int rtRegisterComediDataIn( int ID , void *comdev )
{
int i;
int n_datain;
rt_sched_lock();
n_datain = N_DATAIN++;
rt_sched_unlock();
if( n_datain >= MAX_COMEDI_COMDEV ){
fprintf(stderr,"Error: ComediDataIn exceed %d \n",MAX_COMEDI_COMDEV);
return -1;
}
if ( ID <= 0 )
fprintf(stderr,"Warning: ComediDataIn ID must be positive\n");
for (i = 0; i < MAX_COMEDI_COMDEV; i++) {
if (ComediDataIn[i].ID == ID){
fprintf(stderr,"Warning: two or more ComediDataIn have the same ID(%d)\n",ID);
}
}
ComediDataIn[n_datain].ID = ID;
ComediDataIn[n_datain].comdev = comdev;
return 0;
}
int rtRegisterComediDioOut( int ID , void *comdev )
{
int i;
int n_dioout;
rt_sched_lock();
n_dioout = N_DIOOUT++;
rt_sched_unlock();
if( n_dioout >= MAX_COMEDI_COMDEV ){
fprintf(stderr,"Error: ComediDioOut exceed %d \n",MAX_COMEDI_COMDEV);
return -1;
}
if ( ID <= 0 )
fprintf(stderr,"Warning: ComediDioOut ID must be positive\n");
for (i = 0; i < MAX_COMEDI_COMDEV; i++) {
if (ComediDioOut[i].ID == ID){
fprintf(stderr,"Warning: two or more ComediDioOut have the same ID(%d)\n",ID);
}
}
ComediDioOut[n_dioout].ID = ID;
ComediDioOut[n_dioout].comdev = comdev;
return 0;
}
int rtRegisterMeter(const char *name, int n, int ID )
{
int i;
int nmeter;
rt_sched_lock();
nmeter = NMETERS++;
rt_sched_unlock();
if( nmeter >= MAX_METERS ){
fprintf(stderr,"Error: Meters exceed %d \n",MAX_METERS);
return -1;
}
if ( ID <= 0 )
fprintf(stderr,"Warning: meters ID must be positive\n");
for (i = 0; i < MAX_METERS; i++) {
if (rtaiMeter[i].ID == ID)
fprintf(stderr,"Warning: two or more meters have the same ID(%d)\n",ID);
}
sprintf(rtaiMeter[nmeter].MBXname, "%s%d", TargetMeterMbxID, nmeter);
rtaiMeter[nmeter].ntraces = n;
rtaiMeter[nmeter].ID = ID;
rtaiMeter[nmeter].mbx= (MBX *) RT_typed_named_mbx_init(0,0,rtaiMeter[nmeter].MBXname,(MBX_RTAI_METER_SIZE/((n+1)*sizeof(float)))*((n+1)*sizeof(float)),FIFO_Q);
if(rtaiMeter[nmeter].mbx == NULL) {
fprintf(stderr, "Cannot init mailbox\n");
exit_on_error();
}
strncpyz(rtaiMeter[nmeter].name, name, MAX_NAME_SIZE);
return 0;
}
int rtRegisterLed(const char *name, int n, int ID )
{
int i;
int nled;
rt_sched_lock();
nled = NLEDS++;
rt_sched_unlock();
if( nled >= MAX_LEDS ){
fprintf(stderr,"Error: Leds exceed %d \n",MAX_LEDS);
return -1;
}
if ( ID <= 0 )
fprintf(stderr,"Warning: leds ID must be positive\n");
for (i = 0; i < MAX_LEDS; i++) {
if (rtaiLed[i].ID == ID)
fprintf(stderr,"Warning: two or more leds have the same ID(%d)\n",ID);
}
sprintf(rtaiLed[nled].MBXname, "%s%d", TargetLedMbxID, nled);
rtaiLed[nled].nleds= n;
rtaiLed[nled].ID = ID;
rtaiLed[nled].mbx= (MBX *) RT_typed_named_mbx_init(0,0,rtaiLed[nled].MBXname,(MBX_RTAI_LED_SIZE/((n+1)*sizeof(float)))*((n+1)*sizeof(float)),FIFO_Q);
