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

/*
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);
}