/* sja1000.c
* Linux CAN-bus device driver.
* Written by Arnaud Westenberg email:arnaud@wanadoo.nl
- * This software is released under the GPL-License.
- * Version 0.6 18 Sept 2000
* Changed for PeliCan mode SJA1000 by Tomasz Motylewski (BFAD GmbH)
* T.Motylewski@bfad.de
+ * Rewritten for new CAN queues by Pavel Pisa - OCERA team member
+ * email:pisa@cmp.felk.cvut.cz
+ * This software is released under the GPL-License.
+ * Version lincan-0.2 9 Jul 2003
*/
-#include <linux/autoconf.h>
-#if defined (CONFIG_MODVERSIONS) && !defined (MODVERSIONS)
-#define MODVERSIONS
-#endif
-
-#if defined (MODVERSIONS)
-#include <linux/modversions.h>
-#endif
-
-#include <linux/sched.h>
-#include <linux/delay.h>
-#include <asm/irq.h>
-
+#include "../include/can.h"
+#include "../include/can_sysdep.h"
#include "../include/main.h"
#include "../include/sja1000p.h"
+/**
+ * sja1000p_enable_configuration - enable chip configuration mode
+ * @chip: pointer to chip state structure
+ */
int sja1000p_enable_configuration(struct chip_t *chip)
{
int i=0;
enum sja1000_PeliCAN_MOD flags;
- disable_irq(chip->chip_irq);
+ can_disable_irq(chip->chip_irq);
flags=can_read_reg(chip,SJAMOD);
}
if (i>=10) {
CANMSG("Reset error\n");
- enable_irq(chip->chip_irq);
+ can_enable_irq(chip->chip_irq);
return -ENODEV;
}
return 0;
}
+/**
+ * sja1000p_disable_configuration - disable chip configuration mode
+ * @chip: pointer to chip state structure
+ */
int sja1000p_disable_configuration(struct chip_t *chip)
{
int i=0;
return -ENODEV;
}
- enable_irq(chip->chip_irq);
+ can_enable_irq(chip->chip_irq);
return 0;
}
+/**
+ * sja1000p_chip_config: - can chip configuration
+ * @chip: pointer to chip state structure
+ *
+ * This function configures chip and prepares it for message
+ * transmission and reception. The function resets chip,
+ * resets mask for acceptance of all messages by call to
+ * sja1000p_extended_mask() function and then
+ * computes and sets baudrate with use of function sja1000p_baud_rate().
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_chip_config(struct chip_t *chip)
{
+ int i;
+ unsigned char n, r;
+
if (sja1000p_enable_configuration(chip))
return -ENODEV;
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 (!baudrate)
- baudrate=1000;
- if (sja1000p_baud_rate(chip,1000*baudrate,chip->clock,0,75,0))
+ if (!chip->baudrate)
+ chip->baudrate=1000000;
+ if (sja1000p_baud_rate(chip,chip->baudrate,chip->clock,0,75,0))
return -ENODEV;
/* Enable hardware interrupts */
return 0;
}
+/**
+ * sja1000p_extended_mask: - setup of extended mask for message filtering
+ * @chip: pointer to chip state structure
+ * @code: can message acceptance code
+ * @mask: can message acceptance mask
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_extended_mask(struct chip_t *chip, unsigned long code, unsigned long mask)
{
int i;
return 0;
}
-/* Set communication parameters.
- * param rate baud rate in Hz
- * param clock frequency of sja1000 clock in Hz (ISA osc is 14318000)
- * param sjw synchronization jump width (0-3) prescaled clock cycles
- * param sampl_pt sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
- * param flags fields BTR1_SAM, OCMODE, OCPOL, OCTP, OCTN, CLK_OFF, CBP
+/**
+ * sja1000p_baud_rate: - set communication parameters.
