edouard@629: /*
edouard@629: This file is part of CanFestival, a library implementing CanOpen Stack.
edouard@629: 
edouard@629: Copyright (C): Cosateq GmbH & Co.KG
edouard@629:                http://www.cosateq.com/
edouard@629:                http://www.scale-rt.com/
edouard@629: 
edouard@629: See COPYING file for copyrights details.
edouard@629: 
edouard@629: This library is free software; you can redistribute it and/or
edouard@629: modify it under the terms of the GNU Lesser General Public
edouard@629: License as published by the Free Software Foundation; either
edouard@629: version 2.1 of the License, or (at your option) any later version.
edouard@629: 
edouard@629: This library is distributed in the hope that it will be useful,
edouard@629: but WITHOUT ANY WARRANTY; without even the implied warranty of
edouard@629: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
edouard@629: Lesser General Public License for more details.
edouard@629: 
edouard@629: You should have received a copy of the GNU Lesser General Public
edouard@629: License along with this library; if not, write to the Free Software
edouard@629: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
edouard@629: */
edouard@629: 
edouard@629: /*
edouard@629: 	COMEDI interface for CO-PCICAN card.
edouard@629: */
edouard@629: 
edouard@629: #include <linux/module.h>
edouard@629: #include <linux/comedi.h>
edouard@629: #include <linux/comedilib.h>
edouard@629: 
edouard@629: #define NEED_PRINT_MESSAGE
edouard@629: #include "can_driver.h"
edouard@629: #include "def.h"
edouard@629: #include "co_pcicanops.h"
edouard@629: 
edouard@629: MODULE_LICENSE("GPL");
edouard@629: 
edouard@629: /* at the moment not threadsafe :-( */
edouard@629: static unsigned char selectedChannelRx = 0, selectedChannelTx = 0;
edouard@629: 
edouard@629: static int rt_strcmp( const char *src, const char *dst )
edouard@629: {
edouard@629:   int ret = 0;
edouard@629: 
edouard@629:   while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
edouard@629:   {
edouard@629:     src++;
edouard@629:     dst++;
edouard@629:   }
edouard@629: 
edouard@629:   if( ret < 0 )
edouard@629:   {
edouard@629:     ret = -1 ;
edouard@629:   }
edouard@629:   else
edouard@629:   {
edouard@629:     if( ret > 0 )
edouard@629:       ret = 1 ;
edouard@629:   }
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: static int TranslateBaudRate( char* optarg )
edouard@629: {
edouard@629:   /* values see documentation of CO-PCICAN */
edouard@629:   if( !rt_strcmp( optarg, "1M"    ) ) return 0;
edouard@629:   if( !rt_strcmp( optarg, "800K"  ) ) return 1;
edouard@629:   if( !rt_strcmp( optarg, "500K"  ) ) return 2;
edouard@629:   if( !rt_strcmp( optarg, "250K"  ) ) return 3;
edouard@629:   if( !rt_strcmp( optarg, "125K"  ) ) return 4;
edouard@629:   if( !rt_strcmp( optarg, "100K"  ) ) return 5;
edouard@629:   if( !rt_strcmp( optarg, "83.3K" ) ) return 6;
edouard@629:   if( !rt_strcmp( optarg, "10K"   ) ) return 7;
edouard@629: 
edouard@629:   return -1;
edouard@629: }
edouard@629: 
edouard@629: /*********CO-PCICAN specific functions to communicate with the board**********/
edouard@629: typedef struct
edouard@629: {
edouard@629:   char used;
edouard@629:   CAN_HANDLE fd;
edouard@629:   void* receiveTask;
edouard@629:   void* d;
edouard@629: } CANPort; /* taken from drivers/unix.c */
edouard@629: 
edouard@629: comedi_t* get_dev_of_port( CAN_PORT port )
edouard@629: {
edouard@629:   CANPort *thisPort = (CANPort*)port;
edouard@629:   CAN_HANDLE thisHandle;
edouard@629:   comedi_t *dev;
edouard@629: 
edouard@629:   if( thisPort == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: get_dev_of_port(): thisPort is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   thisHandle = thisPort->fd;
edouard@629: 
edouard@629:   if( thisHandle == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: get_dev_of_port(): thisHandle is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   dev = (comedi_t*)thisHandle;
edouard@629: 
