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path: root/drivers/usb/wusbcore/wa-rpipe.c
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Diffstat (limited to 'drivers/usb/wusbcore/wa-rpipe.c')
-rw-r--r--drivers/usb/wusbcore/wa-rpipe.c562
1 files changed, 562 insertions, 0 deletions
diff --git a/drivers/usb/wusbcore/wa-rpipe.c b/drivers/usb/wusbcore/wa-rpipe.c
new file mode 100644
index 000000000000..f18e4aae66e9
--- /dev/null
+++ b/drivers/usb/wusbcore/wa-rpipe.c
@@ -0,0 +1,562 @@
+/*
+ * WUSB Wire Adapter
+ * rpipe management
+ *
+ * Copyright (C) 2005-2006 Intel Corporation
+ * Inaky Perez-Gonzalez <inaky.perez-gonzalez@intel.com>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version
+ * 2 as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+ * 02110-1301, USA.
+ *
+ *
+ * FIXME: docs
+ *
+ * RPIPE
+ *
+ * Targetted at different downstream endpoints
+ *
+ * Descriptor: use to config the remote pipe.
+ *
+ * The number of blocks could be dynamic (wBlocks in descriptor is
+ * 0)--need to schedule them then.
+ *
+ * Each bit in wa->rpipe_bm represents if an rpipe is being used or
+ * not. Rpipes are represented with a 'struct wa_rpipe' that is
+ * attached to the hcpriv member of a 'struct usb_host_endpoint'.
+ *
+ * When you need to xfer data to an endpoint, you get an rpipe for it
+ * with wa_ep_rpipe_get(), which gives you a reference to the rpipe
+ * and keeps a single one (the first one) with the endpoint. When you
+ * are done transferring, you drop that reference. At the end the
+ * rpipe is always allocated and bound to the endpoint. There it might
+ * be recycled when not used.
+ *
+ * Addresses:
+ *
+ * We use a 1:1 mapping mechanism between port address (0 based
+ * index, actually) and the address. The USB stack knows about this.
+ *
+ * USB Stack port number 4 (1 based)
+ * WUSB code port index 3 (0 based)
+ * USB Addresss 5 (2 based -- 0 is for default, 1 for root hub)
+ *
+ * Now, because we don't use the concept as default address exactly
+ * like the (wired) USB code does, we need to kind of skip it. So we
+ * never take addresses from the urb->pipe, but from the
+ * urb->dev->devnum, to make sure that we always have the right
+ * destination address.
+ */
+#include <linux/init.h>
+#include <asm/atomic.h>
+#include <linux/bitmap.h>
+#include "wusbhc.h"
+#include "wa-hc.h"
+
+#define D_LOCAL 0
+#include <linux/uwb/debug.h>
+
+
+static int __rpipe_get_descr(struct wahc *wa,
+ struct usb_rpipe_descriptor *descr, u16 index)
+{
+ ssize_t result;
+ struct device *dev = &wa->usb_iface->dev;
+
+ /* Get the RPIPE descriptor -- we cannot use the usb_get_descriptor()
+ * function because the arguments are different.
+ */
+ d_printf(1, dev, "rpipe %u: get descr\n", index);
+ result = usb_control_msg(
+ wa->usb_dev, usb_rcvctrlpipe(wa->usb_dev, 0),
+ USB_REQ_GET_DESCRIPTOR,
+ USB_DIR_IN | USB_TYPE_CLASS | USB_RECIP_RPIPE,
+ USB_DT_RPIPE<<8, index, descr, sizeof(*descr),
+ 1000 /* FIXME: arbitrary */);
+ if (result < 0) {
+ dev_err(dev, "rpipe %u: get descriptor failed: %d\n",
+ index, (int)result);
+ goto error;
+ }
+ if (result < sizeof(*descr)) {
+ dev_err(dev, "rpipe %u: got short descriptor "
+ "(%zd vs %zd bytes needed)\n",
+ index, result, sizeof(*descr));
+ result = -EINVAL;
+ goto error;
+ }
+ result = 0;
+
+error:
+ return result;
+}
+
+/*
+ *
+ * The descriptor is assumed to be properly initialized (ie: you got
+ * it through __rpipe_get_descr()).
