From: David Schleef <ds@schleef.org>
Date: Thu, 22 Mar 2001 20:55:18 +0000 (+0000)
Subject: Fix to make rt_pend_tq work correctly on RTAI.
X-Git-Tag: r0_7_58~40
X-Git-Url: http://git.tremily.us/gitweb.cgi?a=commitdiff_plain;h=5a817129a201e6ac04050c41f9b615ec92f61d76;p=comedi.git

Fix to make rt_pend_tq work correctly on RTAI.
---

diff --git a/comedi/Makefile b/comedi/Makefile
index fbe9cfa9..18711f1f 100644
--- a/comedi/Makefile
+++ b/comedi/Makefile
@@ -13,8 +13,8 @@ ifneq ($(CONFIG_COMEDI_KLIB),)
 endif
 
 ifeq ($(CONFIG_COMEDI_RT),y)
-	MOD_SUB_DIRS += realtime rt_pend_tq
-	SUB_DIRS += realtime rt_pend_tq
+	MOD_SUB_DIRS += realtime
+	SUB_DIRS += realtime
 endif
 
 MOD_LIST_NAME := MISC_MODULES
@@ -33,7 +33,7 @@ endif
 
 
 ifeq ($(CONFIG_COMEDI_RT),y)
-MI_OBJS += rt.o
+MI_OBJS += rt.o rt_pend_tq/rt_pend_tq.o
 endif
 
 
diff --git a/comedi/rt.c b/comedi/rt.c
index 619fbb5b..4792c31b 100644
--- a/comedi/rt.c
+++ b/comedi/rt.c
@@ -154,18 +154,14 @@ void comedi_switch_to_non_rt(comedi_device *dev)
 	RT_spin_unlock_irq(&dev->spinlock);
 }
 
-#ifdef HAVE_RT_PEND_TQ
 void wake_up_int_handler(int arg1, void * arg2)
 {
 	wake_up_interruptible((wait_queue_head_t*)arg2);
 }
-#endif
 
 void comedi_rt_pend_wakeup(wait_queue_head_t *q)
 {
-#ifdef HAVE_RT_PEND_TQ
 	rt_pend_call(wake_up_int_handler,0,q);
-#endif
 }
 
 
@@ -253,11 +249,13 @@ static int rt_release_irq(struct comedi_irq_struct *it)
 void comedi_rt_init(void)
 {
 	rt_mount_rtai();
+	rt_pend_tq_init();
 }
 
 void comedi_rt_cleanup(void)
 {
 	rt_umount_rtai();
+	rt_pend_tq_cleanup();
 }
 
 #endif
@@ -286,8 +284,15 @@ static int rt_release_irq(struct comedi_irq_struct *it)
 	return 0;
 }
 
-void comedi_rt_init(void) { }
-void comedi_rt_cleanup(void) { }
+void comedi_rt_init(void)
+{
+	rt_pend_tq_init();
+}
+
+void comedi_rt_cleanup(void)
+{
+	rt_pend_tq_cleanup();
+}
 
 #endif
 
diff --git a/comedi/rt_pend_tq/rt_pend_tq.c b/comedi/rt_pend_tq/rt_pend_tq.c
index 2c8822bd..7708695d 100644
--- a/comedi/rt_pend_tq/rt_pend_tq.c
+++ b/comedi/rt_pend_tq/rt_pend_tq.c
@@ -74,17 +74,19 @@ int rt_pend_tq_init(void)
 #endif
 #ifdef CONFIG_COMEDI_RTL
 	rt_pend_tq_irq=rtl_get_soft_irq(rt_pend_irq_handler,"rt_pend_irq");
+#endif
 	if(rt_pend_tq_irq>0) 
 		printk("rt_pend_tq: RT bottom half scheduler initialized OK\n");
 	else
 		printk("rt_pend_tq: rtl_get_soft_irq failed\n");
-#endif
 	return 0;
 }
 
 void rt_pend_tq_cleanup(void)
 {
 	printk("rt_pend_tq: unloading\n");
-	free_irq(rt_pend_tq_irq,NULL);
+#ifdef CONFIG_COMEDI_RTAI
+	rt_free_srq(rt_pend_tq_irq);
+#endif
 }