X-Git-Url: http://rtime.felk.cvut.cz/gitweb/linux-lin.git/blobdiff_plain/97214b074c29c5e3b2951bb1514291710c77b5ba..597b435d5bb9257a74b09e3647f183d5f23a30e0:/sllin/sllin.c diff --git a/sllin/sllin.c b/sllin/sllin.c index aa4adec..eaf1187 100644 --- a/sllin/sllin.c +++ b/sllin/sllin.c @@ -58,6 +58,7 @@ #include #include #include +#include /* Should be in include/linux/tty.h */ #define N_SLLIN 25 @@ -88,6 +89,9 @@ MODULE_PARM_DESC(maxdev, "Maximum number of sllin interfaces"); #define SLLIN_BUFF_ID 2 #define SLLIN_BUFF_DATA 3 +#define SLLIN_ID_MASK 0x3f +#define SLLIN_ID_MAX SLLIN_ID_MASK + enum slstate { SLSTATE_IDLE = 0, SLSTATE_BREAK_SENT, @@ -96,6 +100,21 @@ enum slstate { SLSTATE_RESPONSE_SENT, }; +struct sllin_conf_entry { + int dlc; /* Length of data in LIN frame */ +#define SLLIN_CANFR_FLAGS_OFFS 6 /* Lower 6 bits in can_id correspond to LIN ID */ +/* Save configuration for particualr LIN ID */ +#define SLLIN_LIN_ID_CONF (1 << SLLIN_CANFR_FLAGS_OFFS) +/* Publisher of particular LIN response is SLLIN Master */ +#define SLLIN_SRC_MASTER (1 << (SLLIN_CANFR_FLAGS_OFFS + 1)) +#define SLLIN_SRC_SLAVE (1 << (SLLIN_CANFR_FLAGS_OFFS + 2)) +#define SLLIN_SLAVE_LOCAL (1 << (SLLIN_CANFR_FLAGS_OFFS + 3)) +#define SLLIN_SLAVE_REMOTE (1 << (SLLIN_CANFR_FLAGS_OFFS + 4)) +#define SLLIN_LOC_SLAVE_CACHE (1 << (SLLIN_CANFR_FLAGS_OFFS + 5)) + canid_t frame_fl; /* LIN frame flags. Passed from userspace as canid_t data type */ + u8 data[8]; /* LIN frame data payload */ +}; + struct sllin { int magic; @@ -124,12 +143,17 @@ struct sllin { #define SLF_RXEVENT 2 /* Rx wake event */ #define SLF_TXEVENT 3 /* Tx wake event */ #define SLF_MSGEVENT 4 /* CAN message to sent */ +#define SLF_TMOUTEVENT 5 /* Timeout on received data */ dev_t line; struct task_struct *kwthread; wait_queue_head_t kwt_wq; - + struct hrtimer rx_timer; /* RX timeout timer */ + ktime_t rx_timer_timeout; /* RX timeout timer value */ struct sk_buff *rec_skb; /* Socket buffer with received CAN frame */ + + struct sllin_conf_entry linfr_cache[SLLIN_ID_MAX + 1]; /* List with configurations for + each of 0 to SLLIN_ID_MAX LIN IDs */ }; static struct net_device **sllin_devs; @@ -172,67 +196,27 @@ static int sltty_change_speed(struct tty_struct *tty, unsigned speed) /* Send one completely decapsulated can_frame to the network layer */ static void sll_bump(struct sllin *sl) { -// struct sk_buff *skb; -// struct can_frame cf; -// int i, dlc_pos, tmp; -// unsigned long ultmp; -// char cmd = sl->rbuff[0]; -// -// if ((cmd != 't') && (cmd != 'T') && (cmd != 'r') && (cmd != 'R')) -// return; -// -// if (cmd & 0x20) /* tiny chars 'r' 't' => standard frame format */ -// dlc_pos = 4; /* dlc position tiiid */ -// else -// dlc_pos = 9; /* dlc position Tiiiiiiiid */ -// -// if (!