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-0.2  9 Jul 2003
   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 can_spinlock_t can_irq_manipulation_lock;
  20
  21 unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
  22 {
  23         struct chip_t *chip;
  24         struct candevice_t *candev;
  25         int board_nr;
  26         int chip_nr;
  27         int irq2linux=0;
  28         pthread_t thread=NULL;
  29
  30         DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
  31
  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)
  35                         continue;
  36                 for(chip_nr=candev->nr_all_chips; chip_nr--; ) {
  37                         if((chip=candev->chip[chip_nr])==NULL)
  38                                 continue;
  39                         if(chip->chip_irq!=irq_num) continue;
  40
  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)
  44                                 irq2linux=1;
  45                         if(!chip->worker_thread) continue;
  46                         thread=chip->worker_thread;
  47                         pthread_kill(thread,RTL_SIGNAL_WAKEUP);
  48                 }
  49         }
  50
  51         if(irq2linux)
  52                 rtl_global_pend_irq(irq_num);
  53
  54         /*if(thread) rtl_reschedule_thread(thread);*/
  55
  56         rtl_schedule();
  57
  58         return 0;
  59 }
  60
  61
  62
  63 /*
  64 RTL_MARK_READY(pthread_self())
  65 RTL_MARK_SUSPENDED(pthread_self());
  66 return rtl_schedule();
  67 can_enable_irq
  68 can_disable_irq
  69 rtl_critical( state )
  70 rtl_end_critical( state )
  71 rtl_request_global_irq( irq, isr );
  72 rtl_free_global_irq( irq )
  73 */
  74
  75 void * can_chip_worker_thread(void *arg)
  76 {
  77         struct chip_t *chip = (struct chip_t *) arg;
  78         struct msgobj_t *obj;
  79         int ret, i;
  80         int loop_cnt;
  81
  82         if(!chip) return 0;
  83
  84
  85         if (!(chip->flags & CHIP_CONFIGURED)){
  86                 if (chip->chipspecops->chip_config(chip))
  87                         CANMSG("Error configuring chip.\n");
  88                 else
  89                         chip->flags |= CHIP_CONFIGURED;
  90
  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");
  94
  95         } /* End of chip configuration */
  96         set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
  97
  98
  99         while (1) {
 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");
 103                         loop_cnt = 100;
 104                         if(chip->chipspecops->irq_handler) do{
 105                                 ret=chip->chipspecops->irq_handler(chip->chip_irq,chip,NULL);
 106                         }while(ret && --loop_cnt);
 107                         continue;
 108                 }
 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)
 113                                         continue;
 114                                 if(!can_msgobj_test_and_clear_fl(obj,TX_REQUEST))
 115                                         continue;
 116                                 DEBUGMSG("Calling wakeup_tx\n");
 117                                 chip->chipspecops->wakeup_tx(chip, obj);
 118                         }
 119                         continue;
 120                 }
 121
 122                 /*re-enable chip IRQ, I am not sure, if this is required,
 123                   but it seems to not work without that */
 124                 if(chip->chip_irq>=0)
 125                         can_enable_irq(chip->chip_irq);
 126
 127                 RTL_MARK_SUSPENDED(pthread_self());
 128                 if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
 129                         RTL_MARK_READY(pthread_self());
 130                         continue;
 131                 }
 132                 rtl_schedule();
 133
 134         }
 135         return 0;
 136 }
 137
 138
 139 int can_chip_setup_irq(struct chip_t *chip)
 140 {
 141         int ret;
 142         struct sched_param sched_param;
 143         pthread_attr_t attrib;
 144         pthread_attr_t *attrib_p=NULL;
 145
 146         if(chip==NULL)
 147                 return -1;
 148
 149         if(can_rtl_priority>=0){
 150                 pthread_attr_init(&attrib);
 151                 sched_param.sched_priority = can_rtl_priority;
 152                 pthread_attr_setschedparam(&attrib, &sched_param);
 153                 /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */
 154                 attrib_p=&attrib;
 155         }
 156
 157         if(chip->chipspecops->irq_handler){
 158                 if (rtl_request_irq(chip->chip_irq,can_rtl_isr))
 159                         return -1;
 160                 else {
 161                         DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
 162                         chip->flags |= CHIP_IRQ_SETUP;
 163                 }
 164         }
 165         ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip);
 166         if(ret<0) chip->worker_thread=NULL;
 167
 168         return ret;
 169 }
 170
 171
 172 void can_chip_free_irq(struct chip_t *chip)
 173 {
 174         if(chip->worker_thread)
 175                 pthread_delete_np(chip->worker_thread);
 176         if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)) {
 177                 rtl_free_irq(chip->chip_irq);
 178                 chip->flags &= ~CHIP_IRQ_SETUP;
 179         }
 180 }
 181
 182
 183 #endif /*CAN_WITH_RTL*/