From 13fc6703862862f4263d8d5d085b7a16b87190e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 28 Apr 2013 09:54:11 +0200 Subject: Moved last libs, drivers and headers, cleaned up IO build --- src/drivers/device/device.cpp | 227 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 227 insertions(+) create mode 100644 src/drivers/device/device.cpp (limited to 'src/drivers/device/device.cpp') diff --git a/src/drivers/device/device.cpp b/src/drivers/device/device.cpp new file mode 100644 index 000000000..04a5222c3 --- /dev/null +++ b/src/drivers/device/device.cpp @@ -0,0 +1,227 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file device.cpp + * + * Fundamental driver base class for the device framework. + */ + +#include "device.h" + +#include +#include +#include + +namespace device +{ + +/** + * Interrupt dispatch table entry. + */ +struct irq_entry { + int irq; + Device *owner; +}; + +static const unsigned irq_nentries = 8; /**< size of the interrupt dispatch table */ +static irq_entry irq_entries[irq_nentries]; /**< interrupt dispatch table (XXX should be a vector) */ + +/** + * Register an interrupt to a specific device. + * + * @param irq The interrupt number to register. + * @param owner The device receiving the interrupt. + * @return OK if the interrupt was registered. + */ +static int register_interrupt(int irq, Device *owner); + +/** + * Unregister an interrupt. + * + * @param irq The previously-registered interrupt to be de-registered. + */ +static void unregister_interrupt(int irq); + +/** + * Handle an interrupt. + * + * @param irq The interrupt being invoked. + * @param context The interrupt register context. + * @return Always returns OK. + */ +static int interrupt(int irq, void *context); + +Device::Device(const char *name, + int irq) : + // public + // protected + _name(name), + _debug_enabled(false), + // private + _irq(irq), + _irq_attached(false) +{ + sem_init(&_lock, 0, 1); +} + +Device::~Device() +{ + sem_destroy(&_lock); + + if (_irq_attached) + unregister_interrupt(_irq); +} + +int +Device::init() +{ + int ret = OK; + + // If assigned an interrupt, connect it + if (_irq) { + /* ensure it's disabled */ + up_disable_irq(_irq); + + /* register */ + ret = register_interrupt(_irq, this); + + if (ret != OK) + goto out; + + _irq_attached = true; + } + +out: + return ret; +} + +void +Device::interrupt_enable() +{ + if (_irq_attached) + up_enable_irq(_irq); +} + +void +Device::interrupt_disable() +{ + if (_irq_attached) + up_disable_irq(_irq); +} + +void +Device::interrupt(void *context) +{ + // default action is to disable the interrupt so we don't get called again + interrupt_disable(); +} + +void +Device::log(const char *fmt, ...) +{ + va_list ap; + + printf("[%s] ", _name); + va_start(ap, fmt); + vprintf(fmt, ap); + va_end(ap); + printf("\n"); + fflush(stdout); +} + +void +Device::debug(const char *fmt, ...) +{ + va_list ap; + + if (_debug_enabled) { + printf("<%s> ", _name); + va_start(ap, fmt); + vprintf(fmt, ap); + va_end(ap); + printf("\n"); + fflush(stdout); + } +} + +static int +register_interrupt(int irq, Device *owner) +{ + int ret = -ENOMEM; + + // look for a slot where we can register the interrupt + for (unsigned i = 0; i < irq_nentries; i++) { + if (irq_entries[i].irq == 0) { + + // great, we could put it here; try attaching it + ret = irq_attach(irq, &interrupt); + + if (ret == OK) { + irq_entries[i].irq = irq; + irq_entries[i].owner = owner; + } + + break; + } + } + + return ret; +} + +static void +unregister_interrupt(int irq) +{ + for (unsigned i = 0; i < irq_nentries; i++) { + if (irq_entries[i].irq == irq) { + irq_entries[i].irq = 0; + irq_entries[i].owner = nullptr; + } + } +} + +static int +interrupt(int irq, void *context) +{ + for (unsigned i = 0; i < irq_nentries; i++) { + if (irq_entries[i].irq == irq) { + irq_entries[i].owner->interrupt(context); + break; + } + } + + return OK; +} + + +} // namespace device \ No newline at end of file -- cgit v1.2.3