[U-Boot] [PATCH] add u-boot sja1000/can support
From 1f6aaba856fbf484c442eb33cf220774d57fba8d Mon Sep 17 00:00:00 2001
From: miaofng miaofng@gmail.com Date: Fri, 23 Oct 2009 17:06:50 +0800 Subject: [PATCH] [can] add u-boot sja1000/can support
Signed-off-by: miaofng miaofng@gmail.com --- Makefile | 1 + drivers/can/Makefile | 46 ++++ drivers/can/can_core.c | 266 ++++++++++++++++++++++ drivers/can/sja1000.c | 584 ++++++++++++++++++++++++++++++++++++++++++++++++ drivers/can/sja1000.h | 160 +++++++++++++ include/can.h | 216 ++++++++++++++++++ include/can_error.h | 93 ++++++++ include/candev.h | 46 ++++ lib_arm/board.c | 2 + 9 files changed, 1414 insertions(+), 0 deletions(-) create mode 100755 drivers/can/Makefile create mode 100755 drivers/can/can_core.c create mode 100755 drivers/can/sja1000.c create mode 100755 drivers/can/sja1000.h create mode 100755 include/can.h create mode 100755 include/can_error.h create mode 100755 include/candev.h mode change 100644 => 100755 lib_arm/board.c
diff --git a/Makefile b/Makefile index d6d6368..1ba59f8 100755 --- a/Makefile +++ b/Makefile @@ -203,6 +203,7 @@ LIBS += net/libnet.a LIBS += disk/libdisk.a LIBS += drivers/bios_emulator/libatibiosemu.a LIBS += drivers/block/libblock.a +LIBS += drivers/can/libcan.a LIBS += drivers/dma/libdma.a LIBS += drivers/fpga/libfpga.a LIBS += drivers/gpio/libgpio.a diff --git a/drivers/can/Makefile b/drivers/can/Makefile new file mode 100755 index 0000000..d3d47bb --- /dev/null +++ b/drivers/can/Makefile @@ -0,0 +1,46 @@ +# +# Copyright (C) 2009 miaofngmiaofng@126.com +# +# See file CREDITS for list of people who contributed to this +# project. +# +# 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 $(TOPDIR)/config.mk + +LIB := $(obj)libcan.a + +COBJS-y += can_core.o +COBJS-$(CONFIG_DRIVER_SJA1000) += sja1000.o + +COBJS := $(sort $(COBJS-y)) +SRCS := $(COBJS:.o=.c) +OBJS := $(addprefix $(obj),$(COBJS)) + +all: $(LIB) + +$(LIB): $(obj).depend $(OBJS) + $(AR) $(ARFLAGS) $@ $(OBJS) + +######################################################################### + +# defines $(obj).depend target +include $(SRCTREE)/rules.mk + +sinclude $(obj).depend + +######################################################################### diff --git a/drivers/can/can_core.c b/drivers/can/can_core.c new file mode 100755 index 0000000..a723e8a --- /dev/null +++ b/drivers/can/can_core.c @@ -0,0 +1,266 @@ +/* + * Copyright (C) 2009 miaofngmiaofng@gmail.com + * + * 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 <common.h> +#include <can.h> +#include <malloc.h> + +#define can_debug printf +#define can_error printf + +#ifdef CONFIG_CMD_CAN +#ifndef CONFIG_CAN_DEV_MAX +#define CONFIG_CAN_DEV_MAX 8 +#endif + +static struct can_device *can_devs[CONFIG_CAN_DEV_MAX]; +#endif + +static inline struct can_device* index_to_cdev(int index) +{ + return (index<CONFIG_CAN_DEV_MAX)? can_devs[index]:0; +} + +static inline int cdev_to_index(struct can_device *dev) +{ + return (dev)?dev->index:-1; +} + +static void canif_tx(struct can_device *dev) +{ + struct can_frame *cf; + int len; + + len = buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf)); + if(len == sizeof(cf)) { + dev->start_xmit(cf, dev); + free(cf); + } +} + +void canif_rx(struct can_frame *cf, struct can_device *dev) +{ + int len; + + //error frame? + if(cf->can_id&CAN_ERR_FLAG) + { + //error frame, drop it + free(cf); + return; + } + + //soft id filter? + + //store to cirbuf + if(dev->rbuf.size == dev->rbuf.totalsize) { + can_debug("CAN: rx buffer is full\n"); + dev->stats.rx_dropped ++; + free(cf); + return; + } + + buf_push(&dev->rbuf, (char*)&cf, sizeof(cf)); +} + +void canif_wake_queue(struct can_device *dev) +{ + canif_start_queue(dev); + canif_tx(dev); +} + +int can_init(void) +{ +#ifdef CONFIG_CMD_CAN + int index; + for(index = 0; index < CONFIG_CAN_DEV_MAX; index ++) can_devs[index] = 0; + board_can_init(); +#endif + return 0; +} + +/* + * Register the CAN network device + */ + #ifndef CONFIG_CAN_BUF_TX_SZ + #define CONFIG_CAN_BUF_TX_SZ (8*sizeof(void*)) + #endif + + #ifndef CONFIG_CAN_BUF_RX_SZ + #define CONFIG_CAN_BUF_RX_SZ (8*sizeof(void*)) + #endif + +int register_candev(struct can_device *dev) +{ + int ret; + int index; + + //insert into the list + dev->index = -1; + for(index =0; index < CONFIG_CAN_DEV_MAX; index ++) + { + if(!can_devs[index]) { + can_devs[index] = dev; + dev->index = index; + break; + } + } + if( dev->index < 0) + can_debug("CAN: too many can devices\n"); + + //allocate circbuf for tx and rx + ret = buf_init(&dev->tbuf, CONFIG_CAN_BUF_TX_SZ); + if(ret != 1) { + can_debug("CAN: cann't init cirbuf of tx\n"); + can_devs[index] = 0; + return -1; + } + ret = buf_init(&dev->rbuf, CONFIG_CAN_BUF_RX_SZ); + if(ret != 1) { + can_debug("CAN: cann't init cirbuf of rx\n"); + can_devs[index] = 0; + buf_free(&dev->tbuf); + return -1; + } + dev->qstatus = CAN_QUEUE_INIT; + + //success + printf("CAN: %s @index %d\n", dev->name, dev->index); + return 0; +} + +/* + * Unregister the CAN network device + */ +void unregister_candev(struct can_device *dev) +{ + int index = cdev_to_index(dev); + + if(index < 0) { + can_debug("CAN: invalid para\n"); + return; + } + + //close the dev first + can_close((int)dev); + + //release tx/rx buffer + buf_free(&dev->tbuf); + buf_free(&dev->rbuf); + + //remove from the list + can_devs[index] = 0; +} + +//api +int can_setbrg(int brg, int index) +{ + struct can_device *dev = index_to_cdev(index); + + if(!dev) { + can_debug("CAN: invalid para\n"); + return -1; + } + + if( dev->state != CAN_STATE_STOPPED) { + can_debug("CAN: invalid dev status<%d>\n", dev->state); + return -1; + } + + if(dev->setbrg) + return dev->setbrg(brg, dev); + + can_debug("CAN: op not supported by the dev\n"); + return -1; +} + +int can_open(int index) +{ + struct can_device *dev = index_to_cdev(index); + + if(!dev) { + can_debug("CAN: invalid para\n"); + return 0; + } + + if(dev->state != CAN_STATE_STOPPED) { + can_debug("CAN: invalid dev status<%d>\n", dev->state); + return 0; + } + + if(dev && dev->open) dev->open(dev); + return (int)dev; +} + +void can_close(int dev_id) +{ + struct can_device *dev = (struct can_device*) dev_id; + struct can_frame *cf; + + if(!dev) { + can_debug("CAN: invalid para\n"); + return; + } + + //can device close + if(dev->close) dev->close(dev); + + //tbuf,rbuf dump + while(buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf)) ) free(cf); + while(buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf)) ) free(cf); +} + +//non block write +int can_send(struct can_frame *cf, int dev_id) +{ + struct can_device *dev = (struct can_device*) dev_id; + + if(!cf || !dev ) { + can_debug("CAN: invalid para\n"); + return -1; + } + + if(dev->tbuf.size == dev->tbuf.totalsize){ //tbuf overflow + can_debug("CAN: tx buffer is full\n"); + return -1; + } + + buf_push(&dev->tbuf, (char*)&cf, sizeof(cf)); + + //start queue? + if( dev->qstatus == CAN_QUEUE_READY ) + canif_tx(dev); + + return 0; +} + +//non block read +struct can_frame* can_recv(int dev_id) +{ + struct can_device *dev = (struct can_device*) dev_id; + struct can_frame *cf; + int len; + + if(!dev ) { + can_debug("CAN: invalid para\n"); + return 0; + } + + len = buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf)); + if(len != sizeof(cf)) return (struct can_frame*)0; + else return cf; +} diff --git a/drivers/can/sja1000.c b/drivers/can/sja1000.c new file mode 100755 index 0000000..07560bd --- /dev/null +++ b/drivers/can/sja1000.c @@ -0,0 +1,584 @@ +/* + * sja1000.c - Philips SJA1000 network device driver + * + * Copyright (c) 2009 miaofngmiaofng@gmail.com + * + * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33, + * 38106 Braunschweig, GERMANY + * + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * 3. Neither the name of Volkswagen nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * Alternatively, provided that this notice is retained in full, this + * software may be distributed under the terms of the GNU General + * Public License ("GPL") version 2, in which case the provisions of the + * GPL apply INSTEAD OF those given above. + * + * The provided data structures and external interfaces from this code + * are not restricted to be used by modules with a GPL compatible license. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, + * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY + * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH + * DAMAGE. + * + * Send feedback to socketcan-users@lists.berlios.de + * + */ + +#include <common.h> +#include <asm/io.h> +#include <can.h> +#include <malloc.h> +#include <linux/string.h> + +#include "sja1000.h" + +#define DRV_NAME "sja1000" + +//MODULE_AUTHOR("Oliver Hartkopp oliver.hartkopp@volkswagen.de"); +//MODULE_LICENSE("Dual BSD/GPL"); +//MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver"); + +#define sja_debug printf + +/* + * Flags for sja1000priv.flags + */ +#define SJA1000_CUSTOM_IRQ_HANDLER 0x1 + +/* + * SJA1000 private data structure + */ +struct sja1000_priv { + struct can_device can; /* must be the first member */ + + /* the lower-layer is responsible for appropriate locking */ + void* reg_base; /* ioremap'ed address to registers */ + + u8 (*read_reg) (const struct sja1000_priv *priv, u8 reg); + void (*write_reg) (const struct sja1000_priv *priv, u8 reg, u8 val); +}; + +static int set_reset_mode(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + unsigned char status = priv->read_reg(priv, REG_MOD); + int i; + + /* disable interrupts */ + priv->write_reg(priv, REG_IER, IRQ_OFF); + + for (i = 0; i < 100; i++) { + /* check reset bit */ + if (status & MOD_RM) { + priv->can.state = CAN_STATE_STOPPED; + return 0; + } + + priv->write_reg(priv, REG_MOD, MOD_RM); /* reset chip */ + udelay(10); + status = priv->read_reg(priv, REG_MOD); + } + + //sja_debug("SJA1000: setting into reset mode failed!\n"); + return -1; +} + +static void set_normal_mode(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + unsigned char status = priv->read_reg(priv, REG_MOD); + int i; + + for (i = 0; i < 100; i++) { + /* check reset bit */ + if ((status & MOD_RM) == 0) { + priv->can.state = CAN_STATE_ERROR_ACTIVE; + /* enable all interrupts */ + priv->write_reg(priv, REG_IER, IRQ_ALL); + return; + } + + /* set chip to normal mode */ + priv->write_reg(priv, REG_MOD, 0x00); + udelay(10); + status = priv->read_reg(priv, REG_MOD); + } + + sja_debug("SJA1000@%d: setting into normal mode failed!