X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/95c031e101c74ae6472a7e538f3128f67a490082..75d77a3d5177ad90a0e319102c776852df2bccb7:/lincan/src/sja1000p.c

diff --git a/lincan/src/sja1000p.c b/lincan/src/sja1000p.c
index dd9d696..59fa68d 100644
--- a/lincan/src/sja1000p.c
+++ b/lincan/src/sja1000p.c
@@ -96,6 +96,10 @@ int sja1000p_chip_config(struct canchip_t *chip)
 
 	/* Set mode, clock out, comparator */
 	can_write_reg(chip,sjaCDR_PELICAN|chip->sja_cdr_reg,SJACDR); 
+
+	/* Ensure, that interrupts are disabled even on the chip level now */
+	can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER);
+
 	/* Set driver output configuration */
 	can_write_reg(chip,chip->sja_ocr_reg,SJAOCR); 
 	
@@ -486,6 +490,32 @@ int sja1000p_stop_chip(struct canchip_t *chip)
 	return 0;
 }
 
+/**
+ * sja1000p_attach_to_chip: - attaches to the chip, setups registers and state
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
+int sja1000p_attach_to_chip(struct canchip_t *chip)
+{
+	return 0;
+}
+
+/**
+ * sja1000p_release_chip: - called before chip structure removal if %CHIP_ATTACHED is set
+ * @chip: pointer to chip state structure
+ *
+ * Return Value: negative value reports error.
+ * File: src/sja1000p.c
+ */
+int sja1000p_release_chip(struct canchip_t *chip)
+{
+	sja1000p_stop_chip(chip);
+	can_write_reg(chip, sjaDISABLE_INTERRUPTS, SJAIER);
+
+	return 0;
+}
 
 /**
  * sja1000p_remote_request: - configures message object and asks for RTR message
@@ -573,9 +603,11 @@ void sja1000p_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
 		obj->tx_slot=NULL;
 	}
 	
+	can_msgobj_clear_fl(obj,TX_PENDING);
 	cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
 	if(cmd<0)
 		return;
+	can_msgobj_set_fl(obj,TX_PENDING);
 
 	if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
 		obj->ret = -1;
@@ -599,10 +631,7 @@ void sja1000p_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
 /**
  * sja1000p_irq_handler: - interrupt service routine
  * @irq: interrupt vector number, this value is system specific
- * @dev_id: driver private pointer registered at time of request_irq() call.
- *	The CAN driver uses this pointer to store relationship of interrupt
- *	to chip state structure - @struct canchip_t
- * @regs: system dependent value pointing to registers stored in exception frame
+ * @chip: pointer to chip state structure
  * 
  * Interrupt handler is activated when state of CAN controller chip changes,
  * there is message to be read or there is more space for new messages or
@@ -615,6 +644,7 @@ int sja1000p_irq_handler(int irq, struct canchip_t *chip)
 {
 	int irq_register, status, error_code;
 	struct msgobj_t *obj=chip->msgobj[0];
+	int loop_cnt=CHIP_MAX_IRQLOOP;
 
 	irq_register=can_read_reg(chip,SJAIR);
 //	DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
@@ -629,58 +659,79 @@ int sja1000p_irq_handler(int irq, struct canchip_t *chip)
 		return CANCHIP_IRQ_NONE;
 	}
 
