drivers/can/kvaser_pci.c (877 lines of code) (raw):
/*****************************************************************************
* drivers/can/kvaser_pci.c
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
*****************************************************************************/
/*****************************************************************************
* Included Files
*****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <stdio.h>
#include <nuttx/arch.h>
#include <nuttx/kmalloc.h>
#include <nuttx/pci/pci.h>
#include <nuttx/can/can.h>
#ifdef CONFIG_CAN_KVASER_SOCKET
# include <nuttx/wqueue.h>
# include <nuttx/net/netdev.h>
# include <nuttx/net/can.h>
#endif
#include "sja1000.h"
/*****************************************************************************
* Pre-processor Definitions
*****************************************************************************/
/* Kvaser card constants */
#define KVASER_SJA_MAX 4
#define KVASER_XTAL_FREQ 16000000
/* PCI BARs */
#define KVASER_S5920_BAR 0
#define KVASER_SJA_BAR 1
#define KVASER_XILINX_BAR 2
/* Kvaser registers */
#define KVASER_SJA_REGS 0x20
#define KVASER_S5920_INTCSR 0x38
#define KVASER_S5920_INTCSR_INT_ASSERT (1 << 23) /* Interrupt asserted bit */
#define KVASER_S5920_INTCSR_INT_ADDON (1 << 13) /* Add-on interrupt pin enable */
/* Interrupts */
#define KVASER_INT_ERR (SJA1000_OVERRUN_INT_ENA | \
SJA1000_ERR_PASSIVE_INT_ENA | \
SJA1000_ARB_LOST_INT_ENA | \
SJA1000_BUS_ERR_INT_ENA)
/* SocketCAN specific */
#ifdef CONFIG_CAN_KVASER_SOCKET
# define KVASER_POOL_SIZE 1
/* Work queue support is required. */
# if !defined(CONFIG_SCHED_WORKQUEUE)
# error Work queue support is required
# endif
# define KVASER_CANWORK LPWORK
#endif /* CONFIG_CAN_KVASER_SOCKET */
/*****************************************************************************
* Private Types
*****************************************************************************/
/* SJA1000 channel private data */
struct kvaser_sja_s
{
#ifdef CONFIG_CAN_KVASER_CHARDEV
struct can_dev_s dev;
#endif
#ifdef CONFIG_CAN_KVASER_SOCKET
struct net_driver_s dev; /* Interface understood by the network */
struct work_s pollwork; /* For deferring poll work to the work wq */
/* TX/RX pool */
struct can_frame tx_pool[KVASER_POOL_SIZE];
struct can_frame rx_pool[KVASER_POOL_SIZE];
#endif
/* PCI data */
FAR struct pci_device_s *pcidev;
uint64_t base;
};
/* KVASER private data */
struct kvaser_driver_s
{
FAR struct kvaser_sja_s *sja;
uint8_t count;
/* PCI data */
FAR struct pci_device_s *pcidev;
int irq;
uintptr_t sja_base;
uintptr_t s5920_base;
uintptr_t xilinx_base;
#ifdef CONFIG_CAN_KVASER_SOCKET
/* For deferring interrupt work to the wq */
struct work_s irqwork;
#endif
};
/*****************************************************************************
* Private Functions Definitions
*****************************************************************************/
/* Helpers */
static uint8_t kvaser_getreg_sja(FAR struct kvaser_sja_s *priv,
unsigned int offset);
static void kvaser_putreg_sja(FAR struct kvaser_sja_s *priv,
unsigned int offset,
uint8_t value);
static uint32_t kvaser_getreg_s5920(FAR struct kvaser_driver_s *priv,
unsigned int offset);
static void kvaser_putreg_s5920(FAR struct kvaser_driver_s *priv,
unsigned int offset,
uint32_t value);
/* Common methods */
static void kvaser_reset(FAR struct kvaser_sja_s *priv);
static void kvaser_sleep(FAR struct kvaser_sja_s *priv);
static void kvaser_setup(FAR struct kvaser_sja_s *priv);
static void kvaser_rxint(FAR struct kvaser_sja_s *priv, bool enable);
static void kvaser_txint(FAR struct kvaser_sja_s *priv, bool enable);
static bool kvaser_txready(FAR struct kvaser_sja_s *priv);
#ifdef CONFIG_CAN_KVASER_CHARDEV
/* CAN character device methods */
static void kvaser_chrdev_reset(FAR struct can_dev_s *dev);
static int kvaser_chrdev_setup(FAR struct can_dev_s *dev);
static void kvaser_chrdev_shutdown(FAR struct can_dev_s *dev);
static void kvaser_chrdev_rxint(FAR struct can_dev_s *dev, bool enable);
static void kvaser_chrdev_txint(FAR struct can_dev_s *dev, bool enable);
static int kvaser_chrdev_ioctl(FAR struct can_dev_s *dev, int cmd,
unsigned long arg);
static int kvaser_chrdev_remoterequest(FAR struct can_dev_s *dev,
uint16_t id);
static int kvaser_chrdev_send(FAR struct can_dev_s *dev,
FAR struct can_msg_s *msg);
static bool kvaser_chrdev_txready(FAR struct can_dev_s *dev);
static bool kvaser_chrdev_txempty(FAR struct can_dev_s *dev);
static void kvaser_chardev_receive(FAR struct kvaser_sja_s *priv);
static void kvaser_chardev_interrupt(FAR struct kvaser_driver_s *priv);
#endif
#ifdef CONFIG_CAN_KVASER_SOCKET
/* SocketCAN methods */
static int kvaser_sock_ifup(FAR struct net_driver_s *dev);
static int kvaser_sock_ifdown(FAR struct net_driver_s *dev);
static void kvaser_sock_txavail_work(FAR void *arg);
static int kvaser_sock_txavail(FAR struct net_driver_s *dev);
# ifdef CONFIG_NETDEV_IOCTL
static int kvaser_sock_ioctl(FAR struct net_driver_s *dev, int cmd,
unsigned long arg);
# endif
static int kvaser_sock_txpoll(FAR struct net_driver_s *dev);
static int kvaser_sock_send(FAR struct kvaser_sja_s *priv);
static void kvaser_sock_receive(FAR struct kvaser_sja_s *priv);
static void kvaser_sock_interrupt_work(FAR void *arg);
#endif
