mproved gen5200 MSCAN driver

fixed synchronization bug between ata.c and bdbuf.c

8 files changed, 378 insertions, 326 deletions

diff --git a/c/src/ChangeLog b/c/src/ChangeLog
index 33c0dad2a4..91d2c838fb 100644
--- a/c/src/ChangeLog
+++ b/c/src/ChangeLog
@@ -1,3 +1,8 @@
+2007-01-20	Thomas Doerfler <Thomas.Doerfler@embedded-brains.de>
+
+	* libchip/ide/ata.c: in ata_request_done: moved call to free()
+	from preemption disabled region
+
 2007-01-16	Till Straumann <strauman@slac.stanford.edu>
 
 	* libchip/i2c/i2c-2b-eeprom.c, libchip/i2c/i2c-2b-eeprom.h,
diff --git a/c/src/lib/libbsp/powerpc/ChangeLog b/c/src/lib/libbsp/powerpc/ChangeLog
index 27ac74ad40..760b6fe5cb 100644
--- a/c/src/lib/libbsp/powerpc/ChangeLog
+++ b/c/src/lib/libbsp/powerpc/ChangeLog
@@ -1,3 +1,12 @@
+2007-01-20      Thomas Doerfler <Thomas.Doerfler@embedded-brains.de>
+
+	* gen5200/mscan/mscan.c,
+	* gen5200/mscan/mscan.h,
+	* gen5200/mscan/mscan_int.h:
+	split mscan.h into two headers, corrected CAN filtering
+	code to
+	support remote requests
+
 2007-01-19	Till Straumann <strauman@slac.stanford.edu>
 
 	* mvme5500/Makefile.am, mvme5500/preinstall.am,
diff --git a/c/src/lib/libbsp/powerpc/gen5200/Makefile.am b/c/src/lib/libbsp/powerpc/gen5200/Makefile.am
index e636709412..b4ab7d59d1 100644
--- a/c/src/lib/libbsp/powerpc/gen5200/Makefile.am
+++ b/c/src/lib/libbsp/powerpc/gen5200/Makefile.am
@@ -84,7 +84,7 @@ irq_rel_CPPFLAGS = $(AM_CPPFLAGS)
 irq_rel_LDFLAGS = $(RTEMS_RELLDFLAGS)
 
 noinst_PROGRAMS += mscan.rel
-mscan_rel_SOURCES = mscan/mscan.c mscan/mscan.h
+mscan_rel_SOURCES = mscan/mscan.c mscan/mscan.h mscan/mscan_int.h
 mscan_rel_CPPFLAGS = $(AM_CPPFLAGS)
 mscan_rel_LDFLAGS = $(RTEMS_RELLDFLAGS)
 
diff --git a/c/src/lib/libbsp/powerpc/gen5200/ide/pcmcia_ide.c b/c/src/lib/libbsp/powerpc/gen5200/ide/pcmcia_ide.c
index 8f338f9b82..19238119ad 100644
--- a/c/src/lib/libbsp/powerpc/gen5200/ide/pcmcia_ide.c
+++ b/c/src/lib/libbsp/powerpc/gen5200/ide/pcmcia_ide.c
@@ -91,6 +91,8 @@
 #define MIN(a,b) (((a)<(b))?(a):(b))
 #endif
 #define IDE_DMA_TEST            FALSE
+
+#ifdef BRS5L
 #define IDE_USE_INT             TRUE
 #define IDE_READ_USE_DMA        TRUE
 #define IDE_USE_READ_PIO_OPT    FALSE
@@ -98,6 +100,16 @@
 #define IDE_USE_WRITE_PIO_OPT   TRUE
 /* #define IDE_USE_DMA (IDE_READ_USE_DMA||IDE_WRITE_USE_DMA) */
 #define IDE_USE_DMA             TRUE
+#else
+#define IDE_USE_INT             TRUE
+#define IDE_READ_USE_DMA        FALSE
+#define IDE_USE_READ_PIO_OPT    FALSE
+#define IDE_WRITE_USE_DMA       FALSE
+#define IDE_USE_WRITE_PIO_OPT   FALSE
+/* #define IDE_USE_DMA (IDE_READ_USE_DMA||IDE_WRITE_USE_DMA) */
+#define IDE_USE_DMA             FALSE
+#endif
+
 #define IDE_USE_STATISTICS      TRUE
 
 #if IDE_USE_DMA
diff --git a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c
index f92c78e13a..be5fcd436e 100644
--- a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c
+++ b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c
@@ -26,12 +26,10 @@
 #include "../include/bsp.h"
 #include "../irq/irq.h"
 #include "../include/mpc5200.h"
-#include "mscan.h"
+#include "../mscan/mscan_int.h"
 
 /* #define MSCAN_LOOPBACK */
 
-volatile uint32_t tx_int_wr_count = 0;
-
 struct mpc5200_rx_cntrl mpc5200_mscan_rx_cntrl[MPC5200_CAN_NO];
 static struct mscan_channel_info chan_info[MPC5200_CAN_NO];
 
@@ -176,46 +174,42 @@ static void mpc5200_mscan_interrupt_handler(rtems_irq_hdl_param handle)
 		  mscan->txidr2 = 0;
           mscan->txidr3 = 0;
 
-          /* insert dlc into mscan register */
-		  mscan->txdlr = (uint8_t)((tx_mess_ptr->mess_len) & 0x000F);
 	      }
 
