[U-Boot] [PATCH] add u-boot sja1000/can support
Matthias Fuchs
matthias.fuchs at esd.eu
Mon Oct 26 09:18:11 CET 2009
Do we have boards that use this code?
Matthias
On Saturday 24 October 2009 06:17, miaofng wrote:
> >From 1f6aaba856fbf484c442eb33cf220774d57fba8d Mon Sep 17 00:00:00 2001
> From: miaofng <miaofng at gmail.com>
> Date: Fri, 23 Oct 2009 17:06:50 +0800
> Subject: [PATCH] [can] add u-boot sja1000/can support
>
> Signed-off-by: miaofng <miaofng at gmail.com>
> ---
> Makefile | 1 +
> drivers/can/Makefile | 46 ++++
> drivers/can/can_core.c | 266 ++++++++++++++++++++++
> drivers/can/sja1000.c | 584 ++++++++++++++++++++++++++++++++++++++++++++++++
> drivers/can/sja1000.h | 160 +++++++++++++
> include/can.h | 216 ++++++++++++++++++
> include/can_error.h | 93 ++++++++
> include/candev.h | 46 ++++
> lib_arm/board.c | 2 +
> 9 files changed, 1414 insertions(+), 0 deletions(-)
> create mode 100755 drivers/can/Makefile
> create mode 100755 drivers/can/can_core.c
> create mode 100755 drivers/can/sja1000.c
> create mode 100755 drivers/can/sja1000.h
> create mode 100755 include/can.h
> create mode 100755 include/can_error.h
> create mode 100755 include/candev.h
> mode change 100644 => 100755 lib_arm/board.c
>
> diff --git a/Makefile b/Makefile
> index d6d6368..1ba59f8 100755
> --- a/Makefile
> +++ b/Makefile
> @@ -203,6 +203,7 @@ LIBS += net/libnet.a
> LIBS += disk/libdisk.a
> LIBS += drivers/bios_emulator/libatibiosemu.a
> LIBS += drivers/block/libblock.a
> +LIBS += drivers/can/libcan.a
> LIBS += drivers/dma/libdma.a
> LIBS += drivers/fpga/libfpga.a
> LIBS += drivers/gpio/libgpio.a
> diff --git a/drivers/can/Makefile b/drivers/can/Makefile
> new file mode 100755
> index 0000000..d3d47bb
> --- /dev/null
> +++ b/drivers/can/Makefile
> @@ -0,0 +1,46 @@
> +#
> +# Copyright (C) 2009 miaofng<miaofng at 126.com>
> +#
> +# See file CREDITS for list of people who contributed to this
> +# project.
> +#
> +# This program is free software; you can redistribute it and/or
> +# modify it under the terms of the GNU General Public License as
> +# published by the Free Software Foundation; either version 2 of
> +# the License, or (at your option) any later version.
> +#
> +# This program is distributed in the hope that it will be useful,
> +# but WITHOUT ANY WARRANTY; without even the implied warranty of
> +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> +# GNU General Public License for more details.
> +#
> +# You should have received a copy of the GNU General Public License
> +# along with this program; if not, write to the Free Software
> +# Foundation, Inc., 59 Temple Place, Suite 330, Boston,
> +# MA 02111-1307 USA
> +#
> +
> +include $(TOPDIR)/config.mk
> +
> +LIB := $(obj)libcan.a
> +
> +COBJS-y += can_core.o
> +COBJS-$(CONFIG_DRIVER_SJA1000) += sja1000.o
> +
> +COBJS := $(sort $(COBJS-y))
> +SRCS := $(COBJS:.o=.c)
> +OBJS := $(addprefix $(obj),$(COBJS))
> +
> +all: $(LIB)
> +
> +$(LIB): $(obj).depend $(OBJS)
> + $(AR) $(ARFLAGS) $@ $(OBJS)
> +
> +#########################################################################
> +
> +# defines $(obj).depend target
> +include $(SRCTREE)/rules.mk
> +
> +sinclude $(obj).depend
> +
> +#########################################################################
> diff --git a/drivers/can/can_core.c b/drivers/can/can_core.c
> new file mode 100755
> index 0000000..a723e8a
> --- /dev/null
> +++ b/drivers/can/can_core.c
> @@ -0,0 +1,266 @@
> +/*
> + * Copyright (C) 2009 miaofng<miaofng at gmail.com>
> + *
> + * This program is free software; you can redistribute it and/or modify
> + * it under the terms of the version 2 of the GNU General Public License
> + * as published by the Free Software Foundation
> + *
> + * This program is distributed in the hope that it will be useful,
> + * but WITHOUT ANY WARRANTY; without even the implied warranty of
> + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> + * GNU General Public License for more details.
> + *
> + * You should have received a copy of the GNU General Public License
> + * along with this program; if not, write to the Free Software
> + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
> + */
> +
> +#include <common.h>
> +#include <can.h>
> +#include <malloc.h>
> +
> +#define can_debug printf
> +#define can_error printf
> +
> +#ifdef CONFIG_CMD_CAN
> +#ifndef CONFIG_CAN_DEV_MAX
> +#define CONFIG_CAN_DEV_MAX 8
> +#endif
> +
> +static struct can_device *can_devs[CONFIG_CAN_DEV_MAX];
> +#endif
> +
> +static inline struct can_device* index_to_cdev(int index)
> +{
> + return (index<CONFIG_CAN_DEV_MAX)? can_devs[index]:0;
> +}
> +
> +static inline int cdev_to_index(struct can_device *dev)
> +{
> + return (dev)?dev->index:-1;
> +}
> +
> +static void canif_tx(struct can_device *dev)
> +{
> + struct can_frame *cf;
> + int len;
> +
> + len = buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf));
> + if(len == sizeof(cf)) {
> + dev->start_xmit(cf, dev);
> + free(cf);
> + }
> +}
> +
> +void canif_rx(struct can_frame *cf, struct can_device *dev)
> +{
> + int len;
> +
> + //error frame?
> + if(cf->can_id&CAN_ERR_FLAG)
> + {
> + //error frame, drop it
> + free(cf);
> + return;
> + }
> +
> + //soft id filter?
