[rtems commit] leon,grcan: split out GRCAN non-FD specific support in separate file
Daniel Hellstrom
danielh at rtems.org
Thu Mar 11 16:51:34 UTC 2021
Module: rtems
Branch: master
Commit: 9bf8a9d14735511990213f004376f47d4c46ee44
Changeset: http://git.rtems.org/rtems/commit/?id=9bf8a9d14735511990213f004376f47d4c46ee44
Author: Daniel Hellstrom <daniel at gaisler.com>
Date: Fri Apr 12 22:49:45 2019 +0200
leon,grcan: split out GRCAN non-FD specific support in separate file
Close #4324.
---
bsps/shared/grlib-sources.am | 1 +
bsps/shared/grlib/can/grcan.c | 405 ------------------------------------
bsps/shared/grlib/can/grcanstd.c | 435 +++++++++++++++++++++++++++++++++++++++
spec/build/bsps/objgrlib.yml | 1 +
4 files changed, 437 insertions(+), 405 deletions(-)
diff --git a/bsps/shared/grlib-sources.am b/bsps/shared/grlib-sources.am
index 10820dd..3dd3bdd 100644
--- a/bsps/shared/grlib-sources.am
+++ b/bsps/shared/grlib-sources.am
@@ -24,6 +24,7 @@ librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/canbtrs.c
librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/canmux.c
librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/grcan.c
librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/grcanfd.c
+librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/grcanstd.c
librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/occan.c
librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/satcan.c
librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/drvmgr/ambapp_bus.c
diff --git a/bsps/shared/grlib/can/grcan.c b/bsps/shared/grlib/can/grcan.c
index d2507ec..162b2e1 100644
--- a/bsps/shared/grlib/can/grcan.c
+++ b/bsps/shared/grlib/can/grcan.c
@@ -80,18 +80,6 @@ int state2err[4] = {
static void __inline__ grcan_hw_reset(struct grcan_regs *regs);
-static int grcan_hw_read_try(
- struct grcan_priv *pDev,
- struct grcan_regs *regs,
- CANMsg *buffer,
- int max);
-
-static int grcan_hw_write_try(
- struct grcan_priv *pDev,
- struct grcan_regs *regs,
- CANMsg *buffer,
- int count);
-
static void grcan_hw_config(
struct grcan_priv *pDev,
struct grcan_config *conf);
@@ -501,182 +489,6 @@ static void grcan_hw_sync(struct grcan_regs *regs, struct grcan_filter *sfilter)
regs->smask = sfilter->mask;
}
-static int grcan_hw_read_try(
- struct grcan_priv *pDev,
- struct grcan_regs *regs,
- CANMsg * buffer,
- int max
-)
-{
- int i, j;
- CANMsg *dest;
- struct grcan_msg *source, tmp;
- unsigned int wp, rp, size, rxmax, addr;
- int trunk_msg_cnt;
-
- FUNCDBG();
-
- wp = READ_REG(®s->rx0wr);
- rp = READ_REG(®s->rx0rd);
-
- /*
- * Due to hardware wrap around simplification write pointer will
- * never reach the read pointer, at least a gap of 8 bytes.
- * The only time they are equal is when the read pointer has
- * reached the write pointer (empty buffer)
- *
- */
- if (wp != rp) {
- /* Not empty, we have received chars...
- * Read as much as possible from DMA buffer
- */
- size = READ_REG(®s->rx0size);
-
- /* Get number of bytes available in RX buffer */
- trunk_msg_cnt = grcan_hw_rxavail(rp, wp, size);
-
- /* truncate size if user space buffer hasn't room for
- * all received chars.
