It worked on the first try with previously committed LinCAN RTL changes :-).
Corrected one forgotten line in ioctl_rtl.c => filters work from RT-linux
same way as from Linux user-space applications.
rtlinux_INCLUDES = -I $(srcdir)/../include -DCAN_WITH_RTL
kernel_INCLUDES = -I $(srcdir)/../include
-kernel_INCLUDES += -DCAN_DEBUG
+#kernel_INCLUDES += -DCAN_DEBUG
kernel_INCLUDES += -DWITH_DEVFS_FS
kernel_MODULES = lincan
}
case CANQUE_FILTER: {
- struct canfilt_t canfilt;
- copy_from_user(&canfilt, (void*)arg, sizeof(struct canfilt_t));
+ struct canfilt_t canfilt=*(struct canfilt_t *)arg;
if(canuser->rx_edge0){
canque_set_filt(canuser->rx_edge0, canfilt.id, canfilt.mask, canfilt.flags);
}
#ifdef MODULE_DESCRIPTION
MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
#endif
+#ifdef MODULE_AUTHOR
+MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
+#endif
/* Global structures, used to describe the installed hardware. */
struct canhardware_t canhardware;
send_SOURCES = send.c
can_proxy_SOURCES = can-proxy.c
+# RT-Linux version of build
+rtlinux_MODULES = sendburst_rtl readburst_rtl
+sendburst_rtl_SOURCES = sendburst_rtl.c
+
+readburst_rtl_SOURCES = readburst_rtl.c
--- /dev/null
+#include <rtl.h>
+#include <time.h>
+#include <signal.h>
+#include <pthread.h>
+#include <posix/unistd.h>
+
+#define printf rtl_printf
+
+#include "../include/can.h"
+
+int fd;
+
+struct canfilt_t canfilt = {
+ .flags = 0,
+ .queid = 0,
+ .cob = 0,
+ .id = 0,
+ .mask = 0
+};
+
+int canfilt_fl;
+
+int canfilt_mask, canfilt_id, canfilt_flags;
+
+
+int can_wait_sec = 5;
+
+char *can_dev_name = "/dev/can0";
+
+#define PRT_PREFIX_SIZE 40
+char prt_prefix[PRT_PREFIX_SIZE];
+
+char *prt_prefix_in = "CAN %s : ";
+
+MODULE_PARM_DESC(can_dev_name,"name of CAN device [/dev/can0]");
+MODULE_PARM(can_dev_name,"1s");
+MODULE_PARM_DESC(canfilt_mask,"CAN filter mask");
+MODULE_PARM(canfilt_mask,"1i");
+MODULE_PARM_DESC(canfilt_id,"CAN filter message ID");
+MODULE_PARM(canfilt_id,"1i");
+MODULE_PARM_DESC(canfilt_flags,"CAN filter flags");
+MODULE_PARM(canfilt_flags,"1i");
+MODULE_PARM_DESC(can_wait_sec,"number of seconds to wait between messages");
+MODULE_PARM(can_wait_sec,"1i");
+MODULE_PARM_DESC(prt_prefix_in,"string prefix for output");
+MODULE_PARM(prt_prefix_in,"1i");
+
+MODULE_SUPPORTED_DEVICE("sendburst_rtl");
+MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>");
+MODULE_DESCRIPTION("readburst_rtl: receiver of CAN messages for RT-Linux interface to LinCAN driver");
+MODULE_LICENSE("GPL");
+
+void readburst_cleanup(void *arg)
+{
+ printf("%scleanup handler called\n", prt_prefix);
+ close((int)arg);
+}
+
+#if 0
+int can_fd_wait(int fd, int wait_sec)
+{
+ int ret;
+ struct timeval timeout;
+ fd_set set;
+
+ FD_ZERO (&set);
+ FD_SET (fd, &set);
+ timeout.tv_sec = wait_sec;
+ timeout.tv_usec = 0;
+ while ((ret=select(FD_SETSIZE,&set, NULL, NULL,&timeout))==-1
+ &&errno==-EINTR);
+ return ret;
+}
+#endif
+
+int readburst_main(void *arg)
+{
+ int n,ret;
+ unsigned long i=0;
+ struct canmsg_t readmsg={0,0,5,0,0,{0,}};
+
+ if(canfilt_mask || canfilt_id || canfilt_flags){
+ canfilt_fl=1;
+ canfilt.mask=canfilt_mask;
+ canfilt.id=canfilt_id;
+ canfilt.flags=canfilt_flags;
+ }
+
+ if ((fd=open(can_dev_name, O_RDWR)) < 0) {
+ printf("Error opening %s\n", can_dev_name);
+ return -1;
+ }
+ pthread_cleanup_push(readburst_cleanup,(void*)fd);
+
+ snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
+
+ if (canfilt_fl) {
+ ret = ioctl(fd, CANQUE_FILTER, &canfilt);
+ if(ret<0) {
+ printf("%serror in call ioctl FILTER_QUE",prt_prefix);
+ }
+ }
+
+
+ while (1) {
+ readmsg.flags=0;
+ readmsg.cob=0;
+ readmsg.timestamp=0;
+ #if 0
+ ret=can_fd_wait(fd, can_wait_sec);
+ printf("%scan_fd_wait returned %d\n", prt_prefix, ret);