> +
> + //store to cirbuf
> + if(dev->rbuf.size == dev->rbuf.totalsize) {
> + can_debug("CAN: rx buffer is full\n");
> + dev->stats.rx_dropped ++;
> + free(cf);
> + return;
> + }
> +
> + buf_push(&dev->rbuf, (char*)&cf, sizeof(cf));
> +}
> +
> +void canif_wake_queue(struct can_device *dev)
> +{
> + canif_start_queue(dev);
> + canif_tx(dev);
> +}
> +
> +int can_init(void)
> +{
> +#ifdef CONFIG_CMD_CAN
> + int index;
> + for(index = 0; index < CONFIG_CAN_DEV_MAX; index ++) can_devs[index] = 0;
> + board_can_init();
> +#endif
> + return 0;
> +}
> +
> +/*
> + * Register the CAN network device
> + */
> + #ifndef CONFIG_CAN_BUF_TX_SZ
> + #define CONFIG_CAN_BUF_TX_SZ (8*sizeof(void*))
> + #endif
> +
> + #ifndef CONFIG_CAN_BUF_RX_SZ
> + #define CONFIG_CAN_BUF_RX_SZ (8*sizeof(void*))
> + #endif
> +
> +int register_candev(struct can_device *dev)
> +{
> + int ret;
> + int index;
> +
> + //insert into the list
> + dev->index = -1;
> + for(index =0; index < CONFIG_CAN_DEV_MAX; index ++)
> + {
> + if(!can_devs[index]) {
> + can_devs[index] = dev;
> + dev->index = index;
> + break;
> + }
> + }
> + if( dev->index < 0)
> + can_debug("CAN: too many can devices\n");
> +
> + //allocate circbuf for tx and rx
> + ret = buf_init(&dev->tbuf, CONFIG_CAN_BUF_TX_SZ);
> + if(ret != 1) {
> + can_debug("CAN: cann't init cirbuf of tx\n");
> + can_devs[index] = 0;
> + return -1;
> + }
> + ret = buf_init(&dev->rbuf, CONFIG_CAN_BUF_RX_SZ);
> + if(ret != 1) {
> + can_debug("CAN: cann't init cirbuf of rx\n");
> + can_devs[index] = 0;
> + buf_free(&dev->tbuf);
> + return -1;
> + }
> + dev->qstatus = CAN_QUEUE_INIT;
> +
> + //success
> + printf("CAN: %s @index %d\n", dev->name, dev->index);
> + return 0;
> +}
> +
> +/*
> + * Unregister the CAN network device
> + */
> +void unregister_candev(struct can_device *dev)
> +{
> + int index = cdev_to_index(dev);
> +
> + if(index < 0) {
> + can_debug("CAN: invalid para\n");
> + return;
> + }
> +
> + //close the dev first
> + can_close((int)dev);
> +
> + //release tx/rx buffer
> + buf_free(&dev->tbuf);
> + buf_free(&dev->rbuf);
> +
> + //remove from the list
> + can_devs[index] = 0;
> +}
> +
> +//api
> +int can_setbrg(int brg, int index)
> +{
> + struct can_device *dev = index_to_cdev(index);
> +
> + if(!dev) {
> + can_debug("CAN: invalid para\n");
> + return -1;
> + }
> +
> + if( dev->state != CAN_STATE_STOPPED) {
> + can_debug("CAN: invalid dev status<%d>\n", dev->state);
> + return -1;
> + }
> +
> + if(dev->setbrg)
> + return dev->setbrg(brg, dev);
> +
> + can_debug("CAN: op not supported by the dev\n");
> + return -1;
> +}
> +
> +int can_open(int index)
> +{
> + struct can_device *dev = index_to_cdev(index);
> +
> + if(!dev) {
> + can_debug("CAN: invalid para\n");
> + return 0;
> + }
> +
> + if(dev->state != CAN_STATE_STOPPED) {
> + can_debug("CAN: invalid dev status<%d>\n", dev->state);
> + return 0;
> + }
> +
> + if(dev && dev->open) dev->open(dev);
> + return (int)dev;
> +}
> +
> +void can_close(int dev_id)
> +{
> + struct can_device *dev = (struct can_device*) dev_id;
> + struct can_frame *cf;
> +
> + if(!dev) {
> + can_debug("CAN: invalid para\n");
> + return;
> + }
> +
> + //can device close
> + if(dev->close) dev->close(dev);
> +
> + //tbuf,rbuf dump
> + while(buf_pop(&dev->tbuf, (char*)&cf, sizeof(cf)) ) free(cf);
> + while(buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf)) ) free(cf);
> +}
> +
> +//non block write
> +int can_send(struct can_frame *cf, int dev_id)
> +{
> + struct can_device *dev = (struct can_device*) dev_id;
> +
> + if(!cf || !dev ) {
> + can_debug("CAN: invalid para\n");
> + return -1;
> + }
> +
> + if(dev->tbuf.size == dev->tbuf.totalsize){ //tbuf overflow
> + can_debug("CAN: tx buffer is full\n");
> + return -1;
> + }
> +
> + buf_push(&dev->tbuf, (char*)&cf, sizeof(cf));
> +
> + //start queue?
> + if( dev->qstatus == CAN_QUEUE_READY )
> + canif_tx(dev);
> +
> + return 0;
> +}
> +
> +//non block read
> +struct can_frame* can_recv(int dev_id)
> +{
> + struct can_device *dev = (struct can_device*) dev_id;
> + struct can_frame *cf;
> + int len;
> +
> + if(!dev ) {
> + can_debug("CAN: invalid para\n");
> + return 0;
> + }
> +
> + len = buf_pop(&dev->rbuf, (char*)&cf, sizeof(cf));
> + if(len != sizeof(cf)) return (struct can_frame*)0;
> + else return cf;
> +}
> diff --git a/drivers/can/sja1000.c b/drivers/can/sja1000.c
> new file mode 100755
> index 0000000..07560bd
> --- /dev/null
> +++ b/drivers/can/sja1000.c
> @@ -0,0 +1,584 @@
> +/*
> + * sja1000.c - Philips SJA1000 network device driver
> + *
> + * Copyright (c) 2009 miaofng<miaofng at gmail.com>
> + *
> + * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
> + * 38106 Braunschweig, GERMANY
> + *
> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
> + * All rights reserved.
> + *
> + * Redistribution and use in source and binary forms, with or without
> + * modification, are permitted provided that the following conditions
> + * are met:
> + * 1. Redistributions of source code must retain the above copyright
> + * notice, this list of conditions and the following disclaimer.
> + * 2. Redistributions in binary form must reproduce the above copyright
> + * notice, this list of conditions and the following disclaimer in the
> + * documentation and/or other materials provided with the distribution.
> + * 3. Neither the name of Volkswagen nor the names of its contributors
> + * may be used to endorse or promote products derived from this software
> + * without specific prior written permission.
> + *
> + * Alternatively, provided that this notice is retained in full, this
> + * software may be distributed under the terms of the GNU General
> + * Public License ("GPL") version 2, in which case the provisions of the
> + * GPL apply INSTEAD OF those given above.
> + *
> + * The provided data structures and external interfaces from this code
> + * are not restricted to be used by modules with a GPL compatible license.
> + *
> + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
> + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
> + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
> + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
> + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
> + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
> + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
> + * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
> + * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
> + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
> + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
> + * DAMAGE.
