[Xenomai-core] Adeos PowerPC patch differences

[Xenomai-core] Adeos PowerPC patch differences

[Benjamin ZORES]

Hello Philippe (or any that can provide me with some infos),

I've seen you've commited a patch for Adeos on upcoming 2.6.23
based on DENX tree.

Can you tell me what are the main differences between the Adeos 1.7
and 2.0 series from a functionnal point of view ?
Is Xenomai 2.4-rc3 supposed to work as good on both series ?
And is the DENX patch specific to DENX tree or can it be applied/used
from vanilla kernel tree ?

Regards,

Ben

[Xenomai-core] RTCAN (MSCAN) doesn't compile on latest Denx 2.6.23

[Daniel Schnell]

Hi,

I have cross compiled Xenomai latest trunk (Adeos-1.7) for the Denx
2.6.23 tree for a PowerPC5200 arch, and the only annoyance I can see is
that MSCAN driver for Xenomai is not compiling because of missing
defines/enums in asm-powerpc/mpc52xx.h in comparision to
asm-ppc/mpc52xx.h.

Looking at the included socket-can mscan driver, things seem to have
changed quite a bit since the socketcan has been ported to
RTCAN/Xenomai.

Wolfgang, Jan, is the MSCAN RT driver just needing the appropriate
defines inside asm-powerpc/mpc52xx.h or or does the driver itself need
changes ? How does the socketcan MSCAN driver come along without these ?


Best regards,

Daniel Schnell. 

Re: [Xenomai-core] RTCAN (MSCAN) doesn't compile on latest Denx 2.6.23

[Wolfgang Grandegger]

[-- Attachment #1: Type: text/plain, Size: 919 bytes --]

Hi Daniel,

Daniel Schnell wrote:
> Hi,
> 
> I have cross compiled Xenomai latest trunk (Adeos-1.7) for the Denx
> 2.6.23 tree for a PowerPC5200 arch, and the only annoyance I can see is
> that MSCAN driver for Xenomai is not compiling because of missing
> defines/enums in asm-powerpc/mpc52xx.h in comparision to
> asm-ppc/mpc52xx.h.

It's a bit more tricky as it has to deal with flat device tree based 
resource management.

> Looking at the included socket-can mscan driver, things seem to have
> changed quite a bit since the socketcan has been ported to
> RTCAN/Xenomai.
> 
> Wolfgang, Jan, is the MSCAN RT driver just needing the appropriate
> defines inside asm-powerpc/mpc52xx.h or or does the driver itself need
> changes ? How does the socketcan MSCAN driver come along without these ?

I have a patch already since a while but forgot to post it. Could you 
please give the attached patch a try?

Wolfgang.


[-- Attachment #2: xenomai-rtcan-mscan.patch --]
[-- Type: text/x-patch, Size: 5508 bytes --]

Index: ksrc/drivers/can/mscan/rtcan_mscan.c
===================================================================
--- ksrc/drivers/can/mscan/rtcan_mscan.c	(revision 3008)
+++ ksrc/drivers/can/mscan/rtcan_mscan.c	(working copy)
@@ -88,7 +88,9 @@ char *mscan_pins = NULL;
 module_param(mscan_pins, charp, 0444);
 MODULE_PARM_DESC(mscan_pins, "Routing to GPIO pins (PSC2 or I2C1/TMR01)");
  
-struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS];
+static struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS];
+static int rtcan_mscan_count;
+
 
 /**
  *  Reception Interrupt handler
@@ -733,26 +735,45 @@ static inline void __init mscan_gpio_con
     }
 }
 
