2 * Linux CAN-bus device driver.
3 * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
4 * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
5 * email:pisa@cmp.felk.cvut.cz
6 * This software is released under the GPL-License.
7 * Version lincan-0.2 9 Jul 2003
10 #include "../include/can.h"
11 #include "../include/can_sysdep.h"
12 #include "../include/main.h"
13 #include "../include/i82527.h"
15 void i82527_irq_rtr_handler(struct chip_t *chip, struct msgobj_t *obj,
16 struct rtr_id *rtr_search, unsigned long message_id);
23 /* helper functions for segmented cards read and write configuration and status registers
26 void i82527_seg_write_reg(const struct chip_t *chip, unsigned char data, unsigned address)
28 if((address > 0xf) && (chip->flags & CHIP_SEGMENTED))
29 canobj_write_reg(chip, chip->msgobj[(address>>4)-1],data, address & 0xf);
31 can_write_reg(chip, data, address);
34 unsigned i82527_seg_read_reg(const struct chip_t *chip, unsigned address)
36 if((address > 0xf) && (chip->flags & CHIP_SEGMENTED))
37 return canobj_read_reg(chip, chip->msgobj[(address>>4)-1], address & 0xf);
39 return can_read_reg(chip, address);
42 int i82527_enable_configuration(struct chip_t *chip)
44 unsigned short flags=0;
46 flags = can_read_reg(chip, iCTL) & (iCTL_IE|iCTL_SIE|iCTL_EIE);
47 can_write_reg(chip, flags|iCTL_CCE, iCTL);
52 int i82527_disable_configuration(struct chip_t *chip)
54 unsigned short flags=0;
56 flags = can_read_reg(chip, iCTL) & (iCTL_IE|iCTL_SIE|iCTL_EIE);
57 can_write_reg(chip, flags, iCTL);
62 int i82527_chip_config(struct chip_t *chip)
64 can_write_reg(chip,chip->int_cpu_reg,iCPU); // Configure cpu interface
65 can_write_reg(chip,(iCTL_CCE|iCTL_INI),iCTL); // Enable configuration
66 i82527_seg_write_reg(chip,chip->int_clk_reg,iCLK); // Set clock out slew rates
67 i82527_seg_write_reg(chip,chip->int_bus_reg,iBUS); /* Bus configuration */
68 can_write_reg(chip,0x00,iSTAT); /* Clear error status register */
70 /* Check if we can at least read back some arbitrary data from the
71 * card. If we can not, the card is not properly configured!
73 canobj_write_reg(chip,chip->msgobj[1],0x25,iMSGDAT1);
74 canobj_write_reg(chip,chip->msgobj[2],0x52,iMSGDAT3);
75 canobj_write_reg(chip,chip->msgobj[10],0xc3,iMSGDAT6);
76 if ( (canobj_read_reg(chip,chip->msgobj[1],iMSGDAT1) != 0x25) ||
77 (canobj_read_reg(chip,chip->msgobj[2],iMSGDAT3) != 0x52) ||
78 (canobj_read_reg(chip,chip->msgobj[10],iMSGDAT6) != 0xc3) ) {
79 CANMSG("Could not read back from the hardware.\n");
80 CANMSG("This probably means that your hardware is not correctly configured!\n");
84 DEBUGMSG("Could read back, hardware is probably configured correctly\n");
86 if (chip->baudrate == 0)
87 chip->baudrate=1000000;
89 if (i82527_baud_rate(chip,chip->baudrate,chip->clock,0,75,0)) {
90 CANMSG("Error configuring baud rate\n");
93 if (i82527_standard_mask(chip,0x0000,stdmask)) {
94 CANMSG("Error configuring standard mask\n");
97 if (i82527_extended_mask(chip,0x00000000,extmask)) {
98 CANMSG("Error configuring extended mask\n");
101 if (i82527_message15_mask(chip,0x00000000,mo15mask)) {
102 CANMSG("Error configuring message 15 mask\n");
105 if (i82527_clear_objects(chip)) {
106 CANMSG("Error clearing message objects\n");
109 if (i82527_config_irqs(chip,0x0a)) {
110 CANMSG("Error configuring interrupts\n");
117 /* Set communication parameters.
