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include/rtdm/rtdm_driver.h

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00001 
00026 #ifndef _RTDM_DRIVER_H
00027 #define _RTDM_DRIVER_H
00028 
00029 #ifndef __KERNEL__
00030 #error This header is for kernel space usage only. \
00031        You are likely looking for rtdm/rtdm.h...
00032 #endif /* !__KERNEL__ */
00033 
00034 #include <asm/atomic.h>
00035 #include <linux/list.h>
00036 
00037 #include <nucleus/xenomai.h>
00038 #include <nucleus/heap.h>
00039 #include <nucleus/pod.h>
00040 #include <nucleus/synch.h>
00041 #include <nucleus/select.h>
00042 #include <nucleus/vfile.h>
00043 #include <rtdm/rtdm.h>
00044 
00045 /* debug support */
00046 #include <nucleus/assert.h>
00047 #ifdef CONFIG_PCI
00048 #include <asm-generic/xenomai/pci_ids.h>
00049 #endif /* CONFIG_PCI */
00050 
00051 #ifndef CONFIG_XENO_OPT_DEBUG_RTDM
00052 #define CONFIG_XENO_OPT_DEBUG_RTDM      0
00053 #endif
00054 
00055 struct rtdm_dev_context;
00056 typedef struct xnselector rtdm_selector_t;
00057 enum rtdm_selecttype;
00058 
00071 #define RTDM_EXCLUSIVE                  0x0001
00072 
00074 #define RTDM_NAMED_DEVICE               0x0010
00075 
00078 #define RTDM_PROTOCOL_DEVICE            0x0020
00079 
00081 #define RTDM_DEVICE_TYPE_MASK           0x00F0
00082 
00091 #define RTDM_CREATED_IN_NRT             0
00092 
00094 #define RTDM_CLOSING                    1
00095 
00097 #define RTDM_USER_CONTEXT_FLAG          8  /* first user-definable flag */
00098 
00107 #define RTDM_DEVICE_STRUCT_VER          5
00108 
00110 #define RTDM_CONTEXT_STRUCT_VER         3
00111 
00113 #define RTDM_SECURE_DEVICE              0x80000000
00114 
00116 #define RTDM_DRIVER_VER(major, minor, patch) \
00117         (((major & 0xFF) << 16) | ((minor & 0xFF) << 8) | (patch & 0xFF))
00118 
00120 #define RTDM_DRIVER_MAJOR_VER(ver)      (((ver) >> 16) & 0xFF)
00121 
00123 #define RTDM_DRIVER_MINOR_VER(ver)      (((ver) >> 8) & 0xFF)
00124 
00126 #define RTDM_DRIVER_PATCH_VER(ver)      ((ver) & 0xFF)
00127 
00139 enum rtdm_selecttype {
00141         RTDM_SELECTTYPE_READ = XNSELECT_READ,
00142 
00144         RTDM_SELECTTYPE_WRITE = XNSELECT_WRITE,
00145 
00147         RTDM_SELECTTYPE_EXCEPT = XNSELECT_EXCEPT
00148 };
00172 typedef int (*rtdm_open_handler_t)(struct rtdm_dev_context *context,
00173                                    rtdm_user_info_t *user_info, int oflag);
00174 
00189 typedef int (*rtdm_socket_handler_t)(struct rtdm_dev_context *context,
00190                                      rtdm_user_info_t *user_info, int protocol);
00191 
00212 typedef int (*rtdm_close_handler_t)(struct rtdm_dev_context *context,
00213                                     rtdm_user_info_t *user_info);
00214 
00230 typedef int (*rtdm_ioctl_handler_t)(struct rtdm_dev_context *context,
00231                                     rtdm_user_info_t *user_info,
00232                                     unsigned int request, void __user *arg);
00233 
00247 typedef int (*rtdm_select_bind_handler_t)(struct rtdm_dev_context *context,
00248                                           rtdm_selector_t *selector,
00249                                           enum rtdm_selecttype type,
00250                                           unsigned fd_index);
00251 
00267 typedef ssize_t (*rtdm_read_handler_t)(struct rtdm_dev_context *context,
00268                                        rtdm_user_info_t *user_info,
00269                                        void *buf, size_t nbyte);
00270 
00286 typedef ssize_t (*rtdm_write_handler_t)(struct rtdm_dev_context *context,
00287                                         rtdm_user_info_t *user_info,
00288                                         const void *buf, size_t nbyte);
00289 
