2007-09-06 Daniel Hellstrom <daniel@gaisler.com>

	* cchip/cchip.c, include/cchip.h, include/rasta.h,
	rasta/rasta.c: New files missed in previous commit.

5 files changed, 874 insertions, 0 deletions

diff --git a/c/src/lib/libbsp/sparc/leon2/ChangeLog b/c/src/lib/libbsp/sparc/leon2/ChangeLog
index e2f2ce9ecd..d9634edba8 100644
--- a/c/src/lib/libbsp/sparc/leon2/ChangeLog
+++ b/c/src/lib/libbsp/sparc/leon2/ChangeLog
@@ -1,5 +1,10 @@
 2007-09-06	Daniel Hellstrom <daniel@gaisler.com>
 
+	* cchip/cchip.c, include/cchip.h, include/rasta.h,
+	rasta/rasta.c: New files missed in previous commit.
+
+2007-09-06	Daniel Hellstrom <daniel@gaisler.com>
+
 	* Makefile.am, preinstall.am: Use the following new drivers from
 	sparc/shared: PCI, b1553BRM, SpaceWire(GRSPW), CAN (GRCAN), Raw UART.
 
diff --git a/c/src/lib/libbsp/sparc/leon2/cchip/cchip.c b/c/src/lib/libbsp/sparc/leon2/cchip/cchip.c
new file mode 100644
index 0000000000..4fde54e007
--- /dev/null
+++ b/c/src/lib/libbsp/sparc/leon2/cchip/cchip.c
@@ -0,0 +1,355 @@
+
+#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 */
+	unsigned int bars[5];
+	int bus, dev, fun;
+	
+	/* AMBA bus */
+	amba_confarea_type amba_bus;
+	struct amba_mmap amba_maps[2];
+	
+	/* FT AHB SRAM */
+	int ftsram_size; /* kb */
+	unsigned int ftsram_start;
+	unsigned int ftsram_end;
+	
+} cchip1;
+
+cchip1 cc1;
+
+int init_pcif(void){
+	unsigned int com1;
+	int i,bus,dev,fun;
+	pci_bridge_regs *pcib;
+	amba_bridge_regs *ambab;
+	int amba_master_cnt;
+	amba_confarea_type *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].cpu_adr = cc1.bars[1];
+	cc1.amba_maps[0].remote_amba_adr = 0xfc000000;
+		
+	/* Mark end of table */
+	cc1.amba_maps[1].size=0;
+	cc1.amba_maps[1].cpu_adr = 0;
+	cc1.amba_maps[1].remote_amba_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
+	ambab->ambabars[0] = 0x40000000; /* 0xe0000000(AMBA) ==> 0x40000000(PCI) ==> 0x40000000(AT697 AMBA) */		
+	
+	/* Scan bus for AMBA devices */
+	abus = &cc1.amba_bus;
+	memset(abus,0,sizeof(amba_confarea_type));
+	amba_scan(abus,cc1.bars[1]+0x3f00000,&cc1.amba_maps[0]);
+	
+	/* Get number of amba masters */
+	amba_master_cnt = abus->ahbmst.devnr;
+#ifdef BOARD_INFO		
+	printk("Found %d AMBA masters\n\r",amba_master_cnt);
+#endif
+	for(i=1; i<amba_master_cnt; i++){
+		ambab->ambabars[i] = 0x40000000;
+	}
+	
+	/* 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
+int init_onboard_sram(){
+	amba_ahb_device ahb;
+	amba_apb_device apb;
+	unsigned int conf, size;
+	
+	/* Find SRAM controller 
+	 * 1. AHB slave interface
+	 * 2. APB slave interface
+	 */
+	if ( amba_find_apbslv(&cc1.amba_bus,VENDOR_GAISLER,GAISLER_FTAHBRAM,&apb) != 1 ){
+		printk("On Board FT SRAM not found (APB)\n");
+		return -1;
+	}
+	
+	if ( amba_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
new file mode 100644
index 0000000000..63a4a9ba25
--- /dev/null
+++ b/c/src/lib/libbsp/sparc/leon2/include/cchip.h
@@ -0,0 +1,23 @@
+
+#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
new file mode 100644
index 0000000000..986bc2addc
--- /dev/null
+++ b/c/src/lib/libbsp/sparc/leon2/include/rasta.h
@@ -0,0 +1,107 @@
+#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/rasta/rasta.c b/c/src/lib/libbsp/sparc/leon2/rasta/rasta.c
