forked from Imagelibrary/rtems
160 lines
4.5 KiB
C
160 lines
4.5 KiB
C
/* SPDX-License-Identifier: BSD-2-Clause */
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/*
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* GRCAN driver
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*
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* COPYRIGHT (c) 2007-2019.
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* Cobham Gaisler AB.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef GRCAN_DEFAULT_BAUD
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/* default to 500kbits/s */
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#define GRCAN_DEFAULT_BAUD 500000
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#endif
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#ifndef GRCAN_SAMPLING_POINT
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#define GRCAN_SAMPLING_POINT 80
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#endif
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#define WRAP_AROUND_TX_MSGS 1
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#define WRAP_AROUND_RX_MSGS 2
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#define GRCAN_MSG_SIZE sizeof(struct grcan_msg)
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struct grcan_msg {
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unsigned int head[2];
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unsigned char data[8];
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};
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struct grcan_config {
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struct grcan_timing timing;
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struct grcanfd_timing timing_fd;
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struct grcan_selection selection;
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int abort;
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int silent;
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};
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struct grcan_priv {
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struct drvmgr_dev *dev; /* Driver manager device */
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char devName[52]; /* Device Name */
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unsigned int baseaddr, ram_base;
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struct grcan_regs *regs;
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int irq;
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int minor;
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int open;
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int started;
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unsigned int channel;
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int flushing;
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unsigned int corefreq_hz;
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int fd_capable;
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/* Circular DMA buffers */
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void *_rx, *_rx_hw;
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void *_tx, *_tx_hw;
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void *txbuf_adr;
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void *rxbuf_adr;
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struct grcan_msg *rx;
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struct grcan_msg *tx;
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unsigned int rxbuf_size; /* requested RX buf size in bytes */
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unsigned int txbuf_size; /* requested TX buf size in bytes */
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int txblock, rxblock;
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int txcomplete, rxcomplete;
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struct grcan_filter sfilter;
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struct grcan_filter afilter;
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int config_changed; /* 0=no changes, 1=changes ==> a Core reset is needed */
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struct grcan_config config;
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struct grcan_stats stats;
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rtems_id rx_sem, tx_sem, txempty_sem, dev_sem;
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SPIN_DECLARE(devlock);
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};
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#ifdef GRCAN_REG_BYPASS_CACHE
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#define READ_REG(address) grlib_read_uncached32((unsigned int)(address))
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#else
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#define READ_REG(address) (*(volatile unsigned int *)(address))
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#endif
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#ifdef GRCAN_DMA_BYPASS_CACHE
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#define READ_DMA_DOUBLE(address) grlib_read_uncached64((uint64_t *)(address))
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#define READ_DMA_WORD(address) grlib_read_uncached32((unsigned int)(address))
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#define READ_DMA_BYTE(address) grlib_read_uncached8((unsigned int)(address))
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#else
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#define READ_DMA_DOUBLE(address) (*(volatile uint64_t *)(address))
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#define READ_DMA_WORD(address) (*(volatile unsigned int *)(address))
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#define READ_DMA_BYTE(address) (*(volatile unsigned char *)(address))
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#endif
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extern int state2err[4];
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extern struct grlib_canbtrs_ranges grcan_btrs_ranges;
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extern struct grlib_canbtrs_ranges grcanfd_nom_btrs_ranges;
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extern struct grlib_canbtrs_ranges grcanfd_fd_btrs_ranges;
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int grcan_wait_rxdata(struct grcan_priv *pDev, int min);
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int grcan_wait_txspace(struct grcan_priv *pDev, int min);
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static inline unsigned int grcan_hw_rxavail(
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unsigned int rp,
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unsigned int wp,
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unsigned int size)
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{
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if (rp == wp) {
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/* read pointer and write pointer is equal only
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* when RX buffer is empty.
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*/
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return 0;
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}
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if (wp > rp) {
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return (wp - rp) / GRCAN_MSG_SIZE;
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} else {
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return (size - (rp - wp)) / GRCAN_MSG_SIZE;
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}
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}
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static inline unsigned int grcan_hw_txspace(
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unsigned int rp,
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unsigned int wp,
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unsigned int size)
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{
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unsigned int left;
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if (rp == wp) {
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/* read pointer and write pointer is equal only
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* when TX buffer is empty.
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*/
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return size / GRCAN_MSG_SIZE - WRAP_AROUND_TX_MSGS;
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}
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/* size - 4 - abs(read-write) */
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if (wp > rp) {
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left = size - (wp - rp);
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} else {
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left = rp - wp;
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}
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return left / GRCAN_MSG_SIZE - WRAP_AROUND_TX_MSGS;
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}
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