int can_Receive(
struct inode *inode,
canmsg_t *Rx
)
{
unsigned int minor = MINOR(inode->i_rdev);
canmsg_t rx;
int len;
len = CAN_GetMessage(minor,&rx);
if( len > 0 ){
/* printk("\nrx[ ] got id 0x%x len %d adr00x%lx\n",rx.id,rx.length,Rx); */
if( verify_area(VERIFY_WRITE,Rx,sizeof(canmsg_t) ) ) {
return -EINVAL;
}
__lddk_copy_to_user((canmsg_t *) Rx, (canmsg_t *) &rx,
sizeof(canmsg_t));
return rx.length;
} else {
/* no message availiable */
return 0;
}
}
int can_read( __LDDK_READ_PARAM )
{
int retval=0;
DBGin("can_read");
{
unsigned int minor = __LDDK_MINOR;
msg_fifo_t *RxFifo = &Rx_Buf[minor];
canmsg_t *addr;
int written = 0;
addr = (canmsg_t *)buffer;
if( ! access_ok( VERIFY_WRITE, buffer, count * sizeof(canmsg_t) )) {
DBGout();
return -EINVAL;
}
while( written < count && RxFifo->status == BUF_OK ) {
if( RxFifo->tail == RxFifo->head ) {
RxFifo->status = BUF_EMPTY;
break;
}
__lddk_copy_to_user( (canmsg_t *) &addr[written],
(canmsg_t *) &(RxFifo->data[RxFifo->tail]),
sizeof(canmsg_t) );
written++;
RxFifo->tail = ++(RxFifo->tail) % MAX_BUFSIZE;
}
DBGout();
return(written);
}
DBGout();
return retval;
}
int can_ioctl( __LDDK_IOCTL_PARAM )
#endif
{
void *argp;
int retval = -EIO;
unsigned long _cnt;
int ret;
#if defined(DEBUG)
unsigned int minor = __LDDK_MINOR;
#endif
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,36)
struct inode *inode = file->f_path.dentry->d_inode;
#endif
DBGin();
DBGprint(DBG_DATA,("cmd=%d", cmd));
Can_errno = 0;
switch(cmd){
case CAN_IOCTL_COMMAND:
if( !access_ok(VERIFY_READ, (void *)arg, sizeof(Command_par_t))) {
DBGout(); return(retval);
}
if( !access_ok(VERIFY_WRITE, (void *)arg, sizeof(Command_par_t))) {
DBGout(); return(retval);
}
argp = (void *) kmalloc( sizeof(Command_par_t) +1 , GFP_KERNEL );
__lddk_copy_from_user( (void *)argp, (Command_par_t *)arg,
sizeof(Command_par_t));
((Command_par_t *) argp)->retval =
can_Command(inode, file, (Command_par_t *)argp);
((Command_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Command_par_t *)arg, (void *)argp,
sizeof(Command_par_t));
kfree(argp);
ret = 0;
break;
case CAN_IOCTL_CONFIG:
if( !access_ok(VERIFY_READ, (void *)arg, sizeof(Config_par_t))) {
DBGout(); return(retval);
}
if( !access_ok(VERIFY_WRITE, (void *)arg, sizeof(Config_par_t))) {
DBGout(); return(retval);
}
argp = (void *) kmalloc( sizeof(Config_par_t) +1 ,GFP_KERNEL);
__lddk_copy_from_user( (void *)argp, (Config_par_t *)arg,
sizeof(Config_par_t));
retval = can_Config(inode, file, ((Config_par_t *)argp)->target,
((Config_par_t *)argp)->val1,
((Config_par_t *)argp)->val2 );
((Config_par_t *) argp)->retval = retval;
((Config_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Config_par_t *)arg, (void *)argp,
sizeof(Config_par_t));
kfree(argp);
if (0 != retval) {
ret = -EINVAL;
} else {
ret = 0;
}
break;
case CAN_IOCTL_SEND:
if( !access_ok(VERIFY_READ, (void *)arg, sizeof(Send_par_t))) {
DBGout(); return(retval);
}
if( !access_ok(VERIFY_WRITE, (void *)arg, sizeof(Send_par_t))) {
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(Send_par_t) +1 ,GFP_KERNEL );
__lddk_copy_from_user( (void *)argp, (Send_par_t *)arg,
sizeof(Send_par_t));
((Send_par_t *) argp)->retval =
can_Send(inode, ((Send_par_t *)argp)->Tx );
((Send_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Send_par_t *)arg, (void *)argp,
sizeof(Send_par_t));
kfree(argp);
ret = 0;
break;
case CAN_IOCTL_STATUS:
if( !access_ok(VERIFY_READ, (void *)arg,
sizeof(CanStatusPar_t))) {
DBGout(); return(retval);
}
if( !access_ok(VERIFY_WRITE, (void *)arg,
sizeof(CanStatusPar_t))) {
