The Anybus-S/Anybus-M is a series of interchangeable fieldbus communication modules featuring on board memory and processing power. All software and hardware functionality required to communicate on the fieldbus is incorporated in the module itself, allowing the application to focus on other tasks. Typical applications are frequency inverters, HMI and visualization devices, instruments, scales, robotics, PLC’s and intelligent measuring devices. Official documentation: https://www.anybus.com/docs/librariesprovider7/default-document-library/ manuals-design-guides/hms-hmsi-27-275.pdf This driver implementation is designed to be almost completely independent from the way the Anybus-S hardware is accessed by the SoC. All it needs is: - a regmap which accesses the underlying Anybus-S dpram by whatever means; - an interrupt line, ultimately connected to the Anybus-S card; - a reset function. Signed-off-by: Sven Van Asbroeck <svendev@xxxxxxxx> --- drivers/bus/Kconfig | 11 + drivers/bus/Makefile | 1 + drivers/bus/anybuss-host.c | 1301 ++++++++++++++++++++++++++++++++ include/linux/anybuss-client.h | 100 +++ 4 files changed, 1413 insertions(+) create mode 100644 drivers/bus/anybuss-host.c create mode 100644 include/linux/anybuss-client.h diff --git a/drivers/bus/Kconfig b/drivers/bus/Kconfig index 1851112ccc29..68869648b9ab 100644 --- a/drivers/bus/Kconfig +++ b/drivers/bus/Kconfig @@ -45,6 +45,17 @@ config IMX_WEIM The WEIM(Wireless External Interface Module) works like a bus. You can attach many different devices on it, such as NOR, onenand. +config HMS_ANYBUSS_HOST + tristate "HMS Anybus-S Host/Bus Driver" + select REGMAP + depends on OF + default n + help + Driver for the HMS Industrial Networks Anybus-S bus. + You can attach Anybus-S compatible cards to it, which + typically provide fieldbus and industrial ethernet + functionality. + config MIPS_CDMM bool "MIPS Common Device Memory Map (CDMM) Driver" depends on CPU_MIPSR2 diff --git a/drivers/bus/Makefile b/drivers/bus/Makefile index ca300b1914ce..f67c6468126b 100644 --- a/drivers/bus/Makefile +++ b/drivers/bus/Makefile @@ -13,6 +13,7 @@ obj-$(CONFIG_BRCMSTB_GISB_ARB) += brcmstb_gisb.o obj-$(CONFIG_FSL_MC_BUS) += fsl-mc/ obj-$(CONFIG_IMX_WEIM) += imx-weim.o +obj-$(CONFIG_HMS_ANYBUSS_HOST) += anybuss-host.o obj-$(CONFIG_MIPS_CDMM) += mips_cdmm.o obj-$(CONFIG_MVEBU_MBUS) += mvebu-mbus.o diff --git a/drivers/bus/anybuss-host.c b/drivers/bus/anybuss-host.c new file mode 100644 index 000000000000..41d62937a5eb --- /dev/null +++ b/drivers/bus/anybuss-host.c @@ -0,0 +1,1301 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * HMS Anybus-S Host Driver + * + * Copyright (C) 2018 Arcx Inc + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/platform_device.h> +#include <linux/interrupt.h> +#include <linux/atomic.h> +#include <linux/kthread.h> +#include <linux/kfifo.h> +#include <linux/spinlock.h> +#include <linux/uaccess.h> + +#include <linux/anybuss-host.h> +#include <linux/anybuss-client.h> + +#define DPRAM_SIZE 0x800 +#define MAX_MBOX_MSG_SZ 0x0FF +#define TIMEOUT (HZ*2) +#define MAX_DATA_AREA_SZ 0x200 +#define MAX_FBCTRL_AREA_SZ 0x1BE + +#define REG_BOOTLOADER_V 0x7C0 +#define REG_API_V 0x7C2 +#define REG_FIELDBUS_V 0x7C4 +#define REG_SERIAL_NO 0x7C6 +#define REG_FIELDBUS_TYPE 0x7CC +#define REG_MODULE_SW_V 0x7CE +#define REG_IND_AB 0x7FF +#define REG_IND_AP 0x7FE +#define REG_EVENT_CAUSE 0x7ED +#define MBOX_IN_AREA 0x400 +#define MBOX_OUT_AREA 0x520 +#define DATA_IN_AREA 0x000 +#define DATA_OUT_AREA 0x200 +#define FBCTRL_AREA 0x640 + +#define EVENT_CAUSE_DC 0x01 +#define EVENT_CAUSE_FBOF 0x02 +#define EVENT_CAUSE_FBON 0x04 + +#define IND_AB_UPDATED 0x08 +#define IND_AX_MIN 0x80 +#define IND_AX_MOUT 0x40 +#define IND_AX_IN 0x04 +#define IND_AX_OUT 0x02 +#define IND_AX_FBCTRL 0x01 +#define IND_AP_LOCK 0x08 +#define IND_AP_ACTION 0x10 +#define IND_AX_EVNT 0x20 +#define IND_AP_ABITS (IND_AX_IN | IND_AX_OUT | \ + IND_AX_FBCTRL | \ + IND_AP_ACTION | IND_AP_LOCK) + +#define INFO_TYPE_FB 0x0002 +#define INFO_TYPE_APP 0x0001 +#define INFO_COMMAND 0x4000 + +#define OP_MODE_FBFC 0x0002 +#define OP_MODE_FBS 0x0004 +#define OP_MODE_CD 0x0200 + +#define CMD_START_INIT 0x0001 +#define CMD_ANYBUS_INIT 0x0002 +#define CMD_END_INIT 0x0003 + +/* ------------- ref counted tasks ------------- */ + +struct ab_task; +typedef int (*ab_task_fn_t)(struct anybuss_host *cd, + struct ab_task *t); +typedef void (*ab_done_fn_t)(struct anybuss_host *cd); + +struct area_priv { + bool is_write; + u16 flags; + u16 addr; + size_t count; + u8 buf[MAX_DATA_AREA_SZ]; +}; + +struct anybus_mbox_hdr { + u16 id; + u16 info; + u16 cmd_num; + u16 data_size; + u16 frame_count; + u16 frame_num; + u16 offset_high; + u16 offset_low; + u16 