+ */
+static int __rpipe_set_descr(struct wahc *wa,
+ struct usb_rpipe_descriptor *descr, u16 index)
+{
+ ssize_t result;
+ struct device *dev = &wa->usb_iface->dev;
+
+ /* we cannot use the usb_get_descriptor() function because the
+ * arguments are different.
+ */
+ d_printf(1, dev, "rpipe %u: set descr\n", index);
+ result = usb_control_msg(
+ wa->usb_dev, usb_sndctrlpipe(wa->usb_dev, 0),
+ USB_REQ_SET_DESCRIPTOR,
+ USB_DIR_OUT | USB_TYPE_CLASS | USB_RECIP_RPIPE,
+ USB_DT_RPIPE<<8, index, descr, sizeof(*descr),
+ HZ / 10);
+ if (result < 0) {
+ dev_err(dev, "rpipe %u: set descriptor failed: %d\n",
+ index, (int)result);
+ goto error;
+ }
+ if (result < sizeof(*descr)) {
+ dev_err(dev, "rpipe %u: sent short descriptor "
+ "(%zd vs %zd bytes required)\n",
+ index, result, sizeof(*descr));
+ result = -EINVAL;
+ goto error;
+ }
+ result = 0;
+
+error:
+ return result;
+
+}
+
+static void rpipe_init(struct wa_rpipe *rpipe)
+{
+ kref_init(&rpipe->refcnt);
+ spin_lock_init(&rpipe->seg_lock);
+ INIT_LIST_HEAD(&rpipe->seg_list);
+}
+
+static unsigned rpipe_get_idx(struct wahc *wa, unsigned rpipe_idx)
+{
+ unsigned long flags;
+
+ spin_lock_irqsave(&wa->rpipe_bm_lock, flags);
+ rpipe_idx = find_next_zero_bit(wa->rpipe_bm, wa->rpipes, rpipe_idx);
+ if (rpipe_idx < wa->rpipes)
+ set_bit(rpipe_idx, wa->rpipe_bm);
+ spin_unlock_irqrestore(&wa->rpipe_bm_lock, flags);
+
+ return rpipe_idx;
+}
+
+static void rpipe_put_idx(struct wahc *wa, unsigned rpipe_idx)
+{
+ unsigned long flags;
+
+ spin_lock_irqsave(&wa->rpipe_bm_lock, flags);
+ clear_bit(rpipe_idx, wa->rpipe_bm);
+ spin_unlock_irqrestore(&wa->rpipe_bm_lock, flags);
+}
+
+void rpipe_destroy(struct kref *_rpipe)
+{
+ struct wa_rpipe *rpipe = container_of(_rpipe, struct wa_rpipe, refcnt);
+ u8 index = le16_to_cpu(rpipe->descr.wRPipeIndex);
+ d_fnstart(1, NULL, "(rpipe %p %u)\n", rpipe, index);
+ if (rpipe->ep)
+ rpipe->ep->hcpriv = NULL;
+ rpipe_put_idx(rpipe->wa, index);
+ wa_put(rpipe->wa);
+ kfree(rpipe);
+ d_fnend(1, NULL, "(rpipe %p %u)\n", rpipe, index);
+}
+EXPORT_SYMBOL_GPL(rpipe_destroy);
+
+/*
+ * Locate an idle rpipe, create an structure for it and return it
+ *
+ * @wa is referenced and unlocked
+ * @crs enum rpipe_attr, required endpoint characteristics
+ *
+ * The rpipe can be used only sequentially (not in parallel).
+ *
+ * The rpipe is moved into the "ready" state.
