/*
* This file contains the GRSPW SpaceWire Driver for LEON2 and LEON3.
*
* COPYRIGHT (c) 2007
* Gaisler Research.
*
* The license and distribution terms for this file may be
* found in the file LICENSE in this distribution or at
* http://www.rtems.com/license/LICENSE.
*
* Changes:
*
* 2007-07-12, Daniel Hellstrom <daniel@gaisler.com>
* Fixed bug in TXBLOCK mode (normally called flush).
*
* 2007-05-28, Daniel Hellstrom <daniel@gaisler.com>
* Changed register call from spacewire_register to
* grspw_register. Added one parameter (the AMBA bus
* pointer) for LEON2 and LEON3 PCI compability.
* Typical LEON3 register: grspw_register(&amba_conf);
*
* 2007-05-28, Daniel Hellstrom <daniel@gaisler.com>
* Changed errno return values, compatible with RASTA
* Spacewire driver
*
* 2007-05-25, Daniel Hellstrom <daniel@gaisler.com>
* Changed name from /dev/spacewire,/dev/spacewire_b...
* to /dev/grspw0,/dev/grspw1...
*
* 2007-05-24, Daniel Hellstrom <daniel@gaisler.com>
* Merged LEON3, LEON2 and RASTA driver to one - this.
* The driver is included and configured from grspw_pci.c
* and grspw_rasta.c.
*
* 2007-05-23, Daniel Hellstrom <daniel@gaisler.com>
* Changed open call, now one need to first call open
* and then ioctl(fd,START,timeout) in order to setup
* hardware for communication.
*
* 2007-05-23, Daniel Hellstrom <daniel@gaisler.com>
* Added ioctl(fd,SET_COREFREQ,freq_arg), the command
* can autodetect the register values disconnect and
* timer64. It is still possible to change them manually
* by ioctl(fd,SET_{DISCONNECT,TIMER},arg).
*
*/
/* default name to /dev/grspw0 */
#if !defined(GRSPW_DEVNAME) || !defined(GRSPW_DEVNAME_NO)
#undef GRSPW_DEVNAME
#undef GRSPW_DEVNAME_NO
#define GRSPW_DEVNAME "/dev/grspw0"
#define GRSPW_DEVNAME_NO(devstr,no) ((devstr)[10]='0'+(no))
#endif
#ifndef GRSPW_PREFIX
#define GRSPW_PREFIX(name) grspw##name
#endif
/* default to no translation */
#ifndef GRSPW_ADR_TO
#define memarea_to_hw(x) ((unsigned int)(x))
#endif
#ifndef GRSPW_ADR_FROM
#define hw_to_memarea(x) ((unsigned int)(x))
#endif
#ifndef GRSPW_REG_INT
#define GRSPW_REG_INT(handler,irqno,arg) set_vector(handler,irqno+0x10,1)
#undef GRSPW_DEFINE_INTHANDLER
#define GRSPW_DEFINE_INTHANDLER
#endif
#include <bsp.h>
#include <rtems/libio.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <assert.h>
#include <sched.h>
#include <ctype.h>
#include <rtems/bspIo.h>
#include <ambapp.h>
#include <grspw.h>
#define DBGSPW_IOCALLS 1
#define DBGSPW_TX 2
#define DBGSPW_RX 4
#define DBGSPW_IOCTRL 1
#define DBGSPW_DUMP 16
#define DEBUG_SPACEWIRE_FLAGS (DBGSPW_IOCALLS | DBGSPW_TX | DBGSPW_RX )
/* #define DEBUG_SPACEWIRE_ONOFF */
#ifdef DEBUG_SPACEWIRE_ONOFF
#define SPACEWIRE_DBG(fmt, args...) do { { printk(" : %03d @ %18s()]:" fmt , __LINE__,__FUNCTION__,## args); }} while(0)
#define SPACEWIRE_DBG2(fmt) do { { printk(" : %03d @ %18s()]:" fmt , __LINE__,__FUNCTION__); }} while(0)
#define SPACEWIRE_DBGC(c,fmt, args...) do { if (DEBUG_SPACEWIRE_FLAGS & c) { printk(" : %03d @ %18s()]:" fmt , __LINE__,__FUNCTION__,## args); }} while(0)
#else
#define SPACEWIRE_DBG(fmt, args...)
#define SPACEWIRE_DBG2(fmt, args...)
#define SPACEWIRE_DBGC(c, fmt, args...)
#endif
typedef struct {
volatile unsigned int ctrl;
volatile unsigned int status;
volatile unsigned int nodeaddr;
volatile unsigned int clkdiv;
volatile unsigned int destkey;
volatile unsigned int time;
volatile unsigned int timer;
volatile unsigned int pad;
volatile unsigned int dma0ctrl;
volatile unsigned int dma0rxmax;
volatile unsigned int dma0txdesc;
volatile unsigned int dma0rxdesc;
} LEON3_SPACEWIRE_Regs_Map;
typedef struct {
volatile unsigned int ctrl;
volatile unsigned int addr;
} SPACEWIRE_RXBD;
typedef struct {
volatile unsigned int ctrl;
volatile unsigned int addr_header;
volatile unsigned int len;
volatile unsigned int addr_data;
} SPACEWIRE_TXBD;
#define SPACEWIRE_INIT_TIMEOUT 10
#define SPACEWIRE_BDTABLE_SIZE 0x400
#define SPACEWIRE_TXD_SIZE 1024
#define SPACEWIRE_TXH_SIZE 64
#define SPACEWIRE_RXPCK_SIZE 1024
#define SPACEWIRE_TXBUFS_NR 64
#define SPACEWIRE_RXBUFS_NR 128
#define BUFMEM_PER_LINK (SPACEWIRE_TXBUFS_NR*(SPACEWIRE_TXD_SIZE+SPACEWIRE_TXH_SIZE) + SPACEWIRE_RXBUFS_NR*SPACEWIRE_RXPCK_SIZE)
#define SPW_ALIGN(p,c) ((((unsigned int)(p))+((c)-1))&~((c)-1))
typedef struct {
/* configuration parameters */
spw_config config;
unsigned int tx_all_in_use;
unsigned int tx_sent;
unsigned int tx_cur;
unsigned int rxcur;
unsigned int rxbufcur;
unsigned int txdbufsize;
unsigned int txhbufsize;
unsigned int rxbufsize;
unsigned int txbufcnt;
unsigned int rxbufcnt;
/* statistics */
spw_stats stat;
char *ptr_rxbuf0;
char *ptr_txdbuf0;
char *ptr_txhbuf0;
unsigned int irq;
int minor;
int open;
int running;
unsigned int core_freq_khz;
/* semaphores*/
rtems_id txsp;
rtems_id rxsp;
SPACEWIRE_RXBD *rx;
SPACEWIRE_TXBD *tx;
#ifdef GRSPW_STATIC_MEM
unsigned int membase, memend, mem_bdtable;
#else
char _rxtable[SPACEWIRE_BDTABLE_SIZE*2];
char _txtable[SPACEWIRE_BDTABLE_SIZE*2];
#endif
LEON3_SPACEWIRE_Regs_Map *regs;
