1822 lines
44 KiB
C
1822 lines
44 KiB
C
/*
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* Janz MODULbus VMOD-ICAN3 CAN Interface Driver
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*
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* Copyright (c) 2010 Ira W. Snyder <iws@ovro.caltech.edu>
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation; either version 2 of the License, or (at your
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* option) any later version.
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*/
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/init.h>
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#include <linux/interrupt.h>
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#include <linux/delay.h>
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#include <linux/platform_device.h>
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#include <linux/netdevice.h>
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#include <linux/can.h>
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#include <linux/can/dev.h>
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#include <linux/can/error.h>
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#include <linux/mfd/janz.h>
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/* the DPM has 64k of memory, organized into 256x 256 byte pages */
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#define DPM_NUM_PAGES 256
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#define DPM_PAGE_SIZE 256
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#define DPM_PAGE_ADDR(p) ((p) * DPM_PAGE_SIZE)
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/* JANZ ICAN3 "old-style" host interface queue page numbers */
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#define QUEUE_OLD_CONTROL 0
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#define QUEUE_OLD_RB0 1
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#define QUEUE_OLD_RB1 2
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#define QUEUE_OLD_WB0 3
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#define QUEUE_OLD_WB1 4
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/* Janz ICAN3 "old-style" host interface control registers */
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#define MSYNC_PEER 0x00 /* ICAN only */
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#define MSYNC_LOCL 0x01 /* host only */
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#define TARGET_RUNNING 0x02
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#define MSYNC_RB0 0x01
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#define MSYNC_RB1 0x02
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#define MSYNC_RBLW 0x04
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#define MSYNC_RB_MASK (MSYNC_RB0 | MSYNC_RB1)
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#define MSYNC_WB0 0x10
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#define MSYNC_WB1 0x20
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#define MSYNC_WBLW 0x40
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#define MSYNC_WB_MASK (MSYNC_WB0 | MSYNC_WB1)
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/* Janz ICAN3 "new-style" host interface queue page numbers */
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#define QUEUE_TOHOST 5
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#define QUEUE_FROMHOST_MID 6
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#define QUEUE_FROMHOST_HIGH 7
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#define QUEUE_FROMHOST_LOW 8
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/* The first free page in the DPM is #9 */
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#define DPM_FREE_START 9
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/* Janz ICAN3 "new-style" and "fast" host interface descriptor flags */
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#define DESC_VALID 0x80
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#define DESC_WRAP 0x40
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#define DESC_INTERRUPT 0x20
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#define DESC_IVALID 0x10
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#define DESC_LEN(len) (len)
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/* Janz ICAN3 Firmware Messages */
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#define MSG_CONNECTI 0x02
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#define MSG_DISCONNECT 0x03
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#define MSG_IDVERS 0x04
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#define MSG_MSGLOST 0x05
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#define MSG_NEWHOSTIF 0x08
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#define MSG_INQUIRY 0x0a
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#define MSG_SETAFILMASK 0x10
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#define MSG_INITFDPMQUEUE 0x11
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#define MSG_HWCONF 0x12
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#define MSG_FMSGLOST 0x15
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#define MSG_CEVTIND 0x37
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#define MSG_CBTRREQ 0x41
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#define MSG_COFFREQ 0x42
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#define MSG_CONREQ 0x43
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#define MSG_CCONFREQ 0x47
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/*
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* Janz ICAN3 CAN Inquiry Message Types
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*
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* NOTE: there appears to be a firmware bug here. You must send
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* NOTE: INQUIRY_STATUS and expect to receive an INQUIRY_EXTENDED
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* NOTE: response. The controller never responds to a message with
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* NOTE: the INQUIRY_EXTENDED subspec :(
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*/
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#define INQUIRY_STATUS 0x00
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#define INQUIRY_TERMINATION 0x01
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#define INQUIRY_EXTENDED 0x04
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/* Janz ICAN3 CAN Set Acceptance Filter Mask Message Types */
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#define SETAFILMASK_REJECT 0x00
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#define SETAFILMASK_FASTIF 0x02
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/* Janz ICAN3 CAN Hardware Configuration Message Types */
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#define HWCONF_TERMINATE_ON 0x01
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#define HWCONF_TERMINATE_OFF 0x00
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/* Janz ICAN3 CAN Event Indication Message Types */
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#define CEVTIND_EI 0x01
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#define CEVTIND_DOI 0x02
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#define CEVTIND_LOST 0x04
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#define CEVTIND_FULL 0x08
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#define CEVTIND_BEI 0x10
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#define CEVTIND_CHIP_SJA1000 0x02
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#define ICAN3_BUSERR_QUOTA_MAX 255
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/* Janz ICAN3 CAN Frame Conversion */
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#define ICAN3_ECHO 0x10
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#define ICAN3_EFF_RTR 0x40
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#define ICAN3_SFF_RTR 0x10
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#define ICAN3_EFF 0x80
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#define ICAN3_CAN_TYPE_MASK 0x0f
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#define ICAN3_CAN_TYPE_SFF 0x00
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#define ICAN3_CAN_TYPE_EFF 0x01
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#define ICAN3_CAN_DLC_MASK 0x0f
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/*
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* SJA1000 Status and Error Register Definitions
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*
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* Copied from drivers/net/can/sja1000/sja1000.h
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*/
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/* status register content */
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#define SR_BS 0x80
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#define SR_ES 0x40
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#define SR_TS 0x20
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#define SR_RS 0x10
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#define SR_TCS 0x08
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#define SR_TBS 0x04
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#define SR_DOS 0x02
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#define SR_RBS 0x01
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#define SR_CRIT (SR_BS|SR_ES)
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/* ECC register */
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#define ECC_SEG 0x1F
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#define ECC_DIR 0x20
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#define ECC_ERR 6
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#define ECC_BIT 0x00
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#define ECC_FORM 0x40
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#define ECC_STUFF 0x80
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#define ECC_MASK 0xc0
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/* Number of buffers for use in the "new-style" host interface */
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#define ICAN3_NEW_BUFFERS 16
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/* Number of buffers for use in the "fast" host interface */
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#define ICAN3_TX_BUFFERS 512
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#define ICAN3_RX_BUFFERS 1024
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/* SJA1000 Clock Input */
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#define ICAN3_CAN_CLOCK 8000000
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/* Driver Name */
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#define DRV_NAME "janz-ican3"
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/* DPM Control Registers -- starts at offset 0x100 in the MODULbus registers */
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struct ican3_dpm_control {
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/* window address register */
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u8 window_address;
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u8 unused1;
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/*
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* Read access: clear interrupt from microcontroller
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* Write access: send interrupt to microcontroller
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*/
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u8 interrupt;
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u8 unused2;
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/* write-only: reset all hardware on the module */
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u8 hwreset;
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u8 unused3;
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/* write-only: generate an interrupt to the TPU */
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u8 tpuinterrupt;
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};
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struct ican3_dev {
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/* must be the first member */
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struct can_priv can;
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/* CAN network device */
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struct net_device *ndev;
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struct napi_struct napi;
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/* Device for printing */
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struct device *dev;
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/* module number */
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unsigned int num;
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/* base address of registers and IRQ */
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struct janz_cmodio_onboard_regs __iomem *ctrl;
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struct ican3_dpm_control __iomem *dpmctrl;
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void __iomem *dpm;
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int irq;
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/* CAN bus termination status */
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struct completion termination_comp;
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bool termination_enabled;
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/* CAN bus error status registers */
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struct completion buserror_comp;
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struct can_berr_counter bec;
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/* old and new style host interface */
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unsigned int iftype;
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/*
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* Any function which changes the current DPM page must hold this
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* lock while it is performing data accesses. This ensures that the
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* function will not be preempted and end up reading data from a
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* different DPM page than it expects.
