X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/ccfa700f38edb9878874b78eab35015e29e1d7a4..1fd6ebf194739bee96aa5696cdd24622ef658130:/lincan/src/unican.c

diff --git a/lincan/src/unican.c b/lincan/src/unican.c
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+/* unican.c
+ * Linux CAN-bus device driver.
+ * Written for new CAN driver version 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 "../include/can.h"
+#include "../include/can_sysdep.h"
+#include "../include/main.h"
+#include "../include/unican_cl2.h"
+
+
+long unican_bus_latency(struct msgobj_t *obj)
+{
+	long latency;
+	latency=obj->hostchip->baudrate;
+	if(latency){
+		latency=(long)HZ*1000/latency;
+	}
+	return latency;
+}
+
+
+/* * * unican Chip Functionality * * */
+
+int unican_enable_configuration(struct chip_t *chip)
+{
+	return 0;
+}
+
+int unican_disable_configuration(struct chip_t *chip)
+{
+	return 0;
+}
+
+/**
+ * unican_chip_config: - can chip configuration
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/unican.c
+ */
+int unican_chip_config(struct chip_t *chip)
+{
+	return 0;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_extended_mask(struct chip_t *chip, unsigned long code, unsigned  long mask)
+{
+	return 0;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_baud_rate(struct chip_t *chip, int rate, int clock, int sjw,
+							int sampl_pt, int flags)
+{
+	return 0;
+}
+
+/**
+ * unican_read: - reads and distributes one or more received messages
+ * @chip: pointer to chip state structure
+ * @obj: pinter to CAN message queue information
+ *
+ * File: src/unican.c
+ */
+void unican_read(struct chip_t *chip, struct msgobj_t *obj) {
+
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_pre_read_config(struct chip_t *chip, struct msgobj_t *obj)
+{
+	return 0;
+}
+
+#define MAX_TRANSMIT_WAIT_LOOPS 10
+/**
+ * unican_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
+ *
+ * Return Value: negative value reports error.
+ * File: src/unican.c
+ */
+int unican_pre_write_config(struct chip_t *chip, struct msgobj_t *obj, 
+							struct canmsg_t *msg)
+{
+	return 0;
+}
+
+/**
+ * unican_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 unican_pre_write_config() function,
+ * which prepares data in chip buffer.
+ * Return Value: negative value reports error.
+ * File: src/unican.c
+ */
+int unican_send_msg(struct chip_t *chip, struct msgobj_t *obj, 
+							struct canmsg_t *msg)
+{
+	return 0;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_check_tx_stat(struct chip_t *chip)
+{
+	return 0;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_set_btregs(struct chip_t *chip, unsigned short btr0, 
+							unsigned short btr1)
+{
+	return 0;
+}
+
+/**
+ * unican_stop_chip: -  starts chip message processing
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/unican.c
+ */
+int unican_start_chip(struct chip_t *chip)
+{
+	return 0;
+}
+
+/**
+ * unican_stop_chip: -  stops chip message processing
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/unican.c
+ */
+int unican_stop_chip(struct chip_t *chip)
+{
+	return 0;
+}
+
+
+/**
+ * unican_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/unican.c
+ */
+int unican_remote_request(struct chip_t *chip, struct msgobj_t *obj)
+{
+	CANMSG("unican_remote_request not implemented\n");
+	return -ENOSYS;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_standard_mask(struct chip_t *chip, unsigned short code,
+		unsigned short mask)
+{
+	CANMSG("unican_standard_mask not implemented\n");
+	return -ENOSYS;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_clear_objects(struct chip_t *chip)
+{
+	CANMSG("unican_clear_objects not implemented\n");
+	return -ENOSYS;
+}
+
+/**
+ * unican_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/unican.c
+ */
+int unican_config_irqs(struct chip_t *chip, short irqs)
+{
+	CANMSG("unican_config_irqs not implemented\n");
+	return -ENOSYS;
+}
+
+/**
+ * unican_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
+ * unican_irq_write_handler() for transmit events.
