diff options
Diffstat (limited to 'bsps/sparc/include/bsp/grcan.h')
| -rw-r--r-- | bsps/sparc/include/bsp/grcan.h | 342 |
1 files changed, 342 insertions, 0 deletions
diff --git a/bsps/sparc/include/bsp/grcan.h b/bsps/sparc/include/bsp/grcan.h new file mode 100644 index 0000000000..5cdbad4b01 --- /dev/null +++ b/bsps/sparc/include/bsp/grcan.h @@ -0,0 +1,342 @@ +/** + * @file + * @ingroup sparc_bsp + * @defgroup can GRCAN + * @ingroup can + * @brief Macros used for grcan controller + */ + +/* + * COPYRIGHT (c) 2007. + * Cobham 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 __GRCAN_H__ +#define __GRCAN_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +struct grcan_regs { + volatile unsigned int conf; /* 0x00 */ + volatile unsigned int stat; /* 0x04 */ + volatile unsigned int ctrl; /* 0x08 */ + volatile unsigned int dummy0[3]; /* 0x0C-0x014 */ + volatile unsigned int smask; /* 0x18 */ + volatile unsigned int scode; /* 0x1C */ + + volatile unsigned int dummy1[56]; /* 0x20-0xFC */ + + volatile unsigned int pimsr; /* 0x100 */ + volatile unsigned int pimr; /* 0x104 */ + volatile unsigned int pisr; /* 0x108 */ + volatile unsigned int pir; /* 0x10C */ + volatile unsigned int imr; /* 0x110 */ + volatile unsigned int picr; /* 0x114 */ + + volatile unsigned int dummy2[58]; /* 0x118-0x1FC */ + + volatile unsigned int tx0ctrl; /* 0x200 */ + volatile unsigned int tx0addr; /* 0x204 */ + volatile unsigned int tx0size; /* 0x208 */ + volatile unsigned int tx0wr; /* 0x20C */ + volatile unsigned int tx0rd; /* 0x210 */ + volatile unsigned int tx0irq; /* 0x214 */ + + volatile unsigned int dummy3[58]; /* 0x218-0x2FC */ + + volatile unsigned int rx0ctrl; /* 0x300 */ + volatile unsigned int rx0addr; /* 0x304 */ + volatile unsigned int rx0size; /* 0x308 */ + volatile unsigned int rx0wr; /* 0x30C */ + volatile unsigned int rx0rd; /* 0x310 */ + volatile unsigned int rx0irq; /* 0x314 */ + volatile unsigned int rx0mask; /* 0x318 */ + volatile unsigned int rx0code; /* 0x31C */ +}; + +struct grcan_stats { + unsigned int passive_cnt; + unsigned int overrun_cnt; + unsigned int rxsync_cnt; + unsigned int txsync_cnt; + unsigned int txloss_cnt; + unsigned int ahberr_cnt; + unsigned int ints; + unsigned int busoff_cnt; +}; + +struct grcan_timing { + unsigned char scaler; + unsigned char ps1; + unsigned char ps2; + unsigned int rsj; + unsigned char bpr; +}; + +struct grcan_selection { + int selection; + int enable0; + int enable1; +}; + +struct grcan_filter { + unsigned long long mask; + unsigned long long code; +}; + +/* CAN MESSAGE */ +typedef struct { + char extended; /* 1= Extended Frame (29-bit id), 0= STD Frame (11-bit id) */ + char rtr; /* RTR - Remote Transmission Request */ + char unused; /* unused */ + unsigned char len; + unsigned char data[8]; + unsigned int id; +} CANMsg; + +enum { + GRCAN_RET_OK = 0, + GRCAN_RET_INVARG = -1, + GRCAN_RET_NOTSTARTED = -2, + GRCAN_RET_TIMEOUT = -3, + /* Bus-off condition detected (request aborted by driver) */ + GRCAN_RET_BUSOFF = -4, + /* AHB error condition detected (request aborted by driver) */ + GRCAN_RET_AHBERR = -5, +}; + +/* + * User functions can cause these transitions: + * STATE_STOPPED -> STATE_STARTED + * STATE_STARTED -> STATE_STOPPED + * STATE_BUSOFF -> STATE_STOPPED + * STATE_AHBERR -> STATE_STOPPED + * + * ISR can cause these transition + * STATE_STARTED -> STATE_BUSOFF + * STATE_STARTED -> STATE_AHBERR + * + * STATE_BUSOFF is entered