X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/786c7d54e8d820e89997e507c29ea716c0d55fd9..bfac169862856611eeb16af24c8943f005f88e12:/lincan/src/sja1000p.c diff --git a/lincan/src/sja1000p.c b/lincan/src/sja1000p.c index deb1c89..57b33c8 100644 --- a/lincan/src/sja1000p.c +++ b/lincan/src/sja1000p.c @@ -1,34 +1,29 @@ /* 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 -#if defined (CONFIG_MODVERSIONS) && !defined (MODVERSIONS) -#define MODVERSIONS -#endif - -#if defined (MODVERSIONS) -#include -#endif - -#include -#include -#include - +#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); @@ -42,13 +37,17 @@ int sja1000p_enable_configuration(struct chip_t *chip) } 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; @@ -70,13 +69,28 @@ int sja1000p_disable_configuration(struct chip_t *chip) 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; @@ -84,13 +98,27 @@ 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; - 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 */ @@ -101,6 +129,15 @@ int sja1000p_chip_config(struct chip_t *chip) 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; @@ -124,12 +161,17 @@ int sja1000p_extended_mask(struct chip_t *chip, unsigned long code, unsigned lo 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) @@ -191,42 +233,56 @@ int sja1000p_baud_rate(struct chip_t *chip, int rate, int clock, int sjw, 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; @@ -247,18 +303,32 @@ int sja1000p_pre_read_config(struct chip_t *chip, struct msgobj_t *obj) } 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) && @@ -292,10 +362,11 @@ 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); @@ -305,20 +376,31 @@ 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); } } 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) { @@ -327,6 +409,15 @@ int sja1000p_send_msg(struct chip_t *chip, struct msgobj_t *obj, 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) @@ -335,6 +426,15 @@ int sja1000p_check_tx_stat(struct chip_t *chip) 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) { @@ -349,6 +449,13 @@ int sja1000p_set_btregs(struct chip_t *chip, unsigned short btr0, 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; @@ -359,6 +466,13 @@ int sja1000p_start_chip(struct chip_t *chip) 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; @@ -370,12 +484,29 @@ int sja1000p_stop_chip(struct chip_t *chip) } +/** + * 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) { @@ -383,58 +514,102 @@ int sja1000p_standard_mask(struct chip_t *chip, unsigned short code, 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); @@ -442,23 +617,32 @@ void sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs) // 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 @@ -468,30 +652,66 @@ void sja1000p_irq_handler(int irq, void *dev_id, struct pt_regs *regs) 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) @@ -508,6 +728,7 @@ 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;