[3bb4122] | 1 | /* |
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| 2 | * B1553RT driver implmenetation |
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| 3 | * |
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| 4 | * COPYRIGHT (c) 2009. |
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| 5 | * Cobham Gaisler AB. |
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| 6 | * |
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| 7 | * The license and distribution terms for this file may be |
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| 8 | * found in the file LICENSE in this distribution or at |
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[4a7d1026] | 9 | * http://www.rtems.org/license/LICENSE. |
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[3bb4122] | 10 | */ |
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| 11 | |
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| 12 | #include <bsp.h> |
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| 13 | #include <rtems/libio.h> |
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| 14 | #include <stdlib.h> |
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| 15 | #include <stdio.h> |
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| 16 | #include <string.h> |
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| 17 | #include <assert.h> |
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| 18 | #include <ctype.h> |
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| 19 | #include <rtems/bspIo.h> |
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| 20 | |
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| 21 | #include <drvmgr/drvmgr.h> |
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[31720925] | 22 | #include <grlib/b1553rt.h> |
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| 23 | #include <grlib/ambapp.h> |
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| 24 | #include <grlib/ambapp_bus.h> |
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[3bb4122] | 25 | |
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[31720925] | 26 | #include <grlib/grlib_impl.h> |
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[11f3b9a] | 27 | |
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[3bb4122] | 28 | /* Uncomment for debug output */ |
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| 29 | /*#define DEBUG 1*/ |
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| 30 | |
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| 31 | /* |
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| 32 | #define FUNCDEBUG 1*/ |
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| 33 | /*#undef DEBUG*/ |
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| 34 | #undef FUNCDEBUG |
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| 35 | |
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| 36 | /* EVENT_QUEUE_SIZE sets the size of the event queue |
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| 37 | */ |
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| 38 | #define EVENT_QUEUE_SIZE 1024 |
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| 39 | |
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| 40 | |
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| 41 | #define INDEX(x) ( x&(EVENT_QUEUE_SIZE-1) ) |
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| 42 | |
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| 43 | #if 0 |
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| 44 | #define DBG(x...) printk(x) |
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| 45 | #else |
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| 46 | #define DBG(x...) |
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| 47 | #endif |
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| 48 | |
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| 49 | #ifdef FUNCDEBUG |
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| 50 | #define FUNCDBG(x...) printk(x) |
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| 51 | #else |
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| 52 | #define FUNCDBG(x...) |
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| 53 | #endif |
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| 54 | |
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| 55 | #define READ_DMA(address) _READ16((unsigned int)address) |
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| 56 | |
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| 57 | static __inline__ unsigned short _READ16(unsigned int addr) { |
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| 58 | unsigned short tmp; |
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| 59 | asm(" lduha [%1]1, %0 " |
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| 60 | : "=r"(tmp) |
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| 61 | : "r"(addr) |
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| 62 | ); |
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| 63 | return tmp; |
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| 64 | } |
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| 65 | |
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| 66 | static rtems_device_driver rt_initialize(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); |
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| 67 | static rtems_device_driver rt_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); |
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| 68 | static rtems_device_driver rt_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); |
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| 69 | static rtems_device_driver rt_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); |
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| 70 | static rtems_device_driver rt_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); |
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| 71 | static rtems_device_driver rt_control(rtems_device_major_number major, rtems_device_minor_number minor, void *arg); |
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| 72 | |
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| 73 | #define RT_DRIVER_TABLE_ENTRY { rt_initialize, rt_open, rt_close, rt_read, rt_write, rt_control } |
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| 74 | |
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| 75 | static rtems_driver_address_table b1553rt_driver = RT_DRIVER_TABLE_ENTRY; |
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| 76 | |
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| 77 | typedef struct { |
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| 78 | |
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| 79 | struct drvmgr_dev *dev; /* Driver manager device */ |
