blob: 5f4da5d7dbd9a005f38d934ed91243ae4cc8b682 (
plain) (
blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
|
/**
* @file
* @ingroup sparc_bsp
* @defgroup can GRCAN
* @ingroup can
* @brief Macros used for grcan controller
*/
/*
* COPYRIGHT (c) 2007.
* Cobham Gaisler AB.
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rtems.org/license/LICENSE.
*/
#ifndef __GRCAN_H__
#define __GRCAN_H__
#ifdef __cplusplus
extern "C" {
#endif
struct grcan_regs {
volatile unsigned int conf; /* 0x00 */
volatile unsigned int stat; /* 0x04 */
volatile unsigned int ctrl; /* 0x08 */
volatile unsigned int dummy0[3]; /* 0x0C-0x014 */
volatile unsigned int smask; /* 0x18 */
volatile unsigned int scode; /* 0x1C */
volatile unsigned int dummy1[56]; /* 0x20-0xFC */
volatile unsigned int pimsr; /* 0x100 */
volatile unsigned int pimr; /* 0x104 */
volatile unsigned int pisr; /* 0x108 */
volatile unsigned int pir; /* 0x10C */
volatile unsigned int imr; /* 0x110 */
volatile unsigned int picr; /* 0x114 */
volatile unsigned int dummy2[58]; /* 0x118-0x1FC */
volatile unsigned int tx0ctrl; /* 0x200 */
volatile unsigned int tx0addr; /* 0x204 */
volatile unsigned int tx0size; /* 0x208 */
volatile unsigned int tx0wr; /* 0x20C */
volatile unsigned int tx0rd; /* 0x210 */
volatile unsigned int tx0irq; /* 0x214 */
volatile unsigned int dummy3[58]; /* 0x218-0x2FC */
volatile unsigned int rx0ctrl; /* 0x300 */
volatile unsigned int rx0addr; /* 0x304 */
volatile unsigned int rx0size; /* 0x308 */
volatile unsigned int rx0wr; /* 0x30C */
volatile unsigned int rx0rd; /* 0x310 */
volatile unsigned int rx0irq; /* 0x314 */
volatile unsigned int rx0mask; /* 0x318 */
volatile unsigned int rx0code; /* 0x31C */
};
struct grcan_stats {
unsigned int passive_cnt;
unsigned int overrun_cnt;
unsigned int rxsync_cnt;
unsigned int txsync_cnt;
unsigned int txloss_cnt;
unsigned int ahberr_cnt;
unsigned int ints;
};
struct grcan_timing {
unsigned char scaler;
unsigned char ps1;
unsigned char ps2;
unsigned int rsj;
unsigned char bpr;
};
struct grcan_selection {
int selection;
int enable0;
int enable1;
};
struct grcan_filter {
unsigned long long mask;
unsigned long long code;
};
/* CAN MESSAGE */
typedef struct {
char extended; /* 1= Extended Frame (29-bit id), 0= STD Frame (11-bit id) */
char rtr; /* RTR - Remote Transmission Request */
char unused; /* unused */
unsigned char len;
unsigned char data[8];
unsigned int id;
} CANMsg;
#define GRCAN_CFG_ABORT 0x00000001
#define GRCAN_CFG_ENABLE0 0x00000002
#define GRCAN_CFG_ENABLE1 0x00000004
#define GRCAN_CFG_SELECTION 0x00000008
#define GRCAN_CFG_SILENT 0x00000010
#define GRCAN_CFG_BPR 0x00000300
#define GRCAN_CFG_RSJ 0x00007000
#define GRCAN_CFG_PS1 0x00f00000
#define GRCAN_CFG_PS2 0x000f0000
#define GRCAN_CFG_SCALER 0xff000000
#define GRCAN_CFG_BPR_BIT 8
#define GRCAN_CFG_RSJ_BIT 12
#define GRCAN_CFG_PS1_BIT 20
#define GRCAN_CFG_PS2_BIT 16
#define GRCAN_CFG_SCALER_BIT 24
