Re: [Xenomai] RTDM driver for the Advantech 1680U CANbus Adapter

[Thierry Bultel <thierry.bultel@wanadoo.fr>]

Hi Wolfgang,

After some tuning of thunderbird things should get better now.

As you required, I have added a comment in Kconfig, about the 1680U which
is the only board I now about. 

Regarding the "80 chars" stuff, what I meant is that it remains a single
location where checkpatch complains, but I do not know how to fix it;
line is actually only 64 chars long at most so that is a little puzzling. 

WARNING: line over 80 characters
#361: FILE: ksrc/drivers/can/sja1000/rtcan_adv_pci.c:293:
+									 CHANNEL_SLAVE,

WARNING: line over 80 characters
#362: FILE: ksrc/drivers/can/sja1000/rtcan_adv_pci.c:294:
+									 bar + (bar_flag ? ix : 0),

WARNING: line over 80 characters
#363: FILE: ksrc/drivers/can/sja1000/rtcan_adv_pci.c:295:
+									 offset*ix,

WARNING: line over 80 characters
#364: FILE: ksrc/drivers/can/sja1000/rtcan_adv_pci.c:296:
+									 &master_dev);


All the idents are done with tabs (it was the case in the previous mail as well but thunderbird broke it).
so checkpatch is happy for everything else.

Thanks in advance for the integration;
Cheers
Thierry


diff -pruN xenomai-2.6.0-orig/ksrc/drivers/can/sja1000/Kconfig xenomai-2.6.0/ksrc/drivers/can/sja1000/Kconfig
--- xenomai-2.6.0-orig/ksrc/drivers/can/sja1000/Kconfig	2011-10-18 20:17:18.000000000 +0200
+++ xenomai-2.6.0/ksrc/drivers/can/sja1000/Kconfig	2012-07-18 11:46:44.578890869 +0200
@@ -41,6 +41,15 @@ config XENO_DRIVERS_CAN_SJA1000_IXXAT_PC
 	the second channel working, Xenomai's shared interrupt support
 	must be enabled.
 
+config XENO_DRIVERS_CAN_SJA1000_ADV_PCI
+	depends on XENO_DRIVERS_CAN_SJA1000 && PCI
+	tristate "ADVANTECH PCI Card"
+	help
+
+	This driver is for the ADVANTECH PCI cards (1 or more channels)
+	It supports the 1680U and some other ones.
+
+
 config XENO_DRIVERS_CAN_SJA1000_PLX_PCI
 	depends on XENO_DRIVERS_CAN_SJA1000 && PCI
 	tristate "PLX90xx PCI-bridge based Cards"
diff -pruN xenomai-2.6.0-orig/ksrc/drivers/can/sja1000/Makefile xenomai-2.6.0/ksrc/drivers/can/sja1000/Makefile
--- xenomai-2.6.0-orig/ksrc/drivers/can/sja1000/Makefile	2011-10-18 20:17:18.000000000 +0200
+++ xenomai-2.6.0/ksrc/drivers/can/sja1000/Makefile	2012-07-16 14:00:38.682836737 +0200
@@ -9,6 +9,7 @@ obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PE
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PEAK_DNG) += xeno_can_peak_dng.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PLX_PCI) += xeno_can_plx_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_IXXAT_PCI) += xeno_can_ixxat_pci.o
+obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ADV_PCI) += xeno_can_adv_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_EMS_PCI) += xeno_can_ems_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ESD_PCI) += xeno_can_esd_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ISA) += xeno_can_isa.o
@@ -19,6 +20,7 @@ xeno_can_peak_pci-y := rtcan_peak_pci.o
 xeno_can_peak_dng-y := rtcan_peak_dng.o
 xeno_can_plx_pci-y := rtcan_plx_pci.o
 xeno_can_ixxat_pci-y := rtcan_ixxat_pci.o
+xeno_can_adv_pci-y := rtcan_adv_pci.o
 xeno_can_ems_pci-y := rtcan_ems_pci.o
 xeno_can_esd_pci-y := rtcan_esd_pci.o
 xeno_can_isa-y := rtcan_isa.o
@@ -35,6 +37,7 @@ obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PE
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PEAK_DNG) += xeno_can_peak_dng.o 
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PLX_PCI) += xeno_can_plx_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_IXXAT_PCI) += xeno_can_ixxat_pci.o
+obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ADV_PCI) += xeno_can_adv_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_EMS_PCI) += xeno_can_ems_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ESD_PCI) += xeno_can_esd_pci.o
 obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ISA) += xeno_can_isa.o 
@@ -47,6 +50,7 @@ xeno_can_peak_pci-objs := rtcan_peak_pci
 xeno_can_peak_dng-objs := rtcan_peak_dng.o
 xeno_can_plx_pci-objs := rtcan_plx_pci.o
 xeno_can_ixxat_pci-objs := rtcan_ixxat_pci.o
+xeno_can_adv_pci-objs := rtcan_adv_pci.o
 xeno_can_ems_pci-objs := rtcan_ems_pci.o
 xeno_can_esd_pci-objs := rtcan_esd_pci.o
 xeno_can_isa-objs := rtcan_isa.o
@@ -73,6 +77,9 @@ xeno_can_plx_pci.o: $(xeno_can_plx_pci-o
 xeno_can_ixxat_pci.o: $(xeno_can_ixxat_pci-objs)
 	$(LD) -r -o $@ $(xeno_can_ixxat_pci-objs)
 
