X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/7eca1ac39aa9f2a65ba0607d55f7155f5a56ad15..e8a319104a2ef2df5b920950a15b1e39bfe3fad0:/lincan/src/c_can.c

diff --git a/lincan/src/c_can.c b/lincan/src/c_can.c
index e51181b..2add428 100644
--- a/lincan/src/c_can.c
+++ b/lincan/src/c_can.c
@@ -466,7 +466,7 @@ int c_can_config_irqs(struct canchip_t *pchip,
    DEBUGMSG("(c%d)calling c_can_config_irqs(...)\n", pchip->chip_idx);
 
    tempreg = c_can_read_reg_w(pchip, CCCR);
-   //DEBUGMSG("-> CAN Control Register: 0x%.4lx\n",(long)tempreg);
+   DEBUGMSG("-> CAN Control Register: 0x%4lx\n",(long)tempreg);
    c_can_write_reg_w(pchip, tempreg | (irqs & 0xe), CCCR);
    DEBUGMSG("-> Configured hardware interrupt delivery\n");
    return 0;
@@ -484,21 +484,30 @@ int c_can_pre_read_config(struct canchip_t *pchip, struct msgobj_t *pmsgobj)
 
    spin_lock( &c_can_if1lock );
 
-
+   if (c_can_if1_busycheck(pmsgobj->hostchip))
+	goto error_enodev;
+   
    //loading Message Object in IF1
-   if (c_can_if1_busycheck(pmsgobj->hostchip)) return -ENODEV;
    c_can_write_reg_w(pmsgobj->hostchip, readMaskCM, CCIF1CM);
    c_can_write_reg_w(pmsgobj->hostchip, pmsgobj->object, CCIF1CR);
+
+   if (c_can_if1_busycheck(pmsgobj->hostchip))
+	goto error_enodev;
+
    //setting Message Valid Bit to zero
-   if (c_can_if1_busycheck(pmsgobj->hostchip)) return -ENODEV;
    c_can_write_reg_w(pmsgobj->hostchip, 0, CCIF1A2);
    c_can_write_reg_w(pmsgobj->hostchip, writeMaskCM, CCIF1CM);
    c_can_write_reg_w(pmsgobj->hostchip, pmsgobj->object, CCIF1CR);
+
+   /* Only access when the C_CAN controller is idle */
+   if (c_can_if1_busycheck(pmsgobj->hostchip))
+	goto error_enodev;
+
    //Configuring Message-Object
-   if (c_can_if1_busycheck(pmsgobj->hostchip)) return -ENODEV;
-   mcreg = c_can_read_reg_w(pmsgobj->hostchip, CCIF1CM);
+   mcreg = c_can_read_reg_w(pmsgobj->hostchip, CCIF1DMC);
    c_can_write_reg_w(pmsgobj->hostchip, 
                      ((mcreg & IFXMC_UMASK) | IFXMC_EOB | IFXMC_RXIE), CCIF1DMC);
+
    //writing arbitration mask for extended or standart mode
    if (can_msgobj_test_fl(pmsgobj,RX_MODE_EXT))
      {
@@ -524,6 +533,12 @@ int c_can_pre_read_config(struct canchip_t *pchip, struct msgobj_t *pmsgobj)
 #endif
 
    return 0;
+
+error_enodev:
+   CANMSG("Timeout in c_can_if1_busycheck\n");
+   spin_unlock(&c_can_if1lock);
+   return -ENODEV;
+
 }
 
 ///////////////////////////////////////////////////////////////////////
@@ -736,6 +751,29 @@ int c_can_stop_chip(struct canchip_t *pchip)
    return 0;
 }
 
+int c_can_attach_to_chip(struct canchip_t *chip)
+{
+	return 0;
+}
+
+int c_can_release_chip(struct canchip_t *chip)
+{
+	int temp;
+
+	temp = c_can_read_reg_w(chip, CCCR);
+
+	/* Disable IRQ generation */
+	c_can_config_irqs(chip, 0);
+
+	temp = c_can_read_reg_w(chip, CCCR);
+
+	/* Power-down C_CAN, except this does nothing in the version 1.2 */
+	c_can_stop_chip(chip);
+
+
+	return 0;
+}
+
 ///////////////////////////////////////////////////////////////////////
 /*
  *Check the TxOK bit of the Status Register and resets it afterwards.
@@ -932,6 +970,8 @@ int c_can_register(struct chipspecops_t *chipspecops)
 	chipspecops->remote_request=c_can_remote_request;
 	chipspecops->enable_configuration=c_can_enable_configuration;
 	chipspecops->disable_configuration=c_can_disable_configuration;
+	chipspecops->attach_to_chip=c_can_attach_to_chip;
+	chipspecops->release_chip=c_can_release_chip;
 	chipspecops->set_btregs=c_can_set_btregs;
 	chipspecops->start_chip=c_can_start_chip;
 	chipspecops->stop_chip=c_can_stop_chip;