extended[8]; +} __packed; + +struct mbox_priv { + struct anybus_mbox_hdr hdr; + size_t msg_out_sz; + size_t msg_in_sz; + u8 msg[MAX_MBOX_MSG_SZ]; +}; + +struct ab_task { + struct kmem_cache *cache; + atomic_t refs; + ab_task_fn_t task_fn; + ab_done_fn_t done_fn; + int result; + struct completion done; + unsigned long start_jiffies; + union { + struct area_priv area_pd; + struct mbox_priv mbox_pd; + }; +}; + +static struct ab_task *ab_task_create_get(struct kmem_cache *cache, + ab_task_fn_t task_fn) +{ + struct ab_task *t; + + t = kmem_cache_alloc(cache, GFP_KERNEL); + if (!t) + return NULL; + t->cache = cache; + atomic_set(&t->refs, 1); + t->task_fn = task_fn; + t->done_fn = NULL; + t->result = 0; + init_completion(&t->done); + return t; +} + +static void ab_task_put(struct ab_task *t) +{ + struct kmem_cache *cache = t->cache; + + if (atomic_dec_and_test(&t->refs)) + kmem_cache_free(cache, t); +} + +static struct ab_task *__ab_task_get(struct ab_task *t) +{ + atomic_inc(&t->refs); + return t; +} + +static void +__ab_task_finish(struct anybuss_host *cd, struct ab_task *t) +{ + if (t->done_fn) + t->done_fn(cd); + complete(&t->done); +} + +static void +ab_task_dequeue_finish_put(struct anybuss_host *cd, struct kfifo *q) +{ + int ret; + struct ab_task *t; + + ret = kfifo_out(q, &t, sizeof(t)); + WARN_ON(!ret); + __ab_task_finish(cd, t); + ab_task_put(t); +} + +static int +ab_task_enqueue(wait_queue_head_t *wq, struct kfifo *q, + struct ab_task *t, spinlock_t *slock) +{ + int ret; + + t->start_jiffies = jiffies; + ret = kfifo_in_spinlocked(q, &t, sizeof(t), slock); + if (!ret) + return -ENOMEM; + __ab_task_get(t); + wake_up(wq); + return 0; +} + +static int +ab_task_enqueue_wait(wait_queue_head_t *wq, struct kfifo *q, + struct ab_task *t, spinlock_t *slock) +{ + int ret; + + ret = ab_task_enqueue(wq, q, t, slock); + if (ret) + return ret; + ret = wait_for_completion_interruptible(&t->done); + if (ret) + return ret; + return t->result; +} + +/* ------------------------ anybus hardware ------------------------ */ + +struct anybuss_host { + struct device *dev; + struct device *parent; + struct anybuss_client *client; + anybuss_reset_t reset; + struct regmap *regmap; + int irq; + struct task_struct *qthread; + wait_queue_head_t wq; + struct completion card_boot; + atomic_t ind_ab; + spinlock_t qlock; + struct kmem_cache *qcache; + struct kfifo qs[3]; + struct kfifo *powerq; + struct kfifo *mboxq; + struct kfifo *areaq; + bool power_on; + bool softint_pending; + atomic_t dc_event; + wait_queue_head_t dc_wq; + atomic_t fieldbus_online; + struct kernfs_node *fieldbus_online_sd; +}; + +static int test_dpram(struct regmap *regmap) +{ + int i; + unsigned int val; + + for (i = 0; i < DPRAM_SIZE; i++) + regmap_write(regmap, i, (u8)i); + for (i = 0; i < DPRAM_SIZE; i++) { + regmap_read(regmap, i, &val); + if ((u8)val != (u8)i) + return -EIO; + } + return 0; +} + +static void ab_reset(struct anybuss_host *cd, bool reset) +{ + cd->reset(cd->parent, reset); +} + +static int read_ind_ab(struct regmap *regmap) +{ + unsigned long timeout = jiffies + HZ/2; + unsigned int a, b; + + while (time_before_eq(jiffies, timeout)) { + regmap_read(regmap, REG_IND_AB, &a); + regmap_read(regmap, REG_IND_AB, &b); + if (likely(a == b)) + return (int)a; + cpu_relax(); + } + WARN(1, "IND_AB register not stable"); + return -ETIMEDOUT; +} + +static int write_ind_ap(struct regmap *regmap, unsigned int ind_ap) +{ + unsigned long timeout = jiffies + HZ/2; + unsigned int v; + + while (time_before_eq(jiffies, timeout)) { + regmap_write(regmap, REG_IND_AP, ind_ap); + regmap_read(regmap, REG_IND_AP, &v); + if (likely(ind_ap == v)) + return 0; + cpu_relax(); + } + WARN(1, "IND_AP register not stable"); + return -ETIMEDOUT; +} + +static irqreturn_t irq_handler(int irq, void *data) +{ + struct anybuss_host *cd = data; + int ind_ab; + + /* reading the anybus indicator register acks the interrupt */ + ind_ab = read_ind_ab(cd->regmap); + if (ind_ab < 0) + return IRQ_NONE; + atomic_set(&cd->ind_ab, ind_ab); + complete(&cd->card_boot); + wake_up(&cd->wq); + return IRQ_HANDLED; +} + +/* ------------------------ power on/off tasks --------------------- */ + +static int task_fn_power_off(struct anybuss_host *cd, + struct ab_task *t) +{ + if (!cd->power_on) + return 0; + disable_irq(cd->irq); + ab_reset(cd, true); + atomic_set(&cd->ind_ab, IND_AB_UPDATED); + atomic_set(&cd->fieldbus_online, 0); + sysfs_notify_dirent(cd->fieldbus_online_sd); + cd->power_on = false; + return 0; +} + +static int task_fn_power_on_2(struct anybuss_host *cd, + struct ab_task *t) +{ + if (completion_done(&cd->card_boot)) { + cd->power_on = true; + return 0; + } + if (time_after(jiffies, t->start_jiffies + TIMEOUT)) { + disable_irq(cd->irq); + ab_reset(cd, true); + dev_err(cd->dev, "power on timed out"); + return -ETIMEDOUT; + } + return -EINPROGRESS; +} + +static int task_fn_power_on(struct anybuss_host *cd, + struct ab_task *t) +{ + unsigned int dummy; + + if (cd->power_on) + return 0; + /* anybus docs: prevent false 'init done' interrupt by + * doing a dummy read of IND_AB register while in reset. + */ + regmap_read(cd->regmap, REG_IND_AB, &dummy); + reinit_completion(&cd->card_boot); + enable_irq(cd->irq); + ab_reset(cd, false); + t->task_fn = task_fn_power_on_2; + return -EINPROGRESS; +} + +int anybuss_set_power(struct anybuss_client *client, bool power_on) +{ + struct anybuss_host *cd = client->host; + struct ab_task *t; + int err; + + t = ab_task_create_get(cd->qcache, power_on ? + task_fn_power_on : task_fn_power_off); + if (!t) + return -ENOMEM; + err = ab_task_enqueue_wait(&cd->wq, cd->powerq, t, &cd->qlock); + ab_task_put(t); + return err; +} +EXPORT_SYMBOL_GPL(anybuss_set_power); + +/* ---------------------------- area tasks ------------------------ */ + +static int task_fn_area_3(struct anybuss_host *cd, struct ab_task *t) +{ + struct area_priv *pd = &t->area_pd; + + if (!cd->power_on) + return -EIO; + if (atomic_read(&cd->ind_ab) & pd->flags) { + /* area not released yet */ + if (time_after(jiffies, t->start_jiffies + TIMEOUT)) + return -ETIMEDOUT; + return -EINPROGRESS; + } + return 0; +} + +static int task_fn_area_2(struct anybuss_host *cd, struct ab_task *t) +{ + struct area_priv *pd = &t->area_pd; + unsigned int ind_ap; + int ret; + + if (!cd->power_on) + return -EIO; + regmap_read(cd->regmap, REG_IND_AP, &ind_ap); + if (!(atomic_read(&cd->ind_ab) & pd->flags)) { + /* we don't own the area yet */ + if (time_after(jiffies, t->start_jiffies + TIMEOUT)) { + dev_warn(cd->dev, "timeout waiting for area"); + dump_stack(); + return -ETIMEDOUT; + } + return -EINPROGRESS; + } + /* we own the area, do what we're here to do */ + if (pd->is_write) + regmap_bulk_write(cd->regmap, pd->addr, pd->buf, + pd->count); + else + regmap_bulk_read(cd->regmap, pd->addr, pd->buf, + pd->count); + /* ask to release the area, must use unlocked release */ + ind_ap &= ~IND_AP_ABITS; + ind_ap |= pd->flags; + ret = write_ind_ap(cd->regmap, ind_ap); + if (ret) + return ret; + t->task_fn = task_fn_area_3; + return -EINPROGRESS; +} + +static int task_fn_area(struct anybuss_host *cd, struct ab_task *t) +{ + struct area_priv *pd = &t->area_pd; + unsigned int ind_ap; + int ret; + + if (!cd->power_on) + return -EIO; + regmap_read(cd->regmap, REG_IND_AP, &ind_ap); + /* ask to take the area */ + ind_ap &= ~IND_AP_ABITS; + ind_ap |= pd->flags | IND_AP_ACTION | IND_AP_LOCK; + ret = write_ind_ap(cd->regmap, ind_ap); + if (ret) + return ret; + t->task_fn = task_fn_area_2; + return -EINPROGRESS; +} + +static struct ab_task * +create_area_reader(struct kmem_cache *qcache, u16 flags, u16 addr, + size_t count) +{ + struct ab_task *t; + struct area_priv *ap; + + t = ab_task_create_get(qcache, task_fn_area); + if (!t) + return NULL; + ap = &t->area_pd; + ap->flags = flags; + ap->addr = addr; + ap->is_write = false; + ap->count = count; + return t; +} + +static struct ab_task * +create_area_writer(struct kmem_cache *qcache, u16 flags, u16 addr, + const void *buf, size_t count) +{ + struct ab_task *t; + struct area_priv *ap; + + t = ab_task_create_get(qcache, task_fn_area); + if (!t) + return NULL; + ap = &t->area_pd; + ap->flags = flags; + ap->addr = addr; + ap->is_write = true; + ap->count = count; + memcpy(ap->buf, buf, count); + return t; +} + +static struct ab_task * +create_area_user_writer(struct kmem_cache *qcache, u16 flags, u16 addr, + const void __user *buf, size_t count) +{ + struct ab_task *t; + struct area_priv *ap; + + t = ab_task_create_get(qcache, task_fn_area); + if (!t) + return ERR_PTR(-ENOMEM); + ap = &t->area_pd; + ap->flags = flags; + ap->addr = addr; + ap->is_write = true; + ap->count = count; + if (copy_from_user(ap->buf, buf, count)) { + ab_task_put(t); + return ERR_PTR(-EFAULT); + } + return t; +} + +static bool area_range_ok(u16 addr, size_t count, u16 area_start, + size_t area_sz) +{ + u16 area_end_ex = area_start + area_sz; + u16 addr_end_ex; + + if (addr < area_start) + return false; + if (addr >= area_end_ex) + return false; + addr_end_ex = addr + count; + if (addr_end_ex > area_end_ex) + return false; + return true; +} + +/* -------------------------- mailbox tasks ----------------------- */ + +struct msgAnybusInit { + u16 input_io_len; + u16 input_dpram_len; + u16 input_total_len; + u16 output_io_len; + u16 output_dpram_len; + u16 output_total_len; + u16 op_mode; + u16 notif_config; + u16 wd_val; +} __packed; + +static int