118 * param rate baud rate in Hz
119 * param clock frequency of i82527 clock in Hz (ISA osc is 14318000)
120 * param sjw synchronization jump width (0-3) prescaled clock cycles
121 * param sampl_pt sample point in % (0-100) sets (TSEG1+2)/(TSEG1+TSEG2+3) ratio
122 * param flags fields BTR1_SAM, OCMODE, OCPOL, OCTP, OCTN, CLK_OFF, CBP
124 int i82527_baud_rate(struct chip_t *chip, int rate, int clock, int sjw,
125 int sampl_pt, int flags)
127 int best_error = 1000000000, error;
128 int best_tseg=0, best_brp=0, best_rate=0, brp=0;
129 int tseg=0, tseg1=0, tseg2=0;
131 if (i82527_enable_configuration(chip))
136 /* tseg even = round down, odd = round up */
137 for (tseg=(0+0+2)*2; tseg<=(MAX_TSEG2+MAX_TSEG1+2)*2+1; tseg++) {
138 brp = clock/((1+tseg/2)*rate)+tseg%2;
139 if (brp == 0 || brp > 64)
141 error = rate - clock/(brp*(1+tseg/2));
144 if (error <= best_error) {
148 best_rate = clock/(brp*(1+tseg/2));
151 if (best_error && (rate/best_error < 10)) {
152 CANMSG("baud rate %d is not possible with %d Hz clock\n",
154 CANMSG("%d bps. brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d\n",
155 best_rate, best_brp, best_tseg, tseg1, tseg2);
158 tseg2 = best_tseg-(sampl_pt*(best_tseg+1))/100;
161 if (tseg2 > MAX_TSEG2)
164 tseg1 = best_tseg-tseg2-2;
165 if (tseg1>MAX_TSEG1) {
167 tseg2 = best_tseg-tseg1-2;
170 DEBUGMSG("Setting %d bps.\n", best_rate);
171 DEBUGMSG("brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d, sampl_pt=%d\n",
172 best_brp, best_tseg, tseg1, tseg2,
173 (100*(best_tseg-tseg2)/(best_tseg+1)));
176 i82527_seg_write_reg(chip, sjw<<6 | best_brp, iBT0);
177 can_write_reg(chip, ((flags & BTR1_SAM) != 0)<<7 | tseg2<<4 | tseg1,
179 DEBUGMSG("Writing 0x%x to iBT0\n",(sjw<<6 | best_brp));
180 DEBUGMSG("Writing 0x%x to iBT1\n",((flags & BTR1_SAM) != 0)<<7 |
183 i82527_disable_configuration(chip);
188 int i82527_standard_mask(struct chip_t *chip, unsigned short code, unsigned short mask)
190 unsigned char mask0, mask1;
192 mask0 = (unsigned char) (mask >> 3);
193 mask1 = (unsigned char) (mask << 5);
195 can_write_reg(chip,mask0,iSGM0);
196 can_write_reg(chip,mask1,iSGM1);
198 DEBUGMSG("Setting standard mask to 0x%lx\n",(unsigned long)mask);
203 int i82527_extended_mask(struct chip_t *chip, unsigned long code, unsigned long mask)
205 unsigned char mask0, mask1, mask2, mask3;
207 mask0 = (unsigned char) (mask >> 21);
208 mask1 = (unsigned char) (mask >> 13);
209 mask2 = (unsigned char) (mask >> 5);
210 mask3 = (unsigned char) (mask << 3);
212 can_write_reg(chip,mask0,iEGM0);
213 can_write_reg(chip,mask1,iEGM1);
214 can_write_reg(chip,mask2,iEGM2);
215 can_write_reg(chip,mask3,iEGM3);
217 DEBUGMSG("Setting extended mask to 0x%lx\n",(unsigned long)mask);
222 int i82527_message15_mask(struct chip_t *chip, unsigned long code, unsigned long mask)
224 unsigned char mask0, mask1, mask2, mask3;
226 mask0 = (unsigned char) (mask >> 21);
227 mask1 = (unsigned char) (mask >> 13);
228 mask2 = (unsigned char) (mask >> 5);
229 mask3 = (unsigned char) (mask << 3);
231 can_write_reg(chip,mask0,i15M0);
232 can_write_reg(chip,mask1,i15M1);
233 can_write_reg(chip,mask2,i15M2);
