diff options
Diffstat (limited to 'c/src/lib/libbsp/sparc/shared/can/satcan.c')
| -rw-r--r-- | c/src/lib/libbsp/sparc/shared/can/satcan.c | 714 |
1 files changed, 0 insertions, 714 deletions
diff --git a/c/src/lib/libbsp/sparc/shared/can/satcan.c b/c/src/lib/libbsp/sparc/shared/can/satcan.c deleted file mode 100644 index 1655a36e36..0000000000 --- a/c/src/lib/libbsp/sparc/shared/can/satcan.c +++ /dev/null @@ -1,714 +0,0 @@ -/* - * SatCAN FPGA driver - * - * COPYRIGHT (c) 2008. - * 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 <rtems/libio.h> -#include <stdlib.h> -#include <stdio.h> -#include <string.h> -#include <bsp.h> -#include <rtems/bspIo.h> /* printk */ - -#include <bsp/satcan.h> -#include <ambapp.h> - -#ifndef GAISLER_SATCAN -#define GAISLER_SATCAN 0x080 -#endif - -#if !defined(SATCAN_DEVNAME) - #undef SATCAN_DEVNAME - #define SATCAN_DEVNAME "/dev/satcan" -#endif - -/* Enable debug output? */ -/* #define DEBUG */ - -#ifdef DEBUG -#define DBG(x...) printk(x) -#else -#define DBG(x...) -#endif - - -/* Defines related to DMA */ -#define ALIGN_2KMEM 32*1024 -#define ALIGN_8KMEM 128*1024 - -#define OFFSET_2K_LOW_POS 15 -#define OFFSET_8K_LOW_POS 17 - -#define DMA_2K_DATA_SELECT (1 << 14) -#define DMA_8K_DATA_SELECT (1 << 16) - -#define DMA_2K_DATA_OFFSET 16*1024 -#define DMA_8K_DATA_OFFSET 64*1024 - -/* Core register structures and defines */ - -/* Indexes to SatCAN registers in satcan array are declared in satcan.h*/ -/* Fields for some of the SatCAN FPGA registers */ - -/* CmdReg0 */ -#define CAN_TODn_Int_sel (1 << 5) - -/* CmdReg1 */ -#define Sel_2k_8kN (1 << 0) - -/* Read FIFO */ -#define FIFO_Full (1 << 8) -#define FIFO_Empty (1 << 9) - -/* DMA Ch_Enable */ -#define DMA_AutoInitDmaTx (1 << 3) -#define DMA_EnTx2 (1 << 2) -#define DMA_EnTx1 (1 << 1) -#define DMA_EnRx (1 << 0) - -/* SatCAN wrapper register fields */ -#define CTRL_BT_P 9 -#define CTRL_NODENO_P 5 -#define CTRL_DIS (1 << 2) -#define CTRL_DPS_P 1 -#define CTRL_RST (1 << 0) - -#define IRQ_AHB (1 << 8) -#define IRQ_PPS (1 << 7) -#define IRQ_M5 (1 << 6) -#define IRQ_M4 (1 << 5) -#define IRQ_M3 (1 << 4) -#define IRQ_M2 (1 << 3) -#define IRQ_M1 (1 << 2) -#define IRQ_SYNC (1 << 1) -#define IRQ_CAN (1 << 0) - -#define MSK_AHB (1 << 8) -#define MSK_PPS (1 << 7) -#define MSK_M5 (1 << 6) -#define MSK_M4 (1 << 5) -#define MSK_M3 (1 << 4) -#define MSK_M2 (1 << 3) -#define MSK_M1 (1 << 2) -#define MSK_SYNC (1 << 1) -#define MSK_CAN (1 << 0) - - - -struct satcan_regs { - volatile unsigned int satcan[32]; - volatile unsigned int ctrl; - volatile unsigned int irqpend; - volatile unsigned int irqmask; - volatile unsigned int membase; -}; - - -struct satcan_priv { - /* config */ - void *dmaptr; - unsigned char *alptr; - satcan_config *cfg; - - /* driver state */ - rtems_id devsem; - rtems_id txsem; - int open; - int txactive; - int dmaen; - int doff; - rtems_interval timeout; - int dmamode; -}; - -static struct satcan_regs *regs; -static struct satcan_priv *priv; - -static rtems_device_driver satcan_ioctl(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); -static rtems_device_driver satcan_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); -static rtems_device_driver satcan_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); -static rtems_device_driver satcan_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); -static rtems_device_driver satcan_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); -static rtems_device_driver satcan_initialize(rtems_device_major_number major, rtems_device_minor_number unused, void *arg); - - -/* - * almalloc: allocate memory area of size sz aligned on sz boundary - * alptr: Utilized to return aligned pointer - * ptr: Unaligned pointer - * sz: Size of memory area - */ -static void almalloc(unsigned char **alptr, void **ptr, int sz) -{ - *ptr = calloc(1,2*sz); - *alptr = (unsigned char *) (((int)*ptr+sz) & ~(sz-1)); -} - -static rtems_isr satcan_interrupt_handler(rtems_vector_number v) -{ - unsigned int irq; - unsigned int fifo; - - irq = regs->irqpend; - - if (irq & IRQ_AHB && priv->cfg->ahb_irq_callback) { - priv->cfg->ahb_irq_callback(); - } - if (irq & IRQ_PPS && priv->cfg->pps_irq_callback) { - priv->cfg->pps_irq_callback(); - } - if (irq & IRQ_M5 && priv->cfg->m5_irq_callback) { - priv->cfg->m5_irq_callback(); - } - if (irq & IRQ_M4 && priv->cfg->m4_irq_callback) { - priv->cfg->m4_irq_callback(); - } - if (irq & IRQ_M3 && priv->cfg->m3_irq_callback) { - priv->cfg->m3_irq_callback(); - } - if (irq & IRQ_M2 && priv->cfg->m2_irq_callback) { - priv->cfg->m2_irq_callback(); - } - if (irq & IRQ_M1 && priv->cfg->m1_irq_callback) { - priv->cfg->m1_irq_callback(); - } - if (irq & IRQ_SYNC && priv->cfg->sync_irq_callback) { - priv->cfg->sync_irq_callback(); - } - if (irq & IRQ_CAN) { - fifo = regs->satcan[SATCAN_FIFO]; - if (!(fifo & FIFO_Empty) && priv->txactive && - (((fifo & 0xff) == SATCAN_IRQ_EOD1) || ((fifo & 0xff) == SATCAN_IRQ_EOD2))) { - rtems_semaphore_release(priv->txsem); - } - if (priv->cfg->can_irq_callback) - priv->cfg->can_irq_callback(fifo); - } -} - - - -static rtems_device_driver satcan_ioctl(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) -{ - rtems_libio_ioctl_args_t *ioarg = (rtems_libio_ioctl_args_t*)arg; - int *value; - rtems_interval *timeout; - satcan_regmod *regmod; - - DBG("SatCAN: IOCTL %d\n\r", ioarg->command); - - ioarg->ioctl_return = 0; - switch(ioarg->command) { - case SATCAN_IOC_DMA_2K: - DBG("SatCAN: ioctl: setting 2K DMA mode\n\r"); - free(priv->dmaptr); - almalloc(&priv->alptr, &priv->dmaptr, ALIGN_2KMEM); - if (priv->dmaptr == NULL) { - printk("SatCAN: Failed to allocate DMA memory\n\r"); - return RTEMS_NO_MEMORY; - } - - regs->membase = (unsigned int)priv->alptr; - regs->satcan[SATCAN_RAM_BASE] = (unsigned int)priv->alptr >> OFFSET_2K_LOW_POS; - regs->satcan[SATCAN_CMD1] = regs->satcan[SATCAN_CMD1] | Sel_2k_8kN; - break; - - case