int main() {
int i;
int id1, id2;
struct _pulse pulse;
// Request I/O privileges
ThreadCtl( _NTO_TCTL_IO, 0 );
chid = ChannelCreate( 0 );
coid = ConnectAttach( 0, 0, chid, _NTO_SIDE_CHANNEL, 0 );
SIGEV_PULSE_INIT( &event1, coid, getprio(0), MY_PULSE_CODE1, 0 );
id1=InterruptAttach( SYSPAGE_ENTRY(qtime)->intr, &handler1,
NULL, 0, 0 );
SIGEV_PULSE_INIT( &event2, coid, getprio(0), MY_PULSE_CODE2, 0 );
id2=InterruptAttach( SYSPAGE_ENTRY(qtime)->intr, &handler2,
NULL, 0, 0 );
for( i = 0; i < 10; ++i ) {
// Wait for ISR to wake us up
MsgReceivePulse( chid, &pulse, sizeof( pulse ), NULL );
if(pulse.code == MY_PULSE_CODE1) {
printf( "1000 events\n" );
} else if(pulse.code == MY_PULSE_CODE2) {
printf( "2500 events\n" );
}
}
// Disconnect the ISR handler
InterruptDetach(id1);
InterruptDetach(id2);
return 0;
}
void omap3_dinit(void *hdl)
{
omap3_spi_t *dev = hdl;
/*
* unmap the register, detach the interrupt
*/
InterruptDetach(dev->iid_spi);
munmap_device_io(dev->vbase, OMAP3_SPI_REGLEN);
/*
* Disable EDMA
*/
if (dev->edma) {
omap3_edma_disablespi(dev);
InterruptDetach(dev->iid_edma);
omap3_edma_detach (dev);
munmap_device_memory((void *)dev->edmavbase, DM6446_EDMA_SIZE);
munmap(dev->dmabuf, OMAP3_SPI_MAXDMALEN);
ConnectDetach(dev->edma_coid);
}
ConnectDetach(dev->coid);
ChannelDestroy(dev->chid);
free(hdl);
}
inline void
isr_cleanup(omapl1xx_context_t *omapl1xx)
{
ConnectDetach(omapl1xx->lcd_coid);
ChannelDestroy(omapl1xx->lcd_chid);
InterruptDetach(omapl1xx->lcd_iid);
}
static err_t gpio_destory(Drive_Gpio *t)
{
Drive_Gpio *cthis = ( Drive_Gpio *)t ;
cthis->disableIrq( cthis);
GPIOModuleDisable( cthis->gpio_vbase);
InterruptDetach( cthis->irq_id);
munmap_device_io( cthis->gpio_vbase, AM335X_GPIO_SIZE);
lw_oopc_delete( cthis);
return EXIT_SUCCESS;
}
void
omap_fini(void *hdl)
{
omap_dev_t *dev = hdl;
out16(dev->regbase + OMAP_I2C_CON, 0);
out16(dev->regbase + OMAP_I2C_IE, 0);
InterruptDetach(dev->iid);
ConnectDetach(dev->coid);
ChannelDestroy(dev->chid);
munmap_device_io (dev->regbase, dev->reglen);
free (hdl);
}
int main (int argc, char *argv[])
{
int chid;
int coid;
my_msg_type msg;
chid = ChannelCreate();
coid = Connect(SELF_PID, chid);
void * zeroPtr = MapPhysical(0, 4096 * 4);
zeroPtr = zeroPtr;
int handler_id = InterruptAttach(coid, 4, NULL);
for (;;) {
int msgid;
int num = MessageReceive(chid, &msgid, &msg, sizeof(msg));
if (msgid != 0) {
MessageReply(msgid, ERROR_NO_SYS, NULL, 0);
}
else {
// Pulse received
switch (msg.async.type) {
case PULSE_TYPE_INTERRUPT:
{
InterruptComplete(handler_id);
break;
}
default:
{
*((char *)NULL) = '\0';
break;
}
}
}
num = num;
}
InterruptDetach(handler_id);
return 0;
}
void SensorHAL::stopInterrupt() {
if (-1 == ThreadCtl(_NTO_TCTL_IO, 0)) {
printf("ThreadCtl access failed\n");
exit(EXIT_FAILURE);
}
if (InterruptDetach(interruptId) == -1) {
printf("SensorHAL: Error InterruptDetach\n");
}
if (ConnectDetach(coid) == -1) {
printf("SensorHAL: Error in ConnectDetach\n");
}
if (ChannelDestroy(chid) == -1) {
printf("SensorHAL: Error in ChannelDestroy\n");
}
}
/****************************************************************************
REMARKS:
Function to execute a service at ring 0. This is done using the clock
interrupt handler since the code we attach to it will always run at ring 0.
****************************************************************************/
static void CallRing0(void)
{
#ifdef __QNXNTO__
uint clock_intno = SYSPAGE_ENTRY(qtime)->intr;
#else
uint clock_intno = 0; /* clock irq */
#endif
int intrid;
#ifdef __QNXNTO__
mlock((void*)&_PM_R0, sizeof(_PM_R0));
ThreadCtl(_NTO_TCTL_IO, 0);
#endif
#ifdef __QNXNTO__
if ((intrid = InterruptAttach(_NTO_INTR_CLASS_EXTERNAL | clock_intno,
_PM_ring0_isr, (void*)&_PM_R0, sizeof(_PM_R0), _NTO_INTR_FLAGS_END)) == -1) {
#else
if ((intrid = qnx_hint_attach(clock_intno, _PM_ring0_isr, FP_SEG(&_PM_R0))) == -1) {
#endif
perror("Attach");
exit(-1);
}
while (_PM_R0.service != -1)
;
#ifdef __QNXNTO__
InterruptDetach(intrid);
#else
qnx_hint_detach(intrid);
#endif
}
/****************************************************************************
REMARKS:
Flush the translation lookaside buffer.