+ * @chip: pointer to chip state structure
+ * @rate: baud rate in Hz
+ * @clock: frequency of sja1000 clock in Hz (ISA osc is 14318000)
+ * @sjw: synchronization jump width (0-3) prescaled clock cycles
+ * @sampl_pt: sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
+ * @flags: fields %BTR1_SAM, %OCMODE, %OCPOL, %OCTP, %OCTN, %CLK_OFF, %CBP
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
*/
int sja1000p_baud_rate(struct chip_t *chip, int rate, int clock, int sjw,
int sampl_pt, int flags)
return 0;
}
-void sja1000p_read(struct chip_t *chip, struct canfifo_t *fifo) {
+/**
+ * sja1000p_read: - reads and distributes one or more received messages
+ * @chip: pointer to chip state structure
+ * @obj: pinter to CAN message queue information
+ *
+ * File: src/sja1000p.c
+ */
+void sja1000p_read(struct chip_t *chip, struct msgobj_t *obj) {
int i, flags, len, datastart;
do {
flags = can_read_reg(chip,SJAFRM);
if(flags&FRM_FF) {
- fifo->rx_writep->id =
+ obj->rx_msg.id =
(can_read_reg(chip,SJAID0)<<21) +
(can_read_reg(chip,SJAID1)<<13) +
(can_read_reg(chip,SJAID2)<<5) +
(can_read_reg(chip,SJAID3)>>3);
datastart = SJADATE;
} else {
- fifo->rx_writep->id =
+ obj->rx_msg.id =
(can_read_reg(chip,SJAID0)<<3) +
(can_read_reg(chip,SJAID1)>>5);
datastart = SJADATS;
}
- fifo->rx_writep->flags =
+ obj->rx_msg.flags =
((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++) {
- fifo->rx_writep->data[i]=can_read_reg(chip,datastart+i);
+ obj->rx_msg.data[i]=can_read_reg(chip,datastart+i);
}
- fifo->rx_writep->length = len;
- fifo->rx_writep++;
- if (fifo->rx_writep >= fifo->buf_rx_entry + MAX_BUF_LENGTH)
- fifo->rx_writep = fifo->buf_rx_entry;
-
-// FIXME: what if fifo->rx_writep == fifo->rx_readp again ?
+ canque_filter_msg2edges(obj->qends, &obj->rx_msg);
can_write_reg(chip, CMR_RRB, SJACMR);
+
} while (can_read_reg(chip, SJASR) & SR_RBS);
}
+/**
+ * sja1000p_pre_read_config: - prepares message object for message reception
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object state structure
+ *
+ * Return Value: negative value reports error.
+ * Positive value indicates immediate reception of message.
+ * File: src/sja1000p.c
+ */
int sja1000p_pre_read_config(struct chip_t *chip, struct msgobj_t *obj)
{
int status;
}
can_write_reg(chip, DISABLE_INTERRUPTS, SJAIER); //disable interrupts for a moment
- sja1000p_read(chip, obj->fifo);
+ sja1000p_read(chip, obj);
can_write_reg(chip, ENABLE_INTERRUPTS, SJAIER); //enable interrupts
return 1;
}
-#define MAX_TRANSMIT_WAIT_LOOPS 200
+#define MAX_TRANSMIT_WAIT_LOOPS 10
+/**
+ * sja1000p_pre_write_config: - prepares message object for message transmission
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object state structure
+ * @msg: pointer to CAN message
+ *
+ * This function prepares selected message object for future initiation
+ * of message transmission by sja1000p_send_msg() function.
+ * The CAN message data and message ID are transfered from @msg slot
+ * into chip buffer in this function.
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
struct canmsg_t *msg)
{
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) &&
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) |
- ((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);
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);
- for(i=0; i < msg->length; i++) {
+ for(i=0; i < len; i++) {
can_write_reg(chip, msg->data[i], SJADATS+i);
}
}
return 0;
}
+/**
+ * sja1000p_send_msg: - initiate message transmission
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object state structure
+ * @msg: pointer to CAN message
+ *
+ * This function is called after sja1000p_pre_write_config() function,
+ * which prepares data in chip buffer.
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_send_msg(struct chip_t *chip, struct msgobj_t *obj,
struct canmsg_t *msg)
{
return 0;
}
+/**
+ * sja1000p_check_tx_stat: - checks state of transmission engine
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * Positive return value indicates transmission under way status.
+ * Zero value indicates finishing of all issued transmission requests.
