#ifdef CONFIG_COMEDI_RTAI
#include <rtai.h>
+#endif
-#define RT_protect() hard_cli()
-#define RT_unprotect() hard_sti()
-#define RT_spin_lock_irq(x) rt_spin_lock_irq(x)
-#define RT_spin_unlock_irq(x) rt_spin_unlock_irq(x)
+#ifdef CONFIG_COMEDI_FUSION
+#include <nucleus/asm/hal.h>
#endif
#ifdef CONFIG_COMEDI_RTL
#include <rtl_core.h>
#include <rtl_sync.h>
-
-#define RT_protect() rtl_make_rt_system_active()
-#define RT_unprotect() rtl_make_rt_system_idle()
-/* RTL doesn't have the necessary primitives, so we have to hack
- * it, dealing with the race */
-#define RT_spin_lock_irq(x) do{RT_protect();rtl_spin_lock(x);}while(0)
-#define RT_spin_unlock_irq(x) do{rtl_spin_unlock(x);RT_unprotect();}while(0)
-#endif
-
-#ifdef CONFIG_PRIORITY_IRQ
-#define RT_protect() __local_irq_disable()
-#define RT_unprotect() __local_irq_enable()
-#define RT_spin_lock_irq(x) spin_lock_hard_irq(x)
-#define RT_spin_unlock_irq(x) spin_unlock_hard_irq(x)
#endif
struct comedi_irq_struct {
int rt;
int irq;
- void (*handler)(int irq,void *dev_id,struct pt_regs *regs);
+ irqreturn_t (*handler)(int irq,void *dev_id,struct pt_regs *regs);
unsigned long flags;
const char *device;
comedi_device *dev_id;
static int comedi_rt_get_irq(struct comedi_irq_struct *it);
static int comedi_rt_release_irq(struct comedi_irq_struct *it);
-#define MAX_IRQ_SHARING 6
-static struct comedi_irq_struct *comedi_irqs[NR_IRQS][MAX_IRQ_SHARING];
-
-static struct comedi_irq_struct * find_comedi_irq_struct( int irq, comedi_device *dev_id )
-{
- int i;
-
- for( i = 0; i < MAX_IRQ_SHARING; i++)
- {
- if( comedi_irqs[ irq ][ i ] &&
- comedi_irqs[ irq ][ i ]->dev_id == dev_id )
- {
- return comedi_irqs[ irq ][ i ];
- }
- }
- return NULL;
-}
-
-static void free_comedi_irq_struct( int irq, comedi_device *dev_id )
-{
- int i;
-
- for( i = 0; i < MAX_IRQ_SHARING; i++)
- {
- if( comedi_irqs[ irq ][ i ] &&
- comedi_irqs[ irq ][ i ]->dev_id == dev_id )
- {
- kfree( comedi_irqs[ irq ][ i ] );
- comedi_irqs[ irq ][ i ] = NULL;
- return;
- }
- }
-}
-
-static int insert_comedi_irq_struct( int irq,
- struct comedi_irq_struct *it )
-{
- int i;
-
- for( i = 0; i < MAX_IRQ_SHARING; i++ )
- {
- if( comedi_irqs[ irq ][ i ] == NULL )
- {
- comedi_irqs[ irq ][ i ] = it;
- return 0;
- }
- }
- return -1;
-}
+static struct comedi_irq_struct *comedi_irqs[NR_IRQS];
int comedi_request_irq(unsigned irq, irqreturn_t (*handler)(int, void *,struct pt_regs *),
unsigned long flags,const char *device,comedi_device *dev_id)
{
struct comedi_irq_struct *it;
int ret;
-
- it=kmalloc(sizeof(struct comedi_irq_struct),GFP_KERNEL);
- if(!it)
- return -ENOMEM;
- memset(it,0,sizeof(struct comedi_irq_struct));
-
- it->handler=handler;
- it->irq=irq;
- it->dev_id=dev_id;
- it->device=device;
-
/* null shared interrupt flag, since rt interrupt handlers do not
- * support it, and this version of comedi_request_irq() is only
- * called for kernels with rt support */
- it->flags = flags & ~SA_SHIRQ;
-
- ret=request_irq(irq,handler,it->flags,device,dev_id);
+ * support it, and this version of comedi_request_irq() is only
+ * called for kernels with rt support */
+ unsigned long unshared_flags = flags & ~SA_SHIRQ;
+
+ ret = request_irq(irq, handler, unshared_flags, device, dev_id);
if(ret<0){
- // we failed, so fall back on allowing shared interrupt
+ // we failed, so fall back on allowing shared interrupt (which we won't ever make RT)
if(flags & SA_SHIRQ)
{
- it->flags = flags;
- ret=request_irq(irq,handler,it->flags,device,dev_id);
+ rt_printk("comedi: cannot get unshared interrupt, will not use RT interrupts.\n");
