diff options
Diffstat (limited to 'c/src/lib/libbsp/sparc/shared/can/grcan.c')
| -rw-r--r-- | c/src/lib/libbsp/sparc/shared/can/grcan.c | 2001 |
1 files changed, 0 insertions, 2001 deletions
diff --git a/c/src/lib/libbsp/sparc/shared/can/grcan.c b/c/src/lib/libbsp/sparc/shared/can/grcan.c deleted file mode 100644 index da236ef7cc..0000000000 --- a/c/src/lib/libbsp/sparc/shared/can/grcan.c +++ /dev/null @@ -1,2001 +0,0 @@ -/* - * GRCAN driver - * - * 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. - */ - -#include <bsp.h> -#include <stdlib.h> -#include <stdio.h> -#include <string.h> -#include <assert.h> -#include <ctype.h> -#include <rtems/bspIo.h> - -#include <bsp/grcan.h> -#include <drvmgr/drvmgr.h> -#include <drvmgr/ambapp_bus.h> -#include <ambapp.h> - -#if (((__RTEMS_MAJOR__ << 16) | (__RTEMS_MINOR__ << 8) | __RTEMS_REVISION__) >= 0x040b63) - -/* Spin locks mapped via rtems_interrupt_lock_* API: */ -#define SPIN_DECLARE(lock) RTEMS_INTERRUPT_LOCK_MEMBER(lock) -#define SPIN_INIT(lock, name) rtems_interrupt_lock_initialize(lock, name) -#define SPIN_LOCK(lock, level) rtems_interrupt_lock_acquire_isr(lock, &level) -#define SPIN_LOCK_IRQ(lock, level) rtems_interrupt_lock_acquire(lock, &level) -#define SPIN_UNLOCK(lock, level) rtems_interrupt_lock_release_isr(lock, &level) -#define SPIN_UNLOCK_IRQ(lock, level) rtems_interrupt_lock_release(lock, &level) -#define SPIN_IRQFLAGS(k) rtems_interrupt_lock_context k -#define SPIN_ISR_IRQFLAGS(k) SPIN_IRQFLAGS(k) - -#else - -/* maintain compatibility with older versions of RTEMS: */ -#define SPIN_DECLARE(name) -#define SPIN_INIT(lock, name) -#define SPIN_LOCK(lock, level) -#define SPIN_LOCK_IRQ(lock, level) rtems_interrupt_disable(level) -#define SPIN_UNLOCK(lock, level) -#define SPIN_UNLOCK_IRQ(lock, level) rtems_interrupt_enable(level) -#define SPIN_IRQFLAGS(k) rtems_interrupt_level k -#define SPIN_ISR_IRQFLAGS(k) - -#endif - -/* Maximum number of GRCAN devices supported by driver */ -#define GRCAN_COUNT_MAX 8 - -#define WRAP_AROUND_TX_MSGS 1 -#define WRAP_AROUND_RX_MSGS 2 -#define GRCAN_MSG_SIZE sizeof(struct grcan_msg) -#define BLOCK_SIZE (16*4) - -/* grcan needs to have it buffers aligned to 1k boundaries */ -#define BUFFER_ALIGNMENT_NEEDS 1024 - -/* Default Maximium buffer size for statically allocated buffers */ -#ifndef TX_BUF_SIZE - #define TX_BUF_SIZE (BLOCK_SIZE*16) -#endif - -/* Make receiver buffers bigger than transmitt */ -#ifndef RX_BUF_SIZE - #define RX_BUF_SIZE ((3*BLOCK_SIZE)*16) -#endif - -#ifndef IRQ_CLEAR_PENDING - #define IRQ_CLEAR_PENDING(irqno) -#endif - -#ifndef IRQ_UNMASK - #define IRQ_UNMASK(irqno) -#endif - -#ifndef IRQ_MASK - #define IRQ_MASK(irqno) -#endif - -#ifndef GRCAN_DEFAULT_BAUD - /* default to 500kbits/s */ - #define GRCAN_DEFAULT_BAUD 500000 -#endif - -#ifndef GRCAN_SAMPLING_POINT - #define GRCAN_SAMPLING_POINT 80 -#endif - -/* Uncomment for debug output */ -/****************** DEBUG Definitions ********************/ -#define DBG_TX 2 -#define DBG_RX 4 -#define DBG_STATE 8 - -#define DEBUG_FLAGS (DBG_STATE | DBG_RX | DBG_TX ) -/* -#define DEBUG -#define DEBUGFUNCS -*/ -#include <bsp/debug_defs.h> - -/*********************************************************/ - -int state2err[4] = { - /* STATE_STOPPED */ GRCAN_RET_NOTSTARTED, - /* STATE_STARTED */ GRCAN_RET_OK, - /* STATE_BUSOFF */ GRCAN_RET_BUSOFF, - /* STATE_AHBERR */ GRCAN_RET_AHBERR -}; - -struct grcan_msg { - unsigned int head[2]; - unsigned char data[8]; -}; - -struct grcan_config { - struct grcan_timing timing; - struct grcan_selection selection; - int abort; - int silent; -}; - -struct grcan_priv { - struct drvmgr_dev *dev; /* Driver manager device */ - char devName[32]; /* Device Name */ - unsigned int baseaddr, ram_base; - struct grcan_regs *regs; - int irq; - int minor; - int open; - int started; - unsigned int channel; - int flushing; - unsigned int corefreq_hz; - - /* Circular DMA buffers */ - void *_rx, *_rx_hw; - void *_tx, *_tx_hw; - void *txbuf_adr; - void *rxbuf_adr; - struct grcan_msg *rx; - struct grcan_msg *tx; - unsigned int rxbuf_size; /* requested RX buf size in bytes */ - unsigned int txbuf_size; /* requested TX buf size in bytes */ - - int txblock, rxblock; - int txcomplete, rxcomplete; - - struct grcan_filter sfilter; - struct grcan_filter afilter; - int config_changed; /* 0=no changes, 1=changes ==> a Core reset is needed */ - struct grcan_config config; - struct grcan_stats stats; - - rtems_id rx_sem, tx_sem, txempty_sem, dev_sem; - SPIN_DECLARE(devlock); -}; - -static void __inline__ grcan_hw_reset(struct grcan_regs *regs); - -static int grcan_hw_read_try( - struct grcan_priv *pDev, - struct grcan_regs *regs, - CANMsg *buffer, - int max); - -static int grcan_hw_write_try( - struct grcan_priv *pDev, - struct grcan_regs *regs, - CANMsg *buffer, - int count); - -static void grcan_hw_config( - struct grcan_regs *regs, - struct grcan_config *conf); - -static void grcan_hw_accept( - struct grcan_regs *regs, - struct grcan_filter *afilter); - -static void grcan_hw_sync( - struct grcan_regs *regs, - struct grcan_filter *sfilter); - -static void grcan_interrupt(void *arg); - -#ifdef GRCAN_REG_BYPASS_CACHE -#define READ_REG(address) _grcan_read_nocache((unsigned int)(address)) -#else -#define READ_REG(address) (*(volatile unsigned int *)(address)) -#endif - -#ifdef GRCAN_DMA_BYPASS_CACHE -#define READ_DMA_WORD(address) _grcan_read_nocache((unsigned int)(address)) -#define READ_DMA_BYTE(address) _grcan_read_nocache_byte((unsigned int)(address)) -static unsigned char __inline__ _grcan_read_nocache_byte(unsigned int address) -{ - unsigned char tmp; - __asm__ (" lduba [%1]1, %0 " - : "=r"(tmp) - : "r"(address) - ); - return tmp; -} -#else -#define READ_DMA_WORD(address) (*(volatile unsigned int *)(address)) -#define READ_DMA_BYTE(address) (*(volatile unsigned char *)(address)) -#endif - -#if defined(GRCAN_REG_BYPASS_CACHE) || defined(GRCAN_DMA_BYPASS_CACHE) -static unsigned int __inline__ _grcan_read_nocache(unsigned int address) -{ - unsigned int tmp; - __asm__ (" lda [%1]1, %0 " - : "=r"(tmp) - : "r"(address) - ); - return