X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/11132ea490f9e860744ee4f851c67e7fb4444231..94b8e4f0425cebad0a186daf054168fa6910f9b8:/lincan/src/sja1000.c

diff --git a/lincan/src/sja1000.c b/lincan/src/sja1000.c
index bca1fec..9211511 100644
--- a/lincan/src/sja1000.c
+++ b/lincan/src/sja1000.c
@@ -7,12 +7,8 @@
  * Version lincan-0.2  9 Jul 2003
  */
 
-#include <linux/autoconf.h>
-
-#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/sja1000.h"
 
@@ -79,9 +75,9 @@ int sja1000_chip_config(struct chip_t *chip)
 	if (sja1000_standard_mask(chip,0x0000, 0xffff))
 		return -ENODEV;
 	
-	if (!baudrate)
-		baudrate=1000;
-	if (sja1000_baud_rate(chip,1000*baudrate,chip->clock,0,75,0))
+	if (!chip->baudrate)
+		chip->baudrate=1000000;
+	if (sja1000_baud_rate(chip,chip->baudrate,chip->clock,0,75,0))
 		return -ENODEV;
 
 	/* Enable hardware interrupts */
@@ -222,6 +218,7 @@ int sja1000_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
 							struct canmsg_t *msg)
 {
 	int i=0, id=0;
+	int len;
 
 	sja1000_start_chip(chip); //sja1000 goes automatically into reset mode on errors
 
@@ -236,7 +233,7 @@ int sja1000_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
 		can_write_reg(chip, CMR_AT, SJACMR);
 		i=0;
 		while ( !(can_read_reg(chip, SJASR) & SR_TBS) &&
-						i++<MAX_TRANSMIT_WAIT_LOOPS) {
+				i++<MAX_TRANSMIT_WAIT_LOOPS) {
 			udelay(i);
 		}
 		if (!(can_read_reg(chip, SJASR) & SR_TBS)) {
@@ -245,12 +242,14 @@ int sja1000_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
 		}
 	}
 
-	id = (msg->id<<5) | ((msg->flags&MSG_RTR)?ID0_RTR:0) | msg->length;
+	len = msg->length;
+	if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+	id = (msg->id<<5) | ((msg->flags&MSG_RTR)?ID0_RTR:0) | len;
 
 	can_write_reg(chip, id>>8, SJATXID1);
 	can_write_reg(chip, id & 0xff , SJATXID0);
 
-	for (i=0; i<msg->length; i++)
+	for (i=0; i<len; i++)
 		can_write_reg(chip, msg->data[i], SJATXDAT0+i);
 
 	return 0;
@@ -382,17 +381,18 @@ irqreturn_t sja1000_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
 
 void sja1000_irq_read_handler(struct chip_t *chip, struct msgobj_t *obj)
 {
-	int i=0, id=0;
+	int i=0, id=0, len;
 
 	do {
 		id = can_read_reg(chip, SJARXID0) | (can_read_reg(chip, SJARXID1)<<8);
-		obj->rx_msg.length = id & 0x0f;
+		obj->rx_msg.length = len = id & 0x0f;
 		obj->rx_msg.flags = id&ID0_RTR ? MSG_RTR : 0;
 		obj->rx_msg.timestamp = 0;
 		obj->rx_msg.cob = 0;
 		obj->rx_msg.id = id>>5;
 
-		for (i=0; i<obj->rx_msg.length; i++)
+		if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+		for (i=0; i<len; i++)
 			obj->rx_msg.data[i]=can_read_reg(chip, SJARXDAT0 + i);
 
 		can_write_reg(chip, CMR_RRB, SJACMR);
@@ -406,6 +406,12 @@ void sja1000_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
 	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;
 	}