\n", dev->index); +} + +static void sja1000_start(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + + /* leave reset mode */ + if (priv->can.state != CAN_STATE_STOPPED) + set_reset_mode(dev); + + /* Clear error counters and error code capture */ + priv->write_reg(priv, REG_TXERR, 0x0); + priv->write_reg(priv, REG_RXERR, 0x0); + priv->read_reg(priv, REG_ECC); + + /* leave reset mode */ + set_normal_mode(dev); +} + +#ifndef CONFIG_SJA1000_CLK_HZ +#define CONFIG_SJA1000_CLK_HZ 24000000 +#endif + +static int sja1000_setbrg(int brg, struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + int fosc = CONFIG_SJA1000_CLK_HZ; + int fscl, btr0, btr1; + u8 sjw = 1; // 0~3 +1 + u8 brp; // 0~63 +1 + u8 sam = 1; // 0~1 + u8 tseg2 = 5; // 0~7 +1 + u8 tseg1 = 6; // 0~15 +1 + + //calculation + fscl = (1+tseg1+tseg2)*brg; + brp = (fosc>>1)/fscl; + if(brg > 250000) sam = 0; + + //set register + btr0 = ((sjw - 1) << 6) | (brp - 1); + btr1 = (sam << 7) | ((tseg2 -1) << 4) | (tseg1 -1); + + sja_debug("SJA1000@%d: setting BTR0=0x%02x BTR1=0x%02x\n", dev->index, btr0, btr1); + + priv->write_reg(priv, REG_BTR0, btr0); + priv->write_reg(priv, REG_BTR1, btr1); + + return 0; +} + +/* + * initialize SJA1000 chip: + * - reset chip + * - set output mode + * - set baudrate + * - enable interrupts + * - start operating mode + */ +static void chipset_init(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + + /* set clock divider and output control register */ + priv->write_reg(priv, REG_CDR, CDR_PELICAN|CDR_CBP|CDR_CLK_OFF); + + /* set acceptance filter (accept all) */ + priv->write_reg(priv, REG_ACCC0, 0x00); + priv->write_reg(priv, REG_ACCC1, 0x00); + priv->write_reg(priv, REG_ACCC2, 0x00); + priv->write_reg(priv, REG_ACCC3, 0x00); + + priv->write_reg(priv, REG_ACCM0, 0xFF); + priv->write_reg(priv, REG_ACCM1, 0xFF); + priv->write_reg(priv, REG_ACCM2, 0xFF); + priv->write_reg(priv, REG_ACCM3, 0xFF); + + priv->write_reg(priv, REG_OCR, OCR_TX0_PUSHPULL|OCR_TX1_PUSHPULL| OCR_MODE_NORMAL); +} + +/* + * transmit a CAN message + */ +static int sja1000_start_xmit(struct can_frame *cf, struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + struct can_device_stats *stats = &dev->stats; + uint8_t fi; + uint8_t dlc; + canid_t id; + uint8_t dreg; + int i; + + canif_stop_queue(dev); + + fi = dlc = cf->can_dlc; + id = cf->can_id; + + if (id & CAN_RTR_FLAG) + fi |= FI_RTR; + + if (id & CAN_EFF_FLAG) { + fi |= FI_FF; + dreg = EFF_BUF; + priv->write_reg(priv, REG_FI, fi); + priv->write_reg(priv, REG_ID1, (id & 0x1fe00000) >> (5 + 16)); + priv->write_reg(priv, REG_ID2, (id & 0x001fe000) >> (5 + 8)); + priv->write_reg(priv, REG_ID3, (id & 0x00001fe0) >> 5); + priv->write_reg(priv, REG_ID4, (id & 0x0000001f) << 3); + } else { + dreg = SFF_BUF; + priv->write_reg(priv, REG_FI, fi); + priv->write_reg(priv, REG_ID1, (id & 0x000007f8) >> 3); + priv->write_reg(priv, REG_ID2, (id & 0x00000007) << 5); + } + + for (i = 0; i < dlc; i++) + priv->write_reg(priv, dreg++, cf->data[i]); + priv->write_reg(priv, REG_CMR, CMD_TR); + + stats->tx_bytes += dlc; + + return 0; +} + +static void sja1000_rx(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + struct can_device_stats *stats = &dev->stats; + struct can_frame *cf; + uint8_t fi; + uint8_t dreg; + canid_t id; + uint8_t dlc; + int i; + + cf = malloc(sizeof(struct can_frame)); + if (cf == NULL) { + sja_debug("SJA1000%d: out of mem!\n",dev->index); + return; + } + + fi = priv->read_reg(priv, REG_FI); + dlc = fi & 0x0F; + + if (fi & FI_FF) { + /* extended frame format (EFF) */ + dreg = EFF_BUF; + id = (priv->read_reg(priv, REG_ID1) << (5 + 16)) + | (priv->read_reg(priv, REG_ID2) << (5 + 8)) + | (priv->read_reg(priv, REG_ID3) << 5) + | (priv->read_reg(priv, REG_ID4) >> 3); + id |= CAN_EFF_FLAG; + } else { + /* standard frame format (SFF) */ + dreg = SFF_BUF; + id = (priv->read_reg(priv, REG_ID1) << 3) + | (priv->read_reg(priv, REG_ID2) >> 5); + } + + if (fi & FI_RTR) + id |= CAN_RTR_FLAG; + + memset(cf, 0, sizeof(struct can_frame)); + cf->can_id = id; + cf->can_dlc = dlc; + for (i = 0; i < dlc; i++) + cf->data[i] = priv->read_reg(priv, dreg++); + + while (i < 8) + cf->data[i++] = 0; + + /* release receive buffer */ + priv->write_reg(priv, REG_CMR, CMD_RRB); + + canif_rx(cf, dev); + + //dev->last_rx = jiffies; + stats->rx_packets++; + stats->rx_bytes += dlc; +} + +static int sja1000_err(struct can_device *dev, uint8_t isrc, uint8_t status) +{ + struct sja1000_priv *priv = candev_priv(dev); + struct can_device_stats *stats = &dev->stats; + struct can_frame *cf; + enum can_state state = priv->can.state; + uint8_t ecc, alc; + + cf = malloc(sizeof(struct can_frame)); + if (cf == NULL) + { + sja_debug("SJA1000@%d: out of mem!\n", dev->index); + return -1; + } + memset(cf, 0, sizeof(struct can_frame)); + cf->can_id = CAN_ERR_FLAG; + cf->can_dlc = CAN_ERR_DLC; + + if (isrc & IRQ_DOI) { + /* data overrun interrupt */ + sja_debug("SJA1000@%d: data overrun interrupt\n", dev->index); + cf->can_id |= CAN_ERR_CRTL; + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW; + //stats->rx_over_errors++; + stats->rx_errors++; + priv->write_reg(priv, REG_CMR, CMD_CDO); /* clear bit */ + } + + if (isrc & IRQ_EI) { + /* error warning interrupt */ + sja_debug("SJA1000@%d: error warning interrupt\n", dev->index); + + if (status & SR_BS) { + state = CAN_STATE_BUS_OFF; + cf->can_id |= CAN_ERR_BUSOFF; + //can_bus_off(dev); + } else if (status & SR_ES) { + state = CAN_STATE_ERROR_WARNING; + } else + state = CAN_STATE_ERROR_ACTIVE; + } + if (isrc & IRQ_BEI) { + /* bus error interrupt */ + priv->can.stats.bus_error++; + stats->rx_errors++; + + ecc = priv->read_reg(priv, REG_ECC); + + cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR; + + switch (ecc & ECC_MASK) { + case ECC_BIT: + cf->data[2] |= CAN_ERR_PROT_BIT; + break; + case ECC_FORM: + cf->data[2] |= CAN_ERR_PROT_FORM; + break; + case ECC_STUFF: + cf->data[2] |= CAN_ERR_PROT_STUFF; + break; + default: + cf->data[2] |= CAN_ERR_PROT_UNSPEC; + cf->data[3] = ecc & ECC_SEG; + break; + } + /* error occured during transmission? */ + if ((ecc & ECC_DIR) == 0) + cf->data[2] |= CAN_ERR_PROT_TX; + } + if (isrc & IRQ_EPI) { + /* error passive interrupt */ + sja_debug("SJA1000@%d: error passive interrupt\n", dev->index); + if (status & SR_ES) + state = CAN_STATE_ERROR_PASSIVE; + else + state = CAN_STATE_ERROR_ACTIVE; + } + if (isrc & IRQ_ALI) { + /* arbitration lost interrupt */ + sja_debug("SJA1000@%d: arbitration lost interrupt\n", dev->index); + alc = priv->read_reg(priv, REG_ALC); + priv->can.stats.arbitration_lost++; + stats->rx_errors++; + cf->can_id |= CAN_ERR_LOSTARB; + cf->data[0] = alc & 0x1f; + } + + if (state != priv->can.state && (state == CAN_STATE_ERROR_WARNING || + state == CAN_STATE_ERROR_PASSIVE)) { + uint8_t rxerr = priv->read_reg(priv, REG_RXERR); + uint8_t txerr = priv->read_reg(priv, REG_TXERR); + cf->can_id |= CAN_ERR_CRTL; + if (state == CAN_STATE_ERROR_WARNING) { + priv->can.stats.error_warning++; + cf->data[1] = (txerr > rxerr) ? + CAN_ERR_CRTL_TX_WARNING : + CAN_ERR_CRTL_RX_WARNING; + } else { + priv->can.stats.error_passive++; + cf->data[1] = (txerr > rxerr) ? + CAN_ERR_CRTL_TX_PASSIVE : + CAN_ERR_CRTL_RX_PASSIVE; + } + } + + priv->can.state = state; + + canif_rx(cf,dev); + + return 0; +} + +#define SJA1000_MAX_IRQ 20 /* max. number of interrupts handled in ISR */ + +int sja1000_interrupt(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + struct can_device_stats *stats = &dev->stats; + uint8_t isrc, status; + int n = 0; + + /* Shared interrupts and IRQ off? */ + if (priv->read_reg(priv, REG_IER) == IRQ_OFF) + return -1; + + while ((isrc = priv->read_reg(priv, REG_IR)) && (n < SJA1000_MAX_IRQ)) { + n++; + status = priv->read_reg(priv, REG_SR); + + if (isrc & IRQ_WUI) + sja_debug("SJA1000@%d: wakeup interrupt\n", dev->index); + + if (isrc & IRQ_TI) { + /* transmission complete interrupt */ + stats->tx_packets++; + + //can_get_echo_skb(dev, 0); + canif_wake_queue(dev); + } + if (isrc & IRQ_RI) { + /* receive interrupt */ + while (status & SR_RBS) { + sja1000_rx(dev); + status = priv->read_reg(priv, REG_SR); + } + } + if (isrc & (IRQ_DOI | IRQ_EI | IRQ_BEI | IRQ_EPI | IRQ_ALI)) { + /* error interrupt */ + if (sja1000_err(dev, isrc, status)) + break; + } + } + + if (n >= SJA1000_MAX_IRQ) + sja_debug("SJA1000@%d: %d messages handled in ISR", dev->index, n); + + return (n) ? 0 : -1; +} + +static int sja1000_open(struct can_device *dev) +{ + /* set chip into reset mode */ + set_reset_mode(dev); + + /* register interrupt handler, if not done by the device driver */ +#ifdef CONFIG_USBCAN + extern int request_irq_usbcan(int (*isr)(struct can_device*), struct can_device*); + int err = request_irq_usbcan(&sja1000_interrupt, dev); + if (err) { + sja_debug("SJA1000@%d: unable to request the irq\n", dev->index); + return -1; + } +#endif + + /* init and start chi */ + sja1000_start(dev); + + //priv->open_time = jiffies; + canif_start_queue(dev); + + return 0; +} + +static int sja1000_close(struct can_device *dev) +{ + canif_stop_queue(dev); + set_reset_mode(dev); + + //can_free_irq(dev->irq, (void *)dev); + + return 0; +} + +static int sja1000_probe_chip(struct can_device *dev) +{ + struct sja1000_priv *priv = candev_priv(dev); + int ret; + + ret = set_reset_mode(dev); + if(ret) { + sja_debug("%s: probing @0x%x failed\n", DRV_NAME, (u32)(priv->reg_base)); + return -1; + } + + return 0; +} + +int register_sja1000dev(struct can_device *dev) +{ + if (sja1000_probe_chip(dev)) + return -1; + + strcpy(dev->name, DRV_NAME); + dev->setbrg = sja1000_setbrg; + dev->open = sja1000_open; + dev->start_xmit = sja1000_start_xmit; + dev->close = sja1000_close; + + set_reset_mode(dev); + chipset_init(dev); + + return register_candev(dev); +} + +void unregister_sja1000dev(struct can_device *dev) +{ + set_reset_mode(dev); + unregister_candev(dev); +} + + +static u8 sja1000_read_reg(const struct sja1000_priv *priv, u8 reg) +{ +#if (CONFIG_USBCAN == 1) + writeb(reg, priv->reg_base+4); //addr latch + return readb(priv->reg_base); +#else + return writeb(priv->reg_base + reg); +#endif +} + +static void sja1000_write_reg(const struct sja1000_priv *priv, u8 reg, u8 val) +{ +#if (CONFIG_USBCAN == 1) + writeb(reg, priv->reg_base+4); //addr latch + writeb(val, priv->reg_base); +#else + return readb(val, priv->reg_base + reg); +#endif +} + +int sja1000_init(u32 reg_base) +{ + struct sja1000_priv * priv = malloc(sizeof(struct sja1000_priv)); + if(priv == NULL) { + sja_debug("SJA1000: out of mem!!!\n"); + return -1; + } + + memset(priv, 0, sizeof(priv)); + priv->reg_base = (void*)reg_base; + priv->read_reg = sja1000_read_reg; + priv->write_reg = sja1000_write_reg; + + if( register_sja1000dev(&priv->can) ) + { + free(priv); + //sja_debug("SJA1000: register device fail!!!\n"); + return -1; + } + + return 0; +} diff --git a/drivers/can/sja1000.h b/drivers/can/sja1000.h new file mode 100755 index 0000000..6311f75 --- /dev/null +++ b/drivers/can/sja1000.h @@ -0,0 +1,160 @@ +/* + * sja1000.h - Philips SJA1000 network device driver + * + * Copyright (C) 2009 miaofngmiaofng@126.com + * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33, + * 38106 Braunschweig, GERMANY + * + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * 3. Neither the name of Volkswagen nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * Alternatively, provided that this notice is retained in full, this + * software may be distributed under the terms of the GNU General + * Public License ("GPL") version 2, in which case the provisions of the + * GPL apply INSTEAD OF those given above. + * + * The provided data structures and external interfaces from this code + * are not restricted to be used by modules with a GPL compatible license. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, + * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY + * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH + * DAMAGE. + * + * Send feedback to socketcan-users@lists.berlios.de + * + */ + +#ifndef SJA1000_DEV_H +#define SJA1000_DEV_H + +/* SJA1000 registers - manual section 6.4 (Pelican Mode) */ +#define REG_MOD 0x00 +#define REG_CMR 0x01 +#define REG_SR 0x02 +#define REG_IR 0x03 +#define REG_IER 0x04 +#define REG_ALC 0x0B +#define REG_ECC 0x0C +#define REG_EWL 0x0D +#define REG_RXERR 0x0E +#define REG_TXERR 0x0F +#define REG_ACCC0 0x10 +#define REG_ACCC1 0x11 +#define REG_ACCC2 0x12 +#define REG_ACCC3 0x13 +#define REG_ACCM0 0x14 +#define REG_ACCM1 0x15 +#define REG_ACCM2 0x16 +#define REG_ACCM3 0x17 +#define REG_RMC 0x1D +#define REG_RBSA 0x1E + +/* Common registers - manual section 6.5 */ +#define REG_BTR0 0x06 +#define REG_BTR1 0x07 +#define REG_OCR 0x08 +#define REG_CDR 0x1F + +#define REG_FI 0x10 +#define SFF_BUF 0x13 +#define EFF_BUF 0x15 + +#define FI_FF 0x80 +#define FI_RTR 0x40 + +#define REG_ID1 0x11 +#define REG_ID2 0x12 +#define REG_ID3 0x13 +#define REG_ID4 0x14 + +#define CAN_RAM 0x20 + +/* mode register */ +#define MOD_RM 0x01 +#define MOD_LOM 0x02 +#define MOD_STM 0x04 +#define MOD_AFM 0x08 +#define MOD_SM 0x10 + +/* commands */ +#define CMD_SRR 0x10 +#define CMD_CDO 0x08 +#define CMD_RRB 0x04 +#define CMD_AT 0x02 +#define CMD_TR 0x01 + +/* interrupt sources */ +#define IRQ_BEI 0x80 +#define IRQ_ALI 0x40 +#define IRQ_EPI 0x20 +#define IRQ_WUI 0x10 +#define IRQ_DOI 0x08 +#define IRQ_EI 0x04 +#define IRQ_TI 0x02 +#define IRQ_RI 0x01 +#define IRQ_ALL 0xFF +#define IRQ_OFF 0x00 + +/* status register content */ +#define SR_BS 0x80 +#define SR_ES 0x40 +#define SR_TS 0x20 +#define SR_RS 0x10 +#define SR_TCS 0x08 +#define SR_TBS 0x04 +#define SR_DOS 0x02 +#define SR_RBS 0x01 + +#define SR_CRIT (SR_BS|SR_ES) + +/* ECC register */ +#define ECC_SEG 0x1F +#define ECC_DIR 0x20 +#define ECC_ERR 6 +#define ECC_BIT 0x00 +#define ECC_FORM 0x40 +#define ECC_STUFF 0x80 +#define ECC_MASK 0xc0 + +/* clock divider register */ +#define CDR_CLKOUT_MASK 0x07 +#define CDR_CLK_OFF 0x08 /* Clock off (CLKOUT pin) */ +#define CDR_RXINPEN 0x20 /* TX1 output is RX irq output */ +#define CDR_CBP 0x40 /* CAN input comparator bypass */ +#define CDR_PELICAN 0x80 /* PeliCAN mode */ + +/* output control register */ +#define OCR_MODE_BIPHASE 0x00 +#define OCR_MODE_TEST 0x01 +#define OCR_MODE_NORMAL 0x02 +#define OCR_MODE_CLOCK 0x03 +#define OCR_TX0_INVERT 0x04 +#define OCR_TX0_PULLDOWN 0x08 +#define OCR_TX0_PULLUP 0x10 +#define OCR_TX0_PUSHPULL 0x18 +#define OCR_TX1_INVERT 0x20 +#define OCR_TX1_PULLDOWN 0x40 +#define OCR_TX1_PULLUP 0x80 +#define OCR_TX1_PUSHPULL 0xc0 +#endif /* SJA1000_DEV_H */ diff --git a/include/can.h b/include/can.h new file mode 100755 index 0000000..55e6643 --- /dev/null +++ b/include/can.h @@ -0,0 +1,216 @@ +/* + * linux/can.h + * + * Definitions for CAN network layer (socket addr / CAN frame / CAN filter) + * + * Copyright (C) 2009 miaofngmiaofng@gmail.com + * + * Authors: Oliver Hartkopp oliver.hartkopp@volkswagen.de + * Urs Thuermann urs.thuermann@volkswagen.de + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Send feedback to socketcan-users@lists.berlios.de + * + */ + +#ifndef CAN_H +#define CAN_H + +#include <linux/types.h> +#include <can_error.h> +#include <circbuf.h> +#include <candev.h> + +/* controller area network (CAN) kernel definitions */ + +/* special address description flags for the CAN_ID */ +#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ +#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ +#define CAN_ERR_FLAG 0x20000000U /* error frame */ + +/* valid bits in CAN ID for frame formats */ +#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ +#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ +#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ + +/* + * Controller Area Network Identifier structure + * + * bit 0-28 : CAN identifier (11/29 bit) + * bit 29 : error frame flag (0 = data frame, 1 = error frame) + * bit 30 : remote transmission request flag (1 = rtr frame) + * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit) + */ +typedef __u32 canid_t; + +/** + * struct can_frame - basic CAN frame structure + * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above. + * @can_dlc: the data length field of the CAN frame + * @data: the CAN frame payload. + */ +struct can_frame { + canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ + __u8 can_dlc; /* data length code: 0 .. 8 */ + __u8 data[8] __attribute__((aligned(8))); +}; + +/** + * struct can_filter - CAN ID based filter in can_register(). + * @can_id: relevant bits of CAN ID which are not masked out. + * @can_mask: CAN mask (see description) + * + * Description: + * A filter matches, when + * + * <received_can_id> & mask == can_id & mask + * + * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can + * filter for error frames (CAN_ERR_FLAG bit set in mask). + */ +struct can_filter { + canid_t can_id; + canid_t can_mask; + + struct can_filter* next; +}; + +#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */ + +//can_device.state +enum can_state { + CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */ + CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */ + CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */ + CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */ + CAN_STATE_STOPPED, /* Device is stopped */ + CAN_STATE_SLEEPING, /* Device is sleeping */ + CAN_STATE_MAX +}; + +//can_device.stats, refer to net_device_stats +struct can_device_stats +{ + unsigned long rx_packets; /* total packets received */ + unsigned long tx_packets; /* total packets transmitted */ + unsigned long rx_bytes; /* total bytes received */ + unsigned long tx_bytes; /* total bytes transmitted */ + unsigned long rx_errors; /* bad packets received */ + unsigned long tx_errors; /* packet transmit problems */ + unsigned long rx_dropped; /* no space in linux buffers */ + unsigned long tx_dropped; /* no space available in linux */ + unsigned long multicast; /* multicast packets received */ + unsigned long collisions; + + //can stats + unsigned long error_passive; + unsigned long error_warning; + unsigned long arbitration_lost; + unsigned long bus_error; +}; + +/*queue status definition*/ +#define CAN_QUEUE_INIT 0 +#define CAN_QUEUE_READY 1 +#define CAN_QUEUE_BUSY 2 + +#define NAMESIZE_CAN 8 + +struct can_device { + //can core readonly + char name[NAMESIZE_CAN]; + enum can_state state; + struct can_device_stats stats; + + //can dev methods + int (*setbrg)(int, struct can_device*); + int (*setfilter)(struct can_filter*, struct can_device*); + int (*open) (struct can_device*); + int (*start_xmit) (struct can_frame*, struct can_device*); + int (*close)(struct can_device*); + + //can_core private + int qstatus; //queue status + circbuf_t tbuf; //tx buffer + circbuf_t rbuf; //rx buffer + //struct can_device *next; + int index; +}; + +//help routines +static inline void *candev_priv(const struct can_device *dev) { return (void *) dev; } +int register_candev(struct can_device*); +void unregister_candev(struct can_device*); +void canif_rx(struct can_frame*, struct can_device*); + +/* * + * these 3 functions are used to set the queue status + * + */ +static inline void canif_stop_queue(struct can_device *dev) {dev->qstatus = CAN_QUEUE_BUSY;} +static inline void canif_start_queue(struct can_device *dev) {dev->qstatus = CAN_QUEUE_READY;} +void canif_wake_queue(struct can_device*); + +//note: these functions must be called before can_open() +int can_init(void); + +/** + * function can_setbrg - set the bus speed of can device + * @brg bus speed to set, unit bps, such as: 250000,1000000 and etc + * @index device to set the speed, should be 0,1,2,.... + * @return success->0, or fail->-1 + * description: + * please set the speed when the device in reset mode. + */ +int can_setbrg(int brg, int index); + +/** + * function can_setfilter - set the can id filter + * @filter filter list to be set + * @index device to do the operation, such as 0,1,2 ... + * @return success->0, or fail->-1 + * description: + * please set the filter when the device in reset mode. + */ +int can_setfilter(struct can_filter *filter, int index); + +/** + * function can_open - open a specified can device(or channel) for read/write + * @index index of the can channel to open, value as 0,1,2 ... + * @return device id, for can_send/can_recv ... , in case of fail, return 0 + * description: + * can device will leave the reset mode by this operation. + */ +int can_open(int index); + +/** + * function can_send - send a can frame + * @cf frame to be sent + * @dev_id device to do 'send' operation + * @return success->0, or fail->-1 + * description: + * this is non block operation. can_core will store the frame pointer to the tx cirbuf. + */ +int can_send(struct can_frame *cf, int dev_id); + +/** + * function can_recv - get a can frame from the specified can device(or channel) + * @dev_id can device to read + * @return success-> the pointer to a can frame, fail->0 + * description: + * this is non block operation. can_core will get a frame pointer from the rx cirbuf of the device. + * the memory of the frame should be released by caller. + */ +struct can_frame* can_recv(int dev_id); + +/** + * function can_close - close a specified can device(or channel) + * @dev_id can device to close + * description: + * can_close will do following operation: + * 1) dump the device's tx/rx buffer + * 2) set device into reset mode + */ +void can_close(int dev_id); +#endif /* CAN_H */ diff --git a/include/can_error.h b/include/can_error.h new file mode 100755 index 0000000..d4127fd --- /dev/null +++ b/include/can_error.h @@ -0,0 +1,93 @@ +/* + * linux/can/error.h + * + * Definitions of the CAN error frame to be filtered and passed to the user. + * + * Author: Oliver Hartkopp oliver.hartkopp@volkswagen.de + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research + * All rights reserved. + * + * Send feedback to socketcan-users@lists.berlios.de + * + */ + +#ifndef CAN_ERROR_H +#define CAN_ERROR_H + +#define CAN_ERR_DLC 8 /* dlc for error frames */ + +/* error class (mask) in can_id */ +#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */ +#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */ +#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */ +#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */ +#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */ +#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */ +#define CAN_ERR_BUSOFF 0x00000040U /* bus off */ +#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ +#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */ + +/* arbitration lost in bit ... / data[0] */ +#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */ + /* else bit number in bitstream */ + +/* error status of CAN-controller / data[1] */ +#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */ +#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */ +#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */ +#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */ +#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */ +#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */ + /* (at least one error counter exceeds */ + /* the protocol-defined level of 127) */ + +/* error in CAN protocol (type) / data[2] */ +#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_BIT 0x01 /* single bit error */ +#define CAN_ERR_PROT_FORM 0x02 /* frame format error */ +#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */ +#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */ +#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */ +#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */ +#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */ +#define CAN_ERR_PROT_TX 0x80 /* error occured on transmission */ + +/* error in CAN protocol (location) / data[3] */ +#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */ +#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */ +#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/ +#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */ +#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */ +#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */ +#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */ +#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */ +#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */ +#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */ +#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */ +#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */ +#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */ +#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */ +#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */ +#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */ +#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */ +#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */ +#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */ + +/* error status of CAN-transceiver / data[4] */ +/* CANH CANL */ +#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */ +#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */ +#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */ + +/* controller specific additional information / data[5..7] */ + +#endif /* CAN_ERROR_H */ diff --git a/include/candev.h b/include/candev.h new file mode 100755 index 0000000..0e0dee7 --- /dev/null +++ b/include/candev.h @@ -0,0 +1,46 @@ +/* + * (C) Copyright 2009 miaofngmiaofng@gmail.com + * + * + * See file CREDITS for list of people who contributed to this + * project. + * + * 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 + */ + +/* + * netdev.h - definitions an prototypes for network devices + */ + +#ifndef _CANDEV_H_ +#define _CANDEV_H_ + +/* + * Board and CPU-specific initialization functions + * board_eth_init() has highest priority. cpu_eth_init() only + * gets called if board_eth_init() isn't instantiated or fails. + * Return values: + * 0: success + * -1: failure + */ + +int board_can_init(void); +void board_can_update(void); + +/* Driver initialization prototypes */ +int sja1000_init(u32 reg_base); + +#endif /* _CANDEV_H_ */ diff --git a/lib_arm/board.c b/lib_arm/board.c old mode 100644 new mode 100755 index 5e3d7f6..aa11dd3 --- a/lib_arm/board.c +++ b/lib_arm/board.c @@ -356,6 +356,8 @@ void start_armboot (void) serial_initialize(); #endif
+ can_init(); + /* IP Address */ gd->bd->bi_ip_addr = getenv_IPaddr ("ipaddr");
On Saturday 24 October 2009 00:17:50 miaofng wrote:
From 1f6aaba856fbf484c442eb33cf220774d57fba8d Mon Sep 17 00:00:00 2001 From: miaofng miaofng@gmail.com Date: Fri, 23 Oct 2009 17:06:50 +0800 Subject: [PATCH] [can] add u-boot sja1000/can support
this should be split into two patches -- one for the core CAN code and one for the sja1000-specific implementation.
it's also lacking documentation updates to the top level README or perhaps a standalone doc/README.can file
unconditionally calling can_init() is broken (in lib_arm/board.c). can is like any other driver and can be enabled/disabled. it needs a dedicated CONFIG_CAN option which would be leveraged in drviers/can/Makefile to add can_core.c to the build.
--- /dev/null +++ b/drivers/can/can_core.c +#define can_debug printf +#define can_error printf
uhh, what ? we already have debug() macros. dont go creating your own brand new stuff.
+#ifdef CONFIG_CMD_CAN
CONFIG_CMD_xxx is reserved for actual commands as in U_BOOT_CMD. you arent implementing that, so this is wrong. besides, it isnt needed once you use a proper CONFIG_CAN and add it to the top level Makefile.
+void canif_rx(struct can_frame *cf, struct can_device *dev) +{
- int len;
- //error frame?
C++ style comments are not allowed. use normal C /* comments */.
- if(cf->can_id&CAN_ERR_FLAG)
- {
you need to read the style documentation. u-boot code follows the linux kernel. that means this should have been: if (cf->can_id & CAN_ERR_FLAG) {
all of your code is horribly broken in these regards
+int can_init(void) +{ +#ifdef CONFIG_CMD_CAN
- int index;
- for(index = 0; index < CONFIG_CAN_DEV_MAX; index ++) can_devs[index] = 0;
use memset() like god intended. then again, can_devs is declared static and in the .bss, so this init step is unnecessary.
- board_can_init();
+#endif
- return 0;
+}
these need to be weak's like all the other subsystems do it. look at net/eth.c and how it does it: - can_initialize() - weak board_can_init() - weak cpu_can_init()
+int register_candev(struct can_device *dev)
use "can" or "candev", dont mix the two
--- /dev/null +++ b/drivers/can/sja1000.c +//MODULE_AUTHOR("Oliver Hartkopp oliver.hartkopp@volkswagen.de"); +//MODULE_LICENSE("Dual BSD/GPL"); +//MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver");
dont leave crap behind -- delete it
+int sja1000_interrupt(struct can_device *dev)
u-boot is a polled architecture, not an interrupt based one. i guess this driver needs rewriting to do that.
+int register_sja1000dev(struct can_device *dev)
can drivers should have a standard naming convention. perhaps something like: can_<driver>_register()
+void unregister_sja1000dev(struct can_device *dev) +{
- set_reset_mode(dev);
- unregister_candev(dev);
+}
do we really need an unregister framework ? none of the other subsystems do and it hasnt been a problem.
--- /dev/null +++ b/include/candev.h @@ -0,0 +1,46 @@ +/*
- (C) Copyright 2009 miaofngmiaofng@gmail.com
- See file CREDITS for list of people who contributed to this
- project.
- 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
- */
+/*
- netdev.h - definitions an prototypes for network devices
- */
+#ifndef _CANDEV_H_ +#define _CANDEV_H_
clearly you've been copying & pasting code from the Linux kernel, yet you've been stripping out people's copyrights. that wont fly. -mike
Do we have boards that use this code?
Matthias
On Saturday 24 October 2009 06:17, miaofng wrote:
From 1f6aaba856fbf484c442eb33cf220774d57fba8d Mon Sep 17 00:00:00 2001
From: miaofng miaofng@gmail.com Date: Fri, 23 Oct 2009 17:06:50 +0800 Subject: [PATCH] [can] add u-boot sja1000/can support
Signed-off-by: miaofng miaofng@gmail.com
Makefile | 1 + drivers/can/Makefile | 46 ++++ drivers/can/can_core.c | 266 ++++++++++++++++++++++ drivers/can/sja1000.c | 584 ++++++++++++++++++++++++++++++++++++++++++++++++ drivers/can/sja1000.h | 160 +++++++++++++ include/can.h | 216 ++++++++++++++++++ include/can_error.h | 93 ++++++++ include/candev.h | 46 ++++ lib_arm/board.c | 2 + 9 files changed, 1414 insertions(+), 0 deletions(-) create mode 100755 drivers/can/Makefile create mode 100755 drivers/can/can_core.c create mode 100755 drivers/can/sja1000.c create mode 100755 drivers/can/sja1000.h create mode 100755 include/can.h create mode 100755 include/can_error.h create mode 100755 include/candev.h mode change 100644 => 100755 lib_arm/board.c
diff --git a/Makefile b/Makefile index d6d6368..1ba59f8 100755 --- a/Makefile +++ b/Makefile @@ -203,6 +203,7 @@ LIBS += net/libnet.a LIBS += disk/libdisk.a LIBS += drivers/bios_emulator/libatibiosemu.a LIBS += drivers/block/libblock.a +LIBS += drivers/can/libcan.a LIBS += drivers/dma/libdma.a LIBS += drivers/fpga/libfpga.a LIBS += drivers/gpio/libgpio.a diff --git a/drivers/can/Makefile b/drivers/can/Makefile new file mode 100755 index 0000000..d3d47bb --- /dev/null +++ b/drivers/can/Makefile @@ -0,0 +1,46 @@ +# +# Copyright (C) 2009 miaofngmiaofng@126.com +# +# See file CREDITS for list of people who contributed to this +# project. +# +# 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 $(TOPDIR)/config.mk
+LIB := $(obj)libcan.a
+COBJS-y += can_core.o +COBJS-$(CONFIG_DRIVER_SJA1000) += sja1000.o
+COBJS := $(sort $(COBJS-y)) +SRCS := $(COBJS:.o=.c) +OBJS := $(addprefix $(obj),$(COBJS))
+all: $(LIB)
+$(LIB): $(obj).depend $(OBJS)
- $(AR) $(ARFLAGS) $@ $(OBJS)
+#########################################################################
+# defines $(obj).depend target +include $(SRCTREE)/rules.mk
+sinclude $(obj).depend
+######################################################################### diff --git a/drivers/can/can_core.c b/drivers/can/can_core.c new file mode 100755 index 0000000..a723e8a --- /dev/null +++ b/drivers/can/can_core.c @@ -0,0 +1,266 @@ +/*
- Copyright (C) 2009 miaofngmiaofng@gmail.com
- 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 <common.h> +#include <can.h> +#include <malloc.h>
+#define can_debug printf +#define can_error printf
+#ifdef CONFIG_CMD_CAN +#ifndef CONFIG_CAN_DEV_MAX +#define CONFIG_CAN_DEV_MAX 8 +#endif
+static struct can_device *can_devs[CONFIG_CAN_DEV_MAX]; +#endif
+static inline struct can_device* index_to_cdev(int index) +{
- return (index<CONFIG_CAN_DEV_MAX)? can_devs[index]:0;
+}
+static inline int cdev_to_index(struct can_device *dev) +{
- return (dev)?dev->index:-1;
+}
+static void canif_tx(struct can_device *dev) +{
- struct can_frame *cf;
- int len;
- len = buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf));
- if(len == sizeof(cf)) {
dev->start_xmit(cf, dev);free(cf);- }
+}
+void canif_rx(struct can_frame *cf, struct can_device *dev) +{
- int len;
- //error frame?