tmp; -} -#endif - -#define NELEM(a) ((int) (sizeof (a) / sizeof (a[0]))) - -static int grcan_count = 0; -static struct grcan_priv *priv_tab[GRCAN_COUNT_MAX]; - -/******************* Driver manager interface ***********************/ - -/* Driver prototypes */ -int grcan_device_init(struct grcan_priv *pDev); - -int grcan_init2(struct drvmgr_dev *dev); -int grcan_init3(struct drvmgr_dev *dev); - -struct drvmgr_drv_ops grcan_ops = -{ - .init = {NULL, grcan_init2, grcan_init3, NULL}, - .remove = NULL, - .info = NULL -}; - -struct amba_dev_id grcan_ids[] = -{ - {VENDOR_GAISLER, GAISLER_GRCAN}, - {VENDOR_GAISLER, GAISLER_GRHCAN}, - {0, 0} /* Mark end of table */ -}; - -struct amba_drv_info grcan_drv_info = -{ - { - DRVMGR_OBJ_DRV, /* Driver */ - NULL, /* Next driver */ - NULL, /* Device list */ - DRIVER_AMBAPP_GAISLER_GRCAN_ID, /* Driver ID */ - "GRCAN_DRV", /* Driver Name */ - DRVMGR_BUS_TYPE_AMBAPP, /* Bus Type */ - &grcan_ops, - NULL, /* Funcs */ - 0, /* No devices yet */ - 0, - }, - &grcan_ids[0] -}; - -void grcan_register_drv (void) -{ - DBG("Registering GRCAN driver\n"); - drvmgr_drv_register(&grcan_drv_info.general); -} - -int grcan_init2(struct drvmgr_dev *dev) -{ - struct grcan_priv *priv; - - DBG("GRCAN[%d] on bus %s\n", dev->minor_drv, dev->parent->dev->name); - if (GRCAN_COUNT_MAX <= grcan_count) - return DRVMGR_ENORES; - priv = dev->priv = malloc(sizeof(struct grcan_priv)); - if ( !priv ) - return DRVMGR_NOMEM; - memset(priv, 0, sizeof(*priv)); - priv->dev = dev; - - /* This core will not find other cores, so we wait for init2() */ - - return DRVMGR_OK; -} - -int grcan_init3(struct drvmgr_dev *dev) -{ - struct grcan_priv *priv; - char prefix[32]; - - priv = dev->priv; - - /* - * Now we take care of device initialization. - */ - - if ( grcan_device_init(priv) ) { - return DRVMGR_FAIL; - } - - priv_tab[grcan_count] = priv; - grcan_count++; - - /* Get Filesystem name prefix */ - prefix[0] = '\0'; - if ( drvmgr_get_dev_prefix(dev, prefix) ) { - /* Failed to get prefix, make sure of a unique FS name - * by using the driver minor. - */ - sprintf(priv->devName, "grcan%d", dev->minor_drv); - } else { - /* Got special prefix, this means we have a bus prefix - * And we should use our "bus minor" - */ - sprintf(priv->devName, "%sgrcan%d", prefix, dev->minor_bus); - } - - return DRVMGR_OK; -} - -int grcan_device_init(struct grcan_priv *pDev) -{ - struct amba_dev_info *ambadev; - struct ambapp_core *pnpinfo; - - /* Get device information from AMBA PnP information */ - ambadev = (struct amba_dev_info *)pDev->dev->businfo; - if ( ambadev == NULL ) { - return -1; - } - pnpinfo = &ambadev->info; - pDev->irq = pnpinfo->irq; - pDev->regs = (struct grcan_regs *)pnpinfo->apb_slv->start; - pDev->minor = pDev->dev->minor_drv; - - /* Get frequency in Hz */ - if ( drvmgr_freq_get(pDev->dev, DEV_APB_SLV, &pDev->corefreq_hz) ) { - return -1; - } - - DBG("GRCAN frequency: %d Hz\n", pDev->corefreq_hz); - - /* Reset Hardware before attaching IRQ handler */ - grcan_hw_reset(pDev->regs); - - /* RX Semaphore created with count = 0 */ - if ( rtems_semaphore_create(rtems_build_name('G', 'C', 'R', '0' + pDev->minor), - 0, - RTEMS_FIFO|RTEMS_SIMPLE_BINARY_SEMAPHORE|RTEMS_NO_INHERIT_PRIORITY|\ - RTEMS_LOCAL|RTEMS_NO_PRIORITY_CEILING, - 0, - &pDev->rx_sem) != RTEMS_SUCCESSFUL ) { - return RTEMS_INTERNAL_ERROR; - } - - /* TX Semaphore created with count = 0 */ - if ( rtems_semaphore_create(rtems_build_name('G', 'C', 'T', '0' + pDev->minor), - 0, - RTEMS_FIFO|RTEMS_SIMPLE_BINARY_SEMAPHORE|RTEMS_NO_INHERIT_PRIORITY|\ - RTEMS_LOCAL|RTEMS_NO_PRIORITY_CEILING, - 0, - &pDev->tx_sem) != RTEMS_SUCCESSFUL ) { - return RTEMS_INTERNAL_ERROR; - } - - /* TX Empty Semaphore created with count = 0 */ - if ( rtems_semaphore_create(rtems_build_name('G', 'C', 'E', '0' + pDev->minor), - 0, - RTEMS_FIFO|RTEMS_SIMPLE_BINARY_SEMAPHORE|RTEMS_NO_INHERIT_PRIORITY|\ - RTEMS_LOCAL|RTEMS_NO_PRIORITY_CEILING, - 0, - &pDev->txempty_sem) != RTEMS_SUCCESSFUL ) { - return RTEMS_INTERNAL_ERROR; - } - - /* Device Semaphore created with count = 1 */ - if ( rtems_semaphore_create(rtems_build_name('G', 'C', 'A', '0' + pDev->minor), - 1, - RTEMS_FIFO|RTEMS_SIMPLE_BINARY_SEMAPHORE|RTEMS_NO_INHERIT_PRIORITY|\ - RTEMS_LOCAL|RTEMS_NO_PRIORITY_CEILING, - 0, - &pDev->dev_sem) != RTEMS_SUCCESSFUL ) { - return RTEMS_INTERNAL_ERROR; - } - - return 0; -} - -static void __inline__ grcan_hw_reset(struct grcan_regs *regs) -{ - regs->ctrl = GRCAN_CTRL_RESET; -} - -static rtems_device_driver grcan_hw_start(struct grcan_priv *pDev) -{ - /* - * tmp is set but never used. GCC gives a warning for this - * and we need to tell GCC not to complain. - */ - unsigned int tmp RTEMS_UNUSED; - - SPIN_IRQFLAGS(oldLevel); - - FUNCDBG(); - - /* Check that memory has been allocated successfully */ - if (!pDev->tx || !pDev->rx) - return RTEMS_NO_MEMORY; - - /* Configure FIFO configuration register - * and Setup timing - */ - if (pDev->config_changed) { - grcan_hw_config(pDev->regs, &pDev->config); - pDev->config_changed = 0; - } - - /* Setup receiver */ - pDev->regs->rx0addr = (unsigned int)pDev->_rx_hw; - pDev->regs->rx0size = pDev->rxbuf_size; - - /* Setup Transmitter */ - pDev->regs->tx0addr = (unsigned int)pDev->_tx_hw; - pDev->regs->tx0size = pDev->txbuf_size; - - /* Setup acceptance filters */ - grcan_hw_accept(pDev->regs, &pDev->afilter); - - /* Sync filters */ - grcan_hw_sync(pDev->regs, &pDev->sfilter); - - /* Clear status bits */ - tmp = READ_REG(&pDev->regs->stat); - pDev->regs->stat = 0; - - /* Setup IRQ handling */ - - /* Clear all IRQs */ - tmp = READ_REG(&pDev->regs->pir); - pDev->regs->picr = 0x1ffff; - - /* unmask TxLoss|TxErrCntr|RxErrCntr|TxAHBErr|RxAHBErr|OR|OFF|PASS */ - pDev->regs->imr = 0x1601f; - - /* Enable routing of the IRQs */ - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - IRQ_UNMASK(pDev->irq + GRCAN_IRQ_TXSYNC); - IRQ_UNMASK(pDev->irq + GRCAN_IRQ_RXSYNC); - IRQ_UNMASK(pDev->irq + GRCAN_IRQ_IRQ); - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - - /* Enable receiver/transmitter */ - pDev->regs->rx0ctrl = GRCAN_RXCTRL_ENABLE; - pDev->regs->tx0ctrl = GRCAN_TXCTRL_ENABLE; - - /* Enable HurriCANe core */ - pDev->regs->ctrl = GRCAN_CTRL_ENABLE; - - /* Leave transmitter disabled, it is enabled when - * trying to send something. - */ - return RTEMS_SUCCESSFUL; -} - -static void grcan_hw_stop(struct grcan_priv *pDev) -{ - FUNCDBG(); - - /* Mask all IRQs */ - pDev->regs->imr = 0; - IRQ_MASK(pDev->irq + GRCAN_IRQ_TXSYNC); - IRQ_MASK(pDev->irq + GRCAN_IRQ_RXSYNC); - IRQ_MASK(pDev->irq + GRCAN_IRQ_IRQ); - - /* Disable receiver & transmitter */ - pDev->regs->rx0ctrl = 0; - pDev->regs->tx0ctrl = 0; -} - -static void grcan_sw_stop(struct grcan_priv *pDev) -{ - /* - * Release semaphores to wake all threads waiting for an IRQ. - * The threads that - * get woken up must check started state in - * order to determine that they should return to - * user space with error status. - * - * Entering into started mode again will reset the - * semaphore count. - */ - rtems_semaphore_release(pDev->rx_sem); - rtems_semaphore_release(pDev->tx_sem); - rtems_semaphore_release(pDev->txempty_sem); -} - -static void grcan_hw_config(struct grcan_regs *regs, struct grcan_config *conf) -{ - unsigned int config = 0; - - /* Reset HurriCANe Core */ - regs->ctrl = 0; - - if (conf->silent) - config |= GRCAN_CFG_SILENT; - - if (conf->abort) - config |= GRCAN_CFG_ABORT; - - if (conf->selection.selection) - config |= GRCAN_CFG_SELECTION; - - if (conf->selection.enable0) - config |= GRCAN_CFG_ENABLE0; - - if (conf->selection.enable1) - config |= GRCAN_CFG_ENABLE1; - - /* Timing */ - config |= (conf->timing.bpr << GRCAN_CFG_BPR_BIT) & GRCAN_CFG_BPR; - config |= (conf->timing.rsj << GRCAN_CFG_RSJ_BIT) & GRCAN_CFG_RSJ; - config |= (conf->timing.ps1 << GRCAN_CFG_PS1_BIT) & GRCAN_CFG_PS1; - config |= (conf->timing.ps2 << GRCAN_CFG_PS2_BIT) & GRCAN_CFG_PS2; - config |= - (conf->timing.scaler << GRCAN_CFG_SCALER_BIT) & GRCAN_CFG_SCALER; - - /* Write configuration */ - regs->conf = config; - - /* Enable HurriCANe Core */ - regs->ctrl = GRCAN_CTRL_ENABLE; -} - -static void grcan_hw_accept( - struct grcan_regs *regs, - struct grcan_filter *afilter -) -{ - /* Disable Sync mask totaly (if we change scode or smask - * in an unfortunate way we may trigger a sync match) - */ - regs->rx0mask = 0xffffffff; - - /* Set Sync Filter in a controlled way */ - regs->rx0code = afilter->code; - regs->rx0mask = afilter->mask; -} - -static void grcan_hw_sync(struct grcan_regs *regs, struct grcan_filter *sfilter) -{ - /* Disable Sync mask totaly (if we change scode or smask - * in an unfortunate way we may trigger a sync match) - */ - regs->smask = 0xffffffff; - - /* Set Sync Filter in a controlled way */ - regs->scode = sfilter->code; - regs->smask = sfilter->mask; -} - -static unsigned int grcan_hw_rxavail( - unsigned int rp, - unsigned int wp, unsigned int size -) -{ - if (rp == wp) { - /* read pointer and write pointer is equal only - * when RX buffer is empty. - */ - return 0; - } - - if (wp > rp) { - return (wp - rp) / GRCAN_MSG_SIZE; - } else { - return (size - (rp - wp)) / GRCAN_MSG_SIZE; - } -} - -static unsigned int grcan_hw_txspace( - unsigned int rp, - unsigned int wp, - unsigned int size -) -{ - unsigned int left; - - if (rp == wp) { - /* read pointer and write pointer is equal only - * when TX buffer is empty. - */ - return size / GRCAN_MSG_SIZE - WRAP_AROUND_TX_MSGS; - } - - /* size - 4 - abs(read-write) */ - if (wp > rp) { - left = size - (wp - rp); - } else { - left = rp - wp; - } - - return left / GRCAN_MSG_SIZE - WRAP_AROUND_TX_MSGS; -} - -#define MIN_TSEG1 1 -#define MIN_TSEG2 2 -#define MAX_TSEG1 14 -#define MAX_TSEG2 8 - -static int grcan_calc_timing( - unsigned int baud, /* The requested BAUD to calculate timing for */ - unsigned int core_hz, /* Frequency in Hz of GRCAN Core */ - unsigned int sampl_pt, - struct grcan_timing *timing /* result is placed here */ -) -{ - int best_error = 1000000000; - int error; - int best_tseg = 0, best_brp = 0, brp = 0; - int tseg = 0, tseg1 = 0, tseg2 = 0; - int sjw = 1; - - /* Default to 90% */ - if ((sampl_pt < 50) || (sampl_pt > 99)) { - sampl_pt = GRCAN_SAMPLING_POINT; - } - - if ((baud < 5000) || (baud > 1000000)) { - /* invalid speed mode */ - return -1; - } - - /* find best match, return -2 if no good reg - * combination is available for this frequency - */ - - /* some heuristic specials */ - if (baud > ((1000000 + 500000) / 2)) - sampl_pt = 75; - - if (baud < ((12500 + 10000) / 2)) - sampl_pt = 75; - - /* tseg even = round down, odd = round up */ - for ( - tseg = (MIN_TSEG1 + MIN_TSEG2 + 2) * 2; - tseg <= (MAX_TSEG2 + MAX_TSEG1 + 2) * 2 + 1; - tseg++ - ) { - brp = core_hz / ((1 + tseg / 2) * baud) + tseg % 2; - if ( - (brp <= 0) || - ((brp > 256 * 1) && (brp <= 256 * 2) && (brp & 0x1)) || - ((brp > 256 * 2) && (brp <= 256 * 4) && (brp & 0x3)) || - ((brp > 256 * 4) && (brp <= 256 * 8) && (brp & 0x7)) || - (brp > 256 * 8) - ) - continue; - - error = baud - core_hz / (brp * (1 + tseg / 2)); - if (error < 0) { - error = -error; - } - - if (error <= best_error) { - best_error = error; - best_tseg = tseg / 2; - best_brp = brp - 1; - } - } - - if (best_error && (baud / best_error < 10)) { - return -2; - } else if (!timing) - return 0; /* nothing to store result in, but a valid bitrate can be calculated */ - - tseg2 = best_tseg - (sampl_pt * (best_tseg + 1)) / 100; - - if (tseg2 < MIN_TSEG2) { - tseg2 = MIN_TSEG2; - } - - if (tseg2 > MAX_TSEG2) { - tseg2 = MAX_TSEG2; - } - - tseg1 = best_tseg - tseg2 - 2; - - if (tseg1 > MAX_TSEG1) { - tseg1 = MAX_TSEG1; - tseg2 = best_tseg - tseg1 - 2; - } - - /* Get scaler and BRP from pseudo BRP */ - if (best_brp <= 256) { - timing->scaler = best_brp; - timing->bpr = 0; - } else if (best_brp <= 256 * 2) { - timing->scaler = ((best_brp + 1) >> 1) - 1; - timing->bpr = 1; - } else if (best_brp <= 256 * 4) { - timing->scaler = ((best_brp + 1) >> 2) - 1; - timing->bpr = 2; - } else { - timing->scaler = ((best_brp + 1) >> 3) - 1; - timing->bpr = 3; - } - - timing->ps1 = tseg1 + 1; - timing->ps2 = tseg2; - timing->rsj = sjw; - - return 0; -} - -static int grcan_hw_read_try( - struct