from ISR on bus-off condition. STATE_AHBERR is + * entered from ISR on AHB DMA errors on RX/TX operations. At transition the ISR + * disables DMA, masks all interrupts and releases semaphores. + */ +enum grcan_state { + STATE_STOPPED = 0, + STATE_STARTED = 1, + STATE_BUSOFF = 2, + STATE_AHBERR = 3, +}; + +#define GRCAN_CFG_ABORT 0x00000001 +#define GRCAN_CFG_ENABLE0 0x00000002 +#define GRCAN_CFG_ENABLE1 0x00000004 +#define GRCAN_CFG_SELECTION 0x00000008 +#define GRCAN_CFG_SILENT 0x00000010 +#define GRCAN_CFG_BPR 0x00000300 +#define GRCAN_CFG_RSJ 0x00007000 +#define GRCAN_CFG_PS1 0x00f00000 +#define GRCAN_CFG_PS2 0x000f0000 +#define GRCAN_CFG_SCALER 0xff000000 + +#define GRCAN_CFG_BPR_BIT 8 +#define GRCAN_CFG_RSJ_BIT 12 +#define GRCAN_CFG_PS1_BIT 20 +#define GRCAN_CFG_PS2_BIT 16 +#define GRCAN_CFG_SCALER_BIT 24 + +#define GRCAN_CTRL_RESET 0x2 +#define GRCAN_CTRL_ENABLE 0x1 + +#define GRCAN_TXCTRL_ENABLE 1 +#define GRCAN_TXCTRL_ONGOING 1 + +#define GRCAN_RXCTRL_ENABLE 1 +#define GRCAN_RXCTRL_ONGOING 1 + +/* Relative offset of IRQ sources to AMBA Plug&Play */ +#define GRCAN_IRQ_IRQ 0 +#define GRCAN_IRQ_TXSYNC 1 +#define GRCAN_IRQ_RXSYNC 2 + +#define GRCAN_ERR_IRQ 0x1 +#define GRCAN_OFF_IRQ 0x2 +#define GRCAN_OR_IRQ 0x4 +#define GRCAN_RXAHBERR_IRQ 0x8 +#define GRCAN_TXAHBERR_IRQ 0x10 +#define GRCAN_RXIRQ_IRQ 0x20 +#define GRCAN_TXIRQ_IRQ 0x40 +#define GRCAN_RXFULL_IRQ 0x80 +#define GRCAN_TXEMPTY_IRQ 0x100 +#define GRCAN_RX_IRQ 0x200 +#define GRCAN_TX_IRQ 0x400 +#define GRCAN_RXSYNC_IRQ 0x800 +#define GRCAN_TXSYNC_IRQ 0x1000 +#define GRCAN_RXERR_IRQ 0x2000 +#define GRCAN_TXERR_IRQ 0x4000 +#define GRCAN_RXMISS_IRQ 0x8000 +#define GRCAN_TXLOSS_IRQ 0x10000 + +#define GRCAN_STAT_PASS 0x1 +#define GRCAN_STAT_OFF 0x2 +#define GRCAN_STAT_OR 0x4 +#define GRCAN_STAT_AHBERR 0x8 +#define GRCAN_STAT_ACTIVE 0x10 +#define GRCAN_STAT_RXERRCNT 0xff00 +#define GRCAN_STAT_TXERRCNT 0xff0000 + +/* + * Return number of GRCAN devices available to driver + */ +extern int grcan_dev_count(void); + +/* + * Open a GRCAN device + * + * dev_no: Device number to open + * return: Device handle to use with all other grcan_ API functions. The + * function returns NULL if device can not be opened. + */ +extern void *grcan_open(int dev_no); + +/* + * Open a GRCAN device by name. Finds device index then calls + * grcan_open(index). + * + * name: Device name to open + * dev_no: Device number matching name. Will be set if device found. + * return: Device handle to use with all other grcan_ API functions. The + * function returns NULL if device can not be opened or not found. + */ +extern void *grcan_open_by_name(char *name, int *dev_no); + +/* + * Close a GRCAN device + * + * return: This function always returns 0 (success) + */ +extern int grcan_close(void *d); + +/* + * Receive CAN messages + * + * Multiple CAN messages can be received in one call. + * + * d: Device handle + * msg: Pointer to receive messages + * count: Number of CAN messages to receive + * + * return: + * >=0: Number of CAN messages received. This can be + * less than the count parameter. + * GRCAN_RET_INVARG: count parameter less than one or NULL msg. + * GRCAN_RET_NOTSTARTED: Device not in started mode + * GRCAN_RET_TIMEOUT: Timeout in non-blocking mode + * GRCAN_RET_BUSOFF: A read was interrupted by a bus-off error. + * Device has left started mode. + * GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error. + */ +extern int