-        /* select one free tx buffer if TOUCAN not registered) */
-        if(((mscan_hdl->toucan_callback) == NULL) || (((mscan_hdl->toucan_callback) != NULL) && ((tx_mess_ptr->toucan_tx_id) == idx)))
+        /* fill in tx data if TOUCAN is activ an TOUCAN index have a match with the tx buffer or TOUCAN is disabled */
+        if(((mscan_hdl->toucan_callback) == NULL) || (((mscan_hdl->toucan_callback) != NULL) && ((tx_mess_ptr->toucan_tx_idx) == idx)))
           {
 
-          /* set tx id */
-		  mscan->txidr0 = SET_IDR0(tx_mess_ptr->mess_id);
-		  mscan->txidr1 = SET_IDR1(tx_mess_ptr->mess_id);
-		  mscan->txidr2 = 0;
-          mscan->txidr3 = 0;
-
           /* insert dlc into mscan register */
 		  mscan->txdlr = (uint8_t)((tx_mess_ptr->mess_len) & 0x000F);
 
-          /* copy tx data to MSCAN registers */
-          switch(mscan->txdlr)
+          /* skip data copy in case of RTR */
+          if(!(MSCAN_MESS_ID_HAS_RTR(tx_mess_ptr->mess_id)))
             {
-            case 8:
-              mscan->txdsr7 = tx_mess_ptr->mess_data[7];
-            case 7:
-              mscan->txdsr6 = tx_mess_ptr->mess_data[6];
-            case 6:
-              mscan->txdsr5 = tx_mess_ptr->mess_data[5];
-            case 5:
-              mscan->txdsr4 = tx_mess_ptr->mess_data[4];
-            case 4:
-              mscan->txdsr3 = tx_mess_ptr->mess_data[3];
-            case 3:
-              mscan->txdsr2 = tx_mess_ptr->mess_data[2];
-            case 2:
-              mscan->txdsr1 = tx_mess_ptr->mess_data[1];
-            case 1:
-              mscan->txdsr0 = tx_mess_ptr->mess_data[0];
-              break;
-            default:
-              break;
-            }
+            /* copy tx data to MSCAN registers */
+            switch(mscan->txdlr)
+              {
+              case 8:
+                mscan->txdsr7 = tx_mess_ptr->mess_data[7];
+              case 7:
+                mscan->txdsr6 = tx_mess_ptr->mess_data[6];
+              case 6:
+                mscan->txdsr5 = tx_mess_ptr->mess_data[5];
+              case 5:
+                mscan->txdsr4 = tx_mess_ptr->mess_data[4];
+              case 4:
+                mscan->txdsr3 = tx_mess_ptr->mess_data[3];
+              case 3:
+                mscan->txdsr2 = tx_mess_ptr->mess_data[2];
+              case 2:
+                mscan->txdsr1 = tx_mess_ptr->mess_data[1];
+              case 1:
+                mscan->txdsr0 = tx_mess_ptr->mess_data[0];
+                break;
+              default:
+                break;
+              }
+		    }
 
           /* enable message buffer specific interrupt */
 	      mscan->tier |= mscan->bsel;
@@ -226,8 +220,6 @@ static void mpc5200_mscan_interrupt_handler(rtems_irq_hdl_param handle)
           /* release counting semaphore of tx ring buffer */
 	 	  rtems_semaphore_release((rtems_id)(chan->tx_rb_sid));
 
-	 	  tx_int_wr_count++;
-
           }
         else
           {
@@ -301,30 +293,34 @@ static void mpc5200_mscan_interrupt_handler(rtems_irq_hdl_param handle)
       /* get time stamp */
       rx_mess_ptr->mess_time_stamp = ((mscan->rxtimh << 8) | (mscan->rxtiml));
 
-      /* get the data */
-	  switch(rx_mess_ptr->mess_len)
-	    {
+      /* skip data copy in case of RTR */
+      if(!(MSCAN_MESS_ID_HAS_RTR(rx_mess_ptr->mess_id)))
 
-	    case 8:
-	      rx_mess_ptr->mess_data[7] = mscan->rxdsr7;
-	    case 7:
-	      rx_mess_ptr->mess_data[6] = mscan->rxdsr6;
-	    case 6:
-	      rx_mess_ptr->mess_data[5] = mscan->rxdsr5;
-	    case 5:
-	      rx_mess_ptr->mess_data[4] = mscan->rxdsr4;
-	    case 4:
-	      rx_mess_ptr->mess_data[3] = mscan->rxdsr3;
-	    case 3:
-	      rx_mess_ptr->mess_data[2] = mscan->rxdsr2;
-	    case 2:
-	      rx_mess_ptr->mess_data[1] = mscan->rxdsr1;
-	    case 1:
-	      rx_mess_ptr->mess_data[0] = mscan->rxdsr0;
-	    case 0:
-	    default:
-	      break;
+        {
 
+         /* get the data */
+	     switch(rx_mess_ptr->mess_len)
+	       {
+	       case 8:
+	         rx_mess_ptr->mess_data[7] = mscan->rxdsr7;
+	       case 7:
+	         rx_mess_ptr->mess_data[6] = mscan->rxdsr6;
+	       case 6:
+	         rx_mess_ptr->mess_data[5] = mscan->rxdsr5;
+	       case 5:
+	         rx_mess_ptr->mess_data[4] = mscan->rxdsr4;
+	       case 4:
+	         rx_mess_ptr->mess_data[3] = mscan->rxdsr3;
+	       case 3:
+	         rx_mess_ptr->mess_data[2] = mscan->rxdsr2;
+	       case 2:
+	         rx_mess_ptr->mess_data[1] = mscan->rxdsr1;
+	       case 1:
+	         rx_mess_ptr->mess_data[0] = mscan->rxdsr0;
+	       case 0:
+	       default:
+	         break;
+	       }
 	    }
 
       if(mscan_hdl->toucan_callback == NULL)
@@ -871,15 +867,15 @@ void mpc5200_mscan_perform_init_mode_settings(volatile struct mpc5200_mscan *msc
   mscan->idac &= ~(IDAC_IDAM1);
   mscan->idac |=  (IDAC_IDAM0);
 