grcan_priv *pDev, - struct grcan_regs *regs, - CANMsg * buffer, - int max -) -{ - int i, j; - CANMsg *dest; - struct grcan_msg *source, tmp; - unsigned int wp, rp, size, rxmax, addr; - int trunk_msg_cnt; - - FUNCDBG(); - - wp = READ_REG(®s->rx0wr); - rp = READ_REG(®s->rx0rd); - - /* - * Due to hardware wrap around simplification write pointer will - * never reach the read pointer, at least a gap of 8 bytes. - * The only time they are equal is when the read pointer has - * reached the write pointer (empty buffer) - * - */ - if (wp != rp) { - /* Not empty, we have received chars... - * Read as much as possible from DMA buffer - */ - size = READ_REG(®s->rx0size); - - /* Get number of bytes available in RX buffer */ - trunk_msg_cnt = grcan_hw_rxavail(rp, wp, size); - - /* truncate size if user space buffer hasn't room for - * all received chars. - */ - if (trunk_msg_cnt > max) - trunk_msg_cnt = max; - - /* Read until i is 0 */ - i = trunk_msg_cnt; - - addr = (unsigned int)pDev->rx; - source = (struct grcan_msg *)(addr + rp); - dest = buffer; - rxmax = addr + (size - GRCAN_MSG_SIZE); - - /* Read as many can messages as possible */ - while (i > 0) { - /* Read CAN message from DMA buffer */ - tmp.head[0] = READ_DMA_WORD(&source->head[0]); - tmp.head[1] = READ_DMA_WORD(&source->head[1]); - if (tmp.head[1] & 0x4) { - DBGC(DBG_RX, "overrun\n"); - } - if (tmp.head[1] & 0x2) { - DBGC(DBG_RX, "bus-off mode\n"); - } - if (tmp.head[1] & 0x1) { - DBGC(DBG_RX, "error-passive mode\n"); - } - /* Convert one grcan CAN message to one "software" CAN message */ - dest->extended = tmp.head[0] >> 31; - dest->rtr = (tmp.head[0] >> 30) & 0x1; - if (dest->extended) { - dest->id = tmp.head[0] & 0x3fffffff; - } else { - dest->id = (tmp.head[0] >> 18) & 0xfff; - } - dest->len = tmp.head[1] >> 28; - for (j = 0; j < dest->len; j++) - dest->data[j] = READ_DMA_BYTE(&source->data[j]); - - /* wrap around if neccessary */ - source = - ((unsigned int)source >= rxmax) ? - (struct grcan_msg *)addr : source + 1; - dest++; /* straight user buffer */ - i--; - } - { - /* A bus off interrupt may have occured after checking pDev->started */ - SPIN_IRQFLAGS(oldLevel); - - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - if (pDev->started == STATE_STARTED) { - regs->rx0rd = (unsigned int) source - addr; - regs->rx0ctrl = GRCAN_RXCTRL_ENABLE; - } else { - DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n"); - trunk_msg_cnt = state2err[pDev->started]; - } - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - } - return trunk_msg_cnt; - } - return 0; -} - -static int grcan_hw_write_try( - struct grcan_priv *pDev, - struct grcan_regs *regs, - CANMsg * buffer, - int count -) -{ - unsigned int rp, wp, size, txmax, addr; - int ret; - struct grcan_msg *dest; - CANMsg *source; - int space_left; - unsigned int tmp; - int i; - - DBGC(DBG_TX, "\n"); - /*FUNCDBG(); */ - - rp = READ_REG(®s->tx0rd); - wp = READ_REG(®s->tx0wr); - size = READ_REG(®s->tx0size); - - space_left = grcan_hw_txspace(rp, wp, size); - - /* is circular fifo full? */ - if (space_left < 1) - return 0; - - /* Truncate size */ - if (space_left > count) - space_left = count; - ret = space_left; - - addr = (unsigned int)pDev->tx; - - dest = (struct grcan_msg *)(addr + wp); - source = (CANMsg *) buffer; - txmax = addr + (size - GRCAN_MSG_SIZE); - - while (space_left > 0) { - /* Convert and write CAN message to DMA buffer */ - if (source->extended) { - tmp = (1 << 31) | (source->id & 0x3fffffff); - } else { - tmp = (source->id & 0xfff) << 18; - } - if (source->rtr) - tmp |= (1 << 30); - dest->head[0] = tmp; - dest->head[1] = source->len << 28; - for (i = 0; i < source->len; i++) - dest->data[i] = source->data[i]; - source++; /* straight user buffer */ - dest = - ((unsigned int)dest >= txmax) ? - (struct grcan_msg *)addr : dest + 1; - space_left--; - } - - { - /* A bus off interrupt may have occured after checking pDev->started */ - SPIN_IRQFLAGS(oldLevel); - - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - if (pDev->started == STATE_STARTED) { - regs->tx0wr = (unsigned int) dest - addr; - regs->tx0ctrl = GRCAN_TXCTRL_ENABLE; - } else { - DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n"); - ret = state2err[pDev->started]; - } - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - } - return ret; -} - -static int grcan_wait_rxdata(struct grcan_priv *pDev, int min) -{ - unsigned int wp, rp, size, irq; - unsigned int irq_trunk, dataavail; - int wait, state; - SPIN_IRQFLAGS(oldLevel); - - FUNCDBG(); - - /*** block until receive IRQ received - * Set up a valid IRQ point so that an IRQ is received - * when one or more messages are received - */ - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - state = pDev->started; - - /* A bus off interrupt may have occured after checking pDev->started */ - if (state != STATE_STARTED) { - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - if (state == STATE_BUSOFF) { - DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n"); - } else if (state == STATE_AHBERR) { - DBGC(DBG_STATE, "cancelled due to a AHB error\n"); - } else { - DBGC(DBG_STATE, "cancelled due to STOP (unexpected) \n"); - } - return state2err[state]; - } - - size = READ_REG(&pDev->regs->rx0size); - rp = READ_REG(&pDev->regs->rx0rd); - wp = READ_REG(&pDev->regs->rx0wr); - - /**** Calculate IRQ Pointer ****/ - irq = wp + min * GRCAN_MSG_SIZE; - /* wrap irq around */ - if (irq >= size) { - irq_trunk = irq - size; - } else - irq_trunk = irq; - - /* init IRQ HW */ - pDev->regs->rx0irq = irq_trunk; - - /* Clear pending Rx IRQ */ - pDev->regs->picr = GRCAN_RXIRQ_IRQ; - - wp = READ_REG(&pDev->regs->rx0wr); - - /* Calculate messages available */ - dataavail = grcan_hw_rxavail(rp, wp, size); - - if (dataavail < min) { - /* Still empty, proceed with sleep - Turn on IRQ (unmask irq) */ - pDev->regs->imr = READ_REG(&pDev->regs->imr) | GRCAN_RXIRQ_IRQ; - wait = 1; - } else { - /* enough message has been received, abort sleep - don't unmask interrupt */ - wait = 0; - } - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - - /* Wait for IRQ to fire