- */
- if (trunk_msg_cnt > max)
- trunk_msg_cnt = max;
-
- /* Read until i is 0 */
- i = trunk_msg_cnt;
-
- addr = (unsigned int)pDev->rx;
- source = (struct grcan_msg *)(addr + rp);
- dest = buffer;
- rxmax = addr + (size - GRCAN_MSG_SIZE);
-
- /* Read as many can messages as possible */
- while (i > 0) {
- /* Read CAN message from DMA buffer */
- tmp.head[0] = READ_DMA_WORD(&source->head[0]);
- tmp.head[1] = READ_DMA_WORD(&source->head[1]);
- if (tmp.head[1] & 0x4) {
- DBGC(DBG_RX, "overrun\n");
- }
- if (tmp.head[1] & 0x2) {
- DBGC(DBG_RX, "bus-off mode\n");
- }
- if (tmp.head[1] & 0x1) {
- DBGC(DBG_RX, "error-passive mode\n");
- }
- /* Convert one grcan CAN message to one "software" CAN message */
- dest->extended = tmp.head[0] >> 31;
- dest->rtr = (tmp.head[0] >> 30) & 0x1;
- if (dest->extended) {
- dest->id = tmp.head[0] & 0x3fffffff;
- } else {
- dest->id = (tmp.head[0] >> 18) & 0xfff;
- }
- dest->len = tmp.head[1] >> 28;
- for (j = 0; j < dest->len; j++)
- dest->data[j] = READ_DMA_BYTE(&source->data[j]);
-
- /* wrap around if neccessary */
- source =
- ((unsigned int)source >= rxmax) ?
- (struct grcan_msg *)addr : source + 1;
- dest++; /* straight user buffer */
- i--;
- }
- {
- /* A bus off interrupt may have occured after checking pDev->started */
- SPIN_IRQFLAGS(oldLevel);
-
- SPIN_LOCK_IRQ(&pDev->devlock, oldLevel);
- if (pDev->started == STATE_STARTED) {
- regs->rx0rd = (unsigned int) source - addr;
- regs->rx0ctrl = GRCAN_RXCTRL_ENABLE;
- } else {
- DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n");
- trunk_msg_cnt = state2err[pDev->started];
- }
- SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel);
- }
- return trunk_msg_cnt;
- }
- return 0;
-}
-
-static int grcan_hw_write_try(
- struct grcan_priv *pDev,
- struct grcan_regs *regs,
- CANMsg * buffer,
- int count
-)
-{
- unsigned int rp, wp, size, txmax, addr;
- int ret;
- struct grcan_msg *dest;
- CANMsg *source;
- int space_left;
- unsigned int tmp;
- int i;
-
- DBGC(DBG_TX, "\n");
- /*FUNCDBG(); */
-
- rp = READ_REG(®s->tx0rd);
- wp = READ_REG(®s->tx0wr);
- size = READ_REG(®s->tx0size);
-
- space_left = grcan_hw_txspace(rp, wp, size);
-
- /* is circular fifo full? */
- if (space_left < 1)
- return 0;
-
- /* Truncate size */
- if (space_left > count)
- space_left = count;
- ret = space_left;
-
- addr = (unsigned int)pDev->tx;
-
- dest = (struct grcan_msg *)(addr + wp);
- source = (CANMsg *) buffer;
- txmax = addr + (size - GRCAN_MSG_SIZE);
-
- while (space_left > 0) {
- /* Convert and write CAN message to DMA buffer */
- if (source->extended) {
- tmp = (1 << 31) | (source->id & 0x3fffffff);
- } else {
- tmp = (source->id & 0xfff) << 18;
- }
- if (source->rtr)
- tmp |= (1 << 30);
- dest->head[0] = tmp;
- dest->head[1] = source->len << 28;
- for (i = 0; i < source->len; i++)
- dest->data[i] = source->data[i];
- source++; /* straight user buffer */
- dest =
- ((unsigned int)dest >= txmax) ?