+ * File: src/unican.c
+ */
+void unican_irq_write_handler(struct chip_t *chip, struct msgobj_t *obj)
+{
+
+}
+
+#define MAX_RETR 10
+
+/**
+ * unican_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/unican.c
+ */
+can_irqreturn_t unican_irq_handler(int irq, void *dev_id, struct pt_regs *regs)
+{
+	return CAN_IRQ_HANDLED;
+}
+
+
+void unican_schedule_next(struct msgobj_t *obj)
+{
+	int cmd;
+
+	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);
+		
+		cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
+		if(cmd>=0) {
+			mod_timer(&obj->tx_timeout,
+				jiffies+unican_bus_latency(obj));
+			DEBUGMSG("unican: scheduled delivery\n");
+
+		} else		
+			can_msgobj_clear_fl(obj,TX_LOCK);
+		
+		if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+		DEBUGMSG("TX looping in unican_schedule_next\n");
+	}
+
+	can_preempt_enable();
+}
+
+
+void unican_do_tx_timeout(unsigned long data)
+{
+	struct msgobj_t *obj=(struct msgobj_t *)data;
+	
+	if(obj->tx_slot) {
+		/* Deliver message to edges */
+		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;
+		DEBUGMSG("unican: delayed delivery\n");
+	}
+	can_msgobj_clear_fl(obj,TX_LOCK);
+
+	unican_schedule_next(obj);
+}
+
+/**
+ * unican_wakeup_tx: - wakeups TX processing
+ * @chip: pointer to chip state structure
+ * @obj: pointer to message object structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/unican.c
+ */
+int unican_wakeup_tx(struct chip_t *chip, struct msgobj_t *obj)
+{
+	/* can_msgobj_set_fl(obj,TX_REQUEST); */
+	
+	struct canque_edge_t *qedge;
+	struct canque_slot_t *slot;
+	int cmd;
+
+	can_msgobj_clear_fl(obj,TX_REQUEST);
+
+    #ifndef CAN_WITH_RTL
+	if(!unican_bus_latency(obj)) {
+    #endif /*CAN_WITH_RTL*/
+		/* Ensure delivery of all ready slots */
+		while((cmd=canque_test_outslot(obj->qends, &qedge, &slot)) >= 0){
+			if(cmd==0) {
+				canque_filter_msg2edges(obj->qends, &slot->msg);
+				DEBUGMSG("unican: direct delivery\n");
+			}
+			canque_free_outslot(obj->qends, qedge, slot);
+		}
+    #ifndef CAN_WITH_RTL
+	} else {
+		unican_schedule_next(obj);
+	}
+    #endif /*CAN_WITH_RTL*/
+
+	return 0;
+}
+
+
+/* * * unican Board Functionality * * */
+
+/**
+ * unican_request_io: - reserve io or memory range for can board
+ * @candev: pointer to candevice/board which asks for io. Field @io_addr
+ *	of @candev is used in most cases to define start of the range
+ *
+ * Return Value: The function returns zero on success or %-ENODEV on failure
+ * File: src/unican.c
+ */
+int unican_request_io(struct candevice_t *candev)
+{
+	return 0;
+}
+
+/**
+ * unican_elease_io - free reserved io memory range
+ * @candev: pointer to candevice/board which releases io
+ *
+ * Return Value: The function always returns zero
+ * File: src/unican.c
+ */
+int unican_release_io(struct candevice_t *candev)
+{
+	return 0;
+}
+
+/**
+ * unican_reset - hardware reset routine
+ * @candev: Pointer to candevice/board structure
+ *
+ * Return Value: The function returns zero on success or %-ENODEV on failure
+ * File: src/unican.c
+ */
+int unican_reset(struct candevice_t *candev)
+{
+	return 0;
+}
+
+/**
+ * unican_init_hw_data - Initialize hardware cards
