LEON: updated and added PCI peripherals for LEON BSPs

The CCHIP driver is replaced with the GR_701 driver. The
RASTA driver is replaced by the GR-RASTA-IO driver.

All drivers are now compatible with both LEON2 and LEON3,
drivers were initialized directly by the PCI-board drivers
are now initialized by the driver manager and therefore
does not require the double code created by including for
example grcan.c into grcan_rasta.c. The other drivers needs
to be updated to the driver manager framework however.

Added support for:
 * GR-701 (only LEON2 before)
 * GR-RASTA-IO (only LEON2 before)
 * GR-RASTA-ADCDAC
 * GR-RASTA-TMTC
 * GR-RASTA-SPW-ROUTER
 * GR-TMTC-1553

6 files changed, 65 insertions, 1025 deletions

diff --git a/c/src/lib/libbsp/sparc/leon2/Makefile.am b/c/src/lib/libbsp/sparc/leon2/Makefile.am
index e9230254dc..008e2039d6 100644
--- a/c/src/lib/libbsp/sparc/leon2/Makefile.am
+++ b/c/src/lib/libbsp/sparc/leon2/Makefile.am
@@ -8,21 +8,6 @@ dist_project_lib_DATA = bsp_specs
 
 include_HEADERS = include/bsp.h
 include_HEADERS += include/tm27.h
-include_HEADERS += include/rasta.h
-include_HEADERS += include/cchip.h
-include_HEADERS += ../../sparc/shared/include/grspw.h
-include_HEADERS += ../../sparc/shared/include/grspw_pci.h
-include_HEADERS += ../../sparc/shared/include/grspw_rasta.h
-include_HEADERS += ../../sparc/shared/include/occan.h
-include_HEADERS += ../../sparc/shared/include/occan_pci.h
-include_HEADERS += ../../sparc/shared/include/grcan.h
-include_HEADERS += ../../sparc/shared/include/grcan_rasta.h
-include_HEADERS += ../../sparc/shared/include/apbuart.h
-include_HEADERS += ../../sparc/shared/include/apbuart_pci.h
-include_HEADERS += ../../sparc/shared/include/apbuart_rasta.h
-include_HEADERS += ../../sparc/shared/include/b1553brm.h
-include_HEADERS += ../../sparc/shared/include/b1553brm_pci.h
-include_HEADERS += ../../sparc/shared/include/b1553brm_rasta.h
 include_HEADERS += ../../sparc/shared/include/debug_defs.h
 
 nodist_include_HEADERS = include/bspopts.h
@@ -111,30 +96,40 @@ libbsp_a_SOURCES += ../../sparc/shared/timer/tlib.c
 include_HEADERS += ../../sparc/shared/include/grpci2.h
 libbsp_a_SOURCES += ../../sparc/shared/pci/grpci2.c
 libbsp_a_SOURCES += ../../sparc/shared/pci/grpci.c
+libbsp_a_SOURCES += ../../sparc/shared/pci/pcif.c
 libbsp_a_SOURCES +=  ../../sparc/shared/pci/pci_memreg_sparc_le.c
 libbsp_a_SOURCES +=  ../../sparc/shared/pci/pci_memreg_sparc_be.c
 libbsp_a_SOURCES +=  pci/at697_pci.c
 
-# RASTA Kit
-libbsp_a_SOURCES += rasta/rasta.c
-# Companion Chip Kit
-libbsp_a_SOURCES += cchip/cchip.c
+# PCI target devices
+include_HEADERS += ../../sparc/shared/include/gr_701.h
+include_HEADERS += ../../sparc/shared/include/gr_rasta_adcdac.h
+include_HEADERS += ../../sparc/shared/include/gr_rasta_io.h
+include_HEADERS += ../../sparc/shared/include/gr_rasta_tmtc.h
+libbsp_a_SOURCES +=  ../../sparc/shared/pci/gr_701.c
+libbsp_a_SOURCES +=  ../../sparc/shared/pci/gr_rasta_adcdac.c
+libbsp_a_SOURCES +=  ../../sparc/shared/pci/gr_rasta_io.c
+libbsp_a_SOURCES +=  ../../sparc/shared/pci/gr_rasta_spw_router.c
+libbsp_a_SOURCES +=  ../../sparc/shared/pci/gr_rasta_tmtc.c
+
 # B1553BRM
-libbsp_a_SOURCES += ../../sparc/shared/1553/b1553brm.c \
-    ../../sparc/shared/1553/b1553brm_pci.c \
-    ../../sparc/shared/1553/b1553brm_rasta.c
+include_HEADERS += ../../sparc/shared/include/b1553brm.h
+libbsp_a_SOURCES += ../../sparc/shared/1553/b1553brm.c
+
 # CAN
+include_HEADERS += ../../sparc/shared/include/occan.h
+include_HEADERS += ../../sparc/shared/include/grcan.h
 libbsp_a_SOURCES += ../../sparc/shared/can/occan.c \
-    ../../sparc/shared/can/occan_pci.c \
-    ../../sparc/shared/can/grcan.c \
-    ../../sparc/shared/can/grcan_rasta.c
+    ../../sparc/shared/can/grcan.c
+
 # SpaceWire
-libbsp_a_SOURCES += ../../sparc/shared/spw/grspw.c \
-    ../../sparc/shared/spw/grspw_pci.c ../../sparc/shared/spw/grspw_rasta.c
+include_HEADERS += ../../sparc/shared/include/grspw.h
+libbsp_a_SOURCES += ../../sparc/shared/spw/grspw.c
+
 # UART (RAW)
-libbsp_a_SOURCES += ../../sparc/shared/uart/apbuart.c \
-    ../../sparc/shared/uart/apbuart_pci.c \
-    ../../sparc/shared/uart/apbuart_rasta.c
+include_HEADERS += ../../sparc/shared/include/apbuart.h
+libbsp_a_SOURCES += ../../sparc/shared/uart/apbuart.c
+
 # I2CMST
 include_HEADERS += ../../sparc/shared/include/i2cmst.h
 libbsp_a_SOURCES += ../../sparc/shared/i2c/i2cmst.c
diff --git a/c/src/lib/libbsp/sparc/leon2/cchip/cchip.c b/c/src/lib/libbsp/sparc/leon2/cchip/cchip.c
deleted file mode 100644
index 72419d58aa..0000000000
--- a/c/src/lib/libbsp/sparc/leon2/cchip/cchip.c
+++ /dev/null
@@ -1,375 +0,0 @@
-/** 
- * @file
- *
- * @ingroup cchip
- *
- * @brief GR-701 (Companion Chip) PCI board driver
- */
-
-/*
- *  COPYRIGHT (c) 2007.
