drivers/staging/comedi/rt.c

   1 /*
   2     comedi/rt.c
   3     comedi kernel module
   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 #undef DEBUG
  25
  26 #define __NO_VERSION__
  27 #include <linux/comedidev.h>
  28
  29 #include <linux/errno.h>
  30 #include <linux/kernel.h>
  31 #include <linux/sched.h>
  32 #include <linux/fcntl.h>
  33 #include <linux/delay.h>
  34 #include <linux/ioport.h>
  35 #include <linux/mm.h>
  36 #include <linux/slab.h>
  37 #include <asm/io.h>
  38
  39 #include "rt_pend_tq.h"
  40
  41 #ifdef CONFIG_COMEDI_RTAI
  42 #include <rtai.h>
  43 #endif
  44
  45 #ifdef CONFIG_COMEDI_FUSION
  46 #include <nucleus/asm/hal.h>
  47 #endif
  48
  49 #ifdef CONFIG_COMEDI_RTL
  50 #include <rtl_core.h>
  51 #include <rtl_sync.h>
  52 #endif
  53
  54 struct comedi_irq_struct {
  55         int rt;
  56         int irq;
  57          irqreturn_t(*handler) (int irq, void *dev_id PT_REGS_ARG);
  58         unsigned long flags;
  59         const char *device;
  60         comedi_device *dev_id;
  61 };
  62
  63 static int comedi_rt_get_irq(struct comedi_irq_struct *it);
  64 static int comedi_rt_release_irq(struct comedi_irq_struct *it);
  65
  66 static struct comedi_irq_struct *comedi_irqs[NR_IRQS];
  67
  68 int comedi_request_irq(unsigned irq, irqreturn_t(*handler) (int,
  69                 void *PT_REGS_ARG), unsigned long flags, const char *device,
  70         comedi_device * dev_id)
  71 {
  72         struct comedi_irq_struct *it;
  73         int ret;
  74         /* null shared interrupt flag, since rt interrupt handlers do not
  75          * support it, and this version of comedi_request_irq() is only
  76          * called for kernels with rt support */
  77         unsigned long unshared_flags = flags & ~IRQF_SHARED;
  78
  79         ret = request_irq(irq, handler, unshared_flags, device, dev_id);
  80         if (ret < 0) {
  81                 // we failed, so fall back on allowing shared interrupt (which we won't ever make RT)
  82                 if (flags & IRQF_SHARED) {
  83                         rt_printk
  84                                 ("comedi: cannot get unshared interrupt, will not use RT interrupts.\n");
  85                         ret = request_irq(irq, handler, flags, device, dev_id);
  86                 }
  87                 if (ret < 0) {
  88                         return ret;
  89                 }
  90         } else {
  91                 it = kzalloc(sizeof(struct comedi_irq_struct), GFP_KERNEL);
  92                 if (!it)
  93                         return -ENOMEM;
  94
  95                 it->handler = handler;
  96                 it->irq = irq;
  97                 it->dev_id = dev_id;
  98                 it->device = device;
  99                 it->flags = unshared_flags;
 100                 comedi_irqs[irq] = it;
 101         }
 102         return 0;
 103 }
 104
 105 void comedi_free_irq(unsigned int irq, comedi_device * dev_id)
 106 {
 107         struct comedi_irq_struct *it;
 108
 109         free_irq(irq, dev_id);
 110
 111         it = comedi_irqs[irq];
 112         if (it == NULL)
 113                 return;
 114
 115         if (it->rt) {
 116                 printk("real-time IRQ allocated at board removal (ignore)\n");
 117                 comedi_rt_release_irq(it);
 118         }
 119
 120         kfree(it);
 121         comedi_irqs[irq] = NULL;
 122 }
 123
 124 int comedi_switch_to_rt(comedi_device * dev)
 125 {
 126         struct comedi_irq_struct *it;
 127         unsigned long flags;
 128
 129         it = comedi_irqs[dev->irq];
 130         /* drivers might not be using an interrupt for commands,