edouard@629:   /*MSG("can_copcican_comedi: get_dev_of_port(): handle is 0x%08x\n", (unsigned int)dev);*/
edouard@629: 
edouard@629:   return dev;
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_enter_run_mode( comedi_t *dev )
edouard@629: {
edouard@629:   unsigned int opcmd[15];
edouard@629:   unsigned int opcode = CMDQ_OPC_ENTER_RUN_MODE;
edouard@629:   comedi_insn insn;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_enter_run_mode(): dev is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( opcmd, 0x00, sizeof(opcmd) );
edouard@629:   opcmd[0] = 0;
edouard@629: 
edouard@629:   memset( &insn, 0x00, sizeof(insn) );
edouard@629:   insn.insn      = INSN_CONFIG;
edouard@629:   insn.n         = 1;
edouard@629:   insn.data      = (void*)opcmd;
edouard@629:   insn.subdev    = 0;
edouard@629:   insn.unused[0] = opcode; /* in use for CO-PCICAN */
edouard@629: 
edouard@629:   comedi_do_insn( dev, &insn );
edouard@629: 
edouard@629:   opcmd[0] = 2;
edouard@629:   insn.subdev    = 2;
edouard@629:   insn.unused[0] = opcode; /* in use for CO-PCICAN */
edouard@629: 
edouard@629:   return comedi_do_insn( dev, &insn );
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_enter_config_mode( comedi_t *dev )
edouard@629: {
edouard@629:   unsigned int opcmd[15];
edouard@629:   unsigned int opcode = CMDQ_OPC_ENTER_CONFIG_MODE;
edouard@629:   comedi_insn insn;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_enter_config_mode(): dev is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( opcmd, 0x00, sizeof(opcmd) );
edouard@629:   opcmd[0] = 0;
edouard@629: 
edouard@629:   memset( &insn, 0x00, sizeof(insn) );
edouard@629:   insn.insn      = INSN_CONFIG;
edouard@629:   insn.n         = 1;
edouard@629:   insn.data      = (void*)opcmd;
edouard@629:   insn.subdev    = 0;
edouard@629:   insn.unused[0] = opcode; /* in use for CO-PCICAN */
edouard@629: 
edouard@629:   comedi_do_insn( dev, &insn );
edouard@629: 
edouard@629:   opcmd[0] = 2;
edouard@629:   insn.subdev    = 2;
edouard@629:   insn.unused[0] = opcode; /* in use for CO-PCICAN */
edouard@629: 
edouard@629:   return comedi_do_insn( dev, &insn );
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_select_channel( const unsigned char channel, const unsigned int direction )
edouard@629: {
edouard@629:   if( channel >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_select_channel(): invalid channel\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   /* at the moment not threadsafe :-( */
edouard@629:   switch( direction )
edouard@629:   {
edouard@629:     case RX: selectedChannelRx = channel;
edouard@629:              break;
edouard@629:     case TX: selectedChannelTx = channel;
edouard@629:              break;
edouard@629:     default: return -1;
edouard@629:   }
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: int co_pcican_configure_selected_channel( comedi_t *dev, s_BOARD *board, const unsigned int direction )
edouard@629: {
edouard@629:   unsigned int opcmd[15];
edouard@629:   unsigned int opcode = CMDQ_OPC_SET_CONFIG_CHANNEL;
edouard@629:   unsigned int selectedChannel;
edouard@629:   comedi_insn insn;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_configure_selected_channel(): dev is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( board == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_configure_selected_channel(): board is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   if( board->baudrate == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_configure_selected_channel(): baudrate is NULL\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   switch( direction )
edouard@629:   {
edouard@629:     case RX: selectedChannel = selectedChannelRx;
edouard@629:              break;
edouard@629:     case TX: selectedChannel = selectedChannelTx;
edouard@629:              break;
edouard@629:     default: selectedChannel = 0xff;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannel >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: co_pcican_configure_selected_channel(): invalid channel selected\n");
