static void emac_txdone(FAR struct emac_driver_s *priv)
{
/* Check for errors and update statistics */
/* If no further xmits are pending, then cancel the TX timeout and
* disable further Tx interrupts.
*/
wd_cancel(priv->d_txtimeout);
/* Then poll uIP for new XMIT data */
(void)devif_poll(&priv->d_dev, emac_txpoll);
}
static void skel_txdone(FAR struct skel_driver_s *skel)
{
/* Check for errors and update statistics */
/* If no further xmits are pending, then cancel the TX timeout and
* disable further Tx interrupts.
*/
wd_cancel(skel->sk_txtimeout);
/* Then poll uIP for new XMIT data */
(void)uip_poll(&skel->sk_dev, skel_uiptxpoll);
}
void uip_grpfree(FAR struct uip_driver_s *dev, FAR struct igmp_group_s *group)
{
uip_lock_t flags;
grplldbg("Free: %p flags: %02x\n", group, group->flags);
/* Cancel the wdog */
flags = uip_lock();
wd_cancel(group->wdog);
/* Remove the group structure from the group list in the device structure */
sq_rem((FAR sq_entry_t*)group, &dev->grplist);
/* Destroy the wait semapore */
(void)sem_destroy(&group->sem);
/* Destroy the wdog */
wd_delete(group->wdog);
/* Then release the group structure resources. Check first if this is one
* of the pre-allocated group structures that we will retain in a free list.
*/
#if CONFIG_PREALLOC_IGMPGROUPS > 0
if (IS_PREALLOCATED(group->flags))
{
grplldbg("Put back on free list\n");
sq_addlast((FAR sq_entry_t*)group, &g_freelist);
uip_unlock(flags);
}
else
#endif
{
/* No.. deallocate the group structure. Use sched_free() just in case
* this function is executing within an interrupt handler.
*/
uip_unlock(flags);
grplldbg("Call sched_free()\n");
sched_free(group);
}
}
void wd_recover(FAR struct tcb_s *tcb)
{
irqstate_t flags;
/* The task is being deleted. If it is waiting for any timed event, then
* tcb->waitdog will be non-NULL. Cancel the watchdog now so that no
* events occur after the watchdog expires. Obviously there are lots of
* race conditions here so this will most certainly have to be revisited in
* the future.
*/
flags = irqsave();
if (tcb->waitdog)
{
(void)wd_cancel(tcb->waitdog);
(void)wd_delete(tcb->waitdog);
tcb->waitdog = NULL;
}
irqrestore(flags);
}
static int skel_interrupt(int irq, FAR void *context)
{
FAR struct skel_driver_s *priv = &g_skel[0];
#ifdef CONFIG_NET_NOINTS
/* Disable further Ethernet interrupts. Because Ethernet interrupts are
* also disabled if the TX timeout event occurs, there can be no race
* condition here.
*/
up_disable_irq(CONFIG_skeleton_IRQ);
/* TODO: Determine if a TX transfer just completed */
{
/* If a TX transfer just completed, then cancel the TX timeout so
* there will be do race condition between any subsequent timeout
* expiration and the deferred interrupt processing.
*/
wd_cancel(priv->sk_txtimeout);
}
/* Cancel any pending poll work */
work_cancel(HPWORK, &priv->sk_work);
/* Schedule to perform the interrupt processing on the worker thread. */
work_queue(HPWORK, &priv->sk_work, skel_interrupt_work, priv, 0);
#else
/* Process the interrupt now */
skel_interrupt_process(priv);
#endif
return OK;
}
static void misoc_net_txdone(FAR struct misoc_net_driver_s *priv)
{
/* Check for errors and update statistics */
NETDEV_TXDONE(priv->misoc_net_dev);
/* Check if there are pending transmissions */
/* If no further transmissions are pending, then cancel the TX timeout and
* disable further Tx interrupts.
*/
wd_cancel(priv->misoc_net_txtimeout);
/* And disable further TX interrupts. */
ethmac_sram_reader_ev_enable_write(0);
/* In any event, poll the network for new TX data */
(void)devif_poll(&priv->misoc_net_dev, misoc_net_txpoll);
}
static int max11802_schedule(FAR struct max11802_dev_s *priv)
{
FAR struct max11802_config_s *config;
int ret;
/* Get a pointer the callbacks for convenience (and so the code is not so
* ugly).
*/
config = priv->config;
DEBUGASSERT(config != NULL);
/* Disable further interrupts. MAX11802 interrupts will be re-enabled
* after the worker thread executes.
*/
config->enable(config, false);
/* Disable the watchdog timer. It will be re-enabled in the worker thread
* while the pen remains down.
*/
wd_cancel(priv->wdog);
/* Transfer processing to the worker thread. Since MAX11802 interrupts are
* disabled while the work is pending, no special action should be required
* to protected the work queue.
*/
DEBUGASSERT(priv->work.worker == NULL);
ret = work_queue(HPWORK, &priv->work, max11802_worker, priv, 0);
if (ret != 0)
{
ierr("ERROR: Failed to queue work: %d\n", ret);
}
return OK;
}
static int vnet_ifdown(struct net_driver_s *dev)
{
FAR struct vnet_driver_s *vnet = (FAR struct vnet_driver_s *)dev->d_private;
irqstate_t flags;
/* Disable the Ethernet interrupt */
flags = enter_critical_section();
/* Cancel the TX poll timer and TX timeout timers */
wd_cancel(vnet->sk_txpoll);
/* Put the EMAC is its reset, non-operational state. This should be
* a known configuration that will guarantee the vnet_ifup() always
* successfully brings the interface back up.
*/
/* Mark the device "down" */
vnet->sk_bifup = false;
leave_critical_section(flags);
return OK;
}
ssize_t mq_timedreceive(mqd_t mqdes, void *msg, size_t msglen,
int *prio, const struct timespec *abstime)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s *)g_readytorun.head;
FAR mqmsg_t *mqmsg;
irqstate_t saved_state;
int ret = ERROR;
DEBUGASSERT(up_interrupt_context() == false && rtcb->waitdog == NULL);
/* Verify the input parameters and, in case of an error, set
* errno appropriately.
