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arduino-cli/libraries/RF24/utility/SPIDEV/interrupt.c

@@ -0,0 +1,221 @@
+/*
+Interrupts functions extruded from wiringPi library by Oitzu.
+
+wiringPi Copyright (c) 2012 Gordon Henderson
+https://projects.drogon.net/raspberry-pi/wiringpi
+wiringPi is free software: GNU Lesser General Public License
+see <http://www.gnu.org/licenses/>
+*/
+
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <sys/wait.h>
+#include <sys/ioctl.h>
+#include <poll.h>
+#include <sys/stat.h>
+#include "interrupt.h"
+#include <pthread.h>
+
+//#define delay(x) bcm2835_delay(x)
+
+static pthread_mutex_t pinMutex = PTHREAD_MUTEX_INITIALIZER;
+static volatile int pinPass = -1;
+
+pthread_t threadId[64];
+
+// sysFds:
+//      Map a file descriptor from the /sys/class/gpio/gpioX/value
+static int sysFds[64] = {-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+                         -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1,
+                         -1, -1, -1, -1, -1, -1,};
+
+// ISR Data
+static void (* isrFunctions[64])(void);
+
+int waitForInterrupt(int pin, int mS)
+{
+    int fd, x;
+    uint8_t c;
+    struct pollfd polls;
+
+    if ((fd = sysFds[pin]) == -1) {
+        return -2;
+    }
+
+    // Setup poll structure
+
+    polls.fd = fd;
+    polls.events = POLLPRI;      // Urgent data!
+
+    // Wait for it ...
+    x = poll(&polls, 1, mS);
+
+    // Do a dummy read to clear the interrupt
+    //      A one character read appars to be enough.
+    //      Followed by a seek to reset it.
+
+    (void) read(fd, &c, 1);
+    lseek(fd, 0, SEEK_SET);
+
+    return x;
+}
+
+int piHiPri(const int pri)
+{
+    struct sched_param sched;
+
+    memset(&sched, 0, sizeof(sched));
+
+    if (pri > sched_get_priority_max(SCHED_RR)) {
+        sched.sched_priority = sched_get_priority_max(SCHED_RR);
+    } else {
+        sched.sched_priority = pri;
+    }
+
+    return sched_setscheduler(0, SCHED_RR, &sched);
+}
+
+void* interruptHandler(void* arg)
+{
+    int myPin;
+
+    (void) piHiPri(55);  // Only effective if we run as root
+
+    myPin = pinPass;
+    pinPass = -1;
+
+    for (;;) {
+        if (waitForInterrupt(myPin, -1) > 0) {
+            pthread_mutex_lock(&pinMutex);
+            isrFunctions[myPin]();
+            pthread_mutex_unlock(&pinMutex);
+            pthread_testcancel(); //Cancel at this point if we have an cancellation request.
+        }
+    }
+
+    return NULL;
+}
+
+int attachInterrupt(int pin, int mode, void (* function)(void))
+{
+    const char* modeS;
+    char fName[64];
+    char pinS[8];
+    pid_t pid;
+    int count, i;
+    char c;
+    int bcmGpioPin;
+
+    bcmGpioPin = pin;
+
+    if (mode != INT_EDGE_SETUP) {
+        /**/ if (mode == INT_EDGE_FALLING) {
+            modeS = "falling";
+        } else if (mode == INT_EDGE_RISING) {
+            modeS = "rising";
+        } else {
+            modeS = "both";
+        }
+
+        sprintf(pinS, "%d", bcmGpioPin);
+
+        if ((pid = fork()) < 0) {    // Fail
+            return printf("wiringPiISR: fork failed: %s\n", strerror(errno));
+        }
+
+        if (pid == 0)       // Child, exec
+        {
+            /**/ if (access("/usr/local/bin/gpio", X_OK) == 0) {
+                execl("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
+                return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
+            } else if (access("/usr/bin/gpio", X_OK) == 0) {
+                execl("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
+                return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
+            } else {
+                return printf("wiringPiISR: Can't find gpio program\n");
+            }
+        } else {                // Parent, wait
+            wait(NULL);
+        }
+    }
+
+    if (sysFds[bcmGpioPin] == -1) {
+        sprintf(fName, "/sys/class/gpio/gpio%d/value", bcmGpioPin);
+        if ((sysFds[bcmGpioPin] = open(fName, O_RDWR)) < 0) {
+            return printf("wiringPiISR: unable to open %s: %s\n", fName, strerror(errno));
+        }
+    }
+
+    ioctl(sysFds[bcmGpioPin], FIONREAD, &count);
+    for (i = 0; i < count; ++i) {
+        read(sysFds[bcmGpioPin], &c, 1);
+    }
+
+    isrFunctions[pin] = function;
+
+    pthread_mutex_lock(&pinMutex);
+    pinPass = pin;
+    pthread_create(&threadId[bcmGpioPin], NULL, interruptHandler, NULL);
+    while (pinPass != -1)
+        delay (1);
+    pthread_mutex_unlock(&pinMutex);
+
+    return 0;
+}
+
+int detachInterrupt(int pin)
+{
+    char pinS[8];
+    const char* modeS = "none";
+    pid_t pid;
+
+    if (!pthread_cancel(threadId[pin])) //Cancel the thread
+    {
+        return 0;
+    }
+
+    if (!close(sysFds[pin])) //Close filehandle
+    {
+        return 0;
+    }
+
+    /* Set wiringPi to 'none' interrupt mode */
+
+    sprintf(pinS, "%d", pin);
+
+    if ((pid = fork()) < 0) {    // Fail
+        return printf("wiringPiISR: fork failed: %s\n", strerror(errno));
+    }
+
+    if (pid == 0)       // Child, exec
+    {
+        /**/ if (access("/usr/local/bin/gpio", X_OK) == 0) {
+            execl("/usr/local/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
+            return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
+        } else if (access("/usr/bin/gpio", X_OK) == 0) {
+            execl("/usr/bin/gpio", "gpio", "edge", pinS, modeS, (char*) NULL);
+            return printf("wiringPiISR: execl failed: %s\n", strerror(errno));
+        } else {
+            return printf("wiringPiISR: Can't find gpio program\n");
+        }
+    } else {                // Parent, wait
+        wait(NULL);
+    }
+
+    return 1;
+}
+
+void rfNoInterrupts()
+{
+    pthread_mutex_lock(&pinMutex);
+}
+
+void rfInterrupts()
+{
+    pthread_mutex_unlock(&pinMutex);
+}