00306 typedef ssize_t (*rtdm_recvmsg_handler_t)(struct rtdm_dev_context *context,
00307                                           rtdm_user_info_t *user_info,
00308                                           struct msghdr *msg, int flags);
00309 
00326 typedef ssize_t (*rtdm_sendmsg_handler_t)(struct rtdm_dev_context *context,
00327                                           rtdm_user_info_t *user_info,
00328                                           const struct msghdr *msg, int flags);
00331 typedef int (*rtdm_rt_handler_t)(struct rtdm_dev_context *context,
00332                                  rtdm_user_info_t *user_info, void *arg);
00336 struct rtdm_operations {
00341         rtdm_close_handler_t close_rt;
00343         rtdm_close_handler_t close_nrt;
00344 
00346         rtdm_ioctl_handler_t ioctl_rt;
00348         rtdm_ioctl_handler_t ioctl_nrt;
00349 
00351         rtdm_select_bind_handler_t select_bind;
00357         rtdm_read_handler_t read_rt;
00359         rtdm_read_handler_t read_nrt;
00360 
00362         rtdm_write_handler_t write_rt;
00364         rtdm_write_handler_t write_nrt;
00370         rtdm_recvmsg_handler_t recvmsg_rt;
00372         rtdm_recvmsg_handler_t recvmsg_nrt;
00373 
00375         rtdm_sendmsg_handler_t sendmsg_rt;
00377         rtdm_sendmsg_handler_t sendmsg_nrt;
00379 };
00380 
00381 struct rtdm_devctx_reserved {
00382         void *owner;
00383         struct list_head cleanup;
00384 };
00385 
00397 struct rtdm_dev_context {
00399         unsigned long context_flags;
00400 
00402         int fd;
00403 
00406         atomic_t close_lock_count;
00407 
00409         struct rtdm_operations *ops;
00410 
00412         struct rtdm_device *device;
00413 
00415         struct rtdm_devctx_reserved reserved;
00416 
00418         char dev_private[0];
00419 };
00420 
00429 static inline void *
00430 rtdm_context_to_private(struct rtdm_dev_context *context)
00431 {
00432         return (void *)context->dev_private;
00433 }
00434 
00443 static inline struct rtdm_dev_context *
00444 rtdm_private_to_context(void *dev_private)
00445 {
00446         return container_of(dev_private, struct rtdm_dev_context, dev_private);
00447 }
00448 
00449 struct rtdm_dev_reserved {
00450         struct list_head entry;
00451         atomic_t refcount;
00452         struct rtdm_dev_context *exclusive_context;
00453 };
00454 
00462 struct rtdm_device {
00465         int struct_version;
00466 
00468         int device_flags;
00470         size_t context_size;
00471 
00473         char device_name[RTDM_MAX_DEVNAME_LEN + 1];
00474 
00476         int protocol_family;
00478         int socket_type;
00479 
00484         rtdm_open_handler_t open_rt;
00487         rtdm_open_handler_t open_nrt;
00488 
00494         rtdm_socket_handler_t socket_rt;
00497         rtdm_socket_handler_t socket_nrt;
00498 
00500         struct rtdm_operations ops;
00501 
00503         int device_class;
00506         int device_sub_class;
00508         int profile_version;
00510         const char *driver_name;
00512         int driver_version;
00515         const char *peripheral_name;
00517         const char *provider_name;
00518 
00520         const char *proc_name;
00521 #ifdef CONFIG_XENO_OPT_VFILE
00522 
00523         struct xnvfile_directory vfroot;
00524         struct xnvfile_regular info_vfile;
00525 #endif
00526 
00528         int device_id;
00530         void *device_data;
00531 
00533         struct rtdm_dev_reserved reserved;
00534 };
00537 /* --- device registration --- */
00538 
00539 int rtdm_dev_register(struct rtdm_device *device);
00540 int rtdm_dev_unregister(struct rtdm_device *device, unsigned int poll_delay);
00541 
00542 /* --- inter-driver API --- */
00543 
00544 #define rtdm_open               rt_dev_open
00545 #define rtdm_socket             rt_dev_socket
