* [Xenomai-core] [PATCH] Various fixes and improvements for RT-Socket-CAN
@ 2006-08-23 18:27 Wolfgang Grandegger
2006-08-23 19:49 ` Jan Kiszka
0 siblings, 1 reply; 2+ messages in thread
From: Wolfgang Grandegger @ 2006-08-23 18:27 UTC (permalink / raw)
To: xenomai-core
[-- Attachment #1: Type: text/plain, Size: 710 bytes --]
Hello,
attached is a patch for the RT-Socket-CAN RTDM driver providing:
* ksrc/drivers/can/rtcan_dev.c, ksrc/drivers/can/rtcan_dev.h,
ksrc/drivers/can/rtcan_modules.c: Suppress handling of refcount
if module support is not enabled or modules cannot be unloaded.
* ksrc/drivers/can/mscan/rtcan_mscan.c,
ksrc/drivers/can/mscan/rtcan_mscan_proc.c,
ksrc/drivers/can/mscan/rtcan_mscan_regs.h: Make the MSCAN driver
work on Linux 2.6. We now use our own set of MSCAN register
definitions because they differ between 2.4 and 2.6 (prefix).
* scripts/Modules.frag: bug fix for making PEAK device drivers.
Note that it adds the file ksrc/drivers/can/mscan/rtcan_mscan_regs.h !
Wolfgang.
[-- Attachment #2: xenomai-rtsocketcan4.patch --]
[-- Type: text/x-patch, Size: 28681 bytes --]
+ diff -u xenomai/ChangeLog.ORIG xenomai/ChangeLog
--- xenomai/ChangeLog.ORIG 2006-08-23 19:20:42.000000000 +0200
+++ xenomai/ChangeLog 2006-08-23 19:21:50.000000000 +0200
@@ -1,3 +1,17 @@
+2006-08-23 Wolfgang Grandegger <wg@domain.hid>
+
+ * ksrc/drivers/can/rtcan_dev.c, ksrc/drivers/can/rtcan_dev.h,
+ ksrc/drivers/can/rtcan_modules.c: Suppress handling of refcount
+ if module support is not enabled or modules cannot be unloaded.
+
+ * ksrc/drivers/can/mscan/rtcan_mscan.c,
+ ksrc/drivers/can/mscan/rtcan_mscan_proc.c,
+ ksrc/drivers/can/mscan/rtcan_mscan_regs.h: Make the MSCAN driver
+ work on Linux 2.6. We now use our own set of MSCAN register
+ definitions because they differ between 2.4 and 2.6 (prefix).
+
+ * scripts/Modules.frag: bug fix for making PEAK device drivers.
+
2006-08-23 Philippe Gerum <rpm@xenomai.org>
* include/asm-i386/features.h (xeno_x86_features_check): Try
+ diff -u xenomai/ksrc/drivers/can/mscan/rtcan_mscan.c.ORIG xenomai/ksrc/drivers/can/mscan/rtcan_mscan.c
--- xenomai/ksrc/drivers/can/mscan/rtcan_mscan.c.ORIG 2006-08-22 20:40:29.000000000 +0200
+++ xenomai/ksrc/drivers/can/mscan/rtcan_mscan.c 2006-08-22 20:41:52.000000000 +0200
@@ -29,7 +29,6 @@
#include <linux/module.h>
#include <linux/ioport.h>
#include <linux/delay.h>
-#include <asm/mpc5xxx.h>
#include <asm/ppcboot.h>
#include <rtdm/rtdm_driver.h>
@@ -38,6 +37,7 @@
#include <rtdm/rtcan.h>
#include "rtcan_dev.h"
#include "rtcan_raw.h"
+#include "rtcan_mscan_regs.h"
extern int rtcan_mscan_create_proc(struct rtcan_device* dev);
extern void rtcan_mscan_remove_proc(struct rtcan_device* dev);
@@ -49,39 +49,6 @@
static char *mscan_ctlr_name = "MSCAN-MPC5200";
static char *mscan_board_name = "unkown";
-/** Value for the interrupt enable register */
-#define MSCAN_RIER (MPC5xxx_MSCAN_OVRIE | \
- MPC5xxx_MSCAN_RXFIE | \
- MPC5xxx_MSCAN_WUPIF | \
- MPC5xxx_MSCAN_CSCIE | \
- MPC5xxx_MSCAN_RSTATE0 | \
- MPC5xxx_MSCAN_RSTATE1 | \
- MPC5xxx_MSCAN_TSTATE0 | \
- MPC5xxx_MSCAN_TSTATE1)
-
-#define BTR0_BRP_MASK 0x3f
-#define BTR0_SJW_SHIFT 6
-#define BTR0_SJW_MASK (0x3 << BTR0_SJW_SHIFT)
-
-#define BTR1_TSEG1_MASK 0xf
-#define BTR1_TSEG2_SHIFT 4
-#define BTR1_TSEG2_MASK (0x7 << BTR1_TSEG2_SHIFT)
-#define BTR1_SAM_SHIFT 7
-
-#define BTR0_SET_BRP(brp) (((brp) - 1) & BTR0_BRP_MASK)
-#define BTR0_SET_SJW(sjw) ((((sjw) - 1) << BTR0_SJW_SHIFT) & BTR0_SJW_MASK)
-
-#define BTR1_SET_TSEG1(tseg1) (((tseg1) - 1) & BTR1_TSEG1_MASK)
-#define BTR1_SET_TSEG2(tseg2) ((((tseg2) - 1) << BTR1_TSEG2_SHIFT) & BTR1_TSEG2_MASK)
-#define BTR1_SET_SAM(sam) (((sam) & 1) << BTR1_SAM_SHIFT)
-
-/* Message type access macros.