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*/
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spinlock_t lock;
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/* new host interface */
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unsigned int rx_int;
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unsigned int rx_num;
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unsigned int tx_num;
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/* fast host interface */
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unsigned int fastrx_start;
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unsigned int fastrx_int;
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unsigned int fastrx_num;
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unsigned int fasttx_start;
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unsigned int fasttx_num;
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/* first free DPM page */
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unsigned int free_page;
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};
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struct ican3_msg {
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u8 control;
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u8 spec;
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__le16 len;
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u8 data[252];
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};
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struct ican3_new_desc {
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u8 control;
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u8 pointer;
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};
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struct ican3_fast_desc {
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u8 control;
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u8 command;
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u8 data[14];
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};
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/* write to the window basic address register */
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static inline void ican3_set_page(struct ican3_dev *mod, unsigned int page)
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{
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BUG_ON(page >= DPM_NUM_PAGES);
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iowrite8(page, &mod->dpmctrl->window_address);
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}
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/*
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* ICAN3 "old-style" host interface
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*/
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/*
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* Recieve a message from the ICAN3 "old-style" firmware interface
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*
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* LOCKING: must hold mod->lock
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*
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* returns 0 on success, -ENOMEM when no message exists
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*/
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static int ican3_old_recv_msg(struct ican3_dev *mod, struct ican3_msg *msg)
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{
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unsigned int mbox, mbox_page;
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u8 locl, peer, xord;
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/* get the MSYNC registers */
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ican3_set_page(mod, QUEUE_OLD_CONTROL);
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peer = ioread8(mod->dpm + MSYNC_PEER);
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locl = ioread8(mod->dpm + MSYNC_LOCL);
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xord = locl ^ peer;
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if ((xord & MSYNC_RB_MASK) == 0x00) {
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dev_dbg(mod->dev, "no mbox for reading\n");
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return -ENOMEM;
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}
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/* find the first free mbox to read */
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if ((xord & MSYNC_RB_MASK) == MSYNC_RB_MASK)
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mbox = (xord & MSYNC_RBLW) ? MSYNC_RB0 : MSYNC_RB1;
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else
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mbox = (xord & MSYNC_RB0) ? MSYNC_RB0 : MSYNC_RB1;
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/* copy the message */
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mbox_page = (mbox == MSYNC_RB0) ? QUEUE_OLD_RB0 : QUEUE_OLD_RB1;
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ican3_set_page(mod, mbox_page);
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memcpy_fromio(msg, mod->dpm, sizeof(*msg));
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/*
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* notify the firmware that the read buffer is available
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* for it to fill again
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*/
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locl ^= mbox;
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ican3_set_page(mod, QUEUE_OLD_CONTROL);
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iowrite8(locl, mod->dpm + MSYNC_LOCL);
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return 0;
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}
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/*
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* Send a message through the "old-style" firmware interface
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*
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* LOCKING: must hold mod->lock
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*
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* returns 0 on success, -ENOMEM when no free space exists
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*/
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static int ican3_old_send_msg(struct ican3_dev *mod, struct ican3_msg *msg)
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{
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unsigned int mbox, mbox_page;
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u8 locl, peer, xord;
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/* get the MSYNC registers */
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ican3_set_page(mod, QUEUE_OLD_CONTROL);
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peer = ioread8(mod->dpm + MSYNC_PEER);
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locl = ioread8(mod->dpm + MSYNC_LOCL);
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xord = locl ^ peer;
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if ((xord & MSYNC_WB_MASK) == MSYNC_WB_MASK) {
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dev_err(mod->dev, "no mbox for writing\n");
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return -ENOMEM;
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}
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/* calculate a free mbox to use */
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mbox = (xord & MSYNC_WB0) ? MSYNC_WB1 : MSYNC_WB0;
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/* copy the message to the DPM */
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mbox_page = (mbox == MSYNC_WB0) ? QUEUE_OLD_WB0 : QUEUE_OLD_WB1;
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ican3_set_page(mod, mbox_page);
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memcpy_toio(mod->dpm, msg, sizeof(*msg));
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locl ^= mbox;
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if (mbox == MSYNC_WB1)
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locl |= MSYNC_WBLW;
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ican3_set_page(mod, QUEUE_OLD_CONTROL);
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iowrite8(locl, mod->dpm + MSYNC_LOCL);
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return 0;
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}
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/*
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* ICAN3 "new-style" Host Interface Setup
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*/
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static void __devinit ican3_init_new_host_interface(struct ican3_dev *mod)
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{
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struct ican3_new_desc desc;
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unsigned long flags;
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void __iomem *dst;
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int i;
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spin_lock_irqsave(&mod->lock, flags);
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/* setup the internal datastructures for RX */
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mod->rx_num = 0;
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mod->rx_int = 0;
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/* tohost queue descriptors are in page 5 */
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ican3_set_page(mod, QUEUE_TOHOST);
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dst = mod->dpm;
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/* initialize the tohost (rx) queue descriptors: pages 9-24 */
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for (i = 0; i < ICAN3_NEW_BUFFERS; i++) {
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desc.control = DESC_INTERRUPT | DESC_LEN(1); /* I L=1 */
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desc.pointer = mod->free_page;
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/* set wrap flag on last buffer */
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if (i == ICAN3_NEW_BUFFERS - 1)
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desc.control |= DESC_WRAP;
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memcpy_toio(dst, &desc, sizeof(desc));
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dst += sizeof(desc);
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mod->free_page++;
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}
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/* fromhost (tx) mid queue descriptors are in page 6 */
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ican3_set_page(mod, QUEUE_FROMHOST_MID);
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dst = mod->dpm;
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/* setup the internal datastructures for TX */
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mod->tx_num = 0;
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/* initialize the fromhost mid queue descriptors: pages 25-40 */
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for (i = 0; i < ICAN3_NEW_BUFFERS; i++) {
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desc.control = DESC_VALID | DESC_LEN(1); /* V L=1 */
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desc.pointer = mod->free_page;
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/* set wrap flag on last buffer */
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if (i == ICAN3_NEW_BUFFERS - 1)
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desc.control |= DESC_WRAP;
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memcpy_toio(dst, &desc, sizeof(desc));
