lincan/src/can_devrtl.c

   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
   7  */
   8
   9 #ifdef CAN_WITH_RTL
  10
  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"
  16
  17 #include <rtl_malloc.h>
  18
  19 #ifdef CAN_ENABLE_VME_SUPPORT
  20 #include "ca91c042.h"
  21 /* Modified version of ca91c042 driver can be found in
  22  * components/comm/contrib directory. */
  23 #endif
  24
  25 can_spinlock_t can_irq_manipulation_lock;
  26
  27 unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
  28 {
  29         struct canchip_t *chip;
  30         struct candevice_t *candev;
  31         int board_nr;
  32         int chip_nr;
  33         int irq2linux=0;
  34         int ret;
  35         pthread_t thread=NULL;
  36
  37         DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
  38
  39         /* I hate next loop, but RT-Linux does not provide context to ISR */
  40         for (board_nr=hardware_p->nr_boards; board_nr--; ) {
  41                 if((candev=hardware_p->candevice[board_nr])==NULL)
  42                         continue;
  43                 for(chip_nr=candev->nr_all_chips; chip_nr--; ) {
  44                         if((chip=candev->chip[chip_nr])==NULL)
  45                                 continue;
  46                         if(chip->chip_irq!=irq_num) continue;
  47
  48                         if(chip->chipspecops->irq_accept)
  49                                 ret=chip->chipspecops->irq_accept(chip->chip_irq,chip);
  50
  51                         set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
  52                         set_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags);
  53                         if(chip->flags & CHIP_IRQ_PCI)
  54                                 irq2linux=1;
  55 #ifdef CAN_ENABLE_VME_SUPPORT
  56                         if (chip->flags & CHIP_IRQ_VME)
  57                                 tundra_rtl_ack_irq_vector(irq_num);
  58 #endif
  59                         if(!chip->worker_thread) continue;
  60                         thread=chip->worker_thread;
  61                         pthread_kill(thread,RTL_SIGNAL_WAKEUP);
  62                 }
  63         }
  64
  65         /* The following lines are commented out because of it is not
  66          * possible to share level activated (PCI) IRQs between Linux
  67          * and RT-Linux. */
  68 /*      if(irq2linux) */
  69 /*              rtl_global_pend_irq(irq_num); */
  70
  71         /*if(thread) rtl_reschedule_thread(thread);*/
  72
  73         rtl_schedule();
  74
  75         return 0;
  76 }
  77
  78
  79
  80 /*
  81 RTL_MARK_READY(pthread_self())
  82 RTL_MARK_SUSPENDED(pthread_self());
  83 return rtl_schedule();
  84 can_enable_irq
  85 can_disable_irq
  86 rtl_critical( state )
  87 rtl_end_critical( state )
  88 rtl_request_global_irq( irq, isr );
  89 rtl_free_global_irq( irq )
  90 */
  91
  92 void * can_chip_worker_thread(void *arg)
  93 {
  94         struct canchip_t *chip = (struct canchip_t *) arg;
  95         struct msgobj_t *obj;
  96         int ret, i;
  97         int loop_cnt;
  98         rtl_irqstate_t flags;
  99
 100         if(!chip) return 0;
 101
 102
 103         if (!(chip->flags & CHIP_CONFIGURED)){
 104                 if (chip->chipspecops->chip_config(chip))
 105                         CANMSG("Error configuring chip.\n");
 106                 else
 107                         chip->flags |= CHIP_CONFIGURED;
 108
 109                 if((chip->msgobj[0])!=NULL)
 110                         if (chip->chipspecops->pre_read_config(chip,chip->msgobj[0])<0)
 111                                 CANMSG("Error initializing chip for receiving\n");
 112
 113         } /* End of chip configuration */
 114         set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
 115
 116
 117         while (1) {
 118                 DEBUGMSG("Worker thread for chip %d active\n",chip->chip_idx);
 119                 if(test_and_clear_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags)){
 120                         DEBUGMSG("IRQ_REQUEST processing ...\n");
 121                         loop_cnt = 100;
 122                         if(chip->chipspecops->irq_handler) do{
 123                                 ret=chip->chipspecops->irq_handler(chip->chip_irq,chip);
 124                         }while(ret && --loop_cnt);
 125                         continue;
 126                 }
 127                 if(test_and_clear_bit(MSGOBJ_TX_REQUEST_b,&chip->pend_flags)){
 128                         DEBUGMSG("TX_REQUEST processing ...\n");
 129                         for(i=0;i<chip->max_objects;i++){
 130                                 if((obj=chip->msgobj[i])==NULL)
 131                                         continue;
 132                                 if(can_msgobj_test_fl(obj,TX_REQUEST)) {
 133                                         DEBUGMSG("Calling wakeup_tx\n");
 134                                         chip->chipspecops->wakeup_tx(chip, obj);
 135                                 }
 136                                 if(can_msgobj_test_fl(obj,FILTCH_REQUEST)) {
 137                                         DEBUGMSG("Calling filtch_rq\n");
 138                                         if(chip->chipspecops->filtch_rq)
 139                                                 chip->chipspecops->filtch_rq(chip, obj);
 140                                 }
 141                         }
 142                         continue;
 143                 }
 144
 145                 /*re-enable chip IRQ, I am not sure, if this is required,
 146                   but it seems to not work without that */
 147                 if(chip->chip_irq>=0) {
 148                         if ((chip->flags & CHIP_IRQ_VME) == 0) can_enable_irq(chip->chip_irq);
 149                     #ifdef CAN_ENABLE_VME_SUPPORT
 150                       #if 0
 151                         else tundra_rtl_enable_pci_irq();
 152                       #endif
 153                         /* FIXME: Bad practice. Doesn't work with more
 154                          * than one card.
