* [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 @ 2010-01-14 12:07 Wolfgang Grandegger 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 1/3] rtcan: mscan: use tabs for indention and white space cleanup Wolfgang Grandegger 2010-01-15 14:08 ` [Xenomai-core] [PATCH xenomai-2.5 0/3] " Gilles Chanteperdrix 0 siblings, 2 replies; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:07 UTC (permalink / raw) To: Xenomai-core; +Cc: Wolfgang Grandegger From: Wolfgang Grandegger <wg@domain.hid> This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x from Freescale by introducing a new OF platform driver for both, the MPC521x and MPC5200, while still keeping the old driver for the MPC5200 for compatibility with older kernel versions. Wolfgang Wolfgang Grandegger (3): rtcan: mscan: use tabs for indention and white space cleanup rtcan: mscan: use proper io accessor functions for register access rtcan: mscan: new OF platform driver for MPC521x and MPC5200 ksrc/drivers/can/mscan/Kconfig | 21 +- ksrc/drivers/can/mscan/Makefile | 11 +- ksrc/drivers/can/mscan/rtcan_mscan.c | 1245 +++++++++++--------------- ksrc/drivers/can/mscan/rtcan_mscan.h | 38 + ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c | 254 ++++++ ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c | 374 ++++++++ ksrc/drivers/can/mscan/rtcan_mscan_proc.c | 184 ++-- ksrc/drivers/can/mscan/rtcan_mscan_regs.h | 74 +- 8 files changed, 1371 insertions(+), 830 deletions(-) create mode 100644 ksrc/drivers/can/mscan/rtcan_mscan.h create mode 100644 ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c create mode 100644 ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c ^ permalink raw reply [flat|nested] 14+ messages in thread
* [Xenomai-core] [PATCH xenomai-2.5 1/3] rtcan: mscan: use tabs for indention and white space cleanup 2010-01-14 12:07 [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 Wolfgang Grandegger @ 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 2/3] rtcan: mscan: use proper io accessor functions for register access Wolfgang Grandegger 2010-01-15 14:08 ` [Xenomai-core] [PATCH xenomai-2.5 0/3] " Gilles Chanteperdrix 1 sibling, 1 reply; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:07 UTC (permalink / raw) To: Xenomai-core; +Cc: Wolfgang Grandegger From: Wolfgang Grandegger <wg@domain.hid> This patch introduces tabs for indention, deletes training white space and corrects some other white space issues. Signed-off-by: Wolfgang Grandegger <wg@domain.hid> --- ksrc/drivers/can/mscan/Makefile | 4 +- ksrc/drivers/can/mscan/rtcan_mscan.c | 1226 ++++++++++++++--------------- ksrc/drivers/can/mscan/rtcan_mscan_proc.c | 172 ++-- ksrc/drivers/can/mscan/rtcan_mscan_regs.h | 66 +- 4 files changed, 732 insertions(+), 736 deletions(-) diff --git a/ksrc/drivers/can/mscan/Makefile b/ksrc/drivers/can/mscan/Makefile index 20e29e4..8976ffe 100644 --- a/ksrc/drivers/can/mscan/Makefile +++ b/ksrc/drivers/can/mscan/Makefile @@ -14,9 +14,9 @@ else O_TARGET := built-in.o -obj-$(CONFIG_XENO_DRIVERS_CAN_MSCAN) := xeno_can_mscan.o +obj-$(CONFIG_XENO_DRIVERS_CAN_MSCAN) := xeno_can_mscan.o -list-multi := xeno_can_mscan.o +list-multi := xeno_can_mscan.o xeno_can_mscan-objs := rtcan_mscan.o rtcan_mscan_proc.o diff --git a/ksrc/drivers/can/mscan/rtcan_mscan.c b/ksrc/drivers/can/mscan/rtcan_mscan.c index 9618057..b5b6489 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan.c @@ -74,9 +74,9 @@ int port[RTCAN_MSCAN_DEVS] = { compat_module_param_array(port, int, RTCAN_MSCAN_DEVS, 0444); 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 - * clock (IP_CLK) while on the MPC5200B it is the oscillator +/* + * Note: on the MPC5200 the MSCAN clock source is the IP bus + * clock (IP_CLK) while on the MPC5200B it is the oscillator * clock (SYS_XTAL_IN). */ unsigned int mscan_clock = CONFIG_XENO_DRIVERS_CAN_MSCAN_CLOCK; @@ -86,11 +86,10 @@ MODULE_PARM_DESC(mscan_clock, "Clock frequency in Hz"); char *mscan_pins = NULL; module_param(mscan_pins, charp, 0444); MODULE_PARM_DESC(mscan_pins, "Routing to GPIO pins (PSC2 or I2C1/TMR01)"); - + static struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS]; static int rtcan_mscan_count; - /** * Reception Interrupt handler * @@ -103,224 +102,220 @@ static int rtcan_mscan_count; * @param[in] dev Device ID */ static inline void rtcan_mscan_rx_interrupt(struct rtcan_device *dev, - struct rtcan_skb *skb - ) + struct rtcan_skb *skb) { - int i; - unsigned char size; - struct rtcan_rb_frame *frame = &skb->rb_frame; - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - - skb->rb_frame_size = EMPTY_RB_FRAME_SIZE; - - frame->can_dlc = regs->canrxfg.dlr & 0x0F; - - /* If DLC exceeds 8 bytes adjust it to 8 (for the payload size) */ - size = (frame->can_dlc > 8) ? 8 : frame->can_dlc; - - if (regs->canrxfg.idr[1] & MSCAN_BUF_EXTENDED) { - frame->can_id = ((regs->canrxfg.idr[0] << 21) | - ((regs->canrxfg.idr[1] & 0xE0) << 13) | - ((regs->canrxfg.idr[1] & 0x07) << 15) | - (regs->canrxfg.idr[4] << 7) | - (regs->canrxfg.idr[5] >> 1)); - - frame->can_id |= CAN_EFF_FLAG; - - if ((regs->canrxfg.idr[5] & MSCAN_BUF_EXT_RTR)) { - frame->can_id |= CAN_RTR_FLAG; - } else { - for (i = 0; i < size; i++) - frame->data[i] = regs->canrxfg.dsr[i + (i / 2) * 2]; - skb->rb_frame_size += size; - } - - } else { - frame->can_id = ((regs->canrxfg.idr[0] << 3) | - (regs->canrxfg.idr[1] >> 5)); - - if ((regs->canrxfg.idr[1] & MSCAN_BUF_STD_RTR)) { - frame->can_id |= CAN_RTR_FLAG; - } else { - for (i = 0; i < size; i++) - frame->data[i] = regs->canrxfg.dsr[i + (i / 2) * 2]; - skb->rb_frame_size += size; - } - } - - - /* Store the interface index */ - frame->can_ifindex = dev->ifindex; -} - + int i; + unsigned char size; + struct rtcan_rb_frame *frame = &skb->rb_frame; + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; -static can_state_t mscan_stat_map[4] = { - CAN_STATE_ACTIVE, - CAN_STATE_BUS_WARNING, - CAN_STATE_BUS_PASSIVE, - CAN_STATE_BUS_OFF -}; + skb->rb_frame_size = EMPTY_RB_FRAME_SIZE; -static inline void rtcan_mscan_err_interrupt(struct rtcan_device *dev, - struct rtcan_skb *skb, - int r_status) -{ - u8 rstat, tstat; - struct rtcan_rb_frame *frame = &skb->rb_frame; - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - - skb->rb_frame_size = EMPTY_RB_FRAME_SIZE + CAN_ERR_DLC; + frame->can_dlc = regs->canrxfg.dlr & 0x0F; - frame->can_id = CAN_ERR_FLAG; - frame->can_dlc = CAN_ERR_DLC; + /* If DLC exceeds 8 bytes adjust it to 8 (for the payload size) */ + size = (frame->can_dlc > 8) ? 8 : frame->can_dlc; - memset(&frame->data[0], 0, frame->can_dlc); + if (regs->canrxfg.idr[1] & MSCAN_BUF_EXTENDED) { + frame->can_id = ((regs->canrxfg.idr[0] << 21) | + ((regs->canrxfg.idr[1] & 0xE0) << 13) | + ((regs->canrxfg.idr[1] & 0x07) << 15) | + (regs->canrxfg.idr[4] << 7) | + (regs->canrxfg.idr[5] >> 1)); - if ((r_status & MSCAN_OVRIF)) { - frame->can_id |= CAN_ERR_CRTL; - frame->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + frame->can_id |= CAN_EFF_FLAG; - } else if ((r_status & (MSCAN_CSCIF))) { - - 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)]; + if ((regs->canrxfg.idr[5] & MSCAN_BUF_EXT_RTR)) { + frame->can_id |= CAN_RTR_FLAG; + } else { + for (i = 0; i < size; i++) + frame->data[i] = + regs->canrxfg.dsr[i + (i / 2) * 2]; + skb->rb_frame_size += size; + } - switch (dev->state) { - case CAN_STATE_BUS_OFF: - /* Bus-off condition */ - frame->can_id |= CAN_ERR_BUSOFF; - dev->state = CAN_STATE_BUS_OFF; - /* Disable receiver interrupts */ - regs->canrier = 0; - /* Wake up waiting senders */ - rtdm_sem_destroy(&dev->tx_sem); - break; + } else { + frame->can_id = ((regs->canrxfg.idr[0] << 3) | + (regs->canrxfg.idr[1] >> 5)); + + if ((regs->canrxfg.idr[1] & MSCAN_BUF_STD_RTR)) { + frame->can_id |= CAN_RTR_FLAG; + } else { + for (i = 0; i < size; i++) + frame->data[i] = + regs->canrxfg.dsr[i + (i / 2) * 2]; + skb->rb_frame_size += size; + } + } - case CAN_STATE_BUS_PASSIVE: - frame->can_id |= CAN_ERR_CRTL; - if (tstat > rstat) - frame->data[1] = CAN_ERR_CRTL_TX_PASSIVE; - else - frame->data[1] = CAN_ERR_CRTL_RX_PASSIVE; - break; - case CAN_STATE_BUS_WARNING: - frame->can_id |= CAN_ERR_CRTL; - if (tstat > rstat) - frame->data[1] = CAN_ERR_CRTL_TX_WARNING; - else - frame->data[1] = CAN_ERR_CRTL_RX_WARNING; - break; + /* Store the interface index */ + frame->can_ifindex = dev->ifindex; +} - default: - break; +static can_state_t mscan_stat_map[4] = { + CAN_STATE_ACTIVE, + CAN_STATE_BUS_WARNING, + CAN_STATE_BUS_PASSIVE, + CAN_STATE_BUS_OFF +}; +static inline void rtcan_mscan_err_interrupt(struct rtcan_device *dev, + struct rtcan_skb *skb, + int r_status) +{ + u8 rstat, tstat; + struct rtcan_rb_frame *frame = &skb->rb_frame; + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; + + skb->rb_frame_size = EMPTY_RB_FRAME_SIZE + CAN_ERR_DLC; + + frame->can_id = CAN_ERR_FLAG; + frame->can_dlc = CAN_ERR_DLC; + + memset(&frame->data[0], 0, frame->can_dlc); + + if ((r_status & MSCAN_OVRIF)) { + frame->can_id |= CAN_ERR_CRTL; + frame->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + + } else if ((r_status & (MSCAN_CSCIF))) { + + 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) { + case CAN_STATE_BUS_OFF: + /* Bus-off condition */ + frame->can_id |= CAN_ERR_BUSOFF; + dev->state = CAN_STATE_BUS_OFF; + /* Disable receiver interrupts */ + regs->canrier = 0; + /* Wake up waiting senders */ + rtdm_sem_destroy(&dev->tx_sem); + break; + + case CAN_STATE_BUS_PASSIVE: + frame->can_id |= CAN_ERR_CRTL; + if (tstat > rstat) + frame->data[1] = CAN_ERR_CRTL_TX_PASSIVE; + else + frame->data[1] = CAN_ERR_CRTL_RX_PASSIVE; + break; + + case CAN_STATE_BUS_WARNING: + frame->can_id |= CAN_ERR_CRTL; + if (tstat > rstat) + frame->data[1] = CAN_ERR_CRTL_TX_WARNING; + else + frame->data[1] = CAN_ERR_CRTL_RX_WARNING; + break; + + default: + break; + + } } - } - /* Store the interface index */ - frame->can_ifindex = dev->ifindex; + /* Store the interface index */ + frame->can_ifindex = dev->ifindex; } - - /** Interrupt handler */ static int rtcan_mscan_interrupt(rtdm_irq_t *irq_handle) { - struct rtcan_skb skb; - struct rtcan_device *dev; - struct mscan_regs *regs; - u8 canrflg; - int recv_lock_free = 1; - int ret = RTDM_IRQ_NONE; + struct rtcan_skb skb; + struct rtcan_device *dev; + struct mscan_regs *regs; + u8 canrflg; + int recv_lock_free = 1; + int ret = RTDM_IRQ_NONE; - dev = (struct rtcan_device *)rtdm_irq_get_arg(irq_handle, void); - regs = (struct mscan_regs *)dev->base_addr; + dev = (struct rtcan_device *)rtdm_irq_get_arg(irq_handle, void); + regs = (struct mscan_regs *)dev->base_addr; - rtdm_lock_get(&dev->device_lock); + rtdm_lock_get(&dev->device_lock); - canrflg = regs->canrflg; + canrflg = regs->canrflg; - ret = RTDM_IRQ_HANDLED; + ret = RTDM_IRQ_HANDLED; - /* Transmit Interrupt? */ - if ((regs->cantier & MSCAN_TXIE0) && (regs->cantflg & MSCAN_TXE0)) { - regs->cantier = 0; - /* Wake up a sender */ - rtdm_sem_up(&dev->tx_sem); + /* Transmit Interrupt? */ + if ((regs->cantier & MSCAN_TXIE0) && (regs->cantflg & MSCAN_TXE0)) { + regs->cantier = 0; + /* Wake up a sender */ + rtdm_sem_up(&dev->tx_sem); - if (rtcan_loopback_pending(dev)) { + if (rtcan_loopback_pending(dev)) { - if (recv_lock_free) { - recv_lock_free = 0; - rtdm_lock_get(&rtcan_recv_list_lock); - rtdm_lock_get(&rtcan_socket_lock); - } + if (recv_lock_free) { + recv_lock_free = 0; + rtdm_lock_get(&rtcan_recv_list_lock); + rtdm_lock_get(&rtcan_socket_lock); + } - rtcan_loopback(dev); + rtcan_loopback(dev); + } } - } - - /* Wakeup interrupt? */ - if ((canrflg & MSCAN_WUPIF)) { - rtdm_printk("WUPIF interrupt\n"); - } - - /* Receive Interrupt? */ - if ((canrflg & MSCAN_RXF)) { - - /* Read out HW registers */ - rtcan_mscan_rx_interrupt(dev, &skb); - - /* Take more locks. Ensure that they are taken and - * released only once in the IRQ handler. */ - /* WARNING: Nested locks are dangerous! But they are - * nested only in this routine so a deadlock should - * not be possible. */ - if (recv_lock_free) { - recv_lock_free = 0; - rtdm_lock_get(&rtcan_recv_list_lock); - rtdm_lock_get(&rtcan_socket_lock); + + /* Wakeup interrupt? */ + if ((canrflg & MSCAN_WUPIF)) { + rtdm_printk("WUPIF interrupt\n"); } - - /* Pass received frame out to the sockets */ - rtcan_rcv(dev, &skb); - } - - /* Error Interrupt? */ - if ((canrflg & (MSCAN_CSCIF | MSCAN_OVRIF))) { - /* Check error condition and fill error frame */ - rtcan_mscan_err_interrupt(dev, &skb, canrflg); - - if (recv_lock_free) { - recv_lock_free = 0; - rtdm_lock_get(&rtcan_recv_list_lock); - rtdm_lock_get(&rtcan_socket_lock); + + /* Receive Interrupt? */ + if ((canrflg & MSCAN_RXF)) { + + /* Read out HW registers */ + rtcan_mscan_rx_interrupt(dev, &skb); + + /* Take more locks. Ensure that they are taken and + * released only once in the IRQ handler. */ + /* WARNING: Nested locks are dangerous! But they are + * nested only in this routine so a deadlock should + * not be possible. */ + if (recv_lock_free) { + recv_lock_free = 0; + rtdm_lock_get(&rtcan_recv_list_lock); + rtdm_lock_get(&rtcan_socket_lock); + } + + /* Pass received frame out to the sockets */ + rtcan_rcv(dev, &skb); } - - /* Pass error frame out to the sockets */ - rtcan_rcv(dev, &skb); - } - - /* Acknowledge the handled interrupt within the controller. - * Only do so for the receiver interrupts. - */ - if (canrflg) - regs->canrflg = canrflg; - - if (!recv_lock_free) { - rtdm_lock_put(&rtcan_socket_lock); - rtdm_lock_put(&rtcan_recv_list_lock); - } - rtdm_lock_put(&dev->device_lock); - - return ret; -} + /* Error Interrupt? */ + if ((canrflg & (MSCAN_CSCIF | MSCAN_OVRIF))) { + /* Check error condition and fill error frame */ + rtcan_mscan_err_interrupt(dev, &skb, canrflg); + if (recv_lock_free) { + recv_lock_free = 0; + rtdm_lock_get(&rtcan_recv_list_lock); + rtdm_lock_get(&rtcan_socket_lock); + } + + /* Pass error frame out to the sockets */ + rtcan_rcv(dev, &skb); + } + + /* Acknowledge the handled interrupt within the controller. + * Only do so for the receiver interrupts. + */ + if (canrflg) + regs->canrflg = canrflg; + + if (!recv_lock_free) { + rtdm_lock_put(&rtcan_socket_lock); + rtdm_lock_put(&rtcan_recv_list_lock); + } + rtdm_lock_put(&dev->device_lock); + + return ret; +} /** * Set controller into reset mode. Called from @ref rtcan_mscan_ioctl @@ -345,45 +340,43 @@ static int rtcan_mscan_interrupt(rtdm_irq_t *irq_handle) static int rtcan_mscan_mode_stop(struct rtcan_device *dev, rtdm_lockctx_t *lock_ctx) { - int ret = 0; - int rinit = 0; - can_state_t state; - volatile struct mscan_regs *regs = - (struct mscan_regs *)dev->base_addr; - u8 reg; - - state = dev->state; - /* If controller is not operating anyway, go out */ - if (!CAN_STATE_OPERATING(state)) - goto out; - - /* Switch to sleep mode */ - regs->canctl0 |= MSCAN_SLPRQ; - regs->canctl0 |= MSCAN_INITRQ; - - reg = regs->canctl1; - 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 */ - rtdm_task_busy_sleep(1000); - if (likely(lock_ctx != NULL)) - rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); - rinit++; - reg = regs->canctl1; - } + int ret = 0; + int rinit = 0; + can_state_t state; + volatile struct mscan_regs *regs = + (struct mscan_regs *)dev->base_addr; + u8 reg; - /* Volatile state could have changed while we slept busy. */ - dev->state = CAN_STATE_STOPPED; - /* Wake up waiting senders */ - rtdm_sem_destroy(&dev->tx_sem); + state = dev->state; + /* If controller is not operating anyway, go out */ + if (!CAN_STATE_OPERATING(state)) + goto out; - out: - return ret; -} + /* Switch to sleep mode */ + regs->canctl0 |= MSCAN_SLPRQ; + regs->canctl0 |= MSCAN_INITRQ; + reg = regs->canctl1; + 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 */ + rtdm_task_busy_sleep(1000); + if (likely(lock_ctx != NULL)) + rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); + rinit++; + reg = regs->canctl1; + } + /* Volatile state could have changed while we slept busy. */ + dev->state = CAN_STATE_STOPPED; + /* Wake up waiting senders */ + rtdm_sem_destroy(&dev->tx_sem); + +out: + return ret; +} /** * Set controller into operating mode. @@ -405,183 +398,185 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev, static int rtcan_mscan_mode_start(struct rtcan_device *dev, rtdm_lockctx_t *lock_ctx) { - int ret = 0, retries = 0; - can_state_t state; - 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 ... */ - state = dev->state; - - switch (state) { - case CAN_STATE_ACTIVE: - case CAN_STATE_BUS_WARNING: - case CAN_STATE_BUS_PASSIVE: - break; - - case CAN_STATE_SLEEPING: - case CAN_STATE_STOPPED: - /* Set error active state */ - state = CAN_STATE_ACTIVE; - /* Set up sender "mutex" */ - rtdm_sem_init(&dev->tx_sem, 1); - - if ((dev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)) { - regs->canctl1 |= MSCAN_LISTEN; - } else { - regs->canctl1 &= ~MSCAN_LISTEN; - } - if ((dev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)) { - regs->canctl1 |= MSCAN_LOOPB; - } else { - regs->canctl1 &= ~MSCAN_LOOPB; - } + int ret = 0, retries = 0; + can_state_t state; + volatile struct mscan_regs *regs = + (struct mscan_regs *)dev->base_addr; - /* Switch to normal mode */ - 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 */ - rtdm_task_busy_sleep(1000); - if (likely(lock_ctx != NULL)) - rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); - retries++; - } - /* Enable interrupts */ - regs->canrier |= MSCAN_RIER; + /* We won't forget that state in the device structure is volatile and + * access to it will not be optimized by the compiler. So ... */ + state = dev->state; - break; + switch (state) { + case CAN_STATE_ACTIVE: + case CAN_STATE_BUS_WARNING: + case CAN_STATE_BUS_PASSIVE: + break; - case CAN_STATE_BUS_OFF: - /* Trigger bus-off recovery */ - regs->canrier = MSCAN_RIER; - /* Set up sender "mutex" */ - rtdm_sem_init(&dev->tx_sem, 1); - /* Set error active state */ - state = CAN_STATE_ACTIVE; + case CAN_STATE_SLEEPING: + case CAN_STATE_STOPPED: + /* Set error active state */ + state = CAN_STATE_ACTIVE; + /* Set up sender "mutex" */ + rtdm_sem_init(&dev->tx_sem, 1); + + if ((dev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)) { + regs->canctl1 |= MSCAN_LISTEN; + } else { + regs->canctl1 &= ~MSCAN_LISTEN; + } + if ((dev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)) { + regs->canctl1 |= MSCAN_LOOPB; + } else { + regs->canctl1 &= ~MSCAN_LOOPB; + } + + /* Switch to normal mode */ + 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 */ + rtdm_task_busy_sleep(1000); + if (likely(lock_ctx != NULL)) + rtdm_lock_get_irqsave(&dev->device_lock, + *lock_ctx); + retries++; + } + /* Enable interrupts */ + regs->canrier |= MSCAN_RIER; - break; + break; + + case CAN_STATE_BUS_OFF: + /* Trigger bus-off recovery */ + regs->canrier = MSCAN_RIER; + /* Set up sender "mutex" */ + rtdm_sem_init(&dev->tx_sem, 1); + /* Set error active state */ + state = CAN_STATE_ACTIVE; - default: - /* Never reached, but we don't want nasty compiler warnings ... */ - break; - } - /* Store new state in device structure (or old state) */ - dev->state = state; + break; - return ret; + default: + /* Never reached, but we don't want nasty compiler warnings */ + break; + } + /* Store new state in device structure (or old state) */ + dev->state = state; + + return ret; } -int rtcan_mscan_set_bit_time(struct rtcan_device *dev, +int rtcan_mscan_set_bit_time(struct rtcan_device *dev, struct can_bittime *bit_time, rtdm_lockctx_t *lock_ctx) { - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - u8 btr0, btr1; - - switch (bit_time->type) { - case CAN_BITTIME_BTR: - btr0 = bit_time->btr.btr0; - btr1 = bit_time->btr.btr1; - break; - - case CAN_BITTIME_STD: - btr0 = (BTR0_SET_BRP(bit_time->std.brp) | - BTR0_SET_SJW(bit_time->std.sjw)); - btr1 = (BTR1_SET_TSEG1(bit_time->std.prop_seg + - bit_time->std.phase_seg1) | - BTR1_SET_TSEG2(bit_time->std.phase_seg2) | - BTR1_SET_SAM(bit_time->std.sam)); - break; - - default: - return -EINVAL; - } - - regs->canbtr0 = btr0; - regs->canbtr1 = btr1; - - rtdm_printk("%s: btr0=0x%02x btr1=0x%02x\n", dev->name, btr0, btr1); - - return 0; + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; + u8 btr0, btr1; + + switch (bit_time->type) { + case CAN_BITTIME_BTR: + btr0 = bit_time->btr.btr0; + btr1 = bit_time->btr.btr1; + break; + + case CAN_BITTIME_STD: + btr0 = (BTR0_SET_BRP(bit_time->std.brp) | + BTR0_SET_SJW(bit_time->std.sjw)); + btr1 = (BTR1_SET_TSEG1(bit_time->std.prop_seg + + bit_time->std.phase_seg1) | + BTR1_SET_TSEG2(bit_time->std.phase_seg2) | + BTR1_SET_SAM(bit_time->std.sam)); + break; + + default: + return -EINVAL; + } + + regs->canbtr0 = btr0; + regs->canbtr1 = btr1; + + rtdm_printk("%s: btr0=0x%02x btr1=0x%02x\n", dev->name, btr0, btr1); + + return 0; } -int rtcan_mscan_set_mode(struct rtcan_device *dev, +int rtcan_mscan_set_mode(struct rtcan_device *dev, can_mode_t mode, rtdm_lockctx_t *lock_ctx) { - int ret = 0, retries = 0; - can_state_t state; - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - - switch (mode) { + int ret = 0, retries = 0; + can_state_t state; + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - case CAN_MODE_STOP: - ret = rtcan_mscan_mode_stop(dev, lock_ctx); - break; + switch (mode) { - case CAN_MODE_START: - ret = rtcan_mscan_mode_start(dev, lock_ctx); - break; + case CAN_MODE_STOP: + ret = rtcan_mscan_mode_stop(dev, lock_ctx); + break; - case CAN_MODE_SLEEP: - - state = dev->state; - - /* Controller must operate, otherwise go out */ - if (!CAN_STATE_OPERATING(state)) { - ret = -ENETDOWN; - goto mode_sleep_out; - } - - /* Is controller sleeping yet? If yes, go out */ - if (state == CAN_STATE_SLEEPING) - goto mode_sleep_out; - - /* Remember into which state to return when we - * wake up */ - dev->state_before_sleep = state; - state = CAN_STATE_SLEEPING; - - /* Let's take a nap. (Now I REALLY understand - * the meaning of interrupts ...) */ - regs->canrier = 0; - regs->cantier = 0; - 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); - rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); - if (retries++ >= 1000) + case CAN_MODE_START: + ret = rtcan_mscan_mode_start(dev, lock_ctx); break; - } - rtdm_printk("Fallen asleep after %d tries.\n", retries); - 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); - rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); - if (retries++ >= 1000) + + case CAN_MODE_SLEEP: + + state = dev->state; + + /* Controller must operate, otherwise go out */ + if (!CAN_STATE_OPERATING(state)) { + ret = -ENETDOWN; + goto mode_sleep_out; + } + + /* Is controller sleeping yet? If yes, go out */ + if (state == CAN_STATE_SLEEPING) + goto mode_sleep_out; + + /* Remember into which state to return when we + * wake up */ + dev->state_before_sleep = state; + state = CAN_STATE_SLEEPING; + + /* Let's take a nap. (Now I REALLY understand + * the meaning of interrupts ...) */ + regs->canrier = 0; + regs->cantier = 0; + 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); + rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); + if (retries++ >= 1000) + break; + } + rtdm_printk("Fallen asleep after %d tries.\n", retries); + 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); + rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); + if (retries++ >= 1000) + break; + } + rtdm_printk("Back to normal after %d tries.\n", retries); + regs->canrier = MSCAN_WUPIE; + + mode_sleep_out: + dev->state = state; break; - } - rtdm_printk("Back to normal after %d tries.\n", retries); - regs->canrier = MSCAN_WUPIE; - - mode_sleep_out: - dev->state = state; - break; - default: - ret = -EOPNOTSUPP; - } + default: + ret = -EOPNOTSUPP; + } - return ret; + return ret; } /** @@ -594,81 +589,80 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev, * @param[in] frame Pointer to CAN frame which is about to be sent * @param[in] dev Device ID */ -static int rtcan_mscan_start_xmit(struct rtcan_device *dev, - can_frame_t *frame) +static int rtcan_mscan_start_xmit(struct rtcan_device *dev, can_frame_t *frame) { - int i, id; - /* "Real" size of the payload */ - unsigned char size; - /* Content of frame information register */ - unsigned char dlc; - - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - - /* Is TX buffer empty? */ - if (!(regs->cantflg & MSCAN_TXE0)) { - rtdm_printk("rtcan_mscan_start_xmit: TX buffer not empty"); - return -EIO; - } - /* Select the buffer we've found. */ - regs->cantbsel = MSCAN_TXE0; - - /* Get DLC and ID */ - dlc = frame->can_dlc; - - /* If DLC exceeds 8 bytes adjust it to 8 (for the payload) */ - size = (dlc > 8) ? 8 : dlc; - - id = frame->can_id; - if (frame->can_id & CAN_EFF_FLAG) { - regs->cantxfg.idr[0] = (id & 0x1fe00000) >> 21; - regs->cantxfg.idr[1] = (id & 0x001c0000) >> 13; - regs->cantxfg.idr[1] |= (id & 0x00038000) >> 15; - regs->cantxfg.idr[1] |= 0x18; /* set SRR and IDE bits */ - - regs->cantxfg.idr[4] = (id & 0x00007f80) >> 7 ; - regs->cantxfg.idr[5] = (id & 0x0000007f) << 1 ; - - /* RTR? */ - if (frame->can_id & CAN_RTR_FLAG) - regs->cantxfg.idr[5] |= 0x1; - else { - regs->cantxfg.idr[5] &= ~0x1; - /* No RTR, write data bytes */ - for (i = 0; i < size; i++) - regs->cantxfg.dsr[i + (i / 2) * 2] = frame->data[i]; - } - - } else { - /* Send standard frame */ - - regs->cantxfg.idr[0] = (id & 0x000007f8) >> 3; - regs->cantxfg.idr[1] = (id & 0x00000007) << 5; - - /* RTR? */ - if (frame->can_id & CAN_RTR_FLAG) - regs->cantxfg.idr[1] |= 0x10; - else { - regs->cantxfg.idr[1] &= ~0x10; - /* No RTR, write data bytes */ - for (i = 0; i < size; i++) - regs->cantxfg.dsr[i + (i / 2) * 2] = frame->data[i]; - } - } - - regs->cantxfg.dlr = frame->can_dlc; - regs->cantxfg.tbpr = 0; /* all messages have the same prio */ - - /* Trigger transmission. */ - regs->cantflg = MSCAN_TXE0; - - /* Enable interrupt. */ - regs->cantier |= MSCAN_TXIE0; - - return 0; -} + int i, id; + /* "Real" size of the payload */ + unsigned char size; + /* Content of frame information register */ + unsigned char dlc; + + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; + + /* Is TX buffer empty? */ + if (!(regs->cantflg & MSCAN_TXE0)) { + rtdm_printk("rtcan_mscan_start_xmit: TX buffer not empty"); + return -EIO; + } + /* Select the buffer we've found. */ + regs->cantbsel = MSCAN_TXE0; + + /* Get DLC and ID */ + dlc = frame->can_dlc; + + /* If DLC exceeds 8 bytes adjust it to 8 (for the payload) */ + size = (dlc > 8) ? 