-/* i82527.c
- * Linux CAN-bus device driver.
- * Written by Arnaud Westenberg email:arnaud@wanadoo.nl
- * 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-0.3 17 Jun 2004
- */
+/**************************************************************************/
+/* File: i82527.c - Intel i82527 CAN 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> */
+/* 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/i82527.h"
-void i82527_irq_rtr_handler(struct canchip_t *chip, struct msgobj_t *obj,
+void i82527_irq_rtr_handler(struct canchip_t *chip, struct msgobj_t *obj,
struct rtr_id *rtr_search, unsigned long message_id);
flags = can_read_reg(chip, iCTL) & (iCTL_IE|iCTL_SIE|iCTL_EIE);
can_write_reg(chip, flags|iCTL_CCE, iCTL);
-
+
return 0;
}
{
can_write_reg(chip,chip->int_cpu_reg,iCPU); // Configure cpu interface
can_write_reg(chip,(iCTL_CCE|iCTL_INI),iCTL); // Enable configuration
- i82527_seg_write_reg(chip,chip->int_clk_reg,iCLK); // Set clock out slew rates
+ i82527_seg_write_reg(chip,chip->int_clk_reg,iCLK); // Set clock out slew rates
i82527_seg_write_reg(chip,chip->int_bus_reg,iBUS); /* Bus configuration */
can_write_reg(chip,0x00,iSTAT); /* Clear error status register */
- /* Check if we can at least read back some arbitrary data from the
+ /* Check if we can at least read back some arbitrary data from the
* card. If we can not, the card is not properly configured!
*/
canobj_write_reg(chip,chip->msgobj[1],0x25,iMSGDAT1);
int best_error = 1000000000, error;
int best_tseg=0, best_brp=0, best_rate=0, brp=0;
int tseg=0, tseg1=0, tseg2=0;
-
+
if (i82527_enable_configuration(chip))
return -ENODEV;
tseg2 = 0;
if (tseg2 > MAX_TSEG2)
tseg2 = MAX_TSEG2;
-
+
tseg1 = best_tseg-tseg2-2;
if (tseg1>MAX_TSEG1) {
tseg1 = MAX_TSEG1;
DEBUGMSG("brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d, sampl_pt=%d\n",
best_brp, best_tseg, tseg1, tseg2,
(100*(best_tseg-tseg2)/(best_tseg+1)));
-
-
+
+
i82527_seg_write_reg(chip, sjw<<6 | best_brp, iBT0);
can_write_reg(chip, ((flags & BTR1_SAM) != 0)<<7 | tseg2<<4 | tseg1,
iBT1);
DEBUGMSG("Writing 0x%x to iBT0\n",(sjw<<6 | best_brp));
- DEBUGMSG("Writing 0x%x to iBT1\n",((flags & BTR1_SAM) != 0)<<7 |
+ DEBUGMSG("Writing 0x%x to iBT1\n",((flags & BTR1_SAM) != 0)<<7 |
tseg2<<4 | tseg1);
i82527_disable_configuration(chip);
mask0 = (unsigned char) (mask >> 3);
mask1 = (unsigned char) (mask << 5);
-
+
can_write_reg(chip,mask0,iSGM0);
can_write_reg(chip,mask1,iSGM1);
DEBUGMSG("Cleared all message objects on chip\n");
- for (i=1; i<=15; i++) {
+ for (i=0; i<chip->max_objects; i++) {
obj=chip->msgobj[i];
canobj_write_reg(chip,obj,(INTPD_RES|RXIE_RES|TXIE_RES|MVAL_RES),iMSGCTL0);
canobj_write_reg(chip,obj,(NEWD_RES|MLST_RES|TXRQ_RES|RMPD_RES), iMSGCTL1);
DEBUGMSG("All message ID's set to standard\n");
else
DEBUGMSG("All message ID's set to extended\n");
-
+
return 0;
}
{
int i=0,id0=0,id1=0,id2=0,id3=0;
int len;
-
+
len = msg->length;
if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
{
canobj_write_reg(chip,obj,(MVAL_SET|TXIE_RES|RXIE_SET|INTPD_RES),iMSGCTL0);
canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_SET|MLST_RES|NEWD_RES),iMSGCTL1);
-
+
return 0;
}
flags = can_read_reg(chip, iCTL) & (iCTL_IE|iCTL_SIE|iCTL_EIE);
can_write_reg(chip, flags, iCTL);
-
+
return 0;
}
return 0;
}
-static inline
+static inline
void i82527_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
{
int cmd;
int i;
unsigned long message_id;
int msgcfg, msgctl1;
-
+
msgctl1=canobj_read_reg(chip,obj,iMSGCTL1);
if(msgctl1 & NEWD_RES)
return;
-
+
do {
if(objnum != 14) {
canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|MLST_UNC|NEWD_RES),iMSGCTL1);
for (i=0; i < obj->rx_msg.length; i++)
obj->rx_msg.data[i] = canobj_read_reg(chip,obj,iMSGDAT0+i);
-
+
if(objnum != 14) {
/* if NEWD is set after data read, then read data are likely inconsistent */
msgctl1=canobj_read_reg(chip,obj,iMSGCTL1);
canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|MLST_UNC|NEWD_RES),iMSGCTL1);
