X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/f2fcdbb5f9333a58a08f56daaca8cad7e5a95699..ce073e28de97760024a221efb3dcd799a0b98969:/lincan/include/main.h diff --git a/lincan/include/main.h b/lincan/include/main.h index c6a0741..2893ef7 100644 --- a/lincan/include/main.h +++ b/lincan/include/main.h @@ -7,49 +7,74 @@ * Version lincan-0.2 9 Jul 2003 */ -#include -#include -#include -#include -#include #include "./can.h" #include "./constants.h" +#include "./can_sysdep.h" #include "./can_queue.h" +#include "lincan_config.h" + +#ifdef CONFIG_OC_LINCANVME +#define CAN_ENABLE_VME_SUPPORT +#endif #ifdef CAN_DEBUG - #define DEBUGMSG(fmt,args...) printk(KERN_ERR "can.o (debug): " fmt,\ + #define DEBUGMSG(fmt,args...) can_printk(KERN_ERR "can.o (debug): " fmt,\ ##args) #else #define DEBUGMSG(fmt,args...) #endif -#define CANMSG(fmt,args...) printk(KERN_ERR "can.o: " fmt,##args) - -#if (LINUX_VERSION_CODE < KERNEL_VERSION(2,5,7)) - -#define MINOR_NR \ - (MINOR(file->f_dentry->d_inode->i_rdev)) +#define CANMSG(fmt,args...) can_printk(KERN_ERR "can.o: " fmt,##args) -#else /* Linux kernel > 2.5.7 */ -#define MINOR_NR \ - (minor(file->f_dentry->d_inode->i_rdev)) -#endif /* Linux kernel > 2.5.7 */ - -#if ((LINUX_VERSION_CODE < KERNEL_VERSION(2,5,68)) && !defined(IRQ_RETVAL)) - typedef void irqreturn_t; - #define IRQ_NONE - #define IRQ_HANDLED - #define IRQ_RETVAL(x) -#endif /* <=2.5.67 */ +extern can_spinlock_t canuser_manipulation_lock; +/** + * struct canhardware_t - structure representing pointers to all CAN boards + * @nr_boards: number of present boards + * @rtr_queue: RTR - remote transmission request queue (expect some changes there) + * @rtr_lock: locking for RTR queue + * @candevice: array of pointers to CAN devices/boards + */ struct canhardware_t { int nr_boards; struct rtr_id *rtr_queue; - spinlock_t rtr_lock; + can_spinlock_t rtr_lock; struct candevice_t *candevice[MAX_HW_CARDS]; }; +/** + * struct candevice_t - CAN device/board structure + * @hwname: text string with board type + * @candev_idx: board index in canhardware_t.candevice[] + * @io_addr: IO/physical MEM address + * @res_addr: optional reset register port + * @dev_base_addr: CPU translated IO/virtual MEM address + * @flags: board flags: %PROGRAMMABLE_IRQ .. interrupt number + * can be programmed into board + * @nr_all_chips: number of chips present on the board + * @nr_82527_chips: number of Intel 8257 chips + * @nr_sja1000_chips: number of Philips SJA100 chips + * @chip: array of pointers to the chip structures + * @hwspecops: pointer to board specific operations + * @hosthardware_p: pointer to the root hardware structure + * @sysdevptr: union reserved for pointer to bus specific + * device structure (case @pcidev is used for PCI devices) + * + * The structure represent configuration and state of associated board. + * The driver infrastructure prepares this structure and calls + * board type specific board_register() function. The board support provided + * register function fills right function pointers in @hwspecops structure. + * Then driver setup calls functions init_hw_data(), init_chip_data(), + * init_chip_data(), init_obj_data() and program_irq(). Function init_hw_data() + * and init_chip_data() have to specify number and types of connected chips + * or objects respectively. + * The use of @nr_all_chips is preferred over use of fields @nr_82527_chips + * and @nr_sja1000_chips in the board non-specific functions. + * The @io_addr and @dev_base_addr is filled from module parameters + * to the same value. The request_io function can fix-up @dev_base_addr + * field if virtual address is different than bus address. + */ struct candevice_t { char *hwname; /* text board type */ int candev_idx; /* board index in canhardware_t.candevice[] */ @@ -57,10 +82,6 @@ struct candevice_t { unsigned