void _rtapi_clock_set_period_hook(long int nsecs, RTIME *counts,
RTIME *got_counts) {
rt_set_periodic_mode();
*counts = nano2count((RTIME) nsecs);
if(count2nano(*counts) > nsecs) (*counts)--;
*got_counts = start_rt_timer(*counts);
rtapi_data->timer_period = count2nano(*got_counts);
}
static void *fast_fun(void *arg)
{
int jit, period;
RTIME expected;
if (!(Fast_Task = rt_thread_init(nam2num("FSTSK"), 2, 0, SCHED_FIFO, CPUMAP))) {
printf("CANNOT INIT FAST TASK\n");
exit(1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sem_wait_barrier(barrier);
period = nano2count(FASTMUL*TICK_TIME);
expected = start + 6*nano2count(TICK_TIME);
rt_task_make_periodic(Fast_Task, expected, period);
while (!end) {
jit = abs(count2nano(rt_get_time() - expected));
if (jit > fastjit) {
fastjit = jit;
}
rt_busy_sleep((FASTMUL*TICK_TIME*USEDFRAC)/100);
expected += period;
END("FE\n");
rt_task_wait_period();
BEGIN("FB\n");
}
rt_sem_wait_barrier(barrier);
rt_make_soft_real_time();
rt_thread_delete(Fast_Task);
return 0;
}
int main(int argc, char *argv[])
{
int fifo, period, skip, average = 0;
RT_TASK *task;
RTIME expected;
if ((fifo = open("/dev/rtf0", O_WRONLY)) < 0) {
printf("Error opening FIFO0 in UCAL\n");
exit(1);
}
if (!(task = rt_task_init_schmod(nam2num("UCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("Cannot init UCAL\n");
exit(1);
}
rt_set_oneshot_mode();
period = start_rt_timer(nano2count(atoi(argv[1])));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
expected = rt_get_time() + 100*period;
rt_task_make_periodic(task, expected, period);
for (skip = 0; skip < atoi(argv[2]); skip++) {
expected += period;
rt_task_wait_period();
average += (int)count2nano(rt_get_time() - expected);
}
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(task);
write(fifo, &average, sizeof(average));
close(fifo);
exit(0);
}
static void *latency_fun(void *arg)
{
struct sample { long min, max, avrg, jitters[2]; } samp;
int diff;
int skip;
int average;
int min_diff;
int max_diff;
int period;
RT_TASK *chktsk;
RTIME expected;
min_diff = 1000000000;
max_diff = -1000000000;
if (!(Latency_Task = rt_thread_init(nam2num("PRETSK"), 0, 0, SCHED_FIFO, CPUMAP))) {
printf("CANNOT INIT LATENCY TASK\n");
exit(1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sem_wait_barrier(barrier);
period = nano2count(TICK_TIME);
expected = start + 3*period;
rt_task_make_periodic(Latency_Task, expected, period);
while (!end) {
average = 0;
for (skip = 0; skip < NAVRG && !end; skip++) {
expected += period;
END("HE\n");
rt_task_wait_period();
BEGIN("HB\n");
diff = count2nano(rt_get_time() - expected);
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
}
samp.min = min_diff;
samp.max = max_diff;
samp.avrg = average/NAVRG;
samp.jitters[0] = fastjit;
samp.jitters[1] = slowjit;
if ((chktsk = rt_get_adr(nam2num("PRECHK")))) {
rt_sendx_if(chktsk, &samp, sizeof(samp));
}
}
rt_sem_wait_barrier(barrier);
rt_make_soft_real_time();
rt_thread_delete(Latency_Task);
return 0;
}
static void spv(long loops)
{
int skip, average = 0;
for (skip = 0; skip < loops; skip++) {
expected += period;
rt_task_wait_period();
average += (int)count2nano(rt_get_time() - expected);
}
rtf_put(0, &average, sizeof(average));
rt_task_suspend(0);
}
void task_body(long int arg) {
int loop = N_LOOP;
rt_task_set_resume_end_times(-0, -Period[arg]*time_unit);
while (loop--) {
int i;
RTIME begin, end;
begin = rt_get_time();
rt_printk("Start task %d\t %llu ns\n", arg, count2nano(begin-first_release));
for(i = 0; i < C[arg] ; i++) {
run_for_1_time_unit();
}
end = rt_get_time();
rt_printk("End task %d\t %llu ns\n", arg, count2nano(end-first_release));
rt_printk("Task length %d\t %llu ns\n", arg, count2nano(end-begin));
rt_task_set_resume_end_times(-Period[arg]*time_unit, -Period[arg]*time_unit);
}
}
void actcode(int arg) {
RTIME t, t_old;
while (1) {
rt_sem_wait(&sensDone); // wait for sensor acquisition
t = rt_get_time();
printk("[act_task] time: %llu ms\n", count2nano(t - now));
/* controller code */
//ctrlcode(currentAngle, currentPosition);
//setDA_raw(1, (int) command_u16);
//ctrlcode(0.1, 1.0);
/* end of controller code */
t_old = t;
}
}
static void fun(long thread) {
struct sample { long min, max, avrg, jitters[2]; } samp;
int diff;
int skip;
int average;
int min_diff;
int max_diff;
RTIME svt, t;
t = 0;
min_diff = 1000000000;
max_diff = -1000000000;
while (1) {
unsigned long flags;
average = 0;
svt = rt_get_cpu_time_ns();
for (skip = 0; skip < NAVRG; skip++) {
cpu_used[hard_cpu_id()]++;
expected += period;
rt_task_wait_period();
rt_global_save_flags(&flags);
#ifndef ONESHOT_MODE
diff = (int) ((t = rt_get_cpu_time_ns()) - svt - TICK_TIME);
svt = t;
#else
diff = (int) count2nano(rt_get_time() - expected);
#endif
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
}
samp.min = min_diff;
samp.max = max_diff;
samp.avrg = average/NAVRG;
samp.jitters[0] = fastjit;
samp.jitters[1] = slowjit;
rtf_ovrwr_put(FIFO, &samp, sizeof(samp));
}
}
void senscode(int arg) {
RTIME t, t_old;
while (1) {
t = rt_get_time();
printk("[sens_task] time: %llu ns\n", count2nano(t - now));
/* sensor acquisition code */
ADRangeSelect(0,8);
//currentAngle_raw = readAD();
currentAngle_raw = readAD();
//printk("angle = %d (0x%x)\n", (int) currentAngle_raw, (int) currentAngle_raw);
//printk("angle = %d mRad\n", (int) (raw2Rad(currentAngle_raw*1000)));
ADRangeSelect(1,8);
//currentPosition_raw = readAD();
currentPosition_raw = readAD();
//printk("position = %d (0x%x)\n", (int) currentPosition_raw, (int) currentPosition_raw);
//printk("position = %d\n", (int) (currentPosition_raw*1000));
//printk("\n");
// signal end of acquisition, ready for control
rt_sem_signal(&sensDone);
// u16 command_u16 = control(currentAngle_raw, currentPosition_raw);
//currentAngle_rad = 0.0; //DEBUG
//currentPosition_m = 0.0; //DEBUG
// currentPosition_volt = currentPosition_raw * 0.087;
currentPosition_m = currentPosition_raw * 1.0/4096 - 0.5;
currentAngle_volt = 0.00244141*(currentAngle_raw - 2048);
currentAngle_rad = currentAngle_volt * 0.087;
// printk("Position_volt = %d.\n",(int)(currentPosition_volt));
// printk("Position_cm = %d.\n",(int)(currentPosition_m*100));
// printk("Angle_rad*1000 = %d.\n", (int) (currentAngle_rad*1000));
// printk("angle_degre : %d.\n",(int)((currentAngle_rad*180)/3.14));
ctrlcode(currentAngle_rad, currentPosition_m);
/* end of sensor acquisition code */
t_old = t;
rt_task_wait_period();
}
}
int _rtapi_task_start_hook(task_data *task, int task_id,
unsigned long int period_nsec) {
int retval;
unsigned long int quo, period_counts;
period_counts = nano2count((RTIME)period_nsec);
quo = (period_counts + timer_counts / 2) / timer_counts;
period_counts = quo * timer_counts;
period_nsec = count2nano(period_counts);
/* start the task */
retval = rt_task_make_periodic(ostask_array[task_id],
rt_get_time() + period_counts, period_counts);
if (retval != 0) {
return -EINVAL;
}
return 0;
}
void fun(int thread) {
int skip, average;
average = 0;
for (skip = 0; skip < SKIP; skip++) {
expected += period;
rt_task_wait_period();
average += (int)count2nano(rt_get_time() - expected);
}
if (abs(imuldiv(tuned.setup_time_TIMER_CPUNIT, 1000000000, tuned.cpu_freq) - SETUP_TIME_APIC) < 3) {
rt_printk("\n\n*** '#define LATENCY_APIC %d' (IN USE %d)", LATENCY_APIC + average/SKIP, LATENCY_APIC);
} else {
