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 chip_t *chip;
  30         struct candevice_t *candev;
  31         int board_nr;
  32         int chip_nr;
  33         int irq2linux=0;
  34         pthread_t thread=NULL;
  35
  36         DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
  37
  38         /* I hate next loop, but RT-Linux does not provide context to ISR */
  39         for (board_nr=hardware_p->nr_boards; board_nr--; ) {
  40                 if((candev=hardware_p->candevice[board_nr])==NULL)
  41                         continue;
  42                 for(chip_nr=candev->nr_all_chips; chip_nr--; ) {
  43                         if((chip=candev->chip[chip_nr])==NULL)
  44                                 continue;
  45                         if(chip->chip_irq!=irq_num) continue;
  46
  47                         set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
  48                         set_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags);
  49                         if(chip->flags & CHIP_IRQ_PCI)
  50                                 irq2linux=1;
  51                         if(!chip->worker_thread) continue;
  52                         thread=chip->worker_thread;
  53                         pthread_kill(thread,RTL_SIGNAL_WAKEUP);
  54                 }
  55         }
  56
  57         if(irq2linux)
  58                 rtl_global_pend_irq(irq_num);
  59
  60         /*if(thread) rtl_reschedule_thread(thread);*/
  61
  62         rtl_schedule();
  63
  64         return 0;
  65 }
  66
  67
  68
  69 /*
  70 RTL_MARK_READY(pthread_self())
  71 RTL_MARK_SUSPENDED(pthread_self());
  72 return rtl_schedule();
  73 can_enable_irq
  74 can_disable_irq
  75 rtl_critical( state )
  76 rtl_end_critical( state )
  77 rtl_request_global_irq( irq, isr );
  78 rtl_free_global_irq( irq )
  79 */
  80
  81 void * can_chip_worker_thread(void *arg)
  82 {
  83         struct chip_t *chip = (struct chip_t *) arg;
  84         struct msgobj_t *obj;
  85         int ret, i;
  86         int loop_cnt;
  87
  88         if(!chip) return 0;
  89
  90
  91         if (!(chip->flags & CHIP_CONFIGURED)){
  92                 if (chip->chipspecops->chip_config(chip))
  93                         CANMSG("Error configuring chip.\n");
  94                 else
  95                         chip->flags |= CHIP_CONFIGURED;
  96
  97                 if((chip->msgobj[0])!=NULL)
  98                         if (chip->chipspecops->pre_read_config(chip,chip->msgobj[0])<0)
  99                                 CANMSG("Error initializing chip for receiving\n");
 100
 101         } /* End of chip configuration */
 102         set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
 103
 104
 105         while (1) {
 106                 DEBUGMSG("Worker thread for chip %d active\n",chip->chip_idx);
 107                 if(test_and_clear_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags)){
 108                         DEBUGMSG("IRQ_REQUEST processing ...\n");
 109                         loop_cnt = 100;
 110                         if(chip->chipspecops->irq_handler) do{
 111                                 ret=chip->chipspecops->irq_handler(chip->chip_irq,chip);
 112                         }while(ret && --loop_cnt);
 113                         continue;
 114                 }
 115                 if(test_and_clear_bit(MSGOBJ_TX_REQUEST_b,&chip->pend_flags)){
 116                         DEBUGMSG("TX_REQUEST processing ...\n");
 117                         for(i=0;i<chip->max_objects;i++){
 118                                 if((obj=chip->msgobj[i])==NULL)
 119                                         continue;
 120                                 if(can_msgobj_test_fl(obj,TX_REQUEST)) {
 121                                         DEBUGMSG("Calling wakeup_tx\n");
 122                                         chip->chipspecops->wakeup_tx(chip, obj);
 123                                 }
 124                                 if(can_msgobj_test_fl(obj,FILTCH_REQUEST)) {
 125                                         DEBUGMSG("Calling filtch_rq\n");
 126                                         if(chip->chipspecops->filtch_rq)
 127                                                 chip->chipspecops->filtch_rq(chip, obj);
 128                                 }
 129                         }
 130                         continue;
 131                 }
 132
 133                 /*re-enable chip IRQ, I am not sure, if this is required,
 134                   but it seems to not work without that */
 135                 if(chip->chip_irq>=0)
 136                         can_enable_irq(chip->chip_irq);
 137
 138                 RTL_MARK_SUSPENDED(pthread_self());
 139                 if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
 140                         RTL_MARK_READY(pthread_self());
 141                         continue;
 142                 }
 143                 rtl_schedule();
 144
 145         }
 146         return 0;
 147 }
 148
 149
 150 int can_chip_setup_irq(struct chip_t *chip)
 151 {
 152         int ret;
 153         struct sched_param sched_param;
 154         pthread_attr_t attrib;
 155         pthread_attr_t *attrib_p=NULL;
 156
 157         if(chip==NULL)
 158                 return -1;
 159
 160         if(can_rtl_priority>=0){
 161                 pthread_attr_init(&attrib);
 162                 sched_param.sched_priority = can_rtl_priority;
 163                 pthread_attr_setschedparam(&attrib, &sched_param);
 164                 /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */
 165                 attrib_p=&attrib;
 166         }
 167
 168         if(chip->chipspecops->irq_handler){
 169                 int (*my_request_irq)(unsigned int vector, unsigned int (*rtl_handler)(unsigned int irq, struct pt_regs *regs));
 170 #ifdef CAN_ENABLE_VME_SUPPORT
 171                 if ((chip->flags & CHIP_IRQ_VME) != 0)
 172                         my_request_irq = rtl_request_vmeirq;
 173                 else
 174 #endif
 175                         my_request_irq = rtl_request_irq;
 176
 177                 if (my_request_irq(chip->chip_irq,can_rtl_isr))
 178                         return -1;
 179                 else {
 180                         DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
 181                         chip->flags |= CHIP_IRQ_SETUP;
 182                 }
 183         }
 184         ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip);
 185         if(ret<0) chip->worker_thread=NULL;
 186
 187         return ret;
 188 }
 189
 190
 191 void can_chip_free_irq(struct chip_t *chip)
 192 {
 193         if(chip->worker_thread)
 194                 pthread_delete_np(chip->worker_thread);
 195         if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)) {
 196                 int (*my_free_irq)(unsigned int vector);
 197 #ifdef CAN_ENABLE_VME_SUPPORT
 198                 if ((chip->flags & CHIP_IRQ_VME) != 0)
 199                         my_free_irq = rtl_free_vmeirq;
 200                 else
 201 #endif
 202                         my_free_irq = rtl_free_irq;
 203                 my_free_irq(chip->chip_irq);
 204                 chip->flags &= ~CHIP_IRQ_SETUP;
 205         }
 206 }
 207
 208
 209 #endif /*CAN_WITH_RTL*/