etisserant@391: /*
etisserant@391: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@391: 
etisserant@391: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@391: 
etisserant@391: See COPYING file for copyrights details.
etisserant@391: 
etisserant@391: This library is free software; you can redistribute it and/or
etisserant@391: modify it under the terms of the GNU Lesser General Public
etisserant@391: License as published by the Free Software Foundation; either
etisserant@391: version 2.1 of the License, or (at your option) any later version.
etisserant@391: 
etisserant@391: This library is distributed in the hope that it will be useful,
etisserant@391: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@391: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@391: Lesser General Public License for more details.
etisserant@391: 
etisserant@391: You should have received a copy of the GNU Lesser General Public
etisserant@391: License along with this library; if not, write to the Free Software
etisserant@391: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@391: */
etisserant@391: 
etisserant@391: /*
etisserant@391: 	Virtual CAN driver.
etisserant@391: 
etisserant@391: 	Modification of drivers/can_virtual/can_virtual.c:
etisserant@391: 	Rewritten from user-space library to kernel-space module with exported symbols
etisserant@391: */
etisserant@391: 
etisserant@391: #include <linux/module.h>
etisserant@391: #include <linux/err.h>
etisserant@391: #include <linux/kfifo.h>
etisserant@391: #include <linux/spinlock.h>
etisserant@391: #include <linux/sched.h>
etisserant@391: #include <linux/wait.h>
etisserant@391: #include <linux/string.h>
etisserant@391: 
etisserant@391: #define NEED_PRINT_MESSAGE
etisserant@391: #include "can_driver.h"
etisserant@391: #include "def.h"
etisserant@391: 
etisserant@391: MODULE_LICENSE("GPL");
etisserant@391: 
etisserant@391: #define MAX_NB_CAN_PIPES 16
etisserant@391: 
etisserant@391: typedef struct {
etisserant@391:   char used;
etisserant@391:   struct kfifo *pipe;
etisserant@391:   spinlock_t lock;
etisserant@391:   wait_queue_head_t w_queue;
etisserant@391: } CANPipe;
etisserant@391: 
etisserant@391: CANPipe canpipes[MAX_NB_CAN_PIPES] = {{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},{0,},};
etisserant@391: 
etisserant@391: 
etisserant@391: /*********functions which permit to communicate with the board****************/
etisserant@391: UNS8 canReceive_driver(CAN_HANDLE fd0, Message *m)
etisserant@391: {
etisserant@391: 	long ret = wait_event_interruptible (((CANPipe*)fd0)->w_queue,
etisserant@391: 		kfifo_len (((CANPipe*)fd0)->pipe) >= sizeof(Message));
etisserant@391: 
etisserant@391: 	// interrupted by signal
etisserant@391: 	if (ret == -ERESTARTSYS)
etisserant@391: 		return 2;
etisserant@391: 
etisserant@391: 	if (kfifo_get (((CANPipe*)fd0)->pipe, (unsigned char *)m, sizeof(Message)) != sizeof(Message))
etisserant@391: 	{
etisserant@391: 		printk(KERN_NOTICE "can_virtual: error receiving data from kernel fifo.\n");
etisserant@391: 		return 1;
etisserant@391: 	}
etisserant@391: 	
etisserant@391: 	return 0;
etisserant@391: }
etisserant@391: 
edouard@631: UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
etisserant@391: {
etisserant@391: 	int i;
etisserant@391: 
etisserant@391: 	printk(KERN_INFO "%x->[ ", (CANPipe*)fd0 - &canpipes[0]); 
etisserant@391: 	for(i=0; i < MAX_NB_CAN_PIPES; i++)
etisserant@391: 	{
etisserant@391: 		if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