} GRSPW_DEV;
static int spw_cores;
static unsigned int sys_freq_khz;
static GRSPW_DEV *grspw_devs;
#ifdef GRSPW_DONT_BYPASS_CACHE
#define _SPW_READ(address) (*(unsigned int *)(address))
#define _MEM_READ(address) (*(unsigned char *)(address))
#else
static unsigned int _SPW_READ(void *addr) {
unsigned int tmp;
asm(" lda [%1]1, %0 "
: "=r"(tmp)
: "r"(addr)
);
return tmp;
}
static unsigned int _MEM_READ(void *addr) {
unsigned int tmp;
asm(" lduba [%1]1, %0 "
: "=r"(tmp)
: "r"(addr)
);
return tmp;
}
#endif
#define MEM_READ(addr) _MEM_READ((void *)(addr))
#define SPW_READ(addr) _SPW_READ((void *)(addr))
#define SPW_WRITE(addr,v) *addr=v
#define SPW_REG(c,r) (c->regs->r)
#define SPW_REG_CTRL(c) SPW_REG(c,ctrl)
#define SPW_REG_STATUS(c) SPW_REG(c,status)
#define SPW_REG_NODEADDR(c) SPW_REG(c,nodeaddr)
#define SPW_CTRL_READ(c) SPW_READ(&SPW_REG_CTRL(c))
#define SPW_CTRL_WRITE(c,v) SPW_WRITE(&SPW_REG_CTRL(c),v)
#define SPW_STATUS_READ(c) SPW_READ(&SPW_REG_STATUS(c))
#define SPW_STATUS_WRITE(c,v) SPW_WRITE(&SPW_REG_STATUS(c),v)
#define SPW_LINKSTATE(c) (((c) >> 21) & 0x7)
#define SPACEWIRE_RXNR(c) ((c&~(SPACEWIRE_BDTABLE_SIZE-1))>>3)
#define SPACEWIRE_TXNR(c) ((c&~(SPACEWIRE_BDTABLE_SIZE-1))>>4)
#define SPW_RXBD_LENGTH 0x1ffffff
#define SPW_RXBD_EN (1 << 25)
#define SPW_RXBD_WR (1 << 26)
#define SPW_RXBD_IE (1 << 27)
#define SPW_RXBD_EEP (1 << 28)
#define SPW_RXBD_EHC (1 << 29)
#define SPW_RXBD_EDC (1 << 30)
#define SPW_RXBD_ETR (1 << 31)
#define SPW_RXBD_ERROR (SPW_RXBD_EEP | \
SPW_RXBD_ETR)
#define SPW_RXBD_RMAPERROR (SPW_RXBD_EHC | SPW_RXBD_EDC)
#define SPW_TXBD_LENGTH 0xffffff
#define SPW_TXBD_EN (1 << 12)
#define SPW_TXBD_WR (1 << 13)
#define SPW_TXBD_IE (1 << 14)
#define SPW_TXBD_LE (1 << 15)
#define SPW_TXBD_ERROR (SPW_TXBD_LE)
#define SPW_CTRL_LINKDISABLED (1 << 0)
#define SPW_CTRL_LINKSTART (1 << 1)
#define SPW_CTRL_AUTOSTART (1 << 2)
#define SPW_CTRL_IE (1 << 3)
#define SPW_CTRL_TI (1 << 4)
#define SPW_CTRL_PM (1 << 5)
#define SPW_CTRL_RESET (1 << 6)
#define SPW_CTRL_TQ (1 << 8)
#define SPW_CTRL_LI (1 << 9)
#define SPW_CTRL_TT (1 << 10)
#define SPW_CTRL_TR (1 << 11)
#define SPW_CTRL_RE (1 << 16)
#define SPW_CTRL_RD (1 << 17)
#define SPW_CTRL_RC (1 << 29)
#define SPW_CTRL_RX (1 << 30)
#define SPW_CTRL_RA (1 << 31)
#define SPW_STATUS_TO (1 << 0)
#define SPW_STATUS_CE (1 << 1)
#define SPW_STATUS_ER (1 << 2)
#define SPW_STATUS_DE (1 << 3)
#define SPW_STATUS_PE (1 << 4)
#define SPW_STATUS_WE (1 << 6)
#define SPW_STATUS_IA (1 << 7)
#define SPW_STATUS_EE (1 << 8)
#define SPW_DMACTRL_TXEN (1 << 0)
#define SPW_DMACTRL_RXEN (1 << 1)
#define SPW_DMACTRL_TXIE (1 << 2)
#define SPW_DMACTRL_RXIE (1 << 3)
#define SPW_DMACTRL_AI (1 << 4)
#define SPW_DMACTRL_PS (1 << 5)
#define SPW_DMACTRL_PR (1 << 6)
#define SPW_DMACTRL_TA (1 << 7)
#define SPW_DMACTRL_RA (1 << 8)
#define SPW_DMACTRL_AT (1 << 9)
#define SPW_DMACTRL_RX (1 << 10)
#define SPW_DMACTRL_RD (1 << 11)
#define SPW_DMACTRL_NS (1 << 12)
#define SPW_PREPAREMASK_TX (SPW_DMACTRL_RXEN | SPW_DMACTRL_RXIE | SPW_DMACTRL_PS | SPW_DMACTRL_TA | SPW_DMACTRL_RD | SPW_DMACTRL_NS)
#define SPW_PREPAREMASK_RX (SPW_DMACTRL_TXEN | SPW_DMACTRL_TXIE | SPW_DMACTRL_AI | SPW_DMACTRL_PR | SPW_DMACTRL_RA)
static int grspw_hw_init(GRSPW_DEV *pDev);
static int grspw_hw_send(GRSPW_DEV *pDev, unsigned int hlen, char *hdr, unsigned int dlen, char *data);
static int grspw_hw_receive(GRSPW_DEV *pDev,char *b,int c);
static int grspw_hw_startup (GRSPW_DEV *pDev, int timeout);
static int grspw_hw_stop (GRSPW_DEV *pDev, int rx, int tx);
static void grspw_hw_wait_rx_inactive(GRSPW_DEV *pDev);
static int grspw_hw_waitlink (GRSPW_DEV *pDev, int timeout);
static void grspw_hw_reset(GRSPW_DEV *pDev);
static void grspw_hw_read_config(GRSPW_DEV *pDev);
static void check_rx_errors(GRSPW_DEV *pDev, int ctrl);
static void grspw_rxnext(GRSPW_DEV *pDev);
static void grspw_interrupt(GRSPW_DEV *pDev);
static rtems_device_driver grspw_initialize(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
);
static rtems_device_driver grspw_open(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
);
static rtems_device_driver grspw_close(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
);
static rtems_device_driver grspw_read(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
);
static rtems_device_driver grspw_write(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
);
static rtems_device_driver grspw_control(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
);
#define GRSPW_DRIVER_TABLE_ENTRY \
{ grspw_initialize, \
grspw_open, \
grspw_close, \
grspw_read, \
grspw_write, \
grspw_control }
static rtems_driver_address_table grspw_driver = GRSPW_DRIVER_TABLE_ENTRY;
static amba_confarea_type *amba_bus;
int GRSPW_PREFIX(_register)(amba_confarea_type *bus)
{
rtems_status_code r;
rtems_device_major_number m;
/* Get System clock frequency */
sys_freq_khz = 0;
amba_bus = bus;
/* Auto Detect the GRSPW core frequency by assuming that the system frequency is
* is the same as the GRSPW core frequency.