msgctl1=canobj_read_reg(chip,obj,iMSGCTL1);
}
-
+
/* fill CAN message timestamp */
can_filltimestamp(&obj->rx_msg.timestamp);
canque_filter_msg2edges(obj->qends, &obj->rx_msg);
-
+
if (msgctl1 & NEWD_SET)
continue;
-
+
if (msgctl1 & MLST_SET) {
canobj_write_reg(chip,obj,(RMPD_UNC|TXRQ_UNC|MLST_RES|NEWD_UNC),iMSGCTL1);
CANMSG("i82527_irq_read_handler: object %d message lost\n",objnum);
}
-
+
return;
} while(1);
if ((rtr_search!=NULL) && (rtr_search->id==message_id))
i82527_irq_rtr_handler(chip, obj, rtr_search, message_id);
else
- i82527_irq_read_handler(chip, obj, message_id);
+ i82527_irq_read_handler(chip, obj, message_id);
*/
-static inline
+static inline
void i82527_irq_update_filter(struct canchip_t *chip, struct msgobj_t *obj)
{
struct canfilt_t filt;
i82527_pre_read_config(chip, obj);
- CANMSG("i82527_irq_update_filter: obj at 0x%08lx\n",obj->obj_base_addr);
+ CANMSG("i82527_irq_update_filter: obj at 0x%08lx\n",
+ can_ioptr2ulong(obj->obj_base_addr));
}
}
-void i82527_irq_sync_activities(struct canchip_t *chip, struct msgobj_t *obj)
+int i82527_irq_sync_activities(struct canchip_t *chip, struct msgobj_t *obj)
{
+ int job_done=0;
+
while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)) {
if(can_msgobj_test_and_clear_fl(obj,TX_REQUEST)) {
}
}
+ job_done=1;
+
mb();
can_msgobj_clear_fl(obj,TX_LOCK);
continue;
break;
}
+
+ return job_done;
}
int i82527_irq_handler(int irq, struct canchip_t *chip)
unsigned char msgcfg;
unsigned irq_register;
+ unsigned status_register;
unsigned object;
struct msgobj_t *obj;
int loop_cnt=CHIP_MAX_IRQLOOP;
CANMSG("i82527_irq_register 0x%x\n",irq_register);
return CANCHIP_IRQ_STUCK;
}
-
+
DEBUGMSG("i82527: iIRQ 0x%02x\n",irq_register);
-
+
if (irq_register == 0x01) {
- DEBUGMSG("Status register: 0x%x\n",can_read_reg(chip, iSTAT));
+ status_register=can_read_reg(chip, iSTAT);
+ CANMSG("Status register: 0x%x\n",status_register);
continue;
/*return CANCHIP_IRQ_NONE;*/
}
-
+
if (irq_register == 0x02)
object = 14;
- else if(irq_register < 14)
+ else if(irq_register <= 13+3)
object = irq_register-3;
else
return CANCHIP_IRQ_NONE;
obj=chip->msgobj[object];
-
+
msgcfg = canobj_read_reg(chip,obj,iMSGCFG);
if (msgcfg & MCFG_DIR) {
can_msgobj_set_fl(obj,TX_REQUEST);
-
+
/* calls i82527_irq_write_handler synchronized with other invocations */
- i82527_irq_sync_activities(chip, obj);
+ if(i82527_irq_sync_activities(chip, obj)<=0){
+ /* The interrupt has to be cleared anyway */
+ canobj_write_reg(chip,obj,(MVAL_UNC|TXIE_UNC|RXIE_UNC|INTPD_RES),iMSGCTL0);
+
+ /*
+ * Rerun for case, that parallel activity on SMP or fully-preemptive
+ * kernel result in preparation and finished sending of message
+ * between above if and canobj_write_reg.
+ */
+ i82527_irq_sync_activities(chip, obj);
+ }
}
- else {
+ else {
- i82527_irq_read_handler(chip, obj, object);
+ i82527_irq_read_handler(chip, obj, object);
}
-
+
} while((irq_register=i82527_seg_read_reg(chip, iIRQ)) != 0);
return CANCHIP_IRQ_HANDLED;
canobj_write_reg(chip,obj,(MVAL_RES|TXIE_RES|RXIE_RES|INTPD_RES),iMSGCTL0);
canobj_write_reg(chip,obj,(RMPD_RES|TXRQ_RES|MLST_RES|NEWD_RES),iMSGCTL1);
-
+
can_spin_lock(&hardware_p->rtr_lock);
rtr_search->rtr_message->id=message_id;
rtr_search->rtr_message->length=(canobj_read_reg(chip,obj,iMSGCFG) & 0xf0)>>4;
for (i=0; i<rtr_search->rtr_message->length; i++)
rtr_search->rtr_message->data[i]=canobj_read_reg(chip,obj,iMSGDAT0+i);
-
+
can_spin_unlock(&hardware_p->rtr_lock);
if (waitqueue_active(&rtr_search->rtr_wq))
int i82527_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
{
can_preempt_disable();
-
+
can_msgobj_set_fl(obj,TX_REQUEST);
/* calls i82527_irq_write_handler synchronized with other invocations
int i82527_filtch_rq(struct canchip_t *chip, struct msgobj_t *obj)
{
can_preempt_disable();
-
+
can_msgobj_set_fl(obj,FILTCH_REQUEST);
/* setups filter synchronized with other invocations from kernel and IRQ context */
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