/* Interrupts */
static int kvaser_interrupt(int irq, FAR void *context, FAR void *arg);
/* PCI */
static void kvaser_init(FAR struct kvaser_driver_s *priv);
static uint8_t kvaser_count_sja(FAR struct kvaser_driver_s *priv);
static int kvaser_probe(FAR struct pci_device_s *dev);
/*****************************************************************************
* Private Data
*****************************************************************************/
#ifdef CONFIG_CAN_KVASER_CHARDEV
static const struct can_ops_s g_kvaser_can_ops =
{
.co_reset = kvaser_chrdev_reset,
.co_setup = kvaser_chrdev_setup,
.co_shutdown = kvaser_chrdev_shutdown,
.co_rxint = kvaser_chrdev_rxint,
.co_txint = kvaser_chrdev_txint,
.co_ioctl = kvaser_chrdev_ioctl,
.co_remoterequest = kvaser_chrdev_remoterequest,
.co_send = kvaser_chrdev_send,
.co_txready = kvaser_chrdev_txready,
.co_txempty = kvaser_chrdev_txempty,
};
#endif
static const struct pci_device_id_s g_kvaser_id_table[] =
{
{
PCI_DEVICE(0x10e8, 0x8406),
.driver_data = 0
},
{ }
};
static struct pci_driver_s g_kvaser_drv =
{
.id_table = g_kvaser_id_table,
.probe = kvaser_probe,
};
#ifdef CONFIG_CAN_KVASER_CHARDEV
static uint8_t g_kvaser_count = 0;
#endif
/*****************************************************************************
* Private Functions
*****************************************************************************/
/*****************************************************************************
* Name: kvaser_getreg_sja
*****************************************************************************/
static uint8_t kvaser_getreg_sja(FAR struct kvaser_sja_s *priv,
unsigned int offset)
{
uintptr_t addr = priv->base + offset;
uint8_t ret = 0;
pci_read_io_byte(priv->pcidev, addr, &ret);
return ret;
}
/*****************************************************************************
* Name: kvaser_putreg_sja
*****************************************************************************/
static void kvaser_putreg_sja(FAR struct kvaser_sja_s *priv,
unsigned int offset,
uint8_t value)
{
uintptr_t addr = priv->base + offset;
pci_write_io_byte(priv->pcidev, addr, value);
}
/*****************************************************************************
* Name: kvaser_getreg_s5920
*****************************************************************************/
static uint32_t kvaser_getreg_s5920(FAR struct kvaser_driver_s *priv,
unsigned int offset)
{
uintptr_t addr = priv->s5920_base + offset;
uint32_t ret = 0;
pci_read_io_dword(priv->pcidev, addr, &ret);
return ret;
}
/*****************************************************************************
* Name: kvaser_putreg_s5920
*****************************************************************************/
static void kvaser_putreg_s5920(FAR struct kvaser_driver_s *priv,
unsigned int offset,
uint32_t value)
{
uintptr_t addr = priv->s5920_base + offset;
pci_write_io_dword(priv->pcidev, addr, value);
}
/*****************************************************************************
* Name: kvaser_reset
*****************************************************************************/
static void kvaser_reset(FAR struct kvaser_sja_s *priv)
{
uint8_t regval = 0;
/* Reset mode */
kvaser_putreg_sja(priv, SJA1000_MODE_REG, SJA1000_RESET_MODE);
/* Enter PeliCAN mode */
regval = kvaser_getreg_sja(priv, SJA1000_CLOCK_DIVIDER_REG);
regval |= SJA1000_EXT_MODE;
kvaser_putreg_sja(priv, SJA1000_CLOCK_DIVIDER_REG, regval);
/* Clear counters */
kvaser_putreg_sja(priv, SJA1000_RX_ERR_CNT_REG, 0);
kvaser_putreg_sja(priv, SJA1000_TX_ERR_CNT_REG, 0);
kvaser_putreg_sja(priv, SJA1000_RX_MESSAGE_CNT_REG, 0);
/* Accept all */
kvaser_putreg_sja(priv, SJA1000_DATA_0_REG, 0);
kvaser_putreg_sja(priv, SJA1000_DATA_1_REG, 0);
kvaser_putreg_sja(priv, SJA1000_DATA_2_REG, 0);
kvaser_putreg_sja(priv, SJA1000_DATA_3_REG, 0);
kvaser_putreg_sja(priv, SJA1000_DATA_4_REG, 0xff);
kvaser_putreg_sja(priv, SJA1000_DATA_5_REG, 0xff);
kvaser_putreg_sja(priv, SJA1000_DATA_6_REG, 0xff);
kvaser_putreg_sja(priv, SJA1000_DATA_7_REG, 0xff);
}
/*****************************************************************************
* Name: kvaser_sleep
*****************************************************************************/
static void kvaser_sleep(FAR struct kvaser_sja_s *priv)
{
/* Sleep mode */
kvaser_putreg_sja(priv, SJA1000_MODE_REG, SJA1000_SLEEP_MODE);
}
/*****************************************************************************
* Name: kvaser_setup
*****************************************************************************/
static void kvaser_setup(FAR struct kvaser_sja_s *priv)
{
/* REVISIT: missing bus timings configuration and output control.
*
* This driver was verified on QEMU with virtual host CAN netwrok,
* which doesn't need bus timings and output control registers set.
* For real hardware, these registers must be properly configured !
*/
kvaser_putreg_sja(priv, SJA1000_BUS_TIMING_0_REG, 0);
kvaser_putreg_sja(priv, SJA1000_BUS_TIMING_1_REG, 0);
kvaser_putreg_sja(priv, SJA1000_OUTCTRL_REG, 0);
/* Enable interrupts */
#if defined(CONFIG_CAN_ERRORS) || defined(CONFIG_NET_CAN_ERRORS)
kvaser_putreg_sja(priv, SJA1000_INT_ENA_REG, KVASER_INT_ERR);
#else
kvaser_putreg_sja(priv, SJA1000_INT_ENA_REG, 0);
#endif
/* Exit from reset mode and set `Dual filter mode`.
