 - 0.52 david ([email protected])
 *   - imported into lejos project
 *   - changed wake_up to wake_up_interruptible
 *   - changed to use lego0 rather than tower0
 *   - changed dbg() to use __func__ rather than deprecated __func__
 * 2003-01-12 - 0.53 david ([email protected])
 *   - changed read and write to write everything or
 *     timeout (from a patch by Chris Riesen and Brett Thaeler driver)
 *   - added ioctl functionality to set timeouts
 * 2003-07-18 - 0.54 davidgsf ([email protected])
 *   - initial import into LegoUSB project
 *   - merge of existing LegoUSB.c driver
 * 2003-07-18 - 0.56 davidgsf ([email protected])
 *   - port to 2.6 style driver
 * 2004-02-29 - 0.6 Juergen Stuber <[email protected]>
 *   - fix locking
 *   - unlink read URBs which are no longer needed
 *   - allow increased buffer size, eliminates need for timeout on write
 *   - have read URB running continuously
 *   - added poll
 *   - forbid seeking
 *   - added nonblocking I/O
 *   - changed back __func__ to __func__
 *   - read and log tower firmware version
 *   - reset tower on probe, avoids failure of first write
 * 2004-03-09 - 0.7 Juergen Stuber <[email protected]>
 *   - timeout read now only after inactivity, shorten default accordingly
 * 2004-03-11 - 0.8 Juergen Stuber <[email protected]>
 *   - log major, minor instead of possibly confusing device filename
 *   - whitespace cleanup
 * 2004-03-12 - 0.9 Juergen Stuber <[email protected]>
 *   - normalize whitespace in debug messages
 *   - take care about endianness in control message responses
 * 2004-03-13 - 0.91 Juergen Stuber <[email protected]>
 *   - make default intervals longer to accommodate current EHCI driver
 * 2004-03-19 - 0.92 Juergen Stuber <[email protected]>
 *   - replaced atomic_t by memory barriers
 * 2004-04-21 - 0.93 Juergen Stuber <[email protected]>
 *   - wait for completion of write urb in release (needed for remotecontrol)
 *   - corrected poll for write direction (missing negation)
 * 2004-04-22 - 0.94 Juergen Stuber <[email protected]>
 *   - make device locking interruptible
 * 2004-04-30 - 0.95 Juergen Stuber <[email protected]>
 *   - check for valid udev on resubmitting and unlinking urbs
 * 2004-08-03 - 0.96 Juergen Stuber <[email protected]>
 *   - move reset into open to clean out spurious data
 */

#include <linux/kernel.h>
#include <linux/errno.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/module.h>
#include <linux/completion.h>
#include <linux/mutex.h>
#include <asm/uaccess.h>
#include <linux/usb.h>
#include <linux/poll.h>


#ifdef CONFIG_USB_DEBUG
    static int debug = 4;
#else
    static int debug = 0;
#endif

/* Use our own dbg macro */
#undef dbg
#define dbg(lvl, format, arg...)                    \
do {                                    \
    if (debug >= lvl)                       \
        printk(KERN_DEBUG "%s: " format "\n", __FILE__, ##arg); \
} while (0)

/* Version Information */
#define DRIVER_VERSION "v0.96"
#define DRIVER_AUTHOR "Juergen Stuber <[email protected]>"
#define DRIVER_DESC "LEGO USB Tower Driver"

/* Module parameters */
module_param(debug, int, S_IRUGO | S_IWUSR);
MODULE_PARM_DESC(debug, "Debug enabled or not");

/* The defaults are chosen to work with the latest versions of leJOS and NQC.
 */

/* Some legacy software likes to receive packets in one piece.
 * In this case read_buffer_size should exceed the maximal packet length
 * (417 for datalog uploads), and packet_timeout should be set.
 */
static int read_buffer_size = 480;
module_param(read_buffer_size, int, 0);
MODULE_PARM_DESC(read_buffer_size, "Read buffer size");

