leon,grcanfd: split out GRCANFD specific support in separate file

Update #4324.

bsps/shared/grlib-sources.am

@@ -23,6 +23,7 @@ librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/btimer/tlib_ckinit.
 librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/canbtrs.c
 librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/canmux.c
 librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/grcan.c
+librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/grcanfd.c
 librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/occan.c
 librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/can/satcan.c
 librtemsbsp_a_SOURCES += ../../../../../../bsps/shared/grlib/drvmgr/ambapp_bus.c

bsps/shared/grlib/can/grcan_internal.h

@@ -0,0 +1,140 @@
+/*
+ *  GRCAN driver
+ *
+ *  COPYRIGHT (c) 2007-2019.
+ *  Cobham Gaisler AB.
+ *
+ *  The license and distribution terms for this file may be
+ *  found in the file LICENSE in this distribution or at
+ *  http://www.rtems.org/license/LICENSE.
+ */
+
+#ifndef GRCAN_DEFAULT_BAUD
+ /* default to 500kbits/s */
+ #define GRCAN_DEFAULT_BAUD 500000
+#endif
+
+#ifndef GRCAN_SAMPLING_POINT
+ #define GRCAN_SAMPLING_POINT 80
+#endif
+
+#define WRAP_AROUND_TX_MSGS 1
+#define WRAP_AROUND_RX_MSGS 2
+#define GRCAN_MSG_SIZE sizeof(struct grcan_msg)
+
+struct grcan_msg {
+	unsigned int head[2];
+	unsigned char data[8];
+};
+
+struct grcan_config {
+	struct grcan_timing timing;
+	struct grcanfd_timing timing_fd;
+	struct grcan_selection selection;
+	int abort;
+	int silent;
+};
+
+struct grcan_priv {
+	struct drvmgr_dev *dev;	/* Driver manager device */
+	char devName[32];	/* Device Name */
+	unsigned int baseaddr, ram_base;
+	struct grcan_regs *regs;
+	int irq;
+	int minor;
+	int open;
+	int started;
+	unsigned int channel;
+	int flushing;
+	unsigned int corefreq_hz;
+	int fd_capable;
+
+	/* Circular DMA buffers */
+	void *_rx, *_rx_hw;
+	void *_tx, *_tx_hw;
+	void *txbuf_adr;
+	void *rxbuf_adr;
+	struct grcan_msg *rx;
+	struct grcan_msg *tx;
+	unsigned int rxbuf_size;    /* requested RX buf size in bytes */
+	unsigned int txbuf_size;    /* requested TX buf size in bytes */
+
+	int txblock, rxblock;
+	int txcomplete, rxcomplete;
+
+	struct grcan_filter sfilter;
+	struct grcan_filter afilter;
+	int config_changed; /* 0=no changes, 1=changes ==> a Core reset is needed */
+	struct grcan_config config;
+	struct grcan_stats stats;
+
+	rtems_id rx_sem, tx_sem, txempty_sem, dev_sem;
+	SPIN_DECLARE(devlock);
+};
+
+#ifdef GRCAN_REG_BYPASS_CACHE
+#define READ_REG(address) grlib_read_uncached32((unsigned int)(address))
+#else
+#define READ_REG(address) (*(volatile unsigned int *)(address))
+#endif
+
+#ifdef GRCAN_DMA_BYPASS_CACHE
+#define READ_DMA_DOUBLE(address) grlib_read_uncached64((uint64_t *)(address))
+#define READ_DMA_WORD(address) grlib_read_uncached32((unsigned int)(address))
+#define READ_DMA_BYTE(address) grlib_read_uncached8((unsigned int)(address))
+#else
+#define READ_DMA_DOUBLE(address) (*(volatile uint64_t *)(address))
+#define READ_DMA_WORD(address) (*(volatile unsigned int *)(address))
+#define READ_DMA_BYTE(address) (*(volatile unsigned char *)(address))
+#endif
+
+extern int state2err[4];
+extern struct grlib_canbtrs_ranges grcan_btrs_ranges;
+extern struct grlib_canbtrs_ranges grcanfd_nom_btrs_ranges;
+extern struct grlib_canbtrs_ranges grcanfd_fd_btrs_ranges;
+
+int grcan_wait_rxdata(struct grcan_priv *pDev, int min);
+int grcan_wait_txspace(struct grcan_priv *pDev, int min);
+
+static inline unsigned int grcan_hw_rxavail(
+	unsigned int rp,
+	unsigned int wp,
+	unsigned int size)
+{
+	if (rp == wp) {
+		/* read pointer and write pointer is equal only
+		 * when RX buffer is empty.
+		 */
+		return 0;
+	}
+
+	if (wp > rp) {
+		return (wp - rp) / GRCAN_MSG_SIZE;
+	} else {
+		return (size - (rp - wp)) / GRCAN_MSG_SIZE;
+	}
+}
+
+static inline unsigned int grcan_hw_txspace(
+	unsigned int rp,
+	unsigned int wp,
+	unsigned int size)
+{
+	unsigned int left;
+
+	if (rp == wp) {
+		/* read pointer and write pointer is equal only
+		 * when TX buffer is empty.
+		 */
+		return size / GRCAN_MSG_SIZE - WRAP_AROUND_TX_MSGS;
+	}
+
+	/* size - 4 - abs(read-write) */
+	if (wp > rp) {
+		left = size - (wp - rp);
+	} else {
+		left = rp - wp;
+	}
+
+	return left / GRCAN_MSG_SIZE - WRAP_AROUND_TX_MSGS;
+}

spec/build/bsps/objgrlib.yml

@@ -103,6 +103,7 @@ source:
 - bsps/shared/grlib/can/canbtrs.c
 - bsps/shared/grlib/can/canmux.c
 - bsps/shared/grlib/can/grcan.c
+- bsps/shared/grlib/can/grcanfd.c
 - bsps/shared/grlib/can/occan.c
 - bsps/shared/grlib/can/satcan.c
 - bsps/shared/grlib/drvmgr/ambapp_bus.c