*
* NOTE: `Single filter mode` is broken in older versions of QEMU:
* https://gitlab.com/qemu-project/qemu/-/issues/2028
*/
kvaser_putreg_sja(priv, SJA1000_MODE_REG, 0);
}
/*****************************************************************************
* Name: kvaser_rxint
*****************************************************************************/
static void kvaser_rxint(FAR struct kvaser_sja_s *priv, bool enable)
{
uint8_t regval = 0;
regval = kvaser_getreg_sja(priv, SJA1000_INT_ENA_REG);
if (enable)
{
regval |= SJA1000_RX_INT_ST;
}
else
{
regval &= ~SJA1000_RX_INT_ST;
}
kvaser_putreg_sja(priv, SJA1000_INT_ENA_REG, regval);
}
/*****************************************************************************
* Name: kvaser_txint
*****************************************************************************/
static void kvaser_txint(FAR struct kvaser_sja_s *priv, bool enable)
{
uint8_t regval = 0;
regval = kvaser_getreg_sja(priv, SJA1000_INT_ENA_REG);
if (enable)
{
regval |= SJA1000_TX_INT_ST;
}
else
{
regval &= ~SJA1000_TX_INT_ST;
}
kvaser_putreg_sja(priv, SJA1000_INT_ENA_REG, regval);
}
/*****************************************************************************
* Name: kvaser_txready
*****************************************************************************/
static bool kvaser_txready(FAR struct kvaser_sja_s *priv)
{
return kvaser_getreg_sja(priv, SJA1000_STATUS_REG) & SJA1000_TX_BUF_ST;
}
#ifdef CONFIG_CAN_KVASER_CHARDEV
/*****************************************************************************
* Name: kvaser_chrdev_reset
*
* Description:
* Reset the CAN device. Called early to initialize the hardware. This
* function is called, before kvaser_setup() and on error conditions.
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* None
*
*****************************************************************************/
static void kvaser_chrdev_reset(FAR struct can_dev_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
kvaser_reset(priv);
}
/*****************************************************************************
* Name: kvaser_chrdev_setup
*
* Description:
* Configure the CAN. This method is called the first time that the CAN
* device is opened. This will occur when the port is first opened.
* This setup includes configuring and attaching CAN interrupts.
* All CAN interrupts are disabled upon return.
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* Zero on success; a negated errno on failure
*
*****************************************************************************/
static int kvaser_chrdev_setup(FAR struct can_dev_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
kvaser_setup(priv);
return OK;
}
/*****************************************************************************
* Name: kvaser_chrdev_shutdown
*
* Description:
* Disable the CAN. This method is called when the CAN device is closed.
* This method reverses the operation the setup method.
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* None
*
*****************************************************************************/
static void kvaser_chrdev_shutdown(FAR struct can_dev_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
kvaser_sleep(priv);
}
/*****************************************************************************
* Name: kvaser_chrdev_rxint
*
* Description:
* Call to enable or disable RX interrupts.
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* None
*
*****************************************************************************/
static void kvaser_chrdev_rxint(FAR struct can_dev_s *dev, bool enable)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
kvaser_rxint(priv, enable);
}
/*****************************************************************************
* Name: kvaser_chrdev_txint
*
* Description:
* Call to enable or disable TX interrupts.
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* None
*
*****************************************************************************/
static void kvaser_chrdev_txint(FAR struct can_dev_s *dev, bool enable)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
kvaser_txint(priv, enable);
}
/*****************************************************************************
* Name: kvaser_chrdev_ioctl
*
* Description:
* All ioctl calls will be routed through this method
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* Zero on success; a negated errno on failure
*
*****************************************************************************/
static int kvaser_chrdev_ioctl(FAR struct can_dev_s *dev, int cmd,
unsigned long arg)
{
return -ENOTTY;
}
/*****************************************************************************
* Name: kvaser_chrdev_remoterequest
*
* Description:
* Send a remote request
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* Zero on success; a negated errno on failure
*
*****************************************************************************/
static int kvaser_chrdev_remoterequest(FAR struct can_dev_s *dev,
uint16_t id)
{
return -ENOTSUP;
}
/*****************************************************************************
* Name: kvaser_chrdev_send
*
* Description:
* Send one can message.
*
* One CAN-message consists of a maximum of 10 bytes. A message is
* composed of at least the first 2 bytes (when there are no data bytes).