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| 80 | char devName[32]; /* Device Name */ |
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| 81 | |
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| 82 | struct rt_reg *regs; |
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| 83 | unsigned int ctrl_copy; /* Local copy of config register */ |
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| 84 | |
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| 85 | unsigned int cfg_freq; |
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| 86 | |
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| 87 | unsigned int memarea_base; |
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| 88 | unsigned int memarea_base_remote; |
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| 89 | |
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| 90 | volatile unsigned short *mem; |
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| 91 | |
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| 92 | /* Received events waiting to be read */ |
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| 93 | struct rt_msg *rt_event; |
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| 94 | unsigned int head, tail; |
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| 95 | |
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| 96 | int rx_blocking; |
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| 97 | |
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| 98 | rtems_id rx_sem, tx_sem, dev_sem; |
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| 99 | int minor; |
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| 100 | int irqno; |
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| 101 | |
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| 102 | #ifdef DEBUG |
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| 103 | unsigned int log[EVENT_QUEUE_SIZE*4]; |
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| 104 | unsigned int log_i; |
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| 105 | #endif |
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| 106 | |
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| 107 | unsigned int status; |
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| 108 | rtems_id event_id; /* event that may be signalled upon errors, needs to be set through ioctl command RT_SET_EVENTID */ |
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| 109 | |
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| 110 | } rt_priv; |
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| 111 | |
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| 112 | static void b1553rt_interrupt(void *arg); |
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| 113 | static rtems_device_driver rt_init(rt_priv *rt); |
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| 114 | |
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| 115 | #define OFS(ofs) (((unsigned int)&ofs & 0x1ffff)>>1) |
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| 116 | |
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| 117 | static int b1553rt_driver_io_registered = 0; |
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| 118 | static rtems_device_major_number b1553rt_driver_io_major = 0; |
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| 119 | |
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| 120 | /******************* Driver manager interface ***********************/ |
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| 121 | |
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| 122 | /* Driver prototypes */ |
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| 123 | int b1553rt_register_io(rtems_device_major_number *m); |
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| 124 | int b1553rt_device_init(rt_priv *pDev); |
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| 125 | |
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| 126 | int b1553rt_init2(struct drvmgr_dev *dev); |
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| 127 | int b1553rt_init3(struct drvmgr_dev *dev); |
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| 128 | int b1553rt_remove(struct drvmgr_dev *dev); |
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| 129 | |
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| 130 | struct drvmgr_drv_ops b1553rt_ops = |
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| 131 | { |
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| 132 | .init = {NULL, b1553rt_init2, b1553rt_init3, NULL}, |
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| 133 | .remove = b1553rt_remove, |
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| 134 | .info = NULL |
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| 135 | }; |
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| 136 | |
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| 137 | struct amba_dev_id b1553rt_ids[] = |
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| 138 | { |
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| 139 | {VENDOR_GAISLER, GAISLER_B1553RT}, |
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| 140 | {0, 0} /* Mark end of table */ |
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| 141 | }; |
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| 142 | |
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| 143 | struct amba_drv_info b1553rt_drv_info = |
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| 144 | { |
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| 145 | { |
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| 146 | DRVMGR_OBJ_DRV, /* Driver */ |
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| 147 | NULL, /* Next driver */ |
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| 148 | NULL, /* Device list */ |
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| 149 | DRIVER_AMBAPP_GAISLER_B1553RT_ID, /* Driver ID */ |
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| 150 | "B1553RT_DRV", /* Driver Name */ |
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| 151 | DRVMGR_BUS_TYPE_AMBAPP, /* Bus Type */ |
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| 152 | &b1553rt_ops, |
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| 153 | NULL, /* Funcs */ |
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| 154 | 0, /* No devices yet */ |
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| 155 | 0, |
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| 156 | |
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| 157 | }, |
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| 158 | &b1553rt_ids[0] |
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| 159 | }; |
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| 160 | |