+xeno_can_adv_pci.o: $(xeno_can_adv_pci-objs)
+	$(LD) -r -o $@ $(xeno_can_adv_pci-objs)
+
 xeno_can_ems_pci.o: $(xeno_can_ems_pci-objs)
 	$(LD) -r -o $@ $(xeno_can_ems_pci-objs)
 
diff -pruN xenomai-2.6.0-orig/ksrc/drivers/can/sja1000/rtcan_adv_pci.c xenomai-2.6.0/ksrc/drivers/can/sja1000/rtcan_adv_pci.c
--- xenomai-2.6.0-orig/ksrc/drivers/can/sja1000/rtcan_adv_pci.c	1970-01-01 01:00:00.000000000 +0100
+++ xenomai-2.6.0/ksrc/drivers/can/sja1000/rtcan_adv_pci.c	2012-07-16 16:58:14.175087435 +0200
@@ -0,0 +1,351 @@
+/*
+ * Copyright (C) 2006 Wolfgang Grandegger <wg@grandegger.com>
+ *
+ * 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 <linux/pci.h>
+#include <linux/io.h>
+
+#include <rtdm/rtdm_driver.h>
+
+#define ADV_PCI_BASE_SIZE	0x80
+
+/* CAN device profile */
+#include <rtdm/rtcan.h>
+#include <rtcan_dev.h>
+#include <rtcan_raw.h>
+#include <rtcan_internal.h>
+#include <rtcan_sja1000.h>
+#include <rtcan_sja1000_regs.h>
+
+#define RTCAN_DEV_NAME "rtcan%d"
+#define RTCAN_DRV_NAME "ADV-PCI-CAN"
+
+static char *adv_pci_board_name = "ADV-PCI";
+
+MODULE_AUTHOR("Thierry Bultel <thierry.bultel@basystemes.fr>");
+MODULE_DESCRIPTION("RTCAN board driver for Advantech PCI cards");
+MODULE_SUPPORTED_DEVICE("ADV-PCI card CAN controller");
+MODULE_LICENSE("GPL");
+
+struct rtcan_adv_pci {
+	struct pci_dev *pci_dev;
+	struct rtcan_device *slave_dev;
+	void __iomem *conf_addr;
+	void __iomem *base_addr;
+};
+
+/*
+ * According to the datasheet,
+ * internal clock is 1/2 of the external oscillator frequency
+ * which is 16 MHz
+ */
+#define ADV_PCI_CAN_CLOCK (16000000 / 2)
+
+/*
+ * Output control register
+  Depends on the board configuration
+ */
+
+#define ADV_PCI_OCR (SJA_OCR_MODE_NORMAL	|	\
+					 SJA_OCR_TX0_PUSHPULL	|	\
+					 SJA_OCR_TX1_PUSHPULL	|	\
+					 SJA_OCR_TX1_INVERT)
+
+/*
+ * In the CDR register, you should set CBP to 1.
+ */
+#define ADV_PCI_CDR (SJA_CDR_CBP | SJA_CDR_CAN_MODE)
+
+
+#define ADV_PCI_VENDOR_ID 0x13fe
+
+#define CHANNEL_SINGLE 0 /* this is a single channel device */
+#define CHANNEL_MASTER 1 /* multi channel device, this device is master */
+#define CHANNEL_SLAVE  2 /* multi channel device, this is slave */
+
+#define ADV_PCI_DEVICE(device_id)\
+	{ ADV_PCI_VENDOR_ID, device_id, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0 }
+
+static DEFINE_PCI_DEVICE_TABLE(adv_pci_tbl) = {
+	ADV_PCI_DEVICE(0x1680),
+	ADV_PCI_DEVICE(0x3680),
+	ADV_PCI_DEVICE(0x2052),
+	ADV_PCI_DEVICE(0x1681),
+	ADV_PCI_DEVICE(0xc001),
+	ADV_PCI_DEVICE(0xc002),
+	ADV_PCI_DEVICE(0xc004),
+	ADV_PCI_DEVICE(0xc101),
+	ADV_PCI_DEVICE(0xc102),
+	ADV_PCI_DEVICE(0xc104),
+	/* required last entry */
+	{ }
+};
+
+MODULE_DEVICE_TABLE(pci, adv_pci_tbl);
+
+static u8 rtcan_adv_pci_read_reg(struct rtcan_device *dev, int port)