*/
if (mq_verifyreceive(mqdes, msg, msglen) != OK)
{
return ERROR;
}
if (!abstime || abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
{
set_errno(EINVAL);
return ERROR;
}
/* Create a watchdog. We will not actually need this watchdog
* unless the queue is not empty, but we will reserve it up front
* before we enter the following critical section.
*/
rtcb->waitdog = wd_create();
if (!rtcb->waitdog)
{
set_errno(EINVAL);
return ERROR;
}
/* Get the next mesage from the message queue. We will disable
* pre-emption until we have completed the message received. This
* is not too bad because if the receipt takes a long time, it will
* be because we are blocked waiting for a message and pre-emption
* will be re-enabled while we are blocked
*/
sched_lock();
/* Furthermore, mq_waitreceive() expects to have interrupts disabled
* because messages can be sent from interrupt level.
*/
saved_state = irqsave();
/* Check if the message queue is empty. If it is NOT empty, then we
* will not need to start timer.
*/
if (mqdes->msgq->msglist.head == NULL)
{
int ticks;
/* Convert the timespec to clock ticks. We must have interrupts
* disabled here so that this time stays valid until the wait begins.
*/
int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
/* If the time has already expired and the message queue is empty,
* return immediately.
*/
if (result == OK && ticks <= 0)
{
result = ETIMEDOUT;
}
/* Handle any time-related errors */
if (result != OK)
{
set_errno(result);
irqrestore(saved_state);
sched_unlock();
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
return ERROR;
}
/* Start the watchdog */
wd_start(rtcb->waitdog, ticks, (wdentry_t)mq_rcvtimeout, 1, getpid());
}
/* Get the message from the message queue */
mqmsg = mq_waitreceive(mqdes);
/* Stop the watchdog timer (this is not harmful in the case where
* it was never started)
*/
wd_cancel(rtcb->waitdog);
/* We can now restore interrupts */
irqrestore(saved_state);
/* Check if we got a message from the message queue. We might
* not have a message if:
*
* - The message queue is empty and O_NONBLOCK is set in the mqdes
* - The wait was interrupted by a signal
* - The watchdog timeout expired
*/
if (mqmsg)
{
ret = mq_doreceive(mqdes, mqmsg, msg, prio);
}
sched_unlock();
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
return ret;
}
static irqreturn_t e1000_interrupt_handler(int irq, void *dev_id)
{
struct e1000_dev *e1000 = (struct e1000_dev *)dev_id;
/* Get and clear interrupt status bits */
int intr_cause = e1000_inl(e1000, E1000_ICR);
e1000_outl(e1000, E1000_ICR, intr_cause);
/* not for me */
if (intr_cause == 0)
{
return IRQ_NONE;
}
/* Handle interrupts according to status bit settings */
/* Link status change */
if (intr_cause & (1 << 2))
{
if (e1000_inl(e1000, E1000_STATUS) & 2)
{
e1000->bifup = true;
}
else
{
e1000->bifup = false;
}
}
/* Check if we received an incoming packet, if so, call skel_receive() */
/* Rx-descriptor Timer expired */
if (intr_cause & (1 << 7))
{
e1000_receive(e1000);
}
/* Tx queue empty */
if (intr_cause & (1 << 1))
{
wd_cancel(e1000->txtimeout);
}
/* Check is a packet transmission just completed. If so, call skel_txdone.
* This may disable further Tx interrupts if there are no pending
* tansmissions.
*/
/* Tx-descriptor Written back */
if (intr_cause & (1 << 0))
{
devif_poll(&e1000->netdev, e1000_txpoll);
}
/* Rx-Descriptors Low */
if (intr_cause & (1 << 4))
{
int tail;
tail = e1000->rx_ring.tail + e1000->rx_ring.free;
tail %= CONFIG_E1000_N_RX_DESC;
e1000->rx_ring.tail = tail;
e1000->rx_ring.free = 0;
e1000_outl(e1000, E1000_RDT, tail);
}
return IRQ_HANDLED;
}
int wd_start(WDOG_ID wdog, int delay, wdentry_t wdentry, int argc, ...)
{
va_list ap;
FAR wdog_t *curr;
FAR wdog_t *prev;
FAR wdog_t *next;
int32_t now;
irqstate_t saved_state;
int i;
/* Verify the wdog */
if (!wdog || argc > CONFIG_MAX_WDOGPARMS || delay < 0)
{
*get_errno_ptr() = EINVAL;
return ERROR;
}
/* Check if the watchdog has been started. If so, stop it.
* NOTE: There is a race condition here... the caller may receive
* the watchdog between the time that wd_start is called and
* the critical section is established.
*/
saved_state = irqsave();
if (wdog->active)
{
wd_cancel(wdog);
}
/* Save the data in the watchdog structure */
wdog->func = wdentry; /* Function to execute when delay expires */
up_getpicbase(&wdog->picbase);
wdog->argc = argc;
va_start(ap, argc);
for (i = 0; i < argc; i++)
{
wdog->parm[i] = va_arg(ap, uint32_t);
}
#ifdef CONFIG_DEBUG
for (; i < CONFIG_MAX_WDOGPARMS; i++)
{
wdog->parm[i] = 0;
}
#endif
va_end(ap);
/* Calculate delay+1, forcing the delay into a range that we can handle */
if (delay <= 0)
{
delay = 1;
}
else if (++delay <= 0)
{
delay--;
}
/* Do the easy case first -- when the watchdog timer queue is empty. */
if (g_wdactivelist.head == NULL)
{
sq_addlast((FAR sq_entry_t*)wdog,&g_wdactivelist);
}
/* There are other active watchdogs in the timer queue */
else
{
now = 0;
prev = curr = (FAR wdog_t*)g_wdactivelist.head;
/* Advance to positive time */
while ((now += curr->lag) < 0 && curr->next)
{
prev = curr;
curr = curr->next;
}
/* Advance past shorter delays */
while (now <= delay && curr->next)
{
prev = curr;
curr = curr->next;
now += curr->lag;
}
/* Check if the new wdog must be inserted before the curr. */
if (delay < now)
{
/* The relative delay time is smaller or equal to the current delay
* time, so decrement the current delay time by the new relative
* delay time.
