Hi,

attached you will find a patch that adds support for memory mapped SJA1000 CAN 
controllers as they often can be found on embedded boards. The driver is 
based on the rtmen_isa driver.

The driver has been tested on esd's embedded PowerPC boards with AMCC PPC405 
CPUs.

Thanks to Jan for giving me some introduction to Xenomai during a nightly 
session last friday.

There's one thing a I am not very satisfied with :-) Why passing half of the 
external clock frequency to the module. Because of compatiblity reasons I 
kept this behavior of the clock paramter from the ISA driver.

Matthias
Index: ksrc/drivers/can/sja1000/Kconfig
===================================================================
--- ksrc/drivers/can/sja1000/Kconfig	(revision 1564)
+++ ksrc/drivers/can/sja1000/Kconfig	(working copy)
@@ -13,6 +13,16 @@
        int "Maximum number of ISA devices"
        default 4       
 
+config XENO_DRIVERS_RTCAN_SJA1000_MEM
+       depends on XENO_DRIVERS_RTCAN_SJA1000
+       tristate "Memory mapped controllers"
+       default n
+
+config XENO_DRIVERS_RTCAN_SJA1000_MEM_MAX_DEV
+       depends on XENO_DRIVERS_RTCAN_SJA1000_MEM
+       int "Maximum number of memory mapped controllers"
+       default 4       
+
 config XENO_DRIVERS_RTCAN_SJA1000_PEAK_PCI
        depends on XENO_DRIVERS_RTCAN_SJA1000
        tristate "PEAK PCI Card"
Index: ksrc/drivers/can/sja1000/rtcan_mem.c
===================================================================
--- ksrc/drivers/can/sja1000/rtcan_mem.c	(revision 0)
+++ ksrc/drivers/can/sja1000/rtcan_mem.c	(revision 0)
@@ -0,0 +1,206 @@
+/*
+ * Copyright (C) 2006 Matthias Fuchs <[EMAIL PROTECTED]>,
+ *                    Jan Kiszka <[EMAIL PROTECTED]>
+ * 
+ * RTCAN driver for memory mapped SJA1000 CAN controller
+ * This code has been tested on esd's CPCI405/EPPC405 PPC405 systems.
+ * 
+ * This driver is derived from the rtcan-isa driver by 
+ * Wolfgang Grandegger and Sebastian Smolorz. 
+ *
+ * Copyright (C) 2006 Wolfgang Grandegger <[EMAIL PROTECTED]>
+ * Copyright (C) 2005, 2006 Sebastian Smolorz
+ *                          <[EMAIL PROTECTED]>
+ *
+ *
+ * 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; eitherer 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 <linux/module.h>
+#include <linux/ioport.h>
+#include <linux/delay.h>
+
+#include <rtdm/rtdm_driver.h>
+
+#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    "sja1000-mem"
+
+#ifdef CONFIG_XENO_DRIVERS_RTCAN_MEM_MAX_DEVS
+#define RTCAN_MEM_MAX_DEV CONFIG_XENO_DRIVERS_RTCAN_MEM_MAX_DEV
+#else
+#define RTCAN_MEM_MAX_DEV 2
+#endif
+
+static char *mem_board_name = "mem mapped";
+
+MODULE_AUTHOR("Matthias Fuchs <[EMAIL PROTECTED]>");
+MODULE_DESCRIPTION("RTCAN driver for memory mapped SJA1000 controller");
+MODULE_SUPPORTED_DEVICE("mem mapped");
+MODULE_LICENSE("GPL");
+
+static u32 mem[RTCAN_MEM_MAX_DEV];
+static int irq[RTCAN_MEM_MAX_DEV];
+static u32 clock[RTCAN_MEM_MAX_DEV];
+static u8 ocr[RTCAN_MEM_MAX_DEV];
+static u8 cdr[RTCAN_MEM_MAX_DEV];
+
+compat_module_int_param_array(mem, RTCAN_MEM_MAX_DEV);
+compat_module_int_param_array(irq, RTCAN_MEM_MAX_DEV);
+compat_module_int_param_array(clock, RTCAN_MEM_MAX_DEV);
+compat_module_byte_param_array(ocr, RTCAN_MEM_MAX_DEV);
+compat_module_byte_param_array(cdr, RTCAN_MEM_MAX_DEV);
+
+MODULE_PARM_DESC(mem, "The io-memory address");
+MODULE_PARM_DESC(irq, "The interrupt number");
+MODULE_PARM_DESC(clock, "CAN system clock frequency (default 8 MHz)");
+MODULE_PARM_DESC(ocr, "Value of output control register (default 0x1a)");
+MODULE_PARM_DESC(cdr, "Value of clock divider register (default 0xc8");
+
+#define RTCAN_MEM_RANGE 0x80
+
+struct rtcan_mem
+{
+    u8 *mem; 
+};
+
+static struct rtcan_device *rtcan_mem_devs[RTCAN_MEM_MAX_DEV];
+
+static u8 rtcan_mem_readreg(struct rtcan_device *dev, int reg)
+{
+    struct rtcan_mem *board = (struct rtcan_mem *)dev->board_priv;
+    return readb(board->mem + reg);
+}
+
+static void rtcan_mem_writereg(struct rtcan_device *dev, int reg, u8 val)
+{
+    struct rtcan_mem *board = (struct rtcan_mem *)dev->board_priv;
+    writeb(val, board->mem + reg);
+}
+
+int __init rtcan_mem_init_one(int idx)
+{
+    struct rtcan_device *dev;
+    struct rtcan_sja1000 *chip;
+    struct rtcan_mem *board;
+    int ret;
+    
+    if ((dev = rtcan_dev_alloc(sizeof(struct rtcan_sja1000),
+			       sizeof(struct rtcan_mem))) == NULL)
+        return -ENOMEM;
+
+    chip = (struct rtcan_sja1000 *)dev->priv;
+    board = (struct rtcan_mem *)dev->board_priv;
+
+    dev->board_name = mem_board_name; 
+
+    chip->irq_num = irq[idx];
+    chip->irq_flags = RTDM_IRQTYPE_SHARED;
+    chip->read_reg = rtcan_mem_readreg;
+    chip->write_reg = rtcan_mem_writereg;
+
+    /* ioremap io memory */
+    if (!(board->mem = (u8*)ioremap(mem[idx], RTCAN_MEM_RANGE))) {
+	ret = -EBUSY;
+	goto out_dev_free;
+    }
+
+    /* Clock frequency in Hz */
+    if (clock[idx])
+	dev->can_sys_clock = clock[idx];
+    else
+	dev->can_sys_clock = 8000000; /* 16/2 MHz */
+
+    /* Output control register */
+    if (ocr[idx])
+	chip->ocr = ocr[idx];
+    else
+	chip->ocr = SJA_OCR_MODE_NORMAL | SJA_OCR_TX0_PUSHPULL;
+
+    if (cdr[idx])
+	chip->cdr = cdr[idx];
+    else
+	chip->cdr = SJA_CDR_CAN_MODE | SJA_CDR_CLK_OFF | SJA_CDR_CBP;
+
+    strncpy(dev->name, RTCAN_DEV_NAME, IFNAMSIZ);
+
+    ret = rtcan_sja1000_register(dev);
+    if (ret) {
+	printk(KERN_ERR "ERROR %d while trying to register SJA1000 device!\n",
+	       ret);
+	goto out_free_region;
+    }
+    
+    rtcan_mem_devs[idx] = dev;
+    return 0;
+    
+ out_free_region:
+    iounmap(board->mem);
+
+ out_dev_free:
+    rtcan_dev_free(dev);
+
+    return ret;
+}
+
+/** Init module */
+static int __init rtcan_mem_init(void)
+{
+    int                         i;
+    int                         ret;
+    int done = 0;
+    for (i = 0; 
+	 i < RTCAN_MEM_MAX_DEV && mem[i] != 0; 
+	 i++) {
+
+	if ((ret = rtcan_mem_init_one(i) != 0)) {
+	    return ret;
+	}
+	done++;
+    }
+    if (done)
+	return 0;
+    printk(KERN_ERR "ERROR! No devices specified! "
+	   "Use mem=<base_addr1>[,...] irq=<irq1>[,...]\n");
+
+    return -EINVAL;
+}
+
+
+/** Cleanup module */
+static void __exit rtcan_mem_exit(void)
+{
+    int i;
+    struct rtcan_device *dev;
+    u8 *mem;
+
+    for (i = 0; i < RTCAN_MEM_MAX_DEV; i++) {
+	    dev = rtcan_mem_devs[i];
+	    if (!dev)
+		    continue;
+	    mem = ((struct rtcan_mem *)dev->board_priv)->mem;
+	    rtcan_sja1000_unregister(dev);
+	    iounmap(mem);
+    }
+}
+
+module_init(rtcan_mem_init);
+module_exit(rtcan_mem_exit);
Index: ksrc/drivers/can/sja1000/Makefile
===================================================================
--- ksrc/drivers/can/sja1000/Makefile	(revision 1564)
+++ ksrc/drivers/can/sja1000/Makefile	(working copy)
@@ -8,11 +8,13 @@
 obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_PEAK_PCI) += xeno_rtcan_peak_pci.o
 obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_PEAK_DNG) += xeno_rtcan_peak_dng.o
 obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_ISA) += xeno_rtcan_isa.o
+obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_MEM) += xeno_rtcan_mem.o
 
