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/*
** =========================================================================
** File:
** VibeOSKernelLinuxHRTime.c
**
** Description:
** High Resolution Time helper functions for Linux.
**
** Portions Copyright (c) 2010 Immersion Corporation. All Rights Reserved.
**
** This file contains Original Code and/or Modifications of Original Code
** as defined in and that are subject to the GNU Public License v2 -
** (the 'License'). You may not use this file except in compliance with the
** License. You should have received a copy of the GNU General Public License
** along with this program; if not, write to the Free Software Foundation, Inc.,
** 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA or contact
** TouchSenseSales@immersion.com.
**
** The Original Code and all software distributed under the License are
** distributed on an 'AS IS' basis, WITHOUT WARRANTY OF ANY KIND, EITHER
** EXPRESS OR IMPLIED, AND IMMERSION HEREBY DISCLAIMS ALL SUCH WARRANTIES,
** INCLUDING WITHOUT LIMITATION, ANY WARRANTIES OF MERCHANTABILITY, FITNESS
** FOR A PARTICULAR PURPOSE, QUIET ENJOYMENT OR NON-INFRINGEMENT. Please see
** the License for the specific language governing rights and limitations
** under the License.
** =========================================================================
*/
/*
** Kernel high-resolution software timer is used as an example but another type
** of timer (such as HW timer or standard software timer) might be used to achieve
** the 5ms required rate.
*/
#ifndef CONFIG_HIGH_RES_TIMERS
#warning "The Kernel does not have high resolution timers enabled. Either provide a non hr-timer implementation of VibeOSKernelLinuxTime.c or re-compile your kernel with CONFIG_HIGH_RES_TIMERS=y"
#endif
#include <linux/hrtimer.h>
#include <linux/mutex.h>
#define WATCHDOG_TIMEOUT 10 /* 10 timer cycles = 50ms */
/* Global variables */
static bool g_bTimerStarted = false;
static struct hrtimer g_tspTimer;
static ktime_t g_ktFiveMs;
static int g_nWatchdogCounter = 0;
DEFINE_SEMAPHORE(g_hMutex);
/* Forward declarations */
static void VibeOSKernelLinuxStartTimer(void);
static void VibeOSKernelLinuxStopTimer(void);
static int VibeOSKernelProcessData(void* data);
#define VIBEOSKERNELPROCESSDATA
static inline int VibeSemIsLocked(struct semaphore *lock)
{
#if ((LINUX_VERSION_CODE & 0xFFFFFF) < KERNEL_VERSION(2,6,27))
return atomic_read(&lock->count) != 1;
#else
return (lock->count) != 1;
#endif
}
static enum hrtimer_restart tsp_timer_interrupt(struct hrtimer *timer)
{
/* Scheduling next timeout value right away */
hrtimer_forward_now(timer, g_ktFiveMs);
if(g_bTimerStarted)
{
if (VibeSemIsLocked(&g_hMutex))
up(&g_hMutex);
}
return HRTIMER_RESTART;
}
static int VibeOSKernelProcessData(void* data)
{
int i;
int nActuatorNotPlaying = 0;
for (i = 0; i < NUM_ACTUATORS; i++)
{
actuator_samples_buffer *pCurrentActuatorSample = &(g_SamplesBuffer[i]);
if (-1 == pCurrentActuatorSample->nIndexPlayingBuffer)
{
nActuatorNotPlaying++;
if ((NUM_ACTUATORS == nActuatorNotPlaying) && ((++g_nWatchdogCounter) > WATCHDOG_TIMEOUT))
{
VibeInt8 cZero[1] = {0};
/* Nothing to play for all actuators, turn off the timer when we reach the watchdog tick count limit */
ImmVibeSPI_ForceOut_SetSamples(i, 8, 1, cZero);
ImmVibeSPI_ForceOut_AmpDisable(i);
VibeOSKernelLinuxStopTimer();
/* Reset watchdog counter */
g_nWatchdogCounter = 0;
}
}