grcan_read( + void *d, + CANMsg *msg, + size_t count +); + +/* + * Transmit CAN messages + * + * Multiple CAN messages can be transmit in one call. + * + * d: Device handle + * msg: Pointer to messages to transmit + * count: Number of CAN messages to transmit + * + * return: + * >=0: Number of CAN messages transmitted. This can be + * less than the count parameter. + * GRCAN_RET_INVARG: count parameter less than one. + * GRCAN_RET_NOTSTARTED: Device not in started mode + * GRCAN_RET_TIMEOUT: Timeout in non-blocking mode + * GRCAN_RET_BUSOFF: A write was interrupted by a Bus-off error. + * Device has left started mode + * GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error. + */ +extern int grcan_write( + void *d, + CANMsg *msg, + size_t count +); + +/* + * Returns current GRCAN software state + * + * If STATE_BUSOFF or STATE_AHBERR is returned then the function grcan_stop() + * shall be called before continue using the driver. + * + * d: Device handle + * return: + * STATE_STOPPED Stopped + * STATE_STARTED Started + * STATE_BUSOFF Bus-off has been detected + * STATE_AHBERR AHB error has been detected + */ +extern int grcan_get_state(void *d); + +/* The remaining functions return 0 on success and non-zero on failure. */ + +/* Functions controlling operational + * mode + */ +/* Bring the link up after open or bus-off */ +extern int grcan_start(void *d); +/* stop to change baud rate/config or closing down */ +extern int grcan_stop(void *d); +/* Wait until all TX messages have been sent */ +extern int grcan_flush(void *d); + +/* Functions that require connection + * to be stopped + */ +/* enable silent mode read only state */ +extern int grcan_set_silent(void *d, int silent); +/* enable/disable stopping link on AHB Error */ +extern int grcan_set_abort(void *d, int abort); +/* Set Enable0,Enable1,Selection */ +extern int grcan_set_selection(void *d, const struct grcan_selection *selection); +/* Set baudrate by using driver's baud rate timing calculation routines */ +extern int grcan_set_speed(void *d, unsigned int hz); +/* Set baudrate by specifying the timing registers manually */ +extern int grcan_set_btrs(void *d, const struct grcan_timing *timing); + +/* Functions can be called whenever */ +/* Enable/disable Blocking on reception (until at least one message has been received) */ +int grcan_set_rxblock(void* d, int block); +/* Enable/disable Blocking on transmission (until at least one message has been transmitted) */ +int grcan_set_txblock(void* d, int block); +/* Enable/disable Blocking until all requested messages has been sent */ +int grcan_set_txcomplete(void* d, int complete); +/* Enable/disable Blocking until all requested has been received */ +int grcan_set_rxcomplete(void* d, int complete); +/* Get statistics */ +extern int grcan_get_stats(void *d, struct grcan_stats *stats); +/* Clear statistics */ +extern int grcan_clr_stats(void *d); +/* Set Acceptance filters, provide pointer to "struct grcan_filter" or NULL to disable filtering (let all messages pass) */ +extern int grcan_set_afilter(void *d, const struct grcan_filter *filter); +/* Set Sync Messages RX/TX filters, NULL disables the IRQ completely */ +extern int grcan_set_sfilter(void *d, const struct grcan_filter *filter); +/* Get status register of GRCAN core */ +extern int grcan_get_status(void *d, unsigned int *status); + +void grcan_register_drv(void); + +#ifdef __cplusplus +} +#endif + +#endif |