-  /* initialize rx filter masks (16 bit) */
-  mscan->idmr0  = SET_IDMR0(0x07FF);
-  mscan->idmr1  = SET_IDMR1(0x07FF);
-  mscan->idmr2  = SET_IDMR2(0x07FF);
-  mscan->idmr3  = SET_IDMR3(0x07FF);
-  mscan->idmr4  = SET_IDMR4(0x07FF);
-  mscan->idmr5  = SET_IDMR5(0x07FF);
-  mscan->idmr6  = SET_IDMR6(0x07FF);
-  mscan->idmr7  = SET_IDMR7(0x07FF);
+  /* initialize rx filter masks (16 bit), don't care including rtr */
+  mscan->idmr0  = SET_IDMR0(0x7FF);
+  mscan->idmr1  = SET_IDMR1(0x7FF);
+  mscan->idmr2  = SET_IDMR2(0x7FF);
+  mscan->idmr3  = SET_IDMR3(0x7FF);
+  mscan->idmr4  = SET_IDMR4(0x7FF);
+  mscan->idmr5  = SET_IDMR5(0x7FF);
+  mscan->idmr6  = SET_IDMR6(0x7FF);
+  mscan->idmr7  = SET_IDMR7(0x7FF);
 
   /* Control Register 1 --------------------------------------------*/
   /*    [07]:CANE     0->1 : MSCAN Module is enabled                */
@@ -1301,7 +1297,7 @@ rtems_device_driver mscan_write( rtems_device_major_number major,
     {
 
     /* append the TOUCAN tx_id to the mess. due to interrupt handling */
-	tx_mess->toucan_tx_id = tx_parms->tx_id;
+	tx_mess->toucan_tx_idx = tx_parms->tx_idx;
 
     /* fill the tx ring buffer with the message */
     fill_tx_buffer(chan, tx_mess);
@@ -1486,19 +1482,19 @@ rtems_device_driver mscan_control( rtems_device_major_number major,
         {
 
         case RX_BUFFER_0:
-          ctrl_parms->ctrl_id_mask = GET_IDMR0(mscan->idmr0) | GET_IDMR1(mscan->idmr1);
+          ctrl_parms->ctrl_id_mask = (GET_IDMR0(mscan->idmr0) | GET_IDMR1(mscan->idmr1));
           break;
 
         case RX_BUFFER_1:
-          ctrl_parms->ctrl_id_mask = GET_IDMR2(mscan->idmr2) | GET_IDMR3(mscan->idmr3);
+          ctrl_parms->ctrl_id_mask = (GET_IDMR2(mscan->idmr2) | GET_IDMR3(mscan->idmr3));
           break;
 
         case RX_BUFFER_2:
-          ctrl_parms->ctrl_id_mask = GET_IDMR4(mscan->idmr4) | GET_IDMR5(mscan->idmr5);
+          ctrl_parms->ctrl_id_mask = (GET_IDMR4(mscan->idmr4) | GET_IDMR5(mscan->idmr5));
           break;
 
         case RX_BUFFER_3:
-          ctrl_parms->ctrl_id_mask = GET_IDMR6(mscan->idmr6) | GET_IDMR7(mscan->idmr7);
+          ctrl_parms->ctrl_id_mask = (GET_IDMR6(mscan->idmr6) | GET_IDMR7(mscan->idmr7));
           break;
 
         default:
diff --git a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.h b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.h
index dce51137f8..d36c31a105 100644
--- a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.h
+++ b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.h
@@ -17,7 +17,7 @@
 | http://www.rtems.com/license/LICENSE.                           |
 |                                                                 |
 +-----------------------------------------------------------------+
-| this file declares stuff for the mscan driver                   |
+| this file has to be included by application when using mscan    |
 \*===============================================================*/
 #ifndef __MSCAN_H__
 #define __MSCAN_H__
@@ -26,17 +26,6 @@
 extern "C" {
 #endif
 
-#define MIN_NO_OF_TQ         7
-#define NO_OF_TABLE_ENTRIES  4
-#define TSEG_1               1
-#define TSEG_2               2
-#define SJW                  3
-
-#define MSCAN_MAX_DATA_BYTES     8
-#define MSCAN_RX_BUFF_NUM        4
-#define MSCAN_TX_BUFF_NUM        3
-
-
 #define MSCAN_A_DEV_NAME         "/dev/mscana"
 #define MSCAN_B_DEV_NAME         "/dev/mscanb"
 #define MSCAN_0_DEV_NAME         "/dev/mscan0"
@@ -44,20 +33,12 @@ extern "C" {
 #define MSCAN_A                  0
 #define MSCAN_B                  1
 
