include/rtdm/rtdm_driver.h File Reference

Detailed Description

Real-Time Driver Model for Xenomai, driver API header.

Note:: Copyright (C) 2005-2007 Jan Kiszka <jan.kiszka@web.de>
Copyright (C) 2005 Joerg Langenberg <joerg.langenberg@gmx.net>

Xenomai is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

Xenomai is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with Xenomai; if not, write to the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

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Data Structures

struct rtdm_operations

Device operations. More...

struct rtdm_dev_context

struct rtdm_device

Spinlock with Preemption Deactivation

#define RTDM_LOCK_UNLOCKED   RTHAL_SPIN_LOCK_UNLOCKED

Static lock initialisation.

#define rtdm_lock_init(lock)   rthal_spin_lock_init(lock)

Dynamic lock initialisation.

#define rtdm_lock_get(lock)   rthal_spin_lock(lock)

Acquire lock from non-preemptible contexts.

#define rtdm_lock_put(lock)   rthal_spin_unlock(lock)

Release lock without preemption restoration.

#define rtdm_lock_get_irqsave(lock, context)   rthal_spin_lock_irqsave(lock, context)

Acquire lock and disable preemption.

#define rtdm_lock_put_irqrestore(lock, context)   rthal_spin_unlock_irqrestore(lock, context)

Release lock and restore preemption state.

#define rtdm_lock_irqsave(context)   rthal_local_irq_save(context)

Disable preemption locally.

#define rtdm_lock_irqrestore(context)   rthal_local_irq_restore(context)

Restore preemption state.

typedef rthal_spinlock_t rtdm_lock_t

Lock variable.

typedef unsigned long rtdm_lockctx_t

Variable to save the context while holding a lock.

Defines

#define rtdm_irq_get_arg(irq_handle, type)   ((type *)irq_handle->cookie)

Retrieve IRQ handler argument.

Device Flags

Static flags describing a RTDM device

#define RTDM_EXCLUSIVE   0x0001

If set, only a single instance of the device can be requested by an application.

#define RTDM_NAMED_DEVICE   0x0010

If set, the device is addressed via a clear-text name.

#define RTDM_PROTOCOL_DEVICE   0x0020

If set, the device is addressed via a combination of protocol ID and socket type.

#define RTDM_DEVICE_TYPE_MASK   0x00F0

Mask selecting the device type.

Context Flags

Dynamic flags describing the state of an open RTDM device (bit numbers)

#define RTDM_CREATED_IN_NRT   0

Set by RTDM if the device instance was created in non-real-time context.

#define RTDM_CLOSING   1

Set by RTDM when the device is being closed.

#define RTDM_USER_CONTEXT_FLAG   8

Lowest bit number the driver developer can use freely.

Driver Versioning

Current revisions of RTDM structures, encoding of driver versions. See API Versioning for the interface revision.

#define RTDM_DEVICE_STRUCT_VER   4

Version of struct rtdm_device.

#define RTDM_CONTEXT_STRUCT_VER   3

Version of struct rtdm_dev_context.

#define RTDM_SECURE_DEVICE   0x80000000

Flag indicating a secure variant of RTDM (not supported here).

#define RTDM_DRIVER_VER(major, minor, patch)   (((major & 0xFF) << 16) | ((minor & 0xFF) << 8) | (patch & 0xFF))

Version code constructor for driver revisions.

#define RTDM_DRIVER_MAJOR_VER(ver)   (((ver) >> 16) & 0xFF)

Get major version number from driver revision code.

#define RTDM_DRIVER_MINOR_VER(ver)   (((ver) >> 8) & 0xFF)

Get minor version number from driver revision code.

#define RTDM_DRIVER_PATCH_VER(ver)   ((ver) & 0xFF)

Get patch version number from driver revision code.

Global Lock across Scheduler Invocation

#define RTDM_EXECUTE_ATOMICALLY(code_block)

RTDM_IRQTYPE_xxx

Interrupt registrations flags

#define RTDM_IRQTYPE_SHARED   XN_ISR_SHARED

Enable IRQ-sharing with other real-time drivers.

#define RTDM_IRQTYPE_EDGE   XN_ISR_EDGE

Mark IRQ as edge-triggered, relevant for correct handling of shared edge-triggered IRQs.

RTDM_IRQ_xxx

Return flags of interrupt handlers

#define RTDM_IRQ_NONE   XN_ISR_NONE

Unhandled interrupt.