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| 161 | void b1553rt_register_drv (void) |
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| 162 | { |
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| 163 | DBG("Registering B1553RT driver\n"); |
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| 164 | drvmgr_drv_register(&b1553rt_drv_info.general); |
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| 165 | } |
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| 166 | |
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| 167 | int b1553rt_init2(struct drvmgr_dev *dev) |
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| 168 | { |
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| 169 | rt_priv *priv; |
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| 170 | |
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| 171 | DBG("B1553RT[%d] on bus %s\n", dev->minor_drv, dev->parent->dev->name); |
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[11f3b9a] | 172 | priv = dev->priv = grlib_calloc(1, sizeof(*priv)); |
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[3bb4122] | 173 | if ( !priv ) |
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| 174 | return DRVMGR_NOMEM; |
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| 175 | priv->dev = dev; |
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| 176 | |
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| 177 | /* This core will not find other cores, so we wait for init2() */ |
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| 178 | |
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| 179 | return DRVMGR_OK; |
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| 180 | } |
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| 181 | |
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| 182 | int b1553rt_init3(struct drvmgr_dev *dev) |
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| 183 | { |
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| 184 | rt_priv *priv; |
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| 185 | char prefix[32]; |
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| 186 | rtems_status_code status; |
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| 187 | |
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| 188 | priv = dev->priv; |
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| 189 | |
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| 190 | /* Do initialization */ |
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| 191 | |
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| 192 | if ( b1553rt_driver_io_registered == 0) { |
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| 193 | /* Register the I/O driver only once for all cores */ |
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| 194 | if ( b1553rt_register_io(&b1553rt_driver_io_major) ) { |
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| 195 | /* Failed to register I/O driver */ |
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| 196 | dev->priv = NULL; |
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| 197 | return DRVMGR_FAIL; |
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| 198 | } |
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| 199 | |
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| 200 | b1553rt_driver_io_registered = 1; |
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| 201 | } |
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| 202 | |
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| 203 | /* I/O system registered and initialized |
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| 204 | * Now we take care of device initialization. |
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| 205 | */ |
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| 206 | |
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| 207 | if ( b1553rt_device_init(priv) ) { |
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| 208 | return DRVMGR_FAIL; |
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| 209 | } |
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| 210 | |
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| 211 | /* Get Filesystem name prefix */ |
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| 212 | prefix[0] = '\0'; |
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| 213 | if ( drvmgr_get_dev_prefix(dev, prefix) ) { |
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| 214 | /* Failed to get prefix, make sure of a unique FS name |
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| 215 | * by using the driver minor. |
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| 216 | */ |
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| 217 | sprintf(priv->devName, "/dev/b1553rt%d", dev->minor_drv); |
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| 218 | } else { |
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| 219 | /* Got special prefix, this means we have a bus prefix |
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| 220 | * And we should use our "bus minor" |
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| 221 | */ |
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| 222 | sprintf(priv->devName, "/dev/%sb1553rt%d", prefix, dev->minor_bus); |
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| 223 | } |
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| 224 | |
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| 225 | /* Register Device */ |
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| 226 | status = rtems_io_register_name(priv->devName, b1553rt_driver_io_major, dev->minor_drv); |
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| 227 | if (status != RTEMS_SUCCESSFUL) { |
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| 228 | return DRVMGR_FAIL; |
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| 229 | } |
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| 230 | |
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| 231 | return DRVMGR_OK; |
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| 232 | } |
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| 233 | |
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| 234 | int b1553rt_remove(struct drvmgr_dev *dev) |
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| 235 | { |
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| 236 | /* Stop more tasks to open driver */ |
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| 237 | |
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| 238 | /* Throw out all tasks using this driver */ |
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| 239 | |
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| 240 | /* Unregister I/O node */ |
