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RCC-1.2.18 drivers Manual

1. all other values The argument is taken as the GRSPW core frequency in KHz Table 27 SET COREFREQ argument description 13 2 5 2 10 SET_PROMISCUOUS This call sets the promiscuous mode bit The argument must be an integer in the range O to 1 The call will fail if the argument contains an illegal value or if the register cannot be written 13 2 5 2 11 SET_RMAPEN This call sets the RMAP enable bit It can only be used if the RMAP command handler is available The argument must be an integer in the range 0 to 1 The call will fail if the argument contains an illegal value if the RMAP command handler is not available or if the register cannot be written 13 2 5 2 12 SET_RMAPBUFDIS This call sets the RMAP buffer disable bit It can only be used if the RMAP command handler is available The argument must be an integer in the range 0 to 1 The call will fail if the argument contains an illegal value if the RMAP command handler is not available or if the register cannot be written 13 2 5 2 13 SET CHECK_RMAP This call selects whether or not RMAP CRC should be checked for received packets If enabled the header CRC error and data CRC error bits are checked and if one or both are set the packet AEROFLEX GR RTEMS DRIVER 61 GAISLER will be discarded The argument must be an integer in the range 0 to 1 0 disables and 1 enables the RMAP CRC check The call will fail if the argument contains an illegal value 13 2 5 2 14 SET_RM_
2. Errno Description EINVAL Illegal device name or not available EBUSY Device already opened EIO Error when writing to grspw registers Table 19 Open errno values 13 2 4 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the SpaceWire driver 13 2 5 I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly The commands may differ slightly between the operating systems but is mainly the same The unique ioctl commands are described last in this section All supported commands and their data structures are defined in the GRSPW driver s header file grspw h In functions where only one argument in needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code AEROFLEX GR RTEMS DRIVER 53 GAISLER 13 2 5 1 Data structures The spw ioctl packetsize data structure is used when changing the size of the driver s receive and transmit buffers type
3. Table 80 ERRNO values for ioctl calls Call Number Description ERRNO SET ADDR Set Remote Terminal address SET BCE Enable disable broadcast SET _VECTORW Set VECTOR WORD register in RT core SET_EXTMDATA Set Clear EXTMDATA bit in RT core RX BLOCK Set blocking non blocking mode for read calls CLR_STATUS Reset status flag GET STATUS Read status flag EINVAL SET EVENTID Set event id used to signal detected errors with Table 81 ioctl calls supported by the RT driver All ioctl requests takes as parameter the address to an unsigned int where data will be read from or written to depending on the request 21 2 6 1 RT_SET_ADDR Sets the remote address for the RT 0 30 if broadcasts enabled 0 31 otherwise 21 2 6 2 RT_SET_BCE Enable disable broadcasts 1 enables them 0 disables 21 2 6 3 RT_SET_VECTORW Set the vector word register in the RT core This might not have an effect depending on how the RT core register have been set up 21 2 6 4 RT_RX BLOCK Set blocking non blocking mode for RT read calls Blocking is default 21 2 6 5 RT_SET_EXTMDATA Set or clear the EXTMDATA bit of the RT core The input is a pointer to a integer which determines the EXTMDATA bit 21 2 6 6 RT_CLR_STATUS Clears status bit mask No input is needed it always succeeds 21 2 6 7 RT_GET_STATUS Reads the status bit mask The status bit mask is modified when an error interrupt is received This ioctl comm
4. cccceccsecsscscesccsccscceccecssetseceesesceecescessessteceesteeteeeeseseeseeens 103 Interrupt AMOO is 104 LASA Pl NDA alas 105 Data StrucGtures A A ainia 107 GELSS abc Stall O Cores ais ds EEE A 108 AAA RN 109 gr1593 c list A cad ENEAN A SEDAS Ka Enek EOE 109 gril b53be list link Maj Or tad dai caus ch EATE EE EERS 109 grl553be list Set Majo cocoa critical de nas Risa vada tees 109 grib5b3bc minor table SIZ csicccsevecsswesca sey sevsveraeetdosscacsescnesveserscdavectidecctuneeatecctapaeeaes 109 PRR RP RRP RP RP RRP PRP RRP RP RP RPP RP PE w Lo Lo w Lo do Lo Lo Lo Lo Lo Lo Lo Lo w w w Lo Lo w w 100000000 NN OO OH 0 1 O ODODODDOUNOUOUODNONONNONNNUNONUOUNOUNOUNOUNOUOYMO NNNNNNNNNRRPRP RRP RP RPRrRPrFPF Of ONINNUPWNRPOCOUOANDUHPWNFO NNN oo NNNNNNNNNNNNNNNNNNNNNNNBBEBRYE BOWNPR E E PRPOMNAUPBPWNR NNNNNNNNNNNNNNNNNNNNNNNNNN Ro e 0000000000000 000000000000Oo COIRBARBAAAAAAAAAUIURWNNE NNNNNNN PR NNNRrR rR NR Rara N e grl553be list table Size ideada E E ana A ENE EDS 109 gri5o3be list table alli evan ew E EE NES asias 110 gribo3bc list table Teran id AER E a ci As 110 gri5bb3bc list table build ini dd 110 gr1553bc major alloc _Skel ooccooccnnoonnnnorcnnocononocnnnoronnorononccnnnoonnronocnnronocnaronions 110 gr1553b6 list freetime vis ii a sea 110 Grlb53bc slot allos sisi id ia veda stadt dete eed aA dd 110 QTL OD SDE Slot Freen secec sah casted ededh goa e eae cues beau a
5. ooccoccnoccnoncnononononononononncnnnononononcnnrnnnncnnnnncnnnnnnnnnnoos 22 AN A O E 22 PRA e AO 22 PA a Sustain etaesate Pte E RA Md Bas BL tO MOM NIE Ce de SBS Sonik Boas 23 Driver TOSQUECOS cuidao bad Ses ees Bas a ideada 24 Dl AA EN 25 Configura A A A O A Oe ON it 25 Available LEON OTIVETS ii iii it di Aid A da 27 A soiccesdes ee see hese A uke Fos eh s dha cae chad ad ea a ade Mis seabed ceeds clas 29 FOND DSP ur huedecubadadeacotedeces trates Sarit casehachen taste A T TA 29 TOLET DE a A TE a 29 Address CNS ON eserse eta a EEA EA O AAE ENEN A 30 Function Orra CE da aa eiii 31 RMAPS Lack ta A O O eo N E eo de e eos eb ed e A 32 INtrOdUCON a dnd iia iia 32 Example Sisene nesine aaa E ai tai 32 DIIVerintertace iia aE e EA ohne A A gel a Uae bi ES OA ITEN 32 Logicaland Path AdOTESSM Ti REE check E EE EEEE EER RENET 32 Zero Copy implementati t ss 3695 5684 A saek saves A aaa 32 RMAP GRSPW DIV da ios 33 TOTES ei a ee accio 33 IS A A A A ATO 33 Data Structures A A A OSITO sad vaa sean beh wastes 33 Function interface descriptiON cooccoocnocnnocononononononnnnnnnnnnnncnnncnonnnnnnnonnnnncnnnnnnnncnnnnnos 35 SpaceWire Network model coocccocncccnoncnoncnonononononononononnnoncnncnnnnncnnnonnnnnncnncnnnonnnnnnss 37 A cases sede he lodcBed Gout wibedove saga baudaticen sac tesak Mins A deere audionsesaths session se 37 OVETVICW ve2ieelccdoclebeas todos cove E O shen eed ooubesbacualeasegs doaded eased sods E EE Gahan seed books
6. unsigned int err_bus_bit Bit error unsigned int err_bus_form Form Error unsigned int err_bus_stuff Stuff Error unsigned int err_bus_other Other Error ZE EGC HL unsigned int err_bus_rx unsigned int err_bus_tx ECC 4 0 unsigned int err_bus_segs 32 total number of interrupts unsigned int ints software monitoring hw errors unsigned int tx_buf_error occan_stats Member Description rx_msgs Number of CAN messages received tx_msgs Number of CAN messages transmitted err_warn Number of error warning interrupts err_dovr Number of data overrun interrupts err_errp Number of error passive interrupts err_arb Number of times arbitration has been lost err_bus Number of bus errors interrupts err arb bitnum Array of counters err_arb_bitnum index is incremented when arbitration is lost at bit index err_bus_bit Number of bus errors that was caused by a bit error err bus form Number of bus errors that was caused by a form error err bus stuff Number of bus errors that was caused by a stuff error err bus other Number of bus errors that was not caused by a bit form or stuff error err_bus tx Number of bus errors detected that was due to transmission err_ bus rx Number of bus errors detected that was due to reception err bus segs Array of 32 counters that can be used to see where the frame transmission often fa
7. CFGSTS SET Argument unsigned int Writes the Config Status register CFGSTS GET Output unsigned int Copies the current value of the Config Status register to the user provided buffer TC_GET Output unsigned int Copies the current value of the Time code register to the user provided buffer Table 32 ioctl calls supported by the SpaceWire Router driver Note that no detailed descriptions of the hardware register fields are given here They are found in the GRSPWROUTER IP core user manual or the Router FPGA ASIC user manual The information is not duplicated here to avoid potential inconsistencies The driver provides no real intelligence with respect to the router functionality It merely abstracts the access to the router resources so that the user does not need to know on which bus network the router is located or the address and register bit locations in the router AEROFLEX GR RTEMS DRIVER 70 GAISLER 15 2 5 1 HWINFO struct router_hw_info unsigned char nports_spw unsigned char nports_amba unsigned char nports_fifo char timers_avail char pnp_avail unsigned char ver_major unsigned char ver_minor unsigned char ver _patch unsigned char iid Member Description nports spw Number of SpaceWire ports in the router nports amba Number of AMBA ports in the router nports fifo Number of FIFO ports in the router timers avail 1
8. A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 108 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 109 Open errno values When the device is opened the driver enables the AHB and CAN interrupts in the SatCAN wrapper logic Interrupts EOD1 EOD2 and CAN Critical are enabled in the SatCAN FPGA core The SatCAN FPGA core is also configured to use CAN interrupt for interrupt 0 CAN_TODn Int sel is set to 1 and RX together with the RX DMA channel is enabled 24 2 3 Closing the device The device is closed using the close call An example is shown below res close fd When the device is closed the SatCAN wrapper and SatCAN FPGA interrupt mask registers are cleared CAN RX and all DMA channels are disabled The driver s internal state is initialized to default values Close always returns 0 success for the SATCAN driver 24 2 4 Reading from the device After the device has been successfully opened it can be accessed via calls to read Read expects a pointer to a satcan msg structure or list of structures and only accepts a multiple of the size of satcan_msg as the number of bytes to read The satcan msg structure defined in satcan h and a description of its members is given below typedef struct unsigned char header SATCAN
9. AEROFLEX GR RTEMS DRIVER 169 GAISLER Prototype int ASCS iface status Argument This function does not take any arguments Return 0 if both serial interface and synchronization interface are stopped 1 if serial value interface is running and synchronization interface is stopped 2 if serial interface is stopped and synchronization interface is running 3 if both interfaces are running Descriptio Uses the internal driver status and the value of the core s status register to report n if serial and synchronization interfaces are running or stopped 26 2 7 ASCS TC send Prototype int ASCS_TC_send int word Argument Description word Pointer to data that should be sent as a telecommands The argument is handled as a point erto a short int if the core is configured to send 16 bit words or a char pointer for 8 bit words ntrans The number of telecommands that should be sent Return 0 on success GRASCS ERROR TRANSACTIVE if TC could not be started value because some other transaction is in progress GRASCS ERROR STARTSTOP if TC could not be started because serial interface is stopped Descriptio Sends a telecommand with the data pointed to by the word argument If the TC is n started the function blocks until the transaction is complete If the TC can not be started the function returns with an error code This function is thread safe 26 2 8 ASCS_TC_send_block Prototype int ASCS_TC_send block int block int ntrans Ar
10. Get the next descriptor that will be processed for a specific sub address The descriptor number is looked up from the descriptor address found the SA table for the sub address specified by subadr argument The descriptor number of respective transfer type RX TX will be written to the address given by txeno and or rxeno If end of list has been reached 1 is stored into txeno or rxeno If the request is successful zero is returned otherwise a negative number is returned bad sub address or descriptor 17 2 2 9 gr1553rt_evlog_read Copy up to max number of entries from eventlog into the address specified by dst The actual number of entries read is returned It is important to read out the eventlog entries in time to avoid data loss the eventlog can be sized so that data loss can be avoided Zero is returned when entries are available in the log negative on failure 17 2 2 10 gr1553rt_set_vecword Set a selection of bits in the RT Vector and or Bit word The words are used when e Vector Word is used in response to Transmit vector word BC commands e Bit Word is used in response to Transmit bit word BC commands The argument mask determines which bits are written and words determines the value of the bits written The lower 16 bits are the Vector Word the higher 16 bits are the Bit Word 17 2 2 11 gr1553rt_set_bussts Set a selection of bits of the Bus Status Register The bits written is determined by the mask bit mask and the
11. sessessessessessessessrssrssrsersersersersessessesessesesesesesesesesessssose 215 INTRODUCTION vias siccicchecesesantavcavas ccna dvacauceace bea cdeseetecdedascds vas satlesgceecanenaccangecidaseecadeseas 215 TM Hard Wai a A Ii o 215 A O A 215 GRIM over SpPaceWire avcooradotsioccmec acc LASKA Dedalo dado es DA adan 215 SUPPOL y PETERET E E EE AEE ETE ane odeswadeclace ved Aitana 215 User interla E nE R RL ANONA A PRI AE a Pe 215 Driver registr aons e n ean a a de ngs AE A Ga Lae OEEO A a 216 Opening the devices menrs nan i an EA SE oe a REAA EA EES 216 Closing the device cidos tas 217 1 0 Control interface scott ia is 217 Data SIPUCTUTES siii id A dd dat 217 Configura Honeen ie a e E ld 222 FYANSMISSION ii EE ETAS EEE ENNART AEREO 226 GROEM DRIVER aaa ii a a a a a a e a a Si 227 INTRODUCTION moenie netni a di 227 Examples aeee aae na deeb ROS E s a e e on a Aa ANE US AE OAH Eea 227 User Ita id a a Sa esis Say oaks sind BR a aa aaa A Me oes GE ad 227 COVELVIC Wiig A AA E EE 25 A A A gee AST 227 Accessing the GRCTM COTe ssessessessesseserssrserserserserseoseoseosessessersessesessesseserseseseo 227 Interr pt servigas eent scaccccecssassateaneaneaweas UAE EVAAA land dada eno EUN GAARAN NAT SECLE di dansa di diosas 228 Application Programming INterface ooccoocncncncncnnncnoncnonnnoncnoncnononononononononocnncnninnns 228 Data SUPUCtuUreS esses varieties Oi Ase tac a leat edua lia eves scuci aden ve Solshs AAEN 230 SPWCUC DRIVER bec
12. 25 1 2 Software Driver The driver provides means for setting the CAN MUX MUX control register 25 1 3 Supported OS Currently the driver is available for RTEMS 25 1 4 Examples The rtems satcan example uses the CAN MUX driver 25 1 5 Support For support contact the Gaisler Research support team at support gaisler com 25 2 USER INTERFACE The RTEMS CAN MUX driver supports the standard accesses to file descriptors such as read write and ioctl The implementation of read and write calls are dummy functions The driver is controlled exclusively via ioctl User applications should include the CAN MUX driver s header file canmux h which contains definitions of all necessary values and functions used when accessing the driver 25 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The function canmux_register whose prototype is provided in canmux h is used for registering the driver The function returns O on success A typical register call from the LEON3 Init task if canmux_register amp amba_conf printf CAN_MUX register failed n 25 2 2 Opening the device Opening the device enables the user to access the hardware of the CAN MUX core An example of an RTEMS open call is shown below fd open dev canmux O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is se
13. ASCO face statis eeen ta aeaniee aa AE EEA Eae ea Tan a ETU ESRAS 168 AS ES TO send iia A digs caves ovata ta e A A eeN EE iaee ida 169 ASG S TC send A toreen enanat ii ebe TE EEEE ETENE OEGES 169 ASES TC SYNC Startins says A AAA A E AA 169 ASES TC SYNGCStOp cov can cae des ce a db ensaeacecchadeasaseugaus A A A A ENE EREE EA 171 ASES TM PCV iss tecsecerzeh vost a iodo tabwed obio 171 ASCS TM frecv blck n cccsccccsccanaes cdesdacesesacabuanesiede sess checaases cca secseeccacauecasuaccaseauauenveneas 171 Example Code ii tt aiii ide 172 RAW UART DRIVER INTERFACE APBUART ccccceccccececeeeececeeeseeeeeeeseeeeeeees 173 USEF interfacon cecsvczccecansacck dnd ia geedaas eda ceucandoedauwelandcaeatebcaeanwberenbesens 173 Diver registration earras uere en aaan cae caccnesesdee EK dense dene EAN ELAES EIRE S ORES ANES aNs 173 Driver resource configuration s ssessessessrssessrssrssrserserserserserseosessessessessesseseseeeee 173 Opening the device isone ssccsnse os eae E Tose eaves tangas E ESE ie R PPAR NEEN RAES 173 Closing the device ni a A Seb Tad Cael able LDR a a adam 174 1 Control interface IA tab veh Se obs wad i ae ete aan gan oes 174 CONF GUTATIOM ice ess Ses es a hatin canes Recah ES EE Ca a castes eg ae 174 TAN MISS ON ii aT A EAS Soli ded hav ah AEA 177 Reception ies ae ees ii sak sas acdaceeeehaceadsancateavedesavenesesceblaadanccisendueceas dde 177 Gaisler SPICTRL SPI DRIVER SPICTRL cseccccccseeee
14. EROFLEX GAISLER Aeroflex Gaisler RTEMS driver documentation Software Drivers for Aeroflex Gaisler RTEMS distribution GR RTEMS DRIVER Version 1 2 11 0 May 2013 Kungsgatan 12 tel 46 31 7758650 411 19 Goteborg fax 46 31 421407 Sweden www aeroflex com gaisler Table of Contents Ne NOURWNHRRE Ne E NOOUPRBPWWNNNNNNNNRR FA E E N e a WaN AAA AAR AR a O U O W U O W U W W 6 W W WWW NNNNNNNNNN OuURWNHRE Drivers documentation introductioON ooccocnncnncnncnnnrnncnnonnconcnnonncnncnncnncrnonconononcnnononoos 12 GRLIB AMBA Plug amp Play ccccsccssccscccssccsscessccuscnsscasesaescaesseessneccecssseseececaseaseeetees 13 ITEFO UCA Ts dsd 13 AMBA Plug amp Play terms and NaMeS oocccocnnncnnncnnncnnncnonononononononcnoncnnnnnnnnncnncnncnnnnnnnnnnss 13 SOUT CSS raise A ar AS ISS TEN A BEN wee adit 13 OVETVIC O aca Venlo ade Se Ga tala ticlan ogc sino oe daub dy bao tebe oa A CASE 14 IMAZ ii A des 14 Finding AMBAPP devices by Plug rPlay oocooccoocncocnnonnnonnoncnonnnoconononononoconnnnnncnononos 15 AMO CATING device diia aa io 16 Name database rst A A oa ata 16 Frequency OF a deviene paa eR a ns aes 17 Driver Mandala 18 INEFOUUCTION a RTA N ab sis 18 Driver manager terms and NaMeS oocoocnnocnnocnnocnnncnnnnnonononanonononononcnnnrnnnnnnonnncnoncnoncnnios 18 SOURCES iia de AA A AE A sto ales bea esa 18 Overvie Wii AA a A dla 19 BUS and DUST A A A aa 20 Bus specific device informatioON
15. Open device fd open dev grspw0 O_RDWR if fd lt 0 printf Error Opening dev grspw0 errno d n errno return 1 Set basic parameters if ioctl fd SPACEWIRE_IOCTRL_SET_COREFREQ 0 1 printf SPACEWIRE_IOCTRL_SET_COREFREQ errno d n errno Make sure link is up while ioctl fd SPACEWIRE_IOCTRL_START 0 1 sched_yield link is up gt continue Set parameters Set blocking receiving mode if ioctl fd SPACEWIRE_IOCTRL_SET_RXBLOCK 1 1 printf SPACEWIRE_IOCTRL_SET_RXBLOCK errno d n errno Read Write while 1 unsigned char buf 256 if read fd buf 256 lt 0 printf Error during read errno d n errno continue Handle incoming packet AEROFLEX GR RTEMS DRIVER 66 GAISLER 14 SpaceWire ROUTER 14 1 INTRODUCTION This document describes how to use the Aeroflex Gaisler SpaceWire router device in RTEMS The router does not have to be located on the same bus as the processor running RTEMS The RTEMS driver manager abstracts the actual location of the device allowing application software to access the router resources always using the same API Two different drivers the SpaceWire router register driver and GRSPW driver are needed to utilize the complete functionality of the router For details about each driver see their respective sections There is one example application available called rtems s
16. Read the current link status SET CONFIG Set all configuration parameters with one call GET CONFIG Read the current configuration parameters GET_STATISTICS Read the current configuration parameters CLR_STATISTICS Clear all statistics SEND Send a packet with both header and data buffers LINKDISABLE Disable the link LINKSTART Start the link SET EVENT ID Change the task ID to which link error events are sent SET TCODE CTRL Control timecode interrupt and timecode reception transmission enable SET TCODE Optionally set timecode register and optionally generate a tick in GET TCODE Read GRSPW timecode register get last timecode received Table 25 ioctl calls supported by the GRSPW driver 13 2 5 2 1 START This call try to bring the link up The call returns successfully when the link enters the link state run START is typically called after open and the ioctl commands SET DISCONNECT AEROFLEX GR RTEMS DRIVER 59 GAISLER SET TIMER or SET COREFREQ Calls to write or read will fail unless START is successfully called first Argument Timeout function 1 Default hard coded driver timeout Can be set with a define less than 1 Wait for link forever the link is checked every 10 ticks 0 No timeout is used if link is not up when entering START the call will fail with errno set to EINVAL positive The argument specifies the number of c
17. Table 97 Open errno values 23 2 4 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the occan driver 23 2 5 I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the OC_CAN driver s header file occan h In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 23 2 5 1 Data structures The occan_afilter struct is used when changing acceptance filter of the OC_CAN receiver struct occan_afilter unsigned int code 4 unsigned int mask 4 int single_mode Member Description code Specifies the pattern to match only the unmasked bits are used in the filter mask Selects what bits in code will be used or not A set bit is interpreted as don t care single mode Set to none zero for a single filter single filter mode ze
18. When accessing the driver in RAW mode a device node must be created manually in the file system by calling rtems filesystem make dev t and mknod with the correct major and minor number identifying the SPICTRL driver The major number must be the same as the RTEMS I2C Library I O driver major number the minor number identify the SPICTRL driver The macro RTEMS LIBI2C_ MAKE MINOR can be used to generate a valid minor number After a device node is created either manually for the RAW mode or by I2C Library for the higher level driver the device node can be accessed using standard means such as open close read write and ioctl 28 2 3 Extensions to the standard RTEMS interface The SPICTRL core supports automated periodic transfers if enabled in the hardware design The driver provides means for accessing the extra features that the SPICTRL core implements through the ioctl interface The additional features are optional when ignored the driver operates as a standard RTEMS SPI driver The extra ioctl commands supported are listed in the table below In periodic mode the SPI core is setup to execute one SPI request multiple times each transfer is started on a constant interval or when an external trigger pulse is detected In normal operation read and writes are done simultaneously however in the automated AM periodic transfer mode multiple transfers are executed Once the core has been set up to operate in periodic mode via CONFIG libi2c_writ
19. argument point to a grcan filter data structure or NULL to disable filtering to let all messages pass the filter Messages matching the below function are passed and possible to read from user space Id XOR Code AND Mask 0 This command never fail 22 1 5 2 16 SET_SFILTER Set Rx Tx SYNC filter matched by receiver for every message that is received Let the second argument point to a grcan filter data structure or NULL to disable filtering to let all messages pass the filter Messages matching the below function are treated as SYNC messages Id XOR Code AND Mask 0 This command never fail 22 1 5 2 17 GET_STATUS This call stores the current status of the CAN core to the address pointed to by the argument given to ioctl This call is typically used to determine the error state of the CAN core The 4 byte status bit mask can be interpreted as in table above Mask Description GRCAN_STAT PASS Error passive condition GRCAN STAT OFF Bus off condition GRCAN STAT OR Overrun during reception GRCAN STAT AHBERR AMBA AHB error GRCAN STAT ACTIVE Transmission ongoing GRCAN_ STAT RXERRCNT Reception error counter value 8 bit GRCAN_ STAT TXERRCNT Transmission error counter value 8 bit Table 93 Status bit mask This call never fail 22 1 6 Transmission Transmitting messages are done with the write call It is possible to write multiple packets in one call An example of a write call is shown
20. unsigned char dla unsigned char dla_mask unsigned char pid unsigned int offset y Member Description sel out Bits 3 0 enable time code transmission on respective output sel in Select SpW to receive time codes on 0 3 mapping Define mapping of time code time info into T field 0 31 tolerance Define SpaceWire time code reception tolerance 0 31 tid Define CUC P Field time code identification 1 Level 1 2 Level 2 ctf If 1 check time code flags to be all zero cp If 1 check P Field time code id against tid txen Enable SpaceWire time code transmission rxen Enable SpaceWire time code reception pktsyncen Enable SpaceWire time CUC packet sync pktiniten Enable SpaceWire time CUC packet init pktrxen Enable SpaceWire time CUC packet dla SpaceWire destination logical address dla_mask SpaceWire destination logical address pid SpaceWire protocol ID offset Packet reception offset Table 181 spwcuc_cfg member descriptions The spwcuc stats data structure holds statistics gathered by the driver It can be read by the spwcuc_get stats function struct spwcuc_stats unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned he int int int int int int int int int int int int int int nirqs tick_tx tick_tx_wrap tick_rx tick_rx_wrap tick_rx_ error tolerr
21. unsigned long long packets_received unsigned int err_underrun y Member Description packets receved Number of packets successfully received by the GRPWRX core err underrun Number of AMBA underrun errors Table 190 grpwrx_ioc_stats member descriptions 37 2 4 2 Configuration The grpwrx core and driver are configured using ioctl calls The table 189 below lists all supported ioctl calls grpwrx IOC_ must be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are O for success and 1 on failure Errno is set after a failure as indicated in table 188 An example is shown below where the statistics of the driver is copied to the user buffer stats by using an ioctl call struct grpwrx_ioc_stats stats result ioctl fd grpwrx_IOC_GET_STATS stats ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The GRPWRX hardware is not in the correct state Many ioctl calls need the GRPWRX core to be in stopped or started mode One can switch state by calling START or STOP ENOMEM Not enough memory to complete operation This may cause other ioctl commands to fail EIO Writing to hardware failed Feature not available in hardware ENODEV Operation aborted due to transmitter being stopped Table 191 ERRNO values for ioctl calls Cal
22. 24 2 6 2 Configuration The SatCAN core and driver are configured using ioctl calls The table 110 below lists all supported ioctl calls SATCAN IOC_ should be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 109 ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The CAN hardware is not in the correct state ENOMEM a ee memory to complete operation This may cause other ioctl commands O fail Table 114 ERRNO values for ioctl calls Call Number Description DMA 2K Instructs driver and core to use 2K DMA mode Default setting DMA 8K Instructs driver and core to use 8K DMA mode GET REG Provides direct read access to all core registers SET REG Provides direct write access to all core registers OR_REG Writes register with current register value logical or specified value AND_REG Writes register with current register value masked with a specified value EN TX1_DIS TX2 Changes internal driver state to enable DMA TX channel 1 Disable DMA TX channel 2 EN TX2 DIS TX1 Changes internal driver state to disable DMA TX channel 1 Enable DMA TX channel 2 GET_DMA MODE Returns the current DMA transmit mode SET DMA MODE Sets the DMA transmit mode ACTIVATE_DMA
23. 3 19 PIO 4 20 PIO 5 21 PIO 6 22 PIO 7 23 Table 138 GRGPIO registration order The ports can also be referenced by using their names The GRGPIO driver name the GPIO ports according to the following string dev SYSTEM_PREFIX grgpio SYSTEM_CORE_NR PORT_NR MACRO Description SYSTEM_PREFIX In systems where multiple AMBA buses exists it is convenient to reference a particular AMBA bus by a name SYSTEM_PREFIX is substituted with the AMBA bus name that the GPIO core is attached to for example on a GR RASTA IO PCI Target the AMBA bus is called rastaioN SYSTEM_CORE_NR The core number on a particular AMBA system PORT_NR The port number on a particular GPIO core Table 139 GRGPIO port naming The location of the GRGPIO drivers and the GPIO Library is indicated in table 137 All paths are given relative the RTEMS kernel source root Source description Location GPIO Library c src lib libbsp sparc shared gpio gpiolib c GRGPIO driver c src lib libbsp sparc shared gpio grgpio c Table 140 GPIO source location 32 Gaisler ADC DAC DRIVER GRADCDAC 32 1 INTRODUCTION This section describes the GRADCDAC driver available for RTEMS The GRADCDAC driver provides a function interface to the user with the ability to access the hardware directly User applications include the gradcdac header file gradcdac h which contains definitions of all necessa
24. 4 10 src samples rtems b1553rt c 21 2 USER INTERFACE The RTEMS MIL STD 1553B RT driver supports standard accesses to file descriptors such as read write and ioctl User applications include the rt driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver An example application using the driver is provided in the examples directory 21 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The RTEMS I O driver registration is performed automatically by the driver when B1553RT hardware is found for the first time The driver is called from the driver manager to handle detected B1553RT hardware In order for the driver manager to unite the B1553RT driver with the B1553RT hardware one must register the driver to the driver manager This process is described in the driver manager chapter 21 2 2 Driver resource configuration The driver can be configured using driver resources as described in the driver manager chapter Below is a description of configurable driver parameters The driver parameters is unique per B1553RT device The parameters are all optional the parameters only overrides the default values Name Type Parameter description coreFreq INT The input clock frequency to the RT core 0 12MHz 1 16MHz 2 20MHz 3 24MHz The default is 24MHz The drive
25. Activates a specified DMA channel DEACTIVATE_DMA Deactivates a specified DMA channel GET_DOFFSET Gets the data offset used for writing TX DMA messages SET_DOFFSET Sets the data offset used for writing TX DMA messages GET TIMEOUT Get time out value used when waiting for DMA TX completion SET_ TIMEOUT Set time out value used when waiting for DMA TX completion Table 115 ioctl calls supported by the SatCAN FPGA driver 24 2 6 2 1 DMA 2K This ioctl command instructs the SatCAN core and driver to use a DMA area with room for 2048 messages The driver is initialized in this state by default This call disables the RX DMA channel and allocates a new memory area After the new memory area has been successfully allocated the RX DMA channel is re enabled 24 2 6 2 2 DMA _ 8K This ioctl command instructs the SatCAN core and driver to use a DMA area with room for 8192 messages This call disables the RX DMA channel and allocates a new memory area After the new memory area has been successfully allocated the RX DMA channel is re enabled The drivers default setting is to use a DMA area with room for 2K messages The example below shows how to instruct the driver to use an 8K DMA area if ioctl fd SATCAN_IOC_DMA_8K printf ERROR Failed to enable 8K DMA area n 24 2 6 2 3 GET_REG This call provides read access to all the core s registers Note that reading a register may affect the hardwa
26. BM functionality Enabling Disabling etc Filtering options e Interrupt support DMA Error Timer Overflow e 1553 Timer handling e Read BM log The driver sources and interface definitions are listed in the table below the path is given relative to the SPARC BSP sources c src lib libbsp sparc Filname Description shared 1553 gr1553bm c GR1553B BM Driver source shared include gr1553bm h GR1553B BM Driver interface declaration Table 47 BM driver Source location 18 2 1 1 Accessing a BM device In order to access a BM core a specific core must be identified the driver support multiple devices The core is opened by calling gr1553bm_ open the open function allocates a BM device by calling the lower level GR1553B driver and initializes the BM by stopping all activity and disabling interrupts After a BM has been opened it can be configured gr1553bm_config and then started by calling gr1553bm_start Once the BM is started the log is filled by hardware and interrupts may be generated The logging can be stopped by calling gr1553bm_stop When the application no longer needs to access the BM driver services the BM is closed by calling gr1553bm_close 18 2 1 2 BM Log memory The BM log memory is written by the BM hardware when transfers matching the filters are detected Each command Status and Data 16 bit word takes 64 bits of space in the log into the first 32 bits the current 24 bit 1553 timer is w
27. CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER fendif ifdef CONFIGURE_APPLICATION_NEEDS CONSOLE_DRIVER define CONFIGURE_DRIVER_AMBAPP_GAISLER APBUART fendif fendif define CONFIGURE_DRIVER_AMBAPP_GAISLER _GRETH define CONFIGURE_DRIVER_AMBAPP_GATSLER_GRSPW define CONFIGURE_DRIVER_AMBAPP_GATSLER_GRCAN define CONFIGURE_DRIVER_AMBAPP_GAISLER_OCCAN define CONFIGURE_DRIVER_AMBAPP_GAISLER_B1553BRM define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART define CONFIGURE_DRIVER_AMBAPP_MCTRL define CONFIGURE_DRIVER_AMBAPP_GAISLER_PCIF define CONFIGURE_DRIVER_AMBAPP_GAISLER _GRPCI define CONFIGURE_DRIVER_PCI_GR_RASTA_IO define CONFIGURE_DRIVER_PCI_GR_RASTA_TMTC define CONFIGURE_DRIVER_PCI_GR_701 include lt drvmgr drvmgr_confdefs h gt 3 3 1 Available LEON drivers Below is a list of available drivers in the LEON3 BSP and the define that must be set before including drvmgr confdefs h to include the driver in the project All drivers are preceded with CONFIGURE DRIVER GR RTEMS DRIVER 28 Hardware Define to include driver GPTIMER AMBAPP GAISLER GPTIMER APBUART AMBAPP GAISLER APBUART GRETH AMBAPP GAISLER GRETH GRSPW AMBAPP GAISLER GRSPW GRCAN AMBAPP GAISLER GRCAN OCCAN AMBAPP GAISLER OCCAN GR1553B AMBAPP GAISLER GR1553B GR1553B RT AMBAPP GAISLER GR1553RT GR1553B BM AMBAPP GAISLER GR1553BM GR1553B BC AMBAPP GAISLER GR1553BC B1553BRM AMBAPP GAISLER B1553BRM B1553RT AMBAPP GAISLE
28. Co Co CO Co Co NONNNNRRF Ff WWNnNr Writing to The deViCesin a da ade ideas 155 O Controlsintertace ninia es 156 Data Structures a A ad dass 156 Configuratio ha ne eE E TE E E av Ooh shea oa a ose ea ENS aes Cees bee 157 Gaisler CAN MUX driver CAN MUX ccccccccsecccseeeceeeeeneececeeceeueeeeeensenseeeneeeeeees 162 INTRODUCTION di idilio 162 CAN MUX Had WT a 162 Software Driven evoci ninc incida cas EEEN ade besatdauca tea used vaaseechass SaeGdeatavscadenscebatee 162 SUPPOTtEd OS si esses a ie 162 MAIN PLO Sts Sess Va Saute as dev ah ae E os see Sasa hale Gai ea ase deb data ELT RO altars MNS ee vaio te tages 162 SUDOESTE A A A AA TE ibd A Mees nah oes spate 162 PA AIR 162 Driver TegistratlON caverocnodicnnocno diari codos tiendita decidas 162 OpenId de 256k LSS Tae a as OR Fae ie a E ETER 162 Closing the device ia A Seva cada ds cals Se ani 163 I O Control Interface ccccccvcccesceassavcavescaas cee cueccetes ccd seanavacaeseecacued causanvsedevedaperseavecseees 163 Config emi in ogee tas das E EA dida 163 Gaisler ASCS GRAS GS ui A A Cas sen suned A EA At 165 Introductio niic eens a A ccd odda a CA 165 TN 165 EXAMPLE 165 ELENA Ta i EAE A EAE ANTI ETA A AE AS E E EE E E ATETA TT agen 165 User tea iia e E aiia E diia 165 AS GS Mitea a 167 ASCS mp t selecteer ia Ea NEE R EEE E EE A E EEE A 167 ASCS TOS ele iirin rieri A a da EE AAE 168 AS CS Start iesccecisscovceeveiaaixaabaosneameauedusa dia 168 ASES STOPT dae 168
29. ISR and unmask enable appropriate interrupt source int_unregister Unregister ISR and mask interrupt source int_clear Manual interrupt source acknowledge at the interrupt controller int_ mask Manual mask disable interrupt source at interrupt controller int_ unmask Manual unmask enable interrupt source at interrupt controller Table 5 Interrupt backend interface of driver manager AEROFLEX GR RTEMS DRIVER 22 GAISLER 3 2 1 1 Bus specific device information A bus provide a bus dependent way to describe devices on that bus register address for example The information is created by the bus driver from plug play or hardcoded information The information may for example be used by the bus driver to unite a device with a suitable device driver and by a device driver to get information about a certain device instance Each bus has its own device properties for example a PCI device have up to 6 BARs or variable size and a GRLIB AMBA AHB device has up to four different AHB areas of variable length This kind of information is hidden by the bus driver into the bus specific area that device drivers targeting the bus type can access 3 2 2 Root driver The driver that is responsible for initialization of the root device and root bus The driver manager needs to know what driver should handle the root often CPU local bus The root bus driver is registered by the BSP drvmgr option or by the user before the driver manager is i
30. NN 72 A RR LN 73 WE SET a A A A AOS 73 POR Donald di A A A E A as 73 CFOSTS SE icc ect iv ccteuende ccnades badtotes evacsaveelend adds idoneidad dad 74 CP GSTS GEP he t an a EEUE sandra olovaradeacealageoeds tuaces Shap AEAEE A 74 TOO Aia A E AE N E A EE E TTE 74 GR1553B DRIVER td A A E a E e A ENE N 75 INTRODUCTION creeeren atria EE ANE EEEE TAE SEARA 75 GR1553B Hardware scisso teei rinsi niintin EEEE E ESEA ENE Ta E AAEE EEES 75 SoftWare Drivere e aea rd 75 Driver Registrato senaia a AAAA A AE ETE 75 GR1553B REMOTE TERMINAL DRIVER ooocccoccnnncccnncccnnnocnnnaconnnronnnocnnnaronornacnnocnannnos 76 INTRODUCTIONS cirrosi trinii tena e tacdascdecieuessiiacavelseas cna set chacdaceuecdetselscdvccteluacuueteeacs 76 GR1553B Remote Terminal Hardware ccccccccseecccsececeeceeeecececeesesecseeeeaeceneeeees 76 Example tt a e a Ea 76 User Intertace nro ia ii robada 76 OVErVI Wenn A A a A Say ladies AES A 76 ACCESS AM RITA aaa 77 Introduction to the RT Memory areaS oocoocccncnnncnnncnoncnnncnnncnnnnnonononononononanononononcnnnnnios 77 Sub Address Table sinine eee norma conan tsa bccndancsvecacsucctissade dee cdaeegeedavsaneadedan 78 DI ESETIPCOLS a aiat ashe a EN O a aul cacdel ibi ida edad 78 Data BUESA il ested tess eden saws da sv oils dou A A A te 79 Event Oli asta de REA esac ok A 79 INICETTUPUSCLVICE A A IE A E id 79 Indication Service cintia ia in A Ved Wes ia a ene teed 80 Mode COde SUPDO Tdi an aaa add aaa ies cb 80 RI TM ti
31. RMAP stack to calculate the CRC of the header and data when CRC generation is not provided by the RMAP driver 4 7 2 1 5 rmap_ write and rmap_ read The read and write functions are example functions that implement the most common read and write operations The function will call rmap_send to execute the read and write request AEROFLEX GR RTEMS DRIVER 37 GAISLER 5 SpaceWire Network model 5 1 INTRODUCTION This document describes the SpaceWire bus driver used to write device drivers for a SpaceWire Node accessed over SpaceWire with RMAP 5 2 OVERVIEW In order to provide a standardized way of writing drivers for Nodes on a SpaceWire network and to improve code reuse a Bus driver for a SpaceWire network as been written The bus driver is written using the concepts of the Driver Manager The SpaceWire Bus driver provides services to the nodes in the network some of the services are listed below e Read Write access to target Using the RMAP protocol e Interrupt handling e Per node resources The hardware topology is organized by the driver manager s bus and device trees the SpaceWire bus driver is attached to the SpaceWire core providing the actual SpaceWire interface in order to maintain the hardware topology It is important that the on chip devices and drivers are loaded and initialized before the SpaceWire network as the SpaceWire network depends on the on chip devices The bus driver initialization is controlled and started
32. Returns processed GRAES block to user All blocks returned has been provided by the user in previous calls to ENCRYPT and need not all to have been successfully de encrypted RECLAIM can be configured to operate in polling mode blocking mode and blocking mode with a time out In polling mode the task always returns with or without processed packets in blocking mode the task is blocked until at least one packet has been processed See the ioctl command SET CONFIG and SET BLOCKING MODE to change mode of the RECLAIM command RECLAIM stores a linked list of processed GRAES blocks into the data area pointed to by the user argument The format for the stored data follows the layout of the graes list structure described in section 38 2 2 The graes list structure holds the first and last GRAES block processed by the driver The flags field indicates if the block was received or if errors were experienced during processing of this packet See table 199 for flags details In started mode this command enables scheduled GRAES block for de encryption as descriptors become free during the processing of GRAES blocks The call will fail if the pointer to the data area is invalid EINVAL the RECLAIM call operates in blocking mode and the time out expires ETIMEDOUT or the driver was stopped during the calling task was blocked ENODEV See table below ERRNO Description EINVAL An invalid argument ETIMEDOUT The blocked task was timed out
33. The data structure holds the first block and last block in chain struct graes_list struct graes_block head struct graes_block tail Member Description head First GRAES block in chain tail Last GRAES block in chain last block in list must have it s next field set to NULL Table 201 graes_list member descriptions The graes ioc stats structure contain statistics collected by the driver struct graes_ioc_stats unsigned long long blocks_processed unsigned int err_underrun y Member Description blocks processed Number of blocks successfully processed by the GRAES core err underrun Number of AMBA underrun errors Table 202 graes_ioc_stats member descriptions 38 2 4 2 Configuration The graes core and driver are configured using ioctl calls The table 201 below lists all supported ioctl calls graes IOC_ must be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 200 An example is shown below where the statistics of the driver is copied to the user buffer stats by using an ioctl call struct graes_ioc_stats stats result ioctl fd graes_IOC_GET_STATS amp stats ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The GRAES hardware is not
34. The length of the array is determined by minor cnt Table 60 gr1553bc_major_cfg member descriptions The gr1553bc list cfg data structure hold the configuration parameters of a descriptor List The Major and Minor Frames are configured separately The configuration parameters are used when generating descriptor struct gri553bc_list_cfg unsigned char rt_timeout 31 unsigned char bc_timeout int tropt_irq_on_err int tropt_pause_on_err int async_list Member Description rt_timeout Number of us timeout tolerance per RT address The BC has a resolution of 4us bc_timeout Number of us timeout tolerance of broadcast transfers tropt_irq on err Determines if transfer descriptors should generate IRQ on transfer errors tropt pause on err Determines if the list should be paused on transfer error async list Set to non zero if asynchronous list Table 61 gr1553bc_list_cfg member descriptions 19 3 9 2 gr1553bc_list_alloc Dynamically allocates a List structure no descriptors with a maximum number of Major frames supported The first argument is a pointer to where the newly allocated list pointer will be stored The second argument determines the maximum number of major frames the List will be able to support The list is initialized according to the default configuration If the list allocation fails a negative result will be returned 19 3 9 3 gr1553bc_list_free Free a List that has
35. a sub address void rt of a certain transfer type int subadr int tx struct gr1553rt_list list int gr1553rt_irq_err void rt gr1553rt_irgerr t func void data Assign an Error Interrupt handler callback routine and custom argument int gr1553rt_irq _mc void rt gr1553rt_irqmc t func void data Assign a Mode Code Interrupt handler callback routine and custom argument int gr1553rt irq sal Assign a Data Transfer Interrupt handler callback void rt routine and custom argument to a certain sub address int subadr and transfer type int tx gr1553rt_ irq t func void data int gr1553rt list init Initialize and allocate a descriptor List according to void rt configuration The List can be used for RX TX on any struct gr1553rt list plist sub address struct gr1553rt list cfg cfg int gr1553rt bd init Initialize a Descriptor in a List identified by number struct gr1553rt list list unsigned short entry_no unsigned int flags uint16 t dptr unsigned short next int gr1553rt_bd_update Update the status and or the data buffer pointer of a struct gr1553rt_list list descriptor int entry_no unsigned int status uint16_t dptr Table 42 function prototypes 17 2 2 1 Data structures The gr1553rt_cfg data structure is used to configure an RT device The configuration paramters are described in the table below struct gri553rt_cfg unsigned char rt
36. and write operations to registers and memory for drivers the SpaceWire Bus driver implements them for the SpaceWire bus A node driver calls the standard read and write operations which are translated into a SpaceWire bus read write which is implemented using the RMAP stack All operations are blocking until data is available the return value indicates it the transfer was successful or not 5 6 INTERRUPT HANDLING The RMAP protocol does not support interrupt handling this is instead implemented by an separate interrupt line the interrupt handling is an optional feature per SpaceWire node Each SpaceWire node may have up to four interrupts connected to interrupt capable GPIO pins The user must setup a Virtual Interrupt Table the table entries provide a way for the bus driver to translate a Virtual IRQ number to a GPIO pin The GPIO pin is used to connect to the IRQ and receive the interrupt In the node description a node may for example define it s IRQ1 to be connected to the SpaceWire bus Virtual IRQ 2 which in turn is connected to GPIO5 Setting up and controlling interrupts for node drivers are similar to a on chip device driver however the interrupt service routine must take more things in to account The ISR is expected to read and write to the node s registers over the SpaceWire bus that would require that SpaceWire bus is not busy and that the SpaceWire request is executed very fast non of these assumptions can be made The ISR can th
37. and write will result in errors It is necessary to enter reset mode to change operating parameters of the CAN core such as the baud rate and for the driver to safely change configuration such as FIFO buffer lengths The command will fail if the CAN core already is in reset mode 22 1 5 2 3 ISSTARTED Is used to determine the driver state Returns the error state EBUSY when the driver is in stopped mode It returns 0 and errno is not set when the driver is started 22 1 5 2 4 FLUSH This call blocks the calling thread until all messages in the driver s buffers has been processed by the CAN hardware The flush command may fail if the state is changed the driver is closed or an error is detected by hardware Errno is set to ENODEV to identify such a case 22 1 5 2 5 SET_SILENT This command set the SILENT bit in the configuration register of the CAN hardware If the SILENT bit is set the CAN core operates in listen only mode Write calls fails and read calls proceed This call fail if the driver is in running mode Errno is set to EBUSY when in running mode 22 1 5 2 6 SET ABORT This command set the ABORT bit in the configuration register of the CAN hardware The ABORT bit is used to cause the hardware to stop the receiver and transmitter when an AMBA AHB error is detected by hardware This call never fail 22 1 5 2 7 SET_ SELECTION This command selects active channel used during communication The SET SELECTION command tak
38. been previously allocated with gr 553bc_list_alloc 19 3 9 4 gr1553bc_list_config This function configures List parameters and associate the list with a BC device The BC device may be used to translate addresses from CPU address to addresses the GR1553B core understand therefore the list must not be scheduled on another BC device Some of the List parameters are used when generating descriptors as global descriptor parameters For example all transfer descriptors to a specific RT result in the same time out settings The first argument points to a list that is configure The second argument points to the configuration description the third argument identifies the BC device that the list will be scheduled on The layout of the list configuration is described in table 52 19 3 9 5 gri553bc_list_link major At the end of a Major Frame a unconditional jump to the next Major Frame is inserted by the List API The List API assumes that a Major Frame should jump to the following Major Frame however for the last Major Frame the user must tell the API which frame to jump to The user may also connect Major frames in a more complex way for example Major Frame 0 and 1 is executed only once so the last Major frame jumps to Major Frame 2 The Major frame indicated by next will be executed after the Major frame indicated by major A unconditional jump is inserted to implement the linking 19 3 9 6 gr1553bc_list_set_major Major Frames are associated
39. below result write fd amp tx_msgs 0 sizeof CANMsg msgcnt On success the number of transmitted bytes is returned and 1 on failure Errno is also set in the latter case Tx msgs points to the beginning of the CANMsg structure which includes id type of message data and data length The last parameter sets the number of CAN messages that will be transmitted it must be a multiple of CANMsg structure size The write call can be configured to block when the software fifo is full In non blocking mode write will immediately return either return 1 indicating that no messages were written or the total number of bytes written always a multiple of CANMsg structure size Note that 3 message write request may end up in only 2 written the caller is responsible to check the number of messages actually written in non blocking mode If no resources are available in non blocking mode the call will return with an error The errno variable is set according to the table given below ERRNO Description EINVAL An invalid argument was passed The buffer length was less than a single CANMsg structure size EBUSY The link is not in operating mode but in reset mode Nothing done ETIMEDOUT In non blocking mode ENODEV Calling task was woken up from blocking mode by a bus off error The CAN core has entered reset mode Further calls to read or write will fail until the ioctl command START is issued again Table 94 ERRN
40. command behaviour Two modes are available blocking mode and polling mode in polling mode the ioctl command RECLAIM always return directly even when no frames are available In blocking mode the task calling RECLAIM is blocked until at least one frame can be reclaimed it is also possible to make the blocked task time out after some time setting the timeout value using the SET CONFIG or SET TIMEOUT ioctl commands The argument is set as as described in the table below Bit number Description GRTM BLKMODE POLL Enables polling mode GRTM BLKMODE BLK Enables blocking mode Table 174 SET_BLOCKING MODE ioctl arguments The driver s default is polling mode Note that the blocking mode is implemented using the DMA transmit frame interrupt changing the isr desc proc parameter of the SET CONFIG command effects the blocking mode characteristics For example enabling interrupt generation every tenth TM frame will cause the blocked task to be woken up after maximum ten frames when going into blocked mode This command never fail 34 2 4 2 5 SET TIMEOUT Sets the blocking mode time out value instead of blocking for eternity the task will be woken up after this time out expires The time out value specifies the input to the RTEMS take semaphore operation rtems semaphore obtain See the RTEMS documentation for more information how to set the time out value Note that this option has no effect in polling mode Note that this opt
41. core a unique name and a number called minor The name is given during the opening of the driver The first three names are printed out Core number Filesystem name Location 0 dev grpwrx0 On Chip AMBA bus 1 dev grpwrx1 On Chip AMBA bus 2 dev grpwrx2 On Chip AMBA bus 0 dev rastatmtcO0 grpwrx0 GR RASTA TMTC PCI Target Table 183 Core number to device name conversion An example of an RTEMS open call is shown below fd open dev grpwrx0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 183 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 184 Open errno values 37 2 3 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the grpwrx driver 37 2 4 1 0 Control interface The behaviour of the driver and hardware can be changed via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno
42. data in the transmit buffers the write call is used The buffer should point to the beginning of one or several struct rt msg The number of messages is specified with the length argument E g struct rt_msg msg msg desc 33 transmit for subaddress 1 msg miw 16 lt lt 11 1 lt lt 9 16 words on bus A msg data 0 0x1234 msg data 15 OxAABB n write brm_fd msg 1 The number of messages actually placed in the transmit queue is returned If the device is in blocking mode it will block until there is room for at least one message When the buffer is full and the device is in non blocking mode 1 will be returned and errno set to EBUSY Note that it is possible also in blocking mode that not all messages specified will be transmitted by one call since the write call will seize to block as soon as there is room for one message The transmit buffer is implemented as a circular buffer with room for 8 messages with 32 data words each Each write call appends a message to the buffer 20 2 8 Bus Controller operation To use the BRM as Bus Controller one first has to use an ioctl call to set BC mode Command lists that the BC should process are then built using arrays of struct bc_msg described earlier in the data structure subsection To start the list processing the ioctl request BRM DO LIST is used The ioctl request BRM LIST DONE is used to check when the list processing is done It returns 1 in the suppl
43. device names are printed out below Device number Filesystem name Location 0 dev grcanO On Chip Bus 1 dev grcan1 On Chip Bus 2 dev grcan2 On Chip Bus Depends on system configuration dev rastaio0 grcan0 GR RASTA IO Table 84 Core number to device name conversion An example of an RTEMS open call is shown below fd open dev grcan0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 83 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 85 Open errno values 22 1 4 Closing the device The device is closed using the close call An example is shown below res close d Close always returns 0 success for the grcan driver 22 1 5 I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Two arguments must be provided to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the CAN driver s header file grcan h
44. driver parameter description AEROFLEX GR RTEMS DRIVER 50 GAISLER 13 Gaisler SpaceWire GRSPW 13 1 INTRODUCTION This document is intended as an aid in getting started developing with Gaisler GRSPW SpaceWire core using the GRSPW driver for RTEMS It briefly takes the reader through some of the most important steps in using the driver such as setting up a connection configuring the driver reading and writing packets The reader is assumed to be well acquainted with SpaceWire and RTEMS The cores supported are GRSPW GRSPW2 and SpaceWire Router DMA interface The GRSPW driver require the RTEMS Driver Manager See the GRLIB IP Core User s Manual for GRSPW hardware details 13 1 1 Software driver The driver provides means for processes and threads to send and receive packets Link errors can be detected by polling or by using a dedicated task sleeping until a link error is detected The driver is somewhat similar to an Ethernet driver However an Ethernet driver is referenced by an IP stack layer The IP stack can detect missing or erroneous packets since the user talks directly with the GRSPW driver it is up to the user to handle errors The driver aims to be fully user space controllable in contrast to Ethernet drivers 13 1 2 Examples There is a example of how to use the GRSPW driver distributed together with the driver The example demonstrates some fundamental approaches to access and use the driver It is made up of two task
45. driver s read call changes behaviour After this call the driver will block the calling thread until free space in the receiver s circular buffer are available result ioctl fd APBUART_IOC_SET_BAUDRATE 115200 ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The APBUART hardware is not in the correct state ioctl calls may need the UART to be in stopped mode to function correctly One can switch state by calling START or STOP ENOMEM Not enough memory to complete operation This may cause other ioctl commands to fail Table 123 ERRNO values for ioctl calls Call Number Call Mode Description START Stopped Exit paused mode brings enables receiver and transmitter Enables read and write STOP Running Exit operating mode Disables read and write but enables user to change FIFO depth SET RX FIFO LEN Stopped Sets software receiver FIFO length in number of bytes SET TX FIFO LEN Stopped Sets software transmitter FIFO length in number of bytes SET BAUDRATE Don t Care Sets baud rate of a UART channel SET SCALER Don t Care Sets the baud rate manually by setting the scaler register of the APBUART core SET BLOCKING Don t Care Set receive read transmit write blocking mode and TX Flush mode which blocks until all characters have bee put into software transmit FIFO GET STATS Don t Care Store UART driver statistics to a user