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dst += sizeof(desc);
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mod->free_page++;
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}
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/* fromhost hi queue descriptors are in page 7 */
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ican3_set_page(mod, QUEUE_FROMHOST_HIGH);
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dst = mod->dpm;
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/* initialize only a single buffer in the fromhost hi queue (unused) */
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desc.control = DESC_VALID | DESC_WRAP | DESC_LEN(1); /* VW L=1 */
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desc.pointer = mod->free_page;
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memcpy_toio(dst, &desc, sizeof(desc));
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mod->free_page++;
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/* fromhost low queue descriptors are in page 8 */
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ican3_set_page(mod, QUEUE_FROMHOST_LOW);
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dst = mod->dpm;
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/* initialize only a single buffer in the fromhost low queue (unused) */
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desc.control = DESC_VALID | DESC_WRAP | DESC_LEN(1); /* VW L=1 */
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desc.pointer = mod->free_page;
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memcpy_toio(dst, &desc, sizeof(desc));
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mod->free_page++;
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spin_unlock_irqrestore(&mod->lock, flags);
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}
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/*
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* ICAN3 Fast Host Interface Setup
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*/
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static void __devinit ican3_init_fast_host_interface(struct ican3_dev *mod)
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{
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struct ican3_fast_desc desc;
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unsigned long flags;
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unsigned int addr;
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void __iomem *dst;
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int i;
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spin_lock_irqsave(&mod->lock, flags);
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/* save the start recv page */
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mod->fastrx_start = mod->free_page;
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mod->fastrx_num = 0;
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mod->fastrx_int = 0;
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/* build a single fast tohost queue descriptor */
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memset(&desc, 0, sizeof(desc));
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desc.control = 0x00;
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desc.command = 1;
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/* build the tohost queue descriptor ring in memory */
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addr = 0;
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for (i = 0; i < ICAN3_RX_BUFFERS; i++) {
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/* set the wrap bit on the last buffer */
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if (i == ICAN3_RX_BUFFERS - 1)
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desc.control |= DESC_WRAP;
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/* switch to the correct page */
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ican3_set_page(mod, mod->free_page);
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/* copy the descriptor to the DPM */
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dst = mod->dpm + addr;
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memcpy_toio(dst, &desc, sizeof(desc));
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addr += sizeof(desc);
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/* move to the next page if necessary */
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if (addr >= DPM_PAGE_SIZE) {
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addr = 0;
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mod->free_page++;
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}
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}
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/* make sure we page-align the next queue */
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if (addr != 0)
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mod->free_page++;
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/* save the start xmit page */
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mod->fasttx_start = mod->free_page;
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mod->fasttx_num = 0;
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/* build a single fast fromhost queue descriptor */
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memset(&desc, 0, sizeof(desc));
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desc.control = DESC_VALID;
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desc.command = 1;
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/* build the fromhost queue descriptor ring in memory */
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addr = 0;
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for (i = 0; i < ICAN3_TX_BUFFERS; i++) {
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/* set the wrap bit on the last buffer */
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if (i == ICAN3_TX_BUFFERS - 1)
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desc.control |= DESC_WRAP;
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/* switch to the correct page */
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ican3_set_page(mod, mod->free_page);
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/* copy the descriptor to the DPM */
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dst = mod->dpm + addr;
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memcpy_toio(dst, &desc, sizeof(desc));
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addr += sizeof(desc);
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/* move to the next page if necessary */
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if (addr >= DPM_PAGE_SIZE) {
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addr = 0;
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mod->free_page++;
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}
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}
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spin_unlock_irqrestore(&mod->lock, flags);
|
|
}
|
|
|
|
/*
|
|
* ICAN3 "new-style" Host Interface Message Helpers
|
|
*/
|
|
|
|
/*
|
|
* LOCKING: must hold mod->lock
|
|
*/
|
|
static int ican3_new_send_msg(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
struct ican3_new_desc desc;
|
|
void __iomem *desc_addr = mod->dpm + (mod->tx_num * sizeof(desc));
|
|
|
|
/* switch to the fromhost mid queue, and read the buffer descriptor */
|
|
ican3_set_page(mod, QUEUE_FROMHOST_MID);
|
|
memcpy_fromio(&desc, desc_addr, sizeof(desc));
|
|
|
|
if (!(desc.control & DESC_VALID)) {
|
|
dev_dbg(mod->dev, "%s: no free buffers\n", __func__);
|
|
return -ENOMEM;
|
|
}
|
|
|
|
/* switch to the data page, copy the data */
|
|
ican3_set_page(mod, desc.pointer);
|
|
memcpy_toio(mod->dpm, msg, sizeof(*msg));
|
|
|
|
/* switch back to the descriptor, set the valid bit, write it back */
|
|
ican3_set_page(mod, QUEUE_FROMHOST_MID);
|
|
desc.control ^= DESC_VALID;
|
|
memcpy_toio(desc_addr, &desc, sizeof(desc));
|
|
|
|
/* update the tx number */
|
|
mod->tx_num = (desc.control & DESC_WRAP) ? 0 : (mod->tx_num + 1);
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* LOCKING: must hold mod->lock
|
|
*/
|
|
static int ican3_new_recv_msg(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
struct ican3_new_desc desc;
|
|
void __iomem *desc_addr = mod->dpm + (mod->rx_num * sizeof(desc));
|
|
|
|
/* switch to the tohost queue, and read the buffer descriptor */
|
|
ican3_set_page(mod, QUEUE_TOHOST);
|
|
memcpy_fromio(&desc, desc_addr, sizeof(desc));
|
|
|
|
if (!(desc.control & DESC_VALID)) {
|
|
dev_dbg(mod->dev, "%s: no buffers to recv\n", __func__);
|
|
return -ENOMEM;
|
|
}
|
|
|
|
/* switch to the data page, copy the data */
|
|
ican3_set_page(mod, desc.pointer);
|
|
memcpy_fromio(msg, mod->dpm, sizeof(*msg));
|
|
|
|
/* switch back to the descriptor, toggle the valid bit, write it back */
|
|
ican3_set_page(mod, QUEUE_TOHOST);
|
|
desc.control ^= DESC_VALID;
|
|
memcpy_toio(desc_addr, &desc, sizeof(desc));
|
|
|
|
/* update the rx number */
|
|
mod->rx_num = (desc.control & DESC_WRAP) ? 0 : (mod->rx_num + 1);
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* Message Send / Recv Helpers
|
|
*/
|
|
|
|
static int ican3_send_msg(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
unsigned long flags;
|
|
int ret;
|
|
|
|
spin_lock_irqsave(&mod->lock, flags);
|
|
|
|
if (mod->iftype == 0)
|
|
ret = ican3_old_send_msg(mod, msg);
|
|
else
|
|
ret = ican3_new_send_msg(mod, msg);
|
|
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
return ret;
|
|
}
|
|
|
|
static int ican3_recv_msg(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
unsigned long flags;
|
|
int ret;
|
|
|
|
spin_lock_irqsave(&mod->lock, flags);
|
|
|
|
if (mod->iftype == 0)
|
|
ret = ican3_old_recv_msg(mod, msg);
|
|
else
|
|
ret = ican3_new_recv_msg(mod, msg);
|
|
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
return ret;
|
|
}
|
|
|
|
/*
|
|
* Quick Pre-constructed Messages
|
|
*/
|
|
|
|
static int __devinit ican3_msg_connect(struct ican3_dev *mod)
|
|
{
|
|
struct ican3_msg msg;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_CONNECTI;
|
|
msg.len = cpu_to_le16(0);
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
static int __devexit ican3_msg_disconnect(struct ican3_dev *mod)
|
|
{
|
|
struct ican3_msg msg;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_DISCONNECT;
|
|
msg.len = cpu_to_le16(0);
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
static int __devinit ican3_msg_newhostif(struct ican3_dev *mod)
|
|
{
|
|
struct ican3_msg msg;
|
|
int ret;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_NEWHOSTIF;
|
|
msg.len = cpu_to_le16(0);
|
|
|
|
/* If we're not using the old interface, switching seems bogus */
|
|
WARN_ON(mod->iftype != 0);
|
|
|
|
ret = ican3_send_msg(mod, &msg);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* mark the module as using the new host interface */
|
|
mod->iftype = 1;
|
|
return 0;
|
|
}
|
|
|
|
static int __devinit ican3_msg_fasthostif(struct ican3_dev *mod)
|
|
{
|
|
struct ican3_msg msg;
|
|
unsigned int addr;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_INITFDPMQUEUE;
|
|
msg.len = cpu_to_le16(8);
|
|
|
|
/* write the tohost queue start address */
|
|
addr = DPM_PAGE_ADDR(mod->fastrx_start);
|
|
msg.data[0] = addr & 0xff;
|
|
msg.data[1] = (addr >> 8) & 0xff;
|
|
msg.data[2] = (addr >> 16) & 0xff;
|
|
msg.data[3] = (addr >> 24) & 0xff;
|
|
|
|
/* write the fromhost queue start address */
|
|
addr = DPM_PAGE_ADDR(mod->fasttx_start);
|
|
msg.data[4] = addr & 0xff;
|
|
msg.data[5] = (addr >> 8) & 0xff;
|
|
msg.data[6] = (addr >> 16) & 0xff;
|
|
msg.data[7] = (addr >> 24) & 0xff;
|
|
|
|
/* If we're not using the new interface yet, we cannot do this */
|
|
WARN_ON(mod->iftype != 1);
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
/*
|
|
* Setup the CAN filter to either accept or reject all
|
|
* messages from the CAN bus.
