One of many steps to support Unicontrols CAN cards.
authorppisa <ppisa>
Sun, 28 Mar 2004 14:36:53 +0000 (14:36 +0000)
committerppisa <ppisa>
Sun, 28 Mar 2004 14:36:53 +0000 (14:36 +0000)
lincan/include/unican_cl2.h
lincan/include/unican_types.h [new file with mode: 0644]
lincan/src/Makefile.omk
lincan/src/boardlist.c
lincan/src/unican.c [new file with mode: 0644]
lincan/src/unican_cl2.c

index ffd6bec..8edf9f4 100644 (file)
@@ -12,10 +12,7 @@ PORTING            :    Adapted for LinCAN driver by Pavel Pisa, OCERA team memb
 DULEZITE UPOZORNENI:
 
 ARCHIVACNI INFORMACE:
-$Log$
-Revision 1.1  2004/03/13 23:13:31  ppisa
-Interconnected OCERA configuration options with LinCAN boardlist.c compilation.
-
+Log: unican_cl2.h,v 
 
 27.1.1999 - corected value of CL2_ERROR_WARNING and CL2_ERROR_BUS_OFF constants
 
@@ -41,7 +38,7 @@ UCEL A FUNKCE:
 /****** includes ******/
 
 #ifndef __INC_ANCTYPES_H
-#include "anctypes.h"
+#include "unican_types.h"
 #endif
 
 /****** Definitions of constants  ******/
diff --git a/lincan/include/unican_types.h b/lincan/include/unican_types.h
new file mode 100644 (file)
index 0000000..3e330b8
--- /dev/null
@@ -0,0 +1,25 @@
+#ifndef _UNICAN_TYPES_H
+#define _UNICAN_TYPES_H
+
+#include <linux/types.h>
+
+#ifndef U8
+#define U8  __u8
+#endif
+#ifndef U16
+#define U16 __u16
+#endif
+#ifndef U32
+#define U32 __u32
+#endif
+
+#define BOOLEAN1 __u8
+
+#ifndef FALSE
+#define FALSE 0
+#endif
+#ifndef TRUE
+#define TRUE  1
+#endif
+
+#endif /*_UNICAN_TYPES_H*/
index c7548b2..c130e33 100644 (file)
@@ -22,6 +22,10 @@ kernel_INCLUDES += -DWITH_DEVFS_FS
 
 lincan_cards_SOURCES = $(lincan_cards_SELECTED:%=%.c)
 
+ifeq ($(CONFIG_OC_LINCAN_CARD_unican),y)
+lincan_cards_SOURCES += unican_cl2.c
+endif
+
 ifneq ($(CONFIG_OC_LINCANRTL),y)
 
 kernel_MODULES = lincan
index 0f87484..f0b7dff 100644 (file)
@@ -13,6 +13,7 @@
 #include "lincan_config.h"
 
 extern int template_register(struct hwspecops_t *hwspecops);
+extern int virtual_register(struct hwspecops_t *hwspecops);
 extern int pip5_register(struct hwspecops_t *hwspecops);
 extern int pip6_register(struct hwspecops_t *hwspecops);
 extern int m437_register(struct hwspecops_t *hwspecops);
@@ -31,7 +32,7 @@ extern int ssv_register(struct hwspecops_t *hwspecops);
 extern int bfadcan_register(struct hwspecops_t *hwspecops);
 extern int pikronisa_register(struct hwspecops_t *hwspecops);
 extern int msmcan_register(struct hwspecops_t *hwspecops);
-extern int virtual_register(struct hwspecops_t *hwspecops);
+extern int unican_register(struct hwspecops_t *hwspecops);
 
 const struct boardtype_t can_boardtypes[]={
     #ifdef CONFIG_OC_LINCAN_CARD_template
@@ -90,6 +91,9 @@ const struct boardtype_t can_boardtypes[]={
     #endif
     #ifdef CONFIG_OC_LINCAN_CARD_msmcan
        {"msmcan", msmcan_register, 1},
+    #endif
+    #ifdef CONFIG_OC_LINCAN_CARD_unican
+       {"unican", unican_register, 1},
     #endif
        {NULL}
 };
diff --git a/lincan/src/unican.c b/lincan/src/unican.c
new file mode 100644 (file)
index 0000000..a64aeb3
--- /dev/null
@@ -0,0 +1,517 @@
+/* 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;
+}
index 18a78e9..a3dd7f7 100644 (file)
@@ -11,10 +11,7 @@ FIRMA              :    CVUT FEL, Dept. of Measurement
 DULEZITE UPOZORNENI:\r
 \r
 ARCHIVACNI INFORMACE:\r
-$Log$
-Revision 1.1  2004/03/13 23:13:33  ppisa
-Interconnected OCERA configuration options with LinCAN boardlist.c compilation.
-\r
+Log: unican_cl2.c,v\r
 \r
 12.12.2000, J.B., cl2_receive_data - time stamp for even number of bytes corr.\r
 26.8.1998 - cl2_buf_size - corrected, new function return code CL2_BAD_PARAM\r
@@ -34,8 +31,9 @@ UCEL A FUNKCE:
 \r
 \r
 /* includes */\r
-#include "anctypes.h"\r
-#include "cl2.h"\r
+#include "../include/canmsg.h"\r
+#include "../include/unican_types.h"\r
+#include "../include/unican_cl2.h"\r
 \r
 \r
 /*******************************************************************************\r