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| 241 | |
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| 242 | /* Unregister and disable Interrupt */ |
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| 243 | |
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| 244 | /* Free device memory */ |
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| 245 | |
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| 246 | /* Return sucessfully */ |
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| 247 | |
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| 248 | return DRVMGR_FAIL; |
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| 249 | } |
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| 250 | |
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| 251 | /******************* Driver Implementation ***********************/ |
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| 252 | |
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| 253 | int b1553rt_register_io(rtems_device_major_number *m) |
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| 254 | { |
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| 255 | rtems_status_code r; |
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| 256 | |
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| 257 | if ((r = rtems_io_register_driver(0, &b1553rt_driver, m)) == RTEMS_SUCCESSFUL) { |
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| 258 | DBG("B1553RT driver successfully registered, major: %d\n", *m); |
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| 259 | } else { |
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| 260 | switch(r) { |
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| 261 | case RTEMS_TOO_MANY: |
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| 262 | printk("B1553RT rtems_io_register_driver failed: RTEMS_TOO_MANY\n"); |
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| 263 | return -1; |
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| 264 | case RTEMS_INVALID_NUMBER: |
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| 265 | printk("B1553RT rtems_io_register_driver failed: RTEMS_INVALID_NUMBER\n"); |
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| 266 | return -1; |
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| 267 | case RTEMS_RESOURCE_IN_USE: |
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| 268 | printk("B1553RT rtems_io_register_driver failed: RTEMS_RESOURCE_IN_USE\n"); |
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| 269 | return -1; |
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| 270 | default: |
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| 271 | printk("B1553RT rtems_io_register_driver failed\n"); |
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| 272 | return -1; |
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| 273 | } |
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| 274 | } |
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| 275 | return 0; |
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| 276 | } |
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| 277 | |
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| 278 | int b1553rt_device_init(rt_priv *pDev) |
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| 279 | { |
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| 280 | struct amba_dev_info *ambadev; |
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| 281 | struct ambapp_core *pnpinfo; |
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| 282 | union drvmgr_key_value *value; |
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| 283 | unsigned int mem; |
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| 284 | unsigned int sys_freq_hz; |
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| 285 | |
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| 286 | /* Get device information from AMBA PnP information */ |
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| 287 | ambadev = (struct amba_dev_info *)pDev->dev->businfo; |
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| 288 | if ( ambadev == NULL ) { |
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| 289 | return -1; |
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| 290 | } |
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| 291 | pnpinfo = &ambadev->info; |
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| 292 | pDev->irqno = pnpinfo->irq; |
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| 293 | pDev->regs = (struct rt_reg *)pnpinfo->apb_slv->start; |
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| 294 | pDev->minor = pDev->dev->minor_drv; |
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| 295 | |
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| 296 | #ifdef DEBUG |
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| 297 | pDev->log_i = 0; |
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| 298 | memset(pDev->log,0,sizeof(pDev->log)); |
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| 299 | printf("LOG: 0x%x\n", &pDev->log[0]); |
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| 300 | printf("LOG_I: 0x%x\n", &pDev->log_i); |
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| 301 | #endif |
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| 302 | |
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| 303 | /* Get memory configuration from bus resources */ |
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[4d3e70f4] | 304 | value = drvmgr_dev_key_get(pDev->dev, "dmaBaseAdr", DRVMGR_KT_POINTER); |
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[3bb4122] | 305 | if (value) |
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| 306 | mem = (unsigned int)value->ptr; |
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| 307 | |
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| 308 | if (value && (mem & 1)) { |
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| 309 | /* Remote address, address as RT looks at it. */ |
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| 310 | |
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| 311 | /* Translate the base address into an address that the the CPU can understand */ |
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| 312 | pDev->memarea_base = mem & ~1; |
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| 313 | drvmgr_translate_check(pDev->dev, DMAMEM_TO_CPU, |
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| 314 | (void *)pDev->memarea_base_remote, |
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| 315 | (void **)&pDev->memarea_base, |
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| 316 | 4 * 1024); |
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| 317 | } else { |