- *  Aeroflex 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.
- */
-
-#include <bsp.h>
-#include <rtems/bspIo.h>
-#include <rtems.h>
-#include <string.h>
-
-#include <rtems.h>
-#include <leon.h>
-#include <ambapp.h>
-#include <pci.h>
-
-#include <b1553brm_pci.h>
-#include <occan_pci.h>
-#include <grspw_pci.h>
-#include <apbuart_pci.h>
-
-#include <cchip.h>
-
-/*
-#define DEBUG
-#define DEBUG_IRQS
-*/
-#define BOARD_INFO
-/*#define PRINT_SPURIOUS*/
-
-/* AT697 Register MAP */
-static LEON_Register_Map *regs = (LEON_Register_Map *)0x80000000;
-
-/* initializes interrupt management for companionship board */
-void cchip1_irq_init(void);
-
-/* register interrupt handler (called from drivers) */
-void cchip1_set_isr(void *handler, int irqno, void *arg);
-
-#define READ_REG(address) _READ_REG((unsigned int)address)
-static __inline__ unsigned int _READ_REG(unsigned int addr) {
-  unsigned int tmp;
-  __asm__ ("lda [%1]1, %0 "
-    : "=r"(tmp)
-    : "r"(addr)
-  );
-  return tmp;
-}
-
-/* PCI bride reg layout on AMBA side */
-typedef struct {
-  unsigned int bar0;
-  unsigned int bar1;
-  unsigned int bar2;
-  unsigned int bar3;
-  unsigned int bar4;/* 0x10 */
-
-  unsigned int unused[4*3-1];
-
-  unsigned int ambabars[1]; /* 0x40 */
-} amba_bridge_regs;
-
-/* PCI bride reg layout on PCI side */
-typedef struct {
-  unsigned int bar0;
-  unsigned int bar1;
-  unsigned int bar2;
-  unsigned int bar3;
-  unsigned int bar4; /* 0x10 */
-
-  unsigned int ilevel;
-  unsigned int ipend;
-  unsigned int iforce;
-  unsigned int istatus;
-  unsigned int iclear;
-  unsigned int imask;
-} pci_bridge_regs;
-
-typedef struct {
-  pci_bridge_regs  *pcib;
-  amba_bridge_regs *ambab;
-
-  /* AT697 PCI */
-  uint32_t bars[5];
-  int bus, dev, fun;
-
-  /* AMBA bus */
-  struct ambapp_bus amba_bus;
-  struct ambapp_mmap amba_maps[2];
-
-  /* FT AHB SRAM */
-  int ftsram_size; /* kb */
-  unsigned int ftsram_start;
-  unsigned int ftsram_end;
-
-} cchip1;
-
-cchip1 cc1;
-
-static int init_pcif(void)
-{
-  uint32_t com1;
-  int i,bus,dev,fun;
-  pci_bridge_regs *pcib;
-  amba_bridge_regs *ambab;
-  struct ambapp_bus *abus;
-
-  if ( BSP_pciFindDevice(0x1AC8, 0x0701, 0, &bus, &dev, &fun) == 0 ) {
-    ;
-  }else if (BSP_pciFindDevice(0x16E3, 0x0210, 0, &bus, &dev, &fun) == 0) {
-    ;
-  } else {
-    /* didn't find any Companionship board on the PCI bus. */
-    return -1;
-  }
-
-  /* found Companionship PCI board, Set it up: */
-
-  pci_read_config_dword(bus, dev, fun, 0x10, &cc1.bars[0]);
-  pci_read_config_dword(bus, dev, fun, 0x14, &cc1.bars[1]);
-  pci_read_config_dword(bus, dev, fun, 0x18, &cc1.bars[2]);
-  pci_read_config_dword(bus, dev, fun, 0x1c, &cc1.bars[3]);
-  pci_read_config_dword(bus, dev, fun, 0x20, &cc1.bars[4]);
-
-#ifdef DEBUG
-  for(i=0; i<5; i++){
-    printk("PCI: BAR%d: 0x%x\n\r",i,cc1.bars[i]);
-  }
-#endif
-
-  /* Set up PCI ==> AMBA */
-  pcib = (void *)cc1.bars[0];
-  pcib->bar0 = 0xfc000000;
-  /*  pcib->bar1 = 0xff000000;*/
-#ifdef BOARD_INFO
-  printk("Found CCHIP1 Board at 0x%lx\n\r",(unsigned int)pcib);
-#endif
-
-  /* AMBA MAP cc1.bars[1] (in CPU) ==> 0xf0000000(remote amba address) */
-  cc1.amba_maps[0].size = 0x04000000;
-  cc1.amba_maps[0].local_adr = cc1.bars[1];
-  cc1.amba_maps[0].remote_adr = 0xfc000000;
-
-  /* Mark end of table */
-  cc1.amba_maps[1].size=0;
-  cc1.amba_maps[1].local_adr = 0;
-  cc1.amba_maps[1].remote_adr = 0;
-
-  /* Enable I/O and Mem accesses */
-  pci_read_config_dword(bus, dev, fun, 0x4, &com1);
-  com1 |= 0x3;
-  pci_write_config_dword(bus, dev, fun, 0x4, com1);
-  pci_read_config_dword(bus, dev, fun, 0x4, &com1);
-
-  /* Set up AMBA Masters ==> PCI */
-  ambab = (void *)(cc1.bars[1]+0x400);
-#ifdef DEBUG
-  printk("AMBA: PCIBAR[%d]: 0x%x, 0x%x\n\r",0,ambab->bar0,pcib->bar0);
-  printk("AMBA: PCIBAR[%d]: 0x%x, 0x%x\n\r",1,ambab->bar1,pcib->bar1);