- (struct grcan_msg *)addr : dest + 1;
- space_left--;
- }
-
- {
- /* A bus off interrupt may have occured after checking pDev->started */
- SPIN_IRQFLAGS(oldLevel);
-
- SPIN_LOCK_IRQ(&pDev->devlock, oldLevel);
- if (pDev->started == STATE_STARTED) {
- regs->tx0wr = (unsigned int) dest - addr;
- regs->tx0ctrl = GRCAN_TXCTRL_ENABLE;
- } else {
- DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n");
- ret = state2err[pDev->started];
- }
- SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel);
- }
- return ret;
-}
-
int grcan_wait_rxdata(struct grcan_priv *pDev, int min)
{
unsigned int wp, rp, size, irq;
@@ -1156,176 +968,6 @@ int grcan_canfd_capable(void *d)
return pDev->fd_capable;
}
-int grcan_read(void *d, CANMsg *msg, size_t ucount)
-{
- struct grcan_priv *pDev = d;
- CANMsg *dest;
- unsigned int count, left;
- int nread;
- int req_cnt;
-
- FUNCDBG();
-
- dest = msg;
- req_cnt = ucount;
-
- if ( (!dest) || (req_cnt<1) )
- return GRCAN_RET_INVARG;
-
- if (pDev->started != STATE_STARTED) {
- return GRCAN_RET_NOTSTARTED;
- }
-
- DBGC(DBG_RX, "grcan_read [%p]: buf: %p len: %u\n", d, msg, (unsigned int) ucount);
-
- nread = grcan_hw_read_try(pDev,pDev->regs,dest,req_cnt);
- if (nread < 0) {
- return nread;
- }
- count = nread;
- if ( !( pDev->rxblock && pDev->rxcomplete && (count!=req_cnt) ) ){
- if ( count > 0 ) {
- /* Successfully received messages (at least one) */
- return count;
- }
-
- /* nothing read, shall we block? */
- if ( !pDev->rxblock ) {
- /* non-blocking mode */
- return GRCAN_RET_TIMEOUT;
- }
- }
-
- while (count == 0 || (pDev->rxcomplete && (count!=req_cnt))) {
- if (!pDev->rxcomplete) {
- left = 1; /* return as soon as there is one message available */
- } else {
- left = req_cnt - count; /* return as soon as all data are available */
-
- /* never wait for more than the half the maximum size of the receive buffer
- * Why? We need some time to copy buffer before to catch up with hw,
- * otherwise we would have to copy everything when the data has been
- * received.
- */
- if (left > ((pDev->rxbuf_size/GRCAN_MSG_SIZE) / 2)){
- left = (pDev->rxbuf_size/GRCAN_MSG_SIZE) / 2;
- }
- }
-
- nread = grcan_wait_rxdata(pDev, left);
- if (nread) {
- /* The wait has been aborted, probably due to
- * the device driver has been closed by another
- * thread or a bus-off. Return error code.
- */
- return nread;
- }
-
- /* Try read bytes from circular buffer */
- nread = grcan_hw_read_try(
- pDev,
- pDev->regs,
- dest+count,
- req_cnt-count);
-
- if (nread < 0) {
- /* The read was aborted by bus-off. */
- return nread;
- }
- count += nread;
- }
- /* no need to unmask IRQ as IRQ Handler do that for us. */
- return count;
-}
-
-int grcan_write(void *d, CANMsg *msg, size_t ucount)
-{
- struct grcan_priv *pDev = d;
- CANMsg *source;
- unsigned int count, left;
- int nwritten;
- int req_cnt;
-
- DBGC(DBG_TX,"\n");
-
- if ((pDev->started != STATE_STARTED) || pDev->config.silent || pDev->flushing)
- return GRCAN_RET_NOTSTARTED;
-
- req_cnt = ucount;
- source = (CANMsg *) msg;
-
- /* check proper length and buffer pointer */
- if (( req_cnt < 1) || (source == NULL) ){
- return GRCAN_RET_INVARG;
- }
-
- nwritten = grcan_hw_write_try(pDev,pDev->regs,source,req_cnt);
- if (nwritten < 0) {
- return nwritten;
- }
- count = nwritten;
- if ( !(pDev->txblock && pDev->txcomplete && (count!=req_cnt)) ) {
- if ( count > 0 ) {
- /* Successfully transmitted chars (at least one char) */
- return count;
- }
-
- /* nothing written, shall we block? */
- if ( !pDev->txblock ) {
- /* non-blocking mode */
- return GRCAN_RET_TIMEOUT;
- }
- }
-
- /* if in txcomplete mode we need to transmit all chars */
- while((count == 0) || (pDev->txcomplete && (count!=req_cnt)) ){
- /*** block until room to fit all or as much of transmit buffer as possible
- * IRQ comes. Set up a valid IRQ point so that an IRQ is received
- * when we can put a chunk of data into transmit fifo
- */
- if ( !pDev->txcomplete ){
- left = 1; /* wait for anything to fit buffer */
- }else{
- left = req_cnt - count; /* wait for all data to fit in buffer */
-
- /* never wait for more than the half the maximum size of the transmit
- * buffer
- * Why? We need some time to fill buffer before hw catches up.
