From: Wolfgang Grandegger <w...@denx.de>
Signed-off-by: Wolfgang Grandegger <w...@denx.de>
---
ksrc/drivers/can/mscan/rtcan_mscan.c | 180 +++++++++++++++-------------
ksrc/drivers/can/mscan/rtcan_mscan_proc.c | 48 +++++----
2 files changed, 123 insertions(+), 105 deletions(-)
diff --git a/ksrc/drivers/can/mscan/rtcan_mscan.c
b/ksrc/drivers/can/mscan/rtcan_mscan.c
index b5b6489..4975320 100644
--- a/ksrc/drivers/can/mscan/rtcan_mscan.c
+++ b/ksrc/drivers/can/mscan/rtcan_mscan.c
@@ -111,39 +111,41 @@ static inline void rtcan_mscan_rx_interrupt(struct
rtcan_device *dev,
skb->rb_frame_size = EMPTY_RB_FRAME_SIZE;
- frame->can_dlc = regs->canrxfg.dlr & 0x0F;
+ frame->can_dlc = in_8(®s->canrxfg.dlr) & 0x0F;
/* If DLC exceeds 8 bytes adjust it to 8 (for the payload size) */
size = (frame->can_dlc > 8) ? 8 : frame->can_dlc;
- if (regs->canrxfg.idr[1] & MSCAN_BUF_EXTENDED) {
- frame->can_id = ((regs->canrxfg.idr[0] << 21) |
- ((regs->canrxfg.idr[1] & 0xE0) << 13) |
- ((regs->canrxfg.idr[1] & 0x07) << 15) |
- (regs->canrxfg.idr[4] << 7) |
- (regs->canrxfg.idr[5] >> 1));
+ if (in_8(®s->canrxfg.idr[1]) & MSCAN_BUF_EXTENDED) {
+ frame->can_id = ((in_8(®s->canrxfg.idr[0]) << 21) |
+ ((in_8(®s->canrxfg.idr[1]) & 0xE0) << 13) |
+ ((in_8(®s->canrxfg.idr[1]) & 0x07) << 15) |
+ (in_8(®s->canrxfg.idr[4]) << 7) |
+ (in_8(®s->canrxfg.idr[5]) >> 1));
frame->can_id |= CAN_EFF_FLAG;
- if ((regs->canrxfg.idr[5] & MSCAN_BUF_EXT_RTR)) {
+ if ((in_8(®s->canrxfg.idr[5]) & MSCAN_BUF_EXT_RTR)) {
frame->can_id |= CAN_RTR_FLAG;
} else {
for (i = 0; i < size; i++)
frame->data[i] =
- regs->canrxfg.dsr[i + (i / 2) * 2];
+ in_8(®s->canrxfg.dsr[i +
+ (i / 2) * 2]);
skb->rb_frame_size += size;
}
} else {
- frame->can_id = ((regs->canrxfg.idr[0] << 3) |
- (regs->canrxfg.idr[1] >> 5));
+ frame->can_id = ((in_8(®s->canrxfg.idr[0]) << 3) |
+ (in_8(®s->canrxfg.idr[1]) >> 5));
- if ((regs->canrxfg.idr[1] & MSCAN_BUF_STD_RTR)) {
+ if ((in_8(®s->canrxfg.idr[1]) & MSCAN_BUF_STD_RTR)) {
frame->can_id |= CAN_RTR_FLAG;
} else {
for (i = 0; i < size; i++)
frame->data[i] =
- regs->canrxfg.dsr[i + (i / 2) * 2];
+ in_8(®s->canrxfg.dsr[i +
+ (i / 2) * 2]);
skb->rb_frame_size += size;
}
}
@@ -193,7 +195,7 @@ static inline void rtcan_mscan_err_interrupt(struct
rtcan_device *dev,
frame->can_id |= CAN_ERR_BUSOFF;
dev->state = CAN_STATE_BUS_OFF;
/* Disable receiver interrupts */
- regs->canrier = 0;
+ out_8(®s->canrier, 0);
/* Wake up waiting senders */
rtdm_sem_destroy(&dev->tx_sem);
break;
@@ -239,13 +241,14 @@ static int rtcan_mscan_interrupt(rtdm_irq_t *irq_handle)
rtdm_lock_get(&dev->device_lock);
- canrflg = regs->canrflg;
+ canrflg = in_8(®s->canrflg);
ret = RTDM_IRQ_HANDLED;
/* Transmit Interrupt? */
- if ((regs->cantier & MSCAN_TXIE0) && (regs->cantflg & MSCAN_TXE0)) {
- regs->cantier = 0;
+ if ((in_8(®s->cantier) & MSCAN_TXIE0) &&
+ (in_8(®s->cantflg) & MSCAN_TXE0)) {
+ out_8(®s->cantier, 0);
/* Wake up a sender */
rtdm_sem_up(&dev->tx_sem);
@@ -306,7 +309,7 @@ static int rtcan_mscan_interrupt(rtdm_irq_t *irq_handle)
* Only do so for the receiver interrupts.