- */
-#define MSCAN_BUF_STD_RTR 0x10
-#define MSCAN_BUF_EXT_RTR 0x01
-#define MSCAN_BUF_EXTENDED 0x08
-#define MSCAN_TX_BUFS 3
-
MODULE_AUTHOR("Wolfgang Grandegger <wg@domain.hid>");
MODULE_DESCRIPTION("RT-Socket-CAN driver for MSCAN-MPC2500");
MODULE_SUPPORTED_DEVICE("MSCAN-MPC5200 CAN controller");
@@ -143,7 +110,7 @@
int i;
unsigned char size;
struct rtcan_rb_frame *frame = &skb->rb_frame;
- struct mpc5xxx_mscan *regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
skb->rb_frame_size = EMPTY_RB_FRAME_SIZE;
@@ -201,7 +168,7 @@
{
u8 rstat, tstat;
struct rtcan_rb_frame *frame = &skb->rb_frame;
- struct mpc5xxx_mscan *regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
skb->rb_frame_size = EMPTY_RB_FRAME_SIZE + CAN_ERR_DLC;
@@ -210,16 +177,16 @@
memset(&frame->data[0], 0, frame->can_dlc);
- if ((r_status & MPC5xxx_MSCAN_OVRIF)) {
+ if ((r_status & MSCAN_OVRIF)) {
frame->can_id |= CAN_ERR_CRTL;
frame->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
- } else if ((r_status & (MPC5xxx_MSCAN_CSCIF))) {
+ } else if ((r_status & (MSCAN_CSCIF))) {
- rstat = (r_status & (MPC5xxx_MSCAN_TSTAT0 |
- MPC5xxx_MSCAN_TSTAT1)) >> 2 & 0x3;
- tstat = (r_status & (MPC5xxx_MSCAN_RSTAT0 |
- MPC5xxx_MSCAN_RSTAT1)) >> 4 & 0x3;
+ rstat = (r_status & (MSCAN_TSTAT0 |
+ MSCAN_TSTAT1)) >> 2 & 0x3;
+ tstat = (r_status & (MSCAN_RSTAT0 |
+ MSCAN_RSTAT1)) >> 4 & 0x3;
dev->state = mscan_stat_map[max(rstat, tstat)];
switch (dev->state) {
@@ -266,14 +233,14 @@
nanosecs_abs_t timestamp = rtdm_clock_read();
struct rtcan_skb skb;
struct rtcan_device *dev;
- struct mpc5xxx_mscan *regs;
+ struct mscan_regs *regs;
u8 t_status, r_status;
int recv_lock_free = 1;
int ret = RTDM_IRQ_NONE;
dev = (struct rtcan_device *)rtdm_irq_get_arg(irq_handle, void);
- regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ regs = (struct mscan_regs *)dev->base_addr;
rtdm_lock_get(&dev->device_lock);
@@ -283,23 +250,23 @@
ret = RTDM_IRQ_HANDLED;
/* Transmit Interrupt? */
- if ((t_status & MPC5xxx_MSCAN_TXE)) {
+ if ((t_status & MSCAN_TXE)) {
/* Disable transmit interrupt here or it will
* constantly be pending.
*/
- regs->cantier &= ~MPC5xxx_MSCAN_TXIE;
+ regs->cantier &= ~MSCAN_TXIE;
/* Wake up a sender */
rtdm_sem_up(&dev->tx_sem);
}
/* Wakeup interrupt? */
- if ((r_status & MPC5xxx_MSCAN_WUPIF)) {
+ if ((r_status & MSCAN_WUPIF)) {
rtdm_printk("WUPIF interrupt\n");
}
/* Receive Interrupt? */
- if ((r_status & MPC5xxx_MSCAN_RXF)) {
+ if ((r_status & MSCAN_RXF)) {
/* Read out HW registers */
rtcan_mscan_rx_interrupt(dev, &skb);
@@ -324,7 +291,7 @@
}
/* Error Interrupt? */
- if ((r_status & (MPC5xxx_MSCAN_CSCIF | MPC5xxx_MSCAN_OVRIF))) {
+ if ((r_status & (MSCAN_CSCIF | MSCAN_OVRIF))) {
/* Check error condition and fill error frame */
rtcan_mscan_err_interrupt(dev, &skb, r_status);
@@ -345,8 +312,8 @@
regs->canrflg = r_status;
if (!recv_lock_free) {
- rtdm_lock_put(&socket_lock);
- rtdm_lock_put(&recv_list_lock);
+ rtdm_lock_put(&rtcan_socket_lock);
+ rtdm_lock_put(&rtcan_recv_list_lock);
}
rtdm_lock_put(&dev->device_lock);
@@ -381,8 +348,8 @@
int ret = 0;
int rinit = 0;
can_state_t state;
- volatile struct mpc5xxx_mscan *regs =
- (struct mpc5xxx_mscan *)dev->base_addr;
+ volatile struct mscan_regs *regs =
+ (struct mscan_regs *)dev->base_addr;
u8 reg;
state = dev->state;
@@ -391,12 +358,12 @@
goto out;
/* Switch to sleep mode */
- regs->canctl0 |= MPC5xxx_MSCAN_SLPRQ;
- regs->canctl0 |= MPC5xxx_MSCAN_INITRQ;
+ regs->canctl0 |= MSCAN_SLPRQ;
+ regs->canctl0 |= MSCAN_INITRQ;
