#include <sys/utsname.h>
#include <linux/gpio.h>
#include <dirent.h>
+#include <inttypes.h>
#include "softPwm.h"
#include "softTone.h"
return ret;
}
+/*
+ * waitForInterruptClose:
+ * wait for thread interruptHandler to be stopped.
+ * close isrFds[pin], reset isrFds[pin], isrFunction[pin] and isrDebouncePeriodUs[pin]
+ *
+ *********************************************************************************
+ */
int waitForInterruptClose (int pin) {
- if (isrFds[pin]>0) {
- if (wiringPiDebug) {
- printf ("wiringPi: waitForInterruptClose close thread 0x%lX\n", (unsigned long)isrThreads[pin]) ;
- }
+ void *res;
+
+ if (isrFds[pin] > 0) {
+ if (wiringPiDebug)
+ printf ("waitForInterruptClose: close thread 0x%lX\n", (unsigned long)isrThreads[pin]) ;
+
if (isrThreads[pin] != 0) {
if (pthread_cancel(isrThreads[pin]) == 0) {
- if (wiringPiDebug) {
- printf ("wiringPi: waitForInterruptClose thread canceled successfuly\n") ;
+ pthread_join(isrThreads[pin], &res);
+ if (res == PTHREAD_CANCELED) {
+ if (wiringPiDebug)
+ printf("waitForInterruptClose: thread was canceled\n");
}
- } else {
- if (wiringPiDebug) {
- fprintf (stderr, "wiringPi: waitForInterruptClose could not cancel thread\n");
+ else {
+ if (wiringPiDebug)
+ printf("waitForInterruptClose: thread was not canceled\n");
}
+ } else {
+ if (wiringPiDebug)
+ printf ("waitForInterruptClose: waitForInterruptClose could not cancel thread\n");
}
}
close(isrFds [pin]);
chipFd = -1;
*/
if (wiringPiDebug) {
- printf ("wiringPi: waitForInterruptClose finished\n") ;
+ printf ("waitForInterruptClose: waitForInterruptClose finished\n") ;
}
return 0;
}
-
/*
- * wfi:
- * Pi Specific.
- * Wait for Interrupt on a GPIO pin, called from interruptHandler
- * Returns timestamp in microseconds on interrupt
+ * wiringPiISRStop:
+ * stop thread interruptHandler
+ *
*********************************************************************************
*/
-long long int wfi(int pin)
-{
- long long int ret;
- int fd;
- struct pollfd polls ;
- struct gpio_v2_line_event evdata;
-
- if (wiringPiMode == WPI_MODE_PINS)
- pin = pinToGpio [pin] ;
- else if (wiringPiMode == WPI_MODE_PHYS)
- pin = physToGpio [pin] ;
-
- if ((fd = isrFds [pin]) == -1)
- return -2 ;
-
- // Setup poll structure
- polls.fd = fd;
- polls.events = POLLIN | POLLERR ;
- polls.revents = 0;
-
- ret = (long long int)poll(&polls, 1, -1); // no timeout, wait forevver
-
- if (ret < 0) {
- if (wiringPiDebug)
- fprintf(stderr, "wiringPi: ERROR: poll returned=%lld\n", ret);
- } else if (ret == 0) {
- if (wiringPiDebug)
- fprintf(stderr, "wiringPi: timeout: poll returned=%lld\n", ret);
- }
- else {
- if (wiringPiDebug)
- printf ("wiringPi: IRQ line %d received %lld, fd=%d\n", pin, ret, isrFds[pin]) ;
- if (polls.revents & POLLIN) {
- /* read event data */
- int readret = read(isrFds [pin], &evdata, sizeof(evdata));
- if (readret == sizeof(evdata)) {
- if (wiringPiDebug)
- printf ("wiringPi: IRQ at PIN: %d, timestamp: %lld\n", evdata.offset, evdata.timestamp_ns) ;
-
- switch (evdata.id) {
- case GPIO_V2_LINE_EVENT_RISING_EDGE:
- if (wiringPiDebug)
- printf("wiringPi: rising edge\n");
- break;
- case GPIO_V2_LINE_EVENT_FALLING_EDGE:
- if (wiringPiDebug)
- printf("wiringPi: falling edge\n");
- break;
- default:
- if (wiringPiDebug)
- printf("wiringPi: unknown event\n");
- break;
- }
- ret = evdata.timestamp_ns / 1000LL; // nanoseconds u64 to microseconds
- }
- else {
- ret = -1;
- }
- }
- }
- return ret;
-}
-
int wiringPiISRStop (int pin) {
return waitForInterruptClose (pin);
}
+
/*
* interruptHandler:
* This is a thread and gets started to wait for the interrupt we're
void *interruptHandler (void *arg)
{
const char* strmode = "";
- int pin, mode ;
+ int pin, mode, ret, fd, attr, i;
+ unsigned int readret;
unsigned long debounce_period_us;
+ struct pollfd polls ;
