X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/a4c9ead4b64bd4de307f375c2ff313a7a07a06e0..a2eb4407e9772cf1057e7ea093250d5d38245c1d:/lincan/src/can_devrtl.c

diff --git a/lincan/src/can_devrtl.c b/lincan/src/can_devrtl.c
index d25072a..ad6d6c2 100644
--- a/lincan/src/can_devrtl.c
+++ b/lincan/src/can_devrtl.c
@@ -16,15 +16,22 @@
 
 #include <rtl_malloc.h>
 
+#ifdef CAN_ENABLE_VME_SUPPORT
+#include "ca91c042.h"
+/* Modified version of ca91c042 driver can be found in
+ * components/comm/contrib directory. */
+#endif
+
 can_spinlock_t can_irq_manipulation_lock;
 
 unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
 {
-	struct chip_t *chip;
+	struct canchip_t *chip;
 	struct candevice_t *candev;
 	int board_nr;
 	int chip_nr;
 	int irq2linux=0;
+	int ret;
 	pthread_t thread=NULL;
 
 	DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
@@ -38,18 +45,28 @@ unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
 				continue;
 			if(chip->chip_irq!=irq_num) continue;
 
+			if(chip->chipspecops->irq_accept)
+				ret=chip->chipspecops->irq_accept(chip->chip_irq,chip);
+
 			set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags);
 			set_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags);
 			if(chip->flags & CHIP_IRQ_PCI)
 				irq2linux=1;
+#ifdef CAN_ENABLE_VME_SUPPORT
+			if (chip->flags & CHIP_IRQ_VME)
+                                tundra_rtl_ack_irq_vector(irq_num);
+#endif
 			if(!chip->worker_thread) continue;
 			thread=chip->worker_thread;
 			pthread_kill(thread,RTL_SIGNAL_WAKEUP);
 		}
 	}
 
-	if(irq2linux)
-		rtl_global_pend_irq(irq_num);
+        /* The following lines are commented out because of it is not
+         * possible to share level activated (PCI) IRQs between Linux
+         * and RT-Linux. */
+/* 	if(irq2linux) */
+/* 		rtl_global_pend_irq(irq_num); */
 
 	/*if(thread) rtl_reschedule_thread(thread);*/
 
@@ -74,10 +91,11 @@ rtl_free_global_irq( irq )
 
 void * can_chip_worker_thread(void *arg)
 {
-	struct chip_t *chip = (struct chip_t *) arg;
+	struct canchip_t *chip = (struct canchip_t *) arg;
 	struct msgobj_t *obj;
 	int ret, i;
 	int loop_cnt;
+	rtl_irqstate_t flags;
 	
 	if(!chip) return 0;
 	
@@ -102,7 +120,7 @@ void * can_chip_worker_thread(void *arg)
 			DEBUGMSG("IRQ_REQUEST processing ...\n");
 			loop_cnt = 100;
 			if(chip->chipspecops->irq_handler) do{
-				ret=chip->chipspecops->irq_handler(chip->chip_irq,chip,NULL);
+				ret=chip->chipspecops->irq_handler(chip->chip_irq,chip);
 			}while(ret && --loop_cnt);
 			continue;
 		}
@@ -126,14 +144,32 @@ void * can_chip_worker_thread(void *arg)
 
 		/*re-enable chip IRQ, I am not sure, if this is required,
 		  but it seems to not work without that */
-		if(chip->chip_irq>=0)
-			can_enable_irq(chip->chip_irq);
+		if(chip->chip_irq>=0) {
+			if ((chip->flags & CHIP_IRQ_VME) == 0) can_enable_irq(chip->chip_irq);
+		    #ifdef CAN_ENABLE_VME_SUPPORT
+		      #if 0
+			else tundra_rtl_enable_pci_irq();
+		      #endif
+			/* FIXME: Bad practice. Doesn't work with more
+			 * than one card.
+			 *
+			 * irq_accept added to the LinCAN driver now,
+			 * and above workaround should not be required.
+			 * Enable rtl_hard_enable_irq() at line 
+			 * ca91c042.c:1045
+			 */
+		    #endif /*CAN_ENABLE_VME_SUPPORT*/
+
+		}
 
+                rtl_no_interrupts (flags);
 		RTL_MARK_SUSPENDED(pthread_self());
 		if(test_and_clear_bit(MSGOBJ_WORKER_WAKE_b,&chip->pend_flags)){
 			RTL_MARK_READY(pthread_self());
+                        rtl_restore_interrupts (flags);
 			continue;
 		}
+                rtl_restore_interrupts (flags);
 		rtl_schedule();
 
 	}
@@ -141,7 +177,7 @@ void * can_chip_worker_thread(void *arg)
 }
 
 
-int can_chip_setup_irq(struct chip_t *chip)
+int can_chip_setup_irq(struct canchip_t *chip)
 {
 	int ret;
         struct sched_param sched_param;
@@ -159,8 +195,16 @@ int can_chip_setup_irq(struct chip_t *chip)
 		attrib_p=&attrib;
 	}
 	
-	if(chip->chipspecops->irq_handler){
-		if (rtl_request_irq(chip->chip_irq,can_rtl_isr))
+	if(chip->chipspecops->irq_handler && !(chip->flags & CHIP_IRQ_CUSTOM)){
+		int (*my_request_irq)(unsigned int vector, unsigned int (*rtl_handler)(unsigned int irq, struct pt_regs *regs));
+#ifdef CAN_ENABLE_VME_SUPPORT
+		if ((chip->flags & CHIP_IRQ_VME) != 0)
+			my_request_irq = rtl_request_vmeirq;
+		else
+#endif
+			my_request_irq = rtl_request_irq;
+
+		if (my_request_irq(chip->chip_irq,can_rtl_isr))
 			return -1;
 		else {
 			DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
@@ -174,12 +218,20 @@ int can_chip_setup_irq(struct chip_t *chip)
 }
 
 
-void can_chip_free_irq(struct chip_t *chip)
+void can_chip_free_irq(struct canchip_t *chip)
 {
 	if(chip->worker_thread)
 		pthread_delete_np(chip->worker_thread);
-	if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)) {
-		rtl_free_irq(chip->chip_irq);
+	if((chip->flags & CHIP_IRQ_SETUP) && (chip->chip_irq>=0)
+	    && !(chip->flags & CHIP_IRQ_CUSTOM)) {
+		int (*my_free_irq)(unsigned int vector);
+#ifdef CAN_ENABLE_VME_SUPPORT
+		if ((chip->flags & CHIP_IRQ_VME) != 0)
+			my_free_irq = rtl_free_vmeirq;
+		else
+#endif
+			my_free_irq = rtl_free_irq;
+		my_free_irq(chip->chip_irq);
 		chip->flags &= ~CHIP_IRQ_SETUP;
 	}
 }