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(CanStatusPar_t) +1 ,GFP_KERNEL );
((CanStatusPar_t *) argp)->retval =
can_GetStat(inode, file, ((CanStatusPar_t *)argp));
__lddk_copy_to_user( (CanStatusPar_t *)arg, (void *)argp,
sizeof(CanStatusPar_t));
kfree(argp);
ret = 0;
break;
#ifdef CAN_RTR_CONFIG
case CAN_IOCTL_CONFIGURERTR:
if( !access_ok(VERIFY_READ, (void *)arg,
sizeof(ConfigureRTR_par_t))){
DBGout(); return(retval);
}
if( !access_ok(VERIFY_WRITE, (void *)arg,
sizeof(ConfigureRTR_par_t))){
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(ConfigureRTR_par_t) +1 ,GFP_KERNEL );
__lddk_copy_from_user( (void *)argp, (ConfigureRTR_par_t *) arg,
sizeof(ConfigureRTR_par_t));
((ConfigureRTR_par_t *) argp)->retval =
can_ConfigureRTR(inode,
((ConfigureRTR_par_t *)argp)->message,
((ConfigureRTR_par_t *)argp)->Tx );
((ConfigureRTR_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (ConfigureRTR_par_t *)arg, (void *)argp,
sizeof(ConfigureRTR_par_t));
kfree(argp);
ret = 0;
break;
#endif /* CAN_RTR_CONFIG */
default:
DBGout();
ret = -EINVAL;
}
DBGout();
return ret;
}
/**
*
\brief int ioctl(int fd, int request, ...);
the CAN controllers control interface
\param fd The descriptor to change properties
\param request special configuration request
\param ... traditional a \a char *argp
The \a ioctl function manipulates the underlying device
parameters of the CAN special device.
In particular, many operating characteristics of
character CAN driver may be controlled with \a ioctl requests.
The argument \a fd must be an open file descriptor.
An ioctl request has encoded in it whether the argument is
an \b in parameter or \b out parameter,
and the size of the argument argp in bytes.
Macros and defines used in specifying an \a ioctl request
are located in the file can4linux.h .
The following \a requests are defined:
\li \c COMMAND some commands for
start, stop and reset the CAN controller chip
\li \c CONFIG configure some of the device properties
like acceptance filtering, bit timings, mode of the output control register
or the optional software message filter configuration(not implemented yet).
\li \c STATUS request the CAN controllers status
\li \c SEND a single message over the \a ioctl interface
\li \c RECEIVE poll a receive message
\li \c CONFIGURERTR configure automatic rtr responses(not implemented)
The third argument is a parameter structure depending on the request.
These are
\code
struct Command_par
struct Config_par
struct CanSja1000Status_par
struct ConfigureRTR_par
struct Receive_par
struct Send_par
\endcode
described in can4linux.h
\par Acceptance Filtering
\b Basic \b CAN.
In the case of using standard identifiers in Basic CAN mode
for receiving CAN messages
only the low bytes are used to set acceptance code and mask
for bits ID.10 ... ID.3
\par
\b PeliCAN.
For acceptance filtering the entries \c AccCode and \c AccMask are used
like specified in the controllers manual for
\b Single \b Filter \b Configuration .
Both are 4 byte entries.
In the case of using standard identifiers for receiving CAN messages
also all 4 bytes can be used.
In this case two bytes are used for acceptance code and mask
for all 11 identifier bits plus additional the first two data bytes.
The SJA1000 is working in the \b Single \b Filter \ Mode .
\code
Bits
mask 31 30 ..... 4 3 2 1 0
code
-------------------------------------------
ID 28 27 ..... 1 0 R +--+-> unused
T
R
\endcode
\returns
On success, zero is returned.
On error, -1 is returned, and errno is set appropriately.