00546 #define rtdm_close              rt_dev_close
00547 #define rtdm_ioctl              rt_dev_ioctl
00548 #define rtdm_read               rt_dev_read
00549 #define rtdm_write              rt_dev_write
00550 #define rtdm_recvmsg            rt_dev_recvmsg
00551 #define rtdm_recv               rt_dev_recv
00552 #define rtdm_recvfrom           rt_dev_recvfrom
00553 #define rtdm_sendmsg            rt_dev_sendmsg
00554 #define rtdm_send               rt_dev_send
00555 #define rtdm_sendto             rt_dev_sendto
00556 #define rtdm_bind               rt_dev_bind
00557 #define rtdm_listen             rt_dev_listen
00558 #define rtdm_accept             rt_dev_accept
00559 #define rtdm_getsockopt         rt_dev_getsockopt
00560 #define rtdm_setsockopt         rt_dev_setsockopt
00561 #define rtdm_getsockname        rt_dev_getsockname
00562 #define rtdm_getpeername        rt_dev_getpeername
00563 #define rtdm_shutdown           rt_dev_shutdown
00564 
00565 struct rtdm_dev_context *rtdm_context_get(int fd);
00566 
00567 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
00568 
00569 #define CONTEXT_IS_LOCKED(context) \
00570         (atomic_read(&(context)->close_lock_count) > 1 || \
00571          (test_bit(RTDM_CLOSING, &(context)->context_flags) && \
00572           atomic_read(&(context)->close_lock_count) > 0))
00573 
00574 static inline void rtdm_context_lock(struct rtdm_dev_context *context)
00575 {
00576         XENO_ASSERT(RTDM, CONTEXT_IS_LOCKED(context),
00577                     /* just warn if context was a dangling pointer */);
00578         atomic_inc(&context->close_lock_count);
00579 }
00580 
00581 extern int rtdm_apc;
00582 
00583 static inline void rtdm_context_unlock(struct rtdm_dev_context *context)
00584 {
00585         XENO_ASSERT(RTDM, CONTEXT_IS_LOCKED(context),
00586                     /* just warn if context was a dangling pointer */);
00587         smp_mb__before_atomic_dec();
00588         if (unlikely(atomic_dec_and_test(&context->close_lock_count)))
00589                 rthal_apc_schedule(rtdm_apc);
00590 }
00591 
00592 static inline void rtdm_context_put(struct rtdm_dev_context *context)
00593 {
00594         rtdm_context_unlock(context);
00595 }
00596 
00597 /* --- clock services --- */
00598 struct xntbase;
00599 extern struct xntbase *rtdm_tbase;
00600 
00601 static inline nanosecs_abs_t rtdm_clock_read(void)
00602 {
00603         return xntbase_ticks2ns(rtdm_tbase, xntbase_get_time(rtdm_tbase));
00604 }
00605 
00606 static inline nanosecs_abs_t rtdm_clock_read_monotonic(void)
00607 {
00608         return xntbase_ticks2ns(rtdm_tbase, xntbase_get_jiffies(rtdm_tbase));
00609 }
00610 #endif /* !DOXYGEN_CPP */
00611 
00617 int rtdm_select_bind(int fd, rtdm_selector_t *selector,
00618                      enum rtdm_selecttype type, unsigned fd_index);
00619 
00620 /* --- spin lock services --- */
00658 #ifdef DOXYGEN_CPP /* Beautify doxygen output */
00659 #define RTDM_EXECUTE_ATOMICALLY(code_block)     \
00660 {                                               \
00661         <ENTER_ATOMIC_SECTION>                  \
00662         code_block;                             \
00663         <LEAVE_ATOMIC_SECTION>                  \
00664 }
00665 #else /* This is how it really works */
00666 #define RTDM_EXECUTE_ATOMICALLY(code_block)             \
00667 {                                                       \
00668         spl_t __rtdm_s;                                 \
00669                                                         \
00670         xnlock_get_irqsave(&nklock, __rtdm_s);          \
00671         code_block;                                     \
00672         xnlock_put_irqrestore(&nklock, __rtdm_s);       \
00673 }
00674 #endif
00675 