*/
delay -= (now - curr->lag);
curr->lag -= delay;
/* Insert the new watchdog in the list */
if (curr == (FAR wdog_t*)g_wdactivelist.head)
{
sq_addfirst((FAR sq_entry_t*)wdog, &g_wdactivelist);
}
else
{
sq_addafter((FAR sq_entry_t*)prev, (FAR sq_entry_t*)wdog,
&g_wdactivelist);
}
}
/* The new watchdog delay time is greater than the curr delay time,
* so the new wdog must be inserted after the curr. This only occurs
* if the wdog is to be added to the end of the list.
*/
else
{
delay -= now;
if (!curr->next)
{
sq_addlast((FAR sq_entry_t*)wdog, &g_wdactivelist);
}
else
{
next = curr->next;
next->lag -= delay;
sq_addafter((FAR sq_entry_t*)curr, (FAR sq_entry_t*)wdog,
&g_wdactivelist);
}
}
}
/* Put the lag into the watchdog structure and mark it as active. */
wdog->lag = delay;
wdog->active = true;
irqrestore(saved_state);
return OK;
}
/* Perform a sequence of I2C transfers */
static int up_i2c_transfer(struct i2c_dev_s *idev, struct i2c_msg_s *msgs, int num)
{
int ret;
i2cvdbg("msgs: %d\n", num);
sem_wait(&g_mutex);
g_msgs = msgs;
g_msgs_count = num;
g_tx_index = 0;
g_rx_index = 0;
g_rx_outstanding = 0;
g_cmd_err = 0;
g_msg_err = 0;
g_status = TSB_I2C_STATUS_IDLE;
g_abort_source = 0;
ret = tsb_i2c_wait_bus_ready();
if (ret < 0)
goto done;
/*
* start a watchdog to timeout the transfer if
* the bus is locked up...
*/
wd_start(g_timeout, TSB_I2C_TIMEOUT, i2c_timeout, 1, 0);
/* start the transfers */
tsb_i2c_start_transfer();
sem_wait(&g_wait);
wd_cancel(g_timeout);
if (g_status == TSB_I2C_STATUS_TIMEOUT) {
i2cdbg("controller timed out\n");
/* Re-init the adapter */
tsb_i2c_init();
ret = -ETIMEDOUT;
goto done;
}
tsb_i2c_disable();
if (g_msg_err) {
ret = g_msg_err;
i2cdbg("error msg_err %x\n", g_msg_err);
goto done;
}
if (!g_cmd_err) {
ret = 0;
i2cvdbg("no error %d\n", num);
goto done;
}
/* Handle abort errors */
if (g_cmd_err == TSB_I2C_ERR_TX_ABRT) {
ret = tsb_i2c_handle_tx_abort();
goto done;
}
/* default error code */
ret = -EIO;
i2cdbg("unknown error %x\n", ret);
done:
sem_post(&g_mutex);
return ret;
}
/************************************************************************************
* Name: taskmgr_ioctl
*
* Description: The ioctl method for task management.
*
************************************************************************************/
static int taskmgr_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
int ret = -EINVAL;
struct tcb_s *tcb;
tmvdbg("cmd: %d arg: %ld\n", cmd, arg);
/* Handle built-in ioctl commands */
switch (cmd) {
case TMIOC_START:
ret = taskmgr_task_init((int)arg);
if (ret != OK) {
tmdbg("Fail to init new task\n");
}
break;
case TMIOC_PAUSE:
tcb = sched_gettcb((int)arg);
if (tcb == NULL) {
tmdbg("Invalid pid\n");
return ERROR;
}
if (tcb->task_state == TSTATE_WAIT_SIG && tcb->waitdog != NULL) {
/* tcb is waiting another signal, e.g. sleep */
wd_cancel(tcb->waitdog);
} else if (tcb->task_state == TSTATE_WAIT_SEM) {
tcb->waitsem = NULL;
sched_removeblocked(tcb);
sched_addblocked(tcb, TSTATE_WAIT_SIG);
}
ret = OK;
break;
case TMIOC_UNICAST:
tcb = sched_gettcb((int)arg);
if (tcb == NULL) {
tmdbg("Invalid pid\n");
return ERROR;
}
ret = (int)sig_is_handler_registered(tcb, SIGTM_UNICAST);
if ((bool)ret != true) {
tmdbg("handler is not registered for unicast\n");
ret = ERROR;
} else {
ret = OK;
}
break;
case TMIOC_RESTART:
break;
case TMIOC_BROADCAST:
tcb = sched_gettcb((int)arg);
if (tcb == NULL) {
tmdbg("Invalid pid\n");
return ERROR;
}
ret = (int)sig_is_handler_registered(tcb, SIGTM_BROADCAST);
if ((bool)ret != true) {
tmdbg("handler is not registered for broadcast\n");
ret = ERROR;
} else {
ret = OK;
}
break;
case TMIOC_CHECK_ALIVE:
tcb = sched_gettcb((int)arg);
if (tcb == NULL) {
tmdbg("Invalid pid\n");
return ERROR;
}
ret = OK;
break;
default:
tmdbg("Unrecognized cmd: %d arg: %ld\n", cmd, arg);
break;
}
return ret;
}
int mq_timedsend(mqd_t mqdes, const char *msg, size_t msglen, int prio,
const struct timespec *abstime)
{
WDOG_ID wdog;
FAR msgq_t *msgq;
FAR mqmsg_t *mqmsg = NULL;
irqstate_t saved_state;
int ret = ERROR;
DEBUGASSERT(up_interrupt_context() == false);
/* Verify the input parameters -- setting errno appropriately
* on any failures to verify.
