void task1(void *cookie)
{
while (1) {
rtdm_sem_down(&sem1);
rtdm_sem_up(&sem2);
}
}
/**
* Read from the device
*
* This function is called when the device is read in real-time context.
*
*/
static ssize_t mpu9150_rtdm_read_rt(struct rtdm_dev_context *context,
rtdm_user_info_t * user_info, void *buf,
size_t nbyte)
{
int ret;
if( mpu9150_device )
{
/* take the semaphore */
rtdm_sem_down( &sem );
mpu9150_read_accel();
mpu9150_read_gyro();
mpu9150_read_mag();
mpu9150_read_temp();
ret = rtdm_safe_copy_to_user(user_info, buf, buffer.data.alldata, DATA_BUFFER_SIZE);
/* if an error has occurred, send it to user */
if( ret )
return ret;
/* release the semaphore */
rtdm_sem_up( &sem );
}
else
return 0;
return DATA_BUFFER_SIZE;
}
void task1(void *cookie)
{
long varl;
rtdm_mutex_lock(&mutex);
rtdm_sem_down(&sem);
rtdm_mutex_unlock(&mutex);
rtdm_sem_up(&sem);
rtdm_sem_down(&sem);
while (1) {
rtdm_mutex_lock(&mutex);
rtdm_mutex_lock(&mutex);
varl = ++var;
rtdm_mutex_unlock(&mutex);
rtdm_mutex_unlock(&mutex);
while(varl == var) rt_sleep(nano2count(TIMEOUT));
if ((var - varl) != 1) {
rt_printk("WRONG INCREMENT OF VARIABLE IN TASK1\n");
break;
}
}
}
/* ************************************************************************
* This is a RTAI thread. It will be activated (resumed) by the
* functions "rtnetproxy_xmit" or "rtnetproxy_kernel_recv" (in linux context)
* whenever new frames have to be sent out or if the
* "used" rtskb ringbuffer is full.
* ************************************************************************ */
static void rtnetproxy_transmit_thread(void *arg)
{
struct sk_buff *skb;
struct rtskb *del;
while (1)
{
/* Free all "used" rtskbs in ringbuffer */
while ((del=read_from_ringbuffer(&ring_rtskb_kernel_rtnet)) != 0) {
kfree_rtskb(del);
}
/* Send out all frames in the ringbuffer that have not been sent yet */
while ((skb = read_from_ringbuffer(&ring_skb_kernel_rtnet)) != 0)
{
send_data_out(skb);
/* Place the "used" skb in the ringbuffer back to kernel */
write_to_ringbuffer(&ring_skb_rtnet_kernel, skb);
}
/* Will be activated with next frame to send... */
rtdm_sem_down(&rtnetproxy_sem);
}
}
static ssize_t handleWr(
struct rtdm_dev_context * ctx,
rtdm_user_info_t * usr,
const void * src,
size_t bytes) {
rtdm_lockctx_t lockCtx;
struct devCtx * devCtx;
ssize_t write;
write = 0;
devCtx = getDevCtx(
ctx);
/*-- Set activity: disable configuration -------------------------------------*/
rtdm_lock_get_irqsave(&devCtx->lock, lockCtx);
devCtx->actvCnt++;
if (1u == devCtx->actvCnt) {
rtdm_lock_put_irqrestore(&devCtx->lock, lockCtx);
rtdm_sem_down(
&devCtx->actvLock);
} else {
rtdm_lock_put_irqrestore(&devCtx->lock, lockCtx);
}
/*-- Reset activity: enable configuration ------------------------------------*/
devCtx->actvCnt--;
if (0u == devCtx->actvCnt) {
rtdm_sem_up(
&devCtx->actvLock);
}
return (write);
}
static int handleIOctl(
struct rtdm_dev_context * ctx,
rtdm_user_info_t * usr,
unsigned int req,
void __user * arg) {
struct devCtx * devCtx;
int retval;
retval = 0;
devCtx = getDevCtx(
ctx);
/*-- Set activity: disable communication -------------------------------------*/
rtdm_sem_down(
&devCtx->actvLock);
switch (req) {