*
* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
* Bit 4: Remote Transmission Request (RTR)
* Bits 0-3: Data Length Code (DLC)
* Bytes 2-10: CAN data
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* Zero on success; a negated errno on failure
*
*****************************************************************************/
static int kvaser_chrdev_send(FAR struct can_dev_s *dev,
FAR struct can_msg_s *msg)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
uint8_t regval = 0;
uint8_t dreg = 0;
uint8_t fi = 0;
uint8_t bytes = 0;
int i = 0;
/* Check TX buffer status */
if (!kvaser_txready(priv))
{
canerr("ERROR: TX buffer not available\n");
return -EBUSY;
}
/* Get data bytes for this frame */
bytes = can_dlc2bytes(msg->cm_hdr.ch_dlc);
#ifdef CONFIG_CAN_FD
/* Drop CAN FD frames */
if (bytes > 8 || msg->cm_hdr.ch_edl ||
msg->cm_hdr.ch_brs || msg->cm_hdr.ch_esi)
{
canerr("ERROR: CAN FD frames not supported\n");
return -ENOTSUP;
}
#endif
/* Set up the DLC */
fi = msg->cm_hdr.ch_dlc;
#ifdef CONFIG_CAN_USE_RTR
fi |= (msg->cm_hdr.ch_rtr ? SJA1000_FI_RTR : 0);
#endif
#ifdef CONFIG_CAN_EXTID
if (msg->cm_hdr.ch_extid)
{
fi |= SJA1000_FI_FF;
kvaser_putreg_sja(priv, SJA1000_DATA_0_REG, fi);
/* Write ID */
regval = (msg->cm_hdr.ch_id & 0x1fe00000) >> 21;
kvaser_putreg_sja(priv, SJA1000_DATA_1_REG, regval);
regval = (msg->cm_hdr.ch_id & 0x001fe000) >> 13;
kvaser_putreg_sja(priv, SJA1000_DATA_2_REG, regval);
regval = (msg->cm_hdr.ch_id & 0x00001fe0) >> 5;
kvaser_putreg_sja(priv, SJA1000_DATA_3_REG, regval);
regval = (msg->cm_hdr.ch_id & 0x0000001f) << 3;
kvaser_putreg_sja(priv, SJA1000_DATA_4_REG, regval);
dreg = SJA1000_DATA_5_REG;
}
else
#endif
{
kvaser_putreg_sja(priv, SJA1000_DATA_0_REG, fi);
/* Write ID */
regval = (msg->cm_hdr.ch_id & 0x07f8) >> 3;
kvaser_putreg_sja(priv, SJA1000_DATA_1_REG, regval);
regval = (msg->cm_hdr.ch_id & 0x0007) << 5;
kvaser_putreg_sja(priv, SJA1000_DATA_2_REG, regval);
dreg = SJA1000_DATA_3_REG;
}
/* Set up the data fields */
for (i = 0; i < bytes; i++)
{
kvaser_putreg_sja(priv, dreg + i, msg->cm_data[i]);
}
/* Transmit */
regval = SJA1000_TX_REQ;
#ifdef CONFIG_CAN_LOOPBACK
regval |= SJA1000_SELF_RX_REQ;
#endif
kvaser_putreg_sja(priv, SJA1000_CMD_REG, regval);
return OK;
}
/*****************************************************************************
* Name: kvaser_chrdev_txready
*
* Description:
* Return true if the CAN hardware can accept another TX message.
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* True if the CAN hardware is ready to accept another TX message.
*
*****************************************************************************/
static bool kvaser_chrdev_txready(FAR struct can_dev_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
return kvaser_txready(priv);
}
/*****************************************************************************
* Name: kvaser_chrdev_txempty
*
* Description:
* Return true if all message have been sent. If for example, the CAN
* hardware implements FIFOs, then this would mean the transmit FIFO is
* empty. This method is called when the driver needs to make sure that
* all characters are "drained" from the TX hardware before calling
* co_shutdown().
*
* Input Parameters:
* dev - An instance of the "upper half" can driver state structure.
*
* Returned Value:
* True if there are no pending TX transfers in the CAN hardware.
*
*****************************************************************************/
static bool kvaser_chrdev_txempty(FAR struct can_dev_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev;
return kvaser_txready(priv);
}
/*****************************************************************************
* Name: kvaser_chardev_receive
*
* Description:
* Receive CAN frame
*
*****************************************************************************/
static void kvaser_chardev_receive(FAR struct kvaser_sja_s *priv)
{
FAR struct can_dev_s *dev = (FAR struct can_dev_s *)priv;
struct can_hdr_s hdr;
uint8_t data[CAN_MAXDATALEN];
uint8_t dreg;
uint8_t regval;
uint8_t i;
int ret;
/* Wait until data in RXFIFO */
while (kvaser_getreg_sja(priv, SJA1000_STATUS_REG) & SJA1000_RX_BUF_ST)
{
regval = kvaser_getreg_sja(priv, SJA1000_DATA_0_REG);
/* Get the DLC */
hdr.ch_dlc = (regval & SJA1000_FI_DLC_MASK);
/* Get RTR bit */
hdr.ch_rtr = (regval & SJA1000_FI_RTR ? 1 : 0);
if (!(regval & SJA1000_FI_FF))
{
#ifdef CONFIG_CAN_EXTID
hdr.ch_extid = 0;
#endif
hdr.ch_id = ((kvaser_getreg_sja(priv, SJA1000_DATA_1_REG) << 3) |
(kvaser_getreg_sja(priv, SJA1000_DATA_2_REG) >> 5));
dreg = SJA1000_DATA_3_REG;
}
else
{
#ifdef CONFIG_CAN_EXTID
hdr.ch_extid = 1;
hdr.ch_id = ((kvaser_getreg_sja(priv, SJA1000_DATA_1_REG) << 21) |
(kvaser_getreg_sja(priv, SJA1000_DATA_2_REG) << 13) |
(kvaser_getreg_sja(priv, SJA1000_DATA_3_REG) << 5) |
(kvaser_getreg_sja(priv, SJA1000_DATA_4_REG) >> 3));
dreg = SJA1000_DATA_5_REG;
#else
canerr("ERROR: Received message with extended"
" identifier. Dropped\n");
/* Relese RX buffer */
kvaser_putreg_sja(priv, SJA1000_CMD_REG, SJA1000_RELEASE_BUF);
continue;
#endif
}
/* Clear the error indication and unused bits */
#ifdef CONFIG_CAN_ERRORS
hdr.ch_error = 0;
#endif
hdr.ch_tcf = 0;
/* Get data */
for (i = 0; i < can_dlc2bytes(hdr.ch_dlc); i++)
{
data[i] = kvaser_getreg_sja(priv, dreg + i);
}
/* Release RX buffer */
kvaser_putreg_sja(priv, SJA1000_CMD_REG, SJA1000_RELEASE_BUF);
/* Provide the data to the upper half driver */
ret = can_receive(dev, &hdr, data);
if (ret < 0)
{
canerr("ERROR: can_receive failed %d\n", ret);
}
}
}
#ifdef CONFIG_CAN_ERRORS
/*****************************************************************************
* Name: kvaser_chardev_error
*****************************************************************************/
static void kvaser_chardev_error(FAR struct kvaser_sja_s *priv, uint8_t st)
{
struct can_hdr_s hdr;
uint16_t errbits = 0;
uint8_t data[CAN_ERROR_DLC];
uint8_t regval;
int ret;
memset(data, 0, sizeof(data));