rt_printk("\n\n*** '#define LATENCY_8254 %d' (IN USE %d)", LATENCY_8254 + average/SKIP, LATENCY_8254);
}
rt_printk(", you can do 'make stop' now ***\n");
while(1) {
rt_task_wait_period();
}
}
int main(int argc, char *argv[])
{
int diff;
int skip;
long average;
int min_diff;
int max_diff;
int period;
int i;
RTIME t, svt;
RTIME expected, exectime[3];
MBX *mbx;
RT_TASK *task, *latchk;
struct sample { long long min; long long max; int index, ovrn; } samp;
double s;
signal(SIGHUP, endme);
signal(SIGKILL, endme);
signal(SIGTERM, endme);
signal(SIGALRM, endme);
if (!(mbx = rt_mbx_init(nam2num("LATMBX"), 20*sizeof(samp)))) {
printf("CANNOT CREATE MAILBOX\n");
exit(1);
}
if (!(task = rt_task_init_schmod(nam2num("LATCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
printf("\n## RTAI latency calibration tool ##\n");
printf("# period = %i (ns) \n", PERIOD);
printf("# average time = %i (s)\n", (int)AVRGTIME);
printf("# use the FPU\n");
printf("#%sstart the timer\n", argc == 1 ? " " : " do not ");
printf("# timer_mode is %s\n", TIMER_MODE ? "periodic" : "oneshot");
printf("\n");
if (argc == 1) {
if (TIMER_MODE) {
rt_set_periodic_mode();
} else {
rt_set_oneshot_mode();
}
period = start_rt_timer(nano2count(PERIOD));
} else {
period = nano2count(PERIOD);
}
for(i = 0; i < MAXDIM; i++) {
a[i] = b[i] = 3.141592;
}
s = dot(a, b, MAXDIM);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_task_make_periodic(task, expected = rt_get_tscnt() + 10*period, period);
svt = rt_get_cpu_time_ns();
samp.ovrn = i = 0;
while (!end) {
min_diff = 1000000000;
max_diff = -1000000000;
average = 0;
for (skip = 0; skip < SKIP && !end; skip++) {
expected += period;
if (!rt_task_wait_period()) {
if (TIMER_MODE) {
diff = (int) ((t = rt_get_cpu_time_ns()) - svt - PERIOD);
svt = t;
} else {
diff = (int) count2nano(rt_get_tscnt() - expected);
}
} else {
samp.ovrn++;
diff = 0;
if (TIMER_MODE) {
svt = rt_get_cpu_time_ns();
}
}
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
s = dot(a, b, MAXDIM);
}
samp.min = min_diff;
samp.max = max_diff;
samp.index = average/SKIP;
rt_mbx_send_if(mbx, &samp, sizeof(samp));
if ((latchk = rt_get_adr(nam2num("LATCHK"))) && (rt_receive_if(latchk, (unsigned long *)&average) || end)) {
rt_return(latchk, (unsigned long)average);
break;
}
}
while (rt_get_adr(nam2num("LATCHK"))) {
rt_sleep(nano2count(1000000));
}
rt_make_soft_real_time();
if (argc == 1) {
stop_rt_timer();
}
rt_get_exectime(task, exectime);
if (exectime[1] && exectime[2]) {
printf("\n>>> S = %g, EXECTIME = %G\n", s, (double)exectime[0]/(double)(exectime[2] - exectime[1]));
}
rt_task_delete(task);
rt_mbx_delete(mbx);
return 0;
}
int main(int argc, char *argv[])
{
int diff;
int skip;
int average;
int min_diff;
int max_diff;
int period;
int i;
RTIME expected, ts;
MBX *mbx;
RT_TASK *task;
struct sample { long long min; long long max; int index; double s; int ts; } samp;
double s;
if (!(mbx = rt_mbx_init(nam2num("LATMBX"), 20*sizeof(samp)))) {
printf("CANNOT CREATE MAILBOX\n");
exit(1);
}
if (!(task = rt_task_init_schmod(nam2num("LATCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
if (argc == 1) {
rt_set_oneshot_mode();
start_rt_timer(0);
}
for(i = 0; i < MAXDIM; i++) {
a[i] = b[i] = 3.141592;
}
vdot(a, b, MAXDIM);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_task_make_periodic(task, expected = rt_get_time() + 5*period, period);
#ifdef OVERALL
min_diff = 1000000000;
max_diff = -1000000000;
#endif
while (1) {
#ifndef OVERALL
min_diff = 1000000000;
max_diff = -1000000000;
#endif
average = 0;
for (skip = 0; skip < SKIP; skip++) {
expected += period;
rt_task_wait_period();
diff = (int)count2nano(rt_get_time() - expected);
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
ts = rt_get_time();
s = vdot(a, b, MAXDIM);
ts = rt_get_time() - expected;
}
samp.min = min_diff;
samp.max = max_diff;
samp.index = average/SKIP;
samp.s = (double)s;
samp.ts = (int)count2nano(ts);
rt_mbx_send_if(mbx, &samp, sizeof(samp));
if (rt_receive_if(rt_get_adr(nam2num("LATCHK")), (unsigned int *)&average)) {
rt_return(rt_get_adr(nam2num("LATCHK")), (unsigned int)average);
break;
}
}
while (rt_get_adr(nam2num("LATCHK"))) {
rt_sleep(nano2count(1000000));
}
rt_make_soft_real_time();
if (argc == 1) {
stop_rt_timer();
}
rt_task_delete(task);
rt_mbx_delete(mbx);
return 0;
}
static void* rt_system_thread(void * arg)
{
SEM * status_sem;
SEM * command_sem;
RT_TASK *task;
int cntr=0;
M3Sds * sds = (M3Sds *)arg;
printf("Starting real-time thread\n");
sds_status_size = sizeof(M3LedMatrixEcShmSdsStatus);
sds_cmd_size = sizeof(M3LedMatrixEcShmSdsCommand);
memset(&cmd, 0, sds_cmd_size);
task = rt_task_init_schmod(nam2num("LSHMP"), 0, 0, 0, SCHED_FIFO, 0xF);
rt_allow_nonroot_hrt();
if (task==NULL)
{
printf("Failed to create RT-TASK LSHMP\n");
return 0;
}
status_sem=(SEM*)rt_get_adr(nam2num(MEKA_LED_STATUS_SEM));
command_sem=(SEM*)rt_get_adr(nam2num(MEKA_LED_CMD_SEM));
if (!status_sem)
{
printf("Unable to find the %s semaphore.\n",MEKA_LED_STATUS_SEM);
rt_task_delete(task);
return 0;
}
if (!command_sem)
{
printf("Unable to find the %s semaphore.\n",MEKA_LED_CMD_SEM);
rt_task_delete(task);
return 0;
}
RTIME tick_period = nano2count(RT_TIMER_TICKS_NS_MEKA_LED_SHM);
RTIME now = rt_get_time();
rt_task_make_periodic(task, now + tick_period, tick_period);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
long long start_time, end_time, dt;
long long step_cnt = 0;
sys_thread_active=1;
while(!sys_thread_end)
{
start_time = nano2count(rt_get_cpu_time_ns());
rt_sem_wait(status_sem);
memcpy(&status, sds->status, sds_status_size);
rt_sem_signal(status_sem);
StepShm(cntr);
rt_sem_wait(command_sem);
memcpy(sds->cmd, &cmd, sds_cmd_size);
rt_sem_signal(command_sem);
end_time = nano2count(rt_get_cpu_time_ns());
dt=end_time-start_time;
/*
Check the time it takes to run components, and if it takes longer
than our period, make us run slower. Otherwise this task locks
up the CPU.*/
if (dt > tick_period && step_cnt>10)
{
printf("Step %lld: Computation time of components is too long. Forcing all components to state SafeOp.\n",step_cnt);
printf("Previous period: %f. New period: %f\n", (double)count2nano(tick_period),(double)count2nano(dt));
tick_period=dt;
//rt_task_make_periodic(task, end + tick_period,tick_period);
}
step_cnt++;
if (cntr++ == CYCLE_TIME_SEC * 2 * RT_TIMER_TICKS_NS_MEKA_LED_SHM)
cntr = 0;
rt_task_wait_period();
}
printf("Exiting RealTime Thread...\n",0);
rt_make_soft_real_time();
rt_task_delete(task);
sys_thread_active=0;
return 0;
}
void
fun(long thread)
{
int diff = 0;
int i;
int average;
int min_diff = 0;
int max_diff = 0;
RTIME t, svt;
#ifdef CONFIG_RTAI_FPU_SUPPORT
if (use_fpu) {
for(i = 0; i < MAXDIM; i++) {
a[i] = b[i] = 3.141592;
}
}
#endif
svt = rt_get_cpu_time_ns();
samp.ovrn = 0;
while (1) {
min_diff = 1000000000;
max_diff = -1000000000;
average = 0;
for (i = 0; i < loops; i++) {
cpu_used[hard_cpu_id()]++;
expected += period_counts;
if (!rt_task_wait_period()) {
if (timer_mode) {
diff = (int) ((t = rt_get_cpu_time_ns()) - svt - period);
svt = t;
} else {
diff = (int) count2nano(rt_get_time() - expected);
}
} else {
samp.ovrn++;
diff = 0;
if (timer_mode) {
svt = rt_get_cpu_time_ns();
}
}
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
#ifdef CONFIG_RTAI_FPU_SUPPORT
if (use_fpu) {
dotres = dot(a, b, MAXDIM);
}
#endif
}
samp.min = min_diff;
samp.max = max_diff;
samp.index = average / loops;