reg = regs->canctl1;
- while (!(reg & MPC5xxx_MSCAN_SLPAK) ||
- !(reg & MPC5xxx_MSCAN_INITAK)) {
+ while (!(reg & MSCAN_SLPAK) ||
+ !(reg & MSCAN_INITAK)) {
if (likely(lock_ctx != NULL))
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
/* Busy sleep 1 microsecond */
@@ -440,8 +407,8 @@
{
int ret = 0, retries = 0;
can_state_t state;
- volatile struct mpc5xxx_mscan *regs =
- (struct mpc5xxx_mscan *)dev->base_addr;
+ volatile struct mscan_regs *regs =
+ (struct mscan_regs *)dev->base_addr;
/* We won't forget that state in the device structure is volatile and
* access to it will not be optimized by the compiler. So ... */
@@ -461,21 +428,21 @@
rtdm_sem_init(&dev->tx_sem, MSCAN_TX_BUFS);
if ((dev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)) {
- regs->canctl1 |= MPC5xxx_MSCAN_LISTEN;
+ regs->canctl1 |= MSCAN_LISTEN;
} else {
- regs->canctl1 &= ~MPC5xxx_MSCAN_LISTEN;
+ regs->canctl1 &= ~MSCAN_LISTEN;
}
if ((dev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)) {
- regs->canctl1 |= MPC5xxx_MSCAN_LOOPB;
+ regs->canctl1 |= MSCAN_LOOPB;
} else {
- regs->canctl1 &= ~MPC5xxx_MSCAN_LOOPB;
+ regs->canctl1 &= ~MSCAN_LOOPB;
}
/* Switch to normal mode */
- regs->canctl0 &= ~MPC5xxx_MSCAN_INITRQ;
- regs->canctl0 &= ~MPC5xxx_MSCAN_SLPRQ;
- while ((regs->canctl1 & MPC5xxx_MSCAN_INITAK) ||
- (regs->canctl1 & MPC5xxx_MSCAN_SLPAK)) {
+ regs->canctl0 &= ~MSCAN_INITRQ;
+ regs->canctl0 &= ~MSCAN_SLPRQ;
+ while ((regs->canctl1 & MSCAN_INITAK) ||
+ (regs->canctl1 & MSCAN_SLPAK)) {
if (likely(lock_ctx != NULL))
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
/* Busy sleep 1 microsecond */
@@ -513,7 +480,7 @@
struct can_bittime *bit_time,
rtdm_lockctx_t *lock_ctx)
{
- struct mpc5xxx_mscan *regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
u8 btr0, btr1;
switch (bit_time->type) {
@@ -549,7 +516,7 @@
{
int ret = 0, retries = 0;
can_state_t state;
- struct mpc5xxx_mscan *regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
switch (mode) {
@@ -584,8 +551,8 @@
* the meaning of interrupts ...) */
regs->canrier = 0;
regs->cantier = 0;
- regs->canctl0 |= MPC5xxx_MSCAN_SLPRQ /*| MPC5xxx_MSCAN_INITRQ*/ | MPC5xxx_MSCAN_WUPE;
- while (!(regs->canctl1 & MPC5xxx_MSCAN_SLPAK)) {
+ regs->canctl0 |= MSCAN_SLPRQ /*| MSCAN_INITRQ*/ | MSCAN_WUPE;
+ while (!(regs->canctl1 & MSCAN_SLPAK)) {
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
/* Busy sleep 1 microsecond */
rtdm_task_busy_sleep(1000);
@@ -594,8 +561,8 @@
break;
}
rtdm_printk("Fallen asleep after %d tries.\n", retries);
- regs->canctl0 &= ~MPC5xxx_MSCAN_INITRQ;
- while ((regs->canctl1 & MPC5xxx_MSCAN_INITAK)) {
+ regs->canctl0 &= ~MSCAN_INITRQ;
+ while ((regs->canctl1 & MSCAN_INITAK)) {
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
/* Busy sleep 1 microsecond */
rtdm_task_busy_sleep(1000);
@@ -604,7 +571,7 @@
break;
}
rtdm_printk("Back to normal after %d tries.\n", retries);
- regs->canrier = MPC5xxx_MSCAN_WUPIE;
+ regs->canrier = MSCAN_WUPIE;
mode_sleep_out:
dev->state = state;
@@ -636,7 +603,7 @@
/* Content of frame information register */
unsigned char dlc;
- struct mpc5xxx_mscan *regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
/* Find an empty TX buffer. */
for (buf = 0; buf < MSCAN_TX_BUFS; buf++) {
@@ -718,12 +685,12 @@
*
* @param[in] dev Device ID of the controller to be configured
*/
-static inline void __init mscan_chip_config(struct mpc5xxx_mscan *regs)
+static inline void __init mscan_chip_config(struct mscan_regs *regs)
{
/* Choose IP bus as clock source.
