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;
}
/* rtapi_app_main() is expanded to init_module() via a macro in
rtapi_app.h */
int rtapi_app_main(void)
{
int retval;
int timer_prio;
long period;
module = rtapi_init("TIMERTASK");
if (module < 0) {
rtapi_print("timertask init: rtapi_init returned %d\n", module);
return -1;
}
/* is timer started? if so, what period? */
period = rtapi_clock_set_period(0);
if (period == 0) {
/* not running, start it */
rtapi_print("timertask init: starting timer with period %ld\n",
TIMER_PERIOD_NSEC);
period = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
if (period < 0) {
rtapi_print
("timertask init: rtapi_clock_set_period failed with %ld\n",
period);
rtapi_exit(module);
return -1;
}
}
/* make sure period <= desired period (allow 1% roundoff error) */
if (period > (TIMER_PERIOD_NSEC + (TIMER_PERIOD_NSEC / 100))) {
/* timer period too long */
rtapi_print("timertask init: clock period too long: %ld\n", period);
rtapi_exit(module);
return -1;
}
rtapi_print("timertask init: desired clock %ld, actual %ld\n",
TIMER_PERIOD_NSEC, period);
/* set the task priority to second lowest, since we only have one task */
timer_prio = rtapi_prio_next_higher(rtapi_prio_lowest());
/* create the timer task */
/* the second arg is an abitrary int that is passed to the timer task on
the first iterration */
timer_task = rtapi_task_new(timer_code, 0 /* arg */ , timer_prio, module,
TIMER_STACKSIZE, RTAPI_NO_FP);
if (timer_task < 0) {
/* See rtapi.h for the error codes returned */
rtapi_print("timertask init: rtapi_task_new returned %d\n",
timer_task);
rtapi_exit(module);
return -1;
}
/* start the task running */
retval = rtapi_task_start(timer_task, TASK_PERIOD_NSEC);
if (retval < 0) {
rtapi_print("timertask init: rtapi_task_start returned %d\n", retval);
rtapi_exit(module);
return -1;
}
rtapi_print("timertask init: started timer task\n");
rtapi_print("timertask init: max delay = %ld\n", rtapi_delay_max());
return 0;
}
void rtapi_delay(long ns) {
if(ns > rtapi_delay_max()) ns = rtapi_delay_max();
struct timespec ts = {0, ns};
rtapi_clock_nanosleep(CLOCK_MONOTONIC, 0, &ts, NULL, NULL);
}
