1 /* can_devrtl.c - CAN message queues functions for the RT-Linux
2 * Linux CAN-bus device driver.
3 * New CAN queues by Pavel Pisa - OCERA team member
4 * email:pisa@cmp.felk.cvut.cz
5 * This software is released under the GPL-License.
6 * Version lincan-0.3 17 Jun 2004
11 #include "../include/can.h"
12 #include "../include/can_sysdep.h"
13 #include "../include/can_queue.h"
14 #include "../include/main.h"
15 #include "../include/setup.h"
17 #include <rtl_malloc.h>
19 can_spinlock_t can_irq_manipulation_lock;
21 unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
24 struct candevice_t *candev;
28 pthread_t thread=NULL;
30 DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
32 /* I hate next loop, but RT-Linux does not provide context to ISR */
33 for (board_nr=hardware_p->nr_boards; board_nr--; ) {
34 if((candev=hardware_p->candevice[board_nr])==NULL)
36 for(chip_nr=candev->nr_all_chips; chip_nr--; ) {
37 if((chip=candev->chip[chip_nr])==NULL)
39 if(chip->chip_irq!=irq_num) continue;
41 set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
42 set_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags);
43 if(chip->flags & CHIP_IRQ_PCI)
45 if(!chip->worker_thread) continue;
46 thread=chip->worker_thread;
47 pthread_kill(thread,RTL_SIGNAL_WAKEUP);
52 rtl_global_pend_irq(irq_num);
54 /*if(thread) rtl_reschedule_thread(thread);*/
64 RTL_MARK_READY(pthread_self())
65 RTL_MARK_SUSPENDED(pthread_self());
66 return rtl_schedule();
70 rtl_end_critical( state )
71 rtl_request_global_irq( irq, isr );
72 rtl_free_global_irq( irq )
75 void * can_chip_worker_thread(void *arg)
77 struct chip_t *chip = (struct chip_t *) arg;
85 if (!(chip->flags & CHIP_CONFIGURED)){
86 if (chip->chipspecops->chip_config(chip))
87 CANMSG("Error configuring chip.\n");
89 chip->flags |= CHIP_CONFIGURED;
91 if((chip->msgobj[0])!=NULL)
92 if (chip->chipspecops->pre_read_config(chip,chip->msgobj[0])<0)
93 CANMSG("Error initializing chip for receiving\n");
95 } /* End of chip configuration */
96 set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
100 DEBUGMSG("Worker thread for chip %d active\n",chip->chip_idx);
101 if(test_and_clear_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags)){
102 DEBUGMSG("IRQ_REQUEST processing ...\n");
104 if(chip->chipspecops->irq_handler) do{
105 ret=chip->chipspecops->irq_handler(chip->chip_irq,chip,NULL);
106 }while(ret && --loop_cnt);
109 if(test_and_clear_bit(MSGOBJ_TX_REQUEST_b,&chip->pend_flags)){
110 DEBUGMSG("TX_REQUEST processing ...\n");
111 for(i=0;i<chip->max_objects;i++){
112 if((obj=chip->msgobj[i])==NULL)
114 if(can_msgobj_test_fl(obj,TX_REQUEST)) {
115 DEBUGMSG("Calling wakeup_tx\n");
116 chip->chipspecops->wakeup_tx(chip, obj);
118 if(can_msgobj_test_fl(obj,FILTCH_REQUEST)) {
119 DEBUGMSG("Calling filtch_rq\n");
120 if(chip->chipspecops->filtch_rq)
121 chip->chipspecops->filtch_rq(chip, obj);
127 /*re-enable chip IRQ, I am not sure, if this is required,
128 but it seems to not work without that */
129 if(chip->chip_irq>=0)
130 can_enable_irq(chip->chip_irq);
132 RTL_MARK_SUSPENDED(pthread_self());
133 if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
134 RTL_MARK_READY(pthread_self());
144 int can_chip_setup_irq(struct chip_t *chip)
147 struct sched_param sched_param;
148 pthread_attr_t attrib;
149 pthread_attr_t *attrib_p=NULL;
154 if(can_rtl_priority>=0){
155 pthread_attr_init(&attrib);
156 sched_param.sched_priority = can_rtl_priority;
157 pthread_attr_setschedparam(&attrib, &sched_param);
158 /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */
162 if(chip->chipspecops->irq_handler){
163 if (rtl_request_irq(chip->chip_irq,can_rtl_isr))
166 DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
167 chip->flags |= CHIP_IRQ_SETUP;
170 ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip);
171 if(ret<0) chip->worker_thread=NULL;
177 void can_chip_free_irq(struct chip_t *chip)
179 if(chip->worker_thread)
180 pthread_delete_np(chip->worker_thread);
181 if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)) {
182 rtl_free_irq(chip->chip_irq);
183 chip->flags &= ~CHIP_IRQ_SETUP;
188 #endif /*CAN_WITH_RTL*/