*/
- regs->canctl1 |= MPC5xxx_MSCAN_CLKSRC;
- regs->canctl1 &= ~MPC5xxx_MSCAN_LISTEN;
+ regs->canctl1 |= MSCAN_CLKSRC;
+ regs->canctl1 &= ~MSCAN_LISTEN;
/* Configure MSCAN to accept all incoming messages.
*/
@@ -735,7 +702,7 @@
regs->canidar6 = regs->canidar7 = 0x00;
regs->canidmr4 = regs->canidmr5 = 0xFF;
regs->canidmr6 = regs->canidmr7 = 0xFF;
- regs->canidac &= ~(MPC5xxx_MSCAN_IDAM0 | MPC5xxx_MSCAN_IDAM1);
+ regs->canidac &= ~(MSCAN_IDAM0 | MSCAN_IDAM1);
}
static inline void __init mscan_gpio_config(void)
@@ -779,16 +746,16 @@
unsigned long addr;
struct rtcan_device *dev;
struct rtcan_priv *priv;
- struct mpc5xxx_mscan *regs;
+ struct mscan_regs *regs;
switch (port[idx]) {
case 1:
- addr = MPC5xxx_MSCAN1;
- irq = MPC5xxx_CAN1_IRQ;
+ addr = MSCAN_CAN1_ADDR;
+ irq = MSCAN_CAN1_IRQ;
break;
case 2:
- addr = MPC5xxx_MSCAN2;
- irq = MPC5xxx_CAN2_IRQ;
+ addr = MSCAN_CAN2_ADDR;
+ irq = MSCAN_CAN2_IRQ;
break;
default:
return 0;
@@ -805,10 +772,10 @@
priv = dev->priv;
dev->base_addr = addr;
- regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ regs = (struct mscan_regs *)dev->base_addr;
/* Enable MSCAN module. */
- regs->canctl1 |= MPC5xxx_MSCAN_CANE;
+ regs->canctl1 |= MSCAN_CANE;
udelay(100);
/* Set dummy state for following call */
@@ -862,7 +829,7 @@
out_dev_free:
/* Disable MSCAN module. */
- regs->canctl1 &= ~MPC5xxx_MSCAN_CANE;
+ regs->canctl1 &= ~MSCAN_CANE;
rtcan_dev_free(dev);
return ret;
+ diff -u xenomai/ksrc/drivers/can/mscan/rtcan_mscan_proc.c.ORIG xenomai/ksrc/drivers/can/mscan/rtcan_mscan_proc.c
--- xenomai/ksrc/drivers/can/mscan/rtcan_mscan_proc.c.ORIG 2006-08-22 20:40:29.000000000 +0200
+++ xenomai/ksrc/drivers/can/mscan/rtcan_mscan_proc.c 2006-08-22 20:41:52.000000000 +0200
@@ -20,13 +20,13 @@
#include <linux/module.h>
#include <linux/ioport.h>
#include <linux/delay.h>
-#include <asm/mpc5xxx.h>
#include <rtdm/rtdm_driver.h>
/* CAN device profile */
#include "rtcan_dev.h"
#include "rtcan_internal.h"
+#include "rtcan_mscan_regs.h"
#define MSCAN_REG_ARGS(reg) "%-8s 0x%02x\n", #reg, (int)((regs)->reg) & 0xff
@@ -36,7 +36,7 @@
int count, int *eof, void *data)
{
struct rtcan_device *dev = (struct rtcan_device *)data;
- struct mpc5xxx_mscan *regs = (struct mpc5xxx_mscan *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO;
RTCAN_PROC_PRINT_VARS(80);
@@ -44,24 +44,24 @@
goto done;
if (!RTCAN_PROC_PRINT("canctl0 0x%02x%s%s%s%s%s%s%s%s\n",
regs->canctl0,
- (regs->canctl0 & MPC5xxx_MSCAN_RXFRM) ? " rxfrm" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_RXACT) ? " rxact" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_CSWAI) ? " cswai" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_SYNCH) ? " synch" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_TIME) ? " time" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_WUPE) ? " wupe" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_SLPRQ) ? " slprq" :"",
- (regs->canctl0 & MPC5xxx_MSCAN_INITRQ)? " initrq":"" ))
+ (regs->canctl0 & MSCAN_RXFRM) ? " rxfrm" :"",
+ (regs->canctl0 & MSCAN_RXACT) ? " rxact" :"",
+ (regs->canctl0 & MSCAN_CSWAI) ? " cswai" :"",
+ (regs->canctl0 & MSCAN_SYNCH) ? " synch" :"",
+ (regs->canctl0 & MSCAN_TIME) ? " time" :"",
+ (regs->canctl0 & MSCAN_WUPE) ? " wupe" :"",
+ (regs->canctl0 & MSCAN_SLPRQ) ? " slprq" :"",
+ (regs->canctl0 & MSCAN_INITRQ)? " initrq":"" ))
goto done;