00685 #define RTDM_LOCK_UNLOCKED      RTHAL_SPIN_LOCK_UNLOCKED
00686 
00688 typedef rthal_spinlock_t rtdm_lock_t;
00689 
00691 typedef unsigned long rtdm_lockctx_t;
00692 
00708 #define rtdm_lock_init(lock)    rthal_spin_lock_init(lock)
00709 
00726 #ifdef DOXYGEN_CPP /* Beautify doxygen output */
00727 #define rtdm_lock_get(lock)     rthal_spin_lock(lock)
00728 #else /* This is how it really works */
00729 #define rtdm_lock_get(lock)                                     \
00730         do {                                                    \
00731                 XENO_BUGON(RTDM, !rthal_local_irq_disabled());  \
00732                 rthal_spin_lock(lock);                          \
00733         } while (0)
00734 #endif
00735 
00752 #define rtdm_lock_put(lock)     rthal_spin_unlock(lock)
00753 
00771 #define rtdm_lock_get_irqsave(lock, context)    \
00772         rthal_spin_lock_irqsave(lock, context)
00773 
00791 #define rtdm_lock_put_irqrestore(lock, context) \
00792         rthal_spin_unlock_irqrestore(lock, context)
00793 
00810 #define rtdm_lock_irqsave(context)      \
00811         rthal_local_irq_save(context)
00812 
00829 #define rtdm_lock_irqrestore(context)   \
00830         rthal_local_irq_restore(context)
00831 
00835 /* --- Interrupt management services --- */
00841 typedef xnintr_t rtdm_irq_t;
00842 
00849 #define RTDM_IRQTYPE_SHARED             XN_ISR_SHARED
00850 
00852 #define RTDM_IRQTYPE_EDGE               XN_ISR_EDGE
00853 
00862 typedef int (*rtdm_irq_handler_t)(rtdm_irq_t *irq_handle);
00863 
00870 #define RTDM_IRQ_NONE                   XN_ISR_NONE
00871 
00872 #define RTDM_IRQ_HANDLED                XN_ISR_HANDLED
00873 
00892 #define rtdm_irq_get_arg(irq_handle, type)      ((type *)irq_handle->cookie)
00893 
00895 int rtdm_irq_request(rtdm_irq_t *irq_handle, unsigned int irq_no,
00896                      rtdm_irq_handler_t handler, unsigned long flags,
00897                      const char *device_name, void *arg);
00898 
00899 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
00900 static inline int rtdm_irq_free(rtdm_irq_t *irq_handle)
00901 {
00902         return xnintr_detach(irq_handle);
00903 }
00904 
00905 static inline int rtdm_irq_enable(rtdm_irq_t *irq_handle)
00906 {
00907         return xnintr_enable(irq_handle);
00908 }
00909 
00910 static inline int rtdm_irq_disable(rtdm_irq_t *irq_handle)
00911 {
00912         return xnintr_disable(irq_handle);
00913 }
00914 #endif /* !DOXYGEN_CPP */
00915 
00916 /* --- non-real-time signalling services --- */
00917 
00923 typedef unsigned rtdm_nrtsig_t;
00924 
00935 typedef void (*rtdm_nrtsig_handler_t)(rtdm_nrtsig_t nrt_sig, void *arg);
00938 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
00939 static inline int rtdm_nrtsig_init(rtdm_nrtsig_t *nrt_sig,
00940                                    rtdm_nrtsig_handler_t handler, void *arg)
00941 {
00942         *nrt_sig = rthal_alloc_virq();
00943 
00944         if (*nrt_sig == 0)
00945                 return -EAGAIN;
00946 
00947         rthal_virtualize_irq(rthal_root_domain, *nrt_sig, handler, arg, NULL,
00948                              IPIPE_HANDLE_MASK);
00949         return 0;
00950 }
00951 
00952 static inline void rtdm_nrtsig_destroy(rtdm_nrtsig_t *nrt_sig)
00953 {
00954         rthal_virtualize_irq(rthal_root_domain, *nrt_sig, NULL, NULL, NULL, 0);
00955 
00956         rthal_free_virq(*nrt_sig);
00957 }
00958 
00959 static inline void rtdm_nrtsig_pend(rtdm_nrtsig_t *nrt_sig)
00960 {
00961         rthal_trigger_irq(*nrt_sig);
00962 }
00963 #endif /* !DOXYGEN_CPP */
00964 
00965 /* --- timer services --- */
00966 
00972 typedef xntimer_t rtdm_timer_t;
00973 
00979 typedef void (*rtdm_timer_handler_t)(rtdm_timer_t *timer);
00980 
00986 enum rtdm_timer_mode {
00988         RTDM_TIMERMODE_RELATIVE = XN_RELATIVE,
