--- /dev/null
+/**************************************************************************/
+/* File: mscan.c - Freescale MPC5200 MSCAN controller support */
+/* */
+/* LinCAN - (Not only) Linux CAN bus driver */
+/* Copyright (C) 2002-2009 DCE FEE CTU Prague <http://dce.felk.cvut.cz> */
+/* Copyright (C) 2002-2009 Pavel Pisa <pisa@cmp.felk.cvut.cz> */
+/* Copyright (C) 2007-2008 Martin Petera <peterm4@fel.cvut.cz> */
+/* Funded by OCERA and FRESCOR IST projects */
+/* Based on CAN driver code by Arnaud Westenberg <arnaud@wanadoo.nl> */
+/* */
+/* LinCAN is free software; you can redistribute it and/or modify it */
+/* under terms of the GNU General Public License as published by the */
+/* Free Software Foundation; either version 2, or (at your option) any */
+/* later version. LinCAN is distributed in the hope that it will be */
+/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */
+/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */
+/* General Public License for more details. You should have received a */
+/* copy of the GNU General Public License along with LinCAN; see file */
+/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */
+/* Cambridge, MA 02139, USA. */
+/* */
+/* To allow use of LinCAN in the compact embedded systems firmware */
+/* and RT-executives (RTEMS for example), main authors agree with next */
+/* special exception: */
+/* */
+/* Including LinCAN header files in a file, instantiating LinCAN generics */
+/* or templates, or linking other files with LinCAN objects to produce */
+/* an application image/executable, does not by itself cause the */
+/* resulting application image/executable to be covered by */
+/* the GNU General Public License. */
+/* This exception does not however invalidate any other reasons */
+/* why the executable file might be covered by the GNU Public License. */
+/* Publication of enhanced or derived LinCAN files is required although. */
+/**************************************************************************/
+
+#include "../include/can.h"
+#include "../include/can_sysdep.h"
+#include "../include/main.h"
+#include "../include/mscan.h"
+#include "../include/mpc5200.h"
+
+#define myDEBUG 1 /* enable debug for MPC5200 with MSCAN only */
+
+#if myDEBUG
+ #define DEBUGMSG(fmt,args...) can_printk(KERN_ERR "lincan (debug): " fmt,##args)
+#endif
+
+
+#define MSCAN_MAX_TRANSMIT_WAIT_LOOPS 20
+#define MSCAN_MAX_SETTING_WAIT_LOOPS 25 /* maximal loop count while checking Chip reply to action */
+#define MSCAN_MAX_IRQ_WAIT_LOOPS 25
+
+
+void mscan_irq_read_handler(struct canchip_t *chip, struct msgobj_t *obj);
+void mscan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj);
+
+int mscan_clear_irq_flags(struct canchip_t *chip);
+void mscan_setup_ctrl_regs(struct canmsg_t * msg, uint16_t * ctrl0, uint16_t * ctrl1, uint16_t * ctrl2);
+
+void mscan_msg_from_rxbuffer(struct canchip_t * chip, struct canmsg_t * msg);
+void mscan_setup_txbuffer(struct canchip_t * chip, struct canmsg_t * msg, int buffer);
+
+void mscan_notifyRXends(struct msgobj_t * obj, int what);
+int mscan_check_txbuff_stat(struct canchip_t *chip, int buffer);
+
+static int mscan_update_samplept(int sampl_pt, int tseg, int *tseg1, int *tseg2);
+
+static int mscan_init_mode_active(struct canchip_t *chip);
+static int mscan_sleep_mode_active(struct canchip_t *chip);
+
+static reg_t mscan_get_flags(struct canchip_t * chip, reg_t flags, unsigned reg_addr);
+static void mscan_set_flags(struct canchip_t * chip, reg_t flags, unsigned reg_addr);
+static void mscan_clear_flags(struct canchip_t * chip, reg_t flags, unsigned reg_addr);
+
+static void mscan_clear_buffer(struct canchip_t * chip, unsigned start_addr);
+
+/* Enable folowing IRQs
+ * MSCAN_TIER_TXE - Transmit Empty Interrupt
+ * MSCAN_RIER_RXFIE - Receive Buffer Full
+ * MSCAN_RIER_OVRIE - Overrun
+ * MSCAN_RIER_CSCIE - CAN Status Change
+ */
+uint16_t mscan_IRQs = (MSCAN_TIER_TXE << 8) | MSCAN_RIER_RXFIE | MSCAN_RIER_OVRIE | MSCAN_RIER_CSCIE; /* TX interrupt flag is held shifter */
+/* 1 - enable interrupt, 0 - interrupt is masked */
