From: Frank Mori Hess Date: Mon, 4 Jun 2001 22:03:06 +0000 (+0000) Subject: merged input and output scan tasks, kept more careful track of status of rt tasks X-Git-Tag: r0_7_60~188 X-Git-Url: http://git.tremily.us/?a=commitdiff_plain;h=e19c59af50b37b600d1e593b7bab506cfb47aba0;p=comedi.git merged input and output scan tasks, kept more careful track of status of rt tasks --- diff --git a/comedi/drivers/comedi_rt_timer.c b/comedi/drivers/comedi_rt_timer.c index 50f43938..982f2f75 100644 --- a/comedi/drivers/comedi_rt_timer.c +++ b/comedi/drivers/comedi_rt_timer.c @@ -111,20 +111,30 @@ COMEDI_INITCLEANUP(driver_timer); typedef struct{ - int device; - int subd; - RT_TASK rt_task; - RT_TASK scan_task; + int device; // device we are emulating commands for + int subd; // subdevice we are emulating commands for + RT_TASK rt_task; // rt task that starts scans + RT_TASK scan_task; // rt task that controls conversion timing in a scan + /* io_function can point to either an input or output function + * depending on what kind of subdevice we are emulating for */ + int (*io_function)(comedi_device *dev, comedi_cmd *cmd, unsigned int index); + // RTIME has units of 1 = 838 nanoseconds + // time at which first scan started, used to check scan timing RTIME start; + // time between scans RTIME scan_period; + // time between conversions in a scan RTIME convert_period; - unsigned done : 1; + // flags + unsigned stop : 1; // indicates we should stop + unsigned rt_task_active : 1; // indicates rt_task is servicing a comedi_cmd + unsigned scan_task_active : 1; // indicates scan_task is servicing a comedi_cmd }timer_private; #define devpriv ((timer_private *)dev->private) static int timer_cancel(comedi_device *dev,comedi_subdevice *s) { - devpriv->done = 1; + devpriv->stop = 1; return 0; } @@ -197,97 +207,71 @@ inline static int check_conversion_timing(comedi_device *dev, return 0; } -// performs input scans -static void input_scan_task_func(int d) +// devpriv->io_function for an input subdevice +static int timer_data_read(comedi_device *dev, comedi_cmd *cmd, + unsigned int index) { - comedi_device *dev=(comedi_device *)d; - comedi_subdevice *s=dev->read_subdev; - comedi_cmd *cmd=&s->async->cmd; - int i, ret; - unsigned long long n; + comedi_subdevice *s = dev->read_subdev; + int ret; lsampl_t data; - RTIME scan_start; - // every comedi_cmd causes one execution of while loop - while(1){ - s->async->events = 0; + ret = comedi_data_read(devpriv->device, devpriv->subd, + CR_CHAN(cmd->chanlist[index]), + CR_RANGE(cmd->chanlist[index]), + CR_AREF(cmd->chanlist[index]), + &data); + if(ret<0){ + comedi_error(dev, "read error"); + return -EIO; + } + buf_add(dev, s, data); - // each for loop completes one scan - for(n = 0; n < cmd->stop_arg || cmd->stop_src == TRIG_NONE; n++){ - if(n){ - // suspend task 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; - } - } - // check if done flag was set (by timer_cancel()) - if(devpriv->done) - goto cleanup; - ret = check_scan_timing(dev, n); - if(ret < 0){ - comedi_error_done(dev,s); - goto cleanup; - } - scan_start = rt_get_time(); - for(i = 0; i < cmd->scan_end_arg; i++){ - // conversion timing - if(cmd->convert_src == TRIG_TIMER && i){ - rt_task_wait_period(); - ret = check_conversion_timing(dev, scan_start, i); - if(ret < 0){ - comedi_error_done(dev,s); - goto cleanup; - } - } - ret = comedi_data_read(devpriv->device,devpriv->subd, - CR_CHAN(cmd->chanlist[i]), - CR_RANGE(cmd->chanlist[i]), - CR_AREF(cmd->chanlist[i]), - &data); - if(ret<0){ - comedi_error(dev, "read error"); - comedi_error_done(dev, s); - goto cleanup; - } - 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); + return 0; +} -cleanup: +// devpriv->io_function for an output subdevice +static int timer_data_write(comedi_device *dev, comedi_cmd *cmd, + unsigned int index) +{ + comedi_subdevice *s = dev->write_subdev; + int ret; + int data; - devpriv->done = 1; - comedi_unlock(devpriv->device,devpriv->subd); - // suspend task until next comedi_cmd - rt_task_suspend(&devpriv->scan_task); + data = buf_remove(dev, s); + if(data < 0) { + comedi_error(dev, "buffer underrun"); + return -EAGAIN; } + ret = comedi_data_write(devpriv->device, devpriv->subd, + CR_CHAN(cmd->chanlist[index]), + CR_RANGE(cmd->chanlist[index]), + CR_AREF(cmd->chanlist[index]), + data); + if(ret<0){ + comedi_error(dev, "write error"); + return -EIO; + } + + return 0; } -// performs output scans -static void output_scan_task_func(int d) +// performs scans +static void scan_task_func(int d) { comedi_device *dev=(comedi_device *)d; - comedi_subdevice *s=dev->write_subdev; + comedi_subdevice *s = dev->subdevices + 0; comedi_cmd *cmd=&s->async->cmd; int i, ret; unsigned long long n; - int data; RTIME scan_start; // every comedi_cmd causes one execution of while loop while(1){ - s->async->events = 0; - + devpriv->scan_task_active = 1; // each for loop completes one scan for(n = 0; n < cmd->stop_arg || cmd->stop_src == TRIG_NONE; n++){ - // suspend task until next scan if(n){ + // suspend task until next scan ret = rt_task_suspend(&devpriv->scan_task); if(ret < 0){ comedi_error(dev, "error suspending scan task"); @@ -295,8 +279,8 @@ static void output_scan_task_func(int d) goto cleanup; } } - // check if done flag was set (by timer_cancel()) - if(devpriv->done) + // check if stop flag was set (by timer_cancel()) + if(devpriv->stop) goto cleanup; ret = check_scan_timing(dev, n); if(ret < 0){ @@ -314,19 +298,8 @@ static void output_scan_task_func(int d) goto cleanup; } } - data = buf_remove(dev, s); - if(data < 0) { - comedi_error(dev, "buffer underrun"); - comedi_error_done(dev, s); - goto cleanup; - } - ret = comedi_data_write(devpriv->device,devpriv->subd, - CR_CHAN(cmd->chanlist[i]), - CR_RANGE(cmd->chanlist[i]), - CR_AREF(cmd->chanlist[i]), - data); - if(ret<0){ - comedi_error(dev, "write error"); + ret = devpriv->io_function(dev, cmd, i); + if(ret < 0){ comedi_error_done(dev, s); goto cleanup; } @@ -339,9 +312,9 @@ static void output_scan_task_func(int d) cleanup: - devpriv->done = 1; comedi_unlock(devpriv->device,devpriv->subd); - // suspend until next comedi_cmd + devpriv->scan_task_active = 0; + // suspend task until next comedi_cmd rt_task_suspend(&devpriv->scan_task); } } @@ -354,13 +327,15 @@ static void timer_task_func(int d) // every comedi_cmd causes one execution of while loop while(1){ + devpriv->rt_task_active = 1; + devpriv->scan_task_active = 1; devpriv->start = rt_get_time(); for(n = 0; 1; n++){ // scan timing if(n) rt_task_wait_period(); - if(devpriv->done){ + if(devpriv->scan_task_active == 0){ goto cleanup; } ret = rt_task_make_periodic(&devpriv->scan_task, @@ -373,6 +348,7 @@ static void timer_task_func(int d) cleanup: + devpriv->rt_task_active = 0; // suspend until next comedi_cmd rt_task_suspend(&devpriv->rt_task); } @@ -491,6 +467,10 @@ static int timer_cmd(comedi_device *dev,comedi_subdevice *s) /* hack attack: drivers are not supposed to do this: */ dev->rt = 1; + // make sure tasks have finished cleanup of last comedi_cmd + if(devpriv->rt_task_active || devpriv->scan_task_active) + return -EBUSY; + ret = comedi_lock(devpriv->device,devpriv->subd); if(ret<0) { @@ -527,7 +507,8 @@ static int timer_cmd(comedi_device *dev,comedi_subdevice *s) start_rt_timer(1); #endif - devpriv->done = 0; + devpriv->stop = 0; + s->async->events = 0; now=rt_get_time(); ret = rt_task_make_periodic(&devpriv->rt_task, now @@ -553,7 +534,7 @@ static int timer_attach(comedi_device *dev,comedi_devconfig *it) dev->board_name="timer"; - dev->n_subdevices=2; + dev->n_subdevices=1; if((ret=alloc_subdevices(dev))<0) return ret; if((ret=alloc_private(dev,sizeof(timer_private)))<0) @@ -574,7 +555,7 @@ static int timer_attach(comedi_device *dev,comedi_devconfig *it) return -EINVAL; } - // input subdevice + // input or output subdevice s=dev->subdevices+0; if(emul_s->subdev_flags & SDF_READABLE) { @@ -590,13 +571,8 @@ static int timer_attach(comedi_device *dev,comedi_devconfig *it) s->range_table_list=emul_s->range_table_list; s->insn_read=timer_insn; dev->read_subdev = s; - }else { - s->type=COMEDI_SUBD_UNUSED; - } - - // output subdevice - s=dev->subdevices+1; - if(emul_s->subdev_flags & SDF_WRITEABLE) + devpriv->io_function = timer_data_read; + }else if(emul_s->subdev_flags & SDF_WRITEABLE) { s->type=emul_s->type; s->subdev_flags = SDF_WRITEABLE; @@ -611,8 +587,10 @@ static int timer_attach(comedi_device *dev,comedi_devconfig *it) s->insn_write=timer_insn; s->insn_read=timer_insn; dev->write_subdev = s; + devpriv->io_function = timer_data_write; }else { - s->type=COMEDI_SUBD_UNUSED; + comedi_error(dev, "subdevice is not readable or writeable!"); + return -EINVAL; } // initialize real-time tasks @@ -623,16 +601,8 @@ static int timer_attach(comedi_device *dev,comedi_devconfig *it) return ret; } - if(dev->read_subdev){ - ret = rt_task_init(&devpriv->scan_task, input_scan_task_func, - (int)dev, 3000, scan_priority, 0, 0); - }else if(dev->write_subdev){ - ret = rt_task_init(&devpriv->scan_task, output_scan_task_func, - (int)dev, 3000, scan_priority, 0, 0); - }else{ - comedi_error(dev, "no read or write subdevice?"); - ret = -EINVAL; - } + ret = rt_task_init(&devpriv->scan_task, scan_task_func, + (int)dev, 3000, scan_priority, 0, 0); if(ret < 0){ comedi_error(dev, "error initalizing scan_task"); return ret;