((sl->rbuff[dlc_pos] >= '0') && (sl->rbuff[dlc_pos] < '9'))) -// return; -// -// cf.can_dlc = sl->rbuff[dlc_pos] - '0'; /* get can_dlc from ASCII val */ -// -// sl->rbuff[dlc_pos] = 0; /* terminate can_id string */ -// -// if (strict_strtoul(sl->rbuff+1, 16, &ultmp)) -// return; -// -// cf.can_id = ultmp; -// -// if (!(cmd & 0x20)) /* NO tiny chars => extended frame format */ -// cf.can_id |= CAN_EFF_FLAG; -// -// if ((cmd | 0x20) == 'r') /* RTR frame */ -// cf.can_id |= CAN_RTR_FLAG; -// -// *(u64 *) (&cf.data) = 0; /* clear payload */ -// -// for (i = 0, dlc_pos++; i < cf.can_dlc; i++) { -// -// tmp = asc2nibble(sl->rbuff[dlc_pos++]); -// if (tmp > 0x0F) -// return; -// cf.data[i] = (tmp << 4); -// tmp = asc2nibble(sl->rbuff[dlc_pos++]); -// if (tmp > 0x0F) -// return; -// cf.data[i] |= tmp; -// } -// -// -// skb = dev_alloc_skb(sizeof(struct can_frame)); -// if (!skb) -// return; -// -// skb->dev = sl->dev; -// skb->protocol = htons(ETH_P_CAN); -// skb->pkt_type = PACKET_BROADCAST; -// skb->ip_summed = CHECKSUM_UNNECESSARY; -// memcpy(skb_put(skb, sizeof(struct can_frame)), -// &cf, sizeof(struct can_frame)); -// netif_rx(skb); -// -// sl->dev->stats.rx_packets++; -// sl->dev->stats.rx_bytes += cf.can_dlc; + struct sk_buff *skb; + struct can_frame cf; + + cf.can_id = sl->rx_buff[SLLIN_BUFF_ID] & SLLIN_ID_MASK; + cf.can_dlc = sl->rx_cnt - SLLIN_BUFF_DATA; + memcpy(&cf.data, sl->rx_buff + SLLIN_BUFF_DATA, cf.can_dlc); + + skb = dev_alloc_skb(sizeof(struct can_frame)); + if (!skb) + return; + + skb->dev = sl->dev; + skb->protocol = htons(ETH_P_CAN); + skb->pkt_type = PACKET_BROADCAST; + skb->ip_summed = CHECKSUM_UNNECESSARY; + memcpy(skb_put(skb, sizeof(struct can_frame)), + &cf, sizeof(struct can_frame)); + netif_rx(skb); + + sl->dev->stats.rx_packets++; + sl->dev->stats.rx_bytes += cf.can_dlc; } @@ -485,11 +469,27 @@ static void sllin_receive_buf(struct tty_struct *tty, /***************************************** * sllin message helper routines *****************************************/ +int sllin_configure_frame_cache(struct sllin *sl, struct can_frame *cf) +{ + struct sllin_conf_entry *sce; + if (!(cf->can_id & SLLIN_LIN_ID_CONF)) + return -1; + + sce = &sl->linfr_cache[cf->can_id & SLLIN_ID_MASK]; + printk(KERN_INFO "Setting frame cache with EFF CAN frame. " + "LIN ID = %d\n", cf->can_id & SLLIN_ID_MASK); + + sce->dlc = (cf->can_dlc > 8) ? 8 : cf->can_dlc; + sce->frame_fl = (cf->can_id & ~SLLIN_ID_MASK) & CAN_EFF_MASK; + memcpy(sce->data, cf->data, cf->can_dlc); + + return 0; +} int sllin_setup_msg(struct sllin *sl, int mode, int id, unsigned char *data, int len) { - if (id > 0x3f) + if (id > SLLIN_ID_MASK) return -1; sl->rx_cnt = 0; @@ -625,6 +625,18 @@ int sllin_send_break(struct sllin *sl) } #endif /* BREAK_BY_BAUD */ + +static enum hrtimer_restart sllin_rx_timeout_handler(struct hrtimer *hrtimer) +{ + struct sllin *sl = container_of(hrtimer, struct