*/
#ifndef SYS_FREQ_KHZ
#ifdef LEON3
/* LEON3: find timer address via AMBA Plug&Play info */
{
amba_apb_device gptimer;
LEON3_Timer_Regs_Map *tregs;
if ( amba_find_apbslv(&amba_conf,VENDOR_GAISLER,GAISLER_GPTIMER,&gptimer) == 1 ){
tregs = (LEON3_Timer_Regs_Map *)gptimer.start;
sys_freq_khz = (tregs->scaler_reload+1)*1000;
SPACEWIRE_DBG("GRSPW: detected %dkHZ system frequency\n\r",sys_freq_khz);
}else{
sys_freq_khz = 40000; /* Default to 40MHz */
printk("GRSPW: Failed to detect system frequency\n\r");
}
}
#elif defined(LEON2)
/* LEON2: use hardcoded address to get to timer */
{
LEON_Register_Map *regs = (LEON_Register_Map *)0x80000000;
sys_freq_khz = (regs->Scaler_Reload+1)*1000;
}
#else
#error CPU not supported by GRSPW driver
#endif
#else
/* Use hardcoded frequency */
sys_freq_khz = SYS_FREQ_KHZ;
#endif
SPACEWIRE_DBG2("register driver\n");
if ((r = rtems_io_register_driver(0, &grspw_driver, &m)) == RTEMS_SUCCESSFUL) {
SPACEWIRE_DBG2("success\n");
return 0;
} else {
switch(r) {
case RTEMS_TOO_MANY:
SPACEWIRE_DBG2("failed RTEMS_TOO_MANY\n");
break;
case RTEMS_INVALID_NUMBER:
SPACEWIRE_DBG2("failed RTEMS_INVALID_NUMBER\n");
break;
case RTEMS_RESOURCE_IN_USE:
SPACEWIRE_DBG2("failed RTEMS_RESOURCE_IN_USE\n");
break;
default:
SPACEWIRE_DBG("failed %i\n",r);
break;
}
return 1;
}
}
/* Get a value at least 6.4us in number of clock cycles */
static unsigned int grspw_calc_timer64(int freq_khz){
unsigned int timer64 = (freq_khz*64+9999)/10000;
return timer64 & 0xfff;
}
/* Get a value at least 850ns in number of clock cycles - 3 */
static unsigned int grspw_calc_disconnect(int freq_khz){
unsigned int disconnect = ((freq_khz*85+99999)/100000) - 3;
return disconnect & 0x3ff;
}
#if 0
static int grspw_buffer_alloc(GRSPW_DEV *pDev) {
if (pDev->ptr_rxbuf0) {
free(pDev->ptr_rxbuf0);
}
if (pDev->ptr_txdbuf0) {
free(pDev->ptr_txdbuf0);
}
if (pDev->ptr_txhbuf0) {
free(pDev->ptr_txhbuf0);
}
pDev->ptr_rxbuf0 = (char *) malloc(pDev->rxbufsize * pDev->rxbufcnt);
pDev->ptr_txdbuf0 = (char *) malloc(pDev->txdbufsize * pDev->txbufcnt);
pDev->ptr_txhbuf0 = (char *) malloc(pDev->txhbufsize * pDev->txbufcnt);
if ((pDev->ptr_rxbuf0 == NULL) ||
(pDev->ptr_txdbuf0 == NULL) || (pDev->ptr_txhbuf0 == NULL)) {
return 1;
} else {
return 0;
}
}
#endif
static int grspw_buffer_alloc(GRSPW_DEV *pDev)
{
#ifndef GRSPW_STATIC_MEM
if (pDev->ptr_rxbuf0) {
free(pDev->ptr_rxbuf0);
}
if (pDev->ptr_txdbuf0) {
free(pDev->ptr_txdbuf0);
}
if (pDev->ptr_txhbuf0) {
free(pDev->ptr_txhbuf0);
}
pDev->ptr_rxbuf0 = (char *) malloc(pDev->rxbufsize * pDev->rxbufcnt);
pDev->ptr_txdbuf0 = (char *) malloc(pDev->txdbufsize * pDev->txbufcnt);
pDev->ptr_txhbuf0 = (char *) malloc(pDev->txhbufsize * pDev->txbufcnt);
if ((pDev->ptr_rxbuf0 == NULL) ||
(pDev->ptr_txdbuf0 == NULL) || (pDev->ptr_txhbuf0 == NULL)) {
return 1;
} else {
return 0;
}
#else
if ( (pDev->membase + pDev->rxbufsize*pDev->rxbufcnt + pDev->txdbufsize*pDev->txbufcnt) >= pDev->memend ) {
return -1;
}
pDev->ptr_rxbuf0 = (char *) pDev->membase;
pDev->ptr_txdbuf0 = pDev->ptr_rxbuf0 + pDev->rxbufsize * pDev->rxbufcnt;
pDev->ptr_txhbuf0 = pDev->ptr_txdbuf0 + pDev->txdbufsize * pDev->txbufcnt;
return 0;
#endif
}
#ifdef GRSPW_DEFINE_INTHANDLER
/*
* Standard Interrupt handler
*/
static rtems_isr grspw_interrupt_handler(rtems_vector_number v)
{
int minor;
for(minor = 0; minor < spw_cores; minor++) {
if (v == (grspw_devs[minor].irq+0x10) ) {
grspw_interrupt(&grspw_devs[minor]);
break;
}
}
}
#endif
static void grspw_interrupt(GRSPW_DEV *pDev){
int dmactrl;
int status;
int ctrl;
status = SPW_STATUS_READ(pDev);
SPW_STATUS_WRITE(pDev, SPW_STATUS_CE | SPW_STATUS_ER | SPW_STATUS_DE | SPW_STATUS_PE | SPW_STATUS_WE | SPW_STATUS_IA | SPW_STATUS_EE);
dmactrl = SPW_READ(&pDev->regs->dma0ctrl);
SPW_WRITE(&pDev->regs->dma0ctrl, dmactrl | SPW_DMACTRL_PR);
/* If linkinterrupts are enabled check if it was a linkerror irq and then send an event to the
process set in the config */
if (pDev->config.link_err_irq) {
if (status & (SPW_STATUS_CE | SPW_STATUS_ER | SPW_STATUS_DE | SPW_STATUS_PE | SPW_STATUS_WE)) {
rtems_event_send(pDev->config.event_id, SPW_LINKERR_EVENT);
if (pDev->config.disable_err) {
/* disable link*/
SPW_CTRL_WRITE(pDev, (SPW_CTRL_READ(pDev) & 0xFFFFFFFC) | SPW_CTRL_LINKDISABLED);
pDev->config.linkdisabled = 1;
pDev->config.linkstart = 0;
pDev->running = 0;
}
}
}
if (status & SPW_STATUS_CE) {
pDev->stat.credit_err++;
}
if (status & SPW_STATUS_ER) {
pDev->stat.escape_err++;
}
if (status & SPW_STATUS_DE) {
pDev->stat.disconnect_err++;
}
if (status & SPW_STATUS_PE) {
pDev->stat.parity_err++;
}
if (status & SPW_STATUS_WE) {
pDev->stat.write_sync_err++;
}
if (status & SPW_STATUS_IA) {
pDev->stat.invalid_address++;
}
if (status & SPW_STATUS_EE) {
pDev->stat.early_ep++;
}
/* Check for tx interrupts */
while( (pDev->tx_sent != pDev->tx_cur) || pDev->tx_all_in_use) {
/* Has this descriptor been sent? */
ctrl = SPW_READ((volatile void *)&pDev->tx[pDev->tx_sent].ctrl);
if ( ctrl & SPW_TXBD_EN ) {
break;
}
/* Yes, increment status counters & tx_sent so we can use this descriptor to send more packets with */
pDev->stat.packets_sent++;
rtems_semaphore_release(pDev->txsp);
if ( ctrl & SPW_TXBD_LE ) {
pDev->stat.tx_link_err++;
}
/* step to next descriptor */
pDev->tx_sent = (pDev->tx_sent + 1) % pDev->txbufcnt;
pDev->tx_all_in_use = 0; /* not all of the descriptors can be in use since we just freed one. */
}
/* Check for rx interrupts */
if (dmactrl & SPW_DMACTRL_PR) {
rtems_semaphore_release(pDev->rxsp);
}
}
static rtems_device_driver grspw_initialize(
rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_status_code status;
int i=0;
char c;
GRSPW_DEV *pDev;
char console_name[20];
amba_apb_device dev;
SPACEWIRE_DBG2("spacewire driver initialization\n");
/* Copy device name */
strcpy(console_name,GRSPW_DEVNAME);
/* Get the number of GRSPW cores */
i=0; spw_cores = 0;
/* get number of GRSPW cores */
spw_cores = amba_get_number_apbslv_devices(amba_bus,VENDOR_GAISLER,GAISLER_SPACEWIRE);
#if 0
if ( spw_cores > SPACEWIRE_MAX_CORENR )
spw_cores = SPACEWIRE_MAX_CORENR;
while (i < amba_conf.apbslv.devnr) {
conf = amba_get_confword(amba_conf.apbslv, i, 0);
if ((amba_vendor(conf) == VENDOR_GAISLER) && (amba_device(conf) == GAISLER_SPACEWIRE))
spw_cores++;
i++;
}
#endif
if ( spw_cores < 1 ){
/* No GRSPW cores around... */
return RTEMS_SUCCESSFUL;
}
/* Allocate memory for all spacewire cores */
grspw_devs = (GRSPW_DEV *)malloc(spw_cores * sizeof(GRSPW_DEV));
/* Zero out all memory */
memset(grspw_devs,0,spw_cores * sizeof(GRSPW_DEV));
/* loop all found spacewire cores */
i = 0;
for(minor=0; minor<spw_cores; minor++){
/* Get device */