-  printk("AMBA: PCIBAR[%d]: 0x%x, 0x%x\n\r",2,ambab->bar2,pcib->bar2);
-#endif
-  /* 0xe0000000(AMBA) ==> 0x40000000(PCI) ==> 0x40000000(AT697 AMBA) */
-  ambab->ambabars[0] = 0x40000000;
-
-  /* Scan bus for AMBA devices */
-  abus = &cc1.amba_bus;
-  memset(abus,0,sizeof(*abus));
-  ambapp_scan(abus, cc1.bars[1]+0x3f00000, NULL, &cc1.amba_maps[0]);
-
-  /* Init all msters, max 16 */
-  for(i=1; i<16; i++) {
-    ambab->ambabars[i] = 0x40000000;
-    if (READ_REG(&ambab->ambabars[i]) != 0x40000000)
-      break;
-  }
-
-  /* Enable PCI Master */
-   pci_read_config_dword(bus, dev, fun, 0x4, &com1);
-   com1 |= 0x4;
-   pci_write_config_dword(bus, dev, fun, 0x4, com1);
-   pci_read_config_dword(bus, dev, fun, 0x4, &com1);
-
-  cc1.pcib  = pcib;
-  cc1.ambab = ambab;
-  cc1.bus = bus;
-  cc1.dev = dev;
-  cc1.fun = fun;
-
-  return 0;
-}
-
-#ifndef GAISLER_FTAHBRAM
- #define GAISLER_FTAHBRAM 0x50
-#endif
-static int init_onboard_sram(void)
-{
-  struct ambapp_ahb_info ahb;
-  struct ambapp_apb_info apb;
-  unsigned int conf, size;
-
-  /* Find SRAM controller
-   * 1. AHB slave interface
-   * 2. APB slave interface
-   */
-  if ( ambapp_find_apbslv(&cc1.amba_bus, VENDOR_GAISLER,
-      GAISLER_FTAHBRAM, &apb) != 1 ){
-    printk("On Board FT SRAM not found (APB)\n");
-    return -1;
-  }
-
-  if ( ambapp_find_ahbslv(&cc1.amba_bus, VENDOR_GAISLER,
-      GAISLER_FTAHBRAM, &ahb) != 1 ){
-    printk("On Board FT SRAM not found (AHB)\n");
-    return -1;
-  }
-
-  /* We have found the controller.
-   * Get it going.
-   *
-   * Get size of SRAM
-   */
-  conf = *(unsigned int *)apb.start;
-  size = (conf >>10) & 0x7;
-
-  /* 2^x kb */
-  cc1.ftsram_size = 1<<size;
-  cc1.ftsram_start = ahb.start[0];
-  cc1.ftsram_end = size*1024 + cc1.ftsram_start;
-#ifdef BOARD_INFO
-  printk("Found FT AHB SRAM %dkb at 0x%lx\n",cc1.ftsram_size,cc1.ftsram_start);
-#endif
-  return 0;
-}
-
-int cchip1_register(void)
-{
-
-  /* Init AT697 PCI Controller */
-  init_pci();
-
-  /* Find & init CChip board .
-   * Also scan AMBA Plug&Play info for us.
-   */
-  if ( init_pcif() ){
-    printk("Failed to initialize CCHIP board\n\r");
-    return -1;
-  }
-
-  /* Set interrupt common board stuff */
-  cchip1_irq_init();
-
-  /* Find on board SRAM */
-  if ( init_onboard_sram() ){
-    printk("Failed to register On Board SRAM. It is needed by b1553BRM\n");
-    return -1;
-  }
-
-  /* Register interrupt install functions */
-  b1553brm_pci_int_reg = cchip1_set_isr;
-  occan_pci_int_reg = cchip1_set_isr;
-  grspw_pci_int_reg = cchip1_set_isr;
-  apbuart_pci_int_reg = cchip1_set_isr;
-
-  /* register the BRM PCI driver, use 16k FTSRAM... */
-  if ( b1553brm_pci_register(&cc1.amba_bus,0,0,3,cc1.ftsram_start,0xffa00000) ){
-    printk("Failed to register BRM PCI driver\n");
-    return -1;
-  }
-
-  /* register the BRM PCI driver, no DMA memory... */
-  if ( occan_pci_register(&cc1.amba_bus) ){
-    printk("Failed to register OC_CAN PCI driver\n");
-    return -1;
-  }
-
-  /* register the GRSPW PCI driver, use malloc... */
-  if ( grspw_pci_register(&cc1.amba_bus,0,0xe0000000) ){
-    printk("Failed to register GRSPW PCI driver\n");
-    return -1;
-  }
-
-  /* register the APBUART PCI driver, no DMA memory */
-  if ( apbuart_pci_register(&cc1.amba_bus) ){
-    printk("Failed to register APBUART PCI driver\n");
-    return -1;
-  }
-
-  return 0;
-}
-
-static rtems_isr cchip1_interrupt_dispatcher(rtems_vector_number v);
-static unsigned int cchip1_spurious_cnt;
-
-typedef struct {
-  unsigned int (*handler)(int irqno, void *arg);
-  void *arg;
-} int_handler;
-
-static int_handler int_handlers[16];
-
-void cchip1_irq_init(void){
-
-  /* Configure AT697 ioport bit 7 to input pci irq */
-  regs->PIO_Direction &= ~(1<<7);
-  regs->PIO_Interrupt  = 0x87;          /* level sensitive */
-
-  /* Set up irq controller (mask all IRQs) */
-  cc1.pcib->imask = 0x0000;
-  cc1.pcib->ipend = 0;