46. during filler and end of frame processing err_abandoned reserved for future use NOT IMPLEMENTED dropped Number of dropped frames due to not the correct buffers were available when processing the frame dropped no buf Number of frames dropped because no empty frames of this frame length were available upon reception dropped too long Number of frames dropped because frame length too long to match any of the configured frame pools Table 159 grtc_ioc_stats member descriptions 33 2 4 2 Configuration The TC core and driver are configured using ioctl calls The table 153 below lists all supported ioctl calls GRTC_IOC_ must be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 152 An example is shown below where the statistics of the driver is copied to the user buffer stats by using an ioctl call struct grtc_ioc_stats stats result ioctl fd GRTC_IOC_GET_STATS stats ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The TC hardware is not in the correct state Many ioctl calls need the TC core to be in stopped or started mode One can switch state by calling START or STOP ENOMEM Not enough memory to complete operation This may cause other ioctl commands to fail EIO Writing to hardw
47. enr see Eer eeN doo dada caneareaseatcaesatsaasetdanehsacanersacanercacaness 125 Driver resource configuration s ssessessessessessrssrserserserseoseseoseoseesessessessesseseseseese 125 E E NONNNNNNNNNNNNNN ONOURWNR NNNNNNNNNNNNNWW UABBAAAARABAUUAWL N PRR RP RP RP RP RP RP RP AA NNN NN E RAR ARA A Ne NNYNNNNNNNN Y NNNNNNNNN Gobbi weN NNN ee NNNNNNNNNNBRBRBEBEE ORWNFR NNNNNNNNNNNNNWN BP WWWWWWWWWWWWWW NOUUURWNR Ne NNN P NNNNNRRBR 4 R una NNNNNNNW A IA Ie IRA IA e A e IES N Custom DMA area paraMeteT ocoococcnccnncnncnncnncnncnncnncnnnnnnn noc cnc nnnnnonnnnononnnnonannnnanannnnono 126 Opening the devices ico consorcio eee die ca eee had o E AE a dadas 126 Closing the device a A DI A Alan 127 T O Control ntertace ii A a A RA dd tdo 127 Data Strucrures o a aae E a awe bovadeebeny 127 CONPIGUTATIONS essen A Ee aAA ADEA AANE des CaS Ses EET OEELA 129 RE SET ADDR aeee a a E A AAA A EA 129 RT SET BCE iis ssc nespateones tediosa cos notado 129 RT SEE VECTOR Woo en eoii ees dg oeites aeons teactyeceuaweweed eos ghesues unary went oot eel cateuedeesodddiedas 129 RT RX BLOCK oaa A Cea dae ee san dead decah e wie tang vag a a 130 RT 2S FE EXIMDATA Bigatti cated ona ois ows chain ale atlas Ole EEEE A cee deed vee duet ii 130 AMAS AA RN 130 RIT GET STA TU Sidi tii a asii 130 RE SET EVENTI De o A la 130 Remote Terminal Operati0N oocoooccncnnncnnncnnncnnncnnncnnnnnnnnnnnnnoncnnn
48. fail if the input block list is incorrectly set up errno will be set to EINVAL in such cases 38 2 5 De encryption De encrypting blocks is done with the ioctl call using the command ENCRYPT and RECLAIM It is possible to de encrypt multiple blocks in one call the blocks are provided to the driver using a linked list of blocks See the ioctl commands ENCRYPT and RECLAIM for more information 39 Support For support contact the Aeroflex Gaisler Research support team at support gaisler com
49. frame the first free slot is allocated within the minor frame The resulting MID of the Slot is stored back to mid the MID can be used in other function call when setting up the Slot The mid argument is thus of in and out type The third argument timeslot determines the time slot that should be allocated to the Slot If time management is not configured for the Minor Frame a time can still be assigned to the Slot If the Slot should step to the next Slot directly when finished no assigned time slot the argument must be set to zero If time management is enabled for the Minor Frame and the requested time slot is longer than the free time the call will result in an error negative result The fourth and last argument can optionally be used to get the address of the descriptor used 19 3 9 15 gr1553bc_slot_free Return Slot and timeslot allocated from the Minor Frame 19 3 9 16 gr1553bc_mid_from_bd Looks up the Slot Message ID MID from a descriptor address This function may be useful in the interrupt handler where the address of the descriptor is given 19 3 9 17 gr1553bc_slot_bd Looks up descriptor address from MID 19 3 9 18 gr1553bc_slot_irq_prepare Prepares a condition descriptor to generate interrupt Interrupt will not be enabled until gr 553bc_slot_irq_enable is called The descriptor will be initialized as an unconditional jump to the next descriptor The Slot can be associated with a custom callback function and an ar
50. gr1553bc_bd gr1553bc_slot bd struct gr1553bc list list int mid Get descriptor address from MID int gr1553bc_slot_irq prepare struct gr1553bc list list int mid bcirq func_t func void data Prepare a condition Slot for generating interrupt Interrupt is disabled A custom callback function and data is assigned to Slot int gr1553bc_slot_irq enable struct gr1553bc list list int mid Enable interrupt of a previously interrupt prepared Slot int gr1553bc slot irq disable struct gr1553bc list list int mid Disable interrupt of a previously interrupt prepared Slot int gr1553bc_slot jump struct gr1553bc list list int mid uint32_t condition int to_mid Initialize an allocated Slot the descriptor is initialized as a conditional Jump Slot The conditional is controlled by the third argument The Slot jumped to is determined by the fourth argument int gr1553bc slot _exttrig struct gr1553bc list list int mid Create a dummy transfer with the Wait for external trigger bit set int gr1553bc slot transfer struct gr1553bc list list int mid int options int tt uint16_t dptr Create a transfer descriptor int gr1553bc_slot dummy struct gr1553bc list list int mid unsigned int dummy Manipulate the DUMMY bit of a transfer descriptor Can be used to enable or disable a transfer descriptor int gr1553bc_slot_empty struct gr1553bc list l
51. hardware are listed below e GRPCI2 e GRPCI PCIF e AT697 PCI The PCI drivers require the Driver Manager and PCI Library available in the Aeroflex Gaisler RTEMS distribution The PCI Library documentation is available in the doc user directory in the Aeroflex Gaisler RTEMS source distribution Note that the PCI Library is not available in the official RTEMS distribution 7 1 1 Examples There is a simple example available that initializes the PCI Bus lists the PCT configuration and demonstrates how to write a PCI device driver The example is part of the Aeroflex Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rtems pci c The rtems shell c sample found in the same directory also demonstrates PCT with RTEMS note that there is a pci command which can be used to get information about the PCI set up 7 2 SOURCES The drivers can be found in the RTEMS SPARC BSP shared directory and in the LEON2 BSP See table below Location Description libbsp sparc leon2 pci at697_pci c AT697 PCI libbsp sparc shared pci grpci2 c GRPCI2 libbsp sparc shared pci grpci c GRPCI libbsp sparc shared pci pcif c GRLIB PCIF ACTEL PCI AMBA wrapper cpukit libpci PCI Library cpukit libpci pci_bus PCI Bus driver for driver manager doc user libpci t PCI Library documentation Table 14 PCI driver source location 7 3 CONFIGURATION The PCI interrupt assignment can be configured
52. has been transmitted or not GRPWRX FLAGS ERR Indicates if errors has been experienced during transmission of the packet GRPWRX FLAGS FHP Indicates weather to set the First Header Pointer FPH flag of the GRPWRX buffer descriptor s word 0 The length of the packet should be 2 and the payload field should point to the location of the CCSDS frame s first header pointer field TRANSLATE Translate packet payload address from CPU address to remote bus the bus grpwrx is resident on This is useful when dealing with buffers on remote buses for example when grpwrx is on a AMBA bus accessed over PCI This is the case for GR RASTA TMTC TRANSLATE AND REMEMBER As TRANSLATE however if the translated payload address equals the payload address the TRANSLATE AND REMEMBER bit is cleared and the TRANSLATE bit is set Table 188 grpwrx_packet flags description The grpwrx list structure represents a linked list a chain of GRPWRX packets The data structure holds the first packet and last packet in chain struct grpwrx_list struct grpwrx_packet head struct grpwrx packet tail y Member Description head First GRPWRX packet in chain tail Last GRPWRX packet in chain last packet in list must have it s next field set to NULL Table 189 grpwrx_list member descriptions The grpwrx_ioc_ stats structure contain statistics collected by the driver struct grpwrx_ioc_stats
53. has passed the time includes the 1553 bus transfers See the BC hardware documentation Time is managed by adding an extra Dummy Message Slot with the time assigned to the Minor Frame Every time a message Slot is allocated with a certain time Slot Time the Slot Time will be subtracted from the assigned time of the Minor Frame s Dummy Message Slot Thus the sum of the Message Slots will always sum up to the assigned time of the Minor Frame as configured by the user When a Message Slot is freed the Dummy Message Slot s Slot Time is incremented with the freed Slot Time See figure below for an example where 6 Message Slots has been allocated Slot Time in a 1 ms Time Managed Minor Frame Note that in the example the Slot Time for Slot 2 is set to zero in order for Slot 3 to execute directly after Slot 2 Major 3 Minor 0 Illustration 2 Time Managed Minor Frame of 1ms The total time of all Minor Frames in a Major Frame determines how long time the Major Frame is to be executed Slot allocation can be performed in two ways A Message Slot can be allocated by identifying a specific free Slot MID identifies a Slot or by letting the API allocate the first free Slot in the Minor Frame MID identifies a Minor Frame by setting Slot ID to Oxff 19 3 5 Slot Descriptor The GR1553B BC core supports two Slot Descriptor Types Transfer descriptor also called Message Slot e Condition descriptor Jump unconditional IRQ See the hardw
54. illegal value 13 2 5 2 28 SET TCODE CTRL This call is used to control the timecode functionality of the GRSPW core The TR Timecode RX Enable TT Timecode TX enable and TQ Tick out IRQ bits in the control register can be set or cleared if tick out IRQ is enabled global IRQ is also enabled The argument is a 12 bit mask the least significant four bits determines which bits are written mask the upper four bits determine the new register value of the enabled bits please see the SPACEWIRE TCODE CTRL AEROFLEX GR RTEMS DRIVER 63 GAISLER definitions When Tick out interrupt is enabled the grspw_timecode callback function is called for every tick out that is received it is called from the interrupt service routine in interrupt context The function pointer must be set by the user to point to a function to handle tick in interrupts The function is global for all GRSPW devices the arguments regs and minor both identify an unique GRSPW core and the tc argument determines the current value of the timecode register upon interrupt void grspw_timecode_callback void pDev void regs int minor unsigned int tc 13 2 5 2 29 SET_TCODE This call sets the timecode register and or generates a tick in The operation is controlled by the argument bit mask setting SPACEWIRE TCODE SET will result in the lower 8 bits will be written to the timecode register whereas setting SPACEWIRE TCODE TX will result in a tick in generation If bo
55. into BM RT Mode code filter register please see hardware manual for bit declarations buffer size Size of buffer in bytes must be aligned to 8 byte boundary buffer custom Custom BM log buffer location must be aligned to 8 byte and be of buffer size length If NULL dynamic memory allocation is used copy_func Custom Copy function may be used to implement a more effective custom way of copying the DMA buffer For example the DMA log may need to processed at the same time when copying copy func arg Optional Custom Data passed onto copy _func dma error isr Custom DMA error function note that this function is called from Interrupt Context Set to NULL to disable this callback dma error arg Optional Custom Data passed on to dma_error_isr Table 49 gr1553bm_config member descriptions The gr1553bm entry data structure represent one entry in the BM log struct gri553bm_entry uint32_t time uint32_t data y Member Description time Time of word transfer entry Bit31 1 bit 30 24 0 bit 23 0 time data Transfer status and data word Bits Description 31 Zero 30 20 Zero 19 O BusA 1 BusB 18 17 Word Status 0O 0k 01 Manchester error 10 Parity error 16 Word type O Data 1 Command Status 15 0 16 bit Data on detected on bus Table 50 gr1553bm_entry member descriptions 18 2 2 2 gr1553bm_open Opens a GR1553B BM de
56. jd jd j pd pd jd pd NOTRWNFE GR1553B BUS MONITOR DRIVER aaaeei eene ess a E EENE OEE e a AE AEA e s 88 INTRODUCITO Noia A A a S ET 88 GR1553B Remote Terminal Hardwa e ccsccccseecccsececeecceeececueceeeeseeueeeeaecenseeeees 88 EXAMPLES 32k sched sc os bs CoO SSG A ha Casas dies oles SE Saas aos ws 88 User Interface anea se eaa a ssachcscndasenadead cavea tees cauceecasce lestdatdasacaesdsvetesasvenseasy 88 OVA Pas Can bates cis 88 Accessing a BM devil viii ii dd iii GoW das ai 89 BM NS A TN 89 Accessing the BM Log MeMOTY cocccocnnnccnncnnncnnnononononononononcnonnnnnnnonnnonnnonononnnnnnnncnnnnnnons 89 E cals Geveg dpb acbavaecbeseaue cts eGean E EE 90 FTG OT LING see ees Seba Ss nc ee a oh ea ee EG ca De sd SUIT Peis OO A ENEE Eo PAE 90 INCETTUPU SEIVICE incaico Haske sceeca canned donna bes AN VASKET EErEE REKEN RENSET EE EEEN EA 90 Application Programming Interface sseesseeseesseressersstessresereseresereserssereseeseesesersees 90 Data Structure alada 91 ILL DS DM OP surie ti dias 94 Or 3DM lOs ui A AE ia 94 OTL S53 bm COM ii SA A yeaa Se AG See ee 94 grl 553pm diia A ais ties Baa ean dnc ocd a Teed vd ai 94 JTI S53 HM Stop sews ccccss Sues A lane 95 QTLSS SDM tMar se ccce cien inoi EEE EESE AE AEE yeas tuegtads ich ods Slaveatuanes caseves dadas 95 gri553bm available e ii cccccecccicciscavssacoscenenaccdues daseees cua cavesacetetadavsincsbectechedeu ceva ses cesbens 95 NN 95 GRI553B Bus Controller DRIVER v
57. linked in a chain SEND Started Add a chain of TM frames to the transmission queue of the GRTM driver Table 173 ioctl calls supported by the GRTM driver 34 2 4 2 1 START This ioctl command enables the TM transmitter and changes the driver s operating status to started Settings previously set by other ioctl commands are written to hardware just before starting transmission It is necessary to enter started mode to be able to send TM frames using the ioctl command GRTM _IOC SEND The command will fail if the transmitter is unable to be brought up the driver or hardware configuration is invalid or if the TM core already is started In case of failure the return code is negative and errno will be set to EIO or EINVAL see table 169 34 2 4 2 2 STOP This call makes the TM core leave started mode and enter stopped mode The transmitter is stopped and no frames will be sent After calling STOP further ioctl commands such as SEND RECLAIM ISSTARTED STOP will behave differently or result in error It is necessary to enter stopped mode to change major operating parameters of the TM core and driver See SET_CONFIG for more details The command will fail if the TM driver already is in stopped mode 34 2 4 2 3 ISSTARTED Determines if driver and hardware is in started mode Errno will be set to EBUSY in stopped mode and return successfully in started mode 34 2 4 2 4 SET BLOCKING MODE Changes the driver s GRIM IOC_RECLAIM
58. memory controller and perhaps washed the memory other drivers may then request memory from a certain partition The partition number that a driver request memory from may be configured from driver resources making it possible for the user to easily control which parts of the memory is used For example a descriptor table may be required to be located in on chip RAM AEROFLEX GR RTEMS DRIVER 40 GAISLER Drivers request memory with memory alignment requirements by calling ambapp rmap partition memalign The device structure is passed along when creating partitions and when allocating memory making it possible for the AMBA RMAP bus driver to allocate memory from the same bus 6 6 DIFFERENCES BETWEEN ON CHIP AMBA DRIVERS There some differences when writing drivers for a remote target accessed over SpaceWire using the AMBA RMAP driver this section identifies the most common differences e Read and Write access memory and registers must be through functions rather than direct functions are provided e Error handling of failed read write accesses this may also be handled on a global level by the SpaceWire bus driver Memory allocation of target memory e ISR may block executed in task context e Lock out ISR method is different Drivers must set bus type to DRVMGR_BUS_TYPE_AMBAPP_RMAP 7 SPARC LEON PCI DRIVERS 7 1 INTRODUCTION This section describes PCI Host support in RTEMS for SPARC LEON processors The supported PCI Host
59. of 32 bd_count bytes size Table 43 gr1553rt_cfg member descriptions The gr1553rt list cfg data structure hold the configuration parameters of a descriptor List struct gri553rt_list_cfg unsigned int bd_cnt y Member Description bd cnt Number of descriptors in List Table 44 gr1553rt_list_cfg member descriptions The current status of the RT core is stored in the gr1553rt_status data structure by the function gr1553rt_status The fields are described below struct gr1i553rt_status unsigned int status unsigned int bus_status unsigned short synctime unsigned short syncword unsigned short time_res unsigned short time Member Description status Current value of RT Status Register bus_status Current value of RT Bus Status Register synctime Time Tag when last synchronize with data was received syncword Data of last mode code synchronize with data time_res Time resolution in microseconds set by config time Current Time Tag time_res time gives the number of microseconds since last time overflow Table 45 gr1553rt_status member descriptions 17 2 2 2 gr1553rt_open Opens a GR1553B RT device identified by instance number minor The instance number is determined by the order in which GR1553B cores with RT functionality are found the order of the Plug amp Play A handle is returned identifying the opened RT device the handle is
60. of GPIO ports The driver will fail with a return code when an interrupt is unmasked but the GPIO port does not support interrupt generation 31 1 2 Examples There is an example available in the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rtems gpio c 31 2 USER INTERFACE The RTEMS GRGPIO GPIO driver supports the GPIO Library operations The driver is united with GRGPIO cores by the driver manager as GRGPIO cores are found During driver initialization the GPIO driver initializes the GPIO Library and registers the driver Each GPIO port is handled separately using the GPIO Library An example application using the driver is provided in the samples directory distributed with the toolchain 31 2 1 Driver registration The registration of the driver is needed in order for the GPIO Library to know about the GPIO hardware driver The GPIO driver registration is performed automatically by the driver when GRGPIO hardware is found for the first time The driver is called from the driver manager to handle detected GRGPIO hardware In order for the driver manager to unite the GRGPIO driver with the GRGPIO hardware one must register the driver to the driver manager This process is described in the driver manager chapter 31 2 2 Driver resource configuration The driver can be configured using driver resources as described in the driver manager chapter Below is a description of configurable driver parameters The
61. onto the child bus and vice versa For example in a LEON system one linear region of the PCI memory space may be accessed through the PCI Host s PCI Window from the processor s AMBA memory space side The bus maps_up and bus maps_down fields can be used to describe the bridge address regions used to access buses in upstreams or downstreams direction The driver manager provides address translation functions that is implemented using the region descriptions Every bus driver implements a number of functions that provide an interface to the driver manager device drivers or to the user The function interface is listed below Every bus has number of init functions similar to device drivers where the bus is responsible for finding creating low level initialization and registration of new devices If a bus driver require some AEROFLEX GR RTEMS DRIVER 21 GAISLER feature from the parent bus that is available in a certain level the bus can assume that the parent bus and all its devices has already reached a higher level or the same as the bus is requested to enter Bus operations struct drvmgr_bus_ops Functions used internally within driver manager int init DRVMGR_LEVEL_MAX struct drvmgr_bus int remove struct drvmgr_bus int unite struct drvmgr_drv struct drvmgr_dev Functions called indirectly from drivers int int_register struct drvmgr_dev int index const char info drvmgr_isr isr
62. or data transfer callback for each event in the log which has generated an IRQ determined by the IRQSR bit Even though both the ISR and the eventlog read function r1553rt_evlog_read processes the eventlog they are completely separate processes one does not affect the other It is up to the user to make sure that events that generated interrupt are not double processed The callback functions are called in the same order as the event was generated Is is possible to configure different callback routines and or arguments for different sub addresses 1 30 and transfer types RX TX Thus 60 different callback handlers may be registered for data transfers 17 2 1 8 Indication service The indication service is typically used by the user to determine how many descriptors have been processed by the hardware for a certain SA and transfer type The gr1553rt_indication function returns the next descriptor number which will be used next transfer by the RT core The indication function takes a sub address and an RT device as input By remembering which descriptor was processed last the caller can determine how many and which descriptors have been accessed by the BC 17 2 1 9 Mode Code support The RT core a number of registers to control and interact with mode code commands See hardware manual which mode codes are available Each mode code can be disabled or enabled Enabled mode codes can be logged and interrupt can be generated upon transmissi
63. phy_busypos Positive polarity of busy input signal enable cnt Number of packets between interrupts are generated zero disables interrupt Allows user to fine grain interrupt generation isr desc_proc Allow interrupt service routine ISR to process descriptors blocking Blocking mode select grpwrx BLKMODE POLL for polling mode or grpwrx BLMODE BLK for blocking mode timeout Blocking mode time out Table 186 grpwrx_ioc_config member descriptions The grpwrx packet structure is used in for receiving GRPWRX packets and retrieving received packets it is the driver s representation of a GRPWRX packet A GRPWRX packet structure can be chained together using the next field in grpwrx_packet struct grpwrx_packet unsigned int flags struct grpwrx_packet next int length unsigned int payload y Member Description flags Mask indicating options transmission state and errors for the packet GRPWRX_FLAGS XXX See Table 187 next Points to next GRPWRX packet This field is used to make driver process multiple GRPWRX packets at the same time avoiding multiple ioctl calls Length The length of the receive packet in framing mode payload Points to a data area holding the complete GRPWRX packet The area include fields such as header payload OCF CRC Table 187 grpwrx_packet member descriptions Flag Description GRPWRX_FLAGS RECEIVED Indicates whether the packet
64. rejected int gradcdac_DAC_isCompleted unsigned int status DAC conversion complete int gradcdac_DAC isOngoing unsigned int status DAC conversion is ongoing int gradcdac ADC isTimeouted unsigned int status ADC sample timed out int gradcdac ADC RegRej unsigned int status ADC sample request rejected int gradcdac ADC isCompleted unsigned int status ADC conversion is completed int gradcdac ADC isOngoing unsigned int status ADC conversion is ongoing Table 146 Status interpretation help functions 32 2 6 3 ADC functions A short summary to the functions are presented in the prototype lists below Operating on all ports void gradedac_adc convert _start void int gradcdac adc convert try unsigned short digital value int gradcdac_adc_convert unsigned short digital value Table 147 ADC functions 32 2 6 3 1 gradcdac_adc_convert_start Make the ADC circuitry initialize an analogue to digital conversion The result can be read out by gradcdac_adc_ convert try or gradcdac_adc convert 32 2 6 3 2 gradcdac_adc_convert try Tries to read the conversion result previously started with gradcdac_adc convert start If the circuitry is busy converting the function returns a non zero value if the conversion has successfully finished zero is returned Return Code Description Zero ADC conversion complete digital value contain current conversion result Positive ADC busy digital value contain p
65. return immediately returning the same non zero value Return Values 0 all devices was scanned non zero stopped by user function returning the non zero value N int ambapp_for_each 2 5 struct ambapp bus abus unsigned int options int vendor int device ambapp_func_t func void arg ALLOCATING A DEVICE A device can be marked allocated so that other parts of the code knows that the device has been taken this feature is not used by the LEON BSPs The ambapp dev owner field is set to a non zero value to mark that the device is allocated use ambapp_alloc_dev and ambapp free _dev to set allocation mark 2 6 NAME DATABASE In ambapp names c AMBA Plug amp Play vendor and device names are stored in a name database The names are taken from device vhd in GRLIB distribution Names can be requested by calling appropriate function listed below AEROFLEX GR RTEMS DRIVER 17 GAISLER Get Device Name from AMBA PnP name database char ambapp_device_id2str int vendor int id Get Vendor Name from AMBA PnP name database char ambapp_vendor_id2str int vendor Set together VENDOR_DEVICE Name from AMBA PnP name database Return length of C string stored in buf not including string termination 10 af int ambapp_vendev_id2str int vendor int id char buf 2 7 FREQUENCY OF A DEVICE As described in the initialization section every AHB bus may have a unique bus frequency APB buses a
66. retval lt 0 f if retval GRASCS_ERROR_STARTSTOP printf ERROR Failed to start TC because serial interface never started n else if retval GRASCS_ERROR_TRANSACTIVE printf ERROR Failed to start TC because a transaction is in progress n 27 RAW UART DRIVER INTERFACE APBUART 27 1 USER INTERFACE The RTEMS Raw UART driver supports the standard accesses to file descriptors such as read write and ioctl User applications include the apbuart driver s header file apbuart h which contains definitions of all necessary data structures and bit masks used when accessing the driver The APBUART driver require the RTEMS Driver Manager The UART driver is an interrupt driven raw character stream driver with the ability to add a carriage return r in C after a new line in in C has been detected in the output stream The UART interrupt handler copies received characters to a receive FIFO buffer placed in RAM to avoid overruns Characters are then read from the RAM buffer by calling read Writing a number of characters when the hardware transmitter is full results in that the driver puts the characters into a software FIFO buffer located in RAM to be sent later on by the transmitter interrupt handler 27 1 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The RTEMS I O driver registration is performed a
67. routes struct Single entries cannot be read on their own 15 2 5 6 PS_SET struct router_ps unsigned int ps 31 unsigned int ps_logical 224 Descriptiion Port setup for physical addresses Member ps 31 ps_logical 224 Port setup for logical addresses Table 37 router_ps member descriptions The port setup determines which ports a packet with a certain destination address should be AEROFLEX GR RTEMS DRIVER 73 GAISLER transmitted on One or more ports can be specified for a single address Physical addresses should correspond to the port with the same number but the standard does allow group adaptive routing or packet distribution as well Normally they should only be used with logical addresses though The ps fields correspond to physical addresses 1 to 31 and ps logical corresponds to logical addresses 32 255 Single addresses cannot be written individually Note that a port setup field corresponding to a logical address should not be nonzero if the routing table entry for the same address is not enabled or vice versa 15 2 5 7 PS_GET Reads the port setup entries for all physical and logical address and stores them in a router ps struct Single addresses cannot be read individually 15 2 5 8 WE_SET This call takes an integer value which should be either 0 or 1 and writes it to the configuration write enable bit WE 15 2 5 9 PORT struct router port unsigned int flag int port
68. same minimum length the length is specified by the frame len field and the frame chain is pointed to by the field frames This data structure is used by the driver to assign a common pool for all frames in the chain This is to make the frame to pool insertion faster for unused frames struct grtc_ioc_assign_frm_pool unsigned int frame_len struct grtc_frame frames Member Description frame len Minimum length of all TC frames in the frames field frames Linked list of frames that will be assigned a pool by the driver Table 158 grtc_ioc_assign_frm_pool member descriptions The grtc_ioc_stats structure contain statistics collected by the driver in FRAME mode struct grtc_ioc_stats unsigned long long frames_recv Errors related to incoming data unsigned int err unsigned int err_hdr unsigned int err_payload unsigned int err_ending unsigned int err_abandoned Errors related to the handling of incoming frames unsigned int dropped unsigned int dropped_no_buf unsigned int dropped_too_long y Member Description frames recv Number of frames successfully received by the TC core err Total number of errors related to incoming data due to too early frame ending or abandoned frame err_hdr Number of errors encountered during frame header processing err_payload Number of errors encountered during frame payload processing err_ending Number of errors encountered
69. setting val to 0 or high by setting val to 1 30 3 4 1 3 gpiolib_get Get the input value of a GPIO port The value is stored into the address indicated by the argument inval 30 3 4 1 4 gpiolib irq clear Acknowledge any interrupt at the interrupt controller that the GPIO port is attached to This may be needed in level sensitive interrupt mode 30 3 4 1 5 gpiolib_irq_ force Force an interrupt by writing to the interrupt controller that the GPIO port is attached to 30 3 4 1 6 gpiolib_irq enable Unmask GPIO port interrupt on the interrupt controller the GPIO port is attached to This enables GPIO interrupts to pass though to the interrupt controller 30 3 4 1 7 gpiolib_irq disable Mask GPIO port interrupt on the interrupt controller the GPIO port is attached to This disable interrupt generation at the interrupt controller 30 3 4 1 8 gpiolib_irq_register Attaches a interrupt service routine to a GPIO port Described separately above 31 Gaisler GPIO DRIVER GRGPIO 31 1 INTRODUCTION This section describes the GRGPIO driver available for RTEMS The GRGPIO driver provides the necessary functions needed by the GPIO Library The GPIO Library is not documented here The GRGPIO driver require the RTEMS Driver Manager 31 1 1 GPIO Hardware The GRGPIO core is documented in the GR IP Core User s manual The driver supports multiple GPIO cores The hardware may be configured to support interrupt generation on any combination
70. tiene 37 Requirements eurer heen lidades laa A 37 Node descriptio N marenn oon Seis Fea he AS Soe Se Pac ws Do a Cady nth Ne eaten a ERNE OEA 37 TRE Node Di A oa da RA PS SIS aos 38 Read and Write Operation ccccccccccceecc eee e eee e eee eee eee e eee e ance a eee ae ec asec asec eee eaeea eee eee eee es 38 Interrupt Handling is 38 Using the SpaceWire Bus DIIVeT cooocoocncocnoncnnncnnncnoncnoncnonononcnonnnonnnnnnnnnnnnnnnnnnnannnanons 38 AMBA over paco WIP 6 iii ccsccsccecescessceeceeceaedacdaecdecsaceeceecseces costed leneeascacchacaececoucavesaseeecsens 39 OuUPWNPR RAR RWW Ww bie UN Re NNNNNNNNNNNN ANNO UN Re wN e NQUJUVUJIRUWUNNEe N e ae galo kieno A A PE EET E E IEE ATERA 39 Overview RN 39 Reg irements a ac taron A A T eee eine 39 Interrupt handing miseen A EE css EE EE EEE A Sa NE 39 Memory allocation on Target oocoocnnoccnocnnocnnocnnnnnnncnnnononononononononnnonnnnnnnnnnncnnnnnnnnnnnos 39 Differences between on chip AMBA dTIVETS cooccoocnnncnoncnnncnnnnnnnnnnnncnncnoconcnnnnnnncnncnnns 40 SPARE LEON PCETDRIVERS 00 A iia 41 INTRODUCTION vis siccasicoccsesatiseca cds naan es Eae PE SEEE E EEE EAREN andina daa de 41 Examples neinir dig vas ae Gov vee ss oe suns Tue SaS annae ESS oa ould TEOR ea E EAEE TEAS 41 SOULCOS A A A A id 41 COnMMGUTATION sity ik See adc ee EESAN Ra A se 41 GRPC NN G 42 A ARAN 42 DOMO A A A A E A oat 42 User interfata id laa td A EA di di DA 43 PGLAddress SPACe i
71. transfer descriptors Table 52 Device API function prototypes 19 2 1 1 Data Structures The gr1553bc status data structure contains the BC hardware status sampled by the function gr1553bc _status struct gr1553bc_status unsigned int status unsigned int time Member Description status BC status register time BC Timer register Table 53 gr1553bc_status member descriptions 19 2 1 2 gr1553bc_open Opens a GR1553B BC device by device instance index The minor number relates to the order in which a GR1553B BC device is found in the Plug amp Play information A GR1553B core which lacks BC functionality does not affect the minor number If a BC device is successfully opened a pointer is returned The pointer is used internally by the GR1553B BC driver it is used as the input parameter bc to all other device API functions If the driver failed to open the device NULL is returned 19 2 1 3 gr1553be_close Closes a previously opened BC device This action will stop the BC hardware from processing descriptors lists disable BC interrupts and free dynamically memory allocated by the driver 19 2 1 4 gr1553be_start Calling this function starts the BC execution of the synchronous list and or the asynchronous list At least one list pointer must be non zero to affect BC operation The BC communication is enabled depends on list and Interrupts are enabled This function can be called mul
72. transmission of the frame GRTM FLAGS TS Generate Time Strobe TS for the frame GRTM FLAGS MCB Bypass the TM core s Master Channel Counter generation GRTM_ FLAGS FSHB Bypass the TM core s Frame Secondary Header FSH generation GRTM FLAGS OCFB Bypass the TM core s Operational Control Field OCF generation GRTM_FLAGS FHECB Bypass the TM core s Frame Header Error Control FHEC generation GRTM_FLAGS IZB Bypass the TM core s Insert Zone IZ generation GRTM_FLAGS FECFB Bypass the TM core s Frame Error Control Field FECF generation COPY DATA This option has effect only on the SpaceWire version of the driver Indicates if the TM frame payload should be copied into the assigned descriptor s buffer or not If this option is not set then the payload address is assumed to be readable by the GRTM core and the descriptor address pointer is written with the address of the payload directly TRANSLATE Translate frame payload address from CPU address to remote bus the bus GRTM is resident on This is useful when dealing with buffers on remote buses for example when GRTM is on a AMBA bus accessed over PCI This is the case for GR RASTA TMTC Not used in SpaceWire version of driver TRANSLATE AND REMEM As TRANSLATE however if the translated payload address equals the BER payload address the TRANSLATE AND REMEMBER bit is cleared and the TRANSLATE bit is set Not used in SpaceWire version of driver Table 169 Frame flags descr
73. user Assigning a custom address is typically useful when for example a low latency memory is required or the GR1553B core is located on an AMBA over PCI bus where memory accesses over the PCI bus will not satisfy the latency requirements by the 1553 bus instead a memory local to the RT core can be used to shorten the access time Note that when providing custom addresses the alignment requirement of the GR1553B core must be obeyed which is different for different areas and sizes The memory areas are configured using the gr1553rt config function 17 2 1 3 Sub Address Table The RT core provides the user to program different responses per sub address and transfer type through the sub address table SA table located in memory The RT core consult the SA table for every 1553 data transfer command on the 1553 bus The table includes options per sub address and transfer type and a pointer to the next descriptor that let the user control the location of the data buffer used in the transaction See hardware manual for a complete description The SA table is fixed size to 512 bytes Since the RT is required to respond to BC request within a certain time it is vital that the RT has enough time to lookup user configuration of a transfer i e read SA table and descriptor and possibly the data buffer as well The driver provides a way to let the user give a custom address to the sub address table or dynamically allocate it for the user The default acti
74. variable is set accordingly All supported commands and their data structures are defined in the grpwrx driver s header file grpwrx h In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 37 2 4 1 Data structures The grpwrx_ioc_ hw data structure indicates what features the GRPWRX hardware supports and how it has been configured struct grpwrx_ioc_hw unsigned short fifo_size unsigned short mode unsigned short clkdivide y Member Description fifo size GRPWRX core FIFO size in number of bytes mode GRPWRX core mode 1 framing mode O packet mode clkdivide GRPWRX physical layer clock divider used Table 185 grpwrx_ioc_hw member descriptions The grpwrx ioc config struct is used for configuring the driver and the GRPWRX core struct grpwrx_ioc_config int framing Physical layer options unsigned unsigned unsigned unsigned short phy_clkrise short phy_validpos Short phy_readypos short phy_busypos Interrupt options unsigned int int int enable_cnt isr_desc_proc blocking rtems_interval timeout EF Member Description framing Enable framing mode 1 phy_clkrise Rising clock edge coinciding with serial bit change phy_validpos Positive polarity of valid output signal phy_readypos Positive polarity of ready input signal
75. 21 GET_ CONFIG This call returns all configuration parameters in a spw config struct which is defined in spacewire h The argument must be a pointer to a spw config struct The call will fail if the argument contains an illegal pointer 13 2 5 2 22 GET_STATISTICS This call returns all statistics in a spw stats struct The argument must be a pointer to a spw stats struct The call will fail if the argument contains an illegal pointer 13 2 5 2 23 CLR_STATISTICS This call clears all statistics No argument is taken and the call always succeeds 13 2 5 2 24 SEND This call sends a packet The difference to the normal write call is that separate data and header buffers can be used The argument must be a pointer to a spw ioctl send struct The call will fail if the argument contains an illegal pointer or the struct contains illegal values See the transmission section for more information 13 2 5 2 25 LINKDISABLE This call disables the link sets the linkdisable bit to 1 and the linkstart bit to 0 No argument is taken The call fails if the register write fails 13 2 5 2 26 LINKSTART This call starts the link sets the linkdisable bit to O and the linkstart bit to 1 No argument is taken The call fails if the register write fails 13 2 5 2 27 SET_EVENT_ID This call sets the task ID to which an event is sent when a link error interrupt occurs The argument can be any positive integer The call will fail if the argument contains an
76. 3 transfers If used the external trigger is normally generated by some kind of Time Master A message slot may be programmed to wait for an external trigger before being executed this feature allows the user to accurate send time synchronize messages to RTs However during debugging or when software needs to control the time synchronization behaviour the external trigger pulse can be generated from the BC core itself by writing the BC Action register This function sets the external trigger memory to one by writing the BC action register 19 2 1 11 gr1553bc_irq_setup Install a generic handler for BC device interrupts The handler will be called on Errors DMA errors etc resulting in interrupts or transfer descriptors resulting in interrupts The handler is not called when an IRQ is generated by a condition descriptor Condition descriptors have their own custom handler Condition descriptors are inserted into the list by user each condition may have a custom function and data assigned to it see gr1553bc_slot_irq_prepare Interrupts generated by condition descriptors are not handled by this function The third argument is custom data which will be given to the handler on interrupt 19 3 DESCRIPTOR LIST HANDLING The BC device driver can schedule synchronous and asynchronous lists of descriptors The list contains a descriptor table and a software description to make certain operations possible for example translate descriptor address int
77. 4 1 5 Support For support contact the Gaisler Research support team at support gaisler com 24 2 USER INTERFACE The RTEMS SATCAN driver supports the standard accesses to file descriptors such as read write and ioctl User applications should include the SATCAN driver s header file satcan h which contains definitions of all necessary data structures and defines used when accessing the driver An example application using the driver is provided in the samples directory 24 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The function satcan_register whose prototype is provided in satcan h is used for registering the driver It returns 0 on success and 1 on failure A typical register call from the LEON3 Init task if occan_register amp amba_conf amp satcan_conf printf SatCAN register Failed n The second argument to the function is the SatCAN configuration structure The contents of this structure is described below typedef struct int nodeno int dps void ahb_irg_callback void void pps_irq_ callback void void m5_irq callback void void m4 irq callback void void m3_irq callback void void m2_irq callback void void ml_irgq callback void void sync_ irq callback void void can_irq callback unsigned int fifo satcan_config Member De
78. 4 2 PCI Interrupt For every PCI target board found by the PCI Library the PCI driver is asked to provide a system IRQ for the target s PCI Interrupt pin number The interrupt is normally taken from AMBA Plug amp Play interrupt number assigned to the PCI Host hardware itself However it can be overridden using driver resources as described in section 7 3 After the PCI Library has allocated memory for all targets BARs and assigned IRQ The PCI bus driver can access the IRQ number from configuration space and connect a PCI Target driver with its system interrupt source The PCI target drivers use the Driver Manager interrupt register routine When a PCI target driver enable interrupt using the Driver Manager interrupt enable routine the system IRQ for the PCI target is unmasked AT697 PCI interrupt is not routed through the PCI core but through user selectable GPIO Enabling IRQ will only cause the system IRQ to be unmasked the PCI driver will not change GPIO parameters this is required by the user to set up PCI is level triggered PCI interrupts must be acknowledge after being handled to ensure that the interrupt handler is not executed twice The Driver Manager interrupt clear routine can be used to clear the pending bit in the LEON interrupt controlled after the interrupt has been handled by the PCI target Driver When the LEON takes the PCI IRQ the LEON IRQ controller is acknowledged however the PCI target is still driving the IRQ line
79. 5 11 CFGSTS_GET Reads the router configuration and status register and stores the value in the argument which should be an integer 15 2 5 12 TC_GET Reads the time code register and returns the value in the argument which should be an integer 16 GR1553B DRIVER 16 1 INTRODUCTION This section gives an brief introduction to the GRLIB GR1553B device allocation driver used internally by the BC BM and RT device drivers This driver controls the GR1553B device regardless of interfaces supported BC RT and or BM The device can be located at an on chip AMBA or an AMBA over PCI bus The driver provides an interface for the BC RT and BM drivers Since the different interfaces BC BM and RT are accessed from the same register interface on one core the APB device must be shared among the BC BM and RT drivers The GR1553B driver provides an easy function interface that allows the APB device to be shared safely between the BC BM and RT device drivers Any combination of interface functionality is supported but the RT and BC functionality cannot be used simultaneously limited by hardware The interface up to the BC BM and RT drivers is used internally by the device drivers and is not documented here See respective driver for an interface description The GR1553B driver require the Driver Manager 16 1 1 GR1553B Hardware The GRLIB GR1553B core may support up to three modes depending on configuration Bus Controller BC Remot
80. AC controller s status register value 32 2 6 1 6 gradcdac_get_adrinput Returns the current address input register value 32 2 6 1 7 gradcdac_get_adroutput Returns the current address output register value 32 2 6 1 8 gradcdac_set_adroutput Sets the controller s address output register to the argument output 32 2 6 1 9 gradcdac_get_adrdir Returns the current address direction register value 32 2 6 1 10 gradcdac_set_adrdir Sets the controller s address direction register to the argument dir 32 2 6 1 11 gradcdac_get_datainput Returns the current data input register value 32 2 6 1 12 gradcdac_get_dataoutput Returns the current data output register value 32 2 6 1 13 gradcdac_set_dataoutput Sets the controller s data output register to the argument output 32 2 6 1 14 gradcdac_get_datadir Returns the current data direction register value 32 2 6 1 15 gradcdac_set_datadir Sets the controller s data direction register to the argument dir 32 2 6 2 Status interpretation help function A short summary to the functions are presented in the prototype lists below Functions to help the interpretation of the status read with gradcdac get status are described in table 145 The functions does not actually read or write any ADC DAC register therefore the handle cookie is omitted Prototypes Non zero return meaning int gradcdac_DAC_ReqRej unsigned int status DAC conversion request
81. ATUS Don t care Get status of device Bus off can be read out SET SPEED Reset Set baud rate SET BLK MODE Don t Care Set blocking or non blocking mode for read and write SET BUFLEN Reset Set receive and transmit buffer length SET_BTRS Reset Set timing registers manually Table 102 ioctl calls supported by the OC_CAN driver 23 2 5 2 1 START This ioctl command places the CAN core in operating mode Settings previously set by other ioctl commands are written to hardware just before leaving reset mode It is necessary to enter operating mode to be able to read or write messages on the CAN bus The command will fail if receive or transmit buffers are not correctly allocated or if the CAN core already is in operating mode 23 2 5 2 2 STOP This call makes the CAN core leave operating mode and enter reset mode After calling STOP further calls to read and write will result in errors It is necessary to enter reset mode to change operating parameters of the CAN core such as the baud rate and for the driver to safely change configuration such as FIFO buffer lengths The command will fail if the CAN core already is in reset mode 23 2 5 2 3 GET_STATS This call copies the driver s internal counters to a user provided data area The format of the data written is described in the data structure subsection See the occan stats data structure The call will fail if the pointer to the data is invalid 23 2 5 2 4 GET_STATUS This call stor
82. All supported commands and their data structures are defined in the RT driver s header file b1553rt h 21 2 5 1 Data structures 21 2 5 1 1 Remote Terminal operating mode The structure below is used for all received events as well as to put data in the transmit buffer struct rt_msg unsigned short miw unsigned short time unsigned short data 32 unsigned short desc Member Description miw Message Information Word Bit s Description 15 11 Word count mode code For sub addresses this is the number of received words For mode codes it is the receive transmit mode code 10 A B 1 if message receive on bus A 0 if received on bus B 8 reserved 7 ME 1 if an error was encountered during message processing Bit 4 0 gives the details of the error 6 5 4 ILL 1 if received command is illegalized 3 reserved 2 reserved 1 PRTY 1 if the RT detected a parity error in the received data 0 MAN 1 if a Manchester decoding error was detected during data reception time Time Tag Contains the value of the internal timer register when the message was received data An array of 32 16 bit words The word count specifies how many data words that are valid For receive mode codes with data the first data word is valid desc Bit 6 0 is the descriptor used Bit 15 indicates software buffer overrun when set the messages was not read out in time which lead to the driver neede
83. BLOCK Don t Care Set write blocking non blocking mode SET_TXCOMPLETE Don t Care Set option to complete the write request making write returning after all data has been written to buffer Note Has an effect only in blocking mode SET_RXCOMPLETE Don t Care Set option to complete the read request making read returning after requested data has been read to buffer Note Has an effect only in blocking mode GET_STATS Don t care Get current statistics collected by driver CLR_STATS Don t Care Clear statistics collected by driver SET_AFILTER Don t Care Set acceptance filter Let the second argument to the ioctl command point to a grcan filter data structure SET_SFILTER Don t Care Set Rx Tx SYNC filter Let the second argument to the ioctl command point to a grcan filter data structure GET STATUS Don t care Get the status register Bus off among others can be read out Table 92 ioctl calls supported by the CAN driver 22 1 5 2 1 START This ioctl command places the CAN core in running mode Settings previously set by other ioctl commands are written to hardware just before leaving reset mode It is necessary to enter running mode to be able to read or write messages on the CAN bus The command will fail if receive or transmit buffers are not correctly allocated or if the CAN core already is in running mode 22 1 5 2 2 STOP This call makes the CAN core leave operating mode and enter reset mode After calling STOP further calls to read
84. CS etr select can not be called from different threads AEROFLEX GR RTEMS DRIVER 171 GAISLER 26 2 10 ASCS_TC_sync_stop Prototype void ASCS_TC_sync_stop void Argument This function does not take any arguments Return None value Descriptio Stops the synchronization interface In order not to prematurely abort a ETR n pulse there might be a delay between the time this function is called and the time the interface is actually stopped Software can poll ASCS iface status to find out when the interface is stopped This function ASCS_TC_sync_ start and ASCS etr_ select can not be called from different threads 26 2 11 ASCS_TM_recv Prototype int ASCS TM recv int word Argument Description word Pointer to where data received in a TM should be stored The argument is handled as a short int pointer if the core is configured to send 16 bit words or a char pointer for 8 bit words Return 0 on success GRASCS ERROR TRANSACTIVE if TM could not be started value because some other transaction is in progress GRASCS ERROR STARTSTOP if TM could not be started because serial interface is stopped Descriptio Starts a TM and stores the incoming data at the address word points to If the TM n can not be started the function returns with an error code otherwise it blocks until the transaction is complete This function is thread safe 26 2 12 ASCS_TM_recv_block Prototype int ASCS_TM recv int block in ntrans Argument Descrip
85. Chip AMBA bus 1 dev graes1 On Chip AMBA bus 2 dev graes2 On Chip AMBA bus 0 dev rastatmtc0 graesO GR RASTA GRAESTC PCI Target Table 195 Core number to device name conversion An example of an RTEMS open call is shown below fd open dev graes0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 195 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 196 Open errno values 38 2 3 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the graes driver 38 2 4 I O Control interface The behaviour of the driver and hardware can be changed via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the graes driver s header file graes h In functions where only one argument is needed the pointer void arg may be
86. D REMEMBER has no effect 34 1 3 Support For support contact the Aeroflex Gaisler support team at support gaisler com 34 2 USER INTERFACE The RTEMS GRIM driver supports the standard accesses to file descriptors such as open close and ioctl User applications include the grtm driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver The driver enables the user to configure the hardware and to transmit TM frames The allocation of TM frames is handled by the user and free frames are given to the driver that processes the frames for transmission in a two step process In the first step the driver schedules frames for transmission using the DMA descriptors or they are put into an internal queue when all descriptors are in use in the second step all sent frames are put into a second queue that is emptied when the user reclaims the sent frames The reclaimed frames can be reused in new transmissions later on 34 2 1 Driver registration The registration of the driver is crucial for threads to be able to access the driver using standard means such as open The function grtm_register whose prototype is provided in grtm h is used for registering the driver It returns 0 on success and 1 on failure A typical register call from the LEONS Init task if grtm_register amp amba_conf printf GRIM register Failed n 34 2 2 Opening the device Opening the device enabl
87. EAD amp period_io Read one response of the transmitted data It will hang until data is available If hanging is not an option use lib2ic ioctl STATUS to determine on beforehand if it will hang 8 OPTIONAL libi2c_ioctl PERIOD_ WRITE amp period_io The transmitted data on the SPI wires can be changed by calling the PERIOD WRITE note that this method requires that TX registers beeing used are not overwritten 9 Go back to 7 to read the content of one more transfer stop by stepping to 10 10 libi2c_ioctl STOP Stop to set up a new periodic or normal transfer 11 libi2c_stop 28 2 3 1 PERIOD_START Start previously configured automatic periodic transfers Starting periodic transfers can only be done after CONFIG has been called enabling automated periodic transfers and after PERIOD WRITE has been called to set up the MASK and TX registers Once the transfers has been started STATUS can be called to indicate the current transfer status and PERIOD READ can be called to read the current content of the receive registers 28 2 3 2 PERIOD_STOP Stops any ongoing period transfer by writing zero to the AM configuration register 28 2 3 3 CONFIG Configures the SPICTRL core in normal operation or in periodic operation If periodic mode is enabled driver configure the periodic mode options by looking at the user provided argument the argument is assumed to be a pointer to spictrl_ ioctl config data structure with the layout and properti
88. I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the BRM driver s header file brm h In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 20 2 5 1 Data structures 20 2 5 1 1 Remote Terminal operating mode The structure below is used for RT operating mode for all received events as well as to put data in the transmit buffer struct rt_msg unsigned short miw unsigned short time unsigned short data 32 unsigned short desc I Member Description miw Message Information Word Bit s Description 15 11 Word count mode code For subaddresses this is the number of received words For mode codes it is the receive transmit mode code 10 9 A B 1 if message receive on bus A 0 if received on bus B RTRT 1 if message is part of an RT to RT transfer ME 1 if an error was encountered during message pr
89. ID 6 bit idle opts Idle frame generation options mask of GRTM IOC IDLE XXxxX enable cnt Number of frames between interrupts are generated zero disables interrupt Allows user to fine grain interrupt generation isr desc _proc Allow TM interrupt service routine ISR to process descriptors blocking Blocking mode select GRTM_BLKMODE_ POLL for polling mode or GRTM_BLMODE BLK for blocking mode timeout Blocking mode time out Table 167 grtm_ioc_ config member descriptions The grtm frame structure is used in for transmitting TM frames and retrieving sent frames it is the driver s representation of a TM frame A TM frame structure can be chained together using the next field in grtm_frame struct grtm_frame unsigned int flags struct grtm_frame next unsigned int payload Member Description flags Mask indicating options transmission state and errors for the frame GRTM_FLAGS_XXX See Table 168 next Points to next TM frame This field is used to make driver process multiple TM Frames at the same time avoiding multiple ioctl calls payload Points to a data area holding the complete TM frame The area include fields such as header payload OCF CRC Table 168 grtm_frame member descriptions Flag Description GRTM_FLAGS_SENT Indicates whether the frame has been transmitted or not GRTM FLAGS ERR Indicates if errors has been experienced during