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| 318 | if (!value) { |
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| 319 | /* Use dynamically allocated memory, |
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| 320 | * 4k DMA memory + 4k for alignment |
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| 321 | */ |
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[11f3b9a] | 322 | mem = (unsigned int)grlib_malloc(4 * 1024 * 2); |
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[3bb4122] | 323 | if ( !mem ){ |
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| 324 | printk("RT: Failed to allocate HW memory\n\r"); |
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| 325 | return -1; |
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| 326 | } |
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| 327 | /* align memory to 4k boundary */ |
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| 328 | pDev->memarea_base = (mem + 0xfff) & ~0xfff; |
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| 329 | } else { |
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| 330 | pDev->memarea_base = mem; |
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| 331 | } |
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| 332 | |
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| 333 | /* Translate the base address into an address that the RT core can understand */ |
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| 334 | drvmgr_translate_check(pDev->dev, CPUMEM_TO_DMA, |
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| 335 | (void *)pDev->memarea_base, |
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| 336 | (void **)&pDev->memarea_base_remote, |
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| 337 | 4 * 1024); |
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| 338 | } |
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| 339 | |
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| 340 | /* clear the used memory */ |
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| 341 | memset((char *)pDev->memarea_base, 0, 4 * 1024); |
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| 342 | |
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| 343 | /* Set base address of all descriptors */ |
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| 344 | pDev->memarea_base = (unsigned int)mem; |
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| 345 | pDev->mem = (volatile unsigned short *)pDev->memarea_base; |
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| 346 | |
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| 347 | pDev->rt_event = NULL; |
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| 348 | |
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| 349 | /* The RT is always clocked at the same frequency as the bus |
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| 350 | * If the frequency doesnt match it is defaulted to 24MHz, |
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| 351 | * user can always override it. |
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| 352 | */ |
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| 353 | pDev->cfg_freq = RT_FREQ_24MHZ; |
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| 354 | |
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| 355 | /* Get frequency in Hz */ |
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| 356 | if ( drvmgr_freq_get(pDev->dev, DEV_APB_SLV, &sys_freq_hz) == 0 ) { |
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| 357 | if ( sys_freq_hz == 20000000 ) { |
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| 358 | pDev->cfg_freq = RT_FREQ_20MHZ; |
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| 359 | } else if ( sys_freq_hz == 16000000 ) { |
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| 360 | pDev->cfg_freq = RT_FREQ_16MHZ; |
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| 361 | } else if ( sys_freq_hz == 12000000 ) { |
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| 362 | pDev->cfg_freq = RT_FREQ_12MHZ; |
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| 363 | } |
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| 364 | } |
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| 365 | |
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[4d3e70f4] | 366 | value = drvmgr_dev_key_get(pDev->dev, "coreFreq", DRVMGR_KT_INT); |
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[3bb4122] | 367 | if ( value ) { |
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| 368 | pDev->cfg_freq = value->i & RT_FREQ_MASK; |
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| 369 | } |
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| 370 | |
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| 371 | /* RX Semaphore created with count = 0 */ |
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| 372 | if ( rtems_semaphore_create(rtems_build_name('R', 'T', '0', '0' + pDev->minor), |
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| 373 | 0, |
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| 374 | RTEMS_FIFO|RTEMS_SIMPLE_BINARY_SEMAPHORE|RTEMS_NO_INHERIT_PRIORITY|RTEMS_LOCAL|RTEMS_NO_PRIORITY_CEILING, |
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| 375 | 0, |
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| 376 | &pDev->rx_sem) != RTEMS_SUCCESSFUL ) { |
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| 377 | printk("RT: Failed to create rx semaphore\n"); |
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| 378 | return RTEMS_INTERNAL_ERROR; |
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| 379 | } |
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| 380 | |
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| 381 | /* Device Semaphore created with count = 1 */ |
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| 382 | if ( rtems_semaphore_create(rtems_build_name('R', 'T', '0', '0' + pDev->minor), |
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| 383 | 1, |
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| 384 | RTEMS_FIFO|RTEMS_SIMPLE_BINARY_SEMAPHORE|RTEMS_NO_INHERIT_PRIORITY|RTEMS_LOCAL|RTEMS_NO_PRIORITY_CEILING, |
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| 385 | 0, |
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| 386 | &pDev->dev_sem) != RTEMS_SUCCESSFUL ){ |
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| 387 | printk("RT: Failed to create device semaphore\n"); |
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| 388 | return RTEMS_INTERNAL_ERROR; |
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| 389 | } |
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| 390 | |
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| 391 | /* Default to RT-mode */ |