|
|
*/
|
|
static int __devinit ican3_set_id_filter(struct ican3_dev *mod, bool accept)
|
|
{
|
|
struct ican3_msg msg;
|
|
int ret;
|
|
|
|
/* Standard Frame Format */
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_SETAFILMASK;
|
|
msg.len = cpu_to_le16(5);
|
|
msg.data[0] = 0x00; /* IDLo LSB */
|
|
msg.data[1] = 0x00; /* IDLo MSB */
|
|
msg.data[2] = 0xff; /* IDHi LSB */
|
|
msg.data[3] = 0x07; /* IDHi MSB */
|
|
|
|
/* accept all frames for fast host if, or reject all frames */
|
|
msg.data[4] = accept ? SETAFILMASK_FASTIF : SETAFILMASK_REJECT;
|
|
|
|
ret = ican3_send_msg(mod, &msg);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Extended Frame Format */
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_SETAFILMASK;
|
|
msg.len = cpu_to_le16(13);
|
|
msg.data[0] = 0; /* MUX = 0 */
|
|
msg.data[1] = 0x00; /* IDLo LSB */
|
|
msg.data[2] = 0x00;
|
|
msg.data[3] = 0x00;
|
|
msg.data[4] = 0x20; /* IDLo MSB */
|
|
msg.data[5] = 0xff; /* IDHi LSB */
|
|
msg.data[6] = 0xff;
|
|
msg.data[7] = 0xff;
|
|
msg.data[8] = 0x3f; /* IDHi MSB */
|
|
|
|
/* accept all frames for fast host if, or reject all frames */
|
|
msg.data[9] = accept ? SETAFILMASK_FASTIF : SETAFILMASK_REJECT;
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
/*
|
|
* Bring the CAN bus online or offline
|
|
*/
|
|
static int ican3_set_bus_state(struct ican3_dev *mod, bool on)
|
|
{
|
|
struct ican3_msg msg;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = on ? MSG_CONREQ : MSG_COFFREQ;
|
|
msg.len = cpu_to_le16(0);
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
static int ican3_set_termination(struct ican3_dev *mod, bool on)
|
|
{
|
|
struct ican3_msg msg;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_HWCONF;
|
|
msg.len = cpu_to_le16(2);
|
|
msg.data[0] = 0x00;
|
|
msg.data[1] = on ? HWCONF_TERMINATE_ON : HWCONF_TERMINATE_OFF;
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
static int ican3_send_inquiry(struct ican3_dev *mod, u8 subspec)
|
|
{
|
|
struct ican3_msg msg;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_INQUIRY;
|
|
msg.len = cpu_to_le16(2);
|
|
msg.data[0] = subspec;
|
|
msg.data[1] = 0x00;
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
static int ican3_set_buserror(struct ican3_dev *mod, u8 quota)
|
|
{
|
|
struct ican3_msg msg;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_CCONFREQ;
|
|
msg.len = cpu_to_le16(2);
|
|
msg.data[0] = 0x00;
|
|
msg.data[1] = quota;
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
/*
|
|
* ICAN3 to Linux CAN Frame Conversion
|
|
*/
|
|
|
|
static void ican3_to_can_frame(struct ican3_dev *mod,
|
|
struct ican3_fast_desc *desc,
|
|
struct can_frame *cf)
|
|
{
|
|
if ((desc->command & ICAN3_CAN_TYPE_MASK) == ICAN3_CAN_TYPE_SFF) {
|
|
if (desc->data[1] & ICAN3_SFF_RTR)
|
|
cf->can_id |= CAN_RTR_FLAG;
|
|
|
|
cf->can_id |= desc->data[0] << 3;
|
|
cf->can_id |= (desc->data[1] & 0xe0) >> 5;
|
|
cf->can_dlc = desc->data[1] & ICAN3_CAN_DLC_MASK;
|
|
memcpy(cf->data, &desc->data[2], sizeof(cf->data));
|
|
} else {
|
|
cf->can_dlc = desc->data[0] & ICAN3_CAN_DLC_MASK;
|
|
if (desc->data[0] & ICAN3_EFF_RTR)
|
|
cf->can_id |= CAN_RTR_FLAG;
|
|
|
|
if (desc->data[0] & ICAN3_EFF) {
|
|
cf->can_id |= CAN_EFF_FLAG;
|
|
cf->can_id |= desc->data[2] << 21; /* 28-21 */
|
|
cf->can_id |= desc->data[3] << 13; /* 20-13 */
|
|
cf->can_id |= desc->data[4] << 5; /* 12-5 */
|
|
cf->can_id |= (desc->data[5] & 0xf8) >> 3;
|
|
} else {
|
|
cf->can_id |= desc->data[2] << 3; /* 10-3 */
|
|
cf->can_id |= desc->data[3] >> 5; /* 2-0 */
|
|
}
|
|
|
|
memcpy(cf->data, &desc->data[6], sizeof(cf->data));
|
|
}
|
|
}
|
|
|
|
static void can_frame_to_ican3(struct ican3_dev *mod,
|
|
struct can_frame *cf,
|
|
struct ican3_fast_desc *desc)
|
|
{
|
|
/* clear out any stale data in the descriptor */
|
|
memset(desc->data, 0, sizeof(desc->data));
|
|
|
|
/* we always use the extended format, with the ECHO flag set */
|
|
desc->command = ICAN3_CAN_TYPE_EFF;
|
|
desc->data[0] |= cf->can_dlc;
|
|
desc->data[1] |= ICAN3_ECHO;
|
|
|
|
if (cf->can_id & CAN_RTR_FLAG)
|
|
desc->data[0] |= ICAN3_EFF_RTR;
|
|
|
|
/* pack the id into the correct places */
|
|
if (cf->can_id & CAN_EFF_FLAG) {
|
|
desc->data[0] |= ICAN3_EFF;
|
|
desc->data[2] = (cf->can_id & 0x1fe00000) >> 21; /* 28-21 */
|
|
desc->data[3] = (cf->can_id & 0x001fe000) >> 13; /* 20-13 */
|
|
desc->data[4] = (cf->can_id & 0x00001fe0) >> 5; /* 12-5 */
|
|
desc->data[5] = (cf->can_id & 0x0000001f) << 3; /* 4-0 */
|
|
} else {
|
|
desc->data[2] = (cf->can_id & 0x7F8) >> 3; /* bits 10-3 */
|
|
desc->data[3] = (cf->can_id & 0x007) << 5; /* bits 2-0 */
|
|
}
|
|
|
|
/* copy the data bits into the descriptor */
|
|
memcpy(&desc->data[6], cf->data, sizeof(cf->data));
|
|
}
|
|
|
|
/*
|
|
* Interrupt Handling
|
|
*/
|
|
|
|
/*
|
|
* Handle an ID + Version message response from the firmware. We never generate
|
|
* this message in production code, but it is very useful when debugging to be
|
|
* able to display this message.
|
|
*/
|
|
static void ican3_handle_idvers(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
dev_dbg(mod->dev, "IDVERS response: %s\n", msg->data);
|
|
}
|
|
|
|
static void ican3_handle_msglost(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
struct net_device *dev = mod->ndev;
|
|
struct net_device_stats *stats = &dev->stats;
|
|
struct can_frame *cf;
|
|
struct sk_buff *skb;
|
|
|
|
/*
|
|
* Report that communication messages with the microcontroller firmware
|
|
* are being lost. These are never CAN frames, so we do not generate an
|
|
* error frame for userspace
|
|
*/
|
|
if (msg->spec == MSG_MSGLOST) {
|
|
dev_err(mod->dev, "lost %d control messages\n", msg->data[0]);
|
|
return;
|
|
}
|
|
|
|
/*
|
|
* Oops, this indicates that we have lost messages in the fast queue,
|
|
* which are exclusively CAN messages. Our driver isn't reading CAN
|
|
* frames fast enough.
|
|
*
|
|
* We'll pretend that the SJA1000 told us that it ran out of buffer
|
|
* space, because there is not a better message for this.
