X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/b34a548a5dfd2f0b068fd835a4cd51680d851068..bfac169862856611eeb16af24c8943f005f88e12:/lincan/src/can_devrtl.c

diff --git a/lincan/src/can_devrtl.c b/lincan/src/can_devrtl.c
index 182eb42..559c2db 100644
--- a/lincan/src/can_devrtl.c
+++ b/lincan/src/can_devrtl.c
@@ -16,12 +16,15 @@
 
 #include <rtl_malloc.h>
 
+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 candevice_t *candev;
 	int board_nr;
 	int chip_nr;
+	int irq2linux=0;
 	pthread_t thread=NULL;
 
 	DEBUGMSG("can_rtl_isr invoked for irq %d\n",irq_num);
@@ -37,14 +40,16 @@ unsigned int can_rtl_isr( unsigned int irq_num, struct pt_regs *r )
 
 			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;
 			if(!chip->worker_thread) continue;
 			thread=chip->worker_thread;
 			pthread_kill(thread,RTL_SIGNAL_WAKEUP);
 		}
 	}
 
-	/*rtl_global_pend_irq(irq_num);*/
+	if(irq2linux)
+		rtl_global_pend_irq(irq_num);
 
 	/*if(thread) rtl_reschedule_thread(thread);*/
 
@@ -106,10 +111,15 @@ void * can_chip_worker_thread(void *arg)
 			for(i=0;i<chip->max_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;
 		}
@@ -134,9 +144,21 @@ void * can_chip_worker_thread(void *arg)
 int can_chip_setup_irq(struct chip_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(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){
 		if (rtl_request_irq(chip->chip_irq,can_rtl_isr))
 			return -1;
@@ -145,7 +167,7 @@ int can_chip_setup_irq(struct chip_t *chip)
 			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;