/* Some legacy software likes to send packets in one piece.
 * In this case write_buffer_size should exceed the maximal packet length
 * (417 for firmware and program downloads).
 * A problem with long writes is that the following read may time out
 * if the software is not prepared to wait long enough.
 */
static int write_buffer_size = 480;
module_param(write_buffer_size, int, 0);
MODULE_PARM_DESC(write_buffer_size, "Write buffer size");

/* Some legacy software expects reads to contain whole LASM packets.
 * To achieve this, characters which arrive before a packet timeout
 * occurs will be returned in a single read operation.
 * A problem with long reads is that the software may time out
 * if it is not prepared to wait long enough.
 * The packet timeout should be greater than the time between the
 * reception of subsequent characters, which should arrive about
 * every 5ms for the standard 2400 baud.
 * Set it to 0 to disable.
 */
static int packet_timeout = 50;
module_param(packet_timeout, int, 0);
MODULE_PARM_DESC(packet_timeout, "Packet timeout in ms");

/* Some legacy software expects blocking reads to time out.
 * Timeout occurs after the specified time of read and write inactivity.
 * Set it to 0 to disable.
 */
static int read_timeout = 200;
module_param(read_timeout, int, 0);
MODULE_PARM_DESC(read_timeout, "Read timeout in ms");

/* As of kernel version 2.6.4 ehci-hcd uses an
 * "only one interrupt transfer per frame" shortcut
 * to simplify the scheduling of periodic transfers.
 * This conflicts with our standard 1ms intervals for in and out URBs.
 * We use default intervals of 2ms for in and 8ms for out transfers,
 * which is fast enough for 2400 baud and allows a small additional load.
 * Increase the interval to allow more devices that do interrupt transfers,
 * or set to 0 to use the standard interval from the endpoint descriptors.
 */
static int interrupt_in_interval = 2;
module_param(interrupt_in_interval, int, 0);
MODULE_PARM_DESC(interrupt_in_interval, "Interrupt in interval in ms");

static int interrupt_out_interval = 8;
module_param(interrupt_out_interval, int, 0);
MODULE_PARM_DESC(interrupt_out_interval, "Interrupt out interval in ms");

/* Define these values to match your device */
#define LEGO_USB_TOWER_VENDOR_ID    0x0694
#define LEGO_USB_TOWER_PRODUCT_ID   0x0001

/* Vendor requests */
#define LEGO_USB_TOWER_REQUEST_RESET        0x04
#define LEGO_USB_TOWER_REQUEST_GET_VERSION  0xFD

struct tower_reset_reply {
    __le16 size;        /* little-endian */
    __u8 err_code;
    __u8 spare;
} __attribute__ ((packed));

struct tower_get_version_reply {
    __le16 size;        /* little-endian */
    __u8 err_code;
    __u8 spare;
    __u8 major;
    __u8 minor;
    __le16 build_no;        /* little-endian */
} __attribute__ ((packed));


/* table of devices that work with this driver */
static const struct usb_device_id tower_table[] = {
    { USB_DEVICE(LEGO_USB_TOWER_VENDOR_ID, LEGO_USB_TOWER_PRODUCT_ID) },
    { }                 /* Terminating entry */
};

MODULE_DEVICE_TABLE (usb, tower_table);
static DEFINE_MUTEX(open_disc_mutex);

#define LEGO_USB_TOWER_MINOR_BASE   160


/* Structure to hold all of our device specific stuff */
struct lego_usb_tower {
    struct mutex        lock;       /* locks this structure */
    struct usb_device*  udev;       /* save off the usb device pointer */
    unsigned char       minor;      /* the starting minor number for this device */

    int         open_count; /* number of times this port has been opened */

    char*           read_buffer;
    size_t          read_buffer_length; /* this much came in */
    size_t          read_packet_length; /* this much will be returned on read */
    spinlock_t      read_buffer_lock;
    int         packet_timeout_jiffies;
    unsigned long       read_last_arrival;

    wait_queue_head_t   read_wait;
    wait_queue_head_t   write_wait;

    char*           interrupt_in_buffer;
    struct usb_endpoint_descriptor* interrupt_in_endpoint;
    struct urb*     interrupt_in_urb;
    int         interrupt_in_interval;
    int         interrupt_in_running;
    int         interrupt_in_done;

    char*           interrupt_out_buffer;
    struct usb_endpoint_descriptor* interrupt_out_endpoint;
    struct urb*     interrupt_out_urb;
    int         interrupt_out_interval;
    int         interrupt_out_busy;