*/
if (mq_verifysend(mqdes, msg, msglen, prio) != OK)
{
return ERROR;
}
if (!abstime || abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
{
set_errno(EINVAL);
return ERROR;
}
/* Get a pointer to the message queue */
msgq = mqdes->msgq;
/* Create a watchdog. We will not actually need this watchdog
* unless the queue is full, but we will reserve it up front
* before we enter the following critical section.
*/
wdog = wd_create();
if (!wdog)
{
set_errno(EINVAL);
return ERROR;
}
/* Allocate a message structure:
* - If we are called from an interrupt handler, or
* - If the message queue is not full, or
*/
sched_lock();
saved_state = irqsave();
if (up_interrupt_context() || /* In an interrupt handler */
msgq->nmsgs < msgq->maxmsgs) /* OR Message queue not full */
{
/* Allocate the message */
irqrestore(saved_state);
mqmsg = mq_msgalloc();
}
else
{
int ticks;
/* We are not in an interupt handler and the message queue is full.
* set up a timed wait for the message queue to become non-full.
*
* Convert the timespec to clock ticks. We must have interrupts
* disabled here so that this time stays valid until the wait begins.
*/
int result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
/* If the time has already expired and the message queue is empty,
* return immediately.
*/
if (result == OK && ticks <= 0)
{
result = ETIMEDOUT;
}
/* Handle any time-related errors */
if (result != OK)
{
set_errno(result);
ret = ERROR;
}
/* Start the watchdog and begin the wait for MQ not full */
if (result == OK)
{
/* Start the watchdog */
wd_start(wdog, ticks, (wdentry_t)mq_sndtimeout, 1, getpid());
/* And wait for the message queue to be non-empty */
ret = mq_waitsend(mqdes);
/* This may return with an error and errno set to either EINTR
* or ETIMEOUT. Cancel the watchdog timer in any event.
*/
wd_cancel(wdog);
}
/* That is the end of the atomic operations */
irqrestore(saved_state);
/* If any of the above failed, set the errno. Otherwise, there should
* be space for another message in the message queue. NOW we can allocate
* the message structure.
*/
if (ret == OK)
{
mqmsg = mq_msgalloc();
}
}
/* Check if we were able to get a message structure -- this can fail
* either because we cannot send the message (and didn't bother trying
* to allocate it) or because the allocation failed.
*/
if (mqmsg)
{
/* Yes, peform the message send. */
ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
}
sched_unlock();
wd_delete(wdog);
return ret;
}
static void max11802_worker(FAR void *arg)
{
FAR struct max11802_dev_s *priv = (FAR struct max11802_dev_s *)arg;
FAR struct max11802_config_s *config;
uint16_t x;
uint16_t y;
uint16_t xdiff;
uint16_t ydiff;
bool pendown;
int ret;
int tags, tags2;
ASSERT(priv != NULL);
/* Get a pointer the callbacks for convenience (and so the code is not so
* ugly).
*/
config = priv->config;
DEBUGASSERT(config != NULL);
/* Disable the watchdog timer. This is safe because it is started only
* by this function and this function is serialized on the worker thread.
*/
wd_cancel(priv->wdog);
/* Lock the SPI bus so that we have exclusive access */
max11802_lock(priv->spi);
/* Start coordinate measurement */
(void)max11802_sendcmd(priv, MAX11802_CMD_MEASUREXY, &tags);
/* Get exclusive access to the driver data structure */
do
{
ret = sem_wait(&priv->devsem);
/* This should only fail if the wait was cancelled by an signal
* (and the worker thread will receive a lot of signals).
*/
DEBUGASSERT(ret == OK || errno == EINTR);
}
while (ret < 0);
/* Check for pen up or down by reading the PENIRQ GPIO. */
pendown = config->pendown(config);
/* Handle the change from pen down to pen up */
if (pendown)
{
iinfo("\nPD\n");
}
else
{
iinfo("\nPU\n");
}
if (!pendown)
{
/* The pen is up.. reset thresholding variables. */
priv->threshx = INVALID_THRESHOLD;
priv->threshy = INVALID_THRESHOLD;
/* Ignore the interrupt if the pen was already up (CONTACT_NONE ==
* pen up and already reported; CONTACT_UP == pen up, but not
* reported).
*/
iinfo("\nPC%d\n", priv->sample.contact);
if (priv->sample.contact == CONTACT_NONE ||
priv->sample.contact == CONTACT_UP)
{
goto ignored;
}
/* The pen is up. NOTE: We know from a previous test, that this is a
* loss of contact condition. This will be changed to CONTACT_NONE
* after the loss of contact is sampled.
*/
priv->sample.contact = CONTACT_UP;
}
/* It is a pen down event. If the last loss-of-contact event has not been
* processed yet, then we have to ignore the pen down event (or else it
* will look like a drag event)
*/
else if (priv->sample.contact == CONTACT_UP)
{
/* If we have not yet processed the last pen up event, then we
* cannot handle this pen down event. We will have to discard it.
* That should be okay because we will set the timer to to sample
* again later.
*/
iinfo("Previous pen up event still in buffer\n");
max11802_notify(priv);
wd_start(priv->wdog, MAX11802_WDOG_DELAY, max11802_wdog, 1,
(uint32_t)priv);
goto ignored;
}
else
{
/* Wait for data ready
*
* Note: MAX11802 signals the readiness of the results using
* the lowest 4 bits of the result. However these are the
* last bits to be read out of the device. It appears that
* the hardware value can change in the middle of the readout,
* causing the upper bits to be still invalid even though lower
* bits indicate valid result.
*
* We work around this by reading the registers once more after
* the tags indicate they are ready.
