Module: xenomai-3
Branch: master
Commit: 4e5fcf5d02c663d967e0aec9a2dde917da4c65bf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4e5fcf5d02c663d967e0aec9a2dde917da4c65bf
Author: Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>
Date: Sun Nov 16 00:00:54 2014 +0100
cobalt/rtdm: rebase rtdm_nrtsig on ipipe_post_work_root
As a consequence of this change, the RTDM API changes:
- rtdm_nrtsig_t becomes a structure
- rtdm_nrtsig_init now returns void, as we can no longer run out of virq
- the first argument of the nrtsig handler is a pointer to the rtdm_nrtsig_t
structure.
In-tree updated to reflect the change:
kernel/drivers/analogy/rtdm_helpers.c
kernel/drivers/testing/switchtest.c
---
include/cobalt/kernel/rtdm/driver.h | 43 +++++++++++++++------------------
kernel/cobalt/rtdm/drvlib.c | 38 ++++++++++++++++++++++++-----
kernel/drivers/analogy/rtdm_helpers.c | 4 +--
kernel/drivers/testing/switchtest.c | 7 ++----
4 files changed, 56 insertions(+), 36 deletions(-)
diff --git a/include/cobalt/kernel/rtdm/driver.h
b/include/cobalt/kernel/rtdm/driver.h
index f705af2..703b6ec 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -221,7 +221,7 @@ struct rtdm_profile_info {
/** Reserved */
unsigned int magic;
struct module *owner;
-};
+};
/**
* @brief RTDM driver
@@ -288,7 +288,7 @@ struct rtdm_driver {
*/
#define RTDM_PROFILE_INFO(__name, __id, __subid, __version) \
{ \
- .name = ( # __name ), \
+ .name = ( # __name ), \
.class_id = (__id), \
.subclass_id = (__subid), \
.version = (__version), \
@@ -829,44 +829,41 @@ static inline int rtdm_irq_disable(rtdm_irq_t *irq_handle)
* @{
*/
-typedef unsigned rtdm_nrtsig_t;
-
+typedef struct rtdm_nrtsig rtdm_nrtsig_t;
/**
* Non-real-time signal handler
*
- * @param[in] nrt_sig Signal handle as returned by rtdm_nrtsig_init()
+ * @param[in] nrt_sig Signal handle pointer as passed to rtdm_nrtsig_init()
* @param[in] arg Argument as passed to rtdm_nrtsig_init()
*
* @note The signal handler will run in soft-IRQ context of the non-real-time
* subsystem. Note the implications of this context, e.g. no invocation of
* blocking operations.
*/
-typedef void (*rtdm_nrtsig_handler_t)(rtdm_nrtsig_t nrt_sig, void *arg);
+typedef void (*rtdm_nrtsig_handler_t)(rtdm_nrtsig_t *nrt_sig, void *arg);
+
+struct rtdm_nrtsig {
+ rtdm_nrtsig_handler_t handler;
+ void *arg;
+};
+
/** @} rtdm_nrtsignal */
#ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
-static inline int rtdm_nrtsig_init(rtdm_nrtsig_t *nrt_sig,
- rtdm_nrtsig_handler_t handler, void *arg)
+static inline void rtdm_nrtsig_init(rtdm_nrtsig_t *nrt_sig,
+ rtdm_nrtsig_handler_t handler, void *arg)
{
- *nrt_sig = ipipe_alloc_virq();
- if (*nrt_sig == 0)
- return -EAGAIN;
-
- ipipe_request_irq(ipipe_root_domain, *nrt_sig, handler, arg, NULL);
-
- return 0;
+ nrt_sig->handler = handler;
+ nrt_sig->arg = arg;
}
static inline void rtdm_nrtsig_destroy(rtdm_nrtsig_t *nrt_sig)
{
- ipipe_free_irq(ipipe_root_domain, *nrt_sig);
- ipipe_free_virq(*nrt_sig);
+ nrt_sig->handler = NULL;
+ nrt_sig->arg = NULL;
}
-static inline void rtdm_nrtsig_pend(rtdm_nrtsig_t *nrt_sig)
-{
- ipipe_raise_irq(*nrt_sig);
-}
+void rtdm_nrtsig_pend(rtdm_nrtsig_t *nrt_sig);
#endif /* !DOXYGEN_CPP */
/* --- timer services --- */
@@ -1059,10 +1056,10 @@ static inline int __deprecated
rtdm_task_sleep_until(nanosecs_abs_t wakeup_time)
int __ret = 0;
\
for (;;) {
\
__end = rtdm_clock_read_monotonic() + __spin_ns;
\
- for (;;) {
\
+ for (;;) {
\
if (__condition)
\
goto done;
\
- if (rtdm_clock_read_monotonic() >= __end)
\
+ if (rtdm_clock_read_monotonic() >= __end)
\
break;
\
}
\
__ret = rtdm_task_sleep(__sleep_ns);
\
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index 414e262..165768a 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -328,7 +328,7 @@ int rtdm_task_sleep_abs(nanosecs_abs_t wakeup_time, enum
rtdm_timer_mode mode);
* @coretags{primary-only, might-switch}
*/
int rtdm_task_busy_wait(bool condition, nanosecs_rel_t spin_ns,
- nanosecs_rel_t sleep_ns);
+ nanosecs_rel_t sleep_ns);
