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                         if(!chip->worker_thread) continue;
  56                         thread=chip->worker_thread;
  57                         pthread_kill(thread,RTL_SIGNAL_WAKEUP);
  58                 }
  59         }
  60
  61         if(irq2linux)
  62                 rtl_global_pend_irq(irq_num);
  63
  64         /*if(thread) rtl_reschedule_thread(thread);*/
  65
  66         rtl_schedule();
  67
  68         return 0;
  69 }
  70
  71
  72
  73 /*
  74 RTL_MARK_READY(pthread_self())
  75 RTL_MARK_SUSPENDED(pthread_self());
  76 return rtl_schedule();
  77 can_enable_irq
  78 can_disable_irq
  79 rtl_critical( state )
  80 rtl_end_critical( state )
  81 rtl_request_global_irq( irq, isr );
  82 rtl_free_global_irq( irq )
  83 */
  84
  85 void * can_chip_worker_thread(void *arg)
  86 {
  87         struct canchip_t *chip = (struct canchip_t *) arg;
  88         struct msgobj_t *obj;
  89         int ret, i;
  90         int loop_cnt;
  91
  92         if(!chip) return 0;
  93
  94
  95         if (!(chip->flags & CHIP_CONFIGURED)){
  96                 if (chip->chipspecops->chip_config(chip))
  97                         CANMSG("Error configuring chip.\n");
  98                 else
  99                         chip->flags |= CHIP_CONFIGURED;
 100
 101                 if((chip->msgobj[0])!=NULL)
 102                         if (chip->chipspecops->pre_read_config(chip,chip->msgobj[0])<0)
 103                                 CANMSG("Error initializing chip for receiving\n");
 104
 105         } /* End of chip configuration */
 106         set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
 107
 108
 109         while (1) {
 110                 DEBUGMSG("Worker thread for chip %d active\n",chip->chip_idx);
 111                 if(test_and_clear_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags)){
 112                         DEBUGMSG("IRQ_REQUEST processing ...\n");
 113                         loop_cnt = 100;
 114                         if(chip->chipspecops->irq_handler) do{
 115                                 ret=chip->chipspecops->irq_handler(chip->chip_irq,chip);
 116                         }while(ret && --loop_cnt);
 117                         continue;
 118                 }
 119                 if(test_and_clear_bit(MSGOBJ_TX_REQUEST_b,&chip->pend_flags)){
 120                         DEBUGMSG("TX_REQUEST processing ...\n");
 121                         for(i=0;i<chip->max_objects;i++){
 122                                 if((obj=chip->msgobj[i])==NULL)
 123                                         continue;
 124                                 if(can_msgobj_test_fl(obj,TX_REQUEST)) {
 125                                         DEBUGMSG("Calling wakeup_tx\n");
 126                                         chip->chipspecops->wakeup_tx(chip, obj);
 127                                 }
 128                                 if(can_msgobj_test_fl(obj,FILTCH_REQUEST)) {
 129                                         DEBUGMSG("Calling filtch_rq\n");
 130                                         if(chip->chipspecops->filtch_rq)
 131                                                 chip->chipspecops->filtch_rq(chip, obj);
 132                                 }
 133                         }
 134                         continue;
 135                 }
 136
 137                 /*re-enable chip IRQ, I am not sure, if this is required,
 138                   but it seems to not work without that */
 139                 if(chip->chip_irq>=0) {
 140                         if ((chip->flags & CHIP_IRQ_VME) == 0) can_enable_irq(chip->chip_irq);
 141                     #ifdef CAN_ENABLE_VME_SUPPORT
 142                       #if 0
 143                         else tundra_rtl_enable_pci_irq();
 144                       #endif
 145                         /* FIXME: Bad practice. Doesn't work with more
 146                          * than one card.
 147                          *
 148                          * irq_accept added to the LinCAN driver now,
 149                          * and above workaround should not be required.
 150                          * Enable rtl_hard_enable_irq() at line
 151                          * ca91c042.c:1045
 152                          */
 153                     #endif /*CAN_ENABLE_VME_SUPPORT*/
 154
 155                 }
 156
 157                 RTL_MARK_SUSPENDED(pthread_self());
 158                 if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
 159                         RTL_MARK_READY(pthread_self());
 160                         continue;
 161                 }
 162                 rtl_schedule();
 163
 164         }
 165         return 0;
 166 }
 167
 168
 169 int can_chip_setup_irq(struct canchip_t *chip)
 170 {
 171         int ret;
 172         struct sched_param sched_param;
 173         pthread_attr_t attrib;
 174         pthread_attr_t *attrib_p=NULL;
 175
 176         if(chip==NULL)
 177                 return -1;
 178
 179         if(can_rtl_priority>=0){
 180                 pthread_attr_init(&attrib);
 181                 sched_param.sched_priority = can_rtl_priority;
 182                 pthread_attr_setschedparam(&attrib, &sched_param);
 183                 /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */
 184                 attrib_p=&attrib;
 185         }
 186
 187         if(chip->chipspecops->irq_handler && !(chip->flags & CHIP_IRQ_CUSTOM)){
 188                 int (*my_request_irq)(unsigned int vector, unsigned int (*rtl_handler)(unsigned int irq, struct pt_regs *regs));
 189 #ifdef CAN_ENABLE_VME_SUPPORT
 190                 if ((chip->flags & CHIP_IRQ_VME) != 0)
 191                         my_request_irq = rtl_request_vmeirq;
 192                 else
 193 #endif
 194                         my_request_irq = rtl_request_irq;
 195
 196                 if (my_request_irq(chip->chip_irq,can_rtl_isr))
 197                         return -1;
 198                 else {
 199                         DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
 200                         chip->flags |= CHIP_IRQ_SETUP;
 201                 }
 202         }
 203         ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip);
 204         if(ret<0) chip->worker_thread=NULL;
 205
 206         return ret;
 207 }
 208
 209
 210 void can_chip_free_irq(struct canchip_t *chip)
 211 {
 212         if(chip->worker_thread)
 213                 pthread_delete_np(chip->worker_thread);
 214         if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)
 215             && !(chip->flags & CHIP_IRQ_CUSTOM)) {
 216                 int (*my_free_irq)(unsigned int vector);
 217 #ifdef CAN_ENABLE_VME_SUPPORT
 218                 if ((chip->flags & CHIP_IRQ_VME) != 0)
 219                         my_free_irq = rtl_free_vmeirq;
 220                 else
 221 #endif
 222                         my_free_irq = rtl_free_irq;
 223                 my_free_irq(chip->chip_irq);
 224                 chip->flags &= ~CHIP_IRQ_SETUP;
 225         }
 226 }
 227
 228
 229 #endif /*CAN_WITH_RTL*/