#define RTDM_IRQ_HANDLED   XN_ISR_HANDLED

Denote handled interrupt.

Task Priority Range

Maximum and minimum task priorities

#define RTDM_TASK_LOWEST_PRIORITY   XNCORE_LOW_PRIO

#define RTDM_TASK_HIGHEST_PRIORITY   XNCORE_HIGH_PRIO

Task Priority Modification

Raise or lower task priorities by one level

#define RTDM_TASK_RAISE_PRIORITY   (+1)

#define RTDM_TASK_LOWER_PRIORITY   (-1)

Typedefs

typedef int(* rtdm_irq_handler_t )(rtdm_irq_t *irq_handle)

Interrupt handler.

typedef void(* rtdm_nrtsig_handler_t )(rtdm_nrtsig_t nrt_sig, void *arg)

Non-real-time signal handler.

typedef void(* rtdm_timer_handler_t )(rtdm_timer_t *timer)

Timer handler.

typedef void(* rtdm_task_proc_t )(void *arg)

Real-time task procedure.

Operation Handler Prototypes

typedef int(* rtdm_open_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, int oflag)

Named device open handler.

typedef int(* rtdm_socket_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, int protocol)

Socket creation handler for protocol devices.

typedef int(* rtdm_close_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info)

Close handler.

typedef int(* rtdm_ioctl_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, unsigned int request, void __user *arg)

IOCTL handler.

typedef ssize_t(* rtdm_read_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, void *buf, size_t nbyte)

Read handler.

typedef ssize_t(* rtdm_write_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, const void *buf, size_t nbyte)

Write handler.

typedef ssize_t(* rtdm_recvmsg_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, struct msghdr *msg, int flags)

Receive message handler.

typedef ssize_t(* rtdm_sendmsg_handler_t )(struct rtdm_dev_context *context, rtdm_user_info_t *user_info, const struct msghdr *msg, int flags)

Transmit message handler.

Enumerations

RTDM_TIMERMODE_xxx

Timer operation modes

enum rtdm_timer_mode { RTDM_TIMERMODE_RELATIVE = XN_RELATIVE, RTDM_TIMERMODE_ABSOLUTE = XN_ABSOLUTE, RTDM_TIMERMODE_REALTIME = XN_REALTIME }

Functions

int rtdm_dev_register (struct rtdm_device *device)

int rtdm_dev_unregister (struct rtdm_device *device, unsigned int poll_delay)

struct rtdm_dev_context * rtdm_context_get (int fd)

int rtdm_irq_request (rtdm_irq_t *irq_handle, unsigned int irq_no, rtdm_irq_handler_t handler, unsigned long flags, const char *device_name, void *arg)

void rtdm_timer_destroy (rtdm_timer_t *timer)

int rtdm_timer_start (rtdm_timer_t *timer, nanosecs_abs_t expiry, nanosecs_rel_t interval, enum rtdm_timer_mode mode)

void rtdm_timer_stop (rtdm_timer_t *timer)

int rtdm_task_init (rtdm_task_t *task, const char *name, rtdm_task_proc_t task_proc, void *arg, int priority, nanosecs_rel_t period)

void rtdm_task_busy_sleep (nanosecs_rel_t delay)

void rtdm_toseq_init (rtdm_toseq_t *timeout_seq, nanosecs_rel_t timeout)

void rtdm_event_init (rtdm_event_t *event, unsigned long pending)

int rtdm_event_wait (rtdm_event_t *event)

int rtdm_event_timedwait (rtdm_event_t *event, nanosecs_rel_t timeout, rtdm_toseq_t *timeout_seq)

void rtdm_event_signal (rtdm_event_t *event)

void rtdm_event_clear (rtdm_event_t *event)

void rtdm_sem_init (rtdm_sem_t *sem, unsigned long value)

int rtdm_sem_down (rtdm_sem_t *sem)

int rtdm_sem_timeddown (rtdm_sem_t *sem, nanosecs_rel_t timeout, rtdm_toseq_t *timeout_seq)

void rtdm_sem_up (rtdm_sem_t *sem)

void rtdm_mutex_init (rtdm_mutex_t *mutex)

int rtdm_mutex_lock (rtdm_mutex_t *mutex)

int rtdm_mutex_timedlock (rtdm_mutex_t *mutex, nanosecs_rel_t timeout, rtdm_toseq_t *timeout_seq)