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_chip_config(struct canchip_t *chip)
+{
+ /* Do not clear buffers here, they may contain valid data ! */
+ int err;
+
+ DEBUGMSG("Configuring chip...\n");
+
+ if (!(err = mscan_enable_configuration(chip)))
+ return err;
+
+ if (!chip->baudrate)
+ chip->baudrate=1000000; /* default baudrate set to 1Mbit */
+ if (!(err = mscan_baud_rate(chip, chip->baudrate, chip->clock, 0, 750, 0)))
+ return err;
+
+ if (!(err = mscan_disable_configuration(chip)))
+ return err;
+
+ /* IRQ mask could be set only when NOT in INIT mode */
+ if (!(err = mscan_config_irqs(chip, mscan_IRQs)))
+ return err;
+
+ return 0;
+}
+
+/* enter initialization AND sleep mode */
+int mscan_enable_configuration(struct canchip_t *chip)
+{
+ /* Do not clear buffers here, they may contain valid data ! */
+ int i = 0;
+
+ DEBUGMSG("Enabling configuration...\n");
+
+ if (mscan_init_mode_active(chip)) /* chip is already in config mode */
+ return 0;
+
+ /* Disable interrupt */
+ can_disable_irq(chip->chip_irq);
+
+
+ /* Sleep mode - disable CAN activity after completing current operation */
+ mscan_set_flags(chip, MSCAN_CTL0_SLPRQ, MSCAN_CTL0);
+
+ /* Waits until chip enters Sleep mode - finishes current TX/RX operation */
+ while (!mscan_get_flags(chip, MSCAN_CTL1_SLPAK, MSCAN_CTL1) && i++ < MSCAN_MAX_SETTING_WAIT_LOOPS)
+ udelay(200);
+
+ if (i >= MSCAN_MAX_SETTING_WAIT_LOOPS) {
+ CANMSG("Error entering Sleep mode (enable configuration) \n");
+ can_enable_irq(chip->chip_irq);
+ return -EBUSY;
+ }
+
+
+ /* now we can enter Init mode */
+ mscan_set_flags(chip, MSCAN_CTL0_INITRQ, MSCAN_CTL0);
+
+ i = 0;
+ /* Waits until chip enters Init mode */
+ while (!mscan_get_flags(chip, MSCAN_CTL1_INITAK, MSCAN_CTL1) && i++ < MSCAN_MAX_SETTING_WAIT_LOOPS)
+ udelay(200);
+
+ if (i >= MSCAN_MAX_SETTING_WAIT_LOOPS) {
+ CANMSG("Error entering Init mode (enable configuration) \n");
+ can_enable_irq(chip->chip_irq);
+ return -EBUSY;
+ }
+
+
+ return 0;
+}
+
+int mscan_disable_configuration(struct canchip_t *chip)
+{
+ /* Do not clear buffers here, they may contain valid data ! */
+ int i = 0;
+
+ DEBUGMSG("Disabling configuration mode...\n");
+
+ if (!mscan_init_mode_active(chip) && !mscan_sleep_mode_active(chip)) /* chip is already in normal mode */
+ return 0;
+
+
+ /* disable Init mode */
+ mscan_clear_flags(chip, MSCAN_CTL0_INITRQ, MSCAN_CTL0);
+
+ /* Waits until chip leaves Sleep mode */
+ while (mscan_get_flags(chip, MSCAN_CTL1_INITAK, MSCAN_CTL1) && i++ < MSCAN_MAX_SETTING_WAIT_LOOPS)
+ udelay(200);
+
+ if (i >= MSCAN_MAX_SETTING_WAIT_LOOPS) {
+ CANMSG("Error leaving Init mode (disable configuration) \n");
+ return -EBUSY;
+ }
+
+
+ /* disable Sleep mode */
+ mscan_clear_flags(chip, MSCAN_CTL0_SLPRQ, MSCAN_CTL0);
+
+ i = 0;
+ /* Waits until chip leaves Init mode */
+ while (mscan_get_flags(chip, MSCAN_CTL1_SLPAK, MSCAN_CTL1) && i++ < MSCAN_MAX_SETTING_WAIT_LOOPS)
+ udelay(200);
+
+ if (i >= MSCAN_MAX_SETTING_WAIT_LOOPS) {
+ CANMSG("Error leaving Sleep mode (disable configuration) \n");
+ return -EBUSY;
+ }
+
+
+ /* Enable interrupt */
+ can_enable_irq(chip->chip_irq);
+
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_baud_rate(struct canchip_t *chip, int bitrate, int clock, int sjw, int sampl_pt, int flags)
+{
+ /* Set communication parameters.
+ * param rate baud rate in Hz
+ * param clock frequency of mscan clock in Hz
+ * param sjw synchronization jump width (0-3) prescaled clock cycles
+ * param sampl_pt sample point (0-1000) sets (TSEG1 + 1)/(TSEG1 + TSEG2 + 2) ratio
+ * flags not used
+ */
+
+
+ /* rate = clock / ((tseg1 + tseg2 + 1) * brp ) */
+
+ long rate, best_rate = 0;
+ long best_error = 1000000000, error = 0;
+ int best_tseg = 0, best_brp = 0, brp = 0;
+ int tsegall, tseg = 0, tseg1 = 0, tseg2 = 0;
+ int spt = 0, spt_error = best_error;
+ reg_t btr0, btr1;
+
+
+ DEBUGMSG("Seting Baud rate...\n");
+
+ /* Use CIA recommended sample points */
+ if (!sampl_pt)
+ {
+ if (bitrate > 800000)
+ sampl_pt = 750;
+ else if (bitrate > 500000)
+ sampl_pt = 800;
+ else
+ sampl_pt = 875;
+ }
+
