This patch adds support for SJA1000 based PCI CAN interface cards from electronic system design gmbh.
The following list of boards are supported: CAN-PCI/200 (tested) CAN-PCI/266 CAN-PMC266 CAN-PCIe/2000 CAN-CPCI/200 CAN-PCI104 The patch is based on the Socket-CAN driver for those boards by Matthias Fuchs. Signed-off-by: Sebastian Smolorz <smol...@rts.uni-hannover.de> --
ksrc/drivers/can/sja1000/Kconfig | 11 + ksrc/drivers/can/sja1000/Makefile | 7 + ksrc/drivers/can/sja1000/rtcan_esd_pci.c | 354 ++++++++++++++++++++++++++++++ 3 files changed, 372 insertions(+), 0 deletions(-)
diff --git a/ksrc/drivers/can/sja1000/Kconfig b/ksrc/drivers/can/sja1000/Kconfig index 4d0ed48..53abdd9 100644 --- a/ksrc/drivers/can/sja1000/Kconfig +++ b/ksrc/drivers/can/sja1000/Kconfig @@ -52,6 +52,17 @@ config XENO_DRIVERS_CAN_SJA1000_EMS_PCI working, Xenomai's shared interrupt support must be enabled. +config XENO_DRIVERS_CAN_SJA1000_ESD_PCI + depends on XENO_DRIVERS_CAN_SJA1000 + tristate "ESD PCI Cards" + help + + This driver supports the esd PCI CAN cards CAN-PCI/200, + CAN-PCI/266, CAN-PMC/266 (PMC), CAN-CPCI/200 (CompactPCI), + CAN-PCIe2000 (PCI Express) and CAN-PCI104/200 (PCI104) + from the esd electronic system design gmbh (http://www.esd.eu). + + config XENO_DRIVERS_CAN_SJA1000_PEAK_DNG depends on XENO_DRIVERS_CAN_SJA1000 tristate "PEAK Parallel Port Dongle" diff --git a/ksrc/drivers/can/sja1000/Makefile b/ksrc/drivers/can/sja1000/Makefile index 1db102e..09a03ab 100644 --- a/ksrc/drivers/can/sja1000/Makefile +++ b/ksrc/drivers/can/sja1000/Makefile @@ -9,6 +9,7 @@ obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PEAK_PCI) += xeno_can_peak_pci.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PEAK_DNG) += xeno_can_peak_dng.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_IXXAT_PCI) += xeno_can_ixxat_pci.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_EMS_PCI) += xeno_can_ems_pci.o +obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ESD_PCI) += xeno_can_esd_pci.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ISA) += xeno_can_isa.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_MEM) += xeno_can_mem.o @@ -17,6 +18,7 @@ xeno_can_peak_pci-y := rtcan_peak_pci.o xeno_can_peak_dng-y := rtcan_peak_dng.o xeno_can_ixxat_pci-y := rtcan_ixxat_pci.o xeno_can_ems_pci-y := rtcan_ems_pci.o +xeno_can_esd_pci-y := rtcan_esd_pci.o xeno_can_isa-y := rtcan_isa.o xeno_can_mem-y := rtcan_mem.o @@ -31,6 +33,7 @@ obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PEAK_PCI) += xeno_can_peak_pci.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_PEAK_DNG) += xeno_can_peak_dng.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_IXXAT_PCI) += xeno_can_ixxat_pci.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_EMS_PCI) += xeno_can_ems_pci.o +obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ESD_PCI) += xeno_can_esd_pci.