> + *
> + * Send feedback to <socketcan-users at lists.berlios.de>
> + *
> + */
> +
> +#include <common.h>
> +#include <asm/io.h>
> +#include <can.h>
> +#include <malloc.h>
> +#include <linux/string.h>
> +
> +#include "sja1000.h"
> +
> +#define DRV_NAME "sja1000"
> +
> +//MODULE_AUTHOR("Oliver Hartkopp <oliver.hartkopp at volkswagen.de>");
> +//MODULE_LICENSE("Dual BSD/GPL");
> +//MODULE_DESCRIPTION(DRV_NAME "CAN netdevice driver");
> +
> +#define sja_debug printf
> +
> +/*
> + * Flags for sja1000priv.flags
> + */
> +#define SJA1000_CUSTOM_IRQ_HANDLER 0x1
> +
> +/*
> + * SJA1000 private data structure
> + */
> +struct sja1000_priv {
> + struct can_device can; /* must be the first member */
> +
> + /* the lower-layer is responsible for appropriate locking */
> + void* reg_base; /* ioremap'ed address to registers */
> +
> + u8 (*read_reg) (const struct sja1000_priv *priv, u8 reg);
> + void (*write_reg) (const struct sja1000_priv *priv, u8 reg, u8 val);
> +};
> +
> +static int set_reset_mode(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + unsigned char status = priv->read_reg(priv, REG_MOD);
> + int i;
> +
> + /* disable interrupts */
> + priv->write_reg(priv, REG_IER, IRQ_OFF);
> +
> + for (i = 0; i < 100; i++) {
> + /* check reset bit */
> + if (status & MOD_RM) {
> + priv->can.state = CAN_STATE_STOPPED;
> + return 0;
> + }
> +
> + priv->write_reg(priv, REG_MOD, MOD_RM); /* reset chip */
> + udelay(10);
> + status = priv->read_reg(priv, REG_MOD);
> + }
> +
> + //sja_debug("SJA1000: setting into reset mode failed!\n");
> + return -1;
> +}
> +
> +static void set_normal_mode(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + unsigned char status = priv->read_reg(priv, REG_MOD);
> + int i;
> +
> + for (i = 0; i < 100; i++) {
> + /* check reset bit */
> + if ((status & MOD_RM) == 0) {
> + priv->can.state = CAN_STATE_ERROR_ACTIVE;
> + /* enable all interrupts */
> + priv->write_reg(priv, REG_IER, IRQ_ALL);
> + return;
> + }
> +
> + /* set chip to normal mode */
> + priv->write_reg(priv, REG_MOD, 0x00);
> + udelay(10);
> + status = priv->read_reg(priv, REG_MOD);
> + }
> +
> + sja_debug("SJA1000@%d: setting into normal mode failed!\n", dev->index);
> +}
> +
> +static void sja1000_start(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> +
> + /* leave reset mode */
> + if (priv->can.state != CAN_STATE_STOPPED)
> + set_reset_mode(dev);
> +
> + /* Clear error counters and error code capture */
> + priv->write_reg(priv, REG_TXERR, 0x0);
> + priv->write_reg(priv, REG_RXERR, 0x0);
> + priv->read_reg(priv, REG_ECC);
> +
> + /* leave reset mode */
> + set_normal_mode(dev);
> +}
> +
> +#ifndef CONFIG_SJA1000_CLK_HZ
> +#define CONFIG_SJA1000_CLK_HZ 24000000
> +#endif
> +
> +static int sja1000_setbrg(int brg, struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + int fosc = CONFIG_SJA1000_CLK_HZ;
> + int fscl, btr0, btr1;
> + u8 sjw = 1; // 0~3 +1
> + u8 brp; // 0~63 +1
> + u8 sam = 1; // 0~1
> + u8 tseg2 = 5; // 0~7 +1
> + u8 tseg1 = 6; // 0~15 +1
> +
> + //calculation
> + fscl = (1+tseg1+tseg2)*brg;
> + brp = (fosc>>1)/fscl;
> + if(brg > 250000) sam = 0;
> +
> + //set register
> + btr0 = ((sjw - 1) << 6) | (brp - 1);
> + btr1 = (sam << 7) | ((tseg2 -1) << 4) | (tseg1 -1);
> +
> + sja_debug("SJA1000@%d: setting BTR0=0x%02x BTR1=0x%02x\n", dev->index, btr0, btr1);
> +
> + priv->write_reg(priv, REG_BTR0, btr0);
> + priv->write_reg(priv, REG_BTR1, btr1);
> +
> + return 0;
> +}
> +
> +/*
> + * initialize SJA1000 chip:
> + * - reset chip
> + * - set output mode
> + * - set baudrate
> + * - enable interrupts
> + * - start operating mode
> + */
> +static void chipset_init(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> +
> + /* set clock divider and output control register */
> + priv->write_reg(priv, REG_CDR, CDR_PELICAN|CDR_CBP|CDR_CLK_OFF);
> +
> + /* set acceptance filter (accept all) */
> + priv->write_reg(priv, REG_ACCC0, 0x00);
> + priv->write_reg(priv, REG_ACCC1, 0x00);
> + priv->write_reg(priv, REG_ACCC2, 0x00);
> + priv->write_reg(priv, REG_ACCC3, 0x00);
> +
> + priv->write_reg(priv, REG_ACCM0, 0xFF);
> + priv->write_reg(priv, REG_ACCM1, 0xFF);
> + priv->write_reg(priv, REG_ACCM2, 0xFF);
> + priv->write_reg(priv, REG_ACCM3, 0xFF);
> +
> + priv->write_reg(priv, REG_OCR, OCR_TX0_PUSHPULL|OCR_TX1_PUSHPULL| OCR_MODE_NORMAL);
> +}
> +
> +/*
> + * transmit a CAN message
> + */
> +static int sja1000_start_xmit(struct can_frame *cf, struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + struct can_device_stats *stats = &dev->stats;
> + uint8_t fi;
> + uint8_t dlc;
> + canid_t id;
> + uint8_t dreg;
> + int i;
> +
> + canif_stop_queue(dev);
> +
> + fi = dlc = cf->can_dlc;
> + id = cf->can_id;
> +
> + if (id & CAN_RTR_FLAG)
> + fi |= FI_RTR;
> +