amba_find_next_apbslv(amba_bus,VENDOR_GAISLER,GAISLER_SPACEWIRE,&dev,minor);
pDev = &grspw_devs[minor];
pDev->regs = (LEON3_SPACEWIRE_Regs_Map *)dev.start;
pDev->irq = dev.irq;
pDev->minor = minor;
pDev->open = 0;
/* register interrupt routine */
GRSPW_REG_INT(GRSPW_PREFIX(_interrupt_handler), pDev->irq, pDev);
SPACEWIRE_DBG("spacewire core at [0x%x]\n", (unsigned int) pDev->regs);
/* initialize the code with some resonable values,
actual initialization is done later using ioctl(fd)
on the opened device */
pDev->config.rxmaxlen = SPACEWIRE_RXPCK_SIZE;
pDev->txdbufsize = SPACEWIRE_TXD_SIZE;
pDev->txhbufsize = SPACEWIRE_TXH_SIZE;
pDev->rxbufsize = SPACEWIRE_RXPCK_SIZE;
pDev->txbufcnt = SPACEWIRE_TXBUFS_NR;
pDev->rxbufcnt = SPACEWIRE_RXBUFS_NR;
pDev->config.check_rmap_err = 0;
pDev->config.tx_blocking = 0;
pDev->config.tx_block_on_full = 0;
pDev->config.rx_blocking = 0;
pDev->config.disable_err = 0;
pDev->config.link_err_irq = 0;
pDev->config.event_id = 0;
pDev->ptr_rxbuf0 = 0;
pDev->ptr_txdbuf0 = 0;
pDev->ptr_txhbuf0 = 0;
#ifdef GRSPW_STATIC_MEM
GRSPW_CALC_MEMOFS(spw_cores,minor,&pDev->membase,&pDev->memend,&pDev->mem_bdtable);
#endif
if (grspw_buffer_alloc(pDev))
return RTEMS_NO_MEMORY;
}
/* Register Device Names, /dev/grspw0, /dev/grspw1 ... */
for (i = 0; i < spw_cores; i++) {
GRSPW_DEVNAME_NO(console_name,i);
SPACEWIRE_DBG("registering minor %i as %s\n", i, console_name);
status = rtems_io_register_name( console_name, major, i);
if (status != RTEMS_SUCCESSFUL){
rtems_fatal_error_occurred(status);
}
}
/* Initialize Hardware and semaphores*/
c = 'a';
for (i = 0; i < spw_cores; i++) {
pDev = &grspw_devs[i];
rtems_semaphore_create(
rtems_build_name('T', 'x', 'S', c),
0,
RTEMS_FIFO | RTEMS_SIMPLE_BINARY_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY | \
RTEMS_NO_PRIORITY_CEILING,
0,
&(pDev->txsp));
rtems_semaphore_create(
rtems_build_name('R', 'x', 'S', c),
0,
RTEMS_FIFO | RTEMS_SIMPLE_BINARY_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY | \
RTEMS_NO_PRIORITY_CEILING,
0,
&(pDev->rxsp));
c++;
grspw_hw_init(pDev);
}
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver grspw_open(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
GRSPW_DEV *pDev;
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "open [%i,%i]\n", major, minor);
if ( minor >= spw_cores ) {
SPACEWIRE_DBG("minor %i too big\n", minor);
return RTEMS_INVALID_NAME;
}
pDev = &grspw_devs[minor];
if ( pDev->open )
return RTEMS_RESOURCE_IN_USE;
/* Mark device open */
pDev->open = 1;
pDev->stat.tx_link_err = 0;
pDev->stat.rx_rmap_header_crc_err = 0;
pDev->stat.rx_rmap_data_crc_err = 0;
pDev->stat.rx_eep_err = 0;
pDev->stat.rx_truncated = 0;
pDev->stat.parity_err = 0;
pDev->stat.escape_err = 0;
pDev->stat.credit_err = 0;
pDev->stat.write_sync_err = 0;
pDev->stat.disconnect_err = 0;
pDev->stat.early_ep = 0;
pDev->stat.invalid_address = 0;
pDev->stat.packets_sent = 0;
pDev->stat.packets_received = 0;
pDev->running = 0;
pDev->core_freq_khz = 0;
/* Reset Core */
grspw_hw_reset(pDev);
/* Read default configuration */
grspw_hw_read_config(pDev);
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver grspw_close(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
GRSPW_DEV *pDev = &grspw_devs[minor];
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "close [%i,%i]\n", major, minor);
rtems_semaphore_delete(pDev->txsp);
rtems_semaphore_delete(pDev->rxsp);
grspw_hw_stop(pDev,1,1);
grspw_hw_reset(pDev);
/* Mark device closed - not open */
pDev->open = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver grspw_read(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
GRSPW_DEV *pDev = &grspw_devs[minor];
rtems_libio_rw_args_t *rw_args;
unsigned int count = 0;
rw_args = (rtems_libio_rw_args_t *) arg;
/* is link up? */
if ( !pDev->running ) {
return RTEMS_INVALID_NAME;
}
if ((rw_args->count < 1) || (rw_args->buffer == NULL)) {
return RTEMS_INVALID_NAME;
}
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "read [%i,%i]: buf:0x%x len:%i \n", major, minor, (unsigned int)rw_args->buffer, rw_args->count);
while ( (count = grspw_hw_receive(pDev, rw_args->buffer, rw_args->count)) == 0) {
/* wait a moment for any descriptors to get available
*
* Semaphore is signaled by interrupt handler
*/
if (pDev->config.rx_blocking) {
SPACEWIRE_DBG2("Rx blocking\n");
rtems_semaphore_obtain(pDev->rxsp, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
} else {
SPACEWIRE_DBG2("Rx non blocking\n");
return RTEMS_RESOURCE_IN_USE;
}
}
#ifdef DEBUG_SPACEWIRE_ONOFF
if (DEBUG_SPACEWIRE_FLAGS & DBGSPW_DUMP) {
int k;
for (k = 0; k < count; k++){
if (k % 16 == 0) {
printf ("\n");
}
printf ("%.2x(%c) ", rw_args->buffer[k] & 0xff, isprint(rw_args->buffer[k] & 0xff) ? rw_args->buffer[k] & 0xff : ' ');
}
printf ("\n");
}
#endif
rw_args->bytes_moved = count;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver grspw_write(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
GRSPW_DEV *pDev = &grspw_devs[minor];
rtems_libio_rw_args_t *rw_args;
rw_args = (rtems_libio_rw_args_t *) arg;
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "write [%i,%i]: buf:0x%x len:%i\n", major, minor, (unsigned int)rw_args->buffer, rw_args->count);
/* is link up? */
if ( !pDev->running ) {
return RTEMS_INVALID_NAME;
}
if ((rw_args->count > pDev->txdbufsize) || (rw_args->count < 1) || (rw_args->buffer == NULL)) {
return RTEMS_INVALID_NAME;
}
while ((rw_args->bytes_moved = grspw_hw_send(pDev, 0, NULL, rw_args->count, rw_args->buffer)) == 0) {
if (pDev->config.tx_block_on_full == 1) {
SPACEWIRE_DBG2("Tx Block on full \n");
rtems_semaphore_obtain(pDev->txsp, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
} else {
SPACEWIRE_DBG2("Tx non blocking return when full \n");
return RTEMS_RESOURCE_IN_USE;
}
}
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver grspw_control(
rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
GRSPW_DEV *pDev = &grspw_devs[minor];
spw_ioctl_pkt_send *args;
spw_ioctl_packetsize *ps;
int status;
unsigned int tmp;
int timeout;
rtems_device_driver ret;
rtems_libio_ioctl_args_t *ioarg = (rtems_libio_ioctl_args_t *) arg;
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "ctrl [%i,%i]\n", major, minor);
if (!ioarg)
return RTEMS_INVALID_NAME;
ioarg->ioctl_return = 0;
switch(ioarg->command) {
case SPACEWIRE_IOCTRL_SET_NODEADDR:
/*set node address*/
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_NODEADDR %i\n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 255) {
return RTEMS_INVALID_NAME;
}
SPW_WRITE(&pDev->regs->nodeaddr, (unsigned int)ioarg->buffer);