00989 
00991         RTDM_TIMERMODE_ABSOLUTE = XN_ABSOLUTE,
00992 
00994         RTDM_TIMERMODE_REALTIME = XN_REALTIME
00995 };
01000 #ifndef DOXYGEN_CPP /* Avoid broken doxygen output */
01001 #define rtdm_timer_init(timer, handler, name)           \
01002 ({                                                      \
01003         xntimer_init((timer), rtdm_tbase, handler);     \
01004         xntimer_set_name((timer), (name));              \
01005         0;                                              \
01006 })
01007 #endif /* !DOXYGEN_CPP */
01008 
01009 void rtdm_timer_destroy(rtdm_timer_t *timer);
01010 
01011 int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
01012                      nanosecs_rel_t interval, enum rtdm_timer_mode mode);
01013 
01014 void rtdm_timer_stop(rtdm_timer_t *timer);
01015 
01016 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
01017 static inline int rtdm_timer_start_in_handler(rtdm_timer_t *timer,
01018                                               nanosecs_abs_t expiry,
01019                                               nanosecs_rel_t interval,
01020                                               enum rtdm_timer_mode mode)
01021 {
01022         return xntimer_start(timer, xntbase_ns2ticks_ceil(rtdm_tbase, expiry),
01023                              xntbase_ns2ticks_ceil(rtdm_tbase, interval),
01024                              (xntmode_t)mode);
01025 }
01026 
01027 static inline void rtdm_timer_stop_in_handler(rtdm_timer_t *timer)
01028 {
01029         xntimer_stop(timer);
01030 }
01031 #endif /* !DOXYGEN_CPP */
01032 
01033 /* --- task services --- */
01039 typedef xnthread_t rtdm_task_t;
01040 
01046 typedef void (*rtdm_task_proc_t)(void *arg);
01047 
01052 #define RTDM_TASK_LOWEST_PRIORITY       XNSCHED_LOW_PRIO
01053 #define RTDM_TASK_HIGHEST_PRIORITY      XNSCHED_HIGH_PRIO
01054 
01060 #define RTDM_TASK_RAISE_PRIORITY        (+1)
01061 #define RTDM_TASK_LOWER_PRIORITY        (-1)
01062 
01066 int rtdm_task_init(rtdm_task_t *task, const char *name,
01067                    rtdm_task_proc_t task_proc, void *arg,
01068                    int priority, nanosecs_rel_t period);
01069 int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
01070 void rtdm_task_busy_sleep(nanosecs_rel_t delay);
01071 
01072 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
01073 static inline void rtdm_task_destroy(rtdm_task_t *task)
01074 {
01075         xnpod_delete_thread(task);
01076 }
01077 
01078 void rtdm_task_join_nrt(rtdm_task_t *task, unsigned int poll_delay);
01079 
01080 static inline void rtdm_task_set_priority(rtdm_task_t *task, int priority)
01081 {
01082         union xnsched_policy_param param = { .rt = { .prio = priority } };
01083         xnpod_set_thread_schedparam(task, &xnsched_class_rt, &param);
01084         xnpod_schedule();
01085 }
01086 
01087 static inline int rtdm_task_set_period(rtdm_task_t *task,
01088                                        nanosecs_rel_t period)
01089 {
01090         if (period < 0)
01091                 period = 0;
01092         return xnpod_set_thread_periodic(task, XN_INFINITE,
01093                                          xntbase_ns2ticks_ceil
01094                                          (xnthread_time_base(task), period));
01095 }
01096 
01097 static inline int rtdm_task_unblock(rtdm_task_t *task)
01098 {
01099         int res = xnpod_unblock_thread(task);
01100 
01101         xnpod_schedule();
01102         return res;
01103 }
01104 
01105 static inline rtdm_task_t *rtdm_task_current(void)
01106 {
01107         return xnpod_current_thread();
01108 }
01109 
01110 static inline int rtdm_task_wait_period(void)
01111 {
01112         XENO_ASSERT(RTDM, !xnpod_unblockable_p(), return -EPERM;);