-int __init rtcan_mscan_init_one(int idx)
+static inline int mscan_get_config(unsigned long *addr,
+				   unsigned int *irq)
+{
+#ifdef CONFIG_PPC_MERGE
+    /* Use Open Firmware device tree */
+    struct device_node *np = NULL;
+    unsigned int i;
+    int ret;
+
+    for (i = 0; i < RTCAN_MSCAN_DEVS; i++) {
+	struct resource r[2] = {};
+
+	np = of_find_compatible_node(np, "mscan", "mpc5200-mscan");
+	if (np == NULL)
+	    break;
+	ret = of_address_to_resource(np, 0, &r[0]);
+	if (ret)
+	    return ret;
+	of_irq_to_resource(np, 0, &r[1]);
+	addr[i] = r[0].start;
+	irq[i] = r[1].start;
+	rtcan_mscan_count++;
+    }
+#else
+    addr[0] = MSCAN_CAN1_ADDR;
+    irq[0] = MSCAN_CAN1_IRQ;
+    addr[1] = MSCAN_CAN2_ADDR;
+    irq[1] = MSCAN_CAN2_IRQ;
+    rtcan_mscan_count = 2;
+#endif
+    return 0;
+}
+
+int __init rtcan_mscan_init_one(int idx, unsigned long addr, int irq)
 {
-    int ret, irq;
-    unsigned long addr;
+    int ret;
     struct rtcan_device *dev;
     struct mscan_regs *regs;
 
-    switch (port[idx]) {
-    case 1:
-	addr = MSCAN_CAN1_ADDR;
-	irq = MSCAN_CAN1_IRQ;
-	break;
-    case 2:
-	addr = MSCAN_CAN2_ADDR;
-	irq = MSCAN_CAN2_IRQ;
-	break;
-    default:
-	return 0;
-    }
-
     if ((dev = rtcan_dev_alloc(0, 0)) == NULL) {
         return -ENOMEM;
     }
@@ -762,7 +783,13 @@ int __init rtcan_mscan_init_one(int idx)
 
     dev->can_sys_clock = mscan_clock;
 
-    dev->base_addr = addr;
+    dev->base_addr = (unsigned long)ioremap(addr, MSCAN_SIZE);
+    if (dev->base_addr == 0) {
+	ret = -ENOMEM;
+	printk("ERROR! ioremap of %#lx failed\n", addr);
+	goto out_dev_free;
+    }
+
     regs = (struct mscan_regs *)dev->base_addr;
 
     /* Enable MSCAN module. */
@@ -790,7 +817,7 @@ int __init rtcan_mscan_init_one(int idx)
 			   0, RTCAN_DRV_NAME, (void *)dev);
     if (ret) {
 	printk("ERROR! rtdm_irq_request for IRQ %d failed\n", irq);
-	goto out_dev_free;
+	goto out_iounmap;
     }
 
     mscan_chip_config(regs);
@@ -812,12 +839,15 @@ int __init rtcan_mscan_init_one(int idx)
 
     return 0;
 
- out_irq_free:
+out_irq_free:
     rtdm_irq_free(&dev->irq_handle);
 
- out_dev_free:
+out_iounmap:
     /* Disable MSCAN module. */
     regs->canctl1 &= ~MSCAN_CANE;
+    iounmap((void *)dev->base_addr);
+
+out_dev_free:
     rtcan_dev_free(dev);
 
     return ret;
@@ -829,17 +859,18 @@ static void __exit rtcan_mscan_exit(void
     int i;
     struct rtcan_device *dev;
 
-    for (i = 0; i < RTCAN_MSCAN_DEVS; i++) {
+    for (i = 0; i < rtcan_mscan_count; i++) {
 
 	if ((dev = rtcan_mscan_devs[i]) == NULL)
 	    continue;
-	
+
 	printk("Unloading %s device %s\n", RTCAN_DRV_NAME, dev->name);
 
         rtcan_mscan_mode_stop(dev, NULL);
 	rtdm_irq_free(&dev->irq_handle);
 	rtcan_mscan_remove_proc(dev);
 	rtcan_dev_unregister(dev);
+	iounmap((void *)dev->base_addr);
         rtcan_dev_free(dev);
     }
 
@@ -847,15 +878,21 @@ static void __exit rtcan_mscan_exit(void
 
 static int __init rtcan_mscan_init(void)
 {
-    int i, err;
+    int i, idx, err;
+    int unsigned long addr[RTCAN_MSCAN_DEVS];
+    int irq[RTCAN_MSCAN_DEVS];
 
+    if ((err = mscan_get_config(addr, irq)))
+	return err;
     mscan_gpio_config();
 