-	if ((irq_register & sjaIR_RI) != 0) {
-		DEBUGMSG("sja1000_irq_handler: RI\n");
-		sja1000p_read(chip,obj);
-		obj->ret = 0;
-	}
-	if ((irq_register & sjaIR_TI) != 0) {
-		DEBUGMSG("sja1000_irq_handler: TI\n");
-		obj->ret = 0;
-		can_msgobj_set_fl(obj,TX_REQUEST);
-		while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
-			can_msgobj_clear_fl(obj,TX_REQUEST);
-
-			if (can_read_reg(chip, SJASR) & sjaSR_TBS)
-				sja1000p_irq_write_handler(chip, obj);
-
-			can_msgobj_clear_fl(obj,TX_LOCK);
-			if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
-			DEBUGMSG("TX looping in sja1000_irq_handler\n");
+	status=can_read_reg(chip,SJASR);
+
+	do {
+
+		if(!loop_cnt--) {
+			CANMSG("sja1000p_irq_handler IRQ %d stuck\n",irq);
+			return CANCHIP_IRQ_STUCK;
 		}
-	}
-	if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) { 
-		// Some error happened
-		status=can_read_reg(chip,SJASR);
-		error_code=can_read_reg(chip,SJAECC);
-		CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
-			status, irq_register, error_code);
+
+		/* (irq_register & sjaIR_RI) */
+		/*	old variant using SJAIR, collides with intended use with irq_accept */
+		if (status & sjaSR_RBS) {
+			DEBUGMSG("sja1000_irq_handler: RI or RBS\n");
+			sja1000p_read(chip,obj);
+			obj->ret = 0;
+		}
+
+		/* (irq_register & sjaIR_TI) */
+		/*	old variant using SJAIR, collides with intended use with irq_accept */
+		if ((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) {
+			DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
+			obj->ret = 0;
+			can_msgobj_set_fl(obj,TX_REQUEST);
+			while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
+				can_msgobj_clear_fl(obj,TX_REQUEST);
+
+				if (can_read_reg(chip, SJASR) & sjaSR_TBS)
+					sja1000p_irq_write_handler(chip, obj);
+
+				can_msgobj_clear_fl(obj,TX_LOCK);
+				if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
+				DEBUGMSG("TX looping in sja1000_irq_handler\n");
+			}
+		}
+		if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) { 
+			// Some error happened
+			error_code=can_read_reg(chip,SJAECC);
+			CANMSG("Error: status register: 0x%x irq_register: 0x%02x error: 0x%02x\n",
+				status, irq_register, error_code);
 // FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
 // Reset flag set to 0 if chip is already off the bus. Full state report
 		obj->ret=-1;
 		
-		if(error_code == 0xd9) {
-			obj->ret= -ENXIO;
-			/* no such device or address - no ACK received */
-		}
-		if(obj->tx_retry_cnt++>MAX_RETR) {
-			can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
-			obj->tx_retry_cnt = 0;
-		}
-		if(status&sjaSR_BS) {
-			CANMSG("bus-off, resetting sja1000p\n");
-			can_write_reg(chip, 0, SJAMOD);
-		}
-		
-		if(obj->tx_slot){
-			canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
-			/*canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
-			obj->tx_slot=NULL;*/
+			if(error_code == 0xd9) {
+				obj->ret= -ENXIO;
+				/* no such device or address - no ACK received */
+			}
+			if(obj->tx_retry_cnt++>MAX_RETR) {
+				can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
+				obj->tx_retry_cnt = 0;
+			}
+			if(status&sjaSR_BS) {
+				CANMSG("bus-off, resetting sja1000p\n");
+				can_write_reg(chip, 0, SJAMOD);
+			}
+
+			if(obj->tx_slot){
+				canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
+				/*canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
+				obj->tx_slot=NULL;*/
+			}
+
+		} else {
+			obj->tx_retry_cnt=0;
 		}
 
-	} else {
-		obj->tx_retry_cnt=0;
-	}
+		irq_register=can_read_reg(chip,SJAIR);
+	
+		status=can_read_reg(chip,SJASR);
+
+	} while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) ||
+	        ((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
+		(status & sjaSR_RBS));
 
 	return CANCHIP_IRQ_HANDLED;
 }
@@ -701,6 +752,7 @@ int sja1000p_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 	
 	can_preempt_disable();
 	
+	can_msgobj_set_fl(obj,TX_PENDING);
 	can_msgobj_set_fl(obj,TX_REQUEST);
 	while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 		can_msgobj_clear_fl(obj,TX_REQUEST);
@@ -737,10 +789,13 @@ int sja1000p_register(struct chipspecops_t *chipspecops)
 	chipspecops->remote_request=sja1000p_remote_request;
 	chipspecops->enable_configuration=sja1000p_enable_configuration;
 	chipspecops->disable_configuration=sja1000p_disable_configuration;
+	chipspecops->attach_to_chip=sja1000p_attach_to_chip;
+	chipspecops->release_chip=sja1000p_release_chip;
 	chipspecops->set_btregs=sja1000p_set_btregs;
 	chipspecops->start_chip=sja1000p_start_chip;
 	chipspecops->stop_chip=sja1000p_stop_chip;
 	chipspecops->irq_handler=sja1000p_irq_handler;
+	chipspecops->irq_accept=NULL;
 	return 0;
 }