X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/b34a548a5dfd2f0b068fd835a4cd51680d851068..HEAD:/lincan/src/can_devrtl.c diff --git a/lincan/src/can_devrtl.c b/lincan/src/can_devrtl.c index 182eb42..585956c 100644 --- a/lincan/src/can_devrtl.c +++ b/lincan/src/can_devrtl.c @@ -1,10 +1,35 @@ -/* can_devrtl.c - CAN message queues functions for the RT-Linux - * Linux CAN-bus device driver. - * New CAN queues by Pavel Pisa - OCERA team member - * email:pisa@cmp.felk.cvut.cz - * This software is released under the GPL-License. - * Version lincan-0.2 9 Jul 2003 - */ +/**************************************************************************/ +/* File: can_devrtl.c - CAN message queues functions for the RT-Linux */ +/* */ +/* LinCAN - (Not only) Linux CAN bus driver */ +/* Copyright (C) 2002-2009 DCE FEE CTU Prague */ +/* Copyright (C) 2002-2009 Pavel Pisa */ +/* Funded by OCERA and FRESCOR IST projects */ +/* */ +/* LinCAN is free software; you can redistribute it and/or modify it */ +/* under terms of the GNU General Public License as published by the */ +/* Free Software Foundation; either version 2, or (at your option) any */ +/* later version. LinCAN is distributed in the hope that it will be */ +/* useful, but WITHOUT ANY WARRANTY; without even the implied warranty */ +/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */ +/* General Public License for more details. You should have received a */ +/* copy of the GNU General Public License along with LinCAN; see file */ +/* COPYING. If not, write to the Free Software Foundation, 675 Mass Ave, */ +/* Cambridge, MA 02139, USA. */ +/* */ +/* To allow use of LinCAN in the compact embedded systems firmware */ +/* and RT-executives (RTEMS for example), main authors agree with next */ +/* special exception: */ +/* */ +/* Including LinCAN header files in a file, instantiating LinCAN generics */ +/* or templates, or linking other files with LinCAN objects to produce */ +/* an application image/executable, does not by itself cause the */ +/* resulting application image/executable to be covered by */ +/* the GNU General Public License. */ +/* This exception does not however invalidate any other reasons */ +/* why the executable file might be covered by the GNU Public License. */ +/* Publication of enhanced or derived LinCAN files is required although. */ +/**************************************************************************/ #ifdef CAN_WITH_RTL @@ -16,16 +41,26 @@ #include +#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); - + /* I hate next loop, but RT-Linux does not provide context to ISR */ for (board_nr=hardware_p->nr_boards; board_nr--; ) { if((candev=hardware_p->candevice[board_nr])==NULL) @@ -35,16 +70,28 @@ 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); } } - /*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);*/ @@ -60,36 +107,37 @@ RTL_MARK_READY(pthread_self()) RTL_MARK_SUSPENDED(pthread_self()); return rtl_schedule(); can_enable_irq -can_disable_irq +can_disable_irq rtl_critical( state ) rtl_end_critical( state ) -rtl_request_global_irq( irq, isr ); +rtl_request_global_irq( irq, isr ); 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; - - + + if (!(chip->flags & CHIP_CONFIGURED)){ if (chip->chipspecops->chip_config(chip)) CANMSG("Error configuring chip.\n"); else - chip->flags |= CHIP_CONFIGURED; + chip->flags |= CHIP_CONFIGURED; if((chip->msgobj[0])!=NULL) if (chip->chipspecops->pre_read_config(chip,chip->msgobj[0])<0) CANMSG("Error initializing chip for receiving\n"); - + } /* End of chip configuration */ set_bit(MSGOBJ_IRQ_REQUEST_b,&chip->pend_flags); - + while (1) { DEBUGMSG("Worker thread for chip %d active\n",chip->chip_idx); @@ -97,7 +145,7 @@ 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; } @@ -106,24 +154,47 @@ void * can_chip_worker_thread(void *arg) for(i=0;imax_objects;i++){ if((obj=chip->msgobj[i])==NULL) continue; - if(!can_msgobj_test_and_clear_fl(obj,TX_REQUEST)) - continue; - DEBUGMSG("Calling wakeup_tx\n"); - chip->chipspecops->wakeup_tx(chip, obj); + if(can_msgobj_test_fl(obj,TX_REQUEST)) { + DEBUGMSG("Calling wakeup_tx\n"); + chip->chipspecops->wakeup_tx(chip, obj); + } + if(can_msgobj_test_fl(obj,FILTCH_REQUEST)) { + DEBUGMSG("Calling filtch_rq\n"); + if(chip->chipspecops->filtch_rq) + chip->chipspecops->filtch_rq(chip, obj); + } } continue; } /*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(); } @@ -131,33 +202,61 @@ 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; + pthread_attr_t attrib; + pthread_attr_t *attrib_p=NULL; + if(chip==NULL) return -1; - if(chip->chipspecops->irq_handler){ - if (rtl_request_irq(chip->chip_irq,can_rtl_isr)) + + if(can_rtl_priority>=0){ + pthread_attr_init(&attrib); + sched_param.sched_priority = can_rtl_priority; + pthread_attr_setschedparam(&attrib, &sched_param); + /* pthread_attr_setschedpolicy(&attrib, SCHED_FIFO); */ + attrib_p=&attrib; + } + + 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); chip->flags |= CHIP_IRQ_SETUP; } } - ret=pthread_create(&chip->worker_thread, NULL, can_chip_worker_thread, chip); + ret=pthread_create(&chip->worker_thread, attrib_p, can_chip_worker_thread, chip); if(ret<0) chip->worker_thread=NULL; - + return ret; } -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; } }