canbus.c

RTEMS (Real-Time Executive for Multiprocessor Systems) is a free open source real-time operating sys

    candev[i]->msg10.cfg   = I82527_MSG_CFG_DIR ;        /* dir is xmit */
    candev[i]->msg10.ctrl0 = I82527_MSG_CTRL_MSGVAL_CLR |/* this msg invalid */
                             I82527_MSG_CTRL_TXIE_CLR   |/* no tx interrupts */
                             I82527_MSG_CTRL_RXIE_CLR  | /* no rx interrupts */
                             I82527_MSG_CTRL_INTPND_CLR; 

    candev[i]->msg11.cfg   = I82527_MSG_CFG_DIR ;        /* dir is xmit */
    candev[i]->msg11.ctrl0 = I82527_MSG_CTRL_MSGVAL_CLR |/* this msg invalid */
                             I82527_MSG_CTRL_TXIE_CLR   |/* no tx interrupts */
                             I82527_MSG_CTRL_RXIE_CLR   |/* no rx interrupts */
                             I82527_MSG_CTRL_INTPND_CLR; 

    candev[i]->msg12.cfg   = I82527_MSG_CFG_DIR ;        /* dir is xmit */
    candev[i]->msg12.ctrl0 = I82527_MSG_CTRL_MSGVAL_CLR |/* this msg invalid */
                             I82527_MSG_CTRL_TXIE_CLR   |/* no tx interrupts */
                             I82527_MSG_CTRL_RXIE_CLR   |/* no rx interrupts */
                             I82527_MSG_CTRL_INTPND_CLR; 

    candev[i]->msg13.cfg   = I82527_MSG_CFG_DIR ;        /* dir is xmit */
    candev[i]->msg13.ctrl0 = I82527_MSG_CTRL_MSGVAL_CLR |/* this msg invalid */
                             I82527_MSG_CTRL_TXIE_CLR   |/* no tx interrupts */
                             I82527_MSG_CTRL_RXIE_CLR   |/* no rx interrupts */
                             I82527_MSG_CTRL_INTPND_CLR; 

    candev[i]->msg14.cfg   = I82527_MSG_CFG_DIR ;        /* dir is xmit */
    candev[i]->msg14.ctrl0 = I82527_MSG_CTRL_MSGVAL_CLR |/* this msg invalid */
                             I82527_MSG_CTRL_TXIE_CLR   |/* no tx interrupts */
                             I82527_MSG_CTRL_RXIE_CLR   |/* no rx interrupts */
                             I82527_MSG_CTRL_INTPND_CLR; 

    candev[i]->msg15.cfg   = 0 ;        /* dir is rcv */
    candev[i]->msg15.ctrl0 = I82527_MSG_CTRL_MSGVAL_CLR |/* this msg invalid */
                             I82527_MSG_CTRL_TXIE_CLR   |/* no tx interrupts */
                             I82527_MSG_CTRL_RXIE_CLR   |/* no rx interrupts */
                             I82527_MSG_CTRL_INTPND_CLR;
    candev[i]->msg15.ctrl1 = I82527_MSG_CTRL_RMTPND_CLR |
                             I82527_MSG_CTRL_TXRQ_CLR   |
                             I82527_MSG_CTRL_MSGLST_CLR |
                             I82527_MSG_CTRL_NEWDAT_CLR;

  }

  if ((status=rtems_io_register_name ("/dev/can0", major, 0)) !=
      RTEMS_SUCCESSFUL) {
    rtems_fatal_error_occurred (status);
  }
  if ((status=rtems_io_register_name ("/dev/can1", major, 1)) !=
      RTEMS_SUCCESSFUL) {
    rtems_fatal_error_occurred (status);
  }
  if ((status=rtems_io_register_name ("/dev/can2", major, 2)) !=
      RTEMS_SUCCESSFUL) {
    rtems_fatal_error_occurred (status);
  }
  return RTEMS_SUCCESSFUL;
}

rtems_device_driver canbus_open(
  rtems_device_major_number major,
  rtems_device_minor_number minor,
  void                    * arg
)
{
    /* msg is in use, rx interrupts are enabled */
  candev[minor]->msg15.ctrl0 = 0xff & (I82527_MSG_CTRL_MSGVAL_SET |
                                       I82527_MSG_CTRL_RXIE_SET);
    
  candev[minor]->ctrl |= I82527_CTRL_IE;
  candev[minor]->ctrl &= ~(I82527_CTRL_CCE | I82527_CTRL_INIT);
  switch (minor) {
  case 0: m8xx.simask |= M8xx_SIMASK_IRM3; break;
  case 1: m8xx.simask |= M8xx_SIMASK_IRM4; break;
  case 2: m8xx.simask |= M8xx_SIMASK_IRM2; break;
  default: return 0xffffffff;
  }

  return RTEMS_SUCCESSFUL;
}

rtems_device_driver canbus_close(
  rtems_device_major_number major,
  rtems_device_minor_number minor,
  void                    * arg
)
{
  /* msg is not in use, rx & txinterrupts are disbled */
  candev[minor]->msg15.ctrl0 = 0xff & (I82527_MSG_CTRL_MSGVAL_CLR |
                                       I82527_MSG_CTRL_RXIE_CLR |
                                       I82527_MSG_CTRL_TXIE_CLR);
    