if (SPW_READ(&pDev->regs->nodeaddr) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.nodeaddr = (unsigned int) ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_RXBLOCK:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_RXBLOCK %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
pDev->config.rx_blocking = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_DESTKEY:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_DESTKEY %i\n", (unsigned int)ioarg->buffer);
if (!pDev->config.is_rmap) {
return RTEMS_NOT_IMPLEMENTED;
}
if ((unsigned int)ioarg->buffer > 255) {
return RTEMS_INVALID_NAME;
}
SPW_WRITE(&pDev->regs->destkey, (unsigned int)ioarg->buffer);
if (SPW_READ(&pDev->regs->destkey) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.destkey = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_CLKDIV:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_CLKDIV %i\n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 255) {
return RTEMS_INVALID_NAME;
}
SPW_WRITE(&pDev->regs->clkdiv, (unsigned int)ioarg->buffer);
if (SPW_READ(&pDev->regs->clkdiv) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.clkdiv = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_TIMER:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_TIMER %i\n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 4095) {
return RTEMS_INVALID_NAME;
}
SPW_WRITE(&pDev->regs->timer, (SPW_READ(&pDev->regs->timer) & 0xFFFFF000) | ((unsigned int)ioarg->buffer & 0xFFF));
if ((SPW_READ(&pDev->regs->timer) & 0xFFF) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.timer = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_DISCONNECT:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_DISCONNECT %i\n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1023) {
return RTEMS_INVALID_NAME;
}
SPW_WRITE(&pDev->regs->timer, (SPW_READ(&pDev->regs->timer) & 0xFFC00FFF) | (((unsigned int)ioarg->buffer & 0x3FF) << 12));
if (((SPW_READ(&pDev->regs->timer) >> 12) & 0x3FF) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.disconnect = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_PROMISCUOUS:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_PROMISCUOUS %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
SPW_CTRL_WRITE(pDev, SPW_CTRL_READ(pDev) | ((unsigned int)ioarg->buffer << 5));
if (((SPW_CTRL_READ(pDev) >> 5) & 1) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.promiscuous = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_RMAPEN:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_RMAPEN %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
SPW_CTRL_WRITE(pDev, (SPW_STATUS_READ(pDev) & 0xFFFEFFFF) | ((unsigned int)ioarg->buffer << 16));
if (((SPW_CTRL_READ(pDev) >> 16) & 1) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.rmapen = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_RMAPBUFDIS:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_RMAPBUFDIS %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
SPW_CTRL_WRITE(pDev, (SPW_STATUS_READ(pDev) & 0xFFFDFFFF) | ((unsigned int)ioarg->buffer << 17));
if (((SPW_CTRL_READ(pDev) >> 17) & 1) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.rmapbufdis = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_CHECK_RMAP:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_CHECK_RMAP %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
pDev->config.check_rmap_err = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_RM_PROT_ID:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_RM_PROT_ID %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
pDev->config.rm_prot_id = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_TXBLOCK:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_TXBLOCK %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
pDev->config.tx_blocking = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
pDev->config.tx_block_on_full = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_DISABLE_ERR:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_DISABLE_ERR %i \n", (unsigned int)ioarg->buffer);
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
pDev->config.disable_err = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ %i \n", (unsigned int)ioarg->buffer);
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "CTRL REG: %x\n", SPW_CTRL_READ(pDev));
if ((unsigned int)ioarg->buffer > 1) {
return RTEMS_INVALID_NAME;
}
SPW_CTRL_WRITE(pDev, (SPW_CTRL_READ(pDev) & 0xFFFFFDF7) | ((unsigned int)ioarg->buffer << 9) | (pDev->config.link_err_irq << 3));
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "CTRL REG: %x\n", SPW_CTRL_READ(pDev));
if (((SPW_CTRL_READ(pDev) >> 9) & 1) != (unsigned int)ioarg->buffer) {
return RTEMS_IO_ERROR;
}
pDev->config.link_err_irq = (unsigned int)ioarg->buffer;
break;
case SPACEWIRE_IOCTRL_SET_EVENT_ID:
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "SPACEWIRE_IOCTRL_SET_EVENT_ID %i \n", (unsigned int)ioarg->buffer);
pDev->config.event_id = (rtems_id)ioarg->buffer;
SPACEWIRE_DBGC(DBGSPW_IOCTRL, "Event id: %i\n", pDev->config.event_id);
break;
/* Change MAX Packet size by:
* - stop RX/TX (if on)
* - wait for hw to complete RX DMA (if on)
* - reallocate buffers with new size
* - tell hw about new size & start RX/TX again (if previously on)
*/
case SPACEWIRE_IOCTRL_SET_PACKETSIZE:
if (ioarg->buffer == NULL)
return RTEMS_INVALID_NAME;
ps = (spw_ioctl_packetsize*) ioarg->buffer;
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_SET_RXPACKETSIZE %i \n", (unsigned int)ioarg->buffer);
tmp = pDev->running;
if ( pDev->running ){
/* Stop RX */
grspw_hw_stop(pDev,1,1);
/* If packetsize fails it is good to know if in running mode */
pDev->running = 0;
/* Wait for Receiver to finnish pending DMA transfers if any */
grspw_hw_wait_rx_inactive(pDev);
}
/* Save new buffer sizes */
pDev->rxbufsize = ps->rxsize;
pDev->txdbufsize = ps->txdsize;
pDev->txhbufsize = ps->txhsize;
pDev->config.rxmaxlen = pDev->rxbufsize;
/* Free previous buffers & allocate buffers with new size */
if (grspw_buffer_alloc(pDev))
return RTEMS_NO_MEMORY;
/* if RX was actived before, we reactive it again */
if ( tmp ) {
if ( (status = grspw_hw_startup(pDev,-1)) != RTEMS_SUCCESSFUL ) {
return status;
}
pDev->running = 1;
}
#if 0
/* Rewrite previous config which was wasted due to reset in hw_startup */
SPW_WRITE(&pDev->regs->nodeaddr, pDev->config.nodeaddr);
SPW_WRITE(&pDev->regs->destkey, pDev->config.destkey);
SPW_WRITE(&pDev->regs->clkdiv, pDev->config.clkdiv);
SPW_WRITE(&pDev->regs->timer, pDev->config.timer | ( (pDev->config.disconnect & 0x3FF) << 12) );
SPW_CTRL_WRITE(pDev, (SPW_CTRL_READ(pDev) & !(SPW_CTRL_LINKSTART | SPW_CTRL_PM | SPW_CTRL_RE | SPW_CTRL_RD | SPW_CTRL_TT | SPW_CTRL_TR)) | \
(pDev->config.promiscuous << 5) | (pDev->config.rmapen << 16) | (pDev->config.rmapbufdis << 17) | \
