xenomai驱动开发-参考博文-2驱动编写实例

#include <linux/module.h>
#include <rtdm/rtdm_driver.h>

MODULE_LICENSE("GPL");
MODULE_AUTHOR("ziv,<woshidahuaidan2011@hotmail.com>");

#define SIZE_MAX                1024
#define DEVICE_NAME             "mydriver"
#define SOME_SUB_CLASS          4711

/**
 * The context of a device instance
 *
 * A context is created each time a device is opened and passed to
 * other device handlers when they are called.
 *
 */
typedef struct buffer_s {
        int size;
        char data[SIZE_MAX];
} buffer_t;

/**
 * Open the device
 *
 * This function is called when the device shall be opened.
 *
 */
static int simple_rtdm_open_nrt(struct rtdm_dev_context *context,
                                rtdm_user_info_t * user_info, int oflags)
{
        buffer_t * buffer = (buffer_t *) context->dev_private;
        buffer->size = 0; /* clear the buffer */

        return 0;
}

/**
 * Close the device
 *
 * This function is called when the device shall be closed.
 *
 */
static int simple_rtdm_close_nrt(struct rtdm_dev_context *context,
                                 rtdm_user_info_t * user_info)
{
        return 0;
}

/**
 * Read from the device
 *
 * This function is called when the device is read in non-realtime context.
 *
 */
static ssize_t simple_rtdm_read_nrt(struct rtdm_dev_context *context,
                                    rtdm_user_info_t * user_info, void *buf,
                                    size_t nbyte)
{
        buffer_t * buffer = (buffer_t *) context->dev_private;
        int size = (buffer->size > nbyte) ? nbyte : buffer->size;

        buffer->size = 0;
        if (rtdm_safe_copy_to_user(user_info, buf, buffer->data, size))
                rtdm_printk("ERROR : can't copy data from driver\n");

        return size;
}

/**
 * Write in the device
 *
 * This function is called when the device is written in non-realtime context.
 *
 */
static ssize_t simple_rtdm_write_nrt(struct rtdm_dev_context *context,
                                     rtdm_user_info_t * user_info,
                                     const void *buf, size_t nbyte)
{
        buffer_t * buffer = (buffer_t *) context->dev_private;

        buffer->size = (nbyte > SIZE_MAX) ? SIZE_MAX : nbyte;
        if (rtdm_safe_copy_from_user(user_info, buffer->data, buf, buffer->size))
                rtdm_printk("ERROR : can't copy data to driver\n");

        return nbyte;
}



int simple_rtdm_ioctl_nrt(struct rtdm_dev_context *context,
                   rtdm_user_info_t * user_info,
                   unsigned int request, void *arg)
{

        int *return_size = (int *)arg;
        int max_size = SIZE_MAX;
        int valid_size = 0;
        int err = 0;

    buffer_t * buffer = (buffer_t *) context->dev_private;
        valid_size = buffer->size;

        switch (request) {
        case 0x01:
                        err =
                            rtdm_safe_copy_to_user(user_info, return_size,
                                                   &max_size,
                                                   sizeof(int));
                break;

        case 0x02: 
                        err =
                            rtdm_safe_copy_to_user(user_info, return_size,
                                                   &valid_size,
                                                   sizeof(int));

                break;

        default:
                err = -ENOTTY;
        }

        return err;
}

/**
 * This structure describe the simple RTDM device
 *
 */
static struct rtdm_device device = {
        .struct_version = RTDM_DEVICE_STRUCT_VER,

        .device_flags = RTDM_NAMED_DEVICE,
        .context_size = sizeof(buffer_t),
        .device_name = DEVICE_NAME,

        .open_nrt = simple_rtdm_open_nrt,

        .ops = {
                .close_nrt = simple_rtdm_close_nrt,
                .read_nrt  = simple_rtdm_read_nrt,
                .write_nrt = simple_rtdm_write_nrt,
                .ioctl_nrt = simple_rtdm_ioctl_nrt,
        },

        .device_class = RTDM_CLASS_EXPERIMENTAL,
        .device_sub_class = SOME_SUB_CLASS,
        .profile_version = 1,
        .driver_name = "SimpleRTDM",
        .driver_version = RTDM_DRIVER_VER(0, 1, 2),
        .peripheral_name = "Simple RTDM example",
        .provider_name = "trem",
        .proc_name = device.device_name,
};

/**
 * This function is called when the module is loaded
 *
 * It simply registers the RTDM device.
 *
 */
int __init simple_rtdm_init(void)
{
        return rtdm_dev_register(&device);
}

/**
 * This function is called when the module is unloaded
 *
 * It unregister the RTDM device, polling at 1000 ms for pending users.
 *
 */
void __exit simple_rtdm_exit(void)
{
        rtdm_dev_unregister(&device, 1000);
}

module_init(simple_rtdm_init);
module_exit(simple_rtdm_exit);