  /* Take transceiver off the bus, enable cfg. reg. writes */
  candev[minor]->ctrl |= (I82527_CTRL_CCE | I82527_CTRL_INIT);
    
  return RTEMS_SUCCESSFUL;
}


rtems_device_driver canbus_read(
  rtems_device_major_number major,
  rtems_device_minor_number minor,
  void                    * arg
)
{
  i82527_msg_t *msg;
  int i;
  int tmpHead;

  msg = arg;
  tmpHead = rxMsgBufHead[minor];

  while (1){
    if ((tmpHead == rxMsgBufTail[minor]) && 
        !(rxMsgBuf[minor][tmpHead].ctrl1 & I82527_MSG_CTRL_NEWDAT)) {
      break;
    }
    if (rxMsgBuf[minor][tmpHead].ctrl1 & I82527_MSG_CTRL_NEWDAT) {
      int pkt_len;
      msg->ctrl0 = rxMsgBuf[minor][tmpHead].ctrl0;
      msg->ctrl1 = rxMsgBuf[minor][tmpHead].ctrl1;
      msg->arb = rxMsgBuf[minor][tmpHead].arb;
      msg->cfg = rxMsgBuf[minor][tmpHead].cfg;
      
      pkt_len = (msg->cfg >> 4) & 0xf;
      for (i=0; i<pkt_len; i++) {
        msg->data[i] = rxMsgBuf[minor][tmpHead].data[i];
      }
      rxMsgBuf[minor][tmpHead].ctrl1 = 0xff & I82527_MSG_CTRL_NEWDAT_CLR;

      tmpHead++;
      if (tmpHead == RX_CAN_BUF_SIZE) {
        tmpHead = 0;
      }
      rxMsgBufHead[minor] = tmpHead;

      return RTEMS_SUCCESSFUL;

    }

    tmpHead++;
    if (tmpHead == RX_CAN_BUF_SIZE) {
      tmpHead = 0;
    }
    if (tmpHead == rxMsgBufHead[minor]) {
      break;
    }
  }

  return RTEMS_UNSATISFIED;

}
    
rtems_device_driver canbus_write(
  rtems_device_major_number major,
  rtems_device_minor_number minor,
  void                    * arg
)
{
  i82527_msg_t *msg;
  int i;

  msg = arg;
  while(candev[minor]->msg1.ctrl1 & I82527_MSG_CTRL_TXRQ){
    continue;
  }
  candev[minor]->msg1.ctrl1  = 0xff & I82527_MSG_CTRL_CPUUPD_SET;

  candev[minor]->msg1.cfg = msg->cfg;
  candev[minor]->msg1.arb = msg->arb;

  for (i=0; i < ((msg->cfg >> 4) & 0xff);  i++) {
    candev[minor]->msg1.data[i] = msg->data[i];
  }

  candev[minor]->msg1.ctrl0  = 0xff & (I82527_MSG_CTRL_INTPND_CLR |
                                       I82527_MSG_CTRL_MSGVAL_SET |
                                       I82527_MSG_CTRL_TXIE_CLR);
  candev[minor]->msg1.cfg    |= I82527_MSG_CFG_DIR;
  candev[minor]->msg1.ctrl1  = 0xff & (I82527_MSG_CTRL_NEWDAT_SET |
                                       I82527_MSG_CTRL_CPUUPD_CLR |
                                       I82527_MSG_CTRL_TXRQ_SET);



  return RTEMS_SUCCESSFUL;
}
rtems_device_driver canbus_control(
  rtems_device_major_number major,
  rtems_device_minor_number minor,
  void                    * arg
)
{
  return RTEMS_SUCCESSFUL;
}


/* part of old canbus_read */
#if 0 
  for (i=0; i < RX_CAN_BUF_SIZE) {
    if (rxMsgBuf[minor][i].ctrl1 & I82527_MSG_CTRL_NEWDAT)
      break;
  }

  if (i < RX_CAN_BUF_SIZE) {
    int pkt_len;
    int j;
    msg.arb = rxMsgBuf[minor][i].arb;
    msg.cfg = rxMsgBuf[minor][i].cfg;
    
    pkt_len = (msg.cfg >> 4) & 0xf;

    for (j=0; j < pkt_len; j++) 
      msg.data[j] = rxMsgBuf[minor][i].data[j];
  
  
  /* wait until there is a msg */
  while (!(candev->msg15.ctrl1 & I82527_MSG_CTRL_NEWDAT))
     continue;
 
  msg->ctrl1 = candev->msg15.ctrl1;
  msg->cfg = candev->msg15.cfg;
  msg->arb = candev->msg15.arb;

  for (i=0; i < ((candev->msg15.cfg >> 4) & 0xff);  i++) {
    msg->data[i] = candev->msg15.data[i];
  }

  candev->msg15.ctrl0  = 0xff & (I82527_MSG_CTRL_MSGVAL_SET |
                                 I82527_MSG_CTRL_INTPND_CLR);
  candev->msg15.ctrl1  = 0xff & (I82527_MSG_CTRL_NEWDAT_CLR | 
                                 I82527_MSG_CTRL_RMTPND_CLR);

  candev->status = 0x0;


  return RTEMS_SUCCESSFUL;
#endif