- */
- if ( left > ((pDev->txbuf_size/GRCAN_MSG_SIZE)/2) ){
- left = (pDev->txbuf_size/GRCAN_MSG_SIZE)/2;
- }
- }
-
- nwritten = grcan_wait_txspace(pDev,left);
- /* Wait until more room in transmit buffer */
- if ( nwritten ) {
- /* The wait has been aborted, probably due to
- * the device driver has been closed by another
- * thread. To avoid deadlock we return directly
- * with error status.
- */
- return nwritten;
- }
-
- /* Try read bytes from circular buffer */
- nwritten = grcan_hw_write_try(
- pDev,
- pDev->regs,
- source+count,
- req_cnt-count);
-
- if (nwritten < 0) {
- /* Write was aborted by bus-off. */
- return nwritten;
- }
- count += nwritten;
- }
- /* no need to unmask IRQ as IRQ Handler do that for us. */
-
- return count;
-}
-
int grcan_start(void *d)
{
struct grcan_priv *pDev = d;
@@ -1552,53 +1194,6 @@ int grcan_clr_stats(void *d)
return 0;
}
-int grcan_set_speed(void *d, unsigned int speed)
-{
- struct grcan_priv *pDev = d;
- struct grcan_timing timing;
- int ret;
-
- FUNCDBG();
-
- /* cannot change speed during run mode */
- if ((pDev->started == STATE_STARTED) || pDev->fd_capable)
- return -1;
-
- /* get speed rate from argument */
- ret = grlib_canbtrs_calc_timing(
- speed, pDev->corefreq_hz, GRCAN_SAMPLING_POINT,
- &grcan_btrs_ranges, (struct grlib_canbtrs_timing *)&timing);
- if (ret)
- return -2;
-
- /* save timing/speed */
- pDev->config.timing = timing;
- pDev->config_changed = 1;
-
- return 0;
-}
-
-int grcan_set_btrs(void *d, const struct grcan_timing *timing)
-{
- struct grcan_priv *pDev = d;
-
- FUNCDBG();
-
- /* Set BTR registers manually
- * Read GRCAN/HurriCANe Manual.
- */
- if ((pDev->started == STATE_STARTED) || pDev->fd_capable)
- return -1;
-
- if ( !timing )
- return -2;
-
- pDev->config.timing = *timing;
- pDev->config_changed = 1;
-
- return 0;
-}
-
int grcan_set_afilter(void *d, const struct grcan_filter *filter)
{
struct grcan_priv *pDev = d;
diff --git a/bsps/shared/grlib/can/grcanstd.c b/bsps/shared/grlib/can/grcanstd.c
new file mode 100644
index 0000000..b92c15a
--- /dev/null
+++ b/bsps/shared/grlib/can/grcanstd.c
@@ -0,0 +1,435 @@
+/*
+ * non-FD specific function for GRCAN driver
+ *
+ * COPYRIGHT (c) 2007-2019.
+ * Cobham Gaisler AB.
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#include <bsp.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <assert.h>
+#include <ctype.h>
+#include <rtems/bspIo.h>
+
+#include <grlib/grcan.h>
+#include <grlib/canbtrs.h>
+#include <drvmgr/drvmgr.h>
+#include <grlib/ambapp_bus.h>
+#include <grlib/ambapp.h>
+
+#include <grlib/grlib_impl.h>
+#include "grcan_internal.h"
+
+/* Uncomment for debug output */
+/****************** DEBUG Definitions ********************/
+#define DBG_TX 2
+#define DBG_RX 4
+#define DBG_STATE 8
+
+#define DEBUG_FLAGS (DBG_STATE | DBG_RX | DBG_TX )
+/*
+#define DEBUG
+#define DEBUGFUNCS
+*/
+#include <grlib/debug_defs.h>
+
+static int grcan_hw_read_try(
+ struct grcan_priv *pDev,
+ struct grcan_regs *regs,
+ CANMsg * buffer,
+ int max
+)
+{
+ int i, j;
+ CANMsg *dest;
+ struct grcan_msg *source, tmp;
+ unsigned int wp, rp, size, rxmax, addr;
+ int trunk_msg_cnt;
+
+ FUNCDBG();
+
+ wp = READ_REG(®s->rx0wr);
+ rp = READ_REG(®s->rx0rd);
+
+ /*
+ * Due to hardware wrap around simplification write pointer will
+ * never reach the read pointer, at least a gap of 8 bytes.
+ * The only time they are equal is when the read pointer has
+ * reached the write pointer (empty buffer)
+ *
+ */
+ if (wp != rp) {
+ /* Not empty, we have received chars...