-#define MSCAN_NON_INITIALIZED_MODE   0
-#define MSCAN_INITIALIZED_MODE       1
-#define MSCAN_INIT_NORMAL_MODE       2
-#define MSCAN_NORMAL_MODE            4
-#define MSCAN_SLEEP_MODE             8
-
-#define CAN_BIT_RATE_MAX         1000000
-#define CAN_BIT_RATE_MIN         100000
+#define MSCAN_MAX_DATA_BYTES     8
 
-#define CAN_BIT_RATE             100000
-#define CAN_MAX_NO_OF_TQ         25
-#define CAN_MAX_NO_OF_TQ_TSEG1   15
-#define CAN_MAX_NO_OF_TQ_TSEG2   7
-#define CAN_MAX_NO_OF_TQ_SJW     2
+#define MSCAN_MESS_ID_RTR        (1 << 15)
+#define MSCAN_MESS_ID_RTR_MASK   (1 << 15)
+#define MSCAN_MESS_ID_ID_MASK    ((1 << 11)-1)
+#define MSCAN_MESS_ID_HAS_RTR(id) (((id)&MSCAN_MESS_ID_RTR_MASK)==MSCAN_MESS_ID_RTR)
 
 #define MSCAN_SET_RX_ID          1
 #define MSCAN_GET_RX_ID          2
@@ -65,187 +46,10 @@ extern "C" {
 #define MSCAN_GET_RX_ID_MASK     4
 #define MSCAN_SET_TX_ID          5
 #define MSCAN_GET_TX_ID          6
-
 #define TOUCAN_MSCAN_INIT        7
 #define MSCAN_SET_BAUDRATE       8
 #define SET_TX_BUF_NO            9
 