 xeno_rtcan_sja1000-y := rtcan_sja1000.o rtcan_sja1000_proc.o
 xeno_rtcan_peak_pci-y := rtcan_peak_pci.o
 xeno_rtcan_peak_dng-y := rtcan_peak_dng.o
 xeno_rtcan_isa-y := rtcan_isa.o
+xeno_rtcan_mem-y := rtcan_mem.o
 
 else
 
@@ -24,6 +26,7 @@
 obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_PEAK_PCI) += xeno_rtcan_peak_pci.o 
 obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_PEAK_DNG) += xeno_rtcan_peak_dng.o 
 obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_ISA) += xeno_rtcan_isa.o 
+obj-$(CONFIG_XENO_DRIVERS_RTCAN_SJA1000_MEM) += xeno_rtcan_mem.o
 
 list-multi := xeno_rtcan_sja1000.o 
 
@@ -31,6 +34,7 @@
 xeno_rtcan_peak_pci-objs := rtcan_peak_pci.o
 xeno_rtcan_peak_dng-objs := rtcan_peak_dng.o
 xeno_rtcan_isa-objs := rtcan_isa.o
+xeno_rtcan_mem-objs := rtcan_mem.o
 
 export-objs := $(xeno_rtcan_sja1000-objs)
 
@@ -49,4 +53,7 @@
 
 xeno_rtcan_isa.o: $(xeno_rtcan_isa-objs)
 	$(LD) -r -o $@ $(xeno_rtcan_isa-objs)
+
+xeno_rtcan_mem.o: $(xeno_rtcan_mem-objs)
+	$(LD) -r -o $@ $(xeno_rtcan_mem-objs)
 endif
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