};


/* local function prototypes */
static ssize_t tower_read   (struct file *file, char __user *buffer, size_t count, loff_t *ppos);
static ssize_t tower_write  (struct file *file, const char __user *buffer, size_t count, loff_t *ppos);
static inline void tower_delete (struct lego_usb_tower *dev);
static int tower_open       (struct inode *inode, struct file *file);
static int tower_release    (struct inode *inode, struct file *file);
static unsigned int tower_poll  (struct file *file, poll_table *wait);
static loff_t tower_llseek  (struct file *file, loff_t off, int whence);

static void tower_abort_transfers (struct lego_usb_tower *dev);
static void tower_check_for_read_packet (struct lego_usb_tower *dev);
static void tower_interrupt_in_callback (struct urb *urb);
static void tower_interrupt_out_callback (struct urb *urb);

static int  tower_probe (struct usb_interface *interface, const struct usb_device_id *id);
static void tower_disconnect    (struct usb_interface *interface);


/* file operations needed when we register this driver */
static const struct file_operations tower_fops = {
    .owner =    THIS_MODULE,
    .read  =    tower_read,
    .write =    tower_write,
    .open =     tower_open,
    .release =  tower_release,
    .poll =     tower_poll,
    .llseek =   tower_llseek,
};

static char *legousbtower_devnode(struct device *dev, umode_t *mode)
{
    return kasprintf(GFP_KERNEL, "usb/%s", dev_name(dev));
}

/*
 * usb class driver info in order to get a minor number from the usb core,
 * and to have the device registered with the driver core
 */
static struct usb_class_driver tower_class = {
    .name =     "legousbtower%d",
    .devnode =  legousbtower_devnode,
    .fops =     &tower_fops,
    .minor_base =   LEGO_USB_TOWER_MINOR_BASE,
};


/* usb specific object needed to register this driver with the usb subsystem */
static struct usb_driver tower_driver = {
    .name =     "legousbtower",
    .probe =    tower_probe,
    .disconnect =   tower_disconnect,
    .id_table = tower_table,
};


static inline void lego_usb_tower_debug_data (int level, const char *function, int size, const unsigned char *data)
{
    int i;

    if (debug < level)
        return;

    printk (KERN_DEBUG "%s: %s - length = %d, data = ", __FILE__, function, size);
    for (i = 0; i < size; ++i) {
        printk ("%.2x ", data[i]);
    }
    printk ("\n");
}


static inline void tower_delete (struct lego_usb_tower *dev)
{
    dbg(2, "%s: enter", __func__);

    tower_abort_transfers (dev);

    /* free data structures */
    usb_free_urb(dev->interrupt_in_urb);
    usb_free_urb(dev->interrupt_out_urb);
    kfree (dev->read_buffer);
    kfree (dev->interrupt_in_buffer);
    kfree (dev->interrupt_out_buffer);
    kfree (dev);

    dbg(2, "%s: leave", __func__);
}


static int tower_open (struct inode *inode, struct file *file)
{
    struct lego_usb_tower *dev = NULL;
    int subminor;
    int retval = 0;
    struct usb_interface *interface;
    struct tower_reset_reply reset_reply;
    int result;

    dbg(2, "%s: enter", __func__);

    nonseekable_open(inode, file);
    subminor = iminor(inode);

    interface = usb_find_interface (&tower_driver, subminor);

    if (!interface) {
        printk(KERN_ERR "%s - error, can't find device for minor %d\n",
               __func__, subminor);
        retval = -ENODEV;
        goto exit;
    }

    mutex_lock(&open_disc_mutex);
    dev = usb_get_intfdata(interface);

    if (!dev) {
        mutex_unlock(&open_disc_mutex);
        retval = -ENODEV;
        goto exit;
    }

    /* lock this device */
    if (mutex_lock_interruptible(&dev->lock)) {
        mutex_unlock(&open_disc_mutex);
            retval = -ERESTARTSYS;
        goto exit;
    }