234 can_write_reg(chip,mask3,i15M3);
236 DEBUGMSG("Setting message 15 mask to 0x%lx\n",mask);
243 int i82527_clear_objects(struct chip_t *chip)
246 struct msgobj_t *obj;
248 DEBUGMSG("Cleared all message objects on chip\n");
250 for (i=1; i<=15; i++) {
252 canobj_write_reg(chip,obj,(INTPD_RES|RXIE_RES|TXIE_RES|MVAL_RES),iMSGCTL0);
253 canobj_write_reg(chip,obj,(NEWD_RES|MLST_RES|TXRQ_RES|RMPD_RES), iMSGCTL1);
254 for (data=0x07; data<0x0f; data++)
255 canobj_write_reg(chip,obj,0x00,data);
256 for (id=2; id<6; id++) {
257 canobj_write_reg(chip,obj,0x00,id);
260 canobj_write_reg(chip,obj,0x00,iMSGCFG);
263 canobj_write_reg(chip,obj,MCFG_XTD,iMSGCFG);
267 DEBUGMSG("All message ID's set to standard\n");
269 DEBUGMSG("All message ID's set to extended\n");
274 int i82527_config_irqs(struct chip_t *chip, short irqs)
276 can_write_reg(chip,irqs,iCTL);
277 DEBUGMSG("Configured hardware interrupt delivery\n");
281 int i82527_pre_read_config(struct chip_t *chip, struct msgobj_t *obj)
284 canobj_write_reg(chip,obj,MCFG_XTD,iMSGCFG);
287 canobj_write_reg(chip,obj,0x00,iMSGCFG);
289 canobj_write_reg(chip,obj,(NEWD_RES|MLST_RES|TXRQ_RES|RMPD_RES), iMSGCTL1);
290 canobj_write_reg(chip,obj,(MVAL_SET|TXIE_RES|RXIE_SET|INTPD_RES),iMSGCTL0);
295 int i82527_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
296 struct canmsg_t *msg)
298 int i=0,id0=0,id1=0,id2=0,id3=0;
302 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
304 canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|CPUU_SET|NEWD_RES),iMSGCTL1);
305 canobj_write_reg(chip,obj,(MVAL_SET|TXIE_SET|RXIE_RES|INTPD_RES),iMSGCTL0);
307 if (extended || (msg->flags&MSG_EXT)) {
308 canobj_write_reg(chip,obj,(len<<4)|(MCFG_DIR|MCFG_XTD),iMSGCFG);
309 id0 = (unsigned char) (msg->id<<3);
310 id1 = (unsigned char) (msg->id>>5);
311 id2 = (unsigned char) (msg->id>>13);
312 id3 = (unsigned char) (msg->id>>21);
313 canobj_write_reg(chip,obj,id0,iMSGID3);
314 canobj_write_reg(chip,obj,id1,iMSGID2);
315 canobj_write_reg(chip,obj,id2,iMSGID1);
316 canobj_write_reg(chip,obj,id3,iMSGID0);
319 canobj_write_reg(chip,obj,(len<<4)|MCFG_DIR,iMSGCFG);
320 id1 = (unsigned char) (msg->id<<5);
321 id0 = (unsigned char) (msg->id>>3);
322 canobj_write_reg(chip,obj,id1,iMSGID1);
323 canobj_write_reg(chip,obj,id0,iMSGID0);
325 canobj_write_reg(chip,obj,0xfa,iMSGCTL1);
326 for (i=0; i<len; i++) {
327 canobj_write_reg(chip,obj,msg->data[i],iMSGDAT0+i);
333 int i82527_send_msg(struct chip_t *chip, struct msgobj_t *obj,
334 struct canmsg_t *msg)
336 if (msg->flags & MSG_RTR) {
337 canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|CPUU_RES|NEWD_SET),iMSGCTL1);
340 canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_SET|CPUU_RES|NEWD_SET),iMSGCTL1);
346 int i82527_check_tx_stat(struct chip_t *chip)
348 if (can_read_reg(chip,iSTAT) & iSTAT_TXOK) {
349 can_write_reg(chip,0x0,iSTAT);
353 can_write_reg(chip,0x0,iSTAT);
358 int i82527_remote_request(struct chip_t *chip, struct msgobj_t *obj)
360 canobj_write_reg(chip,obj,(MVAL_SET|TXIE_RES|RXIE_SET|INTPD_RES),iMSGCTL0);
361 canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_SET|MLST_RES|NEWD_RES),iMSGCTL1);