if (!RTCAN_PROC_PRINT("canctl1 0x%02x%s%s%s%s%s%s%s\n",
regs->canctl1,
- (regs->canctl1 & MPC5xxx_MSCAN_CANE) ? " cane" :"",
- (regs->canctl1 & MPC5xxx_MSCAN_CLKSRC)? " clksrc":"",
- (regs->canctl1 & MPC5xxx_MSCAN_LOOPB) ? " loopb" :"",
- (regs->canctl1 & MPC5xxx_MSCAN_LISTEN)? " listen":"",
- (regs->canctl1 & MPC5xxx_MSCAN_WUPM) ? " wump" :"",
- (regs->canctl1 & MPC5xxx_MSCAN_SLPAK) ? " slpak" :"",
- (regs->canctl1 & MPC5xxx_MSCAN_INITAK)? " initak":""))
+ (regs->canctl1 & MSCAN_CANE) ? " cane" :"",
+ (regs->canctl1 & MSCAN_CLKSRC)? " clksrc":"",
+ (regs->canctl1 & MSCAN_LOOPB) ? " loopb" :"",
+ (regs->canctl1 & MSCAN_LISTEN)? " listen":"",
+ (regs->canctl1 & MSCAN_WUPM) ? " wump" :"",
+ (regs->canctl1 & MSCAN_SLPAK) ? " slpak" :"",
+ (regs->canctl1 & MSCAN_INITAK)? " initak":""))
goto done;
if (!RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canbtr0 )) |
!RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canbtr1 )) |
+ diff -u xenomai/ksrc/drivers/can/mscan/rtcan_mscan_regs.h.ORIG xenomai/ksrc/drivers/can/mscan/rtcan_mscan_regs.h
--- xenomai/ksrc/drivers/can/mscan/rtcan_mscan_regs.h.ORIG 2006-08-22 20:41:52.000000000 +0200
+++ xenomai/ksrc/drivers/can/mscan/rtcan_mscan_regs.h 2006-08-22 20:41:52.000000000 +0200
@@ -0,0 +1,214 @@
+/*
+ * Copyright (C) 2006 Wolfgang Grandegger <wg@domain.hid>
+ *
+ * Based on linux-2.4.25/include/asm-ppc/mpc5xxx.h
+ * Prototypes, etc. for the Motorola MPC5xxx embedded cpu chips
+ *
+ * Author: Dale Farnsworth <dfarnsworth@domain.hid>
+ *
+ *
+ * This program is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+
+#ifndef __RTCAN_MSCAN_REGS_H_
+#define __RTCAN_MSCAN_REGS_H_
+
+#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,10)
+#include <asm/mpc5xxx.h>
+#define MSCAN_MBAR MPC5xxx_MBAR
+#define MSCAN_CAN1_IRQ MPC5xxx_CAN1_IRQ
+#define MSCAN_CAN2_IRQ MPC5xxx_CAN2_IRQ
+#else
+#include <asm/mpc52xx.h>
+#define MSCAN_MBAR MPC52xx_MBAR
+#define MSCAN_CAN1_IRQ MPC52xx_MSCAN1_IRQ
+#define MSCAN_CAN2_IRQ MPC52xx_MSCAN2_IRQ
+#define MPC5xxx_GPIO MPC52xx_GPIO_OFFSET
+#define mpc5xxx_gpio mpc52xx_gpio
+#endif
+
+#define MSCAN_CAN1_ADDR (MSCAN_MBAR + 0x0900) /* MSCAN Module 1 */
+#define MSCAN_CAN2_ADDR (MSCAN_MBAR + 0x0980) /* MSCAN Module 2 */
+
+/* MSCAN control register 0 (CANCTL0) bits */
+#define MSCAN_RXFRM 0x80
+#define MSCAN_RXACT 0x40
+#define MSCAN_CSWAI 0x20
+#define MSCAN_SYNCH 0x10
+#define MSCAN_TIME 0x08
+#define MSCAN_WUPE 0x04
+#define MSCAN_SLPRQ 0x02
+#define MSCAN_INITRQ 0x01
+
+/* MSCAN control register 1 (CANCTL1) bits */
+#define MSCAN_CANE 0x80
+#define MSCAN_CLKSRC 0x40
+#define MSCAN_LOOPB 0x20
+#define MSCAN_LISTEN 0x10
+#define MSCAN_WUPM 0x04
+#define MSCAN_SLPAK 0x02
+#define MSCAN_INITAK 0x01
+
+/* MSCAN receiver flag register (CANRFLG) bits */
+#define MSCAN_WUPIF 0x80
+#define MSCAN_CSCIF 0x40
+#define MSCAN_RSTAT1 0x20
+#define MSCAN_RSTAT0 0x10
+#define MSCAN_TSTAT1 0x08
+#define MSCAN_TSTAT0 0x04
+#define MSCAN_OVRIF 0x02
+#define MSCAN_RXF 0x01
+
+/* MSCAN receiver interrupt enable register (CANRIER) bits */
+#define MSCAN_WUPIE 0x80
+#define MSCAN_CSCIE 0x40
+#define MSCAN_RSTATE1 0x20
+#define MSCAN_RSTATE0 0x10
+#define MSCAN_TSTATE1 0x08
+#define MSCAN_TSTATE0 0x04
+#define MSCAN_OVRIE 0x02
+#define MSCAN_RXFIE 0x01
+
+/* MSCAN transmitter flag register (CANTFLG) bits */
+#define MSCAN_TXE2 0x04
+#define MSCAN_TXE1 0x02
+#define MSCAN_TXE0 0x01