****************************************************************************/
void PMAPI PM_flushTLB(void)
{
_PM_R0.service = R0_FLUSH_TLB;
CallRing0();
}
int main(int argc, char *argv[]) {
uint32_t l;
int id, id2;
my_data_t msg;
int rcvid;
name_attach_t *name;
printf("Welcome Onda\n");
if (ThreadCtl(_NTO_TCTL_IO, 0) < 0) {
perror(NULL);
return -1;
}
name = name_attach(NULL, "onda", NAME_FLAG_ATTACH_GLOBAL);
if (name == NULL) {
perror("Error0\n");
return -1;
}
/* attach GPIO interrupt */
id = InterruptAttach (33, gpio_isr_handler, NULL, 0, _NTO_INTR_FLAGS_PROCESS);
/* attach timer interrupt */
id2 = InterruptAttach (45, timer_isr_handler, NULL, 0, _NTO_INTR_FLAGS_PROCESS);
gpio5 = mmap_device_io(OMAP3530_GPIO_SIZE, OMAP3530_GPIO5_BASE);
if (gpio5 == MAP_DEVICE_FAILED) {
perror(NULL);
return -1;
}
//gpt3 = mmap_device_io(OMAP3530_GPT_SIZE, OMAP3530_GPT3_BASE);
gpt9 = mmap_device_io(OMAP3530_GPT_SIZE, OMAP3530_GPT9_BASE);
if (gpt9 == MAP_DEVICE_FAILED) {
perror(NULL);
return -1;
}
sys = mmap_device_io(OMAP3530_SYSCTL_SIZE, OMAP3530_SYSCTL_BASE);
if (sys == MAP_DEVICE_FAILED) {
perror(NULL);
return -1;
}
/* selecting mode 4 function - GPIO 139
* selecting pullup and mode 4 function - GPIO 138 */
#define SYS_CONF ((4 << 16) | ((1 << 8) | (1<<3) | 4))
#define SYS_MASK ~(0x10F010F)
l = (in32(sys + 0x168) & SYS_MASK) | SYS_CONF;
//l = (in32(sys + 0x168) & ~(7<<16) ) | (4 << 16);
//out32(sys + 0x168, ((1<<3 | 4) << 16) | (1<<3) | 4);
out32(sys + 0x168, l);
/* setting mode 2 - PWM */
l = (in32(sys + 0x174) & ~7 ) | 2;
out32(sys + 0x174, l);
/* setting the PIN 138 to input
* setting the PIN 139 to output */
l = (in32(gpio5 + OMAP2420_GPIO_OE) & ~(1 << 11)) | 1 << 10;
out32(gpio5 + OMAP2420_GPIO_OE, l);
/* enabling interrupt on both levels on GPIO 139 */
out32(gpio5 + OMAP2420_GPIO_RISINGDETECT, l << 10);
out32(gpio5 + OMAP2420_GPIO_FALLINGDETECT, l << 10);
out32(gpio5 + OMAP2420_GPIO_SETIRQENABLE1, l << 10);
/* make sure timer has stop */
out32(gpt9 + OMAP3530_GPT_TCLR, 0);
/* enabling the interrupt */
out32(gpt9 + OMAP3530_GPT_TIER, 2); //comentar se PWM
/* configuring PWM */
out32(gpt9 + OMAP3530_GPT_TCLR, (1<<12) | (1<<10) | (1<<7)); //-- PWM
out32(gpio5 + OMAP2420_GPIO_SETDATAOUT, (1 << 11));
printf("Esperando requisições\n");
while (1) {
rcvid = MsgReceive(name->chid, &msg, sizeof(msg), NULL);
if (rcvid == -1) {/* Error condition, exit */
break;
}
/* name_open() sends a connect message, must EOK this */
if (msg.hdr.type == _IO_CONNECT) {
MsgReply(rcvid, EOK, NULL, 0);
continue;
}
/* Some other QNX IO message was received; reject it */
if (msg.hdr.type > _IO_BASE && msg.hdr.type <= _IO_MAX) {
MsgError(rcvid, ENOSYS);
continue;
}
switch (msg.hdr.subtype) {
case 0x55:
MsgReply(rcvid, EOK, &pincount, sizeof(pincount));
break;
case 0x65:
MsgReply(rcvid, EOK, &interval, sizeof(interval));
break;
case 0x66:
interval = msg.data;
MsgReply(rcvid, EOK, &interval, sizeof(interval));
break;
default:
MsgReply(rcvid, EOK, NULL, 0);
}
}
out32(gpt9 + OMAP3530_GPT_TCLR, 0);
out32(gpt9 + OMAP3530_GPT_TIER, 0);
InterruptDetach (id);
InterruptDetach (id2);
printf("Fim\n");
return EXIT_SUCCESS;
}