-  cc1.pcib->iclear = 0xffff;
-  cc1.pcib->iforce = 0;
-  cc1.pcib->ilevel = 0x0;
-
-  memset(int_handlers,0,sizeof(int_handlers));
-
-  /* Reset spurious counter */
-  cchip1_spurious_cnt = 0;
-
-  /* Register interrupt handler */
-  set_vector(cchip1_interrupt_dispatcher,LEON_TRAP_TYPE(CCHIP_IRQ),1);
-}
-
-void cchip1_set_isr(void *handler, int irqno, void *arg){
-  int_handlers[irqno].handler = handler;
-  int_handlers[irqno].arg = arg;
-#ifdef DEBUG
-  printk("Registering IRQ %d to 0x%lx(%d,0x%lx)\n\r",
-      irqno,(unsigned int)handler,irqno,(unsigned int)arg);
-#endif
-  cc1.pcib->imask |= 1<<irqno; /* Enable the registered IRQ */
-}
-
-static rtems_isr cchip1_interrupt_dispatcher(rtems_vector_number v){
-  unsigned int pending = READ_REG(&cc1.pcib->ipend);
-  unsigned int (*handler)(int irqno, void *arg);
-  unsigned int clr = pending;
-  int irq=1;
-
-  if ( !pending ){
-#ifdef PRINT_SPURIOUS
-    printk("Spurious IRQ %d: %d\n",v,cchip1_spurious_cnt);
-#endif
-    cchip1_spurious_cnt++;
-    return;
-  }
-#ifdef DEBUG_IRQS
-  printk("CCIRQ: 0x%x\n",(unsigned int)pending);
-#endif
-  /* IRQ 0 doesn't exist */
-  irq=1;
-  pending = pending>>1;
-
-  while ( pending ){
-    if ( (pending & 1) && (handler=int_handlers[irq].handler) ){
-      handler(irq,int_handlers[irq].arg);
-    }
-    irq++;
-    pending = pending>>1;
-  }
-
-  cc1.pcib->iclear = clr;
-
-  /*LEON_Clear_interrupt( brd->irq );*/
-}
diff --git a/c/src/lib/libbsp/sparc/leon2/include/cchip.h b/c/src/lib/libbsp/sparc/leon2/include/cchip.h
deleted file mode 100644
index d8d1e46a7a..0000000000
--- a/c/src/lib/libbsp/sparc/leon2/include/cchip.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/**
- * @defgroup cchip Companion Chip handler
- * @ingroup sparc_leon2
- *
- * @file
- *
- * @ingroup cchip
- *
- * @brief Register all drivers supported by the Companion Chip board
- */
-
-/*
- *  COPYRIGHT (c) 2007.
- *  Aeroflex 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 __CCHIP_H__
-#define __CCHIP_H__
-
-#include <b1553brm_pci.h>
-#include <occan_pci.h>
-#include <grspw_pci.h>
-#include <apbuart_pci.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define CCHIP_IRQ 4
-
-/* Register all drivers supported by the Companion Chip board */
-int cchip_register(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/c/src/lib/libbsp/sparc/leon2/include/rasta.h b/c/src/lib/libbsp/sparc/leon2/include/rasta.h
deleted file mode 100644
index b7eccb4ecb..0000000000
--- a/c/src/lib/libbsp/sparc/leon2/include/rasta.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/**
- * @defgroup leon2_rasta Rasta Handler
- * @ingroup sparc_leon2
- *
- * @file
- * @ingroup leon2_rasta
- * @brief Handles Rasta
- */
-
-/*
- * COPYRIGHT (c) 2007.
- * Aeroflex 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 __RASTA_H__
-#define __RASTA_H__
-
-#include <bsp.h>
-
-#include <grcan.h>
-#include <b1553brm_rasta.h>
-#include <grspw.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-extern int rasta_register(void);
-
-/* Address of PCI bus on RASTA local AMBA bus */
-#define RASTA_PCI_BASE             0xe0000000
-
-/* Address of SRAM on RASTA local AMBA bus */
-#define RASTA_LOCAL_SRAM           0x40000000
-
-#define UART0_IRQNO  2
-#define UART1_IRQNO  3
-#define GRCAN_IRQNO  7
-#define SPW0_IRQNO   10
-#define SPW1_IRQNO   11
-#define SPW2_IRQNO   12
-#define BRM_IRQNO    13
-
-#define GRCAN_IRQ   (3<<GRCAN_IRQNO)
-#define SPW0_IRQ    (1<<SPW0_IRQNO)
-#define SPW1_IRQ    (1<<SPW1_IRQNO)
-#define SPW2_IRQ    (1<<SPW2_IRQNO)
-#define SPW_IRQ     (7<<SPW0_IRQNO)
-#define BRM_IRQ     (1<<BRM_IRQNO)
-#define UART0_IRQ   (1<<UART0_IRQNO)
-#define UART1_IRQ   (1<<UART1_IRQNO)
-
-/*
- *  The following defines the bits in the UART Control Registers.
- *
- */
-#define LEON_REG_UART_CONTROL_RTD  0x000000FF /* RX/TX data */
-
-/*
- *  The following defines the bits in the LEON UART Status Registers.