01113         return xnpod_wait_thread_period(NULL);
01114 }
01115 
01116 static inline int rtdm_task_sleep(nanosecs_rel_t delay)
01117 {
01118         return __rtdm_task_sleep(delay, XN_RELATIVE);
01119 }
01120 
01121 static inline int
01122 rtdm_task_sleep_abs(nanosecs_abs_t wakeup_date, enum rtdm_timer_mode mode)
01123 {
01124         /* For the sake of a consistent API usage... */
01125         if (mode != RTDM_TIMERMODE_ABSOLUTE && mode != RTDM_TIMERMODE_REALTIME)
01126                 return -EINVAL;
01127         return __rtdm_task_sleep(wakeup_date, (xntmode_t)mode);
01128 }
01129 
01130 /* rtdm_task_sleep_abs shall be used instead */
01131 static inline int __deprecated rtdm_task_sleep_until(nanosecs_abs_t wakeup_time)
01132 {
01133         return __rtdm_task_sleep(wakeup_time, XN_REALTIME);
01134 }
01135 #endif /* !DOXYGEN_CPP */
01136 
01137 /* --- timeout sequences */
01138 
01139 typedef nanosecs_abs_t rtdm_toseq_t;
01140 
01141 void rtdm_toseq_init(rtdm_toseq_t *timeout_seq, nanosecs_rel_t timeout);
01142 
01143 /* --- event services --- */
01144 
01145 typedef struct {
01146         xnsynch_t synch_base;
01147         DECLARE_XNSELECT(select_block);
01148 } rtdm_event_t;
01149 
01150 #define RTDM_EVENT_PENDING              XNSYNCH_SPARE1
01151 
01152 void rtdm_event_init(rtdm_event_t *event, unsigned long pending);
01153 #ifdef CONFIG_XENO_OPT_RTDM_SELECT
01154 int rtdm_event_select_bind(rtdm_event_t *event, rtdm_selector_t *selector,
01155                            enum rtdm_selecttype type, unsigned fd_index);
01156 #else /* !CONFIG_XENO_OPT_RTDM_SELECT */
01157 #define rtdm_event_select_bind(e, s, t, i) ({ (void)(e); -EBADF; })
01158 #endif /* !CONFIG_XENO_OPT_RTDM_SELECT */
01159 int rtdm_event_wait(rtdm_event_t *event);
01160 int rtdm_event_timedwait(rtdm_event_t *event, nanosecs_rel_t timeout,
01161                          rtdm_toseq_t *timeout_seq);
01162 void rtdm_event_signal(rtdm_event_t *event);
01163 
01164 void rtdm_event_clear(rtdm_event_t *event);
01165 
01166 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
01167 void __rtdm_synch_flush(xnsynch_t *synch, unsigned long reason);
01168 
01169 static inline void rtdm_event_pulse(rtdm_event_t *event)
01170 {
01171         trace_mark(xn_rtdm, event_pulse, "event %p", event);
01172         __rtdm_synch_flush(&event->synch_base, 0);
01173 }
01174 
01175 static inline void rtdm_event_destroy(rtdm_event_t *event)
01176 {
01177         trace_mark(xn_rtdm, event_destroy, "event %p", event);
01178         __rtdm_synch_flush(&event->synch_base, XNRMID);
01179         xnselect_destroy(&event->select_block);
01180 }
01181 #endif /* !DOXYGEN_CPP */
01182 
01183 /* --- semaphore services --- */
01184 
01185 typedef struct {
01186         unsigned long value;
01187         xnsynch_t synch_base;
01188         DECLARE_XNSELECT(select_block);
01189 } rtdm_sem_t;
01190 
01191 void rtdm_sem_init(rtdm_sem_t *sem, unsigned long value);
01192 #ifdef CONFIG_XENO_OPT_RTDM_SELECT
01193 int rtdm_sem_select_bind(rtdm_sem_t *sem, rtdm_selector_t *selector,
01194                          enum rtdm_selecttype type, unsigned fd_index);
01195 #else /* !CONFIG_XENO_OPT_RTDM_SELECT */
01196 #define rtdm_sem_select_bind(s, se, t, i) ({ (void)(s); -EBADF; })
01197 #endif /* !CONFIG_XENO_OPT_RTDM_SELECT */
01198 int rtdm_sem_down(rtdm_sem_t *sem);
01199 int rtdm_sem_timeddown(rtdm_sem_t *sem, nanosecs_rel_t timeout,
01200                        rtdm_toseq_t *timeout_seq);
01201 void rtdm_sem_up(rtdm_sem_t *sem);
01202 
01203 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
01204 static inline void rtdm_sem_destroy(rtdm_sem_t *sem)
01205 {
01206         trace_mark(xn_rtdm, sem_destroy, "sem %p", sem);
01207         __rtdm_synch_flush(&sem->synch_base, XNRMID);
01208         xnselect_destroy(&sem->select_block);