new file mode 100644
index 0000000000..542f4b5167
--- /dev/null
+++ b/c/src/lib/libbsp/sparc/leon2/rasta/rasta.c
@@ -0,0 +1,384 @@
+#include <rtems/bspIo.h>
+#include <pci.h>
+#include <rasta.h>
+#include <ambapp.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  4
+
+/* 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
+
+/*
+typedef struct {
+  volatile unsigned int ilevel;
+  volatile unsigned int ipend;
+  volatile unsigned int iforce;
+  volatile unsigned int iclear;
+  volatile unsigned int mpstat;
+  volatile unsigned int notused01;
+  volatile unsigned int notused02;
+  volatile unsigned int notused03;
+  volatile unsigned int notused10;
+  volatile unsigned int notused11;
+  volatile unsigned int notused12;
+  volatile unsigned int notused13;
+  volatile unsigned int notused20;
+  volatile unsigned int notused21;
+  volatile unsigned int notused22;
+  volatile unsigned int notused23;
+  volatile unsigned int mask[16];
+  volatile unsigned int force[16];
+} LEON3_IrqCtrl_Regs_Map;
+*/
+static int bus, dev, fun;
+
+LEON3_IrqCtrl_Regs_Map *irq = NULL;
+LEON_Register_Map      *regs = 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;
+ 
+}
+
+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;
+  } 
+}
+
+
+int rasta_get_gpio(amba_confarea_type *abus, int index, unsigned int *address, int *irq)
+{
+  amba_apb_device dev;
+  int cores;
+  
+  if ( !abus ) 
+    return -1;
+  
+  /* Scan PnP info for GPIO port number 'index' */
+  cores = amba_find_next_apbslv(abus,VENDOR_GAISLER,GAISLER_PIOPORT,&dev,index);
+  if ( cores < 1 )
+    return -1;
+  
+  if ( address )
+    *address = dev.start;
+  
+  if ( irq )
+    *irq = dev.irq;
+  
+  return 0;
+}
+
+/* AMBA Plug&Play information */
+static amba_confarea_type abus;
+static struct amba_mmap amba_maps[3];
+
+int rasta_register(void) 
+{
+    unsigned int 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 = bar0 + 0x400000; 
+    *page0 = 0x80000000;                  /* Point PAGE0 to start of APB       */
+
+    apb_base = 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 = (LEON3_IrqCtrl_Regs_Map *) (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;          /* 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].cpu_adr = bar0;
+    amba_maps[0].remote_amba_adr = 0x80000000;
+
+    /* AMBA MAP bar1 (in CPU) ==> 0x40000000(remote amba address) */
+    amba_maps[1].size = 0x10000000;
+    amba_maps[1].cpu_adr = bar1;
+    amba_maps[1].remote_amba_adr = 0x40000000;
+
+    /* Mark end of table */
+    amba_maps[2].size=0;
+    amba_maps[2].cpu_adr = 0;
+    amba_maps[2].remote_amba_adr = 0;
+        
+    memset(&abus,0,sizeof(abus));
+        
+    /* Start AMBA PnP scan at first AHB bus */
+    amba_scan(&abus,bar0+(AHB1_IOAREA_BASE_ADDR&~0xf0000000),&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,(unsigned int *)&gpio0,NULL) ){
+      printk("Failed to get address for RASTA GPIO0\n\r");
+      return -1;
+    }
+        
+    /* Find GPIO1 address */
+    if ( rasta_get_gpio(&abus,1,(unsigned int *)&gpio1,NULL) ){
+      printk("Failed to get address for RASTA GPIO1\n\r");
+      return -1;
+    }
+    
+    /* Successfully registered the RASTA board */
+    return 0;
+}