+ * Read as much as possible from DMA buffer
+ */
+ size = READ_REG(®s->rx0size);
+
+ /* Get number of bytes available in RX buffer */
+ trunk_msg_cnt = grcan_hw_rxavail(rp, wp, size);
+
+ /* truncate size if user space buffer hasn't room for
+ * all received chars.
+ */
+ if (trunk_msg_cnt > max)
+ trunk_msg_cnt = max;
+
+ /* Read until i is 0 */
+ i = trunk_msg_cnt;
+
+ addr = (unsigned int)pDev->rx;
+ source = (struct grcan_msg *)(addr + rp);
+ dest = buffer;
+ rxmax = addr + (size - GRCAN_MSG_SIZE);
+
+ /* Read as many can messages as possible */
+ while (i > 0) {
+ /* Read CAN message from DMA buffer */
+ tmp.head[0] = READ_DMA_WORD(&source->head[0]);
+ tmp.head[1] = READ_DMA_WORD(&source->head[1]);
+ if (tmp.head[1] & 0x4) {
+ DBGC(DBG_RX, "overrun\n");
+ }
+ if (tmp.head[1] & 0x2) {
+ DBGC(DBG_RX, "bus-off mode\n");
+ }
+ if (tmp.head[1] & 0x1) {
+ DBGC(DBG_RX, "error-passive mode\n");
+ }
+ /* Convert one grcan CAN message to one "software" CAN message */
+ dest->extended = tmp.head[0] >> 31;
+ dest->rtr = (tmp.head[0] >> 30) & 0x1;
+ if (dest->extended) {
+ dest->id = tmp.head[0] & 0x3fffffff;
+ } else {
+ dest->id = (tmp.head[0] >> 18) & 0xfff;
+ }
+ dest->len = tmp.head[1] >> 28;
+ for (j = 0; j < dest->len; j++)
+ dest->data[j] = READ_DMA_BYTE(&source->data[j]);
+
+ /* wrap around if neccessary */
+ source =
+ ((unsigned int)source >= rxmax) ?
+ (struct grcan_msg *)addr : source + 1;
+ dest++; /* straight user buffer */
+ i--;
+ }
+ {
+ /* A bus off interrupt may have occured after checking pDev->started */
+ SPIN_IRQFLAGS(oldLevel);
+
+ SPIN_LOCK_IRQ(&pDev->devlock, oldLevel);
+ if (pDev->started == STATE_STARTED) {
+ regs->rx0rd = (unsigned int) source - addr;
+ regs->rx0ctrl = GRCAN_RXCTRL_ENABLE;
+ } else {
+ DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n");
+ trunk_msg_cnt = state2err[pDev->started];
+ }
+ SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel);
+ }
+ return trunk_msg_cnt;
+ }
+ return 0;
+}
+
+static int grcan_hw_write_try(
+ struct grcan_priv *pDev,
+ struct grcan_regs *regs,
+ CANMsg * buffer,
+ int count
+)
+{
+ unsigned int rp, wp, size, txmax, addr;
+ int ret;
+ struct grcan_msg *dest;
+ CANMsg *source;
+ int space_left;
+ unsigned int tmp;
+ int i;
+
+ DBGC(DBG_TX, "\n");
+ /*FUNCDBG(); */
+
+ rp = READ_REG(®s->tx0rd);
+ wp = READ_REG(®s->tx0wr);
+ size = READ_REG(®s->tx0size);
+
+ space_left = grcan_hw_txspace(rp, wp, size);
+
+ /* is circular fifo full? */
+ if (space_left < 1)
+ return 0;
+
+ /* Truncate size */
+ if (space_left > count)
+ space_left = count;
+ ret = space_left;
+
+ addr = (unsigned int)pDev->tx;
+
+ dest = (struct grcan_msg *)(addr + wp);
+ source = (CANMsg *) buffer;
+ txmax = addr + (size - GRCAN_MSG_SIZE);
+
+ while (space_left > 0) {
+ /* Convert and write CAN message to DMA buffer */
+ if (source->extended) {
+ tmp = (1 << 31) | (source->id & 0x3fffffff);
+ } else {
+ tmp = (source->id & 0xfff) << 18;
+ }
+ if (source->rtr)
+ tmp |= (1 << 30);
+ dest->head[0] = tmp;
+ dest->head[1] = source->len << 28;
+ for (i = 0; i < source->len; i++)
+ dest->data[i] = source->data[i];
+ source++; /* straight user buffer */
+ dest =
+ ((unsigned int)dest >= txmax) ?