(pDev->config.linkdisabled) | (pDev->config.linkstart << 1));
#endif
break;
case SPACEWIRE_IOCTRL_GET_CONFIG:
if (ioarg->buffer == NULL)
return RTEMS_INVALID_NAME;
SPACEWIRE_DBG2("SPACEWIRE_IOCTRL_GET_CONFIG \n");
(*(spw_config *)ioarg->buffer).nodeaddr = pDev->config.nodeaddr;
(*(spw_config *)ioarg->buffer).destkey = pDev->config.destkey;
(*(spw_config *)ioarg->buffer).clkdiv = pDev->config.clkdiv;
(*(spw_config *)ioarg->buffer).rxmaxlen = pDev->config.rxmaxlen;
(*(spw_config *)ioarg->buffer).timer = pDev->config.timer;
(*(spw_config *)ioarg->buffer).disconnect = pDev->config.disconnect;
(*(spw_config *)ioarg->buffer).promiscuous = pDev->config.promiscuous;
(*(spw_config *)ioarg->buffer).rmapen = pDev->config.rmapen;
(*(spw_config *)ioarg->buffer).rmapbufdis = pDev->config.rmapbufdis;
(*(spw_config *)ioarg->buffer).check_rmap_err = pDev->config.check_rmap_err;
(*(spw_config *)ioarg->buffer).rm_prot_id = pDev->config.rm_prot_id;
(*(spw_config *)ioarg->buffer).tx_blocking = pDev->config.tx_blocking;
(*(spw_config *)ioarg->buffer).disable_err = pDev->config.disable_err;
(*(spw_config *)ioarg->buffer).link_err_irq = pDev->config.link_err_irq;
(*(spw_config *)ioarg->buffer).event_id = pDev->config.event_id;
(*(spw_config *)ioarg->buffer).is_rmap = pDev->config.is_rmap;
(*(spw_config *)ioarg->buffer).is_rmapcrc = pDev->config.is_rmapcrc;
(*(spw_config *)ioarg->buffer).is_rxunaligned = pDev->config.is_rxunaligned;
(*(spw_config *)ioarg->buffer).linkdisabled = pDev->config.linkdisabled;
(*(spw_config *)ioarg->buffer).linkstart = pDev->config.linkstart;
(*(spw_config *)ioarg->buffer).rx_blocking = pDev->config.rx_blocking;
(*(spw_config *)ioarg->buffer).tx_block_on_full = pDev->config.tx_block_on_full;
break;
case SPACEWIRE_IOCTRL_GET_LINK_STATUS:
SPACEWIRE_DBGC(DBGSPW_IOCTRL,"SPACEWIRE_IOCTRL_GET_STATUS=%i \n", (unsigned int)((SPW_STATUS_READ(pDev) >> 21) & 0x7));
*(unsigned int *)ioarg->buffer = (unsigned int )((SPW_STATUS_READ(pDev) >> 21) & 0x7);
break;
case SPACEWIRE_IOCTRL_GET_STATISTICS:
if (ioarg->buffer == NULL)
return RTEMS_INVALID_NAME;
SPACEWIRE_DBG2("SPACEWIRE_IOCTRL_GET_STATISTICS \n");
(*(spw_stats *)ioarg->buffer).tx_link_err = pDev->stat.tx_link_err;
(*(spw_stats *)ioarg->buffer).rx_rmap_header_crc_err = pDev->stat.rx_rmap_header_crc_err;
(*(spw_stats *)ioarg->buffer).rx_rmap_data_crc_err = pDev->stat.rx_rmap_data_crc_err;
(*(spw_stats *)ioarg->buffer).rx_eep_err = pDev->stat.rx_eep_err;
(*(spw_stats *)ioarg->buffer).rx_truncated = pDev->stat.rx_truncated;
(*(spw_stats *)ioarg->buffer).parity_err = pDev->stat.parity_err;
(*(spw_stats *)ioarg->buffer).escape_err = pDev->stat.escape_err;
(*(spw_stats *)ioarg->buffer).credit_err = pDev->stat.credit_err;
(*(spw_stats *)ioarg->buffer).write_sync_err = pDev->stat.write_sync_err;
(*(spw_stats *)ioarg->buffer).disconnect_err = pDev->stat.disconnect_err;
(*(spw_stats *)ioarg->buffer).early_ep = pDev->stat.early_ep;
(*(spw_stats *)ioarg->buffer).invalid_address = pDev->stat.invalid_address;
(*(spw_stats *)ioarg->buffer).packets_sent = pDev->stat.packets_sent;
(*(spw_stats *)ioarg->buffer).packets_received = pDev->stat.packets_received;
break;
case SPACEWIRE_IOCTRL_CLR_STATISTICS:
SPACEWIRE_DBG2("SPACEWIRE_IOCTRL_CLR_STATISTICS \n");
pDev->stat.tx_link_err = 0;
pDev->stat.rx_rmap_header_crc_err = 0;
pDev->stat.rx_rmap_data_crc_err = 0;
pDev->stat.rx_eep_err = 0;
pDev->stat.rx_truncated = 0;
pDev->stat.parity_err = 0;
pDev->stat.escape_err = 0;
pDev->stat.credit_err = 0;
pDev->stat.write_sync_err = 0;
pDev->stat.disconnect_err = 0;
pDev->stat.early_ep = 0;
pDev->stat.invalid_address = 0;
pDev->stat.packets_sent = 0;
pDev->stat.packets_received = 0;
break;
case SPACEWIRE_IOCTRL_SEND:
if (ioarg->buffer == NULL)
return RTEMS_INVALID_NAME;
args = (spw_ioctl_pkt_send *)ioarg->buffer;
args->sent = 0;
/* is link up? */
if ( !pDev->running ) {
return RTEMS_INVALID_NAME;
}
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "write [%i,%i]: hlen: %i hbuf:0x%x dlen:%i dbuf:0x%x\n", major, minor,
(unsigned int)args->hlen, (int)args->hdr,(unsigned int)args->dlen, (int)args->data);
if ((args->hlen > pDev->txhbufsize) || (args->dlen > pDev->txdbufsize) ||
((args->hlen+args->dlen) < 1) ||
((args->hdr == NULL) && (args->hlen != 0)) || ((args->data == NULL) && (args->dlen != 0))) {
return RTEMS_INVALID_NAME;
}
while ((args->sent = grspw_hw_send(pDev, args->hlen, args->hdr, args->dlen, args->data)) == 0) {
if (pDev->config.tx_block_on_full == 1) {
SPACEWIRE_DBG2("Tx Block on full \n");
rtems_semaphore_obtain(pDev->txsp, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
} else {
SPACEWIRE_DBG2("Tx non blocking return when full \n");
return RTEMS_RESOURCE_IN_USE;
}
}
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "Tx ioctl return: %i \n", args->sent);
break;
case SPACEWIRE_IOCTRL_LINKDISABLE:
pDev->config.linkdisabled = 1;
pDev->config.linkstart = 0;
SPW_CTRL_WRITE(pDev, (SPW_CTRL_READ(pDev) & 0xFFFFFFFC) | 1);
if ((SPW_CTRL_READ(pDev) & 3) != 1) {
return RTEMS_IO_ERROR;
}
break;
case SPACEWIRE_IOCTRL_LINKSTART:
pDev->config.linkdisabled = 0;
pDev->config.linkstart = 1;
SPW_CTRL_WRITE(pDev, (SPW_CTRL_READ(pDev) & 0xFFFFFFFC) | 2);
if ((SPW_CTRL_READ(pDev) & 3) != 2) {
return RTEMS_IO_ERROR;
}
break;
/* Calculate timer register from GRSPW Core frequency
* Also possible to set disconnect and timer64 from
* - SPACEWIRE_IOCTRL_SET_DISCONNECT
* - SPACEWIRE_IOCTRL_SET_TIMER
*/
case SPACEWIRE_IOCTRL_SET_COREFREQ:
pDev->core_freq_khz = (unsigned int)ioarg->buffer;
if ( pDev->core_freq_khz == 0 ){
/* Get GRSPW clock frequency from system clock.
* System clock has been read from timer inited
* by RTEMS loader (mkprom)
*/
pDev->core_freq_khz = sys_freq_khz;
}
/* Calculate Timer64 & Disconnect */
pDev->config.timer = grspw_calc_timer64(pDev->core_freq_khz);
pDev->config.disconnect = grspw_calc_disconnect(pDev->core_freq_khz);
/* Set Timer64 & Disconnect Register */
SPW_WRITE(&pDev->regs->timer,
(SPW_READ(&pDev->regs->timer) & 0xFFC00000) |
((pDev->config.disconnect & 0x3FF)<<12) |
(pDev->config.timer & 0xFFF));
/* Check that the registers were written successfully */
tmp = SPW_READ(&pDev->regs->timer) & 0x003fffff;
if ( ((tmp & 0xFFF) != pDev->config.timer) ||
(((tmp >> 12) & 0x3FF) != pDev->config.disconnect) ) {
return RTEMS_IO_ERROR;
}
break;
case SPACEWIRE_IOCTRL_START:
if ( pDev->running ){
return RTEMS_INVALID_NAME;
}
/* Get timeout from userspace
* timeout:
* ¤ -1 = Default timeout
* ¤ less than -1 = forever
* ¤ 0 = no wait, proceed if link is up
* ¤ positive = specifies number of system clock ticks that
* startup will wait for link to enter ready mode.