\par Example
\code
Config_par_t cfg;
volatile Command_par_t cmd;
cmd.cmd = CMD_STOP;
ioctl(can_fd, COMMAND, &cmd);
cfg.target = CONF_ACCM;
cfg.val = acc_mask;
ioctl(can_fd, CONFIG, &cfg);
cfg.target = CONF_ACCC;
cfg.val = acc_code;
ioctl(can_fd, CONFIG, &cfg);
cmd.cmd = CMD_START;
ioctl(can_fd, COMMAND, &cmd);
\endcode
*/
int can_ioctl( __LDDK_IOCTL_PARAM )
{
void *argp;
int retval = -EIO;
DBGin("can_ioctl");
DBGprint(DBG_DATA,("cmd=%d", cmd));
Can_errno = 0;
switch(cmd){
case COMMAND:
if( verify_area(VERIFY_READ, (void *)arg, sizeof(Command_par_t))) {
DBGout(); return(retval);
}
if( verify_area(VERIFY_WRITE, (void *)arg, sizeof(Command_par_t))) {
DBGout(); return(retval);
}
argp = (void *) kmalloc( sizeof(Command_par_t) +1 , GFP_KERNEL );
__lddk_copy_from_user( (void *) argp,(Command_par_t *) arg,
sizeof(Command_par_t));
((Command_par_t *) argp)->retval =
can_Command(inode, ((Command_par_t *) argp)->cmd );
((Command_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Command_par_t *)arg, (void *)argp,
sizeof(Command_par_t));
kfree(argp);
break;
case CONFIG:
if( verify_area(VERIFY_READ, (void *) arg, sizeof(Config_par_t))) {
DBGout(); return(retval);
}
if( verify_area(VERIFY_WRITE, (void *) arg, sizeof(Config_par_t))) {
DBGout(); return(retval);
}
argp = (void *) kmalloc( sizeof(Config_par_t) +1 ,GFP_KERNEL);
__lddk_copy_from_user( (void *) argp,(Config_par_t *) arg,
sizeof(Config_par_t));
((Config_par_t *) argp)->retval =
can_Config(inode, ((Config_par_t *) argp)->target,
((Config_par_t *) argp)->val1,
((Config_par_t *) argp)->val2 );
((Config_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Config_par_t *) arg, (void *) argp,
sizeof(Config_par_t));
kfree(argp);
break;
case SEND:
if( verify_area(VERIFY_READ, (void *) arg, sizeof(Send_par_t))) {
DBGout(); return(retval);
}
if( verify_area(VERIFY_WRITE, (void *) arg, sizeof(Send_par_t))) {
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(Send_par_t) +1 ,GFP_KERNEL );
__lddk_copy_from_user( (void *) argp, (Send_par_t *)arg,
sizeof(Send_par_t));
((Send_par_t *) argp)->retval =
can_Send(inode, ((Send_par_t *) argp)->Tx );
((Send_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Send_par_t *) arg, (void *)argp,
sizeof(Send_par_t));
kfree(argp);
break;
case RECEIVE:
if( verify_area(VERIFY_READ, (void *) arg, sizeof(Receive_par_t))) {
DBGout(); return(retval);
}
if( verify_area(VERIFY_WRITE, (void *) arg, sizeof(Receive_par_t))) {
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(Receive_par_t) +1 ,GFP_KERNEL );
__lddk_copy_from_user( (void *)argp, (Receive_par_t *)arg,
sizeof(Receive_par_t));
((Receive_par_t *) argp)->retval =
can_Receive(inode, ((Receive_par_t *) argp)->Rx);
((Receive_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (Receive_par_t *)arg, (void *) argp,
sizeof(Receive_par_t));
kfree(argp);
break;
case STATUS:
if( verify_area(VERIFY_READ, (void *) arg,
sizeof(CanStatusPar_t))) {
DBGout(); return(retval);
}
if( verify_area(VERIFY_WRITE, (void *) arg,
sizeof(CanStatusPar_t))) {
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(CanStatusPar_t) +1 ,GFP_KERNEL );
((CanStatusPar_t *) argp)->retval =
can_GetStat(inode, ((CanStatusPar_t *)argp));
__lddk_copy_to_user( (CanStatusPar_t *)arg, (void *) argp,
sizeof(CanStatusPar_t));
kfree(argp);
break;
#ifdef CAN_RTR_CONFIG
case CONFIGURERTR:
if( verify_area(VERIFY_READ, (void *) arg,
sizeof(ConfigureRTR_par_t))){
DBGout(); return(retval);
}
if( verify_area(VERIFY_WRITE, (void *) arg,
sizeof(ConfigureRTR_par_t))){
DBGout(); return(retval);
}
argp = (void *)kmalloc( sizeof(ConfigureRTR_par_t) +1 ,GFP_KERNEL );
__lddk_copy_from_user( (void *) argp,(ConfigureRTR_par_t *) arg,
sizeof(ConfigureRTR_par_t));
((ConfigureRTR_par_t *) argp)->retval =
can_ConfigureRTR(inode,
((ConfigureRTR_par_t *) argp)->message,
((ConfigureRTR_par_t *) argp)->Tx );
((ConfigureRTR_par_t *) argp)->error = Can_errno;
__lddk_copy_to_user( (ConfigureRTR_par_t *) arg, (void *) argp,
sizeof(ConfigureRTR_par_t));
kfree(argp);
break;
#endif /* CAN_RTR_CONFIG */
default:
DBGout();
return -EINVAL;
}
DBGout();
return 1;
}