- if(cf->can_id&CAN_ERR_FLAG)
- {
//error frame, drop itfree(cf);return;- }
- //soft id filter?
- //store to cirbuf
- if(dev->rbuf.size == dev->rbuf.totalsize) {
can_debug("CAN: rx buffer is full\n");dev->stats.rx_dropped ++;free(cf);return;- }
- buf_push(&dev->rbuf, (char*)&cf, sizeof(cf));
+}
+void canif_wake_queue(struct can_device *dev) +{
- canif_start_queue(dev);
- canif_tx(dev);
+}
+int can_init(void) +{ +#ifdef CONFIG_CMD_CAN
- int index;
- for(index = 0; index < CONFIG_CAN_DEV_MAX; index ++) can_devs[index] = 0;
- board_can_init();
+#endif
- return 0;
+}
+/*
- Register the CAN network device
- */
- #ifndef CONFIG_CAN_BUF_TX_SZ
- #define CONFIG_CAN_BUF_TX_SZ (8*sizeof(void*))
- #endif
- #ifndef CONFIG_CAN_BUF_RX_SZ
- #define CONFIG_CAN_BUF_RX_SZ (8*sizeof(void*))
- #endif
+int register_candev(struct can_device *dev) +{
- int ret;
- int index;
- //insert into the list
- dev->index = -1;
- for(index =0; index < CONFIG_CAN_DEV_MAX; index ++)
- {
if(!can_devs[index]) {can_devs[index] = dev;dev->index = index;break;}- }
- if( dev->index < 0)
can_debug("CAN: too many can devices\n");- //allocate circbuf for tx and rx
- ret = buf_init(&dev->tbuf, CONFIG_CAN_BUF_TX_SZ);
- if(ret != 1) {
can_debug("CAN: cann't init cirbuf of tx\n");can_devs[index] = 0;return -1;- }
- ret = buf_init(&dev->rbuf, CONFIG_CAN_BUF_RX_SZ);
- if(ret != 1) {
can_debug("CAN: cann't init cirbuf of rx\n");can_devs[index] = 0;buf_free(&dev->tbuf);return -1;- }
- dev->qstatus = CAN_QUEUE_INIT;
- //success
- printf("CAN: %s @index %d\n", dev->name, dev->index);
- return 0;
+}
+/*
- Unregister the CAN network device
- */
+void unregister_candev(struct can_device *dev) +{
- int index = cdev_to_index(dev);
- if(index < 0) {
can_debug("CAN: invalid para\n");return;- }
- //close the dev first
- can_close((int)dev);
- //release tx/rx buffer
- buf_free(&dev->tbuf);
- buf_free(&dev->rbuf);
- //remove from the list
- can_devs[index] = 0;
+}
+//api +int can_setbrg(int brg, int index) +{
- struct can_device *dev = index_to_cdev(index);
- if(!dev) {
can_debug("CAN: invalid para\n");return -1;- }
- if( dev->state != CAN_STATE_STOPPED) {
can_debug("CAN: invalid dev status<%d>\n", dev->state);return -1;- }
- if(dev->setbrg)
return dev->setbrg(brg, dev);- can_debug("CAN: op not supported by the dev\n");
- return -1;
+}
+int can_open(int index) +{
- struct can_device *dev = index_to_cdev(index);
- if(!dev) {
can_debug("CAN: invalid para\n");return 0;- }
- if(dev->state != CAN_STATE_STOPPED) {
can_debug("CAN: invalid dev status<%d>\n", dev->state);return 0;- }
- if(dev && dev->open) dev->open(dev);
- return (int)dev;
+}
+void can_close(int dev_id) +{
- struct can_device *dev = (struct can_device*) dev_id;
- struct can_frame *cf;
- if(!dev) {
can_debug("CAN: invalid para\n");return;- }
- //can device close
- if(dev->close) dev->close(dev);
- //tbuf,rbuf dump
- while(buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf)) ) free(cf);
- while(buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf)) ) free(cf);
+}
+//non block write +int can_send(struct can_frame *cf, int dev_id) +{
- struct can_device *dev = (struct can_device*) dev_id;
- if(!cf || !dev ) {
can_debug("CAN: invalid para\n");return -1;- }
- if(dev->tbuf.size == dev->tbuf.totalsize){ //tbuf overflow
can_debug("CAN: tx buffer is full\n");return -1;- }
- buf_push(&dev->tbuf, (char*)&cf, sizeof(cf));
- //start queue?
- if( dev->qstatus == CAN_QUEUE_READY )
canif_tx(dev);- return 0;
+}
+//non block read +struct can_frame* can_recv(int dev_id) +{
- struct can_device *dev = (struct can_device*) dev_id;
- struct can_frame *cf;
- int len;
- if(!dev ) {
can_debug("CAN: invalid para\n");return 0;- }
- len = buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf));
- if(len != sizeof(cf)) return (struct can_frame*)0;
- else return cf;
+} diff --git a/drivers/can/sja1000.c b/drivers/can/sja1000.c new file mode 100755 index 0000000..07560bd --- /dev/null +++ b/drivers/can/sja1000.c @@ -0,0 +1,584 @@ +/*
- sja1000.c - Philips SJA1000 network device driver
- Copyright (c) 2009 miaofngmiaofng@gmail.com
- Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
- 38106 Braunschweig, GERMANY
- Copyright (c) 2002-2007 Volkswagen Group Electronic Research
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions
- are met:
- Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- Neither the name of Volkswagen nor the names of its contributors
- may be used to endorse or promote products derived from this software
- without specific prior written permission.
- Alternatively, provided that this notice is retained in full, this
- software may be distributed under the terms of the GNU General
- Public License ("GPL") version 2, in which case the provisions of the
- GPL apply INSTEAD OF those given above.
- The provided data structures and external interfaces from this code
- are not restricted to be used by modules with a GPL compatible license.
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
- LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
- DAMAGE.
- Send feedback to socketcan-users@lists.berlios.de
- */
+#include <common.h> +#include <asm/io.h> +#include <can.h> +#include <malloc.h> +#include <linux/string.h>
+#include "sja1000.h"
+#define DRV_NAME "sja1000"
+//MODULE_AUTHOR("Oliver Hartkopp oliver.hartkopp@volkswagen.de"); +//MODULE_LICENSE("Dual BSD/GPL"); +//MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver");
+#define sja_debug printf
+/*
- Flags for sja1000priv.flags
- */
+#define SJA1000_CUSTOM_IRQ_HANDLER 0x1
+/*
- SJA1000 private data structure
- */
+struct sja1000_priv {
- struct can_device can; /* must be the first member */
- /* the lower-layer is responsible for appropriate locking */
- void* reg_base; /* ioremap'ed address to registers */
- u8 (*read_reg) (const struct sja1000_priv *priv, u8 reg);
- void (*write_reg) (const struct sja1000_priv *priv, u8 reg, u8 val);
+};
+static int set_reset_mode(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- unsigned char status = priv->read_reg(priv, REG_MOD);
- int i;
- /* disable interrupts */
- priv->write_reg(priv, REG_IER, IRQ_OFF);
- for (i = 0; i < 100; i++) {
/* check reset bit */if (status & MOD_RM) {priv->can.state = CAN_STATE_STOPPED;return 0;}priv->write_reg(priv, REG_MOD, MOD_RM); /* reset chip */udelay(10);status = priv->read_reg(priv, REG_MOD);- }
- //sja_debug("SJA1000: setting into reset mode failed!\n");
- return -1;
+}
+static void set_normal_mode(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- unsigned char status = priv->read_reg(priv, REG_MOD);
- int i;
- for (i = 0; i < 100; i++) {
/* check reset bit */if ((status & MOD_RM) == 0) {priv->can.state = CAN_STATE_ERROR_ACTIVE;/* enable all interrupts */priv->write_reg(priv, REG_IER, IRQ_ALL);return;}/* set chip to normal mode */priv->write_reg(priv, REG_MOD, 0x00);udelay(10);status = priv->read_reg(priv, REG_MOD);- }
- sja_debug("SJA1000@%d: setting into normal mode failed!\n", dev->index);
+}
+static void sja1000_start(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- /* leave reset mode */
- if (priv->can.state != CAN_STATE_STOPPED)
set_reset_mode(dev);- /* Clear error counters and error code capture */
- priv->write_reg(priv, REG_TXERR, 0x0);
- priv->write_reg(priv, REG_RXERR, 0x0);
- priv->read_reg(priv, REG_ECC);
- /* leave reset mode */
- set_normal_mode(dev);
+}
+#ifndef CONFIG_SJA1000_CLK_HZ +#define CONFIG_SJA1000_CLK_HZ 24000000 +#endif
+static int sja1000_setbrg(int brg, struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- int fosc = CONFIG_SJA1000_CLK_HZ;
- int fscl, btr0, btr1;
- u8 sjw = 1; // 0~3 +1
- u8 brp; // 0~63 +1
- u8 sam = 1; // 0~1
- u8 tseg2 = 5; // 0~7 +1
- u8 tseg1 = 6; // 0~15 +1
- //calculation
- fscl = (1+tseg1+tseg2)*brg;
- brp = (fosc>>1)/fscl;
- if(brg > 250000) sam = 0;
- //set register
- btr0 = ((sjw - 1) << 6) | (brp - 1);
- btr1 = (sam << 7) | ((tseg2 -1) << 4) | (tseg1 -1);
- sja_debug("SJA1000@%d: setting BTR0=0x%02x BTR1=0x%02x\n", dev->index, btr0, btr1);
- priv->write_reg(priv, REG_BTR0, btr0);
- priv->write_reg(priv, REG_BTR1, btr1);
- return 0;
+}
+/*
- initialize SJA1000 chip:
- reset chip
- set output mode
- set baudrate
- enable interrupts
- start operating mode
- */
+static void chipset_init(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- /* set clock divider and output control register */
- priv->write_reg(priv, REG_CDR, CDR_PELICAN|CDR_CBP|CDR_CLK_OFF);
- /* set acceptance filter (accept all) */
- priv->write_reg(priv, REG_ACCC0, 0x00);
- priv->write_reg(priv, REG_ACCC1, 0x00);
- priv->write_reg(priv, REG_ACCC2, 0x00);
- priv->write_reg(priv, REG_ACCC3, 0x00);
- priv->write_reg(priv, REG_ACCM0, 0xFF);
- priv->write_reg(priv, REG_ACCM1, 0xFF);
- priv->write_reg(priv, REG_ACCM2, 0xFF);
- priv->write_reg(priv, REG_ACCM3, 0xFF);