only if has been triggered */ - if (wait) { - rtems_semaphore_obtain(pDev->rx_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT); - /* - * The semaphore is released either due to the expected IRQ - * condition or by BUSOFF, AHBERROR or another thread calling - * grcan_stop(). In either case, state2err[] has the correnct - * return value. - */ - return state2err[pDev->started]; - } - - return 0; -} - -/* Wait for TX circular buffer to have room for min CAN messagges. TXIRQ is used to pin - * point the location of the CAN message corresponding to min. - * - * min must be at least WRAP_AROUND_TX_MSGS less than max buffer capacity - * (pDev->txbuf_size/GRCAN_MSG_SIZE) for this algo to work. - */ -static int grcan_wait_txspace(struct grcan_priv *pDev, int min) -{ - int wait, state; - unsigned int irq, rp, wp, size, space_left; - unsigned int irq_trunk; - SPIN_IRQFLAGS(oldLevel); - - DBGC(DBG_TX, "\n"); - /*FUNCDBG(); */ - - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - state = pDev->started; - /* A bus off interrupt may have occured after checking pDev->started */ - if (state != STATE_STARTED) { - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - if (state == STATE_BUSOFF) { - DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n"); - } else if (state == STATE_AHBERR) { - DBGC(DBG_STATE, "cancelled due to a AHB error\n"); - } else { - DBGC(DBG_STATE, "cancelled due to STOP (unexpected)\n"); - } - return state2err[state]; - } - - pDev->regs->tx0ctrl = GRCAN_TXCTRL_ENABLE; - - size = READ_REG(&pDev->regs->tx0size); - wp = READ_REG(&pDev->regs->tx0wr); - - rp = READ_REG(&pDev->regs->tx0rd); - - /**** Calculate IRQ Pointer ****/ - irq = rp + min * GRCAN_MSG_SIZE; - /* wrap irq around */ - if (irq >= size) { - irq_trunk = irq - size; - } else - irq_trunk = irq; - - /* trigger HW to do a IRQ when enough room in buffer */ - pDev->regs->tx0irq = irq_trunk; - - /* Clear pending Tx IRQ */ - pDev->regs->picr = GRCAN_TXIRQ_IRQ; - - /* One problem, if HW already gone past IRQ place the IRQ will - * never be received resulting in a thread hang. We check if so - * before proceeding. - * - * has the HW already gone past the IRQ generation place? - * == does min fit info tx buffer? - */ - rp = READ_REG(&pDev->regs->tx0rd); - - space_left = grcan_hw_txspace(rp, wp, size); - - if (space_left < min) { - /* Still too full, proceed with sleep - Turn on IRQ (unmask irq) */ - pDev->regs->imr = READ_REG(&pDev->regs->imr) | GRCAN_TXIRQ_IRQ; - wait = 1; - } else { - /* There are enough room in buffer, abort wait - don't unmask interrupt */ - wait = 0; - } - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - - /* Wait for IRQ to fire only if it has been triggered */ - if (wait) { - rtems_semaphore_obtain(pDev->tx_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT); - return state2err[pDev->started]; - } - - /* At this point the TxIRQ has been masked, we ned not to mask it */ - return 0; -} - -static int grcan_tx_flush(struct grcan_priv *pDev) -{ - int wait, state; - unsigned int rp, wp; - SPIN_IRQFLAGS(oldLevel); - FUNCDBG(); - - /* loop until all data in circular buffer has been read by hw. - * (write pointer != read pointer ) - * - * Hardware doesn't update write pointer - we do - */ - while ( - (wp = READ_REG(&pDev->regs->tx0wr)) != - (rp = READ_REG(&pDev->regs->tx0rd)) - ) { - /* Wait for TX empty IRQ */ - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - state = pDev->started; - - /* A bus off interrupt may have occured after checking pDev->started */ - if (state != STATE_STARTED) { - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - if (state == STATE_BUSOFF) { - DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n"); - } else if (state == STATE_AHBERR) { - DBGC(DBG_STATE, "cancelled due to a AHB error\n"); - } else { - DBGC(DBG_STATE, "cancelled due to STOP (unexpected)\n"); - } - return state2err[state]; - } - - /* Clear pending TXEmpty IRQ */ - pDev->regs->picr = GRCAN_TXEMPTY_IRQ; - - if (wp != READ_REG(&pDev->regs->tx0rd)) { - /* Still not empty, proceed with sleep - Turn on IRQ (unmask irq) */ - pDev->regs->imr = - READ_REG(&pDev->regs->imr) | GRCAN_TXEMPTY_IRQ; - wait = 1; - } else { - /* TX fifo is empty */ - wait = 0; - } - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - if (!wait) - break; - - /* Wait for IRQ to wake us */ - rtems_semaphore_obtain(pDev->txempty_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT); - state = pDev->started; - if (state != STATE_STARTED) { - return state2err[state]; - } - } - return 0; -} - -static int grcan_alloc_buffers(struct grcan_priv *pDev, int rx, int tx) -{ - unsigned int adr; - FUNCDBG(); - - if ( tx ) { - adr = (unsigned int)pDev->txbuf_adr; - if (adr & 0x1) { - /* User defined "remote" address. Translate it into - * a CPU accessible address - */ - pDev->_tx_hw = (void *)(adr & ~0x1); - drvmgr_translate_check( - pDev->dev, - DMAMEM_TO_CPU, - (void *)pDev->_tx_hw, - (void **)&pDev->_tx, - pDev->txbuf_size); - pDev->tx = (struct grcan_msg *)pDev->_tx; - } else { - if (adr == 0) { - pDev->_tx = malloc(pDev->txbuf_size + - BUFFER_ALIGNMENT_NEEDS); - if (!pDev->_tx) - return -1; - } else { - /* User defined "cou-local" address. Translate - * it into a CPU accessible address - */ - pDev->_tx = (void *)adr; - } - /* Align TX buffer */ - pDev->tx = (struct grcan_msg *) - (((unsigned int)pDev->_tx + - (BUFFER_ALIGNMENT_NEEDS-1)) & - ~(BUFFER_ALIGNMENT_NEEDS-1)); - - /* Translate address into an hardware accessible - * address - */ - drvmgr_translate_check( - pDev->dev, - CPUMEM_TO_DMA, - (void *)pDev->tx, - (void **)&pDev->_tx_hw, - pDev->txbuf_size); - } - } - - if ( rx ) { - adr = (unsigned int)pDev->rxbuf_adr; - if (adr & 0x1) { - /* User defined "remote" address. Translate it into - * a CPU accessible address - */ - pDev->_rx_hw = (void *)(adr & ~0x1); - drvmgr_translate_check( - pDev->dev, - DMAMEM_TO_CPU, - (void *)pDev->_rx_hw, - (void **)&pDev->_rx, - pDev->rxbuf_size); - pDev->rx = (struct grcan_msg *)pDev->_rx; - } else { - if (adr == 0) { - pDev->_rx = malloc(pDev->rxbuf_size + - BUFFER_ALIGNMENT_NEEDS); - if (!pDev->_rx) - return -1; - } else { - /* User defined "cou-local" address. Translate - * it into a CPU accessible address - */ - pDev->_rx = (void *)adr; - } - /* Align RX buffer */ - pDev->rx = (struct grcan_msg *) - (((unsigned int)pDev->_rx + - (BUFFER_ALIGNMENT_NEEDS-1)) & - ~(BUFFER_ALIGNMENT_NEEDS-1)); - - /* Translate address into an hardware accessible - * address - */ - drvmgr_translate_check( - pDev->dev, - CPUMEM_TO_DMA, - (void *)pDev->rx, - (void **)&pDev->_rx_hw, - pDev->rxbuf_size); - } - } - return 0; -} - -static void grcan_free_buffers(struct grcan_priv *pDev, int rx, int tx) -{ - FUNCDBG(); - - if (tx && pDev->_tx) { - free(pDev->_tx); - pDev->_tx = NULL; - pDev->tx = NULL; - } - - if (rx && pDev->_rx) { - free(pDev->_rx); - pDev->_rx = NULL; - pDev->rx = NULL; - } -} - -int grcan_dev_count(void) -{ - return grcan_count; -} - -void *grcan_open_by_name(char *name, int *dev_no) -{ - int i; - for (i = 0; i < grcan_count; i++){ - struct grcan_priv *pDev; - - pDev = priv_tab[i]; - if (NULL == pDev) { - continue; - } - if (strncmp(pDev->devName, name, NELEM(pDev->devName)) == 0) { - if (dev_no) - *dev_no = i; - return grcan_open(i); - } - } - return NULL; -} - -void *grcan_open(int dev_no) -{ - struct grcan_priv *pDev; - void *ret; - union drvmgr_key_value *value; - - FUNCDBG(); - - if (grcan_count == 0 || (grcan_count <= dev_no)) { - return NULL; - } - - pDev = priv_tab[dev_no]; - - /* Wait until we get semaphore */ - if (rtems_semaphore_obtain(pDev->dev_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT) - != RTEMS_SUCCESSFUL) { - return NULL; - } - - /* is device busy/taken? */ - if ( pDev->open ) { - ret = NULL; - goto out; - } - - SPIN_INIT(&pDev->devlock, pDev->devName); - - /* Mark device taken */ - pDev->open = 1; - - pDev->txblock = pDev->rxblock = 1; - pDev->txcomplete = pDev->rxcomplete = 0; - pDev->started = STATE_STOPPED; - pDev->config_changed = 1; - pDev->config.silent = 0; - pDev->config.abort = 0; - pDev->config.selection.selection = 0; - pDev->config.selection.enable0 = 0; - pDev->config.selection.enable1 = 1; - pDev->flushing = 0; - pDev->rx = pDev->_rx = NULL; - pDev->tx = pDev->_tx = NULL; - pDev->txbuf_adr = 0; - pDev->rxbuf_adr = 0; - pDev->txbuf_size = TX_BUF_SIZE; - pDev->rxbuf_size = RX_BUF_SIZE; - - /* Override default buffer sizes if available from bus resource */ - value = drvmgr_dev_key_get(pDev->dev, "txBufSize", DRVMGR_KT_INT); - if ( value ) - pDev->txbuf_size = value->i; - - value = drvmgr_dev_key_get(pDev->dev, "rxBufSize", DRVMGR_KT_INT); - if ( value ) - pDev->rxbuf_size = value->i; - - value = drvmgr_dev_key_get(pDev->dev, "txBufAdr", DRVMGR_KT_POINTER); - if ( value ) - pDev->txbuf_adr = value->ptr; - - value = drvmgr_dev_key_get(pDev->dev, "rxBufAdr", DRVMGR_KT_POINTER); - if ( value ) - pDev->rxbuf_adr = value->ptr; - - DBG("Defaulting to rxbufsize: %d, txbufsize: %d\n",RX_BUF_SIZE,TX_BUF_SIZE); - - /* Default to accept all messages */ - pDev->afilter.mask = 0x00000000; - pDev->afilter.code = 0x00000000; - - /* Default to disable sync messages (only trigger when id is set to all ones) */ - pDev->sfilter.mask = 0xffffffff; - pDev->sfilter.code = 0x00000000; - - /* Calculate default timing register values */ - grcan_calc_timing(GRCAN_DEFAULT_BAUD,pDev->corefreq_hz,GRCAN_SAMPLING_POINT,&pDev->config.timing); - - if ( grcan_alloc_buffers(pDev,1,1) ) { - ret = NULL; - goto out; - } - - /* Clear statistics */ - memset(&pDev->stats,0,sizeof(struct grcan_stats)); - - ret = pDev; -out: - rtems_semaphore_release(pDev->dev_sem); - return ret; -} - -int grcan_close(void *d) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - grcan_stop(d); - - grcan_hw_reset(pDev->regs); - - grcan_free_buffers(pDev,1,1); - - /* Mark Device as closed */ - pDev->open = 0; - - return 0; -} - -int grcan_read(void *d, CANMsg *msg, size_t ucount) -{ - struct grcan_priv *pDev = d; - CANMsg *dest; - unsigned int count, left; - int nread; - int req_cnt; - - FUNCDBG(); - - dest = msg; - req_cnt = ucount; - - if ( (!dest) || (req_cnt<1) ) - return GRCAN_RET_INVARG; - - if (pDev->started != STATE_STARTED) { - return GRCAN_RET_NOTSTARTED; - } - - DBGC(DBG_RX, "grcan_read [%p]: buf: %p len: %u\n", d, msg, (unsigned int) ucount); - - nread = grcan_hw_read_try(pDev,pDev->regs,dest,req_cnt); - if (nread < 0) { - return nread; - } - count = nread; - if ( !( pDev->rxblock && pDev->rxcomplete && (count!=req_cnt) ) ){ - if ( count > 0 ) { - /* Successfully received messages (at least one) */ - return count; - } - - /* nothing read, shall we block? */ - if ( !pDev->rxblock ) { - /* non-blocking mode */ - return GRCAN_RET_TIMEOUT; - } - } - - while (count == 0 || (pDev->rxcomplete && (count!=req_cnt))) { - if (!pDev->rxcomplete) { - left = 1; /* return as soon as there is one message available */ - } else { - left = req_cnt - count; /* return as soon as all data are available */ - - /* never wait for more than the half the maximum size of the receive buffer - * Why? We need some time to copy buffer before to catch up with hw, - * otherwise we would have to copy everything when the data has been - * received. - */ - if (left > ((pDev->rxbuf_size/GRCAN_MSG_SIZE) / 2)){ - left = (pDev->rxbuf_size/GRCAN_MSG_SIZE) / 2; - } - } - - nread = grcan_wait_rxdata(pDev, left); - if (nread) { - /* The wait has been aborted, probably due to - * the device driver has been closed by another - * thread or a bus-off. Return error code. - */ - return nread; - } - - /* Try read bytes from circular buffer */ - nread = grcan_hw_read_try( - pDev, - pDev->regs, - dest+count, - req_cnt-count); - - if (nread < 0) { - /* The read was aborted by bus-off. */ - return nread; - } - count += nread; - } - /* no need to unmask IRQ as IRQ Handler do that for us. */ - return count; -} - -int grcan_write(void *d, CANMsg *msg, size_t ucount) -{ - struct grcan_priv *pDev = d; - CANMsg *source; - unsigned int count, left; - int nwritten; - int req_cnt; - - DBGC(DBG_TX,"\n"); - - if ((pDev->started != STATE_STARTED) || pDev->config.silent || pDev->flushing) - return GRCAN_RET_NOTSTARTED; - - req_cnt = ucount; - source = (CANMsg *) msg; - - /* check proper length and buffer pointer */ - if (( req_cnt < 1) || (source == NULL) ){ - return GRCAN_RET_INVARG; - } - - nwritten = grcan_hw_write_try(pDev,pDev->regs,source,req_cnt); - if (nwritten < 0) { - return nwritten; - } - count = nwritten; - if ( !