-    for (i = 0; i < RTCAN_MSCAN_DEVS; i++) {
-	if (port[i] < 1 || port[i] > RTCAN_MSCAN_DEVS)
+    for (i = 0; i < rtcan_mscan_count; i++) {
+	idx = port[i];
+	if (idx < 1 || idx > rtcan_mscan_count)
 	    continue;
 
-	if ((err = rtcan_mscan_init_one(i) != 0)) {
+	err = rtcan_mscan_init_one(idx, addr[idx], irq[idx]);
+	if (err) {
 	    rtcan_mscan_exit();
 	    return err;
 	}
Index: ksrc/drivers/can/mscan/rtcan_mscan_regs.h
===================================================================
--- ksrc/drivers/can/mscan/rtcan_mscan_regs.h	(revision 3008)
+++ ksrc/drivers/can/mscan/rtcan_mscan_regs.h	(working copy)
@@ -25,7 +25,13 @@
 #ifndef __RTCAN_MSCAN_REGS_H_
 #define __RTCAN_MSCAN_REGS_H_
 
-#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,10)
+#if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,20)
+#include <sysdev/fsl_soc.h>
+#include <asm/of_platform.h>
+#include <asm/mpc52xx.h>
+#define MPC5xxx_GPIO    mpc52xx_find_and_map("mpc5200-gpio")
+#define mpc5xxx_gpio	mpc52xx_gpio
+#elif LINUX_VERSION_CODE < KERNEL_VERSION(2,6,10)
 #include <asm/mpc5xxx.h>
 #define MSCAN_MBAR	MPC5xxx_MBAR
 #define MSCAN_CAN1_IRQ	MPC5xxx_CAN1_IRQ
@@ -35,12 +41,13 @@
 #define MSCAN_MBAR	MPC52xx_MBAR
 #define MSCAN_CAN1_IRQ	MPC52xx_MSCAN1_IRQ
 #define MSCAN_CAN2_IRQ	MPC52xx_MSCAN2_IRQ
-#define MPC5xxx_GPIO	MPC52xx_VA(MPC52xx_GPIO_OFFSET) 
+#define MPC5xxx_GPIO	MPC52xx_VA(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 */
+#define MSCAN_SIZE      0x80
 
 /* MSCAN control register 0 (CANCTL0) bits */
 #define MSCAN_RXFRM	0x80

Re: [Xenomai-core] RTCAN (MSCAN) doesn't compile on latest Denx 2.6.23

[Daniel Schnell]

Wolfgang Grandegger wrote:

 
> It's a bit more tricky as it has to deal with flat device tree based
> resource management. 
> 

Yes this makes sense.


> I have a patch already since a while but forgot to post it. Could you
> please give the attached patch a try? 
> 

Patch applies and compiles cleanly. I will give it a try as soon as I
added the support for our board. I have already support for a 2.6.20
Kernel, so this should be no big deal.

Slightly OT:
Do you know the status of the mpc5200 support of the Denx-2.6 kernel
concerning ATA and FEC ? Are the latest patches from Sylvain Munaut and
Grant Likely already inside ?

What I find nice about the Denx kernel Repo is, that together with
Xenomai there are now two options for opening the MSCAN device.


Best regards,

Daniel Schnell.

Re: [Xenomai-core] Adeos PowerPC patch differences

[Philippe Gerum]

On Mon, 2007-09-24 at 10:40 +0200, Benjamin ZORES wrote:
> Hello Philippe (or any that can provide me with some infos),
> 
> I've seen you've commited a patch for Adeos on upcoming 2.6.23
> based on DENX tree.
> 
> Can you tell me what are the main differences between the Adeos 1.7
> and 2.0 series from a functionnal point of view ?

Basically none.

The point of the I-pipe/powerpc 2.0 series on top of 2.6.22+ is:
1) to introduce the flat interrupt log, and also reduce the cache
footprints of the pipeline.
2) to merge the 32 and 64bit supports into a single patch, which should
put both on par with respect to the maintenance effort (e.g. we may not
release the 32bit side while the 64bit one is lagging behind anymore, so
we now have a pretty good incentive to keep the 64bit side in shape).

The 1.7 series is a backport of the flat interrupt log and cache
footprints optimizations to 2.6.20/32bit, so that people having deployed
the older I-pipe series/Xenomai don't have to upgrade to 2.6.22+ to get
those improvements.