+{
+	struct rtcan_adv_pci *board = (struct rtcan_adv_pci *)dev->board_priv;
+	return ioread8(board->base_addr + port);
+}
+
+static void rtcan_adv_pci_write_reg(struct rtcan_device *dev, int port, u8 data)
+{
+	struct rtcan_adv_pci *board = (struct rtcan_adv_pci *)dev->board_priv;
+	iowrite8(data, board->base_addr + port);
+}
+
+static void rtcan_adv_pci_del_chan(
+	struct pci_dev *pdev,
+	struct rtcan_device *dev)
+{
+	struct rtcan_adv_pci *board;
+
+	if (!dev)
+		return;
+
+	board = (struct rtcan_adv_pci *)dev->board_priv;
+
+	rtcan_sja1000_unregister(dev);
+
+	pci_iounmap(pdev, board->base_addr);
+
+	rtcan_dev_free(dev);
+}
+
+
+static int rtcan_adv_pci_add_chan(
+	struct pci_dev *pdev,
+	int	channel,
+	unsigned int bar,
+	unsigned int offset,
+	struct rtcan_device **master_dev)
+{
+	struct rtcan_device *dev;
+	struct rtcan_sja1000 *chip;
+	struct rtcan_adv_pci *board;
+	void __iomem *base_addr;
+	int ret;
+
+	dev = rtcan_dev_alloc(sizeof(struct rtcan_sja1000),
+						  sizeof(struct rtcan_adv_pci));
+	if (dev == NULL)
+		return -ENOMEM;
+
+	chip  = (struct rtcan_sja1000 *)dev->priv;
+	board = (struct rtcan_adv_pci *)dev->board_priv;
+
+	base_addr = pci_iomap(pdev, bar, ADV_PCI_BASE_SIZE) + offset;
+
+	board->pci_dev = pdev;
+	board->conf_addr = NULL;
+	board->base_addr = base_addr;
+
+	if (channel == CHANNEL_SLAVE) {
+		struct rtcan_adv_pci *master_board = \
+			(struct rtcan_adv_pci *)(*master_dev)->board_priv;
+		master_board->slave_dev = dev;
+	}
+
+	dev->board_name = adv_pci_board_name;
+
+	chip->read_reg  = rtcan_adv_pci_read_reg;
+	chip->write_reg = rtcan_adv_pci_write_reg;
+
+	/* Clock frequency in Hz */
+	dev->can_sys_clock = ADV_PCI_CAN_CLOCK;
+
+	/* Output control register */
+	chip->ocr = ADV_PCI_OCR;
+
+	/* Clock divider register */
+	chip->cdr = ADV_PCI_CDR;
+
+	strncpy(dev->name, RTCAN_DEV_NAME, IFNAMSIZ);
+
+    /* Make sure SJA1000 is in reset mode */
+	chip->write_reg(dev, SJA_MOD, SJA_MOD_RM);
+	/* Set PeliCAN mode */
+	chip->write_reg(dev, SJA_CDR, SJA_CDR_CAN_MODE);
+
+	/* check if mode is set */
+	ret = chip->read_reg(dev, SJA_CDR);
+
+	if (ret != SJA_CDR_CAN_MODE)
+		return -EIO;
+
+	/* Register and setup interrupt handling */
+	chip->irq_flags = RTDM_IRQTYPE_SHARED;
+	chip->irq_num   = pdev->irq;
+
+	RTCAN_DBG("%s: base_addr=%p conf_addr=%p irq=%d ocr=%#x cdr=%#x\n",
+			  RTCAN_DRV_NAME, board->base_addr, board->conf_addr,
+			  chip->irq_num, chip->ocr, chip->cdr);
+
+	/* Register SJA1000 device */
+	ret = rtcan_sja1000_register(dev);
+
+	if (ret) {
+		printk(KERN_ERR "ERROR %d while trying to register SJA1000 device!\n",
+			   ret);
+		goto failure;
+	}
+
+	if (channel != CHANNEL_SLAVE)
+		*master_dev = dev;
+
+	return 0;
+