*/
if (canrflg)
- regs->canrflg = canrflg;
+ out_8(®s->canrflg, canrflg);
if (!recv_lock_free) {
rtdm_lock_put(&rtcan_socket_lock);
@@ -343,8 +346,7 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev,
int ret = 0;
int rinit = 0;
can_state_t state;
- volatile struct mscan_regs *regs =
- (struct mscan_regs *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
u8 reg;
state = dev->state;
@@ -353,10 +355,10 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev,
goto out;
/* Switch to sleep mode */
- regs->canctl0 |= MSCAN_SLPRQ;
- regs->canctl0 |= MSCAN_INITRQ;
+ setbits8(®s->canctl0, MSCAN_SLPRQ);
+ setbits8(®s->canctl0, MSCAN_INITRQ);
- reg = regs->canctl1;
+ reg = in_8(®s->canctl1);
while (!(reg & MSCAN_SLPAK) ||
!(reg & MSCAN_INITAK)) {
if (likely(lock_ctx != NULL))
@@ -366,7 +368,7 @@ static int rtcan_mscan_mode_stop(struct rtcan_device *dev,
if (likely(lock_ctx != NULL))
rtdm_lock_get_irqsave(&dev->device_lock, *lock_ctx);
rinit++;
- reg = regs->canctl1;
+ reg = in_8(®s->canctl1);
}
/* Volatile state could have changed while we slept busy. */
@@ -400,8 +402,7 @@ static int rtcan_mscan_mode_start(struct rtcan_device *dev,
{
int ret = 0, retries = 0;
can_state_t state;
- volatile struct mscan_regs *regs =
- (struct mscan_regs *)dev->base_addr;
+ struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
/* We won't forget that state in the device structure is volatile and
* access to it will not be optimized by the compiler. So ... */
@@ -421,21 +422,21 @@ static int rtcan_mscan_mode_start(struct rtcan_device
*dev,
rtdm_sem_init(&dev->tx_sem, 1);
if ((dev->ctrl_mode & CAN_CTRLMODE_LISTENONLY)) {
- regs->canctl1 |= MSCAN_LISTEN;
+ setbits8(®s->canctl1, MSCAN_LISTEN);
} else {
- regs->canctl1 &= ~MSCAN_LISTEN;
+ clrbits8(®s->canctl1, MSCAN_LISTEN);
}
if ((dev->ctrl_mode & CAN_CTRLMODE_LOOPBACK)) {
- regs->canctl1 |= MSCAN_LOOPB;
+ setbits8(®s->canctl1, MSCAN_LOOPB);
} else {
- regs->canctl1 &= ~MSCAN_LOOPB;
+ clrbits8(®s->canctl1, MSCAN_LOOPB);
}
/* Switch to normal mode */
- regs->canctl0 &= ~MSCAN_INITRQ;
- regs->canctl0 &= ~MSCAN_SLPRQ;
- while ((regs->canctl1 & MSCAN_INITAK) ||
- (regs->canctl1 & MSCAN_SLPAK)) {
+ clrbits8(®s->canctl0, MSCAN_INITRQ);
+ clrbits8(®s->canctl0, MSCAN_SLPRQ);
+ while ((in_8(®s->canctl1) & MSCAN_INITAK) ||
+ (in_8(®s->canctl1) & MSCAN_SLPAK)) {
if (likely(lock_ctx != NULL))
rtdm_lock_put_irqrestore(&dev->device_lock,
*lock_ctx);
@@ -447,13 +448,13 @@ static int rtcan_mscan_mode_start(struct rtcan_device
