Added support for local message processing and some cleanups.

[lincan.git] / lincan / src / sja1000p.c

diff --git a/lincan/src/sja1000p.c b/lincan/src/sja1000p.c
index ef587dd1e93568b1a906087025b5d6a352600bc6..b71b5a0acc6ce47dc596e219206619dd41c239ad 100644 (file)
--- a/lincan/src/sja1000p.c
+++ b/lincan/src/sja1000p.c
@@ -92,6 +92,9 @@ int sja1000p_disable_configuration(struct chip_t *chip)
  */
 int sja1000p_chip_config(struct chip_t *chip)
 {
  */
 int sja1000p_chip_config(struct chip_t *chip)
 {

+       int i;
+       unsigned char n, r;
+       

        if (sja1000p_enable_configuration(chip))
                return -ENODEV;
 
        if (sja1000p_enable_configuration(chip))
                return -ENODEV;
 


@@ -99,6 +102,20 @@ int sja1000p_chip_config(struct chip_t *chip)
        can_write_reg(chip,CDR_PELICAN|chip->sja_cdr_reg,SJACDR); 
        /* Set driver output configuration */
        can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); 
        can_write_reg(chip,CDR_PELICAN|chip->sja_cdr_reg,SJACDR); 
        /* Set driver output configuration */
        can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); 

+       
+       /* Simple check for chip presence */
+       for (i=0, n=0x5a; i<8; i++, n+=0xf) {
+               can_write_reg(chip,n,SJAACR0+i);
+       }
+       for (i=0, n=0x5a; i<8; i++, n+=0xf) {
+               r = n^can_read_reg(chip,SJAACR0+i);
+               if (r) {
+                       CANMSG("sja1000p_chip_config: chip connection broken,"
+                               " readback differ 0x%02x\n", r);
+                       return -ENODEV;
+               }
+       }
+       

 
        if (sja1000p_extended_mask(chip,0x00000000, 0xffffffff))
                return -ENODEV;
 
        if (sja1000p_extended_mask(chip,0x00000000, 0xffffffff))
                return -ENODEV;


@@ -248,10 +265,11 @@ void sja1000p_read(struct chip_t *chip, struct msgobj_t *obj) {
                        ((flags & FRM_RTR) ? MSG_RTR : 0) |
                        ((flags & FRM_FF) ? MSG_EXT : 0);
                len = flags & FRM_DLC_M;
                        ((flags & FRM_RTR) ? MSG_RTR : 0) |
                        ((flags & FRM_FF) ? MSG_EXT : 0);
                len = flags & FRM_DLC_M;

+               obj->rx_msg.length = len;
+               if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;

                for(i=0; i< len; i++) {
                        obj->rx_msg.data[i]=can_read_reg(chip,datastart+i);
                }
                for(i=0; i< len; i++) {
                        obj->rx_msg.data[i]=can_read_reg(chip,datastart+i);
                }

-               obj->rx_msg.length = len;

 
                canque_filter_msg2edges(obj->qends, &obj->rx_msg);
 
 
                canque_filter_msg2edges(obj->qends, &obj->rx_msg);
 


@@ -314,6 +332,7 @@ int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
        int i=0; 
        unsigned int id;
        int status;
        int i=0; 
        unsigned int id;
        int status;

+       int len;

 
        /* Wait until Transmit Buffer Status is released */
        while ( !((status=can_read_reg(chip, SJASR)) & SR_TBS) && 
 
        /* Wait until Transmit Buffer Status is released */
        while ( !((status=can_read_reg(chip, SJASR)) & SR_TBS) && 


@@ -347,10 +366,11 @@ int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
                        return -EIO;
                }
        }
                        return -EIO;
                }
        }

-       msg->length &= FRM_DLC_M;
+       len = msg->length;
+       if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+       /* len &= FRM_DLC_M; ensured by above condition already */

        can_write_reg(chip, ((msg->flags&MSG_EXT)?FRM_FF:0) |
        can_write_reg(chip, ((msg->flags&MSG_EXT)?FRM_FF:0) |

-               ((msg->flags & MSG_RTR) ? FRM_RTR : 0) |
-               msg->length, SJAFRM);
+               ((msg->flags & MSG_RTR) ? FRM_RTR : 0) | len, SJAFRM);

        if(msg->flags&MSG_EXT) {
                id=msg->id<<3;
                can_write_reg(chip, id & 0xff, SJAID3);
        if(msg->flags&MSG_EXT) {
                id=msg->id<<3;
                can_write_reg(chip, id & 0xff, SJAID3);


