Commit 76b7b882 authored by Guilherme Sanches's avatar Guilherme Sanches

First commit into the canbus branch. This branch will be used to develop the...

First commit into the canbus branch. This branch will be used to develop the canbus driver for AIR. RTEMS4.11 canbus driver is already included in the driver's folder of AIR
parent 32ec4ce8
/*
* CAN_MUX driver
*
* --------------------------------------------------------------------------
* -- This file is a part of GAISLER RESEARCH source code.
* -- Copyright (C) 2008, Gaisler Research AB - all rights reserved.
* --
* -- ANY USE OR REDISTRIBUTION IN PART OR IN WHOLE MUST BE HANDLED IN
* -- ACCORDANCE WITH THE GAISLER LICENSE AGREEMENT AND MUST BE APPROVED
* -- IN ADVANCE IN WRITING.
* --
* -- BY DEFAULT, DISTRIBUTION OR DISCLOSURE IS NOT PERMITTED.
* --------------------------------------------------------------------------
*
*/
#include <rtems/libio.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <bsp.h>
#include <rtems/bspIo.h> /* printk */
#include <canmux.h>
#include <ambapp.h>
#ifndef GAISLER_CANMUX
#define GAISLER_CANMUX 0x081
#endif
#if !defined(CANMUX_DEVNAME)
#undef CANMUX_DEVNAME
#define CANMUX_DEVNAME "/dev/canmux"
#endif
/* Enable debug output? */
/* #define DEBUG */
#ifdef DEBUG
#define DBG(x...) printk(x)
#else
#define DBG(x...)
#endif
#define BUSA_SELECT (1 << 0)
#define BUSB_SELECT (1 << 1)
struct canmux_priv {
volatile unsigned int *muxreg;
rtems_id devsem;
int open;
};
static struct canmux_priv *priv;
static rtems_device_driver canmux_ioctl(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg);
static rtems_device_driver canmux_initialize(rtems_device_major_number major, rtems_device_minor_number unused, void *arg);
static rtems_device_driver canmux_ioctl(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
rtems_libio_ioctl_args_t *ioarg = (rtems_libio_ioctl_args_t*)arg;
DBG("CAN_MUX: IOCTL %d\n\r", ioarg->command);
ioarg->ioctl_return = 0;
switch(ioarg->command) {
case CANMUX_IOC_BUSA_SATCAN: *priv->muxreg &= ~BUSA_SELECT; break;
case CANMUX_IOC_BUSA_OCCAN1: *priv->muxreg |= BUSA_SELECT; break;
case CANMUX_IOC_BUSB_SATCAN: *priv->muxreg &= ~BUSB_SELECT; break;
case CANMUX_IOC_BUSB_OCCAN2: *priv->muxreg |= BUSB_SELECT; break;
default: return RTEMS_NOT_DEFINED;
}
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
rtems_libio_rw_args_t *rw_args=(rtems_libio_rw_args_t*)arg;
rw_args->bytes_moved = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
rtems_libio_rw_args_t *rw_args = (rtems_libio_rw_args_t*)arg;
rw_args->bytes_moved = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
DBG("CAN_MUX: Closing %d\n\r",minor);
priv->open = 0;
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
DBG("CAN_MUX: Opening %d\n\r",minor);
rtems_semaphore_obtain(priv->devsem,RTEMS_WAIT, RTEMS_NO_TIMEOUT);
if (priv->open) {
rtems_semaphore_release(priv->devsem);
return RTEMS_RESOURCE_IN_USE; /* EBUSY */
}
priv->open = 1;
rtems_semaphore_release(priv->devsem);
DBG("CAN_MUX: Opening %d success\n\r",minor);
return RTEMS_SUCCESSFUL;
}
static rtems_device_driver canmux_initialize(rtems_device_major_number major, rtems_device_minor_number minor, void *arg)
{
struct ambapp_apb_info d;
char fs_name[20];
rtems_status_code status;
DBG("CAN_MUX: Initialize..\n\r");
strcpy(fs_name, CANMUX_DEVNAME);
/* Find core and initialize register pointer */
if (!ambapp_find_apbslv(&ambapp_plb, VENDOR_GAISLER, GAISLER_CANMUX, &d)) {
printk("CAN_MUX: Failed to find CAN_MUX core\n\r");
return -1;
}
status = rtems_io_register_name(fs_name, major, minor);
if (RTEMS_SUCCESSFUL != status)
rtems_fatal_error_occurred(status);
/* Create private structure */
if ((priv = malloc(sizeof(struct canmux_priv))) == NULL) {
printk("CAN_MUX driver could not allocate memory for priv structure\n\r");
return -1;
}
priv->muxreg = (unsigned int*)d.start;
status = rtems_semaphore_create(
rtems_build_name('M', 'd', 'v', '0'),
1,
RTEMS_FIFO | RTEMS_SIMPLE_BINARY_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY | \
RTEMS_NO_PRIORITY_CEILING,
0,
&priv->devsem);
if (status != RTEMS_SUCCESSFUL) {
printk("CAN_MUX: Failed to create dev semaphore (%d)\n\r", status);
free(priv);
return RTEMS_UNSATISFIED;
}
priv->open = 0;
return RTEMS_SUCCESSFUL;
}
#define CANMUX_DRIVER_TABLE_ENTRY { canmux_initialize, canmux_open, canmux_close, canmux_read, canmux_write, canmux_ioctl }
static rtems_driver_address_table canmux_driver = CANMUX_DRIVER_TABLE_ENTRY;
int canmux_register(void)
{
rtems_status_code r;
rtems_device_major_number m;
DBG("CAN_MUX: canmux_register called\n\r");
if ((r = rtems_io_register_driver(0, &canmux_driver, &m)) == RTEMS_SUCCESSFUL) {
DBG("CAN_MUX driver successfully registered, major: %d\n\r", m);
} else {
switch(r) {
case RTEMS_TOO_MANY:
printk("CAN_MUX rtems_io_register_driver failed: RTEMS_TOO_MANY\n\r"); break;
case RTEMS_INVALID_NUMBER:
printk("CAN_MUX rtems_io_register_driver failed: RTEMS_INVALID_NUMBER\n\r"); break;
case RTEMS_RESOURCE_IN_USE:
printk("CAN_MUX rtems_io_register_driver failed: RTEMS_RESOURCE_IN_USE\n\r"); break;
default:
printk("CAN_MUX rtems_io_register_driver failed\n\r");
}
return 1;
}
return 0;
}
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