*dev,
retries++;
}
/* Enable interrupts */
- regs->canrier |= MSCAN_RIER;
+ setbits8(®s->canrier, MSCAN_RIER);
break;
case CAN_STATE_BUS_OFF:
/* Trigger bus-off recovery */
- regs->canrier = MSCAN_RIER;
+ out_8(®s->canrier, MSCAN_RIER);
/* Set up sender "mutex" */
rtdm_sem_init(&dev->tx_sem, 1);
/* Set error active state */
@@ -497,8 +498,8 @@ int rtcan_mscan_set_bit_time(struct rtcan_device *dev,
return -EINVAL;
}
- regs->canbtr0 = btr0;
- regs->canbtr1 = btr1;
+ out_8(®s->canbtr0, btr0);
+ out_8(®s->canbtr1, btr1);
rtdm_printk("%s: btr0=0x%02x btr1=0x%02x\n", dev->name, btr0, btr1);
@@ -544,10 +545,11 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev,
/* Let's take a nap. (Now I REALLY understand
* the meaning of interrupts ...) */
- regs->canrier = 0;
- regs->cantier = 0;
- regs->canctl0 |= MSCAN_SLPRQ /*| MSCAN_INITRQ*/ | MSCAN_WUPE;
- while (!(regs->canctl1 & MSCAN_SLPAK)) {
+ out_8(®s->canrier, 0);
+ out_8(®s->cantier, 0);
+ setbits8(®s->canctl0,
+ MSCAN_SLPRQ /*| MSCAN_INITRQ*/ | MSCAN_WUPE);
+ while (!(in_8(®s->canctl1) & MSCAN_SLPAK)) {
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
/* Busy sleep 1 microsecond */
rtdm_task_busy_sleep(1000);
@@ -556,8 +558,8 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev,
break;
}
rtdm_printk("Fallen asleep after %d tries.\n", retries);
- regs->canctl0 &= ~MSCAN_INITRQ;
- while ((regs->canctl1 & MSCAN_INITAK)) {
+ clrbits8(®s->canctl0, MSCAN_INITRQ);
+ while ((in_8(®s->canctl1) & MSCAN_INITAK)) {
rtdm_lock_put_irqrestore(&dev->device_lock, *lock_ctx);
/* Busy sleep 1 microsecond */
rtdm_task_busy_sleep(1000);
@@ -566,7 +568,7 @@ int rtcan_mscan_set_mode(struct rtcan_device *dev,
break;
}
rtdm_printk("Back to normal after %d tries.\n", retries);
- regs->canrier = MSCAN_WUPIE;
+ out_8(®s->canrier, MSCAN_WUPIE);
mode_sleep_out:
dev->state = state;
@@ -596,16 +598,15 @@ static int rtcan_mscan_start_xmit(struct rtcan_device
*dev, can_frame_t *frame)
unsigned char size;
/* Content of frame information register */
unsigned char dlc;
-
struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
/* Is TX buffer empty? */
- if (!(regs->cantflg & MSCAN_TXE0)) {
+ if (!(in_8(®s->cantflg) & MSCAN_TXE0)) {
rtdm_printk("rtcan_mscan_start_xmit: TX buffer not empty");
return -EIO;
}
/* Select the buffer we've found. */
- regs->cantbsel = MSCAN_TXE0;
+ out_8(®s->cantbsel, MSCAN_TXE0);
/* Get DLC and ID */
dlc = frame->can_dlc;
