#define rt_free_srq(irq) rtl_free_soft_irq(irq)
#define rt_request_srq(x,y,z) rtl_get_soft_irq(y,"timer")
#define rt_task_init(a,b,c,d,e,f,g) rt_task_init(a,b,c,d,(e)+1)
+#define rt_task_resume(x) rt_task_wakeup(x)
#endif
#ifdef CONFIG_COMEDI_RTAI
int device;
int subd;
RT_TASK rt_task;
+ RT_TASK scan_task;
+ RTIME start;
+ RTIME scan_period;
+ RTIME convert_period;
}timer_private;
#define devpriv ((timer_private *)dev->private)
+static void cleanup_tasks(int unused, void *device)
+{
+ comedi_device *dev = (comedi_device*)device;
+ int ret;
+
+ ret = rt_task_delete(&devpriv->rt_task);
+ if(ret < 0)
+ comedi_error(dev, "error deleting rt_task");
+ ret = rt_task_delete(&devpriv->scan_task);
+ if(ret < 0)
+ comedi_error(dev, "error deleting scan_task");
+}
+
static void timer_interrupt(int unused, void *device)
{
comedi_device *dev = (comedi_device*)device;
return data;
}
-static void timer_ai_task_func(int d)
+static void input_scan_task_func(int d)
{
comedi_device *dev=(comedi_device *)d;
comedi_subdevice *s=dev->read_subdev;
comedi_cmd *cmd=&s->async->cmd;
- int i,n,ret;
+ int i, ret;
+ unsigned long long n;
lsampl_t data;
- s->async->events = 0;
-
- for(n=0;n<cmd->stop_arg || cmd->stop_src == TRIG_NONE; n++){
- /* pause goes at beginning so task can not be interrupted between
- * writing last point to buffer (buf_add()) and comedi_done()
- */
- if(cmd->scan_begin_src == TRIG_TIMER && n != 0){
- rt_task_wait_period();
+ for(n = 0; n < cmd->stop_arg || cmd->stop_src == TRIG_NONE; n++){
+ // suspend scan until next scan
+ ret = rt_task_suspend(&devpriv->scan_task);
+ if(ret < 0){
+ comedi_error(dev, "error suspending scan task");
+ comedi_error_done(dev,s);
+ goto cleanup;
}
for(i = 0; i < cmd->scan_end_arg; i++){
ret = comedi_data_read(devpriv->device,devpriv->subd,
comedi_error_done(dev, s);
goto cleanup;
}
- if(cmd->convert_src == TRIG_TIMER)
+ if(cmd->convert_src == TRIG_TIMER &&
+ i + 1 != cmd->scan_end_arg){
rt_task_wait_period();
+ }
buf_add(dev,s,data);
}
s->async->events |= COMEDI_CB_EOS | COMEDI_CB_BLOCK;
comedi_event(dev,s,s->async->events);
s->async->events = 0;
}
- comedi_done(dev,s);
+ comedi_done(dev, s);
cleanup:
rt_pend_call(timer_interrupt, 0, dev);
- // we are deleting ourself here, no lines afterwards will be executed!
- rt_task_delete(&devpriv->rt_task);
+ rt_pend_call(cleanup_tasks, 0, dev);
}
-static void timer_ao_task_func(int d)
+static void output_scan_task_func(int d)
{
comedi_device *dev=(comedi_device *)d;
- comedi_subdevice *s=dev->write_subdev;
+ comedi_subdevice *s=dev->read_subdev;
comedi_cmd *cmd=&s->async->cmd;
- int i,n,ret;
- int data;
-
- s->async->events = 0;
+ int i, ret;
+ unsigned long long n;
+ lsampl_t data;
for(n = 0; n < cmd->stop_arg || cmd->stop_src == TRIG_NONE; n++){
- for(i=0;i<cmd->scan_end_arg;i++){
+ // suspend scan until next scan
+ ret = rt_task_suspend(&devpriv->scan_task);
+ if(ret < 0){
+ comedi_error(dev, "error suspending scan task");
+ comedi_error_done(dev,s);
+ goto cleanup;
+ }
+ for(i = 0; i < cmd->scan_end_arg; i++){
data = buf_remove(dev,s);
if(data < 0) {
comedi_error(dev, "buffer underrun");
comedi_error_done(dev, s);
goto cleanup;
}
- if(cmd->convert_src == TRIG_TIMER)
+ if(cmd->convert_src == TRIG_TIMER &&
+ i + 1 != cmd->scan_end_arg){
rt_task_wait_period();
+ }
}
s->async->events |= COMEDI_CB_EOS | COMEDI_CB_BLOCK;
comedi_event(dev,s,s->async->events);
s->async->events = 0;
- if(cmd->scan_begin_src == TRIG_TIMER)
- rt_task_wait_period();
}
- comedi_done(dev,s);
+ comedi_done(dev, s);
cleanup:
rt_pend_call(timer_interrupt, 0, dev);
- // we are deleting ourself here, no lines afterwards will be executed!