+ * File: src/sja1000p.c
+ */
int sja1000p_check_tx_stat(struct chip_t *chip)
{
if (can_read_reg(chip,SJASR) & SR_TCS)
return 1;
}
+/**
+ * sja1000p_set_btregs: - configures bitrate registers
+ * @chip: pointer to chip state structure
+ * @btr0: bitrate register 0
+ * @btr1: bitrate register 1
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_set_btregs(struct chip_t *chip, unsigned short btr0,
unsigned short btr1)
{
return 0;
}
+/**
+ * sja1000p_start_chip: - starts chip message processing
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_start_chip(struct chip_t *chip)
{
enum sja1000_PeliCAN_MOD flags;
return 0;
}
+/**
+ * sja1000p_stop_chip: - stops chip message processing
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_stop_chip(struct chip_t *chip)
{
enum sja1000_PeliCAN_MOD flags;
}
+/**
+ * sja1000p_remote_request: - configures message object and asks for RTR message
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_remote_request(struct chip_t *chip, struct msgobj_t *obj)
{
CANMSG("sja1000p_remote_request not implemented\n");
return -ENOSYS;
}
+/**
+ * sja1000p_standard_mask: - setup of mask for message filtering
+ * @chip: pointer to chip state structure
+ * @code: can message acceptance code
+ * @mask: can message acceptance mask
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_standard_mask(struct chip_t *chip, unsigned short code,
unsigned short mask)
{
return -ENOSYS;
}
+/**
+ * sja1000p_clear_objects: - clears state of all message object residing in chip
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_clear_objects(struct chip_t *chip)
{
CANMSG("sja1000p_clear_objects not implemented\n");
return -ENOSYS;
}
+/**
+ * sja1000p_config_irqs: - tunes chip hardware interrupt delivery
+ * @chip: pointer to chip state structure
+ * @irqs: requested chip IRQ configuration
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
int sja1000p_config_irqs(struct chip_t *chip, short irqs)
{
CANMSG("sja1000p_config_irqs not implemented\n");
return -ENOSYS;
}
-void sja1000p_irq_write_handler(struct chip_t *chip, struct canfifo_t *fifo)
+/**
+ * sja1000p_irq_write_handler: - part of ISR code responsible for transmit events
+ * @chip: pointer to chip state structure
+ * @obj: pointer to attached queue description
+ *
+ * The main purpose of this function is to read message from attached queues
+ * and transfer message contents into CAN controller chip.
+ * This subroutine is called by
+ * sja1000p_irq_write_handler() for transmit events.
+ * File: src/sja1000p.c
+ */
+void sja1000p_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
{
- fifo->tx_readp++;
- if (fifo->tx_readp >= fifo->buf_tx_entry + MAX_BUF_LENGTH)
- fifo->tx_readp = fifo->buf_tx_entry;
- if (fifo->tx_readp == fifo->tx_writep) { // Output buffer is empty
- fifo->tx_in_progress = 0;
- if (waitqueue_active(&fifo->writeq)) {
- chip->msgobj[0]->ret = 0; //CHECKME or 26?
- wake_up_interruptible(&fifo->writeq);
+ 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);
}
- return;
+ /* Free transmitted slot */
+ canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot=NULL;
}
- if (chip->chipspecops->pre_write_config(chip, chip->msgobj[0],
- fifo->tx_readp)) {
- if (waitqueue_active(&fifo->writeq)) {
- chip->msgobj[0]->ret = -1;
- wake_up_interruptible(&fifo->writeq);
- return;
- }
+
+ 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, chip->msgobj[0],
- fifo->tx_readp)) {
- if (waitqueue_active(&fifo->writeq)) {
- chip->msgobj[0]->ret = -1;
- wake_up_interruptible(&fifo->writeq);
- 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;
}
}
#define MAX_RETR 10
-void sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
+/**
+ * sja1000p_irq_handler: - interrupt service routine
+ * @irq: interrupt vector number, this value is system specific
+ * @dev_id: driver private pointer registered at time of request_irq() call.
+ * The CAN driver uses this pointer to store relationship of interrupt
+ * to chip state structure - @struct chip_t
+ * @regs: system dependent value pointing to registers stored in exception frame
+ *
+ * Interrupt handler is activated when state of CAN controller chip changes,
+ * there is message to be read or there is more space for new messages or
+ * error occurs. The receive events results in reading of the message from
+ * CAN controller chip and distribution of message through attached
+ * message queues.
