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/*
* CAN_MUX driver. Present in GR712RC.
*
* 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.com/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/canmux.h>
#include <ambapp.h>
#ifndef GAISLER_CANMUX
#define GAISLER_CANMUX 0x081
#endif
#if !defined(CANMUX_DEVNAME)
#undef CANMUX_DEVNAME
#define CANMUX_DEVNAME "/dev/canmux"
#endif
/* Enable debug output? */
/* #define DEBUG */
#ifdef DEBUG
#define DBG(x...) printk(x)
#else
#define DBG(x...)
#endif
#define BUSA_SELECT (1 << 0)
#define BUSB_SELECT (1 << 1)
struct canmux_priv {
volatile unsigned int *muxreg;
rtems_id devsem;
int open;
};
static struct canmux_priv *priv;
static rtems_device_driver canmux_ioctl(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_initialize(rtems_device_major_number major, rtems_device_minor_number unused, void *arg);
static rtems_device_driver canmux_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;
DBG("CAN_MUX: IOCTL %d\n\r", ioarg->command);
ioarg->ioctl_return = 0;
switch(ioarg->command) {
case CANMUX_IOC_BUSA_SATCAN: *priv->muxreg &= ~BUSA_SELECT; break;
case CANMUX_IOC_BUSA_OCCAN1: *priv->muxreg |= BUSA_SELECT; break;
case CANMUX_IOC_BUSB_SATCAN: *priv->muxreg &= ~BUSB_SELECT; break;
case CANMUX_IOC_BUSB_OCCAN2: *priv->muxreg |= BUSB_SELECT; break;
default: return RTEMS_NOT_DEFINED;
}
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
rtems_libio_rw_args_t *rw_args=(rtems_libio_rw_args_t*)arg;
rw_args->bytes_moved = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
rtems_libio_rw_args_t *rw_args = (rtems_libio_rw_args_t*)arg;
rw_args->bytes_moved = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
DBG("CAN_MUX: Closing %d\n\r",minor);
priv->open = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
DBG("CAN_MUX: 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);
DBG("CAN_MUX: Opening %d success\n\r",minor);
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_initialize(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
struct ambapp_apb_info d;
char fs_name[20];
rtems_status_code status;
DBG("CAN_MUX: Initialize..\n\r");
strcpy(fs_name, CANMUX_DEVNAME);
/* Find core and initialize register pointer */
if (!ambapp_find_apbslv(&ambapp_plb, VENDOR_GAISLER, GAISLER_CANMUX, &d)) {
printk("CAN_MUX: Failed to find CAN_MUX core\n\r");
return -1;
}
status = rtems_io_register_name(fs_name, major, minor);
if (RTEMS_SUCCESSFUL != status)
rtems_fatal_error_occurred(status);
/* Create private structure */
if ((priv = malloc(sizeof(struct canmux_priv))) == NULL) {
printk("CAN_MUX driver could not allocate memory for priv structure\n\r");
return -1;
}
priv->muxreg = (unsigned int*)d.start;
status = rtems_semaphore_create(
rtems_build_name('M', '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("CAN_MUX: Failed to create dev semaphore (%d)\n\r", status);
free(priv);
return RTEMS_UNSATISFIED;
}
priv->open = 0;
return RTEMS_SUCCESSFUL;
}
#define CANMUX_DRIVER_TABLE_ENTRY { canmux_initialize, canmux_open, canmux_close, canmux_read, canmux_write, canmux_ioctl }
static rtems_driver_address_table canmux_driver = CANMUX_DRIVER_TABLE_ENTRY;
int canmux_register(void)
{
rtems_status_code r;
rtems_device_major_number m;
DBG("CAN_MUX: canmux_register called\n\r");
if ((r = rtems_io_register_driver(0, &canmux_driver, &m)) == RTEMS_SUCCESSFUL) {
DBG("CAN_MUX driver successfully registered, major: %d\n\r", m);
} else {
switch(r) {
case RTEMS_TOO_MANY:
printk("CAN_MUX rtems_io_register_driver failed: RTEMS_TOO_MANY\n\r"); break;
case RTEMS_INVALID_NUMBER:
printk("CAN_MUX rtems_io_register_driver failed: RTEMS_INVALID_NUMBER\n\r"); break;
case RTEMS_RESOURCE_IN_USE:
printk("CAN_MUX rtems_io_register_driver failed: RTEMS_RESOURCE_IN_USE\n\r"); break;
default:
printk("CAN_MUX rtems_io_register_driver failed\n\r");
}
return 1;
}
return 0;
}
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