> Is Xenomai 2.4-rc3 supposed to work as good on both series ?

Yes. I have tested 2.6.22-DENX over two Freescale boards, namely mpc52xx
and mpc8548, using this very same setup. Btw, you will need to pick
2.0-01 which landed today in the repo, since I fixed a couple of issues
(one being serious) there.

> And is the DENX patch specific to DENX tree or can it be applied/used
> from vanilla kernel tree ?
> 

It should apply to the vanilla tree without too much fuss, but the
reference tree for the I-pipe/powerpc work is the DENX one, AFAIC.

> Regards,
> 
> Ben
> 
> _______________________________________________
> Xenomai-core mailing list
> Xenomai-core@domain.hid
> https://mail.gna.org/listinfo/xenomai-core
-- 
Philippe.

Re: [Xenomai-core] Adeos PowerPC patch differences

[Benjamin ZORES]

Philippe Gerum wrote:
> Yes. I have tested 2.6.22-DENX over two Freescale boards, namely mpc52xx
> and mpc8548, using this very same setup. Btw, you will need to pick
> 2.0-01 which landed today in the repo, since I fixed a couple of issues
> (one being serious) there.
>   
Thanks for the info about 2.0 issue.
>> And is the DENX patch specific to DENX tree or can it be applied/used
>> from vanilla kernel tree ?
>>
>>     
>
> It should apply to the vanilla tree without too much fuss, but the
> reference tree for the I-pipe/powerpc work is the DENX one, AFAIC.
>
>   

FYI, Adeos 2.0 / Xenomai 2.4 works fine on my PowerPC boards too.
BTW, 2.6.23-rc5 patch does not apply "as it" on -rc7 and -rc8
(for ppc64 part at least).

Ben

Re: [Xenomai-core] Adeos PowerPC patch differences

[Wolfgang Grandegger]

Benjamin ZORES wrote:
> Philippe Gerum wrote:
>> Yes. I have tested 2.6.22-DENX over two Freescale boards, namely mpc52xx
>> and mpc8548, using this very same setup. Btw, you will need to pick
>> 2.0-01 which landed today in the repo, since I fixed a couple of issues
>> (one being serious) there.
>>   
> Thanks for the info about 2.0 issue.
>>> And is the DENX patch specific to DENX tree or can it be applied/used
>>> from vanilla kernel tree ?
>>>
>>>     
>> It should apply to the vanilla tree without too much fuss, but the
>> reference tree for the I-pipe/powerpc work is the DENX one, AFAIC.
>>
>>   
> 
> FYI, Adeos 2.0 / Xenomai 2.4 works fine on my PowerPC boards too.
> BTW, 2.6.23-rc5 patch does not apply "as it" on -rc7 and -rc8
> (for ppc64 part at least).

Because head_4xx.S has been renamed to head_40x.S in arch/powerpc/kernel 
recently :-(.

Wolfgang.

Re: [Xenomai-core] Adeos PowerPC patch differences

[Benjamin ZORES]

Wolfgang Grandegger wrote:
> Benjamin ZORES wrote:
>> Philippe Gerum wrote:
>>> Yes. I have tested 2.6.22-DENX over two Freescale boards, namely 
>>> mpc52xx
>>> and mpc8548, using this very same setup. Btw, you will need to pick
>>> 2.0-01 which landed today in the repo, since I fixed a couple of issues
>>> (one being serious) there.
>>>   
>> Thanks for the info about 2.0 issue.
>>>> And is the DENX patch specific to DENX tree or can it be applied/used
>>>> from vanilla kernel tree ?
>>>>
>>>>     
>>> It should apply to the vanilla tree without too much fuss, but the
>>> reference tree for the I-pipe/powerpc work is the DENX one, AFAIC.
>>>
>>>   
>>
>> FYI, Adeos 2.0 / Xenomai 2.4 works fine on my PowerPC boards too.
>> BTW, 2.6.23-rc5 patch does not apply "as it" on -rc7 and -rc8
>> (for ppc64 part at least).
>
> Because head_4xx.S has been renamed to head_40x.S in 
> arch/powerpc/kernel recently :-(.
>
> Wolfgang.
>
No, it was due to changes in code in time.c and process.c iirc.

