--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_virtual_kernel/can_virtual_kernel.c	Tue Feb 12 09:44:55 2008 +0100
@@ -0,0 +1,167 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library 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
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/*
+	Virtual CAN driver.
+
+	Modification of drivers/can_virtual/can_virtual.c:
+	Rewritten from user-space library to kernel-space module with exported symbols
+*/
+
+#include <linux/module.h>
+#include <linux/err.h>
+#include <linux/kfifo.h>
+#include <linux/spinlock.h>
+#include <linux/sched.h>
+#include <linux/wait.h>
+#include <linux/string.h>
+
+#define NEED_PRINT_MESSAGE
+#include "can_driver.h"
+#include "def.h"
+
+MODULE_LICENSE("GPL");
+
+#define MAX_NB_CAN_PIPES 16
+
+typedef struct {
+  char used;
+  struct kfifo *pipe;
+  spinlock_t lock;
+  wait_queue_head_t w_queue;
+} CANPipe;
+
+CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
+
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
+{
+	long ret = wait_event_interruptible (((CANPipe*)fd0)->w_queue,
+		kfifo_len (((CANPipe*)fd0)->pipe) >= sizeof(Message));
+
+	// interrupted by signal
+	if (ret == -ERESTARTSYS)
+		return 2;
+
+	if (kfifo_get (((CANPipe*)fd0)->pipe, (unsigned char *)m, sizeof(Message)) != sizeof(Message))
+	{
+		printk(KERN_NOTICE "can_virtual: error receiving data from kernel fifo.\n");
+		return 1;
+	}
+	
+	return 0;
+}
+
+UNS8 canSend_driver(CAN_HANDLE fd0, Message *m)
+{
+	int i;
+
+	printk(KERN_INFO "%x->[ ", (CANPipe*)fd0 - &canpipes[0]); 
+	for(i=0; i < MAX_NB_CAN_PIPES; i++)
+	{
+		if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
+		{
+			printk("%x ",i);	
+		}
+	}
+	printk(" ]");
+	print_message(m);
+  
+	// send to all readers, except myself
+	for(i=0; i < MAX_NB_CAN_PIPES; i++)
+	{
+		if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
+		{
+			unsigned int len;
+			len = kfifo_put (canpipes[i].pipe, (unsigned char *)m, sizeof(Message));
+			if (len != sizeof(Message)) {
+				printk(KERN_NOTICE "can_virtual: error sending data to kernel fifo.\n");
+				return 1;
+			}
+
+			// wake up canReceive_driver()
+			wake_up_interruptible (&canpipes[i].w_queue);
+		}
+	}
+
+	return 0;
+}
+
+int TranslateBaudRate(char* optarg){
+	if(!strcmp( optarg, "1M")) return (int)1000;
+	if(!strcmp( optarg, "500K")) return (int)500;
+	if(!strcmp( optarg, "250K")) return (int)250;
+	if(!strcmp( optarg, "125K")) return (int)125;
+	if(!strcmp( optarg, "100K")) return (int)100;
+	if(!strcmp( optarg, "50K")) return (int)50;
+	if(!strcmp( optarg, "20K")) return (int)20;
+	if(!strcmp( optarg, "10K")) return (int)10;
+	if(!strcmp( optarg, "5K")) return (int)5;
+	if(!strcmp( optarg, "none")) return 0;
+	return 0x0000;
+}
+
+UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
+{
+    printk("%x-> changing to baud rate %s[%d]\n", (CANPipe*)fd0 - &canpipes[0],baud,TranslateBaudRate(baud)); 
+    return 0;
+}
+
+
+CAN_HANDLE canOpen_driver(s_BOARD *board)
+{
+	int i;
+	for(i=0; i < MAX_NB_CAN_PIPES; i++)
+	{
+		if(!canpipes[i].used)
+			break;
+	}
+	
+	// initialize CANPipe structure
+	init_waitqueue_head(&canpipes[i].w_queue);
+	canpipes[i].lock = SPIN_LOCK_UNLOCKED;
+	canpipes[i].pipe = kfifo_alloc (10*sizeof(Message), GFP_KERNEL, &canpipes[i].lock);
+
+	if (i==MAX_NB_CAN_PIPES || (PTR_ERR(canpipes[i].pipe) == -ENOMEM))
+	{
+		printk (KERN_NOTICE "can_virtual: error initializing driver.\n");
+		return (CAN_HANDLE)NULL;
+	}
+	
+	canpipes[i].used = 1;	
+	return (CAN_HANDLE) &canpipes[i];
+}
+
+int canClose_driver(CAN_HANDLE fd0)
+{
+	((CANPipe*)fd0)->used = 0;
+	kfifo_free (((CANPipe*)fd0)->pipe);
+	
+	return 0;
+}
+
+EXPORT_SYMBOL(canOpen_driver);
+EXPORT_SYMBOL(canClose_driver);
+EXPORT_SYMBOL(canSend_driver);
+EXPORT_SYMBOL(canReceive_driver);
+EXPORT_SYMBOL(canChangeBaudRate_driver);