+ /* tseg even = round down, odd = round up */
+ for (tseg = MSCAN_TSEG_MAX * 2 + 1; tseg >= MSCAN_TSEG_MIN * 2; tseg--)
+ {
+ tsegall = 1 + tseg / 2;
+ /* Compute all possible tseg choices (tseg=tseg1+tseg2) */
+ brp = clock / (tsegall * bitrate) + tseg % 2;
+
+ if ((brp < MSCAN_BRP_MIN) || (brp > MSCAN_BRP_MAX))
+ continue;
+
+ /* tseg brp biterror */
+ rate = clock / (brp * tsegall);
+ error = bitrate - rate;
+
+ if (error < 0)
+ error = -error;
+ if (error > best_error)
+ continue;
+ best_error = error;
+
+ if (error == 0) {
+ spt = mscan_update_samplept(sampl_pt, tseg / 2, &tseg1, &tseg2);
+ error = sampl_pt - spt;
+
+ if (error < 0)
+ error = -error;
+ if (error > spt_error)
+ continue;
+ spt_error = error;
+ }
+
+ best_tseg = tseg / 2;
+ best_brp = brp;
+ best_rate = rate;
+ if (error == 0)
+ break;
+ }
+
+ if (best_error) {
+ /* Error in one-tenth of a percent */
+ error = (best_error * 1000) / bitrate;
+ DEBUGMSG("Baudrate error %lu\n", error);
+ }
+
+
+ /* recompute with best values */
+ spt = mscan_update_samplept(sampl_pt, best_tseg, &tseg1, &tseg2);
+
+ DEBUGMSG("Setting %lu bps.\n", best_rate);
+
+ /* all values has offset -1 */
+ brp--; tseg1--; tseg2--;
+
+ btr0 = (brp & MSCAN_BTR0_BRP) | ((sjw << 6) & MSCAN_BTR0_SJW);
+ btr1 = (tseg1 & MSCAN_BTR1_TSEG1) | ((tseg2 << 4) & MSCAN_BTR1_TSEG2);
+
+ mscan_set_btregs(chip, btr0, btr1);
+
+ mscan_disable_configuration(chip);
+
+/* DEBUGMSG("Baud rate set successfully\n"); */
+ return 0;
+}
+
+int mscan_set_btregs(struct canchip_t *chip, unsigned short bcr0, unsigned short bcr1)
+{
+/* DEBUGMSG("Seting BCR0 and BCR1.\n"); */
+ reg_t btr0, btr1;
+
+ btr0 = (reg_t)bcr0;
+ btr1 = (reg_t)bcr1;
+
+ btr1 &= ~MSCAN_BTR1_SAMP; /* use one-point sample, not three smaples per bit */
+
+ can_write_reg(chip, btr0, MSCAN_BTR0);
+ can_write_reg(chip, btr1, MSCAN_BTR1);
+
+/* DEBUGMSG("BCR0 and BCR1 successfully set.\n"); */
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_start_chip(struct canchip_t *chip)
+{
+/* DEBUGMSG("Starting chip %d...\n", chip->chip_idx); */
+
+ /* Stop chip turns chip to Sleep&Init mode - traffic on CAN bus is ignored after completing curent operation.
+ * Start chip only turn chip back from Sleep&Init state - using disable_config
+ */
+ mscan_disable_configuration(chip);
+
+ DEBUGMSG("Chip [%d] started\n", chip->chip_idx);
+ return 0;
+}
+
+int mscan_stop_chip(struct canchip_t *chip)
+{
+/* DEBUGMSG("Stopping chip %d...\n", chip->chip_idx); */
+
+ /* Stop chip turns chip to Sleep&Init mode - traffic on CAN bus is ignored after completing curent operation.
+ * - using enable_config
+ */
+ mscan_enable_configuration(chip);
+
+ DEBUGMSG("Chip [%d] stopped\n", chip->chip_idx);
+ return 0;
+}
+
+int mscan_attach_to_chip(struct canchip_t *chip)
+{
+/* DEBUGMSG("Attaching to chip %d.\n", chip->chip_idx); */
+ reg_t ctl1;
+
+ /* Clear all TX and RX buffers */
+ if (mscan_clear_objects(chip))
+ return -ENODEV;
+
+ /* Transmitt Abort Request Register (TARQ) is clean after INIT mode - no need to clear it explicitly */
+ /* Control Register 0 (CTL0) is clean after INIT too (excepts fro WUPE, SLRQ and INITRQ) */
+
+ /* initialize chip by entering Sleep & Init mode */
+ if (mscan_enable_configuration(chip))
+ return -ENODEV;
+
+ /* reset Control Register 1 (CTL1) */
+ ctl1 = MSCAN_CTL1_CANE |
+ (MPC5200_CLKSRC ? MSCAN_CTL1_CLKSRC : 0x00) ;
+ /* MSCAN_CTL1_LOOPB | LoopBack mode not used */
+ /* MSCAN_CTL1_LISTEN | Listen-Only mode not used */
+ /* MSCAN_CTL1_WUPM | WakeUp mode not used */
+ /* MSCAN_CTL1_SLPAK | ReadOnly */
+ /* MSCAN_CTL1_INITAK | ReadOnly */
+
+ can_write_reg(chip, ctl1, MSCAN_CTL1);
+
+ /* set Baudrate and Interrupts */
+ if (mscan_chip_config(chip))
+ return -ENODEV;
+
+ /* not neccessary, but just to be sure */
+ if (mscan_disable_configuration(chip))
+ return -ENODEV;
+
+ /* Enable interrupt */
+ can_enable_irq(chip->chip_irq);
+
+ CANMSG("Successfully attached to chip [%02d].\n", chip->chip_idx);
+ return 0;
+}
+
+int mscan_release_chip(struct canchip_t *chip)
+{
+ mscan_stop_chip(chip); /* we are in INIT mode */
