static void timer_code(void *arg)
{
long long int t1, t2, t3;
long int tdiff1, tdiff2, tdiff3;
char buf[30];
while (1) {
/* a simple counter... */
timer_count++;
/* print the results every second */
if (timer_count % 1000 == 0) {
t1 = rtapi_get_time();
t2 = rtapi_get_time();
rtapi_delay(rtapi_delay_max());
t3 = rtapi_get_time();
tdiff1 = t2 - t1;
tdiff2 = t3 - t2;
tdiff3 = t3 - t1;
long_long_to_dec_str(buf, t1);
rtapi_print("T1 = %s\n", buf);
long_long_to_dec_str(buf, t2);
rtapi_print("T2 = %s\n", buf);
long_long_to_dec_str(buf, t3);
rtapi_print("T3 = %s\n", buf);
rtapi_print("Tdiff1 = %ld\n", tdiff1);
rtapi_print("Tdiff2 = %ld\n", tdiff2);
rtapi_print("Tdiff3 = %ld\n", tdiff3);
}
/* put the task to sleep until the next interrupt */
rtapi_wait();
}
return;
}
/* task code, executed each timer interrupt */
void fifo_code(void *arg)
{
int n, tmp;
char buffer[FIFO_SIZE + 1] = { '\n' };
while (1) {
/* write count to buffer as a 3 digit number */
tmp = count;
for (n = 0; n < 3; n++) {
buffer[2 - n] = (char) ('0' + (tmp % 10));
tmp /= 10;
}
buffer[3] = ':';
/* write 'len' digits of 'len' */
for (n = 0; n < len; n++) {
buffer[4 + n] = (char) ('0' + len);
}
rtapi_fifo_write(fifo, buffer, len + 4);
total += len + 4;
buffer[4 + n] = (char) '\0';
rtapi_print_msg(2, "fifotask: total %d, wrote '%s'\n", total, buffer);
count++;
len++;
if (len > 9)
len = 0;
rtapi_wait();
}
return;
}
/* task code, executed periodically */
void shmem_code(void *arg)
{
while (1) {
if (0 != shmem_struct) {
shmem_struct->heartbeat++;
}
rtapi_wait();
}
return;
}