|
|
*/
|
|
skb = alloc_can_err_skb(dev, &cf);
|
|
if (skb) {
|
|
cf->can_id |= CAN_ERR_CRTL;
|
|
cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
|
|
stats->rx_errors++;
|
|
stats->rx_bytes += cf->can_dlc;
|
|
netif_rx(skb);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Handle CAN Event Indication Messages from the firmware
|
|
*
|
|
* The ICAN3 firmware provides the values of some SJA1000 registers when it
|
|
* generates this message. The code below is largely copied from the
|
|
* drivers/net/can/sja1000/sja1000.c file, and adapted as necessary
|
|
*/
|
|
static int ican3_handle_cevtind(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
struct net_device *dev = mod->ndev;
|
|
struct net_device_stats *stats = &dev->stats;
|
|
enum can_state state = mod->can.state;
|
|
u8 status, isrc, rxerr, txerr;
|
|
struct can_frame *cf;
|
|
struct sk_buff *skb;
|
|
|
|
/* we can only handle the SJA1000 part */
|
|
if (msg->data[1] != CEVTIND_CHIP_SJA1000) {
|
|
dev_err(mod->dev, "unable to handle errors on non-SJA1000\n");
|
|
return -ENODEV;
|
|
}
|
|
|
|
/* check the message length for sanity */
|
|
if (le16_to_cpu(msg->len) < 6) {
|
|
dev_err(mod->dev, "error message too short\n");
|
|
return -EINVAL;
|
|
}
|
|
|
|
skb = alloc_can_err_skb(dev, &cf);
|
|
if (skb == NULL)
|
|
return -ENOMEM;
|
|
|
|
isrc = msg->data[0];
|
|
status = msg->data[3];
|
|
rxerr = msg->data[4];
|
|
txerr = msg->data[5];
|
|
|
|
/* data overrun interrupt */
|
|
if (isrc == CEVTIND_DOI || isrc == CEVTIND_LOST) {
|
|
dev_dbg(mod->dev, "data overrun interrupt\n");
|
|
cf->can_id |= CAN_ERR_CRTL;
|
|
cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
|
|
stats->rx_over_errors++;
|
|
stats->rx_errors++;
|
|
}
|
|
|
|
/* error warning + passive interrupt */
|
|
if (isrc == CEVTIND_EI) {
|
|
dev_dbg(mod->dev, "error warning + passive interrupt\n");
|
|
if (status & SR_BS) {
|
|
state = CAN_STATE_BUS_OFF;
|
|
cf->can_id |= CAN_ERR_BUSOFF;
|
|
can_bus_off(dev);
|
|
} else if (status & SR_ES) {
|
|
if (rxerr >= 128 || txerr >= 128)
|
|
state = CAN_STATE_ERROR_PASSIVE;
|
|
else
|
|
state = CAN_STATE_ERROR_WARNING;
|
|
} else {
|
|
state = CAN_STATE_ERROR_ACTIVE;
|
|
}
|
|
}
|
|
|
|
/* bus error interrupt */
|
|
if (isrc == CEVTIND_BEI) {
|
|
u8 ecc = msg->data[2];
|
|
|
|
dev_dbg(mod->dev, "bus error interrupt\n");
|
|
mod->can.can_stats.bus_error++;
|
|
stats->rx_errors++;
|
|
cf->can_id |= CAN_ERR_PROT | CAN_ERR_BUSERROR;
|
|
|
|
switch (ecc & ECC_MASK) {
|
|
case ECC_BIT:
|
|
cf->data[2] |= CAN_ERR_PROT_BIT;
|
|
break;
|
|
case ECC_FORM:
|
|
cf->data[2] |= CAN_ERR_PROT_FORM;
|
|
break;
|
|
case ECC_STUFF:
|
|
cf->data[2] |= CAN_ERR_PROT_STUFF;
|
|
break;
|
|
default:
|
|
cf->data[2] |= CAN_ERR_PROT_UNSPEC;
|
|
cf->data[3] = ecc & ECC_SEG;
|
|
break;
|
|
}
|
|
|
|
if ((ecc & ECC_DIR) == 0)
|
|
cf->data[2] |= CAN_ERR_PROT_TX;
|
|
|
|
cf->data[6] = txerr;
|
|
cf->data[7] = rxerr;
|
|
}
|
|
|
|
if (state != mod->can.state && (state == CAN_STATE_ERROR_WARNING ||
|
|
state == CAN_STATE_ERROR_PASSIVE)) {
|
|
cf->can_id |= CAN_ERR_CRTL;
|
|
if (state == CAN_STATE_ERROR_WARNING) {
|
|
mod->can.can_stats.error_warning++;
|
|
cf->data[1] = (txerr > rxerr) ?
|
|
CAN_ERR_CRTL_TX_WARNING :
|
|
CAN_ERR_CRTL_RX_WARNING;
|
|
} else {
|
|
mod->can.can_stats.error_passive++;
|
|
cf->data[1] = (txerr > rxerr) ?
|
|
CAN_ERR_CRTL_TX_PASSIVE :
|
|
CAN_ERR_CRTL_RX_PASSIVE;
|
|
}
|
|
|
|
cf->data[6] = txerr;
|
|
cf->data[7] = rxerr;
|
|
}
|
|
|
|
mod->can.state = state;
|
|
stats->rx_errors++;
|
|
stats->rx_bytes += cf->can_dlc;
|
|
netif_rx(skb);
|
|
return 0;
|
|
}
|
|
|
|
static void ican3_handle_inquiry(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
switch (msg->data[0]) {
|
|
case INQUIRY_STATUS:
|
|
case INQUIRY_EXTENDED:
|
|
mod->bec.rxerr = msg->data[5];
|
|
mod->bec.txerr = msg->data[6];
|
|
complete(&mod->buserror_comp);
|
|
break;
|
|
case INQUIRY_TERMINATION:
|
|
mod->termination_enabled = msg->data[6] & HWCONF_TERMINATE_ON;
|
|
complete(&mod->termination_comp);
|
|
break;
|
|
default:
|
|
dev_err(mod->dev, "recieved an unknown inquiry response\n");
|
|
break;
|
|
}
|
|
}
|
|
|
|
static void ican3_handle_unknown_message(struct ican3_dev *mod,
|
|
struct ican3_msg *msg)
|
|
{
|
|
dev_warn(mod->dev, "recieved unknown message: spec 0x%.2x length %d\n",
|
|
msg->spec, le16_to_cpu(msg->len));
|
|
}
|
|
|
|
/*
|
|
* Handle a control message from the firmware
|
|
*/
|
|
static void ican3_handle_message(struct ican3_dev *mod, struct ican3_msg *msg)
|
|
{
|
|
dev_dbg(mod->dev, "%s: modno %d spec 0x%.2x len %d bytes\n", __func__,
|
|
mod->num, msg->spec, le16_to_cpu(msg->len));
|
|
|
|
switch (msg->spec) {
|
|
case MSG_IDVERS:
|
|
ican3_handle_idvers(mod, msg);
|
|
break;
|
|
case MSG_MSGLOST:
|
|
case MSG_FMSGLOST:
|
|
ican3_handle_msglost(mod, msg);
|
|
break;
|
|
case MSG_CEVTIND:
|
|
ican3_handle_cevtind(mod, msg);
|
|
break;
|
|
case MSG_INQUIRY:
|
|
ican3_handle_inquiry(mod, msg);
|
|
break;
|
|
default:
|
|
ican3_handle_unknown_message(mod, msg);
|
|
break;
|
|
}
|
|
}
|
|
|
|
/*
|
|
* Check that there is room in the TX ring to transmit another skb
|
|
*
|
|
* LOCKING: must hold mod->lock
|
|
*/
|
|
static bool ican3_txok(struct ican3_dev *mod)
|
|
{
|
|
struct ican3_fast_desc __iomem *desc;
|
|
u8 control;
|
|
|
|
/* copy the control bits of the descriptor */
|
|
ican3_set_page(mod, mod->fasttx_start + (mod->fasttx_num / 16));
|
|
desc = mod->dpm + ((mod->fasttx_num % 16) * sizeof(*desc));
|
|
control = ioread8(&desc->control);
|
|
|
|
/* if the control bits are not valid, then we have no more space */
|
|
if (!(control & DESC_VALID))
|
|
return false;
|
|
|
|
return true;
|
|
}
|
|
|
|
/*
|
|
* Recieve one CAN frame from the hardware
|
|
*
|
|
* CONTEXT: must be called from user context
|
|
*/
|
|
static int ican3_recv_skb(struct ican3_dev *mod)
|
|
{
|
|
struct net_device *ndev = mod->ndev;
|
|
struct net_device_stats *stats = &ndev->stats;
|
|
struct ican3_fast_desc desc;
|
|
void __iomem *desc_addr;
|
|
struct can_frame *cf;
|
|
struct sk_buff *skb;
|
|
unsigned long flags;
|
|
|
|
spin_lock_irqsave(&mod->lock, flags);
|
|
|
|
/* copy the whole descriptor */
|
|
ican3_set_page(mod, mod->fastrx_start + (mod->fastrx_num / 16));
