X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/3e5b474f9cd113def3be02af0cf6d5401a7427c9..659b098309c2bca57ac60a35a1b9900d6f28e74d:/lincan/src/sja1000p.c

diff --git a/lincan/src/sja1000p.c b/lincan/src/sja1000p.c
index ef587dd..b71b5a0 100644
--- a/lincan/src/sja1000p.c
+++ b/lincan/src/sja1000p.c
@@ -92,6 +92,9 @@ int sja1000p_disable_configuration(struct chip_t *chip)
  */
 int sja1000p_chip_config(struct chip_t *chip)
 {
+	int i;
+	unsigned char n, r;
+	
 	if (sja1000p_enable_configuration(chip))
 		return -ENODEV;
 
@@ -99,6 +102,20 @@ int sja1000p_chip_config(struct chip_t *chip)
 	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;
@@ -248,10 +265,11 @@ void sja1000p_read(struct chip_t *chip, struct msgobj_t *obj) {
 			((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++) {
 			obj->rx_msg.data[i]=can_read_reg(chip,datastart+i);
 		}
-		obj->rx_msg.length = len;
 
 		canque_filter_msg2edges(obj->qends, &obj->rx_msg);
 
@@ -314,6 +332,7 @@ int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
 	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) && 
@@ -347,10 +366,11 @@ int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
 			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);
@@ -360,14 +380,14 @@ int sja1000p_pre_write_config(struct chip_t *chip, struct msgobj_t *obj,
 		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);
 		}
 	}
@@ -541,6 +561,12 @@ void sja1000p_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;
 	}
@@ -586,7 +612,6 @@ void sja1000p_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
 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 msgobj_t *obj=chip->msgobj[0];
 
@@ -637,9 +662,9 @@ irqreturn_t sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
 			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");
@@ -653,7 +678,7 @@ irqreturn_t sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
 		}
 
 	} else {
-		retransmitted=0;
+		obj->tx_retry_cnt=0;
 	}
 
 	return IRQ_HANDLED;
@@ -680,8 +705,10 @@ int sja1000p_wakeup_tx(struct chip_t *chip, struct msgobj_t *obj)
 	while(!test_and_set_bit(OBJ_TX_LOCK,&obj->flags)){
 		clear_bit(OBJ_TX_REQUEST,&obj->flags);
 
-		if (can_read_reg(chip, SJASR) & SR_TBS)
+		if (can_read_reg(chip, SJASR) & SR_TBS){
+			obj->tx_retry_cnt=0;
 			sja1000p_irq_write_handler(chip, obj);
+		}
 	
 		clear_bit(OBJ_TX_LOCK,&obj->flags);
 		if(!test_bit(OBJ_TX_REQUEST,&obj->flags)) break;