#define GRCAN_CTRL_RESET 0x2
#define GRCAN_CTRL_ENABLE 0x1
#define GRCAN_TXCTRL_ENABLE 1
#define GRCAN_TXCTRL_ONGOING 1
#define GRCAN_RXCTRL_ENABLE 1
#define GRCAN_RXCTRL_ONGOING 1
/* Relative offset of IRQ sources to AMBA Plug&Play */
#define GRCAN_IRQ_IRQ 0
#define GRCAN_IRQ_TXSYNC 1
#define GRCAN_IRQ_RXSYNC 2
#define GRCAN_ERR_IRQ 0x1
#define GRCAN_OFF_IRQ 0x2
#define GRCAN_OR_IRQ 0x4
#define GRCAN_RXAHBERR_IRQ 0x8
#define GRCAN_TXAHBERR_IRQ 0x10
#define GRCAN_RXIRQ_IRQ 0x20
#define GRCAN_TXIRQ_IRQ 0x40
#define GRCAN_RXFULL_IRQ 0x80
#define GRCAN_TXEMPTY_IRQ 0x100
#define GRCAN_RX_IRQ 0x200
#define GRCAN_TX_IRQ 0x400
#define GRCAN_RXSYNC_IRQ 0x800
#define GRCAN_TXSYNC_IRQ 0x1000
#define GRCAN_RXERR_IRQ 0x2000
#define GRCAN_TXERR_IRQ 0x4000
#define GRCAN_RXMISS_IRQ 0x8000
#define GRCAN_TXLOSS_IRQ 0x10000
#define GRCAN_STAT_PASS 0x1
#define GRCAN_STAT_OFF 0x2
#define GRCAN_STAT_OR 0x4
#define GRCAN_STAT_AHBERR 0x8
#define GRCAN_STAT_ACTIVE 0x10
#define GRCAN_STAT_RXERRCNT 0xff00
#define GRCAN_STAT_TXERRCNT 0xff0000
/* IOCTL Commands controlling operational
* mode
*/
#define GRCAN_IOC_START 1 /* Bring the link up after open or bus-off */
#define GRCAN_IOC_STOP 2 /* stop to change baud rate/config or closing down */
#define GRCAN_IOC_ISSTARTED 3 /* return RTEMS_SUCCESSFUL when started, othervise EBUSY */
#define GRCAN_IOC_FLUSH 4 /* Waits until all TX messages has been sent */
/* IOCTL Commands that require connection
* to be stopped
*/
#define GRCAN_IOC_SET_SILENT 16 /* enable silent mode read only state */
#define GRCAN_IOC_SET_ABORT 17 /* enable/disable stopping link on AHB Error */
#define GRCAN_IOC_SET_SELECTION 18 /* Set Enable0,Enable1,Selection */
#define GRCAN_IOC_SET_SPEED 19 /* Set baudrate by using driver's baud rate timing calculation routines */
#define GRCAN_IOC_SET_BTRS 20 /* Set baudrate by specifying the timing registers manually */
/* IOCTL Commands can be called whenever */
#define GRCAN_IOC_SET_RXBLOCK 32 /* Enable/disable Blocking on reception (until at least one message has been received) */
#define GRCAN_IOC_SET_TXBLOCK 33 /* Enable/disable Blocking on transmission (until at least one message has been transmitted) */
#define GRCAN_IOC_SET_TXCOMPLETE 34 /* Enable/disable Blocking until all requested messages has been sent */
#define GRCAN_IOC_SET_RXCOMPLETE 35 /* Enable/disable Blocking until all requested has been received */
#define GRCAN_IOC_GET_STATS 36 /* Get Statistics */
#define GRCAN_IOC_CLR_STATS 37 /* Clear Statistics */
#define GRCAN_IOC_SET_AFILTER 38 /* Set Acceptance filters, provide pointer to "struct grcan_filter" or NULL to disable filtering (let all messages pass) */
#define GRCAN_IOC_SET_SFILTER 40 /* Set Sync Messages RX/TX filters, NULL disables the IRQ completely */
#define GRCAN_IOC_GET_STATUS 41 /* Get status register of GRCAN core */
void grcan_register_drv(void);
#ifdef __cplusplus
}
#endif
#endif
|