long res_addr; /* optional seset register port */ unsigned long dev_base_addr; /* CPU translated IO/virtual MEM address */ unsigned int flags; - - /* Hardware chip configuration. In case of multiple chips *chip - * is the first in an array of chip_t structures. - */ int nr_all_chips; int nr_82527_chips; int nr_sja1000_chips; @@ -69,50 +90,89 @@ struct candevice_t { struct hwspecops_t *hwspecops; struct canhardware_t *hosthardware_p; + + union { + void *anydev; + #ifdef CAN_ENABLE_PCI_SUPPORT + struct pci_dev *pcidev; + #endif /*CAN_ENABLE_PCI_SUPPORT*/ + } sysdevptr; + }; +/** + * struct chip_t - CAN chip state and type information + * @chip_type: text string describing chip type + * @chip_idx: index of the chip in candevice_t.chip[] array + * @chip_irq: chip interrupt number if any + * @chip_base_addr: chip base address in the CPU IO or virtual memory space + * @flags: chip flags: %CHIP_CONFIGURED .. chip is configured, + * %CHIP_SEGMENTED .. access to the chip is segmented (mainly for i82527 chips) + * @clock: chip base clock frequency in Hz + * @baudrate: selected chip baudrate in Hz + * @write_register: write chip register function copy + * @read_register: read chip register function copy + * @chip_data: pointer for optional chip specific data extension + * @sja_cdr_reg: SJA specific register - + * holds hardware specific options for the Clock Divider + * register. Options defined in the sja1000.h file: + * %CDR_CLKOUT_MASK, %CDR_CLK_OFF, %CDR_RXINPEN, %CDR_CBP, %CDR_PELICAN + * @sja_ocr_reg: SJA specific register - + * hold hardware specific options for the Output Control + * register. Options defined in the sja1000.h file: + * %OCR_MODE_BIPHASE, %OCR_MODE_TEST, %OCR_MODE_NORMAL, %OCR_MODE_CLOCK, + * %OCR_TX0_LH, %OCR_TX1_ZZ. + * @int_cpu_reg: Intel specific register - + * holds hardware specific options for the CPU Interface + * register. Options defined in the i82527.h file: + * %iCPU_CEN, %iCPU_MUX, %iCPU_SLP, %iCPU_PWD, %iCPU_DMC, %iCPU_DSC, %iCPU_RST. + * @int_clk_reg: Intel specific register - + * holds hardware specific options for the Clock Out + * register. Options defined in the i82527.h file: + * %iCLK_CD0, %iCLK_CD1, %iCLK_CD2, %iCLK_CD3, %iCLK_SL0, %iCLK_SL1. + * @int_bus_reg: Intel specific register - + * holds hardware specific options for the Bus Configuration + * register. Options defined in the i82527.h file: + * %iBUS_DR0, %iBUS_DR1, %iBUS_DT1, %iBUS_POL, %iBUS_CBY. + * @msgobj: array of pointers to individual communication objects + * @chipspecops: pointer to the set of chip specific object filled by init_chip_data() function + * @hostdevice: pointer to chip hosting board + * @max_objects: maximal number of communication objects connected to this chip + * @chip_lock: reserved for synchronization of the chip supporting routines + * (not used in the current driver version) + * @worker_thread: chip worker thread ID (RT-Linux specific field) + * @pend_flags: holds information about pending interrupt and tx_wake() operations + * (RT-Linux specific field). Masks values: + * %MSGOBJ_TX_REQUEST .. some of the message objects requires tx_wake() call, + * %MSGOBJ_IRQ_REQUEST .. chip interrupt processing required + * %MSGOBJ_WORKER_WAKE .. marks, that worker thread should be waked + * for some of above reasons + * + * The fields @write_register and @read_register are copied from + * corresponding fields from @hwspecops structure + * (chip->hostdevice->hwspecops->write_register and + * chip->hostdevice->hwspecops->read_register) + * to speedup can_write_reg() and can_read_reg() functions. + */ struct chip_t { char *chip_type; int chip_idx; /* chip index in candevice_t.chip[] */ int chip_irq; unsigned long chip_base_addr; unsigned int flags; - int clock; // Chip clock in Hz + long clock; /* Chip clock in Hz */ + long baudrate; - /* This