8 : dlc; + + id = frame->can_id; + if (frame->can_id & CAN_EFF_FLAG) { + regs->cantxfg.idr[0] = (id & 0x1fe00000) >> 21; + regs->cantxfg.idr[1] = (id & 0x001c0000) >> 13; + regs->cantxfg.idr[1] |= (id & 0x00038000) >> 15; + regs->cantxfg.idr[1] |= 0x18; /* set SRR and IDE bits */ + + regs->cantxfg.idr[4] = (id & 0x00007f80) >> 7 ; + regs->cantxfg.idr[5] = (id & 0x0000007f) << 1 ; + + /* RTR? */ + if (frame->can_id & CAN_RTR_FLAG) + regs->cantxfg.idr[5] |= 0x1; + else { + regs->cantxfg.idr[5] &= ~0x1; + /* No RTR, write data bytes */ + for (i = 0; i < size; i++) + regs->cantxfg.dsr[i + (i / 2) * 2] = + frame->data[i]; + } + } else { + /* Send standard frame */ + + regs->cantxfg.idr[0] = (id & 0x000007f8) >> 3; + regs->cantxfg.idr[1] = (id & 0x00000007) << 5; + + /* RTR? */ + if (frame->can_id & CAN_RTR_FLAG) + regs->cantxfg.idr[1] |= 0x10; + else { + regs->cantxfg.idr[1] &= ~0x10; + /* No RTR, write data bytes */ + for (i = 0; i < size; i++) + regs->cantxfg.dsr[i + (i / 2) * 2] = + frame->data[i]; + } + } + regs->cantxfg.dlr = frame->can_dlc; + regs->cantxfg.tbpr = 0; /* all messages have the same prio */ + + /* Trigger transmission. */ + regs->cantflg = MSCAN_TXE0; + + /* Enable interrupt. */ + regs->cantier |= MSCAN_TXIE0; + + return 0; +} /** * MSCAN Chip configuration @@ -682,231 +676,231 @@ static int rtcan_mscan_start_xmit(struct rtcan_device *dev, */ static inline void __init mscan_chip_config(struct mscan_regs *regs) { - /* Choose IP bus as clock source. - */ - regs->canctl1 |= MSCAN_CLKSRC; - regs->canctl1 &= ~MSCAN_LISTEN; - - /* Configure MSCAN to accept all incoming messages. - */ - regs->canidar0 = regs->canidar1 = 0x00; - regs->canidar2 = regs->canidar3 = 0x00; - regs->canidmr0 = regs->canidmr1 = 0xFF; - regs->canidmr2 = regs->canidmr3 = 0xFF; - regs->canidar4 = regs->canidar5 = 0x00; - regs->canidar6 = regs->canidar7 = 0x00; - regs->canidmr4 = regs->canidmr5 = 0xFF; - regs->canidmr6 = regs->canidmr7 = 0xFF; - regs->canidac &= ~(MSCAN_IDAM0 | MSCAN_IDAM1); + /* Choose IP bus as clock source. + */ + regs->canctl1 |= MSCAN_CLKSRC; + regs->canctl1 &= ~MSCAN_LISTEN; + + /* Configure MSCAN to accept all incoming messages. + */ + regs->canidar0 = regs->canidar1 = 0x00; + regs->canidar2 = regs->canidar3 = 0x00; + regs->canidmr0 = regs->canidmr1 = 0xFF; + regs->canidmr2 = regs->canidmr3 = 0xFF; + regs->canidar4 = regs->canidar5 = 0x00; + regs->canidar6 = regs->canidar7 = 0x00; + regs->canidmr4 = regs->canidmr5 = 0xFF; + regs->canidmr6 = regs->canidmr7 = 0xFF; + regs->canidac &= ~(MSCAN_IDAM0 | MSCAN_IDAM1); } static inline void __init mscan_gpio_config(void) { - struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; - int can_to_psc2 = -1; + struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; + int can_to_psc2 = -1; #if defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_ALT) - can_to_psc2 = 0; + can_to_psc2 = 0; #elif defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_PSC2) - can_to_psc2 = 1; + can_to_psc2 = 1; #endif - /* Configure CAN routing to GPIO pins. - */ - if (mscan_pins != NULL) { - if (strncmp(mscan_pins, "psc2", 4) == 0 || - !strncmp(mscan_pins, "PSC2", 4)) - can_to_psc2 = 1; - else if (strncmp(mscan_pins, "i2c1/tmr01", 10) == 0 || - strncmp(mscan_pins, "I2C1/TMR01", 10) == 0) - can_to_psc2 = 0; - else { - printk("Module parameter mscan_pins=%s is invalid. " - "Please use PSC2 or I2C1/TMR01.\n", mscan_pins); + /* Configure CAN routing to GPIO pins. + */ + if (mscan_pins != NULL) { + if (strncmp(mscan_pins, "psc2", 4) == 0 || + !strncmp(mscan_pins, "PSC2", 4)) + can_to_psc2 = 1; + else if (strncmp(mscan_pins, "i2c1/tmr01", 10) == 0 || + strncmp(mscan_pins, "I2C1/TMR01", 10) == 0) + can_to_psc2 = 0; + else { + printk("Module parameter mscan_pins=%s is invalid. " + "Please use PSC2 or I2C1/TMR01.\n", mscan_pins); + } + } + + if (!gpio || can_to_psc2 < 0) { + printk("%s: use pre-configure CAN routing\n", RTCAN_DRV_NAME); + return; + } + + if (can_to_psc2) { + gpio->port_config &= ~0x10000070; + gpio->port_config |= 0x00000010; + printk("%s: CAN 1 and 2 routed to PSC2 pins\n", RTCAN_DRV_NAME); + } else { + gpio->port_config |= 0x10000000; + printk("%s: CAN 1 routed to I2C1 pins and CAN2 to TMR01 pins\n", + RTCAN_DRV_NAME); } - } - - if (!gpio || can_to_psc2 < 0) { - printk("%s: use pre-configure CAN routing\n", RTCAN_DRV_NAME); - return; - } - - if (can_to_psc2) { - gpio->port_config &= ~0x10000070; - gpio->port_config |= 0x00000010; - printk("%s: CAN 1 and 2 routed to PSC2 pins\n", RTCAN_DRV_NAME); - } else { - gpio->port_config |= 0x10000000; - printk("%s: CAN 1 routed to I2C1 pins and CAN2 to TMR01 pins\n", - RTCAN_DRV_NAME); - } } -static inline int mscan_get_config(unsigned long *addr, - unsigned int *irq) +static inline int mscan_get_config(unsigned long *addr, unsigned int *irq) { #if defined(CONFIG_PPC_MERGE) || LINUX_VERSION_CODE > KERNEL_VERSION(2,6,27) - /* 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, NULL, "fsl,mpc5200-mscan"); - if (np == NULL) - np = of_find_compatible_node(np, NULL, "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++; - } + /* 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, NULL, "fsl,mpc5200-mscan"); + if (np == NULL) + np = of_find_compatible_node(np, NULL, "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; + 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; + 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; + int ret; + struct rtcan_device *dev; + struct mscan_regs *regs; - if ((dev = rtcan_dev_alloc(0, 0)) == NULL) { - return -ENOMEM; - } + if ((dev = rtcan_dev_alloc(0, 0)) == NULL) { + return -ENOMEM; + } - dev->ctrl_name = mscan_ctlr_name; - dev->board_name = mscan_board_name; + dev->ctrl_name = mscan_ctlr_name; + dev->board_name = mscan_board_name; - dev->can_sys_clock = mscan_clock; + dev->can_sys_clock = mscan_clock; - 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; - } + 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; + regs = (struct mscan_regs *)dev->base_addr; - /* Enable MSCAN module. */ - regs->canctl1 |= MSCAN_CANE; - udelay(100); + /* Enable MSCAN module. */ + regs->canctl1 |= MSCAN_CANE; + udelay(100); - /* Set dummy state for following call */ - dev->state = CAN_STATE_ACTIVE; + /* Set dummy state for following call */ + dev->state = CAN_STATE_ACTIVE; - /* Enter reset mode */ - rtcan_mscan_mode_stop(dev, NULL); + /* Enter reset mode */ + rtcan_mscan_mode_stop(dev, NULL); - /* Give device an interface name (so that programs using this driver - don't need to know the device ID) */ + /* Give device an interface name (so that programs using this driver + don't need to know the device ID) */ - strncpy(dev->name, RTCAN_DEV_NAME, IFNAMSIZ); + strncpy(dev->name, RTCAN_DEV_NAME, IFNAMSIZ); - dev->hard_start_xmit = rtcan_mscan_start_xmit; - dev->do_set_mode = rtcan_mscan_set_mode; - dev->do_set_bit_time = rtcan_mscan_set_bit_time; + dev->hard_start_xmit = rtcan_mscan_start_xmit; + dev->do_set_mode = rtcan_mscan_set_mode; + dev->do_set_bit_time = rtcan_mscan_set_bit_time; - /* Register IRQ handler and pass device structure as arg */ - ret = rtdm_irq_request(&dev->irq_handle, irq, - rtcan_mscan_interrupt, - 0, RTCAN_DRV_NAME, (void *)dev); - if (ret) { - printk("ERROR! rtdm_irq_request for IRQ %d failed\n", irq); - goto out_iounmap; - } + /* Register IRQ handler and pass device structure as arg */ + ret = rtdm_irq_request(&dev->irq_handle, irq, + rtcan_mscan_interrupt, + 0, RTCAN_DRV_NAME, (void *)dev); + if (ret) { + printk("ERROR! rtdm_irq_request for IRQ %d failed\n", irq); + goto out_iounmap; + } - mscan_chip_config(regs); + mscan_chip_config(regs); - /* Register RTDM device */ - ret = rtcan_dev_register(dev); - if (ret) { - printk(KERN_ERR "ERROR while trying to register RTCAN device!\n"); - goto out_irq_free; - } + /* Register RTDM device */ + ret = rtcan_dev_register(dev); + if (ret) { + printk(KERN_ERR + "ERROR while trying to register RTCAN device!\n"); + goto out_irq_free; + } - rtcan_mscan_create_proc(dev); + rtcan_mscan_create_proc(dev); - /* Remember initialized devices */ - rtcan_mscan_devs[idx] = dev; + /* Remember initialized devices */ + rtcan_mscan_devs[idx] = dev; - printk("%s: %s driver loaded (port %d, base-addr 0x%lx irq %d)\n", - dev->name, RTCAN_DRV_NAME, idx + 1, addr, irq); + printk("%s: %s driver loaded (port %d, base-addr 0x%lx irq %d)\n", + dev->name, RTCAN_DRV_NAME, idx + 1, addr, irq); - return 0; + return 0; out_irq_free: - rtdm_irq_free(&dev->irq_handle); + rtdm_irq_free(&dev->irq_handle); out_iounmap: - /* Disable MSCAN module. */ - regs->canctl1 &= ~MSCAN_CANE; - iounmap((void *)dev->base_addr); + /* Disable MSCAN module. */ + regs->canctl1 &= ~MSCAN_CANE; + iounmap((void *)dev->base_addr); out_dev_free: - rtcan_dev_free(dev); + rtcan_dev_free(dev); - return ret; + return ret; } static void rtcan_mscan_exit(void) { - int i; - struct rtcan_device *dev; + int i; + struct rtcan_device *dev; - for (i = 0; i < rtcan_mscan_count; i++) { + for (i = 0; i < rtcan_mscan_count; i++) { - if ((dev = rtcan_mscan_devs[i]) == NULL) - continue; + if ((dev = rtcan_mscan_devs[i]) == NULL) + continue; - printk("Unloading %s device %s\n", RTCAN_DRV_NAME, dev->name); + 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); - } + 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); + } } 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_count; i++) { - if (!port[i]) - continue; - - err = rtcan_mscan_init_one(i, addr[i], irq[i]); - if (err) { - rtcan_mscan_exit(); - return err; + 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_count; i++) { + if (!port[i]) + continue; + + err = rtcan_mscan_init_one(i, addr[i], irq[i]); + if (err) { + rtcan_mscan_exit(); + return err; + } } - } - return 0; + return 0; } module_init(rtcan_mscan_init); diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c index c4e02da..5671cad 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c @@ -35,104 +35,104 @@ static int rtcan_mscan_proc_regs(char *buf, char **start, off_t offset, int count, int *eof, void *data) { - struct rtcan_device *dev = (struct rtcan_device *)data; - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; - RTCAN_PROC_PRINT_VARS(80); - - if (!RTCAN_PROC_PRINT("MSCAN registers at %p\n", regs)) - goto done; - if (!RTCAN_PROC_PRINT("canctl0 0x%02x%s%s%s%s%s%s%s%s\n", - regs->canctl0, - (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 & 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 )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canrflg )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canrier )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantflg )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantier )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantarq )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantaak )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantbsel)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidac )) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canrxerr)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantxerr)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar0)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar1)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar2)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar3)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr0)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr1)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr2)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr3)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar4)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar5)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar6)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar7)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr4)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr5)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr6)) | - !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr7))) - goto done; - - if (!RTCAN_PROC_PRINT("GPIO registers\n")) - goto done; - if (!RTCAN_PROC_PRINT("port_config 0x%08x %s\n", gpio->port_config, - (gpio->port_config & 0x10000000 ? - "CAN1 on I2C1, CAN2 on TMR0/1 pins": - (gpio->port_config & 0x70) == 0x10 ? - "CAN1/2 on PSC2 pins": "MSCAN1/2 not routed"))) - goto done; - - done: - RTCAN_PROC_PRINT_DONE; + struct rtcan_device *dev = (struct rtcan_device *)data; + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; + struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; + RTCAN_PROC_PRINT_VARS(80); + + if (!RTCAN_PROC_PRINT("MSCAN registers at %p\n", regs)) + goto done; + if (!RTCAN_PROC_PRINT("canctl0 0x%02x%s%s%s%s%s%s%s%s\n", + regs->canctl0, + (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 & 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 )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canrflg )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canrier )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantflg )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantier )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantarq )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantaak )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantbsel)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidac )) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canrxerr)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(cantxerr)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar0)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar1)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar2)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar3)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr0)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr1)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr2)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr3)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar4)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar5)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar6)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidar7)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr4)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr5)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr6)) | + !