int hal_call_usrfunct(const char *name, const int argc, const char **argv, int *ureturn)
{
hal_funct_t *funct;
CHECK_HALDATA();
CHECK_STR(name);
if (argc && (argv == NULL)) {
HALERR("funct '%s': argc=%d but argv is NULL", name, argc);
return -EINVAL;
}
{
int i __attribute__((cleanup(halpr_autorelease_mutex)));
rtapi_mutex_get(&(hal_data->mutex));
funct = halpr_find_funct_by_name(name);
if (funct == NULL) {
HALERR("funct '%s' not found", name);
return -ENOENT;
}
if (funct->type != FS_USERLAND) {
HALERR("funct '%s': invalid type %d", name, funct->type);
return -ENOENT;
}
// argv sanity check - we dont want to fail this, esp in kernel land
for (i = 0; i < argc; i++) {
if (argv[i] == NULL) {
HALERR("funct '%s': argc=%d but argv[%d] is NULL",
name, i, i);
return -EINVAL;
}
}
}
// call the function with rtapi_mutex unlocked
long long int now = rtapi_get_clocks();
hal_funct_args_t fa = {
.thread_start_time = now,
.start_time = now,
.thread = NULL,
.funct = funct,
.argc = argc,
.argv = argv,
};
int retval = funct->funct.u(&fa);
if (ureturn)
*ureturn = retval;
return 0;
}
static void reset_port(void *arg, long period) {
parport_t *port = arg;
long long deadline, reset_time_tsc;
unsigned char outdata = (port->outdata&~port->reset_mask) ^ port->reset_val;
if(port->reset_time > period/4) port->reset_time = period/4;
reset_time_tsc = ns2tsc(port->reset_time);
if(outdata != port->outdata) {
deadline = port->write_time + reset_time_tsc;
while(rtapi_get_clocks() < deadline) {}
rtapi_outb(outdata, port->base_addr);
}
outdata = (port->outdata_ctrl&~port->reset_mask_ctrl)^port->reset_val_ctrl;
if(outdata != port->outdata_ctrl) {
/* correct for hardware inverters on pins 1, 14, & 17 */
outdata ^= 0x0B;
deadline = port->write_time_ctrl + reset_time_tsc;
while(rtapi_get_clocks() < deadline) {}
rtapi_outb(outdata, port->base_addr + 2);
}
}
static void write_port(void *arg, long period)
{
parport_t *port;
int b;
unsigned char outdata, mask;
port = arg;
/* are we using the data port for output? */
if (port->data_dir == 0) {
int reset_mask=0, reset_val=0;
/* yes */
outdata = 0x00;
mask = 0x01;
/* assemble output byte for data port from 8 source variables */
for (b = 0; b < 8; b++) {
/* get the data, add to output byte */
if ((*(port->data_out[b])) && (!port->data_inv[b])) {
outdata |= mask;
}
if ((!*(port->data_out[b])) && (port->data_inv[b])) {
outdata |= mask;
}
if (port->data_reset[b]) {
reset_mask |= mask;
if(port->data_inv[b]) reset_val |= mask;
}
mask <<= 1;
}
/* write it to the hardware */
rtapi_outb(outdata, port->base_addr);
port->write_time = rtapi_get_clocks();
port->reset_val = reset_val;
port->reset_mask = reset_mask;
port->outdata = outdata;
/* prepare to build control port byte, with direction bit clear */
outdata = 0x00;
} else {
/* prepare to build control port byte, with direction bit set */
outdata = 0x20;
}
/* are we using the control port for input? */
if (port->use_control_in) {
/* yes, force those pins high */
outdata |= 0x0F;
} else {
int reset_mask=0, reset_val=0;
/* no, assemble output byte from 4 source variables */
mask = 0x01;
for (b = 0; b < 4; b++) {
/* get the data, add to output byte */
if ((*(port->control_out[b])) && (!port->control_inv[b])) {
outdata |= mask;
}
if ((!*(port->control_out[b])) && (port->control_inv[b])) {
outdata |= mask;
}
if (port->control_reset[b]) {
reset_mask |= mask;
if(port->control_inv[b]) reset_val |= mask;
}
mask <<= 1;
}
port->reset_mask_ctrl = reset_mask;
port->reset_val_ctrl = reset_val;
port->outdata_ctrl = outdata;
}
/* correct for hardware inverters on pins 1, 14, & 17 */
outdata ^= 0x0B;
/* write it to the hardware */
rtapi_outb(outdata, port->base_addr + 2);
port->write_time_ctrl = rtapi_get_clocks();
}