static int mscan_restart(struct net_device *dev)
{
struct mscan_priv *priv = netdev_priv(dev);
if (priv->type == MSCAN_TYPE_MPC5121) {
struct mscan_regs __iomem *regs = priv->reg_base;
priv->can.state = CAN_STATE_ERROR_ACTIVE;
WARN(!(in_8(®s->canmisc) & MSCAN_BOHOLD),
"bus-off state expected\n");
out_8(®s->canmisc, MSCAN_BOHOLD);
/* Re-enable receive interrupts. */
out_8(®s->canrier, MSCAN_RX_INTS_ENABLE);
} else {
if (priv->can.state <= CAN_STATE_BUS_OFF)
mscan_set_mode(dev, MSCAN_INIT_MODE);
return mscan_start(dev);
}
return 0;
}
/*TASK*-----------------------------------------------------------
*
* Task Name : Main_Task
* Comments :
* This file tests functions in the MSCAN library.
*
*END*-----------------------------------------------------------*/
void Main_Task(uint_32 parameter)
{
uint_32 result;
char data_ptr[80];
uint_32 mscan_mode = MSCAN_LOOPBACK_MODE;
uint_32 format = CAN_STANDARD;
uint_32 bit_rate = 250;
uint_32 interrupt = CAN_DISABLE;
uint_32 mscan_error_interrupt = 0;
uint_32 mscan_time_stamp = MSCAN_WITH_TIMESTAMP;
uint_32 identifier = 0x392;
uint_32 data_len_code = 8;
uint_32 filter_hit;
uint_32 priority = 2;
uint_32 mscan_filter_mode = MSCAN_FILTER_16_BIT_MODE;
uint_32 filter1 = 0x4AE0;
uint_32 filter2 = 0x7EC0;
uint_32 mask1 = 0x0260;
uint_32 mask2 = 0x1C80;
recv_format = format;
_int_install_unexpected_isr();
printf("\n*****************MSCAN test program*****************\n");
printf("\nCAN operates in %s mode", mscan_mode == MSCAN_LOOPBACK_MODE ? "loopback" : "non loopback");
printf("\nBit rate: %d kbps", bit_rate);
printf("\n%s message format used", format == CAN_EXTENDED ? "Extended" : "Standard");
printf("\nMessage id: 0x%08x", identifier);
printf("\nMessage priority: %d", priority);
printf("\nMessage is%s time stamped", mscan_time_stamp == MSCAN_WITH_TIMESTAMP ? "" : " not");
printf("\nData length: %d bytes", data_len_code);
printf("\nTx/Rx interrupt %s", interrupt == CAN_ENABLE ? "enabled" : "disabled");
printf("\nError interrupts %s", mscan_error_interrupt ? "enabled" : "disabled");
printf("\n%d bit filter mode selected", mscan_filter_mode);
printf("\nMessage filter1: 0x%08x", filter1);
printf("\nMessage filter2: 0x%08x", filter2);
printf("\nID mask1: 0x%08x", mask1);
printf("\nID mask2: 0x%08x\n", mask2);
printf("\n****************************************************\n");
/* Initialize MSCAN device at given bit rate */
result = mscan_init((pointer)TEST_MODULE, bit_rate, NULL);
printf("\n MSCAN1 initialization. result: 0x%lx", result);
/* Initialize MSCAN mode */
result = mscan_select_mode((pointer)TEST_MODULE, mscan_mode, interrupt);
printf("\n MSCAN1 initialization mode. result: 0x%lx", result);
/* Select Filtering mode */
result = mscan_filter_init((pointer)TEST_MODULE, mscan_filter_mode,
filter1, filter2, mask1, mask2, format);
printf("\n MSCAN1 Filter selected. result: 0x%lx", result);
/* Take MSCAN out of initialization mode */
result = mscan_start((pointer)TEST_MODULE);
printf("\n MSCAN1 out of initialization mode. result: 0x%lx", result);
/* Install ISR */
if(interrupt == CAN_ENABLE)
{
result = mscan_int_init( (pointer)TEST_MODULE, (pointer)mscan_test_isr );
printf("\n MSCAN1 ISR install. result: 0x%lx", result);
}
/* Enable Timer */
result = mscan_timestamp_select((pointer)TEST_MODULE, mscan_time_stamp);
printf("\n MSCAN1 Time Stamp selected. result: 0x%lx", result);
/* Enable Error interrupts */
if (mscan_error_interrupt)
{
result = mscan_error_int_enable((pointer)TEST_MODULE, CAN_RX);
printf("\n MSCAN1 Error interrupt enable for Rx. result: 0x%lx", result);
result = mscan_error_int_enable((pointer)TEST_MODULE, CAN_TX);
printf("\n MSCAN1 Error interrupt enable for Tx. result: 0x%lx", result);
}
/* Start the loop */
while(1)
{
printf("\n\nEnter an string to transmit followed by ENTER:");
memset (data_ptr, 0, sizeof (data_ptr));
_io_gets(data_ptr);
result = mscan_tx_message((pointer)TEST_MODULE, (void *)data_ptr, priority,
identifier, data_len_code, format, interrupt);
if(result != MSCAN_OK)
printf("\nTransmit error. Error Code: 0x%lx", result);
else
printf("\nData transmit: %s", data_ptr);
_time_delay (100);
if(interrupt != CAN_ENABLE)
{
recv_result = mscan_rx_message((pointer)TEST_MODULE, (void *)recv_data, &recv_id,
&recv_len, recv_format, &recv_hit, CAN_DISABLE);
}
if(recv_result != MSCAN_OK)
printf("\nReceived error. Error Code: 0x%lx", recv_result);
else
{
recv_data[recv_len] = 0;
printf("\nReceived data: %s", recv_data);
printf("\nID is: 0x%x", recv_id);
printf("\nDLC is: 0x%x", recv_len);
printf("\nFilter Hit: 0x%x\n\n", recv_hit);
}
}
}