- */
-#define LEON_REG_UART_STATUS_DR   0x00000001 /* Data Ready */
-#define LEON_REG_UART_STATUS_TSE  0x00000002 /* TX Send Register Empty */
-#define LEON_REG_UART_STATUS_THE  0x00000004 /* TX Hold Register Empty */
-#define LEON_REG_UART_STATUS_BR   0x00000008 /* Break Error */
-#define LEON_REG_UART_STATUS_OE   0x00000010 /* RX Overrun Error */
-#define LEON_REG_UART_STATUS_PE   0x00000020 /* RX Parity Error */
-#define LEON_REG_UART_STATUS_FE   0x00000040 /* RX Framing Error */
-#define LEON_REG_UART_STATUS_ERR  0x00000078 /* Error Mask */
-
-
-/*
- *  The following defines the bits in the LEON UART Status Registers.
- */
-#define LEON_REG_UART_CTRL_RE     0x00000001 /* Receiver enable */
-#define LEON_REG_UART_CTRL_TE     0x00000002 /* Transmitter enable */
-#define LEON_REG_UART_CTRL_RI     0x00000004 /* Receiver interrupt enable */
-#define LEON_REG_UART_CTRL_TI     0x00000008 /* Transmitter interrupt enable */
-#define LEON_REG_UART_CTRL_PS     0x00000010 /* Parity select */
-#define LEON_REG_UART_CTRL_PE     0x00000020 /* Parity enable */
-#define LEON_REG_UART_CTRL_FL     0x00000040 /* Flow control enable */
-#define LEON_REG_UART_CTRL_LB     0x00000080 /* Loop Back enable */
-
-#define UART_SET_SCALER 0
-#define UART_SET_CTRL   1
-#define UART_GET_STAT   2
-#define UART_CLR_STAT   3
-
-struct uart_reg {
-    volatile unsigned int data;              /* 0x00 */
-    volatile unsigned int status;            /* 0x04 */
-    volatile unsigned int ctrl;              /* 0x08 */
-    volatile unsigned int scaler;            /* 0x0C */
-};
-
-
-void uart_register(unsigned int baseaddr);
-rtems_device_driver uart_initialize(rtems_device_major_number major,
-    rtems_device_minor_number  minor, void *arg);
-rtems_device_driver uart_open(rtems_device_major_number major,
-    rtems_device_minor_number minor, void *arg);
-rtems_device_driver uart_close(rtems_device_major_number major,
-    rtems_device_minor_number minor, void *arg);
-rtems_device_driver uart_read(rtems_device_major_number major,
-    rtems_device_minor_number minor, void *arg);
-rtems_device_driver uart_write(rtems_device_major_number major,
-    rtems_device_minor_number minor, void *arg);
-rtems_device_driver uart_control(rtems_device_major_number major,
-    rtems_device_minor_number minor, void *arg);
-
-
-struct gpio_reg {
-    volatile unsigned int in_data;          /* 0x00 */
-    volatile unsigned int out_data;         /* 0x04 */
-    volatile unsigned int dir;              /* 0x08 */
-    volatile unsigned int imask;            /* 0x0C */
-    volatile unsigned int ipol;             /* 0x10 */
-    volatile unsigned int iedge;            /* 0x14 */
-};
-
-extern struct gpio_reg *gpio0, *gpio1;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
diff --git a/c/src/lib/libbsp/sparc/leon2/preinstall.am b/c/src/lib/libbsp/sparc/leon2/preinstall.am
index 01b2ab9acc..ab2498d810 100644
--- a/c/src/lib/libbsp/sparc/leon2/preinstall.am
+++ b/c/src/lib/libbsp/sparc/leon2/preinstall.am
@@ -45,66 +45,6 @@ $(PROJECT_INCLUDE)/tm27.h: include/tm27.h $(PROJECT_INCLUDE)/$(dirstamp)
 	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/tm27.h
 PREINSTALL_FILES += $(PROJECT_INCLUDE)/tm27.h
 
-$(PROJECT_INCLUDE)/rasta.h: include/rasta.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/rasta.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/rasta.h
-
-$(PROJECT_INCLUDE)/cchip.h: include/cchip.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/cchip.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/cchip.h
-
-$(PROJECT_INCLUDE)/grspw.h: ../../sparc/shared/include/grspw.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grspw.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/grspw.h
-
-$(PROJECT_INCLUDE)/grspw_pci.h: ../../sparc/shared/include/grspw_pci.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grspw_pci.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/grspw_pci.h
-
-$(PROJECT_INCLUDE)/grspw_rasta.h: ../../sparc/shared/include/grspw_rasta.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grspw_rasta.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/grspw_rasta.h
-
-$(PROJECT_INCLUDE)/occan.h: ../../sparc/shared/include/occan.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/occan.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/occan.h
-
-$(PROJECT_INCLUDE)/occan_pci.h: ../../sparc/shared/include/occan_pci.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/occan_pci.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/occan_pci.h
-
-$(PROJECT_INCLUDE)/grcan.h: ../../sparc/shared/include/grcan.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grcan.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/grcan.h
-
-$(PROJECT_INCLUDE)/grcan_rasta.h: ../../sparc/shared/include/grcan_rasta.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grcan_rasta.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/grcan_rasta.h
-
-$(PROJECT_INCLUDE)/apbuart.h: ../../sparc/shared/include/apbuart.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/apbuart.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/apbuart.h
