📄 mcpcan.c
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#include <linux/unistd.h>#include <linux/module.h>#include <asm-arm/arch-s3c2410/S3C2410.h>#include <asm-arm/arch-s3c2410/irqs.h>#if defined(CONFIG_SMP)#define __SMP__#endif#if defined(CONFIG_MODVERSIONS)#define MODVERSIONS#endif#include <linux/sched.h>#include <linux/kernel.h>#include <linux/fs.h>#include <linux/errno.h> /* for -EBUSY *///#include <linux/malloc.h>#include <linux/slab.h>#include <linux/ioport.h> /* for verify_area */#include <linux/mm.h>#include <linux/interrupt.h>#include <linux/tqueue.h>#include <linux/timer.h>#include <linux/delay.h>#include <linux/types.h>#include <linux/init.h> /* for module_init */#include <linux/module.h>#include <asm/io.h>#include <asm/segment.h>#include <asm/irq.h>#include <asm/signal.h>#include <asm/siginfo.h>#include <asm/uaccess.h> /* for get_user and put_user */#include <asm/fcntl.h>#include <asm/cache.h>#include <asm/atomic.h>//#include <asm-arm/arch-s3c2410/S3C2410_2.h>#include <sys/syscall.h>//#include <asm-arm/arch-s3c2410/S3C2410_2.h>//#include <asm-arm/arch-s3c2410/S3C2410_2.h>//#include "S3C2410_2.h"#include "mcpcan.h"#include "spi_cmd.h"
#include "spi.h"#define MCP2510_FLAG
#define BUF_SIZE sizeof(struct MCP_device) * 100//#define DEBUG#ifdef DEBUG#define DbgPrintk(S) printk(S)#else#define DbgPrintk(S)#endifstruct MCP_device { volatile unsigned long RecvBuf; volatile unsigned long RecvHead; volatile unsigned long RecvTail; volatile unsigned long RecvNum; wait_queue_head_t inq; //or use as a global variable struct semaphore sem; //semaphore used for mutex unsigned int IrqNum; unsigned int MinorNum;/*device minor number*/ unsigned int BaudRate; unsigned char *SendBuf; unsigned int SendNum; volatile unsigned long SendHead; volatile unsigned long SendTail;}__attribute__((aligned(L1_CACHE_BYTES),packed)); /*****************************Variable define*******************************/unsigned int MCP_major = MCP_MAJOR;struct MCP_device *Device[MCP_NUM];unsigned int MCP_irq[MCP_NUM] = {IRQ_EINT4_7,IRQ_EINT8_23};static char *MCP_name[MCP_NUM] = {"mcpcan0","mcpcan1"};/*****************************SJA device initialize*************************///这个函数用来对struct MCP_device进行初始化static int MCP_device_init(void){ int res,i; for(i=0;i<MCP_NUM;i++) { Device[i] = kmalloc(sizeof(struct MCP_device),GFP_KERNEL); //malloc the device struct if(Device[i] == NULL) { printk(KERN_ALERT"allocate device memory failed.\n"); return(-ENOMEM); } memset((char *)Device[i],0,sizeof(struct MCP_device)); //Device[i]->RecvBuf = (unsigned char *)get_free_page(GFP_KERNEL); //malloc the recv buffer Device[i]->RecvBuf = (unsigned long)kmalloc(sizeof(struct MCP_device) * 100,GFP_KERNEL); //malloc the recv buffer if(Device[i]->RecvBuf == 0) { printk(KERN_ALERT"allocate Recv memory failed.\n"); return(-ENOMEM); } memset((char *)Device[i]->RecvBuf,0,sizeof(struct MCP_device) * 100); Device[i]->RecvHead = Device[i]->RecvBuf; Device[i]->RecvTail = Device[i]->RecvBuf; Device[i]->RecvNum = 0; //Device[i]->RecvQueue = NULL; //Device[i]->SendBuf = (unsigned char *)get_free_page(GFP_KERNEL); //malloc the send buffer Device[i]->SendBuf = kmalloc(sizeof(struct MCP_device) * 100,GFP_KERNEL); //malloc the send buffer if(Device[i]->SendBuf == NULL) { printk(KERN_ALERT"allocate Send memory failed.\n"); return(-ENOMEM); } memset((char *)Device[i]->SendBuf,0,sizeof(struct MCP_device) * 100); Device[i]->MinorNum = i; //Device[i]->FrameMode = 1; Device[i]->IrqNum = MCP_irq[i]; //Device[i]->BaudRate = MCP_baudrate[i]; init_waitqueue_head(&(Device[i]->inq)); //init_waitqueue_head(&(Device[i]->outq)); init_MUTEX(&(Device[i]->sem)); } return 0;}/*****************************MCP device initialize*************************//* Initialize the mcp2510 */
void MCP2510_Init(int MinorNum )
{
// Configure the SPI Interface in MX1
//int canstat = 0; SPI_Init( );
// Configure the mcp2510 through spi interface
// Reset controller
CAN_SPI_CMD( SPI_CMD_RESET, ARG_UNUSED, ARG_UNUSED, ARG_UNUSED );
CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANCTRL)), 0xe0, 0x80 ); // CONFIG MODE
// make sure we are in configuration mode
while( (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->CANSTAT)), ARG_UNUSED, ARG_UNUSED )>>5)!=0x04 );
// start configuration