-#define MSCAN_RX_BUFF_NOACTIVE   (0 << 4)
-#define MSCAN_RX_BUFF_EMPTY      (1 << 6)
-#define MSCAN_RX_BUFF_FULL       (1 << 5)
-#define MSCAN_RX_BUFF_OVERRUN    ((MSCAN_RX_BUFF_EMPTY) | (MSCAN_RX_BUFF_FULL))
-#define MSCAN_RX_BUFF_BUSY       (1 << 4)
-
-#define MSCAN_MBUFF_MASK         0x07
-
-#define MSCAN_TX_BUFF0           (1 << 0)
-#define MSCAN_TX_BUFF1           (1 << 1)
-#define MSCAN_TX_BUFF2           (1 << 2)
-
-#define MSCAN_IDE                (1 << 0)
-#define MSCAN_RTR                (1 << 1)
-#define MSCAN_READ_RXBUFF_0      (1 << 2)
-#define MSCAN_READ_RXBUFF_1      (1 << 2)
-#define MSCAN_READ_RXBUFF_2      (1 << 2)
-#define MSCAN_READ_RXBUFF_3      (1 << 2)
-
-#define CTL0_RXFRM               (1 << 7)
-#define CTL0_RXACT               (1 << 6)
-#define CTL0_CSWAI               (1 << 5)
-#define CTL0_SYNCH               (1 << 4)
-#define CTL0_TIME                (1 << 3)
-#define CTL0_WUPE                (1 << 2)
-#define CTL0_SLPRQ               (1 << 1)
-#define CTL0_INITRQ              (1 << 0)
-
-#define CTL1_CANE                (1 << 7)
-#define CTL1_CLKSRC              (1 << 6)
-#define CTL1_LOOPB               (1 << 5)
-#define CTL1_LISTEN              (1 << 4)
-#define CTL1_WUPM                (1 << 2)
-#define CTL1_SLPAK               (1 << 1)
-#define CTL1_INITAK              (1 << 0)
-
-#define BTR0_SJW(btr0)           ((btr0) << 6)
-#define BTR0_BRP(btr0)           ((btr0) << 0)
-
-#define BTR1_SAMP                (1 << 7)
-#define BTR1_TSEG_22_20(btr1)    ((btr1) << 4)
-#define BTR1_TSEG_13_10(btr1)    ((btr1) << 0)
-
-#define RFLG_WUPIF               (1 << 7)
-#define RFLG_CSCIF               (1 << 6)
-#define RFLG_RSTAT               (3 << 4)
-#define RFLG_TSTAT               (3 << 2)
-#define RFLG_OVRIF               (1 << 1)
-#define RFLG_RXF                 (1 << 0)
-#define RFLG_GET_RX_STATE(rflg)  (((rflg) >> 4) & 0x03)
-#define RFLG_GET_TX_STATE(rflg)  (((rflg) >> 2) & 0x03)
-
-#define MSCAN_STATE_OK           0
-#define MSCAN_STATE_ERR          1
-#define MSCAN_STATE_WRN		     2
-#define MSCAN_STATE_BUSOFF       3
-
-#define RIER_WUPIE               (1 << 7)
-#define RIER_CSCIE               (1 << 6)
-#define RIER_RSTAT(rier)         ((rier) << 4)
-#define RIER_TSTAT(rier)         ((rier) << 2)
-#define RIER_OVRIE               (1 << 1)
-#define RIER_RXFIE               (1 << 0)
-
-#define TFLG_TXE2                (1 << 2)
-#define TFLG_TXE1                (1 << 1)
-#define TFLG_TXE0                (1 << 0)
-
-#define TIER_TXEI2               (1 << 2)
-#define TIER_TXEI1               (1 << 1)
-#define TIER_TXEI0               (1 << 0)
-
-#define TARQ_ABTRQ2              (1 << 2)
-#define TARQ_ABTRQ1              (1 << 1)
-#define TARQ_ABTRQ0              (1 << 0)
-
-#define TAAK_ABTRQ2              (1 << 2)
-#define TAAK_ABTRQ1              (1 << 1)
-#define TAAK_ABTRQ0              (1 << 0)
-
-#define BSEL_TX2                 (1 << 2)
-#define BSEL_TX1                 (1 << 1)
-#define BSEL_TX0                 (1 << 0)
-
-#define IDAC_IDAM1               (1 << 5)
-#define IDAC_IDAM0               (1 << 4)
-#define IDAC_IDHIT(idac)         ((idac) & 0x7)
-
-#define TX_MBUF_SEL(buf_no)      (1 << (buf_no))
-#define TX_DATA_LEN(len)         ((len) & 0x0F)
-
-#define TX_MBUF_EMPTY(val)       (1 << (val))
-
-#define TXIDR1_IDE               (1 << 3)
-#define TXIDR1_SRR               (1 << 4)
-
-#define TXIDR3_RTR               (1 << 0)
-#define TXIDR1_RTR               (1 << 4)
-
-#define RXIDR1_IDE               (1 << 3)
-#define RXIDR1_SRR               (1 << 4)
-
-#define RXIDR3_RTR               (1 << 0)
-#define RXIDR1_RTR               (1 << 4)
-
-#define SET_IDR0(u16)            ((uint8_t)((u16) >> 3))
-#define SET_IDR1(u16)            ((uint8_t)(((u16) & 0x0007) << 5))
-
-#define SET_IDR2(u16)            SET_IDR0(u16)
-#define SET_IDR3(u16)            SET_IDR1(u16)
-
-#define SET_IDR4(u16)            SET_IDR0(u16)
-#define SET_IDR5(u16)            SET_IDR1(u16)
-
-#define SET_IDR6(u16)            SET_IDR0(u16)
-#define SET_IDR7(u16)            SET_IDR1(u16)
-
-#define GET_IDR0(u16)            ((uint16_t) ((u16) << 3))
-#define GET_IDR1(u16)            ((uint16_t)(((u16) >> 5)&0x0007))
-
-#define GET_IDR2(u16)            GET_IDR0(u16)
-#define GET_IDR3(u16)            GET_IDR1(u16)
-
-#define GET_IDR4(u16)            GET_IDR0(u16)
-#define GET_IDR5(u16)            GET_IDR1(u16)
-
-#define GET_IDR6(u16)            GET_IDR0(u16)
-#define GET_IDR7(u16)            GET_IDR1(u16)
-
-#define SET_IDMR0(u16)           ((uint8_t)((u16) >> 3))
-#define SET_IDMR1(u16)           ((uint8_t)((((u16) & 0x0007) << 5))|0x001F)
-
-#define SET_IDMR2(u16)           SET_IDMR0(u16)
-#define SET_IDMR3(u16)           SET_IDMR1(u16)
-
-#define SET_IDMR4(u16)           SET_IDMR0(u16)
-#define SET_IDMR5(u16)           SET_IDMR1(u16)
-
-#define SET_IDMR6(u16)           SET_IDMR0(u16)
-#define SET_IDMR7(u16)           SET_IDMR1(u16)
-
-#define GET_IDMR0(u16)           ((uint16_t) ((u16) << 3))
-#define GET_IDMR1(u16)           ((uint16_t)(((u16) >> 5)&0x0007))
-
-#define GET_IDMR2(u16)           GET_IDMR0(u16)
-#define GET_IDMR3(u16)           GET_IDMR1(u16)
-
-#define GET_IDMR4(u16)           GET_IDMR0(u16)
-#define GET_IDMR5(u16)           GET_IDMR1(u16)
-
-#define GET_IDMR6(u16)           GET_IDMR0(u16)
-#define GET_IDMR7(u16)           GET_IDMR1(u16)
-
-#define NO_OF_MSCAN_RX_BUFF 	 20
-#define MSCAN_MESSAGE_SIZE(size) (((size)%CPU_ALIGNMENT) ? (((size) + CPU_ALIGNMENT)-((size) + CPU_ALIGNMENT)%CPU_ALIGNMENT) : (size))
-
-#define TX_BUFFER_0              0
-#define TX_BUFFER_1              1
-#define TX_BUFFER_2              2
-
-#define RX_BUFFER_0              0
-#define RX_BUFFER_1              1
-#define RX_BUFFER_2              2
-#define RX_BUFFER_3              3
-
-#define NO_OF_MSCAN_TX_BUFF      20
-#define RING_BUFFER_EMPTY(rbuff) ((((rbuff)->head) == ((rbuff)->tail)) ? TRUE : FALSE)
-#define RING_BUFFER_FULL(rbuff)  ((((rbuff)->head) == ((rbuff)->tail)) ? TRUE : FALSE)
-
-
-typedef struct _mscan_handle
-  {
-  uint8_t mscan_channel;
-  void (*toucan_callback)(int16_t);
-  } mscan_handle;
-
 struct can_message
   {
     /* uint16_t mess_len; */
@@ -253,33 +57,8 @@ struct can_message
   uint16_t mess_time_stamp;
   uint8_t  mess_data[MSCAN_MAX_DATA_BYTES];
   uint8_t  mess_len;
-  uint32_t toucan_tx_id;
-  };
-
-struct ring_buf
-    {
-    struct can_message * volatile buf_ptr;
-    struct can_message * volatile head_ptr;
-    struct can_message * volatile tail_ptr;
-    };
-
-struct mpc5200_rx_cntrl
-  {
-  struct can_message can_rx_message[MSCAN_RX_BUFF_NUM];
-  };
-
-struct mscan_channel_info
-  {
-  volatile struct mpc5200_mscan *regs;
-  uint32_t   int_rx_err;
-  rtems_id   rx_qid;
-  uint32_t   rx_qname;
-  rtems_id   tx_rb_sid;
-  uint32_t   tx_rb_sname;
-  uint8_t    id_extended;
-  uint8_t    mode;
-  uint8_t    tx_buf_no;
-  struct ring_buf tx_ring_buf;
+  uint8_t  mess_rtr;
+  uint32_t toucan_tx_idx;
   };
 