/*-- XSPI_IOC_SET_CURRENT_CHN ------------------------------------------------*/
case XSPI_IOC_SET_CURRENT_CHN : {
retval = (int)cfgChnSet(
ctx,
(enum xspiChn)arg);
break;
}
/*-- XSPI_IOC_GET_CURRENT_CHN ------------------------------------------------*/
case XSPI_IOC_GET_CURRENT_CHN : {
enum xspiChn chn;
cfgChnGet(
ctx,
&chn);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&chn,
sizeof(int));
} else {
*(int *)arg = (int)chn;
}
break;
}
/*-- XSPI_IOC_SET_FIFO_MODE --------------------------------------------------*/
case XSPI_IOC_SET_FIFO_CHN : {
retval = (int)cfgFIFOChnSet(
ctx,
(enum xspiFifoChn)arg);
break;
}
/*-- XSPI_IOC_GET_FIFO_MODE --------------------------------------------------*/
case XSPI_IOC_GET_FIFO_CHN : {
enum xspiFifoChn fifoChn;
cfgFIFOChnGet(
ctx,
&fifoChn);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&fifoChn,
sizeof(int));
} else {
*(int *)arg = (int)fifoChn;
}
break;
}
/*-- XSPI_IOC_SET_CS_MODE ----------------------------------------------------*/
case XSPI_IOC_SET_CS_MODE : {
retval = (int)cfgCsModeSet(
ctx,
(enum xspiCsMode)arg);
break;
}
/*-- XSPI_IOC_GET_CS_MODE ----------------------------------------------------*/
case XSPI_IOC_GET_CS_MODE : {
enum xspiCsMode csMode;
cfgCsModeGet(
ctx,
&csMode);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&csMode,
sizeof(int));
} else {
*(int *)arg = (int)csMode;
}
break;
}
/*-- XSPI_IOC_SET_MODE -------------------------------------------------------*/
case XSPI_IOC_SET_MODE : {
retval = (int)cfgModeSet(
ctx,
(enum xspiMode)arg);
break;
}
/*-- XSPI_IOC_GET_MODE -------------------------------------------------------*/
case XSPI_IOC_GET_MODE : {
enum xspiMode mode;
cfgModeGet(
ctx,
&mode);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&mode,
sizeof(int));
} else {
*(int *)arg = (int)mode;
}
break;
}
/*-- XSPI_IOC_SET_CHANNEL_MODE -----------------------------------------------*/
case XSPI_IOC_SET_CHANNEL_MODE : {
retval = (int)cfgChannelModeSet(
ctx,
(enum xspiChannelMode)arg);
break;
}
/*-- XSPI_IOC_GET_CHANNEL_MODE -----------------------------------------------*/
case XSPI_IOC_GET_CHANNEL_MODE : {
enum xspiChannelMode channelMode;
cfgChannelModeGet(
ctx,
&channelMode);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&channelMode,
sizeof(int));
} else {
*(int *)arg = (int)channelMode;
}
break;
}
/*-- XSPI_IOC_SET_INITIAL_DELAY ----------------------------------------------*/
case XSPI_IOC_SET_INITIAL_DELAY : {
retval = (int)cfgInitialDelaySet(
ctx,
(enum xspiInitialDelay)arg);
break;
}
/*-- XSPI_IOC_GET_INITIAL_DELAY ----------------------------------------------*/
case XSPI_IOC_GET_INITIAL_DELAY : {
enum xspiInitialDelay initialDelay;
cfgInitialDelayGet(
ctx,
&initialDelay);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&initialDelay,
sizeof(int));
} else {
*(int *)arg = (int)initialDelay;
}
break;
}
/*-- XSPI_IOC_SET_TRANSFER_MODE ----------------------------------------------*/
case XSPI_IOC_SET_TRANSFER_MODE : {
retval = (int)cfgChnTransferModeSet(
ctx,
(enum xspiTransferMode)arg);
break;
}
/*-- XSPI_IOC_GET_TRANSFER_MODE ----------------------------------------------*/
case XSPI_IOC_GET_TRANSFER_MODE : {
enum xspiTransferMode transferMode;
cfgChnTransferModeGet(
ctx,