*/
timeout = (int)ioarg->buffer;
if ( (ret=grspw_hw_startup(pDev,timeout)) != RTEMS_SUCCESSFUL ) {
return ret;
}
pDev->running = 1;
break;
case SPACEWIRE_IOCTRL_STOP:
if ( !pDev->running ){
return RTEMS_INVALID_NAME;
}
pDev->running = 0;
/* Stop Receiver and transmitter */
grspw_hw_stop(pDev,1,1);
break;
default:
return RTEMS_NOT_IMPLEMENTED;
}
SPACEWIRE_DBGC(DBGSPW_IOCALLS, "SPW_IOCTRL Return\n");
return RTEMS_SUCCESSFUL;
}
/* ============================================================================== */
static int grspw_set_rxmaxlen(GRSPW_DEV *pDev) {
unsigned int rxmax;
SPW_WRITE(&pDev->regs->dma0rxmax,pDev->config.rxmaxlen); /*set rx maxlength*/
rxmax = SPW_READ(&pDev->regs->dma0rxmax);
if (rxmax != pDev->config.rxmaxlen) {
return 0;
}
return 1;
}
static int grspw_hw_init(GRSPW_DEV *pDev) {
unsigned int ctrl;
ctrl = SPW_CTRL_READ(pDev);
#ifdef GRSPW_STATIC_MEM
pDev->rx = (SPACEWIRE_RXBD *) pDev->mem_bdtable;
pDev->tx = (SPACEWIRE_RXBD *) pDev->mem_bdtable + SPACEWIRE_BDTABLE_SIZE;
#else
pDev->rx = (SPACEWIRE_RXBD *) SPW_ALIGN(&pDev->_rxtable, SPACEWIRE_BDTABLE_SIZE);
pDev->tx = (SPACEWIRE_TXBD *) SPW_ALIGN(&pDev->_txtable, SPACEWIRE_BDTABLE_SIZE);
#endif
SPACEWIRE_DBG("hw_init [minor %i]\n", pDev->minor);
pDev->config.is_rmap = ctrl & SPW_CTRL_RA;
pDev->config.is_rxunaligned = ctrl & SPW_CTRL_RX;
pDev->config.is_rmapcrc = ctrl & SPW_CTRL_RC;
return 0;
}
static int grspw_hw_waitlink (GRSPW_DEV *pDev, int timeout)
{
int j;
if ( timeout == -1 ){
/* Wait default timeout */
timeout = SPACEWIRE_INIT_TIMEOUT;
}
j=0;
while (SPW_LINKSTATE(SPW_STATUS_READ(pDev)) != 5) {
if ( timeout < -1 ) {
/* wait forever */
}else if ( j >= timeout ){
/* timeout reached, return fail */
return 1;
}
/* Sleep for 10 ticks */
rtems_task_wake_after(10);
j+=10;
}
return 0;
}
static void grspw_hw_reset(GRSPW_DEV *pDev)
{
SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET); /*reset core*/
SPW_STATUS_WRITE(pDev, SPW_STATUS_TO | SPW_STATUS_CE | SPW_STATUS_ER | SPW_STATUS_DE | SPW_STATUS_PE |
SPW_STATUS_WE | SPW_STATUS_IA | SPW_STATUS_EE); /*clear status*/
SPW_CTRL_WRITE(pDev, SPW_CTRL_LINKSTART); /*start link core*/
}
static void grspw_hw_read_config(GRSPW_DEV *pDev)
{
unsigned int tmp;
pDev->config.nodeaddr = 0xFF & SPW_READ(&pDev->regs->nodeaddr);
pDev->config.destkey = 0xFF & SPW_READ(&pDev->regs->destkey);
pDev->config.clkdiv = 0xFF & SPW_READ(&pDev->regs->clkdiv);
tmp = SPW_CTRL_READ(pDev);
pDev->config.promiscuous = 1 & (tmp >> 5);
pDev->config.rmapen = 1 & (tmp >> 16);
pDev->config.rmapbufdis = 1 & (tmp >> 17);
pDev->config.is_rmap = 1 & (tmp >> 31);
pDev->config.is_rxunaligned = 1 & (tmp >> 30);
pDev->config.is_rmapcrc = 1 & (tmp >> 29);
pDev->config.linkdisabled = 1 & tmp;
pDev->config.linkstart = 1 & (tmp >> 1);
tmp = SPW_READ(&pDev->regs->timer);
pDev->config.timer = 0xFFF & tmp;
pDev->config.disconnect = 0x3FF & (tmp >> 12);
return;
}
/* timeout is given in ticks */
static int grspw_hw_startup (GRSPW_DEV *pDev, int timeout)
{
int i;
unsigned int dmactrl;
SPW_WRITE(&pDev->regs->status, (SPW_STATUS_TO|SPW_STATUS_CE|SPW_STATUS_ER|SPW_STATUS_DE|SPW_STATUS_PE|SPW_STATUS_WE|SPW_STATUS_IA|SPW_STATUS_EE)); /*clear status*/
if (grspw_hw_waitlink(pDev,timeout)) {
SPACEWIRE_DBG2("Device open. Link is not up\n");
return RTEMS_TIMEOUT;
}
SPW_WRITE(&pDev->regs->dma0ctrl, SPW_DMACTRL_PS | SPW_DMACTRL_PR | SPW_DMACTRL_TA | SPW_DMACTRL_RA); /*clear status, set ctrl*/
if ((dmactrl = SPW_READ(&pDev->regs->dma0ctrl)) != 0) {
SPACEWIRE_DBG2("DMACtrl is not cleared\n");
return RTEMS_IO_ERROR;
}
/* prepare transmit buffers */
for (i = 0; i < pDev->txbufcnt; i++) {
pDev->tx[i].ctrl = 0;
pDev->tx[i].addr_header = memarea_to_hw(((unsigned int)&pDev->ptr_txhbuf0[0]) + (i * pDev->txhbufsize));
pDev->tx[i].addr_data = memarea_to_hw(((unsigned int)&pDev->ptr_txdbuf0[0]) + (i * pDev->txdbufsize));
}
pDev->tx_cur = 0;
pDev->tx_sent = 0;
pDev->tx_all_in_use = 0;
/* prepare receive buffers */
for (i = 0; i < pDev->rxbufcnt; i++) {
if (i+1 == pDev->rxbufcnt) {
pDev->rx[i].ctrl = SPW_RXBD_IE | SPW_RXBD_EN | SPW_RXBD_WR;
} else {
pDev->rx[i].ctrl = SPW_RXBD_IE | SPW_RXBD_EN;
}
pDev->rx[i].addr = memarea_to_hw(((unsigned int)&pDev->ptr_rxbuf0[0]) + (i * pDev->rxbufsize));
}
pDev->rxcur = 0;
pDev->rxbufcur = -1;
grspw_set_rxmaxlen(pDev);
SPW_WRITE(&pDev->regs->dma0txdesc, memarea_to_hw((unsigned int) pDev->tx));
SPW_WRITE(&pDev->regs->dma0rxdesc, memarea_to_hw((unsigned int) pDev->rx));
/* start RX */
dmactrl = SPW_READ(&pDev->regs->dma0ctrl);
SPW_WRITE(&pDev->regs->dma0ctrl, (dmactrl & SPW_PREPAREMASK_RX) | SPW_DMACTRL_RD | SPW_DMACTRL_RXEN | SPW_DMACTRL_NS | SPW_DMACTRL_TXIE | SPW_DMACTRL_RXIE);
SPACEWIRE_DBGC(DBGSPW_TX,"0x%x: setup complete\n", (unsigned int)pDev->regs);
return RTEMS_SUCCESSFUL;
}
/* Wait until the receiver is inactive */
static void grspw_hw_wait_rx_inactive(GRSPW_DEV *pDev)
{
while( SPW_READ(&pDev->regs->dma0ctrl) & SPW_DMACTRL_RX ){
/* switching may be needed:
* - low frequency GRSPW
* - mega packet incoming
*/
rtems_task_wake_after(1);
}
}
/* Stop the rx or/and tx by disabling the receiver/transmitter */
static int grspw_hw_stop (GRSPW_DEV *pDev, int rx, int tx)
{
