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 #ifdef CAN_ENABLE_VME_SUPPORT
21 /* Modified version of ca91c042 driver can be found in
22 * components/comm/contrib directory. */
25 can_spinlock_t can_irq_manipulation_lock;
27 unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
29 struct canchip_t *chip;
30 struct candevice_t *candev;
34 pthread_t thread=NULL;
36 DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
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)
42 for(chip_nr=candev->nr_all_chips; chip_nr--; ) {
43 if((chip=candev->chip[chip_nr])==NULL)
45 if(chip->chip_irq!=irq_num) continue;
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)
51 if(!chip->worker_thread) continue;
52 thread=chip->worker_thread;
53 pthread_kill(thread,RTL_SIGNAL_WAKEUP);
58 rtl_global_pend_irq(irq_num);
60 /*if(thread) rtl_reschedule_thread(thread);*/
70 RTL_MARK_READY(pthread_self())
71 RTL_MARK_SUSPENDED(pthread_self());
72 return rtl_schedule();
76 rtl_end_critical( state )
77 rtl_request_global_irq( irq, isr );
78 rtl_free_global_irq( irq )
81 void * can_chip_worker_thread(void *arg)
83 struct canchip_t *chip = (struct canchip_t *) arg;
91 if (!(chip->flags & CHIP_CONFIGURED)){
92 if (chip->chipspecops->chip_config(chip))
93 CANMSG("Error configuring chip.\n");
95 chip->flags |= CHIP_CONFIGURED;
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");
101 } /* End of chip configuration */
102 set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
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");
110 if(chip->chipspecops->irq_handler) do{
111 ret=chip->chipspecops->irq_handler(chip->chip_irq,chip);
112 }while(ret && --loop_cnt);
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)
120 if(can_msgobj_test_fl(obj,TX_REQUEST)) {
121 DEBUGMSG("Calling wakeup_tx\n");
122 chip->chipspecops->wakeup_tx(chip, obj);
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);
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 if ((chip->flags & CHIP_IRQ_VME) == 0) can_enable_irq(chip->chip_irq);
137 #ifdef CAN_ENABLE_VME_SUPPORT
138 else tundra_rtl_enable_pci_irq();
139 /* FIXME: Bad practice. Doesn't work with more
141 #endif /*CAN_ENABLE_VME_SUPPORT*/
145 RTL_MARK_SUSPENDED(pthread_self());
146 if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
147 RTL_MARK_READY(pthread_self());
157 int can_chip_setup_irq(struct canchip_t *chip)
160 struct sched_param sched_param;
161 pthread_attr_t attrib;
162 pthread_attr_t *attrib_p=NULL;
167 if(can_rtl_priority>=0){
168 pthread_attr_init(&attrib);
169 sched_param.sched_priority = can_rtl_priority;
170 pthread_attr_setschedparam(&attrib, &sched_param);
171 /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */
175 if(chip->chipspecops->irq_handler && !(chip->flags & CHIP_IRQ_CUSTOM)){
176 int (*my_request_irq)(unsigned int vector, unsigned int (*rtl_handler)(unsigned int irq, struct pt_regs *regs));
177 #ifdef CAN_ENABLE_VME_SUPPORT
178 if ((chip->flags & CHIP_IRQ_VME) != 0)
179 my_request_irq = rtl_request_vmeirq;
182 my_request_irq = rtl_request_irq;
184 if (my_request_irq(chip->chip_irq,can_rtl_isr))
187 DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
188 chip->flags |= CHIP_IRQ_SETUP;
191 ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip);
192 if(ret<0) chip->worker_thread=NULL;
198 void can_chip_free_irq(struct canchip_t *chip)
200 if(chip->worker_thread)
201 pthread_delete_np(chip->worker_thread);
202 if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)
203 && !(chip->flags & CHIP_IRQ_CUSTOM)) {
204 int (*my_free_irq)(unsigned int vector);
205 #ifdef CAN_ENABLE_VME_SUPPORT
206 if ((chip->flags & CHIP_IRQ_VME) != 0)
207 my_free_irq = rtl_free_vmeirq;
210 my_free_irq = rtl_free_irq;
211 my_free_irq(chip->chip_irq);
212 chip->flags &= ~CHIP_IRQ_SETUP;
217 #endif /*CAN_WITH_RTL*/