&transferMode);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&transferMode,
sizeof(int));
} else {
*(int *)arg = (int)transferMode;
}
break;
}
/*-- XSPI_IOC_SET_PIN_LAYOUT -------------------------------------------------*/
case XSPI_IOC_SET_PIN_LAYOUT : {
retval = (int)cfgChnPinLayoutSet(
ctx,
(enum xspiPinLayout)arg);
break;
}
/*-- XSPI_IOC_GET_PIN_LAYOUT -------------------------------------------------*/
case XSPI_IOC_GET_PIN_LAYOUT : {
enum xspiPinLayout pinLayout;
cfgChnPinLayoutGet(
ctx,
&pinLayout);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&pinLayout,
sizeof(int));
} else {
*(int *)arg = (int)pinLayout;
}
break;
}
/*-- XSPI_IOC_SET_WORD_LENGTH ------------------------------------------------*/
case XSPI_IOC_SET_WORD_LENGTH : {
retval = (int)cfgChnWordLengthSet(
ctx,
(uint32_t)arg);
break;
}
/*-- XSPI_IOC_GET_WORD_LENGTH ------------------------------------------------*/
case XSPI_IOC_GET_WORD_LENGTH : {
uint32_t wordLength;
cfgChnWordLengthGet(
ctx,
&wordLength);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&wordLength,
sizeof(int));
} else {
*(int *)arg = (int)wordLength;
}
break;
}
/*-- XSPI_IOC_SET_CS_DELAY ---------------------------------------------------*/
case XSPI_IOC_SET_CS_DELAY : {
retval = (int)cfgChnCsDelaySet(
ctx,
(enum xspiCsDelay)arg);
break;
}
/*-- XSPI_IOC_GET_CS_DELAY ---------------------------------------------------*/
case XSPI_IOC_GET_CS_DELAY : {
enum xspiCsDelay csDelay;
cfgChnCsDelayGet(
ctx,
&csDelay);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&csDelay,
sizeof(int));
} else {
*(int *)arg = (int)csDelay;
}
break;
}
/*-- XSPI_IOC_SET_CS_POLARITY ------------------------------------------------*/
case XSPI_IOC_SET_CS_POLARITY : {
retval = (int)cfgChnCsPolaritySet(
ctx,
(enum xspiCsPolarity)arg);
break;
}
/*-- XSPI_IOC_GET_CS_POLARITY ------------------------------------------------*/
case XSPI_IOC_GET_CS_POLARITY : {
enum xspiCsPolarity csPolarity;
cfgChnCsPolarityGet(
ctx,
&csPolarity);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&csPolarity,
sizeof(int));
} else {
*(int *)arg = (int)csPolarity;
}
break;
}
/*-- XSPI_IOC_SET_CS_STATE ---------------------------------------------------*/
case XSPI_IOC_SET_CS_STATE : {
retval = (int)cfgChnCsStateSet(
ctx,
(enum xspiCsState)arg);
break;
}
/*-- XSPI_IOC_GET_CS_STATE ---------------------------------------------------*/
case XSPI_IOC_GET_CS_STATE : {
enum xspiCsState csState;
cfgChnCsStateGet(
ctx,
&csState);
if (NULL != usr) {
retval = rtdm_safe_copy_to_user(
usr,
arg,
&csState,
sizeof(int));
} else {
*(int *)arg = (int)csState;
}
break;
}
/*-- XSPI_IOC_SET_CLOCK_FREQ -------------------------------------------------*/
case XSPI_IOC_SET_CLOCK_FREQ : {
}
/*-- XSPI_IOC_GET_CLOCK_FREQ -------------------------------------------------*/
case XSPI_IOC_GET_CLOCK_FREQ : {
}
/*-- Unhandled request -------------------------------------------------------*/
default : {
LOG_DBG("IOC: unknown request (%d) received", req);
retval = -EINVAL;
}
}
if (0 != retval) {
LOG_INFO("IOC: failed to execute IO request, err: %d", -retval);
}
/*-- Reset activity: enable communication ------------------------------------*/
rtdm_sem_up(
&devCtx->actvLock);