@@ -615,51 +616,51 @@ static int rtcan_mscan_start_xmit(struct rtcan_device
*dev, can_frame_t *frame)
id = frame->can_id;
if (frame->can_id & CAN_EFF_FLAG) {
- regs->cantxfg.idr[0] = (id & 0x1fe00000) >> 21;
- regs->cantxfg.idr[1] = (id & 0x001c0000) >> 13;
- regs->cantxfg.idr[1] |= (id & 0x00038000) >> 15;
- regs->cantxfg.idr[1] |= 0x18; /* set SRR and IDE bits */
+ out_8(®s->cantxfg.idr[0], (id & 0x1fe00000) >> 21);
+ out_8(®s->cantxfg.idr[1], ((id & 0x001c0000) >> 13) |
+ ((id & 0x00038000) >> 15) |
+ 0x18); /* set SRR and IDE bits */
- regs->cantxfg.idr[4] = (id & 0x00007f80) >> 7 ;
- regs->cantxfg.idr[5] = (id & 0x0000007f) << 1 ;
+ out_8(®s->cantxfg.idr[4], (id & 0x00007f80) >> 7);
+ out_8(®s->cantxfg.idr[5], (id & 0x0000007f) << 1);
/* RTR? */
if (frame->can_id & CAN_RTR_FLAG)
- regs->cantxfg.idr[5] |= 0x1;
+ setbits8(®s->cantxfg.idr[5], 0x1);
else {
- regs->cantxfg.idr[5] &= ~0x1;
+ clrbits8(®s->cantxfg.idr[5], 0x1);
/* No RTR, write data bytes */
for (i = 0; i < size; i++)
- regs->cantxfg.dsr[i + (i / 2) * 2] =
- frame->data[i];
+ out_8(®s->cantxfg.dsr[i + (i / 2) * 2],
+ frame->data[i]);
}
} else {
/* Send standard frame */
- regs->cantxfg.idr[0] = (id & 0x000007f8) >> 3;
- regs->cantxfg.idr[1] = (id & 0x00000007) << 5;
+ out_8(®s->cantxfg.idr[0], (id & 0x000007f8) >> 3);
+ out_8(®s->cantxfg.idr[1], (id & 0x00000007) << 5);
/* RTR? */
if (frame->can_id & CAN_RTR_FLAG)
- regs->cantxfg.idr[1] |= 0x10;
+ setbits8(®s->cantxfg.idr[1], 0x10);
else {
- regs->cantxfg.idr[1] &= ~0x10;
+ clrbits8(®s->cantxfg.idr[1], 0x10);
/* No RTR, write data bytes */
for (i = 0; i < size; i++)
- regs->cantxfg.dsr[i + (i / 2) * 2] =
- frame->data[i];
+ out_8(®s->cantxfg.dsr[i + (i / 2) * 2],
+ frame->data[i]);
}
}
- regs->cantxfg.dlr = frame->can_dlc;
- regs->cantxfg.tbpr = 0; /* all messages have the same prio */
+ out_8(®s->cantxfg.dlr, frame->can_dlc);
+ out_8(®s->cantxfg.tbpr, 0); /* all messages have the same prio */
/* Trigger transmission. */
- regs->cantflg = MSCAN_TXE0;
+ out_8(®s->cantflg, MSCAN_TXE0);
/* Enable interrupt. */
- regs->cantier |= MSCAN_TXIE0;
+ setbits8(®s->cantier, MSCAN_TXIE0);
return 0;
}
@@ -678,26 +679,35 @@ static inline void __init mscan_chip_config(struct
mscan_regs *regs)
{
/* Choose IP bus as clock source.
*/
- regs->canctl1 |= MSCAN_CLKSRC;
- regs->canctl1 &= ~MSCAN_LISTEN;
+ setbits8(®s->canctl1, MSCAN_CLKSRC);
+ clrbits8(®s->canctl1, MSCAN_LISTEN);
/* Configure MSCAN to accept all incoming messages.