sllin, rx_timer); + + set_bit(SLF_TMOUTEVENT, &sl->flags); + wake_up(&sl->kwt_wq); + + return HRTIMER_NORESTART; +} + + /***************************************** * sllin_kwthread - kernel worker thread *****************************************/ @@ -636,6 +648,10 @@ int sllin_kwthread(void *ptr) struct sched_param schparam = { .sched_priority = 40 }; int res; struct can_frame *cf; + char *lin_data; + int lin_dlc; + int tx_bytes = 0; /* Used for Network statistics */ + printk(KERN_INFO "sllin: sllin_kwthread started.\n"); sched_setscheduler(current, SCHED_FIFO, &schparam); @@ -654,6 +670,7 @@ int sllin_kwthread(void *ptr) wait_event_killable(sl->kwt_wq, kthread_should_stop() || test_bit(SLF_RXEVENT, &sl->flags) || test_bit(SLF_TXEVENT, &sl->flags) || + test_bit(SLF_TMOUTEVENT, &sl->flags) || ((sl->lin_state == SLSTATE_IDLE) && test_bit(SLF_MSGEVENT, &sl->flags))); if (test_and_clear_bit(SLF_RXEVENT, &sl->flags)) { @@ -664,33 +681,61 @@ int sllin_kwthread(void *ptr) printk(KERN_INFO "sllin_kthread TXEVENT \n"); } + if (test_and_clear_bit(SLF_TMOUTEVENT, &sl->flags)) { + printk(KERN_INFO "sllin_kthread TMOUTEVENT \n"); + sl->rx_cnt = 0; + sl->rx_expect = 0; + sl->rx_lim = sl->lin_master ? 0 : SLLIN_BUFF_LEN; + sl->tx_cnt = 0; + sl->tx_lim = 0; + sl->id_to_send = false; + sl->data_to_send = false; + + sl->lin_state = SLSTATE_IDLE; + } + if ((sl->lin_state == SLSTATE_IDLE) && test_bit(SLF_MSGEVENT, &sl->flags)) { cf = (struct can_frame *)sl->rec_skb->data; - /* We do care only about SFF frames */ - if (cf->can_id & CAN_EFF_FLAG) - goto release_skb; - - if (cf->can_id & CAN_RTR_FLAG) { - printk(KERN_INFO "%s: RTR CAN frame, ID = %x\n", - __FUNCTION__, cf->can_id & CAN_SFF_MASK); - if (sllin_setup_msg(sl, 0, - cf->can_id & CAN_SFF_MASK, NULL, 0) != -1) { - sl->id_to_send = true; - sl->data_to_send = false; - } - } else { - printk(KERN_INFO "%s: NON-RTR CAN frame, ID = %x\n", - __FUNCTION__, (int)cf->can_id & CAN_SFF_MASK); - - if (sllin_setup_msg(sl, 0, cf->can_id & CAN_SFF_MASK, - cf->data, cf->can_dlc) != -1) { - sl->id_to_send = true; - sl->data_to_send = true; + /* EFF CAN frame -> "Configuration" frame */ + if (cf->can_id & CAN_EFF_FLAG) { + sllin_configure_frame_cache(sl, cf); + goto free_skb; + } /* SFF RTR CAN frame -> LIN header */ + else if (cf->can_id & CAN_RTR_FLAG) { + printk(KERN_INFO "%s: RTR SFF CAN frame, ID = %x\n", + __FUNCTION__, cf->can_id & SLLIN_ID_MASK); + + /* Is there Slave response in linfr_cache to be sent? */ + if ((sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].frame_fl & + SLLIN_LOC_SLAVE_CACHE) + && (sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].dlc > 0)) { + + printk(KERN_INFO "Sending LIN response from linfr_cache\n"); + lin_data = &sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].data; + lin_dlc = sl->linfr_cache[cf->can_id & SLLIN_ID_MASK].dlc; + } else { + lin_data = NULL; + lin_dlc = 0; } + } else { /* SFF NON-RTR CAN frame -> LIN header + LIN response */ + printk(KERN_INFO "%s: NON-RTR SFF CAN frame, ID = %x\n", + __FUNCTION__, (int)cf->can_id & SLLIN_ID_MASK); + + lin_data = cf->data; + lin_dlc = tx_bytes = cf->can_dlc; + } + + if (sllin_setup_msg(sl, 0, cf->can_id & SLLIN_ID_MASK, + lin_data, lin_dlc) != -1) { + + sl->id_to_send = true; + sl->data_to_send = (lin_dlc > 0) ? true : false; + sl->dev->stats.tx_packets++; + sl->dev->stats.tx_bytes += tx_bytes; } - release_skb: + free_skb: clear_bit(SLF_MSGEVENT, &sl->flags); kfree_skb(sl->rec_skb); netif_wake_queue(sl->dev); @@ -719,6 +764,10 @@ int sllin_kwthread(void *ptr) } else { sl->rx_expect = SLLIN_BUFF_DATA + 2; sl->lin_state = SLSTATE_RESPONSE_WAIT; + /* If we don't receive anything, timer will "unblock" us */ + hrtimer_start(&sl->rx_timer, + ktime_add(ktime_get(), sl->rx_timer_timeout), + HRTIMER_MODE_ABS); goto slstate_response_wait; } break; @@ -728,10 +777,14 @@ int sllin_kwthread(void *ptr) if (sl->rx_cnt < sl->rx_expect) continue; + hrtimer_cancel(&sl->rx_timer); printk(KERN_INFO "sllin: response received ID %d len %d\n", sl->rx_buff[SLLIN_BUFF_ID], sl->rx_cnt - SLLIN_BUFF_DATA - 1); - // check checksum in sl->rx_buff + // FIXME: check checksum in sl->rx_buff + // send CAN non-RTR frame with data + printk(KERN_INFO "sllin: sending NON-RTR CAN frame with LIN payload."); + sll_bump(sl); //send packet to the network layer sl->id_to_send = false; sl->lin_state = SLSTATE_IDLE; break; @@ -741,6 +794,7 @@ int sllin_kwthread(void *ptr) if (sl->rx_cnt < sl->tx_lim) continue; + sll_bump(sl); //send packet to the network layer printk(KERN_INFO "sllin: response sent ID %d len %d\n", sl->rx_buff[SLLIN_BUFF_ID], sl->rx_cnt - SLLIN_BUFF_DATA - 1); @@ -751,13 +805,12 @@ int sllin_kwthread(void *ptr) - /* sll_bump(sl); send packet to the network layer */ /* sl->dev->stats.tx_packets++; send frames statistic */ /* netif_wake_queue(sl->dev); allow next Tx packet arrival */ } - + hrtimer_cancel(&sl->rx_timer); printk(KERN_INFO "sllin: sllin_kwthread stopped.\n"); return 0; @@ -829,7 +882,6 @@ static struct sllin *sll_alloc(dev_t line) } sl = netdev_priv(dev); - /* Initialize channel control data */ sl->magic = SLLIN_MAGIC; sl->dev = dev; @@ -903,6 +955,15 @@ static int sllin_open(struct tty_struct *tty) sl->lin_state = SLSTATE_IDLE; +#define SAMPLES_PER_CHAR 10 +#define CHARS_TO_TIMEOUT 12 + hrtimer_init(&sl->rx_timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL); + sl->rx_timer.function = sllin_rx_timeout_handler; + /* timeval_to_ktime(msg_head->ival1); */ + sl->rx_timer_timeout = ns_to_ktime( + (1000000000 / sl->lin_baud) * + SAMPLES_PER_CHAR * CHARS_TO_TIMEOUT); + set_bit(SLF_INUSE, &sl->flags); init_waitqueue_head(&sl->kwt_wq);