> + if (id & CAN_EFF_FLAG) {
> + fi |= FI_FF;
> + dreg = EFF_BUF;
> + priv->write_reg(priv, REG_FI, fi);
> + priv->write_reg(priv, REG_ID1, (id & 0x1fe00000) >> (5 + 16));
> + priv->write_reg(priv, REG_ID2, (id & 0x001fe000) >> (5 + 8));
> + priv->write_reg(priv, REG_ID3, (id & 0x00001fe0) >> 5);
> + priv->write_reg(priv, REG_ID4, (id & 0x0000001f) << 3);
> + } else {
> + dreg = SFF_BUF;
> + priv->write_reg(priv, REG_FI, fi);
> + priv->write_reg(priv, REG_ID1, (id & 0x000007f8) >> 3);
> + priv->write_reg(priv, REG_ID2, (id & 0x00000007) << 5);
> + }
> +
> + for (i = 0; i < dlc; i++)
> + priv->write_reg(priv, dreg++, cf->data[i]);
> + priv->write_reg(priv, REG_CMR, CMD_TR);
> +
> + stats->tx_bytes += dlc;
> +
> + return 0;
> +}
> +
> +static void sja1000_rx(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + struct can_device_stats *stats = &dev->stats;
> + struct can_frame *cf;
> + uint8_t fi;
> + uint8_t dreg;
> + canid_t id;
> + uint8_t dlc;
> + int i;
> +
> + cf = malloc(sizeof(struct can_frame));
> + if (cf == NULL) {
> + sja_debug("SJA1000%d: out of mem!\n",dev->index);
> + return;
> + }
> +
> + fi = priv->read_reg(priv, REG_FI);
> + dlc = fi & 0x0F;
> +
> + if (fi & FI_FF) {
> + /* extended frame format (EFF) */
> + dreg = EFF_BUF;
> + id = (priv->read_reg(priv, REG_ID1) << (5 + 16))
> + | (priv->read_reg(priv, REG_ID2) << (5 + 8))
> + | (priv->read_reg(priv, REG_ID3) << 5)
> + | (priv->read_reg(priv, REG_ID4) >> 3);
> + id |= CAN_EFF_FLAG;
> + } else {
> + /* standard frame format (SFF) */
> + dreg = SFF_BUF;
> + id = (priv->read_reg(priv, REG_ID1) << 3)
> + | (priv->read_reg(priv, REG_ID2) >> 5);
> + }
> +
> + if (fi & FI_RTR)
> + id |= CAN_RTR_FLAG;
> +
> + memset(cf, 0, sizeof(struct can_frame));
> + cf->can_id = id;
> + cf->can_dlc = dlc;
> + for (i = 0; i < dlc; i++)
> + cf->data[i] = priv->read_reg(priv, dreg++);
> +
> + while (i < 8)
> + cf->data[i++] = 0;
> +
> + /* release receive buffer */
> + priv->write_reg(priv, REG_CMR, CMD_RRB);
> +
> + canif_rx(cf, dev);
> +
> + //dev->last_rx = jiffies;
> + stats->rx_packets++;
> + stats->rx_bytes += dlc;
> +}
> +
> +static int sja1000_err(struct can_device *dev, uint8_t isrc, uint8_t status)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + struct can_device_stats *stats = &dev->stats;
> + struct can_frame *cf;
> + enum can_state state = priv->can.state;
> + uint8_t ecc, alc;
> +
> + cf = malloc(sizeof(struct can_frame));
> + if (cf == NULL)
> + {
> + sja_debug("SJA1000@%d: out of mem!\n", dev->index);
> + return -1;
> + }
> + memset(cf, 0, sizeof(struct can_frame));
> + cf->can_id = CAN_ERR_FLAG;
> + cf->can_dlc = CAN_ERR_DLC;
> +
> + if (isrc & IRQ_DOI) {
> + /* data overrun interrupt */
> + sja_debug("SJA1000@%d: data overrun interrupt\n", dev->index);
> + cf->can_id |= CAN_ERR_CRTL;
> + cf->data[1] = CAN_ERR_CRTL_RX_OVERFLOW;
> + //stats->rx_over_errors++;
> + stats->rx_errors++;
> + priv->write_reg(priv, REG_CMR, CMD_CDO); /* clear bit */
> + }
> +
> + if (isrc & IRQ_EI) {
> + /* error warning interrupt */
> + sja_debug("SJA1000@%d: error warning interrupt\n", dev->index);
> +
> + if (status & SR_BS) {
> + state = CAN_STATE_BUS_OFF;
> + cf->can_id |= CAN_ERR_BUSOFF;
> + //can_bus_off(dev);
> + } else if (status & SR_ES) {
> + state = CAN_STATE_ERROR_WARNING;
> + } else
> + state = CAN_STATE_ERROR_ACTIVE;
> + }
> + if (isrc & IRQ_BEI) {
> + /* bus error interrupt */
> + priv->can.stats.bus_error++;
> + stats->rx_errors++;
> +
> + ecc = priv->read_reg(priv, REG_ECC);
> +
> + 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;
> + }
> + /* error occured during transmission? */
> + if ((ecc & ECC_DIR) == 0)
> + cf->data[2] |= CAN_ERR_PROT_TX;
> + }
> + if (isrc & IRQ_EPI) {
> + /* error passive interrupt */
> + sja_debug("SJA1000@%d: error passive interrupt\n", dev->index);
> + if (status & SR_ES)
> + state = CAN_STATE_ERROR_PASSIVE;
> + else
> + state = CAN_STATE_ERROR_ACTIVE;
> + }
> + if (isrc & IRQ_ALI) {
> + /* arbitration lost interrupt */
> + sja_debug("SJA1000@%d: arbitration lost interrupt\n", dev->index);
> + alc = priv->read_reg(priv, REG_ALC);
> + priv->can.stats.arbitration_lost++;
> + stats->rx_errors++;
> + cf->can_id |= CAN_ERR_LOSTARB;
> + cf->data[0] = alc & 0x1f;
> + }
> +
> + if (state != priv->can.state && (state == CAN_STATE_ERROR_WARNING ||
> + state == CAN_STATE_ERROR_PASSIVE)) {
> + uint8_t rxerr = priv->read_reg(priv, REG_RXERR);
> + uint8_t txerr = priv->read_reg(priv, REG_TXERR);
> + cf->can_id |= CAN_ERR_CRTL;
> + if (state == CAN_STATE_ERROR_WARNING) {
> + priv->can.stats.error_warning++;
> + cf->data[1] = (txerr > rxerr) ?
> + CAN_ERR_CRTL_TX_WARNING :
> + CAN_ERR_CRTL_RX_WARNING;
> + } else {
> + priv->can.stats.error_passive++;
> + cf->data[1] = (txerr > rxerr) ?