rtf_put(DEBUG_FIFO, &samp, sizeof (samp));
}
rt_printk("\nDOT PRODUCT RESULT = %lu\n", (unsigned long)dotres);
}
int main(int argc, char **argv) {
#ifdef RTAI
RT_TASK *task;
RTIME period;
#endif
int i,j,aa;
void *status;
/*
uint32_t rf_mode_max[4] = {55759,55759,55759,55759};
uint32_t rf_mode_med[4] = {39375,39375,39375,39375};
uint32_t rf_mode_byp[4] = {22991,22991,22991,22991};
*/
uint32_t my_rf_mode = RXEN + TXEN + TXLPFNORM + TXLPFEN + TXLPF25 + RXLPFNORM + RXLPFEN + RXLPF25 + LNA1ON +LNAMax + RFBBNORM + DMAMODE_RX + DMAMODE_TX;
uint32_t rf_mode_base = TXLPFNORM + TXLPFEN + TXLPF25 + RXLPFNORM + RXLPFEN + RXLPF25 + LNA1ON +LNAMax + RFBBNORM;
uint32_t rf_mode[4] = {my_rf_mode,0,0,0};
uint32_t rf_local[4] = {8255000,8255000,8255000,8255000}; // UE zepto
//{8254617, 8254617, 8254617, 8254617}; //eNB khalifa
//{8255067,8254810,8257340,8257340}; // eNB PETRONAS
uint32_t rf_vcocal[4] = {910,910,910,910};
uint32_t rf_vcocal_850[4] = {2015, 2015, 2015, 2015};
uint32_t rf_rxdc[4] = {32896,32896,32896,32896};
uint32_t rxgain[4] = {20,20,20,20};
uint32_t txgain[4] = {20,20,20,20};
uint16_t Nid_cell = 0;
uint8_t cooperation_flag=0, transmission_mode=1, abstraction_flag=0;
uint8_t beta_ACK=0,beta_RI=0,beta_CQI=2;
int c;
char do_forms=0;
unsigned int fd;
unsigned int tcxo = 114;
int amp;
uint8_t prach_fmt;
int N_ZC;
char rxg_fname[100];
char txg_fname[100];
char rflo_fname[100];
char rfdc_fname[100];
FILE *rxg_fd=NULL;
FILE *txg_fd=NULL;
FILE *rflo_fd=NULL;
FILE *rfdc_fd=NULL;
unsigned int rxg_max[4]={133,133,133,133}, rxg_med[4]={127,127,127,127}, rxg_byp[4]={120,120,120,120};
int tx_max_power=0;
char line[1000];
int l;
int ret, ant;
int ant_offset=0;
int error_code;
char *itti_dump_file = NULL;
const struct option long_options[] = {
{"calib-ue-rx", required_argument, NULL, 256},
{"calib-ue-rx-med", required_argument, NULL, 257},
{"calib-ue-rx-byp", required_argument, NULL, 258},
{"debug-ue-prach", no_argument, NULL, 259},
{"no-L2-connect", no_argument, NULL, 260},
{NULL, 0, NULL, 0}};
//mode = normal_txrx;
while ((c = getopt_long (argc, argv, "C:K:O:ST:UdF:V",long_options,NULL)) != -1)
{
switch (c)
{
case 'V':
ouput_vcd = 1;
break;
case 'd':
do_forms=1;
break;
case 'U':
UE_flag = 1;
break;
case 'C':
carrier_freq[0] = atoi(optarg);
carrier_freq[1] = atoi(optarg);
carrier_freq[2] = atoi(optarg);
carrier_freq[3] = atoi(optarg);
break;
case 'S':
fs4_test=1;
break;
case 'T':
tcxo=atoi(optarg);
break;
case 'K':
#if defined(ENABLE_ITTI)
itti_dump_file = strdup(optarg);
#else
printf("-K option is disabled when ENABLE_ITTI is not defined\n");
#endif
break;
case 'O':
#if defined(ENABLE_USE_MME)
EPC_MODE_ENABLED = 1;
if (optarg == NULL) /* No IP address provided: use localhost */
{
memcpy(&EPC_MODE_MME_ADDRESS[0], "127.0.0.1", 10);
} else {
uint8_t ip_length = strlen(optarg) + 1;
memcpy(&EPC_MODE_MME_ADDRESS[0], optarg,
ip_length > 16 ? 16 : ip_length);
}
#else
printf("You enabled mme mode without s1ap compiled...\n");
#endif
break;
case 'F':
sprintf(rxg_fname,"%srxg.lime",optarg);
rxg_fd = fopen(rxg_fname,"r");
if (rxg_fd) {
printf("Loading RX Gain parameters from %s\n",rxg_fname);
l=0;
while (fgets(line, sizeof(line), rxg_fd)) {
if ((strlen(line)==0) || (*line == '#')) continue; //ignore empty or comment lines
else {
if (l==0) sscanf(line,"%d %d %d %d",&rxg_max[0],&rxg_max[1],&rxg_max[2],&rxg_max[3]);
if (l==1) sscanf(line,"%d %d %d %d",&rxg_med[0],&rxg_med[1],&rxg_med[2],&rxg_med[3]);
if (l==2) sscanf(line,"%d %d %d %d",&rxg_byp[0],&rxg_byp[1],&rxg_byp[2],&rxg_byp[3]);
l++;
}
}
}
else
printf("%s not found, running with defaults\n",rxg_fname);
sprintf(txg_fname,"%stxg.lime",optarg);
txg_fd = fopen(txg_fname,"r");
if (txg_fd) {
printf("Loading TX Gain parameters from %s\n",txg_fname);
l=0;
while (fgets(line, sizeof(line), txg_fd)) {
if ((strlen(line)==0) || (*line == '#')) {
continue; //ignore empty or comment lines
}
else {
if (l==0) sscanf(line,"%d %d %d %d",&txgain[0],&txgain[1],&txgain[2],&txgain[3]);
if (l==1) sscanf(line,"%d",&tx_max_power);
l++;
}
}
}
else
printf("%s not found, running with defaults\n",txg_fname);
sprintf(rflo_fname,"%srflo.lime",optarg);
rflo_fd = fopen(rflo_fname,"r");
if (rflo_fd) {
printf("Loading RF LO parameters from %s\n",rflo_fname);
fscanf(rflo_fd,"%d %d %d %d",&rf_local[0],&rf_local[1],&rf_local[2],&rf_local[3]);
}
else
printf("%s not found, running with defaults\n",rflo_fname);
sprintf(rfdc_fname,"%srfdc.lime",optarg);
rfdc_fd = fopen(rfdc_fname,"r");
if (rfdc_fd) {
printf("Loading RF DC parameters from %s\n",rfdc_fname);
fscanf(rfdc_fd,"%d %d %d %d",&rf_rxdc[0],&rf_rxdc[1],&rf_rxdc[2],&rf_rxdc[3]);
}
else
printf("%s not found, running with defaults\n",rfdc_fname);
break;
/*
case 256:
mode = rx_calib_ue;
rx_input_level_dBm = atoi(optarg);
printf("Running with UE calibration on (LNA max), input level %d dBm\n",rx_input_level_dBm);
break;
case 257:
mode = rx_calib_ue_med;
rx_input_level_dBm = atoi(optarg);
printf("Running with UE calibration on (LNA med), input level %d dBm\n",rx_input_level_dBm);
break;
case 258:
mode = rx_calib_ue_byp;
rx_input_level_dBm = atoi(optarg);
printf("Running with UE calibration on (LNA byp), input level %d dBm\n",rx_input_level_dBm);
break;
case 259:
mode = debug_prach;
break;
case 260:
mode = no_L2_connect;
break;
*/
default:
break;
}
}
if (UE_flag==1)
printf("configuring for UE\n");
else
printf("configuring for eNB\n");
//randominit (0);
//set_taus_seed (0);
// initialize the log (see log.h for details)
logInit();
#if defined(ENABLE_ITTI)
itti_init(TASK_MAX, THREAD_MAX, MESSAGES_ID_MAX, tasks_info, messages_info, messages_definition_xml, itti_dump_file);
# if defined(ENABLE_USE_MME)
if (itti_create_task(TASK_SCTP, sctp_eNB_task, NULL) < 0) {
LOG_E(EMU, "Create task failed");
LOG_D(EMU, "Initializing SCTP task interface: FAILED\n");
return -1;
}
if (itti_create_task(TASK_S1AP, s1ap_eNB_task, NULL) < 0) {
LOG_E(EMU, "Create task failed");
LOG_D(EMU, "Initializing S1AP task interface: FAILED\n");
return -1;
}
# endif
if (itti_create_task(TASK_L2L1, l2l1_task, NULL) < 0) {
LOG_E(EMU, "Create task failed");
LOG_D(EMU, "Initializing L2L1 task interface: FAILED\n");
return -1;
}
// Handle signals until all tasks are terminated
// itti_wait_tasks_end();
#endif
if (ouput_vcd) {
if (UE_flag==1)
vcd_signal_dumper_init("/tmp/openair_dump_UE.vcd");
else
vcd_signal_dumper_init("/tmp/openair_dump_eNB.vcd");
}
#ifdef NAS_NETLINK
netlink_init();
#endif
// to make a graceful exit when ctrl-c is pressed
signal(SIGSEGV, signal_handler);
signal(SIGINT, signal_handler);
#ifndef RTAI
check_clock();
#endif
g_log->log_component[HW].level = LOG_DEBUG;
g_log->log_component[HW].flag = LOG_HIGH;
#ifdef OPENAIR2
g_log->log_component[PHY].level = LOG_INFO;
#else
g_log->log_component[PHY].level = LOG_INFO;
#endif
g_log->log_component[PHY].flag = LOG_HIGH;
g_log->log_component[MAC].level = LOG_INFO;
g_log->log_component[MAC].flag = LOG_HIGH;
g_log->log_component[RLC].level = LOG_INFO;
g_log->log_component[RLC].flag = LOG_HIGH;
g_log->log_component[PDCP].level = LOG_INFO;
g_log->log_component[PDCP].flag = LOG_HIGH;
g_log->log_component[OTG].level = LOG_INFO;
g_log->log_component[OTG].flag = LOG_HIGH;
g_log->log_component[RRC].level = LOG_INFO;
g_log->log_component[RRC].flag = LOG_HIGH;
// Initialize card
ret = openair0_open();
if ( ret != 0 ) {
if (ret == -1)
printf("Error opening /dev/openair0");