    /* allow opening only once */
    if (dev->open_count) {
        mutex_unlock(&open_disc_mutex);
        retval = -EBUSY;
        goto unlock_exit;
    }
    dev->open_count = 1;
    mutex_unlock(&open_disc_mutex);

    /* reset the tower */
    result = usb_control_msg (dev->udev,
                  usb_rcvctrlpipe(dev->udev, 0),
                  LEGO_USB_TOWER_REQUEST_RESET,
                  USB_TYPE_VENDOR | USB_DIR_IN | USB_RECIP_DEVICE,
                  0,
                  0,
                  &reset_reply,
                  sizeof(reset_reply),
                  1000);
    if (result < 0) {
        dev_err(&dev->udev->dev,
            "LEGO USB Tower reset control request failed\n");
        retval = result;
        goto unlock_exit;
    }

    /* initialize in direction */
    dev->read_buffer_length = 0;
    dev->read_packet_length = 0;
    usb_fill_int_urb (dev->interrupt_in_urb,
              dev->udev,
              usb_rcvintpipe(dev->udev, dev->interrupt_in_endpoint->bEndpointAddress),
              dev->interrupt_in_buffer,
              usb_endpoint_maxp(dev->interrupt_in_endpoint),
              tower_interrupt_in_callback,
              dev,
              dev->interrupt_in_interval);

    dev->interrupt_in_running = 1;
    dev->interrupt_in_done = 0;
    mb();

    retval = usb_submit_urb (dev->interrupt_in_urb, GFP_KERNEL);
    if (retval) {
        dev_err(&dev->udev->dev,
            "Couldn't submit interrupt_in_urb %d\n", retval);
        dev->interrupt_in_running = 0;
        dev->open_count = 0;
        goto unlock_exit;
    }

    /* save device in the file's private structure */
    file->private_data = dev;

unlock_exit:
    mutex_unlock(&dev->lock);

exit:
    dbg(2, "%s: leave, return value %d ", __func__, retval);

    return retval;
}

static int tower_release (struct inode *inode, struct file *file)
{
    struct lego_usb_tower *dev;
    int retval = 0;

    dbg(2, "%s: enter", __func__);

    dev = file->private_data;

    if (dev == NULL) {
        dbg(1, "%s: object is NULL", __func__);
        retval = -ENODEV;
        goto exit_nolock;
    }

    mutex_lock(&open_disc_mutex);
    if (mutex_lock_interruptible(&dev->lock)) {
            retval = -ERESTARTSYS;
        goto exit;
    }

    if (dev->open_count != 1) {
        dbg(1, "%s: device not opened exactly once", __func__);
        retval = -ENODEV;
        goto unlock_exit;
    }
    if (dev->udev == NULL) {
        /* the device was unplugged before the file was released */

        /* unlock here as tower_delete frees dev */
        mutex_unlock(&dev->lock);
        tower_delete (dev);
        goto exit;
    }

    /* wait until write transfer is finished */
    if (dev->interrupt_out_busy) {
        wait_event_interruptible_timeout (dev->write_wait, !dev->interrupt_out_busy, 2 * HZ);
    }
    tower_abort_transfers (dev);
    dev->open_count = 0;

unlock_exit:
    mutex_unlock(&dev->lock);

exit:
    mutex_unlock(&open_disc_mutex);
exit_nolock:
    dbg(2, "%s: leave, return value %d", __func__, retval);
    return retval;
}


static void tower_abort_transfers (struct lego_usb_tower *dev)
{
    dbg(2, "%s: enter", __func__);

    if (dev == NULL) {
        dbg(1, "%s: dev is null", __func__);
        goto exit;
    }

