Hi Matthias,
Matthias Fuchs wrote:
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.
What about using request_mem_region()? While looking to the driver I now
realize, that it's mainly duplicated code. Does it not make more sense
to make a combined io/mem driver. If io address < 32K it's an io driver
else a mem 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.
The attached patch fixes this and replaces the module parameter "isa"
with "io". I also tend to rename the driver into rtcan_io instead
rtcan_isa if we keep it.
Wolfgang.
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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+ diff -u xenomai/ksrc/drivers/can/sja1000/rtcan_isa.c.CANCLK xenomai/ksrc/drivers/can/sja1000/rtcan_isa.c
--- xenomai/ksrc/drivers/can/sja1000/rtcan_isa.c.CANCLK 2006-09-10 09:10:46.000000000 +0200
+++ xenomai/ksrc/drivers/can/sja1000/rtcan_isa.c 2006-09-11 13:06:19.000000000 +0200
@@ -49,21 +49,21 @@
MODULE_SUPPORTED_DEVICE("ISA board");
MODULE_LICENSE("GPL");
-static u16 isa[RTCAN_ISA_MAX_DEV];
+static u16 io[RTCAN_ISA_MAX_DEV];
static int irq[RTCAN_ISA_MAX_DEV];
static u32 clock[RTCAN_ISA_MAX_DEV];
static u8 ocr[RTCAN_ISA_MAX_DEV];
static u8 cdr[RTCAN_ISA_MAX_DEV];
-compat_module_short_param_array(isa, RTCAN_ISA_MAX_DEV);
+compat_module_short_param_array(io, RTCAN_ISA_MAX_DEV);
compat_module_int_param_array(irq, RTCAN_ISA_MAX_DEV);
compat_module_int_param_array(clock, RTCAN_ISA_MAX_DEV);
compat_module_byte_param_array(ocr, RTCAN_ISA_MAX_DEV);
compat_module_byte_param_array(cdr, RTCAN_ISA_MAX_DEV);
-MODULE_PARM_DESC(isa, "The io-port address");
+MODULE_PARM_DESC(io, "The io-port address");
MODULE_PARM_DESC(irq, "The interrupt number");
-MODULE_PARM_DESC(clock, "CAN system clock frequency (default 8 MHz)");
+MODULE_PARM_DESC(clock, "External clock frequency (default 16 MHz)");
MODULE_PARM_DESC(ocr, "Value of output control register (default 0x1a)");
MODULE_PARM_DESC(cdr, "Value of clock divider register (default 0xc8");
@@ -71,7 +71,7 @@
struct rtcan_isa
{
- u16 isa;
+ u16 io;
};
static struct rtcan_device *rtcan_isa_devs[RTCAN_ISA_MAX_DEV];
@@ -79,13 +79,13 @@
static u8 rtcan_isa_readreg(struct rtcan_device *dev, int port)
{
struct rtcan_isa *board = (struct rtcan_isa *)dev->board_priv;
- return inb(board->isa + port);
+ return inb(board->io + port);
}
static void rtcan_isa_writereg(struct rtcan_device *dev, int port, u8 val)
{
struct rtcan_isa *board = (struct rtcan_isa *)dev->board_priv;
- outb(val, board->isa + port);
+ outb(val, board->io + port);
}
@@ -105,7 +105,7 @@
dev->board_name = isa_board_name;
- board->isa = isa[idx];
+ board->io = io[idx];
chip->irq_num = irq[idx];
chip->irq_flags = RTDM_IRQTYPE_SHARED | RTDM_IRQTYPE_EDGE;
@@ -114,14 +114,14 @@
chip->write_reg = rtcan_isa_writereg;
/* Check and request I/O ports */
- if (!request_region(board->isa, RTCAN_ISA_PORT_SIZE, RTCAN_DRV_NAME)) {
+ if (!request_region(board->io, RTCAN_ISA_PORT_SIZE, RTCAN_DRV_NAME)) {
ret = -EBUSY;
goto out_dev_free;
}
/* Clock frequency in Hz */
if (clock[idx])
- dev->can_sys_clock = clock[idx];
+ dev->can_sys_clock = clock[idx] / 2;
else
dev->can_sys_clock = 8000000; /* 16/2 MHz */
@@ -149,7 +149,7 @@
return 0;
out_free_region:
- release_region(board->isa, RTCAN_ISA_PORT_SIZE);
+ release_region(board->io, RTCAN_ISA_PORT_SIZE);
out_dev_free:
rtcan_dev_free(dev);
@@ -160,11 +160,10 @@
/** Init module */
static int __init rtcan_isa_init(void)
{
- int i;
- int ret;
- int done = 0;
+ int i, ret, done;
+
for (i = 0;
- i < RTCAN_ISA_MAX_DEV && isa[i] != 0;
+ i < RTCAN_ISA_MAX_DEV && io[i] != 0;
i++) {
if ((ret = rtcan_isa_init_one(i) != 0)) {
@@ -175,7 +174,7 @@
if (done)
return 0;
printk(KERN_ERR "ERROR! No devices specified! "
- "Use isa=<port1>[,...] irq=<irq1>[,...]\n");
+ "Use io=<port1>[,...] irq=<irq1>[,...]\n");
return -EINVAL;
}
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