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr7))) + goto done; + + if (!RTCAN_PROC_PRINT("GPIO registers\n")) + goto done; + if (!RTCAN_PROC_PRINT("port_config 0x%08x %s\n", gpio->port_config, + (gpio->port_config & 0x10000000 ? + "CAN1 on I2C1, CAN2 on TMR0/1 pins": + (gpio->port_config & 0x70) == 0x10 ? + "CAN1/2 on PSC2 pins": "MSCAN1/2 not routed"))) + goto done; + +done: + RTCAN_PROC_PRINT_DONE; } int rtcan_mscan_create_proc(struct rtcan_device* dev) { - struct proc_dir_entry *proc_entry; + struct proc_dir_entry *proc_entry; - if (!dev->proc_root) - return -EINVAL; + if (!dev->proc_root) + return -EINVAL; - proc_entry = create_proc_entry("registers", S_IFREG | S_IRUGO | S_IWUSR, - dev->proc_root); - if (!proc_entry) - goto error; - proc_entry->read_proc = rtcan_mscan_proc_regs; - proc_entry->data = dev; + proc_entry = create_proc_entry("registers", S_IFREG | S_IRUGO | S_IWUSR, + dev->proc_root); + if (!proc_entry) + goto error; + proc_entry->read_proc = rtcan_mscan_proc_regs; + proc_entry->data = dev; - return 0; + return 0; - error: - printk("%s: unable to create /proc entries for MSCAN\n", dev->name); - return -1; +error: + printk("%s: unable to create /proc entries for MSCAN\n", dev->name); + return -1; } void rtcan_mscan_remove_proc(struct rtcan_device* dev) { - if (!dev->proc_root) - return; + if (!dev->proc_root) + return; - remove_proc_entry("registers", dev->proc_root); + remove_proc_entry("registers", dev->proc_root); } #else /* !CONFIG_XENO_DRIVERS_CAN_DEBUG */ @@ -143,6 +143,6 @@ void rtcan_mscan_remove_proc(struct rtcan_device* dev) int rtcan_mscan_create_proc(struct rtcan_device* dev) { - return 0; + return 0; } #endif /* CONFIG_XENO_DRIVERS_CAN_DEBUG */ diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_regs.h b/ksrc/drivers/can/mscan/rtcan_mscan_regs.h index e6fd7ed..b4652f5 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan_regs.h +++ b/ksrc/drivers/can/mscan/rtcan_mscan_regs.h @@ -39,12 +39,12 @@ static inline void __iomem *mpc5xxx_gpio_find_and_map(void) struct device_node *ofn; ofn = of_find_compatible_node(NULL, NULL, "mpc5200-gpio"); if (!ofn) - ofn = of_find_compatible_node(NULL, NULL, "fsl,mpc5200-gpio"); + ofn = of_find_compatible_node(NULL, NULL, "fsl,mpc5200-gpio"); return ofn ? of_iomap(ofn, 0) : NULL; } -#define MPC5xxx_GPIO mpc5xxx_gpio_find_and_map() +#define MPC5xxx_GPIO mpc5xxx_gpio_find_and_map() #else -#define MPC5xxx_GPIO mpc52xx_find_and_map("mpc5200-gpio") +#define MPC5xxx_GPIO mpc52xx_find_and_map("mpc5200-gpio") #endif #define mpc5xxx_gpio mpc52xx_gpio #elif LINUX_VERSION_CODE < KERNEL_VERSION(2,6,10) @@ -63,7 +63,7 @@ static inline void __iomem *mpc5xxx_gpio_find_and_map(void) #define MSCAN_CAN1_ADDR (MSCAN_MBAR + 0x0900) /* MSCAN Module 1 */ #define MSCAN_CAN2_ADDR (MSCAN_MBAR + 0x0980) /* MSCAN Module 2 */ -#define MSCAN_SIZE 0x80 +#define MSCAN_SIZE 0x80 /* MSCAN control register 0 (CANCTL0) bits */ #define MSCAN_RXFRM 0x80 @@ -202,35 +202,37 @@ struct mscan_regs { /* Message type access macros. */ -#define MSCAN_BUF_STD_RTR 0x10 -#define MSCAN_BUF_EXT_RTR 0x01 -#define MSCAN_BUF_EXTENDED 0x08 +#define MSCAN_BUF_STD_RTR 0x10 +#define MSCAN_BUF_EXT_RTR 0x01 +#define MSCAN_BUF_EXTENDED 0x08 -#define MSCAN_IDAM1 0x20 +#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) +#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_ */ -- 1.6.2.5 ^ permalink raw reply related [flat|nested] 14+ messages in thread
* [Xenomai-core] [PATCH xenomai-2.5 2/3] rtcan: mscan: use proper io accessor functions for register access 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 1/3] rtcan: mscan: use tabs for indention and white space cleanup Wolfgang Grandegger @ 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 Wolfgang Grandegger 0 siblings, 1 reply; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:07 UTC (permalink / raw) To: Xenomai-core; +Cc: Wolfgang Grandegger From: Wolfgang Grandegger <wg@domain.hid> Signed-off-by: Wolfgang Grandegger <wg@domain.hid> --- ksrc/drivers/can/mscan/rtcan_mscan.c | 180 +++++++++++++++------------- ksrc/drivers/can/mscan/rtcan_mscan_proc.c | 48 +++++---- 2 files changed, 123 insertions(+), 105 deletions(-) diff --git a/ksrc/drivers/can/mscan/rtcan_mscan.c b/ksrc/drivers/can/mscan/rtcan_mscan.c index b5b6489..4975320 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan.c @@ -111,39 +111,41 @@ static inline void rtcan_mscan_rx_interrupt(struct rtcan_device *dev, skb->rb_frame_size = EMPTY_RB_FRAME_SIZE; - frame->can_dlc = regs->canrxfg.dlr & 0x0F; + frame->can_dlc = in_8(®s->canrxfg.dlr) & 0x0F; /* If DLC exceeds 8 bytes adjust it to 8 (for the payload size) */ size = (frame->can_dlc > 8) ? 8 : frame->can_dlc; - if (regs->canrxfg.idr[1] & MSCAN_BUF_EXTENDED) { - frame->can_id = ((regs->canrxfg.idr[0] << 21) | - ((regs->canrxfg.idr[1] & 0xE0) << 13) | - ((regs->canrxfg.idr[1] & 0x07) << 15) | - (regs->canrxfg.idr[4] << 7) | - (regs->canrxfg.idr[5] >> 1)); + if (in_8(®s->canrxfg.idr[1]) & MSCAN_BUF_EXTENDED) { + frame->can_id = ((in_8(®s->canrxfg.idr[0]) << 21) | + ((in_8(®s->canrxfg.idr[1]) & 0xE0) << 13) | + ((in_8(®s->canrxfg.idr[1]) & 0x07) << 15) | + (in_8(®s->canrxfg.idr[4]) << 7) | + (in_8(®s->canrxfg.idr[5]) >> 1)); frame->can_id |= CAN_EFF_FLAG; - if ((regs->canrxfg.idr[5] & MSCAN_BUF_EXT_RTR)) { + if ((in_8(®s->canrxfg.idr[5]) & MSCAN_BUF_EXT_RTR)) { frame->can_id |= CAN_RTR_FLAG; } else { for (i = 0; i < size; i++) frame->data[i] = - regs->canrxfg.dsr[i + (i / 2) * 2]; + in_8(®s->canrxfg.dsr[i + + (i / 2) * 2]); skb->rb_frame_size += size; } } else { - frame->can_id = ((regs->canrxfg.idr[0] << 3) | - (regs->canrxfg.idr[1] >> 5)); + frame->can_id = ((in_8(®s->canrxfg.idr[0]) << 3) | + (in_8(®s->canrxfg.idr[1]) >> 5)); - if ((regs->canrxfg.idr[1] & MSCAN_BUF_STD_RTR)) { + if ((in_8(®s->canrxfg.idr[1]) & MSCAN_BUF_STD_RTR)) { frame->can_id |= CAN_RTR_FLAG; } else { for (i = 0; i < size; i++) frame->data[i] = - regs->canrxfg.dsr[i + (i / 2) * 2]; + in_8(®s->canrxfg.dsr[i + + (i / 2) * 2]); skb->rb_frame_size += size; } } @@ -193,7 +195,7 @@ static inline void rtcan_mscan_err_interrupt(struct rtcan_device *dev, frame->can_id |= CAN_ERR_BUSOFF; dev->state = CAN_STATE_BUS_OFF; /* Disable receiver interrupts */ - regs->canrier = 0; + out_8(®s->canrier, 0); /* Wake up waiting senders */ rtdm_sem_destroy(&dev->tx_sem); break; @@ -239,13 +241,14 @@ static int rtcan_mscan_interrupt(rtdm_irq_t *irq_handle) rtdm_lock_get(&dev->device_lock); - canrflg = regs->canrflg; + canrflg = in_8(®s->canrflg); ret = RTDM_IRQ_HANDLED; /* Transmit Interrupt? */ - if ((regs->cantier & MSCAN_TXIE0) && (regs->cantflg & MSCAN_TXE0)) { - regs->cantier = 0; + if ((in_8(®s->cantier) & MSCAN_TXIE0) && + (in_8(®s->cantflg) & MSCAN_TXE0)) { + out_8(®s->cantier, 0); /* Wake up a sender */ rtdm_sem_up(&dev->tx_sem); @@ -306,7 +309,7 @@ static int rtcan_mscan_interrupt(rtdm_irq_t *irq_handle) * Only do so for the receiver interrupts. */ if (canrflg) - regs->canrflg = canrflg; + out_8(®s->canrflg, canrflg); if (!recv_lock_free) { rtdm_lock_put(&rtcan_socket_lock); @@ -343,8 +346,7 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev, int ret = 0; int rinit = 0; can_state_t state; - volatile struct mscan_regs *regs = - (struct mscan_regs *)dev->base_addr; + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; u8 reg; state = dev->state; @@ -353,10 +355,10 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev, goto out; /* Switch to sleep mode */ - regs->canctl0 |= MSCAN_SLPRQ; - regs->canctl0 |= MSCAN_INITRQ; + setbits8(®s->canctl0, MSCAN_SLPRQ); + setbits8(®s->canctl0, MSCAN_INITRQ); - reg = regs->canctl1; + reg = in_8(®s->canctl1); while (!(reg & MSCAN_SLPAK) || !(reg & MSCAN_INITAK)) { if (likely(lock_ctx != NULL)) @@ -366,7 +368,7 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev, if (likely(lock_ctx != NULL)) rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx); rinit++; - reg = regs->canctl1; + reg = in_8(®s->canctl1); } /* Volatile state could have changed while we slept busy. */ @@ -400,8 +402,7 @@ static int rtcan_mscan_mode_start(struct rtcan_device *dev, { int ret = 0, retries = 0; can_state_t state; - volatile struct mscan_regs *regs = - (struct mscan_regs *)dev->base_addr; + 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 ... */ @@ -421,21 +422,21 @@ static int rtcan_mscan_mode_start(struct rtcan_device *dev, rtdm_sem_init(&dev->tx_sem, 1); if ((dev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)) { - regs->canctl1 |= MSCAN_LISTEN; + setbits8(®s->canctl1, MSCAN_LISTEN); } else { - regs->canctl1 &= ~MSCAN_LISTEN; + clrbits8(®s->canctl1, MSCAN_LISTEN); } if ((dev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)) { - regs->canctl1 |= MSCAN_LOOPB; + setbits8(®s->canctl1, MSCAN_LOOPB); } else { - regs->canctl1 &= ~MSCAN_LOOPB; + clrbits8(®s->canctl1, MSCAN_LOOPB); } /* Switch to normal mode */ - regs->canctl0 &= ~MSCAN_INITRQ; - regs->canctl0 &= ~MSCAN_SLPRQ; - while ((regs->canctl1 & MSCAN_INITAK) || - (regs->canctl1 & MSCAN_SLPAK)) { + clrbits8(®s->canctl0, MSCAN_INITRQ); + clrbits8(®s->canctl0, MSCAN_SLPRQ); + while ((in_8(®s->canctl1) & MSCAN_INITAK) || + (in_8(®s->canctl1) & MSCAN_SLPAK)) { if (likely(lock_ctx != NULL)) rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx); @@ -447,13 +448,13 @@ static int rtcan_mscan_mode_start(struct rtcan_device *dev, retries++; } /* Enable interrupts */ - regs->canrier |= MSCAN_RIER; + setbits8(®s->canrier, MSCAN_RIER); break; case CAN_STATE_BUS_OFF: /* Trigger bus-off recovery */ - regs->canrier = MSCAN_RIER; + out_8(®s->canrier, MSCAN_RIER); /* Set up sender "mutex" */ rtdm_sem_init(&dev->tx_sem, 1); /* Set error active state */ @@ -497,8 +498,8 @@ int rtcan_mscan_set_bit_time(struct rtcan_device *dev, return -EINVAL; } - regs->canbtr0 = btr0; - regs->canbtr1 = btr1; + out_8(®s->canbtr0, btr0); + out_8(®s->canbtr1, btr1); rtdm_printk("%s: btr0=0x%02x btr1=0x%02x\n", dev->name, btr0, btr1); @@ -544,10 +545,11 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev, /* Let's take a nap. (Now I REALLY understand * the meaning of interrupts ...) */ - regs->canrier = 0; - regs->cantier = 0; - regs->canctl0 |= MSCAN_SLPRQ /*| MSCAN_INITRQ*/ | MSCAN_WUPE; - while (!(regs->canctl1 & MSCAN_SLPAK)) { + out_8(®s->canrier, 0); + out_8(®s->cantier, 0); + setbits8(®s->canctl0, + MSCAN_SLPRQ /*| MSCAN_INITRQ*/ | MSCAN_WUPE); + while (!(in_8(®s->canctl1) & MSCAN_SLPAK)) { rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx); /* Busy sleep 1 microsecond */ rtdm_task_busy_sleep(1000); @@ -556,8 +558,8 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev, break; } rtdm_printk("Fallen asleep after %d tries.\n", retries); - regs->canctl0 &= ~MSCAN_INITRQ; - while ((regs->canctl1 & MSCAN_INITAK)) { + clrbits8(®s->canctl0, MSCAN_INITRQ); + while ((in_8(®s->canctl1) & MSCAN_INITAK)) { rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx); /* Busy sleep 1 microsecond */ rtdm_task_busy_sleep(1000); @@ -566,7 +568,7 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev, break; } rtdm_printk("Back to normal after %d tries.\n", retries); - regs->canrier = MSCAN_WUPIE; + out_8(®s->canrier, MSCAN_WUPIE); mode_sleep_out: dev->state = state; @@ -596,16 +598,15 @@ static int rtcan_mscan_start_xmit(struct rtcan_device *dev, can_frame_t *frame) unsigned char size; /* Content of frame information register */ unsigned char dlc; - struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; /* Is TX buffer empty? */ - if (!(regs->cantflg & MSCAN_TXE0)) { + if (!