+failure:
+	rtcan_dev_free(dev);
+
+	return ret;
+}
+
+static int __devinit adv_pci_init_one(
+	struct pci_dev *pdev,
+	const struct pci_device_id *ent)
+{
+	int ret, channel;
+	unsigned int nb_ports = 0;
+	unsigned int bar = 0;
+	unsigned int bar_flag = 0;
+	unsigned int offset = 0;
+	unsigned int ix;
+
+	struct rtcan_device *master_dev = NULL;
+
+	dev_info(&pdev->dev, "RTCAN Registering card");
+
+	ret = pci_enable_device(pdev);
+	if (ret)
+		goto failure;
+
+	dev_info(&pdev->dev, "RTCAN Detected Advantech PCI card at slot #%i\n",
+			 PCI_SLOT(pdev->devfn));
+
+	ret = pci_request_regions(pdev, RTCAN_DRV_NAME);
+	if (ret)
+		goto failure;
+
+	switch (pdev->device) {
+	case 0xc001:
+	case 0xc002:
+	case 0xc004:
+	case 0xc101:
+	case 0xc102:
+	case 0xc104:
+		nb_ports = pdev->device & 0x7;
+		offset   = 0x100;
+		bar      = 0;
+		break;
+	case 0x1680:
+	case 0x2052:
+		nb_ports = 2;
+		bar		 = 2;
+		bar_flag = 1;
+		break;
+	case 0x1681:
+		nb_ports = 1;
+		bar      = 2;
+		bar_flag = 1;
+		break;
+	default:
+		break;
+	}
+
+	if (nb_ports > 1)
+		channel = CHANNEL_MASTER;
+	else
+		channel = CHANNEL_SINGLE;
+
+	RTCAN_DBG("%s: Initializing device %04x:%04x:%04x\n",\
+			  RTCAN_DRV_NAME, \
+			  pdev->vendor, \
+			  pdev->device, \
+			  pdev->subsystem_device);
+
+	ret = rtcan_adv_pci_add_chan(pdev, channel, bar, offset, &master_dev);
+	if (ret)
+		goto failure_iounmap;
+
+	/* register slave channel, if any	*/
+
+	for (ix = 1; ix < nb_ports; ix++) {
+		ret = rtcan_adv_pci_add_chan(pdev,
+									 CHANNEL_SLAVE,
+									 bar + (bar_flag ? ix : 0),
+									 offset*ix,
+									 &master_dev);
+		if (ret)
+			goto failure_iounmap;
+	}
+
+	pci_set_drvdata(pdev, master_dev);
+
+	return 0;
+
+failure_iounmap:
+
+	if (master_dev)
+		rtcan_adv_pci_del_chan(pdev, master_dev);
+
+	pci_release_regions(pdev);
+
+failure:
+	return ret;
+}
+
+static void __devexit adv_pci_remove_one(struct pci_dev *pdev)
+{
+	struct rtcan_device *dev = pci_get_drvdata(pdev);
+	struct rtcan_adv_pci *board = (struct rtcan_adv_pci *)dev->board_priv;
+
+	if (board->slave_dev)
+		rtcan_adv_pci_del_chan(pdev, board->slave_dev);
+
+	rtcan_adv_pci_del_chan(pdev, dev);
+
+	pci_release_regions(pdev);
+	pci_disable_device(pdev);
+	pci_set_drvdata(pdev, NULL);
+}
+
+static struct pci_driver rtcan_adv_pci_driver = {
+	.name		= RTCAN_DRV_NAME,
+	.id_table	= adv_pci_tbl,
+	.probe		= adv_pci_init_one,
+	.remove		= __devexit_p(adv_pci_remove_one),
+};
+
+static int __init rtcan_adv_pci_init(void)
+{
+	return pci_register_driver(&rtcan_adv_pci_driver);
+}
+
+
+static void __exit rtcan_adv_pci_exit(void)
+{
+	pci_unregister_driver(&rtcan_adv_pci_driver);
+}
+
+
+module_init(rtcan_adv_pci_init);
+module_exit(rtcan_adv_pci_exit);