- priv->write_reg(priv, REG_OCR, OCR_TX0_PUSHPULL|OCR_TX1_PUSHPULL| OCR_MODE_NORMAL);
+}
+/*
- transmit a CAN message
- */
+static int sja1000_start_xmit(struct can_frame *cf, struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- struct can_device_stats *stats = &dev->stats;
- uint8_t fi;
- uint8_t dlc;
- canid_t id;
- uint8_t dreg;
- int i;
- canif_stop_queue(dev);
- fi = dlc = cf->can_dlc;
- id = cf->can_id;
- if (id & CAN_RTR_FLAG)
fi |= FI_RTR;- if (id & CAN_EFF_FLAG) {
fi |= FI_FF;dreg = EFF_BUF;priv->write_reg(priv, REG_FI, fi);priv->write_reg(priv, REG_ID1, (id & 0x1fe00000) >> (5 + 16));priv->write_reg(priv, REG_ID2, (id & 0x001fe000) >> (5 + 8));priv->write_reg(priv, REG_ID3, (id & 0x00001fe0) >> 5);priv->write_reg(priv, REG_ID4, (id & 0x0000001f) << 3);- } else {
dreg = SFF_BUF;priv->write_reg(priv, REG_FI, fi);priv->write_reg(priv, REG_ID1, (id & 0x000007f8) >> 3);priv->write_reg(priv, REG_ID2, (id & 0x00000007) << 5);- }
- for (i = 0; i < dlc; i++)
priv->write_reg(priv, dreg++, cf->data[i]);- priv->write_reg(priv, REG_CMR, CMD_TR);
- stats->tx_bytes += dlc;
- return 0;
+}
+static void sja1000_rx(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- struct can_device_stats *stats = &dev->stats;
- struct can_frame *cf;
- uint8_t fi;
- uint8_t dreg;
- canid_t id;
- uint8_t dlc;
- int i;
- cf = malloc(sizeof(struct can_frame));
- if (cf == NULL) {
sja_debug("SJA1000%d: out of mem!\n",dev->index);return;- }
- fi = priv->read_reg(priv, REG_FI);
- dlc = fi & 0x0F;
- if (fi & FI_FF) {
/* extended frame format (EFF) */dreg = EFF_BUF;id = (priv->read_reg(priv, REG_ID1) << (5 + 16))| (priv->read_reg(priv, REG_ID2) << (5 + 8))| (priv->read_reg(priv, REG_ID3) << 5)| (priv->read_reg(priv, REG_ID4) >> 3);id |= CAN_EFF_FLAG;- } else {
/* standard frame format (SFF) */dreg = SFF_BUF;id = (priv->read_reg(priv, REG_ID1) << 3)| (priv->read_reg(priv, REG_ID2) >> 5);- }
- if (fi & FI_RTR)
id |= CAN_RTR_FLAG;- memset(cf, 0, sizeof(struct can_frame));
- cf->can_id = id;
- cf->can_dlc = dlc;
- for (i = 0; i < dlc; i++)
cf->data[i] = priv->read_reg(priv, dreg++);- while (i < 8)
cf->data[i++] = 0;- /* release receive buffer */
- priv->write_reg(priv, REG_CMR, CMD_RRB);
- canif_rx(cf, dev);
- //dev->last_rx = jiffies;
- stats->rx_packets++;
- stats->rx_bytes += dlc;
+}
+static int sja1000_err(struct can_device *dev, uint8_t isrc, uint8_t status) +{
- struct sja1000_priv *priv = candev_priv(dev);
- struct can_device_stats *stats = &dev->stats;
- struct can_frame *cf;
- enum can_state state = priv->can.state;
- uint8_t ecc, alc;
- cf = malloc(sizeof(struct can_frame));
- if (cf == NULL)
- {
sja_debug("SJA1000@%d: out of mem!\n", dev->index);return -1;- }
- memset(cf, 0, sizeof(struct can_frame));
- cf->can_id = CAN_ERR_FLAG;
- cf->can_dlc = CAN_ERR_DLC;
- if (isrc & IRQ_DOI) {
/* data overrun interrupt */sja_debug("SJA1000@%d: data overrun interrupt\n", dev->index);cf->can_id |= CAN_ERR_CRTL;cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;//stats->rx_over_errors++;stats->rx_errors++;priv->write_reg(priv, REG_CMR, CMD_CDO); /* clear bit */- }
- if (isrc & IRQ_EI) {
/* error warning interrupt */sja_debug("SJA1000@%d: error warning interrupt\n", dev->index);if (status & SR_BS) {state = CAN_STATE_BUS_OFF;cf->can_id |= CAN_ERR_BUSOFF;//can_bus_off(dev);} else if (status & SR_ES) {state = CAN_STATE_ERROR_WARNING;} elsestate = CAN_STATE_ERROR_ACTIVE;- }
- if (isrc & IRQ_BEI) {
/* bus error interrupt */priv->can.stats.bus_error++;stats->rx_errors++;ecc = priv->read_reg(priv, REG_ECC);cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;switch (ecc & ECC_MASK) {case ECC_BIT:cf->data[2] |= CAN_ERR_PROT_BIT;break;case ECC_FORM:cf->data[2] |= CAN_ERR_PROT_FORM;break;case ECC_STUFF:cf->data[2] |= CAN_ERR_PROT_STUFF;break;default:cf->data[2] |= CAN_ERR_PROT_UNSPEC;cf->data[3] = ecc & ECC_SEG;break;}/* error occured during transmission? */if ((ecc & ECC_DIR) == 0)cf->data[2] |= CAN_ERR_PROT_TX;- }
- if (isrc & IRQ_EPI) {
/* error passive interrupt */sja_debug("SJA1000@%d: error passive interrupt\n", dev->index);if (status & SR_ES)state = CAN_STATE_ERROR_PASSIVE;elsestate = CAN_STATE_ERROR_ACTIVE;- }
- if (isrc & IRQ_ALI) {
/* arbitration lost interrupt */sja_debug("SJA1000@%d: arbitration lost interrupt\n", dev->index);alc = priv->read_reg(priv, REG_ALC);priv->can.stats.arbitration_lost++;stats->rx_errors++;cf->can_id |= CAN_ERR_LOSTARB;cf->data[0] = alc & 0x1f;- }
- if (state != priv->can.state && (state == CAN_STATE_ERROR_WARNING ||
state == CAN_STATE_ERROR_PASSIVE)) {uint8_t rxerr = priv->read_reg(priv, REG_RXERR);uint8_t txerr = priv->read_reg(priv, REG_TXERR);cf->can_id |= CAN_ERR_CRTL;if (state == CAN_STATE_ERROR_WARNING) {priv->can.stats.error_warning++;cf->data[1] = (txerr > rxerr) ?CAN_ERR_CRTL_TX_WARNING :CAN_ERR_CRTL_RX_WARNING;} else {priv->can.stats.error_passive++;cf->data[1] = (txerr > rxerr) ?CAN_ERR_CRTL_TX_PASSIVE :CAN_ERR_CRTL_RX_PASSIVE;}- }
- priv->can.state = state;
- canif_rx(cf,dev);
- return 0;
+}
+#define SJA1000_MAX_IRQ 20 /* max. number of interrupts handled in ISR */
+int sja1000_interrupt(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- struct can_device_stats *stats = &dev->stats;
- uint8_t isrc, status;
- int n = 0;
- /* Shared interrupts and IRQ off? */
- if (priv->read_reg(priv, REG_IER) == IRQ_OFF)
return -1;- while ((isrc = priv->read_reg(priv, REG_IR)) && (n < SJA1000_MAX_IRQ)) {
n++;status = priv->read_reg(priv, REG_SR);if (isrc & IRQ_WUI)sja_debug("SJA1000@%d: wakeup interrupt\n", dev->index);if (isrc & IRQ_TI) {/* transmission complete interrupt */stats->tx_packets++;//can_get_echo_skb(dev, 0);canif_wake_queue(dev);}if (isrc & IRQ_RI) {/* receive interrupt */while (status & SR_RBS) {sja1000_rx(dev);status = priv->read_reg(priv, REG_SR);}}if (isrc & (IRQ_DOI | IRQ_EI | IRQ_BEI | IRQ_EPI | IRQ_ALI)) {/* error interrupt */if (sja1000_err(dev, isrc, status))break;}- }
- if (n >= SJA1000_MAX_IRQ)
sja_debug("SJA1000@%d: %d messages handled in ISR", dev->index, n);- return (n) ? 0 : -1;
+}
+static int sja1000_open(struct can_device *dev) +{
- /* set chip into reset mode */
- set_reset_mode(dev);
- /* register interrupt handler, if not done by the device driver */
+#ifdef CONFIG_USBCAN
- extern int request_irq_usbcan(int (*isr)(struct can_device*), struct can_device*);
- int err = request_irq_usbcan(&sja1000_interrupt, dev);
- if (err) {
sja_debug("SJA1000@%d: unable to request the irq\n", dev->index);return -1;- }
+#endif
- /* init and start chi */
- sja1000_start(dev);
- //priv->open_time = jiffies;
- canif_start_queue(dev);
- return 0;
+}
+static int sja1000_close(struct can_device *dev) +{
- canif_stop_queue(dev);
- set_reset_mode(dev);
- //can_free_irq(dev->irq, (void *)dev);
- return 0;
+}
+static int sja1000_probe_chip(struct can_device *dev) +{
- struct sja1000_priv *priv = candev_priv(dev);
- int ret;
- ret = set_reset_mode(dev);
- if(ret) {
sja_debug("%s: probing @0x%x failed\n", DRV_NAME, (u32)(priv->reg_base));return -1;- }
- return 0;
+}
+int register_sja1000dev(struct can_device *dev) +{
- if (sja1000_probe_chip(dev))
return -1;- strcpy(dev->name, DRV_NAME);
- dev->setbrg = sja1000_setbrg;
- dev->open = sja1000_open;
- dev->start_xmit = sja1000_start_xmit;
- dev->close = sja1000_close;
- set_reset_mode(dev);
- chipset_init(dev);
- return register_candev(dev);
+}
+void unregister_sja1000dev(struct can_device *dev) +{
- set_reset_mode(dev);
- unregister_candev(dev);
+}
+static u8 sja1000_read_reg(const struct sja1000_priv *priv, u8 reg) +{ +#if (CONFIG_USBCAN == 1)
- writeb(reg, priv->reg_base+4); //addr latch
- return readb(priv->reg_base);
+#else
- return writeb(priv->reg_base + reg);
+#endif +}
+static void sja1000_write_reg(const struct sja1000_priv *priv, u8 reg, u8 val) +{ +#if (CONFIG_USBCAN == 1)
- writeb(reg, priv->reg_base+4); //addr latch
- writeb(val, priv->reg_base);
+#else
- return readb(val, priv->reg_base + reg);
+#endif +}
+int sja1000_init(u32 reg_base) +{
- struct sja1000_priv * priv = malloc(sizeof(struct sja1000_priv));
- if(priv == NULL) {
sja_debug("SJA1000: out of mem!!!\n");return -1;- }
- memset(priv, 0, sizeof(priv));
- priv->reg_base = (void*)reg_base;
- priv->read_reg = sja1000_read_reg;
- priv->write_reg = sja1000_write_reg;
- if( register_sja1000dev(&priv->can) )
- {
free(priv);//sja_debug("SJA1000: register device fail!!!\n");return -1;- }
- return 0;
+} diff --git a/drivers/can/sja1000.h b/drivers/can/sja1000.h new file mode 100755 index 0000000..6311f75 --- /dev/null +++ b/drivers/can/sja1000.h @@ -0,0 +1,160 @@ +/*
- sja1000.h - Philips SJA1000 network device driver
- Copyright (C) 2009 miaofngmiaofng@126.com
- Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
- 38106 Braunschweig, GERMANY
- Copyright (c) 2002-2007 Volkswagen Group Electronic Research
- All rights reserved.