 155                          *
 156                          * irq_accept added to the LinCAN driver now,
 157                          * and above workaround should not be required.
 158                          * Enable rtl_hard_enable_irq() at line
 159                          * ca91c042.c:1045
 160                          */
 161                     #endif /*CAN_ENABLE_VME_SUPPORT*/
 162
 163                 }
 164
 165                 rtl_no_interrupts (flags);
 166                 RTL_MARK_SUSPENDED(pthread_self());
 167                 if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
 168                         RTL_MARK_READY(pthread_self());
 169                         rtl_restore_interrupts (flags);
 170                         continue;
 171                 }
 172                 rtl_restore_interrupts (flags);
 173                 rtl_schedule();
 174
 175         }
 176         return 0;
 177 }
 178
 179
 180 int can_chip_setup_irq(struct canchip_t *chip)
 181 {
 182         int ret;
 183         struct sched_param sched_param;
 184         pthread_attr_t attrib;
 185         pthread_attr_t *attrib_p=NULL;
 186
 187         if(chip==NULL)
 188                 return -1;
 189
 190         if(can_rtl_priority>=0){
 191                 pthread_attr_init(&attrib);
 192                 sched_param.sched_priority = can_rtl_priority;
 193                 pthread_attr_setschedparam(&attrib, &sched_param);
 194                 /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */
 195                 attrib_p=&attrib;
 196         }
 197
 198         if(chip->chipspecops->irq_handler && !(chip->flags & CHIP_IRQ_CUSTOM)){
 199                 int (*my_request_irq)(unsigned int vector, unsigned int (*rtl_handler)(unsigned int irq, struct pt_regs *regs));
 200 #ifdef CAN_ENABLE_VME_SUPPORT
 201                 if ((chip->flags & CHIP_IRQ_VME) != 0)
 202                         my_request_irq = rtl_request_vmeirq;
 203                 else
 204 #endif
 205                         my_request_irq = rtl_request_irq;
 206
 207                 if (my_request_irq(chip->chip_irq,can_rtl_isr))
 208                         return -1;
 209                 else {
 210                         DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
 211                         chip->flags |= CHIP_IRQ_SETUP;
 212                 }
 213         }
 214         ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip);
 215         if(ret<0) chip->worker_thread=NULL;
 216
 217         return ret;
 218 }
 219
 220
 221 void can_chip_free_irq(struct canchip_t *chip)
 222 {
 223         if(chip->worker_thread)
 224                 pthread_delete_np(chip->worker_thread);
 225         if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)
 226             && !(chip->flags & CHIP_IRQ_CUSTOM)) {
 227                 int (*my_free_irq)(unsigned int vector);
 228 #ifdef CAN_ENABLE_VME_SUPPORT
 229                 if ((chip->flags & CHIP_IRQ_VME) != 0)
 230                         my_free_irq = rtl_free_vmeirq;
 231                 else
 232 #endif
 233                         my_free_irq = rtl_free_irq;
 234                 my_free_irq(chip->chip_irq);
 235                 chip->flags &= ~CHIP_IRQ_SETUP;
 236         }
 237 }
 238
 239
 240 #endif /*CAN_WITH_RTL*/