/* Data overrun interrupt */
if (st & SJA1000_OVERRUN_INT_ST)
{
data[1] |= CAN_ERROR1_RXOVERFLOW;
errbits |= CAN_ERROR_CONTROLLER;
/* Clear data overrun */
kvaser_putreg_sja(priv, SJA1000_CMD_REG, SJA1000_CLR_OVERRUN);
}
/* Error passive interrupt */
if (st & SJA1000_ERR_PASSIVE_INT_ST)
{
data[1] |= (CAN_ERROR1_RXPASSIVE | CAN_ERROR1_TXPASSIVE);
errbits |= CAN_ERROR_CONTROLLER;
}
/* Arbitration lost interrupt */
if (st & SJA1000_ARB_LOST_INT_ST)
{
errbits |= CAN_ERROR_LOSTARB;
regval = (kvaser_getreg_sja(priv, SJA1000_ARB_LOST_CAP_REG) &
SJA1000_ARB_LOST_CAP_M);
data[0] = CAN_ERROR0_BIT(regval);
}
/* BUS error interrupt */
if (st & SJA1000_BUS_ERR_INT_ST)
{
errbits |= CAN_ERROR_BUSERROR;
}
/* Report a CAN error */
if (errbits != 0)
{
canerr("ERROR: errbits = %08" PRIx16 "\n", errbits);
/* Format the CAN header for the error report. */
hdr.ch_id = errbits;
hdr.ch_dlc = CAN_ERROR_DLC;
hdr.ch_rtr = 0;
hdr.ch_error = 1;
#ifdef CONFIG_CAN_EXTID
hdr.ch_extid = 0;
#endif
hdr.ch_tcf = 0;
/* And provide the error report to the upper half logic */
ret = can_receive(&priv->dev, &hdr, data);
if (ret < 0)
{
canerr("ERROR: can_receive failed: %d\n", ret);
}
}
}
#endif
/*****************************************************************************
* Name: kvaser_chardev_interrupt
*****************************************************************************/
static void kvaser_chardev_interrupt(FAR struct kvaser_driver_s *priv)
{
uint8_t st = 0;
int i = 0;
for (i = 0; i < priv->count; i++)
{
st = kvaser_getreg_sja(&priv->sja[i], SJA1000_INT_RAW_REG);
if (st == 0)
{
continue;
}
/* Receive interrupt */
if (st & SJA1000_RX_INT_ST)
{
kvaser_chardev_receive(&priv->sja[i]);
}
/* Transmit interrupt */
if (st & SJA1000_TX_INT_ST)
{
/* Tell the upper half that the transfer is finished. */
can_txdone(&priv->sja[i].dev);
}
#ifdef CONFIG_CAN_ERRORS
/* Handle errors */
kvaser_chardev_error(&priv->sja[i], st);
#endif
}
}
#endif /* CONFIG_CAN_KVASER_CHARDEV */
#ifdef CONFIG_CAN_KVASER_SOCKET
/*****************************************************************************
* Name: kvaser_sock_ifup
*
* Description:
* NuttX Callback: Bring up the Ethernet interface when an IP address is
* provided
*
* Input Parameters:
* dev - Reference to the NuttX driver state structure
*
* Returned Value:
* None
*
*****************************************************************************/
static int kvaser_sock_ifup(FAR struct net_driver_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev->d_private;
priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
kvaser_reset(priv);
kvaser_setup(priv);
kvaser_txint(priv, true);
kvaser_rxint(priv, true);
return OK;
}
/*****************************************************************************
* Name: kvaser_sock_ifdown
*
* Description:
* NuttX Callback: Stop the interface.
*
* Input Parameters:
* dev - Reference to the NuttX driver state structure
*
* Returned Value:
* None
*
*****************************************************************************/
static int kvaser_sock_ifdown(FAR struct net_driver_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev->d_private;
kvaser_txint(priv, false);
kvaser_rxint(priv, false);
/* Sleep mode */
kvaser_sleep(priv);
return OK;
}
/*****************************************************************************
* Name: kvaser_sock_txavail_work
*
* Description:
* Perform an out-of-cycle poll on the worker thread.
*
* Input Parameters:
* arg - Reference to the NuttX driver state structure (cast to void*)
*
* Returned Value:
* None
*
* Assumptions:
* Called on the higher priority worker thread.
*
*****************************************************************************/
static void kvaser_sock_txavail_work(FAR void *arg)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)arg;
/* Ignore the notification if the interface is not yet up */
net_lock();
if (IFF_IS_UP(priv->dev.d_flags))
{
/* Check if there is room in the hardware to hold another outgoing
* packet.
*/
if (kvaser_txready(priv))
{
/* No, there is space for another transfer. Poll the network for
* new XMIT data.
*/
devif_poll(&priv->dev, kvaser_sock_txpoll);
}
}
net_unlock();
}
/*****************************************************************************
* Name: kvaser_sock_txavail
*
* Description:
* Driver callback invoked when new TX data is available. This is a
* stimulus perform an out-of-cycle poll and, thereby, reduce the TX
* latency.
*
* Input Parameters:
* dev - Reference to the NuttX driver state structure
*
* Returned Value:
* None
*
* Assumptions:
* Called in normal user mode
*
*****************************************************************************/
static int kvaser_sock_txavail(FAR struct net_driver_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev->d_private;
/* Is our single work structure available? It may not be if there are
* pending interrupt actions and we will have to ignore the Tx
* availability action.
*/
if (work_available(&priv->pollwork))
{
/* Schedule to serialize the poll on the worker thread. */
kvaser_sock_txavail_work(priv);
}
return OK;
}
# ifdef CONFIG_NETDEV_IOCTL
/*****************************************************************************
* Name: kvaser_sock_ioctl
*
* Description:
* PHY ioctl command handler
*
* Input Parameters:
* dev - Reference to the NuttX driver state structure
* cmd - ioctl command
* arg - Argument accompanying the command
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
* Assumptions:
*
*****************************************************************************/
static int kvaser_sock_ioctl(FAR struct net_driver_s *dev, int cmd,
unsigned long arg)
{
return -ENOTTY;
}
# endif /* CONFIG_NETDEV_IOCTL */
/*****************************************************************************
* Name: kvaser_sock_txpoll
*
* Description:
* The transmitter is available, check if the network has any outgoing
* packets ready to send. This is a callback from devif_poll().