(pDev->txblock && pDev->txcomplete && (count!=req_cnt)) ) { - if ( count > 0 ) { - /* Successfully transmitted chars (at least one char) */ - return count; - } - - /* nothing written, shall we block? */ - if ( !pDev->txblock ) { - /* non-blocking mode */ - return GRCAN_RET_TIMEOUT; - } - } - - /* if in txcomplete mode we need to transmit all chars */ - while((count == 0) || (pDev->txcomplete && (count!=req_cnt)) ){ - /*** block until room to fit all or as much of transmit buffer as possible - * IRQ comes. Set up a valid IRQ point so that an IRQ is received - * when we can put a chunk of data into transmit fifo - */ - if ( !pDev->txcomplete ){ - left = 1; /* wait for anything to fit buffer */ - }else{ - left = req_cnt - count; /* wait for all data to fit in buffer */ - - /* never wait for more than the half the maximum size of the transmit - * buffer - * Why? We need some time to fill buffer before hw catches up. - */ - if ( left > ((pDev->txbuf_size/GRCAN_MSG_SIZE)/2) ){ - left = (pDev->txbuf_size/GRCAN_MSG_SIZE)/2; - } - } - - nwritten = grcan_wait_txspace(pDev,left); - /* Wait until more room in transmit buffer */ - if ( nwritten ) { - /* The wait has been aborted, probably due to - * the device driver has been closed by another - * thread. To avoid deadlock we return directly - * with error status. - */ - return nwritten; - } - - /* Try read bytes from circular buffer */ - nwritten = grcan_hw_write_try( - pDev, - pDev->regs, - source+count, - req_cnt-count); - - if (nwritten < 0) { - /* Write was aborted by bus-off. */ - return nwritten; - } - count += nwritten; - } - /* no need to unmask IRQ as IRQ Handler do that for us. */ - - return count; -} - -int grcan_start(void *d) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - if (grcan_get_state(d) == STATE_STARTED) { - return -1; - } - - if ( (grcan_hw_start(pDev)) != RTEMS_SUCCESSFUL ){ - return -2; - } - - /* Clear semaphore state. This is to avoid effects from previous - * bus-off/stop where semahpores where flushed() but the count remained. - */ - rtems_semaphore_obtain(pDev->rx_sem, RTEMS_NO_WAIT, 0); - rtems_semaphore_obtain(pDev->tx_sem, RTEMS_NO_WAIT, 0); - rtems_semaphore_obtain(pDev->txempty_sem, RTEMS_NO_WAIT, 0); - - /* Read and write are now open... */ - pDev->started = STATE_STARTED; - DBGC(DBG_STATE, "STOPPED|BUSOFF|AHBERR->STARTED\n"); - - /* Register interrupt routine and enable IRQ at IRQ ctrl */ - drvmgr_interrupt_register(pDev->dev, 0, pDev->devName, - grcan_interrupt, pDev); - - return 0; -} - -int grcan_stop(void *d) -{ - struct grcan_priv *pDev = d; - SPIN_IRQFLAGS(oldLevel); - int do_sw_stop; - - FUNCDBG(); - - if (pDev->started == STATE_STOPPED) - return -1; - - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - if (pDev->started == STATE_STARTED) { - grcan_hw_stop(pDev); - do_sw_stop = 1; - DBGC(DBG_STATE, "STARTED->STOPPED\n"); - } else { - /* - * started == STATE_[STOPPED|BUSOFF|AHBERR] so grcan_hw_stop() - * might already been called from ISR. - */ - DBGC(DBG_STATE, "[STOPPED|BUSOFF|AHBERR]->STOPPED\n"); - do_sw_stop = 0; - } - pDev->started = STATE_STOPPED; - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - - if (do_sw_stop) - grcan_sw_stop(pDev); - - /* Disable interrupts */ - drvmgr_interrupt_unregister(pDev->dev, 0, grcan_interrupt, pDev); - - return 0; -} - -int grcan_get_state(void *d) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - return pDev->started; -} - -int grcan_flush(void *d) -{ - struct grcan_priv *pDev = d; - int tmp; - - FUNCDBG(); - - if ((pDev->started != STATE_STARTED) || pDev->flushing || pDev->config.silent) - return -1; - - pDev->flushing = 1; - tmp = grcan_tx_flush(pDev); - pDev->flushing = 0; - if ( tmp ) { - /* The wait has been aborted, probably due to - * the device driver has been closed by another - * thread. - */ - return -1; - } - - return 0; -} - -int grcan_set_silent(void* d, int silent) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - if (pDev->started == STATE_STARTED) - return -1; - - pDev->config.silent = silent; - pDev->config_changed = 1; - - return 0; -} - -int grcan_set_abort(void* d, int abort) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - if (pDev->started == STATE_STARTED) - return -1; - - pDev->config.abort = abort; - /* This Configuration parameter doesn't need HurriCANe reset - * ==> no pDev->config_changed = 1; - */ - - return 0; -} - -int grcan_set_selection(void *d, const struct grcan_selection *selection) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - if (pDev->started == STATE_STARTED) - return -1; - - if ( !selection ) - return -2; - - pDev->config.selection = *selection; - pDev->config_changed = 1; - - return 0; -} - -int grcan_set_rxblock(void *d, int block) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - pDev->rxblock = block; - - return 0; -} - -int grcan_set_txblock(void *d, int block) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - pDev->txblock = block; - - return 0; -} - -int grcan_set_txcomplete(void *d, int complete) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - pDev->txcomplete = complete; - - return 0; -} - -int grcan_set_rxcomplete(void *d, int complete) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - pDev->rxcomplete = complete; - - return 0; -} - -int grcan_get_stats(void *d, struct grcan_stats *stats) -{ - struct grcan_priv *pDev = d; - SPIN_IRQFLAGS(oldLevel); - - FUNCDBG(); - - if ( !stats ) - return -1; - - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - *stats = pDev->stats; - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - - return 0; -} - -int grcan_clr_stats(void *d) -{ - struct grcan_priv *pDev = d; - SPIN_IRQFLAGS(oldLevel); - - FUNCDBG(); - - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - memset(&pDev->stats,0,sizeof(struct