+ can_disable_irq(chip->chip_irq);
+
+ mscan_clear_objects(chip);
+
+ /* disable chip */
+ mscan_clear_flags(chip, MSCAN_CTL1_CANE, MSCAN_CTL1);
+
+ DEBUGMSG("Chip released [%02d]\n", chip->chip_idx);
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+/* has to be called in Init & Sleep mode */
+int mscan_standard_mask(struct canchip_t *chip, unsigned short code, unsigned short mask)
+{
+ /* code - contains 11bit ID and as LSB the RTR flag */
+ /* code - contains 11bit mask and RTR mask as LSB */
+
+ reg_t idr0, idr1, mr0, mr1; /* ID register 0,1, Mask register 0, 1 */
+
+ if (code & 0x1ffff800)
+ return mscan_extended_mask(chip, code, mask);
+
+
+ /* we use two 32-bit acceptance filters */
+ mscan_set_flags(chip, 0x30, MSCAN_IDAC);
+
+
+ idr0 = (reg_t)((code & 0x0ff0) >> 4); /* 8 most significant bits */
+ idr1 = (reg_t)((code & 0x000f) << 4); /* 3 last bits, RTR as MSB, IDE=0 doesnt have to be set explicitly */
+ mr0 = (reg_t)((mask & 0x0ff0) >> 4);
+ mr1 = (reg_t)((mask & 0x000f) << 4);
+
+
+ can_write_reg(chip, idr0, MSCAN_IDAR0);
+ can_write_reg(chip, idr1, MSCAN_IDAR1);
+
+ can_write_reg(chip, mr0, MSCAN_IDMR0);
+ can_write_reg(chip, mr1, MSCAN_IDMR1);
+
+ DEBUGMSG("Set standard_mask [id:0x%04x RTR=%d, m:0x%04x RTR=%d]\n", code >> 1, code & 0x0001, mask >> 1, mask & 0x0001);
+ return 0;
+}
+
+/* has to be called in Init & Sleep mode */
+int mscan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned long mask)
+{
+ /* code - contains 11bit ID and as LSB the RTR flag */
+ /* code - contains 11bit mask and RTR mask as LSB */
+
+ reg_t idr0, idr1, idr2, idr3; /* ID registers 0,1,2,3 */
+ reg_t mr0, mr1, mr2, mr3; /* Mask registers 0,1,2,3 */
+
+
+ /* we use two 32-bit acceptance filters */
+ mscan_set_flags(chip, 0x30, MSCAN_IDAC);
+
+
+ idr0 = (reg_t)((code & 0x7fa00000) >> 22); /* EXT_ID {29:21} */
+
+ idr1 = (reg_t)((code & 0x00380000) >> 14); /* EXT_ID {20:18} */
+ idr1|= 0x18; /* SRR and IDE */
+ idr1|= (reg_t)((code & 0x00070000) >> 16); /* EXT_ID {17:15} */
+
+ idr2 = (reg_t)((code & 0x0000ff00) >> 8); /* EXT_ID {14:7} */
+ idr3 = (reg_t) (code & 0x000000ff); /* EXT_ID {6:0} and RTR */
+
+
+ mr0 = (reg_t)((mask & 0x7fa00000) >> 22); /* EXT_ID {29:21} */
+
+ mr1 = (reg_t)((mask & 0x00380000) >> 14); /* EXT_ID {20:18} */
+ /* SRR=0 and IDE=0 - do not ignore */
+ mr1|= (reg_t)((mask & 0x00070000) >> 16); /* EXT_ID {17:15} */
+
+ mr2 = (reg_t)((mask & 0x0000ff00) >> 8); /* EXT_ID {14:7} */
+ mr3 = (reg_t) (mask & 0x000000ff); /* EXT_ID {6:0} and RTR */
+
+
+ can_write_reg(chip, idr0, MSCAN_IDAR0);
+ can_write_reg(chip, idr1, MSCAN_IDAR1);
+ can_write_reg(chip, idr2, MSCAN_IDAR2);
+ can_write_reg(chip, idr3, MSCAN_IDAR3);
+
+ can_write_reg(chip, mr0, MSCAN_IDMR0);
+ can_write_reg(chip, mr1, MSCAN_IDMR1);
+ can_write_reg(chip, mr2, MSCAN_IDMR2);
+ can_write_reg(chip, mr3, MSCAN_IDMR3);
+
+ DEBUGMSG("Set extended_mask [id:0x%08x RTR=%lu, m:0x%08x RTR=%lu]\n", (uint32_t)(code >> 1), code & 0x00000001, (uint32_t)(mask >> 1), mask & 0x00000001);
+
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
+{
+ DEBUGMSG("Pre read config\n");
+
+ /* MSCAN has only one buffer, which is already initialized */
+
+ return 0;
+}
+
+int mscan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg)
+{
+ reg_t txf;
+ int buff_no;
+
+ DEBUGMSG("Pre write config\n");
+
+ can_preempt_disable();
+
+ /* find free buffer */
+ txf = mscan_get_flags(chip, MSCAN_TFLG_TXE, MSCAN_TFLG);
+ for (buff_no = 0; buff_no < 3 && (txf ^ (0x01 << buff_no)); buff_no++) { }
+
+ if (buff_no >= 3)
+ return -ENODEV; /* no free buffer found */
+
+ mscan_setup_txbuffer(chip, msg, buff_no);
+
+ /* clear TX Buffer Empty flag (by writing '1') to initiate trasmition */
+ mscan_set_flags(chip, (reg_t)(0x01 << buff_no), MSCAN_TFLG);
+
+ can_preempt_enable();
+
+ return 0;
+}
+
+int mscan_send_msg(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg)
+{
+ DEBUGMSG("Send Message\n");
+
+ /* nothing to do here - message is already set to transmit in pre_write_config */
+
+ return 0;
+}
+
+int mscan_remote_request(struct canchip_t *chip, struct msgobj_t *obj)