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_ISA) += xeno_can_isa.o obj-$(CONFIG_XENO_DRIVERS_CAN_SJA1000_MEM) += xeno_can_mem.o @@ -41,6 +44,7 @@ xeno_can_peak_pci-objs := rtcan_peak_pci.o xeno_can_peak_dng-objs := rtcan_peak_dng.o xeno_can_ixxat_pci-objs := rtcan_ixxat_pci.o xeno_can_ems_pci-objs := rtcan_ems_pci.o +xeno_can_esd_pci-objs := rtcan_esd_pci.o xeno_can_isa-objs := rtcan_isa.o xeno_can_mem-objs := rtcan_mem.o @@ -65,6 +69,9 @@ xeno_can_ixxat_pci.o: $(xeno_can_ixxat_pci-objs) xeno_can_ems_pci.o: $(xeno_can_ems_pci-objs) $(LD) -r -o $@ $(xeno_can_ems_pci-objs) +xeno_can_esd_pci.o: $(xeno_can_esd_pci-objs) + $(LD) -r -o $@ $(xeno_can_esd_pci-objs) + xeno_can_isa.o: $(xeno_can_isa-objs) $(LD) -r -o $@ $(xeno_can_isa-objs) diff --git a/ksrc/drivers/can/sja1000/rtcan_esd_pci.c b/ksrc/drivers/can/sja1000/rtcan_esd_pci.c new file mode 100644 index 0000000..79cf8b6 --- /dev/null +++ b/ksrc/drivers/can/sja1000/rtcan_esd_pci.c @@ -0,0 +1,354 @@ +/* + * Copyright (C) 2009 Sebastian Smolorz <se...@gmx.net> + * + * This driver is based on the Socket-CAN driver esd_pci.c, + * Copyright (C) 2007 Wolfgang Grandegger <w...@grandegger.com> + * Copyright (C) 2008 Sascha Hauer <s.ha...@pengutronix.de>, Pengutronix + * Copyright (C) 2009 Matthias Fuchs <matthias.fu...@esd.eu>, esd gmbh + * + * 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 <linux/module.h> +#include <linux/ioport.h> +#include <linux/delay.h> +#include <linux/pci.h> +#include <asm/io.h> + +#include <rtdm/rtdm_driver.h> + +/* CAN device profile */ +#include <rtdm/rtcan.h> +#include <rtcan_dev.h> +#include <rtcan_raw.h> +#include <rtcan_internal.h> +#include <rtcan_sja1000.h> +#include <rtcan_sja1000_regs.h> + +#define RTCAN_DEV_NAME "rtcan%d" +#define RTCAN_DRV_NAME "ESD-PCI-CAN" + +static char *esd_pci_board_name = "ESD-PCI"; + +MODULE_AUTHOR("Sebastian Smolorz <se...@gmx.net"); +MODULE_DESCRIPTION("RTCAN board driver for esd PCI/PMC/CPCI/PCIe/PCI104 " \ + "CAN cards"); +MODULE_SUPPORTED_DEVICE("esd CAN-PCI/200, CAN-PCI/266, CAN-PMC266, " \ + "CAN-PCIe/2000, CAN-CPCI/200, CAN-PCI104"); +MODULE_LICENSE("GPL v2"); + +struct rtcan_esd_pci { + struct pci_dev *pci_dev; + struct rtcan_device *slave_dev; + void __iomem *conf_addr; + void __iomem *base_addr; +}; + +#define ESD_PCI_CAN_CLOCK (16000000 / 2) + +#define ESD_PCI_OCR (SJA_OCR_TX0_PUSHPULL | SJA_OCR_TX1_PUSHPULL | \ + SJA_OCR_TX1_INVERT | SJA_OCR_MODE_CLOCK) +#define ESD_PCI_CDR (SJA_CDR_CLK_OFF | SJA_CDR_CBP | \ + SJA_CDR_CAN_MODE) + +#define CHANNEL_SINGLE 0 /* this is a single channel device */ +#define CHANNEL_MASTER 1 /* multi channel device, this device is master */ +#define CHANNEL_SLAVE 2 /* multi channel device, this is slave */ + +#define CHANNEL_OFFSET 0x100 + +#define INTCSR_OFFSET 0x4c /* Offset in PLX9050 conf registers */ +#define INTCSR_LINTI1 (1 << 0) +#define INTCSR_PCI (1 << 6) + +#define INTCSR9056_OFFSET 0x68 /* Offset in PLX9056 conf registers */ +#define INTCSR9056_LINTI (1 << 11) +#define INTCSR9056_PCI (1 << 8) + +#ifndef PCI_DEVICE_ID_PLX_9056 +# define PCI_DEVICE_ID_PLX_9056 0x9056 +#endif + +/* PCI subsystem IDs of esd's SJA1000 based CAN cards */ + +/* CAN-PCI/200: PCI, 33MHz only, bridge: PLX9050 */ +#define ESD_PCI_SUB_SYS_ID_PCI200 0x0004 + +/* CAN-PCI/266: PCI, 33/66MHz, bridge: PLX9056 */ +#define ESD_PCI_SUB_SYS_ID_PCI266 0x0009 + +/* CAN-PMC/266: PMC module, 33/66MHz, bridge: PLX9056 */ +#define ESD_PCI_SUB_SYS_ID_PMC266 0x000e + +/* CAN-CPCI/200: Compact PCI, 33MHz only, bridge: PLX9030 */ +#define ESD_PCI_SUB_SYS_ID_CPCI200 0x010b + +/* CAN-PCIE/2000: PCI Express 1x, bridge: PEX8311 = PEX8111 + PLX9056 */ +#define ESD_PCI_SUB_SYS_ID_PCIE2000 0x0200 + +/* CAN-PCI/104: PCI104 module, 33MHz only, bridge: PLX9030 */ +#define ESD_PCI_SUB_SYS_ID_PCI104200 0x0501 + +static struct pci_device_id