SATCAN_IOC_DMA_8K: - DBG("SatCAN: ioctl: setting 8K DMA mode\n\r"); - free(priv->dmaptr); - almalloc(&priv->alptr, &priv->dmaptr, ALIGN_8KMEM); - if (priv->dmaptr == NULL) { - printk("SatCAN: Failed to allocate DMA memory\n\r"); - return RTEMS_NO_MEMORY; - } - - regs->membase = (unsigned int)priv->alptr; - regs->satcan[SATCAN_RAM_BASE] = (unsigned int)priv->alptr >> OFFSET_8K_LOW_POS; - regs->satcan[SATCAN_CMD1] = regs->satcan[SATCAN_CMD1] & ~Sel_2k_8kN; - break; - - case SATCAN_IOC_GET_REG: - /* Get regmod structure from argument */ - regmod = (satcan_regmod*)ioarg->buffer; - DBG("SatCAN: ioctl: getting register %d\n\r", regmod->reg); - if (regmod->reg < 0) - return RTEMS_INVALID_NAME; - else if (regmod->reg <= SATCAN_FILTER_STOP) - regmod->val = regs->satcan[regmod->reg]; - else if (regmod->reg == SATCAN_WCTRL) - regmod->val = regs->ctrl; - else if (regmod->reg == SATCAN_WIPEND) - regmod->val = regs->irqpend; - else if (regmod->reg == SATCAN_WIMASK) - regmod->val = regs->irqmask; - else if (regmod->reg == SATCAN_WAHBADDR) - regmod->val = regs->membase; - else - return RTEMS_INVALID_NAME; - break; - - case SATCAN_IOC_SET_REG: - /* Get regmod structure from argument */ - regmod = (satcan_regmod*)ioarg->buffer; - DBG("SatCAN: ioctl: setting register %d, value %x\n\r", - regmod->reg, regmod->val); - if (regmod->reg < 0) - return RTEMS_INVALID_NAME; - else if (regmod->reg <= SATCAN_FILTER_STOP) - regs->satcan[regmod->reg] = regmod->val; - else if (regmod->reg == SATCAN_WCTRL) - regs->ctrl = regmod->val; - else if (regmod->reg == SATCAN_WIPEND) - regs->irqpend = regmod->val; - else if (regmod->reg == SATCAN_WIMASK) - regs->irqmask = regmod->val; - else if (regmod->reg == SATCAN_WAHBADDR) - regs->membase = regmod->val; - else - return RTEMS_INVALID_NAME; - break; - - case SATCAN_IOC_OR_REG: - /* Get regmod structure from argument */ - regmod = (satcan_regmod*)ioarg->buffer; - DBG("SatCAN: ioctl: or:ing register %d, with value %x\n\r", - regmod->reg, regmod->val); - if (regmod->reg < 0) - return RTEMS_INVALID_NAME; - else if (regmod->reg <= SATCAN_FILTER_STOP) - regs->satcan[regmod->reg] |= regmod->val; - else if (regmod->reg == SATCAN_WCTRL) - regs->ctrl |= regmod->val; - else if (regmod->reg == SATCAN_WIPEND) - regs->irqpend |= regmod->val; - else if (regmod->reg == SATCAN_WIMASK) - regs->irqmask |= regmod->val; - else if (regmod->reg == SATCAN_WAHBADDR) - regs->membase |= regmod->val; - else - return RTEMS_INVALID_NAME; - break; - - case SATCAN_IOC_AND_REG: - /* Get regmod structure from argument */ - regmod = (satcan_regmod*)ioarg->buffer; - DBG("SatCAN: ioctl: masking register %d, with value %x\n\r", - regmod->reg, regmod->val); - if (regmod->reg < 0) - return RTEMS_INVALID_NAME; - else if (regmod->reg <= SATCAN_FILTER_STOP) - regs->satcan[regmod->reg] &= regmod->val; - else if (regmod->reg == SATCAN_WCTRL) - regs->ctrl &= regmod->val; - else if (regmod->reg == SATCAN_WIPEND) - regs->irqpend &= regmod->val; - else if (regmod->reg == SATCAN_WIMASK) - regs->irqmask &= regmod->val; - else if (regmod->reg == SATCAN_WAHBADDR) - regs->membase &= regmod->val; - else - return RTEMS_INVALID_NAME; - break; - - case SATCAN_IOC_EN_TX1_DIS_TX2: - priv->dmaen = SATCAN_DMA_ENABLE_TX1; - break; - - case SATCAN_IOC_EN_TX2_DIS_TX1: - priv->dmaen = SATCAN_DMA_ENABLE_TX2; - break; - - case SATCAN_IOC_GET_DMA_MODE: - value = (int*)ioarg->buffer; - *value = priv->dmamode; - break; - - case SATCAN_IOC_SET_DMA_MODE: - value = (int*)ioarg->buffer; - if (*value != SATCAN_DMA_MODE_USER && *value != SATCAN_DMA_MODE_SYSTEM) { - DBG("SatCAN: ioctl: invalid DMA mode\n\r"); - return RTEMS_INVALID_NAME; - } - priv->dmamode = *value; - break; - - case SATCAN_IOC_ACTIVATE_DMA: - if (priv->dmamode != SATCAN_DMA_MODE_USER) { - DBG("SatCAN: ioctl: ACTIVATE_DMA: not in user mode\n\r"); - return RTEMS_INVALID_NAME; - } - value = (int*)ioarg->buffer; - if (*value != SATCAN_DMA_ENABLE_TX1 && *value != SATCAN_DMA_ENABLE_TX2) { - DBG("SatCAN: ioctl: ACTIVATE_DMA: Illegal channel\n\r"); - return RTEMS_INVALID_NAME; - } - regs->satcan[SATCAN_DMA] |= *value << 1; - break; - - case SATCAN_IOC_DEACTIVATE_DMA: - if (priv->dmamode != SATCAN_DMA_MODE_USER) { - DBG("SatCAN: ioctl: DEACTIVATE_DMA: not in user mode\n\r"); - return RTEMS_INVALID_NAME; - } - value = (int*)ioarg->buffer; - if (*value != SATCAN_DMA_ENABLE_TX1 && *value != SATCAN_DMA_ENABLE_TX2) { - DBG("SatCAN: ioctl: DEACTIVATE_DMA: Illegal channel\n\r"); - return RTEMS_INVALID_NAME; - } - regs->satcan[SATCAN_DMA] &= ~(*value << 1); - break; - - case SATCAN_IOC_GET_DOFFSET: - value = (int*)ioarg->buffer; - *value = priv->doff; - break; - - case SATCAN_IOC_SET_DOFFSET: - value = (int*)ioarg->buffer; - priv->doff = *value; - break; - - case SATCAN_IOC_GET_TIMEOUT: - timeout = (rtems_interval*)ioarg->buffer; - *timeout = priv->timeout; - break; - - case SATCAN_IOC_SET_TIMEOUT: - timeout = (rtems_interval*)ioarg->buffer; - priv->timeout = *timeout; - break; - - default: - return RTEMS_NOT_DEFINED; - } - - return RTEMS_SUCCESSFUL; -} - -static rtems_device_driver satcan_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) -{ - int i; - int doff; - int msgindex; - int messages; - rtems_libio_rw_args_t *rw_args=(rtems_libio_rw_args_t *) arg; - satcan_msg *msgs; - rtems_status_code status; - - DBG("SatCAN: Writing %d bytes from %p\n\r",rw_args->count,rw_args->buffer); - - if ((rw_args->count < sizeof(satcan_msg)) || (!rw_args->buffer)) { - DBG("SatCAN: write: returning EINVAL\n\r"); - return RTEMS_INVALID_NAME; /* EINVAL */ - } - - messages = rw_args->count / sizeof(satcan_msg); - msgs = (satcan_msg*)rw_args->buffer; - - /* Check that size matches any number of satcan_msg */ - if (rw_args->count % sizeof(satcan_msg)) { - DBG("SatCAN: write: count can not be evenly divided with satcan_msg size\n\r"); - return RTEMS_INVALID_NAME; /* EINVAL */ - } - - - /* DMA channel must be set if we are in system DMA mode */ - DBG("SatCAN: write: dma channel select is %x\n\r", priv->dmaen); - if (!priv->dmaen && priv->dmamode == SATCAN_DMA_MODE_SYSTEM) - return RTEMS_INVALID_NAME; /* EINVAL */ - - /* DMA must not be active */ - if (regs->satcan[SATCAN_DMA] & (DMA_EnTx1 | DMA_EnTx2 | DMA_AutoInitDmaTx)) { - DBG("SatCAN: write: DMA was active\n\r"); - rw_args->bytes_moved = 0; - return RTEMS_IO_ERROR; /* EIO */ - } - - doff = regs->satcan[SATCAN_CMD1] & Sel_2k_8kN ? DMA_2K_DATA_OFFSET : DMA_8K_DATA_OFFSET; - - for (msgindex = 0; msgindex < messages; msgindex++) { - /* Place header in DMA area */ - for (i = 0; i < SATCAN_HEADER_SIZE; i++) { - priv->alptr[priv->doff+8*msgindex+i] = msgs[msgindex].header[i]; - } - - /* Place data in DMA area */ - for (i = 0; i < SATCAN_PAYLOAD_SIZE; i++) - priv->alptr[priv->doff+doff+8*msgindex+i] = msgs[msgindex].payload[i]; - } - - if ((priv->dmaen & SATCAN_DMA_ENABLE_TX1) || priv->dmamode == SATCAN_DMA_MODE_USER) { - regs->satcan[SATCAN_DMA_TX_1_CUR] = 0; - regs->satcan[SATCAN_DMA_TX_1_END] = messages<<3; - } - - if ((priv->dmaen & SATCAN_DMA_ENABLE_TX2) || priv->dmamode == SATCAN_DMA_MODE_USER) { - regs->satcan[SATCAN_DMA_TX_2_CUR] = 0; - regs->satcan[SATCAN_DMA_TX_2_END] = messages<<3; - } - - /* If we are in DMA user mode we are done here, otherwise we block */ - if (priv->dmamode == SATCAN_DMA_MODE_SYSTEM) { - priv->txactive = 1; - - /* Enable DMA */ - regs->satcan[SATCAN_DMA] |= priv->dmaen << 1; - - /* Wait for TX interrupt */ - status = rtems_semaphore_obtain(priv->txsem, RTEMS_WAIT, priv->timeout); - - priv->txactive = 0; - - /* Disable activated Tx DMA */ - regs->satcan[SATCAN_DMA] &= ~(priv->dmaen << 1); - - if (status != RTEMS_SUCCESSFUL) { - rw_args->bytes_moved = 0; - return status; - } - } - - rw_args->bytes_moved = rw_args->count; - - return RTEMS_SUCCESSFUL; -} - -static rtems_device_driver satcan_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) -{ - char *buf; - int i; - int canid; - int messages; - rtems_libio_rw_args_t *rw_args = (rtems_libio_rw_args_t*)arg; - satcan_msg *ret; - - /* Check that there is room for the return */ - if (rw_args->count < sizeof(satcan_msg)) { - DBG("SatCAN: read: length of buffer must be at least %d, current is %d\n\r", - sizeof(satcan_msg) + sizeof(int), rw_args->count); - return RTEMS_INVALID_NAME; /* -EINVAL */ - } - - /* Check that size matches any number of satcan_msg */ - if (rw_args->count % sizeof(satcan_msg)) { - DBG("SatCAN: read: count can not be evenly divided with satcan_msg size\n\r"); - return RTEMS_INVALID_NAME; /* EINVAL */ - } - - messages = rw_args->count / sizeof(satcan_msg); - ret = (satcan_msg*)rw_args->buffer; - - DBG("SatCAN: read: reading %d messages to %p\n\r", messages, ret); - - for (i = 0; i < messages; i++) { - canid = (ret[i].header[1] << 8) | ret[i].header[0]; - - /* Copy message header from DMA header area to buffer */ - buf = (char*)((int)priv->alptr | (canid << 3)); - memcpy(ret[i].header, buf, SATCAN_HEADER_SIZE); - - DBG("SatCAN: read: copied header from %p to %p\n\r", buf, ret[i].header); - - /* Clear New Message Marker */ - buf[SATCAN_HEADER_NMM_POS] = 0; - - /* Copy message payload from DMA data area to buffer */ - buf = (char*)((int)buf | - (regs->satcan[SATCAN_CMD1] & Sel_2k_8kN ? DMA_2K_DATA_SELECT : DMA_8K_DATA_SELECT)); - memcpy(ret[i].payload, buf, SATCAN_PAYLOAD_SIZE); - - DBG("SatCAN: read: copied payload from %p to %p\n\r", buf, ret[i].payload); - } - rw_args->bytes_moved = rw_args->count; - - return RTEMS_SUCCESSFUL; -} - - -static rtems_device_driver satcan_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) -{ - DBG("SatCAN: Closing %d\n\r",minor); - - if (priv->open) { - regs->irqmask = 0; - regs->satcan[SATCAN_INT_EN] = 0; - regs->satcan[SATCAN_RX] = 0; - regs->satcan[SATCAN_DMA] = 0; - priv->open = 0; - priv->dmaen = 0; - priv->doff = 0; - priv->timeout = RTEMS_NO_TIMEOUT; - priv->dmamode = SATCAN_DMA_MODE_SYSTEM; - } - - return RTEMS_SUCCESSFUL; -} - - -static rtems_device_driver satcan_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) -{ - DBG("SatCAN: Opening %d\n\r",minor); - - rtems_semaphore_obtain(priv->devsem,RTEMS_WAIT, RTEMS_NO_TIMEOUT); - if (priv->open) { - rtems_semaphore_release(priv->devsem); - return RTEMS_RESOURCE_IN_USE; /* EBUSY */ - } - priv->open = 1; - rtems_semaphore_release(priv->devsem); - - /* Enable AHB and CAN IRQs in wrapper and EOD1, EOD2 and CAN critical IRQs in SatCAN core */ - regs->irqmask = MSK_AHB | MSK_CAN; - regs->satcan[SATCAN_INT_EN] = ((1 << SATCAN_IRQ_EOD1) | (1 << SATCAN_IRQ_EOD2) | - (1 << SATCAN_IRQ_CRITICAL)); - - /* Select can_int as IRQ source */ - regs->satcan[SATCAN_CMD0] = CAN_TODn_Int_sel; - /* CAN RX DMA Enable */ - regs->satcan[SATCAN_DMA] = 1; - /* CAN RX Enable */ - regs->satcan[SATCAN_RX] = 1; - - DBG("SatCAN: Opening %d success\n\r",minor); - - return RTEMS_SUCCESSFUL; -} - -static rtems_device_driver satcan_initialize(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) -{ - struct ambapp_ahb_info d; - char fs_name[20]; - rtems_status_code status; - - DBG("SatCAN: Initialize..\n\r"); - - strcpy(fs_name, SATCAN_DEVNAME); - - /* Find core and initialize register pointer */ - if (!ambapp_find_ahbslv(&ambapp_plb, VENDOR_GAISLER, GAISLER_SATCAN, &d)) { - printk("SatCAN: Failed to find SatCAN core\n\r"); - return -1; - } - - status = rtems_io_register_name(fs_name, major, minor); - if (RTEMS_SUCCESSFUL != status) - rtems_fatal_error_occurred(status); - - regs = (struct satcan_regs*)d.start[0]; - - /* Set node number and DPS */ - regs->ctrl |= ((priv->cfg->nodeno & 0xf) << 5) | (priv->cfg->dps << 1); - - /* Reset core */ - regs->ctrl |= CTRL_RST; - - /* Allocate DMA area */ - almalloc(&priv->alptr, &priv->dmaptr, ALIGN_2KMEM); - if (priv->dmaptr == NULL) { - printk("SatCAN: Failed to allocate DMA