+{
+ CANMSG("mscan_remote_request not implemented\n");
+ return -ENOSYS;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_irq_handler(int irq, struct canchip_t *chip)
+{
+/*
+ MSCAN_RFLG_WUPIF - WakeUp Interrupt Flag - rw
+ MSCAN_RFLG_CSCIF - CAN Status Change Interrupt Flag - rw
+ MSCAN_RFLG_RSTAT - Receiver Status Bits: 0-RxOK, 1-RxWRN, 2-RxERR, 3-BusOff - ro
+ MSCAN_RFLG_TSTAT - Transmitter Status Bits: 0-TxOK, 1-TxWRN, 2-TxErr, 3-BusOff - ro
+ MSCAN_RFLG_OVRIF - Overrun Interrupt Flag - rw
+ MSCAN_RFLG_RXF - Receive Buffer Full - rw
+
+ MSCAN_TFLG_TXE - Transmitter Buffer Empty */
+
+ /* get IRQs */
+ uint16_t irq_reg;
+ short loop_cnt = MSCAN_MAX_IRQ_WAIT_LOOPS;
+
+ irq_reg = (mscan_get_flags(chip, (reg_t)((mscan_IRQs >> 8) & 0xff), MSCAN_TFLG) << 8) |
+ (mscan_get_flags(chip, (reg_t)(mscan_IRQs & 0xff), MSCAN_RFLG));
+ DEBUGMSG("irq: %d", irq);
+ DEBUGMSG("IRQ Handler: MSCAN_IRR: 0x%04x\n", irq_reg);
+
+ do {
+
+ if(!loop_cnt--) {
+ CANMSG("mscan_irq_handler IRQ %d stuck\n", irq);
+ return CANCHIP_IRQ_STUCK;
+ }
+
+ /* Received message */
+ if (irq_reg & MSCAN_RFLG_RXF)
+ {
+ DEBUGMSG("Received message");
+
+ mscan_irq_read_handler(chip, chip->msgobj[0]);
+ /* RXPR flag for this msgobj is cleared during irq_read_handler*/
+
+ /* reset flag */
+ mscan_set_flags(chip, MSCAN_RFLG_RXF, MSCAN_RFLG);
+ }
+
+ /* Receive bus off/error/warning */
+ if (irq_reg & MSCAN_RFLG_RSTAT)
+ {
+ switch (((irq_reg & MSCAN_RFLG_RSTAT) >> 4) & 0x03)
+ {
+ case 3: /* Bus off */
+ CANMSG("Error: entering RX BUS OFF state");
+
+ chip->msgobj[0]->ret=-1;
+
+ /* notify RX */
+ mscan_notifyRXends(chip->msgobj[0], CANQUEUE_NOTIFY_ERROR);
+ break;
+
+ case 2: /* bus - error passive */
+ CANMSG("Warning: entering ERROR PASSIVE state REC: %d\n", (reg_t)can_read_reg(chip, MSCAN_RXERR));
+ /* Show warning only */
+ break;
+
+ case 1: /* bus - warning */
+ CANMSG("Bus Warning: REC: %d\n", (reg_t)can_read_reg(chip, MSCAN_RXERR));
+ /* Show warning only */
+ break;
+ }
+
+ /* reset flag */
+ mscan_set_flags(chip, MSCAN_RFLG_RSTAT, MSCAN_RFLG);
+ }
+
+ /* Transmit bus off/error/warning */
+ if (irq_reg & MSCAN_RFLG_TSTAT)
+ {
+ switch (((irq_reg & MSCAN_RFLG_TSTAT) >> 1) & 0x03)
+ {
+ case 3: /* Bus off */
+ CANMSG("Error: entering TX BUS OFF state");
+
+ /* notify TX end */
+ if(chip->msgobj[0]->tx_slot)
+ canque_notify_inends(chip->msgobj[0]->tx_qedge, CANQUEUE_NOTIFY_ERROR);
+ break;
+
+ case 2: /* bus - error passive */
+ CANMSG("Warning: entering ERROR PASSIVE state TEC: %d\n", (reg_t)can_read_reg(chip, MSCAN_TXERR));
+ /* Show warning only */
+ break;
+
+ case 1: /* bus - warning */
+ CANMSG("Bus Warning: TEC: %d\n", (reg_t)can_read_reg(chip, MSCAN_TXERR));
+ /* Show warning only */
+ break;
+ }
+
+ /* reset flag */
+ mscan_set_flags(chip, MSCAN_RFLG_TSTAT, MSCAN_RFLG);
+ }
+
+ /* Message Overrun/Overwritten */
+ if (irq_reg & MSCAN_RFLG_OVRIF)
+ {
+ CANMSG("Error: MESSAGE OVERRUN/OVERWRITTEN");
+
+ /* notify only injured RXqueue-end */
+ mscan_notifyRXends(chip->msgobj[0], CANQUEUE_NOTIFY_ERROR);
+
+ /* reset flag */
+ mscan_set_flags(chip, MSCAN_RFLG_OVRIF, MSCAN_RFLG);
+ }
+
+ /* Mailbox empty - after message was sent */
+ if ((irq_reg >> 8) & MSCAN_TFLG_TXE)
+ {
+ /* Clear TXACK flag */
+ mscan_set_flags(chip, MSCAN_TFLG_TXE, MSCAN_TFLG);
+
+ /* sends message */
+ mscan_wakeup_tx(chip, chip->msgobj[0]);
+ }
+
+ irq_reg = (mscan_get_flags(chip, (reg_t)((mscan_IRQs >> 8) & 0xff), MSCAN_TFLG) << 8) |
+ (mscan_get_flags(chip, (reg_t)(mscan_IRQs & 0xff), MSCAN_RFLG));
+ } while(irq_reg & mscan_IRQs);
+
+ return CANCHIP_IRQ_HANDLED;
+}
+
+int mscan_irq_accept(int irq, struct canchip_t *chip)
+{
+ CANMSG("mscan_irq_accept NOT IMPLEMENTED\n");
+ return -ENOSYS;
+}
+
+int mscan_config_irqs(struct canchip_t *chip, short irqs)
+{
+ int err;
+ reg_t tier, rier;
+
+ if (mscan_init_mode_active(chip))
+ {
+ CANMSG("MSCAN: Setting Up IRQs while INIT active \n");
+ return -EBUSY;
+ }
+
+ tier = (reg_t)((irqs >> 8) & 0x00ff & ~MSCAN_TIER_RSVD);
+ rier = (reg_t)(irqs & 0x00ff);
+
+ if(!(err = mscan_clear_irq_flags(chip)))
+ return err;