esd_pci_tbl[] = { + {PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9050, + PCI_VENDOR_ID_ESDGMBH, ESD_PCI_SUB_SYS_ID_PCI200}, + {PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9056, + PCI_VENDOR_ID_ESDGMBH, ESD_PCI_SUB_SYS_ID_PCI266}, + {PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9056, + PCI_VENDOR_ID_ESDGMBH, ESD_PCI_SUB_SYS_ID_PMC266}, + {PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9030, + PCI_VENDOR_ID_ESDGMBH, ESD_PCI_SUB_SYS_ID_CPCI200}, + {PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9056, + PCI_VENDOR_ID_ESDGMBH, ESD_PCI_SUB_SYS_ID_PCIE2000}, + {PCI_VENDOR_ID_PLX, PCI_DEVICE_ID_PLX_9030, + PCI_VENDOR_ID_ESDGMBH, ESD_PCI_SUB_SYS_ID_PCI104200}, + {0,} +}; + +#define ESD_PCI_BASE_SIZE 0x200 + +MODULE_DEVICE_TABLE(pci, esd_pci_tbl); + + +static u8 rtcan_esd_pci_read_reg(struct rtcan_device *dev, int port) +{ + struct rtcan_esd_pci *board = (struct rtcan_esd_pci *)dev->board_priv; + return readb(board->base_addr + port); +} + +static void rtcan_esd_pci_write_reg(struct rtcan_device *dev, int port, u8 val) +{ + struct rtcan_esd_pci *board = (struct rtcan_esd_pci *)dev->board_priv; + writeb(val, board->base_addr + port); +} + +static void rtcan_esd_pci_del_chan(struct rtcan_device *dev) +{ + struct rtcan_esd_pci *board; + + if (!dev) + return; + + board = (struct rtcan_esd_pci *)dev->board_priv; + + printk("Removing %s %s device %s\n", + esd_pci_board_name, dev->ctrl_name, dev->name); + + rtcan_sja1000_unregister(dev); + + rtcan_dev_free(dev); +} + +static int rtcan_esd_pci_add_chan(struct pci_dev *pdev, int channel, + struct rtcan_device **master_dev, + void __iomem *conf_addr, + void __iomem *base_addr) +{ + struct rtcan_device *dev; + struct rtcan_sja1000 *chip; + struct rtcan_esd_pci *board; + int ret; + + dev = rtcan_dev_alloc(sizeof(struct rtcan_sja1000), + sizeof(struct rtcan_esd_pci)); + if (dev == NULL) + return -ENOMEM; + + chip = (struct rtcan_sja1000 *)dev->priv; + board = (struct rtcan_esd_pci *)dev->board_priv; + + board->pci_dev = pdev; + board->conf_addr = conf_addr; + board->base_addr = base_addr; + + if (channel == CHANNEL_SLAVE) { + struct rtcan_esd_pci *master_board = + (struct rtcan_esd_pci *)(*master_dev)->board_priv; + master_board->slave_dev = dev; + } + + dev->board_name = esd_pci_board_name; + + chip->read_reg = rtcan_esd_pci_read_reg; + chip->write_reg = rtcan_esd_pci_write_reg; + + dev->can_sys_clock = ESD_PCI_CAN_CLOCK; + + chip->ocr = ESD_PCI_OCR; + chip->cdr = ESD_PCI_CDR; + + strncpy(dev->name, RTCAN_DEV_NAME, IFNAMSIZ); + + chip->irq_flags = RTDM_IRQTYPE_SHARED; + chip->irq_num = pdev->irq; + + RTCAN_DBG("%s: base_addr=0x%p conf_addr=0x%p irq=%d ocr=%#x cdr=%#x\n", + RTCAN_DRV_NAME, board->base_addr, board->conf_addr, + chip->irq_num, chip->ocr, chip->cdr); + + /* Register SJA1000 device */ + ret = rtcan_sja1000_register(dev); + if (ret) { + printk(KERN_ERR "ERROR %d while trying to register SJA1000 " + "device!