-
-$(PROJECT_INCLUDE)/apbuart_pci.h: ../../sparc/shared/include/apbuart_pci.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/apbuart_pci.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/apbuart_pci.h
-
-$(PROJECT_INCLUDE)/apbuart_rasta.h: ../../sparc/shared/include/apbuart_rasta.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/apbuart_rasta.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/apbuart_rasta.h
-
-$(PROJECT_INCLUDE)/b1553brm.h: ../../sparc/shared/include/b1553brm.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/b1553brm.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/b1553brm.h
-
-$(PROJECT_INCLUDE)/b1553brm_pci.h: ../../sparc/shared/include/b1553brm_pci.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/b1553brm_pci.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/b1553brm_pci.h
-
-$(PROJECT_INCLUDE)/b1553brm_rasta.h: ../../sparc/shared/include/b1553brm_rasta.h $(PROJECT_INCLUDE)/$(dirstamp)
-	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/b1553brm_rasta.h
-PREINSTALL_FILES += $(PROJECT_INCLUDE)/b1553brm_rasta.h
-
 $(PROJECT_INCLUDE)/debug_defs.h: ../../sparc/shared/include/debug_defs.h $(PROJECT_INCLUDE)/$(dirstamp)
 	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/debug_defs.h
 PREINSTALL_FILES += $(PROJECT_INCLUDE)/debug_defs.h
@@ -169,6 +109,46 @@ $(PROJECT_INCLUDE)/tlib.h: ../../sparc/shared/include/tlib.h $(PROJECT_INCLUDE)/
 	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/tlib.h
 PREINSTALL_FILES += $(PROJECT_INCLUDE)/tlib.h
 
+$(PROJECT_INCLUDE)/grpci2.h: ../../sparc/shared/include/grpci2.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grpci2.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/grpci2.h
+
+$(PROJECT_INCLUDE)/gr_701.h: ../../sparc/shared/include/gr_701.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/gr_701.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/gr_701.h
+
+$(PROJECT_INCLUDE)/gr_rasta_adcdac.h: ../../sparc/shared/include/gr_rasta_adcdac.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/gr_rasta_adcdac.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/gr_rasta_adcdac.h
+
+$(PROJECT_INCLUDE)/gr_rasta_io.h: ../../sparc/shared/include/gr_rasta_io.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/gr_rasta_io.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/gr_rasta_io.h
+
+$(PROJECT_INCLUDE)/gr_rasta_tmtc.h: ../../sparc/shared/include/gr_rasta_tmtc.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/gr_rasta_tmtc.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/gr_rasta_tmtc.h
+
+$(PROJECT_INCLUDE)/b1553brm.h: ../../sparc/shared/include/b1553brm.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/b1553brm.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/b1553brm.h
+
+$(PROJECT_INCLUDE)/occan.h: ../../sparc/shared/include/occan.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/occan.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/occan.h
+
+$(PROJECT_INCLUDE)/grcan.h: ../../sparc/shared/include/grcan.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grcan.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/grcan.h
+
+$(PROJECT_INCLUDE)/grspw.h: ../../sparc/shared/include/grspw.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/grspw.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/grspw.h
+
+$(PROJECT_INCLUDE)/apbuart.h: ../../sparc/shared/include/apbuart.h $(PROJECT_INCLUDE)/$(dirstamp)
+	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/apbuart.h
+PREINSTALL_FILES += $(PROJECT_INCLUDE)/apbuart.h
+
 $(PROJECT_INCLUDE)/i2cmst.h: ../../sparc/shared/include/i2cmst.h $(PROJECT_INCLUDE)/$(dirstamp)
 	$(INSTALL_DATA) $< $(PROJECT_INCLUDE)/i2cmst.h
 PREINSTALL_FILES += $(PROJECT_INCLUDE)/i2cmst.h
diff --git a/c/src/lib/libbsp/sparc/leon2/rasta/rasta.c b/c/src/lib/libbsp/sparc/leon2/rasta/rasta.c
deleted file mode 100644
index bfd9e3141d..0000000000
--- a/c/src/lib/libbsp/sparc/leon2/rasta/rasta.c
+++ /dev/null
@@ -1,386 +0,0 @@
-/**
- * @file
- * @ingroup leon2_rasta
- * @brief GR-RASTA-IO PCI board driver
- */
-
-/*
- *  GR-RASTA-IO PCI board driver
- *
- *  COPYRIGHT (c) 2007.
- *  Aeroflex 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.
- */
-
-#include <rtems/bspIo.h>
-#include <pci.h>
-#include <rasta.h>
-#include <ambapp.h>
-#include <grlib.h>
-#include <grcan_rasta.h>
-#include <grspw_rasta.h>
-#include <b1553brm_rasta.h>
-#include <apbuart_rasta.h>
-
-#include <string.h>
-
-/* If RASTA_SRAM is defined SRAM will be used, else SDRAM */
-/*#define RASTA_SRAM 1*/
-
-#define RASTA_IRQ  5
-
-/* Offset from 0x80000000 (dual bus version) */
-#define AHB1_IOAREA_BASE_ADDR 0x80100000
-#define APB2_OFFSET    0x200000
-#define IRQ_OFFSET     0x200500
-#define GRHCAN_OFFSET  0x201000
-#define BRM_OFFSET     0x100000
-#define SPW_OFFSET     0xa00
-#define UART_OFFSET    0x200200
-#define GPIO0_OFF      0x200600
-#define GPIO1_OFF      0x200700
-
-/* #define DEBUG 1 */
-
-#ifdef DEBUG
-#define DBG(x...) printk(x)
-#else
-#define DBG(x...)