+ */
+static int rpipe_get_idle(struct wa_rpipe **prpipe, struct wahc *wa, u8 crs,
+ gfp_t gfp)
+{
+ int result;
+ unsigned rpipe_idx;
+ struct wa_rpipe *rpipe;
+ struct device *dev = &wa->usb_iface->dev;
+
+ d_fnstart(3, dev, "(wa %p crs 0x%02x)\n", wa, crs);
+ rpipe = kzalloc(sizeof(*rpipe), gfp);
+ if (rpipe == NULL)
+ return -ENOMEM;
+ rpipe_init(rpipe);
+
+ /* Look for an idle pipe */
+ for (rpipe_idx = 0; rpipe_idx < wa->rpipes; rpipe_idx++) {
+ rpipe_idx = rpipe_get_idx(wa, rpipe_idx);
+ if (rpipe_idx >= wa->rpipes) /* no more pipes :( */
+ break;
+ result = __rpipe_get_descr(wa, &rpipe->descr, rpipe_idx);
+ if (result < 0)
+ dev_err(dev, "Can't get descriptor for rpipe %u: %d\n",
+ rpipe_idx, result);
+ else if ((rpipe->descr.bmCharacteristics & crs) != 0)
+ goto found;
+ rpipe_put_idx(wa, rpipe_idx);
+ }
+ *prpipe = NULL;
+ kfree(rpipe);
+ d_fnend(3, dev, "(wa %p crs 0x%02x) = -ENXIO\n", wa, crs);
+ return -ENXIO;
+
+found:
+ set_bit(rpipe_idx, wa->rpipe_bm);
+ rpipe->wa = wa_get(wa);
+ *prpipe = rpipe;
+ d_fnstart(3, dev, "(wa %p crs 0x%02x) = 0\n", wa, crs);
+ return 0;
+}
+
+static int __rpipe_reset(struct wahc *wa, unsigned index)
+{
+ int result;
+ struct device *dev = &wa->usb_iface->dev;
+
+ d_printf(1, dev, "rpipe %u: reset\n", index);
+ result = usb_control_msg(
+ wa->usb_dev, usb_sndctrlpipe(wa->usb_dev, 0),
+ USB_REQ_RPIPE_RESET,
+ USB_DIR_OUT | USB_TYPE_CLASS | USB_RECIP_RPIPE,
+ 0, index, NULL, 0, 1000 /* FIXME: arbitrary */);
+ if (result < 0)
+ dev_err(dev, "rpipe %u: reset failed: %d\n",
+ index, result);
+ return result;
+}
+
+/*
+ * Fake companion descriptor for ep0
+ *
+ * See WUSB1.0[7.4.4], most of this is zero for bulk/int/ctl
+ */
+static struct usb_wireless_ep_comp_descriptor epc0 = {
+ .bLength = sizeof(epc0),
+ .bDescriptorType = USB_DT_WIRELESS_ENDPOINT_COMP,
+/* .bMaxBurst = 1, */
+ .bMaxSequence = 31,
+};
+
+/*
+ * Look for EP companion descriptor
+ *
+ * Get there, look for Inara in the endpoint's extra descriptors
+ */
+static struct usb_wireless_ep_comp_descriptor *rpipe_epc_find(
+ struct device *dev, struct usb_host_endpoint *ep)
+{
+ void *itr;
+ size_t itr_size;
+ struct usb_descriptor_header *hdr;
+ struct usb_wireless_ep_comp_descriptor *epcd;
+
+ d_fnstart(3, dev, "(ep %p)\n", ep);
+ if (ep->desc.bEndpointAddress == 0) {
+ epcd = &epc0;
+ goto out;
+ }
+ itr = ep->extra;
+ itr_size = ep->extralen;
+ epcd = NULL;
+ while (itr_size > 0) {
+ if (itr_size < sizeof(*hdr)) {
+ dev_err(dev, "HW Bug? ep 0x%02x: extra descriptors "
+ "at offset %zu: only %zu bytes left\n",
+ ep->desc.bEndpointAddress,
+ itr - (void *) ep->extra, itr_size);
+ break;
+ }
+ hdr = itr;
+ if (hdr->bDescriptorType == USB_DT_WIRELESS_ENDPOINT_COMP) {
+ epcd = itr;
+ break;
+ }
+ if (hdr->bLength > itr_size) {
+ dev_err(dev, "HW Bug? ep 0x%02x: extra descriptor "
+ "at offset %zu (type 0x%02x) "
+ "length %d but only %zu bytes left\n",
+ ep->desc.bEndpointAddress,
+ itr - (void *) ep->extra, hdr->bDescriptorType,
+ hdr->bLength, itr_size);
+ break;
+ }
+ itr += hdr->bLength;
+ itr_size -= hdr->bDescriptorType;
+ }
+out:
+ d_fnend(3, dev, "(ep %p) = %p\n", ep, epcd);
+ return epcd;
+}
+
+/*
+ * Aim an rpipe to its device & endpoint destination
+ *
+ * Make sure we change the address to unauthenticathed if the device
+ * is WUSB and it is not authenticated.