if (ret == -2)
printf("Error mapping bigshm");
if (ret == -3)
printf("Error mapping RX or TX buffer");
return(ret);
}
printf ("Detected %d number of cards, %d number of antennas.\n", openair0_num_detected_cards, openair0_num_antennas[card]);
p_exmimo_config = openair0_exmimo_pci[card].exmimo_config_ptr;
p_exmimo_id = openair0_exmimo_pci[card].exmimo_id_ptr;
printf("Card %d: ExpressMIMO %d, HW Rev %d, SW Rev 0x%d\n", card, p_exmimo_id->board_exmimoversion, p_exmimo_id->board_hwrev, p_exmimo_id->board_swrev);
if (p_exmimo_id->board_swrev>=BOARD_SWREV_CNTL2)
p_exmimo_config->framing.eNB_flag = 0;
else
p_exmimo_config->framing.eNB_flag = !UE_flag;
p_exmimo_config->framing.tdd_config = DUPLEXMODE_FDD + TXRXSWITCH_LSB;
for (ant=0; ant<4; ant++)
p_exmimo_config->framing.resampling_factor[ant] = RESAMPLING_FACTOR;
/*
for (ant=0;ant<max(frame_parms->nb_antennas_tx,frame_parms->nb_antennas_rx);ant++)
p_exmimo_config->rf.rf_mode[ant] = rf_mode_base;
for (ant=0;ant<frame_parms->nb_antennas_tx;ant++)
p_exmimo_config->rf.rf_mode[ant] += (TXEN + DMAMODE_TX);
for (ant=0;ant<frame_parms->nb_antennas_rx;ant++)
p_exmimo_config->rf.rf_mode[ant] += (RXEN + DMAMODE_RX);
for (ant=max(frame_parms->nb_antennas_tx,frame_parms->nb_antennas_rx);ant<4;ant++) {
p_exmimo_config->rf.rf_mode[ant] = 0;
carrier_freq[ant] = 0; //this turns off all other LIMEs
}
*/
ant_offset = 0;
for (ant=0; ant<4; ant++) {
if (ant==ant_offset) {
//if (1) {
p_exmimo_config->rf.rf_mode[ant] = rf_mode_base;
//p_exmimo_config->rf.rf_mode[ant] += (TXEN + DMAMODE_TX);
p_exmimo_config->rf.rf_mode[ant] += (RXEN + DMAMODE_RX);
}
else {
p_exmimo_config->rf.rf_mode[ant] = 0;
carrier_freq[ant] = 0; //this turns off all other LIMEs
}
}
for (ant = 0; ant<4; ant++) {
p_exmimo_config->rf.do_autocal[ant] = 1;
p_exmimo_config->rf.rf_freq_rx[ant] = carrier_freq[ant];
p_exmimo_config->rf.rf_freq_tx[ant] = carrier_freq[ant];
p_exmimo_config->rf.rx_gain[ant][0] = rxgain[ant];
p_exmimo_config->rf.tx_gain[ant][0] = txgain[ant];
p_exmimo_config->rf.rf_local[ant] = rf_local[ant];
p_exmimo_config->rf.rf_rxdc[ant] = rf_rxdc[ant];
if ((carrier_freq[ant] >= 850000000) && (carrier_freq[ant] <= 865000000)) {
p_exmimo_config->rf.rf_vcocal[ant] = rf_vcocal_850[ant];
p_exmimo_config->rf.rffe_band_mode[ant] = DD_TDD;
}
else if ((carrier_freq[ant] >= 1900000000) && (carrier_freq[ant] <= 2000000000)) {
p_exmimo_config->rf.rf_vcocal[ant] = rf_vcocal[ant];
p_exmimo_config->rf.rffe_band_mode[ant] = B19G_TDD;
}
else {
p_exmimo_config->rf.rf_vcocal[ant] = rf_vcocal[ant];
p_exmimo_config->rf.rffe_band_mode[ant] = 0;
}
p_exmimo_config->rf.rffe_gain_txlow[ant] = 31;
p_exmimo_config->rf.rffe_gain_txhigh[ant] = 31;
p_exmimo_config->rf.rffe_gain_rxfinal[ant] = 52;
p_exmimo_config->rf.rffe_gain_rxlow[ant] = 31;
}
number_of_cards = openair0_num_detected_cards;
/*
if (p_exmimo_id->board_exmimoversion==1) //ExpressMIMO1
openair_daq_vars.timing_advance = 138;
else //ExpressMIMO2
openair_daq_vars.timing_advance = 0;
*/
openair0_dump_config(card);
printf("EXMIMO_CONFIG: rf_mode 0x %x %x %x %x, [0]: TXRXEn %d, TXLPFEn %d, TXLPF %d, RXLPFEn %d, RXLPF %d, RFBB %d, LNA %d, LNAGain %d, RXLPFMode %d, SWITCH %d, rf_rxdc %d, rf_local %d, rf_vcocal %d\n",
p_exmimo_config->rf.rf_mode[0],
p_exmimo_config->rf.rf_mode[1],
p_exmimo_config->rf.rf_mode[2],
p_exmimo_config->rf.rf_mode[3],
(p_exmimo_config->rf.rf_mode[0]&3), // RXen+TXen
(p_exmimo_config->rf.rf_mode[0]&4)>>2, //TXLPFen
(p_exmimo_config->rf.rf_mode[0]&TXLPFMASK)>>3, //TXLPF
(p_exmimo_config->rf.rf_mode[0]&128)>>7, //RXLPFen
(p_exmimo_config->rf.rf_mode[0]&RXLPFMASK)>>8, //TXLPF
(p_exmimo_config->rf.rf_mode[0]&RFBBMASK)>>16, // RFBB mode
(p_exmimo_config->rf.rf_mode[0]&LNAMASK)>>12, // RFBB mode
(p_exmimo_config->rf.rf_mode[0]&LNAGAINMASK)>>14, // RFBB mode
(p_exmimo_config->rf.rf_mode[0]&RXLPFMODEMASK)>>19, // RXLPF mode
(p_exmimo_config->framing.tdd_config&TXRXSWITCH_MASK)>>1, // Switch mode
p_exmimo_config->rf.rf_rxdc[0],
p_exmimo_config->rf.rf_local[0],
p_exmimo_config->rf.rf_vcocal[0]);
for (ant=0;ant<4;ant++)
p_exmimo_config->rf.do_autocal[ant] = 0;
#ifdef EMOS
error_code = rtf_create(CHANSOUNDER_FIFO_MINOR,CHANSOUNDER_FIFO_SIZE);
if (error_code==0)
printf("[OPENAIR][SCHED][INIT] Created EMOS FIFO %d\n",CHANSOUNDER_FIFO_MINOR);
else if (error_code==ENODEV)
printf("[OPENAIR][SCHED][INIT] Problem: EMOS FIFO %d is greater than or equal to RTF_NO\n",CHANSOUNDER_FIFO_MINOR);
else if (error_code==ENOMEM)
printf("[OPENAIR][SCHED][INIT] Problem: cannot allocate memory for EMOS FIFO %d\n",CHANSOUNDER_FIFO_MINOR);
else
printf("[OPENAIR][SCHED][INIT] Problem creating EMOS FIFO %d, error_code %d\n",CHANSOUNDER_FIFO_MINOR,error_code);
#endif
mlockall(MCL_CURRENT | MCL_FUTURE);
#ifdef RTAI
// make main thread LXRT soft realtime
task = rt_task_init_schmod(nam2num("MYTASK"), 9, 0, 0, SCHED_FIFO, 0xF);
// start realtime timer and scheduler
#ifdef TIMER_ONESHOT_MODE
rt_set_oneshot_mode();
start_rt_timer(0);
printf("started RTAI timer inoneshot mode\n");
#else
rt_set_periodic_mode();
period = start_rt_timer(nano2count(500000));
printf("started RTAI timer with period %llu ns\n",count2nano(period));
#endif
printf("Init mutex\n");
//mutex = rt_get_adr(nam2num("MUTEX"));
mutex = rt_sem_init(nam2num("MUTEX"), 1);
if (mutex==0)
{
printf("Error init mutex\n");
exit(-1);
}
else
printf("mutex=%p\n",mutex);
#endif
DAQ_MBOX = (volatile unsigned int *) openair0_exmimo_pci[card].rxcnt_ptr[0];
// this starts the DMA transfers
if (UE_flag!=1)
openair0_start_rt_acquisition(card);
#ifdef XFORMS
if (do_forms==1) {
fl_initialize (&argc, argv, NULL, 0, 0);
form_stats = create_form_stats_form();
if (UE_flag==1) {
form_ue[UE_id] = create_lte_phy_scope_ue();
sprintf (title, "LTE DL SCOPE UE");
fl_show_form (form_ue[UE_id]->lte_phy_scope_ue, FL_PLACE_HOTSPOT, FL_FULLBORDER, title);
} else {
for(UE_id=0;UE_id<scope_enb_num_ue;UE_id++) {
form_enb[UE_id] = create_lte_phy_scope_enb();
sprintf (title, "UE%d LTE UL SCOPE eNB",UE_id+1);
fl_show_form (form_enb[UE_id]->lte_phy_scope_enb, FL_PLACE_HOTSPOT, FL_FULLBORDER, title);
}
}
fl_show_form (form_stats->stats_form, FL_PLACE_HOTSPOT, FL_FULLBORDER, "stats");
if (UE_flag==0) {
for (UE_id=0;UE_id<scope_enb_num_ue;UE_id++) {
if (otg_enabled) {
fl_set_button(form_enb[UE_id]->button_0,1);
fl_set_object_label(form_enb[UE_id]->button_0,"DL Traffic ON");
}
else {
fl_set_button(form_enb[UE_id]->button_0,0);
fl_set_object_label(form_enb[UE_id]->button_0,"DL Traffic OFF");
}
}
}
else {
if (openair_daq_vars.use_ia_receiver) {
fl_set_button(form_ue[UE_id]->button_0,1);
fl_set_object_label(form_ue[UE_id]->button_0, "IA Receiver ON");
}
else {
fl_set_button(form_ue[UE_id]->button_0,0);
fl_set_object_label(form_ue[UE_id]->button_0, "IA Receiver OFF");
}
}
ret = pthread_create(&thread2, NULL, scope_thread, NULL);
printf("Scope thread created, ret=%d\n",ret);
}
#endif
#ifdef EMOS
ret = pthread_create(&thread3, NULL, emos_thread, NULL);
printf("EMOS thread created, ret=%d\n",ret);
#endif
rt_sleep_ns(10*FRAME_PERIOD);
#ifndef RTAI
pthread_attr_init (&attr_dlsch_threads);
pthread_attr_setstacksize(&attr_dlsch_threads,OPENAIR_THREAD_STACK_SIZE);
//attr_dlsch_threads.priority = 1;
sched_param_dlsch.sched_priority = sched_get_priority_max(SCHED_FIFO); //OPENAIR_THREAD_PRIORITY;
pthread_attr_setschedparam (&attr_dlsch_threads, &sched_param_dlsch);