Ben

Re: [Xenomai-core] Adeos PowerPC patch differences

[Wolfgang Grandegger]

Benjamin ZORES wrote:
> Wolfgang Grandegger wrote:
>> Benjamin ZORES wrote:
>>> Philippe Gerum wrote:
>>>> Yes. I have tested 2.6.22-DENX over two Freescale boards, namely 
>>>> mpc52xx
>>>> and mpc8548, using this very same setup. Btw, you will need to pick
>>>> 2.0-01 which landed today in the repo, since I fixed a couple of issues
>>>> (one being serious) there.
>>>>   
>>> Thanks for the info about 2.0 issue.
>>>>> And is the DENX patch specific to DENX tree or can it be applied/used
>>>>> from vanilla kernel tree ?
>>>>>
>>>>>     
>>>> It should apply to the vanilla tree without too much fuss, but the
>>>> reference tree for the I-pipe/powerpc work is the DENX one, AFAIC.
>>>>
>>>>   
>>> FYI, Adeos 2.0 / Xenomai 2.4 works fine on my PowerPC boards too.
>>> BTW, 2.6.23-rc5 patch does not apply "as it" on -rc7 and -rc8
>>> (for ppc64 part at least).
>> Because head_4xx.S has been renamed to head_40x.S in 
>> arch/powerpc/kernel recently :-(.
>>
>> Wolfgang.
>>
> No, it was due to changes in code in time.c and process.c iirc.

I applied adeos-ipipe-2.6.23-rc5-powerpc-DENX-2.0-01.patch to the 
2.6.23-rc7 version of linux-2.6-denx. Seems you are using the official 
kernel linux-2.6 tree.

Wolfgang.

Re: [Xenomai-core] RTCAN (MSCAN) doesn't compile on latest Denx 2.6.23

[Daniel Schnell]

[-- Attachment #1: Type: text/plain, Size: 691 bytes --]

Wolfgang Grandegger wrote:

> 
> I have a patch already since a while but forgot to post it. Could you
> please give the attached patch a try? 
> 

I have given the patch a try and it doesn't quite work out of the box,
as there is an index off-by-one error concerning the configured CAN
ports. The result is that probing the CAN controller starts with the
second entry in the device tree and a random address will be probed for
the second CAN controller where ioremap gladly bumps out with an error
which results in a RT-CAN shutdown.

The applied patch solves the issue for me. I don't know if it works in
case of (! #defined CONFIG_PPC_MERGE)


Best regards,

Daniel.

[-- Attachment #2: mscan_fix_ot_index.patch --]
[-- Type: application/octet-stream, Size: 849 bytes --]

--- rtcan_mscan.c.orig	2007-09-26 09:46:18.000000000 +0000
+++ drivers/xenomai/can/mscan/rtcan_mscan.c	2007-09-26 09:41:52.000000000 +0000
@@ -60,13 +60,13 @@
 int port[RTCAN_MSCAN_DEVS] = {
 #ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_1
 #ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2
-	1, 2  /* Enable CAN 1 and 2 */
+	0, 1  /* Enable CAN 1 and 2 */
 #else
-	1, 0  /* Enable CAN 1 only  */
+	0, -1  /* Enable CAN 1 only  */
 #endif
 #else
 #ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2
-	2, 0  /* Enable CAN 2 only  */
+	1, -1  /* Enable CAN 2 only  */
 #else
 #error "No CAN controller enabled, fix configuration!"
 #endif
@@ -888,7 +888,7 @@
 
     for (i = 0; i < rtcan_mscan_count; i++) {
 	idx = port[i];
-	if (idx < 1 || idx > rtcan_mscan_count)
+	if (idx < 0 || idx >= rtcan_mscan_count)
 	    continue;
 
 	err = rtcan_mscan_init_one(idx, addr[idx], irq[idx]);

Re: [Xenomai-core] RTCAN (MSCAN) doesn't compile on latest Denx 2.6.23

[Wolfgang Grandegger]

Daniel Schnell wrote:
> Wolfgang Grandegger wrote:
> 
>> I have a patch already since a while but forgot to post it. Could you
>> please give the attached patch a try? 
>>
> 
> I have given the patch a try and it doesn't quite work out of the box,
> as there is an index off-by-one error concerning the configured CAN
> ports. The result is that probing the CAN controller starts with the
> second entry in the device tree and a random address will be probed for
> the second CAN controller where ioremap gladly bumps out with an error
> which results in a RT-CAN shutdown.
> 
> The applied patch solves the issue for me. I don't know if it works in
> case of (! #defined CONFIG_PPC_MERGE)

I'm going to check that. Thanks for reporting.