edouard@629:     return -1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( opcmd, 0x00, sizeof(opcmd) );
edouard@629:   opcmd[0] = selectedChannel;
edouard@629:   opcmd[1] = TranslateBaudRate( board->baudrate );
edouard@629: 
edouard@629:   memset( &insn, 0x00, sizeof(insn) );
edouard@629:   insn.insn      = INSN_CONFIG;
edouard@629:   insn.n         = 1;
edouard@629:   insn.data      = (void*)opcmd;
edouard@629: 
edouard@629:   if( selectedChannel < 2 )
edouard@629:     insn.subdev    = 0;
edouard@629:   else
edouard@629:     insn.subdev    = 2;
edouard@629: 
edouard@629:   insn.unused[0] = opcode; /* in use for CO-PCICAN */
edouard@629: 
edouard@629:   return comedi_do_insn( dev, &insn );
edouard@629: }
edouard@629: 
edouard@629: /*********functions which permit to communicate with the board****************/
edouard@629: UNS8 canReceive_driver( CAN_HANDLE fd0, Message *m )
edouard@629: {
edouard@629:   MESSAGE_T canmsg;
edouard@629:   comedi_insn insn;
edouard@629:   UNS8 ret = 0;
edouard@629:   comedi_t *dev = (comedi_t*)fd0;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canReceive_driver(): dev is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannelRx >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canReceive_driver(): invalid channel selected\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( m == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canReceive_driver(): message is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &canmsg, 0x00, sizeof(MESSAGE_T) );
edouard@629: 
edouard@629:   memset( &insn, 0x00, sizeof(insn) );
edouard@629:   insn.insn      = INSN_READ;
edouard@629:   insn.n         = 1;
edouard@629:   insn.data      = (void*)&canmsg;
edouard@629: 
edouard@629:   if( selectedChannelRx < 2 )
edouard@629:     insn.subdev    = comedi_find_subdevice_by_type(dev, COMEDI_SUBD_DI, 0);
edouard@629:   else
edouard@629:     insn.subdev    = comedi_find_subdevice_by_type(dev, COMEDI_SUBD_DI, 2);
edouard@629: 
edouard@629:   insn.unused[1] = selectedChannelRx; /* in use for CO-PCICAN */
edouard@629:   insn.unused[2] = sizeof(MESSAGE_T); /* in use for CO-PCICAN */
edouard@629: 
edouard@629:   comedi_do_insn( dev, &insn );
edouard@629: 
edouard@629:   if( canmsg.timestamp_lo == 0 )
edouard@629:   {
edouard@629:     memset( m, 0x00, sizeof(Message) );
edouard@629: 
edouard@629:     m->cob_id = 0xffff; /* set to invalid so nothing happens */
edouard@629:   }
edouard@629:   else
edouard@629:   {
edouard@629:     m->len = canmsg.size;
edouard@629:     m->cob_id = canmsg.id;
edouard@629:     m->rtr = canmsg.type & MSG_RTR;
edouard@629: 
edouard@629:     if( !m->rtr )
edouard@629:     {
edouard@629:       /* this is for safety */
edouard@629:       if( m->len > 8 )
edouard@629:         m->len = 8;
edouard@629: 
edouard@629:       memcpy( m->data, canmsg.data, m->len);
edouard@629:     }
edouard@629:   }
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: UNS8 canSend_driver( CAN_HANDLE fd0, Message *m )
edouard@629: {
edouard@629:   MESSAGE_T canmsg;
edouard@629:   comedi_insn insn;
edouard@629:   UNS8 ret = 0;
edouard@629:   comedi_t *dev = (comedi_t*)fd0;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canSend_driver(): dev is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( selectedChannelTx >= NUM_CAN_CHANNELS )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canSend_driver(): invalid channel selected\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( m == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canSend_driver(): message is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &canmsg, 0x00, sizeof(MESSAGE_T) );
edouard@629:   canmsg.size = m->len;
edouard@629:   canmsg.id = m->cob_id;
edouard@629: 
edouard@629:   if( canmsg.id >= 0x800 )
edouard@629:     canmsg.type |= MSG_EXT;
edouard@629: 
edouard@629:   if( m->rtr )
edouard@629:   {
edouard@629:     canmsg.type |= MSG_RTR;
edouard@629:   }
edouard@629:   else
edouard@629:   {
edouard@629:     /* this is for safety */