90. In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 22 1 5 1 Data structures The grcan filter structure is used when changing acceptance filter of the CAN receiver and the SYNC Rx Tx Filter Note that the two different ioctl commands use this data structure differently struct grcan_filter unsigned int mask unsigned int code Member Description code Specifies the pattern to match only the unmasked bits are used in the filter mask Selects what bits in code will be used or not A set bit is interpreted as don t care Table 86 grcan_filter member description The CANMsg struct is used when reading and writing messages The structure describes the drivers view of a CAN message The structure is used for writing and reading See the transmission and reception section for more information typedef struct char extended Char rtr char unused unsigned char len unsigned char data 8 unsigned int id CANMsg Member Description extended Indicates whether message has 29 or 11 bits ID tag Extended or Standard frame rtr Remote Transmission Request bit len Length of data data Message data data 0 is the most significant byte the first byte Id The ID field of the message An extended frame has 29 bits whereas a standard frame has only 11 bits The most significant bits are not u
91. K Set blocking non blocking mode for RT write calls and BC ioctls Blocking is default 20 2 6 8 BRM_RX_BLOCK Set blocking non blocking mode for RT read calls Blocking is default 20 2 6 9 BRM_CLR_STATUS Clears status bit mask No input is needed it always succeeds 20 2 6 10 BRM_GET_STATUS Reads the status bit mask The status bit mask is modified when an error interrupt is received This ioctl command can be used to poll the error status by setting the argument to an unsigned int pointer Bit s Description Modes 31 16 The last descriptor that caused an error Is not set for hardware BC RT errors BRM DMAF IRQ DMA Fail all BRM _WRAPF IRQ Wrap Fail BC RT BRM_TAPF IRQ Terminal Address Parity Fail RT BRM MERR IRQ Message Error all BRM_RT ILLCMD IRQ Illegal Command RT BRM_BC ILLCMD IRQ Illogical Command BC BRM _ILLOP IRQ Illogical Opcode BC Table 74 Status bit mask 20 2 6 11 BRM_SET_EVENTID Sets the event id to an event id external to the driver It is possible to stop the event signalling by setting the event id to zero When the driver notifies the user using the event id the bit mask that caused the interrupt is sent along as an argument Note that it may be different from the status mask read with BRM GET STATUS since previous error interrupts may have changed the status mask Thus there is no need to clear the status mask after an event notification if only the notification arg
92. M recv_ block 1 2 12 Performs a number of TMs Table 120 GRASCS driver interface AEROFLEX GR RTEMS DRIVER 167 GAISLER 26 2 1 ASCS init Prototype int ASCS_init Argument This function does not take any arguments Return value 0 on success 1 on failure Descriptio This function must be called before any other functions in the ASCS driver are n called ASCS init initializes the driver and resets the core When the function returns all of the cores registers will have their default values which means that both the serial interface and synchronization interface are stopped 26 2 2 ASCS input_select Prototype int ASCS input select int slave Argument Description slave The number of the slave the core should listen to during a TM Return value 0 on success GRASCS_ERROR_CAPFAULT if slave value is invalid GRASCS_ ERROR TRANSACTIVE if a TM is in progress Descriptio This function sets the bits in the core s command register that control which slave n data input is valid during a TM Valid range of the input 0 nslaves 1 where nslaves is the number of slaves the core has been configured to communicate with nslaves generic GR RTEMS DRIVER AEROFLEX GAISLER 26 2 3 ASCS _etr select Prototype int ASCS etr select int etr int freq Argument Description etr The source for the etr signal valid range 0 6 The ETR frequency in Hz Return value 0 on success GRASCS_ERROR_CAPFAULT if argument
93. MBA bus or INTC of the PCI bus Operation Description drvmgr interrupt register Register an interrupt service routine ISR and unmask enable appropriate interrupt source drvmgr interrupt _ unregister Unregister ISR and mask interrupt source drvmgr interrupt clear Manual interrupt source acknowledge at the interrupt controller drvmgr interrupt_mask Manual mask disable interrupt source at interrupt controller drvmgr interrupt_unmask Manual unmask enable interrupt source at interrupt controller Table 8 Driver interrupt interface The interrupt service route ISR must be of the format determined by drvmgr isr The argument is user defined per ISR and IRQ index AEROFLEX GR RTEMS DRIVER 30 GAISLER Interrupt Service Routine ISR typedef void drvmgr_isr void arg extern int drvmgr_interrupt_register struct drvmgr_dev dev int index const char info drvmgr_isr isr void arg extern int drvmgr_interrupt_unregister struct drvmgr_dev dev int index drvmgr_isr isr void arg extern int drvmgr_interrupt_clear struct drvmgr_dev dev int index extern int drvmgr_interrupt_unmask struct drvmgr_dev dev int index extern int drvmgr_interrupt_mask struct drvmgr_dev dev int index 3 6 ADDRESS TRANSLATION As described in the overview address regions can be translated between buses It requires the bridge bus driver to set up address maps in at least o
94. NTERFACE GRCAN 22 1 USER INTERFACE The RTEMS CAN driver supports the standard accesses to file descriptors such as read write and ioctl User applications include the grcan driver s header file grcan h which contains definitions of all necessary data structures and bit masks used when accessing the driver The GRCAN driver require the RTEMS Driver Manager 22 1 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The RTEMS I O driver registration is performed automatically by the driver when CAN hardware is found for the first time The driver is called from the driver manager to handle detected CAN hardware In order for the driver manager to unite the CAN driver with the CAN hardware one must register the driver to the driver manager This process is described in the driver manager chapter 22 1 2 Driver resource configuration The driver can be configured using driver resources as described in the driver manager chapter Below is a description of configurable driver parameters The driver parameters is unique per CAN device The parameters are all optional the parameters only overrides the default values Name Type Parameter description txBufSize INT Length of TX DMA area Must be a multiple of 64 bytes four messages rxBufSize INT Length of RX DMA area Must be a multiple of 64 bytes four messages txBufAdr INT Cu
95. O values for write Each Message has an individual set of options controlled in the CANMsg structure See the data structure subsection for structure member descriptions 22 1 7 Reception Reception of CAN messages from the CAN bus can be done using the read call An example is shown below CANMsg rx_msgs 5 len read fd rx_msgs sizeof rx_msgs The requested number of bytes to be read is given in the third argument The messages will be stored in rx msgs The actual number of received bytes a multiple of sizeof CANMsg is returned by the function on success and 1 on failure In the latter case errno is also set The CANMsg data structure is described in the data structure subsection The call will fail if a null pointer is passed invalid buffer length the CAN core is in stopped mode or due to a bus off error in blocking mode The blocking behaviour can be set using ioctl calls In blocking mode the call will block until at least one message has been received In non blocking mode the call will return immediately and if no message was available 1 is returned and errno set appropriately The table below shows the different errno values returned ERRNO Description EINVAL A NULL pointer was passed as the data pointer or the length was illegal EBUSY CAN core is in reset mode Switch to operating mode by issuing a START ioctl command ETIMEDOUT In non blocking mode no messages were available in the softwar
96. ON2 leon2 amba_bus c register by calling leon2_root_register Add LEON2 AMBA AMBAPP ID to the bus so that the GRLIB AMBA plug amp play is found Table 6 Root device driver entry points for LEON systems The drivers are selected by defining the array drvmgr drivers it contains one function pointer per driver that is responsible to register one or more drivers The array is processed by _DRV_ Manager initialization during startup or when calling drvmgr init from the Init task The drvmgr drivers can be set up by defining CONFIGURE INIT selecting the appropriate drivers and including drvmgr drvmgr confdefs h This approach is similar to configuring a standard RTEMS project using rtems confdefs h Below is an example how to select drivers It is also possible to define up to ten drivers in the project by using the predefined CONFIGURE DRIVER CUSTOM macros AEROFLEX GR RTEMS DRIVER 27 GAISLER include lt rtems h gt include lt bsp h gt define CONFIGURE_INIT Standard RTEMS set up define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER define CONFIGURE_RTEMS_INIT_TASKS_TABLE define CONF IGURE_MAXIMUM_DRIVERS 32 include lt rtems confdefs h gt Driver manager set up if defined RTEMS_DRVMGR_STARTUP if drvmgr was given to configure Add Timer and UART Driver for this example ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER define
97. OVERVIEW The AMBA Plug Play bus driver for the SpaceWire network is a generic driver for all GRLIB systems by using the Plug amp Play functionality provided by GRLIB systems The address of the Plug amp Play area start address is configurable The driver is a driver for a SpaceWire Node on a SpaceWire Network The system is accessed using RMAP commands and interrupt handling is performed when the IRQMP core is found The services provided to device drivers on the AMBA bus accessed over SpaceWire are listed below e AMBA Plug amp Play scanning over SpaceWire e Interrupt management driver for IRQMP e Read and Write registers and memory over SpaceWire e Memory allocating ambapp rmap partition memalign e Driver resources 6 3 REQUIREMENTS The SpaceWire bus driver is required 6 4 INTERRUPT HANDLING See the interrupt service routine of the AMBA Plug amp Play bus is executed on the SpaceWire bus driver s ISR task See the SpaceWire Bus driver s documentation about the constraints of the interrupt handling 6 5 MEMORY ALLOCATION ON TARGET Two functions are provided by the AMBA RMAP driver to simplify memory allocation of target memory ambapp_rmap partition create and ambapp_rmap partition memalign A partition symbolize a memory area with certain properties For example partition O might be SRAM and partition 1 might be on chip RAM A memory controller driver typically registers a partition after it has initialized the
98. PROT ID This call selects whether or not the protocol ID should be removed from received packets It is assumed that all packets contain a protocol ID so when enabled the second byte the one after the node address in the packet will be removed The argument must be an integer in the range 0 to 1 0 disables and 1 enables the RMAP CRC check The call will fail if the argument contains an illegal value 13 2 5 2 15 SET_TXBLOCK This call sets the blocking mode for transmissions The calling process will be blocked after each write until the whole packet has been copied into the GRSPW send FIFO buffer The argument must be an integer in the range 0 to 1 0 selects non blocking mode while 1 selects blocking mode The call will fail if the argument contains an illegal value 13 2 5 2 16 SET_TXBLOCK_ON_FULL This call sets the blocking mode for transmissions when all transmit descriptors are in use The argument must be an integer in the range O to 1 O selects non blocking mode while 1 selects blocking mode The call will fail if the argument contains an illegal value 13 2 5 2 17 SET_DISABLE_ERR This call sets automatic link disabling due to link error interrupts Link error interrupts must be enabled for it to have any effect The argument must be an integer in the range 0 to 1 0 disables automatic link disabling while a 1 enables it The call will fail if the argument contains an illegal value 13 2 5 2 18 SET LINK _ERR_IRO This call se
99. R B1553RT GRTM AMBAPP GAISLER GRTM GRTC AMBAPP GAISLER GRTC PCIF PCI Host AMBAPP GAISLER PCIF GRPCI PCI Host AMBAPP GAISLER GRPCI GRPCI2 PCI Host AMBAPP GAISLER GRPCI2 FTMCTRL and MCTRL AMBAPP_MCTRL SPICTRL AMBAPP GAISLER SPICTRL I2CMST AMBAPP GAISLER I2CMST GRGPIO AMBAPP GAISLER GRGPIO GRPWM AMBAPP GAISLER GRPWM GRADCDAC AMBAPP GAISLER GRADCDAC SPWCUC AMBAPP GAISLER SPWCUC GRCTM AMBAPP GAISLER GRCTM SPW_ROUTER AMBAPP GAISLER SPW ROUTER AHBSTAT AMBAPP GAISLER AHBSTAT GRAES AMBAPP GAISLER GRAES GRPWRX AMBAPP GAISLER GRPWRX AT697 PCI Host LEON2_AT697PCI GRLIB LEON2 AMBA PnP LEON2_AMBAPP GR RASTA ADCDAC PCI_GR_RASTA_ ADCDAC GR RASTA IO PCI target PCI_GR_RASTA IO GR RASTA TMTC PCI target PCI GR_RASTA TMTC GR 701 PCI target PCI GR 701 GR TMTC 1553 PCI target PCI GR TMTC 1553 GR RASTA SPW ROUTER PCI Target PCI_GR_RASTA SPW ROUTER AEROFLEX GAISLER AEROFLEX GR RTEMS DRIVER 29 GAISLER Table 7 LEON device drivers available 3 4 INITIALIZATION As described in the overview the driver manager the initialization of the driver manager is determined how the RTEMS kernel has been built When drvmgr has been used when configuring the kernel the manager is initialized by the BSP and RTEMS boot code otherwise the driver manager is optional and may be initialized by the user calling drvmgr init aft
100. READ The element size of the array depends on the configured word size see CONFIG The element size is either 8 16 or 32 bits the smallest possible that still fits the data words Table 131 spictrl_period_io field description The data pointer points to data in the format of an array with the same element size as the transfer bit length configured For example a 8 bit config will result in data being interpreted as an array of bytes a 12 bit config in an array of 16 bit words etc The order of the elements will be determined by the lowest bit set in the mask will be the first the second lowest the second in the array etc 28 2 3 6 PERIOD_READ This command Read the MASK registers and or reads the Receive registers The behaviour is controlled with ioctl the argument provided by the user The argument is a pointer to a data structure of the format spictrl period io described in Table 129 By setting options to 0x3 will make the command read the receive registers activated only The receive register N 32 M corresponds to bit masks N amp 1 lt lt M 29 Gaisler i2C Master DRIVER 12CMST 29 1 INTRODUCTION This section describes the I2C Master driver available for RTEMS The I2CMST driver provides the necessary functions needed by the RTEMS 12C Library The RTEMS I2C Library is not documented here The I2CMST driver require the RTEMS Driver Manager 29 1 1 12C Hardware The I2CMST core is documented in
101. Root bus Topmost bus the root device exports has no parent bus Register bus Process where the driver manager is informed about the existence of a new bus Register device Process where the driver manager is informed about the existence of a new device Register driver Before driver manager initialization drivers are added into a internal driver list Unite device and driver Process where the driver manager finds a device driver for a device Separate device and driver Process where a device driver is requested to never use the device any more for example before a device is removed Unregister bus or device Inform driver manager about that a bus or device and all child buses devices should be removed from the device tree and related drivers be informed Init level The device driver and bus driver initialization process is performed in multiple stages called initialization levels Table 3 Driver Manager terms and names 3 1 2 Sources The sources of the driver manager is found according to the table below AEROFLEX GR RTEMS DRIVER 19 GAISLER Path Description cpukit libdrvmgr Path within RTEMS sources Driver manager sources drvmgr drvmgr h Include path of driver manager definitions drvmgr drvmgr confdefs h Include patch of driver configuration Table 4 Driver Manager Sources 3 2 OVERVIEW The driver manager works with the concepts bus bus dr
102. Terminal address SET STD Get bus standard SET BCE Enable disable broadcasts TX BLOCK Set blocking non blocking mode for RT write calls and BC DO_LIST commands RX BLOCK Set blocking non blocking mode for RT and BM read calls CLR_STATUS Clear status flag GET STATUS Read status flag EINVAL SET EVENTID Set event id DO_LIST Execute list BC mode EINVAL EBUSY LIST _ DONE Wait for list to finish execution BC mode EINVAL EBUSY Table 73 ioctl calls supported by the BRM driver All ioctl requests takes as parameter the address to an unsigned int where data will be read from or written to depending on the request There are two more ioctl requests but they are not for configuration and are described later in Bus Controller Operation 20 2 6 1 SET MODE Sets the operating mode of the BRM Data should be 0 for BC 1 for RT and 2 for BM 20 2 6 2 SET_BUS For RT mode only Sets which buses that are enabled 0 none 1 bus B 2 bus A and 3 both bus A and B 20 2 6 3 SET MSGTO For BC and BM mode Sets the RT no response time out If in MIL STD 1553 B mode it is either 14 us or 30 us In MIL STD 1553 A mode either 9 us or 21 us 20 2 6 4 SET_RT_ADDR Sets the remote address for the RT 0 30 if broadcasts enabled 0 31 otherwise 20 2 6 5 BRM_SET_ STD Sets the bus standard 0 for MIL STD 1553 B 1 for MIL STD 1553 A 20 2 6 6 BRM_SET_BCE Enable disable broadcasts 1 enables them 0 disables 20 2 6 7 BRM_TX_BLOC
103. _HEADER_SIZE unsigned char payload SATCAN_PAYLOAD_SIZE satcan_msg Member Description header Header of SatCAN message as described in SatC AN FPGA documentation The default value of the define SATCAN HEADER SIZE is 4 payload Payload of SatCAN message as described in SatCAN FPGA documentation The default value of the define SATCAN PAYLOAD SIZE is 8 Table 110 Members in satcan_msg structure The driver does not buffer received SatCAN messages but provides direct access to the SatCAN FPGA DMA area Therefore the caller must specify which CAN ID the message should be read from An example call reading a message received with ID 0x0040 looks like int i size satcan_msg msg msg header 0 0x40 msg header 1 0 if size read fd msg sizeof satcan_msg sizeof satcan_msg printf ERROR read returned d n size The driver uses the value of msg header 1 0 together with the current DMA setting 2K or 8K messages determine where in the DMA area the message should be fetched All elements in the satcan_msg structre are overwritten with data fetched from the DMA area This includes the initialized members msg header 1 0 which should keep their original value when the read call returns The read function returns sizeof satcan_ msg on success and 1 on failure In the latter case errno is also set ERRNO Description EINVAL A NULL pointer was passed as the data pointer or the len
104. _info Copy hardware configuration of the router core such as number of SpaceWire ports number DMA port number of FIFO port etc CFG SET Input struct router_config Configure the router by writing the configuration bit of the Control Status register setting the Instance ID Start up Clock Divisor Timer prescaler and the timer reload registers CFG GET Output struct router_config x Reads the current router configuration into the user specified memory area ROUTES SET Input struct router_routes x Configure the 224 words long router table ROUTES GET Output struct router _routes Copy the current 224 words long router table to user provided buffer PS SET Input struct router_ps Configure the port setup registers according to user buffer PS GET Output struct router ps Copy the current port setup registers to user buffer WE SET Argument int If the argument s bit zero is one then the WE bit in the configuration write enable register is set otherwise it is cleared This enabled the user to write protect the current configuration PORT Input Output struct router port Write and or Read in that order the port control and port status registers of one port of the SpaceWire router The flag field determines which operations should be performed See ROUTER_PORTFLG The port field selects which port is to be written read
105. a description of configurable driver parameters The driver parameters is unique per GRSPW device The parameters are all optional the parameters only overrides the default values Name Type Parameter description txBdCnt INT Number of transmit descriptors rxBdCnt INT Number of receive descriptors txDataSize INT Maximum transmit packet data size txHdrSize INT Maximum transmit packet header size rxPktSize INT Maximum packet size of received packets rxDmaArea INT Custom receiver DMA area address See note below txDataDmaAre INT Custom transmit Data DMA area address See note below a txHdrDmaAre INT Custom transmit Header DMA area address See note below a Table 17 GRSPW driver parameter description 13 2 2 1 Custom DMA area parameters The three DMA areas can be configured to be located at a custom address The standard configuration is to leave it up to the driver to do dynamic allocation of the areas However in some cases it may be required to locate the DMA area on a custom location the driver will not allocate memory but will assume that enough memory is available and that the alignment needs of the core on the address given is fulfilled The memory required can be calculated from the other parameters For some systems it may be convenient to give the addresses as seen by the GRSPW core This can be done by setting the LSB bit in the address to one For example a GR RASTA IO boa
106. a previously opened RT device int gr1553rt_config void rt struct gr1553rt_cfg cfg Configure the RT device driver and allocate device memory int gr1553rt_start void rt Start RT communication enables Interrupts void gr1553rt_stop void rt Stop RT communication disables interrupts void gr1553rt_status void rt struct gr1553rt_status status Get Time Bus RT Status and mode code status int gr1553rt_indication void rt int subadr int txeno int rxeno Get the next descriptor that will processed of an RT sub address and transfer type int gr1553rt_evlog_read void rt unsigned int dst int max Copy contents of event log to a user provided data buffer void gr1553rt_set_vecword void rt unsigned int mask unsigned int words Set all or a selection of bits in the Vector word and Bit word used by the Transmit Bit word and Transmit Vector word mode codes void gr1553rt_set_bussts void rt unsigned int mask unsigned int sts Modify a selection of bits in the RT Bus Status register void gr1553rt_sa_setopts void rt int subadr unsigned int mask unsigned int options Configures a sub address control word located in the SA table void gr1553rt_list_sa struct gr1553rt_list list int subadr Get the Sub address and transfer type of a scheduled list int tx void gr1553rt_sa_schedule Schedule a RX or TX descriptor list on
107. a set of Minor Frames which in turn consists of up to 32 descriptors also called Slots The composition of Major Minor Frames and slots is configured by the user and is highly dependent of application The Major Minor Slot construction can be seen as a tree the tree does not have to be symmetrically i e Major frames may contain different numbers of Minor Frames and Minor Frames may contain different numbers of Slot GR1553B BC descriptor lists are generated by the list API available in gr1553bc list h The driver provides the following services Start Stop Pause and Resume descriptor list execution Synchronous and asynchronous descriptor list management Interrupt handling BC status Major Minor Frame and Slot descriptor model of communication Current Descriptor Major Minor Slot Execution Indication Software External Trigger generation used mainly for debugging or custom time synchronization Major Minor Frame and Slot Message ID Minor Frame time slot management The driver sources and definitions are listed in the table below the path is given relative to the SPARC BSP sources c src lib libbsp sparc Filname Description shared 1553 gr1553bc c GR1553B BC Driver source shared 1553 gr1553bc_list c GR1553B BC List handling source shared include gr1553bc h GR1553B BC Driver interface declaration shared include gr1553bc listh GR1553B BC List handling interface declaration Table 51 BC driver Sou
108. ace cional a A iaa a 52 Data struct aa da 53 Configura iO siii E it aude sad E AEE 56 TAN MISSION rl dee eisadsindie et 63 RECEPTO aE aliada 64 Receiver example ni ee eo dida 65 SpaceWire ROUTER c csccsccacsecsiasaccacchecsacva cvs seecea cea dus cubcnaccadesccacdeccned dcausadvsdectececsees 66 Introduction eaea a a i EE EEEa a E Ae dd 66 SpaceWire Router register driver ssssssersersersesserserseoseosessessersessessesseseseoseseseseses 66 AMBA DOTA VO o eee 66 SpaceWire ROUTER Register Driver essesssessrseseeseseseoseseseoseseseorerosseseroesesesorseses 67 Introducido 67 User Interface ici di dai ds 67 Driver registral onda idas ddr 67 Driver resource CONfiguTatiON ooccocccncnnncnoncnnnconnconnnonocnnnnnonononononononononcnnnnnnononcnnnnnos 67 Opening the device iii o ebb tddi do 67 PRR RP RP RP RP RP RP RPP RPE ar OI OI OIOI OI 071 Ol UI ON Ol Ol ON Ol DON bn bi bi bn bn Ui bn bn bn na PRPrPFOANIOAUPRWNE Nro pee AAD PR E ER o ja N pa N POOAONAURWNR o PRR RP RP RP RP RP RP RP RP RP RP RP RP RPP PRP RPP RP RPP RP RRP RPP Pe YA Y Y Y Y Y N SN Y NS N NSN NSN NSN NS NS A N NSN NG SNS N NSN NNN NOR RRP RRP RP RP PI PRPOO YO 04 UN SCOANODUPWNFO Closing the dere lA te 68 1 0 Control interface iii drid aia ia habs 68 HWINFO Sci A a dead EEE when a E ERK 70 CEC Tit A A A 71 CEG GET iii nadia is 72 ROUTES SE sia 72 ROUTES GE Tita ii odds bis tdi iii A A Ae 72 A A
109. address unsigned int modecode unsigned short time_res void satab_buffer void evlog_buffer int evlog_size int bd_count void bd_buffer y Member Description rtaddress RT Address on 1553 bus 0 30 modecode Mode codes enable disable IRQ EV Log Each mode code has a 2 bit configuration field Mode Code Control Register in hardware manual time res Time tag resolution in microseconds satab_buffer Sub Address Table SA table allocation setting Can be dynamically allocated zero or custom location non zero If custom location of SA table is given the address must be aligned to 10 bit 1kB boundary and at least 16 32 bytes evlog_buffer Eventlog DMA buffer allocation setting Can be dynamically allocated zero or custom location non zero If custom location of eventlog is given the address must be of evlog_size and aligned to evlog_size See hardware manual evlog_size Length in bytes of Eventlog must be a multiple of 2 If set to zero event log is disabled note that enabling logging in SA table or descriptors will cause failure when eventlog is disabled bd_count Number of descriptors for RT device All descriptor lists share the descriptors Maximum is 65K descriptors bd_buffer Descriptor memory area allocation setting Can be dynamically allocated zero or custom location non zero If custom location of descriptors is given the address must be aligned to 32 bytes and
110. alid argument was passed or link is not started The buffers must not be null pointers and the length parameters must be larger that zero and less than the maximum allowed size EBUSY The packet could not be transmitted because all descriptors are in use only in non blocking mode Table 28 ERRNO values for write and ioctl send 13 2 7 Reception Reception is done using the read call An example is shown below len read fd rx_pkt tmp The requested number of bytes to be read is given in tmp The packet will be stored in rx pkt The actual number of received bytes is returned by the function on success and 1 on failure In the latter case errno is also set The call will fail if a null pointer is passed The blocking behaviour can be set using ioctl calls In blocking mode the call will block until a packet has been received In non blocking mode the call will return immediately and if no packet was available 1 is returned and errno set appropriately The table below shows the different errno values that can be returned ERRNO Description EINVAL A NULL pointer was passed as the data pointer the length was illegal or the link hasn t been started with the ioctl command START EBUSY No data could be received no packets available in non blocking mode Table 29 ERRNO values for read calls AEROFLEX GR RTEMS DRIVER 65 GAISLER 13 3 RECEIVER EXAMPLE include lt grspw h gt
111. ame length is set by the SET CONFIG command The hardware generated parts may be overridden by setting the flags field of the TM frame structure accordingly Note that the frame structure and any data pointed to by the frame scheduled for transmission must not be accessed until the frame has been reclaimed using the ioctl command RECLAIM SEND will fail if the input frame list is incorrectly set up errno will be set to EINVAL in such cases 34 2 5 Transmission Transmitting frames are done with the ioctl call using the command SEND and RECLAIM It is possible to send multiple frames in one call the frames are provided to the driver using a linked list of frames See the ioctl commands SEND and RECLAIM for more information 35 GRCTM DRIVER 35 1 INTRODUCTION This section describes the GRLIB GRCTM CCSDS Time Manager device driver interface The driver implements a simple interface to read and write registers of the core and interrupt handling The driver supports the on chip AMBA and the AMBA over PCI bus It relies on the driver manager for device discovery and interrupt handling The GRCTM driver require the Driver Manager In order to use the driver interface the user must be well acquainted with GRCTM hardware see hardware manual 35 1 1 Examples There is an example available that illustrates how the GRCTM driver interface can be used to configure the GRCTM core The example application can be configured as a Time Master or Ti
112. and can be used to poll the error status by setting the argument to an unsigned int pointer Bit s Description 31 16 The last descriptor that caused an error Is not set for hardware errors RT_DMAF IRQ DMA Fail AHB error from AMBA wrapper or Memory failure indicated by the RT Core RT_MERR IRQ Message Error RT ILLCMD IRQ Illegal Command Table 82 Status bit mask 21 2 6 8 RT_SET_EVENTID Sets the event id to an event id external to the driver It is possible to stop the event signalling by setting the event id to zero When the driver notifies the user using the event id the bit mask that caused the interrupt is sent along as an argument Note that it may be different from the status mask read with RT GET STATUS since previous error interrupts may have changed the status mask Thus there is no need to clear the status mask after an event notification if only the notification argument is read See table 76 for the description of the notification argument 21 2 7 Remote Terminal operation The Remote Terminal RT driver maintains a receive event queue All events such as receive commands transmit commands broadcasts and mode codes are put into the event queue Each event is described using a struct rt_msg as defined earlier in the data structure subsection The events are read of the queue using the read call The buffer should point to the beginning of one or several struct rt msg The number of ev
113. and initialize a descriptor list The bdtab_custom argument can be used to assign a custom address of the descriptor list void gr1553bc list table free struct gr1553bc list list Free descriptor list memory previously allocated by gr1553bc list_table_alloc int gr1553bc list table build struct gr1553bc list list Build all descriptors in a descriptor list Unused descriptors will be initialized as empty dummy descriptors After this call descriptors can be initialized by user int gr1553bc major _alloc_skel struct gr1553bc_major major struct gr1553bc_major_cfg cfg Allocate and initialize a software description skeleton of a Major Frame and it s Minor Frames int gr1553bc list freetime struct gr1553bc list list int mid Get total unused slot time of a Minor Frame Only available if time management has been enabled for the Minor Frame int gr1553bc slot alloc struct gr1553bc list list int mid int timeslot union gr1553bc_bd bd Allocate a Slot from a Minor Frame The Slot location is identified by MID If the MID identifies a Minor frame the first free slot is allocated within the minor frame int gr1553bc slot free struct gr1553bc list list int mid Return a previously allocated Slot to a Minor Frame The slot time is also returned int gr1553bc_mid from bd union gr1553bc_bd bd int mid int async Get Slot Message ID from descriptor address union
114. and still no blocks was processed ENODEV The calling task was woken up from blocking mode by the GRAES code being stopped The GRAES driver has has entered stopped mode Further calls to RECLAIM will retrieve processed packet Table 206 ERRNO values for RECLAIM 38 2 4 2 12 ENCRYPT Scheduling de encryption of block is done with the ioctl command ENCRYPT The input is a linked list of GRAES blocks to be scheduled When all GRAES DMA descriptors are active enabled and linked to a block the remaining blocks are queued internally by the driver Every call to ENCRYPT will trigger scheduled GRAES blocks for de encryption calling PROCESS with the argument set to NULL will thus trigger previously scheduled GRAES blocks for de encryption This might be necessary when interrupts are not used to process descriptors or when interrupt generation for GRAES blocks are disabled see SET CONFIG The input to ENCRYPT is a pointer to a graes list data structure described in section 38 2 4 1 The head and tail fields of the data structure points to the first and the last GRAES block to be scheduled for de encryption The GRAES block structure graes block used is described in section 38 2 2 the data field corresponding to the GRAES buffer descriptor fields Note that the block structure and any data pointed to by the block scheduled for de encryption must not be accessed until the block has been reclaimed using the ioctl command RECLAIM ENCRYPT will
115. and will fail if the input argument is invalid errno will be set to EINVAL in such cases 33 2 4 2 11 GET_HW_STATUS Read current TC hardware state the argument is a pointer to a data area where the hardware status will be stored The status is stored using the layout of the grtc_ioc hw_status described in the data structures section This command only fail if the pointer argument is invalid 33 2 4 2 12 GET_CLCW_ADR The address of the GRTC register GRTC CLCW Register 1 is stored into a user provided location The register address may be used to access the current CLCW fields from the GRTC hardware For example can the no RF and the No Bit Lock bit be read from this address See the hardware manual This command only fail if the pointer argument is invalid 33 2 4 2 13 GET_STATS This command copies the driver s internal statistics counters to a user provided data area The format of the data written is described in the data structure subsection See the grtc ioc stats data structure Note that the statistics only is available for the FRAME mode since it is only the FRAME mode that generate statistics such as number of frames received and errors in header in RAW mode the data is never processed just copied to a user provided buffer The call will fail if the pointer to the data is invalid 33 2 4 2 14 CLR STATS This command reset the driver s internal statistics counters This command never fail 33 2 4 2 15 POOLS SETUP This
116. are failed Feature not available in hardware Table 160 ERRNO values for ioctl calls Call Number Status Mode Description START Stopped Both Exit stopped mode start the receiver STOP Started Both Exit started mode enter stopped mode This stops the receiver Most of the settings can only be set when in stopped mode ISSTARTED Both Both Indicates operating status started or stopped SET BLOCKING MODE Both RAW Set blocking or non blocking mode for read calls SET_ TIMEOUT Both RAW Set time out value used in blocking mode to wake up blocked task if read request takes too long time to complete SET_ MODE Stopped Both Select operating mode RAW or FRAME mode RAW is default SET BUF PARAM Stopped Both Set DMA buffer parameters SET_CONFIG Stopped Both Configure hardware and driver GET_CONFIG Both Both Get current configuration previously set with SET CONFIG or the driver defaults GET BUF PARAM Both Both Get current DMA buffer parameters GET HW STATUS Both Both Get current GRTC hardware status GET CLCW_ ADR Both Both Returns the address of the CLCWRx1 register it can be used to get the current CLCW fields from hardware For example can the no RF and the No Bit Lock bit be read from this address See hardware manual GET STATS Both FRAME Get statistics collected by driver CLR STATS Both FRAME Reset driver statistics POOLS SETUP Stopped FRAME Se
117. are manual for a detail description of a descriptor Slot The BC Core is unaware of lists it steps through executing each descriptor as the encountered in a sequential order Conditions resulting in jumps gives the user the ability to create more complex arrangements of buffer descriptors BD which is called lists here Transfer Descriptors TBD may have a time slot assigned the BC core will wait until the time has expired before executing the next descriptor Time slots are managed by Minor frames in the list See Minor Frame section A Message Slot generating a data transmission on the 1553 bus must have a valid data pointer pointing to a location from which the BC will read or write data A Slot is allocated using the gr1553bc _ slot_alloc function and configured by calling one of the function described in the table below A Slot may be reconfigured later Note that a conditional descriptor does not have a time slot allocating a time for a conditional times slot will lead to an incorrect total time of the Minor Frame Function Name Description gr1553bc _ slot irq prepare Unconditional IRQ slot gr1553bc_slot jump Unconditional jump gr1553bc slot exttrig Dummy transfer wait for EXTERNAL TRIGGER gr1553bc_slot transfer Transfer descriptor gr1553bc_slot empty Create Dummy Transfer descriptor gr1553bc_slot_raw Custom Descriptor handling Table 56 Slot configuration Existing configured Slots can b
118. area parameter esessesesessesesesresesesresesesrescseoresreeseroesesereeseseroeseseree 115 Openingithe device iii a a rana 115 Closingthe device tit ni idas 116 1 0 Control interface ai a Lt vids 116 Data Structures A A a td 116 Configuratio iene ena A A A Ed 120 SET MODE icim ii aeie rii Da ADEE a A as ade 121 SET BUS wis cies EE EEEE AR ded EE vent sa a A EEE ETE 121 SET MSGTO ieee es E A EEE ENEE ENE 121 SETTRTUADDR ii tE it it iO a aaa ES 122 BRM SETS TDi dad ii tii ii tated dew Cede ii iii 122 BRM SET BCE usarios vos civedsotsadeue tadadee deen ceases aueokt outed E E hee tae e 122 BRM TX BLOCK veh scosrescnavnseeanacntwn E E EERE uebadcectaadvcaddebegaved ce vneundvened lps 122 BRM RX BLOCK ii Rd A du neludlia cade Ed 122 BRM CER STATU S a A E E EEE E E OE O Noa 122 BRM GET STATUS suosion oiei E a a E AS a E a seta couse cas 122 BRM SET EVENTID hecesi tersini ti persi Cariae NE EEEE NE sonido caaseaavcuechepeadeasbagdeas 122 Remote Terminal operation s ssessessessessessrssrssessrserserserserseseseseseossseseseseseseseseeeo 123 Bus Controller operation noeneen a E aaea a E E Eaa EOR R iae 123 BuS Monitor op raHOin eser eaer AARE KE KEAREN EIEEE RENANE ESASTAN 124 Gaisler B1553RT DRIVER RT eocena a a aE a 125 INTRODUCTION accesses sosdesagetevadue latconuce lll ii 125 RI Hardware niei nerenin dida da 125 Example Sare nesai A a et 125 User interface ennen eedi aan ads 125 Driver registration aosretitirnei eitinn
119. as 143 Closing the device aia 143 1 O Control tera A A A abeleetnigeab ONENA E 144 Data Structures Si A A A EA EREET E ea ERRE Ea 144 COMU AA ai 147 TransMiSSiOD coccoocoonosaonnonioiiondonirndnaconsando sce slevcavacacduaceschiscoudtucescescabaeaucseaadcdaeschevaneds ens 150 RECODO ceeded Buds N selincateanstionsi Twas Wiles as dined S e aAA Bidens Oates 150 Gaisler SatCAN FPGA driver SatCAN ccccccssccseccseeceeeceseaeee eee eeeeeeeneeeeeeeeeeaeenes 152 INTRODUCTION veaccicciesasccaetavsnecacdscctsssncanceacesdetdescavecasdiecnsvas caves ceedenesadeaneasadaseeded tees 152 SatCAN Hardware Wrappet ccccecccescceecceeeceeeeeeeeeeeeeeeeeeeseeeeeeeeeeaeeeeeeeeeseeseeeeeeeees 152 SOLEWALC WIV ET soos cokes eos AAA A o essa ads Sas es Re aL ena aaa bs Sale ad Ta Sowa ees 152 Supported OSs it eck od obs E a Ha TANTA cad tienda ai eR Deberes ines 152 EXAMPLES eiii pelota ous dead aa nia ias 152 SUPPORT A A A A AA TA ERA EA 152 User interface a A EA A eee 152 Driver TEJISTTALiONO oeseri sri ee anera ek che eke cet coe din deaweadeasdadeasbacsaedadeatuetersaaedersaaadereaganens 152 Opening the device ni ado diia 154 Closing the device nada data 154 Reading from the devicCe ooccoocccocncocnnccnoncnonononononcnoncnonnnoncnnnnnnnnnnnonnnnnnnnnonnncnnnnnnnnns 154 IIS NNNN N NNNNNNBRRB N uNa NNN ADD E N NNNNNNNNNNNNNBBE NNUNNNNNNNNNNWND DODDDDDARADRDO PRRPODNURUAWNH una N o NOUURWNE E NB NNNNN 90 02
120. as 246 Software DIV OT a de bis Sass Gaus a Gabe id 246 SUPDO diia NE AA AA A A AAA Sista AN 246 38 2 38 2 1 38 2 2 38 2 3 38 2 4 38 2 4 1 38 2 4 2 38 2 5 39 User interface de ao aerae a bat 246 Driver registration e osoa aene enaA EAEN EE EIEE CAE O EEA ANENE NIVAE dal 246 Opening the device iii A A E EAEE N AA AONT 246 Closing the DEVICE ss on o dates Sats A eR abe 247 I O Control interface cc 3 cc ccsccsccccses niini E aaa aE a eh s i a caucus E 247 Data TUCU sees sak E A AE bed AN E EAA A EE iS ee 247 COnMGUPATION eee ena co Seat O FE ees 250 DA A O E A E A tag Ai aeden 254 SUPPOT diiniita 255 1 Drivers documentation introduction This document contain a compilation of documents describing most of the LEON3 and LEON2 drivers included in the Gaisler RTEMS distribution Each driver is described in a separate chapter Most of the drivers for GRLIB cores relies on the RTEMS Driver Manager for a number of services The manager is responsible to unite a driver with the hardware the driver is intended for and creating a device instance The driver manager is documented in a separate chapter Gaisler RTEMS samples and a common makefile can be found under opt rtems 4 10 src examples samples in the distribution The examples are often composed of a transmitting task and a receiving task communicating to one another The tasks are either intended to run on the same board requiring two cores or run on different boards requiring
121. as to be the size indicated by the length field Note that the packet structure and any data pointed to by the packet scheduled for reception must not be accessed until the packet has been reclaimed using the ioctl command RECLAIM RECV will fail if the input packet list is incorrectly set up errno will be set to EINVAL in such cases 37 2 5 Reception Receiving packets are done with the ioctl call using the command RECV and RECLAIM It is possible to receive multiple packets in one call the packets are provided to the driver using a linked list of packets See the ioctl commands RECV and RECLAIM for more information 38 Gaisler AES DMA driver GRAES 38 1 INTRODUCTION This document is intended as an aid in getting started developing with Aeroflex Gaisler GRLIB AES DMA GRAES core using the driver described in this document It describes accessing GRAES in a on chip system and over PCI It briefly takes the reader through some of the most important steps in using the driver such as starting the GRAES driver configuring the driver and en decrypt AES packets The reader is assumed to be well acquainted with GRAES AES and RTEMS 38 1 1 Software Driver The driver provides means for threads to receive GRAES packets using standard I O operations 38 1 2 Support For support contact the Aeroflex Gaisler support team at support gaisler com 38 2 USER INTERFACE The RTEMS graes driver supports the standard accesses to file descriptor
122. at need to be met see the hardware documentation When the least significant bit is set to one the custom address is interpreted as an address local to the GRTC core The GRTC driver will translate this address to an address that the CPU can read This is useful when the GRTC core is not on the same bus as the CPU and translation is needed dma_partition SpaceWire driver version only This option select which partition the DMA area on the SpaceWire node is allocated from The AMBA RMAP bus driver provides custom functions for allocating memory on the remote target the memory is split into multiple partitions Note that memory allocated cannot be returned freed this means that a memory leak may be created when configuring the memory more than once Table 152 grtc_ioc_buf_params member descriptions The grtc_ioc_config struct is used for configuring the driver and the TC core struct grtc_ioc_config int psr_enable int nrzm_enable int pss_enable int ero calc Member Description psr_enable Enable Pseudo De Randomizer in the TC core See hardware manual for more information nrzm_enable Enable Non Return to Zero Mark Decoder See hardware manual for more information pss_enable Enable ESA PSS See hardware manual for more information crc_calc Reserved set this to zero Table 153 grtc_ioc_config member descriptions The grtc ioc hw status data structure is u
123. b_drv_resources next NULL resource DRIVER_AMBAPP_GAISLER_GRSPW_ID 0 amp grlib_grspw_Onl_res 0 DRIVER_AMBAPP_GAISLER_GRSPW_ID 1 amp grlib_grspw_Onl_res 0 RES_EMPTY Mark end of device resource array 3 2 6 Driver interface Device drivers normally request a resource by name and type The function drvmgr dev key get returns a pointer to a resource value for a specific device see below prototype extern union drvmgr_key_value drvmgr_dev_key_get struct drvmgr_dev dev char key_name int key_type 3 3 CONFIGURATION The driver manager is configured by selecting drivers that will be registered to the manage by registering a root bus driver prior to driver manager initialization and drivers may optionally be configured by using driver resources see previous section The root bus device driver is registered by calling drumgr root drv register this must be done AEROFLEX GR RTEMS DRIVER 26 GAISLER before the driver manager is initialized When the BSP initializes the manager during the RTEMS boot process nothing need to be done by user For example calling ambapp grlib_root register registers the GRLIB AMBA Plug amp Play Bus as the root bus driver and also assigns the bus resources for the root bus System Root driver LEON3 ambapp_bus _grlib c register by calling ambapp_grlib_root_register LEON2 leon2 amba_bus c register by calling leon2_root_register GRLIB LE
124. bapp for each see prototype below The user provided function is called every time the search options matches a AMBA device in the device tree The ambapp for each function can search for a any combination of VENDOR DEVICE ID device types AHB MST AHB SLV and or APB SLV free or allocated devices If a VENDOR DEVICE ID of 1 is given the function will match any vendors devices AEROFLEX GR RTEMS DRIVER 16 GAISLER AAA AAA HF HF HF FH FH HF HF HF HF HF H F Iterates through all AMBA devices previously found it calls func once for every device that match the search arguments SEARCH OPTIONS All search options must be fulfilled type of devices searched options and AMBA Plug amp Play ID VENDOR DEVICE before func is called The options can be use to search only for AMBA APB or AHB Slaves or AHB Masters for example Note that when VENDOR 1 or DEVICE 1 it will match any vendor or device ID this means setting both VENDOR and DEVICE to 1 will result in calling all devices matches the options argument param abus AMBAPP Bus to search param options Search options see OPTIONS_ above param vendor AMBAPP VENDOR ID to search for param device AMBAPP DEVICE ID to search for param func Function called for every device matching search options param arg Optional argument passed on to func func return value affects the search returning a non zero value will stop the search and ambapp_for_each will
125. be set in the driver 23 1 3 Supported OS Currently the driver is available for RTEMS 23 1 4 Examples There is a simple example available it illustrates how to set up a connection reading and writing messages using the OC_CAN driver It is made up of two tasks communicating with each other through two OC_CAN devices To be able to run the example one must have two OC_CAN devices externally connected together on the different or the same board The example is part of the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src examples samples rtems occan c occan lib c and occan lib h The example can be built by running cd opt rtems 4 10 src examples samples make clean rtems occan rtems occan_tx rtems occan_rx Where rtems occan is intended for boards with two OC_CAN cores and rtems occan is for set ups including two boards with one OC_CAN core each 23 1 5 Support For support contact the Gaisler Research support team at support gaisler com 23 2 USER INTERFACE The RTEMS OC CAN driver supports the standard accesses to file descriptors such as read write and ioctl User applications include the occan driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver An example application using the driver is provided in the examples directory 23 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able
126. bled during the driver manager initialization and drivers initialized during RTEMS boot system clock timer and system console UART for example can not rely on the driver manager When the driver manager is initialized during boot the rtems initialize device drivers function puts the manager into level 1 before RTEMS I O drivers are initialized so that drivers relying on the manager for device discovery are able to register devices to the I O subsystem in time At time of initialization most of RTEMS APIs are available for drivers for example malloc is AEROFLEX GR RTEMS DRIVER 20 GAISLER available 3 2 1 Bus and bus driver A bus driver is responsible to make the driver manager aware of hardware devices simply called devices by scanning Plug amp Play information or by any other approach It finds creates and registers devices in a deterministic order The manager help bus drivers with new devices insertion into the device tree and device numbering for example Each device is described in a bus architecture independent way and with bus specific device information like register addresses interrupt numbers and bus frequency information Drivers targeting devices on the bus must know how to extract valuable information from the specific information All buses have a linked list of devices which are situated directly on the bus bus children if a device is a bridge to another bus that device registers another device dev bus a bus
127. bus created by the GR RASTA TMTC driver can be assigned by overriding the weak default bus resource array gr rasta tmtc resources of the driver It contains a array of pointers to bus resources where index N determines the bus resources for GR RASTA TMTCIN board The array is declared in gr rasta tmtc h The driver resources can be used to set up the memory parameters and configure locations of the DMA areas of GRTC GRTM GRSPW cores Please see respective driver for available configuration options AEROFLEX GR RTEMS DRIVER 48 GAISLER 11 GR RASTA SPW_ROUTER PCI TARGET This section describes the GR RASTA SPW_ ROUTER PCI target driver The GR RASTA SPW_ROUTER driver require the RTEMS Driver Manager and that the PCI bus is big endian The GR RASTA SPW ROUTER driver is a bus driver providing an AMBA Plug amp Play bus The driver first sets up the target PCI register such as PCI Master enable and the address translation registers Once the PCI target is set up the driver creates an ambapp bus that scans the bus and assigns the appropriate drivers This driver provides interrupt handling and memory address translation on the internal AMBA bus so that the drivers can function as expected The driver resources of the AMBA bus created by the GR RASTA SPW_ROUTER driver can be assigned by overriding the weak default bus resource array gr rasta spw router resources of the driver It contains a array of pointers to bus resources where index N dete
128. by the BC Modify transfer options and data pointers but maintain the Dummy bit 4 Clear the Dummy bit in one atomic data store 19 3 7 Custom Memory Setup For designs where dynamically memory is not an option or the driver is used on an AMBA over PCI bus where malloc does not work the API allows the user to provide custom addresses for the descriptor table and object descriptions lists major frames minor frames Being able to configure a custom descriptor table may for example be used to save space or put the descriptor table in on chip memory The descriptor table is setup using the function gr1553bc list table alloc list CUSTOM ADDRESS Object descriptions are normally allocated during initialization procedure by providing the API with an object configuration for example a Major Frame configuration enables the API to dynamically allocate the software description of the Major Frame and with all it s Minor frames Custom object allocation requires internal understanding of the List management parts of the driver it is not described in this document 19 3 8 Interrupt handling There are different types of interrupts Error IRQs transfer IRQs and conditional IRQs Error and transfer Interrupts are handled by the general callback function of the device driver Conditional descriptors that cause Interrupts may be associated with a custom interrupt routine and argument Transfer Descriptors can be programmed to generate interr
129. by the user after the driver manager has initialized the on chip bus The SpaceWire driver requires the SpaceWire RMAP stack to perform read and write access to the SpaceWire Target Nodes The driver support Logical SpaceWire Addressing only at this point 5 3 REQUIREMENTS The SpaceWire network must be Logical addressed and the SpaceWire bus driver requires the RMAP stack for target node access 5 4 NODE DESCRIPTION The SpaceWire bus driver is a driver for the devices on the SpaceWire bus in this particular case a device is called a SpaceWire Node a node is described by the data structure spw_node Each node has a Node ID a name and a list of optional keys A SpaceWire node has the following configurable elements e Node ID connected to driver Node Name e SpaceWire Destination key e SpaceWire Node Address IRQ setup up to four IRQs AEROFLEX GR RTEMS DRIVER 38 GAISLER 5 4 1 The Node ID The Node ID identifies a type of target not a certain Node The Node ID in combination with the node index on the bus creates a Unique identifier The Node ID is used to identify a driver that can handle the node The node index is taken from the index in the Node table The NodelDs are defined in spw_bus_ids h 5 5 READ AND WRITE OPERATION A SpaceWire target Node s memory and registers are accessed using RMAP commands The RMAP protocol is implemented by the RMAP stack in a separate module The driver manager provide read
130. calls len Length of received TC Frame reserved Reserved by the driver pool Field internally used by driver must not be changed by user hdr Header of a TC Frame data Start of TC Frame payload Table 155 grtc_frame member descriptions The grtc list structure represents a linked list a chain of TC frames The data structure holds the first frame and last frame in chain struct grtc_list struct grtc_frame head struct grtc_frame tail int cnt Member Description head First TC frame in chain tail Last TC frame in chain last frame in list must have it s next field set to NULL cnt Number of frames in list Table 156 grtc_list member descriptions The grtc_ioc pools setup structure represents the set up of all frame pools used by the driver to select the shortest frame to put incoming TC frames into The size of the data structure depends on the pool cnt field the size can be calculated as sizeof struct grtc_ ioc pools setup 4 4 pool cnt struct grtc_ioc_pools_setup unsigned int pool_cnt unsigned int pool_frame_len 1 y Member Description pool cnt Number of frame pools in this setup pool frame len Array of frame lengths one length per pool Pool one has frame length pool frame len 0 Pool 2 pool frame len 1 and so on Table 157 grtc_ioc_pools_ setup member descriptions The grtc_ioc assign frm pool structure hold a chain of frames all with the
131. causing the LEON IRQ controller being set once again This is because PCI is level triggered level is still low the other IRQs on the LEON is edge triggered The solution is to acknowledge the LEON IRQ controller after the PCI target has stop driving the PCI IRQ line only then will the driver be able to stop the last already handled IRQ to occur This must be done in the PCI ISR of the target device driver after the hardware causing the IRQ has been acknowledge 7 4 3 PCI Endianess The PCI bus is defined little endian whereas the SPARC and AMBA bus are defined big endian this imposes a problem where the CPU has to byte swap the data in PCI accesses The GRPCI and GRPCI2 host controllers has support for doing byte swapping in hardware for us it is enabled disabled using the byteTwisting configuration option The AT697 PCI and PCIF does not have this option the software defaults to the PCI bus being non standard big endian instead Please see more information about this in hardware manuals and the PCI Library documentation AEROFLEX GR RTEMS DRIVER 45 GAISLER 8 GR RASTA ADCDAC PCI TARGET This section describes the GR RASTA ADCDAC PCI target driver The GR RASTA ADCDAC driver require the RTEMS Driver Manager and that the PCI bus is big endian The GR RASTA ADCDAC driver is a bus driver providing an AMBA Plug amp Play bus The driver first sets up the target PCI register such as PCI Master enable and the address translation register