+
+ can_write_reg(chip, rier, MSCAN_RIER);
+ can_write_reg(chip, tier, MSCAN_TIER);
+
+ CANMSG("IRQ Mask set [0x%02x]\n", irqs);
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_clear_objects(struct canchip_t *chip)
+{
+ /* clear RX buffer */
+ mscan_clear_buffer(chip, MSCAN_RXFG);
+
+ /* clear TX buffers, need to set CANTBSEL register */
+ can_write_reg(chip, 0x01, MSCAN_TBSEL);
+ mscan_clear_buffer(chip, MSCAN_TXFG);
+
+ can_write_reg(chip, 0x02, MSCAN_TBSEL);
+ mscan_clear_buffer(chip, MSCAN_TXFG);
+
+ can_write_reg(chip, 0x04, MSCAN_TBSEL);
+ mscan_clear_buffer(chip, MSCAN_TXFG);
+
+ return 0;
+}
+
+int mscan_check_tx_stat(struct canchip_t *chip)
+{
+/* DEBUGMSG("Check TX stat\n"); */
+ /* If Transmition is complete return 0 - no error */
+ if (mscan_get_flags(chip, MSCAN_TFLG_TXE, MSCAN_TFLG) == MSCAN_TFLG_TXE) /* all buffers empty */
+ return 0;
+ else
+ return 1;
+}
+
+/* Note: this checks TX status of particular buffer */
+int mscan_check_txbuff_stat(struct canchip_t *chip, int buffer)
+{
+ /* Transmition is complete return 0 - no error */
+ reg_t txf = mscan_get_flags(chip, MSCAN_TFLG_TXE, MSCAN_TFLG);
+ return (txf ^ (0x01 << buffer));
+}
+
+int mscan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
+{
+ DEBUGMSG("WakeUP TX\n");
+
+ can_preempt_disable();
+
+ can_msgobj_set_fl(obj,TX_REQUEST);
+ if(!can_msgobj_test_and_set_fl(obj,TX_LOCK) &&
+ (!mscan_check_txbuff_stat(chip, 0) ||
+ !mscan_check_txbuff_stat(chip, 1) ||
+ !mscan_check_txbuff_stat(chip, 2)))
+ { /* enable transmition only if MB is empty */
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+ mscan_irq_write_handler(chip, obj);
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ }
+ else
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+
+ can_preempt_enable();
+
+/* DEBUGMSG("WakeUP TX - END\n"); */
+ return 0;
+}
+
+int mscan_filtch_rq(struct canchip_t *chip, struct msgobj_t * obj)
+{
+ struct canfilt_t filter;
+ uint32_t mask;
+
+
+#if myDEBUG
+ int num = canqueue_ends_filt_conjuction(obj->qends, &filter);
+#else
+ canqueue_ends_filt_conjuction(obj->qends, &filter);
+#endif
+
+ DEBUGMSG("CNT: %d ID: 0x%08x MASK: 0x%08x\n", num, (uint32_t) (filter.id) & 0x1fffffff, (uint32_t) (~filter.mask) & 0x1fffffff);
+
+ /* MSCAN uses oposite logic (compared to IP) for LAFM: 1-ignore bit, 0-use bit as mask */
+ mask = (~filter.mask) << 1;
+
+ /* RTR is LSB of mask */
+ if (filter.flags & MSG_RTR)
+ mask |= 0x00000001;
+
+ if (filter.flags & MSG_EXT) /* Extended ID */
+ return mscan_extended_mask(chip, filter.id, mask);
+ else /* Standard ID */
+ return mscan_standard_mask(chip, filter.id, mask);
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+void mscan_irq_read_handler(struct canchip_t *chip, struct msgobj_t *obj)
+{
+ /* check RX Flag */
+ if (!mscan_get_flags(chip, MSCAN_RFLG_RXF, MSCAN_RFLG))
+ {
+ obj->ret=-1;
+ return;
+ }
+
+ mscan_msg_from_rxbuffer(chip, &(obj->rx_msg));
+
+ /* fill CAN message timestamp */
+ can_filltimestamp(&obj->rx_msg.timestamp);
+
+ canque_filter_msg2edges(obj->qends, &obj->rx_msg);
+}
+
+void mscan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
+{
+ int cmd;
+
+ if(obj->tx_slot){
+ /* Do local transmitted message distribution if enabled */
+ if (processlocal){
+ /* fill CAN message timestamp */
+ can_filltimestamp(&obj->tx_slot->msg.timestamp);
+
+ 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;
+ }
+
+ cmd = canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
+ if(cmd < 0)
+ return;
+
+ if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
+ obj->ret = -1;
+ canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
+ canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot = NULL;
+ return;
+ }
+ if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
+ obj->ret = -1;
+ canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
+ canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot = NULL;
+ return;
+ }
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_register(struct chipspecops_t *chipspecops)
+{
+ chipspecops->chip_config = mscan_chip_config;