366 int i82527_set_btregs(struct chip_t *chip, unsigned short btr0,
369 if (i82527_enable_configuration(chip))
372 i82527_seg_write_reg(chip, btr0, iBT0);
373 i82527_seg_write_reg(chip, btr1, iBT1);
375 i82527_disable_configuration(chip);
380 int i82527_start_chip(struct chip_t *chip)
382 unsigned short flags = 0;
384 flags = can_read_reg(chip, iCTL) & (iCTL_IE|iCTL_SIE|iCTL_EIE);
385 can_write_reg(chip, flags, iCTL);
390 int i82527_stop_chip(struct chip_t *chip)
392 unsigned short flags = 0;
394 flags = can_read_reg(chip, iCTL) & (iCTL_IE|iCTL_SIE|iCTL_EIE);
395 can_write_reg(chip, flags|(iCTL_CCE|iCTL_INI), iCTL);
400 inline void i82527_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
404 canobj_write_reg(chip,obj,(MVAL_RES|TXIE_RES|RXIE_RES|INTPD_RES),+iMSGCTL0);
407 /* Do local transmitted message distribution if enabled */
409 obj->tx_slot->msg.flags |= MSG_LOCAL;
410 canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
412 /* Free transmitted slot */
413 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
417 cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
421 if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
423 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
424 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
428 if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
430 canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
431 canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
437 inline void i82527_irq_read_handler(struct chip_t *chip, struct msgobj_t *obj,
438 unsigned long message_id)
443 canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|MLST_RES|NEWD_RES),iMSGCTL1);
444 canobj_write_reg(chip,obj,(MVAL_SET|TXIE_RES|RXIE_SET|INTPD_RES),iMSGCTL0);
446 len = (canobj_read_reg(chip,obj,iMSGCFG) >> 4) & 0xf;
447 obj->rx_msg.length = len;
448 obj->rx_msg.id = message_id;
450 if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
451 for (i=0; i < obj->rx_msg.length; i++)
452 obj->rx_msg.data[i] = canobj_read_reg(chip,obj,iMSGDAT0+i);
454 canque_filter_msg2edges(obj->qends, &obj->rx_msg);
456 if (!((tmp=canobj_read_reg(chip,obj,iMSGCTL1)) & NEWD_SET)) {
461 CANMSG("Message lost!\n");
466 can_irqreturn_t i82527_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
468 int id0=0, id1=0, id2=0, id3=0;
470 unsigned irq_register;
472 struct chip_t *chip=(struct chip_t *)dev_id;
473 struct msgobj_t *obj;
474 unsigned long message_id;
475 struct rtr_id *rtr_search;
477 /*put_reg=device->hwspecops->write_register;*/
478 /*get_reg=device->hwspecops->read_register;*/
480 irq_register = i82527_seg_read_reg(chip, iIRQ);
482 while (irq_register) {
484 if (irq_register == 0x01) {
485 DEBUGMSG("Status register: 0x%x\n",can_read_reg(chip, iSTAT));
489 if (irq_register == 0x02)
492 object = irq_register-3;
494 obj=chip->msgobj[object];
496 if (canobj_read_reg(chip,obj,iMSGCFG) & MCFG_DIR) {
497 can_msgobj_set_fl(obj,TX_REQUEST);
498 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
499 can_msgobj_clear_fl(obj,TX_REQUEST);
501 if(canobj_read_reg(chip,obj,iMSGCTL1)&TXRQ_RES)
502 i82527_irq_write_handler(chip, obj);
504 can_msgobj_clear_fl(obj,TX_LOCK);