return (retval);
}
void task2(void *cookie)
{
long i, max;
nanosecs_abs_t t, dt;
rt_printk("TESTING TIMING OUT TIMEDDOWN ...");
for (max = i = 0; i < LOOPS; i++) {
t = rtdm_clock_read();
if (rtdm_sem_timeddown(&sem2, DELAY, NULL) == -ETIMEDOUT) {
dt = rtdm_clock_read() - t - DELAY;
if (dt > max) {
max = dt;
}
} else {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK [%lu (ns)].\n", max);
} else {
rt_printk(" NOT OK [MAXLAT %lu (ns)].\n", max);
}
rt_printk("TESTING FAILING TRY DOWN ...");
for (i = 0; i < LOOPS; i++) {
if (rtdm_sem_timeddown(&sem2, RTDM_TIMEOUT_NONE, NULL) != -EWOULDBLOCK) {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
rt_printk("TESTING SUCCEEDING TRY DOWN ...");
rtdm_sem_up(&sem2);
for (i = 0; i < LOOPS; i++) {
if (!rtdm_sem_timeddown(&sem2, RTDM_TIMEOUT_NONE, NULL)) {
rtdm_sem_up(&sem2);
} else {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
rt_printk("TESTING DOWN/UP ...");
rtdm_sem_down(&sem2);
for (i = 0; i < LOOPS; i++) {
rtdm_sem_up(&sem1);
if (rtdm_sem_down(&sem2)) {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
rt_printk("TESTING NOT TIMING OUT TIMEDDOWN ...");
for (i = 0; i < LOOPS; i++) {
rtdm_sem_up(&sem1);
if (rtdm_sem_timeddown(&sem2, DELAY, NULL)) {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
}
static int rtdmtest_ioctl(struct rtdm_dev_context *context,
rtdm_user_info_t *user_info,
unsigned int request,
void *arg)
{
struct rtdmtest_context *ctx;
struct rttst_rtdmtest_config config_buf, *config;
rtdm_toseq_t toseq_local, *toseq = NULL;
int i, err = 0;
ctx = (struct rtdmtest_context *)context->dev_private;
switch (request) {
case RTTST_RTIOC_RTDMTEST_SEM_TIMEDDOWN:
case RTTST_RTIOC_RTDMTEST_EVENT_TIMEDWAIT:
case RTTST_RTIOC_RTDMTEST_MUTEX_TIMEDTEST:
case RTTST_RTIOC_RTDMTEST_MUTEX_TEST:
config = arg;
if (user_info) {
if (rtdm_safe_copy_from_user
(user_info, &config_buf, arg,
sizeof(struct rttst_rtdmtest_config)) < 0)
return -EFAULT;
config = &config_buf;
}
if (!config->seqcount)
config->seqcount = 1;
if (config->timeout && config->seqcount > 1) {
toseq = &toseq_local;
rtdm_toseq_init(toseq, config->timeout);
}
switch(request) {
case RTTST_RTIOC_RTDMTEST_SEM_TIMEDDOWN:
for (i = 0; i < config->seqcount; i++) {
err = rtdm_sem_timeddown(&ctx->sem,
config->timeout,
toseq);
if (err)
break;
}
break;
case RTTST_RTIOC_RTDMTEST_EVENT_TIMEDWAIT:
for (i = 0; i < config->seqcount; i++) {
err = rtdm_event_timedwait(&ctx->event,
config->timeout,
toseq);
if (err)
break;
}
break;
case RTTST_RTIOC_RTDMTEST_MUTEX_TIMEDTEST:
for (i = 0; i < config->seqcount; i++) {
err = rtdm_mutex_timedlock(&ctx->mutex,
config->timeout,
toseq);
if (err)
break;
if (config->delay_jiffies) {
__set_current_state(TASK_INTERRUPTIBLE);
schedule_timeout(config->delay_jiffies);
}
rtdm_lock_count++;
rtdm_mutex_unlock(&ctx->mutex);
}
break;
case RTTST_RTIOC_RTDMTEST_MUTEX_TEST:
for (i = 0; i < config->seqcount; i++) {
if ((err = rtdm_mutex_lock(&ctx->mutex)))
break;
rtdm_lock_count++;
rtdm_mutex_unlock(&ctx->mutex);
}
break;
}
break;
case RTTST_RTIOC_RTDMTEST_SEM_DOWN:
err = rtdm_sem_down(&ctx->sem);
break;
case RTTST_RTIOC_RTDMTEST_SEM_UP:
rtdm_sem_up(&ctx->sem);
break;
case RTTST_RTIOC_RTDMTEST_SEM_DESTROY:
rtdm_sem_destroy(&ctx->sem);