(in_8(®s->cantflg) & MSCAN_TXE0)) { rtdm_printk("rtcan_mscan_start_xmit: TX buffer not empty"); return -EIO; } /* Select the buffer we've found. */ - regs->cantbsel = MSCAN_TXE0; + out_8(®s->cantbsel, MSCAN_TXE0); /* Get DLC and ID */ dlc = frame->can_dlc; @@ -615,51 +616,51 @@ static int rtcan_mscan_start_xmit(struct rtcan_device *dev, can_frame_t *frame) id = frame->can_id; if (frame->can_id & CAN_EFF_FLAG) { - regs->cantxfg.idr[0] = (id & 0x1fe00000) >> 21; - regs->cantxfg.idr[1] = (id & 0x001c0000) >> 13; - regs->cantxfg.idr[1] |= (id & 0x00038000) >> 15; - regs->cantxfg.idr[1] |= 0x18; /* set SRR and IDE bits */ + out_8(®s->cantxfg.idr[0], (id & 0x1fe00000) >> 21); + out_8(®s->cantxfg.idr[1], ((id & 0x001c0000) >> 13) | + ((id & 0x00038000) >> 15) | + 0x18); /* set SRR and IDE bits */ - regs->cantxfg.idr[4] = (id & 0x00007f80) >> 7 ; - regs->cantxfg.idr[5] = (id & 0x0000007f) << 1 ; + out_8(®s->cantxfg.idr[4], (id & 0x00007f80) >> 7); + out_8(®s->cantxfg.idr[5], (id & 0x0000007f) << 1); /* RTR? */ if (frame->can_id & CAN_RTR_FLAG) - regs->cantxfg.idr[5] |= 0x1; + setbits8(®s->cantxfg.idr[5], 0x1); else { - regs->cantxfg.idr[5] &= ~0x1; + clrbits8(®s->cantxfg.idr[5], 0x1); /* No RTR, write data bytes */ for (i = 0; i < size; i++) - regs->cantxfg.dsr[i + (i / 2) * 2] = - frame->data[i]; + out_8(®s->cantxfg.dsr[i + (i / 2) * 2], + frame->data[i]); } } else { /* Send standard frame */ - regs->cantxfg.idr[0] = (id & 0x000007f8) >> 3; - regs->cantxfg.idr[1] = (id & 0x00000007) << 5; + out_8(®s->cantxfg.idr[0], (id & 0x000007f8) >> 3); + out_8(®s->cantxfg.idr[1], (id & 0x00000007) << 5); /* RTR? */ if (frame->can_id & CAN_RTR_FLAG) - regs->cantxfg.idr[1] |= 0x10; + setbits8(®s->cantxfg.idr[1], 0x10); else { - regs->cantxfg.idr[1] &= ~0x10; + clrbits8(®s->cantxfg.idr[1], 0x10); /* No RTR, write data bytes */ for (i = 0; i < size; i++) - regs->cantxfg.dsr[i + (i / 2) * 2] = - frame->data[i]; + out_8(®s->cantxfg.dsr[i + (i / 2) * 2], + frame->data[i]); } } - regs->cantxfg.dlr = frame->can_dlc; - regs->cantxfg.tbpr = 0; /* all messages have the same prio */ + out_8(®s->cantxfg.dlr, frame->can_dlc); + out_8(®s->cantxfg.tbpr, 0); /* all messages have the same prio */ /* Trigger transmission. */ - regs->cantflg = MSCAN_TXE0; + out_8(®s->cantflg, MSCAN_TXE0); /* Enable interrupt. */ - regs->cantier |= MSCAN_TXIE0; + setbits8(®s->cantier, MSCAN_TXIE0); return 0; } @@ -678,26 +679,35 @@ static inline void __init mscan_chip_config(struct mscan_regs *regs) { /* Choose IP bus as clock source. */ - regs->canctl1 |= MSCAN_CLKSRC; - regs->canctl1 &= ~MSCAN_LISTEN; + setbits8(®s->canctl1, MSCAN_CLKSRC); + clrbits8(®s->canctl1, MSCAN_LISTEN); /* Configure MSCAN to accept all incoming messages. */ - regs->canidar0 = regs->canidar1 = 0x00; - regs->canidar2 = regs->canidar3 = 0x00; - regs->canidmr0 = regs->canidmr1 = 0xFF; - regs->canidmr2 = regs->canidmr3 = 0xFF; - regs->canidar4 = regs->canidar5 = 0x00; - regs->canidar6 = regs->canidar7 = 0x00; - regs->canidmr4 = regs->canidmr5 = 0xFF; - regs->canidmr6 = regs->canidmr7 = 0xFF; - regs->canidac &= ~(MSCAN_IDAM0 | MSCAN_IDAM1); + out_8(®s->canidar0, 0x00); + out_8(®s->canidar1, 0x00); + out_8(®s->canidar2, 0x00); + out_8(®s->canidar3, 0x00); + out_8(®s->canidmr0, 0xFF); + out_8(®s->canidmr1, 0xFF); + out_8(®s->canidmr2, 0xFF); + out_8(®s->canidmr3, 0xFF); + out_8(®s->canidar4, 0x00); + out_8(®s->canidar5, 0x00); + out_8(®s->canidar6, 0x00); + out_8(®s->canidar7, 0x00); + out_8(®s->canidmr4, 0xFF); + out_8(®s->canidmr5, 0xFF); + out_8(®s->canidmr6, 0xFF); + out_8(®s->canidmr7, 0xFF); + clrbits8(®s->canidac, MSCAN_IDAM0 | MSCAN_IDAM1); } static inline void __init mscan_gpio_config(void) { struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; int can_to_psc2 = -1; + u32 port_config; #if defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_ALT) can_to_psc2 = 0; @@ -725,15 +735,17 @@ static inline void __init mscan_gpio_config(void) return; } + port_config = in_be32(&gpio->port_config); if (can_to_psc2) { - gpio->port_config &= ~0x10000070; - gpio->port_config |= 0x00000010; + port_config &= ~0x10000070; + port_config |= 0x00000010; printk("%s: CAN 1 and 2 routed to PSC2 pins\n", RTCAN_DRV_NAME); } else { - gpio->port_config |= 0x10000000; + port_config |= 0x10000000; printk("%s: CAN 1 routed to I2C1 pins and CAN2 to TMR01 pins\n", RTCAN_DRV_NAME); } + out_be32(&gpio->port_config, port_config); } static inline int mscan_get_config(unsigned long *addr, unsigned int *irq) @@ -795,7 +807,7 @@ int __init rtcan_mscan_init_one(int idx, unsigned long addr, int irq) regs = (struct mscan_regs *)dev->base_addr; /* Enable MSCAN module. */ - regs->canctl1 |= MSCAN_CANE; + setbits8(®s->canctl1, MSCAN_CANE); udelay(100); /* Set dummy state for following call */ @@ -847,7 +859,7 @@ out_irq_free: out_iounmap: /* Disable MSCAN module. */ - regs->canctl1 &= ~MSCAN_CANE; + clrbits8(®s->canctl1, MSCAN_CANE); iounmap((void *)dev->base_addr); out_dev_free: diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c index 5671cad..cfddfb7 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c @@ -28,7 +28,8 @@ #include "rtcan_internal.h" #include "rtcan_mscan_regs.h" -#define MSCAN_REG_ARGS(reg) "%-8s 0x%02x\n", #reg, (int)((regs)->reg) & 0xff +#define MSCAN_REG_ARGS(reg) \ + "%-8s 0x%02x\n", #reg, (int)(in_8(®s->reg)) & 0xff #ifdef CONFIG_XENO_DRIVERS_CAN_DEBUG @@ -38,30 +39,34 @@ static int rtcan_mscan_proc_regs(char *buf, char **start, off_t offset, struct rtcan_device *dev = (struct rtcan_device *)data; struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; + u8 canctl0, canctl1; + u32 port_config; RTCAN_PROC_PRINT_VARS(80); if (!RTCAN_PROC_PRINT("MSCAN registers at %p\n", regs)) goto done; + canctl0 = in_8(®s->canctl0); if (!RTCAN_PROC_PRINT("canctl0 0x%02x%s%s%s%s%s%s%s%s\n", - regs->canctl0, - (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":"" )) + canctl0, + (canctl0 & MSCAN_RXFRM) ? " rxfrm" :"", + (canctl0 & MSCAN_RXACT) ? " rxact" :"", + (canctl0 & MSCAN_CSWAI) ? " cswai" :"", + (canctl0 & MSCAN_SYNCH) ? " synch" :"", + (canctl0 & MSCAN_TIME) ? " time" :"", + (canctl0 & MSCAN_WUPE) ? " wupe" :"", + (canctl0 & MSCAN_SLPRQ) ? " slprq" :"", + (canctl0 & MSCAN_INITRQ)? " initrq":"" )) goto done; + canctl1 = in_8(®s->canctl1); if (!RTCAN_PROC_PRINT("canctl1 0x%02x%s%s%s%s%s%s%s\n", - regs->canctl1, - (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":"")) + canctl1, + (canctl1 & MSCAN_CANE) ? " cane" :"", + (canctl1 & MSCAN_CLKSRC)? " clksrc":"", + (canctl1 & MSCAN_LOOPB) ? " loopb" :"", + (canctl1 & MSCAN_LISTEN)? " listen":"", + (canctl1 & MSCAN_WUPM) ? " wump" :"", + (canctl1 & MSCAN_SLPAK) ? " slpak" :"", + (canctl1 & MSCAN_INITAK)? " initak":"")) goto done; if (!RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canbtr0 )) | !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canbtr1 )) | @@ -95,10 +100,11 @@ static int rtcan_mscan_proc_regs(char *buf, char **start, off_t offset, if (!RTCAN_PROC_PRINT("GPIO registers\n")) goto done; - if (!RTCAN_PROC_PRINT("port_config 0x%08x %s\n", gpio->port_config, - (gpio->port_config & 0x10000000 ? + port_config = in_be32(&gpio->port_config); + if (!RTCAN_PROC_PRINT("port_config 0x%08x %s\n", port_config, + (port_config & 0x10000000 ? "CAN1 on I2C1, CAN2 on TMR0/1 pins": - (gpio->port_config & 0x70) == 0x10 ? + (port_config & 0x70) == 0x10 ? "CAN1/2 on PSC2 pins": "MSCAN1/2 not routed"))) goto done; -- 1.6.2.5 ^ permalink raw reply related [flat|nested] 14+ messages in thread
* [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 2/3] rtcan: mscan: use proper io accessor functions for register access Wolfgang Grandegger @ 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:07 ` Wolfgang Grandegger 0 siblings, 1 reply; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:07 UTC (permalink / raw) To: Xenomai-core; +Cc: Wolfgang Grandegger From: Wolfgang Grandegger <wg@domain.hid> This patch introduces support for the MPC512x from Freescale. To re-use the driver initialization code from the new "mpc5xxx_can" driver from the mainline kernel, the old initialization code for the MPC5200 from "rtcan_mscan.c" has been moved to "rtcan_mscan_mpc52xx.c", mainly for backward compatibility with older kernel version. If required, it can be selected via Kconfig option. The new file "rtcan_mscan_mpc5xxx.c" adds OF platform driver support for the MPC5200 *and* the MPC512x. Port and clock selection is done as described for the mpc5xxx_can mainline driver in "Documentation/powerpc/dts-bindings/fsl/can.txt". Signed-off-by: Wolfgang Grandegger <wg@domain.hid> --- ksrc/drivers/can/mscan/Kconfig | 21 ++- ksrc/drivers/can/mscan/Makefile | 7 +- ksrc/drivers/can/mscan/rtcan_mscan.c | 255 +++--------------- ksrc/drivers/can/mscan/rtcan_mscan.h | 38 +++ ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c | 254 +++++++++++++++++ ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c | 374 ++++++++++++++++++++++++++ ksrc/drivers/can/mscan/rtcan_mscan_proc.c | 6 +- ksrc/drivers/can/mscan/rtcan_mscan_regs.h | 8 + 8 files changed, 745 insertions(+), 218 deletions(-) create mode 100644 ksrc/drivers/can/mscan/rtcan_mscan.h create mode 100644 ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c create mode 100644 ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c diff --git a/ksrc/drivers/can/mscan/Kconfig b/ksrc/drivers/can/mscan/Kconfig index eadad97..c624c88 100644 --- a/ksrc/drivers/can/mscan/Kconfig +++ b/ksrc/drivers/can/mscan/Kconfig @@ -1,7 +1,22 @@ config XENO_DRIVERS_CAN_MSCAN - depends on XENO_DRIVERS_CAN && PPC_MPC52xx - tristate "MSCAN driver for MPC52xx" + depends on XENO_DRIVERS_CAN && (PPC_MPC52xx || PPC_MPC512x) + tristate "MSCAN driver for MPC52xx and MPC512x" default n + help + + This driver is for the MSCAN on the MPC5200 and MPC512x processor + from Freescale. + +config XENO_DRIVERS_CAN_MSCAN_OLD + depends on XENO_DRIVERS_CAN_MSCAN && PPC_MPC52xx + bool "Use old MSCAN driver for old kernel version" + default n + help + + For backward compatibility with older kernel versions, you may + want to select the old MSCAN driver for the MPC5200. + +if XENO_DRIVERS_CAN_MSCAN_OLD config XENO_DRIVERS_CAN_MSCAN_1 depends on XENO_DRIVERS_CAN_MSCAN @@ -41,3 +56,5 @@ config XENO_DRIVERS_CAN_MSCAN_PSC2 endchoice +endif + diff --git a/ksrc/drivers/can/mscan/Makefile b/ksrc/drivers/can/mscan/Makefile index 8976ffe..7ce9249 100644 --- a/ksrc/drivers/can/mscan/Makefile +++ b/ksrc/drivers/can/mscan/Makefile @@ -7,6 +7,11 @@ EXTRA_CFLAGS += -D__IN_XENOMAI__ -Iinclude/xenomai -Idrivers/xenomai/can -Idrive obj-$(CONFIG_XENO_DRIVERS_CAN_MSCAN) += xeno_can_mscan.o xeno_can_mscan-y := rtcan_mscan.o rtcan_mscan_proc.o +ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_OLD +xeno_can_mscan-y += rtcan_mscan_mpc52xx.o +else +xeno_can_mscan-y += rtcan_mscan_mpc5xxx.o +endif else @@ -18,7 +23,7 @@ obj-$(CONFIG_XENO_DRIVERS_CAN_MSCAN) := xeno_can_mscan.o list-multi := xeno_can_mscan.o -xeno_can_mscan-objs := rtcan_mscan.o rtcan_mscan_proc.o +xeno_can_mscan-objs := rtcan_mscan.o rtcan_mscan_proc.o rtcan_mscan_mpc52xx.o export-objs := $(xeno_can_mscan-objs) diff --git a/ksrc/drivers/can/mscan/rtcan_mscan.c b/ksrc/drivers/can/mscan/rtcan_mscan.c index 4975320..d25fc5a 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan.c @@ -1,5 +1,5 @@ /* - * Copyright (C) 2006 Wolfgang Grandegger <wg@domain.hid> + * Copyright (C) 2006-2010 Wolfgang Grandegger <wg@domain.hid> * * Copyright (C) 2005, 2006 Sebastian Smolorz * <Sebastian.Smolorz@domain.hid> @@ -38,57 +38,7 @@ #include "rtcan_raw.h" #include "rtcan_internal.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); - -#define RTCAN_DEV_NAME "rtcan%d" -#define RTCAN_DRV_NAME "MSCAN" -#define RTCAN_MSCAN_DEVS 2 - -static char *mscan_ctlr_name = "MSCAN-MPC5200"; -static char *mscan_board_name = "unkown"; - -MODULE_AUTHOR("Wolfgang Grandegger <wg@domain.hid>"); -MODULE_DESCRIPTION("RT-Socket-CAN driver for MSCAN-MPC2500"); -MODULE_SUPPORTED_DEVICE("MSCAN-MPC5200 CAN controller"); -MODULE_LICENSE("GPL"); - -/** Module parameter for the CAN controllers' */ - -int port[RTCAN_MSCAN_DEVS] = { -#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_1 -#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2 - 1, 1 /* Enable CAN 1 and 2 */ -#else - 1, 0 /* Enable CAN 1 only */ -#endif -#else -#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2 - 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, "Enabled CAN ports (1,1 or 0,1 or 0,1)"); - -/* - * Note: on the MPC5200 the MSCAN clock source is the IP bus - * clock (IP_CLK) while on the MPC5200B it is the oscillator - * clock (SYS_XTAL_IN). - */ -unsigned int mscan_clock = CONFIG_XENO_DRIVERS_CAN_MSCAN_CLOCK; -module_param(mscan_clock, int, 0444); -MODULE_PARM_DESC(mscan_clock, "Clock frequency in Hz"); - -char *mscan_pins = NULL; -module_param(mscan_pins, charp, 0444); -MODULE_PARM_DESC(mscan_pins, "Routing to GPIO pins (PSC2 or I2C1/TMR01)"); - -static struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS]; -static int rtcan_mscan_count; +#include "rtcan_mscan.h" /** * Reception Interrupt handler @@ -472,9 +422,9 @@ static int rtcan_mscan_mode_start(struct rtcan_device *dev, return ret; } -int rtcan_mscan_set_bit_time(struct rtcan_device *dev, - struct can_bittime *bit_time, - rtdm_lockctx_t *lock_ctx) +static int rtcan_mscan_set_bit_time(struct rtcan_device *dev, + struct can_bittime *bit_time, + rtdm_lockctx_t *lock_ctx) { struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; u8 btr0, btr1; @@ -506,9 +456,9 @@ int rtcan_mscan_set_bit_time(struct rtcan_device *dev, return 0; } -int rtcan_mscan_set_mode(struct rtcan_device *dev, - can_mode_t mode, - rtdm_lockctx_t *lock_ctx) +static int rtcan_mscan_set_mode(struct rtcan_device *dev, + can_mode_t mode, + rtdm_lockctx_t *lock_ctx) { int ret = 0, retries = 0; can_state_t state; @@ -675,11 +625,13 @@ static int rtcan_mscan_start_xmit(struct rtcan_device *dev, can_frame_t *frame) * * @param[in] dev Device ID of the controller to be configured */ -static inline void __init mscan_chip_config(struct mscan_regs *regs) +static inline void __init mscan_chip_config(struct mscan_regs *regs, + int mscan_clksrc) { /* Choose IP bus as clock source. */ - setbits8(®s->canctl1, MSCAN_CLKSRC); + if (mscan_clksrc) + setbits8(®s->canctl1, MSCAN_CLKSRC); clrbits8(®s->canctl1, MSCAN_LISTEN); /* Configure MSCAN to accept all incoming messages. @@ -703,107 +655,19 @@ static inline void __init mscan_chip_config(struct mscan_regs *regs) clrbits8(®s->canidac, MSCAN_IDAM0 | MSCAN_IDAM1); } -static inline void __init mscan_gpio_config(void) -{ - struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; - int can_to_psc2 = -1; - u32 port_config; - -#if defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_ALT) - can_to_psc2 = 0; -#elif defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_PSC2) - can_to_psc2 = 1; -#endif - - /* Configure CAN routing to GPIO pins. - */ - if (mscan_pins != NULL) { - if (strncmp(mscan_pins, "psc2", 4) == 0 || - !strncmp(mscan_pins, "PSC2", 4)) - can_to_psc2 = 1; - else if (strncmp(mscan_pins, "i2c1/tmr01", 10) == 0 || - strncmp(mscan_pins, "I2C1/TMR01", 10) == 0) - can_to_psc2 = 0; - else { - printk("Module parameter mscan_pins=%s is invalid. " - "Please use PSC2 or I2C1/TMR01.