132. cccctissecesedeh ines ianscveusccruets deveeccncceabusecauedtadecauva dats enachcauedse consasacceaass 231 INTRODUCTION aiaee cee di il EE Ad id a 231 A A NE 231 User Interface ii it PE daa alabada 231 VETV OW oeoo p ulta EIE a de a a A AEE EAEN EE EN vensaabiaahactlaa tases 231 Accessing the SPWCUC COL nre taitanee aE a A a ER A AE REA 231 Interrupt Serie ane a a ENOTE E di a EESTE 232 Application Programming INterface ooccoocccncncncnoncnoncnonononcnonnnononononononononocnncnninnnos 232 Data Structures issie EEE NEETER NOSSER REAA sedan ER 234 Gaisler Packetwire RX driver GRPWRX s sssssessersessersessessessessessrssessrseessrseseses 237 INTRODUCTION arrere enrasar cod i aE E E DA EEEE ARENAN SAA EAER TREE 237 Software DIVER sis csecdesccsueess soesaie es Geass we als 237 SUPPOT bi reesi ane cin add cada 237 User INCCTLAGCE nit a oe daa A alias 237 Driver rogis roobe no AE ES A AEE ATAA TE TOATA E EREA eia 237 Opening the devices cecocioni was aos rnin aas havea AE a e E E EET dais 237 Closing the DEVICE mii a ak ASDA a aa iea woe os 238 O Control Mtertace vcscceiid es keels shack soko E dae 238 Dala Structures iiem naa anna li lis 238 CONTIGUA AM A A ova O RON 241 Receptions ernro Soe A a dedi Dt DO LAA Mav ee Ae di dad IEA ENAR 245 Gaisler AES DMA driver GRAES esssssessessessessessessessessessrssessrsseseesseseeserseeseeseseo 246 INTRODUCTION ciinei irienna conan AACA EEEE cnsvascusesnsaeedecnacuanensudeseaded te
133. ccess on failure a negative number is returned 19 GR1553B Bus Controller DRIVER 19 1 INTRODUCTION This section describes the GRLIB GR1553B Bus Controller BC device driver interface The driver relies on the GR1553B driver and the driver manager The reader is assumed to be well acquainted with MIL STD 1553 and the GR1553B core The GR1553B BC driver require the Driver Manager 19 1 1 GR1553B Bus Controller Hardware The GR1553B core supports any combination of the Bus Controller BC Bus Monitor BM and Remote Terminal RT functionality This driver supports the BC functionality of the hardware it can be used simultaneously with the Bus Monitor BM functionality When the BM is used together with the BC interrupts are shared between the drivers The three functions BC BM RT are accessed using the same register interface but through separate registers In order to shared hardware resources between the three GR1553B drivers the three depends on a lower level GR1553B driver see GR1553B driver section The driver supports the on chip AMBA bus and the AMBA over PCI bus 19 1 2 Software Driver The BC driver is split in two parts one where the driver access the hardware device and one part where the descriptors are managed The two parts are described in two separate sections below Transfer and conditional descriptors are collected into a descriptor list A descriptor list consists of a set of Major Frames which consist of
134. ce number Returns a handle identifying the specific BM device opened The handle is given as input parameter bm in all other functions of the API void gr1553bm_close void bm Close a previously opened BM device int gr1553bm_config Configure the BM device driver and allocate BM log void bm DMA memory struct gr1553bm_cfg cfg int gr1553bm_start void bm Start BM logging enables Interrupts void gr1553bm_stop void bm Stop BM logging disables interrupts void gr1553bm_time Get 1553 64 bit Time maintained by the driver The void bm lowest 24 bits are taken directly from the BM timer uint64 t time register the most significant 40 bits are taken from a software counter int gr1553bm_available The current number of entries in the log is stored into void bm nentries int nentries int gr1553bm read Copy contents a maximum number max of entries void bm from the BM log to a user provided data buffer dst struct gr1553bm entry dst The actual number of entries copied is stored into int max max Table 48 function prototypes 18 2 2 1 Data structures The gr1553bm_cfg data structure is used to configure the BM device and driver The configuration parameters are described in the table below struct gr1553bm_config uint8_t time resolution int time _ ovf_irq unsigned int filt_error_options unsigned int filt_rtadr unsigned int filt_subadr unsigned int filt_mc unsigned int buffe
135. ceeeeeeeceeeeseeseneeaeeeeeeeeneeees 179 INTRODUCTION csi A A att 179 SS A RE RN 179 Examples meienoar aT EEA EEEE tae 63 cdo ance IRS dds ead dey EEEE a saat anges A EA RATERS 179 User INCETEA CG rarene risie irar neede e A di a AAA AA 179 Driver registration A A A A AAA AAA ENEE E e 179 Accessing the SPI DUS Meente ein A alain 179 Extensions to the standard RTEMS interface ooccoocccocnnonnnonnncnnonnnononcnncnnnnnnncnnnnnonnos 180 PERIOD STAR T ese ao tt dd EEE A a dt da ATR 181 SO oe O RO NO w NNNNNNNNN NNNNNNNNNN AARADAUAWNE APUN w w w Seat NNONNBRBREE w Ne WWWWWWW E CONFIG A Soe Las ok ee de REE NE anaes 181 STATUS A A id AA A cen 182 PERIOD WRITE cuvnorinn ira ts 182 PERIOD READ an iaoeiai ii on E nada ideada A dd he 183 Gaisler i2C Master DRIVER 120 MS TD oocccnoccnnnccnnniocnnnncnnnnocnnnncnnnnronnaocnnarononocnnnicnnnnns 184 INTRODUCTION cocida a e da 184 IA RR 184 EXAMPLES bees cie 184 WSOP INLETEA A NN 184 Driver Tre DISTAL Ab A AAA A aces ta A A Di AAA 184 Accessing the 12 DUS iii tras A AEN A ten Ree wets 184 GPIO LDTV A cada 186 INTRODUCTION aiii de Id ENE A AL A AAA 186 EXAMEN SO O o teas tod een cna teach 186 Driver interfaCe iii dit 186 User interfata seenen sce ccadgdveceeaensuwegutes crave peana dade aa E O e Ee a a EES 186 Accessing a GPIO PO isie so css cha A R ATOE AEE NTE 186 Interrupt handler registration sessessessessersessessessessessessessessrserserserserseesesses
136. ck function interface available for RTEMS The RMAP stack provide a simple interface that can generate RMAP commands and transmit them over SpaceWire by relying on the RMAP stack driver layer Read read modify write and write with acknowledge or verification will block the caller until the transaction is completed The features of the RMAP stack is summarized below e header and data CRC generation if not generated by hardware e logical addressing e path addressing e generate all read and write types defined by the RMAP specification e thread safe if requested driver layer to support multiple SpaceWire hardware e driver for GRSPW driver e zero copy API The two interfaces the RMAP stack implements can be found in the rmap header file rmap h it contains definitions of all necessary data structures bit masks procedures and functions used when accessing the function interface This document describes the user interface but not the driver interface 4 1 1 Examples The SpaceWire bus driver can be seen as an example it can be found under rtems 4 10 c src lib libbsp sparc shared drvmgr spw_bus c 4 2 DRIVER INTERFACE The driver interface is not described in this document 4 3 LOGICAL AND PATH ADDRESSING The RMAP stack is by default configured to do logical addressing however a custom callback function may be used to implement path addressing The stack will call the function twice one for distination path and one for ret
137. command set up the frame pools internal to the driver The frame pools must be configured before starting the receiver in FRAME mode For more information about frame pools see section Operating mode The pools are configured by the input argument pointing to an initialized grtc_ioc pools setup data structure described in the data structure subsection Note that the frame length must be sorted with the first frame pool having the shortest frame length The call will fail if the pointer to the data is invalid or if in RAW mode 33 2 4 2 16 ASSIGN_FRM_POOL Assigns a linked list of frames to a frame pool The input argument is a pointer to a grtc_ioc_assign frm_pool data structure containing the frame length identifying a pool and a linked list of frames that will be assign to the matching pool All frames must be assigned to a frame pool before added to the driver s frame pools using the command ADD BUF For more information about frame pools and assigning a frame to a frame pool see section Operating mode See section data structures for a description of grtc_ioc_assign_frm_pool The frame pools using POOLS SETUP must be set up before assigning frames to a frame pool This command fail and errno set to EINVAL is the input argument is invalid the driver is in RAW mode or no matching frame pool was found 33 2 4 2 17 ADD_BUF Adds a chain of frames to their respective frame pool for later use by the driver The driver will use the add
138. converted to an integer and interpreted directly thus simplifying the code 38 2 4 1 Data structures The graes_ioc_ hw data structure indicates what features the GRAES hardware supports and how it has been configured struct graes_ioc_hw unsigned short keysize y Member Description keysize GRAES core key size fixed 256 Table 197 graes_ioc_hw member descriptions The graes oc config struct is used for configuring the driver and the GRAES core struct graes_ioc_config Interrupt options unsigned int enable_cnt int isr_desc_proc int blocking rtems_interval timeout Member Description enable cnt Number of blocks between interrupts are generated zero disables interrupt Allows user to fine grain interrupt generation isr desc _proc Allow GRAES interrupt service routine ISR to process descriptors blocking Blocking mode select graes BLKMODE POLL for polling mode or graes BLMODE BLK for blocking mode timeout Blocking mode time out Table 198 graes_ioc_config member descriptions The graes block structure is used in for queueing GRAES blocks and retriving processed blocks it is the driver s representation of a GRAES block A GRAES block structure can be chained together using the next field in graes_ block struct graes_block unsigned int flags struct graes_block next int length unsigned char key unsigned char x
139. d Write also fails if the link has not been started with the ioctl command START The write call can be configured to block in different ways If normal blocking is enabled the call will only return when the packet has been transmitted In non blocking mode the transmission is only set up in the hardware and then the function returns immediately that is before the packet is actually sent If there are no resources available in the non blocking mode the call will return with an error There is also a feature called Tx block on full which means that the write call blocks when all descriptors are in use The ioctl call used for transmissions is SPACEWIRE IOCTRL SEND A spw ioctl send struct is AEROFLEX GR RTEMS DRIVER 64 GAISLER used as argument and contains length and pointer fields The structure is shown in the data structures section This ioctl call should be used when a header is taken from one buffer and data from another The header part is always transmitted first The hlen field sets the number of header bytes to be transmitted from the hdr pointer The dlen field sets the number of data bytes to be transmitted from the data pointer Afterwards the sent field contains the total number header data of bytes transmitted The blocking behavior is the same as for write calls The call fails if hlen dlen is 0 one of the buffer pointer is zero and its corresponding length variable is nonzero ERRNO Description EINVAL An inv
140. d Solomon interleave Depth RSDEPTH implemented 3 bit rs Indicates what Reed Solomon encoders are implemented 0 None 1 E16 2 E8 3 Both aasm Indicates if Alternative ASM AASM implemented fecf Indicates if Transfer frame control field CRC is implemented ocf Indicates if Operational Control Field OCF is implemented evc Indicates if Extended Virtual Channel Counter is implemented idle Indicates if Idle Frame generation is implemented fsh Indicates if Frame secondary header is implemented mcg Indicates if Master Channel counter generation is implemented iz Indicates if Insert Zone IZ is implemented fhec Indicates if Frame Header Error Control FHEC is implemented aos Indicates if AOS transfer frame generation is implemented blk size TM core DMA Block size in number of bytes fifo size TM core FIFO size in number of bytes Table 166 grtm_ioc_hw member descriptions The grtm_ioc_config struct is used for configuring the driver and the TM core struct grtm_ioc_config unsigned char mode unsigned short frame_length unsigned short limit unsigned int as_marker Physical layer options unsigned short phy_subrate unsigned short phy_symbolrate unsigned char phy_opts Coding sub layer Options unsigned char code_rsdep unsigned char code_ce_rate unsigned char code_csel unsigned int code_opts All Frames Generation unsigned char all_izlen unsigned char all_opts Master Frame Generat
141. d in table 1 All paths are given relative the RTEMS kernel source root Source description Location Interface implementation c src lib libbsp sparc shared spw rmap c Interface declaration c src lib libbsp sparc shared include rmap h Table 10 RMAP stack source location 4 7 1 Data structures The rmap config data structure is used to configure the RMAP stack as an argument to rmap_init The data structure is defined in rmap h typedef int rmap_route_t void cookie int dir int srcadr int dstadr void buf int len di struct rmap_config rmap_route_t route_func int tid_msb int spw_adr struct rmap_drv xdrv int max_rx_len int max_tx_len int thread_safe Member Description route func Function is a callback called when the RMAP stack is about to generate the addressing to the target node address It can be used to implement path addressing Set the function pointer to NULL to make the stack use logical addressing tid_msb Control the eight most significant bits in the TID field in the RMAP header Set to 1 for normal operation the RMAP stack will use all bits in TID for sequence counting This option can be used when multiple RMAP stacks or other parts of the software sends RMAP commands but not using the RMAP stack This requires of course a thread safe RMAP driver spw_adr The SpW Address of the SpW interface used drv RMAP driv
142. d to skip at least one received message Table 78 rt_msg member descriptions The last variable in the struct rt_msg shows which descriptor i e rx subaddress tx subaddress rx mode code or tx mode code that the message was for They are defined as shown in the table below Descriptor Description 0 Reserved for RX mode codes 1 30 Receive subaddress 1 30 31 Reserved for RX mode codes 32 Reserved for TX mode codes 33 62 Transmit subaddress 1 30 63 Reserved for TX mode codes 64 95 Receive mode code 96 127 Transmit mode code Table 79 Descriptor table If there has occurred an event queue overrun bit 15 of this variable will be set in the first event read out All events received when the queue is full are lost 21 2 6 Configuration The RT core and driver are configured using ioctl calls The table 78 below lists all supported ioctl calls RT_ should be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 77 An example is shown below where the Remote Terminal Address is set to one by using an ioctl call unsigned int mode 1 result ioctl fd RT_SET_ADDR amp mode ERRNO Description EINVAL Null pointer or an out of range value was given as the argument ENOSYS Invalid request now such ioctl command
143. de Note that the blocking mode is implemented using the DMA de encrypt block interrupt changing the isr desc proc parameter of the SET CONFIG command effects the blocking mode characteristics For example enabling interrupt generation every tenth GRAES block will cause the blocked task to be woken up after maximum ten blocks when going into blocked mode This command never fail 38 2 4 2 5 SET TIMEOUT Sets the blocking mode time out value instead of blocking for eternity the task will be woken up after this time out expires The time out value specifies the input to the RTEMS take semaphore operation rtems semaphore obtain See the RTEMS documentation for more information how to set the time out value Note that this option has no effect in polling mode Note that this option is also set by SET CONFIG This command never fail 38 2 4 2 6 SET CONFIG Configures the driver and core This call updates the configuration that will be used by the driver during the START command and during operation Enabling features not implemented by the GRAES core will result in EIO error when starting the GRAES driver The hardware features available can be obtained by the GET HW IMPL command The input is a pointer to an initialized graes ioc config structure described in section 38 2 4 1 Note that the time out value and blocking mode can also be set with SET TIMEOUT and SET BLOCKING_MODE This call fail if the GRAES core is in started mode in tha
144. debugging Table 2 AMBAPP Layer Sources 2 2 OVERVIEW The AMBAPP layer provides functions for device drivers to access the AMBA Plug amp Play information in an easy way by reading a RAM description rather than accessing the Plug amp Play ROM information directly It is also beneficial to have a RAM description for remote systems over SpaceWire or PCI where scanning often must be performed once at initialization The AMBAPP interface is defined in ambapp h and vendor device IDs in ambapp ids h 2 3 INITIALIZATION Before accessing the AMBAPP interface one must initialize the ambapp_bus RAM description by scanning the AMBA Plug amp Play information for all buses bridges and devices The bus is scanned by calling ambapp _scan with prototype as listed below the RAM description will be written to abus The function takes an optional access function memfunc called when the AMBA library read the PnP information the abus argument is passed along to memfunc which makes it possible for the caller to have a custom argument to memfunc If addresses found in the Plug Play information must be translated as with AMBA over PCI for example the mmaps array must point to address translation information The scanning routine starts scanning at ioarea Ox000ff00 the default Plug amp Play area is located at OxFFFOOOO int ambapp_scan struct ambapp_bus abus unsigned int ioarea ambapp_memcpy_t memfunc struct ambapp_mmap mmaps A bus and de
145. def struct unsigned int rxsize unsigned int txdsize unsigned int txhsize spw_ioctl_packetsize Member Description rxsize Sets the size of the receiver descriptor buffers txdsize Sets the size of the transmitter data buffers txhsize Sets the size of the transmitter header buffers Table 20 spw_ioctl_packetsize member descriptions The spw_ioctl pkt send struct is used for transmissions through the ioctl call Se the transmission section for more information The sent variable is set by the driver when returning from the ioctl call while the other are set by the caller typedef struct unsigned int hlen char hdr unsigned int dlen char data unsigned int sent spw_ioctl_pkt_send Member Description hlen Number of bytes that shall be transmitted from the header buffer hdr Pointer to the header buffer dlen Number of bytes that shall be transmitted from the data buffer data Pointer to the data buffer sent Number of bytes transmitted Table 21 spw_ioctl_pkt_ send member descriptions The spw stats struct contains various statistics gathered from the GRSPW GR RTEMS DRIVER AEROFLEX 54 GAISLER typedef struct unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned spw_stats int int TOE int int int int int int int int int int int tx_link_err r
146. defined buffer CLR_STATS Don t Care Resets the statistic counters SET ASCII MODE Don t Care Set unset ASCII mode When ASCII mode is enabled a new line is replaced with a new line and a carriage return n gt n r Table 124 ioctl calls supported by the APBUART driver 27 1 5 1 1 START This ioctl command enables the receiver and transmitter of the UART core Settings previously set by other ioctl commands are written to hardware just before entering running mode It is necessary to enter running mode to be able to read or write to from the UART The command will fail if software receive or transmit buffers are not correctly allocated or if the UART driver already is in running mode 27 1 5 1 2 STOP This call makes the UART hardware leave running mode and enter stopped mode After calling STOP further calls to read and write will result in errors It is necessary to enter stopped mode to change operating parameters of the UART driver to safely change configuration such as FIFO buffer lengths The command will fail if the driver already is in stopped mode 27 1 5 1 3 SET_RXFIFO_LEN Sets the software receive FIFO length The argument specifies the number of bytes for the new RX FIFO buffer This command may return ENOMEM if not enough memory was available to complete the request this will make calls to START fail until a new buffer is allocated with SET RX FIFO LEN 27 1 5 1 4 SET TX_FIFO_LEN Sets the sof
147. descriptor in list other The index of the next descriptor Table 46 gr1553rt_bd_init next argument description A negative number is returned on failure on success a zero is returned 17 2 2 20 gr1553rt_bd_update Manipulate and read the Control Status and Data Pointer words of a descriptor If status is non zero the Control Status word is swapped with the content pointed to by status If dptr is non zero the Data Pointer word is swapped with the content pointed to by dptr A negative number is returned on failure on success a zero is returned 18 GR1553B BUS MONITOR DRIVER 18 1 INTRODUCTION This section describes the GRLIB GR1553B Bus Monitor BM device driver interface The driver relies on the GR1553B driver and the driver manager The reader is assumed to be well acquainted with MIL STD 1553 and the GR1553B core The GR1553B RT driver require the Driver Manager 18 1 1 GR1553B Remote Terminal Hardware The GR1553B core supports any combination of the Bus Controller BC Bus Monitor BM and Remote Terminal RT functionality This driver supports the BM functionality of the hardware it can be used simultaneously with the RT or BC functionality but not both simultaneously When the BM is used together with the RT or BC interrupts are shared between the drivers The three functions BC BM RT are accessed using the same register interface but through separate registers In order to shared hardware resources between t
148. ding to configuration given in cfg see the gr1553rt list cfg data structure in table 41 Assign the list to an RT device however not to a sub address yet The rt handle is stored within list The resulting descriptor list is written to the location indicated by the plist argument Note that descriptor are allocated from the RT device so the RT device itself must be configured using gr1553rt_config before calling this function A negative number is returned on failure on success zero is returned 17 2 2 19 gr1553rt_bd_init Initialize a descriptor entry in a list This is typically done prior to scheduling the list The descriptor and the next descriptor is given by descriptor indexes relative to the list entry_no and next see table below for options on next Set bit 30 of the argument flags in order to set the IRQEN bit of the descriptor s Control Status Word The argument dptr is written to the descriptor s Data Buffer Pointer Word Note that the data pointer is accessed by the GR1553B core and must therefore be a valid address for the core This is only an issue if the GR1553B core is located on a AMBA over PCI bus the address may need to be translated from CPU accessible address to hardware accessible address Values of next Description Oxffff Indicate to hardware that this is the last entry in the list the next descriptor is set to end of list mark 0x3 Oxfffe Next descriptor entry_no 1 or 0 is last
149. does maintain a list of child buses Bus information Describes a bus struct drvmgr_bus int obj_type lt DRVMGR_OBJ_BUS unsigned char bus_type lt Type of bus unsigned char depth lt Bus level distance from root bus struct drvmgr_bus next lt Next Bus struct drvmgr_dev dev lt Bridge device void oriv lt BUS driver Private struct drvmgr_dev children lt devices on this bus struct drvmgr_bus_ops ops lt Bus operations of bus driver struct drvmgr_func funcs lt Extra operations int dev_cnt lt Number of devices this bus has struct drvmgr_bus_res reslist lt Bus resources head of a linked list of resources struct drvmgr_map_entry maps_up lt Map Translation array of address spaces upstreams to CPU struct drvmgr_map_entry maps_down lt Map Translation array of address spaces downstreams to Hardware Bus status int level lt Initialization Level of Bus int state lt Init State of Bus BUS_STATE_ int error lt Return code from bus ops gt initN A device driver can be configured per device instance using driver resources the resources are managed per bus as a linked list of bus resources bus reslist A bus resource is an array of driver resources assigned by the bus driver The resources are described in a separate section below Bus bridges often interfaces parts of an address space
150. dresses are allocated by the driver The driver works internally with 16 bit descriptor identifiers allowing 65k descriptor in total A descriptor is allocated for a specific descriptor List Each descriptor takes 32 bytes of memory The user can build and initialize descriptors using the API function gr1553rt_bd init and update the descriptor and or view the status and time of a completed transfer Descriptors are managed by a data structure named gr1553rt list A List is the software representation of a chain of descriptors for a specific sub address and transfer type Thus 60 lists in total two lists per SA SAO and SA31 are for mode codes per RT The List simplifies the descriptor handling for the user by introducing descriptor numbers entry no used when referring to descriptors rather than the descriptor address Up to 65k descriptors are supported per List by the driver A descriptor list is assigned to a SA and transfer type by calling gr1553rt list_sa When a List is created and configured a maximal number of descriptors are given giving the API a possibility to allocate the descriptors from the descriptor memory area configured Circular buffers can be created by a chain of descriptors where each descriptor s data buffer is one element in the circular buffer 17 2 1 5 Data Buffers Data buffers are not accessed by the driver at all the address is only written to descriptor upon user request It is up to the user to provide the
151. driver parameters is unique per GRPWM device The parameters are all optional the parameters only overrides the default values or behaviour Name Type Parameter description nBits INT Tells the driver how many GPIO ports are available on this device normally the driver auto detect the number of GPIO ports The OUTPUT register of the GRGPIO core must be written in order to auto detect the number of GPIO ports this can be a problem in some cases when the GPIO ports has already been initialized by the boot loader bypass INT This parameter specifies the BYPASS register content If not available zero is written into the BYPASS register during driver initialization Table 137 GRGPIO driver parameter description 31 2 3 Accessing GPIO ports The GPIO ports are accessed using the GPIO Library Each GPIO port has a unique number which is assigned in the order the GPIO ports are registered The GRGPIO GPIO ports are registered core wise the first core in AMBA Plug amp Play is registered first starting with PIO 0 to PIO N then all GPIO ports of the next GRGPIO core See table below for an example GRGPIO Core GRGPIO I O port Registration order 0 PIO 0 0 PIO 1 1 PIO 2 2 PIO 3 3 PIO 4 4 PIO 5 5 PIO 6 6 PIO 7 7 1 PIO 0 8 PIO 1 9 PIO 2 10 PIO 3 11 PIO 4 12 PIO 5 13 PIO 6 14 PIO 7 15 2 PIO O 16 PIO 1 17 PIO 2 18 PIO
152. driver with valid addresses to data buffers of the required length Note that addresses given must be accessible by the hardware If the RT core is located on a AMBA over PCI bus for example the address of a data buffer from the RT core s point of view is most probably not the same as the address used by the CPU to access the buffer 17 2 1 6 Event Logging Transfer events Transmission Reception and Mode Codes may be logged by the RT core into a memory area for later processing The events logged can be controlled by the user at a SA transfer type level and per mode code through the Mode Code Control Register The driver API access the eventlog on two occasions either when the user reads the eventlog buffer using the gr1553rt_evlog read function or from the interrupt handler see the interrupt section for more information The gr1553rt evlog read function is called by the user to read the eventlog it simply copies the current logged entries to a user buffer The user must empty the driver eventlog in time to avoid entries to be overwritten A certain descriptor or SA may be logged to help the application implement communication protocols The eventlog is typically sized depending the frequency of the log input logged transfers and the frequency of the log output task reading the log Every logged transfer is described with a 32 bit word making it quite compact The memory of the eventlog does not require as tight latency requireme
153. e and ibi2c_read are replaced with calls to PERIOD READ PERIOD WRITE ioctl In periodic mode the TX RX FIFO can not be read instead receive and transmit registers let us peek into the FIFO Up to four mask registers controls which TX RX registers are part of the transfers Please see the SPICTRL hardware document for an overview of the AM periodic mode Command Description PERIOD START Start periodic transfers PERIOD STOP Stop periodic transfers PERIOD READ Read receive registers and mask registers in periodic mode only PERIOD WRITE Write transmit registers and mask registers in periodic mode only CONFIG Configure periodic and non periodic transfers STATUS Return the current status the event register of the core Table 129 Additional ioctl commands Below is an example of the steps that can be used when accessing the driver in periodic mode 1 libi2c send start 2 libi2c ioctl SET TRFMODE 3 lib2ic send address 4 libi2c_ioctl CONFIG amp config Enable periodic mode configure SPICTRL periodic transfer options 5 libi2c_iocth PERIOD WRITE amp period_io Fills TX Registers and set MASK registers note that this has some constraints The content written here will be transmitted over and over again according to the MASK register 6 lib2ic ioctl PERIOD START Starts the periodic transmission of the content in the TX Registers selected by the MASK register 7 lib2ic iocth PERIOD R
154. e GRADCDAC is registered to the Driver Manager layer by setting the correct define in the project set up see Driver Manager section The driver does not implement a I O driver interface so the GRADCDAC does not register itself as a I O driver it implements a custom function interface that is available to the user 32 2 2 Driver resource configuration The driver does not support configurable resource parameters 32 2 3 Accessing ADC DAC The Interface for one particular ADC DAC core is initialized by calling gradcdac_open with the device name identifying one core The function returns a pointer used when calling other functions identifying the opened ADC DAC core If the device name can not be resolved to a ADC DAC core the open function return NULL The prototype of the initialization routine is shown below void gradcdac_open char devname Note that this function must be called first before accessing other functions in the interface The GRADCDAC cores are be referenced by using their names the names are generated according to the following string dev SYSTEM_PREFIX gradcdac SYSTEM_CORE_NR MACRO Description SYSTEM PREFIX In systems where multiple AMBA buses exists it is convenient to reference a particular AMBA bus by a name SYSTEM PREFIX is substituted with the AMBA bus name that the ADC DAC core is attached to for example on a GR RASTA ADCDAC PCI Target the AMBA bus is called rastaadcdacN This string is
155. e Terminal RT or Bus Monitor BM The BC and RT functionality may not be used simultaneously but the BM may be used together with BC or RT or separately All three modes are supported by the driver Interrupts generated from BC BM and RT result in the same system interrupt interrupts are shared 16 1 2 Software Driver The driver provides an interface used internally by the BC BM and RT device drivers see respective driver for an interface declaration The driver sources and definitions are listed in the table below the path is given relative to the SPARC BSP sources c src lib libbsp sparc Filname Description shared 1553 gr1553b c GR1553B Driver source shared include gr1553b h GR1553B Driver interface declaration Table 40 Source location 16 1 3 Driver Registration The driver must be registered to the driver manager The registration is performed by calling the gr1553 register function The driver is automatically registered from the BC BM and the RT device drivers registration procedure This means that including the BC BM and or the RT driver will automatically include the GR1553B this driver 17 GR1553B REMOTE TERMINAL DRIVER 17 1 INTRODUCTION This section describes the GRLIB GR1553B Remote Terminal RT device driver interface The driver relies on the GR1553B driver and the driver manager The reader is assumed to be well acquainted with MIL STD 1553 and the GR1553B core The GR1553B RT dr
156. e below ERRNO Description EINVAL An invalid argument ETIMEDOUT The blocked task was timed out and still no packets was transmitted ENODEV The calling task was woken up from blocking mode by the transmitter being stopped The GRPWRX driver has has entered stopped mode Further calls to RECLAIM will retrieve received packet Table 194 ERRNO values for RECLAIM 37 2 4 2 12 RECV Scheduling reception of packets is done with the ioctl command RECV The input is a linked list of GRPWRX packets to be scheduled When all GRPWRX DMA descriptors are active enabled and linked to a packet to transmit the remaining packets are queued internally by the driver Every call to RECV will trigger scheduled GRPWRX packets for reception calling RECV with the argument set to NULL will thus trigger previously scheduled GRPWRX packets for reception This might be necessary when interrupts are not used to process descriptors or when interrupt generation for GRPWRX packets are disabled see SET CONFIG The input to RECV is a pointer to a grpwrx list data structure described in section 37 2 4 1 The head and tail fields of the data structure points to the first and the last GRPWRX packet to be scheduled for transmission The GRPWRX packet structure grpwrx_packet used is described in section 37 2 2 The data area to store the received packet is designated by the payload field In packet mode it has to be at lease 64k in framing mode it h
157. e function API is declared in gr1553bc h 19 2 1 Device API The device API consists of the functions in the table below Prototype Description void gr1553bc_open int minor Open a BC device by minor number Private handle returned used in all other device API functions void gr1553bc_close void bc Close a previous opened BC device int gr1553bc_start void bc struct Schedule a synchronous and or a asynchronous gr1553bce list list struct gr1553bc list BC descriptor Lists for execution list_async This will unmask BC interrupts and start executing the first descriptor in respective List This function can be called multiple times int gr1553bc_pause void bc Pause the synchronous List execution int gr1553bc_restart void bc Restart the synchronous List execution int gr1553bc_stop void bc int options Stop Synchronous and or asynchronous list int gr1553bc_indication void bc int Get the current BC hardware execution position async int mid MID of the synchronous or asynchronous list void gr1553bc_status void bc struct Get the BC hardware status and time gr1553bc_status status void gr1553bc ext _trig void bc int trig Trigger an external trigger by writing to the BC action register int gr1553bc irq setup void bc Generic interrupt handler configuration Handler bcirq func_t func void data will be called in interrupt context on errors and interrupts generated by
158. e ioctl command grpwrx IOC RECV The command will fail if the receiver is unable to be brought up the driver or hardware configuration is invalid or if the GRPWRX core already is started In case of failure the return code is negative and errno will be set to EIO or EINVAL see table 188 37 2 4 2 2 STOP This call makes the GRPWRX core leave started mode and enter stopped mode The receiver is stopped and no packets will be received After calling STOP further ioctl commands such as RECV RECLAIM ISSTARTED STOP will behave differently or result in error The command will fail if the GRPWRX driver already is in stopped mode 37 2 4 2 3 ISSTARTED Determines if driver and hardware is in started mode Errno will be set to EBUSY in stopped mode and return successfully in started mode 37 2 4 2 4 SET BLOCKING MODE Changes the driver s GRPWRX_ IOC RECLAIM command behaviour Two modes are available blocking mode and polling mode in polling mode the ioctl command RECLAIM always return directly even when no packets are available In blocking mode the task calling RECLAIM is blocked until at least one packet can be reclaimed it is also possible to make the blocked task time out after some time setting the timeout value using the SET CONFIG or SET TIMEOUT ioctl commands The argument is set as as described in the table below Bit number Description GRPWRX_BLKMODE POLL Enables polling mode GRPWRX_ BLKMODE BLK Enables blockin
159. e manipulated with the following functions Function Name Description gr1553bc_slot dummy Set existing Transfer descriptor to Dummy No 1553 bus transfer will be performed gr1553bc_slot update Update Data Pointer and or Status of a TBD Table 57 Slot manipulation 19 3 6 Changing a scheduled BC list during BC runtime Changing a descriptor that is being executed by the BC may result in a race between hardware and software One of the problems is that a descriptor contains multiple words which can not be written simultaneously by the CPU To avoid the problem one can use the INDICATION service to avoid modifying a descriptor currently in use by the BC core The indication service tells the user which Major Minor Slot is currently being executed by hardware from that information an knowing the list layout and time slots the user may safely select which slot to modify or wait until hardware is finished In most cases one can do descriptor initialization in several steps to avoid race conditions By initializing allocating and configuring a Slot before starting the execution of the list one may change parts of the descriptor which are ignored by the hardware Below is an example approach that will avoid potential races between software and hardware 1 Initialize Descriptor as Dummy and allocated time often done before starting scheduling list 2 The list is started as a result descriptors in the list are executed
160. e receive FIFO EIO A blocking read was interrupted by a bus off error The CAN core has entered reset mode Further calls to read or write will fail until the ioctl command START is issued again Table 95 ERRNO values for read calls 23 Gaisler Opencores CAN driver OC_CAN 23 1 INTRODUCTION This document is intended as an aid in getting started developing with Gaisler GRLIB wrapper for Opencores CAN core using the driver described in this document It briefly takes the reader through some of the most important steps in using the driver such as setting up a connection configuring the driver reading and writing CAN messages The reader is assumed to be well acquainted with CAN and RTEMS The OC_CAN driver require the RTEMS Driver Manager 23 1 1 CAN Hardware The OC_CAN core can operate in different modes providing the same register interfaces as other well known CAN cores The OC_CAN driver supports PeliCAN mode only 23 1 2 Software Driver The driver provides means for processes and threads to send and receive messages Errors can be detected by polling the status flags of the driver Bus off errors cancels the ongoing transfers to let the caller handle the error The driver supports filtering received messages id fields by means of acceptance filters runtime timing register calculation given a baud rate However not all baud rates may be available for a given system frequency The system frequency is hard coded and must
161. e subsection See the grtm ioc stats data structure The call will fail if the pointer to the data is invalid 34 2 4 2 9 CLR_STATS This command reset the driver s internal statistics counters This command never fail 34 2 4 2 10 GET HW_IMPL This command copies the TM core s features implemented to a user provided data area The format of the data written is described in the data structure subsection See the grtm_ioc_hw data structure Knowing the features supported by hardware can be used to make software run on multiple implementations of the TM core The call will fail if the pointer to the data is invalid 34 2 4 2 11 GET_OCFREG The address of the GRTM register GRTM Operational Control Field Register is stored into a user provided location The register address may be used to updated the CLCW or OCF value transmitted in TM frames to ground without using an ioctl command to perform the request This address is typically used by Telecommand TC software to tell ground of the current FARM COP state Note that OCF CLCW is transmitted only in started mode This command never fail 34 2 4 2 12 RECLAIM Returns processed TM frames to user All frames returned has been provided by the user in previous calls to SEND and need not all to have been successfully sent RECLAIM can be configured to operate in polling mode blocking mode and blocking mode with a time out In polling mode the task always returns with or without proces
162. e with the ioctl command SEND The input is a linked list of TM frames to be scheduled When all TM DMA descriptors are active enabled and linked to a frame to transmit the remaining frames are queued internally by the driver The TM core is capable of generating parts of the header the CRC and OCF CLCW depending on the implementation and configuration of the TM core The implemented features are selected by setting generics in the VHDL model the implemented features can be read using the GET HW IMPL command The features enabled is controlled by the SET CONFIG command For features available see the hardware manual for the TM core The hardware generated parts may be overridden by setting the flags of the input TM frame structure accordingly Every call to SEND will trigger scheduled TM frames for transmission calling SEND with the argument set to NULL will thus trigger previously scheduled TM frames for transmission This might be necessary when interrupts are not used to process descriptors or when interrupt generation for TM frames are disabled see SET CONFIG The input to SEND is a pointer to a grtm list data structure described in section 34 2 4 1 The head and tail fields of the data structure points to the first and the last TM frame to be scheduled for transmission The TM frame structure grtm frame used is described in section 34 2 2 The data area length pointed to by the payload field is assumed to be at least frame length long The fr
163. eates an ambapp bus that scans the bus and assigns the appropriate drivers This driver provides interrupt handling and memory address translation on the internal AMBA bus so that the drivers can function as expected The driver resources of the AMBA bus created by the GR RASTA IO driver can be assigned by overriding the weak default bus resource array gr rasta io resources of the driver It contains a array of pointers to bus resources where index N determines the bus resources for GR RASTA IO N board The array is declared in gr rasta _io h The driver resources can be used to set up the memory parameters and configure locations of the DMA areas of 1553BRM GRCAN GRSPW cores Please see respective driver for available configuration options AEROFLEX GR RTEMS DRIVER 47 GAISLER 10 GR RASTA TMTC PCI TARGET This section describes the GR RASTA TMTC PCI target driver The GR RASTA TMTC driver require the RTEMS Driver Manager and that the PCI bus is big endian The GR RASTA TMTC driver is a bus driver providing an AMBA Plug Play bus The driver first sets up the target PCI register such as PCI Master enable and the address translation registers Once the PCI target is set up the driver creates an ambapp bus that scans the bus and assigns the appropriate drivers This driver provides interrupt handling and memory address translation on the internal AMBA bus so that the drivers can function as expected The driver resources of the AMBA
164. ed events as well as to put data in the transmit buffer struct bm_msg unsigned short miw unsigned short cwl unsigned short cw2 unsigned short swl unsigned short sw2 unsigned short time unsigned short data 32 Member Description miw Bit s Description 15 Overrun Indicates that the monitor message queue has been overrun 14 10 9 Channel A B 1 if message captured on bus A 0 if captured on bus B 8 RT to RT transfer 1 if message is part of an RT to RT transfer 7 Message Error 1 if an error was encountered during message processing Bit 4 0 gives the details of the error 6 Mode code without data 1 if a mode code without data word was captured 5 Broadcast 1 if a broadcast message was captured 4 3 Time out If set the number of captured data words was less than the amount specified by the word count 2 Overrun If set the number of captured data words was more than amount specified by the word count 1 Parity 1 if the BM detected a parity error in the received data 0 Manchester error 1 if a Manchester decoding error was detected during data reception cwl 1553 Command word 1 cw2 1553 Command word 2 only used for RT to RT transfers and then holds the transmit command swl 1553 Status word 1 sw2 1553 Status word 2 is only used for RT to RT transfers and then holds the status word from the transmitting RT time Time tag time Contains the value
165. ed frames when frames are received The input argument is a pointer to a grtc_ frame data structure the first frame in the chain see the data section for a description of the grtc_frame structure Note that the frame structure and any data pointed to by the frame added to the driver must not be accessed until the frame has been received using the ioctl command RECV The call will fail if the pointer to the data is invalid or if in RAW mode 33 2 4 2 18 RECV This command is used to process the DMA area and retrieve a linked list of successfully processed received frames The input argument to RECV is a pointer to a grtc list data structure described in the data structure section All currently processed frames will be put into data structure head will point to the first and tail to the last frame in the chain cnt will hold the number of frames in the list Note that the DMA area will not be processed in stopped mode the RECV command will only return already processed frames The call will fail if the pointer to the frame list is invalid or if in RAW mode 33 2 5 Operating mode In RAW mode the user can read out the raw data from the TC DMA buffer set up by the driver using the standard read call This enables the user to do custom processing of incoming frames All TC DMA data is read one control data byte for each frame data byte for more information how to handle the data see the GRTC hardware manual If the DMA buffer isn t read i
166. eeii sheen 110 grto53bc mid from Dd eseccicssedsecenoeecreneeensas soe sek sbeadend ehoe abe sd sda cade sdadeszesvedatesncdtepnendenee 110 OTL SD SDC slot Da TN 111 gr1553bc Slot irg PLEPALe ccccsccccssscccseceeeecccneeccnsescneeeceseseceuecesceeeeseeeeeneeneeens 111 gri553bc slot irq enables ccccccccescccscsscescccesscatvsscctvetisascaasasceuebacveaseacved seacuaeencadnces 111 gri553bc slot irq disables saisies chaceases consueccd ceased shassaedandiccaecataevadeens 111 GULLS SS HC SIO JUMP esos cisessnaeatestas siete deaeee davevedevascesTeads eilea dadentdes Qiu A A uae caboeecs 111 GULLS S3DC SlOC extraida ta daa Ai ood deca ADS ENG 111 lA NO 111 grl 553be slot dummy it ia dad RADO As 112 Jr 553DC Slot COPY A A id 112 gribo3abc slot Update isa 112 OT1S53 D6 slot PAW ccccsisccavedusevcadsascadseesase caduvccebes iai EE EEE AEE EEEE E cabeeansaccdyen ca did da 113 gr1553b6 SHOW istics cccccclesiecesescosedentadccdveds cuecaases cals tlavectesectuesvoevesdusveacgueecaeeacecaases 113 Gaisler B1553BRM DRIVER BRM cccccsescecceeeeeceeeeeeeecenseeecaeeeseneeaaeeseeeeseeegenees 114 INTRODUCTION Sita A dunes A ns 114 BRM Hard War eiii nadas ve 114 Software DIV Tinta doi ii A a ita AA AA 114 SUNAT NS a si 114 AS ite TnS eS 114 User interface resist RON 114 Driver TEDESCO A A Terese dete A a 115 Driver resource CONfiguTratiON ooocoocccocnoncnoncnoncnoncnnncnnnnonncnononononononononnnonnnonnnnnnnnnnn 115 Custom DMA
167. empty when the GRADCDAC is on the system AMBA bus SYSTEM CORE NR The core number on a particular AMBA system Table 142 GRADCDAC core naming 32 2 4 Interrupt handler registration Interrupt handlers can be installed to handle events as a result to AD DA conversions It is possible to register a handler for AD and or DA conversions by setting the adc argument appropriately as described in table 143 Below is the prototype for the IRQ handler ISR install function int gradcdac_install_irgq_handler void cookie int adc void isr int irg void arg void arg The function takes three arguments described in the table below Name Description cookie Handle used internally by the function interface it is returned by the open function adc Value Function 1 Register handler to ADC interrupt 2 Register handler to DAC interrupt 3 Register to both ADC and DAC interrupts isr Pointer to interrupt service routine which will be called every time an interrupt is generated by the ADC DAC hardware arg Argument passed to the isr function when called as the second argument Table 143 gradcdac_install_irq_ handler argument description To enable interrupt the hardware needs to be initialized correctly see functions described in the function prototype section Also the AD and or DA interrupts needs to be unmasked 32 2 5 Data structures The data structure used to access the hardware di
168. ents received when the queue is full are lost 20 2 5 1 2 Bus Controller operating mode When operating as BC the command list that the BC is to process is described in an array of BC messages as defined by the struct bc msg struct bc_msg unsigned char rtaddr 2 unsigned char subaddr 2 unsigned short wc unsigned short ctrl unsigned short tsw 2 unsigned short data 32 Member Description rtaddr Remote terminal address For non RT to RT message only rtaddr 0 is used It specifies the address of the remote terminal to which the message should be sent For RT to RT messages rtaddr 0 specifies the receive address and rtaddr 1 the transmit address subaddr The subaddr array works in the same manner as rtaddr but for the subaddresses wc Word Count Specifies the word count or mode code if subaddress is 0 or 31 ctrl Bit s Description 15 Message Error Set by BRM while traversing list if protocol error is detected 14 6 5 END Indicates end of list 4 3 Retry Number of retries 0 4 1 1 2 2 3 3 BC will alternate buses during retries 2 AB 1 Bus B 0 Bus A 1 RT to RT 0 normal 0 O RT Transmit 1 RT receive ignored for RT to RT tsw Status words data Data in message not used for RT receive ctrl 0 1 Table 70 struct bc_msg member description 20 2 5 1 3 Bus Monitor operating mode The structure below is used for BM operating mode for all receiv
169. ents that can be received is specified with the length argument E g struct rt_msg msg 2 n read rt_fd msg 2 The above call will return the number of events actually placed in msg If in non blocking mode 1 will be returned if the receive queue is empty and errno set to EBUSY Note that it is possible also in blocking mode that not all events specified will be received by one call since the read call will seize to block as soon as there is one event available What kind of event that was received can be determined by looking at the desc member of a rt_msg It should be interpreted according to table 8 How the rest of the fields should be interpreted depends on what kind of event it was e g if the event was a reception to subaddress 1 to 30 the word count field in the message information word gives the number of received words and the data array contains the received data words To place data in the transmit sub addresses the write call is used The buffer should point to the beginning of one struct rt_ msg The number of messages is specified with the length argument it must be specified to one E g struct rt_msg msg msg desc 33 transmit for subaddress 1 msg miw 16 lt lt 11 16 words msg data 0 0x1234 msg data 15 OxAABB n write rt_fd msg 1 Regardless of the blocking mode the message will be copied directly into the RT DMA area and the write call will return directly 22 CAN DRIVER I
170. er the driver to the driver manager This process is described in the driver manager chapter 15 2 2 Driver resource configuration This driver has no resource configuration options it is configured using the ioctl interface 15 2 3 Opening the device Opening the device enables the user to access the hardware of a certain SpaceWire Router device The same driver is used for all Router devices available The devices are separated by assigning each device a unique name the name is passed during the opening of the driver Some example device names are printed out below Device number Filesystem name Location 0 dev routerO On Chip Bus 1 dev router1 On Chip Bus 2 dev router2 On Chip Bus System dependent dev spwrouter0 router0 GR RASTA SPW_ROUTERIO System dependent dev spwrouter1 router0 GR RASTA SPW_ROUTERI1 Table 30 Device number to device name conversion An example of an RTEMS open call is shown below AEROFLEX GR RTEMS DRIVER 68 GAISLER fd open dev router0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 30 Errno Description EINVAL Illegal device name or not available EBUSY Device already opened Table 31 Open errno values 15 2 4 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 succ
171. er the root bus driver has been registered 3 4 1 LEON3 BSP In the Aeroflex Gaisler RTEMS distribution the LEON3 BSP has been precompiled twice once where the BSP initialized the driver manager qleon3 qleon3mp and once for custom initialization or no driver manager qleon3std Please see RCC User s Manual for additional information about the gcc flags Two different driver versions for the GPTIMER APBUART and GRETH hardware is provided within the LEON3 BSP to support both initialization approaches 3 5 INTERRUPT The Driver manager provides a shared interrupt service The device driver calls the driver manager which in turn rely on the bus driver to satisfy the request that way the manager can maintain one interrupt interface regardless of bus For shared interrupt sources all registered interrupt handlers are called upon interrupt The driver must itself detect if the IRQ was actually generated by its device and then decide to handle it or not The index of the interrupt functions determines which interrupt number the device requests for example 0 means the first interrupt of the device 1 the second interrupt of the device and so on it is possible for the bus driver to determine the absolute interrupt number usually by looking at the bus specific device information If a negative interrupt number is given it is considered to be an absolute interrupt number and should not be translated for example an index of 3 means IRQ3 on the A
172. er used for transmission max rx len Maximum data length of received packets this must match the RMAP driver s configuration max tx len Maximum data length of transmitted packets this must match the RMAP driver s configuration thread_safe Set this to non zero to enable the RMAP stack to create a semaphore used to protect the RMAP stack and the RMAP driver from multiple tasks entering the transfer function s of the stack at the same time Table 11 rmap_config members A RMAP command is described the rmap command structure the type decide which parts of the union data is used when generating the RMAP header In order to simplify for the caller three data structures avoiding the union are provided they are named rmap_command write rmap command read rmap command_rmw They can be used instead of rmap command as argument to the function interface struct rmap_ command char type unsigned char dstadr unsigned char dstkey unsigned char status unsigned short tid unsigned long long address union struct unsigned int length unsigned char data write struct unsigned int length unsigned int datalength unsigned int data read struct unsigned int length unsigned int data unsigned int mask unsigned int oldlength unsigned int olddata read_m write data Member Description type Type of RMAP transfer Read Write Read Modif
173. es a second argument a pointer to a grcan_ selection data structure described in the data structures section This call will fail if the driver is in running mode The errno variable will be set to EBUSY and 1 is returned from ioctl 22 1 5 2 8 SET_BTRS This call sets the timing registers manually See the CAN hardware documentation for a detailed description of the timing parameters The SET BTRS call takes a pointer to a grcan_timing data structure containing all available timing parameters The grcan timing data structure is described in the data structure section This call fail if the CAN core is in running mode in that case errno will be set to EBUSY and ioctl will return 1 22 1 5 2 9 SET RXBLOCK This call changes the behaviour of read calls to blocking or non blocking mode When in blocking mode the calling thread will be blocked until there is data available to read It may return after any number of bytes has been read Use the RXCOMPLETE for controlling the driver s blocking mode behaviour further For non blocking mode the calling thread will never be blocked returning a zero length of data The RXCOMPLETE has no effect during non blocking mode This call never fails it is valid to call this command in any mode 22 1 5 2 10 SET_TXBLOCK This call changes the behaviour of write calls to blocking or non blocking mode When in blocking mode the calling thread will be blocked until at least one message can be written to t
