+static void CAN_setBusTiming(struct canchip_t *chip);
+
+//---------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------
+
+
+// board can-lmc1 specific functions:
+
+int can_lmc1_register(struct hwspecops_t *hwspecops){
+
+ hwspecops->request_io = can_lmc1_request_io;
+ hwspecops->reset = can_lmc1_reset;
+ hwspecops->init_hw_data = can_lmc1_init_hw_data;
+ hwspecops->init_chip_data = can_lmc1_init_chip_data;
+ hwspecops->init_obj_data = can_lmc1_init_obj_data;
+ hwspecops->write_register = can_lmc1_write_register;
+ hwspecops->read_register = can_lmc1_read_register;
+ hwspecops->program_irq = can_lmc1_program_irq;
+
+ return 0;
+}
+
+int can_lmc1_init_hw_data(struct candevice_t *candev){
+
+ candev->res_addr=0;
+ candev->nr_82527_chips=0;
+ candev->nr_sja1000_chips=0;
+ candev->nr_all_chips=1;
+ candev->flags = 0;
+
+ return 0;
+}
+
+int can_lmc1_init_chip_data(struct candevice_t *candev, int chipnr){
+
+ // used CAN1 peripherial -> CAN1 registers base
+ candev->chip[chipnr]->chip_base_addr = CAN1_REGS_BASE;
+
+ lpc17xx_fill_chipspecops(candev->chip[chipnr]);
+
+ candev->chip[chipnr]->chip_data=(void *)malloc(sizeof(struct can_lmc1_chip_data));
+ if (candev->chip[chipnr]->chip_data==NULL)
+ return -ENOMEM;
+
+ return 0;
+}
+
+int can_lmc1_init_obj_data(struct canchip_t *chip, int objnr){
+
+ return 0;
+}
+
+void can_lmc1_write_register(unsigned data, unsigned long address){
+ (*(volatile uint32_t*)(address)) = data;
+}
+
+unsigned can_lmc1_read_register(unsigned long address){
+ return (*(volatile uint32_t*)(address));
+}
+
+int can_lmc1_request_io(struct candevice_t *candev)
+{
+ return 0;
+}
+
+int can_lmc1_reset(struct candevice_t *candev)
+{
+ return 0;
+}
+
+int can_lmc1_program_irq(struct candevice_t *candev)
+{
+ return 0;
+}
+
+//---------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------
+
+
+// lpc17xx can chip specific functions:
+
+
+int lpc17xx_chip_config(struct canchip_t *chip){
+
+ CAN_init(chip);
+
+ return 0;
+}
+
+int lpc17xx_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
+ struct canmsg_t *msg)
+{
+
+ CAN_send(chip, msg);
+
+ return 0;
+}
+
+int lpc17xx_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
+ struct canmsg_t *msg)
+{
+
+ // write transmission request
+ can_write_reg(chip, (CAN_CMR_TR | CAN_CMR_STB1), CAN_CMR_o);
+
+ return 0;
+}
+
+int lpc17xx_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
+{
+
+ can_preempt_disable();
+
+ can_msgobj_set_fl(obj,TX_PENDING);
+ 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, CAN_SR_o) & CAN_SR_TBS1){
+ obj->tx_retry_cnt=0;
+ lpc17xx_irq_write_handler(chip, obj);
+ }
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+
+ }
+
+ can_preempt_enable();
+
+ return 0;
+}
+
+int lpc17xx_irq_handler(int irq, struct canchip_t *chip)
+{
+
+ uint32_t i;
+ struct msgobj_t *obj;
+ obj = chip->msgobj[0];
+
+
+ i = can_read_reg(chip, CAN_ICR_o);
+
+ if(i & (CAN_ICR_TI1 | CAN_ICR_RI)){
+
+ if(can_read_reg(chip, CAN_SR_o) & CAN_SR_RBS) {
+ lpc17xx_read(chip,obj);
+ obj->ret = 0;
+ }
+
+
+ if ((can_msgobj_test_fl(obj,TX_PENDING)) || (can_msgobj_test_fl(obj,TX_REQUEST))) {
+
+ can_msgobj_set_fl(obj,TX_REQUEST);
+
+ while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
+
+ obj->ret=0;
+ can_msgobj_clear_fl(obj,TX_REQUEST);
+
+ if (can_read_reg(chip, CAN_SR_o) & CAN_SR_TBS1){
+ obj->tx_retry_cnt=0;
+ lpc17xx_irq_write_handler(chip, obj);
+ }
+
+ can_msgobj_clear_fl(obj,TX_LOCK);
+ if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+
+ }
+ }
+
+ }
+ if(i & CAN_ICR_DOI)
+ can_write_reg(chip, CAN_CMR_CDO, CAN_CMR_o); // clear data overrun
+
+
+ return CANCHIP_IRQ_HANDLED;
+
+}
+
+void lpc17xx_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;
+ }
+
+ can_msgobj_clear_fl(obj,TX_PENDING);
+ cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
+ if(cmd<0)
+ return;
+ can_msgobj_set_fl(obj,TX_PENDING);
+
+ 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;
+ }
+
+}
+
+void lpc17xx_read(struct canchip_t *chip, struct msgobj_t *obj) {
+
+
+ CAN_recv(chip, &obj->rx_msg);
+
+ // fill CAN message timestamp
+ can_filltimestamp(&obj->rx_msg.timestamp);
+
+ canque_filter_msg2edges(obj->qends, &obj->rx_msg);
+
+ // release Receive buffer
+ can_write_reg(chip, CAN_CMR_RRB, CAN_CMR_o);
+
+}
+
+int lpc17xx_fill_chipspecops(struct canchip_t *chip){
+
+ chip->max_objects=1;
+ chip->chip_irq = CAN_IRQn;
+
+ lpc17xx_register(chip->chipspecops);
+
+ return 0;
+}
+
+int lpc17xx_register(struct chipspecops_t *chipspecops){
+
+ CANMSG("initializing lpc17xx can chip operations\n");
+
+ chipspecops->attach_to_chip = lpc17xx_attach_to_chip;
+ chipspecops->pre_read_config = lpc17xx_pre_read_config;
+ chipspecops->chip_config = lpc17xx_chip_config;
+ chipspecops->pre_write_config = lpc17xx_pre_write_config;
+ chipspecops->send_msg = lpc17xx_send_msg;
+ chipspecops->wakeup_tx = lpc17xx_wakeup_tx;
+ chipspecops->irq_handler = lpc17xx_irq_handler;
+
+ return 0;
+
+}
+
+
+int lpc17xx_attach_to_chip(struct canchip_t *chip){
+
+ return 0;
+}
+
+int lpc17xx_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj){
+
+ return 1;
+}
+
+
+
+//---------------------------------------------------------------------------------
+//---------------------------------------------------------------------------------
projects / lincan.git / blobdiff