if(rtaiLed[nled].mbx == NULL) {
fprintf(stderr, "Cannot init mailbox\n");
exit_on_error();
}
strncpyz(rtaiLed[nled].name, name, MAX_NAME_SIZE);
return 0;
}
int rtRegisterScope(const char *name, int n, int ID )
{
int i;
int nscope;
rt_sched_lock();
nscope = NSCOPE++;
rt_sched_unlock();
if( nscope>= MAX_SCOPES ){
fprintf(stderr,"Error: Scopes exceed %d \n",MAX_SCOPES);
return -1;
}
if ( ID <= 0 )
fprintf(stderr,"Warning: scopes ID must be positive\n");
for (i = 0; i < MAX_SCOPES; i++) {
if (rtaiScope[i].ID == ID)
fprintf(stderr,"Warning: two or more scopes have the same ID(%d)\n",ID);
}
sprintf(rtaiScope[nscope].MBXname, "%s%d", TargetMbxID, nscope);
rtaiScope[nscope].ntraces = n;
rtaiScope[nscope].ID = ID;
rtaiScope[nscope].mbx= (MBX *) RT_typed_named_mbx_init(0,0,rtaiScope[nscope].MBXname,(MBX_RTAI_SCOPE_SIZE/((n+1)*sizeof(float)))*((n+1)*sizeof(float)),FIFO_Q);
if(rtaiScope[nscope].mbx == NULL) {
fprintf(stderr, "Cannot init mailbox\n");
exit_on_error();
}
strncpyz(rtaiScope[nscope].name, name, MAX_NAME_SIZE);
return 0;
}
static int rt_timer_tick_ext(int irq, unsigned long data)
{
int ret = 1;
cpu_used[NR_RT_CPUS]++;
if (passed++ < 5) {
t0 = rdtsc();
} else {
t = rdtsc();
if ((jit = t - t0 - imuldiv(rt_times.periodic_tick, CPU_FREQ, FREQ_8254)) < 0) {
jit = -jit;
}
if (jit > maxj) {
maxj = jit;
}
t0 = t;
}
rt_times.tick_time = rt_times.intr_time;
rt_times.intr_time = rt_times.tick_time + rt_times.periodic_tick;
rt_set_timer_delay(0);
if (rt_times.tick_time >= rt_times.linux_time) {
rt_times.linux_time += rt_times.linux_tick;
rt_pend_linux_irq(TIMER_8254_IRQ);
ret = 0;
}
rt_sched_lock();
if (Mode) {
rt_sem_signal(&sem);
} else {
rt_task_resume(&thread);
}
rt_sched_unlock();
return ret;
}
int rtRegisterLogData(const char *name, int nrow, int ncol, int ID)
{
int i;
int nlogs;
rt_sched_lock();
nlogs = NLOGS++;
rt_sched_unlock();
if( nlogs >= MAX_LOGS ){
fprintf(stderr,"Error: Logs exceed %d \n",MAX_LOGS);
return -1;
}
if ( ID <= 0 )
fprintf(stderr,"Warning: logs ID must be positive\n");
for (i = 0; i < MAX_LOGS; i++) {
if (rtaiLogData[i].ID == ID)
fprintf(stderr,"Warning: two or more logs have the same ID(%d)\n",ID);
}
sprintf(rtaiLogData[nlogs].MBXname, "%s%d", TargetLogMbxID, nlogs);
rtaiLogData[nlogs].nrow = nrow;
rtaiLogData[nlogs].ncol = ncol;
rtaiLogData[nlogs].ID = ID;
rtaiLogData[nlogs].mbx= (MBX *) RT_typed_named_mbx_init(0,0,rtaiLogData[nlogs].MBXname,(MBX_RTAI_LOG_SIZE/((ncol*nrow)*sizeof(float)))*((ncol*nrow)*sizeof(float)),FIFO_Q);
if(rtaiLogData[nlogs].mbx == NULL) {
fprintf(stderr, "Cannot init mailbox\n");
exit_on_error();
}
strncpyz(rtaiLogData[nlogs].name, name, MAX_NAME_SIZE);
return 0;
}