    /* shutdown transfer */
    if (dev->interrupt_in_running) {
        dev->interrupt_in_running = 0;
        mb();
        if (dev->udev)
            usb_kill_urb (dev->interrupt_in_urb);
    }
    if (dev->interrupt_out_busy && dev->udev)
        usb_kill_urb(dev->interrupt_out_urb);

exit:
    dbg(2, "%s: leave", __func__);
}


static void tower_check_for_read_packet (struct lego_usb_tower *dev)
{
    spin_lock_irq (&dev->read_buffer_lock);
    if (!packet_timeout
        || time_after(jiffies, dev->read_last_arrival + dev->packet_timeout_jiffies)
        || dev->read_buffer_length == read_buffer_size) {
        dev->read_packet_length = dev->read_buffer_length;
    }
    dev->interrupt_in_done = 0;
    spin_unlock_irq (&dev->read_buffer_lock);
}


static unsigned int tower_poll (struct file *file, poll_table *wait)
{
    struct lego_usb_tower *dev;
    unsigned int mask = 0;

    dbg(2, "%s: enter", __func__);

    dev = file->private_data;

    if (!dev->udev)
        return POLLERR | POLLHUP;

    poll_wait(file, &dev->read_wait, wait);
    poll_wait(file, &dev->write_wait, wait);

    tower_check_for_read_packet(dev);
    if (dev->read_packet_length > 0) {
        mask |= POLLIN | POLLRDNORM;
    }
    if (!dev->interrupt_out_busy) {
        mask |= POLLOUT | POLLWRNORM;
    }

    dbg(2, "%s: leave, mask = %d", __func__, mask);

    return mask;
}


static loff_t tower_llseek (struct file *file, loff_t off, int whence)
{
    return -ESPIPE;     /* unseekable */
}


static ssize_t tower_read (struct file *file, char __user *buffer, size_t count, loff_t *ppos)
{
    struct lego_usb_tower *dev;
    size_t bytes_to_read;
    int i;
    int retval = 0;
    unsigned long timeout = 0;

    dbg(2, "%s: enter, count = %Zd", __func__, count);

    dev = file->private_data;

    /* lock this object */
    if (mutex_lock_interruptible(&dev->lock)) {
        retval = -ERESTARTSYS;
        goto exit;
    }

    /* verify that the device wasn't unplugged */
    if (dev->udev == NULL) {
        retval = -ENODEV;
        printk(KERN_ERR "legousbtower: No device or device unplugged %d\n", retval);
        goto unlock_exit;
    }

    /* verify that we actually have some data to read */
    if (count == 0) {
        dbg(1, "%s: read request of 0 bytes", __func__);
        goto unlock_exit;
    }

    if (read_timeout) {
        timeout = jiffies + read_timeout * HZ / 1000;
    }

    /* wait for data */
    tower_check_for_read_packet (dev);
    while (dev->read_packet_length == 0) {
        if (file->f_flags & O_NONBLOCK) {
            retval = -EAGAIN;
            goto unlock_exit;
        }
        retval = wait_event_interruptible_timeout(dev->read_wait, dev->interrupt_in_done, dev->packet_timeout_jiffies);
        if (retval < 0) {
            goto unlock_exit;
        }

        /* reset read timeout during read or write activity */
        if (read_timeout
            && (dev->read_buffer_length || dev->interrupt_out_busy)) {
            timeout = jiffies + read_timeout * HZ / 1000;
        }
        /* check for read timeout */
        if (read_timeout && time_after (jiffies, timeout)) {
            retval = -ETIMEDOUT;
            goto unlock_exit;
        }
        tower_check_for_read_packet (dev);
    }

    /* copy the data from read_buffer into userspace */
    bytes_to_read = min(count, dev->read_packet_length);

    if (copy_to_user (buffer, dev->read_buffer, bytes_to_read)) {
        retval = -EFAULT;
        goto unlock_exit;
    }

    spin_lock_irq (&dev->read_buffer_lock);
    dev->read_buffer_length -= bytes_to_read;
    dev->read_packet_length -= bytes_to_read;
    for (i=0; i<dev->read_buffer_length; i++) {
        dev->read_buffer[i] = dev->read_buffer[i+bytes_to_read];
    }
    spin_unlock_irq (&dev->read_buffer_lock);

    retval = bytes_to_read;

unlock_exit:
    /* unlock the device */
    mutex_unlock(&dev->lock);

exit:
    dbg(2, "%s: leave, return value %d", __func__, retval);
    return retval;
}


static ssize_t tower_write (struct file *file, const char __user *buffer, size_t count, loff_t *ppos)
{
    struct lego_usb_tower *dev;
    size_t bytes_to_write;
    int retval = 0;

    dbg(2, "%s: enter, count = %Zd", __func__, count);

    dev = file->private_data;