505 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
511 id0=canobj_read_reg(chip,obj,iMSGID3);
512 id1=canobj_read_reg(chip,obj,iMSGID2)<<8;
513 id2=canobj_read_reg(chip,obj,iMSGID1)<<16;
514 id3=canobj_read_reg(chip,obj,iMSGID0)<<24;
515 message_id=(id0|id1|id2|id3)>>3;
518 id0=canobj_read_reg(chip,obj,iMSGID1);
519 id1=canobj_read_reg(chip,obj,iMSGID0)<<8;
520 message_id=(id0|id1)>>5;
523 can_spin_lock(&hardware_p->rtr_lock);
524 rtr_search=hardware_p->rtr_queue;
525 while (rtr_search != NULL) {
526 if (rtr_search->id == message_id)
528 rtr_search=rtr_search->next;
530 can_spin_unlock(&hardware_p->rtr_lock);
531 if ((rtr_search!=NULL) && (rtr_search->id==message_id))
532 i82527_irq_rtr_handler(chip, obj, rtr_search, message_id);
534 i82527_irq_read_handler(chip, obj, message_id);
537 irq_register=i82527_seg_read_reg(chip, iIRQ);
539 return CAN_IRQ_HANDLED;
542 void i82527_irq_rtr_handler(struct chip_t *chip, struct msgobj_t *obj,
543 struct rtr_id *rtr_search, unsigned long message_id)
547 canobj_write_reg(chip,obj,(MVAL_RES|TXIE_RES|RXIE_RES|INTPD_RES),iMSGCTL0);
548 canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|MLST_RES|NEWD_RES),iMSGCTL1);
550 can_spin_lock(&hardware_p->rtr_lock);
552 rtr_search->rtr_message->id=message_id;
553 rtr_search->rtr_message->length=(canobj_read_reg(chip,obj,iMSGCFG) & 0xf0)>>4;
554 for (i=0; i<rtr_search->rtr_message->length; i++)
555 rtr_search->rtr_message->data[i]=canobj_read_reg(chip,obj,iMSGDAT0+i);
557 can_spin_unlock(&hardware_p->rtr_lock);
559 if (waitqueue_active(&rtr_search->rtr_wq))
560 wake_up(&rtr_search->rtr_wq);
563 int i82527_wakeup_tx(struct chip_t *chip, struct msgobj_t *obj)
565 can_preempt_disable();
567 can_msgobj_set_fl(obj,TX_REQUEST);
568 while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
569 can_msgobj_clear_fl(obj,TX_REQUEST);
571 if(canobj_read_reg(chip,obj,iMSGCTL1)&TXRQ_RES)
572 i82527_irq_write_handler(chip, obj);
574 can_msgobj_clear_fl(obj,TX_LOCK);
575 if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
578 can_preempt_enable();
582 int i82527_register(struct chipspecops_t *chipspecops)
584 chipspecops->chip_config = i82527_chip_config;
585 chipspecops->baud_rate = i82527_baud_rate;
586 chipspecops->standard_mask = i82527_standard_mask;
587 chipspecops->extended_mask = i82527_extended_mask;
588 chipspecops->message15_mask = i82527_message15_mask;
589 chipspecops->clear_objects = i82527_clear_objects;
590 chipspecops->config_irqs = i82527_config_irqs;
591 chipspecops->pre_read_config = i82527_pre_read_config;
592 chipspecops->pre_write_config = i82527_pre_write_config;
593 chipspecops->send_msg = i82527_send_msg;
594 chipspecops->check_tx_stat = i82527_check_tx_stat;
595 chipspecops->wakeup_tx = i82527_wakeup_tx;
596 chipspecops->remote_request = i82527_remote_request;
597 chipspecops->enable_configuration = i82527_enable_configuration;
598 chipspecops->disable_configuration = i82527_disable_configuration;
599 chipspecops->set_btregs = i82527_set_btregs;
600 chipspecops->start_chip = i82527_start_chip;
601 chipspecops->stop_chip = i82527_stop_chip;
602 chipspecops->irq_handler = i82527_irq_handler;