|
|
desc_addr = mod->dpm + ((mod->fastrx_num % 16) * sizeof(desc));
|
|
memcpy_fromio(&desc, desc_addr, sizeof(desc));
|
|
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
|
|
/* check that we actually have a CAN frame */
|
|
if (!(desc.control & DESC_VALID))
|
|
return -ENOBUFS;
|
|
|
|
/* allocate an skb */
|
|
skb = alloc_can_skb(ndev, &cf);
|
|
if (unlikely(skb == NULL)) {
|
|
stats->rx_dropped++;
|
|
goto err_noalloc;
|
|
}
|
|
|
|
/* convert the ICAN3 frame into Linux CAN format */
|
|
ican3_to_can_frame(mod, &desc, cf);
|
|
|
|
/* receive the skb, update statistics */
|
|
netif_receive_skb(skb);
|
|
stats->rx_packets++;
|
|
stats->rx_bytes += cf->can_dlc;
|
|
|
|
err_noalloc:
|
|
/* toggle the valid bit and return the descriptor to the ring */
|
|
desc.control ^= DESC_VALID;
|
|
|
|
spin_lock_irqsave(&mod->lock, flags);
|
|
|
|
ican3_set_page(mod, mod->fastrx_start + (mod->fastrx_num / 16));
|
|
memcpy_toio(desc_addr, &desc, 1);
|
|
|
|
/* update the next buffer pointer */
|
|
mod->fastrx_num = (desc.control & DESC_WRAP) ? 0
|
|
: (mod->fastrx_num + 1);
|
|
|
|
/* there are still more buffers to process */
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
return 0;
|
|
}
|
|
|
|
static int ican3_napi(struct napi_struct *napi, int budget)
|
|
{
|
|
struct ican3_dev *mod = container_of(napi, struct ican3_dev, napi);
|
|
struct ican3_msg msg;
|
|
unsigned long flags;
|
|
int received = 0;
|
|
int ret;
|
|
|
|
/* process all communication messages */
|
|
while (true) {
|
|
ret = ican3_recv_msg(mod, &msg);
|
|
if (ret)
|
|
break;
|
|
|
|
ican3_handle_message(mod, &msg);
|
|
}
|
|
|
|
/* process all CAN frames from the fast interface */
|
|
while (received < budget) {
|
|
ret = ican3_recv_skb(mod);
|
|
if (ret)
|
|
break;
|
|
|
|
received++;
|
|
}
|
|
|
|
/* We have processed all packets that the adapter had, but it
|
|
* was less than our budget, stop polling */
|
|
if (received < budget)
|
|
napi_complete(napi);
|
|
|
|
spin_lock_irqsave(&mod->lock, flags);
|
|
|
|
/* Wake up the transmit queue if necessary */
|
|
if (netif_queue_stopped(mod->ndev) && ican3_txok(mod))
|
|
netif_wake_queue(mod->ndev);
|
|
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
|
|
/* re-enable interrupt generation */
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_enable);
|
|
return received;
|
|
}
|
|
|
|
static irqreturn_t ican3_irq(int irq, void *dev_id)
|
|
{
|
|
struct ican3_dev *mod = dev_id;
|
|
u8 stat;
|
|
|
|
/*
|
|
* The interrupt status register on this device reports interrupts
|
|
* as zeroes instead of using ones like most other devices
|
|
*/
|
|
stat = ioread8(&mod->ctrl->int_disable) & (1 << mod->num);
|
|
if (stat == (1 << mod->num))
|
|
return IRQ_NONE;
|
|
|
|
/* clear the MODULbus interrupt from the microcontroller */
|
|
ioread8(&mod->dpmctrl->interrupt);
|
|
|
|
/* disable interrupt generation, schedule the NAPI poller */
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_disable);
|
|
napi_schedule(&mod->napi);
|
|
return IRQ_HANDLED;
|
|
}
|
|
|
|
/*
|
|
* Firmware reset, startup, and shutdown
|
|
*/
|
|
|
|
/*
|
|
* Reset an ICAN module to its power-on state
|
|
*
|
|
* CONTEXT: no network device registered
|
|
*/
|
|
static int ican3_reset_module(struct ican3_dev *mod)
|
|
{
|
|
u8 val = 1 << mod->num;
|
|
unsigned long start;
|
|
u8 runold, runnew;
|
|
|
|
/* disable interrupts so no more work is scheduled */
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_disable);
|
|
|
|
/* the first unallocated page in the DPM is #9 */
|
|
mod->free_page = DPM_FREE_START;
|
|
|
|
ican3_set_page(mod, QUEUE_OLD_CONTROL);
|
|
runold = ioread8(mod->dpm + TARGET_RUNNING);
|
|
|
|
/* reset the module */
|
|
iowrite8(val, &mod->ctrl->reset_assert);
|
|
iowrite8(val, &mod->ctrl->reset_deassert);
|
|
|
|
/* wait until the module has finished resetting and is running */
|
|
start = jiffies;
|
|
do {
|
|
ican3_set_page(mod, QUEUE_OLD_CONTROL);
|
|
runnew = ioread8(mod->dpm + TARGET_RUNNING);
|
|
if (runnew == (runold ^ 0xff))
|
|
return 0;
|
|
|
|
msleep(10);
|
|
} while (time_before(jiffies, start + HZ / 4));
|
|
|
|
dev_err(mod->dev, "failed to reset CAN module\n");
|
|
return -ETIMEDOUT;
|
|
}
|
|
|
|
static void __devexit ican3_shutdown_module(struct ican3_dev *mod)
|
|
{
|
|
ican3_msg_disconnect(mod);
|
|
ican3_reset_module(mod);
|
|
}
|
|
|
|
/*
|
|
* Startup an ICAN module, bringing it into fast mode
|
|
*/
|
|
static int __devinit ican3_startup_module(struct ican3_dev *mod)
|
|
{
|
|
int ret;
|
|
|
|
ret = ican3_reset_module(mod);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to reset module\n");
|
|
return ret;
|
|
}
|
|
|
|
/* re-enable interrupts so we can send messages */
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_enable);
|
|
|
|
ret = ican3_msg_connect(mod);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to connect to module\n");
|
|
return ret;
|
|
}
|
|
|
|
ican3_init_new_host_interface(mod);
|
|
ret = ican3_msg_newhostif(mod);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to switch to new-style interface\n");
|
|
return ret;
|
|
}
|
|
|
|
/* default to "termination on" */
|
|
ret = ican3_set_termination(mod, true);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to enable termination\n");
|
|
return ret;
|
|
}
|
|
|
|
/* default to "bus errors enabled" */
|
|
ret = ican3_set_buserror(mod, ICAN3_BUSERR_QUOTA_MAX);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to set bus-error\n");
|
|
return ret;
|
|
}
|
|
|
|
ican3_init_fast_host_interface(mod);
|
|
ret = ican3_msg_fasthostif(mod);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to switch to fast host interface\n");
|
|
return ret;
|
|
}
|
|
|
|
ret = ican3_set_id_filter(mod, true);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to set acceptance filter\n");
|
|
return ret;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* CAN Network Device
|
|
*/
|
|
|
|
static int ican3_open(struct net_device *ndev)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
u8 quota;
|
|
int ret;
|
|
|
|
/* open the CAN layer */
|
|
ret = open_candev(ndev);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to start CAN layer\n");
|
|
return ret;
|
|
}
|
|
|
|
