X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/f911e79d724fdac3af2847cec6383a71e907b00a..HEAD:/lincan/src/sja1000.c diff --git a/lincan/src/sja1000.c b/lincan/src/sja1000.c index 127c453..507d911 100644 --- a/lincan/src/sja1000.c +++ b/lincan/src/sja1000.c @@ -1,11 +1,36 @@ -/* sja1000.c - * Linux CAN-bus device driver. - * Written by Arnaud Westenberg email:arnaud@wanadoo.nl - * 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-0.3 17 Jun 2004 - */ +/**************************************************************************/ +/* File: sja1000.c - Philips/NXP SJA1000 chip legacy mode (deprecated) */ +/* */ +/* LinCAN - (Not only) Linux CAN bus driver */ +/* Copyright (C) 2002-2009 DCE FEE CTU Prague */ +/* Copyright (C) 2002-2009 Pavel Pisa */ +/* Funded by OCERA and FRESCOR IST projects */ +/* Based on CAN driver code by Arnaud Westenberg */ +/* */ +/* LinCAN is free software; you can redistribute it and/or modify it */ +/* under terms of the GNU General Public License as published by the */ +/* Free Software Foundation; either version 2, or (at your option) any */ +/* later version. LinCAN is distributed in the hope that it will be */ +/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */ +/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */ +/* General Public License for more details. You should have received a */ +/* copy of the GNU General Public License along with LinCAN; see file */ +/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */ +/* Cambridge, MA 02139, USA. */ +/* */ +/* To allow use of LinCAN in the compact embedded systems firmware */ +/* and RT-executives (RTEMS for example), main authors agree with next */ +/* special exception: */ +/* */ +/* Including LinCAN header files in a file, instantiating LinCAN generics */ +/* or templates, or linking other files with LinCAN objects to produce */ +/* an application image/executable, does not by itself cause the */ +/* resulting application image/executable to be covered by */ +/* the GNU General Public License. */ +/* This exception does not however invalidate any other reasons */ +/* why the executable file might be covered by the GNU Public License. */ +/* Publication of enhanced or derived LinCAN files is required although. */ +/**************************************************************************/ #include "../include/can.h" #include "../include/can_sysdep.h" @@ -68,23 +93,23 @@ int sja1000_chip_config(struct canchip_t *chip) return -ENODEV; /* Set mode, clock out, comparator */ - can_write_reg(chip,chip->sja_cdr_reg,SJACDR); + can_write_reg(chip,chip->sja_cdr_reg,SJACDR); /* Set driver output configuration */ - can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); + can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); if (sja1000_standard_mask(chip,0x0000, 0xffff)) return -ENODEV; - + if (!chip->baudrate) chip->baudrate=1000000; if (sja1000_baud_rate(chip,chip->baudrate,chip->clock,0,75,0)) return -ENODEV; /* Enable hardware interrupts */ - can_write_reg(chip,(sjaCR_RIE|sjaCR_TIE|sjaCR_EIE|sjaCR_OIE),SJACR); + can_write_reg(chip,(sjaCR_RIE|sjaCR_TIE|sjaCR_EIE|sjaCR_OIE),SJACR); sja1000_disable_configuration(chip); - + return 0; } @@ -95,16 +120,16 @@ int sja1000_standard_mask(struct canchip_t *chip, unsigned short code, unsigned if (sja1000_enable_configuration(chip)) return -ENODEV; - /* The acceptance code bits (SJAACR bits 0-7) and the eight most + /* The acceptance code bits (SJAACR bits 0-7) and the eight most * significant bits of the message identifier (id.10 to id.3) must be - * equal to those bit positions which are marked relevant by the + * equal to those bit positions which are marked relevant by the * acceptance mask bits (SJAAMR bits 0-7). * (id.10 to id.3) = (SJAACR.7 to SJAACR.0) v (SJAAMR.7 to SJAAMR.0) * (Taken from Philips sja1000 Data Sheet) */ write_code = (unsigned char) code >> 3; write_mask = (unsigned char) mask >> 3; - + can_write_reg(chip,write_code,SJAACR); can_write_reg(chip,write_mask,SJAAMR); @@ -129,7 +154,7 @@ int sja1000_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int best_error = 1000000000, error; int best_tseg=0, best_brp=0, best_rate=0, brp=0; int tseg=0, tseg1=0, tseg2=0; - + if (sja1000_enable_configuration(chip)) return -ENODEV; @@ -189,9 +214,9 @@ int sja1000_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw, int sja1000_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) { int i; - + i=can_read_reg(chip,SJASR); - + if (!(i&sjaSR_RBS)) { //Temp for (i=0; i<0x20; i++) @@ -201,7 +226,7 @@ int sja1000_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) sja1000_start_chip(chip); // disable interrupts for a moment - can_write_reg(chip, 0, SJACR); + can_write_reg(chip, 0, SJACR); sja1000_irq_read_handler(chip, obj); @@ -214,7 +239,7 @@ int sja1000_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj) #define MAX_TRANSMIT_WAIT_LOOPS 10 -int sja1000_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, +int sja1000_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, struct canmsg_t *msg) { int i=0, id=0; @@ -223,11 +248,11 @@ int sja1000_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj, sja1000_start_chip(chip); //sja1000 goes automatically into reset mode on errors /* Wait until Transmit Buffer Status is released */ - while ( !(can_read_reg(chip, SJASR) & sjaSR_TBS) && + while ( !(can_read_reg(chip, SJASR) & sjaSR_TBS) && i++tx_slot){ /* Do local transmitted message distribution if enabled */ if (processlocal){ /* fill CAN message timestamp */ can_filltimestamp(&obj->tx_slot->msg.timestamp); - + obj->tx_slot->msg.flags |= MSG_LOCAL; canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg); } @@ -463,14 +501,14 @@ void sja1000_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj) int sja1000_wakeup_tx(struct canchip_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) & sjaSR_TBS) sja1000_irq_write_handler(chip, obj); - + can_msgobj_clear_fl(obj,TX_LOCK); if(!can_msgobj_test_fl(obj,TX_REQUEST)) break; } @@ -497,9 +535,12 @@ int sja1000_register(struct chipspecops_t *chipspecops) chipspecops->enable_configuration = sja1000_enable_configuration; chipspecops->disable_configuration = sja1000_disable_configuration; chipspecops->set_btregs = sja1000_set_btregs; + chipspecops->attach_to_chip=sja1000_attach_to_chip; + chipspecops->release_chip=sja1000_release_chip; chipspecops->start_chip = sja1000_start_chip; chipspecops->stop_chip = sja1000_stop_chip; chipspecops->irq_handler = sja1000_irq_handler; + chipspecops->irq_accept = NULL; return 0; }