174. es indicated below i SPICTRL IOCTL CONFIG argument struct spictrl_ioctl config int clock gap unsigned int flags int periodic mode unsigned int period unsigned int period flags unsigned int period slvsel Field Description clock_gap Clock GAP on SPI bus between words the FIFO word size is dependent on the software configuration flags Hardware options such as enable Clock GAP and TAC mode periodic mode non zero enables automated periodic transfers period The period that might be used in periodic transfers period_flags AM Configuration register content ACT bit has no effect This controls the behaviour of libi2c_read period _slvsel Slave chip select when no transfer is active Table 130 spictrl_ioctl_config field description 28 2 3 4 STATUS Copies the Event register of the SPICTRL core to a user provided buffer 28 2 3 5 PERIOD_WRITE Configures the SPICTRL TX and MASK registers The registers are only used in periodic mode The command may be called before or during periodic transfers are ongoing The MASK register selects which registers will be used in the transfer process Please see the SPI core hardware documentation how periodic mode is used Note that changing TX registers used in current transfers may create invalid SPI commands One can make sure this does not happen by only changing content of unused TX registers or by stopping the ongoing periodic transfers wit
175. es the current status of the CAN core to the address pointed to by the argument given to ioctl This call is typically used to determine the error state of the CAN core The 4 byte status bit mask can be interpreted as in table 97above Mask Description OCCAN_STATUS_RESET Core is in reset mode OCCAN STATUS OVERRUN Data overrun OCCAN_STATUS WARN Has passed the error warning limit 96 OCCAN_STATUS ERR PASSIVE Has passed the Error Passive limit 127 OCCAN STATUS ERR BUSOFF Core is in reset mode due to a bus off 255 Table 103 Status bit mask This call never fail 23 2 5 2 5 SET SPEED The SET SPEED ioctl call is used to set the baud rate of the CAN bus The timing register values are calculated for the given baud rate The baud rate is given in Hertz For the baud rate calculations to function properly one must define SYS FREQ to the system frequency It is located in the driver source occan c If the timing register values could not be calculated 1 is returned and the errno value is set to EINVAL 23 2 5 2 6 SET_BTRS This call sets the timing registers manually It is encouraged to use this function over the SET SPEED This call fail if CAN core is in operating mode in that case errno will be set to EBUSY 23 2 5 2 7 SET BLK_MODE This call sets blocking mode for receive and transmit operations i e read and write Input is a bit mask as described in the table below Bit number Descriptio
176. es the user to access the hardware of a certain GRTM device The driver is used for all GRTM cores available The cores are separated by assigning each core a unique name and a number called minor The name is given during the opening of the driver The first three names are printed out Core number Filesystem name Location 0 dev grtm0 On Chip AMBA bus 1 dev grtm1 On Chip AMBA bus 2 dev grtm2 On Chip AMBA bus 0 dev rastatmtc0 grtm0 GR RASTA TMTC PCI Target 0 dev rmap_fe grtm0 SpaceWire node with destination address Oxfe 2 dev rmap_1la grtm2 SpaceWire node with destination address Oxla Table 164 Core number to device name conversion An example of an RTEMS open call is shown below fd open dev grtm0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 164 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 165 Open errno values 34 2 3 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the grtm driver 34 2 4 I O Control interface The behaviour of the driver and hardware can be changed via the standard system call ioctl Most operating systems support at least two arguments to ioctl the f
177. ess e word count e mode code dptr Descriptor Data Pointer Used by Hardware to read or write data to the 1553 bus If bit zero is set the address is translated by the driver into an address which the hardware can access may be the case if BC device is located on an AMBA over PCI bus if cleared it is assumed that no translation is required typical case Table 63 gr1553bc_slot_transfer argument descriptions Returns zero on success 19 3 9 24 gr1553bc_slot_dummy Manipulate the DUMMY bit of a transfer descriptor Can be used to enable or disable a transfer descriptor The dummy argument points to an area used as input and output as input bit 31 is written to the dummy bit of the descriptor as output the old value of the descriptor s dummy bit is written Returns zero on success 19 3 9 25 gr1553bc_slot_empty Create an empty transfer descriptor with the DUMMY bit set The time slot previously allocated is preserved Returns zero on success 19 3 9 26 gr1553bc_slot_update This function will update a transfer descriptor s status and or update the data pointer If the dptr pointer is non zero the Data Pointer word of the descriptor will be updated with the value of dptr If bit zero is set the driver will translate the data pointer address into an address accessible by the BC hardware Translation is an option only for AMBA over PCI If the stat pointer is non zero the Status word of the descriptor will be updated acco
178. ess for the SpaceWire driver 15 2 5 I O Control interface The APB register insterface of the Router can be accessed via the standard system call ioctl The first argument is an integer which selects ioctl function and the second a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the SpaceWire Router driver s header file grspw_router h In functions where only one argument in needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code In the table below all currently supported ioctl commands and their argument are listed All router commands starts with GRSPWR _IOCTL_ which has to be added to the command name given in the table below The data direction below indicates in which direction data is transferred to the kernel e Input Argument is an address The driver reads data from the given address e Output Argument is an address The driver writes data to the given address e Input Output both above cases e Argument 32 bit simple Argument no data transferred between kernel user None Argument ignored GR RTEMS DRIVER 69 AEROFLEX GAISLER Call Number Description HWINFO Output struct router _hw
179. ess the same data This is dependent on the PCI mappings Translation between CPU and B1553BRM addresses must be done The B1553BRM driver automatically translates the DMA base address This requires the bus driver in this case the GR RASTA IO driver to set up translation addresses correctly 20 2 3 Opening the device Opening the device enables the user to access the hardware of a certain BRM device The driver is used for all BRM devices available The devices is separated by assigning each device a unique name and a number called minor The name is passed during the opening of the driver Some example device names are printed out below Device number Filesystem name Location 0 dev b1553brm0 On Chip Bus 1 dev b1553brm1 On Chip Bus 2 dev b1553brm2 On Chip Bus Depends on system dev rastaio0 b1553brm0 GR RASTA IO configuration Table 66 Device number to device name conversion An example of an RTEMS open call is shown below fd open dev b1553brm0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 65 Errno Description ENODEV EBUSY Illegal device name or not available Device already opened Table 67 Open errno values 20 2 4 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the brm driver 20 2 5
180. etails The command will fail if the TC driver already is in stopped mode 33 2 4 2 3 ISSTARTED Determines if driver and hardware is in started mode Errno will be set to EBUSY in stopped mode and return successfully in started mode 33 2 4 2 4 SET BLOCKING MODE Changes the driver s read behaviour in RAW mode This call has no effect for FRAME mode FRAME mode is always non blocking Two modes are available blocking mode and polling mode in polling mode the read call always returns directly even when no DMA data is available In blocking mode the task calling read is blocked until at least one byte is available it is also possible to make the blocked task time out after some time setting the timeout value using the SET_ TIMEOUT ioctl command Input is set as as described in the table below Bit number Description GRTC_BLKMODE POLL Enables polling mode GRTC_BLKMODE BLK Enables blocking mode Table 162 SET_BLOCKING MODE ioctl arguments The driver s default is polling mode Note that the blocking mode is implemented using the CLTU stored interrupt This command never fail 33 2 4 2 5 SET TIMEOUT Sets the blocking mode time out value instead of blocking for eternity the task will be woken up after this time out expires The time out value specifies the input to the RTEMS take semaphore operation rtems semaphore obtain See the RTEMS documentation for more information how to set the time out value Note t
181. evice separation char name lt Name of Device Hardware void priv lt Driver private device structure void businfo lt Host bus specific information struct drvmgr_bus bus lt Bus set only if this is a bridge Device Status unsigned int state lt State of device s DEV_STATE_ int level lt Init Level int error lt Error state returned by driver F 3 2 5 Driver resources A driver resource is a read only configuration option used by a driver for a certain device instance The resource may be an integer with value 65 called numberTxDescriptors The driver resources are grouped together in arrays targeting one device instance the arrays are grouped together into a bus resource It is up to the bus driver to install the bus resource some bus drivers may use a predefined bus resource or it may provide an interface for the user to provide its own configuration Below is the Key Data Types define KEY_TYPE_NONE 0 define KEY_TYPE_ INT 1 define KEY_TYPE_STRING 2 define KEY_TYPE_ POINTER 3 Union of different values union drvmgr_key_value unsigned int a lt Key data type UNSIGNED INTEGER char str lt Key data type STRING void ptr lt Key data type ADDRESS POINTER One key One Value Holding information relevant to the driver struct drvmgr_key char key_name Name of key int key_type How to i
182. figuring other driver options such as the base DMA area address of the SpaceWire cores Please see respective driver for available configuration options 12 1 DRIVER REGISTRATION The driver must be registered to the driver manager by adding the CONFIGURE DRIVER PCI GR LEON4 N2X define in the RTEMS project configuration This process is described in the driver manager chapter 12 2 DRIVER RESOURCE CONFIGURATION The driver can be configured using driver resources as described in the driver manager chapter Below is a description of configurable driver parameters The driver parameters is unique per PCI device and configured in the PCI bus driver resources array The parameters are all optional the parameters only overrides the default values However the ambaFreq paramter is typically required Name Type Parameter description ahbmst2pci INT PCI base address of the 1Gbyte AMBA gt PCI window Default to RAM start address ambaFreq INT Frequency in Hz of the LEON4 N2X AMBA bus Defaults to 200MHz cgEnMask INT Clock gating enable disable mask Each bit in the mask corresponds to one bit the the clock gate unit one clock tree set to 1 to enable or 0 to disable individual clock trees baro INT PCI target BARO AMBA access address Defaults to 0x00000000 L2 cache main memory bar1 INT PCI target BAR1 AMBA access address Defaults to 0xf0000000 L2 cache registers Table 16 GR CPCI LEON4 N2X
183. g START or STOP ENOMEM Not enough memory to complete operation This may cause other ioctl commands to fail ENODEV The call has been aborted by another call or due to a state change Is returned when the driver has blocked the calling thread but needs to wake it in order to avoid a dead lock This may be due to another thread closing the driver or a detected hardware error Table 91 ERRNO values for ioctl calls Call Number Call Mode Description START Stopped Exit paused mode brings up the link Enables read and write Called after bus off or open STOP Running Exit operating mode enter reset mode Most of the settings can only be set when in reset mode ISSTARTED Don t Care Return error status when not running and success when driver is in running mode FLUSH Running Wait until all messages are transmitted SET_ SILENT Stopped Enable disable silent mode it is possible to read messages but not write messages to the CAN bus SET ABORT Don t Care Stop or continue on AMBA AHB transaction error SET SELECTION Stopped Redundant channel selection Pass a pointer to a grcan_selection data structure when calling this command SET SPEED Stopped Not implemented Set baud rate from frequency SET_BTRS Stopped Sets timing parameters which control the baud rate using the grcan_timing data structure SET _RXBLOCK Don t Care Set read blocking non blocking mode SET_TX
184. g mode Table 193 SET_BLOCKING MODE ioctl arguments The driver s default is polling mode Note that the blocking mode is implemented using the DMA transmit packe interrupt changing the isr desc proc parameter of the SET CONFIG command effects the blocking mode characteristics For example enabling interrupt generation every tenth GRPWRX packet will cause the blocked task to be woken up after maximum ten packets when going into blocked mode This command never fail 37 2 4 2 5 SET TIMEOUT Sets the blocking mode time out value instead of blocking for eternity the task will be woken up after this time out expires The time out value specifies the input to the RTEMS take semaphore operation rtems semaphore obtain See the RTEMS documentation for more information how to set the time out value Note that this option has no effect in polling mode Note that this option is also set by SET CONFIG This command never fail 37 2 4 2 6 SET CONFIG Configures the driver and core This call updates the configuration that will be used by the driver during the START command and during operation Enabling features not implemented by the GRPWRX core will result in EIO error when starting the GRPWRX driver The hardware features available can be obtained by the GET HW IMPL command The input is a pointer to an initialized grpwrx_ioc_ config structure described in section 37 2 4 1 Note that the time out value and blocking mode can also be set wi
185. g register has the SYNC bit set can_irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the CAN bit set Table 108 Members in satcan_config structure The last callback function can_irq callback is called with an unsigned integer as argument This integer contains the value of the SatCAN FIFO register read in the interrupt handler Each callback function is called whenever the corresponding status bit in the wrapper interrupt pending register is set regardless of whether or not the interrupt is masked in the wrapper interrupt mask register If the the user does not want to use a callback function the corresponding member in the satcan config structure must be set to NULL After the call to satcan_register has returned the structure can be deallocated When the driver is registered the driver allocates its internal configuration structures and registers the name dev satcan with RTEMS The SatCAN wrapper is initialized with the node number and DPS setting specified in the configuration structure and the core is reset After the core has come out of reset the registers containing the memory address of the newly allocated 2K DMA memory area are initialized 24 2 2 Opening the device Opening the device enables the user to access the hardware of the SatCAN device An example of an RTEMS open call is shown below fd open dev satcan O_RDWR
186. g the arguments correctly as described in table 134 Below is the prototype for the IRQ handler ISR install function int gpiolib_irg _register void handle void func void arg The function takes three arguments described in the table below Name Description handle Handle used internally by the function interface it is returned by the open function func Pointer to interrupt service routine which will be called every time an interrupt is generated by the GPIO hardware arg Argument passed to the func ISR function when called as the second argument Table 134 gpiolib_irq_ register argument description To enable interrupt the hardware needs to be initialized correctly see functions described in the function prototype section Also the interrupts needs to be unmasked 30 3 3 Data structures The data structure used to access the hardware directly is described below The data structure gpiolib_ config is defined in gpiolib h struct gpiolib_config char mask char irq level char irq polarity Member Description mask Mask controlling GPIO port interrupt generation 0 Mask interrupt 1 Unmask interrupt irq_ level Level or Edge triggered interrupt 0 Edge triggered interrupt 1 Level triggered interrupt irq polarity Polarity of edge or level 0 Low level or Falling edge 1 High level or Rising edge Table 135 gpiolib_co
187. gned unsigned unsigned unsigned unsigned rtems_id unsigned unsigned unsigned int nodeaddr int destkey int clkdiv int rxmaxlen int timer int disconnect int promiscuous int timetxen int timerxen int rmapen int rmapbufdis int linkdisabled int linkstart int check_rmap_err int rm_prot_id int tx_blocking int tx_block_on_full int rx_blocking int disable_err int link ri irg event_id int is_rmap int is_rxunaligned int is_rmapcrc spw_config AEROFLEX GAISLER AEROFLEX GR RTEMS DRIVER 56 GAISLER Member Description nodeaddr Node address destkey Destination key clkdiv Clock division factor rxmaxlen Receiver maximum packet length timer Link interface 6 4 us timer value disconnect Link interface disconnection timeout value promiscuous Promiscuous mode rmapen RMAP command handler enable rmapbufdis RMAP multiple buffer enable linkdisabled Linkdisabled linkstart Linkstart check rmap error Check for RMAP CRC errors in received packets rm prot id Remove protocol ID from received packets tx _blocking Select between blocking and non blocking transmissions tx block on full Block when all transmit descriptors are occupied rx_blocking Select between blocking and non blocking receptions disable err Disable Link automatically when link error interrupt occurs link err irq Enable link error interr
188. gnored 18 2 2 7 gr1553bm_time This function reads the driver s internal 64 bit 1553 Time The low 24 bit time is acquired from BM hardware the MSB is taken from a software counter internal to the driver The counter is incremented every time the Time overflows by e using Time overflow IRQ if enabled in user configuration by checking Time overflow IRQ flag IRQ is disabled it is required that user calls this function before the next timer overflow The software can not distinguish between one or two timer overflows This function will check the overflow flag and increment the driver internal time if overflow has occurred since last call This function update software time counters and store the current time into the address indicated by the argument time 18 2 2 8 gr1553bm_available This function stores the current number of entries stored in the BM Log into the address pointed to by nentries This function cannot be called in stopped mode it will fail trying to do so A negative number is returned on failure on success zero is returned 18 2 2 9 gr1553bm_read Copy up to max number of entries from BM log into the address specified by dst The actual number of entries read is returned in the location of max zero when no entries available The max argument is thus in out It is important to read out the log entries in time to avoid data loss the log can be sized so that data loss can be avoided Zero is returned on su
189. gr1553rt h GR1553B RT Driver interface declaration Table 41 RT driver Source location 17 2 1 1 Accessing an RT device In order to access an RT core a specific core must be identified the driver support multiple devices The core is opened by calling gr1553rt_open the open function allocates an RT device by calling the lower level GR1553B driver and initializes the RT by stopping all activity and disabling interrupts After an RT has been opened it can be configured gr1553rt config SA table configured descriptor lists assigned to SA interrupt callbacks registered and finally communication started by calling gr1553rt_start Once the RT is started interrupts may be generated data may be transferred and the event log filled The communication can be stopped by calling gr1553rt_stop When the application no longer needs to access the RT core the RT is closed by calling gr1553rt close 17 2 1 2 Introduction to the RT Memory areas For the RT there are four different types of memory areas The access to the areas is much different and involve different latency requirements The areas are Sub Address SA Table e Buffer Descriptors BD e Data buffers referenced from descriptors read or written Event EV logging buffer The memory types are described in separate sections below Generally three of the areas controlled by the driver can be dynamically allocated by the driver or assigned to a custom location by the
190. gs 5 len read fd rx_msgs sizeof rx_msgs The requested number of bytes to be read is given in the third argument The messages will be stored in rx msgs The actual number of received bytes a multiple of sizeof CANMsg is returned by the function on success and 1 on failure In the latter case errno is also set The CANMsg data structure is described in the data structure subsection The call will fail if a null pointer is passed invalid buffer length the CAN core is in reset mode or due to a bus off error in blocking mode The blocking behaviour can be set using ioctl calls In blocking mode the call will block until at least one packet has been received In non blocking mode the call will return immediately and if no packet was available 1 is returned and errno set appropriately The table below shows the different errno values is returned ERRNO Description EINVAL A NULL pointer was passed as the data pointer or the length was illegal EBUSY CAN core is in reset mode Swtich to operating mode by issuing a START ioctl command ETIMEDOUT In non blocking mode no messages were available in the software receive FIFO EIO A blocking read was interrupted by a bus off error The CAN core has entered reset mode Further calls to read or write will fail until the ioctl command START is issued again Table 107 ERRNO values for read calls 24 Gaisler SatCAN FPGA driver SatCAN 24 1 INTRODUCTION T
191. gth was illegal Table 111 ERRNO values for read calls 24 2 5 Writing to the device Transmission of messages are performed with the write call It is possible to write one or several messages in each call The driver copies the messages to be sent from the specified satcan_msg structures to the DMA area A call to write has different behavior depending on the DMA mode of the driver The DMA mode is set using an Input Output Control call described later in this document When the driver is in SATCAN DMA MODE SYSTEM a call to write will block until the core signals that it has completed DMA When the driver is in SATCAN DMA MODE USER a call to write will return immediately after the data has been placed in the DMA area The driver will not activate any of the DMA TX channels and start of DMA transfers are left to the user using Input Output Control calls On success the write call returns number of transmitted bytes and 1 on failure Errno is also set in the latter case An example call sending a Enable Override message is shown below int i ret satcan_msg msg msg header 0 OxEO msg header 1 0 msg header 2 0x81 msg header 3 OxFF msg payload 0 15 for i 1 i lt SATCAN_PAYLOAD_SIZE i msg payload ijJ 0 ret write fd amp msg sizeof satcan_msg if ret sizeof satcan_msg printf Write of override msg failed n ERRNO Description EINVAL An inval
192. gument The callback function and argument is stored in the unused fields of the descriptor Once enabled and interrupt is generated by the Slot the callback routine will be called from interrupt context The function returns a negative result if failure otherwise zero is returned 19 3 9 19 gr1553bc_slot_irq_enable Enables interrupt of a previously prepared unconditional jump Slot The Slot is expected to be initialized with gr1553bc_slot_irq_prepare The descriptor is changed to do a unconditional jump with interrupt The function returns a negative result if failure otherwise zero is returned 19 3 9 20 gr1553be_slot_irq_disable Disable unconditional IRQ point the descriptor is changed to unconditional JUMP to the following descriptor without generating interrupt After disabling the Slot it can be enabled again or freed The function returns a negative result if failure otherwise zero is returned 19 3 9 21 gr1553bc_slot_jump Initialize a Slot with a custom jump condition The arguments are declared in the table below Argument Description list List that the Slot is located at mid Slot Identification condition Custom condition written to descriptor See hardware documentation for options to_mid Slot Identification of the Slot that the descriptor will be jumping to Table 62 gr1553bc_slot_jump argument descriptions Returns zero on success 19 3 9 22 gr1553bc_slot_exttrig The BC
193. gument Description block Pointer to the start a block of data that should be sent as a number of telecommands The block argument is handled as a point erto a block of short int if the core is configured to send 16 bit words or a char pointer for 8 bit words ntrans The number of telecommands that should be sent Return 0 on success GRASCS ERROR TRANSACTIVE if TC could not be started value because some other transaction is in progress GRASCS ERROR STARTSTOP if TC could not be started because serial interface is stopped Descriptio Sends a number of telecommands with the data pointed to be the block argument n If the first TC is started the function blocks until all the transaction are complete If the first TC can not be started the function returns with an error code This function is thread safe 26 2 9 ASCS_TC_sync_start AEROFLEX GR RTEMS DRIVER 170 GAISLER Prototype void ASCS_TC sync _start void Argument This function does not take any arguments Return None value Descriptio Starts the synchronization interface There might be a delay between the time n this function is called and the time the interface is actually started depending on whether a TM is active or not Software can poll ASCS iface status to find out when interface is running The first pulse on the synchronization interface might be delay with up to one period depending on the source used for the ETR signal This function ASCS_TC_sync_stop and AS
194. h PERIOD STOP The command takes one argument the argument is assumed to be a pointer to a spictrl period io data structure with the layout and properties indicated below The transmit register N 32 M corresponds to bit masks N 1 lt lt M SPICTRL IOCTL PERIOD READ and SPICTRL_IOCTL PERIOD WRITE argument struct spictrl period io int options unsigned int masks 4 void data Field Description options Selects operation performed by command READ BITO 1 Read Mask registers into masks BIT1 1 Read receive registers and store into data array Only the registers specified by masks will be read Note that the received registers are read after the masks registers has been updated which if BITO will result in the active registers will be read into data WRITE BITO 1 Write Mask registers with content of masks Note that the MASK registers will be updated after the Transmit registers has been written BIT1 1 Write transmit registers with values taken from data array Only the registers specified by masks will be written updated masks An array of 4 32 bit words Each bit corresponds to a Transmit or a Receive register The masks array can be read from MASK registers or stored to MASK registers if BITO is set or only used to indicate which Transmit Receive registers that should be Written Read if BITO is zero data Pointer to data array read PERIOD WRITE or written PERIOD
195. hat this option has no effect in polling mode This command never fail 33 2 4 2 6 SET MODE Select RAW of FRAME mode Argument must be either GRTC_MODE RAW for RAW mode or GRTC_MODE FRAME for FRAME mode See the section Operating mode for more information about the modes The driver defaults to RAW mode This calls fails if driver is in started mode or due to an illegal input argument 33 2 4 2 7 SET_BUF_PARAM This command is used to configure the DMA buffer area of the TC core The argument is a pointer to an initialized grtc ioc buf params data structure described in the data structures section The DMA buffer may be set to a custom location and length or the driver may be requested to allocate a DMA buffer with the specified size If the custom location lsb is set to one the address is interpreted as a remote address as viewed from the GRTC core not the CPU This can be useful for GRTC cores found on another bus than the CPU for example for a GRTX core on a GR RASTA TMTC PCI board When GRTC is operated over SpaceWire an additional option is available the dma_partition field selecting from which memory partition the DMA area is allocated from See AMBA Plug amp Play SpaceWire bus driver for an description of memory allocation The custom option described above is still available however it identifies the cached memory area rather than the GRTC DMA area Trying to configure the DMA buffer area in started mode result in failure a
196. he argument EBUSY The TM hardware is not in the correct state Many ioctl calls need the TM core to be in stopped or started mode One can switch state by calling START or STOP ENOMEM Not enough memory to complete operation This may cause other ioctl commands to fail EIO Writing to hardware failed Feature not available in hardware ENODEV Operation aborted due to transmitter being stopped Table 172 ERRNO values for ioctl calls Call Number Call Description Mode START Stopped Exit stopped mode start the receiver STOP Started Exit started mode enter stopped mode Most of the settings can only be set when in stopped mode ISSTARTED Both Indicates operating status started or stopped SET BLOCKING MODE Both Set blocking or non blocking mode for RECLAIM SET_TIMEOUT Both Set time out value used in blocking mode to wake up blocked task if request takes too long time to complete SET_ CONFIG Stopped Configure hardware and software driver GET CONFIG Both Get current configuration previously set with SET CONFIG or the driver defaults GET STATS Both Get statistics collected by driver CLR_ STATS Both Reset driver statistics GET HW IMPL Both Returns the features and implemented by the TM core GET OCFREG Both Returns the address of the OCF CLCW register it can be used to update the transmitted OCF CLCW RECLAIM Both Returns all TM frames sent since last call to RECLAIM the frames are
197. he driver s circular buffer It may return after any number of messages has been written Use the TXCOMPLETE for controlling the driver s blocking mode behaviour further For non blocking mode the calling thread will never be blocked which may result in write returning a zero length when the driver s internal buffers are full The TXCOMPLETE has no effect during non blocking mode This call never fails it is valid to call this command in any mode 22 1 5 2 11 SET_TXCOMPLETE This command disables or enables the write command to block until all messages specified by the caller are copied to driver s internal buffers before returning Note This option is only relevant in TX blocking mode This call never fail 22 1 5 2 12 SET RXCOMPLETE This command disables or enables the read command to block until all messages specified by the caller are read into the user specified buffer Note This option is only relevant in RX blocking mode This call never fail 22 1 5 2 13 GET_STATS This call copies the driver s internal counters to a user provided data area The format of the data written is described in the data structure subsection See the grcan_stats data structure The call will fail if the pointer to the data is invalid 22 1 5 2 14 CLR _ STATS Clears the driver s collected statistics This call never fail 22 1 5 2 15 SET_AFILTER Set Acceptance filter matched by receiver for every message that is received Let the second
198. he example can be built by running cd opt rtems 4 10 src samples make clean rtems brm_rt rtems brm_bc rtems brm_bm 20 2 USER INTERFACE The RTEMS MIL STD 1553 B BRM driver supports standard accesses to file descriptors such as read write and ioctl User applications include the brm driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver An example application using the driver is provided in the examples directory The driver for the MIL STD 1553 B BRM has three different operating modes Remote Terminal Bus Controller or Bus Monitor It defaults to Remote Terminal RT with address 1 MIL STD 1553 B standard both buses enabled and broadcasts enabled The operating mode and settings can be changed with ioctl calls as described later 20 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The RTEMS I O driver registration is performed automatically by the driver when B1553BRM hardware is found for the first time The driver is called from the driver manager to handle detected B1553BRM hardware In order for the driver manager to unite the B1553BRM driver with the B1553BRM hardware one must register the driver to the driver manager This process is described in the driver manager chapter 20 2 2 Driver resource configuration The driver can be configured using dr
199. he grtc driver 33 2 4 I O Control interface The behaviour of the driver and hardware can be changed via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the GRTC driver s header file grtc h In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 33 2 4 1 Data structures The grtc ioc buf params struct is used for configuring the DMA area of the TC core and driver struct grtc_ioc_buf_params unsigned int length void custom_buffer int dma_partition Member Description length Length of custom buffer or length of DMA buffer requested to be allocated by driver custom_buffer When custom_buffer is zero a DMA buffer will be allocate using malloc by the driver Set this option to a non zero buffer pointer to indicate that the buffer is allocated by the user user custom buffer custom_buffer is interpreted as the new DMA buffer address that the driver must use Note that there are alignment requirements th
200. he irqs argument is a bit mask written unmodified to the register void grctm_clr_stats void grctm Clear statistics gathered by driver void grctm_get_stats void grctm struct grctm_stats stats Copy driver s current statistics counters to a custom location given by stats void grctm enable ext sync void grctm Enable external synchronisation from SPWCUC void grctm disable ext sync void grctm Disable external synchronisation from SPWCUC void grctm enable tw _sync void grctm Enable TimeWire synchronisation void grctm_ disable tw _sync void grctm Disable TimeWire synchronisation void grctm disable fs void grctm Disable frequency synthesizer from driving ET void grctm enable fs void grctm Enable frequency synthesizer to drive ET unsigned int grctm_get_et_coarse void grctm Return elapsed coarse time unsigned int grctm_get et fine void grctm Return elapsed fine time unsigned long long grctm_get_et void grctm Return elapsed time coarse and fine int grctm_is dat latched void grctm int dat Return 1 if specified datation has been latched void grctm set dat edge void grctm int dat int edge Set triggering edge of datation input unsigned int grctm_get_dat_coarse void grctm int dat Return latched datation coarse time unsigned int grctm_get_dat_fine void grctm int dat Return latched datation fine
201. he three GR1553B drivers the three depends on a lower level GR1553B driver see GR1553B driver section The driver supports the on chip AMBA bus and the AMBA over PCI bus 18 1 2 Examples There is an example available that illustrates how the BM driver interface can be used to log transfers seen on the 1553 bus All 1553 transfers is be logged by configuring the config_bm h file the logger application can compress the log and send it to a Linux PC over a TCP IP socket The Linux application save the log to a raw text file for post processing The default BM example behaviour is however just to enable BM logging for debugging one can quite easily read the raw BM log by looking at the BM registers and memory from GRMON The BM logger application can be run separately or together with the BC or RT examples In order to run all parts of the example a board with GR1553B core with BC and BM support and a board with a GR1553B core with RT support is required The example is part of the Aeroflex Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples 1553 named rtems gr1553bm c rtems gr1553bcbm c or rtems gr1553rtbm c The example can be built by running S cd opt rtems 4 10 src samples 1553 S make rtems gr1553bm 18 2 USER INTERFACE 18 2 1 Overview The BM software driver provides access to the BM core and help with accessing the BM log memory buffer The driver provides the services list below e Basic
202. his document is intended as an aid in getting started developing with the Gaisler GRLIB wrapper for the SatCAN FPGA core using the driver described in this document It briefly takes the reader through some of the most important steps in using the driver such as setting up a connection configuring the driver reading and writing CAN messages The reader is assumed to be well acquainted with the operation of the SatCAN core and RTEMS 24 1 1 SatCAN Hardware Wrapper See the SatCAN wrapper manual 24 1 2 Software Driver The driver provides means for processes and threads to send and receive messages and provides callback functions for SatCAN wrapper interrupts All core registers can be accessed via Input Output control ioctl calls 24 1 3 Supported OS Currently the driver is available for RTEMS 24 1 4 Examples There is a simple example available it illustrates how to set up a connection reading and writing messages using the SATCAN driver It is made up of two tasks communicating with each other where one task uses the OC_CAN driver and the other the SatCAN driver To be able to run the example one must have the cores connected together The current example is tailored for with a configuration matching GR712RC and also initializes the CAN MUX RTEMS driver which is described in a separate document The example can be found under the samples directory and consists of the files samples rtems occan c occan_lib c and occan_lib h 2
203. id argument was passed The buffer length was not equal to the satcan_msg structure size or no DMA channel is enabled EIO Transmit DMA is activated The driver requires that the write call exclusively controls the DMA TX channels Table 112 ERRNO values for write 24 2 6 I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the SatCAN driver s header file satcan h 24 2 6 1 Data structures The satcan regmod structure shown below is used to read and modify core registers typedef struct unsigned int reg unsigned int val satcan_regmod Member Description reg Register to be read or modify The allowed values for this member are listed further down in this document val When reading a register this member is utilized to return the register value When modifying a register this member should be initialized with the new register value or mask Table 113 Members in satcan_regmod structure
204. ied argument if operation has finished Note that BRM LIST DONE must be called before traversing the list to check results since this operation also copies the results into the array Errno is set to EBUSY when issuing a BRM DO LIST before the last BRM DO LIST command has finished its execution Example use struct bc_msg msg 2 int done data k data 0 ioctl brm_fd BRM_SET_MODE data set BC mode bc_msg 0 rtaddr 0 1 bc_msg 0 subaddr 0 1 bc_msg 0 wc 32 bc_msg 0 ctrl BC_BUSA rt receive on bus a for k 0 k lt 32 k bc_msg 0 data k k bca_msg 1 ctrl BC_EOL end of list loctl brm_fd BRM_DO_LIST bc_msg ioctl brm_fd BRM_LIST_DONE amp done If in blocking mode the BRM LIST DONE ioctl will block until the BC has processed the list When the BC is finished and BRM _ LIST _DONE has returned 1 in the argument the status words and received data can be interpreted by the application During blocking mode BRM _ LIST DONE may set errno to EINVAL if an illogical opcode or an illogical command is detected by the hardware during the list execution 20 2 9 Bus monitor operation When operating as Bus Monitor BM the driver maintains a capture event queue All events such as receive commands transmit commands broadcasts and mode codes are put into the event queue Each event is described using a struct bm_msg as defined in the data structure subsection The events are read
205. if the router has timers 0 otherwise pnp_avail 1 if the router has support for SpaceWire Plug and Play 0 otherwise ver major Major version number of the router ver minor Minor version number of the router ver patch Patch number of the router iid Instance ID of the router Table 33 router_hw_info member descriptions The router hardware information struct contains fields for static hardware parameters This call reads the actual value for each field from hardware and stores them in the struct AEROFLEX GR RTEMS DRIVER 71 GAISLER 15 2 5 2 CFG_SET struct router _config unsigned int flags unsigned int config unsigned char iid unsigned char idiv unsigned int timer prescaler unsigned int timer _reload 32 Member Descriptiion flags Flags that determine which of the configuration parameters should be written config Value written to configuration and status register Bit 4 is always masked to 0 iid Value written to instance ID field idiv Value written to initialization divisor field timer prescaler Value written to timer prescaler field timer reload 32 Value written to timer reload field of the port corresponding with the number corresponding to the field index Table 34 router_config member descriptions Flag Descriptiion ROUTER FLG IID Write iid field ROUTER FLG IDIV Write Idiv field ROUTER FLG CFG Write config field ROUTER FLG TPRES Wr
206. ilizing 100 CPU load 33 Gaisler TC driver GRTC 33 1 INTRODUCTION This document is intended as an aid in getting started developing with Aeroflex Gaisler GRLIB GRTC Telecommand TC core using the driver described in this document It describes accessing GRTC in a on chip system and over PCI and SpaceWire It briefly takes the reader through some of the most important steps in using the driver such as starting TC communication configuring the driver and receiving TC frames The reader is assumed to be well acquainted with TC and RTEMS 33 1 1 TC Hardware See the GRTC core manual When the GRTC core is accessed over SpaceWire RMAP is used 33 1 2 Software Driver The driver provides means for threads to receive TC frames using standard I O operations There are two drivers one that supports GRTC on an on chip AMBA bus and an AMBA bus accessed over PCI on a GR RASTA TMTC board for example and one driver that supports accessing the GRTC over SpaceWire 33 1 2 1 GRTC over SpaceWire The SpaceWire capable GRTC driver introduces some limitations listed below 12 RAW mode is not supported the read call 13 The GRTC DMA area accessed over SpaceWire is cached in RAM close to the CPU The cached DMA area is equal in length to the GRTC DMA area The cache is synchronized every time the user enters the receive function 14 A field named dma partition has been added to the grtc ioc buf params structure identifying the partition used whe
207. ils See hardware documentation and header file for details on how to interpret the counters ints Number of times the interrupt handler has been invoked Table 100 occan_stats member descriptions 23 2 5 2 Configuration The OC_CAN core and driver are configured using ioctl calls The table 99 below lists all supported ioctl calls OCCAN IOC_ should be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are O for success and 1 on failure Errno is set after a failure as indicated in table 98 An example is shown below where the receive and transmit buffers are set to 32 respective 8 by using an ioctl call result ioctl fd OCCAN_IOC_SET_BUFLEN 8 lt lt 16 32 ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The CAN hardware is not in the correct state Many ioctl calls need the CAN device to be in reset mode One can switch state by calling START or STOP ENOMEM ae ore memory to complete operation This may cause other ioctl commands to fail Table 101 ERRNO values for ioctl calls Call Number Call Mode Description START Reset Exit reset mode brings up the link Enables read and write STOP Running Exit operating mode enter reset mode Most of the settings can only be set when in reset mode GET STATS Don t care Get Stats GET ST
208. ime slot allocation per Minor frame for example a minor frame may be programmed to take 8ms and when the user allocate a message slot within that Minor frame the time specified will be subtracted from the 8ms and when the message slot is freed the time will be returned to the Minor frame again Major 2 Minor 7 Major 3 p Minor 0 Major 3 Minor 1 Illustration 1 Three consecutive Minor Frames A specific Slot Major Minor Slot is identified using a MID Message ID The MID consist of three numbers Major Frame number Minor Frame number and Slot Number The MID is a way for the user to avoid using descriptor pointers to talk with the list API For example a condition Slot that should jump to a message Slot can be created by knowing MID and Jump To MID When allocating a Slot with or without time in a List the user may specify a certain Slot or a Minor frame when a Minor frame is given then the API will find the first free Slot as early in the Minor Frame as possible and return it to the user A MID can also be used to identify a certain Major Frame by setting the Minor Frame and Slot number to Oxff A Minor Frame can be identified by setting Slot Number to Oxff A MID can be created using the macros in the table below MACRO Name Description GR1553BC_ID major minor slot ID of a SLOT GR1553BC_MINOR ID major minor ID of a MINOR Slot 0xff GR1553BC_MAJOR ID major ID of a Majo
209. in the GRASCS IP core documentation 26 1 2 Examples A demonstration software which shows how to use the driver interface is distributed together with the driver The software initialize the core start the serial and synchronization interfaces perform data writes and data reads and then stops the interfaces again The software has been developed for pure demonstration purposes and the effects of the transactions performed on a real ASCS slave are unknown 26 1 3 Support For support contact the Gaisler Research support team at support gaisler com 26 2 USER INTERFACE In table 1 1 all the functions of the GRASCS driver interface are listed To gain access to the functions a user application should include the GRASCS driver s header file AEROFLEX GAISLER GR RTEMS DRIVER 166 Function name Described in Description section ASCS init 1 2 1 Initializes driver and GRASCS core ASCS input select 1 2 2 Selects slave ASCS etr_select 1 2 3 Select source for synchronization pulse ASCS start 1 2 4 Starts serial interface ASCS stop 1 2 5 Stops serial interface ASCS iface_status 1 2 6 Report status of serial and synchronization interfaces ASCS_TC_ send 1 2 7 Performs a data write TC ASCS_TC send block 1 2 8 Performs a number of TCs ASCS_TC_sync_start 1 2 9 Starts synchronization interface ASCS_TC_sync_ stop 1 2 10 Stops synchronization interface ASCS_TM _recv 1 2 11 Performs a data read TM ASCS_T
210. in the correct state Many ioctl calls need the GRAES core to be in stopped or started mode One can switch state by calling START or STOP ENOMEM Not enough memory to complete operation This may cause other ioctl commands to fail EIO Writing to hardware failed Feature not available in hardware ENODEV Operation aborted due to GRAES being stopped Table 203 ERRNO values for ioctl calls Call Number Call Mode Description START Stopped Exit stopped mode start the receiver STOP Started Exit started mode enter stopped mode Most of the settings can only be set when in stopped mode ISSTARTED Both Indicates operating status started or stopped SET BLOCKING MODE Both Set blocking or non blocking mode for RECLAIM SET_TIMEOUT Both Set time out value used in blocking mode to wake up blocked task if request takes too long time to complete SET CONFIG Stopped Configure hardware and software driver GET CONFIG Both Get current configuration previously set with SET CONFIG or the driver defaults GET STATS Both Get statistics collected by driver CLR_STATS Both Reset driver statistics GET HW _IMPL Both Returns the features and implemented by the GRAES core RECLAIM Both Returns all GRAES blocks processed since last call to RECLAIM the blocks are linked in a chain ENCRYPT Started Add a chain of GRAES blocks to the en decryption queue of the GRAES driver Table 204
211. intains a 64 bit 1553 time The time can be used by an application that needs to be able to log for a long time The driver must detect every overflow in order maintain the correct 64 bit time the driver gives users two different approaches Either the timer overflow interrupt is used or the user must guarantee to call the gr1553bm _time function at least once before the second time overflow happens The timer overflow interrupt can be enabled from the gr1553bm_config function The current 64 bit time can be read by calling gr1553bm_time The application can determine the 64 bit time of every log entry by emptying the complete log at least once per timer overflow 18 2 1 5 Filtering The BM core has support for filtering 1553 transfers The filter options can be controlled by fields in the configuration structure given to gr1553bm_config 18 2 1 6 Interrupt service The BM core can interrupt the CPU on DMA errors and on Timer overflow The DMA error is unmasked by the driver and the Timer overflow interrupt is configurable For the DMA error interrupt a custom handler may be installed through the gr1553bm_config function On DMA error the BM logging will automatically be stopped by a call to gr1553bm_stop from within the ISR of the driver 18 2 2 Application Programming Interface The BM driver API consists of the functions in the table below Prototype Description void gr1553bm_open int minor Open a BM device by instan
212. ioctl calls supported by the graes driver 38 2 4 2 1 START This ioctl command enables the GRAES core and changes the driver s operating status to started Settings previously set by other ioctl commands are written to hardware just before starting processing 38 2 4 2 2 STOP This call makes the GRAES core leave started mode and enter stopped mode After calling STOP further ioctl commands such as ENCRYPT RECLAIM ISSTARTED STOP will behave differently or result in error The command will fail if the GRAES driver already is in stopped mode 38 2 4 2 3 ISSTARTED Determines if driver and hardware is in started mode Errno will be set to EBUSY in stopped mode and return successfully in started mode 38 2 4 2 4 SET BLOCKING MODE Changes the driver s GRAES IOC_RECLAIM command behaviour Two modes are available blocking mode and polling mode in polling mode the ioctl command RECLAIM always return directly even when no blocks are available In blocking mode the task calling RECLAIM is blocked until at least one block can be reclaimed it is also possible to make the blocked task time out after some time setting the timeout value using the SET CONFIG or SET TIMEOUT ioctl commands The argument is set as as described in the table below Bit number Description GRAES BLKMODE POLL Enables polling mode GRAES BLKMODE BLK Enables blocking mode Table 205 SET_BLOCKING MODE ioctl arguments The driver s default is polling mo
213. ion unsigned char mf_opts Idle frame Generation unsigned short idle_scid unsigned char idle_vcid unsigned char idle_opts Interrupt options unsigned int enable_cnt int isr_desc_proc int blocking rtems_interval timeout Member Description mode Select mode hardware will operate in TM 0 AOS 1 frame length Frame Length in bytes limit Number of data bytes fetched by TM DMA engine before transmission starts Setting limit to zero will make GRTM driver to calculate the limit value from frame length and the block size of the hardware as_ marker Set custom Attached Synchronization Marker ASM phy_subrate Sub Carrier rate division factor 1 phy_symbolrate Symbol Rate division factor 1 phy_opts Physical layer options mask of GRTM IOC_PHY XXXX code_rsdep Coding sub layer Reed Solomon interleave depth 3 bit code ce rate Convolutional encoding rate select one of GRTM CERATE 00 GRTM_CERATE 07 code csel External TM clock source selection 2 bit application specific code_opts Coding sub layer options mask of GRTM_IOC_CODE_XXXX all izlen All frame generation FSH TM or Insert Zone AOS length in bytes all opts All frame generation options mask of GRTM IOC ALL XXXX mf opts Master channel frame generation mask of GRTM_IOC_MF_XXXX idle_scid Idle frame spacecraft ID 10 bit idle vcid Idle frame virtual channel
214. ion is also set by SET CONFIG This command never fail 34 2 4 2 6 SET CONFIG Configures the driver and core This call updates the configuration that will be used by the driver during the START command and during operation Enabling features not implemented by the TM core will result in EIO error when starting the TM driver The hardware features available can be obtained by the GET HW_IMPL command The input is a pointer to an initialized grtm_ioc_ config structure described in section 34 2 4 1 Note that the time out value and blocking mode can also be set with SET TIMEOUT and SET BLOCKING MODE This call fail if the TM core is in started mode in that case errno will be set to EBUSY or if a NULL pointer is given as argument in that case errno will be set to EINVAL 34 2 4 2 7 GET_CONFIG Returns the current configuration of the driver and hardware The current configuration is either the driver and hardware defaults or the configuration previously set by the SET CONFIG command The input to this ioctl command is a pointer to a data area of at least the size of a grtm_ioc config structure The data area will be updated according to the grtm_ioc config data structure described in section 34 2 4 1 This command only fail if the pointer argument is invalid 34 2 4 2 8 GET STATS This command copies the driver s internal statistics counters to a user provided data area The format of the data written is described in the data structur
215. iption The grtm list structure represents a linked list a chain of TM frames The data structure holds the first frame and last frame in chain struct grtm_list struct grtm_frame head struct grtm_frame tail y Member Description head First TM frame in chain tail Last TM frame in chain last frame in list must have it s next field set to NULL Table 170 grtm_list member descriptions The grtm_ioc_stats structure contain statistics collected by the driver struct grtm_ioc_stats unsigned long long frames_sent unsigned int err_underrun y Member Description frames sent Number of frames successfully sent by the TM core err underrun Number of AMBA underrun errors Table 171 grtm_ioc_stats member descriptions 34 2 4 2 Configuration The GRTM core and driver are configured using ioctl calls The table 170 below lists all supported ioctl calls GRTM IOC_ must be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are O for success and 1 on failure Errno is set after a failure as indicated in table 169 An example is shown below where the statistics of the driver is copied to the user buffer stats by using an ioctl call struct grtm_ioc_stats stats result ioctl fd GRTM_IOC_GET_STATS stats ERRNO Description EINVAL Null pointer or an out of range value was given as t
216. irst being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the GRIM driver s header file grtm h In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 34 2 4 1 Data structures The grtm_ioc_hw data structure indicates what features the TM hardware supports and how it has been configured struct grtm_ioc_hw char CS char SP char ce char nrz char psr char te unsigned char rsdep unsigned char rs char aasm char fecf char ocf char evc char idle char fsh char mcg char izy char fhec char aos unsigned short unsigned short blk_size fifo_size y Member Description cs Indicates if Sub Carrier SC modulation is implemented sp Indicates if Split Phase Level SP modulation is implemented ce Indicates if Convolutional Encoding CE is implemented nrz Indicates if Non Return to Zero NRZ mark encoding is implemented psr Indicates if Pseudo Randomizer PSR is implemented te Indicates if Turbo Encoder TE is implemented rsdep Ree
217. irst opening a specific SPWCUC device by calling spwcuc_open INSTANCE NUMBER after successfully opening a device the returned value of spwcuc_open can be used as input other functions in the SPWCUC driver interface Registers can be accessed and interrupts can be enabled 36 2 1 2 Interrupt service The SPWCUC core can be programmed to interrupt the CPU on certain events see hardware manual All interrupts causes the driver s interrupt service routine ISR to be called it gathers statistics and call the optional user assigned callback The callback is registered using the function spwcuc int register 36 2 2 Application Programming Interface The SPWCUC driver API consists of the functions in the table below Prototype Description void spwcuc_open int minor Open a SPWCUC device by instance number the number is determined by the order in which the core is found Plug amp Play order The function returns a handle to SPWCUC driver used internally it must be given to all functions in the API void spwcuc_close void spwcuc Close a previously opened SPWCUC driver int spwcuc_reset void spwcuc Reset the SPWCUC core by writing to the CONTROL register of the core This function also clears pending interrupts by writing PICR void spwcuc_config void spwcuc struct spwcuc_cfg cfg Configure SPWCUC registers according to cfg argument See the data structure description of void spwcuc_int reg
218. is found created and registered by the bus driver once registered the driver manager will insert it into the bus device tree assign a bus minor number depending on the registration order and tries to find driver that supports the hardware If a suitable driver is found it will unite the device with the driver In the process of uniting the manager will assign insert the device into the driver s device list give a driver minor number to the device lowest free number optionally allocate zeroed memory for driver private queue the device for initialization The bus driver must have given the device a bus specific description in dev businfo if before registering it The driver can use the information to get register addresses interrupt number etc During the first level of initialization the device driver may register a child bus in that case the bus will be queued for initialization AEROFLEX GR RTEMS DRIVER 24 GAISLER Device information struct drvmgr_dev int obj_type lt DRVMGR_OBJ_DEV struct drvmgr_dev next lt Next device struct drvmgr_dev next_in_bus lt Next device on the same bus struct drvmgr_dev next_in_drv lt Next device using the same driver struct drvmgr_drv drv lt The driver owning this device struct drvmgr_bus parent lt Bus that this device resides on short minor_drv lt Device number within driver short minor_bus lt Device number on bus for d