*/
- regs->canidar0 = regs->canidar1 = 0x00;
- regs->canidar2 = regs->canidar3 = 0x00;
- regs->canidmr0 = regs->canidmr1 = 0xFF;
- regs->canidmr2 = regs->canidmr3 = 0xFF;
- regs->canidar4 = regs->canidar5 = 0x00;
- regs->canidar6 = regs->canidar7 = 0x00;
- regs->canidmr4 = regs->canidmr5 = 0xFF;
- regs->canidmr6 = regs->canidmr7 = 0xFF;
- regs->canidac &= ~(MSCAN_IDAM0 | MSCAN_IDAM1);
+ out_8(®s->canidar0, 0x00);
+ out_8(®s->canidar1, 0x00);
+ out_8(®s->canidar2, 0x00);
+ out_8(®s->canidar3, 0x00);
+ out_8(®s->canidmr0, 0xFF);
+ out_8(®s->canidmr1, 0xFF);
+ out_8(®s->canidmr2, 0xFF);
+ out_8(®s->canidmr3, 0xFF);
+ out_8(®s->canidar4, 0x00);
+ out_8(®s->canidar5, 0x00);
+ out_8(®s->canidar6, 0x00);
+ out_8(®s->canidar7, 0x00);
+ out_8(®s->canidmr4, 0xFF);
+ out_8(®s->canidmr5, 0xFF);
+ out_8(®s->canidmr6, 0xFF);
+ out_8(®s->canidmr7, 0xFF);
+ clrbits8(®s->canidac, MSCAN_IDAM0 | MSCAN_IDAM1);
}
static inline void __init mscan_gpio_config(void)
{
struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO;
int can_to_psc2 = -1;
+ u32 port_config;
#if defined(CONFIG_XENO_DRIVERS_CAN_MSCAN_ALT)
can_to_psc2 = 0;
@@ -725,15 +735,17 @@ static inline void __init mscan_gpio_config(void)
return;
}
+ port_config = in_be32(&gpio->port_config);
if (can_to_psc2) {
- gpio->port_config &= ~0x10000070;
- gpio->port_config |= 0x00000010;
+ port_config &= ~0x10000070;
+ port_config |= 0x00000010;
printk("%s: CAN 1 and 2 routed to PSC2 pins\n", RTCAN_DRV_NAME);
} else {
- gpio->port_config |= 0x10000000;
+ port_config |= 0x10000000;
printk("%s: CAN 1 routed to I2C1 pins and CAN2 to TMR01 pins\n",
RTCAN_DRV_NAME);
}
+ out_be32(&gpio->port_config, port_config);
}
static inline int mscan_get_config(unsigned long *addr, unsigned int *irq)
@@ -795,7 +807,7 @@ int __init rtcan_mscan_init_one(int idx, unsigned long
addr, int irq)
regs = (struct mscan_regs *)dev->base_addr;
/* Enable MSCAN module. */
- regs->canctl1 |= MSCAN_CANE;
+ setbits8(®s->canctl1, MSCAN_CANE);
udelay(100);
/* Set dummy state for following call */
@@ -847,7 +859,7 @@ out_irq_free:
out_iounmap:
/* Disable MSCAN module. */
- regs->canctl1 &= ~MSCAN_CANE;
+ clrbits8(®s->canctl1, MSCAN_CANE);
iounmap((void *)dev->base_addr);
out_dev_free:
diff --git a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c
b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c
index 5671cad..cfddfb7 100644
--- a/ksrc/drivers/can/mscan/rtcan_mscan_proc.c
+++ b/ksrc/drivers/can/mscan/rtcan_mscan_proc.c
@@ -28,7 +28,8 @@
#include "rtcan_internal.h"
#include "rtcan_mscan_regs.h"
-#define MSCAN_REG_ARGS(reg) "%-8s 0x%02x\n", #reg, (int)((regs)->reg) & 0xff
+#define MSCAN_REG_ARGS(reg) \
+ "%-8s 0x%02x\n", #reg, (int)(in_8(®s->reg)) & 0xff
#ifdef CONFIG_XENO_DRIVERS_CAN_DEBUG
@@ -38,30 +39,34 @@ static int rtcan_mscan_proc_regs(char *buf, char **start,