-#endif
-
-static int bus, dev, fun;
-
-struct irqmp_regs *irq = NULL;
-LEON_Register_Map *regs = (LEON_Register_Map *)0x80000000;
-
-struct gpio_reg *gpio0, *gpio1;
-
-/* static rtems_isr pci_interrupt_handler (rtems_vector_number v) { */
-
-/*     volatile unsigned int *pci_int = (volatile unsigned int *) 0x80000168;*/
-/*     volatile unsigned int *pci_mem = (volatile unsigned int *) 0xb0400000;*/
-
-/*     if (*pci_int & 0x20) { */
-
-/*         *pci_int = 0x20; */
-
-/*         *pci_mem = 0; */
-
-/*         printk("pci died\n"); */
-
-/*     } */
-
-/* } */
-
-void *uart0_int_arg, *uart1_int_arg;
-void *spw0_int_arg, *spw1_int_arg, *spw2_int_arg;
-void *grcan_int_arg;
-void *brm_int_arg;
-
-void (*uart0_int_handler)(int irq, void *arg) = NULL;
-void (*uart1_int_handler)(int irq, void *arg) = NULL;
-void (*spw0_int_handler)(int irq, void *arg) = NULL;
-void (*spw1_int_handler)(int irq, void *arg) = NULL;
-void (*spw2_int_handler)(int irq, void *arg) = NULL;
-void (*grcan_int_handler)(int irq, void *arg) = NULL;
-void (*brm_int_handler)(int irq, void *arg) = NULL;
-
-static rtems_isr rasta_interrupt_handler (rtems_vector_number v)
-{
-    unsigned int status;
-
-    status = irq->ipend;
-
-    if ( (status & GRCAN_IRQ) && grcan_int_handler ) {
-      grcan_int_handler(GRCAN_IRQNO,grcan_int_arg);
-    }
-
-    if (status & SPW_IRQ) {
-      if ( (status & SPW0_IRQ) && spw0_int_handler ){
-        spw0_int_handler(SPW0_IRQNO,spw0_int_arg);
-      }
-
-      if ( (status & SPW1_IRQ) && spw1_int_handler ){
-        spw1_int_handler(SPW1_IRQNO,spw1_int_arg);
-      }
-
-      if ( (status & SPW2_IRQ) && spw2_int_handler ){
-        spw2_int_handler(SPW2_IRQNO,spw2_int_arg);
-      }
-    }
-    if ((status & BRM_IRQ) && brm_int_handler ){
-        brm_int_handler(BRM_IRQNO,brm_int_arg);
-    }
-    if ( (status & UART0_IRQ) && uart0_int_handler ) {
-      uart0_int_handler(UART0_IRQNO,uart0_int_arg);
-    }
-    if ( (status & UART1_IRQ) && uart1_int_handler) {
-      uart1_int_handler(UART1_IRQNO,uart1_int_arg);
-    }
-
-    DBG("RASTA-IRQ: 0x%x\n",status);
-    irq->iclear = status;
-
-}
-
-static void rasta_interrrupt_register(void *handler, int irqno, void *arg)
-{
-  DBG("RASTA: Registering irq %d\n",irqno);
-  if ( irqno == UART0_IRQNO ){
-    DBG("RASTA: Registering uart0 handler: 0x%x, arg: 0x%x\n",handler,arg);
-    uart0_int_handler = handler;
-    uart0_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = UART0_IRQ;
-    irq->mask[0] |= UART0_IRQ;
-  }
-
-  if ( irqno == UART1_IRQNO ){
-    DBG("RASTA: Registering uart1 handler: 0x%x, arg: 0x%x\n",handler,arg);
-    uart1_int_handler = handler;
-    uart1_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = UART1_IRQ;
-    irq->mask[0] |= UART1_IRQ;
-  }
-
-  if ( irqno == SPW0_IRQNO ){
-    DBG("RASTA: Registering spw0 handler: 0x%x, arg: 0x%x\n",handler,arg);
-    spw0_int_handler = handler;
-    spw0_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = SPW0_IRQ;
-    irq->mask[0] |= SPW0_IRQ;
-  }
-
-  if ( irqno == SPW1_IRQNO ){
-    DBG("RASTA: Registering spw1 handler: 0x%x, arg: 0x%x\n",handler,arg);
-    spw1_int_handler = handler;
-    spw1_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = SPW1_IRQ;
-    irq->mask[0] |= SPW1_IRQ;
-  }
-
-  if ( irqno == SPW2_IRQNO ){
-    DBG("RASTA: Registering spw2 handler: 0x%x, arg: 0x%x\n",handler,arg);
-    spw2_int_handler = handler;
-    spw2_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = SPW2_IRQ;
-    irq->mask[0] |= SPW2_IRQ;
-  }
-
-  if ( irqno == GRCAN_IRQNO ){
-    DBG("RASTA: Registering GRCAN handler: 0x%x, arg: 0x%x\n",handler,arg);
-    grcan_int_handler = handler;
-    grcan_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = GRCAN_IRQ;
-    irq->mask[0] |= GRCAN_IRQ;
-  }
-
-  if ( irqno == BRM_IRQNO ){
-    DBG("RASTA: Registering BRM handler: 0x%x, arg: 0x%x\n",handler,arg);
-    brm_int_handler = handler;
-    brm_int_arg = arg;
-
-    /* unmask interrupt source */
-    irq->iclear = BRM_IRQ;
-    irq->mask[0] |= BRM_IRQ;
-  }
-}
-
-
-static int rasta_get_gpio(
-  struct ambapp_bus *abus, int index, struct gpio_reg **regs,
-  int *irq)
-{
-  struct ambapp_apb_info dev;
-  int cores;
-
-  if ( !abus )
-    return -1;
-
-  /* Scan PnP info for GPIO port number 'index' */
-  cores = ambapp_find_apbslv_next(abus, VENDOR_GAISLER, GAISLER_GPIO, &dev,
-                                  index);
-  if ( cores < 1 )
-    return -1;
-
-  if ( regs )
-    *regs = (struct gpio_reg *)dev.start;
-
-  if ( irq )
-    *irq = dev.irq;
-
-  return 0;
-}
-
-/* AMBA Plug&Play information */
-static struct ambapp_bus abus;
-static struct ambapp_mmap amba_maps[3];