Wolfgang.

Re: [Xenomai-core] Adeos PowerPC patch differences

[Benjamin ZORES]

Wolfgang Grandegger wrote:
> Benjamin ZORES wrote:
>> Wolfgang Grandegger wrote:
>>> Benjamin ZORES wrote:
>>>> Philippe Gerum wrote:
>>>>> Yes. I have tested 2.6.22-DENX over two Freescale boards, namely 
>>>>> mpc52xx
>>>>> and mpc8548, using this very same setup. Btw, you will need to pick
>>>>> 2.0-01 which landed today in the repo, since I fixed a couple of 
>>>>> issues
>>>>> (one being serious) there.
>>>>>   
>>>> Thanks for the info about 2.0 issue.
>>>>>> And is the DENX patch specific to DENX tree or can it be 
>>>>>> applied/used
>>>>>> from vanilla kernel tree ?
>>>>>>
>>>>>>     
>>>>> It should apply to the vanilla tree without too much fuss, but the
>>>>> reference tree for the I-pipe/powerpc work is the DENX one, AFAIC.
>>>>>
>>>>>   
>>>> FYI, Adeos 2.0 / Xenomai 2.4 works fine on my PowerPC boards too.
>>>> BTW, 2.6.23-rc5 patch does not apply "as it" on -rc7 and -rc8
>>>> (for ppc64 part at least).
>>> Because head_4xx.S has been renamed to head_40x.S in 
>>> arch/powerpc/kernel recently :-(.
>>>
>>> Wolfgang.
>>>
>> No, it was due to changes in code in time.c and process.c iirc.
>
> I applied adeos-ipipe-2.6.23-rc5-powerpc-DENX-2.0-01.patch to the 
> 2.6.23-rc7 version of linux-2.6-denx. Seems you are using the official 
> kernel linux-2.6 tree.
>
Absolutely.
Sorry for not having stated this before.
Anyhow, it's easy to fix.

Ben

Re: [Xenomai-core] RTCAN (MSCAN) doesn't compile on latest Denx 2.6.23

[Wolfgang Grandegger]

[-- Attachment #1: Type: text/plain, Size: 1141 bytes --]

Daniel Schnell wrote:
> Wolfgang Grandegger wrote:
> 
>> I have a patch already since a while but forgot to post it. Could you
>> please give the attached patch a try? 
>>
> 
> I have given the patch a try and it doesn't quite work out of the box,
> as there is an index off-by-one error concerning the configured CAN
> ports. The result is that probing the CAN controller starts with the
> second entry in the device tree and a random address will be probed for
> the second CAN controller where ioremap gladly bumps out with an error
> which results in a RT-CAN shutdown.
> 
> The applied patch solves the issue for me. I don't know if it works in
> case of (! #defined CONFIG_PPC_MERGE)

I have fixed this issue in a slightly different way. The MSCAN ports can 
now be enabled/disbaled via module argument as shown:

   port=1,1  enable both ports
   port=1,0  enable only first port
   port=0,1  enable only second port

This is less error-prone and works also fine if only one MSCAN device is 
defined in the Flat Device Tree.

If there are no objections, I'm going to commit the changes to the trunk 
and the v2.3.x branch.

Wolfgang.