* devif_poll() may be called:
*
* 1. When the preceding TX packet send is complete,
* 2. When the preceding TX packet send timesout and the interface is reset
* 3. During normal TX polling
*
* Input Parameters:
* dev - Reference to the NuttX driver state structure
*
* Returned Value:
* OK on success; a negated errno on failure
*
* Assumptions:
* May or may not be called from an interrupt handler. In either case,
* global interrupts are disabled, either explicitly or indirectly through
* interrupt handling logic.
*
*****************************************************************************/
static int kvaser_sock_txpoll(FAR struct net_driver_s *dev)
{
FAR struct kvaser_sja_s *priv = (FAR struct kvaser_sja_s *)dev->d_private;
/* If the polling resulted in data that should be sent out on the network,
* the field d_len is set to a value > 0.
*/
if (priv->dev.d_len > 0)
{
/* Send the packet */
kvaser_sock_send(priv);
/* Check if there is room in the device to hold another packet. If
* not, return a non-zero value to terminate the poll.
*/
if (!kvaser_txready(priv))
{
return -EBUSY;
}
}
/* If zero is returned, the polling will continue until all connections
* have been examined.
*/
return 0;
}
/*****************************************************************************
* Name: kvaser_sock_send
*****************************************************************************/
static int kvaser_sock_send(FAR struct kvaser_sja_s *priv)
{
FAR struct can_frame *frame = (FAR struct can_frame *)priv->dev.d_buf;
uint8_t regval = 0;
uint8_t dreg = 0;
uint8_t fi = 0;
int i = 0;
/* Check TX buffer status */
if (!kvaser_txready(priv))
{
canerr("ERROR: TX buffer not available\n");
return -EBUSY;
}
#ifdef CONFIG_CAN_FD
/* Drop CAN FD frames */
if (priv->dev.d_len != sizeof(struct can_frame))
{
canerr("ERROR: CAN FD frames not supported\n");
return -ENOTSUP;
}
#endif
/* Set up the DLC */
fi = frame->can_dlc;
/* Set RTR bit */
fi |= (frame->can_id & CAN_RTR_FLAG ? SJA1000_FI_RTR : 0);
#ifdef CONFIG_NET_CAN_EXTID
if (frame->can_id & CAN_EFF_FLAG)
{
fi |= SJA1000_FI_FF;
kvaser_putreg_sja(priv, SJA1000_DATA_0_REG, fi);
/* Write ID */
regval = (frame->can_id & 0x1fe00000) >> 21;
kvaser_putreg_sja(priv, SJA1000_DATA_1_REG, regval);
regval = (frame->can_id & 0x001fe000) >> 13;
kvaser_putreg_sja(priv, SJA1000_DATA_2_REG, regval);
regval = (frame->can_id & 0x00001fe0) >> 5;
kvaser_putreg_sja(priv, SJA1000_DATA_3_REG, regval);
regval = (frame->can_id & 0x0000001f) << 3;
kvaser_putreg_sja(priv, SJA1000_DATA_4_REG, regval);
dreg = SJA1000_DATA_5_REG;
}
else
#endif
{
kvaser_putreg_sja(priv, SJA1000_DATA_0_REG, fi);
/* Write ID */
regval = (frame->can_id & 0x07f8) >> 3;
kvaser_putreg_sja(priv, SJA1000_DATA_1_REG, regval);
regval = (frame->can_id & 0x0007) << 5;
kvaser_putreg_sja(priv, SJA1000_DATA_2_REG, regval);
dreg = SJA1000_DATA_3_REG;
}
/* Set up the data fields */
if (frame->can_dlc > 8)
{
frame->can_dlc = 8;
}
for (i = 0; i < frame->can_dlc; i++)
{
kvaser_putreg_sja(priv, dreg + i, frame->data[i]);
}
/* Transmit */
regval = SJA1000_TX_REQ;
kvaser_putreg_sja(priv, SJA1000_CMD_REG, regval);
return OK;
}
/*****************************************************************************
* Name: kvaser_sock_receive
*****************************************************************************/
static void kvaser_sock_receive(FAR struct kvaser_sja_s *priv)
{
FAR struct can_frame *frame = (FAR struct can_frame *)priv->rx_pool;
uint8_t dreg = 0;
int i = 0;
uint8_t regval;
/* Wait until data in RXFIFO */
while (kvaser_getreg_sja(priv, SJA1000_STATUS_REG) & SJA1000_RX_BUF_ST)
{
regval = kvaser_getreg_sja(priv, SJA1000_DATA_0_REG);
/* Get the DLC */
frame->can_dlc = (regval & SJA1000_FI_DLC_MASK);
/* Get the CAN identifier. */
if (!(regval & SJA1000_FI_FF))
{
frame->can_id =
((kvaser_getreg_sja(priv, SJA1000_DATA_1_REG) << 3) |
(kvaser_getreg_sja(priv, SJA1000_DATA_2_REG) >> 5));
dreg = SJA1000_DATA_3_REG;
}
else
{
#ifdef CONFIG_NET_CAN_EXTID
frame->can_id =
((kvaser_getreg_sja(priv, SJA1000_DATA_1_REG) << 21) |
(kvaser_getreg_sja(priv, SJA1000_DATA_2_REG) << 13) |
(kvaser_getreg_sja(priv, SJA1000_DATA_3_REG) << 5) |
(kvaser_getreg_sja(priv, SJA1000_DATA_4_REG) >> 3));
frame->can_id |= CAN_EFF_FLAG;
dreg = SJA1000_DATA_5_REG;
#else
canerr("ERROR: Received message with extended"
" identifier. Dropped\n");
/* Release RX buffer */
kvaser_putreg_sja(priv, SJA1000_CMD_REG, SJA1000_RELEASE_BUF);
continue;
#endif
}
/* Extract the RTR bit */
if (regval & SJA1000_FI_RTR)
{
frame->can_id |= CAN_RTR_FLAG;
}
/* Get data */
for (i = 0; i < can_dlc2bytes(frame->can_dlc); i++)
{
frame->data[i] = kvaser_getreg_sja(priv, dreg + i);
}
/* Release RX buffer */
kvaser_putreg_sja(priv, SJA1000_CMD_REG, SJA1000_RELEASE_BUF);
/* Copy the buffer pointer to priv->dev.. Set amount of data
* in priv->dev.d_len
*/
priv->dev.d_len = sizeof(struct can_frame);
priv->dev.d_buf = (FAR uint8_t *)frame;
/* Send to socket interface */
NETDEV_RXPACKETS(&priv->dev);
can_input(&priv->dev);
/* Point the packet buffer back to the next Tx buffer that will be
* used during the next write. If the write queue is full, then
* this will point at an active buffer, which must not be written
* to. This is OK because devif_poll won't be called unless the
* queue is not full.