*/
int readycount = 0;
do
{
#ifdef CONFIG_MAX11802_SWAPXY
x = max11802_sendcmd(priv, MAX11802_CMD_YPOSITION, &tags);
y = max11802_sendcmd(priv, MAX11802_CMD_XPOSITION, &tags2);
#else
x = max11802_sendcmd(priv, MAX11802_CMD_XPOSITION, &tags);
y = max11802_sendcmd(priv, MAX11802_CMD_YPOSITION, &tags2);
#endif
if (tags != 0xF && tags2 != 0xF)
{
readycount++;
}
}
while (readycount < 2);
/* Continue to sample the position while the pen is down */
wd_start(priv->wdog, MAX11802_WDOG_DELAY, max11802_wdog, 1,
(uint32_t)priv);
/* Check if data is valid */
if ((tags & 0x03) != 0)
{
iinfo("Touch ended before measurement\n");
goto ignored;
}
/* Perform a thresholding operation so that the results will be more
* stable. If the difference from the last sample is small, then
* ignore the event.
*
* REVISIT: Should a large change in pressure also generate a event?
*/
xdiff = x > priv->threshx ? (x - priv->threshx) : (priv->threshx - x);
ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
/* Check the thresholds. Bail if there is no significant difference */
if (xdiff < CONFIG_MAX11802_THRESHX && ydiff < CONFIG_MAX11802_THRESHY)
{
/* Little or no change in either direction ... don't report anything. */
goto ignored;
}
/* When we see a big difference, snap to the new x/y thresholds */
priv->threshx = x;
priv->threshy = y;
/* Update the x/y position in the sample data */
priv->sample.x = priv->threshx;
priv->sample.y = priv->threshy;
/* The X/Y positional data is now valid */
priv->sample.valid = true;
/* If this is the first (acknowledged) pen down report, then report
* this as the first contact. If contact == CONTACT_DOWN, it will be
* set to set to CONTACT_MOVE after the contact is first sampled.
*/
if (priv->sample.contact != CONTACT_MOVE)
{
/* First contact */
priv->sample.contact = CONTACT_DOWN;
}
}
/* Indicate the availability of new sample data for this ID */
priv->sample.id = priv->id;
priv->penchange = true;
/* Notify any waiters that new MAX11802 data is available */
max11802_notify(priv);
ignored:
config->enable(config, true);
/* Release our lock on the state structure and unlock the SPI bus */
sem_post(&priv->devsem);
max11802_unlock(priv->spi);
}
static void ads7843e_worker(FAR void *arg)
{
FAR struct ads7843e_dev_s *priv = (FAR struct ads7843e_dev_s *)arg;
FAR struct ads7843e_config_s *config;
uint16_t x;
uint16_t y;
uint16_t xdiff;
uint16_t ydiff;
bool pendown;
int ret;
ASSERT(priv != NULL);
/* Get a pointer the callbacks for convenience (and so the code is not so
* ugly).
*/
config = priv->config;
DEBUGASSERT(config != NULL);
/* Disable the watchdog timer. This is safe because it is started only
* by this function and this function is serialized on the worker thread.
*/
wd_cancel(priv->wdog);
/* Lock the SPI bus so that we have exclusive access */
ads7843e_lock(priv->spi);
/* Get exclusive access to the driver data structure */
do
{
ret = sem_wait(&priv->devsem);
/* This should only fail if the wait was canceled by an signal
* (and the worker thread will receive a lot of signals).
*/
DEBUGASSERT(ret == OK || errno == EINTR);
}
while (ret < 0);
/* Check for pen up or down by reading the PENIRQ GPIO. */
pendown = config->pendown(config);
/* Handle the change from pen down to pen up */
if (!pendown)
{
/* The pen is up.. reset thresholding variables. */
priv->threshx = INVALID_THRESHOLD;
priv->threshy = INVALID_THRESHOLD;
/* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up
* and already reported; CONTACT_UP == pen up, but not reported)
*/
if (priv->sample.contact == CONTACT_NONE ||
priv->sample.contact == CONTACT_UP)
{
goto ignored;
}
/* The pen is up. NOTE: We know from a previous test, that this is a
* loss of contact condition. This will be changed to CONTACT_NONE
* after the loss of contact is sampled.
*/
priv->sample.contact = CONTACT_UP;
}
/* It is a pen down event. If the last loss-of-contact event has not been
* processed yet, then we have to ignore the pen down event (or else it will
* look like a drag event)
*/
else if (priv->sample.contact == CONTACT_UP)
{
/* If we have not yet processed the last pen up event, then we
* cannot handle this pen down event. We will have to discard it. That
* should be okay because we will set the timer to to sample again
* later.
*/
wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
goto ignored;
}
else
{
/* Handle pen down events. First, sample positional values. NOTE:
* that these commands have the side-effect of disabling the PENIRQ.
*/
#ifdef CONFIG_ADS7843E_SWAPXY
x = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
y = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
#else
x = ads7843e_sendcmd(priv, ADS7843_CMD_XPOSITION);
y = ads7843e_sendcmd(priv, ADS7843_CMD_YPOSITION);
#endif
/* Perform a thresholding operation so that the results will be more stable.
* If the difference from the last sample is small, then ignore the event.
* REVISIT: Should a large change in pressure also generate a event?
*/
xdiff = x > priv->threshx ? (x - priv->threshx) : (priv->threshx - x);
ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
/* Continue to sample the position while the pen is down */
wd_start(priv->wdog, ADS7843E_WDOG_DELAY, ads7843e_wdog, 1, (uint32_t)priv);
/* Check the thresholds. Bail if there is no significant difference */
if (xdiff < CONFIG_ADS7843E_THRESHX && ydiff < CONFIG_ADS7843E_THRESHY)
{
/* Little or no change in either direction ... don't report anything. */
goto ignored;
}
/* When we see a big difference, snap to the new x/y thresholds */
priv->threshx = x;
priv->threshy = y;
/* Update the x/y position in the sample data */
priv->sample.x = priv->threshx;
priv->sample.y = priv->threshy;
/* The X/Y positional data is now valid */
priv->sample.valid = true;
/* If this is the first (acknowledged) pen down report, then report
* this as the first contact. If contact == CONTACT_DOWN, it will be
* set to set to CONTACT_MOVE after the contact is first sampled.
