/* * RTLinux v1 compatibility * *  Copyright (C) 1999 FSM Labs (http://www.fsmlabs.com/) *  Written by Michael Barabanov <baraban@fsmlabs.com> */#ifndef __RTL_COMPATIBILITY__#define __RTL_COMPATIBILITY__#ifdef CONFIG_RTL_USE_V1_API/* compatibility */#include <rtl_conf.h>#include <asm/rt_time.h>#define RT_TASK pthread_t#define RT_TICKS_PER_SEC ((long long) 1193180)#define RT_TIME_END (HRTIME_INFINITY / 838)#ifdef __KERNEL__extern inline int rt_task_suspend (RT_TASK *task){	int v;	v =  pthread_suspend_np(*task);	return -v;}extern inline int rt_task_wakeup (RT_TASK *task){	int v;	v =  pthread_wakeup_np(*task);        return -v;}extern inline int rt_task_make_periodic (RT_TASK *task, RTIME start_time, RTIME period){	int v;	v = pthread_make_periodic_np (*task, HRT_FROM_8254(start_time), HRT_FROM_8254(period));	return -v;}extern inline hrtime_t rt_get_time(void){	return HRT_TO_8254(gethrtime());}#define rt_delay(x) rtl_delay (HRT_FROM_8254(x))extern inline hrtime_t rtl_set_periodic_mode (hrtime_t period){	int mode_success;	schedule_t *s = LOCAL_SCHED;	mode_success = rtl_setclockmode (s->clock, RTL_CLOCK_MODE_PERIODIC, HRT_FROM_8254(period));	if (mode_success == 0) {		return HRT_TO_8254(clock_gethrtime(s->clock));	} else {		return RT_TIME_END;	}}extern inline int rtl_set_oneshot_mode (void){	schedule_t *s = LOCAL_SCHED;	return rtl_setclockmode(s->clock, RTL_CLOCK_MODE_ONESHOT, 0);}#ifdef CONFIG_RTL_FP_SUPPORTextern inline int rt_task_use_fp (pthread_t *task, int flag) {	return -pthread_setfp_np (*task, flag);}#endifextern inline int rt_task_delete(pthread_t *thread){	int ret;	ret = pthread_delete_np(*thread);	if (ret) {		return -EINVAL;	}	return 0;}/* for periodic tasks -- wait until the next period */extern inline int rt_task_wait (void){	pthread_wait_np();	return 0;}static inline int rt_task_init (RT_TASK *t, void (*fn)(int data), int data, int stack_size, int priority){	int ret;	void *(*f)(void *);	pthread_attr_t attr;	struct rtl_sched_param param;	pthread_attr_init (&attr);	f = (void *(*)(void *))fn;        rtl_sigemptyset(&attr.initial_state);	attr.cpu = cpu_logical_map (0); /* all compatibility tasks execute on one CPU */	pthread_attr_setstacksize(&attr, stack_size); /* ok to fail here */	param.sched_priority = sched_get_priority_max(0) - priority; /* note the priority scheme is inverted to correspond to the POSIX one */	pthread_attr_setschedparam(&attr, &param);	ret = pthread_create(t, &attr, f, (void *)data);	return -ret;}#define rtl_init (a,b,c,d,e) { rt_task_init(a,b,c,d,e); }#define rtl_fpinit (a,b,c,d,e) { rt_task_init(a,b,c,d,e); rtl_task_use_fp (a, 1); }#endif#endif /* CONFIG_RTL_USE_V1_API */#endif