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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 /* |
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24 Virtual CAN driver. |
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25 |
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26 Modification of drivers/can_virtual/can_virtual.c: |
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27 Rewritten from user-space library to kernel-space module with exported symbols |
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28 */ |
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29 |
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30 #include <linux/module.h> |
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31 #include <linux/err.h> |
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32 #include <linux/kfifo.h> |
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33 #include <linux/spinlock.h> |
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34 #include <linux/sched.h> |
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35 #include <linux/wait.h> |
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36 #include <linux/string.h> |
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37 |
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38 #define NEED_PRINT_MESSAGE |
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39 #include "can_driver.h" |
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40 #include "def.h" |
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41 |
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42 MODULE_LICENSE("GPL"); |
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43 |
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44 #define MAX_NB_CAN_PIPES 16 |
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45 |
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46 typedef struct { |
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47 char used; |
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48 struct kfifo *pipe; |
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49 spinlock_t lock; |
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50 wait_queue_head_t w_queue; |
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51 } CANPipe; |
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52 |
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53 CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},}; |
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54 |
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55 |
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56 /*********functions which permit to communicate with the board****************/ |
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57 UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m) |
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58 { |
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59 long ret = wait_event_interruptible (((CANPipe*)fd0)->w_queue, |
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60 kfifo_len (((CANPipe*)fd0)->pipe) >= sizeof(Message)); |
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61 |
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62 // interrupted by signal |
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63 if (ret == -ERESTARTSYS) |
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64 return 2; |
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65 |
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66 if (kfifo_get (((CANPipe*)fd0)->pipe, (unsigned char *)m, sizeof(Message)) != sizeof(Message)) |
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67 { |
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68 printk(KERN_NOTICE "can_virtual: error receiving data from kernel fifo.\n"); |
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69 return 1; |
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70 } |
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71 |
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72 return 0; |
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73 } |
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74 |
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75 UNS8 canSend_driver(CAN_HANDLE fd0, Message *m) |
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76 { |
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77 int i; |
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78 |
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79 printk(KERN_INFO "%x->[ ", (CANPipe*)fd0 - &canpipes[0]); |
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80 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
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81 { |
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82 if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0) |
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83 { |
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84 printk("%x ",i); |
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85 } |
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86 } |
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87 printk(" ]"); |
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88 print_message(m); |
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89 |
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90 // send to all readers, except myself |
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91 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
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92 { |
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93 if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0) |
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94 { |
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95 unsigned int len; |
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96 len = kfifo_put (canpipes[i].pipe, (unsigned char *)m, sizeof(Message)); |
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97 if (len != sizeof(Message)) { |
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98 printk(KERN_NOTICE "can_virtual: error sending data to kernel fifo.\n"); |
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99 return 1; |
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100 } |
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101 |
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102 // wake up canReceive_driver() |
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103 wake_up_interruptible (&canpipes[i].w_queue); |
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104 } |
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105 } |
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106 |
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107 return 0; |
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108 } |
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109 |
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110 int TranslateBaudRate(char* optarg){ |
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111 if(!strcmp( optarg, "1M")) return (int)1000; |
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112 if(!strcmp( optarg, "500K")) return (int)500; |
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113 if(!strcmp( optarg, "250K")) return (int)250; |
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114 if(!strcmp( optarg, "125K")) return (int)125; |
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115 if(!strcmp( optarg, "100K")) return (int)100; |
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116 if(!strcmp( optarg, "50K")) return (int)50; |
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117 if(!strcmp( optarg, "20K")) return (int)20; |
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118 if(!strcmp( optarg, "10K")) return (int)10; |
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119 if(!strcmp( optarg, "5K")) return (int)5; |
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120 if(!strcmp( optarg, "none")) return 0; |
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121 return 0x0000; |
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122 } |
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123 |
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124 UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud) |
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125 { |
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126 printk("%x-> changing to baud rate %s[%d]\n", (CANPipe*)fd0 - &canpipes[0],baud,TranslateBaudRate(baud)); |
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127 return 0; |
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128 } |
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129 |
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130 |
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131 CAN_HANDLE canOpen_driver(s_BOARD *board) |
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132 { |
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133 int i; |
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134 for(i=0; i < MAX_NB_CAN_PIPES; i++) |
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135 { |
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136 if(!canpipes[i].used) |
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137 break; |
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138 } |
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139 |
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140 // initialize CANPipe structure |
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141 init_waitqueue_head(&canpipes[i].w_queue); |
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142 canpipes[i].lock = SPIN_LOCK_UNLOCKED; |
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143 canpipes[i].pipe = kfifo_alloc (10*sizeof(Message), GFP_KERNEL, &canpipes[i].lock); |
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144 |
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145 if (i==MAX_NB_CAN_PIPES || (PTR_ERR(canpipes[i].pipe) == -ENOMEM)) |
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146 { |
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147 printk (KERN_NOTICE "can_virtual: error initializing driver.\n"); |
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148 return (CAN_HANDLE)NULL; |
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149 } |
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150 |
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151 canpipes[i].used = 1; |
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152 return (CAN_HANDLE) &canpipes[i]; |
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153 } |
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154 |
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155 int canClose_driver(CAN_HANDLE fd0) |
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156 { |
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157 ((CANPipe*)fd0)->used = 0; |
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158 kfifo_free (((CANPipe*)fd0)->pipe); |
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159 |
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160 return 0; |
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161 } |
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162 |
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163 EXPORT_SYMBOL(canOpen_driver); |
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164 EXPORT_SYMBOL(canClose_driver); |
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165 EXPORT_SYMBOL(canSend_driver); |
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166 EXPORT_SYMBOL(canReceive_driver); |
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167 EXPORT_SYMBOL(canChangeBaudRate_driver); |