task_fn_mbox_2(struct anybuss_host *cd, struct ab_task *t) +{ + struct mbox_priv *pd = &t->mbox_pd; + unsigned int ind_ap; + + if (!cd->power_on) + return -EIO; + regmap_read(cd->regmap, REG_IND_AP, &ind_ap); + if (((atomic_read(&cd->ind_ab) ^ ind_ap) & IND_AX_MOUT) == 0) { + /* output message not here */ + if (time_after(jiffies, t->start_jiffies + TIMEOUT)) + return -ETIMEDOUT; + return -EINPROGRESS; + } + /* grab the returned header and msg */ + regmap_bulk_read(cd->regmap, MBOX_OUT_AREA, &pd->hdr, + sizeof(pd->hdr)); + regmap_bulk_read(cd->regmap, MBOX_OUT_AREA + sizeof(pd->hdr), + pd->msg, pd->msg_in_sz); + /* tell anybus we've consumed the message */ + ind_ap ^= IND_AX_MOUT; + return write_ind_ap(cd->regmap, ind_ap); +} + +static int task_fn_mbox(struct anybuss_host *cd, struct ab_task *t) +{ + struct mbox_priv *pd = &t->mbox_pd; + unsigned int ind_ap; + int ret; + + if (!cd->power_on) + return -EIO; + regmap_read(cd->regmap, REG_IND_AP, &ind_ap); + if ((atomic_read(&cd->ind_ab) ^ ind_ap) & IND_AX_MIN) { + /* mbox input area busy */ + if (time_after(jiffies, t->start_jiffies + TIMEOUT)) + return -ETIMEDOUT; + return -EINPROGRESS; + } + /* write the header and msg to input area */ + regmap_bulk_write(cd->regmap, MBOX_IN_AREA, &pd->hdr, + sizeof(pd->hdr)); + regmap_bulk_write(cd->regmap, MBOX_IN_AREA + sizeof(pd->hdr), + pd->msg, pd->msg_out_sz); + /* tell anybus we gave it a message */ + ind_ap ^= IND_AX_MIN; + ret = write_ind_ap(cd->regmap, ind_ap); + if (ret) + return ret; + t->start_jiffies = jiffies; + t->task_fn = task_fn_mbox_2; + return -EINPROGRESS; +} + +static const char * const O_MSGS[] = { + "Incorrect length of input I/O", /* bit 0 */ + "Incorrect length of DPRAM input", /* bit 1 */ + "Incorrect length of total input", /* bit 2 */ + "(reserved)", /* bit 3 */ + "Incorrect length of output I/O", /* bit 4 */ + "Incorrect length of DPRAM output", /* bit 5 */ + "Incorrect length of total output", /* bit 6 */ + "(reserved)", /* bit 7 */ + "Incorrect config of Module Status reg", /* bit 8 */ + "Incorrect config of Event Notification reg", /* bit 9 */ + "Incorrect Watchdog Counter difference value", /* bit 10 */ +}; + +static void log_invalid_other(struct device *dev, + struct anybus_mbox_hdr *hdr) +{ + int i; + size_t ext_offs = sizeof(hdr->extended) - 1; + u16 code = be16_to_cpu(hdr->extended[ext_offs]); + + dev_err(dev, " Invalid other: [0x%02X]", code); + for (i = 0; code != 0; code >>= 1, i++) + if ((code & 1) && (i < ARRAY_SIZE(O_MSGS))) + dev_err(dev, "\t%s", O_MSGS[i]); +} + +static const char * const EMSGS[] = { + "Invalid Message ID", + "Invalid Message Type", + "Invalid Command", + "Invalid Data Size", + "Message Header Malformed (offset 008h)", + "Message Header Malformed (offset 00Ah)", + "Message Header Malformed (offset 00Ch - 00Dh)", + "Invalid Address", + "Invalid Response", + "Flash Config Error", +}; + +static int mbox_cmd_err(struct device *dev, struct mbox_priv *mpriv) +{ + int i; + u8 ecode; + struct anybus_mbox_hdr *hdr = &mpriv->hdr; + u16 info = be16_to_cpu(hdr->info); + u8 *phdr = (u8 *)hdr; + u8 *pmsg = mpriv->msg; + + if (!(info & 0x8000)) + return 0; + ecode = (info >> 8) & 0x0F; + dev_err(dev, "mailbox command failed:"); + if (ecode == 0x0F) + log_invalid_other(dev, hdr); + else if (ecode < ARRAY_SIZE(EMSGS)) + dev_err(dev, " Error code: %s (0x%02X)", + EMSGS[ecode], ecode); + else + dev_err(dev, " Error code: 0x%02X\n", ecode); + dev_err(dev, "Failed command:"); + dev_err(dev, "Message Header:"); + for (i = 0; i < sizeof(mpriv->hdr); i += 2) + dev_err(dev, "%02X%02X", phdr[i], phdr[i+1]); + dev_err(dev, "Message Data:"); + for (i = 0; i < mpriv->msg_in_sz; i += 2) + dev_err(dev, "%02X%02X", pmsg[i], pmsg[i+1]); + dev_err(dev, "Stack dump:"); + dump_stack(); + return -EIO; +} + +static int _anybus_mbox_cmd(struct anybuss_host *cd, + u16 cmd_num, bool is_fb_cmd, + const void *msg_out, size_t msg_out_sz, + void *msg_in, size_t msg_in_sz, + const void *ext, size_t ext_sz) +{ + struct ab_task *t; + struct mbox_priv *pd; + struct anybus_mbox_hdr *h; + size_t msg_sz = max(msg_in_sz, msg_out_sz); + u16 info; + int err; + + if (msg_sz > MAX_MBOX_MSG_SZ) + return -EINVAL; + if (ext && (ext_sz > sizeof(h->extended))) + return -EINVAL; + t = ab_task_create_get(cd->qcache, task_fn_mbox); + if (!t) + return -ENOMEM; + pd = &t->mbox_pd; + h = &pd->hdr; + info = is_fb_cmd ? INFO_TYPE_FB : INFO_TYPE_APP; + /* prevent uninitialized memory in the header from being sent + * across the anybus + */ + memset(h, 0, sizeof(*h)); + h->info = cpu_to_be16(info | INFO_COMMAND); + h->cmd_num = cpu_to_be16(cmd_num); + h->data_size = cpu_to_be16(msg_out_sz); + h->frame_count = cpu_to_be16(1); + h->frame_num = cpu_to_be16(1); + h->offset_high = cpu_to_be16(0); + h->offset_low = cpu_to_be16(0); + if (ext) + memcpy(h->extended, ext, ext_sz); + memcpy(pd->msg, msg_out, msg_out_sz); + pd->msg_out_sz = msg_out_sz; + pd->msg_in_sz = msg_in_sz; + err = ab_task_enqueue_wait(&cd->wq, cd->mboxq, t, &cd->qlock); + if (err) + goto out; + /* mailbox mechanism worked ok, but maybe the mbox response + * contains an error ? + */ + err = mbox_cmd_err(cd->dev, pd); + if (err) + goto out; + memcpy(msg_in, pd->msg, msg_in_sz); +out: + ab_task_put(t); + return err; +} + +/* ------------------------ anybus queues ------------------------ */ + +static void process_q(struct anybuss_host *cd, struct kfifo *q) +{ + struct ab_task *t; + int ret; + + ret = kfifo_out_peek(q, &t, sizeof(t)); + if (!ret) + return; + t->result = t->task_fn(cd, t); + if (t->result != -EINPROGRESS) + ab_task_dequeue_finish_put(cd, q); +} + +static bool qs_have_work(struct kfifo *qs, size_t num) +{ + size_t i; + struct ab_task *t; + int ret; + + for (i = 0; i < num; i++, qs++) { + ret = kfifo_out_peek(qs, &t, sizeof(t)); + if (ret && (t->result != -EINPROGRESS)) + return true; + } + return false; +} + +static void process_qs(struct anybuss_host *cd) +{ + size_t i; + struct kfifo *qs = cd->qs; + size_t nqs = ARRAY_SIZE(cd->qs); + + for (i = 0; i < nqs; i++, qs++) + process_q(cd, qs); +} + +static void softint_ack(struct anybuss_host *cd) +{ + unsigned int ind_ap; + + cd->softint_pending = false; + if (!cd->power_on) + return; + regmap_read(cd->regmap, REG_IND_AP, &ind_ap); + ind_ap &= ~IND_AX_EVNT; + ind_ap |= atomic_read(&cd->ind_ab) & IND_AX_EVNT; + write_ind_ap(cd->regmap, ind_ap); +} + +static void process_softint(struct anybuss_host *cd) +{ + static const u8 zero; + int ret; + unsigned int ind_ap, ev; + struct ab_task *t; + + if (!cd->power_on) + return; + if (cd->softint_pending) + return; + regmap_read(cd->regmap, REG_IND_AP, &ind_ap); + if (!((atomic_read(&cd->ind_ab) ^ ind_ap) & IND_AX_EVNT)) + return; + /* process software interrupt */ + regmap_read(cd->regmap, REG_EVENT_CAUSE, &ev); + if (ev & EVENT_CAUSE_FBON) { + atomic_set(&cd->fieldbus_online, 1); + sysfs_notify_dirent(cd->fieldbus_online_sd); + dev_dbg(cd->dev, "Fieldbus ON"); + } + if (ev & EVENT_CAUSE_FBOF) { + atomic_set(&cd->fieldbus_online, 0); + sysfs_notify_dirent(cd->fieldbus_online_sd); + dev_dbg(cd->dev, "Fieldbus OFF"); + } + if (ev & EVENT_CAUSE_DC) { + atomic_inc(&cd->dc_event); + wake_up_all(&cd->dc_wq); + dev_dbg(cd->dev, "Fieldbus data changed"); + } + /* reset the event cause bits. + * this must be done while owning the fbctrl area, so we'll + * enqueue a task to do that. + */ + t = create_area_writer(cd->qcache, IND_AX_FBCTRL, + REG_EVENT_CAUSE, &zero, sizeof(zero)); + if (!t) { + ret = -ENOMEM; + goto out; + } + t->done_fn = softint_ack; + ret = ab_task_enqueue(&cd->wq, cd->areaq, t, &cd->qlock); + ab_task_put(t); + cd->softint_pending = true; +out: + WARN_ON(ret); + if (ret) + softint_ack(cd); +} + +static int qthread_fn(void *data) +{ + struct anybuss_host *cd = data; + struct kfifo *qs = cd->qs; + size_t nqs = ARRAY_SIZE(cd->qs); + unsigned int ind_ab; + + while (!kthread_should_stop()) { + ind_ab = atomic_read(&cd->ind_ab); + process_qs(cd); + process_softint(cd); + wait_event_timeout(cd->wq, + (atomic_read(&cd->ind_ab) != ind_ab) || + qs_have_work(qs, nqs) || + kthread_should_stop(), + HZ); + } + + return 0; +} + +/* ------------------------ anybus exports ------------------------ */ + +int anybuss_start_init(struct anybuss_client *client, + const struct anybuss_memcfg *cfg) +{ + int ret; + u16 op_mode; + struct anybuss_host *cd = client->host; + struct msgAnybusInit msg = { + .input_io_len = cpu_to_be16(cfg->input_io), + .input_dpram_len = cpu_to_be16(cfg->input_dpram), + .input_total_len = cpu_to_be16(cfg->input_total), + .output_io_len = cpu_to_be16(cfg->output_io), + .output_dpram_len = cpu_to_be16(cfg->output_dpram), + .output_total_len = cpu_to_be16(cfg->output_total), + .notif_config = cpu_to_be16(0x000F), + .wd_val = cpu_to_be16(0), + }; + + switch (cfg->offl_mode) { + case AB_OFFL_MODE_CLEAR: + op_mode = 0; + break; + case AB_OFFL_MODE_FREEZE: + op_mode = OP_MODE_FBFC; + break; + case AB_OFFL_MODE_SET: + op_mode = OP_MODE_FBS; + break; + default: + return -EINVAL; + } + msg.op_mode = cpu_to_be16(op_mode | OP_MODE_CD); + ret = _anybus_mbox_cmd(cd, CMD_START_INIT, false, NULL, 0, + NULL, 0, NULL, 0); + if (ret) + return ret; + return _anybus_mbox_cmd(cd, CMD_ANYBUS_INIT, false, + &msg, sizeof(msg), NULL, 0, NULL, 0); +} +EXPORT_SYMBOL_GPL(anybuss_start_init); + +int anybuss_finish_init(struct anybuss_client *client) +{ + struct anybuss_host *cd = client->host; + + return _anybus_mbox_cmd(cd, CMD_END_INIT, false, NULL, 