/* set the bus error generation state appropriately */
|
|
if (mod->can.ctrlmode & CAN_CTRLMODE_BERR_REPORTING)
|
|
quota = ICAN3_BUSERR_QUOTA_MAX;
|
|
else
|
|
quota = 0;
|
|
|
|
ret = ican3_set_buserror(mod, quota);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to set bus-error\n");
|
|
close_candev(ndev);
|
|
return ret;
|
|
}
|
|
|
|
/* bring the bus online */
|
|
ret = ican3_set_bus_state(mod, true);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to set bus-on\n");
|
|
close_candev(ndev);
|
|
return ret;
|
|
}
|
|
|
|
/* start up the network device */
|
|
mod->can.state = CAN_STATE_ERROR_ACTIVE;
|
|
netif_start_queue(ndev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int ican3_stop(struct net_device *ndev)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
int ret;
|
|
|
|
/* stop the network device xmit routine */
|
|
netif_stop_queue(ndev);
|
|
mod->can.state = CAN_STATE_STOPPED;
|
|
|
|
/* bring the bus offline, stop receiving packets */
|
|
ret = ican3_set_bus_state(mod, false);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to set bus-off\n");
|
|
return ret;
|
|
}
|
|
|
|
/* close the CAN layer */
|
|
close_candev(ndev);
|
|
return 0;
|
|
}
|
|
|
|
static int ican3_xmit(struct sk_buff *skb, struct net_device *ndev)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
struct net_device_stats *stats = &ndev->stats;
|
|
struct can_frame *cf = (struct can_frame *)skb->data;
|
|
struct ican3_fast_desc desc;
|
|
void __iomem *desc_addr;
|
|
unsigned long flags;
|
|
|
|
spin_lock_irqsave(&mod->lock, flags);
|
|
|
|
/* check that we can actually transmit */
|
|
if (!ican3_txok(mod)) {
|
|
dev_err(mod->dev, "no free descriptors, stopping queue\n");
|
|
netif_stop_queue(ndev);
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
return NETDEV_TX_BUSY;
|
|
}
|
|
|
|
/* copy the control bits of the descriptor */
|
|
ican3_set_page(mod, mod->fasttx_start + (mod->fasttx_num / 16));
|
|
desc_addr = mod->dpm + ((mod->fasttx_num % 16) * sizeof(desc));
|
|
memset(&desc, 0, sizeof(desc));
|
|
memcpy_fromio(&desc, desc_addr, 1);
|
|
|
|
/* convert the Linux CAN frame into ICAN3 format */
|
|
can_frame_to_ican3(mod, cf, &desc);
|
|
|
|
/*
|
|
* the programming manual says that you must set the IVALID bit, then
|
|
* interrupt, then set the valid bit. Quite weird, but it seems to be
|
|
* required for this to work
|
|
*/
|
|
desc.control |= DESC_IVALID;
|
|
memcpy_toio(desc_addr, &desc, sizeof(desc));
|
|
|
|
/* generate a MODULbus interrupt to the microcontroller */
|
|
iowrite8(0x01, &mod->dpmctrl->interrupt);
|
|
|
|
desc.control ^= DESC_VALID;
|
|
memcpy_toio(desc_addr, &desc, sizeof(desc));
|
|
|
|
/* update the next buffer pointer */
|
|
mod->fasttx_num = (desc.control & DESC_WRAP) ? 0
|
|
: (mod->fasttx_num + 1);
|
|
|
|
/* update statistics */
|
|
stats->tx_packets++;
|
|
stats->tx_bytes += cf->can_dlc;
|
|
kfree_skb(skb);
|
|
|
|
/*
|
|
* This hardware doesn't have TX-done notifications, so we'll try and
|
|
* emulate it the best we can using ECHO skbs. Get the next TX
|
|
* descriptor, and see if we have room to send. If not, stop the queue.
|
|
* It will be woken when the ECHO skb for the current packet is recv'd.
|
|
*/
|
|
|
|
/* copy the control bits of the descriptor */
|
|
if (!ican3_txok(mod))
|
|
netif_stop_queue(ndev);
|
|
|
|
spin_unlock_irqrestore(&mod->lock, flags);
|
|
return NETDEV_TX_OK;
|
|
}
|
|
|
|
static const struct net_device_ops ican3_netdev_ops = {
|
|
.ndo_open = ican3_open,
|
|
.ndo_stop = ican3_stop,
|
|
.ndo_start_xmit = ican3_xmit,
|
|
};
|
|
|
|
/*
|
|
* Low-level CAN Device
|
|
*/
|
|
|
|
/* This structure was stolen from drivers/net/can/sja1000/sja1000.c */
|
|
static struct can_bittiming_const ican3_bittiming_const = {
|
|
.name = DRV_NAME,
|
|
.tseg1_min = 1,
|
|
.tseg1_max = 16,
|
|
.tseg2_min = 1,
|
|
.tseg2_max = 8,
|
|
.sjw_max = 4,
|
|
.brp_min = 1,
|
|
.brp_max = 64,
|
|
.brp_inc = 1,
|
|
};
|
|
|
|
/*
|
|
* This routine was stolen from drivers/net/can/sja1000/sja1000.c
|
|
*
|
|
* The bittiming register command for the ICAN3 just sets the bit timing
|
|
* registers on the SJA1000 chip directly
|
|
*/
|
|
static int ican3_set_bittiming(struct net_device *ndev)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
struct can_bittiming *bt = &mod->can.bittiming;
|
|
struct ican3_msg msg;
|
|
u8 btr0, btr1;
|
|
|
|
btr0 = ((bt->brp - 1) & 0x3f) | (((bt->sjw - 1) & 0x3) << 6);
|
|
btr1 = ((bt->prop_seg + bt->phase_seg1 - 1) & 0xf) |
|
|
(((bt->phase_seg2 - 1) & 0x7) << 4);
|
|
if (mod->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES)
|
|
btr1 |= 0x80;
|
|
|
|
memset(&msg, 0, sizeof(msg));
|
|
msg.spec = MSG_CBTRREQ;
|
|
msg.len = cpu_to_le16(4);
|
|
msg.data[0] = 0x00;
|
|
msg.data[1] = 0x00;
|
|
msg.data[2] = btr0;
|
|
msg.data[3] = btr1;
|
|
|
|
return ican3_send_msg(mod, &msg);
|
|
}
|
|
|
|
static int ican3_set_mode(struct net_device *ndev, enum can_mode mode)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
int ret;
|
|
|
|
if (mode != CAN_MODE_START)
|
|
return -ENOTSUPP;
|
|
|
|
/* bring the bus online */
|
|
ret = ican3_set_bus_state(mod, true);
|
|
if (ret) {
|
|
dev_err(mod->dev, "unable to set bus-on\n");
|
|
return ret;
|
|
}
|
|
|
|
/* start up the network device */
|
|
mod->can.state = CAN_STATE_ERROR_ACTIVE;
|
|
|
|
if (netif_queue_stopped(ndev))
|
|
netif_wake_queue(ndev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int ican3_get_berr_counter(const struct net_device *ndev,
|
|
struct can_berr_counter *bec)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
int ret;
|
|
|
|
ret = ican3_send_inquiry(mod, INQUIRY_STATUS);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = wait_for_completion_timeout(&mod->buserror_comp, HZ);
|
|
if (ret <= 0) {
|
|
dev_info(mod->dev, "%s timed out\n", __func__);
|
|
return -ETIMEDOUT;
|
|
}
|
|
|
|
bec->rxerr = mod->bec.rxerr;
|
|
bec->txerr = mod->bec.txerr;
|
|
return 0;
|
|
}
|
|
|
|
/*
|
|
* Sysfs Attributes
|
|
*/
|
|
|
|
static ssize_t ican3_sysfs_show_term(struct device *dev,
|
|
struct device_attribute *attr,
|
|
char *buf)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(to_net_dev(dev));
|
|
int ret;
|
|
|
|