pthread_attr_setschedpolicy (&attr_dlsch_threads, SCHED_FIFO);
#endif
// start the main thread
if (UE_flag == 1) {
/*
#ifdef RTAI
thread1 = rt_thread_create(UE_thread, NULL, 100000000);
#else
error_code = pthread_create(&thread1, &attr_dlsch_threads, UE_thread, NULL);
if (error_code!= 0) {
LOG_D(HW,"[lte-softmodem.c] Could not allocate UE_thread, error %d\n",error_code);
return(error_code);
}
else {
LOG_D(HW,"[lte-softmodem.c] Allocate UE_thread successful\n");
}
#endif
#ifdef DLSCH_THREAD
init_rx_pdsch_thread();
rt_sleep_ns(FRAME_PERIOD/10);
init_dlsch_threads();
#endif
printf("UE threads created\n");
*/
}
else {
#ifdef RTAI
thread0 = rt_thread_create(eNB_thread, NULL, 100000000);
#else
error_code = pthread_create(&thread0, &attr_dlsch_threads, eNB_thread, NULL);
if (error_code!= 0) {
LOG_D(HW,"[lte-softmodem.c] Could not allocate eNB_thread, error %d\n",error_code);
return(error_code);
}
else {
LOG_D(HW,"[lte-softmodem.c] Allocate eNB_thread successful\n");
}
#endif
#ifdef ULSCH_THREAD
init_ulsch_threads();
#endif
printf("eNB threads created\n");
}
// wait for end of program
printf("TYPE <CTRL-C> TO TERMINATE\n");
//getchar();
while (oai_exit==0)
rt_sleep_ns(FRAME_PERIOD);
// stop threads
#ifdef XFORMS
printf("waiting for XFORMS thread\n");
if (do_forms==1)
{
pthread_join(thread2,&status);
fl_hide_form(form_stats->stats_form);
fl_free_form(form_stats->stats_form);
if (UE_flag==1) {
fl_hide_form(form_ue[UE_id]->lte_phy_scope_ue);
fl_free_form(form_ue[UE_id]->lte_phy_scope_ue);
} else {
for(UE_id=0;UE_id<scope_enb_num_ue;UE_id++) {
fl_hide_form(form_enb[UE_id]->lte_phy_scope_enb);
fl_free_form(form_enb[UE_id]->lte_phy_scope_enb);
}
}
}
#endif
printf("stopping MODEM threads\n");
// cleanup
if (UE_flag == 1) {
/*
#ifdef RTAI
rt_thread_join(thread1);
#else
pthread_join(thread1,&status);
#endif
#ifdef DLSCH_THREAD
cleanup_dlsch_threads();
cleanup_rx_pdsch_thread();
#endif
*/
}
else {
#ifdef RTAI
rt_thread_join(thread0);
#else
pthread_join(thread0,&status);
#endif
#ifdef ULSCH_THREAD
cleanup_ulsch_threads();
#endif
}
#ifdef OPENAIR2
//cleanup_pdcp_thread();
#endif
#ifdef RTAI
stop_rt_timer();
#endif
printf("stopping card\n");
openair0_stop(card);
printf("closing openair0_lib\n");
openair0_close();
#ifdef EMOS
printf("waiting for EMOS thread\n");
pthread_cancel(thread3);
pthread_join(thread3,&status);
#endif
#ifdef EMOS
error_code = rtf_destroy(CHANSOUNDER_FIFO_MINOR);
printf("[OPENAIR][SCHED][CLEANUP] EMOS FIFO closed, error_code %d\n", error_code);
#endif
if (ouput_vcd)
vcd_signal_dumper_close();
logClean();
return 0;
}
void *init_task(void *arg)
{
RT_TASK *Task;
struct thread_param *config = (struct thread_param*) arg;
int idTask = config->idTask;
unsigned long pidTask = 0;
unsigned int cpuFrequencyAtual = 0; // KHz
RTIME Tinicio;
RTIME Tperiodo = 0; // unidade -> counts
double Tperiodo_s = 0.0;
int prioridade = config->prioridade;
// clock_t begin, end;
// double time_spent;
struct timeval tv1, tv2;
if(!(Task = rt_thread_init(idTask, prioridade, 0, SCHED_FIFO, CPU_ALLOWED)))
{
printf("[ERRO] Não foi possível criar a tarefa [%d].\n", idTask);
exit(1);
}
Tinicio = start_timeline;
Tperiodo = config->periodo;
Tperiodo_s = count2nano(Tperiodo)/1000000000.0;
rt_allow_nonroot_hrt();
rt_task_make_periodic(Task, Tinicio, Tperiodo);
rt_change_prio(Task, prioridade);
if(config->deadline > 0)
rt_set_deadline(Task, config->deadline);
pidTask = rt_cfg_get_pid(Task);
printf("[TASK %2d] [%lu] Criada com Sucesso =============== PERIODO => %llu count => %.2f segundos \n", idTask, pidTask, Tperiodo, Tperiodo_s);
cpuFrequencyAtual = rt_cfg_cpufreq_get(CPUID_RTAI);
printf("[TASK %2d] [%lu] Curr Freq: %8d Khz\n", idTask, pidTask, cpuFrequencyAtual);
//TODO: TEMPO DE COMPUTACAO - OPCAO 1
// begin = clock();
// rt_cfg_set_cpu_frequency(Task, (int) config->cpuFrequencyMin);
// end = clock();
//
// time_spent = (double)(end - begin) / CLOCKS_PER_SEC;
// printf("[TASK %2d] [%lu] SET_FREQUENCY(%8d Khz);\n", idTask, pidTask, config->cpuFrequencyMin);
// cpuFrequencyAtual = rt_cfg_cpufreq_get(CPUID_RTAI);
// printf("[TASK %2d] [%lu] Curr Freq: %8d Khz\n", idTask, pidTask, cpuFrequencyAtual);
// printf("[TASK %2d] [%lu] TEMPO DE COMPUTACAO SET FREQUENCY - USERSPACE => %.100f segundos\n", idTask, pidTask, time_spent);
//TODO: TEMPO DE COMPUTACAO - OPCAO 2
gettimeofday(&tv1, NULL);
rt_cfg_set_cpu_frequency(Task, (int) config->cpuFrequencyMin);
gettimeofday(&tv2, NULL);
printf("[TASK %2d] [%lu] SET_FREQUENCY(%8d Khz);\n", idTask, pidTask, config->cpuFrequencyMin);
cpuFrequencyAtual = rt_cfg_cpufreq_get(CPUID_RTAI);
printf("[TASK %2d] [%lu] Curr Freq: %8d Khz\n", idTask, pidTask, cpuFrequencyAtual);
printf("[TASK %2d] [%lu] TEMPO DE COMPUTACAO SET FREQUENCY - USERSPACE => %.50f segundos\n", idTask, pidTask, (double) (tv2.tv_usec - tv1.tv_usec) / 1000000 +
(double) (tv2.tv_sec - tv1.tv_sec));
rt_task_delete(Task);
return 0;
}
int sineoutput()
{
//Initial test function to try out Real time stuff.
int m, i=0;
lsampl_t data_to_card;
static comedi_t * dev;
RTIME ElapsedTime;
dev = comedi_open(device_names[AnalogOutputChannel.board_number]);
if(!(Sinewaveloop_Task = rt_task_init_schmod(nam2num( "Sinewave" ), // Name
2, // Priority
0, // Stack Size
0, //, // max_msg_size
SCHED_FIFO, // Policy
CPUMAP ))) // cpus_allowed
{
printf("ERROR: Cannot initialize sinewave task\n");
exit(1);
}
//specify that this is to run on one CPU
//rt_set_runnable_on_cpuid(Sinewaveloop_Task, 0);
//Convert samp_time, which is in nanoseconds, to tick time
//sampling_interval = nano2count(SAMP_TIME); //Converts a value from
//nanoseconds to internal count units.
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_make_hard_real_time();
sampling_interval =nano2count_cpuid(SAMP_TIME, 0);
rt_printk("Sampling interval is %f12 \n",count2nano((float) sampling_interval));
// Let's make this task periodic..
expected = rt_get_time_cpuid(0) + 100*sampling_interval;
//Manan changed all the timer commands to _couid version on 10/22/2012 to see if it helps
//sampling_interval =nano2count_cpuid(SAMP_TIME,0);
// rt_printk("Sampling interval is %f12 \n",count2nano_cpuid((float) sampling_interval,0));
// Let's make this task periodic..
//expected = rt_get_time_cpuid(0) + 100*sampling_interval;
rt_task_make_periodic(Sinewaveloop_Task, expected, sampling_interval); //period in counts
//rt_task_resume(Sinewaveloop_Task);
sine_loop_running=1;
// Concurrent function Loop
rt_printk("SineWaveAmplitude is is %f \n",SineWaveAmplitude);
rt_printk("SineWaveFrequency is %f \n",SineWaveFrequency);
rt_printk("sine_loop_running is %d \n",sine_loop_running);
rt_printk("SAMP_TIME is %d \n",SAMP_TIME);
//start_time = (float)rt_get_time_ns_cpuid(0)/1E9; //in seconds
start_time = (float)rt_get_time_ns_cpuid(0)/1E9;
old_time = start_time;
rt_printk("AnalogOutputChannel board_it is %p \n",AnalogOutputChannel.board_id);
rt_printk("AnalogOutputChannel devicename is %p \n",*(AnalogOutputChannel.devicename));
rt_printk("AnalogOutputChannel boardname is %p \n",*(AnalogOutputChannel.boardname));
rt_printk("AnalogOutputChannel subdevice is %d \n",AnalogOutputChannel.subdevice);
rt_printk("AnalogOutputChannel channel is %d \n",AnalogOutputChannel.channel);
//OutputValue = 1;
//ElapsedTime = 0;
OutputValue = 0;
//sine_loop_running = 0; //set this to 0 for testing
while(sine_loop_running)
{
i++; // Count Loops.