*/
priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
}
}
#ifdef CONFIG_NET_CAN_ERRORS
/*****************************************************************************
* Name: kvaser_sock_error
*****************************************************************************/
static void kvaser_sock_error(FAR struct kvaser_sja_s *priv, uint8_t st)
{
FAR struct can_frame *frame = NULL;
uint8_t regval;
uint16_t errbits = 0;
/* Data overrun interrupt */
if (st & SJA1000_OVERRUN_INT_ST)
{
frame->data[1] |= CAN_ERR_CRTL_RX_OVERFLOW;
errbits |= CAN_ERR_CRTL;
/* Clear data overrun */
kvaser_putreg_sja(priv, SJA1000_CMD_REG, SJA1000_CLR_OVERRUN);
}
/* Error passive interrupt */
if (st & SJA1000_ERR_PASSIVE_INT_ST)
{
frame->data[1] |= (CAN_ERR_CRTL_RX_PASSIVE | CAN_ERR_CRTL_TX_PASSIVE);
errbits |= CAN_ERR_CRTL;
}
/* Arbitration lost interrupt */
if (st & SJA1000_ARB_LOST_INT_ST)
{
errbits |= CAN_ERR_LOSTARB;
regval = (kvaser_getreg_sja(priv, SJA1000_ARB_LOST_CAP_REG) &
SJA1000_ARB_LOST_CAP_M);
frame->data[0] = CAN_ERR_LOSTARB_BIT(regval);
}
/* BUS error interrupt */
if (st & SJA1000_BUS_ERR_INT_ST)
{
errbits |= CAN_ERR_BUSERROR;
}
if (errbits != 0)
{
frame = (FAR struct can_frame *)priv->rx_pool;
canerr("ERROR: errbits = %08" PRIx16 "\n", errbits);
/* Copy frame */
frame->can_id = errbits;
frame->can_dlc = CAN_ERR_DLC;
net_lock();
/* Copy the buffer pointer to priv->dev.. Set amount of data
* in priv->dev.d_len
*/
priv->dev.d_len = sizeof(struct can_frame);
priv->dev.d_buf = (FAR uint8_t *)frame;
/* Send to socket interface */
NETDEV_ERRORS(&priv->dev);
can_input(&priv->dev);
/* Point the packet buffer back to the next Tx buffer that will be
* used during the next write. If the write queue is full, then
* this will point at an active buffer, which must not be written
* to. This is OK because devif_poll won't be called unless the
* queue is not full.
*/
priv->dev.d_buf = (FAR uint8_t *)priv->tx_pool;
net_unlock();
}
}
#endif
/*****************************************************************************
* Name: kvaser_sock_interrupt_work
*****************************************************************************/
static void kvaser_sock_interrupt_work(FAR void *arg)
{
FAR struct kvaser_driver_s *priv = arg;
uint8_t st = 0;
uint8_t i = 0;
for (i = 0; i < priv->count; i++)
{
st = kvaser_getreg_sja(&priv->sja[i], SJA1000_INT_RAW_REG);
if (st == 0)
{
continue;
}
/* Receive interrupt */
if (st & SJA1000_RX_INT_ST)
{
kvaser_sock_receive(&priv->sja[i]);
}
/* Transmit interrupt */
if (st & SJA1000_TX_INT_ST)
{
NETDEV_TXDONE(&priv->sja[i].dev);
/* There should be space for a new TX in any event.
* Poll the network for new XMIT data.
*/
net_lock();
devif_poll(&priv->sja[i].dev, kvaser_sock_txpoll);
net_unlock();
}
#ifdef CONFIG_NET_CAN_ERRORS
/* Handle errors */
kvaser_sock_error(&priv->sja[i], st);
#endif
}
}
#endif /* CONFIG_CAN_KVASER_SOCKET */
/*****************************************************************************
* Name: kvaser_interrupt
*
* Description:
* Initialize SJA1000 device
*
*****************************************************************************/
static int kvaser_interrupt(int irq, FAR void *context, FAR void *arg)
{
FAR struct kvaser_driver_s *priv = (FAR struct kvaser_driver_s *)arg;
DEBUGASSERT(priv != NULL);
if (kvaser_getreg_s5920(priv, KVASER_S5920_INTCSR) &
KVASER_S5920_INTCSR_INT_ASSERT)
{
#ifdef CONFIG_CAN_KVASER_CHARDEV
/* Handle character device interrupt */
kvaser_chardev_interrupt(priv);
#endif
#ifdef CONFIG_CAN_KVASER_SOCKET
/* Derefer SocketCAN interrupt to work queue */
work_queue(KVASER_CANWORK, &priv->irqwork,
kvaser_sock_interrupt_work, priv, 0);
#endif
}
return OK;
}
/*****************************************************************************
* Name: kvaser_init
*
* Description:
* Initialize SJA1000 device
*
*****************************************************************************/
static void kvaser_init(FAR struct kvaser_driver_s *priv)
{
uint32_t regval = 0;
/* Only legacy IRQ supported by kvaser */
priv->irq = pci_get_irq(priv->pcidev);
irq_attach(priv->irq, kvaser_interrupt, priv);
/* Enable card interrupts */
regval = kvaser_getreg_s5920(priv, KVASER_S5920_INTCSR);
regval |= KVASER_S5920_INTCSR_INT_ADDON;
kvaser_putreg_s5920(priv, KVASER_S5920_INTCSR, regval);
/* Enable interrupts */
up_enable_irq(priv->irq);
}
/*****************************************************************************
* Name: kvaser_count_sja
*
* Description:
* Proble SJA1000 devices on board and return the number of vailalbe chips.