unsigned int dmactrl;
/* stop rx and/or tx */
dmactrl = SPW_READ(&pDev->regs->dma0ctrl);
if ( rx ) {
dmactrl &= ~(SPW_DMACTRL_RXEN|SPW_DMACTRL_RXIE|SPW_DMACTRL_RD);
}
if ( tx ) {
dmactrl &= ~(SPW_DMACTRL_TXEN|SPW_DMACTRL_TXIE);
}
/*SPW_WRITE(&pDev->regs->dma0ctrl, (dmactrl & SPW_PREPAREMASK_RX) & ~(SPW_DMACTRL_RD | SPW_DMACTRL_RXEN) & ~(SPW_DMACTRL_TXEN));*/
/* don't clear status flags */
dmactrl &= ~(SPW_DMACTRL_RA|SPW_DMACTRL_PR|SPW_DMACTRL_AI);
SPW_WRITE(&pDev->regs->dma0ctrl, dmactrl);
return RTEMS_SUCCESSFUL;
}
int grspw_hw_send(GRSPW_DEV *pDev, unsigned int hlen, char *hdr, unsigned int dlen, char *data)
{
unsigned int dmactrl, ctrl;
#ifdef DEBUG_SPACEWIRE_ONOFF
unsigned int k;
#endif
rtems_interrupt_level level;
unsigned int cur = pDev->tx_cur;
char *txh = pDev->ptr_txhbuf0 + (cur * pDev->txhbufsize);
char *txd = pDev->ptr_txdbuf0 + (cur * pDev->txdbufsize);
ctrl = SPW_READ((volatile void *)&pDev->tx[cur].ctrl);
if (ctrl & SPW_TXBD_EN) {
return 0;
}
memcpy(&txd[0], data, dlen);
memcpy(&txh[0], hdr, hlen);
#ifdef DEBUG_SPACEWIRE_ONOFF
if (DEBUG_SPACEWIRE_FLAGS & DBGSPW_DUMP) {
for (k = 0; k < hlen; k++){
if (k % 16 == 0) {
printf ("\n");
}
printf ("%.2x(%c) ",txh[k] & 0xff,isprint(txh[k] & 0xff) ? txh[k] & 0xff : ' ');
}
printf ("\n");
}
if (DEBUG_SPACEWIRE_FLAGS & DBGSPW_DUMP) {
for (k = 0; k < dlen; k++){
if (k % 16 == 0) {
printf ("\n");
}
printf ("%.2x(%c) ",txd[k] & 0xff,isprint(txd[k] & 0xff) ? txd[k] & 0xff : ' ');
}
printf ("\n");
}
#endif
pDev->tx[cur].addr_header = memarea_to_hw((unsigned int)txh);
pDev->tx[cur].len = dlen;
pDev->tx[cur].addr_data = memarea_to_hw((unsigned int)txd);
if (pDev->tx_cur == (pDev->txbufcnt - 1) ) {
pDev->tx[cur].ctrl = SPW_TXBD_IE | SPW_TXBD_WR | SPW_TXBD_EN | hlen;
} else {
pDev->tx[cur].ctrl = SPW_TXBD_IE | SPW_TXBD_EN | hlen;
}
dmactrl = SPW_READ(&pDev->regs->dma0ctrl);
SPW_WRITE(&pDev->regs->dma0ctrl, (dmactrl & SPW_PREPAREMASK_TX) | SPW_DMACTRL_TXEN | SPW_DMACTRL_TXIE);
/* Update counters */
rtems_interrupt_disable(level);
pDev->tx_cur = (pDev->tx_cur + 1) % pDev->txbufcnt;
if (pDev->tx_cur == pDev->tx_sent) {
pDev->tx_all_in_use = 1;
}
rtems_interrupt_enable(level);
/* In blocking mode wait until message is sent */
if (pDev->config.tx_blocking) {
while ( SPW_READ(&pDev->regs->dma0ctrl) & SPW_DMACTRL_TXEN) {
/* if changed to blocking mode */
SPACEWIRE_DBGC(DBGSPW_TX, "Tx blocking\n");
rtems_semaphore_obtain(pDev->txsp, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
}
}
SPACEWIRE_DBGC(DBGSPW_TX, "0x%x: transmitted <%i> bytes\n", (unsigned int) pDev->regs, dlen+hlen);
return hlen + dlen;
}
static int grspw_hw_receive(GRSPW_DEV *pDev, char *b, int c) {
unsigned int len, rxlen, ctrl;
unsigned int cur;
unsigned int tmp;
unsigned int dump_start_len;
int i;
char *rxb;
if ( pDev->config.promiscuous ) {
dump_start_len = 0; /* make sure address and prot can be read in promiscuous mode */
} else if (pDev->config.rm_prot_id) {
dump_start_len = 2; /* skip source address and protocol id */
} else {
dump_start_len = 1; /* default: skip only source address */
}
rxlen = 0;
cur = pDev->rxcur;
rxb = pDev->ptr_rxbuf0 + (cur * pDev->rxbufsize);
SPACEWIRE_DBGC(DBGSPW_RX, "0x%x: waitin packet at pos %i\n", (unsigned int) pDev->regs, cur);
ctrl = SPW_READ((volatile void *)&pDev->rx[cur].ctrl);
if (ctrl & SPW_RXBD_EN) {
return rxlen;
}
SPACEWIRE_DBGC(DBGSPW_RX, "checking packet\n");
len = SPW_RXBD_LENGTH & ctrl;
if (!((ctrl & SPW_RXBD_ERROR) || (pDev->config.check_rmap_err && (ctrl & SPW_RXBD_RMAPERROR)))) {
if (pDev->rxbufcur == -1) {
SPACEWIRE_DBGC(DBGSPW_RX, "incoming packet len %i\n", len);
pDev->stat.packets_received++;
pDev->rxbufcur = dump_start_len;
}
rxlen = tmp = len - pDev->rxbufcur;
SPACEWIRE_DBGC(DBGSPW_RX, "C %i\n", c);
SPACEWIRE_DBGC(DBGSPW_RX, "Dump %i\n", dump_start_len);
SPACEWIRE_DBGC(DBGSPW_RX, "Bufcur %i\n", pDev->rxbufcur);
SPACEWIRE_DBGC(DBGSPW_RX, "Rxlen %i\n", rxlen );
if (rxlen > c) {
rxlen = c;
}
if (CPU_SPARC_HAS_SNOOPING) {
memcpy(b, rxb+pDev->rxbufcur, rxlen);
} else {
for(i = 0; i < rxlen; i++) {
b[i] = MEM_READ(rxb+pDev->rxbufcur);
}
}
pDev->rxbufcur += rxlen;
if (c >= tmp) {
SPACEWIRE_DBGC(DBGSPW_RX, "Next descriptor\n");
grspw_rxnext(pDev);
}
} else {
check_rx_errors(pDev, ctrl);
}
return rxlen;
}
static void grspw_rxnext(GRSPW_DEV *pDev)
{
unsigned int dmactrl;
unsigned int cur = pDev->rxcur;
unsigned int ctrl = 0;
if (cur == (pDev->rxbufcnt - 1)) {
pDev->rx[cur].ctrl = ctrl | SPW_RXBD_EN | SPW_RXBD_IE | SPW_RXBD_WR;
cur = 0;
} else {
pDev->rx[cur].ctrl = ctrl | SPW_RXBD_EN | SPW_RXBD_IE;
cur++;
}
pDev->rxcur = cur;
pDev->rxbufcur = -1;
/* start RX */
dmactrl = SPW_READ(&pDev->regs->dma0ctrl);
SPW_WRITE(&pDev->regs->dma0ctrl, (dmactrl & SPW_PREPAREMASK_RX) | SPW_DMACTRL_RD | SPW_DMACTRL_RXEN | SPW_DMACTRL_RXIE | SPW_DMACTRL_NS);
}
static void check_rx_errors(GRSPW_DEV *pDev, int ctrl)
{
if (ctrl & SPW_RXBD_EEP) {
pDev->stat.rx_eep_err++;
}
if (ctrl & SPW_RXBD_EHC) {
if (pDev->config.check_rmap_err) {
pDev->stat.rx_rmap_header_crc_err++;
}
}
if (ctrl & SPW_RXBD_EDC) {
if (pDev->config.check_rmap_err) {
pDev->stat.rx_rmap_data_crc_err++;
}
}
if (ctrl & SPW_RXBD_ETR) {
pDev->stat.rx_truncated++;
}
}