 131            or we might not have been able to get an unshared irq */
 132         if (it == NULL)
 133                 return -1;
 134
 135         comedi_spin_lock_irqsave(&dev->spinlock, flags);
 136
 137         if (!dev->rt)
 138                 comedi_rt_get_irq(it);
 139
 140         dev->rt++;
 141         it->rt = 1;
 142
 143         comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
 144
 145         return 0;
 146 }
 147
 148 void comedi_switch_to_non_rt(comedi_device * dev)
 149 {
 150         struct comedi_irq_struct *it;
 151         unsigned long flags;
 152
 153         it = comedi_irqs[dev->irq];
 154         if (it == NULL)
 155                 return;
 156
 157         comedi_spin_lock_irqsave(&dev->spinlock, flags);
 158
 159         dev->rt--;
 160         if (!dev->rt)
 161                 comedi_rt_release_irq(it);
 162
 163         it->rt = 0;
 164
 165         comedi_spin_unlock_irqrestore(&dev->spinlock, flags);
 166 }
 167
 168 void wake_up_int_handler(int arg1, void *arg2)
 169 {
 170         wake_up_interruptible((wait_queue_head_t *) arg2);
 171 }
 172
 173 void comedi_rt_pend_wakeup(wait_queue_head_t * q)
 174 {
 175         rt_pend_call(wake_up_int_handler, 0, q);
 176 }
 177
 178 /* RTAI section */
 179 #ifdef CONFIG_COMEDI_RTAI
 180
 181 #ifndef HAVE_RT_REQUEST_IRQ_WITH_ARG
 182 #define DECLARE_VOID_IRQ(irq) \
 183 static void handle_void_irq_ ## irq (void){ handle_void_irq(irq);}
 184
 185 static void handle_void_irq(int irq)
 186 {
 187         struct comedi_irq_struct *it;
 188
 189         it = comedi_irqs[irq];
 190         if (it == NULL) {
 191                 rt_printk("comedi: null irq struct?\n");
 192                 return;
 193         }
 194         it->handler(irq, it->dev_id PT_REGS_NULL);
 195         rt_enable_irq(irq);     //needed by rtai-adeos, seems like it shouldn't hurt earlier versions
 196 }
 197
 198 DECLARE_VOID_IRQ(0);
 199 DECLARE_VOID_IRQ(1);
 200 DECLARE_VOID_IRQ(2);
 201 DECLARE_VOID_IRQ(3);
 202 DECLARE_VOID_IRQ(4);
 203 DECLARE_VOID_IRQ(5);
 204 DECLARE_VOID_IRQ(6);
 205 DECLARE_VOID_IRQ(7);
 206 DECLARE_VOID_IRQ(8);
 207 DECLARE_VOID_IRQ(9);
 208 DECLARE_VOID_IRQ(10);
 209 DECLARE_VOID_IRQ(11);
 210 DECLARE_VOID_IRQ(12);
 211 DECLARE_VOID_IRQ(13);
 212 DECLARE_VOID_IRQ(14);
 213 DECLARE_VOID_IRQ(15);
 214 DECLARE_VOID_IRQ(16);
 215 DECLARE_VOID_IRQ(17);
 216 DECLARE_VOID_IRQ(18);
 217 DECLARE_VOID_IRQ(19);
 218 DECLARE_VOID_IRQ(20);
 219 DECLARE_VOID_IRQ(21);
 220 DECLARE_VOID_IRQ(22);
 221 DECLARE_VOID_IRQ(23);
 222
 223 typedef void (*V_FP_V) (void);
 224 static V_FP_V handle_void_irq_ptrs[] = {
 225         handle_void_irq_0,
 226         handle_void_irq_1,
 227         handle_void_irq_2,
 228         handle_void_irq_3,
 229         handle_void_irq_4,
 230         handle_void_irq_5,
 231         handle_void_irq_6,
 232         handle_void_irq_7,
 233         handle_void_irq_8,
 234         handle_void_irq_9,
 235         handle_void_irq_10,
 236         handle_void_irq_11,
 237         handle_void_irq_12,
 238         handle_void_irq_13,
 239         handle_void_irq_14,
 240         handle_void_irq_15,
 241         handle_void_irq_16,
 242         handle_void_irq_17,
 243         handle_void_irq_18,
 244         handle_void_irq_19,
 245         handle_void_irq_20,
 246         handle_void_irq_21,
 247         handle_void_irq_22,
 248         handle_void_irq_23,
 249 };
 250
 251 static int comedi_rt_get_irq(struct comedi_irq_struct *it)
 252 {
 253         rt_request_global_irq(it->irq, handle_void_irq_ptrs[it->irq]);
 254         rt_startup_irq(it->irq);
 255
 256         return 0;
 257 }
 258
 259 static int comedi_rt_release_irq(struct comedi_irq_struct *it)