+ */
+static int rpipe_aim(struct wa_rpipe *rpipe, struct wahc *wa,
+ struct usb_host_endpoint *ep, struct urb *urb, gfp_t gfp)
+{
+ int result = -ENOMSG; /* better code for lack of companion? */
+ struct device *dev = &wa->usb_iface->dev;
+ struct usb_device *usb_dev = urb->dev;
+ struct usb_wireless_ep_comp_descriptor *epcd;
+ u8 unauth;
+
+ d_fnstart(3, dev, "(rpipe %p wa %p ep %p, urb %p)\n",
+ rpipe, wa, ep, urb);
+ epcd = rpipe_epc_find(dev, ep);
+ if (epcd == NULL) {
+ dev_err(dev, "ep 0x%02x: can't find companion descriptor\n",
+ ep->desc.bEndpointAddress);
+ goto error;
+ }
+ unauth = usb_dev->wusb && !usb_dev->authenticated ? 0x80 : 0;
+ __rpipe_reset(wa, le16_to_cpu(rpipe->descr.wRPipeIndex));
+ atomic_set(&rpipe->segs_available, le16_to_cpu(rpipe->descr.wRequests));
+ /* FIXME: block allocation system; request with queuing and timeout */
+ /* FIXME: compute so seg_size > ep->maxpktsize */
+ rpipe->descr.wBlocks = cpu_to_le16(16); /* given */
+ /* ep0 maxpktsize is 0x200 (WUSB1.0[4.8.1]) */
+ rpipe->descr.wMaxPacketSize = cpu_to_le16(ep->desc.wMaxPacketSize);
+ rpipe->descr.bHSHubAddress = 0; /* reserved: zero */
+ rpipe->descr.bHSHubPort = wusb_port_no_to_idx(urb->dev->portnum);
+ /* FIXME: use maximum speed as supported or recommended by device */
+ rpipe->descr.bSpeed = usb_pipeendpoint(urb->pipe) == 0 ?
+ UWB_PHY_RATE_53 : UWB_PHY_RATE_200;
+ d_printf(2, dev, "addr %u (0x%02x) rpipe #%u ep# %u speed %d\n",
+ urb->dev->devnum, urb->dev->devnum | unauth,
+ le16_to_cpu(rpipe->descr.wRPipeIndex),
+ usb_pipeendpoint(urb->pipe), rpipe->descr.bSpeed);
+ /* see security.c:wusb_update_address() */
+ if (unlikely(urb->dev->devnum == 0x80))
+ rpipe->descr.bDeviceAddress = 0;
+ else
+ rpipe->descr.bDeviceAddress = urb->dev->devnum | unauth;
+ rpipe->descr.bEndpointAddress = ep->desc.bEndpointAddress;
+ /* FIXME: bDataSequence */
+ rpipe->descr.bDataSequence = 0;
+ /* FIXME: dwCurrentWindow */
+ rpipe->descr.dwCurrentWindow = cpu_to_le32(1);
+ /* FIXME: bMaxDataSequence */
+ rpipe->descr.bMaxDataSequence = epcd->bMaxSequence - 1;
+ rpipe->descr.bInterval = ep->desc.bInterval;
+ /* FIXME: bOverTheAirInterval */
+ rpipe->descr.bOverTheAirInterval = 0; /* 0 if not isoc */
+ /* FIXME: xmit power & preamble blah blah */
+ rpipe->descr.bmAttribute = ep->desc.bmAttributes & 0x03;
+ /* rpipe->descr.bmCharacteristics RO */
+ /* FIXME: bmRetryOptions */
+ rpipe->descr.bmRetryOptions = 15;
+ /* FIXME: use for assessing link quality? */
+ rpipe->descr.wNumTransactionErrors = 0;
+ result = __rpipe_set_descr(wa, &rpipe->descr,
+ le16_to_cpu(rpipe->descr.wRPipeIndex));
+ if (result < 0) {
+ dev_err(dev, "Cannot aim rpipe: %d\n", result);
+ goto error;
+ }
+ result = 0;
+error:
+ d_fnend(3, dev, "(rpipe %p wa %p ep %p urb %p) = %d\n",
+ rpipe, wa, ep, urb, result);
+ return result;
+}
+
+/*
+ * Check an aimed rpipe to make sure it points to where we want
+ *
+ * We use bit 19 of the Linux USB pipe bitmap for unauth vs auth
+ * space; when it is like that, we or 0x80 to make an unauth address.