memory\n\r"); - free(priv->cfg); - free(priv); - return -1; - } - - /* Wait until core reset has completed */ - while (regs->ctrl & CTRL_RST) - ; - - /* Initialize core registers, default is 2K messages */ - regs->membase = (unsigned int)priv->alptr; - regs->satcan[SATCAN_RAM_BASE] = (unsigned int)priv->alptr >> 15; - - DBG("regs->membase = %x\n\r", (unsigned int)priv->alptr); - DBG("regs->satcan[SATCAN_RAM_BASE] = %x\n\r", (unsigned int)priv->alptr >> 15); - - status = rtems_semaphore_create( - rtems_build_name('S', 'd', 'v', '0'), - 1, - RTEMS_FIFO | RTEMS_SIMPLE_BINARY_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY | \ - RTEMS_NO_PRIORITY_CEILING, - 0, - &priv->devsem); - if (status != RTEMS_SUCCESSFUL) { - printk("SatCAN: Failed to create dev semaphore (%d)\n\r", status); - free(priv->cfg); - free(priv); - return RTEMS_UNSATISFIED; - } - status = rtems_semaphore_create( - rtems_build_name('S', 't', 'x', '0'), - 0, - RTEMS_FIFO | RTEMS_SIMPLE_BINARY_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY | \ - RTEMS_NO_PRIORITY_CEILING, - 0, - &priv->txsem); - if (status != RTEMS_SUCCESSFUL) { - printk("SatCAN: Failed to create tx semaphore (%d)\n\r", status); - free(priv->cfg); - free(priv); - return RTEMS_UNSATISFIED; - } - - priv->txactive = 0; - priv->open = 0; - priv->dmaen = 0; - priv->doff = 0; - priv->timeout = RTEMS_NO_TIMEOUT; - priv->dmamode = SATCAN_DMA_MODE_SYSTEM; - - /* Register interrupt handler */ - set_vector(satcan_interrupt_handler, d.irq+0x10, 2); - - return RTEMS_SUCCESSFUL; -} - - - -#define SATCAN_DRIVER_TABLE_ENTRY { satcan_initialize, satcan_open, satcan_close, satcan_read, satcan_write, satcan_ioctl } - -static rtems_driver_address_table satcan_driver = SATCAN_DRIVER_TABLE_ENTRY; - -int satcan_register(satcan_config *conf) -{ - rtems_status_code r; - rtems_device_major_number m; - - DBG("SatCAN: satcan_register called\n\r"); - - /* Create private structure */ - if ((priv = malloc(sizeof(struct satcan_priv))) == NULL) { - printk("SatCAN driver could not allocate memory for priv structure\n\r"); - return -1; - } - - DBG("SatCAN: Creating local copy of config structure\n\r"); - if ((priv->cfg = malloc(sizeof(satcan_config))) == NULL) { - printk("SatCAN driver could not allocate memory for cfg structure\n\r"); - return 1; - } - memcpy(priv->cfg, conf, sizeof(satcan_config)); - - if ((r = rtems_io_register_driver(0, &satcan_driver, &m)) == RTEMS_SUCCESSFUL) { - DBG("SatCAN driver successfully registered, major: %d\n\r", m); - } else { - switch(r) { - case RTEMS_TOO_MANY: - printk("SatCAN rtems_io_register_driver failed: RTEMS_TOO_MANY\n\r"); break; - case RTEMS_INVALID_NUMBER: - printk("SatCAN rtems_io_register_driver failed: RTEMS_INVALID_NUMBER\n\r"); break; - case RTEMS_RESOURCE_IN_USE: - printk("SatCAN rtems_io_register_driver failed: RTEMS_RESOURCE_IN_USE\n\r"); break; - default: - printk("SatCAN rtems_io_register_driver failed\n\r"); - } - return 1; - } - - return 0; -} |