@@ -360,14 +380,14 @@ int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
                can_write_reg(chip, id & 0xff, SJAID1);
                id >>= 8;
                can_write_reg(chip, id, SJAID0);
                can_write_reg(chip, id & 0xff, SJAID1);
                id >>= 8;
                can_write_reg(chip, id, SJAID0);

-               for(i=0; i < msg->length; i++) {
+               for(i=0; i < len; i++) {

                        can_write_reg(chip, msg->data[i], SJADATE+i);
                }
        } else {
                id=msg->id<<5;
                can_write_reg(chip, (id >> 8) & 0xff, SJAID0);
                can_write_reg(chip, id & 0xff, SJAID1);
                        can_write_reg(chip, msg->data[i], SJADATE+i);
                }
        } else {
                id=msg->id<<5;
                can_write_reg(chip, (id >> 8) & 0xff, SJAID0);
                can_write_reg(chip, id & 0xff, SJAID1);

-               for(i=0; i < msg->length; i++) {
+               for(i=0; i < len; i++) {

                        can_write_reg(chip, msg->data[i], SJADATS+i);
                }
        }
                        can_write_reg(chip, msg->data[i], SJADATS+i);
                }
        }


@@ -541,6 +561,12 @@ void sja1000p_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
        int cmd;
        
        if(obj->tx_slot){
        int cmd;
        
        if(obj->tx_slot){

+               /* Do local transmitted message distribution if enabled */
+               if (processlocal){
+                       obj->tx_slot->msg.flags |= MSG_LOCAL;
+                       canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
+               }
+               /* Free transmitted slot */

                canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
                obj->tx_slot=NULL;
        }
                canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
                obj->tx_slot=NULL;
        }


@@ -586,7 +612,6 @@ void sja1000p_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
 irqreturn_t sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
 {
        int irq_register, status, error_code;
 irqreturn_t sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
 {
        int irq_register, status, error_code;

-       int static retransmitted=0; /* FIXME - should go into chip struct */

        struct chip_t *chip=(struct chip_t *)dev_id;
        struct msgobj_t *obj=chip->msgobj[0];
 
        struct chip_t *chip=(struct chip_t *)dev_id;
        struct msgobj_t *obj=chip->msgobj[0];
 


@@ -637,9 +662,9 @@ irqreturn_t sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
                        obj->ret= -ENXIO;
                        /* no such device or address - no ACK received */
                }
                        obj->ret= -ENXIO;
                        /* no such device or address - no ACK received */
                }

-               if(retransmitted++>MAX_RETR) {
+               if(obj->tx_retry_cnt++>MAX_RETR) {

                        can_write_reg(chip, CMR_AT, SJACMR); // cancel any transmition
                        can_write_reg(chip, CMR_AT, SJACMR); // cancel any transmition

-                       retransmitted = 0;
+                       obj->tx_retry_cnt = 0;

                }
                if(status&SR_BS) {
                        CANMSG("bus-off, resetting sja1000p\n");
                }
                if(status&SR_BS) {
                        CANMSG("bus-off, resetting sja1000p\n");


@@ -653,7 +678,7 @@ irqreturn_t sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
                }
 
        } else {
                }
 
        } else {

-               retransmitted=0;
+               obj->tx_retry_cnt=0;

        }
 
        return IRQ_HANDLED;
        }
 
        return IRQ_HANDLED;


@@ -680,8 +705,10 @@ int sja1000p_wakeup_tx(struct chip_t *chip, struct msgobj_t *obj)
        while(!test_and_set_bit(OBJ_TX_LOCK,&obj->flags)){
                clear_bit(OBJ_TX_REQUEST,&obj->flags);
 
        while(!test_and_set_bit(OBJ_TX_LOCK,&obj->flags)){
                clear_bit(OBJ_TX_REQUEST,&obj->flags);
 

-               if (can_read_reg(chip, SJASR) & SR_TBS)
+               if (can_read_reg(chip, SJASR) & SR_TBS){
+                       obj->tx_retry_cnt=0;

                        sja1000p_irq_write_handler(chip, obj);
                        sja1000p_irq_write_handler(chip, obj);

+               }

        
                clear_bit(OBJ_TX_LOCK,&obj->flags);
                if(!test_bit(OBJ_TX_REQUEST,&obj->flags)) break;
        
                clear_bit(OBJ_TX_LOCK,&obj->flags);
                if(!test_bit(OBJ_TX_REQUEST,&obj->flags)) break;