rtems_status_code lpc24xx_dma_copy_release(void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
rtems_status_code rsc = RTEMS_SUCCESSFUL;
sc = rtems_interrupt_handler_remove(
LPC24XX_IRQ_DMA,
lpc24xx_dma_copy_handler,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
rsc = sc;
}
sc = rtems_semaphore_delete(lpc24xx_dma_sema_table [0]);
if (sc != RTEMS_SUCCESSFUL) {
rsc = sc;
}
sc = rtems_semaphore_delete(lpc24xx_dma_sema_table [1]);
if (sc != RTEMS_SUCCESSFUL) {
rsc = sc;
}
return rsc;
}
/**
* @brief closes sci peripheral of interrupt driven driver
*
* calls tms570_sci_poll_last_close and disables interrupts
*
* @param[in] tty Termios control
* @param[in] base context of the driver
* @param[in] args
* @retval false Error occured during initialization
* @retval true Driver is open and ready
*/
static void tms570_sci_interrupt_last_close(
rtems_termios_tty *tty,
rtems_termios_device_context *base,
rtems_libio_open_close_args_t *args
)
{
tms570_sci_context *ctx = (tms570_sci_context *) base;
rtems_interrupt_lock_context lock_context;
rtems_interval tw;
int32_t baudrate;
/* Turn off RX interrupts */
rtems_termios_device_lock_acquire(base, &lock_context);
tms570_sci_disable_interrupts(ctx);
rtems_termios_device_lock_release(base, &lock_context);
tw = rtems_clock_get_ticks_per_second();
baudrate = rtems_termios_baud_to_number(cfgetospeed(&tty->termios));
tw = tw * 10 / baudrate + 1;
while ( ( ctx->regs->FLR & TMS570_SCI_FLR_TX_EMPTY ) == 0 ) {
rtems_task_wake_after(tw);
}
/* uninstall ISR */
rtems_interrupt_handler_remove(ctx->irq, tms570_sci_interrupt_handler, tty);
tms570_sci_poll_last_close(tty, base, args);
}
static void imx_i2c_destroy(i2c_bus *base)
{
imx_i2c_bus *bus;
bus = (imx_i2c_bus *) base;
rtems_interrupt_handler_remove(bus->irq, imx_i2c_interrupt, bus);
i2c_bus_destroy_and_free(&bus->base);
}
void cs8900_detach_interrupt (cs8900_device *cs)
{
rtems_status_code status = RTEMS_SUCCESSFUL;
status = rtems_interrupt_handler_remove(
LPC22xx_INTERRUPT_EINT2,
cs8900_isr,
cs
);
assert(status == RTEMS_SUCCESSFUL);
}
int BSP_disconnect_clock_handler (void)
{
rtems_status_code sc;
clockOff(NULL);
/*
* remove interrupt handler
*/
sc = rtems_interrupt_handler_remove(BSP_PERIODIC_TIMER,
BSP_clock_hdl,NULL);
return sc == RTEMS_SUCCESSFUL;
}
static void raspberrypi_clock_cleanup(void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
/* Remove interrupt handler */
sc = rtems_interrupt_handler_remove(
BCM2835_IRQ_ID_TIMER_0,
(rtems_interrupt_handler) Clock_isr,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
rtems_fatal_error_occurred(0xdeadbeef);
}
}
static void qoriq_clock_cleanup(void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
qoriq_clock->bcr = GTBCR_CI;
sc = rtems_interrupt_handler_remove(
CLOCK_INTERRUPT,
(rtems_interrupt_handler) Clock_isr,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
rtems_fatal_error_occurred(0xdeadbeef);
}
}
/**
* @deprecated Use rtems_interrupt_handler_remove() instead.