\n", mscan_pins); - } - } - - if (!gpio || can_to_psc2 < 0) { - printk("%s: use pre-configure CAN routing\n", RTCAN_DRV_NAME); - return; - } - - port_config = in_be32(&gpio->port_config); - if (can_to_psc2) { - port_config &= ~0x10000070; - port_config |= 0x00000010; - printk("%s: CAN 1 and 2 routed to PSC2 pins\n", RTCAN_DRV_NAME); - } else { - port_config |= 0x10000000; - printk("%s: CAN 1 routed to I2C1 pins and CAN2 to TMR01 pins\n", - RTCAN_DRV_NAME); - } - out_be32(&gpio->port_config, port_config); -} - -static inline int mscan_get_config(unsigned long *addr, unsigned int *irq) -{ -#if defined(CONFIG_PPC_MERGE) || LINUX_VERSION_CODE > KERNEL_VERSION(2,6,27) - /* 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, NULL, "fsl,mpc5200-mscan"); - if (np == NULL) - np = of_find_compatible_node(np, NULL, "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) +/** + * MSCAN Chip registration + * + * Called during @ref init_module. + * + * @param[in] dev Device ID of the controller to be registered + * @param[in] mscan_clksrc clock source to be used + */ +int rtcan_mscan_register(struct rtcan_device *dev, int irq, int mscan_clksrc) { int ret; - struct rtcan_device *dev; struct mscan_regs *regs; - if ((dev = rtcan_dev_alloc(0, 0)) == NULL) { - return -ENOMEM; - } - - dev->ctrl_name = mscan_ctlr_name; - dev->board_name = mscan_board_name; - - dev->can_sys_clock = mscan_clock; - - 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. */ @@ -826,15 +690,14 @@ int __init rtcan_mscan_init_one(int idx, unsigned long addr, int irq) dev->do_set_bit_time = rtcan_mscan_set_bit_time; /* Register IRQ handler and pass device structure as arg */ - ret = rtdm_irq_request(&dev->irq_handle, irq, - rtcan_mscan_interrupt, + ret = rtdm_irq_request(&dev->irq_handle, irq, rtcan_mscan_interrupt, 0, RTCAN_DRV_NAME, (void *)dev); if (ret) { printk("ERROR! rtdm_irq_request for IRQ %d failed\n", irq); - goto out_iounmap; + goto out_can_disable; } - mscan_chip_config(regs); + mscan_chip_config(regs, mscan_clksrc); /* Register RTDM device */ ret = rtcan_dev_register(dev); @@ -846,74 +709,38 @@ int __init rtcan_mscan_init_one(int idx, unsigned long addr, int irq) rtcan_mscan_create_proc(dev); - /* Remember initialized devices */ - rtcan_mscan_devs[idx] = dev; - - printk("%s: %s driver loaded (port %d, base-addr 0x%lx irq %d)\n", - dev->name, RTCAN_DRV_NAME, idx + 1, addr, irq); - return 0; out_irq_free: rtdm_irq_free(&dev->irq_handle); -out_iounmap: +out_can_disable: /* Disable MSCAN module. */ clrbits8(®s->canctl1, MSCAN_CANE); - iounmap((void *)dev->base_addr); - -out_dev_free: - rtcan_dev_free(dev); return ret; - } -static void rtcan_mscan_exit(void) +/** + * MSCAN Chip deregistration + * + * Called during @ref cleanup_module + * + * @param[in] dev Device ID of the controller to be registered + */ +int rtcan_mscan_unregister(struct rtcan_device *dev) { - int i; - struct rtcan_device *dev; - - 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); + struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; - 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); - } + printk("Unregistering %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); -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_count; i++) { - if (!port[i]) - continue; - - err = rtcan_mscan_init_one(i, addr[i], irq[i]); - if (err) { - rtcan_mscan_exit(); - return err; - } - } + /* Disable MSCAN module. */ + clrbits8(®s->canctl1, MSCAN_CANE); return 0; } - -module_init(rtcan_mscan_init); -module_exit(rtcan_mscan_exit); diff --git a/ksrc/drivers/can/mscan/rtcan_mscan.h b/ksrc/drivers/can/mscan/rtcan_mscan.h new file mode 100644 index 0000000..654a0f5 --- /dev/null +++ b/ksrc/drivers/can/mscan/rtcan_mscan.h @@ -0,0 +1,38 @@ +/* + * Copyright (C) 2009 Wolfgang Grandegger <wg@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_H_ +#define __RTCAN_MSCAN_H_ + +#define RTCAN_DEV_NAME "rtcan%d" +#define RTCAN_DRV_NAME "rtcan_mscan" + +/* MSCAN type variants */ +enum { + MSCAN_TYPE_MPC5200, + MSCAN_TYPE_MPC5121 +}; + +extern int rtcan_mscan_register(struct rtcan_device *dev, int irq, + int mscan_clksrc); +extern int rtcan_mscan_unregister(struct rtcan_device *dev); + +extern int rtcan_mscan_create_proc(struct rtcan_device* dev); +extern void rtcan_mscan_remove_proc(struct rtcan_device* dev); + +#endif /* __RTCAN_MSCAN_H_ */ diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c b/ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c new file mode 100644 index 0000000..27feaf8 --- /dev/null +++ b/ksrc/drivers/can/mscan/rtcan_mscan_mpc52xx.c @@ -0,0 +1,254 @@ +/* + * Copyright (C) 2006-2010 Wolfgang Grandegger <wg@domain.hid> + * + * Copyright (C) 2005, 2006 Sebastian Smolorz + * <Sebastian.Smolorz@domain.hid> + * + * Derived from the PCAN project file driver/src/pcan_mpc5200.c: + * + * Copyright (c) 2003 Wolfgang Denk, DENX Software Engineering, wd@domain.hid. + * + * Copyright (c) 2005 Felix Daners, Plugit AG, felix.daners@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. + */ + +#include <linux/module.h> +#include <linux/ioport.h> +#include <linux/delay.h> + +#include <rtdm/rtdm_driver.h> + +/* CAN device profile */ +#include <rtdm/rtcan.h> +#include "rtcan_dev.h" +#include "rtcan_raw.h" +#include "rtcan_internal.h" +#include "rtcan_mscan_regs.h" +#include "rtcan_mscan.h" + +#define RTCAN_MSCAN_DEVS 2 + +static char *mscan_ctlr_name = "MSCAN-MPC5200"; +static char *mscan_board_name = "unkown"; + +MODULE_AUTHOR("Wolfgang Grandegger <wg@domain.hid>"); +MODULE_DESCRIPTION("RT-Socket-CAN driver for MSCAN-MPC2500"); +MODULE_SUPPORTED_DEVICE("MSCAN-MPC5200 CAN controller"); +MODULE_LICENSE("GPL"); + +/** Module parameter for the CAN controllers' */ + +int port[RTCAN_MSCAN_DEVS] = { +#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_1 +#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2 + 1, 1 /* Enable CAN 1 and 2 */ +#else + 1, 0 /* Enable CAN 1 only */ +#endif +#else +#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_2 + 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, "Enabled CAN ports (1,1 or 0,1 or 0,1)"); + +/* + * Note: on the MPC5200 the MSCAN clock source is the IP bus + * clock (IP_CLK) while on the MPC5200B it is the oscillator + * clock (SYS_XTAL_IN). + */ +unsigned int mscan_clock = CONFIG_XENO_DRIVERS_CAN_MSCAN_CLOCK; +module_param(mscan_clock, int, 0444); +MODULE_PARM_DESC(mscan_clock, "Clock frequency in Hz"); + +char *mscan_pins = NULL; +module_param(mscan_pins, charp, 0444); +MODULE_PARM_DESC(mscan_pins, "Routing to GPIO pins (PSC2 or I2C1/TMR01)"); + +static struct rtcan_device *rtcan_mscan_devs[RTCAN_MSCAN_DEVS]; +static int rtcan_mscan_count; + +static inline void __init mscan_gpio_config(void) +{ + struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; + int can_to_psc2 = -1; + u32 port_config; + +#if defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_ALT) + can_to_psc2 = 0; +#elif defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_PSC2) + can_to_psc2 = 1; +#endif + + /* Configure CAN routing to GPIO pins. + */ + if (mscan_pins != NULL) { + if (strncmp(mscan_pins, "psc2", 4) == 0 || + !strncmp(mscan_pins, "PSC2", 4)) + can_to_psc2 = 1; + else if (strncmp(mscan_pins, "i2c1/tmr01", 10) == 0 || + strncmp(mscan_pins, "I2C1/TMR01", 10) == 0) + can_to_psc2 = 0; + else { + printk("Module parameter mscan_pins=%s is invalid. " + "Please use PSC2 or I2C1/TMR01.\n", mscan_pins); + } + } + + if (!gpio || can_to_psc2 < 0) { + printk("%s: use pre-configure CAN routing\n", RTCAN_DRV_NAME); + return; + } + + port_config = in_be32(&gpio->port_config); + if (can_to_psc2) { + port_config &= ~0x10000070; + port_config |= 0x00000010; + printk("%s: CAN 1 and 2 routed to PSC2 pins\n", RTCAN_DRV_NAME); + } else { + port_config |= 0x10000000; + printk("%s: CAN 1 routed to I2C1 pins and CAN2 to TMR01 pins\n", + RTCAN_DRV_NAME); + } + out_be32(&gpio->port_config, port_config); +} + +static inline int mscan_get_config(unsigned long *addr, unsigned int *irq) +{ +#if defined(CONFIG_PPC_MERGE) || LINUX_VERSION_CODE > KERNEL_VERSION(2,6,27) + /* 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, NULL, "fsl,mpc5200-mscan"); + if (np == NULL) + np = of_find_compatible_node(np, NULL, "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; +} + +static int __init rtcan_mscan_init_one(int idx, unsigned long addr, int irq) +{ + struct rtcan_device *dev; + int ret; + + dev = rtcan_dev_alloc(0, 0); + if (dev == NULL) + return -ENOMEM; + + 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; + } + + dev->ctrl_name = mscan_ctlr_name; + dev->board_name = mscan_board_name; + dev->can_sys_clock = mscan_clock; + + ret = rtcan_mscan_register(dev, irq, 1); + if (ret) + goto out_iounmap; + + /* Remember initialized devices */ + rtcan_mscan_devs[idx] = dev; + + printk("%s: %s driver: MSCAN port %d, base-addr 0x%lx, irq %d\n", + dev->name, RTCAN_DRV_NAME, idx + 1, addr, irq); + + return 0; + +out_iounmap: + iounmap((void *)dev->base_addr); + +out_dev_free: + rtcan_dev_free(dev); + + return ret; + +} + +static void rtcan_mscan_exit(void) +{ + int i; + struct rtcan_device *dev; + + 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_unregister(dev); + iounmap((void *)dev->base_addr); + rtcan_dev_free(dev); + } + +} + +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_count; i++) { + if (!port[i]) + continue; + + err = rtcan_mscan_init_one(i, addr[i], irq[i]); + if (err) { + rtcan_mscan_exit(); + return err; + } + } + + return 0; +} + +module_init(rtcan_mscan_init); +module_exit(rtcan_mscan_exit); diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c b/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c new file mode 100644 index 0000000..48abd89 --- /dev/null +++ b/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c @@ -0,0 +1,374 @@ +/* + * CAN bus driver for the Freescale MPC5xxx embedded CPU. + * + * Copyright (C) 2004-2005 Andrey Volkov <avolkov@domain.hid>, + * Varma Electronics Oy + * Copyright (C) 2008-2010 Wolfgang Grandegger <wg@domain.hid> + * Copyright (C) 2009 Wolfram Sang, Pengutronix <w.sang@domain.hid> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the version 2 of the GNU General Public License + * as published by the Free Software Foundation + * + * 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 + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/interrupt.h> +#include <linux/platform_device.h> +#include <linux/netdevice.h> +#include <linux/of_platform.h> +#include <sysdev/fsl_soc.h> +#include <linux/clk.h> +#include <linux/io.h> +#include <asm/mpc52xx.h> + +#include "rtcan_dev.h" +#include "rtcan_mscan_regs.h" +#include "rtcan_mscan.h" + +static char mscan_ctrl_name_mpc5200[] = "MSCAN-MPC5200"; +static char mscan_ctrl_name_mpc512x[] = "MSCAN-MPC512x"; +static char mscan_board_name[] = "unkown"; + +struct mpc5xxx_can_data { + unsigned int type; + u32 (*get_clock)(struct of_device *ofdev, const char *clock_name, + int *mscan_clksrc); +}; + +#ifdef CONFIG_PPC_MPC52xx +static struct of_device_id __devinitdata mpc52xx_cdm_ids[] = { + { .compatible = "fsl,mpc5200-cdm", }, + {} +}; + +static u32 __devinit mpc52xx_can_get_clock(struct of_device *ofdev, + const char *clock_name, + int *mscan_clksrc) +{ + unsigned int pvr; + struct mpc52xx_cdm __iomem *cdm; + struct device_node *np_cdm; + unsigned int freq; + u32 val; + + pvr = mfspr(SPRN_PVR); + + /* + * Either the oscillator clock (SYS_XTAL_IN) or the IP bus clock + * (IP_CLK) can be selected as MSCAN clock source. According to + * the MPC5200 user's manual, the oscillator clock is the better + * choice as it has less jitter. For this reason, it is selected + * by default. Unfortunately, it can not be selected for the old + * MPC5200 Rev. A chips due to a hardware bug (check errata). + */ + if (clock_name && strcmp(clock_name, "ip") == 0) + *mscan_clksrc = MSCAN_CLKSRC_BUS; + else + *mscan_clksrc = MSCAN_CLKSRC_XTAL; + + freq = mpc5xxx_get_bus_frequency(ofdev->node); + if (!freq) + return 0; + + if (*mscan_clksrc == MSCAN_CLKSRC_BUS || pvr == 0x80822011) + return freq; + + /* Determine SYS_XTAL_IN frequency from the clock domain settings */ + np_cdm = of_find_matching_node(NULL, mpc52xx_cdm_ids); + if (!np_cdm) { + dev_err(&ofdev->dev, "can't get clock node!\n"); + return 0; + } + cdm = of_iomap(np_cdm, 0); + + if (in_8(&cdm->ipb_clk_sel) & 0x1) + freq *= 2; + val = in_be32(&cdm->rstcfg); + + freq *= (val & (1 << 5)) ? 8 : 4; + freq /= (val & (1 << 6)) ? 