\n", ret); + goto failure; + } + + if (channel != CHANNEL_SLAVE) + *master_dev = dev; + + return 0; + + +failure: + rtcan_dev_free(dev); + return ret; +} + +static int __devinit esd_pci_init_one(struct pci_dev *pdev, + const struct pci_device_id *ent) +{ + int ret, channel; + void __iomem *base_addr; + void __iomem *conf_addr; + struct rtcan_device *master_dev = NULL; + + if ((ret = pci_enable_device (pdev))) + goto failure; + + if ((ret = pci_request_regions(pdev, RTCAN_DRV_NAME))) + goto failure; + + RTCAN_DBG("%s: Initializing device %04x:%04x %04x:%04x\n", + RTCAN_DRV_NAME, pdev->vendor, pdev->device, + pdev->subsystem_vendor, pdev->subsystem_device); + + conf_addr = pci_iomap(pdev, 0, ESD_PCI_BASE_SIZE); + if (conf_addr == NULL) { + ret = -ENODEV; + goto failure_release_pci; + } + + base_addr = pci_iomap(pdev, 2, ESD_PCI_BASE_SIZE); + if (base_addr == NULL) { + ret = -ENODEV; + goto failure_iounmap_conf; + } + + /* Check if second channel is available */ + writeb(SJA_MOD_RM, base_addr + CHANNEL_OFFSET + SJA_MOD); + writeb(SJA_CDR_CBP, base_addr + CHANNEL_OFFSET + SJA_CDR); + writeb(SJA_MOD_RM, base_addr + CHANNEL_OFFSET + SJA_MOD); + if (readb(base_addr + CHANNEL_OFFSET + SJA_MOD) == 0x21) { + writeb(SJA_MOD_SM | SJA_MOD_AFM | SJA_MOD_STM | SJA_MOD_LOM | + SJA_MOD_RM, base_addr + CHANNEL_OFFSET + SJA_MOD); + if (readb(base_addr + CHANNEL_OFFSET + SJA_MOD) == 0x3f) + channel = CHANNEL_MASTER; + else { + writeb(SJA_MOD_RM, + base_addr + CHANNEL_OFFSET + SJA_MOD); + channel = CHANNEL_SINGLE; + } + } else { + writeb(SJA_MOD_RM, base_addr + CHANNEL_OFFSET + SJA_MOD); + channel = CHANNEL_SINGLE; + } + + if ((ret = rtcan_esd_pci_add_chan(pdev, channel, &master_dev, + conf_addr, base_addr))) + goto failure_iounmap_base; + + if (channel != CHANNEL_SINGLE) { + channel = CHANNEL_SLAVE; + if ((ret = rtcan_esd_pci_add_chan(pdev, channel, &master_dev, + conf_addr, base_addr + CHANNEL_OFFSET))) + goto failure_iounmap_base; + } + + if ((pdev->device == PCI_DEVICE_ID_PLX_9050) || + (pdev->device == PCI_DEVICE_ID_PLX_9030)) { + /* Enable interrupts in PLX9050 */ + writel(INTCSR_LINTI1 | INTCSR_PCI, conf_addr + INTCSR_OFFSET); + } else { + /* Enable interrupts in PLX9056*/ + writel(INTCSR9056_LINTI | INTCSR9056_PCI, + conf_addr + INTCSR9056_OFFSET); + } + + pci_set_drvdata(pdev, master_dev); + + return 0; + + +failure_iounmap_base: + if (master_dev) + rtcan_esd_pci_del_chan(master_dev); + pci_iounmap(pdev, base_addr); + +failure_iounmap_conf: + pci_iounmap(pdev, conf_addr); + +failure_release_pci: + pci_release_regions(pdev); + +failure: + return ret; +} + +static void __devexit esd_pci_remove_one(struct pci_dev *pdev) +{ + struct rtcan_device *dev = pci_get_drvdata(pdev); + struct rtcan_esd_pci *board = (struct rtcan_esd_pci *)dev->board_priv; + + if ((pdev->device == PCI_DEVICE_ID_PLX_9050) || + (pdev->device == PCI_DEVICE_ID_PLX_9030)) { + /* Disable interrupts in PLX9050*/ + writel(0, board->conf_addr + INTCSR_OFFSET); + } else { + /* Disable interrupts in PLX9056*/ + writel(0, board->conf_addr + INTCSR9056_OFFSET); + } + + if (board->slave_dev) + rtcan_esd_pci_del_chan(board->slave_dev); + rtcan_esd_pci_del_chan(dev); + + + pci_iounmap(pdev, board->base_addr); + pci_iounmap(pdev, board->conf_addr); + + pci_release_regions(pdev); + pci_disable_device(pdev); + pci_set_drvdata(pdev, NULL); +} + +static struct pci_driver rtcan_esd_pci_driver = { + .name = RTCAN_DRV_NAME, + .id_table = esd_pci_tbl, + .probe = esd_pci_init_one, + .remove = __devexit_p(esd_pci_remove_one), +}; + +static int __init rtcan_esd_pci_init(void) +{ + return pci_register_driver(&rtcan_esd_pci_driver); +} + +static void __exit rtcan_esd_pci_exit(void) +{ + pci_unregister_driver(&rtcan_esd_pci_driver); +} + +module_init(rtcan_esd_pci_init); +module_exit(rtcan_esd_pci_exit);
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