*/
int BSP_remove_rtems_irq_handler(const rtems_irq_connect_data *cd)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
if (cd->off != NULL) {
(*cd->off)(cd);
}
sc = rtems_interrupt_handler_remove(cd->name, cd->hdl, cd->handle);
if (sc != RTEMS_SUCCESSFUL) {
return 0;
}
return 1;
}
rtems_status_code rtems_interrupt_server_handler_remove(
rtems_id server,
rtems_vector_number vector,
rtems_interrupt_handler handler,
void *arg
)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
bsp_interrupt_server_iterate_entry ie = {
.handler = handler,
.arg = arg,
.entry = NULL
};
sc = bsp_interrupt_server_is_initialized();
if (sc != RTEMS_SUCCESSFUL) {
return sc;
}
if (server != RTEMS_ID_NONE) {
return RTEMS_NOT_IMPLEMENTED;
}
/* Query corresponding interrupt server entry */
sc = rtems_interrupt_handler_iterate(
vector,
bsp_interrupt_server_per_handler_routine,
&ie
);
if (sc != RTEMS_SUCCESSFUL) {
return sc;
} else if (ie.entry == NULL) {
return RTEMS_INVALID_ID;
}
sc = rtems_interrupt_handler_remove(
vector,
bsp_interrupt_server_trigger,
ie.entry
);
if (sc != RTEMS_SUCCESSFUL) {
return sc;
}
free(ie.entry);
return RTEMS_SUCCESSFUL;
}
static void atsam_uart_last_close(
rtems_termios_tty *tty,
rtems_termios_device_context *base,
rtems_libio_open_close_args_t *args
)
{
atsam_uart_context *ctx = (atsam_uart_context *) base;
#ifdef ATSAM_CONSOLE_USE_INTERRUPTS
rtems_interrupt_handler_remove(ctx->irq, atsam_uart_interrupt, tty);
#endif
if (!ctx->console) {
PMC_DisablePeripheral(ctx->id);
}
}
static void lpc_clock_cleanup(void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
/* Disable timer */
lpc_clock->tcr = 0x0;
/* Remove interrupt handler */
sc = rtems_interrupt_handler_remove(
LPC_CLOCK_INTERRUPT,
(rtems_interrupt_handler) Clock_isr,
NULL
);
if (sc != RTEMS_SUCCESSFUL) {
rtems_fatal_error_occurred(0xdeadbeef);
}
}
void mpc55xx_edma_release_channel(edma_channel_context *ctx)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
unsigned channel_index = edma_channel_index_of_tcd(ctx->edma_tcd);
mpc55xx_edma_release_channel_by_tcd(ctx->edma_tcd);
rtems_chain_extract(&ctx->node);
sc = rtems_interrupt_handler_remove(
MPC55XX_IRQ_EDMA(channel_index),
edma_interrupt_handler,
ctx
);
if (sc != RTEMS_SUCCESSFUL) {
bsp_fatal(MPC55XX_FATAL_EDMA_IRQ_REMOVE);
}
}
static int pl050_last_close(int major, int minor, void *arg)
{
const console_tbl *ct = Console_Port_Tbl[minor];
volatile pl050 *regs = pl050_get_regs(minor);
rtems_status_code sc;
regs->kmicr = 0;
sc = rtems_interrupt_handler_remove(
ct->ulIntVector,
pl050_interrupt,
(void *) minor
);
assert(sc == RTEMS_SUCCESSFUL);
return 0;
}
static void mpc55xx_clock_cleanup( void)
{
rtems_status_code sc = RTEMS_SUCCESSFUL;
volatile struct EMIOS_CH_tag *regs = &EMIOS.CH [MPC55XX_CLOCK_EMIOS_CHANNEL];
union EMIOS_CCR_tag ccr = MPC55XX_ZERO_FLAGS;
/* Set channel in GPIO mode */
ccr.B.MODE = MPC55XX_EMIOS_MODE_GPIO_INPUT;
regs->CCR.R = ccr.R;
/* Remove interrupt handler */
sc = rtems_interrupt_handler_remove(
MPC55XX_IRQ_EMIOS_GET_REQUEST( MPC55XX_CLOCK_EMIOS_CHANNEL),
(rtems_interrupt_handler) Clock_isr,
NULL
);
RTEMS_CHECK_SC_VOID( sc, "remove clock interrupt handler");
}
static int leon3_console_last_close(int major, int minor, void *arg)
{
struct rtems_termios_tty *tty = leon3_console_get_tty(arg);
struct apbuart_priv *uart = leon3_console_get_uart(minor);
rtems_interrupt_level level;
/* Turn off RX interrupts */
rtems_termios_interrupt_lock_acquire(tty, level);
uart->regs->ctrl &= ~(LEON_REG_UART_CTRL_RI);
rtems_termios_interrupt_lock_release(tty, level);
/**** Flush device ****/
while (uart->sending) {
/* Wait until all data has been sent */
}
/* uninstall ISR */
rtems_interrupt_handler_remove(uart->irq, leon3_console_isr, uart);
return 0;
}
static void apbuart_last_close_interrupt(
rtems_termios_tty *tty,
rtems_termios_device_context *base,
rtems_libio_open_close_args_t *args
)
{
struct apbuart_context *uart = (struct apbuart_context *) base;
rtems_interrupt_lock_context lock_context;
/* Turn off RX interrupts */