is copy of the chip->hostdevice->hwspecops->read_register - * and the chip->hostdevice->hwspecops->write_register. - * The pointers were added for performance reasons, and are initialized - * by init_chip_struct() from values given by hardware specific init_hwspecops(). - */ void (*write_register)(unsigned char data,unsigned long address); unsigned (*read_register)(unsigned long address); - - /* sja_cdr_reg holds hardware specific options for the Clock Divider - * register. Options defined in the sja1000.h file: - * CDR_CLKOUT_MASK, CDR_CLK_OFF, CDR_RXINPEN, CDR_CBP, CDR_PELICAN - * - * sja_ocr_reg holds hardware specific options for the Output Control - * register. Options defined in the sja1000.h file: - * OCR_MODE_BIPHASE, OCR_MODE_TEST, OCR_MODE_NORMAL, OCR_MODE_CLOCK, - * OCR_TX0_LH, OCR_TX1_ZZ. - * - * int_clk_reg holds hardware specific options for the Clock Out - * register. Options defined in the i82527.h file: - * iCLK_CD0, iCLK_CD1, iCLK_CD2, iCLK_CD3, iCLK_SL0, iCLK_SL1. - * - * int_bus_reg holds hardware specific options for the Bus Configuration - * register. Options defined in the i82527.h file: - * iBUS_DR0, iBUS_DR1, iBUS_DT1, iBUS_POL, iBUS_CBY. - * - * int_cpu_reg holds hardware specific options for the CPU Interface - * register. Options defined in the i82527.h file: - * iCPU_CEN, iCPU_MUX, iCPU_SLP, iCPU_PWD, iCPU_DMC, iCPU_DSC, iCPU_RST. - */ - unsigned short sja_cdr_reg; // sja1000 only! - unsigned short sja_ocr_reg; // sja1000 only! - unsigned short int_cpu_reg; // intel 82527 only! - unsigned short int_clk_reg; // intel 82527 only! - unsigned short int_bus_reg; // intel 82527 only! + + void *chip_data; + + unsigned short sja_cdr_reg; /* sja1000 only! */ + unsigned short sja_ocr_reg; /* sja1000 only! */ + unsigned short int_cpu_reg; /* intel 82527 only! */ + unsigned short int_clk_reg; /* intel 82527 only! */ + unsigned short int_bus_reg; /* intel 82527 only! */ struct msgobj_t *msgobj[MAX_MSGOBJS]; @@ -120,19 +180,55 @@ struct chip_t { struct candevice_t *hostdevice; - int max_objects; /* 1 for sja1000, 15 for */ + int max_objects; /* 1 for sja1000, 15 for i82527 */ + + can_spinlock_t chip_lock; + + #ifdef CAN_WITH_RTL + pthread_t worker_thread; + unsigned long pend_flags; + #endif /*CAN_WITH_RTL*/ }; +/** + * struct msgobj_t - structure holding communication object state + * @obj_base_addr: + * @minor: associated device minor number + * @object: object number in chip_t structure +1 + * @flags: message object flags + * @ret: field holding status of the last Tx operation + * @qends: pointer to message object corresponding ends structure + * @tx_qedge: edge corresponding to transmitted message + * @tx_slot: slot holding transmitted message, slot is taken from + * canque_test_outslot() call and is freed by canque_free_outslot() + * or rescheduled canque_again_outslot() + * @tx_retry_cnt: transmission attempt counter + * @tx_timeout: can be used by chip driver to check for the transmission timeout + * @rx_msg: temporary storage to hold received messages before + * calling to canque_filter_msg2edges() + * @hostchip: pointer to the &chip_t structure this object belongs to + * @obj_used: counter of users (associated file structures for Linux + * userspace clients) of this object + * @obj_users: list of user structures of type &canuser_t. + * @obj_flags: message object specific flags. Masks values: + * %MSGOBJ_TX_REQUEST .. the message object requests TX activation + * %MSGOBJ_TX_LOCK .. some IRQ routine or callback on some CPU + * is running inside TX activation processing code + */ struct msgobj_t { unsigned long obj_base_addr; unsigned int minor; /* associated device minor number */ unsigned int object; /* object number in chip_t +1 for debug printk */ - unsigned long flags; + unsigned long obj_flags; int ret; struct canque_ends_t *qends; + struct canque_edge_t *tx_qedge; struct canque_slot_t *tx_slot; + int tx_retry_cnt; + struct timer_list tx_timeout; + struct canmsg_t rx_msg; struct chip_t *hostchip; @@ -143,15 +239,57 @@ struct msgobj_t { #define CAN_USER_MAGIC 0x05402033 +/** + * struct canuser_t - structure holding CAN user/client state + * @flags: used to distinguish Linux/RT-Linux type + * @peers: for connection into list of object users + * @qends: pointer to the ends structure corresponding for this user + * @msgobj: communication object the user is connected to + * @rx_edge0: default receive queue for filter IOCTL + * @userinfo: stores user context specific information. + * The field @fileinfo.file holds pointer to open device file state structure + * for the Linux user-space client applications + * @magic: magic number to check consistency when pointer is retrieved + * from file private field + */ struct canuser_t { + unsigned long flags; struct list_head peers; struct canque_ends_t *qends; - struct file *file; /* back ptr to file */ struct msgobj_t *msgobj; struct canque_edge_t *rx_edge0; /* simplifies IOCTL */ + union { + struct { + struct file *file; /* back ptr to file */ + } fileinfo; + #ifdef CAN_WITH_RTL + struct { + struct rtl_file *file; + } rtlinfo; + #endif /*CAN_WITH_RTL*/ + } userinfo; int magic; }; +/** + * struct hwspecops_t - hardware/board specific operations + * @request_io: reserve io or memory range for can board + * @release_io: free reserved io memory range + * @reset: hardware reset routine + * @init_hw_data: called to initialize &candevice_t structure, mainly + * @res_add, @nr_all_chips, @nr_82527_chips, @nr_sja1000_chips + * and @flags fields + * @init_chip_data: called initialize each &chip_t structure, mainly + * @chip_type, @chip_base_addr, @clock and chip specific registers. + * It is responsible to setup &chip_t->@chipspecops functions + * for non-standard chip types (type other than "i82527", "sja1000" or "sja1000p") + * @init_obj_data: called initialize each &msgobj_t structure, + * mainly @obj_base_addr field. + * @program_irq: program interrupt generation hardware of the board + * if flag %PROGRAMMABLE_IRQ is present for specified device/board + * @write_register: low level write register routine + * @read_register: low level read register routine + */ struct hwspecops_t { int (*request_io)(struct candevice_t *candev); int (*release_io)(struct candevice_t *candev); @@ -164,6 +302,29 @@ struct hwspecops_t { unsigned (*read_register)(unsigned long address); }; +/** + * struct chipspecops_t - can controller chip specific operations + * @chip_config: CAN chip configuration + * @baud_rate: set communication parameters + * @standard_mask: setup of mask for message filtering + * @extended_mask: setup of extended mask for message filtering + * @message15_mask: set mask of i82527 message object 15 + * @clear_objects: clears state of all message object residing in chip + * @config_irqs: tunes chip hardware interrupt delivery + * @pre_read_config: prepares message object for message reception + * @pre_write_config: prepares message object for message transmission + * @send_msg: initiate message transmission + * @remote_request: configures message object and asks for RTR message + * @check_tx_stat: checks state of transmission engine + * @wakeup_tx: wakeup TX processing + * @filtch_rq: optional routine for propagation of outgoing edges filters to HW + * @enable_configuration: enable chip configuration mode + * @disable_configuration: disable chip configuration mode + * @set_btregs: configures bitrate registers + * @start_chip: starts chip message processing + * @stop_chip: stops chip message processing + * @irq_handler: interrupt service routine + */ struct chipspecops_t { int (*chip_config)(struct chip_t *chip); int (*baud_rate)(struct