+#define MSCAN_TXE (MSCAN_TXE2 | MSCAN_TXE1 | MSCAN_TXE0)
+
+/* MSCAN transmitter interrupt enable register (CANTIER) bits */
+#define MSCAN_TXIE2 0x04
+#define MSCAN_TXIE1 0x02
+#define MSCAN_TXIE0 0x01
+#define MSCAN_TXIE (MSCAN_TXIE2 | MSCAN_TXIE1 | MSCAN_TXIE0)
+
+/* MSCAN transmitter message abort request (CANTARQ) bits */
+#define MSCAN_ABTRQ2 0x04
+#define MSCAN_ABTRQ1 0x02
+#define MSCAN_ABTRQ0 0x01
+
+/* MSCAN transmitter message abort ack (CANTAAK) bits */
+#define MSCAN_ABTAK2 0x04
+#define MSCAN_ABTAK1 0x02
+#define MSCAN_ABTAK0 0x01
+
+/* MSCAN transmit buffer selection (CANTBSEL) bits */
+#define MSCAN_TX2 0x04
+#define MSCAN_TX1 0x02
+#define MSCAN_TX0 0x01
+
+/* MSCAN ID acceptance control register (CANIDAC) bits */
+#define MSCAN_IDAM1 0x20
+#define MSCAN_IDAM0 0x10
+#define MSCAN_IDHIT2 0x04
+#define MSCAN_IDHIT1 0x02
+#define MSCAN_IDHIT0 0x01
+
+struct mscan_msgbuf {
+ volatile u8 idr[0x8]; /* 0x00 */
+ volatile u8 dsr[0x10]; /* 0x08 */
+ volatile u8 dlr; /* 0x18 */
+ volatile u8 tbpr; /* 0x19 */ /* This register is not applicable for receive buffers */
+ volatile u16 rsrv1; /* 0x1A */
+ volatile u8 tsrh; /* 0x1C */
+ volatile u8 tsrl; /* 0x1D */
+ volatile u16 rsrv2; /* 0x1E */
+};
+
+struct mscan_regs {
+ volatile u8 canctl0; /* MSCAN + 0x00 */
+ volatile u8 canctl1; /* MSCAN + 0x01 */
+ volatile u16 rsrv1; /* MSCAN + 0x02 */
+ volatile u8 canbtr0; /* MSCAN + 0x04 */
+ volatile u8 canbtr1; /* MSCAN + 0x05 */
+ volatile u16 rsrv2; /* MSCAN + 0x06 */
+ volatile u8 canrflg; /* MSCAN + 0x08 */
+ volatile u8 canrier; /* MSCAN + 0x09 */
+ volatile u16 rsrv3; /* MSCAN + 0x0A */
+ volatile u8 cantflg; /* MSCAN + 0x0C */
+ volatile u8 cantier; /* MSCAN + 0x0D */
+ volatile u16 rsrv4; /* MSCAN + 0x0E */
+ volatile u8 cantarq; /* MSCAN + 0x10 */
+ volatile u8 cantaak; /* MSCAN + 0x11 */
+ volatile u16 rsrv5; /* MSCAN + 0x12 */
+ volatile u8 cantbsel; /* MSCAN + 0x14 */
+ volatile u8 canidac; /* MSCAN + 0x15 */
+ volatile u16 rsrv6[3]; /* MSCAN + 0x16 */
+ volatile u8 canrxerr; /* MSCAN + 0x1C */
+ volatile u8 cantxerr; /* MSCAN + 0x1D */
+ volatile u16 rsrv7; /* MSCAN + 0x1E */
+ volatile u8 canidar0; /* MSCAN + 0x20 */
+ volatile u8 canidar1; /* MSCAN + 0x21 */
+ volatile u16 rsrv8; /* MSCAN + 0x22 */
+ volatile u8 canidar2; /* MSCAN + 0x24 */
+ volatile u8 canidar3; /* MSCAN + 0x25 */
+ volatile u16 rsrv9; /* MSCAN + 0x26 */
+ volatile u8 canidmr0; /* MSCAN + 0x28 */
+ volatile u8 canidmr1; /* MSCAN + 0x29 */
+ volatile u16 rsrv10; /* MSCAN + 0x2A */
+ volatile u8 canidmr2; /* MSCAN + 0x2C */
+ volatile u8 canidmr3; /* MSCAN + 0x2D */
+ volatile u16 rsrv11; /* MSCAN + 0x2E */
+ volatile u8 canidar4; /* MSCAN + 0x30 */
+ volatile u8 canidar5; /* MSCAN + 0x31 */
+ volatile u16 rsrv12; /* MSCAN + 0x32 */
+ volatile u8 canidar6; /* MSCAN + 0x34 */
+ volatile u8 canidar7; /* MSCAN + 0x35 */
+ volatile u16 rsrv13; /* MSCAN + 0x36 */
+ volatile u8 canidmr4; /* MSCAN + 0x38 */
+ volatile u8 canidmr5; /* MSCAN + 0x39 */
+ volatile u16 rsrv14; /* MSCAN + 0x3A */
+ volatile u8 canidmr6; /* MSCAN + 0x3C */
+ volatile u8 canidmr7; /* MSCAN + 0x3D */
+ volatile u16 rsrv15; /* MSCAN + 0x3E */
+
+ struct mscan_msgbuf canrxfg; /* MSCAN + 0x40 */ /* Foreground receive buffer */
+ struct mscan_msgbuf cantxfg; /* MSCAN + 0x60 */ /* Foreground transmit buffer */
+};
+
+/* Message type access macros.