+ * @candev: Pointer to candevice/board structure
+ *
+ * Return Value: The function always returns zero
+ * File: src/unican.c
+ */
+int unican_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 |= CANDEV_PROGRAMMABLE_IRQ*0;
+
+	return 0;
+}
+
+#define CHIP_TYPE "unican"
+
+/**
+ * unican_init_chip_data - Initialize chips
+ * @candev: Pointer to candevice/board structure
+ * @chipnr: Number of the CAN chip on the hardware card
+ *
+ * Return Value: The function always returns zero
+ * File: src/unican.c
+ */
+int unican_init_chip_data(struct candevice_t *candev, int chipnr)
+{
+	struct chip_t *chip = candev->chip[chipnr];
+	chip->chip_type = CHIP_TYPE;
+	chip->chip_base_addr = 0;
+	chip->clock = 10000000;
+	chip->int_clk_reg = 0x0;
+	chip->int_bus_reg = 0x0;
+	chip->max_objects = 1;
+
+	CANMSG("initializing unican chip operations\n");
+	chip->chipspecops->chip_config=unican_chip_config;
+	chip->chipspecops->baud_rate=unican_baud_rate;
+	chip->chipspecops->standard_mask=unican_standard_mask;
+	chip->chipspecops->extended_mask=unican_extended_mask;
+	chip->chipspecops->message15_mask=unican_extended_mask;
+	chip->chipspecops->clear_objects=unican_clear_objects;
+	chip->chipspecops->config_irqs=unican_config_irqs;
+	chip->chipspecops->pre_read_config=unican_pre_read_config;
+	chip->chipspecops->pre_write_config=unican_pre_write_config;
+	chip->chipspecops->send_msg=unican_send_msg;
+	chip->chipspecops->check_tx_stat=unican_check_tx_stat;
+	chip->chipspecops->wakeup_tx=unican_wakeup_tx;
+	chip->chipspecops->remote_request=unican_remote_request;
+	chip->chipspecops->enable_configuration=unican_enable_configuration;
+	chip->chipspecops->disable_configuration=unican_disable_configuration;
+	chip->chipspecops->set_btregs=unican_set_btregs;
+	chip->chipspecops->start_chip=unican_start_chip;
+	chip->chipspecops->stop_chip=unican_stop_chip;
+	chip->chipspecops->irq_handler=NULL;
+
+	return 0;
+}
+
+/**
+ * unican_init_obj_data - Initialize message buffers
+ * @chip: Pointer to chip specific structure
+ * @objnr: Number of the message buffer
+ *
+ * Return Value: The function always returns zero
+ * File: src/unican.c
+ */
+int unican_init_obj_data(struct chip_t *chip, int objnr)
+{
+	struct msgobj_t *obj=chip->msgobj[objnr];
+	obj->obj_base_addr=chip->chip_base_addr;
+	obj->tx_timeout.function=unican_do_tx_timeout;
+	obj->tx_timeout.data=(unsigned long)obj;
+	return 0;
+}
+
+/**
+ * unican_program_irq - program interrupts
+ * @candev: Pointer to candevice/board structure
+ *
+ * Return value: The function returns zero on success or %-ENODEV on failure
+ * File: src/unican.c
+ */
+int unican_program_irq(struct candevice_t *candev)
+{
+	return 0;
+}
+
+int unican_register(struct hwspecops_t *hwspecops)
+{
+	hwspecops->request_io = unican_request_io;
+	hwspecops->release_io = unican_release_io;
+	hwspecops->reset = unican_reset;
+	hwspecops->init_hw_data = unican_init_hw_data;
+	hwspecops->init_chip_data = unican_init_chip_data;
+	hwspecops->init_obj_data = unican_init_obj_data;
+	hwspecops->write_register = NULL;
+	hwspecops->read_register = NULL;
+	hwspecops->program_irq = unican_program_irq;
+	return 0;
+}