diff options
Diffstat (limited to 'bsps/powerpc/gen5200/mscan/mscan.c')
| -rw-r--r-- | bsps/powerpc/gen5200/mscan/mscan.c | 1262 |
1 files changed, 1262 insertions, 0 deletions
diff --git a/bsps/powerpc/gen5200/mscan/mscan.c b/bsps/powerpc/gen5200/mscan/mscan.c new file mode 100644 index 0000000000..e36b6224cc --- /dev/null +++ b/bsps/powerpc/gen5200/mscan/mscan.c @@ -0,0 +1,1262 @@ +/*===============================================================*\ +| Project: RTEMS generic MPC5200 BSP | ++-----------------------------------------------------------------+ +| 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.org/license/LICENSE. | +| | ++-----------------------------------------------------------------+ +| this file contains the MSCAN driver | +\*===============================================================*/ + +#include <stdio.h> +#include <stdlib.h> +#include <rtems.h> +#include <rtems/error.h> +#include <rtems/libio.h> +#include <string.h> + +#include <bsp.h> +#include <bsp/fatal.h> +#include <bsp/irq.h> +#include "../mscan/mscan_int.h" + +/* #define MSCAN_LOOPBACK */ + +struct mpc5200_rx_cntrl mpc5200_mscan_rx_cntrl[MPC5200_CAN_NO]; +static struct mscan_channel_info chan_info[MPC5200_CAN_NO]; + +/* + * MPC5x00 MSCAN tx ring buffer function to get a can message buffer from the head of the tx ring buffer + */ +static struct can_message *get_tx_buffer(struct mscan_channel_info *chan) +{ + /* define a temp. mess ptr. */ + struct can_message *tmp_mess_ptr = NULL, + *temp_head_ptr; + + /* set temp. head pointer */ + temp_head_ptr = chan->tx_ring_buf.head_ptr; + + /* check buffer empty condition */ + if (temp_head_ptr != chan->tx_ring_buf.tail_ptr) { + + /* current buffer head. ptr. */ + tmp_mess_ptr = temp_head_ptr; + + /* increment the head pointer */ + temp_head_ptr++; + + /* check for wrap around condition */ + if (temp_head_ptr > chan->tx_ring_buf.buf_ptr + NO_OF_MSCAN_TX_BUFF) { + + /* set head ptr. to the begin of the ring buffer */ + temp_head_ptr = chan->tx_ring_buf.buf_ptr; + + } + + /* end of crtical section restore head ptr. */ + chan->tx_ring_buf.head_ptr = temp_head_ptr; + } + + /* return the current head pointer */ + return tmp_mess_ptr; +} + +/* + * MPC5x00 MSCAN tx ring buffer function to write a can message buffer to the tail of the tx ring buffer + */ +static struct can_message *fill_tx_buffer(struct mscan_channel_info *chan, + struct can_message *mess_ptr) +{ + /* define a temp. mess ptr. to the entry which follows the current tail entry */ + struct can_message *tmp_mess_ptr = chan->tx_ring_buf.tail_ptr + 1; + + /* check for the wrap around condition */ + if (tmp_mess_ptr > chan->tx_ring_buf.buf_ptr + NO_OF_MSCAN_TX_BUFF) { + /* set temp. mess. ptr to the begin of the ring buffer */ + tmp_mess_ptr = chan->tx_ring_buf.buf_ptr; + } + + /* check buffer full condition */ + if (tmp_mess_ptr == chan->tx_ring_buf.head_ptr) { + /* return NULL in case buffer is full */ + return NULL; + } else { + /* copy the can mess. to the tail of the buffer */ + memcpy((void *) chan->tx_ring_buf.tail_ptr, (void *) mess_ptr, + sizeof (struct can_message)); + + /* set new tail equal to temp. mess. ptr. */ + chan->tx_ring_buf.tail_ptr = tmp_mess_ptr; + } + + /* return the actual tail ptr. (next free entry) */ + return chan->tx_ring_buf.tail_ptr; +} + +/* + * MPC5x00 MSCAN interrupt handler + */ +static void mpc5200_mscan_interrupt_handler(rtems_irq_hdl_param handle) +{ + rtems_status_code status; + mscan_handle *mscan_hdl = (mscan_handle *) handle; + struct mscan_channel_info *chan = &chan_info[mscan_hdl->mscan_channel]; + struct can_message rx_mess, + *rx_mess_ptr, + *tx_mess_ptr; + mscan *m = chan->regs; + register uint8_t idx; + + /* + handle tx ring buffer + */ + + /* loop over all 3 tx buffers */ + for (idx = TFLG_TXE0; idx <= TFLG_TXE2; idx = idx << 1) { + + /* check for tx buffer vacation */ + if ((m->tflg) & idx) { + + /* try to get a message */ + tx_mess_ptr = get_tx_buffer(chan); + + /* check for new tx message */ + if (tx_mess_ptr != NULL) { + + /* select the tx buffer */ + m->bsel = idx; + + /* check for toucan interface */ + if ((mscan_hdl->toucan_callback) == NULL) { + + /* set tx id */ + m->txidr0 = SET_IDR0(tx_mess_ptr->mess_id); + m->txidr1 = SET_IDR1(tx_mess_ptr->mess_id); + m->txidr2 = 0; + m->txidr3 = 0; + + } + + /* 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))) { + + /* insert dlc into m register */ + m->txdlr = (uint8_t) ((tx_mess_ptr->mess_len) & 0x000F); + + /* skip data copy in case of RTR */ + if (!(MSCAN_MESS_ID_HAS_RTR(tx_mess_ptr->mess_id))) { + /* copy tx data to MSCAN registers */ + switch (m->txdlr) { + case 8: + m->txdsr7 = tx_mess_ptr->mess_data[7]; + case 7: + m->txdsr6 = tx_mess_ptr->mess_data[6]; + case 6: + m->txdsr5 = tx_mess_ptr->mess_data[5]; + case 5: + m->txdsr4 = tx_mess_ptr->mess_data[4]; + case 4: + m->txdsr3 = tx_mess_ptr->mess_data[3]; + case 3: + m->txdsr2 = tx_mess_ptr->mess_data[2]; + case 2: + m->txdsr1 = tx_mess_ptr->mess_data[1]; + case 1: + m->txdsr0 = tx_mess_ptr->mess_data[0]; + break; + default: + break; + } + } + + /* enable message buffer specific interrupt */ + m->tier |= m->bsel; + + /* start transfer */ + m->tflg = m->bsel; + + /* release counting semaphore of tx ring buffer */ + rtems_semaphore_release((rtems_id) (chan->tx_rb_sid)); + + } else { + + /* refill the tx ring buffer with the message */ + fill_tx_buffer(chan, tx_mess_ptr); + + } + } else { + /* reset interrupt enable bit */ + m->tier &= ~(idx); + } + } + } + + /* + handle rx interrupts + */ + + /* check for rx interrupt source */ + if (m->rier & RIER_RXFIE) { + + /* can messages received ? */ + while (m->rflg & RFLG_RXF) { + + if (mscan_hdl->toucan_callback == NULL) { + + /* select temporary rx buffer */ + rx_mess_ptr = &rx_mess; + + } else { + + /* check the rx fliter-match indicators (16-bit filter mode) */ + /* in case of more than one hit, lower hit has priority */ + idx = (m->idac) & 0x7; + switch (idx) { + + case 0: + case 1: + case 2: + case 3: + rx_mess_ptr = + (struct can_message *) + &(mpc5200_mscan_rx_cntrl[mscan_hdl->mscan_channel]. + can_rx_message[idx]); + break; + + /* this case should never happen */ + default: + /* reset the rx indication flag */ + m->rflg |= RFLG_RXF; + + return; + break; + } + + } + + /* get rx ID */ + rx_mess_ptr->mess_id = GET_IDR0(m->rxidr0) | GET_IDR1(m->rxidr1); + + /* get rx len */ + rx_mess_ptr->mess_len = ((m->rxdlr) & 0x0F); + + /* get time stamp */ + rx_mess_ptr->mess_time_stamp = ((m->rxtimh << 8) | (m->rxtiml)); + + /* skip data copy in case of RTR */ + if (!(MSCAN_MESS_ID_HAS_RTR(rx_mess_ptr->mess_id))) + { + + /* get the data */ + switch (rx_mess_ptr->mess_len) { + case 8: + rx_mess_ptr->mess_data[7] = m->rxdsr7; + case 7: + rx_mess_ptr->mess_data[6] = m->rxdsr6; + case 6: + rx_mess_ptr->mess_data[5] = m->rxdsr5; + case 5: + rx_mess_ptr->mess_data[4] = m->rxdsr4; + case 4: + rx_mess_ptr->mess_data[3] = m->rxdsr3; + case 3: + rx_mess_ptr->mess_data[2] = m->rxdsr2; + case 2: + rx_mess_ptr->mess_data[1] = m->rxdsr1; + case 1: + rx_mess_ptr->mess_data[0] = m->rxdsr0; + case 0: + default: + break; + } + } + + if (mscan_hdl->toucan_callback == NULL) { + + if ((status = + rtems_message_queue_send(chan->rx_qid, (void *) rx_mess_ptr, + sizeof (struct can_message))) != + RTEMS_SUCCESSFUL) { + + chan->int_rx_err++; + + } + + } else { + + mscan_hdl->toucan_callback((int16_t) (((m->idac) & 0x7) + 3)); + + } + + /* reset the rx indication flag */ + m->rflg |= RFLG_RXF; + + } /* end of while(m->rflg & RFLG_RXF) */ + + } + + /* status change detected */ + if (m->rflg & RFLG_CSCIF) { + + m->rflg |= RFLG_CSCIF; + + if (mscan_hdl->toucan_callback != NULL) { + + mscan_hdl->toucan_callback((int16_t) (-1)); + + } + + } + +} + +/** + * @brief Enables some interrupts for the MSCAN module @a m. + * + * Enabled interrupts: + * - Receiver or transmitter enters or leaves bus off state + * - Receiver buffer full + */ +static void mscan_interrupts_enable(mscan *m) +{ + + /* RX Interrupt Enable on MSCAN_A/_B ----------------------------- */ + /* [07]:WUPIE 0 : WakeUp interrupt disabled */ + /* [06]:CSCIE 1 : Status Change interrupt enabled */ + /* [05]:RSTATE1 0 : Recv. Status Change int. ,Bit 1 */ + /* [04]:RSTATE0 1 : Recv. Status Change int. ,Bit 0 */ + /* -> 01 BusOff status changes enabled */ + /* [03]:TSTAT1 0 : Transmit. Status Change int. , Bit 1 */ + /* [02]:TSTAT0 1 : Transmit. Status Change int. , Bit 0 */ + /* -> 01 BusOff status changes enabled */ + /* [01]:OVRIE 0 : Overrun Interrupt is disabled */ + /* [00]:RXFIE 1 : Recv. Full interrupt is enabled */ + m->rier |= (RIER_CSCIE | RIER_RXFIE | RIER_RSTAT(1) | RIER_TSTAT(1)); + + return; + +} + +/* + * Unmask MPC5x00 MSCAN_A interrupts + */ +static void mpc5200_mscan_a_on(const rtems_irq_connect_data * ptr) +{ + mscan *m = (&chan_info[MSCAN_A])->regs; + + mscan_interrupts_enable(m); + + return; + +} + +/* + * Mask MPC5x00 MSCAN_A interrupts + */ +static void mpc5200_mscan_a_off(const rtems_irq_connect_data * ptr) +{ + mscan *m = (&chan_info[MSCAN_A])->regs; + + mscan_interrupts_disable(m); + + return; + +} + +/* + * Get MSCAN_A interrupt mask setting + */ +static int mpc5200_mscan_a_isOn(const rtems_irq_connect_data * ptr) +{ + mscan *m = (&chan_info[MSCAN_A])->regs; + + if ((m->rier & RIER_CSCIE) && (m->rier & RIER_RXFIE)) + return RTEMS_SUCCESSFUL; + else + return RTEMS_UNSATISFIED; + + return RTEMS_SUCCESSFUL; + +} + +/* + * Unmask MPC5x00 MSCAN_B interrupts + */ +static void mpc5200_mscan_b_on(const rtems_irq_connect_data * ptr) +{ + mscan *m = (&chan_info[MSCAN_B])->regs; + + mscan_interrupts_enable(m); + + return; + +} + +/* + * Mask MPC5x00 MSCAN_B interrupts + */ +static void mpc5200_mscan_b_off(const rtems_irq_connect_data * ptr) +{ + mscan *m = (&chan_info[MSCAN_B])->regs; + + mscan_interrupts_disable(m); + + return; + +} + +/* + * Get MSCAN_B interrupt mask setting + */ +static int mpc5200_mscan_b_isOn(const rtems_irq_connect_data * ptr) +{ + mscan *m = (&chan_info[MSCAN_B])->regs; + + if ((m->rier & RIER_CSCIE) && (m->rier & RIER_RXFIE)) + return RTEMS_SUCCESSFUL; + else + return RTEMS_UNSATISFIED; + + return RTEMS_SUCCESSFUL; + +} + +static mscan_handle mscan_a_handle = { + MSCAN_A, + NULL +}; + +static mscan_handle mscan_b_handle = { + MSCAN_B, + NULL +}; + +/* + * MPC5x00 MSCAN_A/_B irq data + */ +static rtems_irq_connect_data mpc5200_mscan_irq_data[MPC5200_CAN_NO] = { + { + BSP_SIU_IRQ_MSCAN1, + (rtems_irq_hdl) mpc5200_mscan_interrupt_handler, + (rtems_irq_hdl_param) & mscan_a_handle, + (rtems_irq_enable) mpc5200_mscan_a_on, + (rtems_irq_disable) mpc5200_mscan_a_off, + (rtems_irq_is_enabled) mpc5200_mscan_a_isOn + }, { + BSP_SIU_IRQ_MSCAN2, + (rtems_irq_hdl) mpc5200_mscan_interrupt_handler, + (rtems_irq_hdl_param) & mscan_b_handle, + (rtems_irq_enable) mpc5200_mscan_b_on, + (rtems_irq_disable) mpc5200_mscan_b_off, + (rtems_irq_is_enabled) mpc5200_mscan_b_isOn + } +}; + +/* + * MPC5x00 MSCAN wait for sync. with CAN bus + */ +void mpc5200_mscan_wait_sync(mscan *m) +{ + + /* Control Register 0 -------------------------------------------- */ + /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ + /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ + /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ + /* [04]:SYNCH 0->1 : Synchronized, Status Bit (rd. only) */ + /* [03]:TIME 1 : Generate Timestamps */ + /* [02]:WUPE 0 : WakeUp Disabled */ + /* [01]:SLPRQ 0 : No Sleep Mode Request */ + /* [00]:INITRQ 0 : No init. Mode Request */ + /* wait for MSCAN A_/_B bus synch. */ + +#if 0 /* we don't have a need to wait for sync. */ + while (!