*/
if (priv->sample.contact != CONTACT_MOVE)
{
/* First contact */
priv->sample.contact = CONTACT_DOWN;
}
}
/* Indicate the availability of new sample data for this ID */
priv->sample.id = priv->id;
priv->penchange = true;
/* Notify any waiters that new ADS7843E data is available */
ads7843e_notify(priv);
/* Exit, re-enabling ADS7843E interrupts */
ignored:
/* Re-enable the PENIRQ interrupt at the ADS7843E */
(void)ads7843e_sendcmd(priv, ADS7843_CMD_ENABPENIRQ);
/* Re-enable the PENIRQ interrupt at the MCU's interrupt controller */
config->enable(config, true);
/* Release our lock on the state structure and unlock the SPI bus */
sem_post(&priv->devsem);
ads7843e_unlock(priv->spi);
}
int sem_tickwait(FAR sem_t *sem, systime_t start, uint32_t delay)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s *)g_readytorun.head;
irqstate_t flags;
systime_t elapsed;
int ret;
DEBUGASSERT(sem != NULL && up_interrupt_context() == false &&
rtcb->waitdog == NULL);
/* Create a watchdog. We will not actually need this watchdog
* unless the semaphore is unavailable, but we will reserve it up
* front before we enter the following critical section.
*/
rtcb->waitdog = wd_create();
if (!rtcb->waitdog)
{
return -ENOMEM;
}
/* We will disable interrupts until we have completed the semaphore
* wait. We need to do this (as opposed to just disabling pre-emption)
* because there could be interrupt handlers that are asynchronously
* posting semaphores and to prevent race conditions with watchdog
* timeout. This is not too bad because interrupts will be re-
* enabled while we are blocked waiting for the semaphore.
*/
flags = enter_critical_section();
/* Try to take the semaphore without waiting. */
ret = sem_trywait(sem);
if (ret == OK)
{
/* We got it! */
goto success_with_irqdisabled;
}
/* We will have to wait for the semaphore. Make sure that we were provided
* with a valid timeout.
*/
if (delay == 0)
{
/* Return the errno from sem_trywait() */
ret = -get_errno();
goto errout_with_irqdisabled;
}
/* Adjust the delay for any time since the delay was calculated */
elapsed = clock_systimer() - start;
if (/* elapsed >= (UINT32_MAX / 2) || */ elapsed >= delay)
{
ret = -ETIMEDOUT;
goto errout_with_irqdisabled;
}
delay -= elapsed;
/* Start the watchdog with interrupts still disabled */
(void)wd_start(rtcb->waitdog, delay, (wdentry_t)sem_timeout, 1, getpid());
/* Now perform the blocking wait */
ret = sem_wait(sem);
if (ret < 0)
{
/* Return the errno from sem_wait() */
ret = -get_errno();
goto errout_with_irqdisabled;
}
/* Stop the watchdog timer */
wd_cancel(rtcb->waitdog);
/* We can now restore interrupts and delete the watchdog */
/* Success exits */
success_with_irqdisabled:
/* Error exits */
errout_with_irqdisabled:
leave_critical_section(flags);
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
return ret;
}
void stmpe811_tscworker(FAR struct stmpe811_dev_s *priv, uint8_t intsta)
{
uint16_t xdiff; /* X difference used in thresholding */
uint16_t ydiff; /* Y difference used in thresholding */
uint16_t x; /* X position */
uint16_t y; /* Y position */
bool pendown; /* true: pen is down */
ASSERT(priv != NULL);
/* Cancel the missing pen up timer */
(void)wd_cancel(priv->wdog);
/* Check for pen up or down from the TSC_STA ibit n the STMPE811_TSC_CTRL register. */
pendown = (stmpe811_getreg8(priv, STMPE811_TSC_CTRL) & TSC_CTRL_TSC_STA) != 0;
/* Handle the change from pen down to pen up */
if (!pendown)
{
/* The pen is up.. reset thresholding variables. FIFOs will read zero if
* there is no data available (hence the choice of (0,0))
*/
priv->threshx = 0;
priv->threshy = 0;
/* Ignore the interrupt if the pen was already up (CONTACT_NONE == pen up and
* already reported; CONTACT_UP == pen up, but not reported)
*/
if (priv->sample.contact == CONTACT_NONE ||
priv->sample.contact == CONTACT_UP)
{
goto ignored;
}
/* A pen-down to up transition has been detected. CONTACT_UP indicates the
* initial loss of contact. The state will be changed to CONTACT_NONE
* after the loss of contact is sampled.
*/
priv->sample.contact = CONTACT_UP;
}
/* The pen is down... check for data in the FIFO */
else if ((intsta & (INT_FIFO_TH | INT_FIFO_OFLOW)) != 0)
{
/* Read the next x and y positions from the FIFO. */
#ifdef CONFIG_STMPE811_SWAPXY
x = stmpe811_getreg16(priv, STMPE811_TSC_DATAX);
y = stmpe811_getreg16(priv, STMPE811_TSC_DATAY);
#else
x = stmpe811_getreg16(priv, STMPE811_TSC_DATAY);
y = stmpe811_getreg16(priv, STMPE811_TSC_DATAX);
#endif
/* If we have not yet processed the last pen up event, then we
* cannot handle this pen down event. We will have to discard it. That
* should be okay because there will be another FIFO event right behind
* this one. Other kinds of data overruns are not harmful.
*
* Hmm.. a better design might be to disable FIFO interrupts when we
* detect pen up. Then re-enable them when CONTACT_UP is reported.
* That would save processing interrupts just to discard the data.