ret = ican3_send_inquiry(mod, INQUIRY_TERMINATION);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = wait_for_completion_timeout(&mod->termination_comp, HZ);
|
|
if (ret <= 0) {
|
|
dev_info(mod->dev, "%s timed out\n", __func__);
|
|
return -ETIMEDOUT;
|
|
}
|
|
|
|
return snprintf(buf, PAGE_SIZE, "%u\n", mod->termination_enabled);
|
|
}
|
|
|
|
static ssize_t ican3_sysfs_set_term(struct device *dev,
|
|
struct device_attribute *attr,
|
|
const char *buf, size_t count)
|
|
{
|
|
struct ican3_dev *mod = netdev_priv(to_net_dev(dev));
|
|
unsigned long enable;
|
|
int ret;
|
|
|
|
if (strict_strtoul(buf, 0, &enable))
|
|
return -EINVAL;
|
|
|
|
ret = ican3_set_termination(mod, enable);
|
|
if (ret)
|
|
return ret;
|
|
|
|
return count;
|
|
}
|
|
|
|
static DEVICE_ATTR(termination, S_IWUGO | S_IRUGO, ican3_sysfs_show_term,
|
|
ican3_sysfs_set_term);
|
|
|
|
static struct attribute *ican3_sysfs_attrs[] = {
|
|
&dev_attr_termination.attr,
|
|
NULL,
|
|
};
|
|
|
|
static struct attribute_group ican3_sysfs_attr_group = {
|
|
.attrs = ican3_sysfs_attrs,
|
|
};
|
|
|
|
/*
|
|
* PCI Subsystem
|
|
*/
|
|
|
|
static int __devinit ican3_probe(struct platform_device *pdev)
|
|
{
|
|
struct janz_platform_data *pdata;
|
|
struct net_device *ndev;
|
|
struct ican3_dev *mod;
|
|
struct resource *res;
|
|
struct device *dev;
|
|
int ret;
|
|
|
|
pdata = pdev->dev.platform_data;
|
|
if (!pdata)
|
|
return -ENXIO;
|
|
|
|
dev_dbg(&pdev->dev, "probe: module number %d\n", pdata->modno);
|
|
|
|
/* save the struct device for printing */
|
|
dev = &pdev->dev;
|
|
|
|
/* allocate the CAN device and private data */
|
|
ndev = alloc_candev(sizeof(*mod), 0);
|
|
if (!ndev) {
|
|
dev_err(dev, "unable to allocate CANdev\n");
|
|
ret = -ENOMEM;
|
|
goto out_return;
|
|
}
|
|
|
|
platform_set_drvdata(pdev, ndev);
|
|
mod = netdev_priv(ndev);
|
|
mod->ndev = ndev;
|
|
mod->dev = &pdev->dev;
|
|
mod->num = pdata->modno;
|
|
netif_napi_add(ndev, &mod->napi, ican3_napi, ICAN3_RX_BUFFERS);
|
|
spin_lock_init(&mod->lock);
|
|
init_completion(&mod->termination_comp);
|
|
init_completion(&mod->buserror_comp);
|
|
|
|
/* setup device-specific sysfs attributes */
|
|
ndev->sysfs_groups[0] = &ican3_sysfs_attr_group;
|
|
|
|
/* the first unallocated page in the DPM is 9 */
|
|
mod->free_page = DPM_FREE_START;
|
|
|
|
ndev->netdev_ops = &ican3_netdev_ops;
|
|
ndev->flags |= IFF_ECHO;
|
|
SET_NETDEV_DEV(ndev, &pdev->dev);
|
|
|
|
mod->can.clock.freq = ICAN3_CAN_CLOCK;
|
|
mod->can.bittiming_const = &ican3_bittiming_const;
|
|
mod->can.do_set_bittiming = ican3_set_bittiming;
|
|
mod->can.do_set_mode = ican3_set_mode;
|
|
mod->can.do_get_berr_counter = ican3_get_berr_counter;
|
|
mod->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES
|
|
| CAN_CTRLMODE_BERR_REPORTING;
|
|
|
|
/* find our IRQ number */
|
|
mod->irq = platform_get_irq(pdev, 0);
|
|
if (mod->irq < 0) {
|
|
dev_err(dev, "IRQ line not found\n");
|
|
ret = -ENODEV;
|
|
goto out_free_ndev;
|
|
}
|
|
|
|
ndev->irq = mod->irq;
|
|
|
|
/* get access to the MODULbus registers for this module */
|
|
res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
|
|
if (!res) {
|
|
dev_err(dev, "MODULbus registers not found\n");
|
|
ret = -ENODEV;
|
|
goto out_free_ndev;
|
|
}
|
|
|
|
mod->dpm = ioremap(res->start, resource_size(res));
|
|
if (!mod->dpm) {
|
|
dev_err(dev, "MODULbus registers not ioremap\n");
|
|
ret = -ENOMEM;
|
|
goto out_free_ndev;
|
|
}
|
|
|
|
mod->dpmctrl = mod->dpm + DPM_PAGE_SIZE;
|
|
|
|
/* get access to the control registers for this module */
|
|
res = platform_get_resource(pdev, IORESOURCE_MEM, 1);
|
|
if (!res) {
|
|
dev_err(dev, "CONTROL registers not found\n");
|
|
ret = -ENODEV;
|
|
goto out_iounmap_dpm;
|
|
}
|
|
|
|
mod->ctrl = ioremap(res->start, resource_size(res));
|
|
if (!mod->ctrl) {
|
|
dev_err(dev, "CONTROL registers not ioremap\n");
|
|
ret = -ENOMEM;
|
|
goto out_iounmap_dpm;
|
|
}
|
|
|
|
/* disable our IRQ, then hookup the IRQ handler */
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_disable);
|
|
ret = request_irq(mod->irq, ican3_irq, IRQF_SHARED, DRV_NAME, mod);
|
|
if (ret) {
|
|
dev_err(dev, "unable to request IRQ\n");
|
|
goto out_iounmap_ctrl;
|
|
}
|
|
|
|
/* reset and initialize the CAN controller into fast mode */
|
|
napi_enable(&mod->napi);
|
|
ret = ican3_startup_module(mod);
|
|
if (ret) {
|
|
dev_err(dev, "%s: unable to start CANdev\n", __func__);
|
|
goto out_free_irq;
|
|
}
|
|
|
|
/* register with the Linux CAN layer */
|
|
ret = register_candev(ndev);
|
|
if (ret) {
|
|
dev_err(dev, "%s: unable to register CANdev\n", __func__);
|
|
goto out_free_irq;
|
|
}
|
|
|
|
dev_info(dev, "module %d: registered CAN device\n", pdata->modno);
|
|
return 0;
|
|
|
|
out_free_irq:
|
|
napi_disable(&mod->napi);
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_disable);
|
|
free_irq(mod->irq, mod);
|
|
out_iounmap_ctrl:
|
|
iounmap(mod->ctrl);
|
|
out_iounmap_dpm:
|
|
iounmap(mod->dpm);
|
|
out_free_ndev:
|
|
free_candev(ndev);
|
|
out_return:
|
|
return ret;
|
|
}
|
|
|
|
static int __devexit ican3_remove(struct platform_device *pdev)
|
|
{
|
|
struct net_device *ndev = platform_get_drvdata(pdev);
|
|
struct ican3_dev *mod = netdev_priv(ndev);
|
|
|
|
/* unregister the netdevice, stop interrupts */
|
|
unregister_netdev(ndev);
|
|
napi_disable(&mod->napi);
|
|
iowrite8(1 << mod->num, &mod->ctrl->int_disable);
|
|
free_irq(mod->irq, mod);
|
|
|
|
/* put the module into reset */
|
|
ican3_shutdown_module(mod);
|
|
|
|
/* unmap all registers */
|
|
iounmap(mod->ctrl);
|
|
iounmap(mod->dpm);
|
|
|
|
free_candev(ndev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static struct platform_driver ican3_driver = {
|
|
.driver = {
|
|
.name = DRV_NAME,
|
|
.owner = THIS_MODULE,
|
|
},
|
|
.probe = ican3_probe,
|
|
.remove = __devexit_p(ican3_remove),
|
|
};
|
|
|
|
static int __init ican3_init(void)
|
|
{
|
|
return platform_driver_register(&ican3_driver);
|
|
}
|
|
|
|
static void __exit ican3_exit(void)
|
|
{
|
|
platform_driver_unregister(&ican3_driver);
|
|
}
|
|
|
|
MODULE_AUTHOR("Ira W. Snyder <iws@ovro.caltech.edu>");
|
|
MODULE_DESCRIPTION("Janz MODULbus VMOD-ICAN3 Driver");
|
|
MODULE_LICENSE("GPL");
|
|
MODULE_ALIAS("platform:janz-ican3");
|
|
|
|
module_init(ican3_init);
|
|
module_exit(ican3_exit);
|