int
initpwm(void)
{
int i;
int retval;
for(i = 0; i < RC_NUM; i++)
{
up_interval[i] = RANGE_MAP100(ranges[i][0], ranges[i][1], 0);
reconfigured[i] = 0;
}
retval = InitGPIO(channels, sizeof(channels) / sizeof(channels[0]));
if(retval)
{
rtdm_printk("TB6612FNG: GPIO initialization failed\n");
return retval;
}
rtdm_printk("TB6612FNG: GPIO initialized\n");
rtdm_printk("TB6612FNG: Starting PWM generation timers.\n");
retval = rtdm_timer_init(&up_timer, pwm_up, "up timer");
if(retval)
{
rtdm_printk("TB6612FNG: error initializing up-timer: %i\n", retval);
return retval;
}
for(i = 0; i < RC_NUM; i++)
{
retval = rtdm_timer_init(&down_timer[i], pwm_down, "down timer");
if(retval)
{
rtdm_printk("TB6612FNG: error initializing down-timer #%i: %i\n", i, retval);
return retval;
}
}
retval = rtdm_timer_start(&up_timer,
PERIOD, // we will use periodic timer
PERIOD, // PERIOD period
RTDM_TIMERMODE_RELATIVE);
if(retval)
{
rtdm_printk("TB6612FNG: error starting up-timer: %i\n", retval);
return retval;
}
rtdm_printk("TB6612FNG: timers created\n");
return 0;
}
static int inj1_timer_init(void)
{
int ret;
ret = rtdm_timer_init(&inj1_timer, inj1_int, "EMS-Inj1");
if(ret != 0)
{
return -1;
}
return 0;
}
static int rtswitch_open(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
int oflags)
{
rtswitch_context_t *ctx = (rtswitch_context_t *) context->dev_private;
ctx->tasks = NULL;
ctx->tasks_count = ctx->next_index = ctx->cpu = ctx->switches_count = 0;
init_MUTEX(&ctx->lock);
ctx->failed = 0;
ctx->error.last_switch.from = ctx->error.last_switch.to = -1;
ctx->pause_us = 0;
rtdm_timer_init(&ctx->wake_up_delay, timed_wake_up, "switchtest timer");
return 0;
}
static void rtcfg_client_recv_stage_2_cfg(int ifindex, struct rtskb *rtskb)
{
struct rtcfg_frm_stage_2_cfg *stage_2_cfg;
struct rtcfg_device *rtcfg_dev = &device[ifindex];
size_t data_len;
int ret;
if (rtskb->len < sizeof(struct rtcfg_frm_stage_2_cfg)) {
rtdm_mutex_unlock(&rtcfg_dev->dev_mutex);
RTCFG_DEBUG(1, "RTcfg: received invalid stage_2_cfg frame\n");
kfree_rtskb(rtskb);
return;
}
stage_2_cfg = (struct rtcfg_frm_stage_2_cfg *)rtskb->data;
__rtskb_pull(rtskb, sizeof(struct rtcfg_frm_stage_2_cfg));
if (stage_2_cfg->heartbeat_period) {
ret = rtdm_timer_init(&rtcfg_dev->timer, rtcfg_timer, "rtcfg-timer");
if (ret == 0) {
ret = rtdm_timer_start(&rtcfg_dev->timer,
XN_INFINITE,
(nanosecs_rel_t)ntohs(stage_2_cfg->heartbeat_period) *
1000000,
RTDM_TIMERMODE_RELATIVE);
if (ret < 0)
rtdm_timer_destroy(&rtcfg_dev->timer);
}
if (ret < 0)
/*ERRMSG*/rtdm_printk("RTcfg: unable to create timer task\n");
else
set_bit(FLAG_TIMER_STARTED, &rtcfg_dev->flags);
}
/* add server to station list */
if (rtcfg_add_to_station_list(rtcfg_dev,
rtskb->mac.ethernet->h_source, stage_2_cfg->flags) < 0) {
rtdm_mutex_unlock(&rtcfg_dev->dev_mutex);
RTCFG_DEBUG(1, "RTcfg: unable to process stage_2_cfg frage\n");
kfree_rtskb(rtskb);
return;
}
rtcfg_dev->other_stations = ntohl(stage_2_cfg->stations);
rtcfg_dev->spec.clt.cfg_len = ntohl(stage_2_cfg->cfg_len);
data_len = MIN(rtcfg_dev->spec.clt.cfg_len, rtskb->len);
if (test_bit(RTCFG_FLAG_STAGE_2_DATA, &rtcfg_dev->flags) &&
(data_len > 0)) {
rtcfg_client_queue_frag(ifindex, rtskb, data_len);
rtskb = NULL;
if (rtcfg_dev->stations_found == rtcfg_dev->other_stations)
rtcfg_next_main_state(ifindex, RTCFG_MAIN_CLIENT_ALL_KNOWN);
} else {
if (rtcfg_dev->stations_found == rtcfg_dev->other_stations) {
rtcfg_complete_cmd(ifindex, RTCFG_CMD_ANNOUNCE, 0);
rtcfg_next_main_state(ifindex,
test_bit(RTCFG_FLAG_READY, &rtcfg_dev->flags) ?
RTCFG_MAIN_CLIENT_READY : RTCFG_MAIN_CLIENT_2);
} else
rtcfg_next_main_state(ifindex, RTCFG_MAIN_CLIENT_ALL_FRAMES);
rtcfg_send_ack(ifindex);
}
rtdm_mutex_unlock(&rtcfg_dev->dev_mutex);
if (rtskb != NULL)
kfree_rtskb(rtskb);
}