*
*****************************************************************************/
static uint8_t kvaser_count_sja(FAR struct kvaser_driver_s *priv)
{
uint32_t offset;
uint8_t regval;
uint8_t i;
/* Reset chip and check if reset bit has changed */
for (i = 0; i < KVASER_SJA_MAX; i++)
{
offset = priv->sja_base + SJA1000_MODE_REG + (i * KVASER_SJA_REGS);
pci_write_io_byte(priv->pcidev, offset, SJA1000_RESET_MODE);
pci_read_io_byte(priv->pcidev, offset, ®val);
if (regval != SJA1000_RESET_MODE)
{
break;
}
}
return i;
}
/*****************************************************************************
* Name: kvaser_probe
*
* Description:
* Probe device
*
*****************************************************************************/
static int kvaser_probe(FAR struct pci_device_s *dev)
{
FAR struct kvaser_driver_s *priv = NULL;
uint8_t i = 0;
int ret;
#ifdef CONFIG_CAN_KVASER_CHARDEV
uint8_t count;
char devpath[PATH_MAX];
#endif
/* Allocate the interface structure */
priv = kmm_zalloc(sizeof(*priv));
if (priv == NULL)
{
return -ENOMEM;
}
/* Initialzie PCI dev */
priv->pcidev = dev;
pci_set_master(dev);
pciinfo("Enabled bus mastering\n");
pci_enable_device(dev);
pciinfo("Enabled memory resources\n");
/* Kvaser cards support only IO access */
if (pci_resource_flags(dev, KVASER_SJA_BAR) != PCI_RESOURCE_IO)
{
ret = -ENOTSUP;
goto errout;
}
/* Get S5920 base */
priv->s5920_base = (uintptr_t)pci_map_bar(dev, KVASER_S5920_BAR);
if (!priv->s5920_base)
{
pcierr("Not found S5920 bar\n");
ret = -ENXIO;
goto errout;
}
/* Get SJA1000 base */
priv->sja_base = (uintptr_t)pci_map_bar(dev, KVASER_SJA_BAR);
if (!priv->sja_base)
{
pcierr("Not found SJA bar\n");
ret = -ENXIO;
goto errout;
}
/* Get XILINX base */
priv->xilinx_base = (uintptr_t)pci_map_bar(dev, KVASER_XILINX_BAR);
if (!priv->xilinx_base)
{
pcierr("Not found XILINX bar\n");
ret = -ENXIO;
goto errout;
}
/* Get number of SJA1000 chips */
priv->count = kvaser_count_sja(priv);
pciinfo("detected %d SJA1000 deviced\n", priv->count);
/* Allocate SJA1000 devices */
priv->sja = kmm_zalloc(sizeof(struct kvaser_sja_s) * priv->count);
if (priv->sja == NULL)
{
ret = -ENOMEM;
goto errout;
}
/* Common initialziation for all channels */
kvaser_init(priv);
/* Handle all SJA1000 devices */
for (i = 0; i < priv->count; i++)
{
/* Common initialization */
priv->sja[i].base = priv->sja_base + (i * KVASER_SJA_REGS);
priv->sja[i].pcidev = dev;
#ifdef CONFIG_CAN_KVASER_CHARDEV
count = g_kvaser_count++;
/* Get devpath for this SJA1000 device */
snprintf(devpath, PATH_MAX, "/dev/can%d", count);
/* Initialize SJA1000 channel */
priv->sja[i].dev.cd_ops = &g_kvaser_can_ops;
priv->sja[i].dev.cd_priv = &priv->sja[i];
/* Register CAN device */
ret = can_register(devpath, &priv->sja[i].dev);
if (ret < 0)
{
pcierr("ERROR: failed to register count=%d, %d\n", i, ret);
goto errout;
}
#endif
#ifdef CONFIG_CAN_KVASER_SOCKET
/* Initialize the driver structure */
priv->sja[i].dev.d_ifup = kvaser_sock_ifup;
priv->sja[i].dev.d_ifdown = kvaser_sock_ifdown;
priv->sja[i].dev.d_txavail = kvaser_sock_txavail;
# ifdef CONFIG_NETDEV_IOCTL
priv->sja[i].dev.d_ioctl = kvaser_sock_ioctl;
# endif
priv->sja[i].dev.d_private = &priv->sja[i];
/* Put the interface in the down state. This usually amounts to
* resetting the device and/or calling kvaser_sock_ifdown().
*/
kvaser_sock_ifdown(&priv->sja[i].dev);
/* Register the device with the OS so that socket IOCTLs can be
* performed
*/
ret = netdev_register(&priv->sja[i].dev, NET_LL_CAN);
if (ret < 0)
{
pcierr("ERROR: failed to register count=%d, %d\n", i, ret);
goto errout;
}
#endif
}
return OK;
errout:
for (i = 0; i < priv->count; i++)
{
if (priv->sja[i].pcidev)
{
#ifdef CONFIG_CAN_KVASER_SOCKET
netdev_unregister(&priv->sja[i].dev);
#endif
#ifdef CONFIG_CAN_KVASER_CHARDEV
snprintf(devpath, PATH_MAX, "/dev/can%d", i);
unregister_driver(devpath);
#endif
}
}
kmm_free(priv->sja);
kmm_free(priv);
return ret;
}
/*****************************************************************************
* Public Functions
*****************************************************************************/
/*****************************************************************************
* Name: pci_kvaser_init
*
* Description:
* Register a pci driver
*
*****************************************************************************/
int pci_kvaser_init(void)
{
return pci_register_driver(&g_kvaser_drv);
}