diff options
Diffstat (limited to 'c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c')
| -rw-r--r-- | c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c | 1262 |
1 files changed, 0 insertions, 1262 deletions
diff --git a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c deleted file mode 100644 index e36b6224cc..0000000000 --- a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan.c +++ /dev/null @@ -1,1262 +0,0 @@ -/*===============================================================*\ -| 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; - -} |