chip_t *chip, int rate, int clock, int sjw, @@ -184,39 +345,38 @@ struct chipspecops_t { int (*remote_request)(struct chip_t *chip, struct msgobj_t *obj); int (*check_tx_stat)(struct chip_t *chip); int (*wakeup_tx)(struct chip_t *chip, struct msgobj_t *obj); + int (*filtch_rq)(struct chip_t *chip, struct msgobj_t *obj); int (*enable_configuration)(struct chip_t *chip); int (*disable_configuration)(struct chip_t *chip); int (*set_btregs)(struct chip_t *chip, unsigned short btr0, unsigned short btr1); int (*start_chip)(struct chip_t *chip); int (*stop_chip)(struct chip_t *chip); - irqreturn_t (*irq_handler)(int irq, void *dev_id, struct pt_regs *regs); + can_irqreturn_t (*irq_handler)(int irq, void *dev_id, struct pt_regs *regs); }; struct mem_addr { void *address; struct mem_addr *next; + size_t size; }; /* Structure for the RTR queue */ struct rtr_id { unsigned long id; struct canmsg_t *rtr_message; -#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,3,0)) - struct wait_queue *rtr_wq; -#else - struct __wait_queue_head rtr_wq; -#endif + wait_queue_head_t rtr_wq; struct rtr_id *next; }; extern int major; extern int minor[MAX_TOT_CHIPS]; extern int extended; -extern int baudrate; +extern int baudrate[MAX_TOT_CHIPS]; extern char *hw[MAX_HW_CARDS]; extern int irq[MAX_IRQ]; extern unsigned long io[MAX_HW_CARDS]; +extern int processlocal; extern struct canhardware_t *hardware_p; extern struct chip_t *chips_p[MAX_TOT_CHIPS]; @@ -224,6 +384,52 @@ extern struct msgobj_t *objects_p[MAX_TOT_MSGOBJS]; extern struct mem_addr *mem_head; + +#if defined(CONFIG_OC_LINCAN_PORTIO_ONLY) +extern inline void can_write_reg(const struct chip_t *chip, unsigned char data, unsigned address) +{ + outb(data, chip->chip_base_addr+address); +} +extern inline unsigned can_read_reg(const struct chip_t *chip, unsigned address) +{ + return inb(chip->chip_base_addr+address); +} +extern inline void canobj_write_reg(const struct chip_t *chip, const struct msgobj_t *obj, + unsigned char data, unsigned address) +{ + outb(data, obj->obj_base_addr+address); +} +extern inline unsigned canobj_read_reg(const struct chip_t *chip, const struct msgobj_t *obj, + unsigned address) +{ + return inb(obj->obj_base_addr+address); +} + +#elif defined(CONFIG_OC_LINCAN_MEMIO_ONLY) +extern inline void can_write_reg(const struct chip_t *chip, unsigned char data, unsigned address) +{ + writeb(data, chip->chip_base_addr+address); +} +extern inline unsigned can_read_reg(const struct chip_t *chip, unsigned address) +{ + return readb(chip->chip_base_addr+address); +} +extern inline void canobj_write_reg(const struct chip_t *chip, const struct msgobj_t *obj, + unsigned char data, unsigned address) +{ + writeb(data, obj->obj_base_addr+address); +} +extern inline unsigned canobj_read_reg(const struct chip_t *chip, const struct msgobj_t *obj, + unsigned address) +{ + return readb(obj->obj_base_addr+address); +} + +#else /*CONFIG_OC_LINCAN_DYNAMICIO*/ +#ifndef CONFIG_OC_LINCAN_DYNAMICIO +#define CONFIG_OC_LINCAN_DYNAMICIO +#endif + /* Inline function to write to the hardware registers. The argument address is * relative to the memory map of the chip and not the absolute memory address. */ @@ -257,6 +463,8 @@ extern inline unsigned canobj_read_reg(const struct chip_t *chip, const struct m return chip->read_register(address_to_read); } +#endif /*CONFIG_OC_LINCAN_DYNAMICIO*/ + int can_base_addr_fixup(struct candevice_t *candev, unsigned long new_base); int can_request_io_region(unsigned long start, unsigned long n, const char *name); void can_release_io_region(unsigned long start, unsigned long n); @@ -270,3 +478,9 @@ struct boardtype_t { }; const struct boardtype_t* boardtype_find(const char *str); + +int can_check_dev_taken(void *anydev); + +#ifdef CAN_WITH_RTL +extern int can_rtl_priority; +#endif /*CAN_WITH_RTL*/