etisserant@391: 		{
etisserant@391: 			printk("%x ",i);	
etisserant@391: 		}
etisserant@391: 	}
etisserant@391: 	printk(" ]");
etisserant@391: 	print_message(m);
etisserant@391:   
etisserant@391: 	// send to all readers, except myself
etisserant@391: 	for(i=0; i < MAX_NB_CAN_PIPES; i++)
etisserant@391: 	{
etisserant@391: 		if(canpipes[i].used && &canpipes[i] != (CANPipe*)fd0)
etisserant@391: 		{
etisserant@391: 			unsigned int len;
etisserant@391: 			len = kfifo_put (canpipes[i].pipe, (unsigned char *)m, sizeof(Message));
etisserant@391: 			if (len != sizeof(Message)) {
etisserant@391: 				printk(KERN_NOTICE "can_virtual: error sending data to kernel fifo.\n");
etisserant@391: 				return 1;
etisserant@391: 			}
etisserant@391: 
etisserant@391: 			// wake up canReceive_driver()
etisserant@391: 			wake_up_interruptible (&canpipes[i].w_queue);
etisserant@391: 		}
etisserant@391: 	}
etisserant@391: 
etisserant@391: 	return 0;
etisserant@391: }
etisserant@391: 
etisserant@391: int TranslateBaudRate(char* optarg){
etisserant@391: 	if(!strcmp( optarg, "1M")) return (int)1000;
etisserant@391: 	if(!strcmp( optarg, "500K")) return (int)500;
etisserant@391: 	if(!strcmp( optarg, "250K")) return (int)250;
etisserant@391: 	if(!strcmp( optarg, "125K")) return (int)125;
etisserant@391: 	if(!strcmp( optarg, "100K")) return (int)100;
etisserant@391: 	if(!strcmp( optarg, "50K")) return (int)50;
etisserant@391: 	if(!strcmp( optarg, "20K")) return (int)20;
etisserant@391: 	if(!strcmp( optarg, "10K")) return (int)10;
etisserant@391: 	if(!strcmp( optarg, "5K")) return (int)5;
etisserant@391: 	if(!strcmp( optarg, "none")) return 0;
etisserant@391: 	return 0x0000;
etisserant@391: }
etisserant@391: 
etisserant@391: UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
etisserant@391: {
etisserant@391:     printk("%x-> changing to baud rate %s[%d]\n", (CANPipe*)fd0 - &canpipes[0],baud,TranslateBaudRate(baud)); 
etisserant@391:     return 0;
etisserant@391: }
etisserant@391: 
etisserant@391: 
etisserant@391: CAN_HANDLE canOpen_driver(s_BOARD *board)
etisserant@391: {
etisserant@391: 	int i;
etisserant@391: 	for(i=0; i < MAX_NB_CAN_PIPES; i++)
etisserant@391: 	{
etisserant@391: 		if(!canpipes[i].used)
etisserant@391: 			break;
etisserant@391: 	}
etisserant@391: 	
etisserant@391: 	// initialize CANPipe structure
etisserant@391: 	init_waitqueue_head(&canpipes[i].w_queue);
etisserant@391: 	canpipes[i].lock = SPIN_LOCK_UNLOCKED;
etisserant@391: 	canpipes[i].pipe = kfifo_alloc (10*sizeof(Message), GFP_KERNEL, &canpipes[i].lock);
etisserant@391: 
etisserant@391: 	if (i==MAX_NB_CAN_PIPES || (PTR_ERR(canpipes[i].pipe) == -ENOMEM))
etisserant@391: 	{
etisserant@391: 		printk (KERN_NOTICE "can_virtual: error initializing driver.\n");
etisserant@391: 		return (CAN_HANDLE)NULL;
etisserant@391: 	}
etisserant@391: 	
etisserant@391: 	canpipes[i].used = 1;	
etisserant@391: 	return (CAN_HANDLE) &canpipes[i];
etisserant@391: }
etisserant@391: 
etisserant@391: int canClose_driver(CAN_HANDLE fd0)
etisserant@391: {
etisserant@391: 	((CANPipe*)fd0)->used = 0;
etisserant@391: 	kfifo_free (((CANPipe*)fd0)->pipe);
etisserant@391: 	
etisserant@391: 	return 0;
etisserant@391: }
etisserant@391: 
etisserant@391: EXPORT_SYMBOL(canOpen_driver);
etisserant@391: EXPORT_SYMBOL(canClose_driver);
etisserant@391: EXPORT_SYMBOL(canSend_driver);
etisserant@391: EXPORT_SYMBOL(canReceive_driver);
etisserant@391: EXPORT_SYMBOL(canChangeBaudRate_driver);