*/
if (priv->sample.contact == CONTACT_UP)
{
/* We have not closed the loop on the last touch ... don't report
* anything.
*/
goto ignored;
}
/* Perform a thresholding operation so that the results will be more stable.
* If the difference from the last sample is small, then ignore the event.
* REVISIT: Should a large change in pressure also generate a event?
*/
xdiff = x > priv->threshx ? (x - priv->threshx) : (priv->threshx - x);
ydiff = y > priv->threshy ? (y - priv->threshy) : (priv->threshy - y);
if (xdiff < CONFIG_STMPE811_THRESHX && ydiff < CONFIG_STMPE811_THRESHY)
{
/* Little or no change in either direction ... don't report anything. */
goto ignored;
}
/* When we see a big difference, snap to the new x/y thresholds */
priv->threshx = x;
priv->threshy = y;
/* Update the x/y position in the sample data */
priv->sample.x = priv->threshx;
priv->sample.y = priv->threshy;
/* Update the Z pressure index */
priv->sample.z = stmpe811_getreg8(priv, STMPE811_TSC_DATAZ);
priv->sample.valid = true;
/* If this is the first (acknowledged) pen down report, then report
* this as the first contact. If contact == CONTACT_DOWN, it will be
* set to set to CONTACT_MOVE after the contact is first sampled.
*/
if (priv->sample.contact != CONTACT_MOVE)
{
/* First contact */
priv->sample.contact = CONTACT_DOWN;
}
}
/* Pen down, but no data in FIFO */
else
{
/* Ignore the interrupt... wait until there is data in the FIFO */
goto ignored;
}
/* We get here if (1) we just went from a pen down to a pen up state OR (2)
* We just get a measurement from the FIFO in a pen down state. Indicate
* the availability of new sample data for this ID.
*/
priv->sample.id = priv->id;
priv->penchange = true;
/* Notify any waiters that new STMPE811 data is available */
stmpe811_notify(priv);
/* If we think that the pen is still down, the start/re-start the pen up
* timer.
*/
ignored:
if (priv->sample.contact == CONTACT_DOWN ||
priv->sample.contact == CONTACT_MOVE)
{
(void)wd_start(priv->wdog, STMPE811_PENUP_TICKS, stmpe811_timeout,
1, (uint32_t)((uintptr_t)priv));
}
/* Reset and clear all data in the FIFO */
stmpe811_putreg8(priv, STMPE811_FIFO_STA, FIFO_STA_FIFO_RESET);
stmpe811_putreg8(priv, STMPE811_FIFO_STA, 0);
}
int sem_timedwait(FAR sem_t *sem, FAR const struct timespec *abstime)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s *)g_readytorun.head;
irqstate_t flags;
int ticks;
int err;
int ret = ERROR;
DEBUGASSERT(up_interrupt_context() == false && rtcb->waitdog == NULL);
/* Verify the input parameters and, in case of an error, set
* errno appropriately.
*/
#ifdef CONFIG_DEBUG
if (!abstime || !sem)
{
err = EINVAL;
goto errout;
}
#endif
/* Create a watchdog. We will not actually need this watchdog
* unless the the semaphore is unavailable, but we will reserve it up
* front before we enter the following critical section.
*/
rtcb->waitdog = wd_create();
if (!rtcb->waitdog)
{
err = ENOMEM;
goto errout;
}
/* We will disable interrupts until we have completed the semaphore
* wait. We need to do this (as opposed to just disabling pre-emption)
* because there could be interrupt handlers that are asynchronoulsy
* posting semaphores and to prevent race conditions with watchdog
* timeout. This is not too bad because interrupts will be re-
* enabled while we are blocked waiting for the semaphore.
*/
flags = irqsave();
/* Try to take the semaphore without waiting. */
ret = sem_trywait(sem);
if (ret == 0)
{
/* We got it! */
irqrestore(flags);
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
return OK;
}
/* We will have to wait for the semphore. Make sure that we were provided
* with a valid timeout.
*/
if (abstime->tv_sec < 0 || abstime->tv_nsec > 1000000000)
{
err = EINVAL;
goto errout_disabled;
}
/* Convert the timespec to clock ticks. We must have interrupts
* disabled here so that this time stays valid until the wait begins.
*/
err = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
/* If the time has already expired return immediately. */
if (err == OK && ticks <= 0)
{
err = ETIMEDOUT;
goto errout_disabled;
}
/* Handle any time-related errors */
if (err != OK)
{
goto errout_disabled;
}
/* Start the watchdog */
err = OK;
wd_start(rtcb->waitdog, ticks, (wdentry_t)sem_timeout, 1, getpid());
/* Now perform the blocking wait */
ret = sem_wait(sem);
/* Stop the watchdog timer */
wd_cancel(rtcb->waitdog);
/* We can now restore interrupts and delete the watchdog */
irqrestore(flags);
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
/* We are either returning success or an error detected by sem_wait()
* or the timeout detected by sem_timeout(). The 'errno' value has
* been set appropriately by sem_wait() or sem_timeout() in those
* cases.
*/
return ret;
/* Error exits */
errout_disabled:
irqrestore(flags);
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
errout:
set_errno(err);
return ERROR;
}
int timer_settime(timer_t timerid, int flags, FAR const struct itimerspec *value,
FAR struct itimerspec *ovalue)
{
FAR struct posix_timer_s *timer = (FAR struct posix_timer_s *)timerid;
irqstate_t state;
int delay;
int ret = OK;
/* Some sanity checks */
if (!timer || !value)
{
errno = EINVAL;
return ERROR;
}
/* Disarm the timer (in case the timer was already armed when timer_settime()
* is called).
*/
(void)wd_cancel(timer->pt_wdog);
/* If the it_value member of value is zero, the timer will not be re-armed */
if (value->it_value.tv_sec <= 0 && value->it_value.tv_nsec <= 0)
{
return OK;
}
/* Setup up any repititive timer */
if (value->it_interval.tv_sec > 0 || value->it_interval.tv_nsec > 0)
{
(void)clock_time2ticks(&value->it_interval, &timer->pt_delay);
}
else
{
timer->pt_delay = 0;
}
/* We need to disable timer interrupts through the following section so
* that the system timer is stable.