current_time = (float)rt_get_time_ns_cpuid(0)/1E9;
//current_ticks = rt_get_time_cpuid(0);
//current_time = (float) (count2nano_cpuid(current_ticks,0)/1E9);
//current_time = (float)rt_get_time_ns_cpuid(0)/1E9;
//rt_printk("LOOP %d,-- Period time: %f12 %f12\n",i, current_time - old_time,count2nano((float)sampling_interval)/1E9);
OutputValue = SineWaveAmplitude*sin(2*PI*SineWaveFrequency*(current_time-start_time));
//OutputValue+=((SAMP_TIME*PI*2*SineWaveFrequency)/1E9)*cos(2*PI*SineWaveFrequency*((float)SAMP_TIME)/1E9);
//if (OutputValue>10.0)
//{OutputValue = -10;
//}
//OutputValue = SineWaveAmplitude*sin(2*PI*SineWaveFrequency*((float)ElapsedTime)/1E9);
ElapsedTime+=SAMP_TIME;
//OutputValue = -1*OutputValue;
//rt_printk("OutputValue is %f12 \n",OutputValue);
data_to_card = (lsampl_t) nearbyint(((OutputValue - MinOutputVoltage)/OutputRange)*MaxOutputBits);
//m=rt_comedi_command_data_write(AnalogOutputChannel.board_id, AnalogOutputChannel.subdevice, NCHAN, data_to_card);
comedi_lock(dev, AnalogOutputChannel.subdevice);
m=comedi_data_write(dev, AnalogOutputChannel.subdevice, AnalogOutputChannel.channel, AO_RANGE, AREF_DIFF, data_to_card);
comedi_unlock(dev, AnalogOutputChannel.subdevice);
// m=comedi_data_write(AnalogOutputChannel.board_id, AnalogOutputChannel.subdevice,
// AnalogOutputChannel.channel, AO_RANGE, AREF_GROUND, data_to_card);
//rt_printk("Data_to_card is %d; result from rt_comedi_command_data_write is %d \n",data_to_card, m);
//rt_printk("LOOP %d,-- Loop time: %f12 \n",i, (float)(current_time-old_time));
//rt_printk("LOOP %d,-- AO Out time: %f12 \n",i, (float)rt_get_time_ns()/1E9 - current_time);
//rt_printk("LOOP %d,-- AO Out time: %f12 \n",i, (float)rt_get_cpu_time_ns()/1E9 - current_time);
//rt_printk("Data_to_card is %d \n",data_to_card);
old_time = current_time;
/* if (i== 100000)
{
sine_loop_running = 0;
//printf("LOOP -- run: %d %d\n ",keep_on_running,&keep_on_running);
//printf("RTAI LOOP -- run: %d \n ",i);
break;
}
*/
rt_task_wait_period(); // And waits until the end of the period.
}
rt_make_soft_real_time();
comedi_close(dev);
rt_task_delete(Sinewaveloop_Task); //Self termination at end.
pthread_exit(NULL);
return 0;
}
int PLLReferenceGeneration()
{
//Initial test function to try out Real time stuff.
int m, i=0, err, n;
lsampl_t data_to_card;
static comedi_t * dev;
static int OutputFIFOBufferSize;
static int PLLGenerationBufferSize;
unsigned int maxdata;
unsigned int chanlist[16];
int ret;
static lsampl_t data[PLLGenerationBufferNPoints]; //this is the buffer used to send data points out
comedi_cmd cmd;
dev = comedi_open(device_names[PLLReferenceGenerationChannel.board_number]);
//Check the size of the output buffer
OutputFIFOBufferSize = comedi_get_buffer_size(dev, PLLReferenceGenerationChannel.subdevice);
rt_printk("OutputFIFO Buffer size is %i\n", OutputFIFOBufferSize);
//Set the actual buffer size that we will be using to half this and the number of data points to one fourth
//Now configure the output channel using a Comedi instruction
//BufferSize is initially set to be double the number of PLLGenerationBufferNPoints
PLLGenerationBufferSize = 2*PLLGenerationBufferNPoints;
maxdata = comedi_get_maxdata(dev, PLLReferenceGenerationChannel.subdevice, PLLReferenceGenerationChannel.channel);
rt_printk("PLL Reference channel max data is %i\n", maxdata);
offset = maxdata / 2;
amplitude = maxdata - offset;
memset(&cmd,0,sizeof(cmd));
cmd.subdev = PLLReferenceGenerationChannel.subdevice;
cmd.flags = CMDF_WRITE;
cmd.start_src = TRIG_INT;
cmd.start_arg = 0;
cmd.scan_begin_src = TRIG_TIMER;
cmd.scan_begin_arg = PLLGenMinPulseTime; //minimum update time for the
cmd.convert_src = TRIG_NOW;
cmd.convert_arg = 0;
cmd.scan_end_src = TRIG_COUNT;
cmd.scan_end_arg = NCHAN; //only one channel
cmd.stop_src = TRIG_NONE;
cmd.stop_arg = 0;
cmd.chanlist = chanlist;
cmd.chanlist_len = NCHAN;
chanlist[0] = CR_PACK(PLLReferenceGenerationChannel.channel, AO_RANGE, AREF_GROUND);
dds_init(PLLWaveformFrequency, PLLUpdateFrequency);
err = comedi_command_test(dev, &cmd);
if (err < 0) {
comedi_perror("comedi_command_test");
exit(1);
}
err = comedi_command_test(dev, &cmd);
if (err < 0) {
comedi_perror("comedi_command_test");
exit(1);
}
if ((err = comedi_command(dev, &cmd)) < 0) {
comedi_perror("comedi_command");
exit(1);
}
dds_output(data,PLLGenerationBufferNPoints);
n = PLLGenerationBufferNPoints * sizeof(sampl_t);
m = write(comedi_fileno(dev), (void *)data, n);
if(m < 0){
perror("write");
exit(1);
}else if(m < n)
{
fprintf(stderr, "failed to preload output buffer with %i bytes, is it too small?\n"
"See the --write-buffer option of comedi_config\n", n);
exit(1);
}
if(!(PLLRefGen_Task = rt_task_init_schmod(nam2num( "PLLReferenceGeneration" ), // Name
2, // Priority
0, // Stack Size
0, //, // max_msg_size
SCHED_FIFO, // Policy
CPUMAP ))) // cpus_allowed
{
printf("ERROR: Cannot initialize pll reference generation task\n");
exit(1);
}
//specify that this is to run on one CPU
rt_set_runnable_on_cpuid(PLLRefGen_Task, 1);
//Convert samp_time, which is in nanoseconds, to tick time
//sampling_interval = nano2count(SAMP_TIME); //Converts a value from
//nanoseconds to internal count units.
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_make_hard_real_time();
PLLUpdateTime = nano2count(PLLGenerationLoopTime);
rt_printk("PLL generation update time is %f12 \n",count2nano((float) PLLUpdateTime));
// Let's make this task periodic..
expected = rt_get_time() + 100*PLLUpdateTime;
rt_task_make_periodic(PLLRefGen_Task, expected, PLLUpdateTime); //period in counts
//rt_task_resume(Sinewaveloop_Task);
PLLGenerationOn = TRUE;
// Concurrent function Loop
//rt_printk("SineWaveAmplitude is is %f \n",SineWaveAmplitude);
//rt_printk("SineWaveFrequency is %f \n",SineWaveFrequency);
//rt_printk("sine_loop_running is %d \n",sine_loop_running);
//rt_printk("SAMP_TIME is %d \n",SAMP_TIME);
start_time = (float)rt_get_time_ns()/1E9; //in seconds
old_time = start_time;
rt_printk("PLLReferenceGenerationChannel board_it is %p \n",PLLReferenceGenerationChannel.board_id);
rt_printk("PLLReferenceGenerationChannel devicename is %p \n",*(PLLReferenceGenerationChannel.devicename));
rt_printk("PLLReferenceGenerationChannel boardname is %p \n",*(PLLReferenceGenerationChannel.boardname));
rt_printk("PLLReferenceGenerationChannel subdevice is %d \n",PLLReferenceGenerationChannel.subdevice);
rt_printk("PLLReferenceGenerationChannel channel is %d \n",PLLReferenceGenerationChannel.channel);
OutputValue = 1;
PLLGenerationBufferSize = comedi_get_buffer_size(dev, PLLReferenceGenerationChannel.subdevice);
//sine_loop_running = 0; //set this to 0 for testing
while(PLLGenerationOn)
{
i++; // Count Loops.
current_time = (float)rt_get_time_ns()/1E9;
//rt_printk("LOOP %d,-- Period time: %f12 %f12\n",i, current_time - old_time,count2nano((float)sampling_interval)/1E9);
OutputValue = SineWaveAmplitude*sin(2*PI*SineWaveFrequency*(current_time-start_time));
//OutputValue = -1*OutputValue;
//rt_printk("OutputValue is %f12 \n",OutputValue);
data_to_card = (lsampl_t) nearbyint(((OutputValue - MinOutputVoltage)/OutputRange)*MaxOutputBits);
//m=rt_comedi_command_data_write(AnalogOutputChannel.board_id, AnalogOutputChannel.subdevice, NCHAN, data_to_card);
comedi_lock(dev, AnalogOutputChannel.subdevice);
m=comedi_data_write(dev, AnalogOutputChannel.subdevice, AnalogOutputChannel.channel, AO_RANGE, AREF_DIFF, data_to_card);
comedi_unlock(dev, AnalogOutputChannel.subdevice);
// m=comedi_data_write(AnalogOutputChannel.board_id, AnalogOutputChannel.subdevice,
// AnalogOutputChannel.channel, AO_RANGE, AREF_GROUND, data_to_card);
//rt_printk("Data_to_card is %d; result from rt_comedi_command_data_write is %d \n",data_to_card, m);
//rt_printk("LOOP %d,-- AO Out time: %f12 \n",i, (float)rt_get_time_ns()/1E9 - current_time);
//rt_printk("Data_to_card is %d \n",data_to_card);
//old_time = current_time;
/* if (i== 100000)
{
sine_loop_running = 0;
//printf("LOOP -- run: %d %d\n ",keep_on_running,&keep_on_running);
//printf("RTAI LOOP -- run: %d \n ",i);
break;
}
*/
rt_task_wait_period(); // And waits until the end of the period.