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| 392 | rt_init(pDev); |
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| 393 | |
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| 394 | return 0; |
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| 395 | } |
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| 396 | |
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| 397 | static int odd_parity(unsigned int data) |
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| 398 | { |
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| 399 | unsigned int i=0; |
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| 400 | |
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| 401 | while(data) |
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| 402 | { |
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| 403 | i++; |
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| 404 | data &= (data - 1); |
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| 405 | } |
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| 406 | |
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| 407 | return !(i&1); |
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| 408 | } |
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| 409 | |
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| 410 | static void start_operation(rt_priv *rt) |
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| 411 | { |
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| 412 | |
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| 413 | } |
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| 414 | |
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| 415 | static void stop_operation(rt_priv *rt) |
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| 416 | { |
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| 417 | |
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| 418 | } |
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| 419 | |
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| 420 | static void set_extmdata_en(rt_priv *rt, int extmdata) |
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| 421 | { |
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| 422 | if ( extmdata ) |
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| 423 | extmdata = 1; |
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| 424 | rt->ctrl_copy = (rt->ctrl_copy & ~(1<<16)) | (extmdata<<16); |
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| 425 | rt->regs->ctrl = rt->ctrl_copy; |
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| 426 | } |
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| 427 | |
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| 428 | static void set_vector_word(rt_priv *rt, unsigned short vword) |
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| 429 | { |
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| 430 | rt->regs->vword = vword; |
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| 431 | } |
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| 432 | |
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| 433 | /* Set clock speed */ |
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| 434 | static void set_clkspd(rt_priv *rt, int spd) |
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| 435 | { |
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| 436 | rt->ctrl_copy = (rt->ctrl_copy & ~0xC0) | (spd<<6); |
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| 437 | rt->regs->ctrl = rt->ctrl_copy; |
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| 438 | asm volatile("nop"::); |
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| 439 | rt->regs->ctrl = rt->ctrl_copy | (1<<20); |
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| 440 | } |
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| 441 | |
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| 442 | static void set_rtaddr(rt_priv *rt, int addr) |
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| 443 | { |
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| 444 | rt->ctrl_copy = (rt->ctrl_copy & ~0x3F00) | (addr << 8) | (odd_parity(addr)<<13); |
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| 445 | rt->regs->ctrl = rt->ctrl_copy; |
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| 446 | } |
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| 447 | |
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| 448 | static void set_broadcast_en(rt_priv *rt, int data) |
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| 449 | { |
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| 450 | rt->ctrl_copy = (rt->ctrl_copy & ~0x40000) | (data<<18); |
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| 451 | rt->regs->ctrl = rt->ctrl_copy; |
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| 452 | } |
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| 453 | |
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| 454 | static rtems_device_driver rt_init(rt_priv *rt) |
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| 455 | { |
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| 456 | rt->rx_blocking = 1; |
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| 457 | |
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| 458 | if ( rt->rt_event ) |
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| 459 | free(rt->rt_event); |
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| 460 | rt->rt_event = NULL; |
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| 461 | |
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[11f3b9a] | 462 | rt->rt_event = grlib_malloc(EVENT_QUEUE_SIZE*sizeof(*rt->rt_event)); |
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[3bb4122] | 463 | |
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| 464 | if (rt->rt_event == NULL) { |
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| 465 | DBG("RT driver failed to allocated memory."); |
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| 466 | return RTEMS_NO_MEMORY; |
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| 467 | } |
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| 468 | |
---|
| 469 | rt->ctrl_copy = rt->regs->ctrl & 0x3F00; /* Keep rtaddr and rtaddrp */ |
---|
| 470 | rt->ctrl_copy |= 0x3C0D0; /* broadcast disabled, extmdata=1, writetsw = writecmd = 1 */ |
---|
| 471 | rt->regs->ctrl = rt->ctrl_copy; |
---|
| 472 | |
---|
| 473 | /* Set Clock speed */ |
---|
| 474 | set_clkspd(rt, rt->cfg_freq); |
---|
| 475 | |
---|
| 476 | rt->regs->addr = rt->memarea_base_remote; |
---|
| 477 | rt->regs->ipm = 0x70000; /* Enable RT RX, MEM Failure and AHB Error interrupts */ |
---|
| 478 | |
---|
| 479 | DBG("B1553RT DMA_AREA: 0x%x\n", (unsigned int)rt->mem); |
---|
| 480 | |
---|
| 481 | return RTEMS_SUCCESSFUL; |