 struct mscan_rx_parms
@@ -292,7 +71,7 @@ struct mscan_rx_parms
 struct mscan_tx_parms
   {
   struct can_message *tx_mess;
-  uint32_t tx_id;
+  uint32_t tx_idx;
   };
 
 struct mscan_ctrl_parms
@@ -306,10 +85,6 @@ struct mscan_ctrl_parms
   };
 
 
-extern void CanInterrupt_A(int16_t);
-extern void CanInterrupt_B(int16_t);
-
-
 rtems_device_driver mscan_initialize( rtems_device_major_number,
 				                      rtems_device_minor_number,
 				                      void *
@@ -345,23 +120,6 @@ rtems_device_driver mscan_control( rtems_device_major_number,
   { mscan_initialize, mscan_open, mscan_close, \
     mscan_read, mscan_write, mscan_control }
 
-/*MSCAN driver internal functions */
-void mscan_hardware_initialize(rtems_device_major_number, uint32_t, void *);
-void mpc5200_mscan_int_enable(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_int_disable(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_enter_sleep_mode(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_exit_sleep_mode(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_enter_init_mode(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_exit_init_mode(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_wait_sync(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_perform_init_mode_settings(volatile struct mpc5200_mscan *);
-void mpc5200_mscan_perform_normal_mode_settings(volatile struct mpc5200_mscan *);
-rtems_status_code mpc5200_mscan_set_mode(rtems_device_minor_number, uint8_t);
-rtems_status_code mscan_channel_initialize(rtems_device_major_number, rtems_device_minor_number);
-uint8_t prescaler_calculation(uint32_t, uint32_t, uint8_t *);
-void mpc5200_mscan_perform_bit_time_settings(volatile struct mpc5200_mscan *, uint32_t, uint32_t);
-
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan_int.h b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan_int.h
new file mode 100644
index 0000000000..e699c97d51
--- /dev/null
+++ b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan_int.h
@@ -0,0 +1,271 @@
+/*===============================================================*\
+| Project: RTEMS generic MPC5200 BSP                              |
++-----------------------------------------------------------------+
+| Partially based on the code references which are named below.   |
+| Adaptions, modifications, enhancements and any recent parts of  |
+| the code are:                                                   |
+|                    Copyright (c) 2005                           |
+|                    Embedded Brains GmbH                         |
+|                    Obere Lagerstr. 30                           |
+|                    D-82178 Puchheim                             |
+|                    Germany                                      |
+|                    rtems@embedded-brains.de                     |
++-----------------------------------------------------------------+
+| 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.                           |
+|                                                                 |
++-----------------------------------------------------------------+
+| this file has to be included by the mscan driver                |
+\*===============================================================*/
+#ifndef __MSCAN_INT_H__
+#define __MSCAN_INT_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "../mscan/mscan.h"
+
+#define MIN_NO_OF_TQ         7
+#define NO_OF_TABLE_ENTRIES  4
+#define TSEG_1               1
+#define TSEG_2               2
+#define SJW                  3
+
+#define MSCAN_RX_BUFF_NUM        4
+#define MSCAN_TX_BUFF_NUM        3
+
+#define MSCAN_NON_INITIALIZED_MODE   0
+#define MSCAN_INITIALIZED_MODE       1
+#define MSCAN_INIT_NORMAL_MODE       2
+#define MSCAN_NORMAL_MODE            4
+#define MSCAN_SLEEP_MODE             8
+
+#define CAN_BIT_RATE_MAX         1000000
+#define CAN_BIT_RATE_MIN         100000
+
+#define CAN_BIT_RATE             100000
+#define CAN_MAX_NO_OF_TQ         25
+#define CAN_MAX_NO_OF_TQ_TSEG1   15
+#define CAN_MAX_NO_OF_TQ_TSEG2   7
+#define CAN_MAX_NO_OF_TQ_SJW     2
+
+#define MSCAN_RX_BUFF_NOACTIVE   (0 << 4)
+#define MSCAN_RX_BUFF_EMPTY      (1 << 6)
+#define MSCAN_RX_BUFF_FULL       (1 << 5)