+ */
+static int rpipe_check_aim(const struct wa_rpipe *rpipe, const struct wahc *wa,
+ const struct usb_host_endpoint *ep,
+ const struct urb *urb, gfp_t gfp)
+{
+ int result = 0; /* better code for lack of companion? */
+ struct device *dev = &wa->usb_iface->dev;
+ struct usb_device *usb_dev = urb->dev;
+ u8 unauth = (usb_dev->wusb && !usb_dev->authenticated) ? 0x80 : 0;
+ u8 portnum = wusb_port_no_to_idx(urb->dev->portnum);
+
+ d_fnstart(3, dev, "(rpipe %p wa %p ep %p, urb %p)\n",
+ rpipe, wa, ep, urb);
+#define AIM_CHECK(rdf, val, text) \
+ do { \
+ if (rpipe->descr.rdf != (val)) { \
+ dev_err(dev, \
+ "rpipe aim discrepancy: " #rdf " " text "\n", \
+ rpipe->descr.rdf, (val)); \
+ result = -EINVAL; \
+ WARN_ON(1); \
+ } \
+ } while (0)
+ AIM_CHECK(wMaxPacketSize, cpu_to_le16(ep->desc.wMaxPacketSize),
+ "(%u vs %u)");
+ AIM_CHECK(bHSHubPort, portnum, "(%u vs %u)");
+ AIM_CHECK(bSpeed, usb_pipeendpoint(urb->pipe) == 0 ?
+ UWB_PHY_RATE_53 : UWB_PHY_RATE_200,
+ "(%u vs %u)");
+ AIM_CHECK(bDeviceAddress, urb->dev->devnum | unauth, "(%u vs %u)");
+ AIM_CHECK(bEndpointAddress, ep->desc.bEndpointAddress, "(%u vs %u)");
+ AIM_CHECK(bInterval, ep->desc.bInterval, "(%u vs %u)");
+ AIM_CHECK(bmAttribute, ep->desc.bmAttributes & 0x03, "(%u vs %u)");
+#undef AIM_CHECK
+ return result;
+}
+
+#ifndef CONFIG_BUG
+#define CONFIG_BUG 0
+#endif
+
+/*
+ * Make sure there is an rpipe allocated for an endpoint
+ *
+ * If already allocated, we just refcount it; if not, we get an
+ * idle one, aim it to the right location and take it.
+ *
+ * Attaches to ep->hcpriv and rpipe->ep to ep.
+ */
+int rpipe_get_by_ep(struct wahc *wa, struct usb_host_endpoint *ep,
+ struct urb *urb, gfp_t gfp)
+{
+ int result = 0;
+ struct device *dev = &wa->usb_iface->dev;
+ struct wa_rpipe *rpipe;
+ u8 eptype;
+
+ d_fnstart(3, dev, "(wa %p ep %p urb %p gfp 0x%08x)\n", wa, ep, urb,
+ gfp);
+ mutex_lock(&wa->rpipe_mutex);
+ rpipe = ep->hcpriv;
+ if (rpipe != NULL) {
+ if (CONFIG_BUG == 1) {
+ result = rpipe_check_aim(rpipe, wa, ep, urb, gfp);
+ if (result < 0)
+ goto error;
+ }
+ __rpipe_get(rpipe);
+ d_printf(2, dev, "ep 0x%02x: reusing rpipe %u\n",
+ ep->desc.bEndpointAddress,
+ le16_to_cpu(rpipe->descr.wRPipeIndex));
+ } else {
+ /* hmm, assign idle rpipe, aim it */
+ result = -ENOBUFS;
+ eptype = ep->desc.bmAttributes & 0x03;
+ result = rpipe_get_idle(&rpipe, wa, 1 << eptype, gfp);
+ if (result < 0)
+ goto error;
+ result = rpipe_aim(rpipe, wa, ep, urb, gfp);
+ if (result < 0) {
+ rpipe_put(rpipe);
+ goto error;
+ }
+ ep->hcpriv = rpipe;
+ rpipe->ep = ep;
+ __rpipe_get(rpipe); /* for caching into ep->hcpriv */
+ d_printf(2, dev, "ep 0x%02x: using rpipe %u\n",
+ ep->desc.bEndpointAddress,
+ le16_to_cpu(rpipe->descr.wRPipeIndex));
+ }
+ d_dump(4, dev, &rpipe->descr, sizeof(rpipe->descr));
+error:
+ mutex_unlock(&wa->rpipe_mutex);
+ d_fnend(3, dev, "(wa %p ep %p urb %p gfp 0x%08x)\n", wa, ep, urb, gfp);
+ return result;
+}
+
+/*
+ * Allocate the bitmap for each rpipe.
