Added full RT-Linux POSIX interface to LinCAN driver, needs preparation of RT tests.

[lincan.git] / lincan / src / open_rtl.c

diff --git a/lincan/src/open_rtl.c b/lincan/src/open_rtl.c
new file mode 100644 (file)
index 0000000..230e3eb
--- /dev/null
+++ b/lincan/src/open_rtl.c
@@ -0,0 +1,136 @@
+/* open.c
+ * Linux CAN-bus device driver.
+ * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
+ * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
+ * email:pisa@cmp.felk.cvut.cz
+ * This software is released under the GPL-License.
+ * Version lincan-0.2  9 Jul 2003
+ */
+
+#ifdef CAN_WITH_RTL
+
+#include "../include/can.h"
+#include "../include/can_sysdep.h"
+#include "../include/main.h"
+
+#include <rtl_malloc.h>
+#include <rtl_posixio.h>
+#include "../include/can_iortl.h"
+
+#define __NO_VERSION__
+#include <linux/module.h>
+
+
+static inline
+int can_open_rtl_common(struct canuser_t *canuser, int open_flags)
+{
+       struct msgobj_t *obj=canuser->msgobj;
+       struct chip_t *chip;
+       struct canque_ends_t *qends;
+       struct canque_edge_t *edge;
+       can_spin_irqflags_t iflags;
+
+       if(!obj) return -ENODEV;
+       
+       can_msgobj_set_fl(obj,OPENED);
+       
+       chip=obj->hostchip;
+       if (chip) {
+               if (!(chip->flags & CHIP_CONFIGURED)) {
+                       if (chip->chipspecops->chip_config(chip))
+                               CANMSG("Error configuring chip.\n");
+                       else
+                               chip->flags |= CHIP_CONFIGURED; 
+
+                       if (chip->chipspecops->pre_read_config(chip,obj)<0)
+                               CANMSG("Error initializing chip for receiving\n");
+
+               }
+       } /* End of chip configuration */
+
+
+       qends = (struct canque_ends_t *)rt_malloc(sizeof(struct canque_ends_t));
+       if(qends == NULL) goto no_qends;
+       canqueue_ends_init_rtl(qends);
+       canuser->qends = qends;
+       
+       can_spin_lock_irqsave(&canuser_manipulation_lock, iflags);
+       list_add(&canuser->peers, &obj->obj_users);
+       can_spin_unlock_irqrestore(&canuser_manipulation_lock, iflags);
+
+       if(canqueue_connect_edge(edge=canque_new_edge_rtl(MAX_BUF_LENGTH),
+               canuser->qends, obj->qends)<0) goto no_tx_qedge;
+
+       if(canqueue_connect_edge(canuser->rx_edge0=canque_new_edge_rtl(MAX_BUF_LENGTH),
+               obj->qends, canuser->qends)<0) goto no_rx_qedge;
+       /*FIXME: more generic model should be used there*/
+       canque_edge_decref(canuser->rx_edge0);
+       canque_edge_decref(edge);
+
+#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,5,50))
+       MOD_INC_USE_COUNT;      /*is this enough for RT-Linux context ?*/
+#endif 
+
+       return 0;
+       
+    no_rx_qedge:
+       canque_notify_bothends(edge, CANQUEUE_NOTIFY_DEAD_WANTED);
+       canque_edge_decref(edge);
+    no_tx_qedge:
+       list_del(&canuser->peers);
+       canuser->qends = NULL;
+       canqueue_ends_dispose_kern(qends, 1);
+
+    no_qends:
+
+       return -ENOMEM;
+}
+
+
+int can_open_rtl_posix(struct rtl_file *fptr)
+{
+       int ret;
+       struct msgobj_t *obj;
+       struct chip_t *chip;
+       struct canuser_t *canuser;
+       int minor_nr = RTL_MINOR_FROM_FILEPTR(fptr);
+       
+       if(minor_nr>=MAX_TOT_MSGOBJS)
+               return -ENODEV;
+
+       if ( ((obj=objects_p[minor_nr]) == NULL) || 
+                       ((chip=objects_p[minor_nr]->hostchip) == NULL) ) {
+               CANMSG("There is no hardware support for the device file with minor nr.: %d\n",minor_nr);
+               return -ENODEV;
+       }
+
+       atomic_inc(&obj->obj_used);
+       DEBUGMSG("Device %d opened %d times.\n", minor_nr, atomic_read(&obj->obj_used));
+
+       canuser = (struct canuser_t *)rt_malloc(sizeof(struct canuser_t));
+       if(canuser == NULL){
+               ret=-ENOMEM;
+               goto no_canuser;
+       }
+       canuser->flags=CANUSER_RTL_CLIENT | CANUSER_RTL_MEM;
+       canuser->userinfo.rtlinfo.file = fptr;
+       canuser->msgobj = obj;
+       canuser->magic = CAN_USER_MAGIC;
+
+       /*next line would solve many problems, but RT-Linux lacks this fundamental field */
+       /*fptr->private_data = canuser;*/
+       /*to test code I am adding this terible hack*/
+       can_set_rtl_file_private_data(fptr,canuser);
+
+       ret=can_open_rtl_common(canuser, fptr->f_flags);
+       if(ret>=0) return ret;
+
+       rt_free(canuser);
+
+    no_canuser:
+       atomic_dec(&obj->obj_used);
+       
+       return ret;
+}
+
+#endif /*CAN_WITH_RTL*/