void c_handler (void)
{
hal_root_domain->irqs[IRQ].acknowledge(IRQ);
save_fpcr_and_enable_fpu(cr0);
save_fpenv(saved_fpu_reg);
restore_fpenv(my_fpu_reg);
++cnt;
++fcnt;
save_fpenv(my_fpu_reg);
restore_fpenv(saved_fpu_reg);
restore_fpcr(cr0);
rt_pend_linux_irq(IRQ);
}
static void rt_timers_manager(int dummy)
{
static unsigned long cr0;
RTIME now;
struct rt_tasklet_struct *tmr, *timer;
unsigned long flags;
int priority, used_fpu;
while (1) {
rt_sleep_until((timers_list.next)->firing_time);
now = timers_manager.resume_time + tuned.timers_tol[0];
// find all the timers to be fired, in priority order
while (1) {
used_fpu = 0;
tmr = timer = &timers_list;
priority = RT_LOWEST_PRIORITY;
flags = rt_spin_lock_irqsave(&timers_lock);
while ((tmr = tmr->next)->firing_time <= now) {
if (tmr->priority < priority) {
priority = (timer = tmr)->priority;
}
}
timers_manager.priority = priority;
rt_spin_unlock_irqrestore(flags, &timers_lock);
if (timer == &timers_list) {
break;
}
if (!timer->period) {
flags = rt_spin_lock_irqsave(&timers_lock);
(timer->next)->prev = timer->prev;
(timer->prev)->next = timer->next;
timer->next = timer->prev = timer;
rt_spin_unlock_irqrestore(flags, &timers_lock);
} else {
set_timer_firing_time(timer, timer->firing_time + timer->period);
}
if (!timer->task) {
if (!used_fpu && timer->uses_fpu) {
used_fpu = 1;
save_cr0_and_clts(cr0);
save_fpenv(timers_manager.fpu_reg);
}
timer->handler(timer->data);
} else {
rt_task_resume(timer->task);
}
}
if (used_fpu) {
restore_fpenv(timers_manager.fpu_reg);
restore_cr0(cr0);
}
// set next timers_manager priority according to the highest priority timer
asgn_min_prio();
// if no more timers in timers_struct remove timers_manager from tasks list
}
}
int _init_module(void)
{
unsigned long flags;
init_timer(&timer);
timer.function = timer_fun;
mod_timer(&timer, jiffies + ECHO_PERIOD*HZ);
printk("TIMER IRQ/VECTOR %d/%d\n", IRQ, vector);
save_fpcr_and_enable_fpu(cr0);
save_fpenv(my_fpu_reg);
restore_fpcr(cr0);
flags = hal_critical_enter(NULL);
desc = rtai_set_gate_vector(vector, 14, 0, asm_handler);
hal_critical_exit(flags);
return 0;
}
static void rt_timers_manager(long cpuid)
{
RTIME now;
RT_TASK *timer_manager;
struct rt_tasklet_struct *tmr, *timer, *timerl;
spinlock_t *lock;
unsigned long flags, timer_tol;
int priority, used_fpu;
timer_manager = &timers_manager[LIST_CPUID];
timerl = &timers_list[LIST_CPUID];
lock = &timers_lock[LIST_CPUID];
timer_tol = tuned.timers_tol[LIST_CPUID];
while (1) {
int retval;
retval = rt_sleep_until((timerl->next)->firing_time);
// now = timer_manager->resume_time + timer_tol;
now = rt_get_time() + timer_tol;
// find all the timers to be fired, in priority order
while (1) {
used_fpu = 0;
tmr = timer = timerl;
priority = RT_SCHED_LOWEST_PRIORITY;
flags = rt_spin_lock_irqsave(lock);
while ((tmr = tmr->next)->firing_time <= now) {
if (tmr->priority < priority) {
priority = (timer = tmr)->priority;
}
}
rt_spin_unlock_irqrestore(flags, lock);
if (timer == timerl) {
if (timer_manager->priority > TimersManagerPrio) {
timer_manager->priority = TimersManagerPrio;
}
break;
}
timer_manager->priority = priority;
#if 1
flags = rt_spin_lock_irqsave(lock);
rem_timer(timer);
if (timer->period) {
timer->firing_time += timer->period;
enq_timer(timer);
}
rt_spin_unlock_irqrestore(flags, lock);
#else
if (!timer->period) {
flags = rt_spin_lock_irqsave(lock);
rem_timer(timer);
rt_spin_unlock_irqrestore(flags, lock);
} else {
set_timer_firing_time(timer, timer->firing_time + timer->period);
}
#endif
// if (retval != RTE_TMROVRN) {
tmr->overrun = 0;
if (!timer->task) {
if (!used_fpu && timer->uses_fpu) {
used_fpu = 1;
save_fpcr_and_enable_fpu(linux_cr0);
save_fpenv(timer_manager->fpu_reg);
}
timer->handler(timer->data);
} else {
rt_task_resume(timer->task);
}
// } else {
// tmr->overrun++;
// }
}
if (used_fpu) {
restore_fpenv(timer_manager->fpu_reg);
restore_fpcr(linux_cr0);
}
// set next timers_manager priority according to the highest priority timer
asgn_min_prio(LIST_CPUID);
// if no more timers in timers_struct remove timers_manager from tasks list
}
}