    /* lock this object */
    if (mutex_lock_interruptible(&dev->lock)) {
        retval = -ERESTARTSYS;
        goto exit;
    }

    /* verify that the device wasn't unplugged */
    if (dev->udev == NULL) {
        retval = -ENODEV;
        printk(KERN_ERR "legousbtower: No device or device unplugged %d\n", retval);
        goto unlock_exit;
    }

    /* verify that we actually have some data to write */
    if (count == 0) {
        dbg(1, "%s: write request of 0 bytes", __func__);
        goto unlock_exit;
    }

    /* wait until previous transfer is finished */
    while (dev->interrupt_out_busy) {
        if (file->f_flags & O_NONBLOCK) {
            retval = -EAGAIN;
            goto unlock_exit;
        }
        retval = wait_event_interruptible (dev->write_wait, !dev->interrupt_out_busy);
        if (retval) {
            goto unlock_exit;
        }
    }

    /* write the data into interrupt_out_buffer from userspace */
    bytes_to_write = min_t(int, count, write_buffer_size);
    dbg(4, "%s: count = %Zd, bytes_to_write = %Zd", __func__, count, bytes_to_write);

    if (copy_from_user (dev->interrupt_out_buffer, buffer, bytes_to_write)) {
        retval = -EFAULT;
        goto unlock_exit;
    }

    /* send off the urb */
    usb_fill_int_urb(dev->interrupt_out_urb,
             dev->udev,
             usb_sndintpipe(dev->udev, dev->interrupt_out_endpoint->bEndpointAddress),
             dev->interrupt_out_buffer,
             bytes_to_write,
             tower_interrupt_out_callback,
             dev,
             dev->interrupt_out_interval);

    dev->interrupt_out_busy = 1;
    wmb();

    retval = usb_submit_urb (dev->interrupt_out_urb, GFP_KERNEL);
    if (retval) {
        dev->interrupt_out_busy = 0;
        dev_err(&dev->udev->dev,
            "Couldn't submit interrupt_out_urb %d\n", retval);
        goto unlock_exit;
    }
    retval = bytes_to_write;

unlock_exit:
    /* unlock the device */
    mutex_unlock(&dev->lock);

exit:
    dbg(2, "%s: leave, return value %d", __func__, retval);

    return retval;
}


static void tower_interrupt_in_callback (struct urb *urb)
{
    struct lego_usb_tower *dev = urb->context;
    int status = urb->status;
    int retval;

    dbg(4, "%s: enter, status %d", __func__, status);

    lego_usb_tower_debug_data(5, __func__, urb->actual_length, urb->transfer_buffer);

    if (status) {
        if (status == -ENOENT ||
            status == -ECONNRESET ||
            status == -ESHUTDOWN) {
            goto exit;
        } else {
            dbg(1, "%s: nonzero status received: %d", __func__, status);
            goto resubmit; /* maybe we can recover */
        }
    }

    if (urb->actual_length > 0) {
        spin_lock (&dev->read_buffer_lock);
        if (dev->read_buffer_length + urb->actual_length < read_buffer_size) {
            memcpy (dev->read_buffer + dev->read_buffer_length,
                dev->interrupt_in_buffer,
                urb->actual_length);
            dev->read_buffer_length += urb->actual_length;
            dev->read_last_arrival = jiffies;
            dbg(3, "%s: received %d bytes", __func__, urb->actual_length);
        } else {
            printk(KERN_WARNING "%s: read_buffer overflow, %d bytes dropped", __func__, urb->actual_length);
        }
        spin_unlock (&dev->read_buffer_lock);
    }

resubmit:
    /* resubmit if we're still running */
    if (dev->interrupt_in_running && dev->udev) {
        retval = usb_submit_urb (dev->interrupt_in_urb, GFP_ATOMIC);
        if (retval)
            dev_err(&dev->udev->dev,
                "%s: usb_submit_urb failed (%d)\n",
                __func__, retval);
    }