12 : 16; + + of_node_put(np_cdm); + iounmap(cdm); + + return freq; +} +#else /* !CONFIG_PPC_MPC5200 */ +static u32 __devinit mpc52xx_can_get_clock(struct of_device *ofdev, + const char *clock_name, + int *mscan_clksrc) +{ + return 0; +} +#endif /* CONFIG_PPC_MPC52xx */ + +#ifdef CONFIG_PPC_MPC512x +struct mpc512x_clockctl { + u32 spmr; /* System PLL Mode Reg */ + u32 sccr[2]; /* System Clk Ctrl Reg 1 & 2 */ + u32 scfr1; /* System Clk Freq Reg 1 */ + u32 scfr2; /* System Clk Freq Reg 2 */ + u32 reserved; + u32 bcr; /* Bread Crumb Reg */ + u32 pccr[12]; /* PSC Clk Ctrl Reg 0-11 */ + u32 spccr; /* SPDIF Clk Ctrl Reg */ + u32 cccr; /* CFM Clk Ctrl Reg */ + u32 dccr; /* DIU Clk Cnfg Reg */ + u32 mccr[4]; /* MSCAN Clk Ctrl Reg 1-3 */ +}; + +static struct of_device_id __devinitdata mpc512x_clock_ids[] = { + { .compatible = "fsl,mpc5121-clock", }, + {} +}; + +static u32 __devinit mpc512x_can_get_clock(struct of_device *ofdev, + const char *clock_name, + int *mscan_clksrc) +{ + struct mpc512x_clockctl __iomem *clockctl; + struct device_node *np_clock; + struct clk *sys_clk, *ref_clk; + int plen, clockidx, clocksrc = -1; + u32 sys_freq, val, clockdiv = 1, freq = 0; + const u32 *pval; + + np_clock = of_find_matching_node(NULL, mpc512x_clock_ids); + if (!np_clock) { + dev_err(&ofdev->dev, "couldn't find clock node\n"); + return -ENODEV; + } + clockctl = of_iomap(np_clock, 0); + if (!clockctl) { + dev_err(&ofdev->dev, "couldn't map clock registers\n"); + return 0; + } + + /* Determine the MSCAN device index from the physical address */ + pval = of_get_property(ofdev->node, "reg", &plen); + BUG_ON(!pval || plen < sizeof(*pval)); + clockidx = (*pval & 0x80) ? 1 : 0; + if (*pval & 0x2000) + clockidx += 2; + + /* + * Clock source and divider selection: 3 different clock sources + * can be selected: "ip", "ref" or "sys". For the latter two, a + * clock divider can be defined as well. If the clock source is + * not specified by the device tree, we first try to find an + * optimal CAN source clock based on the system clock. If that + * is not posslible, the reference clock will be used. + */ + if (clock_name && !strcmp(clock_name, "ip")) { + *mscan_clksrc = MSCAN_CLKSRC_IPS; + freq = mpc5xxx_get_bus_frequency(ofdev->node); + } else { + *mscan_clksrc = MSCAN_CLKSRC_BUS; + + pval = of_get_property(ofdev->node, + "fsl,mscan-clock-divider", &plen); + if (pval && plen == sizeof(*pval)) + clockdiv = *pval; + if (!clockdiv) + clockdiv = 1; + + if (!clock_name || !strcmp(clock_name, "sys")) { + sys_clk = clk_get(&ofdev->dev, "sys_clk"); + if (!sys_clk) { + dev_err(&ofdev->dev, "couldn't get sys_clk\n"); + goto exit_unmap; + } + /* Get and round up/down sys clock rate */ + sys_freq = 1000000 * + ((clk_get_rate(sys_clk) + 499999) / 1000000); + + if (!clock_name) { + /* A multiple of 16 MHz would be optimal */ + if ((sys_freq % 16000000) == 0) { + clocksrc = 0; + clockdiv = sys_freq / 16000000; + freq = sys_freq / clockdiv; + } + } else { + clocksrc = 0; + freq = sys_freq / clockdiv; + } + } + + if (clocksrc < 0) { + ref_clk = clk_get(&ofdev->dev, "ref_clk"); + if (!ref_clk) { + dev_err(&ofdev->dev, "couldn't get ref_clk\n"); + goto exit_unmap; + } + clocksrc = 1; + freq = clk_get_rate(ref_clk) / clockdiv; + } + } + + /* Disable clock */ + out_be32(&clockctl->mccr[clockidx], 0x0); + if (clocksrc >= 0) { + /* Set source and divider */ + val = (clocksrc << 14) | ((clockdiv - 1) << 17); + out_be32(&clockctl->mccr[clockidx], val); + /* Enable clock */ + out_be32(&clockctl->mccr[clockidx], val | 0x10000); + } + + /* Enable MSCAN clock domain */ + val = in_be32(&clockctl->sccr[1]); + if (!(val & (1 << 25))) + out_be32(&clockctl->sccr[1], val | (1 << 25)); + + dev_dbg(&ofdev->dev, "using '%s' with frequency divider %d\n", + *mscan_clksrc == MSCAN_CLKSRC_IPS ? "ips_clk" : + clocksrc == 1 ? "ref_clk" : "sys_clk", clockdiv); + +exit_unmap: + of_node_put(np_clock); + iounmap(clockctl); + + return freq; +} +#else /* !CONFIG_PPC_MPC512x */ +static u32 __devinit mpc512x_can_get_clock(struct of_device *ofdev, + const char *clock_name, + int *mscan_clksrc) +{ + return 0; +} +#endif /* CONFIG_PPC_MPC512x */ + +static int __devinit mpc5xxx_can_probe(struct of_device *ofdev, + const struct of_device_id *id) +{ + struct mpc5xxx_can_data *data = (struct mpc5xxx_can_data *)id->data; + struct device_node *np = ofdev->node; + struct rtcan_device *dev; + void __iomem *base; + const char *clock_name = NULL; + int irq, mscan_clksrc = 0; + int err = -ENOMEM; + + base = of_iomap(np, 0); + if (!base) { + dev_err(&ofdev->dev, "couldn't ioremap\n"); + return err; + } + + irq = irq_of_parse_and_map(np, 0); + if (!irq) { + dev_err(&ofdev->dev, "no irq found\n"); + err = -ENODEV; + goto exit_unmap_mem; + } + + dev = rtcan_dev_alloc(0, 0); + if (!dev) + goto exit_dispose_irq; + + clock_name = of_get_property(np, "fsl,mscan-clock-source", NULL); + + BUG_ON(!data); + dev->can_sys_clock = data->get_clock(ofdev, clock_name, + &mscan_clksrc); + if (!dev->can_sys_clock) { + dev_err(&ofdev->dev, "couldn't get MSCAN clock properties\n"); + goto exit_free_mscan; + } + + if (data->type == MSCAN_TYPE_MPC5121) + dev->ctrl_name = mscan_ctrl_name_mpc512x; + else + dev->ctrl_name = mscan_ctrl_name_mpc5200; + dev->board_name = mscan_board_name; + dev->base_addr = (unsigned long)base; + + err = rtcan_mscan_register(dev, irq, mscan_clksrc); + if (err) { + dev_err(&ofdev->dev, "registering %s failed (err=%d)\n", + RTCAN_DRV_NAME, err); + goto exit_free_mscan; + } + + dev_set_drvdata(&ofdev->dev, dev); + + dev_info(&ofdev->dev, "MSCAN at 0x%p, irq %d, clock %d Hz\n", + base, irq, dev->can_sys_clock); + + return 0; + +exit_free_mscan: + rtcan_dev_free(dev); +exit_dispose_irq: + irq_dispose_mapping(irq); +exit_unmap_mem: + iounmap(base); + + return err; +} + +static int __devexit mpc5xxx_can_remove(struct of_device *ofdev) +{ + struct rtcan_device *dev = dev_get_drvdata(&ofdev->dev); + + dev_set_drvdata(&ofdev->dev, NULL); + + rtcan_mscan_unregister(dev); + iounmap((void *)dev->base_addr); + rtcan_dev_free(dev); + + return 0; +} + +static struct mpc5xxx_can_data __devinitdata mpc5200_can_data = { + .type = MSCAN_TYPE_MPC5200, + .get_clock = mpc52xx_can_get_clock, +}; + +static struct mpc5xxx_can_data __devinitdata mpc5121_can_data = { + .type = MSCAN_TYPE_MPC5121, + .get_clock = mpc512x_can_get_clock, +}; + +static struct of_device_id __devinitdata mpc5xxx_can_table[] = { + { .compatible = "fsl,mpc5200-mscan", .data = &mpc5200_can_data, }, + /* Note that only MPC5121 Rev. 2 (and later) is supported */ + { .compatible = "fsl,mpc5121-mscan", .data = &mpc5121_can_data, }, + {}, +}; + +static struct of_platform_driver mpc5xxx_can_driver = { + .owner = THIS_MODULE, + .name = RTCAN_DRV_NAME, + .probe = mpc5xxx_can_probe, + .remove = __devexit_p(mpc5xxx_can_remove), + .match_table = mpc5xxx_can_table, +}; + +static int __init mpc5xxx_can_init(void) +{ + return of_register_platform_driver(&mpc5xxx_can_driver); +} +module_init(mpc5xxx_can_init); + +static void __exit mpc5xxx_can_exit(void) +{ + return of_unregister_platform_driver(&mpc5xxx_can_driver); +}; +module_exit(mpc5xxx_can_exit); + +MODULE_AUTHOR("Wolfgang Grandegger <wg@domain.hid>"); +MODULE_DESCRIPTION("RT-Socket-CAN driver for MPC5200 and MPC521x"); +MODULE_LICENSE("GPL v2"); diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c index cfddfb7..13ba8e4 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c @@ -38,9 +38,11 @@ static int rtcan_mscan_proc_regs(char *buf, char **start, off_t offset, { struct rtcan_device *dev = (struct rtcan_device *)data; struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr; +#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_OLD struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO; - u8 canctl0, canctl1; u32 port_config; +#endif + u8 canctl0, canctl1; RTCAN_PROC_PRINT_VARS(80); if (!RTCAN_PROC_PRINT("MSCAN registers at %p\n", regs)) @@ -98,6 +100,7 @@ static int rtcan_mscan_proc_regs(char *buf, char **start, off_t offset, !RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canidmr7))) goto done; +#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_OLD if (!RTCAN_PROC_PRINT("GPIO registers\n")) goto done; port_config = in_be32(&gpio->port_config); @@ -107,6 +110,7 @@ static int rtcan_mscan_proc_regs(char *buf, char **start, off_t offset, (port_config & 0x70) == 0x10 ? "CAN1/2 on PSC2 pins": "MSCAN1/2 not routed"))) goto done; +#endif done: RTCAN_PROC_PRINT_DONE; diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_regs.h b/ksrc/drivers/can/mscan/rtcan_mscan_regs.h index b4652f5..e623b9a 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan_regs.h +++ b/ksrc/drivers/can/mscan/rtcan_mscan_regs.h @@ -25,6 +25,7 @@ #ifndef __RTCAN_MSCAN_REGS_H_ #define __RTCAN_MSCAN_REGS_H_ +#ifdef CONFIG_XENO_DRIVERS_CAN_MSCAN_OLD #if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,20) #include <sysdev/fsl_soc.h> #if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,22) @@ -60,6 +61,7 @@ static inline void __iomem *mpc5xxx_gpio_find_and_map(void) #define MPC5xxx_GPIO MPC52xx_VA(MPC52xx_GPIO_OFFSET) #define mpc5xxx_gpio mpc52xx_gpio #endif +#endif #define MSCAN_CAN1_ADDR (MSCAN_MBAR + 0x0900) /* MSCAN Module 1 */ #define MSCAN_CAN2_ADDR (MSCAN_MBAR + 0x0980) /* MSCAN Module 2 */ @@ -200,6 +202,12 @@ struct mscan_regs { struct mscan_msgbuf cantxfg; /* MSCAN + 0x60 */ /* Foreground transmit buffer */ }; +/* Clock source selection + */ +#define MSCAN_CLKSRC_BUS 0 +#define MSCAN_CLKSRC_XTAL MSCAN_CLKSRC +#define MSCAN_CLKSRC_IPS MSCAN_CLKSRC + /* Message type access macros. */ #define MSCAN_BUF_STD_RTR 0x10 -- 1.6.2.5 ^ permalink raw reply related [flat|nested] 14+ messages in thread
* [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 Wolfgang Grandegger @ 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:14 ` Wolfgang Grandegger 0 siblings, 2 replies; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:07 UTC (permalink / raw) To: Xenomai-core; +Cc: /bin/bash pdir=../send-rtcan-mscan-mpc5xxx/ sprefix="PATCH xenomai-2.5" commitid=b197fe0f370d92ee1838b370fbf927ca50a0e573 subject="rtcan: mscan: new OF platform driver for MPC521x and MPC5200" blurb="\ This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x\\ from Freescale by introducing a new OF platform driver for both, the\\ MPC521x and MPC5200, while still keeping the old driver for the MPC5200\\ for compatibility with older kernel versions.\\ \\ Wolfgang" rm -f $pdir/*.patch mkdir $pdir opt="--dry-run" test "$1" = "send" && opt="" git format-patch -n -o $pdir --cover-letter --subject-prefix="$sprefix" \ $commitid mv $pdir/0000-cover-letter.patch /tmp/0000-cover-letter.patch sed " s/\*\*\* SUBJECT HERE \*\*\*/$subject/ s/\*\*\* BLURB HERE \*\*\*/$blurb/ " /tmp/0000-cover-letter.patch > $pdir/0000-cover-letter.patch echo "=====================================================================" cat $pdir/0000-cover-letter.patch echo "=====================================================================" opt="--dry-run" test "$1" = "send" && opt="" git format-patch -o $pdir --subject-prefix="$sprefix" $commitid echo "opt=$opt" git send-email $opt \ --to "Xenomai-core@domain.hid" \ --from="Wolfgang Grandegger <wg@domain.hid>" \ $pdir ^ permalink raw reply [flat|nested] 14+ messages in thread
* [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 12:07 ` Wolfgang Grandegger @ 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:14 ` Wolfgang Grandegger 1 sibling, 0 replies; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:07 UTC (permalink / raw) To: Xenomai-core; +Cc: /bin/bash pdir=../send-rtcan-mscan-mpc5xxx/ sprefix="PATCH xenomai-2.5" commitid=b197fe0f370d92ee1838b370fbf927ca50a0e573 subject="rtcan: mscan: new OF platform driver for MPC521x and MPC5200" blurb="\ This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x from Freescale by introducing a new OF platform driver for both, the\\ MPC521x and MPC5200, while still keeping the old driver for the MPC5200\\ for compatibility with older kernel versions\\ \\ Wolfgang" rm -f $pdir/*.patch mkdir $pdir opt="--dry-run" test "$1" = "send" && opt="" git format-patch -n -o $pdir --cover-letter --subject-prefix="$sprefix" \ $commitid mv $pdir/0000-cover-letter.patch /tmp/0000-cover-letter.patch sed " s/\*\*\* SUBJECT HERE \*\*\*/$subject/ s/\*\*\* BLURB HERE \*\*\*/$blurb/ " /tmp/0000-cover-letter.patch > $pdir/0000-cover-letter.patch echo "=====================================================================" cat $pdir/0000-cover-letter.patch echo "=====================================================================" opt="--dry-run" test "$1" = "send" && opt="" git format-patch -o $pdir --subject-prefix="$sprefix" $commitid echo "opt=$opt" git send-email $opt \ --to "Xenomai-core@domain.hid" \ --from="Wolfgang Grandegger <wg@domain.hid>" \ $pdir ^ permalink raw reply [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 12:07 ` Wolfgang Grandegger 2010-01-14 12:07 ` Wolfgang Grandegger @ 2010-01-14 12:14 ` Wolfgang Grandegger 2010-01-14 14:57 ` Gilles Chanteperdrix 1 sibling, 1 reply; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 12:14 UTC (permalink / raw) To: Xenomai-core Wolfgang Grandegger wrote: > pdir=../send-rtcan-mscan-mpc5xxx/ > sprefix="PATCH xenomai-2.5" > commitid=b197fe0f370d92ee1838b370fbf927ca50a0e573 > subject="rtcan: mscan: new OF platform driver for MPC521x and MPC5200" > blurb="\ > This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x\\ > from Freescale by introducing a new OF platform driver for both, the\\ > MPC521x and MPC5200, while still keeping the old driver for the MPC5200\\ > for compatibility with older kernel versions.