-
-int rasta_register(void)
-{
-    uint32_t bar0, bar1, data;
-
-    unsigned int *page0 = NULL;
-    unsigned int *apb_base = NULL;
-    int found=0;
-
-
-    DBG("Searching for RASTA board ...");
-
-    /* Search PCI vendor/device id. */
-    if (BSP_pciFindDevice(0x1AC8, 0x0010, 0, &bus, &dev, &fun) == 0) {
-      found = 1;
-    }
-
-    /* Search old PCI vendor/device id. */
-    if ( (!found) &&
-            (BSP_pciFindDevice(0x16E3, 0x0210, 0, &bus, &dev, &fun) == 0) ) {
-      found = 1;
-    }
-
-    /* Did we find a RASTA board? */
-    if ( !found )
-      return -1;
-
-    DBG(" found it (dev/fun: %d/%d).\n", dev, fun);
-
-    pci_read_config_dword(bus, dev, fun, 0x10, &bar0);
-    pci_read_config_dword(bus, dev, fun, 0x14, &bar1);
-
-    page0 = (unsigned int *)(bar0 + 0x400000);
-    *page0 = 0x80000000;                  /* Point PAGE0 to start of APB     */
-
-    apb_base = (unsigned int *)(bar0+APB2_OFFSET);
-
-/*  apb_base[0] = 0x000002ff;
-    apb_base[1] = 0x8a205260;
-    apb_base[2] = 0x00184000; */
-
-    /* Configure memory controller */
-#ifdef RASTA_SRAM
-    apb_base[0] = 0x000002ff;
-    apb_base[1] = 0x00001260;
-    apb_base[2] = 0x000e8000;
-#else
-    apb_base[0] = 0x000002ff;
-    apb_base[1] = 0x82206000;
-    apb_base[2] = 0x000e8000;
-#endif
-    /* Set up rasta irq controller */
-    irq = (struct irqmp_regs *) (bar0+IRQ_OFFSET);
-    irq->iclear = 0xffff;
-    irq->ilevel = 0;
-    irq->mask[0] = 0xffff &
-           ~(UART0_IRQ|UART1_IRQ|SPW0_IRQ|SPW1_IRQ|SPW2_IRQ|GRCAN_IRQ|BRM_IRQ);
-
-    /* Configure AT697 ioport bit 7 to input pci irq */
-    regs->PIO_Direction &= ~(1<<7);
-    regs->PIO_Interrupt  |= (0x87<<8);    /* level sensitive */
-
-    apb_base[0x100] |= 0x40000000;        /* Set GRPCI mmap 0x4 */
-    apb_base[0x104] =  0x40000000;        /* 0xA0000000;  Point PAGE1 to RAM */
-
-
-    /* set parity error response */
-    pci_read_config_dword(bus, dev, fun, 0x4, &data);
-    pci_write_config_dword(bus, dev, fun, 0x4, data|0x40);
-
-
-    pci_master_enable(bus, dev, fun);
-
-    /* install PCI interrupt vector */
-    /*    set_vector(pci_interrupt_handler,14+0x10, 1); */
-
-
-    /* install interrupt vector */
-    set_vector(rasta_interrupt_handler, RASTA_IRQ+0x10, 1);
-
-    /* Scan AMBA Plug&Play */
-
-    /* AMBA MAP bar0 (in CPU) ==> 0x80000000(remote amba address) */
-    amba_maps[0].size = 0x10000000;
-    amba_maps[0].local_adr = bar0;
-    amba_maps[0].remote_adr = 0x80000000;
-
-    /* AMBA MAP bar1 (in CPU) ==> 0x40000000(remote amba address) */
-    amba_maps[1].size = 0x10000000;
-    amba_maps[1].local_adr = bar1;
-    amba_maps[1].remote_adr = 0x40000000;
-
-    /* Mark end of table */
-    amba_maps[2].size=0;
-    amba_maps[2].local_adr = 0;
-    amba_maps[2].remote_adr = 0;
-
-    memset(&abus,0,sizeof(abus));
-
-    /* Start AMBA PnP scan at first AHB bus */
-    ambapp_scan(&abus, bar0 + (AHB1_IOAREA_BASE_ADDR & ~0xf0000000), NULL,
-                &amba_maps[0]);
-
-    printk("Registering RASTA GRCAN driver\n\r");
-
-    /*grhcan_register(bar0 + GRHCAN_OFFSET, bar1);*/
-    grcan_rasta_int_reg=rasta_interrrupt_register;
-    if ( grcan_rasta_ram_register(&abus,bar1+0x20000) ){
-      printk("Failed to register RASTA GRCAN driver\n\r");
-      return -1;
-    }
-
-    printk("Registering RASTA BRM driver\n\r");
-
-    /*brm_register(bar0   +  BRM_OFFSET, bar1);*/
-    /* register the BRM RASTA driver, use 128k on RASTA SRAM... */
-    b1553brm_rasta_int_reg=rasta_interrrupt_register;
-    if ( b1553brm_rasta_register(&abus,2,0,3,bar1,0x40000000) ){
-      printk("Failed to register BRM RASTA driver\n");
-      return -1;
-    }
-
-    /* provide the spacewire driver with AMBA Plug&Play
-     * info so that it can find the GRSPW cores.
-     */
-    grspw_rasta_int_reg=rasta_interrrupt_register;
-    if ( grspw_rasta_register(&abus,bar1) ){
-      printk("Failed to register RASTA GRSPW driver\n\r");
-      return -1;
-    }
-
-    /* provide the spacewire driver with AMBA Plug&Play
-     * info so that it can find the GRSPW cores.
-     */
-    apbuart_rasta_int_reg=rasta_interrrupt_register;
-    if ( apbuart_rasta_register(&abus) ){
-      printk("Failed to register RASTA APBUART driver\n\r");
-      return -1;
-    }
-
-    /* Find GPIO0 address */
-    if ( rasta_get_gpio(&abus,0,&gpio0,NULL) ){
-      printk("Failed to get address for RASTA GPIO0\n\r");
-      return -1;
-    }
-
-    /* Find GPIO1 address */
-    if ( rasta_get_gpio(&abus,1,&gpio1,NULL) ){
-      printk("Failed to get address for RASTA GPIO1\n\r");
-      return -1;
-    }
-
-    /* Successfully registered the RASTA board */
-    return 0;
-}