grcan_stats)); - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - - return 0; -} - -int grcan_set_speed(void *d, unsigned int speed) -{ - struct grcan_priv *pDev = d; - struct grcan_timing timing; - int ret; - - FUNCDBG(); - - /* cannot change speed during run mode */ - if (pDev->started == STATE_STARTED) - return -1; - - /* get speed rate from argument */ - ret = grcan_calc_timing(speed, pDev->corefreq_hz, GRCAN_SAMPLING_POINT, &timing); - if ( ret ) - return -2; - - /* save timing/speed */ - pDev->config.timing = timing; - pDev->config_changed = 1; - - return 0; -} - -int grcan_set_btrs(void *d, const struct grcan_timing *timing) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - /* Set BTR registers manually - * Read GRCAN/HurriCANe Manual. - */ - if (pDev->started == STATE_STARTED) - return -1; - - if ( !timing ) - return -2; - - pDev->config.timing = *timing; - pDev->config_changed = 1; - - return 0; -} - -int grcan_set_afilter(void *d, const struct grcan_filter *filter) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - if ( !filter ){ - /* Disable filtering - let all messages pass */ - pDev->afilter.mask = 0x0; - pDev->afilter.code = 0x0; - }else{ - /* Save filter */ - pDev->afilter = *filter; - } - /* Set hardware acceptance filter */ - grcan_hw_accept(pDev->regs,&pDev->afilter); - - return 0; -} - -int grcan_set_sfilter(void *d, const struct grcan_filter *filter) -{ - struct grcan_priv *pDev = d; - SPIN_IRQFLAGS(oldLevel); - - FUNCDBG(); - - if ( !filter ){ - /* disable TX/RX SYNC filtering */ - pDev->sfilter.mask = 0xffffffff; - pDev->sfilter.mask = 0; - - /* disable Sync interrupt */ - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - pDev->regs->imr = READ_REG(&pDev->regs->imr) & ~(GRCAN_RXSYNC_IRQ|GRCAN_TXSYNC_IRQ); - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - }else{ - /* Save filter */ - pDev->sfilter = *filter; - - /* Enable Sync interrupt */ - SPIN_LOCK_IRQ(&pDev->devlock, oldLevel); - pDev->regs->imr = READ_REG(&pDev->regs->imr) | (GRCAN_RXSYNC_IRQ|GRCAN_TXSYNC_IRQ); - SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel); - } - /* Set Sync RX/TX filter */ - grcan_hw_sync(pDev->regs,&pDev->sfilter); - - return 0; -} - -int grcan_get_status(void* d, unsigned int *data) -{ - struct grcan_priv *pDev = d; - - FUNCDBG(); - - if ( !data ) - return -1; - - /* Read out the statsu register from the GRCAN core */ - data[0] = READ_REG(&pDev->regs->stat); - - return 0; -} - -/* Error indicators */ -#define GRCAN_IRQ_ERRORS \ - (GRCAN_RXAHBERR_IRQ | GRCAN_TXAHBERR_IRQ | GRCAN_OFF_IRQ) -#define GRCAN_STAT_ERRORS (GRCAN_STAT_AHBERR | GRCAN_STAT_OFF) -/* Warning & RX/TX sync indicators */ -#define GRCAN_IRQ_WARNS \ - (GRCAN_ERR_IRQ | GRCAN_OR_IRQ | GRCAN_TXLOSS_IRQ | \ - GRCAN_RXSYNC_IRQ | GRCAN_TXSYNC_IRQ) -#define GRCAN_STAT_WARNS (GRCAN_STAT_OR | GRCAN_STAT_PASS) - -/* Handle the IRQ */ -static void grcan_interrupt(void *arg) -{ - struct grcan_priv *pDev = arg; - unsigned int status = READ_REG(&pDev->regs->pimsr); - unsigned int canstat = READ_REG(&pDev->regs->stat); - unsigned int imr_clear; - SPIN_ISR_IRQFLAGS(irqflags); - - /* Spurious IRQ call? */ - if ( !status && !canstat ) - return; - - if (pDev->started != STATE_STARTED) { - DBGC(DBG_STATE, "not STARTED (unexpected interrupt)\n"); - pDev->regs->picr = status; - return; - } - - FUNCDBG(); - - if ( (status & GRCAN_IRQ_ERRORS) || (canstat & GRCAN_STAT_ERRORS) ) { - /* Bus-off condition interrupt - * The link is brought down by hardware, we wake all threads - * that is blocked in read/write calls and stop futher calls - * to read/write until user has called ioctl(fd,START,0). - */ - SPIN_LOCK(&pDev->devlock, irqflags); - DBGC(DBG_STATE, "STARTED->BUSOFF|AHBERR\n"); - pDev->stats.ints++; - if ((status & GRCAN_OFF_IRQ) || (canstat & GRCAN_STAT_OFF)) { - /* CAN Bus-off interrupt */ - DBGC(DBG_STATE, "BUSOFF: status: 0x%x, canstat: 0x%x\n", - status, canstat); - pDev->started = STATE_BUSOFF; - pDev->stats.busoff_cnt++; - } else { - /* RX or Tx AHB Error interrupt */ - printk("AHBERROR: status: 0x%x, canstat: 0x%x\n", - status, canstat); - pDev->started = STATE_AHBERR; - pDev->stats.ahberr_cnt++; - } - grcan_hw_stop(pDev); /* this mask all IRQ sources */ - pDev->regs->picr = 0x1ffff; /* clear all interrupts */ - /* - * Prevent driver from affecting bus. Driver can be started - * again with grcan_start(). - */ - SPIN_UNLOCK(&pDev->devlock, irqflags); - - /* Release semaphores to wake blocked threads. */ - grcan_sw_stop(pDev); - - /* - * NOTE: Another interrupt may be pending now so ISR could be - * executed one more time aftert this (first) return. - */ - return; - } - - /* Mask interrupts in one place under spin-lock. */ - imr_clear = status & (GRCAN_RXIRQ_IRQ | GRCAN_TXIRQ_IRQ | GRCAN_TXEMPTY_IRQ); - - SPIN_LOCK(&pDev->devlock, irqflags); - - /* Increment number of interrupts counter */ - pDev->stats.ints++; - if ((status & GRCAN_IRQ_WARNS) || (canstat & GRCAN_STAT_WARNS)) { - - if ( (status & GRCAN_ERR_IRQ) || (canstat & GRCAN_STAT_PASS) ) { - /* Error-Passive interrupt */ - pDev->stats.passive_cnt++; - } - - if ( (status & GRCAN_OR_IRQ) || (canstat & GRCAN_STAT_OR) ) { - /* Over-run during reception interrupt */ - pDev->stats.overrun_cnt++; - } - - if ( status & GRCAN_TXLOSS_IRQ ) { - pDev->stats.txloss_cnt++; - } - - if ( status & GRCAN_TXSYNC_IRQ ) { - /* TxSync message transmitted interrupt */ - pDev->stats.txsync_cnt++; - } - - if ( status & GRCAN_RXSYNC_IRQ ) { - /* RxSync message received interrupt */ - pDev->stats.rxsync_cnt++; - } - } - - if (imr_clear) { - pDev->regs->imr = READ_REG(&pDev->regs->imr) & ~imr_clear; - - SPIN_UNLOCK(&pDev->devlock, irqflags); - - if ( status & GRCAN_RXIRQ_IRQ ) { - /* RX IRQ pointer interrupt */ - rtems_semaphore_release(pDev->rx_sem); - } - - if ( status & GRCAN_TXIRQ_IRQ ) { - /* TX IRQ pointer interrupt */ - rtems_semaphore_release(pDev->tx_sem); - } - - if (status & GRCAN_TXEMPTY_IRQ ) { - rtems_semaphore_release(pDev->txempty_sem); - } - } else { - SPIN_UNLOCK(&pDev->devlock, irqflags); - } - - /* Clear IRQs */ - pDev->regs->picr = status; -} |