> + CAN_ERR_CRTL_TX_PASSIVE :
> + CAN_ERR_CRTL_RX_PASSIVE;
> + }
> + }
> +
> + priv->can.state = state;
> +
> + canif_rx(cf,dev);
> +
> + return 0;
> +}
> +
> +#define SJA1000_MAX_IRQ 20 /* max. number of interrupts handled in ISR */
> +
> +int sja1000_interrupt(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + struct can_device_stats *stats = &dev->stats;
> + uint8_t isrc, status;
> + int n = 0;
> +
> + /* Shared interrupts and IRQ off? */
> + if (priv->read_reg(priv, REG_IER) == IRQ_OFF)
> + return -1;
> +
> + while ((isrc = priv->read_reg(priv, REG_IR)) && (n < SJA1000_MAX_IRQ)) {
> + n++;
> + status = priv->read_reg(priv, REG_SR);
> +
> + if (isrc & IRQ_WUI)
> + sja_debug("SJA1000@%d: wakeup interrupt\n", dev->index);
> +
> + if (isrc & IRQ_TI) {
> + /* transmission complete interrupt */
> + stats->tx_packets++;
> +
> + //can_get_echo_skb(dev, 0);
> + canif_wake_queue(dev);
> + }
> + if (isrc & IRQ_RI) {
> + /* receive interrupt */
> + while (status & SR_RBS) {
> + sja1000_rx(dev);
> + status = priv->read_reg(priv, REG_SR);
> + }
> + }
> + if (isrc & (IRQ_DOI | IRQ_EI | IRQ_BEI | IRQ_EPI | IRQ_ALI)) {
> + /* error interrupt */
> + if (sja1000_err(dev, isrc, status))
> + break;
> + }
> + }
> +
> + if (n >= SJA1000_MAX_IRQ)
> + sja_debug("SJA1000@%d: %d messages handled in ISR", dev->index, n);
> +
> + return (n) ? 0 : -1;
> +}
> +
> +static int sja1000_open(struct can_device *dev)
> +{
> + /* set chip into reset mode */
> + set_reset_mode(dev);
> +
> + /* register interrupt handler, if not done by the device driver */
> +#ifdef CONFIG_USBCAN
> + extern int request_irq_usbcan(int (*isr)(struct can_device*), struct can_device*);
> + int err = request_irq_usbcan(&sja1000_interrupt, dev);
> + if (err) {
> + sja_debug("SJA1000@%d: unable to request the irq\n", dev->index);
> + return -1;
> + }
> +#endif
> +
> + /* init and start chi */
> + sja1000_start(dev);
> +
> + //priv->open_time = jiffies;
> + canif_start_queue(dev);
> +
> + return 0;
> +}
> +
> +static int sja1000_close(struct can_device *dev)
> +{
> + canif_stop_queue(dev);
> + set_reset_mode(dev);
> +
> + //can_free_irq(dev->irq, (void *)dev);
> +
> + return 0;
> +}
> +
> +static int sja1000_probe_chip(struct can_device *dev)
> +{
> + struct sja1000_priv *priv = candev_priv(dev);
> + int ret;
> +
> + ret = set_reset_mode(dev);
> + if(ret) {
> + sja_debug("%s: probing @0x%x failed\n", DRV_NAME, (u32)(priv->reg_base));
> + return -1;
> + }
> +
> + return 0;
> +}
> +
> +int register_sja1000dev(struct can_device *dev)
> +{
> + if (sja1000_probe_chip(dev))
> + return -1;
> +
> + strcpy(dev->name, DRV_NAME);
> + dev->setbrg = sja1000_setbrg;
> + dev->open = sja1000_open;
> + dev->start_xmit = sja1000_start_xmit;
> + dev->close = sja1000_close;
> +
> + set_reset_mode(dev);
> + chipset_init(dev);
> +
> + return register_candev(dev);
> +}
> +
> +void unregister_sja1000dev(struct can_device *dev)
> +{
> + set_reset_mode(dev);
> + unregister_candev(dev);
> +}
> +
> +
> +static u8 sja1000_read_reg(const struct sja1000_priv *priv, u8 reg)
> +{
> +#if (CONFIG_USBCAN == 1)
> + writeb(reg, priv->reg_base+4); //addr latch
> + return readb(priv->reg_base);
> +#else
> + return writeb(priv->reg_base + reg);
> +#endif
> +}
> +
> +static void sja1000_write_reg(const struct sja1000_priv *priv, u8 reg, u8 val)
> +{
> +#if (CONFIG_USBCAN == 1)
> + writeb(reg, priv->reg_base+4); //addr latch
> + writeb(val, priv->reg_base);
> +#else
> + return readb(val, priv->reg_base + reg);
> +#endif
> +}
> +
> +int sja1000_init(u32 reg_base)
> +{
> + struct sja1000_priv * priv = malloc(sizeof(struct sja1000_priv));
> + if(priv == NULL) {
> + sja_debug("SJA1000: out of mem!!!\n");
> + return -1;
> + }
> +
> + memset(priv, 0, sizeof(priv));
> + priv->reg_base = (void*)reg_base;
> + priv->read_reg = sja1000_read_reg;
> + priv->write_reg = sja1000_write_reg;
> +
> + if( register_sja1000dev(&priv->can) )
> + {
> + free(priv);
> + //sja_debug("SJA1000: register device fail!!!\n");
> + return -1;
> + }
> +
> + return 0;
> +}
> diff --git a/drivers/can/sja1000.h b/drivers/can/sja1000.h
> new file mode 100755
> index 0000000..6311f75
> --- /dev/null
> +++ b/drivers/can/sja1000.h
> @@ -0,0 +1,160 @@
> +/*
> + * sja1000.h - Philips SJA1000 network device driver
> + *
> + * Copyright (C) 2009 miaofng<miaofng at 126.com>
> + * Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
> + * 38106 Braunschweig, GERMANY
> + *
> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
> + * All rights reserved.
> + *
> + * Redistribution and use in source and binary forms, with or without
> + * modification, are permitted provided that the following conditions
> + * are met:
> + * 1. Redistributions of source code must retain the above copyright
> + * notice, this list of conditions and the following disclaimer.
> + * 2. Redistributions in binary form must reproduce the above copyright
> + * notice, this list of conditions and the following disclaimer in the
> + * documentation and/or other materials provided with the distribution.
> + * 3. Neither the name of Volkswagen nor the names of its contributors
> + * may be used to endorse or promote products derived from this software
> + * without specific prior written permission.
> + *
> + * Alternatively, provided that this notice is retained in full, this
> + * software may be distributed under the terms of the GNU General
> + * Public License ("GPL") version 2, in which case the provisions of the
> + * GPL apply INSTEAD OF those given above.
> + *
> + * The provided data structures and external interfaces from this code
> + * are not restricted to be used by modules with a GPL compatible license.
> + *
> + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
> + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
> + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
> + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
> + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
> + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
> + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
> + * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
> + * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
> + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
> + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
> + * DAMAGE.