---|
| 482 | } |
---|
| 483 | |
---|
| 484 | |
---|
| 485 | static rtems_device_driver rt_initialize(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) |
---|
| 486 | { |
---|
| 487 | return RTEMS_SUCCESSFUL; |
---|
| 488 | } |
---|
| 489 | |
---|
| 490 | static rtems_device_driver rt_open(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) { |
---|
| 491 | rt_priv *rt; |
---|
| 492 | struct drvmgr_dev *dev; |
---|
| 493 | |
---|
| 494 | FUNCDBG("rt_open\n"); |
---|
| 495 | |
---|
| 496 | if ( drvmgr_get_dev(&b1553rt_drv_info.general, minor, &dev) ) { |
---|
| 497 | DBG("Wrong minor %d\n", minor); |
---|
| 498 | return RTEMS_UNSATISFIED; |
---|
| 499 | } |
---|
| 500 | rt = (rt_priv *)dev->priv; |
---|
| 501 | |
---|
| 502 | if (rtems_semaphore_obtain(rt->dev_sem, RTEMS_NO_WAIT, RTEMS_NO_TIMEOUT) != RTEMS_SUCCESSFUL) { |
---|
| 503 | DBG("rt_open: resource in use\n"); |
---|
| 504 | return RTEMS_RESOURCE_IN_USE; /* EBUSY */ |
---|
| 505 | } |
---|
| 506 | |
---|
| 507 | /* Set defaults */ |
---|
| 508 | rt->event_id = 0; |
---|
| 509 | |
---|
| 510 | start_operation(rt); |
---|
| 511 | |
---|
| 512 | /* Register interrupt routine */ |
---|
| 513 | if (drvmgr_interrupt_register(rt->dev, 0, "b1553rt", b1553rt_interrupt, rt)) { |
---|
| 514 | rtems_semaphore_release(rt->dev_sem); |
---|
| 515 | return -1; |
---|
| 516 | } |
---|
| 517 | |
---|
| 518 | |
---|
| 519 | return RTEMS_SUCCESSFUL; |
---|
| 520 | } |
---|
| 521 | |
---|
| 522 | static rtems_device_driver rt_close(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) |
---|
| 523 | { |
---|
| 524 | rt_priv *rt; |
---|
| 525 | struct drvmgr_dev *dev; |
---|
| 526 | |
---|
| 527 | FUNCDBG("rt_close"); |
---|
| 528 | |
---|
| 529 | if ( drvmgr_get_dev(&b1553rt_drv_info.general, minor, &dev) ) { |
---|
| 530 | return RTEMS_UNSATISFIED; |
---|
| 531 | } |
---|
| 532 | rt = (rt_priv *)dev->priv; |
---|
| 533 | |
---|
| 534 | drvmgr_interrupt_unregister(rt->dev, 0, b1553rt_interrupt, rt); |
---|
| 535 | |
---|
| 536 | stop_operation(rt); |
---|
| 537 | rtems_semaphore_release(rt->dev_sem); |
---|
| 538 | |
---|
| 539 | return RTEMS_SUCCESSFUL; |
---|
| 540 | } |
---|
| 541 | |
---|
| 542 | static int get_messages(rt_priv *rt, void *buf, unsigned int msg_count) |
---|
| 543 | { |
---|
| 544 | |
---|
| 545 | struct rt_msg *dest = (struct rt_msg *) buf; |
---|
| 546 | int count = 0; |
---|
| 547 | |
---|
| 548 | if (rt->head == rt->tail) { |
---|
| 549 | return 0; |
---|
| 550 | } |
---|
| 551 | |
---|
| 552 | do { |
---|
| 553 | |
---|
| 554 | DBG("rt read - head: %d, tail: %d\n", rt->head, rt->tail); |
---|
| 555 | dest[count++] = rt->rt_event[INDEX(rt->tail++)]; |
---|
| 556 | |
---|
| 557 | } while (rt->head != rt->tail && count < msg_count); |
---|
| 558 | |
---|
| 559 | return count; |
---|
| 560 | |
---|
| 561 | } |
---|
| 562 | static rtems_device_driver rt_read(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) |
---|
| 563 | { |
---|
| 564 | rtems_libio_rw_args_t *rw_args; |
---|
| 565 | int count = 0; |
---|
| 566 | rt_priv *rt; |
---|
| 567 | struct drvmgr_dev *dev; |
---|
| 568 | |
---|
| 569 | if ( drvmgr_get_dev(&b1553rt_drv_info.general, minor, &dev) ) { |
---|
| 570 | return RTEMS_UNSATISFIED; |
---|
| 571 | } |
---|
| 572 | rt = (rt_priv *)dev->priv; |
---|
| 573 | |
---|
| 574 | rw_args = (rtems_libio_rw_args_t *) arg; |
---|
| 575 | |
---|
| 576 | FUNCDBG("rt_read [%i,%i]: buf: 0x%x, len: %i\n",major, minor, (unsigned int)rw_args->buffer, rw_args->count); |
---|
| 577 | |
---|
| 578 | while ( (count = get_messages(rt,rw_args->buffer, rw_args->count)) == 0 ) { |
---|
| 579 | |
---|
| 580 | if (rt->rx_blocking) { |
---|
| 581 | rtems_semaphore_obtain(rt->rx_sem, RTEMS_WAIT, RTEMS_NO_TIMEOUT); |
---|
| 582 | } else { |
---|
| 583 | /* Translates to EBUSY */ |
---|
| 584 | return RTEMS_RESOURCE_IN_USE; |
---|
| 585 | } |
---|
| 586 | } |
---|
| 587 | |
---|
| 588 | rw_args->bytes_moved = count; |
---|
| 589 | return RTEMS_SUCCESSFUL; |
---|
| 590 | } |
---|
| 591 | |
---|
| 592 | static rtems_device_driver rt_write(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) |
---|
| 593 | { |
---|
| 594 | rtems_libio_rw_args_t *rw_args; |
---|
| 595 | struct rt_msg *source; |
---|
| 596 | rt_priv *rt; |
---|
| 597 | struct drvmgr_dev *dev; |
---|
| 598 | unsigned int descriptor, suba, wc; |
---|
| 599 | |
---|
| 600 | if ( drvmgr_get_dev(&b1553rt_drv_info.general, minor, &dev) ) { |
---|
| 601 | return RTEMS_UNSATISFIED; |
---|
| 602 | } |
---|
| 603 | rt = (rt_priv *)dev->priv; |
---|
| 604 | |
---|
| 605 | rw_args = (rtems_libio_rw_args_t *) arg; |
---|
| 606 | |
---|
| 607 | if ( rw_args->count != 1 ) { |
---|
| 608 | return RTEMS_INVALID_NAME; |
---|
| 609 | } |
---|
| 610 | |
---|
| 611 | source = (struct rt_msg *) rw_args->buffer; |
---|
| 612 | |
---|
| 613 | descriptor = source[0].desc & 0x7F; |
---|
| 614 | suba = descriptor-32; |
---|
| 615 | wc = source[0].miw >> 11; |
---|
| 616 | wc = wc ? wc : 32; |
---|
| 617 | |
---|
| 618 | FUNCDBG("rt_write [%i,%i]: buf: 0x%x\n",major, minor, (unsigned int)rw_args->buffer); |
---|
| 619 | |
---|
| 620 | memcpy((void *)&rt->mem[0x400 + suba*32], &source[0].data[0], wc*2); |
---|
| 621 | |
---|
| 622 | rw_args->bytes_moved = 1; |
---|
| 623 | |
---|
| 624 | return RTEMS_SUCCESSFUL; |
---|
| 625 | |
---|
| 626 | } |
---|
| 627 | |
---|
| 628 | static rtems_device_driver rt_control(rtems_device_major_number major, rtems_device_minor_number minor, void *arg) |
---|
| 629 | { |
---|
| 630 | rtems_libio_ioctl_args_t *ioarg = (rtems_libio_ioctl_args_t *) arg; |
---|
| 631 | unsigned int *data = ioarg->buffer; |
---|
| 632 | |
---|
| 633 | rt_priv *rt; |
---|
| 634 | struct drvmgr_dev *dev; |
---|
| 635 | |
---|
| 636 | FUNCDBG("rt_control[%d]: [%i,%i]\n", minor, major, minor); |
---|
| 637 | |
---|
| 638 | if ( drvmgr_get_dev(&b1553rt_drv_info.general, minor, &dev) ) { |
---|
| 639 | return RTEMS_UNSATISFIED; |
---|
| 640 | } |
---|
| 641 | rt = (rt_priv *)dev->priv; |
---|
| 642 | |
---|
| 643 | if (!ioarg) { |
---|
| 644 | DBG("rt_control: invalid argument\n"); |
---|
| 645 | return RTEMS_INVALID_NAME; |
---|
| 646 | } |
---|
| 647 | |
---|
| 648 | ioarg->ioctl_return = 0; |
---|
| 649 | switch (ioarg->command) { |
---|
| 650 | |
---|
| 651 | case RT_SET_ADDR: |
---|
| 652 | set_rtaddr(rt, data[0]); |
---|
| 653 | break; |
---|
| 654 | |
---|
| 655 | case RT_SET_BCE: |
---|
| 656 | set_broadcast_en(rt, data[0]); |
---|
| 657 | break; |
---|
| 658 | |
---|
| 659 | case RT_SET_VECTORW: |
---|
| 660 | set_vector_word(rt, data[0]); |
---|
| 661 | break; |
---|
| 662 | |
---|
| 663 | case RT_SET_EXTMDATA: |
---|
| 664 | set_extmdata_en(rt, data[0]); |
---|
| 665 | break; |
---|
| 666 | |
---|
| 667 | case RT_RX_BLOCK: |
---|
| 668 | rt->rx_blocking = data[0]; |
---|
| 669 | break; |
---|