Generated on Mon Mar 24 18:02:40 2008 for Xenomai API by

1.5.3


Data Structures
struct	rtdm_operations
	Device operations. More...
struct	rtdm_dev_context
struct	rtdm_device
Spinlock with Preemption Deactivation
#define	RTDM_LOCK_UNLOCKED RTHAL_SPIN_LOCK_UNLOCKED
	Static lock initialisation.
#define	rtdm_lock_init(lock) rthal_spin_lock_init(lock)
	Dynamic lock initialisation.
#define	rtdm_lock_get(lock) rthal_spin_lock(lock)
	Acquire lock from non-preemptible contexts.
#define	rtdm_lock_put(lock) rthal_spin_unlock(lock)
	Release lock without preemption restoration.
#define	rtdm_lock_get_irqsave(lock, context) rthal_spin_lock_irqsave(lock, context)
	Acquire lock and disable preemption.
#define	rtdm_lock_put_irqrestore(lock, context) rthal_spin_unlock_irqrestore(lock, context)
	Release lock and restore preemption state.
#define	rtdm_lock_irqsave(context) rthal_local_irq_save(context)
	Disable preemption locally.
#define	rtdm_lock_irqrestore(context) rthal_local_irq_restore(context)
	Restore preemption state.
typedef rthal_spinlock_t	rtdm_lock_t
	Lock variable.
typedef unsigned long	rtdm_lockctx_t
	Variable to save the context while holding a lock.
Defines
#define	rtdm_irq_get_arg(irq_handle, type) ((type *)irq_handle->cookie)
	Retrieve IRQ handler argument.
Device Flags
Static flags describing a RTDM device
#define	RTDM_EXCLUSIVE 0x0001
	If set, only a single instance of the device can be requested by an application.
#define	RTDM_NAMED_DEVICE 0x0010
	If set, the device is addressed via a clear-text name.
#define	RTDM_PROTOCOL_DEVICE 0x0020
	If set, the device is addressed via a combination of protocol ID and socket type.
#define	RTDM_DEVICE_TYPE_MASK 0x00F0
	Mask selecting the device type.
Context Flags
Dynamic flags describing the state of an open RTDM device (bit numbers)
#define	RTDM_CREATED_IN_NRT 0
	Set by RTDM if the device instance was created in non-real-time context.
#define	RTDM_CLOSING 1
	Set by RTDM when the device is being closed.
#define	RTDM_USER_CONTEXT_FLAG 8
	Lowest bit number the driver developer can use freely.
Driver Versioning
Current revisions of RTDM structures, encoding of driver versions. See API Versioning for the interface revision.
#define	RTDM_DEVICE_STRUCT_VER 4
	Version of struct rtdm_device.
#define	RTDM_CONTEXT_STRUCT_VER 3
	Version of struct rtdm_dev_context.
#define	RTDM_SECURE_DEVICE 0x80000000
	Flag indicating a secure variant of RTDM (not supported here).
#define	RTDM_DRIVER_VER(major, minor, patch) (((major & 0xFF) << 16) \| ((minor & 0xFF) << 8) \| (patch & 0xFF))
	Version code constructor for driver revisions.
#define	RTDM_DRIVER_MAJOR_VER(ver) (((ver) >> 16) & 0xFF)
	Get major version number from driver revision code.
#define	RTDM_DRIVER_MINOR_VER(ver) (((ver) >> 8) & 0xFF)
	Get minor version number from driver revision code.
#define	RTDM_DRIVER_PATCH_VER(ver) ((ver) & 0xFF)
	Get patch version number from driver revision code.
Global Lock across Scheduler Invocation
#define	RTDM_EXECUTE_ATOMICALLY(code_block)
RTDM_IRQTYPE_xxx
Interrupt registrations flags
#define	RTDM_IRQTYPE_SHARED XN_ISR_SHARED
	Enable IRQ-sharing with other real-time drivers.
#define	RTDM_IRQTYPE_EDGE XN_ISR_EDGE
	Mark IRQ as edge-triggered, relevant for correct handling of shared edge-triggered IRQs.
RTDM_IRQ_xxx
Return flags of interrupt handlers
#define	RTDM_IRQ_NONE XN_ISR_NONE
	Unhandled interrupt.
#define	RTDM_IRQ_HANDLED XN_ISR_HANDLED
	Denote handled interrupt.