> + *
> + * Send feedback to <socketcan-users at lists.berlios.de>
> + *
> + */
> +
> +#ifndef SJA1000_DEV_H
> +#define SJA1000_DEV_H
> +
> +/* SJA1000 registers - manual section 6.4 (Pelican Mode) */
> +#define REG_MOD 0x00
> +#define REG_CMR 0x01
> +#define REG_SR 0x02
> +#define REG_IR 0x03
> +#define REG_IER 0x04
> +#define REG_ALC 0x0B
> +#define REG_ECC 0x0C
> +#define REG_EWL 0x0D
> +#define REG_RXERR 0x0E
> +#define REG_TXERR 0x0F
> +#define REG_ACCC0 0x10
> +#define REG_ACCC1 0x11
> +#define REG_ACCC2 0x12
> +#define REG_ACCC3 0x13
> +#define REG_ACCM0 0x14
> +#define REG_ACCM1 0x15
> +#define REG_ACCM2 0x16
> +#define REG_ACCM3 0x17
> +#define REG_RMC 0x1D
> +#define REG_RBSA 0x1E
> +
> +/* Common registers - manual section 6.5 */
> +#define REG_BTR0 0x06
> +#define REG_BTR1 0x07
> +#define REG_OCR 0x08
> +#define REG_CDR 0x1F
> +
> +#define REG_FI 0x10
> +#define SFF_BUF 0x13
> +#define EFF_BUF 0x15
> +
> +#define FI_FF 0x80
> +#define FI_RTR 0x40
> +
> +#define REG_ID1 0x11
> +#define REG_ID2 0x12
> +#define REG_ID3 0x13
> +#define REG_ID4 0x14
> +
> +#define CAN_RAM 0x20
> +
> +/* mode register */
> +#define MOD_RM 0x01
> +#define MOD_LOM 0x02
> +#define MOD_STM 0x04
> +#define MOD_AFM 0x08
> +#define MOD_SM 0x10
> +
> +/* commands */
> +#define CMD_SRR 0x10
> +#define CMD_CDO 0x08
> +#define CMD_RRB 0x04
> +#define CMD_AT 0x02
> +#define CMD_TR 0x01
> +
> +/* interrupt sources */
> +#define IRQ_BEI 0x80
> +#define IRQ_ALI 0x40
> +#define IRQ_EPI 0x20
> +#define IRQ_WUI 0x10
> +#define IRQ_DOI 0x08
> +#define IRQ_EI 0x04
> +#define IRQ_TI 0x02
> +#define IRQ_RI 0x01
> +#define IRQ_ALL 0xFF
> +#define IRQ_OFF 0x00
> +
> +/* status register content */
> +#define SR_BS 0x80
> +#define SR_ES 0x40
> +#define SR_TS 0x20
> +#define SR_RS 0x10
> +#define SR_TCS 0x08
> +#define SR_TBS 0x04
> +#define SR_DOS 0x02
> +#define SR_RBS 0x01
> +
> +#define SR_CRIT (SR_BS|SR_ES)
> +
> +/* ECC register */
> +#define ECC_SEG 0x1F
> +#define ECC_DIR 0x20
> +#define ECC_ERR 6
> +#define ECC_BIT 0x00
> +#define ECC_FORM 0x40
> +#define ECC_STUFF 0x80
> +#define ECC_MASK 0xc0
> +
> +/* clock divider register */
> +#define CDR_CLKOUT_MASK 0x07
> +#define CDR_CLK_OFF 0x08 /* Clock off (CLKOUT pin) */
> +#define CDR_RXINPEN 0x20 /* TX1 output is RX irq output */
> +#define CDR_CBP 0x40 /* CAN input comparator bypass */
> +#define CDR_PELICAN 0x80 /* PeliCAN mode */
> +
> +/* output control register */
> +#define OCR_MODE_BIPHASE 0x00
> +#define OCR_MODE_TEST 0x01
> +#define OCR_MODE_NORMAL 0x02
> +#define OCR_MODE_CLOCK 0x03
> +#define OCR_TX0_INVERT 0x04
> +#define OCR_TX0_PULLDOWN 0x08
> +#define OCR_TX0_PULLUP 0x10
> +#define OCR_TX0_PUSHPULL 0x18
> +#define OCR_TX1_INVERT 0x20
> +#define OCR_TX1_PULLDOWN 0x40
> +#define OCR_TX1_PULLUP 0x80
> +#define OCR_TX1_PUSHPULL 0xc0
> +#endif /* SJA1000_DEV_H */
> diff --git a/include/can.h b/include/can.h
> new file mode 100755
> index 0000000..55e6643
> --- /dev/null
> +++ b/include/can.h
> @@ -0,0 +1,216 @@
> +/*
> + * linux/can.h
> + *
> + * Definitions for CAN network layer (socket addr / CAN frame / CAN filter)
> + *
> + * Copyright (C) 2009 miaofng<miaofng at gmail.com>
> + *
> + * Authors: Oliver Hartkopp <oliver.hartkopp at volkswagen.de>
> + * Urs Thuermann <urs.thuermann at volkswagen.de>
> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
> + * All rights reserved.
> + *
> + * Send feedback to <socketcan-users at lists.berlios.de>
> + *
> + */
> +
> +#ifndef CAN_H
> +#define CAN_H
> +
> +#include <linux/types.h>
> +#include <can_error.h>
> +#include <circbuf.h>
> +#include <candev.h>
> +
> +/* controller area network (CAN) kernel definitions */
> +
> +/* special address description flags for the CAN_ID */
> +#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
> +#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
> +#define CAN_ERR_FLAG 0x20000000U /* error frame */
> +
> +/* valid bits in CAN ID for frame formats */
> +#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
> +#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
> +#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
> +
> +/*
> + * Controller Area Network Identifier structure
> + *
> + * bit 0-28 : CAN identifier (11/29 bit)
> + * bit 29 : error frame flag (0 = data frame, 1 = error frame)
> + * bit 30 : remote transmission request flag (1 = rtr frame)
> + * bit 31 : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
> + */
> +typedef __u32 canid_t;
> +
> +/**
> + * struct can_frame - basic CAN frame structure
> + * @can_id: the CAN ID of the frame and CAN_*_FLAG flags, see above.
> + * @can_dlc: the data length field of the CAN frame
> + * @data: the CAN frame payload.
> + */
> +struct can_frame {
> + canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
> + __u8 can_dlc; /* data length code: 0 .. 8 */
> + __u8 data[8] __attribute__((aligned(8)));
> +};
> +
> +/**
> + * struct can_filter - CAN ID based filter in can_register().
> + * @can_id: relevant bits of CAN ID which are not masked out.
> + * @can_mask: CAN mask (see description)
> + *
> + * Description:
> + * A filter matches, when
> + *
> + * <received_can_id> & mask == can_id & mask
> + *
> + * The filter can be inverted (CAN_INV_FILTER bit set in can_id) or it can
> + * filter for error frames (CAN_ERR_FLAG bit set in mask).