+ chipspecops->enable_configuration = mscan_enable_configuration;
+ chipspecops->disable_configuration = mscan_disable_configuration;
+
+ chipspecops->baud_rate = mscan_baud_rate;
+ chipspecops->set_btregs = mscan_set_btregs;
+
+ chipspecops->start_chip = mscan_start_chip;
+ chipspecops->stop_chip = mscan_stop_chip;
+ chipspecops->attach_to_chip = mscan_attach_to_chip;
+ chipspecops->release_chip = mscan_release_chip;
+
+ chipspecops->standard_mask = mscan_standard_mask;
+ chipspecops->extended_mask = mscan_extended_mask;
+ chipspecops->message15_mask = NULL; /* mscan_message15_mask; */
+
+ chipspecops->pre_read_config = mscan_pre_read_config;
+ chipspecops->pre_write_config = mscan_pre_write_config;
+ chipspecops->send_msg = mscan_send_msg;
+ chipspecops->remote_request = mscan_remote_request;
+
+ chipspecops->irq_handler = mscan_irq_handler;
+ chipspecops->irq_accept = NULL; /* mscan_irq_accept; */
+ chipspecops->config_irqs = mscan_config_irqs;
+
+ chipspecops->clear_objects = mscan_clear_objects;
+ chipspecops->check_tx_stat = mscan_check_tx_stat;
+ chipspecops->wakeup_tx = mscan_wakeup_tx;
+ chipspecops->filtch_rq = mscan_filtch_rq;
+ return 0;
+}
+
+int mscan_fill_chipspecops(struct canchip_t *chip)
+{
+ chip->chip_type = "mscan";
+ chip->max_objects = 1;
+ chip->write_register = chip->hostdevice->hwspecops->write_register;
+ chip->read_register = chip->hostdevice->hwspecops->read_register;
+
+ /*
+ chip->flags;
+ chip->baudrate;
+ chip->msgobj;
+ chip->chip_data;
+ chip->chip_lock;
+
+ chip->sja_cdr_reg;
+ chip->sja_ocr_reg;
+ chip->int_cpu_reg;
+ chip->int_clk_reg;
+ chip->int_bus_reg;
+
+ #ifdef CAN_WITH_RTL
+ chip->worker_thread;
+ chip->pend_flags;
+ #endif
+ */
+
+ mscan_register(chip->chipspecops);
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+int mscan_reset_chip(struct canchip_t * chip)
+{
+ /* reset chip by turning MSCAN off and on in INIT mode */
+ if (mscan_enable_configuration(chip))
+ return -ENODEV;
+
+ mscan_clear_flags(chip, MSCAN_CTL1_CANE, MSCAN_CTL1);
+ mscan_set_flags(chip, MSCAN_CTL1_CANE, MSCAN_CTL1);
+
+ if (mscan_disable_configuration(chip))
+ return -ENODEV;
+
+ return 0;
+}
+
+/* mscan_clear_irq_flags should be called only when not in INIT mode */
+int mscan_clear_irq_flags(struct canchip_t *chip)
+{
+ reg_t rflg, tflg;
+
+ if (mscan_init_mode_active(chip))
+ {
+ CANMSG("MSCAN: Clearing IRQs while INIT active \n");
+ return -EBUSY;
+ }
+
+ DEBUGMSG("Clearing IRQ flags...\n");
+
+ rflg = MSCAN_RFLG_WUPIF | MSCAN_RFLG_CSCIF | MSCAN_RFLG_RSTAT |
+ MSCAN_RFLG_TSTAT | MSCAN_RFLG_OVRIF | MSCAN_RFLG_RXF;
+ tflg = MSCAN_TFLG_TXE;
+
+ /* reset flags by writing '1' */
+ can_write_reg(chip, rflg, MSCAN_RFLG);
+ can_write_reg(chip, tflg, MSCAN_TFLG);
+
+ return 0;
+}
+
+
+/* ************************************************************************************************************************************* */
+
+
+void mscan_notifyRXends(struct msgobj_t * obj, int what)
+{
+ struct canque_edge_t * edge;
+ canque_for_each_inedge(obj->qends, edge){
+ canque_notify_outends(edge, what);
+ }
+}
+
+/* Fill message content to one transmit buffers */
+/* Note: Check whether buffer is empy has to be done before calling this function */
+void mscan_setup_txbuffer(struct canchip_t * chip, struct canmsg_t * msg, int buffer)
+{
+ volatile struct mscan_msg_buffer * txb = (struct mscan_msg_buffer *)MSCAN_TXFG;
+ reg_t rtr;
+
+ /* Select buffer */
+ mscan_set_flags(chip, (0x01 << buffer) & MSCAN_TBSEL_TX, MSCAN_TBSEL);
+
+
+ if (msg->flags & MSG_RTR)
+ rtr = 0x01;
+ else
+ rtr = 0x00;
+
+ /* set Can mesage ID and local priority */
+ if (msg->flags & MSG_EXT)
+ {
+ /* Extended ID */
+ txb->id_0 = (reg_t)((msg->id >> 21) & 0x000000ff);
+ txb->id_1 = (reg_t)(
+ ((msg->id >> 18) & 0x000000e0) |
+ 0x00000018 | /* SRR & IDE */
+ ((msg->id >> 15) & 0x00000003));
+ txb->id_2 = (reg_t)((msg->id >> 7) & 0x000000ff);
+ txb->id_3 = (reg_t)(((msg->id << 1) & 0x000000fe) | rtr);
+
+ /* local priority is 7 MSB bits followed by IDE flag */
+ txb->local_prio = (reg_t)((txb->id_0 & 0xfe) | 0x01); /* IDE=1 */
+ }