}
rt_make_soft_real_time();
comedi_close(dev);
rt_task_delete(Sinewaveloop_Task); //Self termination at end.
pthread_exit(NULL);
return 0;
}
NANO_TIME ticks2nano(TICK_TIME t) { return count2nano(t); }
int main(int argc, char *argv[])
{
int sock;
struct sockaddr_in SPRT_ADDR;
char buf[200];
int fd;
int diff;
int sample;
int average;
int min_diff;
int max_diff;
int period;
int i;
int cnt;
RTIME t, svt;
RTIME expected, exectime[3];
RT_TASK *task;
long long max = -1000000000, min = 1000000000;
struct sample { long long min; long long max; int index, ovrn; } samp;
double s, sref;
if (!(task = rt_task_init_schmod(nam2num("LATCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT MASTER LATENCY TASK\n");
exit(1);
}
sock = socket(AF_INET, SOCK_DGRAM, 0);
bzero(&SPRT_ADDR, sizeof(struct sockaddr_in));
SPRT_ADDR.sin_family = AF_INET;
SPRT_ADDR.sin_port = htons(5000);
SPRT_ADDR.sin_addr.s_addr = inet_addr("127.0.0.1");
fd = open("echo", O_RDWR | O_CREAT | O_TRUNC, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP);
printf("\n## RTAI latency calibration tool ##\n");
printf("# period = %i (ns) \n", PERIOD);
printf("# average time = %i (s)\n", (int)AVRGTIME);
printf("# use the FPU\n");
printf("#%sstart the timer\n", argc == 1 ? " " : " do not ");
printf("# timer_mode is %s\n", TIMER_MODE ? "periodic" : "oneshot");
printf("\n");
rt_sync_async_linux_syscall_server_create(NULL, ASYNC_LINUX_SYSCALL, async_callback, 120);
if (!(hard_timer_running = rt_is_hard_timer_running())) {
if (TIMER_MODE) {
rt_set_periodic_mode();
} else {
rt_set_oneshot_mode();
}
period = start_rt_timer(nano2count(PERIOD));
} else {
period = nano2count(PERIOD);
}
for(i = 0; i < MAXDIM; i++) {
a[i] = b[i] = 3.141592;
}
sref = dot(a, b, MAXDIM);
s = 0.0;
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
expected = rt_get_time() + 200*period;
rt_task_make_periodic(task, expected, period);
svt = rt_get_cpu_time_ns();
cnt = 0;
i = 0;
samp.ovrn = 0;
while (!end) {
min_diff = 1000000000;
max_diff = -1000000000;
average = 0;
for (sample = 0; sample < SMPLSXAVRG && !end; sample++) {
expected += period;
if (!rt_task_wait_period()) {
if (TIMER_MODE) {
diff = (int) ((t = rt_get_cpu_time_ns()) - svt - PERIOD);
svt = t;
} else {
diff = (int) count2nano(rt_get_time() - expected);
}
} else {
samp.ovrn++;
diff = 0;
if (TIMER_MODE) {
svt = rt_get_cpu_time_ns();
}
}
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
s = dot(a, b, MAXDIM);
if (fabs(s/sref - 1.0) > 1.0e-16) {
printf("\nDOT PRODUCT RESULT = %lf %lf %lf\n", s, sref, sref - s);
return 0;
}
}
samp.min = min_diff;
samp.max = max_diff;
samp.index = average/SMPLSXAVRG;
if (max < samp.max) max = samp.max;
if (min > samp.min) min = samp.min;
++cnt;
// printf("* %d - min: %lld/%lld, max: %lld/%lld average: %d <RET to stop> %d *\n", cnt, samp.min, min, samp.max, max, samp.index, samp.ovrn);
sprintf(buf, "* %d - min: %lld/%lld, max: %lld/%lld average: %d <RET to stop> %d *\n", cnt, samp.min, min, samp.max, max, samp.index, samp.ovrn);
i = write(STDOUT_FILENO, buf, strlen(buf));
fdatasync(STDOUT_FILENO);
i = write(fd, buf, strlen(buf));
fsync(fd);
sendto(sock, buf, strlen(buf), 0, (struct sockaddr *)&SPRT_ADDR, sizeof(struct sockaddr_in));
}
close(sock);
close(fd);
rt_make_soft_real_time();
if (!hard_timer_running) {
stop_rt_timer();
}
rt_get_exectime(task, exectime);
if (exectime[1] && exectime[2]) {
printf("\n>>> S = %g, EXECTIME = %G\n", s, (double)exectime[0]/(double)(exectime[2] - exectime[1]));
}
rt_task_delete(task);
return 0;
}
int main(int argc, char *argv[])
{
int diff;
int sample;
long average;
int min_diff;
int max_diff;
int period;
int i;
RTIME t, svt;
RTIME expected, exectime[3];
MBX *mbx;
RT_TASK *task, *latchk;
struct sample { long long min; long long max; int index, ovrn; } samp;
double s = 0.0, sref;
long long max = -1000000000, min = 1000000000;
signal(SIGINT, endme);
signal(SIGKILL, endme);
signal(SIGTERM, endme);
if (!(mbx = rt_mbx_init(nam2num("LATMBX"), 20*sizeof(samp)))) {
printf("CANNOT CREATE MAILBOX\n");
exit(1);
}
if (!(task = rt_task_init_schmod(nam2num("LATCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT MASTER LATENCY TASK\n");
exit(1);
}
printf("\n## RTAI latency calibration tool ##\n");
printf("# period = %i (ns) \n", PERIOD);
printf("# average time = %i (s)\n", (int)AVRGTIME);
printf("# use the FPU\n");
printf("#%sstart the timer\n", argc == 1 ? " " : " do not ");
printf("# timer_mode is %s\n", TIMER_MODE ? "periodic" : "oneshot");
printf("\n");
if (!(hard_timer_running = rt_is_hard_timer_running())) {
if (TIMER_MODE) {
rt_set_periodic_mode();
} else {
rt_set_oneshot_mode();
}
period = start_rt_timer(nano2count(PERIOD));
} else {
period = nano2count(PERIOD);
}
for(i = 0; i < MAXDIM; i++) {
a[i] = b[i] = 3.141592;
}
sref = dot(a, b, MAXDIM);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
expected = rt_get_time() + 200*period;
rt_task_make_periodic(task, expected, period);
svt = rt_get_cpu_time_ns();
i = 0;
samp.ovrn = 0;
while (!end) {
min_diff = 1000000000;
max_diff = -1000000000;
average = 0;
for (sample = 0; sample < SMPLSXAVRG && !end; sample++) {
expected += period;
if (!rt_task_wait_period()) {
if (TIMER_MODE) {
diff = (int) ((t = rt_get_cpu_time_ns()) - svt - PERIOD);
svt = t;
} else {
diff = (int) count2nano(rt_get_time() - expected);
}
} else {
samp.ovrn++;
diff = 0;
if (TIMER_MODE) {
svt = rt_get_cpu_time_ns();
}
}
outb(i = 1 - i, 0x378);
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
s = dot(a, b, MAXDIM);
if (fabs((s - sref)/sref) > 1.0e-15) {
printf("\nDOT PRODUCT RESULT = %20.16e %20.16e %20.16e\n", s, sref, fabs((s - sref)/sref));
return 0;
}
}
samp.min = min_diff;
samp.max = max_diff;
samp.index = average/SMPLSXAVRG;
#if SOLO
if (max < samp.max) max = samp.max;
if (min > samp.min) min = samp.min;
rt_printk("SOLO * min: %lld/%lld, max: %lld/%lld average: %d (%d) <Hit [RETURN] to stop> *\n", samp.min, min, samp.max, max, samp.index, samp.ovrn);
#else
rt_mbx_send_if(mbx, &samp, sizeof(samp));
if ((latchk = rt_get_adr(nam2num("LATCHK"))) && (rt_receive_if(latchk, &average) || end)) {
rt_return(latchk, average);
break;
}
#endif
}
while (rt_get_adr(nam2num("LATCHK"))) {
rt_sleep(nano2count(1000000));
}
rt_make_soft_real_time();
if (!hard_timer_running) {
stop_rt_timer();
}
rt_get_exectime(task, exectime);
if (exectime[1] && exectime[2]) {
printf("\n>>> S = %g, EXECTIME = %G\n", s, (double)exectime[0]/(double)(exectime[2] - exectime[1]));
}
rt_task_delete(task);
rt_mbx_delete(mbx);
return 0;
}
int main(int argc, char *argv[])
{
RTIME until;
RT_TASK *task;
comedi_insn insn[NCHAN];
unsigned int read_chan[NICHAN] = { 2, 3, 4, 5, 6 };
unsigned int write_chan[NOCHAN] = { 0, 1 };
#if !SINGLE_INSN
comedi_insnlist ilist = { NCHAN, insn };
#endif
#if SIN_FREQ
lsampl_t sinewave;
double omega = (2.0*M_PI*SIN_FREQ)/1.0E9;
double actualtime;
#endif
lsampl_t *hist;
lsampl_t data[NCHAN];
long i, k, n, retval;
int toggle;
FILE *fp;
struct sockaddr_in addr;
signal(SIGKILL, endme);
signal(SIGTERM, endme);
hist = malloc(SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
memset(hist, 0, SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
daqnode = 0;
if (argc == 2 && strstr(argv[1], "RcvNode=")) {
inet_aton(argv[1] + 8, &addr.sin_addr);
daqnode = addr.sin_addr.s_addr;
}
if (!daqnode) {
inet_aton("127.0.0.1", &addr.sin_addr);
daqnode = addr.sin_addr.s_addr;
}
while ((daqport = rt_request_port(daqnode)) <= 0 && daqport != -EINVAL);
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("COMEDI INSN%s TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d, NODE: %x, PORT: %d.\n", SINGLE_INSN ? "" : "LIST", SAMP_FREQ, RUN_TIME, daqnode, daqport);
rt_make_hard_real_time();
if (init_board()) {;
printf("Board initialization failed.\n");
return 1;
}
for (i = 0; i < NICHAN; i++) {
BUILD_AREAD_INSN(insn[i], subdevai, data[i], 1, read_chan[i], AI_RANGE, AREF_GROUND);
}
for (i = 0; i < NOCHAN; i++) {
BUILD_AWRITE_INSN(insn[NICHAN + i], subdevao, data[NICHAN + i], 1, write_chan[i], AO_RANGE, AREF_GROUND);
}
until = rt_get_time();