off_t offset,
struct rtcan_device *dev = (struct rtcan_device *)data;
struct mscan_regs *regs = (struct mscan_regs *)dev->base_addr;
struct mpc5xxx_gpio *gpio = (struct mpc5xxx_gpio *)MPC5xxx_GPIO;
+ u8 canctl0, canctl1;
+ u32 port_config;
RTCAN_PROC_PRINT_VARS(80);
if (!RTCAN_PROC_PRINT("MSCAN registers at %p\n", regs))
goto done;
+ canctl0 = in_8(®s->canctl0);
if (!RTCAN_PROC_PRINT("canctl0 0x%02x%s%s%s%s%s%s%s%s\n",
- regs->canctl0,
- (regs->canctl0 & MSCAN_RXFRM) ? " rxfrm" :"",
- (regs->canctl0 & MSCAN_RXACT) ? " rxact" :"",
- (regs->canctl0 & MSCAN_CSWAI) ? " cswai" :"",
- (regs->canctl0 & MSCAN_SYNCH) ? " synch" :"",
- (regs->canctl0 & MSCAN_TIME) ? " time" :"",
- (regs->canctl0 & MSCAN_WUPE) ? " wupe" :"",
- (regs->canctl0 & MSCAN_SLPRQ) ? " slprq" :"",
- (regs->canctl0 & MSCAN_INITRQ)? " initrq":"" ))
+ canctl0,
+ (canctl0 & MSCAN_RXFRM) ? " rxfrm" :"",
+ (canctl0 & MSCAN_RXACT) ? " rxact" :"",
+ (canctl0 & MSCAN_CSWAI) ? " cswai" :"",
+ (canctl0 & MSCAN_SYNCH) ? " synch" :"",
+ (canctl0 & MSCAN_TIME) ? " time" :"",
+ (canctl0 & MSCAN_WUPE) ? " wupe" :"",
+ (canctl0 & MSCAN_SLPRQ) ? " slprq" :"",
+ (canctl0 & MSCAN_INITRQ)? " initrq":"" ))
goto done;
+ canctl1 = in_8(®s->canctl1);
if (!RTCAN_PROC_PRINT("canctl1 0x%02x%s%s%s%s%s%s%s\n",
- regs->canctl1,
- (regs->canctl1 & MSCAN_CANE) ? " cane" :"",
- (regs->canctl1 & MSCAN_CLKSRC)? " clksrc":"",
- (regs->canctl1 & MSCAN_LOOPB) ? " loopb" :"",
- (regs->canctl1 & MSCAN_LISTEN)? " listen":"",
- (regs->canctl1 & MSCAN_WUPM) ? " wump" :"",
- (regs->canctl1 & MSCAN_SLPAK) ? " slpak" :"",
- (regs->canctl1 & MSCAN_INITAK)? " initak":""))
+ canctl1,
+ (canctl1 & MSCAN_CANE) ? " cane" :"",
+ (canctl1 & MSCAN_CLKSRC)? " clksrc":"",
+ (canctl1 & MSCAN_LOOPB) ? " loopb" :"",
+ (canctl1 & MSCAN_LISTEN)? " listen":"",
+ (canctl1 & MSCAN_WUPM) ? " wump" :"",
+ (canctl1 & MSCAN_SLPAK) ? " slpak" :"",
+ (canctl1 & MSCAN_INITAK)? " initak":""))
goto done;
if (!RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canbtr0 )) |
!RTCAN_PROC_PRINT(MSCAN_REG_ARGS(canbtr1 )) |
@@ -95,10 +100,11 @@ static int rtcan_mscan_proc_regs(char *buf, char **start,
off_t offset,
if (!RTCAN_PROC_PRINT("GPIO registers\n"))
goto done;
- if (!RTCAN_PROC_PRINT("port_config 0x%08x %s\n", gpio->port_config,
- (gpio->port_config & 0x10000000 ?
+ port_config = in_be32(&gpio->port_config);
+ if (!RTCAN_PROC_PRINT("port_config 0x%08x %s\n", port_config,
+ (port_config & 0x10000000 ?
"CAN1 on I2C1, CAN2 on TMR0/1 pins":
- (gpio->port_config & 0x70) == 0x10 ?
+ (port_config & 0x70) == 0x10 ?
"CAN1/2 on PSC2 pins": "MSCAN1/2 not routed")))
goto done;
--
1.6.2.5
_______________________________________________
Xenomai-core mailing list
Xenomai-core@gna.org
https://mail.gna.org/listinfo/xenomai-core