exit:
    dev->interrupt_in_done = 1;
    wake_up_interruptible (&dev->read_wait);

    lego_usb_tower_debug_data(5, __func__, urb->actual_length, urb->transfer_buffer);
    dbg(4, "%s: leave, status %d", __func__, status);
}


static void tower_interrupt_out_callback (struct urb *urb)
{
    struct lego_usb_tower *dev = urb->context;
    int status = urb->status;

    dbg(4, "%s: enter, status %d", __func__, status);
    lego_usb_tower_debug_data(5, __func__, urb->actual_length, urb->transfer_buffer);

    /* sync/async unlink faults aren't errors */
    if (status && !(status == -ENOENT ||
            status == -ECONNRESET ||
            status == -ESHUTDOWN)) {
        dbg(1, "%s - nonzero write bulk status received: %d",
            __func__, status);
    }

    dev->interrupt_out_busy = 0;
    wake_up_interruptible(&dev->write_wait);

    lego_usb_tower_debug_data(5, __func__, urb->actual_length, urb->transfer_buffer);
    dbg(4, "%s: leave, status %d", __func__, status);
}


static int tower_probe (struct usb_interface *interface, const struct usb_device_id *id)
{
    struct device *idev = &interface->dev;
    struct usb_device *udev = interface_to_usbdev(interface);
    struct lego_usb_tower *dev = NULL;
    struct usb_host_interface *iface_desc;
    struct usb_endpoint_descriptor* endpoint;
    struct tower_get_version_reply get_version_reply;
    int i;
    int retval = -ENOMEM;
    int result;

    dbg(2, "%s: enter", __func__);

    /* allocate memory for our device state and initialize it */

    dev = kmalloc (sizeof(struct lego_usb_tower), GFP_KERNEL);

    if (dev == NULL) {
        dev_err(idev, "Out of memory\n");
        goto exit;
    }

    mutex_init(&dev->lock);

    dev->udev = udev;
    dev->open_count = 0;

    dev->read_buffer = NULL;
    dev->read_buffer_length = 0;
    dev->read_packet_length = 0;
    spin_lock_init (&dev->read_buffer_lock);
    dev->packet_timeout_jiffies = packet_timeout * HZ / 1000;
    dev->read_last_arrival = jiffies;

    init_waitqueue_head (&dev->read_wait);
    init_waitqueue_head (&dev->write_wait);

    dev->interrupt_in_buffer = NULL;
    dev->interrupt_in_endpoint = NULL;
    dev->interrupt_in_urb = NULL;
    dev->interrupt_in_running = 0;
    dev->interrupt_in_done = 0;

    dev->interrupt_out_buffer = NULL;
    dev->interrupt_out_endpoint = NULL;
    dev->interrupt_out_urb = NULL;
    dev->interrupt_out_busy = 0;

    iface_desc = interface->cur_altsetting;

    /* set up the endpoint information */
    for (i = 0; i < iface_desc->desc.bNumEndpoints; ++i) {
        endpoint = &iface_desc->endpoint[i].desc;

        if (usb_endpoint_xfer_int(endpoint)) {
            if (usb_endpoint_dir_in(endpoint))
                dev->interrupt_in_endpoint = endpoint;
            else
                dev->interrupt_out_endpoint = endpoint;
        }
    }
    if(dev->interrupt_in_endpoint == NULL) {
        dev_err(idev, "interrupt in endpoint not found\n");
        goto error;
    }
    if (dev->interrupt_out_endpoint == NULL) {
        dev_err(idev, "interrupt out endpoint not found\n");
        goto error;
    }