+ #endif
+ ret=read(fd,&readmsg,sizeof(struct canmsg_t));
+ if(ret <0) {
+ printf("%sError reading message\n", prt_prefix);
+ }
+ else if(ret == 0) {
+ printf("%sNo message arrived\n", prt_prefix);
+ } else {
+ printf("%sRx msg #%lu: id=%lX dlc=%u flg=0x%02x",
+ prt_prefix,i,readmsg.id,readmsg.length,readmsg.flags);
+ for(n=0 ; n<readmsg.length ; n++)
+ printf(" %.2X",(unsigned char)readmsg.data[n]);
+ printf("\n");
+ i++;
+ }
+ }
+ /* close(fd); is called by cleanup handler*/
+ pthread_cleanup_pop(1);
+ return 0;
+}
+
+/*===========================================================*/
+
+
+void * t1_routine(void *arg)
+{
+ readburst_main(NULL);
+
+ while (1) {
+ pthread_wait_np ();
+
+ }
+ return 0;
+}
+
+pthread_t t1;
+
+int init_module(void) {
+
+ return pthread_create (&t1, NULL, t1_routine, 0);
+
+}
+
+void cleanup_module(void) {
+ pthread_delete_np (t1);
+}
--- /dev/null
+#include <rtl.h>
+#include <time.h>
+#include <signal.h>
+#include <pthread.h>
+#include <posix/unistd.h>
+
+#define printf rtl_printf
+
+#include "../include/can.h"
+
+int canmsg_flags = 0;
+unsigned long canmsg_id = 5;
+int block = 10;
+int count = 0;
+
+int can_wait_sec = 1;
+int o_sync_fl = 0;
+
+char *can_dev_name = "/dev/can0";
+
+#define PRT_PREFIX_SIZE 40
+char prt_prefix[PRT_PREFIX_SIZE];
+
+char *prt_prefix_in = "CAN %s : ";
+
+MODULE_PARM_DESC(can_dev_name,"name of CAN device [/dev/can0]");
+MODULE_PARM(can_dev_name,"1s");
+MODULE_PARM_DESC(canmsg_id,"ID of generated messages");
+MODULE_PARM(canmsg_id,"1i");
+MODULE_PARM_DESC(canmsg_flags,"CAN filter flags");
+MODULE_PARM(canmsg_flags,"1i");
+MODULE_PARM_DESC(o_sync_fl,"open in synchronous mode");
+MODULE_PARM(o_sync_fl,"1i");
+MODULE_PARM_DESC(can_wait_sec,"number of seconds to wait between messages");
+MODULE_PARM(can_wait_sec,"1i");
+MODULE_PARM_DESC(block,"number of messages in block");
+MODULE_PARM(block,"1i");
+MODULE_PARM_DESC(count,"number of sent blocks of messages");
+MODULE_PARM(count,"1i");
+MODULE_PARM_DESC(prt_prefix_in,"string prefix for output");
+MODULE_PARM(prt_prefix_in,"1i");
+
+
+MODULE_SUPPORTED_DEVICE("sendburst_rtl");
+MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>");
+MODULE_DESCRIPTION("sendburst_rtl: generatot of CAN messages for RT-Linux interface to LinCAN driver");
+MODULE_LICENSE("GPL");
+
+void sendburst_cleanup(void *arg)
+{
+ printf("%scleanup handler called\n", prt_prefix);
+ close((int)arg);
+}
+
+int sendburst_main(void *arg)
+{
+ struct canmsg_t sendmsg={0,0,5,0,8,{1,2,3,4,5,6,7,8}};
+ int fd, ret,i,j;
+
+
+ if ((fd=open(can_dev_name, O_RDWR | (o_sync_fl? O_SYNC:0))) < 0) {
+ printf("Error opening %s\n", can_dev_name);
+ return -1;
+ }
+ pthread_cleanup_push(sendburst_cleanup,(void*)fd);
+
+ snprintf(prt_prefix, PRT_PREFIX_SIZE, prt_prefix_in, can_dev_name);
+
+ j=0;
+ while (1) {
+ for(i=0;i<block;i++) {
+ sendmsg.flags=canmsg_flags;
+ sendmsg.id=canmsg_id;
+ sendmsg.data[0]=i;
+ sendmsg.data[1]=j;
+ if ((ret=write(fd,&sendmsg,sizeof(struct canmsg_t))) < 0) {
+ printf("%sError sending message\n", prt_prefix);
+ break;
+ }
+ }
+ printf("%sSent block of %d messages #: %u\n", prt_prefix, block, j);
+ j++;
+ pthread_testcancel();
+ usleep(1000000*can_wait_sec);
+ if(count)
+ if(!--count) break;
+ pthread_testcancel();
+ }
+ /* close(fd); is called by cleanup handler*/
+ pthread_cleanup_pop(1);
+ return 0;
+}
+
+
+/*===========================================================*/
+
+
+void * t1_routine(void *arg)
+{
+ sendburst_main(NULL);
+
+ while (1) {
+ pthread_wait_np ();
+
+ }
+ return 0;
+}
+
+pthread_t t1;
+
+int init_module(void) {
+
+ return pthread_create (&t1, NULL, t1_routine, 0);
+
+}
+
+void cleanup_module(void) {
+ pthread_delete_np (t1);
+}
projects / lincan.git / commitdiff