+#define MSCAN_RX_BUFF_OVERRUN    ((MSCAN_RX_BUFF_EMPTY) | (MSCAN_RX_BUFF_FULL))
+#define MSCAN_RX_BUFF_BUSY       (1 << 4)
+
+#define MSCAN_MBUFF_MASK         0x07
+
+#define MSCAN_TX_BUFF0           (1 << 0)
+#define MSCAN_TX_BUFF1           (1 << 1)
+#define MSCAN_TX_BUFF2           (1 << 2)
+
+#define MSCAN_IDE                (1 << 0)
+#define MSCAN_RTR                (1 << 1)
+#define MSCAN_READ_RXBUFF_0      (1 << 2)
+#define MSCAN_READ_RXBUFF_1      (1 << 2)
+#define MSCAN_READ_RXBUFF_2      (1 << 2)
+#define MSCAN_READ_RXBUFF_3      (1 << 2)
+
+#define CTL0_RXFRM               (1 << 7)
+#define CTL0_RXACT               (1 << 6)
+#define CTL0_CSWAI               (1 << 5)
+#define CTL0_SYNCH               (1 << 4)
+#define CTL0_TIME                (1 << 3)
+#define CTL0_WUPE                (1 << 2)
+#define CTL0_SLPRQ               (1 << 1)
+#define CTL0_INITRQ              (1 << 0)
+
+#define CTL1_CANE                (1 << 7)
+#define CTL1_CLKSRC              (1 << 6)
+#define CTL1_LOOPB               (1 << 5)
+#define CTL1_LISTEN              (1 << 4)
+#define CTL1_WUPM                (1 << 2)
+#define CTL1_SLPAK               (1 << 1)
+#define CTL1_INITAK              (1 << 0)
+
+#define BTR0_SJW(btr0)           ((btr0) << 6)
+#define BTR0_BRP(btr0)           ((btr0) << 0)
+
+#define BTR1_SAMP                (1 << 7)
+#define BTR1_TSEG_22_20(btr1)    ((btr1) << 4)
+#define BTR1_TSEG_13_10(btr1)    ((btr1) << 0)
+
+#define RFLG_WUPIF               (1 << 7)
+#define RFLG_CSCIF               (1 << 6)
+#define RFLG_RSTAT               (3 << 4)
+#define RFLG_TSTAT               (3 << 2)
+#define RFLG_OVRIF               (1 << 1)
+#define RFLG_RXF                 (1 << 0)
+#define RFLG_GET_RX_STATE(rflg)  (((rflg) >> 4) & 0x03)
+#define RFLG_GET_TX_STATE(rflg)  (((rflg) >> 2) & 0x03)
+
+#define MSCAN_STATE_OK           0
+#define MSCAN_STATE_ERR          1
+#define MSCAN_STATE_WRN		     2
+#define MSCAN_STATE_BUSOFF       3
+
+#define RIER_WUPIE               (1 << 7)
+#define RIER_CSCIE               (1 << 6)
+#define RIER_RSTAT(rier)         ((rier) << 4)
+#define RIER_TSTAT(rier)         ((rier) << 2)
+#define RIER_OVRIE               (1 << 1)
+#define RIER_RXFIE               (1 << 0)
+
+#define TFLG_TXE2                (1 << 2)
+#define TFLG_TXE1                (1 << 1)
+#define TFLG_TXE0                (1 << 0)
+
+#define TIER_TXEI2               (1 << 2)
+#define TIER_TXEI1               (1 << 1)
+#define TIER_TXEI0               (1 << 0)
+
+#define TARQ_ABTRQ2              (1 << 2)
+#define TARQ_ABTRQ1              (1 << 1)
+#define TARQ_ABTRQ0              (1 << 0)
+
+#define TAAK_ABTRQ2              (1 << 2)
+#define TAAK_ABTRQ1              (1 << 1)
+#define TAAK_ABTRQ0              (1 << 0)
+
+#define BSEL_TX2                 (1 << 2)
+#define BSEL_TX1                 (1 << 1)
+#define BSEL_TX0                 (1 << 0)
+
+#define IDAC_IDAM1               (1 << 5)
+#define IDAC_IDAM0               (1 << 4)
+#define IDAC_IDHIT(idac)         ((idac) & 0x7)
+
+#define TX_MBUF_SEL(buf_no)      (1 << (buf_no))
+#define TX_DATA_LEN(len)         ((len) & 0x0F)
+
+#define TX_MBUF_EMPTY(val)       (1 << (val))
+
+#define ID_RTR                   (1 << 4)
+
+#define SET_IDR0(u16)            ((uint8_t)((u16) >> 3))
+#define SET_IDR1(u16)            (MSCAN_MESS_ID_HAS_RTR(u16) ? ((uint8_t)(((u16) & 0x0007) << 5))|((uint8_t)(ID_RTR)) : ((uint8_t)(((u16) & 0x0007) << 5)))
+
+#define SET_IDR2(u16)            SET_IDR0(u16)
+#define SET_IDR3(u16)            SET_IDR1(u16)
+
+#define SET_IDR4(u16)            SET_IDR0(u16)
+#define SET_IDR5(u16)            SET_IDR1(u16)
+
+#define SET_IDR6(u16)            SET_IDR0(u16)
+#define SET_IDR7(u16)            SET_IDR1(u16)
+
+#define GET_IDR0(u16)            ((uint16_t) ((u16) << 3))
+#define GET_IDR1(u16)            ((((u16)&(ID_RTR))==(ID_RTR)) ? (uint16_t) ((((u16) >> 5)&0x0007)|MSCAN_MESS_ID_RTR) : (uint16_t)(((u16) >> 5)&0x0007))
+
+#define GET_IDR2(u16)            GET_IDR0(u16)
+#define GET_IDR3(u16)            GET_IDR1(u16)
+
+#define GET_IDR4(u16)            GET_IDR0(u16)
+#define GET_IDR5(u16)            GET_IDR1(u16)
+
+#define GET_IDR6(u16)            GET_IDR0(u16)
+#define GET_IDR7(u16)            GET_IDR1(u16)
+