- Redistribution and use in source and binary forms, with or without
- modification, are permitted provided that the following conditions
- are met:
- Redistributions of source code must retain the above copyright
- notice, this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright
- notice, this list of conditions and the following disclaimer in the
- documentation and/or other materials provided with the distribution.
- Neither the name of Volkswagen nor the names of its contributors
- may be used to endorse or promote products derived from this software
- without specific prior written permission.
- Alternatively, provided that this notice is retained in full, this
- software may be distributed under the terms of the GNU General
- Public License ("GPL") version 2, in which case the provisions of the
- GPL apply INSTEAD OF those given above.
- The provided data structures and external interfaces from this code
- are not restricted to be used by modules with a GPL compatible license.
- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
- LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
- DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
- DAMAGE.
- Send feedback to socketcan-users@lists.berlios.de
- */
+#ifndef SJA1000_DEV_H +#define SJA1000_DEV_H
+/* SJA1000 registers - manual section 6.4 (Pelican Mode) */ +#define REG_MOD 0x00 +#define REG_CMR 0x01 +#define REG_SR 0x02 +#define REG_IR 0x03 +#define REG_IER 0x04 +#define REG_ALC 0x0B +#define REG_ECC 0x0C +#define REG_EWL 0x0D +#define REG_RXERR 0x0E +#define REG_TXERR 0x0F +#define REG_ACCC0 0x10 +#define REG_ACCC1 0x11 +#define REG_ACCC2 0x12 +#define REG_ACCC3 0x13 +#define REG_ACCM0 0x14 +#define REG_ACCM1 0x15 +#define REG_ACCM2 0x16 +#define REG_ACCM3 0x17 +#define REG_RMC 0x1D +#define REG_RBSA 0x1E
+/* Common registers - manual section 6.5 */ +#define REG_BTR0 0x06 +#define REG_BTR1 0x07 +#define REG_OCR 0x08 +#define REG_CDR 0x1F
+#define REG_FI 0x10 +#define SFF_BUF 0x13 +#define EFF_BUF 0x15
+#define FI_FF 0x80 +#define FI_RTR 0x40
+#define REG_ID1 0x11 +#define REG_ID2 0x12 +#define REG_ID3 0x13 +#define REG_ID4 0x14
+#define CAN_RAM 0x20
+/* mode register */ +#define MOD_RM 0x01 +#define MOD_LOM 0x02 +#define MOD_STM 0x04 +#define MOD_AFM 0x08 +#define MOD_SM 0x10
+/* commands */ +#define CMD_SRR 0x10 +#define CMD_CDO 0x08 +#define CMD_RRB 0x04 +#define CMD_AT 0x02 +#define CMD_TR 0x01
+/* interrupt sources */ +#define IRQ_BEI 0x80 +#define IRQ_ALI 0x40 +#define IRQ_EPI 0x20 +#define IRQ_WUI 0x10 +#define IRQ_DOI 0x08 +#define IRQ_EI 0x04 +#define IRQ_TI 0x02 +#define IRQ_RI 0x01 +#define IRQ_ALL 0xFF +#define IRQ_OFF 0x00
+/* status register content */ +#define SR_BS 0x80 +#define SR_ES 0x40 +#define SR_TS 0x20 +#define SR_RS 0x10 +#define SR_TCS 0x08 +#define SR_TBS 0x04 +#define SR_DOS 0x02 +#define SR_RBS 0x01
+#define SR_CRIT (SR_BS|SR_ES)
+/* ECC register */ +#define ECC_SEG 0x1F +#define ECC_DIR 0x20 +#define ECC_ERR 6 +#define ECC_BIT 0x00 +#define ECC_FORM 0x40 +#define ECC_STUFF 0x80 +#define ECC_MASK 0xc0
+/* clock divider register */ +#define CDR_CLKOUT_MASK 0x07 +#define CDR_CLK_OFF 0x08 /* Clock off (CLKOUT pin) */ +#define CDR_RXINPEN 0x20 /* TX1 output is RX irq output */ +#define CDR_CBP 0x40 /* CAN input comparator bypass */ +#define CDR_PELICAN 0x80 /* PeliCAN mode */
+/* output control register */ +#define OCR_MODE_BIPHASE 0x00 +#define OCR_MODE_TEST 0x01 +#define OCR_MODE_NORMAL 0x02 +#define OCR_MODE_CLOCK 0x03 +#define OCR_TX0_INVERT 0x04 +#define OCR_TX0_PULLDOWN 0x08 +#define OCR_TX0_PULLUP 0x10 +#define OCR_TX0_PUSHPULL 0x18 +#define OCR_TX1_INVERT 0x20 +#define OCR_TX1_PULLDOWN 0x40 +#define OCR_TX1_PULLUP 0x80 +#define OCR_TX1_PUSHPULL 0xc0 +#endif /* SJA1000_DEV_H */ diff --git a/include/can.h b/include/can.h new file mode 100755 index 0000000..55e6643 --- /dev/null +++ b/include/can.h @@ -0,0 +1,216 @@ +/*
- linux/can.h
- Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
- Copyright (C) 2009 miaofngmiaofng@gmail.com
- Authors: Oliver Hartkopp oliver.hartkopp@volkswagen.de
Urs Thuermann <urs.thuermann@volkswagen.de>
- Copyright (c) 2002-2007 Volkswagen Group Electronic Research
- All rights reserved.
- Send feedback to socketcan-users@lists.berlios.de
- */
+#ifndef CAN_H +#define CAN_H
+#include <linux/types.h> +#include <can_error.h> +#include <circbuf.h> +#include <candev.h>
+/* controller area network (CAN) kernel definitions */
+/* special address description flags for the CAN_ID */ +#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ +#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ +#define CAN_ERR_FLAG 0x20000000U /* error frame */
+/* valid bits in CAN ID for frame formats */ +#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ +#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ +#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
+/*
- Controller Area Network Identifier structure
- bit 0-28 : CAN identifier (11/29 bit)
- bit 29 : error frame flag (0 = data frame, 1 = error frame)
- bit 30 : remote transmission request flag (1 = rtr frame)
- bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
- */
+typedef __u32 canid_t;
+/**
- struct can_frame - basic CAN frame structure
- @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
- @can_dlc: the data length field of the CAN frame
- @data: the CAN frame payload.
- */
+struct can_frame {
- canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
- __u8 can_dlc; /* data length code: 0 .. 8 */
- __u8 data[8] __attribute__((aligned(8)));
+};
+/**
- struct can_filter - CAN ID based filter in can_register().
- @can_id: relevant bits of CAN ID which are not masked out.
- @can_mask: CAN mask (see description)
- Description:
- A filter matches, when
<received_can_id> & mask == can_id & mask
- The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
- filter for error frames (CAN_ERR_FLAG bit set in mask).
- */
+struct can_filter {
- canid_t can_id;
- canid_t can_mask;
- struct can_filter* next;
+};
+#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
+//can_device.state +enum can_state {
- CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */
- CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */
- CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */
- CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */
- CAN_STATE_STOPPED, /* Device is stopped */
- CAN_STATE_SLEEPING, /* Device is sleeping */
- CAN_STATE_MAX
+};
+//can_device.stats, refer to net_device_stats +struct can_device_stats +{
- unsigned long rx_packets; /* total packets received */
- unsigned long tx_packets; /* total packets transmitted */
- unsigned long rx_bytes; /* total bytes received */
- unsigned long tx_bytes; /* total bytes transmitted */
- unsigned long rx_errors; /* bad packets received */
- unsigned long tx_errors; /* packet transmit problems */
- unsigned long rx_dropped; /* no space in linux buffers */
- unsigned long tx_dropped; /* no space available in linux */
- unsigned long multicast; /* multicast packets received */
- unsigned long collisions;
- //can stats
- unsigned long error_passive;
- unsigned long error_warning;
- unsigned long arbitration_lost;
- unsigned long bus_error;
+};
+/*queue status definition*/ +#define CAN_QUEUE_INIT 0 +#define CAN_QUEUE_READY 1 +#define CAN_QUEUE_BUSY 2
+#define NAMESIZE_CAN 8
+struct can_device {
- //can core readonly
- char name[NAMESIZE_CAN];
- enum can_state state;
- struct can_device_stats stats;
- //can dev methods
- int (*setbrg)(int, struct can_device*);
- int (*setfilter)(struct can_filter*, struct can_device*);
- int (*open) (struct can_device*);
- int (*start_xmit) (struct can_frame*, struct can_device*);
- int (*close)(struct can_device*);
- //can_core private
- int qstatus; //queue status
- circbuf_t tbuf; //tx buffer
- circbuf_t rbuf; //rx buffer
- //struct can_device *next;
- int index;
+};
+//help routines +static inline void *candev_priv(const struct can_device *dev) { return (void *) dev; } +int register_candev(struct can_device*); +void unregister_candev(struct can_device*); +void canif_rx(struct can_frame*, struct can_device*);
+/* *
- these 3 functions are used to set the queue status
- */
+static inline void canif_stop_queue(struct can_device *dev) {dev->qstatus = CAN_QUEUE_BUSY;} +static inline void canif_start_queue(struct can_device *dev) {dev->qstatus = CAN_QUEUE_READY;} +void canif_wake_queue(struct can_device*);
+//note: these functions must be called before can_open() +int can_init(void);
+/**
- function can_setbrg - set the bus speed of can device
- @brg bus speed to set, unit bps, such as: 250000,1000000 and etc
- @index device to set the speed, should be 0,1,2,....
- @return success->0, or fail->-1
- description:
- please set the speed when the device in reset mode.
- */
+int can_setbrg(int brg, int index);
+/**
- function can_setfilter - set the can id filter
- @filter filter list to be set
- @index device to do the operation, such as 0,1,2 ...
- @return success->0, or fail->-1
- description:
- please set the filter when the device in reset mode.
- */
+int can_setfilter(struct can_filter *filter, int index);
+/**
- function can_open - open a specified can device(or channel) for read/write
- @index index of the can channel to open, value as 0,1,2 ...
- @return device id, for can_send/can_recv ... , in case of fail, return 0
- description:
- can device will leave the reset mode by this operation.
- */
+int can_open(int index);
+/**
- function can_send - send a can frame
- @cf frame to be sent
- @dev_id device to do 'send' operation
- @return success->0, or fail->-1
- description:
- this is non block operation. can_core will store the frame pointer to the tx cirbuf.
- */
+int can_send(struct can_frame *cf, int dev_id);
+/**
- function can_recv - get a can frame from the specified can device(or channel)
- @dev_id can device to read
- @return success-> the pointer to a can frame, fail->0
- description:
- this is non block operation. can_core will get a frame pointer from the rx cirbuf of the device.
- the memory of the frame should be released by caller.
- */
+struct can_frame* can_recv(int dev_id);
+/**
- function can_close - close a specified can device(or channel)
- @dev_id can device to close
- description:
- can_close will do following operation:
- dump the device's tx/rx buffer
- set device into reset mode
- */
+void can_close(int dev_id); +#endif /* CAN_H */ diff --git a/include/can_error.h b/include/can_error.h new file mode 100755 index 0000000..d4127fd --- /dev/null +++ b/include/can_error.h @@ -0,0 +1,93 @@ +/*
- linux/can/error.h
- Definitions of the CAN error frame to be filtered and passed to the user.