((m->ctl0) & CTL0_SYNCH)); +#endif + return; + +} + +/* + * MPC5x00 MSCAN perform settings in init mode + */ +static void mpc5200_mscan_perform_initialization_mode_settings(mscan *m) +{ + mscan_context context; + + /* perform all can bit time settings */ + (void) mscan_set_bit_rate(m, MSCAN_BIT_RATE_DEFAULT); + + /* Enter initialization mode */ + mscan_initialization_mode_enter( m, &context); + + /* Control Register 1 -------------------------------------------- */ + /* [07]:CANE 0 : MSCAN Module is disabled */ + /* [06]:CLKSRC 0 : Clock Source -> IPB_CLOCK (bsp.h) */ + /* [05]:LOOPB 0 : No Loopback */ + /* [04]:LISTEN 0 : Normal Operation */ + /* [03]:res 0 : reserved */ + /* [02]:WUPM 0 : No protect. from spurious WakeUp */ + /* [01]:SLPAK 1->0 : Sleep Mode Acknowledge (rd. only) */ + /* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */ + /* Set CLK source, disable loopback & listen-only mode */ +#ifndef MSCAN_LOOPBACK + m->ctl1 &= ~(CTL1_LISTEN | CTL1_LOOPB | CTL1_CLKSRC); +#else + m->ctl1 &= ~(CTL1_LISTEN | CTL1_CLKSRC); + m->ctl1 |= (CTL1_LOOPB); +#endif + + /* IPB clock -> IPB_CLOCK */ + /* bitrate -> CAN_BIT_RATE */ + /* Max. no of Tq -> CAN_MAX_NO_OF_TQ */ + /* Prescaler value -> prescale_val = ROUND_UP(IPB_CLOCK/(CAN_BIT_RATE * CAN_MAX_NO_OF_TQ)) */ + /* SYNC_SEG -> 1 tq */ + /* time segment 1 -> 16 tq (PROP_SEG+PHASE_SEG), CAN_MAX_NO_OF_TQ_TSEG1 = 15 */ + /* time segment 2 -> 8 tq (PHASE_SEG2) , CAN_MAX_NO_OF_TQ_TSEG2 = 7 */ + /* SJW -> 3 (fixed 0...3) , CAN_MAX_NO_OF_TQ_SJW = 2 */ + + /* ID Acceptance Control MSCAN_A/_B ------------------------------ */ + /* [07]:res. 0 : reserved */ + /* [06]:res. 0 : reserved */ + /* [05]:IDAM1 0 : ID acceptance control, Bit1 */ + /* [04]:IDAM0 1 : ID acceptance control, Bit0 */ + /* -> filter 16 bit mode */ + /* [03]:res. 0 : reserved */ + /* [02]:IDHIT2 0 : ID acceptance hit indication, Bit 2 */ + /* [01]:IDHIT1 0 : ID acceptance hit indication, Bit 1 */ + /* [00]:IDHIT0 0 : ID acceptance hit indication, Bit 0 */ + m->idac &= ~(IDAC_IDAM1); + m->idac |= (IDAC_IDAM0); + + /* initialize rx filter masks (16 bit), don't care including rtr */ + m->idmr0 = SET_IDMR0(0x7FF); + m->idmr1 = SET_IDMR1(0x7FF); + m->idmr2 = SET_IDMR2(0x7FF); + m->idmr3 = SET_IDMR3(0x7FF); + m->idmr4 = SET_IDMR4(0x7FF); + m->idmr5 = SET_IDMR5(0x7FF); + m->idmr6 = SET_IDMR6(0x7FF); + m->idmr7 = SET_IDMR7(0x7FF); + + /* Control Register 1 -------------------------------------------- */ + /* [07]:CANE 0->1 : MSCAN Module is enabled */ + /* [06]:CLKSRC 1 : Clock Source -> IPB_CLOCK (bsp.h) */ + /* [05]:LOOPB 0 : No Loopback */ + /* [04]:LISTEN 0 : Normal Operation */ + /* [03]:res 0 : reserved */ + /* [02]:WUPM 0 : No protect. from spurious WakeUp */ + /* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */ + /* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */ + /* enable MSCAN A_/_B */ + m->ctl1 |= (CTL1_CANE); + + /* Leave initialization mode */ + mscan_initialization_mode_leave( m, &context); + + return; + +} + +/* + * MPC5x00 MSCAN perform settings in normal mode + */ +void mpc5200_mscan_perform_normal_mode_settings(mscan + *m) +{ + + /* Control Register 0 -------------------------------------------- */ + /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ + /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ + /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ + /* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */ + /* [03]:TIME 1 : Generate Timestamps */ + /* [02]:WUPE 0 : WakeUp Disabled */ + /* [01]:SLPRQ 0 : No Sleep Mode Request */ + /* [00]:INITRQ 0 : No init. Mode Request */ + /* Disable wait mode, enable