+ (struct grcan_msg *)addr : dest + 1;
+ space_left--;
+ }
+
+ {
+ /* A bus off interrupt may have occured after checking pDev->started */
+ SPIN_IRQFLAGS(oldLevel);
+
+ SPIN_LOCK_IRQ(&pDev->devlock, oldLevel);
+ if (pDev->started == STATE_STARTED) {
+ regs->tx0wr = (unsigned int) dest - addr;
+ regs->tx0ctrl = GRCAN_TXCTRL_ENABLE;
+ } else {
+ DBGC(DBG_STATE, "cancelled due to a BUS OFF error\n");
+ ret = state2err[pDev->started];
+ }
+ SPIN_UNLOCK_IRQ(&pDev->devlock, oldLevel);
+ }
+ return ret;
+}
+
+
+int grcan_read(void *d, CANMsg *msg, size_t ucount)
+{
+ struct grcan_priv *pDev = d;
+ CANMsg *dest;
+ unsigned int count, left;
+ int nread;
+ int req_cnt;
+
+ FUNCDBG();
+
+ dest = msg;
+ req_cnt = ucount;
+
+ if ( (!dest) || (req_cnt<1) )
+ return GRCAN_RET_INVARG;
+
+ if (pDev->started != STATE_STARTED) {
+ return GRCAN_RET_NOTSTARTED;
+ }
+
+ DBGC(DBG_RX, "grcan_read [%p]: buf: %p len: %u\n", d, msg, (unsigned int) ucount);
+
+ nread = grcan_hw_read_try(pDev,pDev->regs,dest,req_cnt);
+ if (nread < 0) {
+ return nread;
+ }
+ count = nread;
+ if ( !( pDev->rxblock && pDev->rxcomplete && (count!=req_cnt) ) ){
+ if ( count > 0 ) {
+ /* Successfully received messages (at least one) */
+ return count;
+ }
+
+ /* nothing read, shall we block? */
+ if ( !pDev->rxblock ) {
+ /* non-blocking mode */
+ return GRCAN_RET_TIMEOUT;
+ }
+ }
+
+ while (count == 0 || (pDev->rxcomplete && (count!=req_cnt))) {
+ if (!pDev->rxcomplete) {
+ left = 1; /* return as soon as there is one message available */
+ } else {
+ left = req_cnt - count; /* return as soon as all data are available */
+
+ /* never wait for more than the half the maximum size of the receive buffer
+ * Why? We need some time to copy buffer before to catch up with hw,
+ * otherwise we would have to copy everything when the data has been
+ * received.
+ */
+ if (left > ((pDev->rxbuf_size/GRCAN_MSG_SIZE) / 2)){
+ left = (pDev->rxbuf_size/GRCAN_MSG_SIZE) / 2;
+ }
+ }
+
+ nread = grcan_wait_rxdata(pDev, left);
+ if (nread) {
+ /* The wait has been aborted, probably due to
+ * the device driver has been closed by another
+ * thread or a bus-off. Return error code.