+ */
+#define MSCAN_BUF_STD_RTR 0x10
+#define MSCAN_BUF_EXT_RTR 0x01
+#define MSCAN_BUF_EXTENDED 0x08
+#define MSCAN_TX_BUFS 3
+
+#define MSCAN_IDAM1 0x20
+/* Value for the interrupt enable register */
+#define MSCAN_RIER (MSCAN_OVRIE | \
+ MSCAN_RXFIE | \
+ MSCAN_WUPIF | \
+ MSCAN_CSCIE | \
+ MSCAN_RSTATE0 | \
+ MSCAN_RSTATE1 | \
+ MSCAN_TSTATE0 | \
+ MSCAN_TSTATE1)
+
+#define BTR0_BRP_MASK 0x3f
+#define BTR0_SJW_SHIFT 6
+#define BTR0_SJW_MASK (0x3 << BTR0_SJW_SHIFT)
+
+#define BTR1_TSEG1_MASK 0xf
+#define BTR1_TSEG2_SHIFT 4
+#define BTR1_TSEG2_MASK (0x7 << BTR1_TSEG2_SHIFT)
+#define BTR1_SAM_SHIFT 7
+
+#define BTR0_SET_BRP(brp) (((brp) - 1) & BTR0_BRP_MASK)
+#define BTR0_SET_SJW(sjw) ((((sjw) - 1) << BTR0_SJW_SHIFT) & BTR0_SJW_MASK)
+
+#define BTR1_SET_TSEG1(tseg1) (((tseg1) - 1) & BTR1_TSEG1_MASK)
+#define BTR1_SET_TSEG2(tseg2) ((((tseg2) - 1) << BTR1_TSEG2_SHIFT) & BTR1_TSEG2_MASK)
+#define BTR1_SET_SAM(sam) (((sam) & 1) << BTR1_SAM_SHIFT)
+
+#endif /* __RTCAN_MSCAN_REGS_H_ */
+ diff -u xenomai/ksrc/drivers/can/rtcan_dev.c.ORIG xenomai/ksrc/drivers/can/rtcan_dev.c
--- xenomai/ksrc/drivers/can/rtcan_dev.c.ORIG 2006-08-22 20:40:29.000000000 +0200
+++ xenomai/ksrc/drivers/can/rtcan_dev.c 2006-08-22 20:41:52.000000000 +0200
@@ -79,16 +79,22 @@
struct rtcan_device *rtcan_dev_get_by_name(const char *name)
{
struct rtcan_device *dev;
+#ifdef RTCAN_USE_REFCOUNT
rtdm_lockctx_t context;
+#endif
+#ifdef RTCAN_USE_REFCOUNT
rtdm_lock_get_irqsave(&rtcan_devices_rt_lock, context);
+#endif
dev = __rtcan_dev_get_by_name(name);
+
+#ifdef RTCAN_USE_REFCOUNT
if (dev != NULL)
atomic_inc(&dev->refcount);
-
rtdm_lock_put_irqrestore(&rtcan_devices_rt_lock, context);
+#endif
return dev;
}
@@ -103,19 +109,25 @@
struct rtcan_device *rtcan_dev_get_by_index(int ifindex)
{
struct rtcan_device *dev;
+#ifdef RTCAN_USE_REFCOUNT
rtdm_lockctx_t context;
+#endif
if ((ifindex <= 0) || (ifindex > RTCAN_MAX_DEVICES))
return NULL;
+#ifdef RTCAN_USE_REFCOUNT
rtdm_lock_get_irqsave(&rtcan_devices_rt_lock, context);
+#endif
dev = __rtcan_dev_get_by_index(ifindex);
+
+#ifdef RTCAN_USE_REFCOUNT
if (dev != NULL)
atomic_inc(&dev->refcount);
-
rtdm_lock_put_irqrestore(&rtcan_devices_rt_lock, context);
+#endif
return dev;
}
@@ -134,8 +146,10 @@
strncpy(dev->name, buf, IFNAMSIZ);
break;
}
+#ifdef RTCAN_USE_REFCOUNT
else
rtcan_dev_dereference(tmp);
+#endif
}
}
@@ -165,8 +179,9 @@
/* Init TX Semaphore, will be destroyed forthwith
* when setting stop mode */
rtdm_sem_init(&dev->tx_sem, 0);
-
+#ifdef RTCAN_USE_REFCOUNT
atomic_set(&dev->refcount, 0);
+#endif
/* Initialize receive list */
dev->empty_list = recv_list_elem = dev->receivers;
@@ -241,6 +256,7 @@
int rtcan_dev_unregister(struct rtcan_device *dev)
{
+#ifdef RTCAN_USE_REFCOUNT
rtdm_lockctx_t context;
@@ -281,6 +297,10 @@
printk("RTCAN: unregistered %s\n", dev->name);
return 0;
+#else
+ printk("RTCAN: Oops, unexpected call of rtcan_dev_unregister()\n");
+ return -EINVAL;
+#endif
}
+ diff -u xenomai/ksrc/drivers/can/rtcan_dev.h.ORIG xenomai/ksrc/drivers/can/rtcan_dev.h
--- xenomai/ksrc/drivers/can/rtcan_dev.h.ORIG 2006-08-22 20:40:30.000000000 +0200
+++ xenomai/ksrc/drivers/can/rtcan_dev.h 2006-08-22 21:29:11.000000000 +0200
@@ -36,8 +36,6 @@
#include "rtcan_list.h"
-#define RTCAN_DEV_VERS_0_1 0x0001
-
/* Number of MSCAN devices the driver can handle */
#define RTCAN_MAX_DEVICES CONFIG_XENO_DRIVERS_RTCAN_MAX_DEVICES
@@ -45,10 +43,13 @@