 260 {
 261         rt_shutdown_irq(it->irq);
 262         rt_free_global_irq(it->irq);
 263         return 0;
 264 }
 265 #else
 266
 267 static int comedi_rt_get_irq(struct comedi_irq_struct *it)
 268 {
 269         int ret;
 270
 271         ret = rt_request_global_irq_arg(it->irq, it->handler, it->flags,
 272                 it->device, it->dev_id);
 273         if (ret < 0) {
 274                 rt_printk("rt_request_global_irq_arg() returned %d\n", ret);
 275                 return ret;
 276         }
 277         rt_startup_irq(it->irq);
 278
 279         return 0;
 280 }
 281
 282 static int comedi_rt_release_irq(struct comedi_irq_struct *it)
 283 {
 284         rt_shutdown_irq(it->irq);
 285         rt_free_global_irq(it->irq);
 286         return 0;
 287 }
 288 #endif
 289
 290 void comedi_rt_init(void)
 291 {
 292         rt_mount_rtai();
 293         rt_pend_tq_init();
 294 }
 295
 296 void comedi_rt_cleanup(void)
 297 {
 298         rt_umount_rtai();
 299         rt_pend_tq_cleanup();
 300 }
 301
 302 #endif
 303
 304 /* Fusion section */
 305 #ifdef CONFIG_COMEDI_FUSION
 306
 307 static void fusion_handle_irq(unsigned int irq, void *cookie)
 308 {
 309         struct comedi_irq_struct *it = cookie;
 310
 311         it->handler(irq, it->dev_id PT_REGS_NULL);
 312         rthal_irq_enable(irq);
 313 }
 314
 315 static int comedi_rt_get_irq(struct comedi_irq_struct *it)
 316 {
 317         rthal_irq_request(it->irq, fusion_handle_irq, it);
 318         rthal_irq_enable(it->irq);
 319         return 0;
 320 }
 321
 322 static int comedi_rt_release_irq(struct comedi_irq_struct *it)
 323 {
 324         rthal_irq_disable(it->irq);
 325         rthal_irq_release(it->irq);
 326         return 0;
 327 }
 328
 329 void comedi_rt_init(void)
 330 {
 331         rt_pend_tq_init();
 332 }
 333
 334 void comedi_rt_cleanup(void)
 335 {
 336         rt_pend_tq_cleanup();
 337 }
 338
 339 #endif /*CONFIG_COMEDI_FUSION */
 340
 341 /* RTLinux section */
 342 #ifdef CONFIG_COMEDI_RTL
 343
 344 static unsigned int handle_rtl_irq(unsigned int irq PT_REGS_ARG)
 345 {
 346         struct comedi_irq_struct *it;
 347
 348         it = comedi_irqs[irq];
 349         if (it == NULL)
 350                 return 0;
 351         it->handler(irq, it->dev_id PT_REGS_NULL);
 352         rtl_hard_enable_irq(irq);
 353         return 0;
 354 }
 355
 356 static int comedi_rt_get_irq(struct comedi_irq_struct *it)
 357 {
 358         rtl_request_global_irq(it->irq, handle_rtl_irq);
 359         return 0;
 360 }
 361
 362 static int comedi_rt_release_irq(struct comedi_irq_struct *it)
 363 {
 364         rtl_free_global_irq(it->irq);
 365         return 0;
 366 }
 367
 368 void comedi_rt_init(void)
 369 {
 370         rt_pend_tq_init();
 371 }
 372
 373 void comedi_rt_cleanup(void)
 374 {
 375         rt_pend_tq_cleanup();
 376 }
 377
 378 #endif
 379
 380 #ifdef CONFIG_COMEDI_PIRQ
 381 static int comedi_rt_get_irq(struct comedi_irq_struct *it)
 382 {
 383         int ret;
 384
 385         free_irq(it->irq, it->dev_id);
 386         ret = request_irq(it->irq, it->handler, it->flags | SA_PRIORITY,
 387                 it->device, it->dev_id);
 388
 389         return ret;
 390 }
 391
 392 static int comedi_rt_release_irq(struct comedi_irq_struct *it)
 393 {
 394         int ret;
 395
 396         free_irq(it->irq, it->dev_id);
 397         ret = request_irq(it->irq, it->handler, it->flags,
 398                 it->device, it->dev_id);
 399
 400         return ret;
 401 }
 402
 403 void comedi_rt_init(void)
 404 {
 405         //rt_pend_tq_init();
 406 }
 407
 408 void comedi_rt_cleanup(void)
 409 {
 410         //rt_pend_tq_cleanup();
 411 }
 412 #endif