[-- Attachment #2: xenomai-rtcan-mscan-2.patch --]
[-- Type: text/x-patch, Size: 6100 bytes --]

Index: ksrc/drivers/can/mscan/rtcan_mscan.c
===================================================================
--- ksrc/drivers/can/mscan/rtcan_mscan.c	(revision 3025)
+++ ksrc/drivers/can/mscan/rtcan_mscan.c	(working copy)
@@ -60,20 +60,20 @@
 int port[RTCAN_MSCAN_DEVS] = {
 #ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_1
 #ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2
-	1, 2  /* Enable CAN 1 and 2 */
+	1, 1  /* Enable CAN 1 and 2 */
 #else
 	1, 0  /* Enable CAN 1 only  */
 #endif
 #else
 #ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2
-	2, 0  /* Enable CAN 2 only  */
+	0, 1  /* Enable CAN 2 only  */
 #else
 #error "No CAN controller enabled, fix configuration!"
 #endif
 #endif
 };
 compat_module_param_array(port, int, RTCAN_MSCAN_DEVS, 0444);
-MODULE_PARM_DESC(port, "Port numbers of enabled controllers, e.g. 1,2");
+MODULE_PARM_DESC(port, "Enabled CAN ports (1,1 or 0,1 or 0,1)");
 
 /* 
  * Note: on the MPC5200 the MSCAN clock source is the IP bus 
@@ -88,8 +88,10 @@
 module_param(mscan_pins, charp, 0444);
 MODULE_PARM_DESC(mscan_pins, "Routing to GPIO pins (PSC2 or I2C1/TMR01)");
  
-struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS];
+static struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS];
+static int rtcan_mscan_count;
 
+
 /**
  *  Reception Interrupt handler
  *
@@ -733,26 +735,45 @@
     }
 }
 
-int __init rtcan_mscan_init_one(int idx)
+static inline int mscan_get_config(unsigned long *addr,
+				   unsigned int *irq)
 {
-    int ret, irq;
-    unsigned long addr;
+#ifdef CONFIG_PPC_MERGE
+    /* Use Open Firmware device tree */
+    struct device_node *np = NULL;
+    unsigned int i;
+    int ret;
+
+    for (i = 0; i < RTCAN_MSCAN_DEVS; i++) {
+	struct resource r[2] = {};
+
+	np = of_find_compatible_node(np, "mscan", "mpc5200-mscan");
+	if (np == NULL)
+	    break;
+	ret = of_address_to_resource(np, 0, &r[0]);
+	if (ret)
+	    return ret;
+	of_irq_to_resource(np, 0, &r[1]);
+	addr[i] = r[0].start;
+	irq[i] = r[1].start;
+	rtcan_mscan_count++;
+    }
+#else
+    addr[0] = MSCAN_CAN1_ADDR;
+    irq[0] = MSCAN_CAN1_IRQ;
+    addr[1] = MSCAN_CAN2_ADDR;
+    irq[1] = MSCAN_CAN2_IRQ;
+    rtcan_mscan_count = 2;
+#endif
+    return 0;
+}
+
+int __init rtcan_mscan_init_one(int idx, unsigned long addr, int irq)
+{
+    int ret;
     struct rtcan_device *dev;
     struct mscan_regs *regs;
 
-    switch (port[idx]) {
-    case 1:
-	addr = MSCAN_CAN1_ADDR;
-	irq = MSCAN_CAN1_IRQ;
-	break;
-    case 2:
-	addr = MSCAN_CAN2_ADDR;
-	irq = MSCAN_CAN2_IRQ;
-	break;
-    default:
-	return 0;
-    }
-
     if ((dev = rtcan_dev_alloc(0, 0)) == NULL) {
         return -ENOMEM;
     }
@@ -762,7 +783,13 @@
 
     dev->can_sys_clock = mscan_clock;
 
-    dev->base_addr = addr;
+    dev->base_addr = (unsigned long)ioremap(addr, MSCAN_SIZE);
+    if (dev->base_addr == 0) {
+	ret = -ENOMEM;
+	printk("ERROR! ioremap of %#lx failed\n", addr);
+	goto out_dev_free;
+    }
+
     regs = (struct mscan_regs *)dev->base_addr;
 