- Author: Oliver Hartkopp oliver.hartkopp@volkswagen.de
- Copyright (c) 2002-2007 Volkswagen Group Electronic Research
- All rights reserved.
- Send feedback to socketcan-users@lists.berlios.de
- */
+#ifndef CAN_ERROR_H +#define CAN_ERROR_H
+#define CAN_ERR_DLC 8 /* dlc for error frames */
+/* error class (mask) in can_id */ +#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */ +#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */ +#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */ +#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */ +#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */ +#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */ +#define CAN_ERR_BUSOFF 0x00000040U /* bus off */ +#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */ +#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */
+/* arbitration lost in bit ... / data[0] */ +#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */
/* else bit number in bitstream */+/* error status of CAN-controller / data[1] */ +#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */ +#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */ +#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */ +#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */ +#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */ +#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */
/* (at least one error counter exceeds *//* the protocol-defined level of 127) */+/* error in CAN protocol (type) / data[2] */ +#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_BIT 0x01 /* single bit error */ +#define CAN_ERR_PROT_FORM 0x02 /* frame format error */ +#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */ +#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */ +#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */ +#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */ +#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */ +#define CAN_ERR_PROT_TX 0x80 /* error occured on transmission */
+/* error in CAN protocol (location) / data[3] */ +#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */ +#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */ +#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */ +#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/ +#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */ +#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */ +#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */ +#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */ +#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */ +#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */ +#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */ +#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */ +#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */ +#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */ +#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */ +#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */ +#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */ +#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */ +#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */ +#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */
+/* error status of CAN-transceiver / data[4] */ +/* CANH CANL */ +#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */ +#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */ +#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */ +#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */ +#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */
+/* controller specific additional information / data[5..7] */
+#endif /* CAN_ERROR_H */ diff --git a/include/candev.h b/include/candev.h new file mode 100755 index 0000000..0e0dee7 --- /dev/null +++ b/include/candev.h @@ -0,0 +1,46 @@ +/*
- (C) Copyright 2009 miaofngmiaofng@gmail.com
- See file CREDITS for list of people who contributed to this
- project.
- 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
- */
+/*
- netdev.h - definitions an prototypes for network devices
- */
+#ifndef _CANDEV_H_ +#define _CANDEV_H_
+/*
- Board and CPU-specific initialization functions
- board_eth_init() has highest priority. cpu_eth_init() only
- gets called if board_eth_init() isn't instantiated or fails.
- Return values:
0: success
-1: failure- */
+int board_can_init(void); +void board_can_update(void);
+/* Driver initialization prototypes */ +int sja1000_init(u32 reg_base);
+#endif /* _CANDEV_H_ */ diff --git a/lib_arm/board.c b/lib_arm/board.c old mode 100644 new mode 100755 index 5e3d7f6..aa11dd3 --- a/lib_arm/board.c +++ b/lib_arm/board.c @@ -356,6 +356,8 @@ void start_armboot (void) serial_initialize(); #endif
- can_init();
- /* IP Address */ gd->bd->bi_ip_addr = getenv_IPaddr ("ipaddr");
Hello,
miaofng wrote:
From 1f6aaba856fbf484c442eb33cf220774d57fba8d Mon Sep 17 00:00:00 2001
From: miaofng miaofng@gmail.com Date: Fri, 23 Oct 2009 17:06:50 +0800 Subject: [PATCH] [can] add u-boot sja1000/can support
There are already CAN controllers supported for some board, e.g. ./tqm5200/cmd_stk52xx.c, and a generic CAN device drive interface would be nice to have, indeed. At a first glance I find your Socket-CAN based approach to heavy. Could you please elaborate on the use cases you have in mind.
Wolfgang.
Dear "miaofng",
In message 200910241217470153391@gmail.com you wrote:
From 1f6aaba856fbf484c442eb33cf220774d57fba8d Mon Sep 17 00:00:00 2001 From: miaofng miaofng@gmail.com Date: Fri, 23 Oct 2009 17:06:50 +0800 Subject: [PATCH] [can] add u-boot sja1000/can support
Signed-off-by: miaofng miaofng@gmail.com
Please provide a real name here and in all Copyright entries.
...
diff --git a/drivers/can/can_core.c b/drivers/can/can_core.c new file mode 100755 index 0000000..a723e8a --- /dev/null +++ b/drivers/can/can_core.c @@ -0,0 +1,266 @@ +/*
- Copyright (C) 2009 miaofngmiaofng@gmail.com
- 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 <common.h> +#include <can.h> +#include <malloc.h>
+#define can_debug printf
Why not #define can_debug debug ?
And why not use plain debug() in the first place?
+#define can_error printf
What is this good for? I don't see "can_error" used anywhere?
+#ifdef CONFIG_CMD_CAN +#ifndef CONFIG_CAN_DEV_MAX +#define CONFIG_CAN_DEV_MAX 8 +#endif
+static struct can_device *can_devs[CONFIG_CAN_DEV_MAX]; +#endif
+static inline struct can_device* index_to_cdev(int index) +{
- return (index<CONFIG_CAN_DEV_MAX)? can_devs[index]:0;
+}
+static inline int cdev_to_index(struct can_device *dev) +{
- return (dev)?dev->index:-1;
+}
+static void canif_tx(struct can_device *dev) +{
- struct can_frame *cf;
- int len;
- len = buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf));
- if(len == sizeof(cf)) {
dev->start_xmit(cf, dev);free(cf);- }
+}
This look like Linux code to me which is somewhat out of place in a U-Boot context?
+void canif_rx(struct can_frame *cf, struct can_device *dev) +{
- int len;
- //error frame?
Please do not use any C++ comments. [Fix globally]
- if(cf->can_id&CAN_ERR_FLAG)
- {
Incorrect brace style. Please fix globally.
//error frame, drop itfree(cf);return;- }
- //soft id filter?
- //store to cirbuf
- if(dev->rbuf.size == dev->rbuf.totalsize) {
can_debug("CAN: rx buffer is full\n");dev->stats.rx_dropped ++;free(cf);return;- }
- buf_push(&dev->rbuf, (char*)&cf, sizeof(cf));
+}
+void canif_wake_queue(struct can_device *dev) +{
- canif_start_queue(dev);
- canif_tx(dev);
+}
Are you sure we could need this in U-Boot? Keep in mind that U-Bootis strictly single-tasking.
+int can_init(void) +{ +#ifdef CONFIG_CMD_CAN
- int index;
- for(index = 0; index < CONFIG_CAN_DEV_MAX; index ++) can_devs[index] = 0;
Incorrect indentation.
- board_can_init();
+#endif
- return 0;
+}
No can_init() should be performed at all (and thus not compiled either) if CONFIG_CMD_CAN is not defined.
+/*
- Register the CAN network device
- */
- #ifndef CONFIG_CAN_BUF_TX_SZ
- #define CONFIG_CAN_BUF_TX_SZ (8*sizeof(void*))
- #endif
- #ifndef CONFIG_CAN_BUF_RX_SZ
- #define CONFIG_CAN_BUF_RX_SZ (8*sizeof(void*))
- #endif
Please don't do this right in the middle of a source file. Move to header.
+int register_candev(struct can_device *dev) +{
- int ret;
- int index;
- //insert into the list
- dev->index = -1;
- for(index =0; index < CONFIG_CAN_DEV_MAX; index ++)
- {
if(!can_devs[index]) {can_devs[index] = dev;dev->index = index;break;}- }
- if( dev->index < 0)
can_debug("CAN: too many can devices\n");- //allocate circbuf for tx and rx
- ret = buf_init(&dev->tbuf, CONFIG_CAN_BUF_TX_SZ);
- if(ret != 1) {
can_debug("CAN: cann't init cirbuf of tx\n");can_devs[index] = 0;return -1;- }
- ret = buf_init(&dev->rbuf, CONFIG_CAN_BUF_RX_SZ);
- if(ret != 1) {
can_debug("CAN: cann't init cirbuf of rx\n");can_devs[index] = 0;buf_free(&dev->tbuf);return -1;- }
- dev->qstatus = CAN_QUEUE_INIT;
- //success
- printf("CAN: %s @index %d\n", dev->name, dev->index);
- return 0;
+}
Looks like overkill to me, and doesn;t seem to fit into U-Boot design rules. Please see http://www.denx.de/wiki/U-Boot/DesignPrinciples
+/*
- Unregister the CAN network device
- */
+void unregister_candev(struct can_device *dev) +{
- int index = cdev_to_index(dev);
- if(index < 0) {
can_debug("CAN: invalid para\n");return;- }
- //close the dev first
- can_close((int)dev);
- //release tx/rx buffer
- buf_free(&dev->tbuf);
- buf_free(&dev->rbuf);
- //remove from the list
- can_devs[index] = 0;
+}
Ditto.
+//api +int can_setbrg(int brg, int index) +{
- struct can_device *dev = index_to_cdev(index);
- if(!dev) {
can_debug("CAN: invalid para\n");return -1;- }
- if( dev->state != CAN_STATE_STOPPED) {
can_debug("CAN: invalid dev status<%d>\n", dev->state);return -1;- }
- if(dev->setbrg)
return dev->setbrg(brg, dev);- can_debug("CAN: op not supported by the dev\n");
- return -1;
+}
These error messages should be that, i. e. error messages, no debug. And they could be a bit more self-explanatory. "op not supported" - what's an "op"? Ans which "op" is not supported? Etc.
+int can_open(int index) +{
- struct can_device *dev = index_to_cdev(index);
- if(!dev) {
can_debug("CAN: invalid para\n");return 0;- }
- if(dev->state != CAN_STATE_STOPPED) {
can_debug("CAN: invalid dev status<%d>\n", dev->state);return 0;- }
- if(dev && dev->open) dev->open(dev);
- return (int)dev;
+}
+void can_close(int dev_id) +{
- struct can_device *dev = (struct can_device*) dev_id;
- struct can_frame *cf;
- if(!dev) {
can_debug("CAN: invalid para\n");return;- }
- //can device close
- if(dev->close) dev->close(dev);
- //tbuf,rbuf dump
- while(buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf)) ) free(cf);
- while(buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf)) ) free(cf);
+}
Do we need this? In a single-threaded contxt?
+//non block write +int can_send(struct can_frame *cf, int dev_id) +{
...
+//non block read +struct can_frame* can_recv(int dev_id) +{
...
Please explain how you think this fits into U-Boot context, which is single-threaded by design.
diff --git a/include/candev.h b/include/candev.h new file mode 100755 index 0000000..0e0dee7 --- /dev/null +++ b/include/candev.h
...
+/*
- netdev.h - definitions an prototypes for network devices
- */
Inappropriate comment, it seems?
diff --git a/lib_arm/board.c b/lib_arm/board.c old mode 100644 new mode 100755 index 5e3d7f6..aa11dd3 --- a/lib_arm/board.c +++ b/lib_arm/board.c @@ -356,6 +356,8 @@ void start_armboot (void) serial_initialize(); #endif
- can_init();
- /* IP Address */ gd->bd->bi_ip_addr = getenv_IPaddr ("ipaddr");
Such a change would have to go into a separate patch.
Best regards,
Wolfgang Denk
participants (5)
-
Matthias Fuchs -
miaofng -
Mike Frysinger -
Wolfgang Denk -
Wolfgang Grandegger