+ * File: src/sja1000p.c
+ */
+can_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 canfifo_t *fifo;
+ struct msgobj_t *obj=chip->msgobj[0];
irq_register=can_read_reg(chip,SJAIR);
// DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
// can_read_reg(chip,SJASR));
if ((irq_register & (IR_BEI|IR_EPI|IR_DOI|IR_EI|IR_TI|IR_RI)) == 0)
- return;
+ return CAN_IRQ_NONE;
- if(!chip->msgobj[0]->flags & BUFFERS_ALLOCATED) {
- CANMSG("sja1000p_irq_handler: called with device closed, irq_register 0x%02x\n", irq_register);
- return;
+ if(!(chip->flags&CHIP_CONFIGURED)) {
+ CANMSG("sja1000p_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
+ return CAN_IRQ_NONE;
}
- fifo=chip->msgobj[0]->fifo;
if ((irq_register & IR_RI) != 0) {
- sja1000p_read(chip,fifo);
- chip->msgobj[0]->ret = 0;
- if (waitqueue_active(&fifo->readq))
- wake_up_interruptible(&fifo->readq);
+ DEBUGMSG("sja1000_irq_handler: RI\n");
+ sja1000p_read(chip,obj);
+ obj->ret = 0;
}
if ((irq_register & IR_TI) != 0) {
- chip->msgobj[0]->ret = 0;
- sja1000p_irq_write_handler(chip,fifo);
+ DEBUGMSG("sja1000_irq_handler: TI\n");
+ obj->ret = 0;
+ can_msgobj_set_fl(obj,TX_REQUEST);
+ while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+ if (can_read_reg(chip, SJASR) & SR_TBS)
+ sja1000p_irq_write_handler(chip, obj);
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+ DEBUGMSG("TX looping in sja1000_irq_handler\n");
+ }
}
if ((irq_register & (IR_EI|IR_BEI|IR_EPI|IR_DOI)) != 0) {
// Some error happened
status, irq_register, error_code);
// FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
// Reset flag set to 0 if chip is already off the bus. Full state report
- chip->msgobj[0]->ret=-1;
+ obj->ret=-1;
if(error_code == 0xd9) {
- chip->msgobj[0]->ret= -ENXIO;
+ 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
- retransmitted = 0;
+ obj->tx_retry_cnt = 0;
}
if(status&SR_BS) {
CANMSG("bus-off, resetting sja1000p\n");
can_write_reg(chip, 0, SJAMOD);
}
- if (waitqueue_active(&fifo->writeq))
- wake_up_interruptible(&fifo->writeq);
- if (waitqueue_active(&fifo->readq))
- wake_up_interruptible(&fifo->readq);
+ if(obj->tx_slot){
+ canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
+ /*canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+ obj->tx_slot=NULL;*/
+ }
+
} else {
- retransmitted=0;
+ obj->tx_retry_cnt=0;
+ }
+
+ return CAN_IRQ_HANDLED;
+}
+
+/**
+ * sja1000p_wakeup_tx: - wakeups TX processing
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object structure
+ *
+ * Function is responsible for initiating message transmition.
+ * It is responsible for clearing of object TX_REQUEST flag
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
+int sja1000p_wakeup_tx(struct chip_t *chip, struct msgobj_t *obj)
+{
+
+ can_preempt_disable();
+
+ can_msgobj_set_fl(obj,TX_REQUEST);
+ while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+ if (can_read_reg(chip, SJASR) & SR_TBS){
+ obj->tx_retry_cnt=0;
+ sja1000p_irq_write_handler(chip, obj);
+ }
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+ DEBUGMSG("TX looping in sja1000p_wakeup_tx\n");
}
- return;
+ can_preempt_enable();
+ return 0;
}
int sja1000p_register(struct chipspecops_t *chipspecops)
chipspecops->pre_write_config=sja1000p_pre_write_config;
chipspecops->send_msg=sja1000p_send_msg;
chipspecops->check_tx_stat=sja1000p_check_tx_stat;
+ chipspecops->wakeup_tx=sja1000p_wakeup_tx;
chipspecops->remote_request=sja1000p_remote_request;
chipspecops->enable_configuration=sja1000p_enable_configuration;
chipspecops->disable_configuration=sja1000p_disable_configuration;
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