for (toggle = n = k = 0; k < SAMP_FREQ*RUN_TIME && !end /*SAMP_FREQ*RUN_TIME && !end*/; k++) {
#if SIN_FREQ
actualtime = count2nano(rt_get_time());
sinewave = (int) (maxdatao/8*sin(omega*actualtime));
data[NICHAN] = sinewave+maxdatao/2;
data[NICHAN + 1] = -sinewave+maxdatao/2;
#else
data[NICHAN] = toggle*maxdatao/2;
data[NICHAN + 1] = (1 - toggle)*maxdatao/2;
toggle = 1 - toggle;
#endif
#if SINGLE_INSN
for (i = 0; i < NCHAN; i++) {
if ((retval = RT_comedi_do_insn(daqnode, daqport, dev, insn + i)) > 0) {
hist[n++] = data[i];
} else {
printf("Comedi insn failed # %ld out of %d instructions, retval %ld.\n", i, NCHAN, retval);
break;
}
}
#else
if ((retval = RT_comedi_do_insnlist(daqnode, daqport, dev, &ilist)) == NCHAN) {
for (i = 0; i < NCHAN; i++) {
hist[n++] = data[i];
}
} else {
printf("Comedi insnlist processed only %lu out of %d instructions.\n", retval, NCHAN);
break;
}
#endif
rt_sleep_until(until += nano2count(SAMP_TIME));
}
RT_comedi_cancel(daqnode, daqport, dev, subdevai);
RT_comedi_cancel(daqnode, daqport, dev, subdevao);
RT_comedi_data_write(daqnode, daqport, dev, subdevao, 0, 0, AREF_GROUND, 2048);
RT_comedi_data_write(daqnode, daqport, dev, subdevao, 1, 0, AREF_GROUND, 2048);
RT_comedi_close(daqnode, daqport, dev);
printf("COMEDI INSN%s ENDS.\n", SINGLE_INSN ? "" : "LIST");
fp = fopen("rec.dat", "w");
for (n = k = 0; k < SAMP_FREQ*RUN_TIME; k++) {
fprintf(fp, "# %ld: ", k);
for (i = 0; i < NCHAN; i++) {
fprintf(fp, "%d\t", hist[n++]);
}
fprintf(fp, "\n");
}
fclose(fp);
free(hist);
stop_rt_timer();
rt_make_soft_real_time();
rt_task_delete(task);
return 0;
}
int main(void)
{
RTIME until;
RT_TASK *task;
comedi_insn insn[NCHAN];
unsigned int read_chan[NICHAN] = { 0 };
unsigned int write_chan[NOCHAN] = { 0 };
#if !SINGLE_INSN
comedi_insnlist ilist = { NCHAN, insn };
#endif
#if SIN_FREQ
lsampl_t sinewave;
double omega = (2.0*M_PI*SIN_FREQ)/1.0E9;
double actualtime;
#endif
lsampl_t *hist;
lsampl_t data[NCHAN];
long i, k, n, retval;
int toggle;
FILE *fp;
double tms[2];
#if SINGLE_INSN
printf("single insn true\n");
#endif
#if SIN_FREQ
printf(" true\n");
#endif
signal(SIGKILL, endme);
signal(SIGTERM, endme);
hist = malloc(SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
memset(hist, 0, SAMP_FREQ*RUN_TIME*NCHAN*sizeof(lsampl_t) + 1000);
start_rt_timer(0);
task = rt_task_init_schmod(nam2num("MYTASK"), 1, 0, 0, SCHED_FIFO, 0xF);
printf("COMEDI INSN%s TEST BEGINS: SAMPLING FREQ: %d, RUN TIME: %d.\n", SINGLE_INSN ? "" : "LIST", SAMP_FREQ, RUN_TIME);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
if (init_board()) {;
printf("Board initialization failed.\n");
return 1;
}
for (i = 0; i < NICHAN; i++) {
BUILD_AREAD_INSN(insn[i], subdevai, data[i], 1, read_chan[i], AI_RANGE, AREF_GROUND);
}
for (i = 0; i < NOCHAN; i++) {
BUILD_AWRITE_INSN(insn[NICHAN + i], subdevao, data[NICHAN + i], 1, write_chan[i], AO_RANGE, AREF_GROUND);
}
printf("done building.\n"); fflush (stdout);
until = rt_get_time();
for (toggle = n = k = 0; k < SAMP_FREQ*RUN_TIME && !end; k++) {
#if SIN_FREQ
actualtime = count2nano(rt_get_time());
if(k<2) tms[k] = actualtime;
sinewave = (int) (maxdatao/8*sin(omega*actualtime));
data[NICHAN] = sinewave+maxdatao/2;
//data[NICHAN + 1] = -sinewave+maxdatao/2;
#else
data[NICHAN] = toggle*maxdatao/2;
data[NICHAN + 1] = (1 - toggle)*maxdatao/2;
toggle = 1 - toggle;
#endif
#if SINGLE_INSN
for (i = 0; i < NCHAN; i++) {
if ((retval = comedi_do_insn(dev, insn + i)) > 0) {
hist[n++] = data[i];
} else {
printf("Comedi insn failed # %ld out of %d instructions, retval %ld.\n", i, NCHAN, retval);
break;
}
}
#else
if ((retval = rt_comedi_do_insnlist(dev, &ilist)) == NCHAN) {
for (i = 0; i < NCHAN; i++) {
hist[n++] = data[i];
}
} else {
printf("Comedi insnlist processed only %lu out of %d instructions.\n", retval, NCHAN);
break;
}
#endif
rt_sleep_until(until += nano2count(SAMP_TIME));
}
comedi_cancel(dev, subdevai);
comedi_cancel(dev, subdevao);
comedi_data_write(dev, subdevao, 0, 0, AREF_GROUND, 2048);
comedi_data_write(dev, subdevao, 1, 0, AREF_GROUND, 2048);
comedi_close(dev);
printf("COMEDI INSN%s ENDS.\n", SINGLE_INSN ? "" : "LIST");
printf("t1: %g\n", tms[0]);
printf("t2: %g\n", tms[1]);
printf("tdiff: %g\n", tms[1]-tms[0]);
fp = fopen("rec.dat", "w");
for (n = k = 0; k < SAMP_FREQ*RUN_TIME; k++) {
fprintf(fp, "# %ld: ", k);
for (i = 0; i < NCHAN; i++) {
fprintf(fp, "%d\t", hist[n++]);
}
fprintf(fp, "\n");
}
fclose(fp);
free(hist);
stop_rt_timer();
rt_make_soft_real_time();
rt_task_delete(task);
return 0;
}
void
fun(long thread)
{
int diff = 0;
int i;
int average;
int min_diff = 0;
int max_diff = 0;
RTIME t, svt;
/* If we want to make overall statistics */
/* we have to reset min/max here */
if (overall) {
min_diff = 1000000000;
max_diff = -1000000000;
}
#ifdef CONFIG_RTAI_FPU_SUPPORT
if (use_fpu) {
for(i = 0; i < MAXDIM; i++) {
a[i] = b[i] = 3.141592;
}
}
refres = dot(a, b, MAXDIM);
#endif
svt = rt_get_cpu_time_ns();
while (1) {
/* Not overall statistics: reset min/max */
if (!overall) {
min_diff = 1000000000;
max_diff = -1000000000;
}
average = 0;
for (i = 0; i < loops; i++) {
cpu_used[hard_cpu_id()]++;
expected += period_counts;
rt_task_wait_period();
if (timer_mode) {
diff = (int) ((t = rt_get_cpu_time_ns()) - svt - period);
svt = t;
} else {
diff = (int) count2nano(rt_get_time() - expected);
}
if (diff < min_diff) { min_diff = diff; }
if (diff > max_diff) { max_diff = diff; }
average += diff;
#ifdef CONFIG_RTAI_FPU_SUPPORT
if (use_fpu) {
dotres = dot(a, b, MAXDIM);
if ((tdif = dotres/refres - 1.0) < 0.0) {
tdif = -tdif;
}
if (tdif > 1.0e-16) {
rt_printk("\nDOT PRODUCT ERROR\n");
return;
}
}
#endif
}
samp.min = min_diff;
samp.max = max_diff;
samp.index = average / loops;
rtf_put(DEBUG_FIFO, &samp, sizeof (samp));
//while(1);
}
}
static inline void count2timeval(RTIME rt, struct timeval *t)
{
t->tv_sec = rtai_ulldiv(count2nano(rt), 1000000000, (unsigned long *)&t->tv_usec);
t->tv_usec /= 1000;
}
void * TestRTAI::rtMethod(void *)
{
//////////////////////////////////////////////////
// Initialize shared memory, RT task, and semaphores.
rtThreadState = RT_THREAD_INIT;
// Switch to use RTAI real-time scheduler
std::cout << "TestRTAI::rtMethod: Switching to RTAI real-time scheduler..." << std::endl;
RT_TASK * task = rt_task_init_schmod(
nam2num("MY_RT_TASK"), // name
0, // priority
0, // stack size
0, // max_msg_size
SCHED_FIFO, // scheduling policy
0xF // CPUs allowed
);
if (task == NULL)
{
std::cerr << "TestRTAI::rtMethod: Call to rt_task_init_schmod failed for MY_RT_TASK" << std::endl;
rtThreadState = RT_THREAD_ERROR;
return NULL;
}
rt_allow_nonroot_hrt();
//////////////////////////////////////////////////
// Start the real time engine...
RTIME tickPeriod = nano2count(rtPeriod_ns);
std::cout << "TestRTAI::rtMethod: Starting the real-time engine..." << std::endl;
std::cout << "TestRTAI::rtMethod: Making real-time task periodic, tickPeriod = " << tickPeriod << "..." << std::endl;
rt_task_make_periodic(task, rt_get_time() + tickPeriod, tickPeriod);
std::cout << "TestRTAI::rtMethod: Locking current memory into RAM..." << std::endl;
mlockall(MCL_CURRENT | MCL_FUTURE);
std::cout << "TestRTAI::rtMethod: Calling rt_make_hard_read_time()..." << std::endl;
rt_make_hard_real_time();
rtThreadState = RT_THREAD_RUNNING;
//////////////////////////////////////////////////
// The servo loop.
bool firstRound = true;
std::cout << "TestRTAI::rtMethod: starting the servo loop!" << std::endl;
while (continueRunning)
{
long long const currTime(nano2count(rt_get_cpu_time_ns()));
if (firstRound)
{
std::cout << "TestRTAI::rtmethod: First round" << std::endl;
firstRound = false;
}
else
std::cout << "TestRTAI::rtmethod: Period = " << (count2nano(currTime - prevTime) / 1e6) << "ms" << std::endl;
prevTime = currTime;
rt_task_wait_period();
}
//////////////////////////////////////////////////
// Clean up after ourselves.
std::cout << "TestRTAI::rtMethod: Exiting RT thread" << std::endl;
rtThreadState = RT_THREAD_CLEANUP;
rt_make_soft_real_time();
rt_task_delete(task);
return NULL;
}