| 670 | |
---|
| 671 | case RT_CLR_STATUS: |
---|
| 672 | rt->status = 0; |
---|
| 673 | break; |
---|
| 674 | |
---|
| 675 | case RT_GET_STATUS: /* copy status */ |
---|
| 676 | if ( !ioarg->buffer ) |
---|
| 677 | return RTEMS_INVALID_NAME; |
---|
| 678 | |
---|
| 679 | *(unsigned int *)ioarg->buffer = rt->status; |
---|
| 680 | break; |
---|
| 681 | |
---|
| 682 | case RT_SET_EVENTID: |
---|
| 683 | rt->event_id = (rtems_id)ioarg->buffer; |
---|
| 684 | break; |
---|
| 685 | |
---|
| 686 | default: |
---|
| 687 | return RTEMS_NOT_IMPLEMENTED; |
---|
| 688 | } |
---|
| 689 | |
---|
| 690 | return RTEMS_SUCCESSFUL; |
---|
| 691 | } |
---|
| 692 | |
---|
| 693 | static void b1553rt_interrupt(void *arg) |
---|
| 694 | { |
---|
| 695 | rt_priv *rt = arg; |
---|
| 696 | unsigned short descriptor; |
---|
| 697 | int signal_event=0, wake_rx_task=0; |
---|
| 698 | unsigned int event_status=0; |
---|
| 699 | unsigned int wc, irqv, cmd, tsw, suba, tx, miw, i; |
---|
| 700 | unsigned int ipend; |
---|
| 701 | |
---|
| 702 | #define SET_ERROR_DESCRIPTOR(descriptor) (event_status = (event_status & 0x0000ffff) | descriptor<<16) |
---|
| 703 | ipend = rt->regs->ipm; |
---|
| 704 | |
---|
| 705 | if (ipend == 0) { |
---|
| 706 | /* IRQ mask has been cleared, we must have been reset */ |
---|
| 707 | /* Restore ctrl registers */ |
---|
| 708 | rt->regs->ctrl = rt->ctrl_copy; |
---|
| 709 | rt->regs->addr = rt->memarea_base_remote; |
---|
| 710 | rt->regs->ipm = 0x70000; |
---|
| 711 | /* Send reset mode code event */ |
---|
| 712 | if (rt->head - rt->tail != EVENT_QUEUE_SIZE) { |
---|
| 713 | miw = (8<<11); |
---|
| 714 | descriptor = 64 + 32 + 8; |
---|
| 715 | rt->rt_event[INDEX(rt->head)].miw = miw; |
---|
| 716 | rt->rt_event[INDEX(rt->head)].time = 0; |
---|
| 717 | rt->rt_event[INDEX(rt->head)].desc = descriptor; |
---|
| 718 | rt->head++; |
---|
| 719 | } |
---|
| 720 | } |
---|
| 721 | |
---|
| 722 | if ( ipend & 0x1 ) { |
---|
| 723 | /* RT IRQ */ |
---|
| 724 | if (rt->head - rt->tail != EVENT_QUEUE_SIZE) { |
---|
| 725 | |
---|
| 726 | irqv = rt->regs->irq; |
---|
| 727 | cmd = irqv >> 7; |
---|
| 728 | wc = cmd & 0x1F; /* word count / mode code */ |
---|
| 729 | suba = irqv & 0x1F; /* sub address (0-31) */ |
---|
| 730 | tx = (irqv >> 5) & 1; |
---|
| 731 | |
---|
| 732 | /* read status word */ |
---|
| 733 | tsw = READ_DMA(&rt->mem[tx*0x3E0+suba]); |
---|
| 734 | |
---|
| 735 | /* Build Message Information Word (B1553BRM-style) */ |
---|
| 736 | miw = (wc<<11) | (tsw&RT_TSW_BUS)>>4 | !(tsw&RT_TSW_OK)>>7 | (tsw&RT_TSW_ILL)>>5 | |
---|
| 737 | (tsw&RT_TSW_PAR)>>5 | (tsw&RT_TSW_MAN)>>7; |
---|
| 738 | |
---|
| 739 | descriptor = (tx << 5) | suba; |
---|
| 740 | |
---|
| 741 | /* Mode codes */ |
---|
| 742 | if (suba == 0 || suba == 31) { |
---|
| 743 | descriptor = 64 + (tx*32) + wc; |
---|
| 744 | } |
---|
| 745 | |
---|
| 746 | /* Data received or transmitted */ |
---|
| 747 | if (descriptor < 64) { |
---|
| 748 | wc = wc ? wc : 32; /* wc = 0 means 32 words transmitted */ |
---|
| 749 | } |
---|
| 750 | /* RX Mode code */ |
---|
| 751 | else if (descriptor < 96) { |
---|
| 752 | wc = (wc>>4); |
---|
| 753 | } |
---|
| 754 | /* TX Mode code */ |
---|
| 755 | else if (descriptor < 128) { |
---|
| 756 | wc = (wc>>4); |
---|
| 757 | } |
---|
| 758 | |
---|
| 759 | /* Copy to event queue */ |
---|
| 760 | rt->rt_event[INDEX(rt->head)].miw = miw; |
---|
| 761 | rt->rt_event[INDEX(rt->head)].time = 0; |
---|
| 762 | |
---|
| 763 | for (i = 0; i < wc; i++) { |
---|
| 764 | rt->rt_event[INDEX(rt->head)].data[i] = READ_DMA(&rt->mem[tx*0x400 + suba*32 + i]); |
---|
| 765 | } |
---|
| 766 | rt->rt_event[INDEX(rt->head)].desc = descriptor; |
---|
| 767 | rt->head++; |
---|
| 768 | |
---|
| 769 | |
---|
| 770 | /* Handle errors */ |
---|
| 771 | if ( tsw & RT_TSW_ILL){ |
---|
| 772 | FUNCDBG("RT: RT_ILLCMD\n\r"); |
---|
| 773 | rt->status |= RT_ILLCMD_IRQ; |
---|
| 774 | event_status |= RT_ILLCMD_IRQ; |
---|
| 775 | SET_ERROR_DESCRIPTOR(descriptor); |
---|
| 776 | signal_event=1; |
---|
| 777 | } |
---|
| 778 | |
---|
| 779 | if ( !(tsw & RT_TSW_OK) ) { |
---|
| 780 | FUNCDBG("RT: RT_MERR_IRQ\n\r"); |
---|
| 781 | rt->status |= RT_MERR_IRQ; |
---|
| 782 | event_status |= RT_MERR_IRQ; |
---|
| 783 | SET_ERROR_DESCRIPTOR(descriptor); |
---|
| 784 | signal_event=1; |
---|
| 785 | } |
---|
| 786 | |
---|
| 787 | } |
---|
| 788 | else { |
---|
| 789 | /* Indicate overrun */ |
---|
| 790 | rt->rt_event[INDEX(rt->head)].desc |= 0x8000; |
---|
| 791 | } |
---|
| 792 | } |
---|
| 793 | |
---|
| 794 | if ( ipend & 0x2 ) { |
---|
| 795 | /* Memory failure IRQ */ |
---|
| 796 | FUNCDBG("B1553RT: Memory failure\n"); |
---|
| 797 | event_status |= RT_DMAF_IRQ; |
---|
| 798 | signal_event=1; |
---|
| 799 | } |
---|
| 800 | |
---|
| 801 | if ( ipend & 0x4 ) { |
---|
| 802 | /* AHB Error */ |
---|
| 803 | FUNCDBG("B1553RT: AHB ERROR\n"); |
---|
| 804 | event_status |= RT_DMAF_IRQ; |
---|
| 805 | signal_event=1; |
---|
| 806 | } |
---|
| 807 | |
---|
| 808 | #ifdef DEBUG |
---|
| 809 | rt->log[rt->log_i++ % EVENT_QUEUE_SIZE] = descriptor; |
---|
| 810 | rt->log[rt->log_i++ % EVENT_QUEUE_SIZE] = cmd; |
---|
| 811 | rt->log[rt->log_i++ % EVENT_QUEUE_SIZE] = miw; |
---|
| 812 | rt->log[rt->log_i++ % EVENT_QUEUE_SIZE] = tsw; |
---|
| 813 | #endif |
---|
| 814 | |
---|
| 815 | wake_rx_task = 1; |
---|
| 816 | |
---|
| 817 | /* Wake any blocked rx thread only on receive interrupts */ |
---|
| 818 | if ( wake_rx_task ) { |
---|
| 819 | rtems_semaphore_release(rt->rx_sem); |
---|
| 820 | } |
---|
| 821 | |
---|
| 822 | /* Copy current mask to status mask */ |
---|
| 823 | if ( event_status ) { |
---|
| 824 | if ( event_status & 0xffff0000 ) |
---|
| 825 | rt->status &= 0x0000ffff; |
---|
| 826 | rt->status |= event_status; |
---|
| 827 | } |
---|
| 828 | |
---|
| 829 | /* signal event once */ |
---|
| 830 | if ( signal_event && (rt->event_id != 0) ) { |
---|
| 831 | rtems_event_send(rt->event_id, event_status); |
---|
| 832 | } |
---|
| 833 | |
---|
| 834 | } |
---|
| 835 | |
---|
| 836 | void b1553rt_print_dev(struct drvmgr_dev *dev, int options) |
---|
| 837 | { |
---|
| 838 | rt_priv *pDev = dev->priv; |
---|
| 839 | |
---|
| 840 | /* Print */ |
---|
| 841 | printf("--- B1553RT[%d] %s ---\n", pDev->minor, pDev->devName); |
---|
| 842 | printf(" REGS: 0x%x\n", (unsigned int)pDev->regs); |
---|
| 843 | printf(" IRQ: %d\n", pDev->irqno); |
---|
| 844 | |
---|
| 845 | } |
---|
| 846 | |
---|
| 847 | void b1553rt_print(int options) |
---|
| 848 | { |
---|
| 849 | struct amba_drv_info *drv = &b1553rt_drv_info; |
---|
| 850 | struct drvmgr_dev *dev; |
---|
| 851 | |
---|
| 852 | dev = drv->general.dev; |
---|
| 853 | while(dev) { |
---|
| 854 | b1553rt_print_dev(dev, options); |
---|
| 855 | dev = dev->next_in_drv; |
---|
| 856 | } |
---|
| 857 | } |
---|