*/
state = irqsave();
/* Check if abstime is selected */
if ((flags & TIMER_ABSTIME) != 0)
{
#ifdef CONFIG_DISABLE_CLOCK
/* Absolute timing depends upon having access to clock functionality */
errno = ENOSYS;
return ERROR;
#else
/* Calculate a delay corresponding to the absolute time in 'value'.
* NOTE: We have internal knowledge the clock_abstime2ticks only
* returns an error if clockid != CLOCK_REALTIME.
*/
(void)clock_abstime2ticks(CLOCK_REALTIME, &value->it_value, &delay);
#endif
}
else
{
/* Calculate a delay assuming that 'value' holds the relative time
* to wait. We have internal knowledge that clock_time2ticks always
* returns success.
*/
(void)clock_time2ticks(&value->it_value, &delay);
}
/* If the time is in the past or now, then set up the next interval
* instead (assuming a repititive timer).
*/
if (delay <= 0)
{
delay = timer->pt_delay;
}
/* Then start the watchdog */
if (delay > 0)
{
timer->pt_last = delay;
ret = wd_start(timer->pt_wdog, delay, (wdentry_t)timer_timeout,
1, (uint32_t)((uintptr_t)timer));
}
irqrestore(state);
return ret;
}
int mq_timedsend(mqd_t mqdes, FAR const char *msg, size_t msglen, int prio,
FAR const struct timespec *abstime)
{
FAR struct tcb_s *rtcb = this_task();
FAR struct mqueue_inode_s *msgq;
FAR struct mqueue_msg_s *mqmsg = NULL;
irqstate_t saved_state;
int ticks;
int result;
int ret = ERROR;
DEBUGASSERT(up_interrupt_context() == false && rtcb->waitdog == NULL);
/* Verify the input parameters -- setting errno appropriately
* on any failures to verify.
*/
if (mq_verifysend(mqdes, msg, msglen, prio) != OK)
{
/* mq_verifysend() will set the errno appropriately */
return ERROR;
}
/* Pre-allocate a message structure */
mqmsg = mq_msgalloc();
if (!mqmsg)
{
/* Failed to allocate the message */
set_errno(ENOMEM);
return ERROR;
}
/* Get a pointer to the message queue */
sched_lock();
msgq = mqdes->msgq;
/* OpenGroup.org: "Under no circumstance shall the operation fail with a
* timeout if there is sufficient room in the queue to add the message
* immediately. The validity of the abstime parameter need not be checked
* when there is sufficient room in the queue."
*
* Also ignore the time value if for some crazy reason we were called from
* an interrupt handler. This probably really should be an assertion.
*
* NOTE: There is a race condition here: What if a message is added by
* interrupt related logic so that queue again becomes non-empty. That
* is handled because mq_dosend() will permit the maxmsgs limit to be
* exceeded in that case.
*/
if (msgq->nmsgs < msgq->maxmsgs || up_interrupt_context())
{
/* Do the send with no further checks (possibly exceeding maxmsgs)
* Currently mq_dosend() always returns OK.
*/
ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
sched_unlock();
return ret;
}
/* The message queue is full... We are going to wait. Now we must have a
* valid time value.
*/
if (!abstime || abstime->tv_nsec < 0 || abstime->tv_nsec >= 1000000000)
{
result = EINVAL;
goto errout_with_mqmsg;
}
/* Create a watchdog. We will not actually need this watchdog
* unless the queue is full, but we will reserve it up front
* before we enter the following critical section.
*/
rtcb->waitdog = wd_create();
if (!rtcb->waitdog)
{
result = EINVAL;
goto errout_with_mqmsg;
}
/* We are not in an interrupt handler and the message queue is full.
* Set up a timed wait for the message queue to become non-full.
*
* Convert the timespec to clock ticks. We must have interrupts
* disabled here so that this time stays valid until the wait begins.
*/
saved_state = irqsave();
result = clock_abstime2ticks(CLOCK_REALTIME, abstime, &ticks);
/* If the time has already expired and the message queue is empty,
* return immediately.
*/
if (result == OK && ticks <= 0)
{
result = ETIMEDOUT;
}
/* Handle any time-related errors */
if (result != OK)
{
goto errout_with_irqsave;
}
/* Start the watchdog and begin the wait for MQ not full */
wd_start(rtcb->waitdog, ticks, (wdentry_t)mq_sndtimeout, 1, getpid());
/* And wait for the message queue to be non-empty */
ret = mq_waitsend(mqdes);
/* This may return with an error and errno set to either EINTR
* or ETIMEOUT. Cancel the watchdog timer in any event.
*/
wd_cancel(rtcb->waitdog);
/* Check if mq_waitsend() failed */
if (ret < 0)
{
/* mq_waitsend() will set the errno, but the error exit will reset it */
result = get_errno();
goto errout_with_irqsave;
}
/* That is the end of the atomic operations */
irqrestore(saved_state);
/* If any of the above failed, set the errno. Otherwise, there should
* be space for another message in the message queue. NOW we can allocate
* the message structure.
*
* Currently mq_dosend() always returns OK.
*/
ret = mq_dosend(mqdes, mqmsg, msg, msglen, prio);
sched_unlock();
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
return ret;
/* Exit here with (1) the scheduler locked, (2) a message allocated, (3) a
* wdog allocated, and (4) interrupts disabled. The error code is in
* 'result'
*/
errout_with_irqsave:
irqrestore(saved_state);
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
/* Exit here with (1) the scheduler locked and 2) a message allocated. The
* error code is in 'result'
*/
errout_with_mqmsg:
mq_msgfree(mqmsg);
sched_unlock();
set_errno(result);
return ERROR;
}
