/* * s3c2410-can-mcp2510.c * * can driver for SAMSUNG UP-NETARM2410 * * Author: ZOU JIAN GUO <zounix@126.com> * Updated : WANG BIN <wbinbuaa@163.com> * based on threewater <threewater@up-tech.com> * Date  : $Date: 2004/09/29 13:22:00 $  * * $Revision: 1.1.0.0 $ * * * This file is subject to the terms and conditions of the GNU General Public * License.  See the file COPYING in the main directory of this archive * for more details. * * History: * *  */#include <linux/config.h>#include <linux/module.h>#include <linux/kernel.h>#include <linux/init.h>#include <linux/miscdevice.h>#include <linux/sched.h>#include <linux/delay.h>#include <linux/poll.h>#include <linux/spinlock.h>#include <linux/delay.h>#include <asm/hardware.h>#include <asm/arch/spi.h>#include "mcp2510.h"#include "up-can.h"#include <asm/arch/S3C2410.h>/* debug macros */#undef DEBUG//#define DEBUG#ifdef DEBUG#define DPRINTK( x... )	printk("s3c2410-mcp2510: " ##x)#else#define DPRINTK( x... )#endif/********************** MCP2510 Pin *********************************/#define MCP2510_IRQ		IRQ_EINT4	//IRQ_EINT6#define MCP2510_PIN_CS		(1)  //GPIO_H0#define GPIO_MCP2510_CS		(GPIO_MODE_OUT | GPIO_PULLUP_DIS | GPIO_H0)#define MCP2510_Enable()	do {GPHDAT &= ~MCP2510_PIN_CS;udelay(1000);}while(0);#define MCP2510_Disable()	do {GPHDAT |= MCP2510_PIN_CS;}while(0);#define MCP2510_OPEN_INT()		enable_irq(MCP2510_IRQ)		//added by wb#define MCP2510_CLOSE_INT()		disable_irq(MCP2510_IRQ)////////////////////////////////////////////////////////////////////////////// Start the transmission from one of the tx buffers.#define MCP2510_transmit(address)		do{MCP2510_WriteBits(address, TXB_TXREQ_M, TXB_TXREQ_M);}while(0)#define MCP2510_CanRevBuffer	128	//CAN接收緩沖區大小/********************** MCP2510 Candata *********************************/typedef struct {	CanData MCP2510_Candata[MCP2510_CanRevBuffer];	//recieve data buffer	int nCanRevpos;	//recieve buffer pos for queued events	int nCanReadpos;	//read buffer pos for queued events	int loopbackmode;	wait_queue_head_t wq;	spinlock_t lock;}Mcp2510_DEV;static Mcp2510_DEV mcp2510dev;#define NextCanDataPos(pos)		do{(pos)=((pos)+1>=MCP2510_CanRevBuffer? 0: (pos)+1);}while(0)#define DEVICE_NAME		"s3c2410-mcp2510"#define SPIRAW_MINOR	1static int Major = 0;static int opencount=0;#define TRUE 1#define FALSE 0//#define SendSIOData(data) SPISend(data,0)//#define ReadSIOData()	SPIRecv(0)///////////////////////////////////////////////////////////////////static void printRegisters(void){  DPRINTK ("GPFCON:%x\tGPFUP:%x\tGPFDAT:%x\n",	  GPFCON, GPFUP, GPFDAT );  DPRINTK ("GPGCON:%x\tGPGUP:%x\tGPGDAT:%x\n",	  GPGCON, GPGUP, GPGDAT );  DPRINTK ("INTMOD:%x\tINTMSK:%x\tINTPND:%x\tSRCPND:%x\n",	  INTMOD, INTMSK, INTPND, SRCPND);  DPRINTK ("EXTINT0:%x\tEINTMASK:%x\tEINTPEND:%x\n",	  EXTINT0, EINTMASK, EINTPEND );}static void printGPE (void){  DPRINTK ("GPECON:%x\tGPEUP:%x\tGPEDAT:%x\n",	  GPECON, GPEUP, GPEDAT );}static void printSPI (void){  DPRINTK ("SPPRE0:%d\tSPCON0:%x\tSPSTA0:%x\n", SPPRE0, SPCON0, SPSTA0 );  DPRINTK ("SPTDAT0:%x\tSPRDAT0:%x\n", SPTDAT0, SPRDAT0 );  DPRINTK ("SPPIN0:%x\n", SPPIN0);}///////////////////////////////////////////////////////////////////////static void  SendSIOData(unsigned int data){	SPISend(data,0);}	static unsigned int ReadSIOData(){	return SPIRecv(0);	}static inline void MCP2510_Reset(void){	MCP2510_Enable();	SendSIOData(MCP2510INSTR_RESET);	MCP2510_Disable();}static void MCP2510_Write(int address, int value){	int flags;	local_irq_save(flags);	MCP2510_Enable();	SendSIOData(MCP2510INSTR_WRITE);	SendSIOData((unsigned char)address);	SendSIOData((unsigned char)value);	MCP2510_Disable();	local_irq_restore(flags);}static unsigned char MCP2510_Read(int address){	unsigned char result;	int flags;	local_irq_save(flags);	