+ */
+ return nread;
+ }
+
+ /* Try read bytes from circular buffer */
+ nread = grcan_hw_read_try(
+ pDev,
+ pDev->regs,
+ dest+count,
+ req_cnt-count);
+
+ if (nread < 0) {
+ /* The read was aborted by bus-off. */
+ return nread;
+ }
+ count += nread;
+ }
+ /* no need to unmask IRQ as IRQ Handler do that for us. */
+ return count;
+}
+
+int grcan_write(void *d, CANMsg *msg, size_t ucount)
+{
+ struct grcan_priv *pDev = d;
+ CANMsg *source;
+ unsigned int count, left;
+ int nwritten;
+ int req_cnt;
+
+ DBGC(DBG_TX,"\n");
+
+ if ((pDev->started != STATE_STARTED) || pDev->config.silent || pDev->flushing)
+ return GRCAN_RET_NOTSTARTED;
+
+ req_cnt = ucount;
+ source = (CANMsg *) msg;
+
+ /* check proper length and buffer pointer */
+ if (( req_cnt < 1) || (source == NULL) ){
+ return GRCAN_RET_INVARG;
+ }
+
+ nwritten = grcan_hw_write_try(pDev,pDev->regs,source,req_cnt);
+ if (nwritten < 0) {
+ return nwritten;
+ }
+ count = nwritten;
+ if ( !(pDev->txblock && pDev->txcomplete && (count!=req_cnt)) ) {
+ if ( count > 0 ) {
+ /* Successfully transmitted chars (at least one char) */
+ return count;
+ }
+
+ /* nothing written, shall we block? */
+ if ( !pDev->txblock ) {
+ /* non-blocking mode */
+ return GRCAN_RET_TIMEOUT;
+ }
+ }
+
+ /* if in txcomplete mode we need to transmit all chars */
+ while((count == 0) || (pDev->txcomplete && (count!=req_cnt)) ){
+ /*** block until room to fit all or as much of transmit buffer as possible
+ * IRQ comes. Set up a valid IRQ point so that an IRQ is received
+ * when we can put a chunk of data into transmit fifo
+ */
+ if ( !pDev->txcomplete ){
+ left = 1; /* wait for anything to fit buffer */
+ }else{
+ left = req_cnt - count; /* wait for all data to fit in buffer */
+
+ /* never wait for more than the half the maximum size of the transmit
+ * buffer
+ * Why? We need some time to fill buffer before hw catches up.
+ */
+ if ( left > ((pDev->txbuf_size/GRCAN_MSG_SIZE)/2) ){
+ left = (pDev->txbuf_size/GRCAN_MSG_SIZE)/2;
+ }
+ }
+
+ nwritten = grcan_wait_txspace(pDev,left);
+ /* Wait until more room in transmit buffer */
+ if ( nwritten ) {
+ /* The wait has been aborted, probably due to
+ * the device driver has been closed by another
+ * thread. To avoid deadlock we return directly
+ * with error status.
+ */
+ return nwritten;
+ }
+
+ /* Try read bytes from circular buffer */
+ nwritten = grcan_hw_write_try(
+ pDev,
+ pDev->regs,
+ source+count,
+ req_cnt-count);
+
+ if (nwritten < 0) {
+ /* Write was aborted by bus-off. */
+ return nwritten;
+ }
+ count += nwritten;
+ }
+ /* no need to unmask IRQ as IRQ Handler do that for us. */
+
+ return count;
+}
+
+
+int grcan_set_speed(void *d, unsigned int speed)
+{
+ struct grcan_priv *pDev = d;
+ struct grcan_timing timing;
+ int ret;
+
+ FUNCDBG();
+
+ /* cannot change speed during run mode */
+ if ((pDev->started == STATE_STARTED) || pDev->fd_capable)
+ return -1;
+
+ /* get speed rate from argument */
+ ret = grlib_canbtrs_calc_timing(
+ speed, pDev->corefreq_hz, GRCAN_SAMPLING_POINT,
+ &grcan_btrs_ranges, (struct grlib_canbtrs_timing *)&timing);
+ if (ret)
+ return -2;
+
+ /* save timing/speed */
+ pDev->config.timing = timing;
+ pDev->config_changed = 1;
+
+ return 0;
+}
+
+int grcan_set_btrs(void *d, const struct grcan_timing *timing)
+{
+ struct grcan_priv *pDev = d;
+
+ FUNCDBG();
+
+ /* Set BTR registers manually
+ * Read GRCAN/HurriCANe Manual.
+ */
+ if ((pDev->started == STATE_STARTED) || pDev->fd_capable)
+ return -1;
+
+ if ( !timing )
+ return -2;
+
+ pDev->config.timing = *timing;
+ pDev->config_changed = 1;
+
+ return 0;
+}
diff --git a/spec/build/bsps/objgrlib.yml b/spec/build/bsps/objgrlib.yml
index 6edccfc..a08db43 100644
--- a/spec/build/bsps/objgrlib.yml
+++ b/spec/build/bsps/objgrlib.yml
@@ -104,6 +104,7 @@ source:
- bsps/shared/grlib/can/canmux.c
- bsps/shared/grlib/can/grcan.c
- bsps/shared/grlib/can/grcanfd.c
+- bsps/shared/grlib/can/grcanstd.c
- bsps/shared/grlib/can/occan.c
- bsps/shared/grlib/can/satcan.c
- bsps/shared/grlib/drvmgr/ambapp_bus.c
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