+ else
+ {
+ /* Standard ID */
+ txb->id_0 = (reg_t)((msg->id >> 3) & 0x000000ff);
+ txb->id_1 = (reg_t)(((msg->id << 5) & 0x000000e0) | (rtr << 4)); /* IDE=0 */
+ txb->id_2 = 0x00;
+ txb->id_3 = 0x00;
+
+ /* local priority are 7 MSB bits folowed by IDE flag */
+ txb->local_prio = (reg_t)(txb->id_0 & 0xfe); /* IDE=0 */
+ }
+
+ /* set data */
+ switch (msg->length)
+ {
+ case 8: txb->data_7 = msg->data[7];
+ case 7: txb->data_6 = msg->data[6];
+ case 6: txb->data_5 = msg->data[5];
+ case 5: txb->data_4 = msg->data[4];
+ case 4: txb->data_3 = msg->data[3];
+ case 3: txb->data_2 = msg->data[2];
+ case 2: txb->data_1 = msg->data[1];
+ case 1: txb->data_0 = msg->data[0];
+ }
+
+ /* data length */
+ txb->data_len = (reg_t)(msg->length & 0x1f);
+}
+
+/* Fill message content from receive buffer */
+void mscan_msg_from_rxbuffer(struct canchip_t * chip, struct canmsg_t * msg)
+{
+ volatile struct mscan_msg_buffer * rxb = (struct mscan_msg_buffer *)MSCAN_RXFG;
+
+ /* retrieve Can mesage ID */
+ msg->flags = 0; /* clear all */
+
+ /* check buffer IDE flag */
+ if (mscan_get_flags(chip, (reg_t)0x08, MSCAN_RXFG + MSCAN_MSGBUFF_ID1)) /* 0x08 - IDE flag in ID1 */
+ {
+ /* Extended ID */
+ msg->id = (((uint32_t)rxb->id_0 << 21) & 0x3fa00000) |
+ (((uint32_t)rxb->id_1 << 18) & 0x00380000) |
+ (((uint32_t)rxb->id_1 << 15) & 0x00070000) |
+ (((uint32_t)rxb->id_2 << 7 ) & 0x0000ff00) |
+ (((uint32_t)rxb->id_3 >> 1 ) & 0x000000ff);
+
+ /* RTR flag */
+ if (rxb->id_3 & 0x01)
+ msg->flags |= MSG_RTR;
+
+ /* EXT flag */
+ msg->flags |= MSG_EXT;
+ }
+ else
+ {
+ /* Standard ID */
+ msg->id = (((uint32_t)rxb->id_0 << 3) & 0x000001f8) |
+ (((uint32_t)rxb->id_1 >> 5) & 0x00000007);
+
+ /* RTR flag */
+ if (rxb->id_1 & 0x08)
+ msg->flags |= MSG_RTR;
+
+ /* no EXT flag is set here */
+ }
+
+ /* retrieve data */
+ switch (rxb->data_len)
+ {
+ case 8: msg->data[7] = rxb->data_7;
+ case 7: msg->data[6] = rxb->data_6;
+ case 6: msg->data[5] = rxb->data_5;
+ case 5: msg->data[4] = rxb->data_4;
+ case 4: msg->data[3] = rxb->data_3;
+ case 3: msg->data[2] = rxb->data_2;
+ case 2: msg->data[1] = rxb->data_1;
+ case 1: msg->data[0] = rxb->data_0;
+ }
+
+ /* data length */
+ msg->length = (reg_t)(rxb->data_len & 0x1f);
+}
+/* updates the TSEG1 and TSEG2 according to overall TSEG and Sample Point (0-1000) */
+static int mscan_update_samplept(int sampl_pt, int tseg, int *tseg1, int *tseg2)
+{
+ *tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000;
+ if (*tseg2 < MSCAN_TSEG2_MIN)
+ *tseg2 = MSCAN_TSEG2_MIN;
+ if (*tseg2 > MSCAN_TSEG2_MAX)
+ *tseg2 = MSCAN_TSEG2_MAX;
+ *tseg1 = tseg - *tseg2;
+ if (*tseg1 > MSCAN_TSEG1_MAX) {
+ *tseg1 = MSCAN_TSEG1_MAX;
+ *tseg2 = tseg - *tseg1;
+ }
+ return 1000 * (tseg + 1 - *tseg2) / (tseg + 1);
+}
+
+
+static int mscan_init_mode_active(struct canchip_t *chip)
+{
+ /* Init request AND Init ACK */
+ DEBUGMSG(" is Init active?\n");
+ return mscan_get_flags(chip, MSCAN_CTL0_INITRQ, MSCAN_CTL0) &&
+ mscan_get_flags(chip, MSCAN_CTL1_INITAK, MSCAN_CTL1);
+}
+static int mscan_sleep_mode_active(struct canchip_t *chip)
+{
+ /* Sleep Request AND Sleep Ack */
+ return mscan_get_flags(chip, MSCAN_CTL0_SLPRQ, MSCAN_CTL0) &&
+ mscan_get_flags(chip, MSCAN_CTL1_SLPAK, MSCAN_CTL1);
+}
+
+
+static reg_t mscan_get_flags(struct canchip_t * chip, reg_t flags, unsigned reg_addr)
+{
+ DEBUGMSG(" get flags [%u]\n", reg_addr);
+ return (reg_t)can_read_reg(chip, reg_addr) & flags;
+}
+static void mscan_set_flags(struct canchip_t * chip, reg_t flags, unsigned reg_addr)
+{
+ reg_t r = can_read_reg(chip, reg_addr);
+ can_write_reg(chip, r | flags, reg_addr);
+}
+static void mscan_clear_flags(struct canchip_t * chip, reg_t flags, unsigned reg_addr)
+{
+ reg_t r = can_read_reg(chip, reg_addr);
+ can_write_reg(chip, r & ~flags, reg_addr);
+}
+
+
+static void mscan_clear_buffer(struct canchip_t * chip, unsigned start_addr)
+{
+ /* clear 25 registers of buffer, others are reset to 0-no need to clean them */
+ unsigned addr;
+ for (addr = start_addr; addr < 26; addr++)
+ can_write_reg(chip, 0x00, addr);
+}
projects / lincan.git / blobdiff