- rt_task_delete(&devpriv->rt_task);
+ rt_pend_call(cleanup_tasks, 0, dev);
+}
+
+static void timer_task_func(int d)
+{
+ comedi_device *dev=(comedi_device *)d;
+ comedi_subdevice *s=dev->read_subdev;
+ int ret;
+ unsigned long long n;
+
+ s->async->events = 0;
+
+ devpriv->start = rt_get_time();
+
+ for(n = 0; 1; n++){
+ ret = rt_task_make_periodic(&devpriv->scan_task,
+ devpriv->start + devpriv->scan_period * n,
+ devpriv->convert_period);
+ if(ret < 0){
+ comedi_error(dev, "error resuming scan task");
+ comedi_error_done(dev,s);
+ goto cleanup;
+ }
+ rt_task_wait_period();
+ }
+
+cleanup:
+
+ rt_pend_call(timer_interrupt, 0, dev);
+ rt_pend_call(cleanup_tasks, 0, dev);
}
static int timer_insn(comedi_device *dev,comedi_subdevice *s,
if(cmd->stop_src != TRIG_COUNT &&
cmd->stop_src != TRIG_NONE)
err++;
- /* we dont yet support TRIG_TIMER for scan_begin_src and convert_src
- * simultaneously */
- if(cmd->scan_begin_src == TRIG_TIMER && cmd->convert_src == TRIG_TIMER)
- err++;
if(cmd->scan_begin_src == TRIG_FOLLOW && cmd->convert_src != TRIG_TIMER)
err++;
if(cmd->convert_src == TRIG_NOW && cmd->scan_begin_src != TRIG_TIMER)
if(err)return 2;
/* step 3: make sure arguments are trivially compatible */
-
// limit frequency, this is fairly arbitrary
if(cmd->scan_begin_src == TRIG_TIMER){
if(cmd->scan_begin_arg<100000){ /* 10 khz */
cmd->scan_begin_arg=100000;
err++;
}
- if(cmd->scan_begin_arg>1e9){ /* 1 hz */
- cmd->scan_begin_arg=1e9;
- err++;
- }
}
if(cmd->convert_src == TRIG_TIMER){
if(cmd->convert_arg<100000){ /* 10 khz */
cmd->convert_arg=100000;
err++;
}
- if(cmd->convert_arg>1e9){ /* 1 hz */
- cmd->convert_arg=1e9;
+ }
+ // make sure conversion and scan frequencies are compatible
+ if(cmd->convert_src == TRIG_TIMER && cmd->scan_begin_src == TRIG_TIMER){
+ if(cmd->convert_arg * cmd->scan_end_arg > cmd->scan_begin_arg){
+ cmd->scan_begin_arg = cmd->convert_arg * cmd->scan_end_arg;
err++;
}
}
-
if(err)return 3;
/* step 4: fix up and arguments */
-
if(err)return 4;
return 0;
static int timer_cmd(comedi_device *dev,comedi_subdevice *s)
{
int ret;
- RTIME now,period,delay;
+ RTIME now, delay;
comedi_cmd *cmd = &s->async->cmd;
/* hack attack: drivers are not supposed to do this: */
return ret;
}
delay = nano2count(cmd->start_arg);
- if(cmd->scan_begin_src == TRIG_TIMER)
- period = nano2count(cmd->scan_begin_arg);
- else if(cmd->convert_src == TRIG_TIMER)
- period = nano2count(cmd->convert_arg);
- else {
- comedi_error(dev, "bug!");
- return -1;
+ switch(cmd->scan_begin_src){
+ case TRIG_TIMER:
+ devpriv->scan_period = nano2count(cmd->scan_begin_arg);
+ break;
+ case TRIG_FOLLOW:
+ devpriv->scan_period = nano2count(cmd->convert_arg * cmd->scan_end_arg);
+ break;
+ default:
+ comedi_error(dev, "bug setting scan period!");
+ return -1;
+ break;
}
+ switch(cmd->convert_src){
+ case TRIG_TIMER:
+ devpriv->convert_period = nano2count(cmd->convert_arg);
+ break;
+ case TRIG_NOW:
+ devpriv->convert_period = 1;
+ break;
+ default:
+ comedi_error(dev, "bug setting conversion period!");
+ return -1;
+ break;
+ }
+
#ifdef CONFIG_COMEDI_RTAI
- start_rt_timer(period);
+ start_rt_timer(1);
#endif
+
+ ret = rt_task_init(&devpriv->rt_task,timer_task_func,(int)dev,3000,0,0,0);
+ if(ret < 0)
+ {
+ comedi_error(dev, "error initalizing rt_task");
+ return ret;
+ }
+
if(s == dev->read_subdev)
- ret = rt_task_init(&devpriv->rt_task,timer_ai_task_func,(int)dev,3000,0,0,0);
+ ret = rt_task_init(&devpriv->scan_task, input_scan_task_func,
+ (int)dev, 3000, 0, 0, 0);
else
- ret = rt_task_init(&devpriv->rt_task,timer_ao_task_func,(int)dev,3000,0,0,0);
+ ret = rt_task_init(&devpriv->scan_task, output_scan_task_func,
+ (int)dev, 3000, 0, 0, 0);
if(ret < 0)
{
- comedi_error(dev, "error initalizing task");
+ comedi_error(dev, "error initalizing scan_task");
return ret;
}
+
+ ret = rt_task_resume(&devpriv->scan_task);
+ if(ret < 0)
+ {
+ comedi_error(dev, "error starting scan_task");
+ return ret;
+ }
+
now=rt_get_time();
- ret = rt_task_make_periodic(&devpriv->rt_task,now+delay,period);
+ ret = rt_task_make_periodic(&devpriv->rt_task,now+delay,devpriv->scan_period);
if(ret < 0)
{
- comedi_error(dev, "error starting task");
+ comedi_error(dev, "error starting rt_task");
return ret;
}
static int timer_cancel(comedi_device *dev,comedi_subdevice *s)
{
rt_task_delete(&devpriv->rt_task);
+ rt_task_delete(&devpriv->scan_task);
rt_pend_call(timer_interrupt, 0, dev);
return 0;
s->range_table=emul_s->range_table;
s->range_table_list=emul_s->range_table_list;
s->insn_write=timer_insn;
+ s->insn_read=timer_insn;
dev->write_subdev = s;
}else {
s->type=COMEDI_SUBD_UNUSED;
projects / comedi.git / commitdiff