\\ > \\ > Wolfgang" > > rm -f $pdir/*.patch > mkdir $pdir > opt="--dry-run" > test "$1" = "send" && opt="" > > git format-patch -n -o $pdir --cover-letter --subject-prefix="$sprefix" \ > $commitid > > mv $pdir/0000-cover-letter.patch /tmp/0000-cover-letter.patch > sed " > s/\*\*\* SUBJECT HERE \*\*\*/$subject/ > s/\*\*\* BLURB HERE \*\*\*/$blurb/ > " /tmp/0000-cover-letter.patch > $pdir/0000-cover-letter.patch > > echo "=====================================================================" > cat $pdir/0000-cover-letter.patch > echo "=====================================================================" > > opt="--dry-run" > test "$1" = "send" && opt="" > > git format-patch -o $pdir --subject-prefix="$sprefix" $commitid > > echo "opt=$opt" > git send-email $opt \ > --to "Xenomai-core@domain.hid" \ > --from="Wolfgang Grandegger <wg@domain.hid>" \ > $pdir s/$pdir/$pdir/*.patch/ Grrr, due to that mistake in my git-patch-prepare-and-send script, the script file (and backup) has also been sent to the list as well. Please ignore the last two patch. Sorry for the noise Wolfgang. ^ permalink raw reply [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 12:14 ` Wolfgang Grandegger @ 2010-01-14 14:57 ` Gilles Chanteperdrix 2010-01-14 15:05 ` Wolfgang Grandegger 0 siblings, 1 reply; 14+ messages in thread From: Gilles Chanteperdrix @ 2010-01-14 14:57 UTC (permalink / raw) To: Wolfgang Grandegger; +Cc: Xenomai-core Wolfgang Grandegger wrote: > Wolfgang Grandegger wrote: >> pdir=../send-rtcan-mscan-mpc5xxx/ >> sprefix="PATCH xenomai-2.5" >> commitid=b197fe0f370d92ee1838b370fbf927ca50a0e573 >> subject="rtcan: mscan: new OF platform driver for MPC521x and MPC5200" >> blurb="\ >> This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x\\ >> from Freescale by introducing a new OF platform driver for both, the\\ >> MPC521x and MPC5200, while still keeping the old driver for the MPC5200\\ >> for compatibility with older kernel versions.\\ >> \\ >> Wolfgang" >> >> rm -f $pdir/*.patch >> mkdir $pdir >> opt="--dry-run" >> test "$1" = "send" && opt="" >> >> git format-patch -n -o $pdir --cover-letter --subject-prefix="$sprefix" \ >> $commitid >> >> mv $pdir/0000-cover-letter.patch /tmp/0000-cover-letter.patch >> sed " >> s/\*\*\* SUBJECT HERE \*\*\*/$subject/ >> s/\*\*\* BLURB HERE \*\*\*/$blurb/ >> " /tmp/0000-cover-letter.patch > $pdir/0000-cover-letter.patch >> >> echo "=====================================================================" >> cat $pdir/0000-cover-letter.patch >> echo "=====================================================================" >> >> opt="--dry-run" >> test "$1" = "send" && opt="" >> >> git format-patch -o $pdir --subject-prefix="$sprefix" $commitid >> >> echo "opt=$opt" >> git send-email $opt \ >> --to "Xenomai-core@domain.hid" \ >> --from="Wolfgang Grandegger <wg@domain.hid>" \ >> $pdir > > s/$pdir/$pdir/*.patch/ > > Grrr, due to that mistake in my git-patch-prepare-and-send script, the > script file (and backup) has also been sent to the list as well. Please > ignore the last two patch. Sorry for the noise Hi Wolfgang, Would you want a git tree on Xenomai server? This way you could use git push and git-request-pull ? There is not much point for me in proof-reading your patches, since I do not know much about rt-socket-can. Regards. -- Gilles. ^ permalink raw reply [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 14:57 ` Gilles Chanteperdrix @ 2010-01-14 15:05 ` Wolfgang Grandegger 0 siblings, 0 replies; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-14 15:05 UTC (permalink / raw) To: Gilles Chanteperdrix; +Cc: Xenomai-core Hi Gilles, Gilles Chanteperdrix wrote: ... > Would you want a git tree on Xenomai server? This way you could use git > push and git-request-pull ? Well, seems a bit overkill to me at the moment. There are only a few patches per year related to RT-Socket-CAN. If you think it does easy your work, please let me know. > There is not much point for me in proof-reading your patches, since I do > not know much about rt-socket-can. No problem. I'm happy if you just apply it ;-). Thanks, Wolfgang. ^ permalink raw reply [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-14 12:07 [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 Wolfgang Grandegger 2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 1/3] rtcan: mscan: use tabs for indention and white space cleanup Wolfgang Grandegger @ 2010-01-15 14:08 ` Gilles Chanteperdrix 2010-01-15 14:26 ` Wolfgang Grandegger 1 sibling, 1 reply; 14+ messages in thread From: Gilles Chanteperdrix @ 2010-01-15 14:08 UTC (permalink / raw) To: Wolfgang Grandegger; +Cc: Xenomai-core, Wolfgang Grandegger Wolfgang Grandegger wrote: > From: Wolfgang Grandegger <wg@domain.hid> > > This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x > from Freescale by introducing a new OF platform driver for both, the > MPC521x and MPC5200, while still keeping the old driver for the MPC5200 > for compatibility with older kernel versions. Hi Wolfgang, there seems to be something missing, because I get a compilation error on lite-5200: http://sisyphus.hd.free.fr/~gilles/bx/#powerpc Regards. -- Gilles. ^ permalink raw reply [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-15 14:08 ` [Xenomai-core] [PATCH xenomai-2.5 0/3] " Gilles Chanteperdrix @ 2010-01-15 14:26 ` Wolfgang Grandegger 2010-01-15 18:10 ` Gilles Chanteperdrix 0 siblings, 1 reply; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-15 14:26 UTC (permalink / raw) To: Gilles Chanteperdrix; +Cc: Xenomai-core, Wolfgang Grandegger Gilles Chanteperdrix wrote: > Wolfgang Grandegger wrote: >> From: Wolfgang Grandegger <wg@domain.hid> >> >> This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x >> from Freescale by introducing a new OF platform driver for both, the >> MPC521x and MPC5200, while still keeping the old driver for the MPC5200 >> for compatibility with older kernel versions. > > Hi Wolfgang, > > there seems to be something missing, because I get a compilation error > on lite-5200: > http://sisyphus.hd.free.fr/~gilles/bx/#powerpc Well, I obviously did not test the driver with old versions of the Linux kernel, sorry. For 2.6.29 and 2.6.30 the following patch should fix the build: diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c b/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c index 48abd89..47e34b6 100644 --- a/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c +++ b/ksrc/drivers/can/mscan/rtcan_mscan_mpc5xxx.c @@ -76,7 +76,11 @@ static u32 __devinit mpc52xx_can_get_clock(struct of_device *ofdev, else *mscan_clksrc = MSCAN_CLKSRC_XTAL; +#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,31) + freq = mpc52xx_find_ipb_freq(ofdev->node); +#else freq = mpc5xxx_get_bus_frequency(ofdev->node); +#endif if (!freq) return 0; For 2.4 I will have a close look now. This proves, your regression test build tool is really useful. Thanks, Wolfgang. ^ permalink raw reply related [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-15 14:26 ` Wolfgang Grandegger @ 2010-01-15 18:10 ` Gilles Chanteperdrix [not found] ` <4B50D9C7.8090901@domain.hid> 0 siblings, 1 reply; 14+ messages in thread From: Gilles Chanteperdrix @ 2010-01-15 18:10 UTC (permalink / raw) To: Wolfgang Grandegger; +Cc: Xenomai-core, Wolfgang Grandegger Wolfgang Grandegger wrote: > Gilles Chanteperdrix wrote: >> Wolfgang Grandegger wrote: >>> From: Wolfgang Grandegger <wg@domain.hid> >>> >>> This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x >>> from Freescale by introducing a new OF platform driver for both, the >>> MPC521x and MPC5200, while still keeping the old driver for the MPC5200 >>> for compatibility with older kernel versions. >> Hi Wolfgang, >> >> there seems to be something missing, because I get a compilation error >> on lite-5200: >> http://sisyphus.hd.free.fr/~gilles/bx/#powerpc > > Well, I obviously did not test the driver with old versions of the Linux > kernel, sorry. No problem, that is what the build test is for. > For 2.6.29 and 2.6.30 the following patch should fix the build: Ok. I applied a slightly different modification (fixing in wrappers.h). I am waiting for your fix for 2.4 for pushing. > For 2.4 I will have a close look now. > > This proves, your regression test build tool is really useful. That is, if you assume people in the wild are trying older versions... -- Gilles. ^ permalink raw reply [flat|nested] 14+ messages in thread
[parent not found: <4B50D9C7.8090901@domain.hid>]
* Re: [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 [not found] ` <4B50D9C7.8090901@domain.hid> @ 2010-01-16 9:37 ` Gilles Chanteperdrix 2010-01-16 20:38 ` Wolfgang Grandegger 0 siblings, 1 reply; 14+ messages in thread From: Gilles Chanteperdrix @ 2010-01-16 9:37 UTC (permalink / raw) To: Wolfgang Grandegger; +Cc: Xenomai-core Wolfgang Grandegger wrote: > Hi Gilles > > Gilles Chanteperdrix wrote: >> Wolfgang Grandegger wrote: >>> Gilles Chanteperdrix wrote: >>>> Wolfgang Grandegger wrote: >>>>> From: Wolfgang Grandegger <wg@domain.hid> >>>>> >>>>> This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x >>>>> from Freescale by introducing a new OF platform driver for both, the >>>>> MPC521x and MPC5200, while still keeping the old driver for the MPC5200 >>>>> for compatibility with older kernel versions. >>>> Hi Wolfgang, >>>> >>>> there seems to be something missing, because I get a compilation error >>>> on lite-5200: >>>> http://sisyphus.hd.free.fr/~gilles/bx/#powerpc >>> Well, I obviously did not test the driver with old versions of the Linux >>> kernel, sorry. >> No problem, that is what the build test is for. >> >> >>> For 2.6.29 and 2.6.30 the following patch should fix the build: >> Ok. I applied a slightly different modification (fixing in wrappers.h). >> I am waiting for your fix for 2.4 for pushing. > > See patch below. It will contain your fixes in wrappers.h. I will do some > final testing on real hardware on monday. All green, pushed. Only with one change: I removed the explicit inclusion of wrappers.h in rtcan_mscan_mpc52xx.c, as it is already included thanks to rtdm_driver.h, and Jan told us that we should not do that if we want the code to be compiled for rtdm-native. -- Gilles. ^ permalink raw reply [flat|nested] 14+ messages in thread
* Re: [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 2010-01-16 9:37 ` Gilles Chanteperdrix @ 2010-01-16 20:38 ` Wolfgang Grandegger 0 siblings, 0 replies; 14+ messages in thread From: Wolfgang Grandegger @ 2010-01-16 20:38 UTC (permalink / raw) To: Gilles Chanteperdrix; +Cc: Xenomai-core, Wolfgang Grandegger Gilles Chanteperdrix wrote: > Wolfgang Grandegger wrote: >> Hi Gilles >> >> Gilles Chanteperdrix wrote: >>> Wolfgang Grandegger wrote: >>>> Gilles Chanteperdrix wrote: >>>>> Wolfgang Grandegger wrote: >>>>>> From: Wolfgang Grandegger <wg@domain.hid> >>>>>> >>>>>> This patch series adds RT-Socket-CAN support for the MSCAN on the MPC512x >>>>>> from Freescale by introducing a new OF platform driver for both, the >>>>>> MPC521x and MPC5200, while still keeping the old driver for the MPC5200 >>>>>> for compatibility with older kernel versions. >>>>> Hi Wolfgang, >>>>> >>>>> there seems to be something missing, because I get a compilation error >>>>> on lite-5200: >>>>> http://sisyphus.hd.free.fr/~gilles/bx/#powerpc >>>> Well, I obviously did not test the driver with old versions of the Linux >>>> kernel, sorry. >>> No problem, that is what the build test is for. >>> >>> >>>> For 2.6.29 and 2.6.30 the following patch should fix the build: >>> Ok. I applied a slightly different modification (fixing in wrappers.h). >>> I am waiting for your fix for 2.4 for pushing. >> See patch below. It will contain your fixes in wrappers.h. I will do some >> final testing on real hardware on monday. > > All green, pushed. Only with one change: I removed the explicit > inclusion of wrappers.h in rtcan_mscan_mpc52xx.c, as it is already > included thanks to rtdm_driver.h, and Jan told us that we should not do > that if we want the code to be compiled for rtdm-native. And it is not even needed, as I just verified. Thanks, Wolfgang. ^ permalink raw reply [flat|nested] 14+ messages in thread
end of thread, other threads:[~2010-01-16 20:38 UTC | newest]
Thread overview: 14+ messages (download: mbox.gz follow: Atom feed
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2010-01-14 12:07 [Xenomai-core] [PATCH xenomai-2.5 0/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 Wolfgang Grandegger
2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 1/3] rtcan: mscan: use tabs for indention and white space cleanup Wolfgang Grandegger
2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 2/3] rtcan: mscan: use proper io accessor functions for register access Wolfgang Grandegger
2010-01-14 12:07 ` [Xenomai-core] [PATCH xenomai-2.5 3/3] rtcan: mscan: new OF platform driver for MPC521x and MPC5200 Wolfgang Grandegger
2010-01-14 12:07 ` Wolfgang Grandegger
2010-01-14 12:07 ` Wolfgang Grandegger
2010-01-14 12:14 ` Wolfgang Grandegger
2010-01-14 14:57 ` Gilles Chanteperdrix
2010-01-14 15:05 ` Wolfgang Grandegger
2010-01-15 14:08 ` [Xenomai-core] [PATCH xenomai-2.5 0/3] " Gilles Chanteperdrix
2010-01-15 14:26 ` Wolfgang Grandegger
2010-01-15 18:10 ` Gilles Chanteperdrix
[not found] ` <4B50D9C7.8090901@domain.hid>
2010-01-16 9:37 ` Gilles Chanteperdrix
2010-01-16 20:38 ` Wolfgang Grandegger
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