Task Priority Range
Maximum and minimum task priorities
#define	RTDM_TASK_LOWEST_PRIORITY XNCORE_LOW_PRIO
#define	RTDM_TASK_HIGHEST_PRIORITY XNCORE_HIGH_PRIO
Task Priority Modification
Raise or lower task priorities by one level
#define	RTDM_TASK_RAISE_PRIORITY (+1)
#define	RTDM_TASK_LOWER_PRIORITY (-1)
Typedefs
typedef int(*	rtdm_irq_handler_t )(rtdm_irq_t *irq_handle)
	Interrupt handler.
typedef void(*	rtdm_nrtsig_handler_t )(rtdm_nrtsig_t nrt_sig, void *arg)
	Non-real-time signal handler.
typedef void(*	rtdm_timer_handler_t )(rtdm_timer_t *timer)
	Timer handler.
typedef void(*	rtdm_task_proc_t )(void *arg)
	Real-time task procedure.
Operation Handler Prototypes
typedef int(*	rtdm_open_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, int oflag)
	Named device open handler.
typedef int(*	rtdm_socket_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, int protocol)
	Socket creation handler for protocol devices.
typedef int(*	rtdm_close_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info)
	Close handler.
typedef int(*	rtdm_ioctl_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, unsigned int request, void __user *arg)
	IOCTL handler.
typedef ssize_t(*	rtdm_read_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, void *buf, size_t nbyte)
	Read handler.
typedef ssize_t(*	rtdm_write_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, const void *buf, size_t nbyte)
	Write handler.
typedef ssize_t(*	rtdm_recvmsg_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, struct msghdr *msg, int flags)
	Receive message handler.
typedef ssize_t(*	rtdm_sendmsg_handler_t )(struct rtdm_dev_context context, rtdm_user_info_t user_info, const struct msghdr *msg, int flags)
	Transmit message handler.
Enumerations
RTDM_TIMERMODE_xxx
Timer operation modes
enum	rtdm_timer_mode { RTDM_TIMERMODE_RELATIVE = XN_RELATIVE, RTDM_TIMERMODE_ABSOLUTE = XN_ABSOLUTE, RTDM_TIMERMODE_REALTIME = XN_REALTIME }
Functions
int	rtdm_dev_register (struct rtdm_device *device)
int	rtdm_dev_unregister (struct rtdm_device *device, unsigned int poll_delay)
struct rtdm_dev_context *	rtdm_context_get (int fd)
int	rtdm_irq_request (rtdm_irq_t irq_handle, unsigned int irq_no, rtdm_irq_handler_t handler, unsigned long flags, const char device_name, void *arg)
void	rtdm_timer_destroy (rtdm_timer_t *timer)
int	rtdm_timer_start (rtdm_timer_t *timer, nanosecs_abs_t expiry, nanosecs_rel_t interval, enum rtdm_timer_mode mode)
void	rtdm_timer_stop (rtdm_timer_t *timer)
int	rtdm_task_init (rtdm_task_t task, const char name, rtdm_task_proc_t task_proc, void *arg, int priority, nanosecs_rel_t period)
void	rtdm_task_busy_sleep (nanosecs_rel_t delay)
void	rtdm_toseq_init (rtdm_toseq_t *timeout_seq, nanosecs_rel_t timeout)
void	rtdm_event_init (rtdm_event_t *event, unsigned long pending)
int	rtdm_event_wait (rtdm_event_t *event)
int	rtdm_event_timedwait (rtdm_event_t event, nanosecs_rel_t timeout, rtdm_toseq_t timeout_seq)
void	rtdm_event_signal (rtdm_event_t *event)
void	rtdm_event_clear (rtdm_event_t *event)
void	rtdm_sem_init (rtdm_sem_t *sem, unsigned long value)
int	rtdm_sem_down (rtdm_sem_t *sem)
int	rtdm_sem_timeddown (rtdm_sem_t sem, nanosecs_rel_t timeout, rtdm_toseq_t timeout_seq)
void	rtdm_sem_up (rtdm_sem_t *sem)
void	rtdm_mutex_init (rtdm_mutex_t *mutex)
int	rtdm_mutex_lock (rtdm_mutex_t *mutex)
int	rtdm_mutex_timedlock (rtdm_mutex_t mutex, nanosecs_rel_t timeout, rtdm_toseq_t timeout_seq)