219. is not available or if the register cannot be written 13 2 5 2 6 SET_CLKDIV This call sets the clock division factor used in the run state The argument must be an integer in the range 0 to 255 The call will fail if the argument contains an illegal value or if the register cannot be written AEROFLEX GR RTEMS DRIVER 60 GAISLER 13 2 5 2 7 SET_TIMER This call sets the counter used to generate the 6 4 and 12 8 us time outs in the link interface FSM The argument must be an integer in the range 0 to 4095 The call will fail if the argument contains an illegal value or if the register cannot be written This value can be calculated by the driver see SET COREFREQ 13 2 5 2 8 SET_DISCONNECT This call sets the counter used to generate the 850 ns disconnect interval in the link interface FSM The argument must be an integer in the range 0 to 1023 The call will fail if the argument contains an illegal value or if the register cannot be written This value can be calculated by the driver see SET COREFREQ 13 2 5 2 9 SET_COREFREO This call calculates timer and disconnect from the GRSPW core frequency The call take one unsigned 32 bit argument see table below This call can be used instead of the calls SET TIMER and SET DISCONNECT Argument Value Function 0 The GRSPW core frequency is assumed to be equal to the system frequency The system frequency is detected by reading the system tick timer or a hard coded frequency
220. ist int mid Create an empty transfer descriptor with the DUMMY bit set The time slot previously allocated is preserved int gr1553bc_slot_update struct gr1553bc list list int mid uint16_t dptr unsigned int stat Update a transfer descriptors data pointer and or status field int gr1553bc_slot_raw struct gr1553bc list list int mid unsigned int flags uint32_t wordO uint32_t word1 uint32_t word2 uint32_t word3 Custom descriptor initialization Note that a bad initialization may break the BC driver void gr1553bc_show list struct gr1553bc list list int options Print information about a descriptor list to standard out Used for debugging Table 58 List API function prototypes 19 3 9 1 Data structures The gr1553bc_ major cfg data structure hold the configuration parameters of a Major frame and all it s Minor frames The gr1553bc_ minor cfg data structure contain the configuration parameters of one Minor Frame struct gri553bc_minor_cfg int slot_cnt int timeslot struct gri553bc_major_cfg int minor_cnt struct gr1i553bc_minor_cfg minor_cfgs 1 y Member Description slot_cnt Number of Slots in Minor Frame timeslot Total time slot of Minor Frame us Table 59 gr1553bc_minor_cfg member descriptions Member Description minor cnt Number of Minor Frames in Major Frame minor cfgs Array of Minor Frame configurations
221. ister void spwcuc spwcuc isr t func void data Register optional interrupt callback routine with custom argument Called from the driver s ISR void spwcuc_int enable void spwcuc Enable unmask SPWCUC interrupt on global interrupt controller void spwcuc_int disable void spwcuc Disable mask SPWCUC interrupt on global interrupt controller void spwcuc_clear irqs void spwcuc int irqs Clear pending interrupts by writing to the PICR register The input is a bit mask of which interrupt flags to clear void spwcuc_enable _irqs void spwcuc int irqs Enable unmask and or disable mask interrupt sources from the SPWCUC core by writing the IMR register The irqs argument is a bit mask written unmodified to the register void spwcuc_clr stats void spwcuc Clear statistics gathered by driver void spwcuc_get_stats void spwcuc struct spwcuc_stats stats Copy driver s current statistics counters to a custom location given by stats unsigned int spwcuc_get_et_coarse void spwcuc Returns 32 bit received elapsed coarse time the value is taken from the T Field Coarse Time Packet Register unsigned int spwcuc get et fine void spwcuc Returns 24 bit received elapsed fine time the value is taken from the T Field Fine Time Packet Register and shifted down 8 times unsigned long long spwcuc_get_et void spwcuc Return 56 bit received elapsed time ET a combina
222. it gathers statistics and call the optional user assigned callback The callback is registered using the function grctm_int_register 35 2 2 Application Programming Interface The GRCTM driver API consists of the functions in the table below Prototype Description void grctm_open int minor Open a GRCTM device by instance number the number is determined by the order in which the core is found Plug amp Play order The function returns a handle to GRCTM driver used internally it must be given to all functions in the API void grctm_close void grctm Close a previously opened GRCTM driver int spwcuc_reset void grctm Reset the GRCTM core by writing to the GRR Global Reset Register register of the core void grctm_int register void grctm grctm isr t func void data Register optional interrupt callback routine with custom argument Called from the driver s ISR void grctm_int_enable void grctm Enable unmask GRCTM interrupt on global interrupt controller void grctm int disable void grctm Disable mask GRCTM interrupt on global interrupt controller void grctm_clear_irqs void grctm int irqs Clear pending interrupts by writing to the PICR register The input is a bit mask of which interrupt flags to clear void grctm enable irqs void grctm int irqs Enable unmask and or disable mask interrupt sources from the GRCTM core by writing the IMR register T
223. ite timer prescaler field ROUTER FLG TRLD Write all timer reload fields one per port Table 35 router_config flag s descriptions This call writes various configuration parameters in the router A set of flags determine which of the parameters are written in each call The flags should be set in the flags field of the struct For example setting flags ROUTER FLG IID will cause the instance ID field in the router to be written with the value from iid in the struct The flags can be or ed so flags ROUTER FLG IID ROUTER FLG CFG will cause both the AEROFLEX GR RTEMS DRIVER 72 GAISLER instance ID field and the config register to be written with iid and config respectively 15 2 5 3 CFG_GET Reads all the parameters in the router config struct from hardware registers and stores them in the struct The flags field is unused and all the registers are read in each call 15 2 5 4 ROUTES SET struct router_routes unsigned int route 224 Descriptiion Routing table entry for all logical addresses Route 0 corresponds to address 32 route 1 to 33 etc Member route 224 Table 36 router_routes member descriptions This call sets up the complete routing table with the values in the router routes struct The value from each entry is written directly to the corresponding routing table location 15 2 5 5 ROUTES_ GET Reads the complete routing table and stores the values in the router
224. iv unsigned char payload in unsigned char out out Member Description flags Mask indicating options Processing state and errors for the block GRAES FLAGS XXX See Table 199 next Points to next GRAES block This field is used to make driver process multiple GRAES blocks at the same time avoiding multiple ioctl calls length Length of the block to de encrypt key Pointer to iAES 2256 key or null iv Pointer to initialization vector or null payload Pointer to Plaintext Ciphertext Out Pointer to output buffer or null Table 199 graes_block member descriptions Flag Description GRAES BD ED When set encryption will be performed otherwise decryption GRAES FLAGS PROCESSED Indicates whether the block has been processed or not GRAES FLAGS ERR Indicates if errors has been experienced during processing of the block TRANSLATE Translate bllock payload addresses from CPU address to remote bus the bus graes is resident on This is useful when dealing with buffers on remote buses for example when graes is on a AMBA bus accessed over PCI This is the case for GR RASTA GRAESTC TRANSLATE AND REMEMBER As TRANSLATE however if the translated payload addresses equals the payload address the TRANSLATE AND REMEMBER bit is cleared and the TRANSLATE bit is set Table 200 graes_block flags description The graes list structure represents a linked list a chain of GRAES blocks
225. iver The driver is registered with the name dev spil dev spi2 and so on An example application using the driver is provided in the samples directory distributed with the toolchain 28 2 1 Driver registration The registration of the driver is needed in order for the RTEMS 12C Library to know about the SPI hardware driver The RTEMS 12C driver registration is performed automatically by the driver when SPICTRL hardware is found for the first time The driver is called from the driver manager to handle detected SPICTRL hardware In order for the driver manager to unite the SPICTRL driver with the SPICTRL hardware one must register the driver to the driver manager This process is described in the driver manager chapter 28 2 2 Accessing the SPI bus The SPI bus can be accessed direct in RAW mode or by using a so called high level driver The high level drivers must be connected with the SPICTRL driver by using the rtems_libi2c_register_drv function The SD Card higher level driver does this automatically where as the memory driver needs the user to do this before initializing the memory driver The location of the higher level drivers and the RTEMS I2C Library is indicated in table 128 All paths are given relative the RTEMS kernel source root Source description Location 12C Library cpukit libi2c High level drivers c src libchip i2c SPICTRL driver c src lib libbsp sparc shared spi Table 128 SPI source location
226. iver device device driver and driver resources Since everything is tied together somehow it is quite difficult to start describing the driver manager instead each component is described in a separate section below and the following text assumes that the reader has knowledge of respective component The driver manager manages all buses and devices in a system by using a tree structure The root of the tree starts with the root device created by the root bus driver The root device creates a bus which is called the root bus it is an ordinary bus without a parent bus All buses have a linked list of devices which are situated directly on the bus if a device is a bridge to another bus that device registers a child bus and the bus pointer in the device is set appropriately At the moment of writing a bridge device can only have one child bus During the boot process the device bus tree is created either dynamically by bus drivers reading plug and play or from hard coded information The BSP or user must register a root bus driver in order for the driver manager to create and initialize the root device The function drvmgr root drv register must be called before the driver manager initialization process starts Buses and devices are initialized in a four step process called levels 1 2 3 4 The driver manager guarantees that the bus is always initialized before to the same or higher level than devices on that bus that the devices are initialized in
227. iver is used for all RT devices available The devices is separated by assigning each device a unique name and a number called minor The name is passed during the opening of the driver Some example device names are printed out below Device number Filesystem name Location 0 dev b1553rt0 On Chip Bus 1 dev b1553rt1 On Chip Bus 2 dev b1553rt2 On Chip Bus Table 76 Device number to device name conversion An example of an RTEMS open call is shown below fd open dev b1553rt0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 75 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened Table 77 Open errno values 21 2 4 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the rt driver 21 2 5 I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly
228. iver require the Driver Manager 17 1 1 GR1553B Remote Terminal Hardware The GR1553B core supports any combination of the Bus Controller BC Bus Monitor BM and Remote Terminal RT functionality This driver supports the RT functionality of the hardware it can be used simultaneously with the Bus Monitor BM functionality When the BM is used together with the RT interrupts are shared between the drivers The three functions BC BM RT are accessed using the same register interface but through separate registers In order to shared hardware resources between the three GR1553B drivers the three depends on a lower level GR1553B driver see GR1553B driver section The driver supports the on chip AMBA bus and the AMBA over PCI bus 17 1 2 Examples There is an example available that illustrates how the RT driver interface can be used to respond to 1553 BC commands The example includes code for Interrupt handling Event Logging Synchronize and Synchronize With Data mode codes RX TX data transfers and various driver configuration options The RT will respond on sub address 1 2 and 3 see comments in application and BC application The RT example comes with a matching BC example that generates BC transfers that is understood by the RT The RT application use the Eventlog to monitor certain transfers the transfers are written to standard out The RT example includes a BM logger which can be used for debugging the 1553 bus All 1553 transfe
229. iver resources as described in the driver manager chapter Below is a description of configurable driver parameters The driver parameters is unique per B1553BRM device The parameters are all optional the parameters only overrides the default values Name Type Parameter description clkSel INT Selects clock source input value to the clock MUX clkDiv INT Selects clock prescaler may not be available for all clock sources coreFreq INT The input clock frequency to the BRM core 0 12MHz 1 16MHz 2 20MHz 3 24MHz dmaArea INT Custom DMA area address See note below Table 65 B1553BRM driver parameter description 20 2 2 1 Custom DMA area parameter The DMA area can be configured to be located at a custom address The standard configuration is to leave it up to the driver to do dynamic allocation of the areas However in some cases it may be required to locate the DMA area on a custom location the driver will not allocate memory but will assume that enough memory is available and that the alignment needs of the core on the address given is fulfilled The memory required is either 16K or 128K bytes depending on how the driver has been compiled For some systems it may be convenient to give the addresses as seen by the B1553BRM core This can be done by setting the LSB bit in the address to one For example a GR RASTA IO board with a B1553BRM core doesn t read from the same address as the CPU in order to acc
230. iver to return ETIMEDOUT In non blocking mode the call will return immediately and if no data was available 1 is returned and errno set appropriately The table below shows the different errno values is returned ERRNO Description EINVAL A NULL pointer was passed as the data pointer or the length was illegal EBUSY TC core is in stopped mode Switch to started mode by issuing a START ioctl command ETIMEDOUT In non blocking mode no data were available in the DMA area or in blocking mode and the time out has expired and still no data in DMA area ENODEV A blocking read was interrupted by the TC receiver has been stopped Further calls to read will fail until the ioctl command START is issued again Table 163 ERRNO values for read calls 34 Gaisler TM driver GRTM 34 1 INTRODUCTION This document is intended as an aid in getting started developing with Aeroflex Gaisler GRLIB GRTM Telemetry TM core using the driver described in this document It describes accessing GRTM in a on chip system and over PCI and SpaceWire It briefly takes the reader through some of the most important steps in using the driver such as starting TM communication configuring the driver and sending TM frames The reader is assumed to be well acquainted with TM and RTEMS 34 1 1 TM Hardware See the GRTM core manual When the GRTM core is accessed over SpaceWire RMAP is used 34 1 2 Software Driver The driver provides means f
231. l Number Call Description Mode START Stopped Exit stopped mode start the receiver STOP Started Exit started mode enter stopped mode Most of the settings can only be set when in stopped mode ISSTARTED Both Indicates operating status started or stopped SET BLOCKING MODE Both Set blocking or non blocking mode for RECLAIM SET_TIMEOUT Both Set time out value used in blocking mode to wake up blocked task if request takes too long time to complete SET_ CONFIG Stopped Configure hardware and software driver GET CONFIG Both Get current configuration previously set with SET CONFIG or the driver defaults GET STATS Both Get statistics collected by driver CLR_ STATS Both Reset driver statistics GET HW IMPL Both Returns the features and implemented by the GRPWRX core GET OCFREG Both Returns the address of the OCF CLCW register it can be used to update the transmitted OCF CLCW RECLAIM Both Returns all GRPWRX packets received since last call to RECLAIM the packets are linked in a chain RECV Started Add a chain of GRPWRX packets to the reception queue of the grpwrx driver Table 192 ioctl calls supported by the grpwrx driver 37 2 4 2 1 START This ioctl command enables the GRPWRX receiver and changes the driver s operating status to started Settings previously set by other ioctl commands are written to hardware just before starting reception It is necessary to enter started mode to be able to receive GRPWRX packets using th
232. le SATCAN DMA TX 1 CUR DMA channel 1 TX current address SATCAN DMA TX 1 END DMA channel 1 TX end address SATCAN DMA TX 2 CUR DMA channel 2 TX current address SATCAN DMA TX 2 END DMA channel 2 TX current address SATCAN RX CAN RX enable SATCAN FILTER START Filter start ID SATCAN FILTER SETUP Filter setup SATCAN FILTER STOP Filter stop ID SATCAN WCTRL Wrapper status control register SATCAN_WIPEND Wrapper interrupt pending register SATCAN_WIMASK Wrapper interrupt mask register SATCAN_WAHBADDR Wrapper AHB address register Table 116 Values used together with GET_REG and SET_REG 24 2 6 2 4 SET_REG This call writes a given value to a specified register Note that assigning a register may interfere with the correct operation of the driver software An example of writing a register is given below printf Reset PLL n regmod reg SATCAN_PLL_RST regmod val 1 if ioctl fd SATCAN_IOC_SET_REG amp regmod printf Reset PLL failed n 24 2 6 2 5 OR_REG This call modifies a specified register by performing a bitwise logical or operation with the specified value and the current register value Note that assigning a register may interfere with the correct operation of the driver software An example of masking in a value to a register is given below printf Enable sync pulse and sync message n regmod reg SATCAN_CMD1
233. location of the GPIO Library is indicated in table 133 All paths are given relative the RTEMS kernel source root Source description Location Interface implementation c src lib libbsp sparc shared gpio gpiolib c Interface declaration c src lib libbsp sparc shared include gpiolib h Table 133 GPIOLIB source location 30 3 1 Accessing a GPIO port The interface for one particular GPIO port is initialized by calling gpiolib open with a port number or gpiolib open by name with the device name identifying one port The functions returns a pointer used when calling other functions identifying the opened GPIO port If the device name can not be resolved to a GPIO port the open function return NULL The prototypes of the initialization routines are shown below void gpiolib_open int port void gpiolib_ open by_name char devName Note that this function must be called first before accessing other functions in the interface Note that the port naming is dependent of the GPIO driver used to access the underlying hardware 30 3 2 Interrupt handler registration Interrupt handlers can be installed to handle events as a result to GPIO pin states or state changes Depending on the functions supported by the GPIO driver four interrupt modes are available edge triggered on falling or rising edge and level triggered on low or high level It is possible to register a handler per GPIO port by calling gpiolib irq register settin
234. lock ticks the driver will wait before START returns with error status The link is checked every 10 ticks Table 26 START argument description 13 2 5 2 2 STOP STOP disables the GRSPW receiver and transmitter it does not effect link state After calling STOP subsequent calls to read and write will fail until START has successfully returned The call takes no arguments STOP never fail 13 2 5 2 3 SET_NODEADDR This call sets the node address of the device It is only used to check the destination of incoming packets It is also possible to receive packets from all addresses see SET PROMISCUOUS The argument must be an integer in the range 0 to 255 The call will fail if the argument contains an illegal value or if the register can not be written 13 2 5 2 4 SET_RXBLOCK This call sets the blocking mode for receptions Setting this flag makes calls to read blocking when there is no available packets If the flag is not set read will return EBUSY when there are no incoming packets available The argument must be an integer in the range 0 to 1 0 selects non blocking mode while 1 selects blocking mode The call will fail if the argument contains an illegal value 13 2 5 2 5 SET_DESTKEY This call sets the destination key It can only be used if the RMAP command handler is available The argument must be an integer in the range 0 to 255 The call will fail if the argument contains an illegal value if the RMAP command handler
235. lways have the same frequency as the AHB bus it is situated on Since a core may consist of a AHB master AHB slave and a APB slave interface the frequencies of the different interfaces may vary The AMBAPP layer provides a function ambapp freq get that returns the frequency in Hz of a single device interface Returns the frequency Hz of a AHB APB device unsigned int ambapp_freq_get struct ambapp_bus abus struct ambapp_dev dev AEROFLEX GR RTEMS DRIVER 18 GAISLER 3 Driver Manager 3 1 INTRODUCTION This section describes the Driver Manager available in Aeroflex Gaisler RTEMS 4 10 SPARC distribution It is located in cpukit libdrvmgr in the source release The driver manager is used to simplify the handling of buses devices bus drivers device driver configuration of device instances and providing a common programming interface where possible for drivers regardless of bus architecture 3 1 1 Driver manager terms and names Throughout this document some terms and names are frequently used below is table that summarizes some of them Term Description Bus Describes a bus with child devices Device Describes a hardware device situated on a bus bus driver Bridge device A device with a child bus Bus driver Software that handles a bus implements the bus Device driver Software that handles hardware devices Root device Topmost device in driver manager tree has no parent bus
236. me Slave demonstrating both sending and receiving time over TimeWire and how it can be connected to the SPWCUC for time codes and sending time packets according to CCSDS Unsegmented Code Transfer Protocol using the RTEMS GRSPW driver Note that the example may need to be configured see the TIME SYNC options The example can be built by running S cd opt rtems 4 10 src samples 1553 S make rtems gr1553bcbm 35 2 USER INTERFACE 35 2 1 Overview The GRCTM software driver provides access to the GRCTM core s registers and helps with device detection driver loading and interrupt handling The driver sources and interface definitions are listed in the table below the path is given relative to the SPARC BSP sources c src lib libbsp sparc Filname Description shared time grctm c GRCTM Driver source shared include grctm h GRCTM Driver interface declaration Table 176 GRCTM driver Source location 35 2 1 1 Accessing the GRCTM core A GRCTM core is accessed by first opening a specific GRCTM device by calling grctm_open INSTANCE NUMBER after successfully opening a device the returned value of grctm_open can be used as input other functions in the GRCTM driver interface Registers can be accessed and interrupts enabled 35 2 1 2 Interrupt service The GRCTM core can be programmed to interrupt the CPU on certain events see hardware manual All interrupts causes the driver s interrupt service routine ISR to be called
237. multiple boards with one core each or both The tasks use the console to print their progress and status AEROFLEX GR RTEMS DRIVER 13 GAISLER 2 GRLIB AMBA Plug amp Play 2 1 INTRODUCTION The AMBA bus that GRLIB is built upon supports Plug amp Play probing of device information This section gives an overview of the AMBA Plug Play AMBAPP routines that comes with Aeroflex Gaisler RTEMS distribution Systems without on chip AMBA Play amp Play support AT697 for example may use the library when accessing remote GRLIB systems over SpaceWire or PCI The AMBAPP Layer is used by the AMBAPP Bus driver used to interface the AMBAPP bus to the driver manager Note that the AMBAPP Bus is not documented here 2 1 1 AMBA Plug amp Play terms and names Throughout this document some software terms and names are frequently used below is table that summarizes some of them Term Description AMBAPP AMBA PnP AMBA Plug amp Play AMBA AMBA bus without Plug amp Play information typically used in LEON2 designs device AMBA AHB Master AHB Slave or APB Slave interface The ambapp dev structure describe any of the interfaces core A AMBA IP core often consists of multiple AMBA interfaces but not more than one interface of the same type The ambapp core structure is used to describe a AMBA core as a unit with up to three interfaces all of different type bus All AMBA AHB and APB buses in a system in one ambapp_ bus struc
238. n OCCAN BLK MODE RX Set this bit to make read block when no messages can be read OCCAN BLK MODE TX Set this bit to make write block until all messages has been sent or put info software fifo Table 104 SET_BLK_MODE ioctl arguments This call never fail 23 2 5 2 8 SET BUFLEN This call sets the buffer length of the receive and transmit software FIFOs To set the FIFO length the core needs to be in reset mode In the table below the input to the ioctl command is described Mask Description Ox0000ffff Receive buffer length in number of CANMsg structures Oxffff0000 Transmit buffer length in number of CANMsg structures Table 105 SET_BUF_LEN ioctl argument Errno will be set to ENOMEM when the driver was not able to get the requested memory amount EBUSY is set when the core is in operating mode 23 2 6 Transmission Transmitting messages are done with the write call It is possible to write multiple packets in one call An example of a write call is shown below result write fd amp tx_msgs 0 sizeof CANMsg msgcnt On success the number of transmitted bytes is returned and 1 on failure Errno is also set in the latter case Tx msgs points to the beginning of the CANMsg structure which includes id type of message data and data length The last parameter sets the number of CAN messages that will be transmitted it must be a multiple of CANMsg structure size The call will fail if the use
239. n allocating the DMA memory on the SpaceWire node The custom_ buffer option is still available it determines where the cached area is located 33 1 3 Support For support contact the Aeroflex Gaisler support team at support gaisler com 33 2 USER INTERFACE The RTEMS GRITC driver supports the standard accesses to file descriptors such as open read and ioctl User applications include the grtc driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver The driver enables the user to configure the hardware and to receive TC frames The driver can be operated in two different modes either in RAW mode giving the user the possibility to read the DMA area it self using the read call or in FRAME mode where the driver handles basic frame parsing by looking at the header length field and the control bytes from the TC core In the FRAME mode the allocation of TC frames is handled by the user empty frames are given to the driver that puts data and header of received TC frames into the user allocated frames in a two step process In the first step the user provides the driver with unused frames queued in an driver internal queue the second step is when the user retrieve the frames containing a complete received frame filler is not copied in FRAME mode Note that RAW mode is not supported when operating the GRTC over SpaceWire 33 2 1 Driver registration The registration of the drive
240. n be accessed direct in RAW mode or by using a so called high level driver The high level drivers must be connected with the I2CMST driver by using the rtems libi2c register drv function The location of the higher level drivers and the RTEMS 12C Library is indicated in table 132 All paths are given relative the RTEMS kernel source root Source description Location 12C Library cpukit libi2c High level drivers c src libchip i2c I2CMST driver c src lib libbsp sparc shared i2c Table 132 I2C source location When accessing the driver in RAW mode a device node must be created manually in the file system by calling rtems filesystem make dev t and mknod with the correct major and minor number identifying the I2CMST driver The major number must be the same as the RTEMS I2C Library I O driver major number the minor number identify the I2CMST driver The macro RTEMS LIBI2C_ MAKE MINOR can be used to generate a valid minor number After a device node is created either manually for the RAW mode or by I2C Library for the higher level driver the device node can be accessed using standard means such as open close read write and ioctl 30 GPIO Library 30 1 INTRODUCTION This section describes the GPIO Library available for RTEMS The GPIO Library implements a simple function interface that can be used to access individual GPIO ports The GPIO Library provides means to control and connect an interrupt handler for a partic
241. n this document It briefly takes the reader through some of the most important steps in using the driver such as setting up a connection configuring the driver reading and writing messages between Bus Controllers BC Remote Terminals RT and Bus Monitors BM The reader is assumed to be well acquainted with MIL STD 1553 and RTEMS The B1553BRM driver require the RTEMS Driver Manager 20 1 1 BRM Hardware The BRM hardware can operate in one of three modes Bus Controller BC Remote Terminal RT or Bus Monitor BM All three modes are supported by the driver 20 1 2 Software Driver The driver provides means for processes and threads to send receive and monitor messages The driver supports three different operating modes e Bus Controller e Remote Terminal e Bus monitor 20 1 3 Supported OS Currently the driver is available for RTEMS 20 1 4 Examples There is a simple example available it illustrates how to set up a connection between a BC and a RT monitored by a BM The BC sends the RT receive and transmit messages for a number of different sub addresses The BM is set up to print messages from the BC and the RT To be able to run the example one must have at least two boards connected together via the B1553BRM interfaces To fully run the example three BRM boards is needed The example is part of the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rtems brm c brm lib c and brm lib h T
242. n time overflow may occur and data will be lost forcing the driver to stop the receiver When the driver is operated in FRAME mode the driver is responsible to determine the start and end of each frame It does so by looking at the TC frame length field and the GRTC control bytes provided for each frame data byte The header and data is copied into a free frame taken from a frame pool internal to the driver see next section for information about frame pools an put at the end of a linked list with received frames that can be read by the user using the ioctl command GRTC_IOC_RECV After the user has processed the frame the frame is added again to the driver s frame pools using the ioctl command GRTC IOC ADD BUFF It is the users responsibility to make sure that there always is frames available for the TC driver to copy frames into otherwise the TC driver will drop frames 33 2 5 1 Driver frame pools In FRAME mode a frame pool concept is used to group frames of equal frame length Using multiple pools make it possible for the driver to select a frame with a frame length as short as possible that still fit the incoming frame data and header The driver is configured with multiple pools with different frame lengths the more frame pools the smaller is the difference of the incoming frame length to the taken buffer the driver selects The pools are set up using the ioctl command GRTC_IOC_ POOLS SETUP Every time a frame is added to one of the driver s p
243. nd errno set to EBUSY An invalid argument result in failure and errno set to EINVAL The command will fail and errno set to ENOMEM when the driver is requested to allocate a buffer too large to be allocated by malloc 33 2 4 2 8 SET CONFIG Configures the driver and core This call updates the configuration that will be used by the driver during the START command and during operation Enabling features not implemented by the TC core will result in EIO error when starting the TC driver The input is a pointer to an initialized grtc_ioc_config structure described in section 33 2 2 This call fail if the TC core is in started mode in that case errno will be set to EBUSY or ifa NULL pointer is given as argument in that case errno will be set to EINVAL 33 2 4 2 9 GET_CONFIG Return the current configuration of the driver and hardware The current configuration is either the driver and hardware defaults or the configuration previously set by the SET CONFIG command The input to this ioctl command is a pointer to a data area of at least the size of a grtc_ioc config structure The data area will be stored according to the grtc_ ioc config data structure described in section 33 2 2 This command only fail if the pointer argument is invalid 33 2 4 2 10 GET_BUF_PARAM Get the current DMA buffer configuration The argument is a pointer to an uninitialized grtc_ioc buf params data structure described in the data structures section This comm
244. ne direction If a bus does not support DMA for example it might be that it is only the CPU that can access the bus but the bus can not access the CPU bus hence the address translation will be unidirectional The translation software can translate addresses in up to four different ways using drvmgr _translate as listed in the table below The function will return 0 if no map matches the translation requested the length until the end of the matching map or Oxffffffff if no translation was needed If a bridge has no map the addresses are translated 1 1 not changed and Oxffffffff will be returned The drvmgr_translate_check function can be called instead it has the same functionality but verifies that the address range specified by the user is accessible If not the function will call printk with an error message 31 AEROFLEX GAISLER GR RTEMS DRIVER extern int drvmgr_translate struct drvmgr_dev dev int options void src_address void dst_address Options argument Translate direction Example usage CPUMEM_TO DMA Translate a CPU RAM address to an address that DMA unit can access The CPU has a buffer in RAM it translates the address to the PCI bus so that PCI devices can access it through the host s PCI target BAR CPUMEM FROM DMA Translate a CPU RAM address that a DMA unit can access into a an address that the CPU can access The CPU reads out the the DMA address from a descripto
245. ned data area A pointer to the data area must be provided as argument 1 will be returned and errno set to EINVAL if a invalid pointer is given 27 1 5 1 9 CLR_STATS Resets drivers statistics counters 27 1 5 1 10 SET_ASCII MODE Sets ASCII mode of the driver A non zero argument enabled ASCII mode In ASCII mode a new line character is replace with a carriage return and a new line This makes it easier to work with terminals 27 1 6 Transmission Transmitting characters to the UART serial line can be done with the write call It is possible to write multiple bytes in one call An example of a write call is shown below result write fd amp buffer 0 sizeof buffer On success the number of transmitted bytes is returned and 1 on failure Errno is also set in the latter case buffer points to the beginning of the character byte array The last parameter sets the number of bytes taken from buffer that will be transmitted The write call can be configured to block when the software FIFO is full In non blocking mode write will immediately return either return 1 indicating that no data were written or the total number of bytes written are returned Note that a write request of 3 characters may end up in only 2 written the caller is responsible to check the number of messages actually written If no resources are available the call will return with an error in non blocking mode The errno variable is set according to the
246. new buffers EIO Error when writing to grspw hardware registers Table 24 ERRNO values for ioctl calls GR RTEMS DRIVER AEROFLEX 58 GAISLER Call Number Description START Bring up link after open or STOP STOP Stops the SpaceWire receiver and transmitter this makes the following read and write calls fail until START is called SET NODEADDR Change node address SET_RXBLOCK Change blocking mode of receptions SET_DESTKEY Change destination key SET _CLKDIV Change clock division factor SET_ TIMER Change timer setting SET DISCONNECT Change disconnection timeout SET COREFREQ Calculates TIMER and DISCONNECT from a user provided SpaceWire core frequency Frequency is given in KHz SET PROMISCUOUS Enable Disable promiscuous mode SET RMAPEN Enable Disable RMAP command handler SET _RMAPBUFDIS Enable Disable multiple RMAP buffer utilization SET CHECK RMAP Enable Disable RMAP CRC error check for reception SET_RM PROT ID Enable Disable protocol ID removal for reception SET TXBLOCK Change blocking mode of transmissions SET TXBLOCK ON FULL Change the blocking mode when all descriptors are in use SET DISABLE ERR Enable Disable automatic link disabling when link error occurs SET LINK ERR IRQ Enable Disable link error interrupts SET_PACKETSIZE Change buffer sizes GET LINK STATUS
247. nfig members 30 3 4 Function prototype description 30 3 4 1 GPIO Library functions A short summary to the functions are presented in the prototype lists below Prototype Name void gpiolib_close void cookie int grpiolib_set_config void cookie struct gpiolib config cfg int gpiolib_set void handle int dir int val int gpiolib_get void handle int inval int gpiolib irq clear void handle int gpiolib irq enable void handle gpiolib irq disable void handle int gpiolib irq force void handle int gpiolib irq register void handle void func void arg void gpiolib show int port void handle Table 136 GPIO per port functions All functions takes a handle to a opened GPIO port by the argument handle The handle is returned by the gpiolib open or gpiolib open by name function If a GPIO port does not support a particular operation a negative value is returned On success a zero is returned 30 3 4 1 1 grpiolib_set_config Configures one GPIO port according to the the gpiolib config data structure The gpiolib config structure is described in table 135 30 3 4 1 2 gpiolib_ set Set one GPIO port in output or input mode and set the GPIO Pin value The third argument may not be used when dir indicated input The direction of the GPIO port is controlled by the dir argument 1 indicates output and 0 indicates input The value driven by the GPIO port may be low by
248. nitialized One can say it is the starting point of finding the system s all devices 3 2 3 Device driver Driver for one or multiple hardware devices simply called devices here It uses the driver manager services provided The driver holds information to identify supported hardware device it tells the driver manager what kind of bus is supported and bus specific information so that the bus driver can pinpoint devices supported by driver The bus specific information may for example be a plug amp play Vendor and Device ID used to identify certain hardware Information about a device driver struct drvmgr_drv int obj_type lt DRVMGR_OBJ_DRV struct drvmgr_drv next lt Next Driver struct drvmgr_dev dev lt Devices using this driver uint64_t drv_id lt Unique Driver ID char name lt Name of Driver int bus_type lt Type of Bus this driver supports struct drvmgr_drv_ops ops lt Driver operations struct drvmgr_func funcs lt Extra Operations unsigned int dev_cnt lt Number of devices in dev unsigned int dev_priv_size lt If non zero DRVMGR will allocate memory for dev gt priv Every driver must be assigned a unique driver ID by the developer the bus driver provides a macro to generate the ID The ID is used to identify driver resources to a specific driver only the driver knows how the resources are interpreted The driver provides operati
249. nnel has one transceiver that can be inactivated or activated using this data structure The hardware can however be configured active low or active high making it impossible for the driver to know how to set the configuration register in order to select a predefined channel struct grcan_selection unsigned char selection unsigned char enable0 unsigned char enablel y Member Description selection Select receiver input and transmitter output enableO Set value of output 1 enable enable1 Set value of output 1 enable Table 90 grcan_selection member description 22 1 5 2 Configuration The CAN core and driver are configured using ioctl calls The table 86 below lists all supported ioctl calls GRCAN IOC_ must be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 85 An example is shown below where the driver s read call changes behaviour After this call the driver will block the calling thread until free space in the receiver s circular buffer are available result ioctl fd GRCAN_IOC_SET_RXBLOCK 1 ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The CAN hardware is not in the correct state Many ioctl calls need the CAN device to be in reset mode One can switch state by callin
250. nnnnnnncnncnnnnnnnnnncnnnons 130 CAN DRIVER INTERFACE GRCAN ccccecceccecceeceeceeeeseeseesceeeeeceeeeesenseeeeeneeeneees 132 USEF INCETTACE A cde ecdeaabea nia daas au EAEE ETE EE AAAA 132 Driver registrato Derien iri a R AE dad aid idad 132 Driver resource configuration s ssessessessrssesseserserserserserseoseoseoseosessessessrsseseseeeese 132 Custom DMA area paraMeterS oocoocnccnocnncnncnncnncnncnnnnnanono non nnonncnncnnanncrncnnnnnannnnnannnaso 132 Opening the device cn dd 132 Closing the device dis 133 I O COntrOlintertace x 3 cid ec ida a aban a apa 133 Data struct os 133 CONAGUA MANE ETEA PATEA EE ANAE AAE SE AE AE E E A A oo 136 Trans MISSIO Urr here A id Sends EENET ade caste etatessecoies 140 RECO PtlOM oraire e N e A E EAEE EEEE ETE 141 Gaisler Opencores CAN driver OC_CAN cccccsecccneeeceeeccceeeeeceeceeeeeeeeeeeeeaeeneees 142 INTRODUC HON edee iea e e oa aaa a oae ra AEE ea dudes seabatered 142 GAN Hard Ware E EAA AEEA EANA EE TETES E O tates 142 Software Drive T e esene koka AEE EE sida 142 Supported OS aaa A A EAEE EE E a Sie ee 142 Examples oaet reren irnn ara a r E Seda eae a a y a A O IES 142 SUPPOTT reia a nK EREE cas EENOK ETVE AAEE KN REE E iaa 142 User int ifa Eessaare EER vasa EEEE E PE ETEISEEN EAE E ENAS 142 Driver TE GISLPATION 2 45 4 a A inc 143 Driver resource configuration ssessesseserssesseseeserserserseoseoseoseoseosessessessesseseseeese 143 Opening the device ii d
251. nt as the SA table and descriptors However the user still is provided the ability to put the eventlog at a custom address or letting the driver dynamically allocate it When providing a custom address the start address is given the area must have room for the configured number of entries and have the hardware required alignment Note that the alignment requirement of the eventlog varies depending on the eventlog length 17 2 1 7 Interrupt service The RT core can be programmed to interrupt the CPU on certain events transfers and errors SA table and DMA The driver divides transfers into two different types of events mode codes and data transfers The three types of events can be assigned custom callbacks called from the driver s interrupt service routine ISR and custom argument can be given The callbacks are registered per RT device using the functions gr1553rt irq errQ gri553rt irq mc gr1553rt_irq_sa Note that the three different callbacks have different arguments Error interrupts are discovered in the ISR by looking at the IRQ event register they are handled first After the error interrupt has been handled by the user user interaction is optional the RT core is stopped by the driver Data transfers and Mode Code transfers are logged in the eventlog When a transfer triggered interrupt occurs the ISR starts processing the event log from the first event that caused the IRQ determined by hardware register calling the mode code
252. nt max major Allocate a List description structure First step in creating a descriptor list void gr1553bc list free struct gr1553bc list list Free a List previously allocated using gr1553bc list_alloc int gr1553bc _list_config struct gr1553bc list list struct gr1553bc _list_cfg cfg void bc Configure List parameters and associate it with a BC device that will execute the list later on List parameters are used when generating descriptors void gr1553bc list link major struct gr1553bc_major major struct gr1553bc_major next Links two Major frames together the Major frame indicated by next will be executed after the Major frame indicated by major A unconditional jump is inserted to implement the linking int gr1553bc list_set_major struct gr1553bc list list struct gr1553bc_major major int no Assign a Major Frame a Major Frame number in a list This will link Major no 1 and Major no 1 with the Major frame the linking can be changed by calling gr1553bc list link_major after all major frames have been assigned a number int gr1553bc_ minor table size struct gr1553bc_ minor minor Calculate the size required in the descriptor table by one minor frame int gr1553bc list_table_size struct gr1553bc list list Calculate the size required for the complete descriptor list int gr1553bc list table alloc struct gr1553bc list list void bdtab_custom Allocate
253. nterpret key_value union drvmgr_key_value key_value The value or pointer to value y A driver resource targets a device driver instance not a device instance even this is in practise the same thing since there is only one driver for a device Instead of using a bus specific device AEROFLEX GR RTEMS DRIVER 25 GAISLER ID to identify a device instance a driver ID together with a instance minor number is used to target the driver instance Below is a typical driver resource array with two configuration options GRSPWO and GRSPW1 resources struct drvmgr_key grlib_grspw_Onl_res txDesc KEY_TYPE_INT unsigned int 16 rxDesc KEY_TYPE_INT unsigned int 32 KEY_EMPTY y It is up to the driver to interpret the options one should refer to the driver documentation for configuration options available and their format A bus resource in an array of device resources driver resource arrays the bus resource is assigned to the bus in a bus driver dependent way In the below example the LEON3 BSP root bus is configured by simply defining a bus resource named grlib_drv resource since the LEON3 root bus driver s defaults have been declared weak it can be overridden by the user project In the example the GRSPWO and GRSPW1 cores are configured with the same driver resources If RTEMS_DRVMGR_STARTUP is defined we override the weak defaults that is defined by the LEON3 BSP wr struct drvmgr_bus_res grli
254. ntf Could not disable DMA TX channel 2 n 24 2 6 2 13 GET_DOFFSET This call sets the offset used when writing TX messages via calls to write TX DMA messages are written at start of DMA buffer data offset The argument to this call is a pointer to the integer containing the offset 24 2 6 2 14 SET_DOFFSET This call returns the offset used when writing TX messages via calls to write TX DMA messages are written at start of DMA buffer data offset The argument to this call is a pointer to an integer The integer is assigned the current offset 24 2 6 2 15 GET_TIMEOUT This call returns the time out value that the write call uses when waiting for TX DMA completion The argument is a pointer to an rtems interval type 24 2 6 2 16 SET_TIMEOUT This call sets the time out value that the write call uses when waiting for TX DMA completion The argument is a pointer to an rtems interval type 25 Gaisler CAN_MUX driver CAN_MUX 25 1 INTRODUCTION This document is intended as an aid in getting started developing with Gaisler GRLIB CAN MUX core using the driver described in this document It briefly takes the reader through some of the most important steps in using the driver such as configuring the driver and using Input Output control calls to modify the hardware state The reader is assumed to be well acquainted with the operation of the CAN_MUX core and RTEMS 25 1 1 CAN MUX Hardware See the CAN MUX core manual
255. nversion and read phases 1 during conversion phase 2 during read phase 3 continuously during both phases cs pol Boolean Polarity of ADC chip select O Active low 1 Active high ready_mode Boolean Mode of ADC ready O Falling edge 1 Rising edge ready pol Boolean Polarity of ADC ready O unused open loop 1 used with time out trigg_pol Boolean Polarity of ADC triggers O falling edge 1 rising edge trigg_mode 2 bit ADC trigger source selection O none 1 ADTrig 2 32 bit Timer 1 3 32 bit Timer 2 adc dw 2 bit ADC data width selection O none 1 8 bit ADDATA 7 0 2 16 bit ADDATA 15 0 3 none spare Table 144 gradcdac_config member and ADCONF reg definition 32 2 6 Function prototype description 32 2 6 1 General ADC DAC functions A short summary to the functions are presented in the prototype lists below Prototype Name void gradcdac_set_config void cookie struct gradcdac_config cfg void gradcdac_get_config void cookie struct gradcdac_config cfg void gradcdac_set_cfg void cookie unsigned int config unsigned int gradcdac_get_cfg void cookie unsigned int gradcdac_get_status void cookie void gradcdac_adc_convert_start void cookie unsigned int gradcdac_get_adrinput void cookie unsigned int gradcdac_get_adroutput void cookie void gradcdac_set_adro
256. o descriptor number MID The BC stops execution of a list when a END OF LIST EOL marker is found Lists may be configured to jump to the start of the list the first descriptor by inserting an unconditional jump descriptor Once a descriptor list is setup the hardware may process the list without the need of software intervention Time distribution may also be handled completely in hardware by setting the Wait for External Trigger flag in a transfer descriptor the BC will wait until the external trigger is received or proceed directly if already received See hardware manual 19 3 1 Overview This section describes the Descriptor List Application Programming Interface API It provides functionality to create and manage BC descriptor lists A list is built up by the following building blocks e Major Frame Consists of N Minor Frames e Minor Frame Consists of up to 32 1553 Slots e Slot Transfer Condition BC descriptor also called Message Slot The user can configure lists with different number of Major Frames Minor Frames and slots within a Minor Frame The List manages a strait descriptor table and a Major Minor Slot tree in order to easily find it s way through all descriptor created Each Minor frame consist of up to 32 slot and two extra slots for time management and descriptor find operations see figure below In the figure there are three Minor frames with three different number of slots 32 8 and 4 The List manage t
257. o the active PCI host driver When the drivers are initialized they register a backend to the PCI library all PCI devices are initialized using the PCI configuration library then a PCI Bus is registered which is implemented on top of the PCI Library That way the PCI Bus is independent of PCI host driver The driver manager will find all PCI devices and assign a suitable driver for them and so on Please see the PCI Library documentation 7 4 1 PCI Address space The PCI Library supports the following PCI address spaces e 16 bit I O Space IO e non prefetchable memory space MEMIO e prefetchable memory space MEM e configuration space CFG On LEON hardware the address spaces are accessed over dedicated AHB areas as ordinary AMBA memory accesses and it will be transformed into appropriate PCI access type depending on which AHB area window was accessed and of which AMBA access type burst single access Note that LEON hardware have only one memory window which can do both MEM and MEMIO access types so the PCI Library is configured with one MEMIO Window No special instructions are required to access I O or configuration space The location of the PCI Windows are determined by looking at AMBA plug and play information for the PCI Host core The AT697 PCI MEM Window is defined to 0xA0000000 0xF0000000 The PCI Library is informed about the PCI windows location and size PCI BARs are allocated within the MEM MEMIO and I O windows 7
258. ocessing Bit 4 0 gives the details of the error 6 5 ILL 1 if received command is illegalized 3 TO If set the number of received words was less than the amount specified by the word count 2 OVR If set the number of received words was more than amount specified by the word count 1 PRTY 1 if the RT detected a parity error in the received data 0 MAN 1 if a Manchester decoding error was detected during data reception time Time Tag Contains the value of the internal timer register when the message was received data An array of 32 16 bit words The word count specifies how many data words that are valid For receive mode codes with data the first data word is valid desc Bit 6 0 is the descriptor used Table 68 rt_msg member descriptions The last variable in the struct rt_msg shows which descriptor i e rx subaddress tx subaddress rx mode code or tx mode code that the message was for They are defined as shown in the table below Descriptor Description 0 Reserved for RX mode codes 1 30 Receive subaddress 1 30 31 Reserved for RX mode codes 32 Reserved for TX mode codes 33 62 Transmit subaddress 1 30 63 Reserved for TX mode codes 64 95 Receive mode code 96 127 Transmit mode code Table 69 Descriptor table If there has occurred an event queue overrun bit 15 of this variable will be set in the first event read out All ev
259. of the GRPWRX core The call will fail if the pointer to the data is invalid 37 2 4 2 11 RECLAIM Returns processed GRPWRX oackets to user All packets returned has been provided by the user in previous calls to RECV and need not all to have been successfully received RECLAIM can be configured to operate in polling mode blocking mode and blocking mode with a time out In polling mode the task always returns with or without processed packets in blocking mode the task is blocked until at least one packet has been processed See the ioctl command SET CONFIG and SET BLOCKING MODE to change mode of the RECLAIM command RECLAIM stores a linked list of processed GRPWRX packets into the data area pointed to by the user argument The format for the stored data follows the layout of the grpwrx list structure described in section 37 2 2 The grpwrx list structure holds the first and last GRPWRX packet processed by the driver The flags field indicates if the packet was received or if errors were experienced during transmission of this packet See table 187 for flags details In started mode this command enables scheduled GRPWRX packet for transmission as descriptors become free during the processing of received GRPWRX packet The call will fail if the pointer to the data area is invalid EINVAL the RECLAIM call operates in blocking mode and the time out expires ETIMEDOUT or the driver was stopped during the calling task was blocked ENODEV See tabl
260. of the internal timer register when the message was captured data An array of 32 16 bit words The command word specifies how many data words that are valid For receive mode codes with data the first data word is valid Table 71 struct bm_msg member description 20 2 6 Configuration The BRM core and driver are configured using ioctl calls The table 68 below lists all supported ioctl calls BRM_ should be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 67 An example is shown below where the operating mode is set to Bus Controller BC by using an ioctl call unsigned int mode result ioctl fd BRM_SET_MODE BRM_MODE_BC amp mode ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY The BRM hardware is not in the correct state to accept this command Errno is set to EBUSY when issuing a BRM DO LIST before the last BRM DO LIST command has finished its execution ENOMEM Not enough memory for driver to complete request Table 72 ERRNO values for ioctl calls Call Number Description ERRNO SET MODE Set operating mode 0 BC 1 RT 2 BM EINVAL ENOMEM SET_BUS Enable disable buses SET_MSGTO Set message timeout SET RT ADDR Get Remote
261. of the queue using the read call The buffer should point to the beginning of one or several struct bm_msg The number of events that can be received is specified with the length argument E g struct bm msg msg 2 n read brm_fd msg 2 The above call will return the number of events actually placed in msg If in non blocking mode 1 will be returned if the receive queue is empty and errno set to EBUSY Note that it is possible also in blocking mode that not all events specified will be received by one call since the read call will seize to block as soon as there is one event available 21 Gaisler B1553RT DRIVER RT 21 1 INTRODUCTION This section describes the B1553RT Remote Terminal driver available for RTEMS The reader is assumed to be well acquainted with MIL STD 1553 and RTEMS The B1553RT driver require the RTEMS Driver Manager 21 1 1 RT Hardware The B1553RT core operate at the same frequency as the bus it must be 12 16 20 or 24MHz It requires a 4KByte DMA buffer area that must be aligned properly 21 1 2 Examples There is a simple example available it illustrates how to set up RT for reception and transmission of messages sent by a BC Received messages are handled by updating the transmission DMA Area for respective sub address The example collects statistics for received mode codes that the BC can read at sub address 30 The example is part of the Gaisler RTEMS distribution it can be found under opt rtems