01209 }
01210 #endif /* !DOXYGEN_CPP */
01211 
01212 /* --- mutex services --- */
01213 
01214 typedef struct {
01215         xnsynch_t synch_base;
01216 } rtdm_mutex_t;
01217 
01218 void rtdm_mutex_init(rtdm_mutex_t *mutex);
01219 int rtdm_mutex_lock(rtdm_mutex_t *mutex);
01220 int rtdm_mutex_timedlock(rtdm_mutex_t *mutex, nanosecs_rel_t timeout,
01221                          rtdm_toseq_t *timeout_seq);
01222 
01223 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
01224 static inline void rtdm_mutex_unlock(rtdm_mutex_t *mutex)
01225 {
01226         XENO_ASSERT(RTDM, !xnpod_asynch_p(), return;);
01227 
01228         trace_mark(xn_rtdm, mutex_unlock, "mutex %p", mutex);
01229 
01230         if (unlikely(xnsynch_release(&mutex->synch_base) != NULL))
01231                 xnpod_schedule();
01232 }
01233 
01234 static inline void rtdm_mutex_destroy(rtdm_mutex_t *mutex)
01235 {
01236         trace_mark(xn_rtdm, mutex_destroy, "mutex %p", mutex);
01237 
01238         __rtdm_synch_flush(&mutex->synch_base, XNRMID);
01239 }
01240 #endif /* !DOXYGEN_CPP */
01241 
01242 /* --- utility functions --- */
01243 
01244 #define rtdm_printk(format, ...)        printk(format, ##__VA_ARGS__)
01245 
01246 struct rtdm_ratelimit_state {
01247         rtdm_lock_t     lock;           /* protect the state */
01248         nanosecs_abs_t  interval;
01249         int             burst;
01250         int             printed;
01251         int             missed;
01252         nanosecs_abs_t  begin;
01253 };
01254 
01255 int rtdm_ratelimit(struct rtdm_ratelimit_state *rs, const char *func);
01256 
01257 #define DEFINE_RTDM_RATELIMIT_STATE(name, interval_init, burst_init)    \
01258         struct rtdm_ratelimit_state name = {                            \
01259                 .lock           = RTDM_LOCK_UNLOCKED,                   \
01260                 .interval       = interval_init,                        \
01261                 .burst          = burst_init,                           \
01262         }
01263 
01264 /* We use the Linux defaults */
01265 #define DEF_RTDM_RATELIMIT_INTERVAL     5000000000LL
01266 #define DEF_RTDM_RATELIMIT_BURST        10
01267 
01268 #define rtdm_printk_ratelimited(fmt, ...)  ({                           \
01269         static DEFINE_RTDM_RATELIMIT_STATE(_rs,                         \
01270                                            DEF_RTDM_RATELIMIT_INTERVAL, \
01271                                            DEF_RTDM_RATELIMIT_BURST);   \
01272                                                                         \
01273         if (rtdm_ratelimit(&_rs, __func__))                             \
01274                 printk(fmt, ##__VA_ARGS__);                             \
01275 })
01276 
01277 #ifndef DOXYGEN_CPP /* Avoid static inline tags for RTDM in doxygen */
01278 static inline void *rtdm_malloc(size_t size)
01279 {
01280         return xnmalloc(size);
01281 }
01282 
01283 static inline void rtdm_free(void *ptr)
01284 {
01285         xnfree(ptr);
01286 }
01287 
01288 #ifdef CONFIG_XENO_OPT_PERVASIVE
01289 int rtdm_mmap_to_user(rtdm_user_info_t *user_info,
01290                       void *src_addr, size_t len,
01291                       int prot, void **pptr,
01292                       struct vm_operations_struct *vm_ops,
01293                       void *vm_private_data);
01294 int rtdm_iomap_to_user(rtdm_user_info_t *user_info,
01295                        phys_addr_t src_addr, size_t len,
01296                        int prot, void **pptr,
01297                        struct vm_operations_struct *vm_ops,
01298                        void *vm_private_data);
01299 int rtdm_munmap(rtdm_user_info_t *user_info, void *ptr, size_t len);
01300 