+ ret=request_irq(irq, handler, flags, device, dev_id);
}
if(ret<0){
- kfree(it);
return ret;
}
- }
-
- if( insert_comedi_irq_struct( irq, it ) )
+ }else
{
- kfree(it);
- return -1;
+ it = kmalloc(sizeof(struct comedi_irq_struct), GFP_KERNEL);
+ if(!it)
+ return -ENOMEM;
+ memset(it, 0, sizeof(struct comedi_irq_struct));
+
+ it->handler=handler;
+ it->irq=irq;
+ it->dev_id=dev_id;
+ it->device=device;
+ it->flags = unshared_flags;
+ comedi_irqs[irq] = it;
}
-
return 0;
}
{
struct comedi_irq_struct *it;
- it = find_comedi_irq_struct( irq, dev_id );
+ free_irq(irq, dev_id);
+
+ it = comedi_irqs[irq];
if( it == NULL ) return;
if(it->rt){
comedi_rt_release_irq(it);
}
- free_irq(it->irq,it->dev_id);
-
- free_comedi_irq_struct( irq, dev_id );
+ kfree(it);
+ comedi_irqs[irq] = NULL;
}
struct comedi_irq_struct *it;
unsigned long flags;
- it = find_comedi_irq_struct( dev->irq, dev );
- /* drivers might not be using an interrupt for commands */
+ it = comedi_irqs[dev->irq];
+ /* drivers might not be using an interrupt for commands,
+ or we might not have been able to get an unshared irq */
if( it == NULL ) return -1;
- /* rt interrupts and shared interrupts don't mix */
- if(it->flags & SA_SHIRQ){
- rt_printk("comedi: cannot switch shared interrupt to RT priority\n");
- return -1;
- }
-
comedi_spin_lock_irqsave( &dev->spinlock, flags );
if(!dev->rt)
struct comedi_irq_struct *it;
unsigned long flags;
- it = find_comedi_irq_struct( dev->irq, dev );
+ it = comedi_irqs[dev->irq];
if(it == NULL)
return;
- /* rt interrupts and shared interrupts don't mix */
- if(it->flags & SA_SHIRQ)
- return;
-
comedi_spin_lock_irqsave( &dev->spinlock, flags );
dev->rt--;
static void handle_void_irq(int irq)
{
- int i;
struct comedi_irq_struct *it;
- for( i = 0; i < MAX_IRQ_SHARING; i++ )
+ it = comedi_irqs[irq];
+ if(it == NULL)
{
- it = comedi_irqs[ irq ][ i ];
- if( it == NULL ) continue;
- it->handler( irq, it->dev_id, NULL );
+ rt_printk("comedi: null irq struct?\n");
+ return;
}
+ it->handler(irq, it->dev_id, NULL);
rt_enable_irq(irq); //needed by rtai-adeos, seems like it shouldn't hurt earlier versions
}
handle_void_irq_22,
handle_void_irq_23,
};
-/* if you need more, fix it yourself... */
static int comedi_rt_get_irq(struct comedi_irq_struct *it)
{
- rt_request_global_irq(it->irq,handle_void_irq_ptrs[it->irq]);
+ rt_request_global_irq(it->irq, handle_void_irq_ptrs[it->irq]);
rt_startup_irq(it->irq);
return 0;
#endif
+/* Fusion section */
+#ifdef CONFIG_COMEDI_FUSION
+
+static void fusion_handle_irq(unsigned int irq, void *cookie)
+{
+ struct comedi_irq_struct *it = cookie;
+
+ it->handler(irq, it->dev_id, NULL);
+ rthal_irq_enable(irq);
+}
+
+static int comedi_rt_get_irq(struct comedi_irq_struct *it)
+{
+ rthal_irq_request(it->irq, fusion_handle_irq, it);
+ rthal_irq_enable(it->irq);
+ return 0;
+}
+
+static int comedi_rt_release_irq(struct comedi_irq_struct *it)
+{
+ rthal_irq_disable(it->irq);
+ rthal_irq_release(it->irq);
+ return 0;
+}
+
+void comedi_rt_init(void)
+{
+ rt_pend_tq_init();
+}
+
+void comedi_rt_cleanup(void)
+{
+ rt_pend_tq_cleanup();
+}
+
+#endif /*CONFIG_COMEDI_FUSION*/
/* RTLinux section */
#ifdef CONFIG_COMEDI_RTL
static unsigned int handle_rtl_irq(unsigned int irq,struct pt_regs *regs)
{
- int i;
struct comedi_irq_struct *it;
- for( i = 0; i < MAX_IRQ_SHARING; i++ )
- {
- it = comedi_irqs[ irq ][ i ];
- if( it == NULL ) continue;
- it->handler( irq, it->dev_id, regs );
- }
+ it = comedi_irqs[irq];
+ if( it == NULL ) return 0;
+ it->handler( irq, it->dev_id, regs );
rtl_hard_enable_irq(irq);
return 0;
}
projects / comedi.git / commitdiff