else
{
/* Play the current buffer */
if (VIBE_E_FAIL == ImmVibeSPI_ForceOut_SetSamples(
pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].nActuatorIndex,
pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].nBitDepth,
pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].nBufferSize,
pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].dataBuffer))
{
/* VIBE_E_FAIL means NAK has been handled. Schedule timer to restart 5 ms from now */
hrtimer_forward_now(&g_tspTimer, g_ktFiveMs);
}
pCurrentActuatorSample->nIndexOutputValue += pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].nBufferSize;
if (pCurrentActuatorSample->nIndexOutputValue >= pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].nBufferSize)
{
/* Reach the end of the current buffer */
pCurrentActuatorSample->actuatorSamples[(int)pCurrentActuatorSample->nIndexPlayingBuffer].nBufferSize = 0;
/* Switch buffer */
(pCurrentActuatorSample->nIndexPlayingBuffer) ^= 1;
pCurrentActuatorSample->nIndexOutputValue = 0;
/* Finished playing, disable amp for actuator (i) */
if (g_bStopRequested)
{
pCurrentActuatorSample->nIndexPlayingBuffer = -1;
ImmVibeSPI_ForceOut_AmpDisable(i);
}
}
}
}
/* If finished playing, stop timer */
if (g_bStopRequested)
{
VibeOSKernelLinuxStopTimer();
/* Reset watchdog counter */
g_nWatchdogCounter = 0;
if (VibeSemIsLocked(&g_hMutex)) up(&g_hMutex);
return 1; /* tell the caller this is the last iteration */
}
return 0;
}
static void VibeOSKernelLinuxInitTimer(void)
{
/* Get a 5,000,000ns = 5ms time value */
g_ktFiveMs = ktime_set(0, 5000000);
hrtimer_init(&g_tspTimer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
/* Initialize a 5ms-timer with tsp_timer_interrupt as timer callback (interrupt driven)*/
g_tspTimer.function = tsp_timer_interrupt;
}
static void VibeOSKernelLinuxStartTimer(void)
{
int i;
int res;
/* Reset watchdog counter */
g_nWatchdogCounter = 0;
if (!g_bTimerStarted)
{
if (!VibeSemIsLocked(&g_hMutex)) res = down_interruptible(&g_hMutex); /* start locked */
g_bTimerStarted = true;
/* Start the timer */
hrtimer_start(&g_tspTimer, g_ktFiveMs, HRTIMER_MODE_REL);
/* Don't block the write() function after the first sample to allow the host sending the next samples with no delay */
for (i = 0; i < NUM_ACTUATORS; i++)
{
if ((g_SamplesBuffer[i].actuatorSamples[0].nBufferSize) || (g_SamplesBuffer[i].actuatorSamples[1].nBufferSize))
{
g_SamplesBuffer[i].nIndexOutputValue = 0;
return;
}
}
}
if (0 != VibeOSKernelProcessData(NULL)) return;
/*
** Use interruptible version of down to be safe
** (try to not being stuck here if the mutex is not freed for any reason)
*/
res = down_interruptible(&g_hMutex); /* wait for the mutex to be freed by the timer */
if (res != 0)
{
DbgOut((KERN_INFO "VibeOSKernelLinuxStartTimer: down_interruptible interrupted by a signal.\n"));
}
}
static void VibeOSKernelLinuxStopTimer(void)
{
int i;
if (g_bTimerStarted)
{
g_bTimerStarted = false;
hrtimer_cancel(&g_tspTimer);
}
/* Reset samples buffers */
for (i = 0; i < NUM_ACTUATORS; i++)
{
g_SamplesBuffer[i].nIndexPlayingBuffer = -1;
g_SamplesBuffer[i].actuatorSamples[0].nBufferSize = 0;
g_SamplesBuffer[i].actuatorSamples[1].nBufferSize = 0;
}
g_bStopRequested = false;
g_bIsPlaying = false;
}
static void VibeOSKernelLinuxTerminateTimer(void)
{
VibeOSKernelLinuxStopTimer();
if (VibeSemIsLocked(&g_hMutex)) up(&g_hMutex);
}
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