timestamps */ + m->ctl0 &= ~(CTL0_CSWAI); + m->ctl0 |= (CTL0_TIME); + + return; + +} + +rtems_status_code mpc5200_mscan_set_mode(rtems_device_minor_number minor, + uint8_t mode) +{ + struct mscan_channel_info *chan = NULL; + mscan *m = NULL; + + switch (minor) { + + case MSCAN_A: + case MSCAN_B: + chan = &chan_info[minor]; + m = chan->regs; + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + if (chan->mode == mode) + return RTEMS_SUCCESSFUL; + + switch (mode) { + + case MSCAN_INIT_NORMAL_MODE: + /* perform initialization which has to be done in init mode */ + mpc5200_mscan_perform_initialization_mode_settings(m); + break; + + case MSCAN_NORMAL_MODE: + if ((chan->mode) == MSCAN_INITIALIZED_MODE) { + /* perform initialization which has to be done in init mode */ + mpc5200_mscan_perform_initialization_mode_settings(m); + } + + if ((chan->mode) == MSCAN_SLEEP_MODE) { + + /* exit sleep mode */ + mscan_sleep_mode_leave(m); + } + /* enable ints. */ + mscan_interrupts_enable(m); + /* wait for bus sync. */ + mpc5200_mscan_wait_sync(m); + break; + + case MSCAN_SLEEP_MODE: + /* disable ints. */ + mscan_interrupts_disable(m); + /* knter sleep mode */ + mscan_sleep_mode_enter(m); + break; + + default: + return RTEMS_UNSATISFIED; + break; + + } + + /* set new channel mode */ + chan->mode = mode; + + return RTEMS_SUCCESSFUL; + +} + +/* + * initialization of channel info. + */ +rtems_status_code mscan_channel_initialize(rtems_device_major_number major, + rtems_device_minor_number minor) +{ + rtems_status_code status; + struct mscan_channel_info *chan = &chan_info[minor]; + + /* set registers according to MSCAN channel information */ + switch (minor) { + + case MSCAN_A: + chan->rx_qname = rtems_build_name('C', 'N', 'A', 'Q'); + chan->tx_rb_sname = rtems_build_name('C', 'N', 'A', 'S'); + + /* register RTEMS device names for MSCAN A */ + if ((status = + rtems_io_register_name(MSCAN_A_DEV_NAME, major, + MSCAN_A)) != RTEMS_SUCCESSFUL) + return status; + + /* register RTEMS device names for MSCAN 0 */ + if ((status = + rtems_io_register_name(MSCAN_0_DEV_NAME, major, + MSCAN_A)) != RTEMS_SUCCESSFUL) + return status; + + /* allocate the space for MSCAN A tx ring buffer */ + if (((chan->tx_ring_buf.buf_ptr) = + malloc(sizeof (struct can_message) * (NO_OF_MSCAN_TX_BUFF + 1))) != + NULL) { + chan->tx_ring_buf.head_ptr = chan->tx_ring_buf.tail_ptr = + chan->tx_ring_buf.buf_ptr; + } else { + return RTEMS_UNSATISFIED; + } + break; + + case MSCAN_B: + chan->rx_qname = rtems_build_name('C', 'N', 'B', 'Q'); + chan->tx_rb_sname = rtems_build_name('C', 'N', 'B', 'S'); + + /* register RTEMS device names for MSCAN B */ + if ((status = + rtems_io_register_name(MSCAN_B_DEV_NAME, major, + MSCAN_B)) != RTEMS_SUCCESSFUL) + return status; + + /* register RTEMS device names for MSCAN 1 */ + if ((status = + rtems_io_register_name(MSCAN_1_DEV_NAME, major, + MSCAN_B)) != RTEMS_SUCCESSFUL) + return status; + + /* allocate the space for MSCAN B tx ring buffer */ + if (((chan->tx_ring_buf.buf_ptr) = + malloc(sizeof (struct can_message) * (NO_OF_MSCAN_TX_BUFF + 1))) != + NULL) { + chan->tx_ring_buf.head_ptr = chan->tx_ring_buf.tail_ptr = + chan->tx_ring_buf.buf_ptr; + } else { + return RTEMS_UNSATISFIED; + } + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + /* create RTEMS rx message queue */ + status = + rtems_message_queue_create(chan->rx_qname, (uint32_t) NO_OF_MSCAN_RX_BUFF, + (uint32_t) + MSCAN_MESSAGE_SIZE(sizeof (struct can_message)), + (rtems_attribute) RTEMS_LOCAL | RTEMS_FIFO, + (rtems_id *) & (chan->rx_qid)); + + /* create counting RTEMS tx ring buffer semaphore */ + status = + rtems_semaphore_create(chan->tx_rb_sname, (uint32_t) (NO_OF_MSCAN_TX_BUFF), + RTEMS_COUNTING_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY + | RTEMS_NO_PRIORITY_CEILING | RTEMS_LOCAL, + (rtems_task_priority) 0, + (rtems_id *) & (chan->tx_rb_sid)); + + /* Set up interrupts */ + if (!BSP_install_rtems_irq_handler(&(mpc5200_mscan_irq_data[minor]))) + rtems_panic("Can't attach MPC5x00 MSCAN interrupt handler %d\n", minor); + + /* basic setup for channel info. struct. */ + chan->regs = (mscan *) &(mpc5200.mscan[minor]); + chan->int_rx_err = 0; + chan->id_extended = FALSE; + chan->mode = MSCAN_INITIALIZED_MODE; + chan->tx_buf_no = NO_OF_MSCAN_TX_BUFF; + + return status; + +} + +/* + * MPC5x00 MSCAN device initialization + */ +rtems_device_driver mscan_initialize(rtems_device_major_number major, + rtems_device_minor_number minor, void *arg) +{ + rtems_status_code status; + + /* Initialization requested via RTEMS */ + if ((status = mscan_channel_initialize(major, MSCAN_A)) != RTEMS_SUCCESSFUL) + bsp_fatal(MPC5200_FATAL_MSCAN_A_INIT); + + if ((status = mscan_channel_initialize(major, MSCAN_B)) != RTEMS_SUCCESSFUL) + bsp_fatal(MPC5200_FATAL_MSCAN_B_INIT); + + if ((status = + mpc5200_mscan_set_mode(MSCAN_A, + MSCAN_INIT_NORMAL_MODE)) != RTEMS_SUCCESSFUL) + bsp_fatal(MPC5200_FATAL_MSCAN_A_SET_MODE); + + if ((status = + mpc5200_mscan_set_mode(MSCAN_B, + MSCAN_INIT_NORMAL_MODE)) != RTEMS_SUCCESSFUL) + bsp_fatal(MPC5200_FATAL_MSCAN_B_SET_MODE); + + return status; + +} + +/* + * MPC5x00 MSCAN device open + */ +rtems_device_driver mscan_open(rtems_device_major_number major, + rtems_device_minor_number minor, void *arg) +{ + rtems_status_code status = RTEMS_SUCCESSFUL; + struct mscan_channel_info *chan = NULL; + + switch (minor) { + + case MSCAN_A: + case MSCAN_B: + chan = &chan_info[minor]; + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + /* check mode */ + if ((chan->mode) == MSCAN_SLEEP_MODE) { + + /* if not already set enter init mode */ + status = mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE); + } + + return status; + +} + +/* + * MPC5x00 MSCAN device close + */ +rtems_device_driver mscan_close(rtems_device_major_number major, + rtems_device_minor_number minor, void *arg) +{ + rtems_status_code status; + + switch (minor) { + + case MSCAN_A: + case MSCAN_B: + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + /* enter deep sleep mode */ + status = mpc5200_mscan_set_mode(minor, MSCAN_SLEEP_MODE); + + return status; + +} + +/* + * MPC5x00 MSCAN device read + */ +rtems_device_driver mscan_read(rtems_device_major_number major, + rtems_device_minor_number minor, void *arg) +{ + rtems_status_code status; + size_t message_size = 0; + rtems_libio_rw_args_t *parms = (rtems_libio_rw_args_t *) arg; + struct mscan_rx_parms *rx_parms = (struct mscan_rx_parms *) (parms->buffer); + struct can_message *rx_mess = (struct can_message *) (rx_parms->rx_mess); + struct mscan_channel_info *chan = NULL; + + switch (minor) { + + case MSCAN_A: + case MSCAN_B: + chan = &chan_info[minor]; + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + /* end init mode if it is first read */ + if ((chan->mode) == MSCAN_INIT_NORMAL_MODE) { + + /* if not already set enter init mode */ + mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE); + } + + if ((status = + rtems_message_queue_receive(chan->rx_qid, (void *) (rx_mess), + &message_size, + (uint32_t) (rx_parms->rx_flags), + (rtems_interval) (rx_parms->rx_timeout))) + != RTEMS_SUCCESSFUL) { + + parms->bytes_moved = 0; + + } else { + + parms->bytes_moved = sizeof (struct can_message); + + } + + return status; + +} + +/* + * MPC5x00 MSCAN device write + */ +rtems_device_driver mscan_write(rtems_device_major_number major, + rtems_device_minor_number minor, void *arg) +{ + rtems_status_code status; + rtems_libio_rw_args_t *parms = (rtems_libio_rw_args_t *) arg; + struct mscan_tx_parms *tx_parms = (struct mscan_tx_parms *) (parms->buffer); + struct can_message *tx_mess = (struct can_message *) (tx_parms->tx_mess); + struct mscan_channel_info *chan = NULL; + mscan *m = NULL; + + switch (minor) { + case MSCAN_A: + case MSCAN_B: + chan = &chan_info[minor]; + m = chan->regs; + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + /* end init mode if it is first write */ + if ((chan->mode) == MSCAN_INIT_NORMAL_MODE) { + + /* if not already set enter init mode */ + mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE); + } + + /* preset moved bytes */ + parms->bytes_moved = 0; + + /* obtain counting semaphore of tx ring buffer */ + if ((status = + rtems_semaphore_obtain((rtems_id) (chan->tx_rb_sid), RTEMS_NO_WAIT, + (rtems_interval) 0)) + == RTEMS_SUCCESSFUL) { + + /* append the TOUCAN tx_id to the mess. due to interrupt handling */ + tx_mess->toucan_tx_idx = tx_parms->tx_idx; + + /* fill the tx ring buffer with the message */ + fill_tx_buffer(chan, tx_mess); + + /* enable message buffer specific interrupt */ + m->tier |= (TIER_TXEI0 | TIER_TXEI1 | TIER_TXEI2); + + /* calculate moved bytes */ + parms->bytes_moved = (tx_mess->mess_len) & 0x000F; + + } + + return status; + +} + +/* + * MPC5x00 MSCAN device control + */ +rtems_device_driver mscan_control(rtems_device_major_number major, + rtems_device_minor_number minor, void *arg) +{ + rtems_status_code status; + uint16_t tx_id; + rtems_libio_ioctl_args_t *parms = (rtems_libio_ioctl_args_t *) arg; + struct mscan_ctrl_parms *ctrl_parms = + (struct mscan_ctrl_parms *) (parms->buffer); + struct mscan_channel_info *chan = NULL; + mscan_handle *mscan_hdl = NULL; + mscan *m = NULL; + mscan_context context; + uint8_t tx_buf_count = 0; + + switch (minor) { + + case MSCAN_A: + case MSCAN_B: + chan = &chan_info[minor]; + mscan_hdl = mpc5200_mscan_irq_data[minor].handle; + m = chan->regs; + break; + + default: + return RTEMS_UNSATISFIED; + break; + } + + switch (parms->command) { + + /* TOUCAN callback initialization for MSCAN */ + case TOUCAN_MSCAN_INIT: + mscan_hdl->toucan_callback = ctrl_parms->toucan_cb_fnc; + break; + + /* set rx buffer ID */ + case MSCAN_SET_RX_ID: + + /* enter init mode */ + mscan_initialization_mode_enter(m, &context); + + switch (ctrl_parms->ctrl_reg_no) { + + case RX_BUFFER_0: + m->idar0 = SET_IDR0(ctrl_parms->ctrl_id); + m->idar1 = SET_IDR1(ctrl_parms->ctrl_id); + break; + + case RX_BUFFER_1: + m->idar2 = SET_IDR2(ctrl_parms->ctrl_id); + m->idar3 = SET_IDR3(ctrl_parms->ctrl_id); + break; + + case RX_BUFFER_2: + m->idar4 = SET_IDR4(ctrl_parms->ctrl_id); + m->idar5 = SET_IDR5(ctrl_parms->ctrl_id); + break; + + case RX_BUFFER_3: + m->idar6 = SET_IDR6(ctrl_parms->ctrl_id); + m->idar7 = SET_IDR7(ctrl_parms->ctrl_id); + break; + + default: + break; + + } + + /* exit init mode and perform further initialization which is required in the normal mode */ + mscan_initialization_mode_leave(m, &context); + + /* enable ints. */ + mscan_interrupts_enable(m); + + /* wait for bus sync. */ + mpc5200_mscan_wait_sync(m); + + return RTEMS_SUCCESSFUL; + break; + + /* get rx buffer ID */ + case MSCAN_GET_RX_ID: + + switch (ctrl_parms->ctrl_reg_no) { + + case RX_BUFFER_0: + ctrl_parms->ctrl_id = GET_IDR0(m->idar0) | GET_IDR1(m->idar1); + break; + + case RX_BUFFER_1: + ctrl_parms->ctrl_id = GET_IDR2(m->idar2) | GET_IDR3(m->idar3); + break; + + case RX_BUFFER_2: + ctrl_parms->ctrl_id = GET_IDR4(m->idar4) | GET_IDR5(m->idar5); + break; + + case RX_BUFFER_3: + ctrl_parms->ctrl_id = GET_IDR6(m->idar6) | GET_IDR7(m->idar7); + break; + + default: + break; + + } + + break; + + /* set rx buffer ID mask */ + case MSCAN_SET_RX_ID_MASK: + + /* enter init mode */ + mscan_initialization_mode_enter(m, &context); + + switch (ctrl_parms->ctrl_reg_no) { + + case RX_BUFFER_0: + m->idmr0 = SET_IDMR0(ctrl_parms->ctrl_id_mask); + m->idmr1 = SET_IDMR1(ctrl_parms->ctrl_id_mask); + break; + + case RX_BUFFER_1: + m->idmr2 = SET_IDMR2(ctrl_parms->ctrl_id_mask); + m->idmr3 = SET_IDMR3(ctrl_parms->ctrl_id_mask); + break; + + case RX_BUFFER_2: + m->idmr4 = SET_IDMR4(ctrl_parms->ctrl_id_mask); + m->idmr5 = SET_IDMR5(ctrl_parms->ctrl_id_mask); + break; + + case RX_BUFFER_3: + m->idmr6 = SET_IDMR6(ctrl_parms->ctrl_id_mask); + m->idmr7 = SET_IDMR7(ctrl_parms->ctrl_id_mask); + break; + + default: + break; + + } + + /* exit init mode and perform further initialization which is required in the normal mode */ + mscan_initialization_mode_leave(m, &context); + + /* enable ints. */ + mscan_interrupts_enable(m); + + /* wait for bus sync. */ + mpc5200_mscan_wait_sync(m); + + break; + + /* get rx buffer ID mask */ + case MSCAN_GET_RX_ID_MASK: + + switch (ctrl_parms->ctrl_reg_no) { + + case RX_BUFFER_0: + ctrl_parms->ctrl_id_mask = + (GET_IDMR0(m->idmr0) | GET_IDMR1(m->idmr1)); + break; + + case RX_BUFFER_1: + ctrl_parms->ctrl_id_mask = + (GET_IDMR2(m->idmr2) | GET_IDMR3(m->idmr3)); + break; + + case RX_BUFFER_2: + ctrl_parms->ctrl_id_mask = + (GET_IDMR4(m->idmr4) | GET_IDMR5(m->idmr5)); + break; + + case RX_BUFFER_3: + ctrl_parms->ctrl_id_mask = + (GET_IDMR6(m->idmr6) | GET_IDMR7(m->idmr7)); + break; + + default: + break; + + } + + /* set tx buffer ID */ + case MSCAN_SET_TX_ID: + + /* check for availability of tx buffer */ + if (!((m->tflg) & (uint8_t) (ctrl_parms->ctrl_reg_no))) { + + /* do abort tx buf. request */ + m->tarq = (uint8_t) (ctrl_parms->ctrl_reg_no); + + /* wait for abort tx buf. ack. */ + while ((m->taak) & (uint8_t) (ctrl_parms->ctrl_reg_no)); + + } + + /* select tx buf. */ + m->bsel = (uint8_t) (ctrl_parms->ctrl_reg_no); + + /* set the tx id of selected buf. */ + tx_id = ctrl_parms->ctrl_id; + m->txidr0 = SET_IDR0(tx_id); + m->txidr1 = SET_IDR1(tx_id); + m->txidr2 = 0; + m->txidr3 = 0; + + break; + + /* get tx buffer ID */ + case MSCAN_GET_TX_ID: + + /* select tx buf. */ + m->bsel = (uint8_t) (ctrl_parms->ctrl_reg_no); + + /* get tx id. of selected buf. */ + ctrl_parms->ctrl_id = GET_IDR0(m->txidr0) | GET_IDR1(m->txidr1); + + break; + + /* set can bitrate */ + case MSCAN_SET_BAUDRATE: + /* perform all can bit time settings */ + if (!mscan_set_bit_rate(m, ctrl_parms->ctrl_can_bitrate)) { + return RTEMS_UNSATISFIED; + } + + /* enable ints. */ + mscan_interrupts_enable(m); + + /* wait for bus sync. */ + mpc5200_mscan_wait_sync(m); + + break; + + case SET_TX_BUF_NO: + + /* check for different settings of tx ring buffer */ + if ((tx_buf_count = + chan->tx_buf_no) != (uint8_t) (ctrl_parms->ctrl_tx_buf_no)) { + + /* preset the channel specific no of messages in the tx ring buffer */ + tx_buf_count = chan->tx_buf_no; + + /* try to obtain all of the tx ring buffers */ + while (tx_buf_count > 0) { + + /* obtain semaphore of all tx ring buffers */ + if ((status = + rtems_semaphore_obtain((rtems_id) (chan->tx_rb_sid), RTEMS_WAIT, + (rtems_interval) 10)) + == RTEMS_SUCCESSFUL) { + + tx_buf_count--; + + } + + } + + /* free the former tx ring buffer */ + free((void *) chan->tx_ring_buf.buf_ptr); + + /* allocate the tx ring buffer with new size */ + if (((chan->tx_ring_buf.buf_ptr) = + malloc(sizeof (struct can_message) * + ((uint8_t) (ctrl_parms->ctrl_tx_buf_no) + 1))) != NULL) { + chan->tx_ring_buf.head_ptr = chan->tx_ring_buf.tail_ptr = + chan->tx_ring_buf.buf_ptr; + } else { + return RTEMS_UNSATISFIED; + } + + /* set the new amount of tx buffers */ + chan->tx_buf_no = (uint8_t) (ctrl_parms->ctrl_tx_buf_no); + + /* release the semaphore of all tx ring buffers */ + while (tx_buf_count < chan->tx_buf_no) { + + /* obtain semaphore of all tx ring buffers */ + rtems_semaphore_release((rtems_id) (chan->tx_rb_sid)); + + tx_buf_count++; + + } + + } else { + + return RTEMS_SUCCESSFUL; + + } + break; + + default: + break; + + } + + return RTEMS_SUCCESSFUL; + +} |