0, + NULL, 0, NULL, 0); +} +EXPORT_SYMBOL_GPL(anybuss_finish_init); + +int anybuss_read_fbctrl(struct anybuss_client *client, u16 addr, + void *buf, size_t count) +{ + struct anybuss_host *cd = client->host; + struct ab_task *t; + int ret; + + if (count == 0) + return 0; + if (!area_range_ok(addr, count, FBCTRL_AREA, + MAX_FBCTRL_AREA_SZ)) + return -EFAULT; + t = create_area_reader(cd->qcache, IND_AX_FBCTRL, addr, count); + if (!t) + return -ENOMEM; + ret = ab_task_enqueue_wait(&cd->wq, cd->areaq, t, &cd->qlock); + if (ret) + goto out; + memcpy(buf, t->area_pd.buf, count); +out: + ab_task_put(t); + return ret; +} +EXPORT_SYMBOL_GPL(anybuss_read_fbctrl); + +int anybuss_write_input(struct anybuss_client *client, + const char __user *buf, size_t size, + loff_t *offset) +{ + ssize_t len = min_t(loff_t, MAX_DATA_AREA_SZ - *offset, size); + struct anybuss_host *cd = client->host; + struct ab_task *t; + int ret; + + if (len <= 0) + return 0; + t = create_area_user_writer(cd->qcache, IND_AX_IN, + DATA_IN_AREA + *offset, buf, len); + if (IS_ERR(t)) + return PTR_ERR(t); + ret = ab_task_enqueue_wait(&cd->wq, cd->areaq, t, &cd->qlock); + ab_task_put(t); + if (ret) + return ret; + /* success */ + *offset += len; + return len; +} +EXPORT_SYMBOL_GPL(anybuss_write_input); + +int anybuss_read_output(struct anybuss_client *client, int *dc_event, + char __user *buf, size_t size, + loff_t *offset) +{ + ssize_t len = min_t(loff_t, MAX_DATA_AREA_SZ - *offset, size); + struct anybuss_host *cd = client->host; + struct ab_task *t; + int ret; + + if (len <= 0) + return 0; + t = create_area_reader(cd->qcache, IND_AX_OUT, + DATA_OUT_AREA + *offset, len); + if (!t) + return -ENOMEM; + *dc_event = atomic_read(&cd->dc_event); + ret = ab_task_enqueue_wait(&cd->wq, cd->areaq, t, &cd->qlock); + if (ret) + goto out; + if (copy_to_user(buf, t->area_pd.buf, len)) + ret = -EFAULT; +out: + ab_task_put(t); + if (ret) + return ret; + /* success */ + *offset += len; + return len; +} +EXPORT_SYMBOL_GPL(anybuss_read_output); + +unsigned int anybuss_poll(struct anybuss_client *client, int dc_event, + struct file *filp, poll_table *wait) +{ + struct anybuss_host *cd = client->host; + unsigned int mask = POLLIN | POLLRDNORM | POLLOUT | POLLWRNORM; + + poll_wait(filp, &cd->dc_wq, wait); + /* data changed ? */ + if (atomic_read(&cd->dc_event) != dc_event) + mask |= POLLPRI | POLLERR; + return mask; +} +EXPORT_SYMBOL_GPL(anybuss_poll); + +int anybuss_send_msg(struct anybuss_client *client, u16 cmd_num, + const void *buf, size_t count) +{ + struct anybuss_host *cd = client->host; + + return _anybus_mbox_cmd(cd, cmd_num, true, buf, count, NULL, 0, + NULL, 0); +} +EXPORT_SYMBOL_GPL(anybuss_send_msg); + +int anybuss_send_ext(struct anybuss_client *client, u16 cmd_num, + const void *buf, size_t count) +{ + struct anybuss_host *cd = client->host; + + return _anybus_mbox_cmd(cd, cmd_num, true, NULL, 0, NULL, 0, + buf, count); +} +EXPORT_SYMBOL_GPL(anybuss_send_ext); + +int anybuss_recv_msg(struct anybuss_client *client, u16 cmd_num, + void *buf, size_t count) +{ + struct anybuss_host *cd = client->host; + + return _anybus_mbox_cmd(cd, cmd_num, true, NULL, 0, buf, count, + NULL, 0); +} +EXPORT_SYMBOL_GPL(anybuss_recv_msg); + +/* ------------------------ bus functions ------------------------ */ + +static int anybus_bus_match(struct device *dev, + struct device_driver *drv) +{ + struct anybuss_client_driver *adrv = + to_anybuss_client_driver(drv); + struct anybuss_client *adev = + to_anybuss_client(dev); + + return adrv->fieldbus_type == adev->fieldbus_type; +} + +static int anybus_bus_probe(struct device *dev) +{ + struct anybuss_client_driver *adrv = + to_anybuss_client_driver(dev->driver); + struct anybuss_client *adev = + to_anybuss_client(dev); + + if (!adrv->probe) + return -ENODEV; + return adrv->probe(adev); +} + +static int anybus_bus_remove(struct device *dev) +{ + struct anybuss_client_driver *adrv = + to_anybuss_client_driver(dev->driver); + + if (adrv->remove) + return adrv->remove(to_anybuss_client(dev)); + return 0; +} + +static struct bus_type anybus_bus = { + .name = "anybuss", + .match = anybus_bus_match, + .probe = anybus_bus_probe, + .remove = anybus_bus_remove, +}; + +int anybuss_client_driver_register(struct anybuss_client_driver *drv) +{ + drv->driver.bus = &anybus_bus; + return driver_register(&drv->driver); +} +EXPORT_SYMBOL_GPL(anybuss_client_driver_register); + +void anybuss_client_driver_unregister(struct anybuss_client_driver *drv) +{ + return driver_unregister(&drv->driver); +} +EXPORT_SYMBOL_GPL(anybuss_client_driver_unregister); + +/* ------------------------ attributes ------------------------ */ + +static ssize_t state_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct anybuss_host *cd = dev_get_drvdata(dev); + + return snprintf(buf, PAGE_SIZE, "%s\n", + atomic_read(&cd->fieldbus_online) ? + "online" : "offline"); +} + +static DEVICE_ATTR_RO(state); + +static struct attribute *ctrl_attrs[] = { + &dev_attr_state.attr, + NULL +}; + +static struct attribute_group ctrl_group = { .attrs = ctrl_attrs }; + +static void client_device_release(struct device *dev) +{ + kfree(to_anybuss_client(dev)); +} + +static int taskq_alloc(struct device *dev, struct kfifo *q) +{ + void *buf; + size_t size = 64 * sizeof(struct ab_task *); + + buf = devm_kzalloc(dev, size, GFP_KERNEL); + if (!buf) + return -EIO; + return kfifo_init(q, buf, size); +} + +static int anybus_host_probe(struct platform_device *pdev) +{ + int ret, i; + u8 val[4]; + u16 fieldbus_type; + struct anybuss_host *cd; + struct device *dev = &pdev->dev; + struct device *parent = dev->parent; + struct resource *res; + struct anybuss_host_pdata *pdata = + dev_get_platdata(&pdev->dev); + + if (!pdata) { + dev_err(dev, "need platform data"); + return -EINVAL; + } + if (!pdev->dev.parent) { + dev_err(dev, "need parent device"); + return -EINVAL; + } + cd = devm_kzalloc(dev, sizeof(*cd), GFP_KERNEL); + if (!cd) + return -ENOMEM; + cd->dev = dev; + cd->parent = parent; + init_completion(&cd->card_boot); + init_waitqueue_head(&cd->wq); + init_waitqueue_head(&cd->dc_wq); + for (i = 0; i < ARRAY_SIZE(cd->qs); i++) { + ret = taskq_alloc(dev, &cd->qs[i]); + if (ret) + return ret; + } + if (WARN_ON(ARRAY_SIZE(cd->qs) < 3)) + return -EINVAL; + cd->powerq = &cd->qs[0]; + cd->mboxq = &cd->qs[1]; + cd->areaq = &cd->qs[2]; + cd->reset = pdata->reset; + cd->regmap = pdata->regmap; + spin_lock_init(&cd->qlock); + atomic_set(&cd->dc_event, 0); + atomic_set(&cd->fieldbus_online, 0); + cd->qcache = kmem_cache_create(dev_name(dev), + sizeof(struct ab_task), 0, 0, NULL); + if (!cd->qcache) + return -ENOMEM; + res = platform_get_resource(pdev, IORESOURCE_IRQ, 0); + if (!res) { + dev_err(dev, "need irq resource"); + ret = -ENOENT; + goto err_qcache; + } + cd->irq = res->start; + /* use a dpram test to check if a card is present, this is only + * possible while in reset. + */ + cd->reset(parent, true); + if (test_dpram(cd->regmap)) { + dev_err(dev, "no Anybus-S card in slot"); + ret = -ENODEV; + goto err_qcache; + } + ret = request_irq(cd->irq, irq_handler, IRQF_TRIGGER_LOW, + dev_name(dev), cd); + if (ret) { + dev_err(dev, "could not request irq"); + goto err_qcache; + } + /* startup sequence: + * perform dummy IND_AB read to prevent false 'init done' irq + * (already done by test_dpram() above) + * release reset + * wait for first interrupt + * interrupt came in: ready to go ! + */ + cd->reset(parent, false); + ret = wait_for_completion_timeout(&cd->card_boot, TIMEOUT); + if (ret == 0) + ret = -ETIMEDOUT; + if (ret < 0) + goto err_irq; + /* according to the anybus docs, we're allowed to read these + * without handshaking / reserving the area + */ + dev_info(dev, "Anybus-S card detected"); + regmap_bulk_read(cd->regmap, REG_BOOTLOADER_V, val, 2); + dev_info(dev, "Bootloader version: %02X%02X", + val[0], val[1]); + regmap_bulk_read(cd->regmap, REG_API_V, val, 2); + dev_info(dev, "API version: %02X%02X", val[0], val[1]); + regmap_bulk_read(cd->regmap, REG_FIELDBUS_V, val, 2); + dev_info(dev, "Fieldbus version: %02X%02X", val[0], val[1]); + regmap_bulk_read(cd->regmap, REG_SERIAL_NO, val, 4); + dev_info(dev, "Serial number: %02X%02X%02X%02X", + val[0], val[1], val[2], val[3]); + regmap_bulk_read(cd->regmap, REG_FIELDBUS_TYPE, &fieldbus_type, + sizeof(fieldbus_type)); + fieldbus_type = be16_to_cpu(fieldbus_type); + dev_info(dev, "Fieldbus type: %04X", fieldbus_type); + regmap_bulk_read(cd->regmap, REG_MODULE_SW_V, val, 2); + dev_info(dev, "Module SW version: %02X%02X", + val[0], val[1]); + /* put card back reset until a client driver releases it */ + disable_irq(cd->irq); + cd->reset(parent, true); + atomic_set(&cd->ind_ab, IND_AB_UPDATED); + /* attributes */ + ret = sysfs_create_group(&dev->kobj, &ctrl_group); + if (ret < 0) + goto err_irq; + cd->fieldbus_online_sd = + sysfs_get_dirent(dev->kobj.sd, "state"); + if (!cd->fieldbus_online_sd) { + ret = -ENODEV; + goto err_sysfs; + } + /* fire up the queue thread */ + cd->qthread = kthread_run(qthread_fn, cd, dev_name(dev)); + if (IS_ERR(cd->qthread)) { + dev_err(dev, "could not create kthread"); + ret = PTR_ERR(cd->qthread); + goto err_dirent; + } + /* now advertise that we've detected a client device (card). + * the bus infrastructure will match it to a client driver. + */ + cd->client = kzalloc(sizeof(*cd->client), GFP_KERNEL); + if (!cd->client) { + ret = -ENOMEM; + goto err_kthread; + } + cd->client->fieldbus_type = fieldbus_type; + cd->client->host = cd; + cd->client->dev.bus = &anybus_bus; + cd->client->dev.parent = dev; + cd->client->dev.id = pdev->id; + cd->client->dev.release = client_device_release; + dev_set_name(&cd->client->dev, "%s.card0", + dev_name(&pdev->dev)); + ret = device_register(&cd->client->dev); + if (ret) + goto err_client; + platform_set_drvdata(pdev, cd); + dev_set_drvdata(dev, cd); + return 0; +err_client: + put_device(&cd->client->dev); +err_kthread: + kthread_stop(cd->qthread); +err_dirent: + sysfs_put(cd->fieldbus_online_sd); +err_sysfs: + sysfs_remove_group(&dev->kobj, &ctrl_group); +err_irq: + free_irq(cd->irq, cd); + cd->reset(parent, true); +err_qcache: + kmem_cache_destroy(cd->qcache); + return ret; +} + +static int anybus_host_remove(struct platform_device *pdev) +{ + struct anybuss_host *cd = platform_get_drvdata(pdev); + + device_unregister(&cd->client->dev); + kthread_stop(cd->qthread); + sysfs_put(cd->fieldbus_online_sd); + sysfs_remove_group(&cd->dev->kobj, &ctrl_group); + free_irq(cd->irq, cd); + cd->reset(cd->parent, true); + kmem_cache_destroy(cd->qcache); + return 0; +} + +static struct platform_driver anybus_host_driver = { + .probe = anybus_host_probe, + .remove = anybus_host_remove, + .driver = { + .name = "anybuss-host", + }, +}; + +static int __init anybus_init(void) +{ + int ret; + + ret = bus_register(&anybus_bus); + if (ret) { + pr_err("could not register Anybus-S bus: %d\n", ret); + return ret; + } + return platform_driver_register(&anybus_host_driver); +} +module_init(anybus_init); + +static void __exit anybus_exit(void) +{ + platform_driver_unregister(&anybus_host_driver); + bus_unregister(&anybus_bus); +} +module_exit(anybus_exit); + +MODULE_DESCRIPTION("HMS Anybus-S Host Driver"); +MODULE_AUTHOR("Sven Van Asbroeck <svendev@xxxxxxxx>"); +MODULE_LICENSE("GPL v2"); diff --git a/include/linux/anybuss-client.h b/include/linux/anybuss-client.h new file mode 100644 index 000000000000..9d439d1a496f --- /dev/null +++ b/include/linux/anybuss-client.h @@ -0,0 +1,100 @@ +/* SPDX-License-Identifier: GPL-2.0 */ +/* + * Anybus-S client adapter definitions + * + * Copyright 2018 Arcx Inc + */ + +#ifndef __LINUX_ANYBUSS_CLIENT_H__ +#define __LINUX_ANYBUSS_CLIENT_H__ + +#include <linux/device.h> +#include <linux/types.h> +#include <linux/poll.h> + +struct anybuss_host; + +struct anybuss_client { + struct device dev; + struct anybuss_host *host; + u16 fieldbus_type; +}; + +struct anybuss_client_driver { + struct device_driver driver; + int (*probe)(struct anybuss_client *adev); + int (*remove)(struct anybuss_client *adev); + u16 fieldbus_type; +}; + +int anybuss_client_driver_register(struct anybuss_client_driver *drv); +void anybuss_client_driver_unregister( + struct anybuss_client_driver *drv); + +static inline struct anybuss_client *to_anybuss_client( + struct device *dev) +{ + return container_of(dev, struct anybuss_client, dev); +} + +static inline struct anybuss_client_driver *to_anybuss_client_driver( + struct device_driver *drv) +{ + return container_of(drv, struct anybuss_client_driver, driver); +} + +static inline void * +anybuss_get_drvdata(const struct anybuss_client *client) +{ + return dev_get_drvdata(&client->dev); +} + +static inline void +anybuss_set_drvdata(struct anybuss_client *client, void *data) +{ + dev_set_drvdata(&client->dev, data); +} + +int anybuss_set_power(struct anybuss_client *client, bool power_on); + +enum anybuss_offl_mode { + AB_OFFL_MODE_CLEAR = 0, + AB_OFFL_MODE_FREEZE, + AB_OFFL_MODE_SET +}; + +struct anybuss_memcfg { + u16 input_io; + u16 input_dpram; + u16 input_total; + + u16 output_io; + u16 output_dpram; + u16 output_total; + + enum anybuss_offl_mode offl_mode; +}; + +int anybuss_start_init(struct anybuss_client *client, + const struct anybuss_memcfg *cfg); +int anybuss_finish_init(struct anybuss_client *client); +int anybuss_read_fbctrl(struct anybuss_client *client, u16 addr, + void *buf, size_t count); +int anybuss_send_msg(struct anybuss_client *client, u16 cmd_num, + const void *buf, size_t count); +int anybuss_send_ext(struct anybuss_client *client, u16 cmd_num, + const void *buf, size_t count); +int anybuss_recv_msg(struct anybuss_client *client, u16 cmd_num, + void *buf, size_t count); + +/* these help clients make a struct file_operations */ +int anybuss_write_input(struct anybuss_client *client, + const char __user *buf, size_t size, + loff_t *offset); +int anybuss_read_output(struct anybuss_client *client, int *dc_event, + char __user *buf, size_t size, + loff_t *offset); +unsigned int anybuss_poll(struct anybuss_client *client, + int dc_event, struct file *filp, poll_table *wait); + +#endif /* __LINUX_ANYBUSS_CLIENT_H__ */ -- 2.17.1
