int main (int argc, char *argv[])
{
int err;
/* Bind to a shared heap which has been created elsewhere, either
in kernel or user-space. Here we cannot wait and the heap must
be available at once, since the caller is not a Xenomai-enabled
thread. The heap should have been created with the H_SHARED
mode set. */
err = rt_heap_bind(&heap_desc,"SomeShmName",TM_NONBLOCK);
if (err)
fail();
/* Get the address of the shared memory segment. The "size" and
"timeout" arguments are unused here. */
rt_heap_alloc(&heap_desc,0,TM_NONBLOCK,&shared_mem);
/* ... */
}
/*! \brief Fonction de création de l'application
*
* Fonction appelée lorsque l'initialisation de l'I2C est faite par le module_init
* (point d'entrée de l'application)
*/
static int space_invader(void)
{
int err;
err = rt_intr_enable(&isrDesc);
if (err != 0) {
printk("rt-app: Could not enable I2C ISR\n");
goto fail;
}
printk("rt-app: Enabled ISR\n");
err = rt_heap_create(&heap, "rt_heap", 240*320*2, 0);
if(err != 0){
printk("rt-app: Could not create the rt heap\n");
goto fail;
}else{
heap_created = 1;
}
printk("rt-app: RT-Heap created\n");
// On essaie de créer le tas pour le double buffering
err = rt_heap_alloc(&heap, 240*320*2, TM_NONBLOCK, &fb_mem_rt);
if(err != 0){
printk("rt-app: Could not allocate the rt heap\n");
goto fail;
}else{
heap_allocated = 1;
}
printk("rt-app: RT-Heap allocated\n");
// On crée la tâche pour les invaders
if(invaders_task_start() != 0){
goto fail;
}
// On crée la tâche pour les collisions
if(hit_task_start() != 0){
goto fail;
}
// On crée la tâche pour la gestion des entrées/sorties
if(io_task_start() != 0){
goto fail;
}
// On crée la tâche pour la gestion du frame buffer
if(fb_task_start() != 0){
goto fail;
}
// On crée la tâche pour le vaisseau
if(ship_task_start() != 0){
goto fail;
}
return 0;
// En cas d'échec de création de l'ISR ou d'une tâche
fail:
cleanup_module();
return -1;
}