break;
case RTTST_RTIOC_RTDMTEST_EVENT_WAIT:
err = rtdm_event_wait(&ctx->event);
break;
case RTTST_RTIOC_RTDMTEST_EVENT_SIGNAL:
rtdm_event_signal(&ctx->event);
break;
case RTTST_RTIOC_RTDMTEST_EVENT_DESTROY:
rtdm_event_destroy(&ctx->event);
break;
case RTTST_RTIOC_RTDMTEST_MUTEX_DESTROY:
rtdm_mutex_destroy(&ctx->mutex);
break;
case RTTST_RTIOC_RTDMTEST_MUTEX_GETSTAT:
printk("RTTST_RTIOC_RTDMTEST_MUTEX_GETSTAT\n");
if (user_info)
config = &config_buf;
else
config = arg;
config->seqcount = rtdm_lock_count;
if (user_info) {
if (rtdm_safe_copy_to_user
(user_info, arg, &config_buf,
sizeof(struct rttst_rtdmtest_config)) < 0)
return -EFAULT;
}
break;
case RTTST_RTIOC_RTDMTEST_NRTSIG_PEND:
rtdm_nrtsig_pend(&ctx->nrtsig);
break;
case RTTST_RTIOC_RTDMTEST_TASK_CREATE:
case RTTST_RTIOC_RTDMTEST_TASK_SET_PRIO:
config = arg;
if (user_info) {
if (rtdm_safe_copy_from_user
(user_info, &config_buf, arg,
sizeof(struct rttst_rtdmtest_config)) < 0)
return -EFAULT;
config = &config_buf;
}
if (request == RTTST_RTIOC_RTDMTEST_TASK_CREATE) {
task_period = config->timeout;
rtdm_task_init(&task, "RTDMTEST",
rtdmtest_task, (void *)config,
config->priority, 0);
} else {
rtdm_task_set_priority(&task, config->priority);
}
break;
case RTTST_RTIOC_RTDMTEST_TASK_DESTROY:
rtdm_task_destroy(&task);
rtdm_task_join_nrt(&task, 100);
break;
default:
printk("request=%d\n", request);
err = -ENOTTY;
}
return err;
}
void task2(void *cookie)
{
long i, max, varl;
nanosecs_abs_t t, dt;
rt_printk("TESTING TIMING OUT TIMEDLOCK ...");
for (max = i = 0; i < LOOPS; i++) {
t = rtdm_clock_read();
if (rtdm_mutex_timedlock(&mutex, DELAY, NULL) == -ETIMEDOUT) {
dt = rtdm_clock_read() - t - DELAY;
if (dt > max) {
max = dt;
}
} else {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK [%lu (ns)].\n", max);
} else {
rt_printk(" NOT OK [MAXLAT %lu (ns)].\n", max);
}
rt_printk("TESTING FAILING TRY LOCK ...");
for (i = 0; i < LOOPS; i++) {
if (rtdm_mutex_timedlock(&mutex, RTDM_TIMEOUT_NONE, NULL) != -EWOULDBLOCK) {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
rt_printk("TESTING SUCCEEDING TRY LOCK ...");
rtdm_sem_up(&sem);
for (i = 0; i < LOOPS; i++) {
if (!rtdm_mutex_timedlock(&mutex, RTDM_TIMEOUT_NONE, NULL)) {
rtdm_mutex_unlock(&mutex);
} else {
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
rt_printk("TESTING LOCK/UNLOCK ...");
rtdm_sem_up(&sem);
rtdm_sem_down(&sem);
for (i = 0; i < LOOPS; i++) {
if (rtdm_mutex_lock(&mutex)) {
break;
}
varl = ++var;
if (rtdm_mutex_lock(&mutex)) {
break;
}
rtdm_mutex_unlock(&mutex);
rtdm_mutex_unlock(&mutex);
while(varl == var) rt_sleep(nano2count(TIMEOUT));
if ((var - varl) != 1) {
rt_printk("WRONG INCREMENT OF VARIABLE IN TASK2\n");
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
rt_printk("TESTING NOT TIMING OUT TIMEDLOCK ...");
for (i = 0; i < LOOPS; i++) {
if (rtdm_mutex_timedlock(&mutex, DELAY, NULL)) {
break;
}
if (rtdm_mutex_lock(&mutex)) {
break;
}
varl = ++var;
rtdm_mutex_unlock(&mutex);
rtdm_mutex_unlock(&mutex);
while(varl == var) rt_sleep(nano2count(TIMEOUT));
if ((var - varl) != 1) {
rt_printk("WRONG INCREMENT OF VARIABLE IN TASK2\n");
break;
}
}
if (i == LOOPS) {
rt_printk(" OK.\n");
} else {
rt_printk(" NOT OK.\n", max);
}
}