> + */
> +struct can_filter {
> + canid_t can_id;
> + canid_t can_mask;
> +
> + struct can_filter* next;
> +};
> +
> +#define CAN_INV_FILTER 0x20000000U /* to be set in can_filter.can_id */
> +
> +//can_device.state
> +enum can_state {
> + CAN_STATE_ERROR_ACTIVE = 0, /* RX/TX error count < 96 */
> + CAN_STATE_ERROR_WARNING, /* RX/TX error count < 128 */
> + CAN_STATE_ERROR_PASSIVE, /* RX/TX error count < 256 */
> + CAN_STATE_BUS_OFF, /* RX/TX error count >= 256 */
> + CAN_STATE_STOPPED, /* Device is stopped */
> + CAN_STATE_SLEEPING, /* Device is sleeping */
> + CAN_STATE_MAX
> +};
> +
> +//can_device.stats, refer to net_device_stats
> +struct can_device_stats
> +{
> + unsigned long rx_packets; /* total packets received */
> + unsigned long tx_packets; /* total packets transmitted */
> + unsigned long rx_bytes; /* total bytes received */
> + unsigned long tx_bytes; /* total bytes transmitted */
> + unsigned long rx_errors; /* bad packets received */
> + unsigned long tx_errors; /* packet transmit problems */
> + unsigned long rx_dropped; /* no space in linux buffers */
> + unsigned long tx_dropped; /* no space available in linux */
> + unsigned long multicast; /* multicast packets received */
> + unsigned long collisions;
> +
> + //can stats
> + unsigned long error_passive;
> + unsigned long error_warning;
> + unsigned long arbitration_lost;
> + unsigned long bus_error;
> +};
> +
> +/*queue status definition*/
> +#define CAN_QUEUE_INIT 0
> +#define CAN_QUEUE_READY 1
> +#define CAN_QUEUE_BUSY 2
> +
> +#define NAMESIZE_CAN 8
> +
> +struct can_device {
> + //can core readonly
> + char name[NAMESIZE_CAN];
> + enum can_state state;
> + struct can_device_stats stats;
> +
> + //can dev methods
> + int (*setbrg)(int, struct can_device*);
> + int (*setfilter)(struct can_filter*, struct can_device*);
> + int (*open) (struct can_device*);
> + int (*start_xmit) (struct can_frame*, struct can_device*);
> + int (*close)(struct can_device*);
> +
> + //can_core private
> + int qstatus; //queue status
> + circbuf_t tbuf; //tx buffer
> + circbuf_t rbuf; //rx buffer
> + //struct can_device *next;
> + int index;
> +};
> +
> +//help routines
> +static inline void *candev_priv(const struct can_device *dev) { return (void *) dev; }
> +int register_candev(struct can_device*);
> +void unregister_candev(struct can_device*);
> +void canif_rx(struct can_frame*, struct can_device*);
> +
> +/* *
> + * these 3 functions are used to set the queue status
> + *
> + */
> +static inline void canif_stop_queue(struct can_device *dev) {dev->qstatus = CAN_QUEUE_BUSY;}
> +static inline void canif_start_queue(struct can_device *dev) {dev->qstatus = CAN_QUEUE_READY;}
> +void canif_wake_queue(struct can_device*);
> +
> +//note: these functions must be called before can_open()
> +int can_init(void);
> +
> +/**
> + * function can_setbrg - set the bus speed of can device
> + * @brg bus speed to set, unit bps, such as: 250000,1000000 and etc
> + * @index device to set the speed, should be 0,1,2,....
> + * @return success->0, or fail->-1
> + * description:
> + * please set the speed when the device in reset mode.
> + */
> +int can_setbrg(int brg, int index);
> +
> +/**
> + * function can_setfilter - set the can id filter
> + * @filter filter list to be set
> + * @index device to do the operation, such as 0,1,2 ...
> + * @return success->0, or fail->-1
> + * description:
> + * please set the filter when the device in reset mode.
> + */
> +int can_setfilter(struct can_filter *filter, int index);
> +
> +/**
> + * function can_open - open a specified can device(or channel) for read/write
> + * @index index of the can channel to open, value as 0,1,2 ...
> + * @return device id, for can_send/can_recv ... , in case of fail, return 0
> + * description:
> + * can device will leave the reset mode by this operation.
> + */
> +int can_open(int index);
> +
> +/**
> + * function can_send - send a can frame
> + * @cf frame to be sent
> + * @dev_id device to do 'send' operation
> + * @return success->0, or fail->-1
> + * description:
> + * this is non block operation. can_core will store the frame pointer to the tx cirbuf.
> + */
> +int can_send(struct can_frame *cf, int dev_id);
> +
> +/**
> + * function can_recv - get a can frame from the specified can device(or channel)
> + * @dev_id can device to read
> + * @return success-> the pointer to a can frame, fail->0
> + * description:
> + * this is non block operation. can_core will get a frame pointer from the rx cirbuf of the device.
> + * the memory of the frame should be released by caller.
> + */
> +struct can_frame* can_recv(int dev_id);
> +
> +/**
> + * function can_close - close a specified can device(or channel)
> + * @dev_id can device to close
> + * description:
> + * can_close will do following operation:
> + * 1) dump the device's tx/rx buffer
> + * 2) set device into reset mode
> + */
> +void can_close(int dev_id);
> +#endif /* CAN_H */
> diff --git a/include/can_error.h b/include/can_error.h
> new file mode 100755
> index 0000000..d4127fd
> --- /dev/null
> +++ b/include/can_error.h
> @@ -0,0 +1,93 @@
> +/*
> + * linux/can/error.h
> + *
> + * Definitions of the CAN error frame to be filtered and passed to the user.
> + *
> + * Author: Oliver Hartkopp <oliver.hartkopp at volkswagen.de>
> + * Copyright (c) 2002-2007 Volkswagen Group Electronic Research
> + * All rights reserved.