+ */
+int wa_rpipes_create(struct wahc *wa)
+{
+ wa->rpipes = wa->wa_descr->wNumRPipes;
+ wa->rpipe_bm = kzalloc(BITS_TO_LONGS(wa->rpipes)*sizeof(unsigned long),
+ GFP_KERNEL);
+ if (wa->rpipe_bm == NULL)
+ return -ENOMEM;
+ return 0;
+}
+
+void wa_rpipes_destroy(struct wahc *wa)
+{
+ struct device *dev = &wa->usb_iface->dev;
+ d_fnstart(3, dev, "(wa %p)\n", wa);
+ if (!bitmap_empty(wa->rpipe_bm, wa->rpipes)) {
+ char buf[256];
+ WARN_ON(1);
+ bitmap_scnprintf(buf, sizeof(buf), wa->rpipe_bm, wa->rpipes);
+ dev_err(dev, "BUG: pipes not released on exit: %s\n", buf);
+ }
+ kfree(wa->rpipe_bm);
+ d_fnend(3, dev, "(wa %p)\n", wa);
+}
+
+/*
+ * Release resources allocated for an endpoint
+ *
+ * If there is an associated rpipe to this endpoint, Abort any pending
+ * transfers and put it. If the rpipe ends up being destroyed,
+ * __rpipe_destroy() will cleanup ep->hcpriv.
+ *
+ * This is called before calling hcd->stop(), so you don't need to do
+ * anything else in there.
+ */
+void rpipe_ep_disable(struct wahc *wa, struct usb_host_endpoint *ep)
+{
+ struct device *dev = &wa->usb_iface->dev;
+ struct wa_rpipe *rpipe;
+ d_fnstart(2, dev, "(wa %p ep %p)\n", wa, ep);
+ mutex_lock(&wa->rpipe_mutex);
+ rpipe = ep->hcpriv;
+ if (rpipe != NULL) {
+ unsigned rc = atomic_read(&rpipe->refcnt.refcount);
+ int result;
+ u16 index = le16_to_cpu(rpipe->descr.wRPipeIndex);
+
+ if (rc != 1)
+ d_printf(1, dev, "(wa %p ep %p) rpipe %p refcnt %u\n",
+ wa, ep, rpipe, rc);
+
+ d_printf(1, dev, "rpipe %u: abort\n", index);
+ result = usb_control_msg(
+ wa->usb_dev, usb_rcvctrlpipe(wa->usb_dev, 0),
+ USB_REQ_RPIPE_ABORT,
+ USB_DIR_OUT | USB_TYPE_CLASS | USB_RECIP_RPIPE,
+ 0, index, NULL, 0, 1000 /* FIXME: arbitrary */);
+ if (result < 0 && result != -ENODEV /* dev is gone */)
+ d_printf(1, dev, "(wa %p rpipe %u): abort failed: %d\n",
+ wa, index, result);
+ rpipe_put(rpipe);
+ }
+ mutex_unlock(&wa->rpipe_mutex);
+ d_fnend(2, dev, "(wa %p ep %p)\n", wa, ep);
+ return;
+}
+EXPORT_SYMBOL_GPL(rpipe_ep_disable);