struct gpio_v2_line_config config;
struct gpio_v2_line_request req;
- int attr, ret;
+ struct gpio_v2_line_event evdat[64];
+ struct timespec tspec = {0, 1e6}; /* 0.5 ms timeout {0, 5e5} */
pin = *(int *)arg;
-
-/* pin = pinPass ;
- pinPass = -1 ;
-*/
+
if (wiringPiGpioDeviceGetFd()<0) {
return NULL;
}
default:
case INT_EDGE_SETUP:
if (wiringPiDebug) {
- printf ("wiringPi: waitForInterruptMode mode INT_EDGE_SETUP - exiting\n") ;
+ printf ("interruptHandler: waitForInterruptMode mode INT_EDGE_SETUP - exiting\n") ;
}
return NULL;
case INT_EDGE_FALLING:
}
req.num_lines = 1;
+ req.event_buffer_size = 45;
req.offsets[0] = pin;
req.config = config;
ret = ioctl(chipFd, GPIO_V2_GET_LINE_IOCTL, &req);
if (ret == -1) {
- ReportDeviceError("get line event", pin , strmode, ret);
+ ReportDeviceError("interruptHandler: get line event", pin , strmode, ret);
return NULL;
}
-/*
- if (wiringPiDebug) {
- printf ("wiringPi: GPIO get line %d , mode %s succeded, fd=%d\n", pin, strmode, req.fd) ;
- }
-*/
+
+ if (wiringPiDebug)
+ printf ("interruptHandler: GPIO get line %d , mode %s succeded, fd=%d\n", pin, strmode, req.fd) ;
+
/* set event fd */
- int fd_line = req.fd;
- isrFds [pin] = fd_line;
+ fd = req.fd;
+ isrFds [pin] = fd;
(void)piHiPri (55) ; // Only effective if we run as root
- for (;;) {
- long long int ret = wfi(pin); // poll for event and return timestamp
- if ( ret> 0) { // return timestamp in microseconds
- if (wiringPiDebug) {
- printf ("wiringPi: call function\n") ;
- }
- if(isrFunctions [pin]) {
- isrFunctions [pin] ((unsigned int)pin, ret) ;
- }
- // wait again - in the past forever - now can be stopped by waitForInterruptClose
- } else if( ret< 0) {
- break; // stop thread!
- }
- }
+ for (;;) { // check if event data is available, check if interruptHandler thread must be canceled
- waitForInterruptClose (pin);
- if (wiringPiDebug) {
- printf ("wiringPi: interruptHandler finished\n") ;
+ // Setup poll structure
+ polls.fd = fd;
+ polls.events = POLLIN | POLLPRI;;
+ polls.revents = 0;
+
+ // get event data, this is also a cancelation point, when pthread_cancel is called
+ ret = ppoll(&polls, 1, &tspec, NULL); // returns -1 on error, 0 on timeout, >0 number of elements
+
+ if (ret < 0) { // we do not reach this point if canceled, ppoll does not return, is Cancellation Point
+ if (wiringPiDebug)
+ printf("interruptHandler: ERROR: poll returned=%d\n", ret);
+ pthread_exit(NULL);
+ return NULL; // never landing here
+ } else if (ret == 0) {
+// if (wiringPiDebug)
+// printf("interruptHandler: timeout: poll returned=%d\n", ret);
+ continue;
+ }
+ else {
+ if (wiringPiDebug)
+ printf ("interruptHandler: IRQ line %d received %d events, fd=%d\n", pin, ret, isrFds[pin]) ;
+ if (polls.revents & POLLIN) {
+ /* read event data */
+ readret = read(fd, &evdat, sizeof(evdat));
+ if (readret >= sizeof(evdat[0])) {
+ if (wiringPiDebug)
+ printf ("interruptHandler: IRQ at PIN: %d, events: %u\n", evdat[0].offset, readret/(unsigned int)sizeof(evdat[0])) ;
+
+ ret = readret/sizeof(evdat[0]); // number of events read from fd
+ if (wiringPiDebug)
+ printf ("interruptHandler: call function\n") ;
+ for (i = 0; i < ret; ++i) {
+ if (isrFunctions [pin]) {
+ if (wiringPiDebug)
+ printf( "interruptHandler: GPIO EVENT at %" PRIu64 " on line %d (%d|%d) \n", (uint64_t)evdat[i].timestamp_ns, evdat[i].offset, evdat[i].line_seqno, evdat[i].seqno);
+ isrFunctions [pin] ((unsigned int)pin, evdat[i].timestamp_ns/1000LL) ;
+ }
+ }
+ }
+ else { // if thread canceled we do not reach this point, read(...) does not return, is Cancellation Point
+ if (wiringPiDebug)
+ printf ("interruptHandler: reading events from fd received signal, exit thread\n");
+ pthread_exit(NULL);
+ return NULL; // never landing here
+ }
+ }
+ }
}
- return NULL ;
}
projects / 0xmirror / WiringPi.git / commitdiff