#endif /* DOXYGEN_CPP */
@@ -1410,8 +1410,6 @@ int rtdm_irq_disable(rtdm_irq_t *irq_handle);
/** @} Interrupt Management Services */
-#ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
-
/**
* @ingroup rtdm_driver_interface
* @defgroup rtdm_nrtsignal Non-Real-Time Signalling Services
@@ -1424,6 +1422,8 @@ int rtdm_irq_disable(rtdm_irq_t *irq_handle);
* @{
*/
+#ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
+
/**
* @brief Register a non-real-time signal handler
*
@@ -1448,6 +1448,22 @@ int rtdm_nrtsig_init(rtdm_nrtsig_t *nrt_sig,
rtdm_nrtsig_handler_t handler,
* @coretags{task-unrestricted}
*/
void rtdm_nrtsig_destroy(rtdm_nrtsig_t *nrt_sig);
+#endif /* DOXYGEN_CPP */
+
+struct nrtsig_work {
+ struct ipipe_work_header work;
+ struct rtdm_nrtsig *nrtsig;
+};
+
+static void nrtsig_execute(struct ipipe_work_header *work)
+{
+ struct rtdm_nrtsig *nrtsig;
+ struct nrtsig_work *w;
+
+ w = container_of(work, typeof(*w), work);
+ nrtsig = w->nrtsig;
+ nrtsig->handler(nrtsig, nrtsig->arg);
+}
/**
* Trigger non-real-time signal
@@ -1456,10 +1472,20 @@ void rtdm_nrtsig_destroy(rtdm_nrtsig_t *nrt_sig);
*
* @coretags{unrestricted}
*/
-void rtdm_nrtsig_pend(rtdm_nrtsig_t *nrt_sig);
+void rtdm_nrtsig_pend(rtdm_nrtsig_t *nrt_sig)
+{
+ struct nrtsig_work nrtsig_work = {
+ .work = {
+ .size = sizeof(nrtsig_work),
+ .handler = nrtsig_execute,
+ },
+ .nrtsig = nrt_sig,
+ };
+ ipipe_post_work_root(&nrtsig_work, work);
+}
+EXPORT_SYMBOL_GPL(rtdm_nrtsig_pend);
/** @} Non-Real-Time Signalling Services */
-#endif /* DOXYGEN_CPP */
/**
* @ingroup rtdm_driver_interface
@@ -1486,7 +1512,7 @@ static int mmap_kmem_helper(struct vm_area_struct *vma,
void *va)
{
unsigned long addr, len, pfn, to;
int ret = 0;
-
+
to = (unsigned long)va;
addr = vma->vm_start;
len = vma->vm_end - vma->vm_start;
diff --git a/kernel/drivers/analogy/rtdm_helpers.c
b/kernel/drivers/analogy/rtdm_helpers.c
index 9e1af43..8330d06 100644
--- a/kernel/drivers/analogy/rtdm_helpers.c
+++ b/kernel/drivers/analogy/rtdm_helpers.c
@@ -81,7 +81,7 @@ int __a4l_free_irq(struct a4l_irq_descriptor * dsc)
/* --- Synchronization section --- */
-static void a4l_nrt_sync_handler(rtdm_nrtsig_t nrt_sig, void *arg)
+static void a4l_nrt_sync_handler(rtdm_nrtsig_t *nrt_sig, void *arg)
{
struct a4l_sync *snc = (struct a4l_sync *) arg;
wake_up_interruptible(&snc->wq);
@@ -101,7 +101,7 @@ int a4l_init_sync(struct a4l_sync *snc)
rtdm_event_init(&snc->rtdm_evt, 0);
/* Initializes the gateway to NRT context */
- ret = rtdm_nrtsig_init(&snc->nrt_sig, a4l_nrt_sync_handler, snc);
+ rtdm_nrtsig_init(&snc->nrt_sig, a4l_nrt_sync_handler, snc);
return ret;
}
diff --git a/kernel/drivers/testing/switchtest.c
b/kernel/drivers/testing/switchtest.c
index f9cb78e..a93a53a 100644
--- a/kernel/drivers/testing/switchtest.c
+++ b/kernel/drivers/testing/switchtest.c
@@ -520,7 +520,7 @@ static int rtswitch_create_ktask(struct rtswitch_context
*ctx,
return err;
}
-static void rtswitch_utask_waker(rtdm_nrtsig_t sig, void *arg)
+static void rtswitch_utask_waker(rtdm_nrtsig_t *sig, void *arg)
{
struct rtswitch_context *ctx = (struct rtswitch_context *)arg;
up(&ctx->utask->nrt_synch);
@@ -529,7 +529,6 @@ static void rtswitch_utask_waker(rtdm_nrtsig_t sig, void
*arg)
static int rtswitch_open(struct rtdm_fd *fd, int oflags)
{
struct rtswitch_context *ctx = rtdm_fd_to_private(fd);
- int err;
ctx->tasks = NULL;
ctx->tasks_count = ctx->next_index = ctx->cpu = ctx->switches_count = 0;
@@ -538,9 +537,7 @@ static int rtswitch_open(struct rtdm_fd *fd, int oflags)
ctx->error.last_switch.from = ctx->error.last_switch.to = -1;
ctx->pause_us = 0;
- err = rtdm_nrtsig_init(&ctx->wake_utask, rtswitch_utask_waker, ctx);
- if (err)
- return err;
+ rtdm_nrtsig_init(&ctx->wake_utask, rtswitch_utask_waker, ctx);
rtdm_timer_init(&ctx->wake_up_delay, timed_wake_up, "switchtest timer");
_______________________________________________
Xenomai-git mailing list
Xenomai-git@xenomai.org
http://www.xenomai.org/mailman/listinfo/xenomai-git