* for reception at the same time using Bind */
#define RTCAN_MAX_RECEIVERS CONFIG_XENO_DRIVERS_RTCAN_MAX_RECEIVERS
+/* Suppress handling of refcount if module support is not enabled
+ * or modules cannot be unloaded */
+#if defined(CONFIG_MODULES) && !defined(CONFIG_MODULE_UNLOAD)
+#define RTCAN_USE_REFCOUNT
+#endif
+
-/**
- * rtcan_device
- */
struct rtcan_device {
unsigned int version;
@@ -61,7 +62,9 @@
rtdm_irq_t irq_handle; /* RTDM IRQ handle */
int ifindex;
+#ifdef RTCAN_USE_REFCOUNT
atomic_t refcount;
+#endif
void *priv; /* pointer to chip private data */
@@ -153,8 +156,13 @@
struct rtcan_device *rtcan_dev_get_by_name(const char *if_name);
struct rtcan_device *rtcan_dev_get_by_index(int ifindex);
+#ifdef RTCAN_USE_REFCOUNT
#define rtcan_dev_reference(dev) atomic_inc(&(dev)->refcount)
#define rtcan_dev_dereference(dev) atomic_dec(&(dev)->refcount)
+#else
+#define rtcan_dev_reference(dev) do {} while(0)
+#define rtcan_dev_dereference(dev) do {} while(0)
+#endif
int rtcan_dev_create_proc(struct rtcan_device* dev);
void rtcan_dev_remove_proc(struct rtcan_device* dev);
+ diff -u xenomai/ksrc/drivers/can/rtcan_module.c.ORIG xenomai/ksrc/drivers/can/rtcan_module.c
--- xenomai/ksrc/drivers/can/rtcan_module.c.ORIG 2006-08-22 20:40:30.000000000 +0200
+++ xenomai/ksrc/drivers/can/rtcan_module.c 2006-08-22 20:41:52.000000000 +0200
@@ -237,10 +237,14 @@
!RTCAN_PROC_PRINT("%s %s\n", "State ", state_name) ||
!RTCAN_PROC_PRINT("%s %d\n", "TX-Counter", dev->tx_count) ||
!RTCAN_PROC_PRINT("%s %d\n", "RX-Counter", dev->rx_count) ||
- !RTCAN_PROC_PRINT("%s %d\n", "Errors ", dev->err_count) ||
- !RTCAN_PROC_PRINT("%s %d\n", "Refcount ", atomic_read(&dev->refcount)))
+ !RTCAN_PROC_PRINT("%s %d\n", "Errors ", dev->err_count))
goto done;
-
+
+#ifdef RTCAN_USE_REFCOUNT
+ if (!RTCAN_PROC_PRINT("%s %d\n", "Refcount ", atomic_read(&dev->refcount)))
+ goto done;
+#endif
+
done:
up(&rtcan_devices_nrt_lock);
RTCAN_PROC_PRINT_DONE;
+ diff -u xenomai/scripts/Modules.frag.ORIG xenomai/scripts/Modules.frag
--- xenomai/scripts/Modules.frag.ORIG 2006-08-22 20:39:57.000000000 +0200
+++ xenomai/scripts/Modules.frag 2006-08-22 22:10:17.000000000 +0200
@@ -14,5 +14,5 @@
DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN) += drivers/xenomai/can/xeno_rtcan.o
DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN_MSCAN) += drivers/xenomai/can/mscan/xeno_rtcan_mscan.o
DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000) += drivers/xenomai/can/sja1000/xeno_rtcan_sja1000.o
-DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN_PEAK_PCI) += drivers/xenomai/can/sja1000/xeno_rtcan_peak_pci.o
-DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN_PEAK_DNG) += drivers/xenomai/can/sja1000/xeno_rtcan_peak_dng.o
+DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_PEAK_PCI) += drivers/xenomai/can/sja1000/xeno_rtcan_peak_pci.o
+DRIVERS-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_PEAK_DNG) += drivers/xenomai/can/sja1000/xeno_rtcan_peak_dng.o
^ permalink raw reply [flat|nested] 2+ messages in thread
end of thread, other threads:[~2006-08-23 19:49 UTC | newest]
Thread overview: 2+ messages (download: mbox.gz follow: Atom feed
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2006-08-23 18:27 [Xenomai-core] [PATCH] Various fixes and improvements for RT-Socket-CAN Wolfgang Grandegger
2006-08-23 19:49 ` Jan Kiszka
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