262. on events The gr1553rt_config function is used to configure the aforementioned mode code options Interrupt caused by mode code transmissions can be programmed to call the user through an callback function see the interrupt section 17 2 1 7 The mode codes Synchronization with data Transmit Bit word and Transmit Vector word can be interacted with through a register interface The register interface can be read with the gr1553rt_status function and selected or all bits of the bit word and vector word can be written using gr1553rt_set_vecword function Other mode codes can interacted with using the Bus Status Register of the RT core The register can be read using the gr1553rt status function and written selectable bit can be written using gr1553rt set bussts 17 2 1 10 RT Time The RT core has an internal time counter with a configurable time resolution The finest time resolution of the timer counter is one microsecond The resolution is configured using the gr1553rt config function The current time is read by calling the gr1553rt_status function 17 2 2 Application Programming Interface The RT driver API consists of the functions in the table below Prototype Description void gr1553rt_open int minor Open an RT device by instance number Returns a handle identifying the specific RT device The handle is given as input in most functions of the API void gr1553rt_close void rt Close
263. on is to let the driver dynamically allocate the SA table the SA table will then be located in the main memory of the CPU For RT core s located on an AMBA over PCI bus the default action is not acceptable due to the latency requirement mentioned above The SA table can be configured per SA by calling the gr1553rt sa setopts function The mask argument makes it possible to change individual bit in the SA configuration This function must be called to enable transfers from to a sub address See hardware manual for SA configuration options Descriptor Lists are assigned to a SA by calling gr1553rt list _sa The indication service can be used to determine the descriptor used in the next transfer see section 17 2 1 8 17 2 1 4 Descriptors A GR1553B RT descriptor is located in memory and pointed to by the SA table The SA table points out the next descriptor used for a specific sub address and transfer type The descriptor contains three input fields Control Status Word determines options for a specific transfer ans status of a completed transfer Data buffer pointer 16 bit aligned Pointer to next descriptor within sub address and transfer type or end of list marker All descriptors are located in the same range of memory which the driver refers to as the BD memory The BD memory can by dynamically allocated located in CPU main memory by the driver or assigned to a custom location by the user From the BD memory descriptors for all sub ad
264. ons executed per device in drv ops that is called by the driver manager at certain events such as device initialization and removal The driver manager manages a list of devices assigned to the driver order according to driver minor number The driver minor number is assigned as the lowest free number starting at 0 A device driver can lookup a device pointer from knowing the minor number The number of devices currently present is counted in drv dev_cnt The driver manager can optionally allocate zeroed memory for the device private data structure and place a pointer in dev priv this is done by setting drv dev_priv size to a non zero value AEROFLEX GR RTEMS DRIVER 23 GAISLER The driver information above does not contain a bus specific device information needed to detect suitable devices Bus drivers provide extended driver structures containing this additional bus specific information for example the PCI bus has a pointer to an array of PCI device identifications struct pci_dev_id_match uintl _t vendor uintl _t device uintl _t subvendor uintl _t subdevice uint32_t class 24 lower bits uint32_t class_mask 24 lower bits EF struct pci_drv_info struct drvmgr_drv general General bus info PCI specific bus information struct pci_dev_id_match ids Supported hardware 3 2 4 Device Represents a hardware device found by the bus driver in this document called device A device
265. ookie in other RMAP stack functions The cookie is needed in order to support multiple RMAP stacks in parallel the cookie identify a certain stack If the RMAP stack fail to initialize zero is returned The rmap config structure is described in table 2 4 7 2 1 2 rmap ioctl Set run time options such as blocking time out get configuration and operating the stack such as starting and stopping the communication link This function is not thread safe If successful zero is returned 4 7 2 1 3 rmap_send Execute a command by sending the command then wait for the response if a response is expected This function will block until the response is received or if the timeout is expired The timeout functionality may not be supported by the RMAP driver Note that when the RMAP stack is in non blocking mode the stack will not wait for the response however if the response is available the response is handled If the response wasn t received 2 is returned Note that if the RMAP driver does not support CRC generation a byte will be written after the data provided by the user please see zero copy section If an error occurs 1 is returned On success 0 is returned Note that even though the RMAP request failed the RMAP stack may return zero the RMAP status indicates the error response of the target see the rmap_command structure in the data structures section 4 7 2 1 4 rmap_crc_calc This function is a help function used by the
266. ool using the GRTC_IOC_ADD BUFF command the correct frame pool must be found to put it in To simplify and make the frame pool detection faster each frame must be assigned to a frame pool once before use assigning a frame with a pool must done by using the ioctl command GRTC IOC ASSIGN FRM POOL 33 2 6 Reception in FRAME mode Receiving frames are done with the ioctl call using the command ADD BUF and RECV It is possible to receive multiple frames in one call the frames are provided to the driver using a linked list of frames See the ioctl command RECV and ADD BUF for more information 33 2 7 Reception using RAW mode Reception is done using the read call An example is shown below unsigned char tc_rx_buf 512 len read fd tc_rx_buf sizeof tc_rx_buf The requested number of bytes to be read is given in the third argument The messages will be stored in tc_rx buf The actual number of received bytes is returned by the function on success and 1 on failure In the latter case errno is also set The data formatting is described in the hardware manual The call will fail if a null pointer is given invalid buffer length the TC core is in stopped mode no data available in non blocking mode or due to a time out in blocking mode The blocking behaviour can be set using ioctl calls In blocking mode the call will block until at least one byte has been received unless a time out has been given and that time has expired causes the dr
267. or threads to send TM frames using standard I O operations There are two drivers one that supports GRTM on an on chip AMBA bus and an AMBA bus accessed over PCI on a GR RASTA TMTC board for example and one driver that supports accessing the GRTM over SpaceWire 34 1 2 1 GRTM over SpaceWire There are some differences when the GRIM core is operated over SpaceWire see below list for a summary e The GRIM driver manages one buffer per descriptor used to copy frame payload into The payload is copied over SpaceWire by the GRIM driver The maximal frame length must be given in order for the driver to know how much buffer space to allocate It is controlled through the maxFrameLength driver resource e The driver has three new driver resources maxFrameLength maximal length of frames used when allocating buffer space bdAllocPartition partition used when allocating descriptor table see AMBA RMAP bus driver documentation and frameAllocPartition partition used when allocating buffer space see AMBA RMAP bus driver documentation TM frames has an additional option COPY DATA it determines if the payload is to be copied to the descriptor s buffer or if the address of the payload is an address that the GRTM core can read directly for example the payload may already reside on the SpaceWire node s memory ready to be transmitted In the latter case only the descriptor address pointer is written The Frame options TRANSLATE and TRANSLATE AN
268. ot activate any of the DMA TX channels and return immediately In system mode the driver will activate the selected DMA TX channel and the call to write will block until the core signals that it has completed the DMA operation 24 2 6 2 10 SET DMA MODE This call sets the driver DMA mode Available values are SATCAN DMA MODE USER and SATCAN DMA MODE SYSTEM See the previous description of GET DMA MODE and the description of the write call for more information about the modes An example call using SET DMA MODE is shown below int val val SATCAN_DMA_MODE_USER if ioctl fd SATCAN_IOC_SET_DMA MODE amp val printf Failed to set DMA mode n 24 2 6 2 11 ACTIVATE_DMA This call activates one of the DMA TX channels when the driver is set to user DMA mode The user can not activate a DMA channel using this call if the driver is in system DMA mode An example call activating DMA TX channel 2 is shown below int val val SATCAN_DMA_ ENABLE _TX2 if ioctl fd SATCAN_IOC_ACTIVATE_ DMA amp val printf Task1 Could not enable DMA TX channel 2 n 24 2 6 2 12 DEACTIVATE DMA This call deactivates one of the DMA TX channels when the driver is set to user DMA mode The user can not deactivate a DMA channel using this call if the driver is in system DMA mode An example call deactivating DMA TX channel 2 is shown below int val val SATCAN_DMA_ENABLE_TX2 if ioctl fd SATCAN_IOC_DEACTIVATE_ DMA amp val pri
269. pport For support contact the Aeroflex Gaisler support team at support gaisler com 37 2 USER INTERFACE The RTEMS grpwrx driver supports the standard accesses to file descriptors such as open close and ioctl User applications include the grpwrx driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver The driver enables the user to configure the hardware and to receive GRPWRX packets The allocation of GRPWRX packets is handled by the user and free packets are given to the driver that processes the packets for reception in a two step process In the first step the driver schedules packets for reception using the DMA descriptors or they are put into an internal queue when all descriptors are in use in the second step all received packets are put into a second queue that is emptied when the user reclaims the received packets The reclaimed packets can then be reused in new reception later on 37 2 1 Driver registration The registration of the driver is crucial for threads to be able to access the driver using standard means such as open The function grpwrx register drv whose prototype is provided in grpwrx h is used for registering the driver grpwrx_register_drv 37 2 2 Opening the device Opening the device enables the user to access the hardware of a certain grpwrx device The driver is used for all grpwrx cores available The cores are separated by assigning each
270. pw router pci which can be used as a reference on how the router is used In that particular case the router has 18 ports and a PCI interface through which it is connected to the host system The host system can consist of either a LEON2 LEON3 or LEON4 running RTEMS and one of three PCI interfaces PCIF GRPCI or GRPCI2 14 1 1 SpaceWire Router register driver The main functionality of the router is to transfer packets between the SpaceWire ports This ability is functional after reset without any configuration To change the configuration enable disable links collect statistics fault detection etc the router configuration port has to be accessed This is done through the SpaceWire router register driver The driver manager finds the configuration port interfaces automatically when the system is scanned If the user application needs to use the configuration port it has to open a file handle to it All the available router features can then be accessed using IOCTL calls through this file handle 14 1 2 AMBA port driver There are three different port types in the router SpW ports FIFO ports and AMBA ports The data path of SpW and FIFO ports are not directly accessible from the processor If the router has AMBA ports they can be used for transferring packets The AMBA ports have identical interfaces to the GRSPW core so they use the same driver To transfer packets through an AMBA port a file handle should be opened to it and then read and
271. r Minor 0xff Slot Oxff Table 55 Macros for creating MID 19 3 2 Example steps for creating a list The typical approach when creating lists and executing it e gr1553be_list_alloc amp list MAJOR_CNT e gr1553bce_list_config list amp listcfg e Create all Major Frames and Minor frame for each major frame e grl553bc major alloc_skel major 8major minor cfg e gr1553bc list set major list amp major MAJOR NUM Link last and first Major Frames together e gr1553bc list set major Smajor7 amp major0 e gr1553bc list table alloc Allocate Descriptor Table e gri1553bc list table build Build Descriptor Table from Majors Minors Allocate and initialize Descriptors pre defined before starting e gr1553bc slot alloc list MID TIME REQUIRED e gr1553bc slot transfer MID START BC HARDWARE BY SHCDULING ABOVE LIST e Application operate on executing List 19 3 3 Major Frame Consists of multiple Minor frames A Major frame may be connected linked with another Major frame this will result in a Jump Slot from last Minor frame in the first Major to the first Minor in the second Major 19 3 4 Minor Frame Consists of up to 32 Message Slots The services available for Minor Frames are Time Management and Slot allocation Time Management is optional and can be enabled per Minor frame A Minor frame can be assigned a time in microseconds The BC will not continue to the next Minor frame until the time specified
272. r auto detect the bus frequency and override the default if the bus frequency is 20MHz 16MHz or 12MHz This parameter override the default and the auto detected value dmaBaseAdr INT Custom DMA area address See note below Table 75 B1553RT driver parameter description 21 2 2 1 Custom DMA area parameter The DMA area can be configured to be located at a custom address The standard configuration is to leave it up to the driver to do dynamic allocation of the areas However in some cases it may be required to locate the DMA area on a custom location the driver will not allocate memory but will assume that enough memory is available and that the alignment needs of the core on the address given is fulfilled The memory required is either 4K bytes For some systems it may be convenient to give the addresses as seen by the B1553RT core This can be done by setting the LSB bit in the address to one For example a PCI Target board with a AMBA bus with a B1553RT core doesn t read from the same address as the CPU in order to access the same data This is dependent on the PCI mappings Translation between CPU and B1553RT addresses must be done The B1553RT driver automatically translates the DMA base address This requires the bus driver in this case the PCI Target driver to set up translation addresses correctly 21 2 3 Opening the device Opening the device enables the user to access the hardware of a certain RT device The dr
273. r is crucial for threads to be able to access the driver using standard means such as open The function grtc_register whose prototype is provided in grtc h is used for registering the driver It returns 0 on success and 1 on failure A typical register call from the LEONS Init task if grtc_register amp amba_conf printf GRTC register Failed n 33 2 2 Opening the device Opening the device enables the user to access the hardware of a certain GRTC device The driver is used for all GRTC cores available The cores are separated by assigning each core a unique name and a number called minor The name is given during the opening of the driver The first three names are printed out Core number Filesystem name 0 dev grtcO 1 dev grtc1 2 dev grtc2 0 dev rastatmtc0 grtcO 0 dev rmap_fe grtcO Table 150 Core number to device name conversion An example of an RTEMS open call is shown below fd open dev grtc0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 150 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 151 Open errno values 33 2 3 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for t
274. r that the hardware use to access to CPU RAM it can then translate it into the memory address the CPU can access since the memory is located at the CPU bus DMAMEM TO _CPU Translate DMA unit local PCI target BAR2 value PCI bus address is translated into an address which the CPU access CPU bus address in order to get to BAR2 memory to an address that the CPU can access Translate DMA unit local memory address that the CPU can access into an address that the DMA unit can access DMAMEM FROM CPU Table 9 Translate options to drvmgr_translateQ 3 7 FUNCTION INTERFACE The driver manager provides an interface where device drivers and bus drivers can provide functions that can be looked up by knowing an associated function ID The functions can be used to provide additional bus support over the driver manager structure or a device driver can provide a function that the bus driver use For example some buses may require special access methods in order to access the hardware registers Depending on the bus driver bus architecture for example is must be performed differently the driver can request a function pointer to a WRITE U32 function in to implement register accesses The drvmgr drvmgr h header file defines a number of read write function ID numbers that drivers can use to get access routines on buses which define such operations 4 RMAP Stack 4 1 INTRODUCTION This section describes the RMAP sta
275. r tries to send more bytes than is allocated for a single packet this can be changed with the SET PACKETSIZE ioctl call or if a NULL pointer is passed The write call can be configured to block when the software fifo is full In non blocking mode write will immediately return either return 1 indicating that no messages was written or the total number of bytes written always a multiple of CANMsg structure size Note that 3 message write request may end up in only 2 written the caller is responsible to check the number of messages actually written in non blocking mode If no resources are available in non blocking mode the call will return with an error The errno variable is set according to the table given below ERRNO Description EINVAL An invalid argument was passed The buffer length was less than a single CANMsg structure size EBUSY The link is not in operating mode but in reset mode Nothing done ETIMEDOUT In non blocking mode EIO Calling task was woken up from blocking mode by a bus off error The CAN core has entered reset mode Further calls to read or write will fail until the ioctl command START is issued again Table 106 ERRNO values for write Each Message has an individual set of options controlled in the CANMsg structure See the data structure subsection for structure member descriptions 23 2 7 Reception Reception is done using the read call An example is shown below CANMsg rx_ms
276. r_size void buffer_custom bmcopy_func_t copy_func void copy_func_arg bmisr_func_t dma_error_isr void dma_error_arg Member Description time_resolution 8 bit time resolution the BM will update the time according to this setting 0 will make the time tag be of highest resolution no division 1 will make the BM increment the time tag once for two time ticks div with 2 etc time ovf irq Enable Time Overflow IRQ handling Setting this to 1 makes the driver to update the 64 bit time by it self it will use time overflow IRO to detect when the 64 bit time counter must be incremented If set to zero the driver expect the user to call gr1553bm_time regularly it must be called more often than the time overflows to avoid an incorrect time filt error_option s Bus error log options bit0 4 31 reserved set to zero Bit1 Enables logging of Invalid mode code errors Bit2 Enables logging of Unexpected Data errors Bit3 Enables logging of Manchester parity errors filt_rtadr RT Address filtering bit mask Each bit enables if set logging of a certain RT sub address Bit 31 enables logging of broadcast messages filt_subadr RT Subaddress filtering bit mask bit definition 31 Enables logging of mode commands on subadr 31 1 30 BitN enables disables logging of RT subadr N 0 Enables logging of mode commands on subadr 0 filt_ mc Mode code Filter is written
277. rce location 19 1 3 Examples There is an example available that illustrates how the BC driver interface can be used to communicate with one or more RTs The descriptor list includes both transfer and conditional descriptors time slot allocation interrupt demonstration read BC hardware currently executing descriptor by the indication service The BC example does not require an RT to respond on the 1553 transfers however it will be stuck in initialization mode of the 1553 bus The BC example comes with a matching RT example that responds to the BC transfers The BC example includes a BM logger which can be used for debugging the 1553 bus All 1553 transfers can be logged and sent to a Linux PC over a TCP IP socket and saved to a raw text file for post processing In order to run all parts of the example a board with GR1553B core with BC and BM support and a board with a GR1553B core with RT support is required The example is part of the Aeroflex Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples 1553 rtems gr1553bcbm c The example can be built by running S cd opt rtems 4 10 src samples 1553 S make rtems gr1553bcbm 19 2 BC DEVICE HANDLING The BC device driver s main purpose is to start stop pause and resume the execution of descriptor lists Lists are described in the Descriptor List section 19 3 In this section services related to direct access of BC hardware registers and Interrupt are described Th
278. rd with a GRSPW core doesn t read from the same address as the CPU in order to access the same data This is dependent on the PCI mappings Translation between CPU and GRPSW addresses must be done The GRSPW driver automatically translates addresses in the descriptors This requires the bus driver in this case the GR RASTA IO driver to set up translation addresses correctly 13 2 3 Opening the device Opening the device enables the user to access the hardware of a certain GRSPW device Open reset the SpaceWire core and reads reset values of certain registers With the ioctl command START it is possible to wait for the link to enter run state The same driver is used for all GRSPW devices available The devices are separated by assigning each device a unique name the name is passed during the opening of the driver Some example device names are printed out below AEROFLEX GR RTEMS DRIVER 52 GAISLER Device number Filesystem name Location 0 dev grspw0 On Chip Bus 1 dev grspw1 On Chip Bus 2 dev grspw2 On Chip Bus Depends on system configuration dev rastaio0 grspw0 GR RASTA IO Depends on system configuration dev rastatmtc0 grspw1 GR RASTA TMTC Table 18 Device number to device name conversion An example of an RTEMS open call is shown below fd open dev grspw0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 17
279. rding to the content of stat The old Status will be stored into stat The lower 24 bits of the current Status word may be cleared and the dummy bit may be set bd gt status stat amp bd gt status Oxffffff stat amp 0x80000000 Note that the status word is not written only read when value pointed to by stat is zero Returns zero on success 19 3 9 27 gr1553bc_slot_raw Custom descriptor initialization Note that a bad initialization may break the BC driver The arguments are declared in the table below Argument Description list List that the Slot is located at mid Slot Identification flags Determine which words are updated If bit N is set wordN is written into descriptor wordN if bit N is zero the descriptor wordN is not modified word0 32 bit Word written to descriptor address 0x00 word1 32 bit Word written to descriptor address 0x04 word2 32 bit Word written to descriptor address 0x08 word3 32 bit Word written to descriptor address 0x0C Table 64 gr1553bc_slot_transfer argument descriptions Returns zero on success 19 3 9 28 gr1553bc_show_list Print information about a List to standard out Each Major Frame s first descriptor for example is printed This function is used for debugging only 20 Gaisler B1553BRM DRIVER BRM 20 1 INTRODUCTION This document is intended as an aid in getting started developing with Gaisler GRLIB B1553BRM core using the driver described i
280. re state and may impact the correct function of the driver The GET REG call takes an register and an return pointer as additional arguments Valid register values are listed in table 1 9 Note that some of the registers listed in the table a write only and a SATCAN IOC GET REG call will return the read register that occupies the corresponding address An example of reading the SatCAN CmdReg1 satcan_regmod regmod regmod reg SATCAN_CMD1 if ioctl fd SATCAN_IOC_GET_REG amp regmod printf Failed to read CMD1 register n printf CMD1 register value 0x 08x n regmod val The contents of the satcan_regmod structure has been previously described The reg member is initialized with a value from table 1 9 The contents of the specified register is returned in the structure s val member Register constant Register name SATCAN_SWRES Software reset SATCAN_INT_EN Interrupt enable SATCAN_FIFO FIFO read SATCAN FIFO RES FIFO reset SATCAN_TSTAMP Current time stamp SATCAN_CMDO Command register 0 SATCAN CMD1 Command register 1 SATCAN_START_CTC Start cycle time counter SATCAN RAM BASE RAM offset address SATCAN STOP CTC Stop cycle time counter SATCAN DPS ACT DPS active status SATCAN PLL RST DPLL reset SATCAN PLL CMD DPLL command SATCAN PLL STAT DPLL status SATCAN PLL OFF DPLL offset SATCAN DMA DMA channel enab
281. rectly is described below The data structure gradcdac regs is defined in gradcdac h struct gradcdac_regs The gradcdac config data structure is used to read and write the volatile unsigned volatile unsigned int unused0 2 volatile unsigned volatile unsigned int unused1 2 volatile unsigned volatile unsigned volatile unsigned int unused2 1 volatile unsigned volatile unsigned volatile unsigned configuration register int int int int int int int int int int config status adc_din dac_dout adrin adrout adrdir data_in data_out data_dir ADC DAC controllers struct gradcdac_ unsigned char char wr_pol unsigned char unsigned char char rc_pol unsigned char char cs_pol config dac_ws dac_dw adc_ws cs_mode char ready_mode char ready_pol char trigg_pol unsigned char trigg_mode unsigned char adc_dw y Member Member ADCONF Description type Bit start dac_ws 5 bit int 19 Number of DAC wait states wr_pol Boolean 18 Polarity of DAC write strobe O Active low 1 Active high dac dw 2 bit 16 DAC data width selection O none 1 8 bit ADDATA 0 7 2 16 bit ADDATA 0 15 3 none spare adc_ ws 5 bit int 11 Number of ADC wait states rc_pol Boolean 10 Polarity of ADC read convert O Active low read 1 Active high read cs mode 2 bit 8 Mode of ADC chip select asserted selection O during co
282. regmod val 0x30 if ioctl fd SATCAN_IOC_OR_REG amp regmod printf Failed to enable sync pulse sync msg n 24 2 6 2 6 AND _REG This call modifies a specified register by performing a bitwise logical and operation with the specified value and the current register value Note that assigning a register may interfere with the correct operation of the driver software The use of this call follows the same syntax as the OR_REG call described above 24 2 6 2 7 EN_TX1_DIS_TX2 This call enables transmit DMA channel 1 and disabled transmit DMA channel 2 It does not immediately modify the hardware registers The DMA channels are only enabled during a call to write This ioctl call only modifies the internal state of the driver The example below shows how to enable DMA TX channel 1 if ioctl fd SATCAN_IOC_EN_TX1_DIS_TX2 printf Failed to enable DMA TX channel 1 n 24 2 6 2 8 EN_TX2_ DIS TX1 This call enables transmit DMA channel 2 and disables transmit DMA channel 1 It does not immediately modify the hardware registers The DMA channels are only enabled during a call to write This ioctl call only modifies the internal state of the driver 24 2 6 2 9 GET DMA MODE This call returns the current DMA mode of the driver The driver has two modes for DMA operation User mode SATCAN DMA MODE USER and system mode SATCAN_DMA MODE SYSTEM In user mode calls to write will place the messages in the DMA area bit will n
283. revious conversion result Negative ADC conversion request failed Table 148 gradcdac_adc_convert_try return code 32 2 6 3 3 gradcdac_adc_convert Waits until the ADC circuity has finished a digital to analogue conversion The waiting is implemented as a busy loop utilizing 100 CPU load This function returns zero on success and a negative value on failure a positive result is never returned See table 142 for a description of the return values 32 2 6 4 DAC functions A short summary to the functions are presented in the prototype lists below Operates on a single port int gradcdac_dac_convert_try unsigned short digital value void gradcdac_dac_convert unsigned short digital value Table 149 DAC functions For a more detailed description see each function s respective sub section 32 2 6 4 1 gradcdac_dac_convert_try Try to make the DAC circuitry initialize a digital to analogue conversion The digital value to be converted is taken as the argument digital value If the circuitry is busy by a previous conversion the function returns a non zero value if the conversion is successfully initialized the function returns zero 32 2 6 4 2 gradcdac_dac_convert Initializes a digital to analogue conversion by waiting until any previous conversion is finished before proceeding with the conversion The digital value to be converted is taken as the argument digital value The waiting is implemented as a busy loop ut
284. ritten and to the second 32 bit word status word type Bus and the 16 bit data is written See hardware manual The BM log DMA area can be dynamically allocated by the driver or assigned to a custom location by the user Assigning a custom address is typically useful when the GR1553B core is located on an AMBA over PCI bus where memory accesses over the PCI bus will not satisfy the latency requirements by the 1553 bus instead a memory local to the BM core can be used to shorten the access time Note that when providing custom addresses the 8 byte alignment requirement of the GR1553B BM core must be obeyed The memory areas are configured using the gr1553bm_config function 18 2 1 3 Accessing the BM Log memory The BM Log is filled as transfers are detected on the 1553 bus if the log is not emptied in time the log may overflow and data loss will occur The BM log can be accessed with the functions listed below e gr1553bm_available e gr1553bm_read A custom handler responsible for copying the BM log can be assigned in the configuration of the driver The custom routine can be used to optimize the BM log read for example one may not perhaps not want to copy all entries search the log for a specific event or compress the log before storing to another location 18 2 1 4 Time Th BM core has a 24 bit time counter with a programmable resolution through the gr1553bm_config function The finest resolution is a microsecond The BM driver ma
285. rmines the bus resources for GR RASTA SPW_ROUTERIN board The driver resources can be used to set up the memory parameters and configure locations of the DMA areas of GRSPW2 AMBA port cores Please see GRSPW driver documentation for available configuration options AEROFLEX GR RTEMS DRIVER 49 GAISLER 12 GR CPCI LEON4 N2X PCI Peripheral This section describes the GR CPCI LEON4 N2X PCI peripheral driver The GR CPCI LEON4 N2X driver require the RTEMS Driver Manager and that the PCI bus is big endian The GR CPCI LEON4 N2X driver is a bus driver providing an AMBA Plug amp Play bus The driver first sets up the target PCI register such as PCI Master enable and the address translation registers The clock gating unit is by default set up so that all functionality is enabled Once the PCI target is set up the driver creates an ambapp bus that scans the bus and assigns the appropriate drivers This driver provides interrupt handling and memory address translation on the internal AMBA bus so that the drivers can function as expected The driver resources of the AMBA bus created by the driver can be assigned by overriding the weak default bus resource array gr cpci leon4 n2x resources of the driver It contains a array of pointers to bus resources where index N determines the bus resources for GR CPCI LEON4 N2X N board The array is declared in gr cpci_leon4_n2x h The driver resources can be used to set up the memory parameters and for con
286. ro selects dual filter mode Table 98 occan_afilter member descriptions The CANMsg struct is used when reading and writing messages The structure describes the driver s view of a CAN message The structure is used for writing and reading The sshot fields lacks meaning during reading and should be ignored See the transmission and reception section for more information typedef struct char extended Char rtr char sshot unsigned char len unsigned char datal 8 unsigned int id CANMsg Member Description extended Indicates whether message has 29 or 11 bits ID tag Extended or Standard frame rtr Remote Transmission Request bit sshot Single Shot Setting this bit will make the hardware skip resending the message on transmission error len Length of data data Message data data 0 is the most significant byte the first byte Id The ID field of the message An extended frame has 29 bits whereas a standard frame has only 11 bits The most significant bits are not used Table 99 CANMsg member descriptions The occan_stats struct contains various statistics gathered from the OC_CAN hardware typedef struct tx rx stats unsigned int rx_msgs unsigned int tx_msgs Error Interrupt counters unsigned int err_warn unsigned int err_dovr unsigned int err_errp unsigned int err_arb unsigned int err_bus ALC 4 0 unsigned int err_arb_bitnum 32 ECC 7 6
287. rs can be logged and sent to a Linux PC over a TCP IP socket and saved to a raw text file for post processing The default is however just to enable BM logging for debugging one can quite easily read the raw BM log by looking at the BM registers and memory from GRMON In order to run all parts of the example a board with GR1553B core with BC and BM support and a board with a GR1553B core with RT support is required The example is part of the Aeroflex Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples 1553 rtems gr1553rt c The example can be built by running S cd opt rtems 4 10 src samples 1553 make rtems gr1553rt 17 2 USER INTERFACE 17 2 1 Overview The RT software driver provides access to the RT core and help with creating memory structures accessed by the RT core The driver provides the services list below e Basic RT functionality RT address Bus and RT Status Enabling core etc Event logging support e Interrupt support Global Errors Data Transfers Mode Code Transfer e DMA Memory configuration e Sub Address configuration e Support for Mode Codes e Transfer Descriptor List Management per RT sub address and transfer type RX TX The driver sources and interface definitions are listed in the table below the path is given relative to the SPARC BSP sources c src lib libbsp sparc Filname Description shared 1553 gr1553rt c GR1553B RT Driver source shared include
288. ry data structures bit masks procedures and functions used when accessing the hardware The GRADCDAC driver require the RTEMS Driver Manager 32 1 1 ADC DAC Hardware The GRADCDAC core is documented in the GR IP Core User s manual The driver supports multiple GRADCDAC cores The GRADCADC core has two different IRQs one ADC interrupt and one DAC interrupt 32 1 2 Examples There is an example available in the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rasta adcdac gradcdac demo c 32 2 USER INTERFACE The RTEMS GRADCDAC ADC DAC driver provides the user with a function interface The interface is declared in gradcdac h The driver is united with GRADCDAC cores by the driver manager as GRADCDAC cores are found During driver initialization the ADCDAC driver initializes the ADC DAC hardware to an initial state for that point and onwards the function interface can be used to access the ADC DAC hardware registers An example application using the driver is provided in the samples rasta adcdac directory distributed with the toolchain The location of the GRADCDAC driver is indicated in table 141 All paths are given relative the RTEMS kernel source root Source description Location GRADCDAC driver c src lib libbsp sparc shared analog gradcdac c Driver Interface c src lib libbsp sparc shared include gradcdac h Table 141 GRADCDAC source location 32 2 1 Driver registration Th
289. s Once the PCI target is set up the driver creates an ambapp bus that scans the bus and assigns the appropriate drivers This driver provides interrupt handling and memory address translation on the internal AMBA bus so that the drivers can function as expected The driver resources of the AMBA bus created by the GR RASTA ADCDAC driver can be assigned by calling gr rasta adcdac set resource as defined by gr_ rasta _adcdac h The driver resources of the AMBA bus created by the GR RASTA ADCDAC driver can be assigned by overriding the weak default bus resource array gr rasta adcdac_resources of the driver It contains a array of pointers to bus resources where index N determines the bus resources for GR RASTA ADCDACIN board The array is declared in gr rasta adcdac h The driver resources can be used to set up the memory parameters configure locations of the DMA areas and other parameters of GRCAN GRADCDAC and all other supported cores Please see respective driver for available configuration options AEROFLEX GR RTEMS DRIVER 46 GAISLER 9 GR RASTA IO PCI TARGET This section describes the GR RASTA IO PCI target driver The GR RASTA IO driver require the RTEMS Driver Manager and that the PCI bus is big endian The GR RASTA IO driver is a bus driver providing an AMBA Plug amp Play bus The driver first sets up the target PCI register such as PCI Master enable and the address translation registers Once the PCI target is set up the driver cr
290. s communicating with each other through two SpaceWire devices To be able to run the example one must have two GRSPW devices connected together on the same board or two boards with at least one GRSPW core on each board 13 1 3 Support For support contact the Gaisler Research support team at support gaisler com 13 2 USER INTERFACE The RTEMS GRSPW driver supports the standard access routines to file descriptors such as read write and ioctl User applications should include the grspw driver s header file which contains definitions of all necessary data structures used when accessing the driver The RTEMS GRSPW sample is called rtems spwtest 2boards c and it is provided in the Gaisler Research RTEMS distribution 13 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The RTEMS I O driver registration is performed automatically by the driver when GRSPW hardware is found for the first time The driver is called from the driver manager to handle detected GRSPW hardware In order for the driver manager to unite the GRSPW driver with the GRSPW hardware one must register the driver to the driver AEROFLEX GR RTEMS DRIVER 51 GAISLER manager This process is described in the driver manager chapter 13 2 2 Driver resource configuration The driver can be configured using driver resources as described in the driver manager chapter Below is
291. s have invalid values GRASCS_ERROR STARTSTOP if synchronization interface is running freq Descriptio This function need to be called if the source of the ETR synchronization pulse n should be changed The etr input specifies which source to use where 0 means internal counter and 1 6 means external time marker 1 6 The freq input specifies the frequency of the etr signal If etr is not 0 then the freq argument need to be the same as the frequency of the external time marker that is used The core can not generate an ETR pulse of one frequency from an external time marker of a different frequency This function ASCS _TC_sync_start and ASCS_TC_sync_stop can not be called from different threads 26 2 4 ASCS start Prototype void ASCS start Argument This function does not take any arguments Return None value Descriptio A call to this function starts the core s serial interface and the core is then ready n to perform transactions This function and ASCS stop can not be called from different threads 26 2 5 ASCS_stop Prototype void ASCS stop Argument This function does not take any arguments Return None value Descriptio A call to this function stops the core s serial interface This function will block n until any possible call to ASCS_TC_send ASCS TC send block ASCS_TM recv or ASCS TM recv block has returned This function and ASCS start can not be called from different threads 26 2 6 ASCS iface_status
292. s such as open close and ioctl User applications include the graes driver s header file which contains definitions of all necessary data structures and bit masks used when accessing the driver The driver enables the user to configure the hardware and to de encode AES packets The allocation of AES blocks is handled by the user and blocks are given to the driver that processes the blocks in a two step process In the first step the driver schedules blocks for de encryption using the DMA descriptors or they are put into an internal queue when all descriptors are in use in the second step all processed packets are put into a second queue that is emptied when the user reclaims the received blocks The reclaimed blocks can then be reused in new processing later on 38 2 1 Driver registration The registration of the driver is crucial for threads to be able to access the driver using standard means such as open The function graes register drv whose prototype is provided in graes h is used for registering the driver grpaes_register_drv 38 2 2 Opening the device Opening the device enables the user to access the hardware of a certain graes device The driver is used for all graes cores available The cores are separated by assigning each core a unique name and a number called minor The name is given during the opening of the driver The first three names are printed out Core number Filesystem name Location 0 dev graesO On
293. s the on chip AMBA and the AMBA over PCI bus It relies on the driver manager for device discovery and interrupt handling The SPWCUC driver require the Driver Manager In order to use the driver interface the user must be well acquainted with SPWCUC hardware see hardware manual 36 1 1 Examples There is an example available that illustrates how the SPWCUC driver interface can be used to configure the SPWCUC core and manage interrupts The example application can be configured as a Time Master or Time Slave demonstrating both sending and receiving SpaceWire time codes and sending time packets according to CCSDS Unsegmented Code Transfer Protocol using the RTEMS GRSPW driver Note that the example may need to be configured see the TIME SYNC options The example can be built by running S cd opt rtems 4 10 src samples 1553 S make rtems gr1553bcbm 36 2 USER INTERFACE 36 2 1 Overview The SPWCUC software driver provides access to the SPWCUC core s registers and helps with device detection driver loading and interrupt handling The driver sources and interface definitions are listed in the table below the path is given relative to the SPARC BSP sources c src lib libbsp sparc Filname Description shared time spwcuc c SPWCUC Driver source shared include spwcuc h SPWCUC Driver interface declaration Table 179 SPWCUC driver Source location 36 2 1 1 Accessing the SPWCUC core A SPWCUC core is accessed by f
294. scription nodeno Integer containing the writeable bits if the node number The four least significant bits of this member are written to the writeable part of the node number dps Set to 0 if core is DPS set to 1 of core is non DPS i e slave ahb irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the AHB bit set pps irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the PPS bit set m5 irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the M5 bit set m4 irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the M4 bit set m3 irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the M3 bit set m2 irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the M2 bit set m1 irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pending register has the M1 bit set sync_irq callback Function pointer to function called when the core issues an interrupt and the wrapper interrupt pendin
295. se descriptor address If bit zero is set the address is assumed to be readable by the GR1553B core if bit zero is cleared the address is assumed to be readable by the CPU and translated for the GR1553B core Bit zero makes sense to use on a GR1553B core located on a AMBA over PCI bus 19 3 9 10 gr1553bc_list_table_free Free previously allocated descriptor table memory 19 3 9 11 gr1553bc_list_table_build This function builds all descriptors in a descriptor list Unused descriptors will be initialized as empty dummy descriptors Jumps between Minor and Major Frames will be created according to user configuration After this call descriptors can be initialized by user 19 3 9 12 gr1553bc_major_alloc_skel Allocate a Major Frame and it s Minor Frames according to the configuration pointed to by the second argument The pointer to the allocated Major Frame is stored into the location pointed to by the major argument The configuration of the Major Frame is determined by the gr1553bc_major_cfg structure described in table 51 On success zero is returned on failure a negative value is returned 19 3 9 13 gr1553bc_list_freetime Minor Frames can be configured to handle time slot allocation This function returns the number of microseconds that is left unused The second argument mid determines which Minor Frame 19 3 9 14 gr1553bc_slot_alloc Allocate a Slot from a Minor Frame The Slot location is identified by mid If the MID identifies a Minor
296. sed Table 87 CANMsg member description The grcan stats data structure contains various statistics gathered by the CAN hardware typedef struct tx rx stats unsigned int passive_cnt unsigned int overrun_cnt unsigned int rxsync_cnt unsigned int txsync_cnt unsigned int ints grcan_stats Member Description passive cnt Number of error passive mode detected overrun cnt Number of reception over runs rxsync_cnt Number of received SYNC messages matching SYNC filter txsync_cnt Number of transmitted SYNC messages matching SYNC filter ints Number of times the interrupt handler has been invoked Table 88 grcan_stats member description The grcan timing data structure is used when setting the configuration register manually of the CAN core The timing parameters are used when hardware generates the baud rate and sampling points struct grcan_timing unsigned char scaler unsigned char ps1 unsigned char ps2 unsigned int rsj unsigned char bpr Member Description scaler Prescaler ps1 Phase segment 1 ps2 Phase segment 2 rsj Resynchronization jumps 1 4 bpr Value Baud rate 0 system clock scaler 1 1 1 system clock scaler 1 2 2 system clock scaler 1 4 3 system clock scaler 1 8 Table 89 grcan_timing member description The grcan selection data structure is used to select active channel Each cha
297. sed frames in blocking mode the task is blocked until at least one frame has been processed See the ioctl command SET_CONFIG and SET BLOCKING MODE to change mode of the RECLAIM command RECLAIM stores a linked list of processed TM frames into the data area pointed to by the user argument The format for the stored data follows the layout of the grtm_list structure described in section 34 2 2 The grtm list structure holds the first and last TM frame processed by the driver The flags field indicates if the frame was sent or if errors were experienced during transmission of this frame See table 168 for flags details In started mode this command enables scheduled TM frames for transmission as descriptors become free during the processing of received TM frames The call will fail if the pointer to the data area is invalid EINVAL the RECLAIM call operates in blocking mode and the time out expires ETIMEDOUT or the driver was stopped during the calling task was blocked ENODEV See table below ERRNO Description EINVAL An invalid argument ETIMEDOUT The blocked task was timed out and still no frames was transmitted ENODEV The calling task was woken up from blocking mode by the transmitter being stopped The TM driver has has entered stopped mode Further calls to RECLAIM will retrieve sent and unsent frames Table 175 ERRNO values for RECLAIM 34 2 4 2 13 SEND Scheduling ready TM frames for transmission is don
298. sed to determine what kind of error occurred 17 2 2 16 gr1553rt_irq_mc This function registers an interrupt callback handler for Logged Mode Code transmission Interrupts The handler func is called with the argument data when a Mode Code transmission event occurs note that interrupts must be enabled per Mode Code using gr1553rt_config The callback must follow the prototype of gr1553rt irqmc t typedef void gr1553rt_irgqmc_t int mcode unsigned int entry void data Where mcode is the mode code causing the interrupt entry is the raw event log entry 17 2 2 17 gr1553rt_irq sa Register an interrupt callback handler for data transfer triggered Interrupts it is possible to assign a unique function and or data for every SA given by subadr and transfer type given by tx The handler func is called with the argument data when a data transfer interrupt event occurs Interrupts is configured on a descriptor or SA basis The callback routine must follow the prototype of gr1553rt irq t typedef void gr1553rt_irq_t struct gr1i553rt_list list unsigned int entry int bd_next void data Where list indicates which descriptor list Sub Address transfer type caused the interrupt event entry is the raw event log entry bd_next is the next descriptor that will be processed by the RT for the next transfer of the same sub address and transfer type 17 2 2 18 gr1553rt_list_init Allocate and configure a list structure accor
299. sed to store the register values of some of the GRTC core s registers See hardware manual for more information struct grtc_ioc_hw_status unsigned int Sir unsigned int far unsigned int clcwl unsigned int clcw2 unsigned int phir unsigned int SEL y Member Description sir Spacecraft Identifier register far Frame Acceptance Report Register clcw1 CLCW Register 1 clcw2 CLCW Register 2 phir Physical Interface Register str Status Register Table 154 grtc_ioc_hw_status member descriptions The grtc_frame structure is used for adding unused frames as buffers to the TC driver and retrieving received frames it is the driver s representation of a TC frame A TC frame structure can be chained together using the next field in grtc frame The data field is only 3 bytes in the structure but when used the data field goes past the grtc_ frame boundary making different sized frames possible The frame structure may be allocated with the size sizeof struct grtc_ frame DATA LEN 3 struct grtc_frame struct grtc_frame unsigned short unsigned short struct grtc_frame_pool next len reserved pool The Frame content struct grtc_hdr hdr unsigned char data 3 Member Description next Points to next TC frame in TC frame chain NULL if last frame in chain This field is used to make driver process multiple TC Frames at the same time avoiding multiple ioctl
300. seeseeseeseeseoseosessessessessessrssrssrseeseeseeseesee 197 Status interpretation help functiON ooccoocnoccnoncnoncnonononnnonnnncnnnnnnnnonnnonoronncnnnoninnnns 199 ADETUN CONS meti ir ad IE ela dial diana elija clon dades malas 200 DACITUNCUONS cists fa noia a dl tl ad 201 Gaisler I C driver GRC sisi seis stesteecesc EEEa EE ESEE A sei des Geese owe EEEN 202 INTRODUCTION cicsssescses seeniori ten sidonia nad aotearoa ideada E cavauens 202 TE Hardware eta ii weeds wa Senses Ein O cats 202 Software Driven canen ile A AO Gas EEEE S 202 GRIC 0Ver Space Wire seperi irr rr a a TEASA La a E OERE E PAL EEEIEE 202 SUPPO AE EEE AR AA A EAEAN svete ebbetse 202 USeErintertace scx ii E R NRA TO AEE E AEEA 202 Driver registration oser trtiesiaros upiti tantei saa shes ccsaeeseceaweansansateat cuesansinsablaaelsabesersanatensadaters 203 Opening the device es non oiiire ia EEA cidade dei 203 Cl sing the DEVICE cio ii tas Geet Sav E ad 203 E YO Control interface ii a dns 203 Data Structures e eae RA E aaa dd 204 CONF GUPAL ON sg sass fee eee ee ee ROP es 208 Operating MODE at dadas 213 Driver frame Pools casinos gos iinei aan veg jes er iritatie a niia Geudeestediecevadsts 213 Reception in FRAME mode s essessessessessessrssrssrsersersersesseosessessessesesessoseseseseseseseeeo 214 Reception using RAW MOde ocoocccccnnccnoncnonononononcnnononononcnnnnnnncnnnrnnnnnoncnoncnnnnnnnnnncnnnons 214 Gaisler TM driver GRTM
301. sense 187 Data Structures id E S E SEAE E E E 187 Function prototype description sessessessessessessessessrssrssessrsersersesserseseosesseseseseeso 188 GPIO Elbrary TUNCHONS idad td A ds 188 Gaisler GPIO DRIVER GRGPIO occooccnnnccnonocnnnnccnnnccnnnocnnnoronnoronnarononornnnarrnnacnnnacnnnnno 190 INTRODUCTION vices cscs scdeceecacetecasededescasctecdddesaaevasuenseasua dende dedica dis dana 190 GPIO Hardware soe tsn strict iia 190 EXA E E E EE ENEE A AA 190 User Interact S E EEEE 190 Driver registration sienas eieren aniona NIESNA dai 190 Driver resource configuration s ssessesseserssesseseesersersersersesseoseoseosessessessesseseseseese 190 Accessing GRITO DOTS ii a E ETOO RE NEAN 191 Gaisler ADC DAC DRIVER GRADCDAC coocccocnnncnnnonnncnoncnoncnnncnnnnonnnnoncnonononincnnonnnnnss 193 INTRODUCTION csi A AS ads 193 ADG DAG Hardware ai a it ds 193 EXAMPLES Ai A AA 193 PELS lo AAA NN 193 DEIVEL registrato A A A a iii 193 Driver resource CONfiguTatiON oocoocccocncncnoncnnncnnnnnnncnnnnnnncnnnnnonononononcnonannnnnnnnnnnnnnns 193 Accessing ADC DA CC orire eein eena iia iia suede las adonde ea i La 194 Interrupt handler registratioD ooccooccoccnoccnononoconononononononnnnnnnnnnononononcnoncnoncnoninoninos 194 Data Structures Ni A A did 195 Function prototype descriptiON ccooccocccnccnncnnncnnncnnnconnconononanonncnonononononononcnononcnnnnns 197 General ADC DAC functionSs ssessessessessrsee
302. set mode Switch to started mode by issuing a START ioctl command ETIMEDOUT aa ated mode no messages were available in the software receive Table 127 ERRNO values for read calls 28 Gaisler SPICTRL SPI DRIVER SPICTRL 28 1 INTRODUCTION This section describes the SPICTRL Master driver available for RTEMS The SPICTRL driver provides the necessary functions needed by the RTEMS I2C Library The RTEMS I2C Library is used for both I2C and SPI The RTEMS I2C Library is not documented here The SPICTRL driver require the RTEMS Driver Manager 28 1 1 SPI Hardware The SPICTRL core is documented in the GR IP core s manual The driver supports multiple SPI cores 28 1 2 Examples There are two examples available one that read and write data to a standard SPI FLASH and one that access a SD Card FAT file system The SPI driver initialize the 12C Library when a SPI core is found and the application initialize the higher level drivers The examples are part of the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rtems spi c and rtems spi sdcard c 28 2 USER INTERFACE The RTEMS SPICTRL SPI driver supports the RTEMS 12C Library operations and the simultaneous read write operation available using the ioctl interface The driver is united with SPICTRL cores by the driver manager as SPICTRL cores are found During driver initialization the SPI driver initializes the RTEMS I2C Library and registers the dr
303. ss A size of 0 disables the BAR see grpci2 h for the structure definition Name Type Parameter description tgtBarCfg PTR PCI target Base Address Registers BAR configuration byteTwisting INT Enable 1 or Disable 0 default PCI bytes twisting 7 3 3 AT697 The AT697 PCI Host driver has additional configuration parameters to set up interrupts which is routed through GPIO pins The GPIO registers will be configured and when a PCI target driver enables disables IRQ the system IRQ will be unmasked masked Name Type Parameter description INTA _ PIO INT Select PIO pin connected to PCI interrupt pin INTA INTB _PIO INT Select PIO pin connected to PCI interrupt pin INTB INTC _PIO INT Select PIO pin connected to PCI interrupt pin INTC INTD _PIO INT Select PIO pin connected to PCI interrupt pin INTD The two AT697 PCI target BARs are configurable from driver resources as below A PCI target BAR determines at which PCI address the AT697 AMBA space is accessed on the AT697 has two 16Mbytes base address registers The default value is set to 0x40000000 base of SRAM and 0x60000000 base of SDRAM Name Type Parameter description tgtbar1 INT PCI target Base Address Register BAR 0 tgtbar2 INT PCI target Base Address Register BAR 1 7 4 USER INTERFACE The PCI drivers are not accessed directly instead the user calls the PCI Library that translates into a call t