    dev->read_buffer = kmalloc (read_buffer_size, GFP_KERNEL);
    if (!dev->read_buffer) {
        dev_err(idev, "Couldn't allocate read_buffer\n");
        goto error;
    }
    dev->interrupt_in_buffer = kmalloc (usb_endpoint_maxp(dev->interrupt_in_endpoint), GFP_KERNEL);
    if (!dev->interrupt_in_buffer) {
        dev_err(idev, "Couldn't allocate interrupt_in_buffer\n");
        goto error;
    }
    dev->interrupt_in_urb = usb_alloc_urb(0, GFP_KERNEL);
    if (!dev->interrupt_in_urb) {
        dev_err(idev, "Couldn't allocate interrupt_in_urb\n");
        goto error;
    }
    dev->interrupt_out_buffer = kmalloc (write_buffer_size, GFP_KERNEL);
    if (!dev->interrupt_out_buffer) {
        dev_err(idev, "Couldn't allocate interrupt_out_buffer\n");
        goto error;
    }
    dev->interrupt_out_urb = usb_alloc_urb(0, GFP_KERNEL);
    if (!dev->interrupt_out_urb) {
        dev_err(idev, "Couldn't allocate interrupt_out_urb\n");
        goto error;
    }
    dev->interrupt_in_interval = interrupt_in_interval ? interrupt_in_interval : dev->interrupt_in_endpoint->bInterval;
    dev->interrupt_out_interval = interrupt_out_interval ? interrupt_out_interval : dev->interrupt_out_endpoint->bInterval;

    /* we can register the device now, as it is ready */
    usb_set_intfdata (interface, dev);

    retval = usb_register_dev (interface, &tower_class);

    if (retval) {
        /* something prevented us from registering this driver */
        dev_err(idev, "Not able to get a minor for this device.\n");
        usb_set_intfdata (interface, NULL);
        goto error;
    }
    dev->minor = interface->minor;

    /* let the user know what node this device is now attached to */
    dev_info(&interface->dev, "LEGO USB Tower #%d now attached to major "
         "%d minor %d\n", (dev->minor - LEGO_USB_TOWER_MINOR_BASE),
         USB_MAJOR, dev->minor);

    /* get the firmware version and log it */
    result = usb_control_msg (udev,
                  usb_rcvctrlpipe(udev, 0),
                  LEGO_USB_TOWER_REQUEST_GET_VERSION,
                  USB_TYPE_VENDOR | USB_DIR_IN | USB_RECIP_DEVICE,
                  0,
                  0,
                  &get_version_reply,
                  sizeof(get_version_reply),
                  1000);
    if (result < 0) {
        dev_err(idev, "LEGO USB Tower get version control request failed\n");
        retval = result;
        goto error;
    }
    dev_info(&interface->dev, "LEGO USB Tower firmware version is %d.%d "
         "build %d\n", get_version_reply.major,
         get_version_reply.minor,
         le16_to_cpu(get_version_reply.build_no));


exit:
    dbg(2, "%s: leave, return value 0x%.8lx (dev)", __func__, (long) dev);

    return retval;

error:
    tower_delete(dev);
    return retval;
}


static void tower_disconnect (struct usb_interface *interface)
{
    struct lego_usb_tower *dev;
    int minor;

    dbg(2, "%s: enter", __func__);

    dev = usb_get_intfdata (interface);
    mutex_lock(&open_disc_mutex);
    usb_set_intfdata (interface, NULL);

    minor = dev->minor;

    /* give back our minor */
    usb_deregister_dev (interface, &tower_class);

    mutex_lock(&dev->lock);
    mutex_unlock(&open_disc_mutex);

    /* if the device is not opened, then we clean up right now */
    if (!dev->open_count) {
        mutex_unlock(&dev->lock);
        tower_delete (dev);
    } else {
        dev->udev = NULL;
        /* wake up pollers */
        wake_up_interruptible_all(&dev->read_wait);
        wake_up_interruptible_all(&dev->write_wait);
        mutex_unlock(&dev->lock);
    }

    dev_info(&interface->dev, "LEGO USB Tower #%d now disconnected\n",
         (minor - LEGO_USB_TOWER_MINOR_BASE));

    dbg(2, "%s: leave", __func__);
}

module_usb_driver(tower_driver);

MODULE_AUTHOR(DRIVER_AUTHOR);
MODULE_DESCRIPTION(DRIVER_DESC);
#ifdef MODULE_LICENSE
MODULE_LICENSE("GPL");
#endif