forked from Archive/PX4-Autopilot
128 lines
4.8 KiB
C
128 lines
4.8 KiB
C
/****************************************************************************
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* sched/irq_attach.c
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*
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* Copyright (C) 2007-2008, 2010, 2012 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/irq.h>
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#include "irq_internal.h"
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: irq_attach
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*
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* Description:
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* Configure the IRQ subsystem so that IRQ number 'irq' is dispatched to
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* 'isr'
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*
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****************************************************************************/
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int irq_attach(int irq, xcpt_t isr)
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{
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#if NR_IRQS > 0
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int ret = ERROR;
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if ((unsigned)irq < NR_IRQS)
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{
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irqstate_t state;
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/* If the new ISR is NULL, then the ISR is being detached.
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* In this case, disable the ISR and direct any interrupts
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* to the unexpected interrupt handler.
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*/
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state = irqsave();
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if (isr == NULL)
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{
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/* Disable the interrupt if we can before detaching it. We might
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* not be able to do this if: (1) the device does not have a
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* centralized interrupt controller (so up_disable_irq() is not
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* supported). Or (2) if the device has different number for vector
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* numbers and IRQ numbers (in that case, we don't know the correct
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* IRQ number to use to disable the interrupt). In those cases, the
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* code will just need to be careful that it disables all interrupt
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* sources before detaching from the interrupt vector.
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*/
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#if !defined(CONFIG_ARCH_NOINTC) && !defined(CONFIG_ARCH_VECNOTIRQ)
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up_disable_irq(irq);
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#endif
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/* Detaching the ISR really means re-attaching it to the
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* unexpected exception handler.
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*/
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isr = irq_unexpected_isr;
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}
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/* Save the new ISR in the table. */
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g_irqvector[irq] = isr;
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irqrestore(state);
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ret = OK;
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}
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return ret;
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#else
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return OK;
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#endif
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}
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