304. stom TX DMA area address See note below rxBufAdr INT Custom RX DMA area address See note below Table 83 GRCAN driver parameter description 22 1 2 1 Custom DMA area parameters The DMA area can be configured to be located at a custom address The standard configuration is to leave it up to the driver to do dynamic allocation of the areas However in some cases it may be required to locate the DMA area on a custom location the driver will not allocate memory but will assume that enough memory is available and that the alignment needs of the core on the address given is fulfilled For some systems it may be convenient to give the addresses as seen by the CAN core This can be done by setting the LSB bit in the address to one For example a GR RASTA IO board with a CAN core doesn t read from the same address as the CPU in order to access the same data This is dependent on the PCI mappings Translation between CPU and CAN addresses must be done The CAN driver automatically translates the required addresses This requires the bus driver in this case the GR RASTA IO driver to set up translation addresses correctly 22 1 3 Opening the device Opening the device enables the user to access the hardware of a certain CAN core The driver is used for all GRCAN cores available The cores are separated by assigning each device a unique name and a number called minor The name is passed during the opening of the driver Some example
305. supports an external trigger signal input which can be used to synchronize 1553 transfers If used the external trigger is normally generated by some kind of Time Master A message slot may be programmed to wait for an external trigger before being executed this feature allows the user to accurate send time synchronize messages to RTs This function initializes a Slot to a dummy transfer with the Wait for external trigger bit set Returns zero on success 19 3 9 23 gr1553bc_slot_transfer Initializes a descriptor to a transfer descriptor The descriptor is initialized according to the function arguments an the global List configuration parameters The settings that are controlled on a global level and not by this function IRQ after transfer error e IRQ after transfer not supported insert separate IRQ slot after this e Pause schedule after transfer error e Pause schedule after transfer not supported e Slot time optional set when MID allocated otherwise 0 e OPTIONAL Dummy Bit set using slot_empty or TT DUMMY e RT time out tolerance managed per RT The arguments are declared in the table below Argument Description list List that the Slot is located at mid Slot Identification options Options e Retry Mode Number of retires e Bus selection A or B Dummy bit tt Transfer options see BC transfer type macros in header file e transfer type e RT src dst address e RT subaddr
306. sync syncerr wrap wraperr pkt_rx pkt_err pkt_init Member Description nirqs Total number of interrupts handled by driver tick tx Number of TickTx interrupts tick tx wrap Number of TickTxWrap interrupts tick_rx Number of TickRx interrupts tick rx wrap Number of TickRxWrap interrupts tick_rx_error Number of TickRxWrap interrupts tolerr Number of Tolerance Error interrupts sync Number of Sync interrupts syncerr Number of Sync Error interrupts wrap Number of Wrap interrupts wraperr Number of Wrap Error interrupts pkt rx Number of Packet Rx interrupts pkt err Number of Packet Error interrupts pkt init Number of Packet Init interrupts Table 182 spwcuc_status member descriptions 37 Gaisler Packetwire RX driver GRPWRX 37 1 INTRODUCTION This document is intended as an aid in getting started developing with Aeroflex Gaisler GRLIB PACKETWIRE RX GRPWRX core using the driver described in this document It describes accessing GRPWRX in a on chip system and over PCI It briefly takes the reader through some of the most important steps in using the driver such as starting GRPWRX communication configuring the driver and receiving GRPWRX packets The reader is assumed to be well acquainted with GRPWRX and RTEMS 37 1 1 Software Driver The driver provides means for threads to receive GRPWRX packets using standard I O operations 37 1 2 Su
307. t as indicated in table 117 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened Table 117 Open errno values 25 2 3 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the CAN MUX driver 25 2 4 1 0 Control interface The driver and hardware is controlled via the standard system call ioctl Most operating systems support at least two arguments to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly The CAN MUX driver does not use any additonal data except for the integer that selects the ioctl function All supported commands are defined in the CAN MUX driver s header file canmux h and are described further down in this document 25 2 4 1 Configuration The CAN MUX core and driver is controlled using ioctl calls The table 119 below lists all supported ioctl calls OCCAN IOC_ should be concatenated with the call name from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 118 An example is shown belo
308. t case errno will be set to EBUSY or if a NULL pointer is given as argument in that case errno will be set to EINVAL 38 2 4 2 7 GET_CONFIG Returns the current configuration of the driver and hardware The current configuration is either the driver and hardware defaults or the configuration previously set by the SET CONFIG command The input to this ioctl command is a pointer to a data area of at least the size of a graes ioc config structure The data area will be updated according to the graes ioc config data structure described in section 38 2 4 1 This command only fail if the pointer argument is invalid 38 2 4 2 8 GET_STATS This command copies the driver s internal statistics counters to a user provided data area The format of the data written is described in the data structure subsection See the graes ioc stats data structure The call will fail if the pointer to the data is invalid 38 2 4 2 9 CLR_STATS This command reset the driver s internal statistics counters This command never fail 38 2 4 2 10 GET_HW_IMPL This command copies the GRAES core s features implemented to a user provided data area The format of the data written is described in the data structure subsection See the graes_ioc_hw data structure Knowing the features supported by hardware can be used to make software run on multiple implementations of the GRAES core The call will fail if the pointer to the data is invalid 38 2 4 2 11 RECLAIM
309. t up frame pool configuration ASSIGN FRM POOL Both FRAME Assigns a chain of TC frame structures to a frame pool internal used by driver ADD BUFF Started FRAME Add a chain of free TC frames to the frame pools internal to the GRTC driver RECV Both FRAME Get all complete processed TC frames from the ready queue internal to the GRTC driver Table 161 ioctl calls supported by the GRTC driver 33 2 4 2 1 START This ioctl command enables the TC receiver and changes the driver s operating status to started Settings previously set by other ioctl commands are written to hardware just before starting reception It is necessary to enter started mode to be able to receive TC frames using the ioctl command GRTC_ IOC RECV or to read the DMA data area by calling read The command will fail if the receiver is unable to be brought up the driver or hardware configuration is invalid or if the TC core already is started In case of failure the return code is negative and errno will be set to EIO or EINVAL see table 152 33 2 4 2 2 STOP This call makes the TC core leave started mode and enter stopped mode The receiver is stopped and no frames will be received After calling STOP further calls to read and to ioctl using command such as ADD BUFF RECV ISSTARTED STOP will behave differently or result in error It is necessary to enter stopped mode to change major operating parameters of the TC core and driver See SET CONFIG for more d
310. table given below ERRNO Description EINVAL An invalid argument was passed The buffer length was less than a single CANMsg structure size EBUSY The link is not in operating mode but in reset mode Nothing done ETIMEDOUT In non blocking mode and driver was unable to put any bytes into the software transmit FIFO or the hardware transmit buffer Table 126 ERRNO values for write 27 1 7 Reception Reception of characters from the UART serial line can be done using the read call An example is shown below char buffer 16 len read fd buffer 16 The requested number of bytes to be read is given in the third argument The received bytes will be stored in buffer The actual number of received bytes is returned by the function on success and 1 on failure In the latter case errno is also set The call will fail if a null pointer is passed invalid buffer length the UART core is in stopped mode or because the UART receive FIFO is empty in non blocking mode The blocking behaviour can be set using ioctl calls In blocking mode the call will block until at least one byte has been received In non blocking mode the call will return immediately and if no message was available 1 is returned and errno set appropriately The table below shows the different errno values returned ERRNO Description EINVAL A NULL pointer was passed as the data pointer or the length was illegal EBUSY CAN core is in re
311. tad 80 Application Programming INterface cooccoocncocnnncnonononcnonononononononononnnnnnnnconoroncnnnnnnnnos 80 Data StruCture nic lala tii A ena nai 82 O 84 OTTO lO ii A id 84 IED CONG ai A A asda ek vas babe A Gis Gita ea beta Ts 84 QTL DOSTUCSCALG E ove nd ch Der wa niced a dwean ONE aves wa ew aden wetn enmashadevch ends 84 OTIS OSE OD a tia io Sehgal 85 OTIS OST Status a a ove EEEE EE AAS 85 GTI SDSTEANGICAU ON a ee added ccs a Li ibn ste tetas 85 GTLDS3rt EvlOg reas se sawised lel E a ideas leeds Me E E A aa AEE eects 85 GTI DDSEL SOtVECWOFE reirei orderne teeri io e e a e R r ia aaiae 85 QTL SS3rt set DUSSUS eneeier aain n enaner ei 85 OTIS O3TE sa SCCOPtS A a e i Ae os o a a aE 85 r1 593r list Sa eisie nierit KEA saa caudea dus don EEE cdaeda sauce ET NEEE EEES ETA 86 gri553rt sa schedule sooren iosu irer nren t Eees a EE EE rE ariaa 86 JELENA ta 86 GELS ISTE ATG O ini A id 86 OTIS A AS te TERE EN dence lees 86 gribosrt Usted 87 NS 87 gr1t553rt bd Update riscccccccicsisccaniacavedisescaaseacasdanderecnevecca seasons couuavendsadcdaweanaavedaseteschseawe 87 NONNNNNNNNNRP RP RRP RRR OuUPWNFR WNP i CONHUARWNE O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O ODO 00 00 09 00 09 C9 00 00 CO 00 09 00 09 09 00 CO CO PRP RP RP RP RRP RP RP RR PrFPOANOAUPRWNEF Ro COWDDDODOORIMRUAWNE RRA a A jd jd jd jd jd jd jd jd jd jd jd pd jd jd jd pd jd jd p pd jd jd pd pd jd gt fd Rara a A jd jd jd jd jd
312. th SET TIMEOUT and SET BLOCKING MODE This call fail if the GRPWRX core is in started mode in that case errno will be set to EBUSY or if a NULL pointer is given as argument in that case errno will be set to EINVAL 37 2 4 2 7 GET_CONFIG Returns the current configuration of the driver and hardware The current configuration is either the driver and hardware defaults or the configuration previously set by the SET CONFIG command The input to this ioctl command is a pointer to a data area of at least the size of a grpwrx_ioc config structure The data area will be updated according to the grpwrx_ioc config data structure described in section 37 2 4 1 This command only fail if the pointer argument is invalid 37 2 4 2 8 GET_STATS This command copies the driver s internal statistics counters to a user provided data area The format of the data written is described in the data structure subsection See the grpwrx_ioc_ stats data structure The call will fail if the pointer to the data is invalid 37 2 4 2 9 CLR STATS This command reset the driver s internal statistics counters This command never fail 37 2 4 2 10 GET HW_IMPL This command copies the GRPWRX core s features implemented to a user provided data area The format of the data written is described in the data structure subsection See the grpwrx_ioc_hw data structure Knowing the features supported by hardware can be used to make software run on multiple implementations
313. th operations are enabled the tick in is generated after the timecode register is written 13 2 5 2 30 GET_TCODE This call reads the current GRSPW timecode register unsigned int and stores it in the location provided by the the user argument Bit 8 is set if the timecode status register bit 0 TO is set the status bit TO is cleared if set this is to indicate if the timecode register has been updated since last call Note that if interrupt is enabled and the callback function is assigned the TO bit is cleared by the interrupt handler The argument must be a pointer to an unsigned integer The call will fail if the argument contains an illegal pointer 13 2 6 Transmission Transmitting single packets are done with either the write call or a special ioctl call There is currently no support for writing multiple packets in one call Write calls are used when data only needs to be taken from a single contiguous buffer An example of a write call is shown below result write fd tx_pkt 10 On success the number of transmitted bytes is returned and 1 on failure Errno is also set in the latter case Tx pkt points to the beginning of the packet which includes the destination node address The last parameter sets the number of bytes that the user wants to transmit The call will fail if the user tries to send more bytes than is allocated for a single packet this can be changed with the SET PACKETSIZE ioctl call or if a NULL pointer is passe
314. the same order as they are registered in and that child buses are initialized after all devices on the parent bus are initialized to the level If a bus or device fails to initialize the children devices or child bus are never initialized further instead they are put on a inactive list for later inspection Dependencies between buses and devices are hence easily managed by the fact that drivers are not allowed to access certain APIs until a certain level is reached Drivers are registered before the driver manager initialization starts with drvmgr drv register the manager keeps a list of drivers which is accessed to find a suitable driver for a device Every time a new device is registered by the bus driver the driver manager searches the driver list for a suitable driver the bus is asked bus ops gt unite if the driver is compatible with the device if so the manager unites the driver with its device and inserts the device into the initialization procedure The driver s initialization routines will be called for all its devices at every level If a driver was not found the device is never initialized The driver manager is either initialized by the BSP during startup or manually by the user from the Init task where interrupt is enabled The BSP initialization is enabled by passing drvmgr to configure when building the RTEMS kernel in that case RTEMS DRVMGR STARTUP is defined in system h When custom initialization is selected interrupt is ena
315. the GR IP core s manual The driver supports multiple 12C cores 29 1 2 Examples There is an example available it illustrates how to set up the 12C driver initialize the I2C Library and access an I2C EEPROM The EEPROM can be accessed with on of two different methods either RAW mode or by using the high level driver The example is part of the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rtems i2cmst c 29 2 USER INTERFACE The RTEMS I2CMST 12C driver supports the RTEMS I2C Library operations The driver must be registered before it can be used During driver registration the I2C driver initializes the RTEMS I2C Library and registers the driver The driver is registered with the name dev i2c1 dev i2c2 and so on An example application using the driver is provided in the samples directory distributed with the toolchain 29 2 1 Driver registration The registration of the driver is needed in order for the RTEMS 12C Library to know about the I2CMST hardware driver The RTEMS I2C driver registration is performed automatically by the driver when I2CMST hardware is found for the first time The driver is called from the driver manager to handle detected I2CMST hardware In order for the driver manager to unite the I2CMST driver with the IZCMST hardware one must register the driver to the driver manager This process is described in the driver manager chapter 29 2 2 Accessing the 12C bus The 12C bus ca
316. time unsigned long long Return latched datation ET grctm_get_dat_et void grctm int dat unsigned int grctm get pulse reg void Return current pulse configuration grctm int pulse void grctm_set pulse reg void grctm Set pulse register int pulse unsigned int val void grctm_cfg_pulse void grctm int Configure pulse pp period pw width pl level pulse int pp int pw int pl int en en enable void grctm enable pulse void grctm Enable pulse output int pulse void grctm disable pulse void grctm Disable pulse output int pulse void grctm_register void Register the GRCTM driver to Driver Manager Table 177 function prototypes 35 2 2 1 Data structures The grctm_stats data structure holds statistics gathered by the driver It can be read by the grctm_get stats function struct grctm_stats unsigned int nirqs unsigned int pulse 8 Member Description nirqs Total number of interrupts handled by driver pulse Number of interrupts generated by each pulse channel maximum 8 channels pulse N represents pulse channel N Table 178 grctm_status member descriptions 36 SPWCUC DRIVER 36 1 INTRODUCTION This section describes the GRLIB SPWCUC SpaceWire CCSDS Unsegmented Code Transfer Protocol device driver interface The driver implements a simple interface to read and write registers of the core interrupt handling The driver support
317. tion block Pointer to the start of a block where data received in a number of TMs should be stored The block argument is handled as a point erto a block of short int if the core is configured to send 16 bit words or a char pointer for 8 bit words ntrans The number of TMs that should be sent Return 0 on success GRASCS ERROR TRANSACTIVE if TM could not be started value because some other transaction is in progress GRASCS ERROR STARTSTOP if TM could not be started because serial interface is stopped Descriptio Starts a number of TMs and stores the incoming data with the beginning of the n address that block points to If the first TM can not be started the function returns with an error code otherwise it blocks until all the transactions are complete This function is thread safe AEROFLEX GR RTEMS DRIVER 172 GAISLER 26 3 EXAMPLE CODE To use the GRASCS driver its header file should be included include lt grascs h gt The driver must first be initialized and the return value must be checked to see that the initialization went well status ASCS_init if status lt 0 printf ERROR Failed to initialize ASCS driver n exit 0 printf Successfully intialized ASCS driver n When the ASCS init function has been called the application can start calling the other functions as well Below is an example of how to call ASCS TC send block and send ten TCs retval ASCS_TC_send_block int block 10 if
318. tion of Coarse and Fine time unsigned int spwcuc get next et coarse void spwcuc Return next 32 bit Elapsed Coarse Time unsigned int spwcuc get next et fine void spwcuc Return next 24 bit Elapsed Fine Time unsigned long long spwcuc get next et void spwcuc Return next 56 bit elapsed time combination of next Coarse and Fine Time this time can be used when generating SpaceWire Time Packets void spwcuc_ force et void spwcuc unsigned long long time Force Set the elapsed time coarse 32 bit and fine 24 bit by writing the T Field Time Packet Registers and set the FORCE bit unsigned int spwcuc_get tp et _coarse void spwcuc Return received 32 bit Elapsed Coarse Time unsigned int spwcuc_get_tp_et_fine Return received 24 bit Elapsed Fine Time void spwcuc unsigned long long spwcuc_get_tp_et Return received 56 bit Elapsed Time a combination of void spwcuc coarse and fine Table 180 function prototypes 36 2 2 1 Data structures The spwcuc cfg data structure is used to configure a SPWCUC device and driver The configuration parameters are described in the table below struct spwcuc_cfg unsigned char sel_out unsigned char sel_in unsigned char mapping unsigned char tolerance unsigned char tid unsigned char ctf unsigned char cp unsigned char txen unsigned char rxen unsigned char pktsyncen unsigned char pktiniten unsigned char pktrxen
319. tiple times If a list of the same type is already executing it will be replaced with the new list 19 2 1 5 gr1553bc_pause Pause the synchronous list It may be resumed by gr1553bc_resume See hardware documentation 19 2 1 6 gr1553bc_resume Resume the synchronous list must have been previously paused by gr1553bc_pause See hardware documentation 19 2 1 7 gr1553bc_stop Stop synchronous and or asynchronous list execution The second argument is a 2 bit bit mask which determines the lists to stop see table below for a description Member Description Bit 0 Set to one to stop the synchronous list Bit 1 Set to one to stop the asynchronous list Table 54 gr1553bc_stop second argument 19 2 1 8 gr1553bc_indication Retrieves the current Major Minor Slot MID position executing into the location indicated by mid The async argument determines which type of list is queried the Synchronous async 0 list or the Asynchronous async 1 Note that since the List API internally adds descriptors the indication may seem to be out of bounds 19 2 1 9 gr1553bc_status This function retrieves the current BC hardware status Second argument determine where the hardware status is stored the layout of the data stored follows the gr 553bc_status data structure The data structure is described in table 53 19 2 1 10 gr1553be_ext_trig The BC supports an external trigger signal input which can be used to synchronize 155
320. to access the driver using standard means such as open The RTEMS I O driver registration is performed automatically by the driver when CAN hardware is found for the first time The driver is called from the driver manager to handle detected CAN hardware In order for the driver manager to unite the CAN driver with the CAN hardware one must register the driver to the driver manager This process is described in the driver manager chapter 23 2 2 Driver resource configuration This driver does not have any configurable resources All configuration can be made though the ioctl interface 23 2 3 Opening the device Opening the device enables the user to access the hardware of a certain OC_CAN device The driver is used for all OC_CAN devices available The devices is separated by assigning each device a unique name and a number called minor The name is passed during the opening of the driver The first 3 names are printed out Device number Filesystem name 0 dev occanO 1 dev occan1 2 dev occan2 Table 96 Device number to device name conversion An example of an RTEMS open call is shown below fd open dev occan0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 96 Errno Description ENODEV Illegal device name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory
321. to override the Plug amp Play information The PCI driver is configured using any combination of the driver resources in the table below see samples or driver manager documentation how driver resources are assigned Name Type Parameter description INTA INT Select system IRQ for PCI interrupt pin INTA INTB INT Select system IRQ for PCI interrupt pin INTB INTC INT Select system IRQ for PCI interrupt pin INTC INTD INT Select system IRQ for PCI interrupt pin INTD Table 15 PCI Host driver parameter description 7 3 1 GRPCI GRLIB designs using the GRPCI PCI Host bridge has in addition to the INTX configuration options the below options Name Type Parameter description tgtbar1 INT PCI target Base Address Register BAR 0 defaults is 0x40000000 byteTwisting INT Enable 1 or Disable O default PCI bytes twisting 7 3 2 GRPCI2 GRLIB designs using the GRPCI2 PCI Host bridge has in addition to the INTX configuration options the below options The GRPCI2 host has up to 6 BARs each with a configurable size The driver uses only the first BAR by default it is set to start of RTEMS RAM memory and 256MBytes The tgtBarCfg option is an address to an array of 6 struct grpci2_pcibar cfg descriptions each describing one BAR s size and PCI address and AMBA address the PCI access is translated into Thus the programmer has full flexibility of where DMA capable PCI targets should acce
322. ts the link error interrupt bit in the control register The interrupt handler sends an event to the task specified with the event id field when this interrupt occurs The argument must be an integer in the range O to 1 The call will fail if the argument contains an illegal value or if the register write fails 13 2 5 2 19 SET_PACKETSIZE This call changes the size of buffers and consequently the maximum packet sizes The this cannot be done while the core accesses the buffers so first the receiver and the transmitter is disabled and ongoing DMA transactions is waited upon to finish The time taken to wait for receiving DMA transactions to finish may vary depending on packet size and SpaceWire core frequency The old buffers are reallocated and the receiver and transmitter is enabled again The configuration before the call will be preserved except for the packet sizes The argument must be a pointer to a spw ioctl packetsize struct The call will fail if the argument contains an illegal pointer the requested buffer sizes cannot be allocated or the link cannot be re started AEROFLEX GR RTEMS DRIVER 62 GAISLER 13 2 5 2 20 GET_LINK_STATUS This call returns the current link status The argument must be a pointer to an integer The return value in the argument can be one of the following O Error reset 1 Error wait 2 Ready 3 Started 4 Connecting 5 Run The call will fail if the argument contains an illegal pointer 13 2 5 2
323. ture See scanning ambapp plb The processor local AMBA PnP bus in LEON3 BSP RAM description of first Plug amp Play bus at OxFFFO0000 scanning Process where the AMBA PnP bus is searched for all AMBA interfaces and a description is created in RAM the RAM copy makes it easier to access the PnP information rather than accessing directly depth Number of levels of AHB AHB bridges from topmost AHB bus Table 1 AMBA Layer terms and names 2 1 2 Sources The sources of the driver manager is found according to the table below AEROFLEX GR RTEMS DRIVER 14 GAISLER Path Description ambapp h Include path of AMBAPP layer header file definitions ambapp_ids h Vendor and Device IDs auto generated from GRLIB devices vhd libbsp sparc shared amba Path within RTEMS sources to AMBAPP sources ambapp c Scanning routine ambapp_scan and function to iterate over all devices ambapp for _each ambapp alloc c Mark ownership of devices ambapp depth c Function to get bus depth of a device ambapp freq c Functions to initialize AMBAPP bus frequency and get the frequency of a device ambapp names c Vendor and device ID name database ambapp old c Old AMBAPP interface reimplemented on top of ambapp c Deprecated ambapp _parent c Get device parent bridge by searching the device tree ambapp_show c Print AMBAPP bus RAM description information onto terminal for
324. tware transmit FIFO length The argument specifies the number of bytes for the new TX FIFO buffer This command may return ENOMEM if not enough memory was available to complete the request this will make calls to START fail until a new buffer is allocated with SET TX FIFO LEN 27 1 5 1 5 SET BAUDRATE Sets the baud rate of the UART hardware by specifying the rate in number of bits second as argument The SCALER register of the UART hardware is calculated by the driver using the UART core frequency and the requested baud rate This command fails if an out of range baud rate is given maximum 115200 bits second 27 1 5 1 6 SET_SCALER Makes it possible for the user to set the baud rate of the UART hardware manually The UART SCALER register is documented in the IP Core manual The new scaler register value is given as argument to this command 27 1 5 1 7 SET_ BLOCKING Sets receive transmit or transmit flush blocking mode The argument to SET BLOCKING is a bitmask as described in the table below Bit mask name Function BLK RX If set enables blocking mode for read calls BLK TX If set enables blocking mode for write calls BLK FLUSH If set enables TX Flush mode Blocks thread calling write until all requested data has been put into hardware transmission FIFO or software transmit FIFO Table 125 SET_BLOCKING Argument Bit Mask 27 1 5 1 8 GET_STATS Stores the current driver statistics counters to a user defi
325. ular GPIO port The library itself does not access the hardware directly but through a GPIO driver for example the GRGPIO driver A driver must implement a couple of function operations to satisfy the GPIO Library The drivers can register GPIO ports during runtime The two interfaces the GPIO Library implements can be found in the gpiolib header file gpiolib h it contains definitions of all necessary data structures bit masks procedures and functions used when accessing the hardware and for the drivers implement GPIO ports This document describes the user interface rather than the driver interface 30 1 1 Examples There is an example available in the Gaisler RTEMS distribution it can be found under opt rtems 4 10 src samples rasta adcdac gpio demo c 30 2 DRIVER INTERFACE The driver interface is not described in this document 30 3 USER INTERFACE The GPIO Library provides the user with a function interface per GPIO port The interface is declared in gpiolib h GPIO ports are registered by GPIO drivers during runtime depending on the registration order the GPIO port are assigned a port number The port number can be used to identify a GPIO port A GPIO port can also be referenced by a name the name is assigned by the GPIO driver and is therefore driver dependent and not documented here GPIO ports which does not support a particular feature for example interrupt generation return error codes when tried to be accessed The
326. ument is read See table 66 for the description of the notification argument 20 2 7 Remote Terminal operation When operating as Remote Terminal RT the driver maintains a receive event queue All events such as receive commands transmit commands broadcasts and mode codes are put into the event queue Each event is described using a struct rt msg as defined earlier in the data structure subsection The events are read of the queue using the read call The buffer should point to the beginning of one or several struct rt msg The number of events that can be received is specified with the length argument E g struct rt_msg msg 2 n read brm_fd msg 2 The above call will return the number of events actually placed in msg If in non blocking mode 1 will be returned if the receive queue is empty and errno set to EBUSY Note that it is possible also in blocking mode that not all events specified will be received by one call since the read call will seize to block as soon as there is one event available What kind of event that was received can be determined by looking at the desc member of a rt_msg It should be interpreted according to table 8 How the rest of the fields should be interpreted depends on what kind of event it was e g if the event was a reception to subaddress 1 to 30 the word count field in the message information word gives the number of received words and the data array contains the received data words To place
327. unsigned int ctrl unsigned int sts Member Descriptiion flag Flags that select the operation s that should be performed port Selects the port number that the operation s are performed on ctrl Value to be read written from to port control register sts Value to be read written from to port status register Table 38 router_port member descriptions GR RTEMS DRIVER AEROFLEX 74 GAISLER Flag Descriptiion ROUTER PORTFLG_GET CTRL Reads the port control register and stores the value in the ctrl field ROUTER PORTFLG GET STS Reads the port status register and stores the value in the sts field ROUTER PORTFLG SET CTRL Writes the port control register and stores the value in the ctrl field If both a read and a write have been enabled the read is performed first and this value is returned in the ctrl field After the read is finished the write is performed with the original value in the ctrl field ROUTER PORTFLG SET STS Writes the port status register and stores the value in the sts field If both a read and a write have been enabled the read is performed first and this value is returned in the sts field After the read is finished the write is performed with the original value in the sts field Table 39 router_port flag descriptions 15 2 5 10 CFGSTS_SET Takes an integer as input argument and writes it to the router configuration and status register 15 2
328. upt and condition descriptors can be programmed to generate interrupt unconditionally there exists other conditional types as well When a Transfer descriptor causes interrupt the general ISR callback of the BC driver is called to let the user handle the interrupt Transfers descriptor IRQ is enabled by configuring the descriptor When a condition descriptor causes an interrupt a custom IRQ handler is called if assigned with a custom argument and the descriptor address The descriptor address my be used to lookup the MID of the descriptor The API provides functions for placing unconditional IRQ points anywhere in the list Below is an pseudo example of adding an unconditional IRQ point to a list void funcSetup int MID Allocate Slot for IRQ Point gr1553bc_slot_alloc amp MID TIME 0 Prepare unconditional IRQ at allocated SLOT gr1553bc_slot_irq_prepare MID funcISR data Enabling the IRQ may be done later during list execution gr1553bc_slot_irq_enable MID void funcISR bd data HANDLE ONE OR MULTIPLE DESCRIPTORS MULTIPLE IN THIS EXAMPLE int MID Lookup MID from descriptor address gr1553bc_mid_from_bd bd amp MID NULL Print MID which caused the Interrupt printk IRQ ON 3 06x1n MID 19 3 9 List API The List API consists of the functions in the table below Prototype Description int gr1553bc list_alloc struct gr1553bc list list i
329. upts event_id Task ID to which event is sent when link error interrupt occurs is rmap RMAP command handler available is rxunaligned RX unaligned support available is rmapcrc RMAP CRC support available Table 23 spw_config member descriptions 13 2 5 2 Configuration The GRSPW core and driver are configured using ioctl calls Table 19 below lists all supported ioctl calls common to most operating systems SPACEWIRE IOCTRL_ should be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 for failure Errno is set after a failure as indicated in table 18 An example is shown below where the node address of a device previously opened with open is set to 254 by using an ioctl call result ioctl fd SPACEWIRE_IOCTRL_SET_NODEADDR OxFE Operating system specific calls are described last in this section AEROFLEX GR RTEMS DRIVER 57 GAISLER ERRNO Description EINVAL Null pointer or an out of range value was given as the argument EBUSY Only used for SEND Returned when no descriptors are available in non blocking mode ENOSYS Returned for SET_DESTKEY if RMAP command handler is not available or if a non implemented call is used ETIMEDOUT Returned for SET_PACKETSIZE and START if the link could not be brought up ENOMEM Returned for SET_PACKETSIZE if it was unable to allocate the
330. urn path when the RMAP header is generated the function is responsible to write the address path bytes directly into the header at the specified location 4 4 ZERO COPY IMPLEMENTATION The RMAP stack is zero copy meaning that the data of the transfer is not copied this improves performance Note that when the RMAP driver does not support CRC generation the RMAP stack will write the data CRC after the input data this means that the caller is responsible to reserve one byte of space when writing data The RMAP stack will not write the data CRC after the data in cases where the RMAP driver that support CRC generation Note that even though the RMAP stack is zero copy the RMAP driver may not be zero copy lowering the performance 4 5 RMAP GRSPW DRIVER A driver for the RTEMS GRSPW driver is provided with the RMAP stack the driver automatically check if the GRSPW hardware has support for CRC generation The GRSPW driver is named rmap drv _grspw c 4 6 THREAD SAFE The RMAP stack can be configured to be thread safe when entering the stack an internal semaphore will be obtained guaranteeing that multiple threads of execution can enter simultaneously It is not needed when only one task is using the RMAP stack or if the RMAP driver itself is thread safe A task may be blocked waiting for another task to complete the RMAP operation when the RMAP stack is configured thread safe 4 7 USER INTERFACE The location of the RMAP stack is indicate
331. us not execute in interrupt context instead a high priority ISR task is managed by the SpaceWire bus driver This way the ISR can access the node over SpaceWire however extra care must be taken in the node driver to avoid conflicts and races when the ISR is executing as a task instead of locking interrupt as in tradition drivers one may use a semaphore to protect the critical regions 5 7 USING THE SPACEWIRE BUS DRIVER The SpaceWire bus is registered to the driver manager for each SpaceWire network by calling the spw bus register function with a configuration description The configuration describe the nodes on the network IRQ setup driver resources on the SpaceWire network and a RMAP stack handle used to communicate with the target nodes The SpaceWire bus is attached to a on chip GRSPW driver the core that provides access to the SpaceWire bus via the RMAP stack There is an example of how to configure and use the SpaceWire bus driver in config spw _bus c SpaceWire Node drivers must set the bus type to DRVMGR BUS TYPE SPW RMAP and define an array with all devices nodes that are supported by the driver The AMBA PnP RMAP may be considered as an example node driver AEROFLEX GR RTEMS DRIVER 39 GAISLER 6 AMBA over SpaceWire 6 1 INTRODUCTION This document describes the AMBA Plug amp Play bus driver used to write device drivers for AMBA cores accessed over SpaceWire The driver rely on the SpaceWire network bus driver 6 2
332. used internally by the RT driver it is used as an input parameter rt to all other functions that manipulate the hardware This function initializes the RT hardware to a stopped disable level 17 2 2 3 gr1553rt_close Close and Stop an RT device identified by input argument rt previously returned by gr1553rt_open 17 2 2 4 gr1553rt_config Configure and allocate memory for an RT device The configuration parameters are stored in the location pointed to by cfg The layout of the parameters must follow the gr1553rt_cfg data structure described in table 43 If memory allocation fails in case of dynamic memory allocation the function return a negative result on success zero is returned 17 2 2 5 gr1553rt_start Starts RT communication by enabling the core and enabling interrupts The user must have configured the driver RT address Mode Code SA table lists descriptors etc before calling this function After the RT has been started the configuration function can not be called On success this function returns zero on failure a negative result is returned 17 2 2 6 gr1553rt_stop Stops RT communication by disabling the core and disabling interrupts Further 1553 commands to the RT will be ignored 17 2 2 7 gr1553rt_status Read current status of the RT core The status is written to the location pointed to by status in the format determined by the gr1553rt_status structure described in table 42 17 2 2 8 gr1553rt_indication
333. utomatically by the driver when UART hardware is found for the first time The driver is called from the driver manager to handle detected UART hardware In order for the driver manager to unite the UART driver with the UART hardware one must register the driver to the driver manager This process is described in the driver manager chapter 27 1 2 Driver resource configuration This driver does not have any configurable resources All configuration can be made though the ioctl interface 27 1 3 Opening the device Opening the device enables the user to access the hardware of a certain APBUART device The driver is used for all APBUART devices available The devices are separated by assigning each device a unique name and a number called minor The name is passed during the opening of the driver Some example device names are printed out below Device number Filesystem name Location 0 dev apbuart0 On Chip Bus 1 dev apbuart1 On Chip Bus 2 dev apbuart2 On Chip Bus Depends on system configuration dev rastaio0 apbuartO GR RASTA IO Depends on system configuration dev rastaioO apbuart1 GR RASTA IO Table 121 Device number to device name conversion An example of an RTEMS open call is shown below fd open dev apbuart0 O_RDWR A file descriptor is returned on success and 1 otherwise In the latter case errno is set as indicated in table 121 Errno Description ENODEV Illegal de
334. utput void cookie unsigned int output unsigned int gradcdac_get_adrdir void cookie void gradcdac_set_adrdir void cookie unsigned int dir unsigned int gradcdac_get_datainput void cookie void unsigned int gradcdac_get_dataoutput void cookie void void gradcdac_set_dataoutput void cookie unsigned int output unsigned int gradcdac_get_datadir void cookie void void gradcdac_set_datadir void cookie unsigned int dir Table 145 General ADC DAC functions All functions takes a handle to the ADC DAC core by the argument cookie The handle is returned by the gradcdac_open function 32 2 6 1 1 gradcdac_set_config Writes the configuration register of the ADC DAC controller from the gradcdac config data structure The gradcdac config structure is described in table 144 32 2 6 1 2 gradcdac_get_config Reads the configuration from the controller s configuration register and converts into the data structure gradcdac config pointed to by the user provided cfg argument The gradcdac config structure is described in table 144 32 2 6 1 3 gradcdac_set_cfg Sets the configuration register directly The bits of the ADCONF configuration register are described in table 144 32 2 6 1 4 gradcdac_get_cfg Returns the current configuration register value as it is The bits of the ADCONF configuration register are described in table 144 32 2 6 1 5 gradcdac_get_status Returns the current ADC D
335. uvinicn iaa ara tana ici 96 INTRODUCTION sas csccscstecssecsacyecatsaveas ena caseeace inician cas tae ens 96 GR1553B Bus Controller Hardware ccccccccsesccsececseeceeeeeeceeceeseceeaececaueceneeeeeaeeeges 96 Software DIV a A A tt 96 Examples iia A el erica 97 BC Device Handle li ali 97 Devic APT A AA A EA AA AA AAA 97 Data STTUCUT OS A ii tc 98 OTLODIDC OPOIirscccesccieedscciacataescducsadencsttaevens sh oan nda dave chavgucneebisbeesdeesecaseadaaneneddestedascaueedes 98 GET DDS DCAClOSC rinitis en E qua cede at dll asas aa nuedess 99 A sos ccs wcdacebndasSeabta leiden Seater a Ovede aae e a e ot visa A aa ueiees 99 gr SD SDE Pause tion ee ia ads 99 A A debts ars taed e e dass e aa e e aaa a n 99 GEL SSS DC O 99 gr 1553p INICIO inc a eia aE E a K Wee EAEE EE OAA ESR 99 QTISS SDC Statuses crccsscikcscctasdestaesancavcadesnceagsacvecdssehdandencsvlecaduesens cus EAEE E E Ea 99 QTLSD3DC A ven yeuvcdssvecan cota tdes daneciuuse oes cadave caassvaceeadevabenedanedeetae 99 IDO IDC ATSC UD ua ld A aveic ives tudes dave a alee 100 Descriptor List Had it eaves dis decia 100 OVA dai E EEEN 100 Example steps for creating a list coocccoccnocnnocnnocnnonnnncnnnanonononanoncnoncnnncnonanononns 101 Majar Fram Eonar ear a a A A ad 102 Minor Praia A A aude REETA A ATER 102 Slot Description ita ERAS ERSS 102 Changing a scheduled BC list during BC TUNtIME occcoocccnnccnnnocnnnnonnnocnnonnncnncnnannn 103 Custom Memory SetuP
336. values written is determined by sts Operation bus_status_reg bus_status_reg amp mask sts mask 17 2 2 12 gr1553rt_sa_setopts Configure individual bits of the SA Control Word in the SA table One may for example Enable or Disable a SA RX and or TX See hardware manual for SA Table configuration options The mask argument is a bit mask it determines which bits are written and options determines the value written The subadr argument selects which sub address is configured Note that SA table is all zero after configuration every SA used must be configured using this function 17 2 2 13 gr1553rt_list_sa This function looks up the SA and the transfer type of the descriptor list given by list The SA is stored into subadr the transfer type is written into tx TX 1 RX 0 17 2 2 14 gr1553rt_sa_schedule This function associates a descriptor list with a sub address given by subadr and a transfer type given by tx The first descriptor in the descriptor list is written to the SA table entry of the SA 17 2 2 15 gr1553rt irq err This function registers an interrupt callback handler of the Error Interrupt The handler func is called with the argument data when a DMA error or SA table access error occurs The callback must follow the prototype of gr1553rt irqerr t typedef void gri553rt_irgerr_t int err void data Where err is the value of the GR1553B IRQ register at the time the error was detected it can be u
337. vi ill oe sa 43 PCT Interrupt oelra oct dened laa weds bead dec aT SAASTE EEEE EA sea ets cladee cena caddeavea linia Esa 43 PELEOdIANOS Sui scene cidade ss accecdet se Weeden denen tatty edie actuate dasatandsetarmereds 44 GR RASTA ADCDAC PCI TARGET eeii a E ETE A E E E A 45 GR RASTA TOQO PGE TARGE piirne iee Laa eiii ito 46 GR RASTA TMTC PCI TARGET 3 i cccccaccacesccacascascencesccteascaveascdecsdsdvscasdaveneceecvdivencadaaaces 47 GR RASTA SPW_ROUTER PCI TARGET ccccccscccceeeeceeeccneeeeeeceeeeeeceeeeeeeaeeceeeaeenees 48 GR CPCI LEON4 N2X PCI Peripheral ooccoocncccnoccnoconoconononnnnnncnoncnoncnoncnoncnncnnoncnncnnoos 49 Driver TEGISEPALLON ida A AS ci 49 Driver resource CONfigUTatiON ooocoocccocncncnnncnnncnnncnnnnonanonncnononononononononononnnnnnnnnncnnnnnos 49 Gaisler SpaceWire GRSPW ocoonncnccnncnnoccnoconoconncnnncnnncnoncnoncnonononnnoncnoncnononononcnncnnnnnos 50 Introducir cansa dace IDA diia dad Peele 50 Software driven eean tri id 50 EXAMPLES ii A E A E EE Bui aR 50 SUP POD iii A A EE S AE da de di 50 User dai aca eiia adana os i ias 50 Driver registrato 0 ib AA A a ar Aa ee a e T 50 Driver resource configuration sessessssseseessessessessrssessesresresresresseseeseoseesessesesrases 51 Custom DMA area paraMeters oocooccoccnconccncnncnncnnocnnonocnncnncnnnonnnnnnnnnnnnnncnncnnrnncnnoncnnonos 51 Opening the devie secciones dai in irse aaa 51 Closing a E N Me bas a teats 52 O GOntrol interf
338. vice identified by instance number minor The instance number is determined by the order in which GR1553B cores with BM functionality are found the order of the Plug amp Play A handle is returned identifying the opened BM device the handle is used internally by the driver it is used as an input parameter bm to all other functions that manipulate the hardware This function initializes the BM hardware to a stopped disable level 18 2 2 3 gr1553bm_close Close and Stop a BM device identified by input argument bm previously returned by gr1553bm _open 18 2 2 4 gr1553bm_config Configure and allocate the log DMA memory for a BM device The configuration parameters are stored in the location pointed to by cfg The layout of the parameters must follow the gr1553bm config data structure described in table 47 If BM device is started or memory allocation fails in case of dynamic memory allocation the function return a negative result on success zero is returned 18 2 2 5 gr1553bm_start Starts 1553 logging by enabling the core and enabling interrupts The user must have configured the driver log buffer timer filtering etc before calling this function After the BM has been started the configuration function can not be called On success this function returns zero on failure a negative result is returned 18 2 2 6 gr1553bm_stop Stops 1553 logging by disabling the core and disabling interrupts Further 1553 transfers will be i
339. vice name or not available EBUSY Device already opened ENOMEM Driver failed to allocate necessary memory Table 122 Open errno values 27 1 4 Closing the device The device is closed using the close call An example is shown below res close fd Close always returns 0 success for the apbuart driver 27 1 5 I O Control interface Changing the behaviour of the driver for a device is done via the standard system call ioctl Two arguments must be provided to ioctl the first being an integer which selects ioctl function and secondly a pointer to data that may be interpreted uniquely for each function A typical ioctl call definition int ioctl int fd int cmd void arg The return value is 0 on success and 1 on failure and the global errno variable is set accordingly All supported commands and their data structures are defined in the UART driver s header file apbuart h In functions where only one argument is needed the pointer void arg may be converted to an integer and interpreted directly thus simplifying the code 27 1 5 1 Configuration The UART core and driver are configured using ioctl calls The table 123 below lists all supported ioctl calls APBUART IOC_ must be concatenated with the call number from the table to get the actual constant used in the code Return values for all calls are 0 for success and 1 on failure Errno is set after a failure as indicated in table 122 An example is shown below where the
340. vice tree is created in abus during initialization cores struct ambapp core are not created by the layer The AMBAPP layer is used from the AMBAPP Bus driver in the driver manager it creates AMBAPP cores by finding AMBA devices that comes from the same IP core AEROFLEX GR RTEMS DRIVER 15 GAISLER The frequency of the AMBAPP bus can not be read from the Plug amp Play information however how different AMBA AHB buses frequency relates to each can be found at respective AHB AHB bridge In order for the frequency function ambapp freq _get to report a correct frequency the user is required to register the frequency of one AMBAPP device calling the ambapp freq _init function prototype listed below The LEON3 BSP determines the frequency by assuming that the first GPTIMER clock frequency has been initialized to 1MHz by boot loader the BSP registers the frequency of the GPTIMER APB device Initialize the frequency Hz of all AHB Buses from knowing the frequency of one particular APB AHB Device a void ambapp_freq_init struct ambapp_bus abus struct ambapp_dev dev unsigned int freq Returns the frequency Hz of a AHB APB device unsigned int ambapp_freq_get struct ambapp_bus abus struct ambapp_dev dev 2 4 FINDING AMBAPP DEVICES BY PLUG amp PLAY After the Plug amp Play information has been scanned the user can search for AMBA devices in the RAM description without accessing the Plug amp Play ROM by calling am
341. void arg int int_unregister struct drvmgr_dev int index drvmgr_isr isr void arg int int_clear struct drvmgr_dev int index int int_mask struct drvmgr_dev int index int int_unmask struct drvmgr_dev int index int get_params struct drvmgr_dev struct drvmgr_bus_params int freq_get struct drvmgr_dev int unsigned int Function called to request information about a device The bus driver interpret the bus specific information about the device ay void info_dev struct drvmgr_dev void print void p char str void p If a bus supports interrupt it can hide the actual implementation in the bus driver by implementing all or some of the int routines listed in the table below Device drivers are accessing interrupts using the generic interrupt functions of the driver manager The index determines which interrupt number the device requests for example 0 means the first interrupt of the device 1 the second interrupt of the device and so on it is possible for the bus driver to determine the absolute interrupt number usually by looking at the bus specific device information If a negative interrupt number is given it is considered to be an absolute interrupt number and should not be translated for example an index of 3 means IRQ3 on the AMBA bus or INTC of the PCI bus Operation Description int_register Register an interrupt service routine
342. w where CAN bus A is routed to the SatCAN core result ioctl fd CANMUX_IOC_BUSA_SATCAN ERRNO Description EINVAL Null pointer or an out of range value was given as the argument Table 118 ERRNO values for ioctl calls Call Number Description BUSA SATCAN Routes bus A to SatCAN core BUSA OCCAN1 Routes bus A to OC CAN 1 core BUSB_SATCAN Routes bus B to SatCAN core BUSB_OCCAN2 Routes bus B to OC CAN 2 core Table 119 ioctl calls supported by the CAN_MUX driver AEROFLEX GR RTEMS DRIVER 165 GAISLER 26 Gaisler ASCS GRASCS 26 1 INTRODUCTION This document is intended as an introduction to the RTEMS driver for the Gaisler ASCS core It is recommended that the reader also has access to the GRASCS IP core documentation when reading this document 26 1 1 Software driver The driver allows the developer of application software to communicate with the GRASCS core It supplies the functions to initialize the core send and receive data start and stop synchronization etc The complete user interface is described in more detail in section 1 2 below The driver is thread safe with the following two exceptions ASCS etr select ASCS TC sync start and ASCS TC sync stop can not be called from different threads and ASCS start and ASCS stop can not be called from different threads The driver supports all the different configurations of the GRASCS core that is mentioned
343. with a number a Major Frame Number This function creates an association between a Frame and a Number all Major Frames must be assigned a number within a List The function will link Major no 1 and Major no 1 with the Major frame the linking can be changed by calling gr1553bc_list_link_major after all major frames have been assigned a number 19 3 9 7 gr1553bc_minor_table_size This function is used internally by the List API however it can also be used in an application to calculate the space required by descriptors of a Minor Frame The total size of all descriptors in one Minor Frame in number of bytes is returned Descriptors added internally by the List API are also counted 19 3 9 8 gr1553bc_list_table_size This function is used internally by the List API however it can also be used in an application to calculate the total space required by all descriptors of a List The total descriptor size of all Major Minor Frames of the list in number of bytes is returned 19 3 9 9 gr1553bc_list_table_alloc This function allocates all descriptors needed by a List either dynamically or by a user provided address The List is initialized with the new descriptor table i e the software s internal representation is initialized The descriptors themselves are not initialized The second argument bdtab_custom determines the allocation method If NULL the API will allocate memory using malloc if non zero the value will be taken as the ba
344. write calls can be used to receive and send packets The driver also allows configuration and status options in the AMBA port to be accessed AEROFLEX GR RTEMS DRIVER 67 GAISLER 15 SpaceWire ROUTER Register Driver 15 1 INTRODUCTION This document is intended as an aid in getting started developing with Aeroflex Gaisler SpaceWire Router Register driver for RTEMS The driver provides applications with a SpaceWire Router configuration interface The driver allows the user to configure the router and control the SpaceWire links through the AMBA AHB Registers The SpaceWire Router driver require the RTEMS IO Manager and Driver Manager See the SpaceWire Router Core User s Manual for hardware details 15 2 USER INTERFACE The RTEMS SpaceWire Router driver supports the standard accesses to file descriptors open ioctl and close User applications should include the router driver s header file which contains definitions of all necessary data structures used when accessing the driver 15 2 1 Driver registration The registration of the driver is crucial for threads and processes to be able to access the driver using standard means such as open The RTEMS I O driver registration is performed automatically by the driver when Router hardware is found for the first time The driver is called from the driver manager to handle detected Router devices In order for the driver manager to unite the Router driver with the Router devices one must regist
345. x_rmap header_crc_err rx_rmap_data_crc_err rx_eep_err rx_truncated parity_err escape_err credit_err write _sync_err disconnect_err early_ep invalid_address packets_sent packets_received Member Description tx link err Number of link errors detected during transmission rx rmap header crc_err Number of RMAP header CRC errors detected in received packets rx rmap data _crc_err Number of RMAP data CRC errors detected in received packets rx eep err Number of EEPs detected in received packets rx truncated Number of truncated packets received parity_err Number of parity errors detected escape _ err Number of escape errors detected credit err Number of credit errors detected write sync_err Number of write synchronization errors detected disconnect_err Number of disconnect errors detected early_ep Number of packets received with an early EOP EEP invalid_address Number of packets received with an invalid destination address packets sent Number of packets transmitted packets received Number of packets received Table 22 spw_stats member descriptions The spw config structure holds the current configuration of the GRSPW GR RTEMS DRIVER 55 typedef struct unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsigned unsi
346. y Write Acked Write etc see RMAP CMD dstadr Destination address of SpaceWire Node that the RMAP command should be execute upon dstkey SpaceWire destination key of target node status Output from stack Error Status response Zero if no response is successful tid Output from stack TID assigned to packet header address 40 bit address that the operation targets data A union of different input and output arguements depending on the type of command Table 12 rmap_command members 4 7 2 Function interface description The table below sumarize all available functions in the RMAP stack Prototype Name void rmap_init struct rmap_ config config int rmap ioctl void cookie int command void arg int rmap send void cookie struct rmap command cmd int rmap write void cookie void dst void buf int length int dstadr int dstkey int rmap read void cookie void src void buf int length int dstadr int dstkey unsigned char rmap crc_calc unsigned char data unsigned int len Table 13 RMAP stack function prototypes 4 7 2 1 1 rmap_init The RMAP stack must be initialized before other function may be called Calling rmap init initializes the RMAP stack During the initialization the RMAP stack is configured as described by the rmap config data structure see the data structures section If successful rmap init will return a non zero value later used as input argument c

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