rtems_termios_device_lock_acquire(base, &lock_context);
uart->regs->ctrl &= ~(APBUART_CTRL_RI);
rtems_termios_device_lock_release(base, &lock_context);
/**** Flush device ****/
while (uart->sending) {
/* Wait until all data has been sent */
}
/* uninstall ISR */
rtems_interrupt_handler_remove(uart->irq, apbuart_isr, tty);
}
/**
* @brief closes sci peripheral of interrupt driven driver
*
* calls tms570_sci_poll_last_close and disables interrupts
*
* @param[in] tty Termios control
* @param[in] base context of the driver
* @param[in] args
* @retval false Error occured during initialization
* @retval true Driver is open and ready
*/
static void tms570_sci_interrupt_last_close(
rtems_termios_tty *tty,
rtems_termios_device_context *base,
rtems_libio_open_close_args_t *args
)
{
tms570_sci_context *ctx = (tms570_sci_context *) base;
rtems_interrupt_lock_context lock_context;
/* Turn off RX interrupts */
rtems_termios_device_lock_acquire(base, &lock_context);
tms570_sci_disable_interrupts(ctx);
rtems_termios_device_lock_release(base, &lock_context);
/* Flush device */
while ( ( ctx->regs->FLR & TMS570_SCI_FLR_TX_EMPTY ) > 0 ) {
;/* Wait until all data has been sent */
}
/* uninstall ISR */
rtems_interrupt_handler_remove(ctx->irq, tms570_sci_interrupt_handler, tty);
tms570_sci_poll_last_close(tty, base, args);
}
NS16550_STATIC void ns16550_cleanup_interrupts(int minor)
{
#if defined(BSP_FEATURE_IRQ_EXTENSION)
rtems_status_code sc = RTEMS_SUCCESSFUL;
console_tbl *c = Console_Port_Tbl [minor];
sc = rtems_interrupt_handler_remove(
c->ulIntVector,
ns16550_isr,
(void *) minor
);
if (sc != RTEMS_SUCCESSFUL) {
/* FIXME */
printk("%s: Error: Remove interrupt handler\n", __func__);
rtems_fatal_error_occurred(0xdeadbeef);
}
#elif defined(BSP_FEATURE_IRQ_LEGACY)
int rv = 0;
console_tbl *c = Console_Port_Tbl [minor];
rtems_irq_connect_data cd = {
.name = c->ulIntVector,
.hdl = ns16550_isr,
.handle = (void *) minor
};
rv = BSP_remove_rtems_irq_handler(&cd);
if (rv == 0) {
/* FIXME */
printk("%s: Error: Remove interrupt handler\n", __func__);
rtems_fatal_error_occurred(0xdeadbeef);
}
#endif
}
/*
* ns16550_write_support_polled
*
* Console Termios output entry point.
*
*/
ssize_t ns16550_write_support_polled(
int minor,
const char *buf,
size_t len
)
{
int nwrite = 0;
/*
* poll each byte in the string out of the port.
*/
while (nwrite < len) {
/*
* transmit character
*/
ns16550_write_polled(minor, *buf++);
nwrite++;
}
/*
* return the number of bytes written.
*/
return nwrite;
}
rtems_task Task2(rtems_task_argument ignored) {
rtems_status_code status;
rtems_id period_id;
rtems_interval ticks;
status = rtems_rate_monotonic_create(
rtems_build_name( 'P', 'E', 'R', '2' ),
&period_id
);
ticks = get_ticks_for_period(50);
// the punching will start with the first hole
int hole_to_punch = 0;
// we are about to punch holes_total_count holes
int holes_total_count = 4;
int error = 0;
int done = 0;
while(1)
{
status = rtems_rate_monotonic_period( period_id, ticks );
if(status == RTEMS_TIMEOUT)
{
break; // this is the end. the system missed a deadline, which is fatal.
}
int state = read_punchpress_state();
if (state < STATE_INITIAL) break;
switch (state)
{
case STATE_READY:
plan_movement(hole_to_punch, holes_total_count);
break;
case STATE_PUNCH_READY:
punch(hole_to_punch, holes_total_count);
break;
case STATE_PUNCHING:
control_punch(&hole_to_punch);
break;
case STATE_RETRACT:
control_retract();
break;
case STATE_NAVIGATING:
break;
case STATE_DONE:
done = 1;
break;
default:
error = 1;
break;
}
if ((error + done) > 0){
break;
}
}
if (error > 0)
{
printf("ERROR! SOMETHING WENT WRONG (UNEXPECTED STATE OR DEADLINE MISSED) IN TASK CONTROLLING PUNCHING!\n");
exit(1);
}
outport_byte(OUT_PUNCH_IRQ, 0);
rtems_rate_monotonic_delete(period_id);
rtems_semaphore_delete(state_semaphore_id);
rtems_interrupt_handler_remove(5, isr, NULL);
/**
* The only way to shutdown the app is to invoke exit() before deleting the "last" task.
* Since it is not very nice and it is not used in example apps, just delete the task.
**/
rtems_task_delete(RTEMS_SELF);
}