> + *
> + * Send feedback to <socketcan-users at lists.berlios.de>
> + *
> + */
> +
> +#ifndef CAN_ERROR_H
> +#define CAN_ERROR_H
> +
> +#define CAN_ERR_DLC 8 /* dlc for error frames */
> +
> +/* error class (mask) in can_id */
> +#define CAN_ERR_TX_TIMEOUT 0x00000001U /* TX timeout (by netdevice driver) */
> +#define CAN_ERR_LOSTARB 0x00000002U /* lost arbitration / data[0] */
> +#define CAN_ERR_CRTL 0x00000004U /* controller problems / data[1] */
> +#define CAN_ERR_PROT 0x00000008U /* protocol violations / data[2..3] */
> +#define CAN_ERR_TRX 0x00000010U /* transceiver status / data[4] */
> +#define CAN_ERR_ACK 0x00000020U /* received no ACK on transmission */
> +#define CAN_ERR_BUSOFF 0x00000040U /* bus off */
> +#define CAN_ERR_BUSERROR 0x00000080U /* bus error (may flood!) */
> +#define CAN_ERR_RESTARTED 0x00000100U /* controller restarted */
> +
> +/* arbitration lost in bit ... / data[0] */
> +#define CAN_ERR_LOSTARB_UNSPEC 0x00 /* unspecified */
> + /* else bit number in bitstream */
> +
> +/* error status of CAN-controller / data[1] */
> +#define CAN_ERR_CRTL_UNSPEC 0x00 /* unspecified */
> +#define CAN_ERR_CRTL_RX_OVERFLOW 0x01 /* RX buffer overflow */
> +#define CAN_ERR_CRTL_TX_OVERFLOW 0x02 /* TX buffer overflow */
> +#define CAN_ERR_CRTL_RX_WARNING 0x04 /* reached warning level for RX errors */
> +#define CAN_ERR_CRTL_TX_WARNING 0x08 /* reached warning level for TX errors */
> +#define CAN_ERR_CRTL_RX_PASSIVE 0x10 /* reached error passive status RX */
> +#define CAN_ERR_CRTL_TX_PASSIVE 0x20 /* reached error passive status TX */
> + /* (at least one error counter exceeds */
> + /* the protocol-defined level of 127) */
> +
> +/* error in CAN protocol (type) / data[2] */
> +#define CAN_ERR_PROT_UNSPEC 0x00 /* unspecified */
> +#define CAN_ERR_PROT_BIT 0x01 /* single bit error */
> +#define CAN_ERR_PROT_FORM 0x02 /* frame format error */
> +#define CAN_ERR_PROT_STUFF 0x04 /* bit stuffing error */
> +#define CAN_ERR_PROT_BIT0 0x08 /* unable to send dominant bit */
> +#define CAN_ERR_PROT_BIT1 0x10 /* unable to send recessive bit */
> +#define CAN_ERR_PROT_OVERLOAD 0x20 /* bus overload */
> +#define CAN_ERR_PROT_ACTIVE 0x40 /* active error announcement */
> +#define CAN_ERR_PROT_TX 0x80 /* error occured on transmission */
> +
> +/* error in CAN protocol (location) / data[3] */
> +#define CAN_ERR_PROT_LOC_UNSPEC 0x00 /* unspecified */
> +#define CAN_ERR_PROT_LOC_SOF 0x03 /* start of frame */
> +#define CAN_ERR_PROT_LOC_ID28_21 0x02 /* ID bits 28 - 21 (SFF: 10 - 3) */
> +#define CAN_ERR_PROT_LOC_ID20_18 0x06 /* ID bits 20 - 18 (SFF: 2 - 0 )*/
> +#define CAN_ERR_PROT_LOC_SRTR 0x04 /* substitute RTR (SFF: RTR) */
> +#define CAN_ERR_PROT_LOC_IDE 0x05 /* identifier extension */
> +#define CAN_ERR_PROT_LOC_ID17_13 0x07 /* ID bits 17-13 */
> +#define CAN_ERR_PROT_LOC_ID12_05 0x0F /* ID bits 12-5 */
> +#define CAN_ERR_PROT_LOC_ID04_00 0x0E /* ID bits 4-0 */
> +#define CAN_ERR_PROT_LOC_RTR 0x0C /* RTR */
> +#define CAN_ERR_PROT_LOC_RES1 0x0D /* reserved bit 1 */
> +#define CAN_ERR_PROT_LOC_RES0 0x09 /* reserved bit 0 */
> +#define CAN_ERR_PROT_LOC_DLC 0x0B /* data length code */
> +#define CAN_ERR_PROT_LOC_DATA 0x0A /* data section */
> +#define CAN_ERR_PROT_LOC_CRC_SEQ 0x08 /* CRC sequence */
> +#define CAN_ERR_PROT_LOC_CRC_DEL 0x18 /* CRC delimiter */
> +#define CAN_ERR_PROT_LOC_ACK 0x19 /* ACK slot */
> +#define CAN_ERR_PROT_LOC_ACK_DEL 0x1B /* ACK delimiter */
> +#define CAN_ERR_PROT_LOC_EOF 0x1A /* end of frame */
> +#define CAN_ERR_PROT_LOC_INTERM 0x12 /* intermission */
> +
> +/* error status of CAN-transceiver / data[4] */
> +/* CANH CANL */
> +#define CAN_ERR_TRX_UNSPEC 0x00 /* 0000 0000 */
> +#define CAN_ERR_TRX_CANH_NO_WIRE 0x04 /* 0000 0100 */
> +#define CAN_ERR_TRX_CANH_SHORT_TO_BAT 0x05 /* 0000 0101 */
> +#define CAN_ERR_TRX_CANH_SHORT_TO_VCC 0x06 /* 0000 0110 */
> +#define CAN_ERR_TRX_CANH_SHORT_TO_GND 0x07 /* 0000 0111 */
> +#define CAN_ERR_TRX_CANL_NO_WIRE 0x40 /* 0100 0000 */
> +#define CAN_ERR_TRX_CANL_SHORT_TO_BAT 0x50 /* 0101 0000 */
> +#define CAN_ERR_TRX_CANL_SHORT_TO_VCC 0x60 /* 0110 0000 */
> +#define CAN_ERR_TRX_CANL_SHORT_TO_GND 0x70 /* 0111 0000 */
> +#define CAN_ERR_TRX_CANL_SHORT_TO_CANH 0x80 /* 1000 0000 */
> +
> +/* controller specific additional information / data[5..7] */
> +
> +#endif /* CAN_ERROR_H */
> diff --git a/include/candev.h b/include/candev.h
> new file mode 100755
> index 0000000..0e0dee7
> --- /dev/null
> +++ b/include/candev.h
> @@ -0,0 +1,46 @@
> +/*
> + * (C) Copyright 2009 miaofng<miaofng at gmail.com>
> + *
> + *
> + * See file CREDITS for list of people who contributed to this
> + * project.
> + *
> + * This program is free software; you can redistribute it and/or
> + * modify it under the terms of the GNU General Public License as
> + * published by the Free Software Foundation; either version 2 of
> + * the License, or (at your option) any later version.
> + *
> + * This program is distributed in the hope that it will be useful,
> + * but WITHOUT ANY WARRANTY; without even the implied warranty of
> + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> + * GNU General Public License for more details.
> + *
> + * You should have received a copy of the GNU General Public License
> + * along with this program; if not, write to the Free Software
> + * Foundation, Inc., 59 Temple Place, Suite 330, Boston,
> + * MA 02111-1307 USA
> + */
> +
> +/*
> + * netdev.h - definitions an prototypes for network devices
> + */
> +
> +#ifndef _CANDEV_H_
> +#define _CANDEV_H_
> +
> +/*
> + * Board and CPU-specific initialization functions
> + * board_eth_init() has highest priority. cpu_eth_init() only
> + * gets called if board_eth_init() isn't instantiated or fails.
> + * Return values:
> + * 0: success
> + * -1: failure
> + */
> +
> +int board_can_init(void);
> +void board_can_update(void);
> +
> +/* Driver initialization prototypes */
> +int sja1000_init(u32 reg_base);
> +
> +#endif /* _CANDEV_H_ */
> diff --git a/lib_arm/board.c b/lib_arm/board.c
> old mode 100644
> new mode 100755
> index 5e3d7f6..aa11dd3
> --- a/lib_arm/board.c
> +++ b/lib_arm/board.c
> @@ -356,6 +356,8 @@ void start_armboot (void)
> serial_initialize();
> #endif
>
> + can_init();
> +
> /* IP Address */
> gd->bd->bi_ip_addr = getenv_IPaddr ("ipaddr");
>
--
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Dipl.-Ing. Matthias Fuchs
Head of System Design
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Phone: +49-511-37298-0 - Fax: +49-511-37298-68
Please visit our homepage http://www.esd.eu
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