+#define SET_IDMR0(u16)           ((uint8_t)((u16) >> 3))
+#define SET_IDMR1(u16)           (MSCAN_MESS_ID_HAS_RTR(u16) ? ((uint8_t) (((((u16) & 0x0007) << 5)|((uint8_t)(ID_RTR)))|0x0007)) : ((uint8_t)((((u16) & 0x0007) << 5))|0x0007))
+
+#define SET_IDMR2(u16)           SET_IDMR0(u16)
+#define SET_IDMR3(u16)           SET_IDMR1(u16)
+
+#define SET_IDMR4(u16)           SET_IDMR0(u16)
+#define SET_IDMR5(u16)           SET_IDMR1(u16)
+
+#define SET_IDMR6(u16)           SET_IDMR0(u16)
+#define SET_IDMR7(u16)           SET_IDMR1(u16)
+
+#define GET_IDMR0(u16)           ((uint16_t)((u16) << 3))
+#define GET_IDMR1(u16)           ((((u16)&(ID_RTR))==(ID_RTR)) ? (uint16_t) ((((u16) >> 5)&0x0007)|MSCAN_MESS_ID_RTR) : (uint16_t)(((u16) >> 5)&0x0007))
+
+#define GET_IDMR2(u16)           GET_IDMR0(u16)
+#define GET_IDMR3(u16)           GET_IDMR1(u16)
+
+#define GET_IDMR4(u16)           GET_IDMR0(u16)
+#define GET_IDMR5(u16)           GET_IDMR1(u16)
+
+#define GET_IDMR6(u16)           GET_IDMR0(u16)
+#define GET_IDMR7(u16)           GET_IDMR1(u16)
+
+#define NO_OF_MSCAN_RX_BUFF 	 20
+#define MSCAN_MESSAGE_SIZE(size) (((size)%CPU_ALIGNMENT) ? (((size) + CPU_ALIGNMENT)-((size) + CPU_ALIGNMENT)%CPU_ALIGNMENT) : (size))
+
+#define TX_BUFFER_0              0
+#define TX_BUFFER_1              1
+#define TX_BUFFER_2              2
+
+#define RX_BUFFER_0              0
+#define RX_BUFFER_1              1
+#define RX_BUFFER_2              2
+#define RX_BUFFER_3              3
+
+#define NO_OF_MSCAN_TX_BUFF      20
+#define RING_BUFFER_EMPTY(rbuff) ((((rbuff)->head) == ((rbuff)->tail)) ? TRUE : FALSE)
+#define RING_BUFFER_FULL(rbuff)  ((((rbuff)->head) == ((rbuff)->tail)) ? TRUE : FALSE)
+
+
+typedef struct _mscan_handle
+  {
+  uint8_t mscan_channel;
+  void (*toucan_callback)(int16_t);
+  } mscan_handle;
+
+struct ring_buf
+    {
+    struct can_message * volatile buf_ptr;
+    struct can_message * volatile head_ptr;
+    struct can_message * volatile tail_ptr;
+    };
+
+struct mpc5200_rx_cntrl
+  {
+  struct can_message can_rx_message[MSCAN_RX_BUFF_NUM];
+  };
+
+struct mscan_channel_info
+  {
+  volatile struct mpc5200_mscan *regs;
+  uint32_t   int_rx_err;
+  rtems_id   rx_qid;
+  uint32_t   rx_qname;
+  rtems_id   tx_rb_sid;
+  uint32_t   tx_rb_sname;
+  uint8_t    id_extended;
+  uint8_t    mode;
+  uint8_t    tx_buf_no;
+  struct ring_buf tx_ring_buf;
+  };
+
+extern void CanInterrupt_A(int16_t);
+extern void CanInterrupt_B(int16_t);
+
+/*MSCAN driver internal functions */
+void mscan_hardware_initialize(rtems_device_major_number, uint32_t, void *);
+void mpc5200_mscan_int_enable(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_int_disable(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_enter_sleep_mode(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_exit_sleep_mode(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_enter_init_mode(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_exit_init_mode(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_wait_sync(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_perform_init_mode_settings(volatile struct mpc5200_mscan *);
+void mpc5200_mscan_perform_normal_mode_settings(volatile struct mpc5200_mscan *);
+rtems_status_code mpc5200_mscan_set_mode(rtems_device_minor_number, uint8_t);
+rtems_status_code mscan_channel_initialize(rtems_device_major_number, rtems_device_minor_number);
+uint8_t prescaler_calculation(uint32_t, uint32_t, uint8_t *);
+void mpc5200_mscan_perform_bit_time_settings(volatile struct mpc5200_mscan *, uint32_t, uint32_t);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MSCAN_H__ */
diff --git a/c/src/libchip/ide/ata.c b/c/src/libchip/ide/ata.c
index 6c765262e7..abcd375c62 100644
--- a/c/src/libchip/ide/ata.c
+++ b/c/src/libchip/ide/ata.c
@@ -528,15 +528,16 @@ ata_request_done(ata_req_t *areq, rtems_device_minor_number ctrl_minor,
     DISABLE_PREEMPTION(key);
     ATA_EXEC_CALLBACK(areq, status, error);
     Chain_Extract(&areq->link);
-    free(areq);
 
     if (!Chain_Is_empty(&ata_ide_ctrls[ctrl_minor].reqs))
     {
         ENABLE_PREEMPTION(key);
+	free(areq);
         ata_process_request(ctrl_minor);
         return;
     }
     ENABLE_PREEMPTION(key);
+    free(areq);
 }
 
 /* ata_non_data_request_done --