kernel/2.6.29.6-aldebaran-rt/drivers/staging/comedi/comedi_rt.h

   1 /*
   2     module/comedi_rt.h
   3     header file for real-time structures, variables, and constants
   4
   5     COMEDI - Linux Control and Measurement Device Interface
   6     Copyright (C) 1997-2000 David A. Schleef <ds@schleef.org>
   7
   8     This program is free software; you can redistribute it and/or modify
   9     it under the terms of the GNU General Public License as published by
  10     the Free Software Foundation; either version 2 of the License, or
  11     (at your option) any later version.
  12
  13     This program is distributed in the hope that it will be useful,
  14     but WITHOUT ANY WARRANTY; without even the implied warranty of
  15     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16     GNU General Public License for more details.
  17
  18     You should have received a copy of the GNU General Public License
  19     along with this program; if not, write to the Free Software
  20     Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21
  22 */
  23
  24 #ifndef _COMEDI_RT_H
  25 #define _COMEDI_RT_H
  26
  27 #ifndef _COMEDIDEV_H
  28 #error comedi_rt.h should only be included by comedidev.h
  29 #endif
  30
  31 #include <linux/version.h>
  32 #include <linux/kdev_t.h>
  33 #include <linux/slab.h>
  34 #include <linux/errno.h>
  35 #include <linux/spinlock.h>
  36 #include <linux/delay.h>
  37
  38 #ifdef CONFIG_COMEDI_RT
  39
  40 #ifdef CONFIG_COMEDI_RTAI
  41 #include <rtai.h>
  42 #include <rtai_sched.h>
  43 #include <rtai_version.h>
  44 #endif
  45 #ifdef CONFIG_COMEDI_RTL
  46 #include <rtl_core.h>
  47 #include <rtl_time.h>
  48 /* #ifdef RTLINUX_VERSION_CODE */
  49 #include <rtl_sync.h>
  50 /* #endif */
  51 #define rt_printk rtl_printf
  52 #endif
  53 #ifdef CONFIG_COMEDI_FUSION
  54 #define rt_printk(format, args...) printk(format , ## args)
  55 #endif /* CONFIG_COMEDI_FUSION */
  56 #ifdef CONFIG_PRIORITY_IRQ
  57 #define rt_printk printk
  58 #endif
  59
  60 int comedi_request_irq(unsigned int irq, irqreturn_t(*handler) (int,
  61                 void *PT_REGS_ARG), unsigned long flags, const char *device,
  62                 comedi_device *dev_id);
  63 void comedi_free_irq(unsigned int irq, comedi_device *dev_id);
  64 void comedi_rt_init(void);
  65 void comedi_rt_cleanup(void);
  66 int comedi_switch_to_rt(comedi_device *dev);
  67 void comedi_switch_to_non_rt(comedi_device *dev);
  68 void comedi_rt_pend_wakeup(wait_queue_head_t *q);
  69 extern int rt_pend_call(void (*func) (int arg1, void *arg2), int arg1,
  70         void *arg2);
  71
  72 #else
  73
  74 #define comedi_request_irq(a, b, c, d, e) request_irq(a, b, c, d, e)
  75 #define comedi_free_irq(a, b) free_irq(a, b)
  76 #define comedi_rt_init() do {} while (0)
  77 #define comedi_rt_cleanup() do {} while (0)
  78 #define comedi_switch_to_rt(a) (-1)
  79 #define comedi_switch_to_non_rt(a) do {} while (0)
  80 #define comedi_rt_pend_wakeup(a) do {} while (0)
  81
  82 #define rt_printk(format, args...)      printk(format, ##args)
  83
  84 #endif
  85
  86 /* Define a spin_lock_irqsave function that will work with rt or without.
  87  * Use inline functions instead of just macros to enforce some type checking.
  88  */
  89 #define comedi_spin_lock_irqsave(lock_ptr, flags) \
  90         (flags = __comedi_spin_lock_irqsave(lock_ptr))
  91
  92 static inline unsigned long __comedi_spin_lock_irqsave(spinlock_t *lock_ptr)
  93 {
  94         unsigned long flags;
  95
  96 #if defined(CONFIG_COMEDI_RTAI)
  97         flags = rt_spin_lock_irqsave(lock_ptr);
  98
  99 #elif defined(CONFIG_COMEDI_RTL)
 100         rtl_spin_lock_irqsave(lock_ptr, flags);
 101
 102 #elif defined(CONFIG_COMEDI_RTL_V1)
 103         rtl_spin_lock_irqsave(lock_ptr, flags);
 104
 105 #elif defined(CONFIG_COMEDI_FUSION)
 106         rthal_spin_lock_irqsave(lock_ptr, flags);
 107 #else
 108         spin_lock_irqsave(lock_ptr, flags);
 109
 110 #endif
 111
 112         return flags;
 113 }
 114
 115 static inline void comedi_spin_unlock_irqrestore(spinlock_t *lock_ptr,
 116         unsigned long flags)
 117 {
 118
 119 #if defined(CONFIG_COMEDI_RTAI)
 120         rt_spin_unlock_irqrestore(flags, lock_ptr);
 121
 122 #elif defined(CONFIG_COMEDI_RTL)
 123         rtl_spin_unlock_irqrestore(lock_ptr, flags);
 124
 125 #elif defined(CONFIG_COMEDI_RTL_V1)
 126         rtl_spin_unlock_irqrestore(lock_ptr, flags);
 127 #elif defined(CONFIG_COMEDI_FUSION)
 128         rthal_spin_unlock_irqrestore(lock_ptr, flags);
 129 #else
 130         spin_unlock_irqrestore(lock_ptr, flags);
 131
 132 #endif
 133
 134 }
 135
 136 /* define a RT safe udelay */
 137 static inline void comedi_udelay(unsigned int usec)
 138 {
 139 #if defined(CONFIG_COMEDI_RTAI)
 140         static const int nanosec_per_usec = 1000;
 141         rt_busy_sleep(usec * nanosec_per_usec);
 142 #elif defined(CONFIG_COMEDI_RTL)
 143         static const int nanosec_per_usec = 1000;
 144         rtl_delay(usec * nanosec_per_usec);
 145 #else
 146         udelay(usec);
 147 #endif
 148 }
 149
 150 #endif