01301 static inline int rtdm_read_user_ok(rtdm_user_info_t *user_info,
01302                                     const void __user *ptr, size_t size)
01303 {
01304         return access_rok(ptr, size);
01305 }
01306 
01307 static inline int rtdm_rw_user_ok(rtdm_user_info_t *user_info,
01308                                   const void __user *ptr, size_t size)
01309 {
01310         return access_wok(ptr, size);
01311 }
01312 
01313 static inline int rtdm_copy_from_user(rtdm_user_info_t *user_info,
01314                                       void *dst, const void __user *src,
01315                                       size_t size)
01316 {
01317         return __xn_copy_from_user(dst, src, size) ? -EFAULT : 0;
01318 }
01319 
01320 static inline int rtdm_safe_copy_from_user(rtdm_user_info_t *user_info,
01321                                            void *dst, const void __user *src,
01322                                            size_t size)
01323 {
01324         return (!access_rok(src, size) ||
01325                 __xn_copy_from_user(dst, src, size)) ? -EFAULT : 0;
01326 }
01327 
01328 static inline int rtdm_copy_to_user(rtdm_user_info_t *user_info,
01329                                     void __user *dst, const void *src,
01330                                     size_t size)
01331 {
01332         return __xn_copy_to_user(dst, src, size) ? -EFAULT : 0;
01333 }
01334 
01335 static inline int rtdm_safe_copy_to_user(rtdm_user_info_t *user_info,
01336                                          void __user *dst, const void *src,
01337                                          size_t size)
01338 {
01339         return (!access_wok(dst, size) ||
01340                 __xn_copy_to_user(dst, src, size)) ? -EFAULT : 0;
01341 }
01342 
01343 static inline int rtdm_strncpy_from_user(rtdm_user_info_t *user_info,
01344                                          char *dst,
01345                                          const char __user *src, size_t count)
01346 {
01347         if (unlikely(!access_rok(src, 1)))
01348                 return -EFAULT;
01349         return __xn_strncpy_from_user(dst, src, count);
01350 }
01351 
01352 static inline int rtdm_rt_capable(rtdm_user_info_t *user_info)
01353 {
01354         XENO_ASSERT(RTDM, !xnpod_asynch_p(), return 0;);
01355 
01356         return (user_info ? xnshadow_thread(user_info) != NULL
01357                           : !xnpod_root_p());
01358 }
01359 
01360 #else /* !CONFIG_XENO_OPT_PERVASIVE */
01361 /* Define void user<->kernel services that simply fail */
01362 #define rtdm_mmap_to_user(...)          ({ -ENOSYS; })
01363 #define rtdm_munmap(...)                ({ -ENOSYS; })
01364 #define rtdm_read_user_ok(...)          ({ 0; })
01365 #define rtdm_rw_user_ok(...)            ({ 0; })
01366 #define rtdm_copy_from_user(...)        ({ -ENOSYS; })
01367 #define rtdm_safe_copy_from_user(...)   ({ -ENOSYS; })
01368 #define rtdm_copy_to_user(...)          ({ -ENOSYS; })
01369 #define rtdm_safe_copy_to_user(...)     ({ -ENOSYS; })
01370 #define rtdm_strncpy_from_user(...)     ({ -ENOSYS; })
01371 
01372 static inline int rtdm_rt_capable(rtdm_user_info_t *user_info)
01373 {
01374         XENO_ASSERT(RTDM, !xnpod_asynch_p(), return 0;);
01375 
01376         return !xnpod_root_p();
01377 }
01378 
01379 #endif /* CONFIG_XENO_OPT_PERVASIVE */
01380 
01381 static inline int rtdm_in_rt_context(void)
01382 {
01383         return (rthal_current_domain != rthal_root_domain);
01384 }
01385 
01386 #endif /* !DOXYGEN_CPP */
01387 
01388 int rtdm_exec_in_rt(struct rtdm_dev_context *context,
01389                     rtdm_user_info_t *user_info, void *arg,
01390                     rtdm_rt_handler_t handler);
01391 
01392 #endif /* _RTDM_DRIVER_H */

Generated on Tue Jul 10 2012 20:41:22 for Xenomai API by  doxygen 1.7.1