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->BFPCTRL)), BFPCTRL_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXRTSCTRL)), TXRTSCTRL_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CNF3)), CNF3_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CNF2)), CNF2_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CNF1)), CNF1_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CANINTE)), CANINTE_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CANINTF)), CANINTF_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->EFLG)), EFLG_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0CTRL)), TXBnCTRL_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB1CTRL)), TXBnCTRL_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB2CTRL)), TXBnCTRL_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->RXB0CTRL)), RXB1CTRL_INIT_VAL, ARG_UNUSED);
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->RXB1CTRL)), RXB1CTRL_INIT_VAL, ARG_UNUSED);
// switch to normal mode or loopback mode ( for testing)
//CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANCTRL)), 0xe0, 0x40 ); // LOOP BACK MODE
CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANCTRL)), 0xe0, 0x00 ); // NORMAL OPERATION MODE
// Flush the MX1 SPI receive buffer
CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->CANSTAT)), ARG_UNUSED, ARG_UNUSED );
}/* Transmit data */
/*
TxBuf : select the transmit buffer( 0=buffer0 or 1=buffer1 2=buffer2 )
IdType : 0=standard id or 1=extended id
id : frame identifier
DataLen : the number of byte
data : the pointer to data byte
*/void MCP2510_TX( int TxBuf, int IdType, unsigned int id, int DataLen, char * data )
{
int i, offset;
switch( TxBuf ){
case TXBUF0:
offset = 0;
break;
case TXBUF1:
offset = 0x10;
break;
case TXBUF2:
offset = 0x20;
break;
}
// Set the frame identifier
if( IdType==STANDID ){
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0SIDL))+offset, (id&0x7)<<5, ARG_UNUSED );
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0SIDH))+offset, (id>>3)&0xff, ARG_UNUSED );
}else if( IdType==EXTID ){
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0EID0))+offset, id&0xff, ARG_UNUSED );
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0EID8))+offset, (id>>8)&0xff, ARG_UNUSED );
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0SIDL)), ((id>>16)&0x3)|0x08, ARG_UNUSED );
}
// Set the data length
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0DLC))+offset, DataLen, ARG_UNUSED );
// fill the data
if( DataLen>8 )
DataLen = 8;
for( i=0; i<DataLen; i++ ){
CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0D0))+offset+i, data[i], ARG_UNUSED );
} // initiate transmit i = 0; while( CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->TXB0CTRL))+offset, ARG_UNUSED, ARG_UNUSED )&0x08 ){ i++; if(i == 1000)printk("Please connect the CAN PORT with wire."); } CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->TXB0CTRL))+offset, 0x08, 0x08 );}
/* Receive data */
/*
* RxBuf : The receive buffer from which the data is get
* IdType : Identifier type of the data frame ( STANDID, EXTID )
* id : The identifier of the received frame
* DataLen : The number of bytes received
* data : The received data
*/
void MCP2510_RX( int RxBuf, int *IdType, unsigned int *id, int *DataLen, char *data )
{
unsigned int flag;
int offset, i;
switch( RxBuf ){
case RXBUF0:
flag = 0x1;
offset = 0x00;
break;
case RXBUF1:
flag = 0x2;
offset = 0x10;
break;
}
// wait for a frame to com
while( !(CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->CANINTF)), ARG_UNUSED, ARG_UNUSED )&flag) ); // Get the identifier
if( CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDL))+offset, ARG_UNUSED, ARG_UNUSED )&0x08 ){
// Extended identifier
if( IdType )
*IdType = EXTID;
if( id ){
*id = (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDL))+offset, ARG_UNUSED, ARG_UNUSED )&0x3)<<16;
*id |= (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0EID8))+offset, ARG_UNUSED, ARG_UNUSED ))<<8;
*id |= (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0EID0))+offset, ARG_UNUSED, ARG_UNUSED ));
}
}else{
// Standard identifier
if( IdType )
*IdType = STANDID;
if( id ){
*id = (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDH))+offset, ARG_UNUSED, ARG_UNUSED ))<<3;
*id |= (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDL))+offset, ARG_UNUSED, ARG_UNUSED ))>>5;
}
}
// Get the data frame lenth
if( DataLen )
*DataLen = (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0DLC))+offset, ARG_UNUSED, ARG_UNUSED )&0xf);
// Get the data
for( i=0; DataLen&&(i<*DataLen)&&data; i++ ){
data[i] = CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0D0))+offset+i, ARG_UNUSED, ARG_UNUSED );
}
// clear the receive int flag
CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANINTF)), flag, 0x00 );
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