     /* Enable MSCAN module. */
@@ -790,7 +817,7 @@
 			   0, RTCAN_DRV_NAME, (void *)dev);
     if (ret) {
 	printk("ERROR! rtdm_irq_request for IRQ %d failed\n", irq);
-	goto out_dev_free;
+	goto out_iounmap;
     }
 
     mscan_chip_config(regs);
@@ -808,16 +835,19 @@
     rtcan_mscan_devs[idx] = dev;
 
     printk("%s: %s driver loaded (port %d, base-addr 0x%lx irq %d)\n",
-	   dev->name, RTCAN_DRV_NAME, port[idx], addr, irq);
+	   dev->name, RTCAN_DRV_NAME, idx + 1, addr, irq);
 
     return 0;
 
- out_irq_free:
+out_irq_free:
     rtdm_irq_free(&dev->irq_handle);
 
- out_dev_free:
+out_iounmap:
     /* Disable MSCAN module. */
     regs->canctl1 &= ~MSCAN_CANE;
+    iounmap((void *)dev->base_addr);
+
+out_dev_free:
     rtcan_dev_free(dev);
 
     return ret;
@@ -829,17 +859,18 @@
     int i;
     struct rtcan_device *dev;
 
-    for (i = 0; i < RTCAN_MSCAN_DEVS; i++) {
+    for (i = 0; i < rtcan_mscan_count; i++) {
 
 	if ((dev = rtcan_mscan_devs[i]) == NULL)
 	    continue;
-	
+
 	printk("Unloading %s device %s\n", RTCAN_DRV_NAME, dev->name);
 
         rtcan_mscan_mode_stop(dev, NULL);
 	rtdm_irq_free(&dev->irq_handle);
 	rtcan_mscan_remove_proc(dev);
 	rtcan_dev_unregister(dev);
+	iounmap((void *)dev->base_addr);
         rtcan_dev_free(dev);
     }
 
@@ -848,14 +879,19 @@
 static int __init rtcan_mscan_init(void)
 {
     int i, err;
+    int unsigned long addr[RTCAN_MSCAN_DEVS];
+    int irq[RTCAN_MSCAN_DEVS];
 
+    if ((err = mscan_get_config(addr, irq)))
+	return err;
     mscan_gpio_config();
 
-    for (i = 0; i < RTCAN_MSCAN_DEVS; i++) {
-	if (port[i] < 1 || port[i] > RTCAN_MSCAN_DEVS)
+    for (i = 0; i < rtcan_mscan_count; i++) {
+	if (!port[i])
 	    continue;
 
-	if ((err = rtcan_mscan_init_one(i) != 0)) {
+	err = rtcan_mscan_init_one(i, addr[i], irq[i]);
+	if (err) {
 	    rtcan_mscan_exit();
 	    return err;
 	}
Index: ksrc/drivers/can/mscan/rtcan_mscan_regs.h
===================================================================
--- ksrc/drivers/can/mscan/rtcan_mscan_regs.h	(revision 3025)
+++ ksrc/drivers/can/mscan/rtcan_mscan_regs.h	(working copy)
@@ -25,7 +25,13 @@
 #ifndef __RTCAN_MSCAN_REGS_H_
 #define __RTCAN_MSCAN_REGS_H_
 
-#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,10)
+#if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,20)
+#include <sysdev/fsl_soc.h>
+#include <asm/of_platform.h>
+#include <asm/mpc52xx.h>
+#define MPC5xxx_GPIO    mpc52xx_find_and_map("mpc5200-gpio")
+#define mpc5xxx_gpio	mpc52xx_gpio
+#elif LINUX_VERSION_CODE < KERNEL_VERSION(2,6,10)
 #include <asm/mpc5xxx.h>
 #define MSCAN_MBAR	MPC5xxx_MBAR
 #define MSCAN_CAN1_IRQ	MPC5xxx_CAN1_IRQ
@@ -35,12 +41,13 @@
 #define MSCAN_MBAR	MPC52xx_MBAR
 #define MSCAN_CAN1_IRQ	MPC52xx_MSCAN1_IRQ
 #define MSCAN_CAN2_IRQ	MPC52xx_MSCAN2_IRQ
-#define MPC5xxx_GPIO	MPC52xx_VA(MPC52xx_GPIO_OFFSET) 
+#define MPC5xxx_GPIO	MPC52xx_VA(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 */
+#define MSCAN_SIZE      0x80
 
 /* MSCAN control register 0 (CANCTL0) bits */
 #define MSCAN_RXFRM	0x80