edouard@629:     if( canmsg.size > 8 )
edouard@629:       canmsg.size = 8;
edouard@629: 
edouard@629:     memcpy( canmsg.data, m->data, canmsg.size);
edouard@629:   }
edouard@629: 
edouard@629:   memset( &insn, 0x00, sizeof(insn) );
edouard@629:   insn.insn      = INSN_WRITE;
edouard@629:   insn.n         = 1;
edouard@629:   insn.data      = (void*)&canmsg;
edouard@629: 
edouard@629:   if( selectedChannelTx < 2 )
edouard@629:     insn.subdev    = comedi_find_subdevice_by_type(dev, COMEDI_SUBD_DO, 0);
edouard@629:   else
edouard@629:     insn.subdev    = comedi_find_subdevice_by_type(dev, COMEDI_SUBD_DO, 2);
edouard@629: 
edouard@629:   insn.unused[1] = selectedChannelTx; /* in use for CO-PCICAN */
edouard@629:   insn.unused[2] = sizeof(MESSAGE_T) - sizeof(unsigned long); /* in use for CO-PCICAN, no timestamp for tx */
edouard@629: 
edouard@629:   if( comedi_do_insn( dev, &insn ) < 0 )
edouard@629:     ret = 1;
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: CAN_HANDLE canOpen_driver( s_BOARD *board )
edouard@629: {
edouard@629:   comedi_t *dev;
edouard@629: 
edouard@629:   if( board == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canOpen_driver(): board is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   if( board->busname == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canOpen_driver(): busname is NULL\n");
edouard@629:     return NULL;
edouard@629:   }
edouard@629: 
edouard@629:   dev = comedi_open( board->busname );
edouard@629: 
edouard@629:   /*MSG("can_copcican_comedi: canOpen_driver(): handle is 0x%08x\n", (unsigned int)dev);*/
edouard@629: 
edouard@629:   return dev;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: int canClose_driver( CAN_HANDLE fd0 )
edouard@629: {
edouard@629:   comedi_t *dev = (comedi_t*)fd0;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canClose_driver(): dev is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   comedi_close( dev );
edouard@629: 
edouard@629:   selectedChannelRx = 0;
edouard@629:   selectedChannelTx = 0;
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: /***************************************************************************/
edouard@629: UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud )
edouard@629: {
edouard@629:   s_BOARD board;
edouard@629:   UNS8 ret = 0;
edouard@629:   comedi_t *dev = (comedi_t*)fd0;
edouard@629: 
edouard@629:   if( dev == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canChangeBaudRate_driver(): dev is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   if( baud == NULL )
edouard@629:   {
edouard@629:     MSG("can_copcican_comedi: canChangeBaudRate_driver(): baud is NULL\n");
edouard@629:     return 1;
edouard@629:   }
edouard@629: 
edouard@629:   memset( &board, 0x00, sizeof(s_BOARD) );
edouard@629:   board.baudrate = baud;
edouard@629: 
edouard@629:   if( co_pcican_configure_selected_channel( dev, &board, RX ) < 0 )
edouard@629:     ret = 1;
edouard@629: 
edouard@629:   if( co_pcican_configure_selected_channel( dev, &board, TX ) < 0 )
edouard@629:     ret = 1;
edouard@629: 
edouard@629:   return ret;
edouard@629: }
edouard@629: 
edouard@629: static int init(void)
edouard@629: {
edouard@629:   printk("can_copcican_comedi for CanFestival loaded\n");
edouard@629: 
edouard@629:   return 0;
edouard@629: }
edouard@629: 
edouard@629: static void exit(void)
edouard@629: {
edouard@629:   printk("can_copcican_comedi unloaded\n");
edouard@629: }
edouard@629: 
edouard@629: module_init(init);
edouard@629: module_exit(exit);
edouard@629: 
edouard@629: EXPORT_SYMBOL(get_dev_of_port);
edouard@629: EXPORT_SYMBOL(co_pcican_enter_run_mode);
edouard@629: EXPORT_SYMBOL(co_pcican_enter_config_mode);
edouard@629: EXPORT_SYMBOL(co_pcican_select_channel);
edouard@629: EXPORT_SYMBOL(co_pcican_configure_selected_channel);
edouard@629: EXPORT_SYMBOL(canOpen_driver);
edouard@629: EXPORT_SYMBOL(canClose_driver);
edouard@629: EXPORT_SYMBOL(canSend_driver);
edouard@629: EXPORT_SYMBOL(canReceive_driver);
edouard@629: EXPORT_SYMBOL(canChangeBaudRate_driver);