MCP2510_Enable();	SendSIOData(MCP2510INSTR_READ);	SendSIOData((unsigned char)address);	SendSIOData(0);	result=ReadSIOData();	MCP2510_Disable();	local_irq_restore(flags);	return result;}static unsigned char MCP2510_ReadStatus(void){	unsigned char result;	int flags;	local_irq_save(flags);	MCP2510_Enable();	SendSIOData(MCP2510INSTR_RDSTAT);	SendSIOData(0);	result=ReadSIOData();	MCP2510_Disable();	local_irq_restore(flags);	return result;}static void MCP2510_WriteBits( int address, int data, int mask ){	int flags;	local_irq_save(flags);	MCP2510_Enable();	SendSIOData(MCP2510INSTR_BITMDFY);	SendSIOData((unsigned char)address);	SendSIOData((unsigned char)mask);	SendSIOData((unsigned char)data);	MCP2510_Disable();	local_irq_restore(flags);}/*******************************************\*	序列讀取MCP2510數據				*\*******************************************/static void MCP2510_SRead( int address, unsigned char* pdata, int nlength ){	int i;	int flags;	local_irq_save(flags);	MCP2510_Enable();	SendSIOData(MCP2510INSTR_READ);	SendSIOData((unsigned char)address);	for (i=0; i<nlength; i++) {		SendSIOData(0);		*pdata=ReadSIOData();		pdata++;	}	MCP2510_Disable();	local_irq_restore(flags);}/*******************************************\*	序列寫入MCP2510數據				*\*******************************************/static void MCP2510_Swrite(int address, unsigned char* pdata, int nlength){	int i;	int flags;	local_irq_save(flags);	MCP2510_Enable();	SendSIOData(MCP2510INSTR_WRITE);	SendSIOData((unsigned char)address);	for (i=0; i < nlength; i++) {		SendSIOData((unsigned char)*pdata);		pdata++;	}	MCP2510_Disable();	local_irq_restore(flags);}/************************************************************\*	設置MCP2510 CAN總線波特率						**	參數: bandrate為所設置的波特率				**			IsBackNormal為是否要返回Normal模式		*\************************************************************/static void MCP2510_SetBandRate(CanBandRate bandrate, int IsBackNormal){	//	// Bit rate calculations.	//	//Input clock fre=16MHz	// In this case, we'll use a speed of 125 kbit/s, 250 kbit/s, 500 kbit/s.	// If we set the length of the propagation segment to 7 bit time quanta,	// and we set both the phase segments to 4 quanta each,	// one bit will be 1+7+4+4 = 16 quanta in length.	//	// setting the prescaler (BRP) to 0 => 500 kbit/s.	// setting the prescaler (BRP) to 1 => 250 kbit/s.	// setting the prescaler (BRP) to 3 => 125 kbit/s.	//	// If we set the length of the propagation segment to 3 bit time quanta,	// and we set both the phase segments to 1 quanta each,	// one bit will be 1+3+2+2 = 8 quanta in length.	// setting the prescaler (BRP) to 0 => 1 Mbit/s.	// Go into configuration mode	MCP2510_Write(MCP2510REG_CANCTRL, MODE_CONFIG);	switch(bandrate){	case BandRate_125kbps:		MCP2510_Write(CNF1, SJW1|BRP4);	//Synchronization Jump Width Length =1 TQ		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // Phase Seg 1 = 4, Prop Seg = 7		MCP2510_Write(CNF3, SEG4);// Phase Seg 2 = 4		break;	case BandRate_250kbps:		MCP2510_Write(CNF1, SJW1|BRP2);	//Synchronization Jump Width Length =1 TQ		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // Phase Seg 1 = 4, Prop Seg = 7		MCP2510_Write(CNF3, SEG4);// Phase Seg 2 = 4		break;	case BandRate_500kbps:		MCP2510_Write(CNF1, SJW1|BRP1);	//Synchronization Jump Width Length =1 TQ		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // Phase Seg 1 = 4, Prop Seg = 7		MCP2510_Write(CNF3, SEG4);// Phase Seg 2 = 4		break;	case BandRate_1Mbps:		MCP2510_Write(CNF1, SJW1|BRP1);	//Synchronization Jump Width Length =1 TQ		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG3<<3)|SEG2); // Phase Seg 1 = 2, Prop Seg = 3		MCP2510_Write(CNF3, SEG2);// Phase Seg 2 = 1		break;	}	if(IsBackNormal){		//Enable clock output		MCP2510_Write(CLKCTRL, MODE_NORMAL | CLKEN | CLK1);	}}/*******************************************\*	讀取MCP2510 CAN總線ID				**	參數: address為MCP2510寄存器地址**			can_id為返回的ID值			**	返回值								**	TRUE，表示是擴展ID(29位)			**	FALSE，表示非擴展ID(11位)		*\*******************************************/static int MCP2510_Read_Can_ID( int address, __u32* can_id){	__u32 tbufdata;	unsigned char* p=(unsigned char*)&tbufdata;	MCP2510_SRead(address, p, 4);	*can_id = (tbufdata<<3)|((tbufdata>>13)&0x7);	*can_id &= 0x7ff;	if ( (p[MCP2510LREG_SIDL] & TXB_EXIDE_M) ==  TXB_EXIDE_M ) {		*can_id = (*can_id<<2) | (p[MCP2510LREG_SIDL] & 0x03);		*can_id <<= 16;		*can_id |= tbufdata>>16;		return TRUE;	}	return FALSE;}/***********************************************************\*	讀取MCP2510 接收的數據							**	參數: 													**		nbuffer為第幾個緩沖區可以為3或者4		**		CanData為CAN數據結構							*\***********************************************************/static void MCP2510_Read_Can(unsigned char nbuffer, PCanData candata){	unsigned char mcp_addr = (nbuffer<<4) + 0x31, ctrl;	int IsExt;	char dlc;	IsExt=MCP2510_Read_Can_ID( mcp_addr, &(candata->id));	ctrl=MCP2510_Read(mcp_addr-1);	dlc=MCP2510_Read( mcp_addr+4);	if ((ctrl & 0x08)) {		candata->rxRTR = TRUE;	}	else{		candata->rxRTR = FALSE;	}	dlc &= DLC_MASK;	MCP2510_SRead(mcp_addr+5, candata->data, dlc);	candata->dlc=dlc;}/*******************************************\*	設置MCP2510 CAN總線ID				**	參數: address為MCP2510寄存器地址**			can_id為設置的ID值			**			IsExt表示是否為擴展ID	*\*******************************************/static void MCP2510_Write_Can_ID(int address, __u32 can_id, int IsExt){	__u32 tbufdata;	if (IsExt) {		can_id &= 0x1fffffff;	//29位		tbufdata=can_id &0xffff;		tbufdata<<=16;		tbufdata|=((can_id>>(18-5))&(~0x1f));		tbufdata |= TXB_EXIDE_M;	}	else{		can_id&=0x7ff;	//11位		tbufdata= (can_id>>3)|((can_id&0x7)<<13);	}	MCP2510_Swrite(address, (unsigned char*)&tbufdata, 4);	MCP2510_Read_Can_ID(address, &tbufdata);	DPRINTK("write can id=%x, result id=%x\n",can_id, tbufdata);}/***********************************************************\*	寫入MCP2510 發送的數據							**	參數: 													**		nbuffer為第幾個緩沖區可以為0、1、2		**		CanData為CAN數據結構							*\***********************************************************/static void MCP2510_Write_Can( unsigned char nbuffer, PCanData candata){	unsigned char dlc;	unsigned char mcp_addr = (nbuffer<<4) + 0x31;	dlc=candata->dlc;	MCP2510_Swrite(mcp_addr+5, candata->data, dlc);  // write data bytes	MCP2510_Write_Can_ID( mcp_addr, candata->id,candata->IsExt);  // write CAN id	if (candata->rxRTR)		dlc |= RTR_MASK;  // if RTR set bit in byte	MCP2510_Write((mcp_addr+4), dlc);            // write the RTR and DLC}/***********************************************************\*	write and send Can data									**	we must set can id first.										**	parament:												**		nbuffer: which buffer, should be: 0, 1, 2					**		pbuffer: send data 										**		nbuffer: size of data 									*\***********************************************************/static void MCP2510_Write_CanData( unsigned char nbuffer, char *pbuffer, int nsize){	unsigned char dlc;	unsigned char mcp_addr = (nbuffer<<4) + 0x31;	dlc=nsize&DLC_MASK;	//nbuffer must <= 8	MCP2510_Swrite(mcp_addr+5, pbuffer, dlc);  // write data bytes	MCP2510_Write((mcp_addr+4), dlc);            // write the RTR and DLC}/***********************************************************\*	write and send Remote Can Frame							**	we must set can id first.										**	parament:												**		nbuffer: which buffer, should be: 0, 1, 2					*\***********************************************************/static void MCP2510_Write_CanRTR( unsigned char nbuffer){	unsigned char dlc=0;	unsigned char mcp_addr = (nbuffer<<4) + 0x31;	dlc |= RTR_MASK;  // if RTR set bit in byte	MCP2510_Write((mcp_addr+4), dlc);            // write the RTR and DLC