void RtxInit(void)
{
unsigned long temp;
LARGE_INTEGER physAddr;
LARGE_INTEGER waiting;
LARGE_INTEGER liPeriod;
LARGE_INTEGER waiting2;
LARGE_INTEGER liPeriod2;
// Shared memory
hSharedMemory = RtOpenSharedMemory(
SHM_MAP_WRITE, // access mode
FALSE, // don't care
L"Can Shared Data", // name of shared memory
(VOID **)&pSharedMemory); // shared memory data address
if (hSharedMemory == NULL)
{
RtWprintf(L"\n>>> RtOpenSharedMemory error = %d\n", GetLastError());
ExitProcess(1);
}
else RtWprintf(L"\n>>> RtOpenSharedMemory is OK..!!");
// Memory mapping
temp = baseAddr;
temp = temp << 4;
physAddr.QuadPart = temp;
vAddress = RtMapMemory(physAddr, 0xDFFF, 1);
if(vAddress==NULL) RtWprintf(L"\n>>> Failure on RtMapMemory..!\n");
else;
// Timer for 2 msec (500 Hz)
liPeriod.QuadPart = timeInt;
waiting.QuadPart = 30000000;
if (! (hTimer = RtCreateTimer(
NULL, // security
0, // stack size - 0 uses default
TimerHandler, // timer handler
NULL, // NULL context (argument to handler)
RT_PRIORITY_MAX, // priority
CLOCK_2) )) // RTX HAL timer
{
RtWprintf(L"\n>>> RtCreateTimer for 2 msec (500 Hz) error = %d\n", GetLastError());
ExitProcess(1);
}
else;
if (! RtSetTimerRelative( hTimer, // hTimer
&waiting, // pExpiration
&liPeriod) ) // pInterval
{
RtWprintf(L"\n>>> RtSetTimerRelative error (2 msec or 500 Hz= %d\n",GetLastError());
ExitProcess(1);
}
else;
// Timer for 4 msec (100 Hz)
liPeriod2.QuadPart = timeInt2;
waiting2.QuadPart = 30000000+timeInt;
if (! (hTimer2 = RtCreateTimer(
NULL, // security
0, // stack size - 0 uses default
TimerHandler2, // timer handler
NULL, // NULL context (argument to handler)
RT_PRIORITY_MAX-1, // priority
CLOCK_2) )) // RTX HAL timer
{
RtWprintf(L"\n>>> RtCreateTimer for 10 msec (100 Hz) error = %d\n", GetLastError());
ExitProcess(1);
}
else;
if (! RtSetTimerRelative( hTimer2, // hTimer
&waiting2, // pExpiration
&liPeriod2) ) // pInterval
{
RtWprintf(L"\n>>> RtSetTimerRelative error (10 msec or 100 Hz= %d\n",GetLastError());
ExitProcess(1);
}
else;
}
void _cdecl main(int argc, char **argv, char **envp)
{
//// Test C_CircBuffer
//C_CircBuffer buff;
//char pStr[512];
//
//for(int i = 0 ; i < 50 ; i++)
//{
// // Write to circular buffer
// unsigned int err = buff.Write("Test string");
// // Read
// err = buff.Read(pStr);
// printf("%s", pStr);
//}
logMsg.LoggingStart();
hThread1 = CreateThread(0, 0, ThreadHandler, NULL, CREATE_SUSPENDED, 0);
// Handle thread creation fail
if(hThread1 == NULL)
{
printf_s( "Error:\tCould not create 'hThread1'.\n");
ExitProcess(0);
}
hThread2 = CreateThread(0, 0, ThreadHandler2, NULL, CREATE_SUSPENDED, 0);
// Handle thread creation fail
if(hThread2 == NULL)
{
printf_s( "Error:\tCould not create 'hThread2'.\n");
ExitProcess(0);
}
printf( "OK\t\t'hThread1' and 'hThread1' created. Handlet = 0x%X\n", hThread1);
// Set thread prority
if(RtSetThreadPriority(hThread1, RT_PRIORITY_MAX - 5))
{
printf("OK\t\t'hThread1' priority was set to: RT_PRIORITY_MAX - 5.\n");
}
else
{
CloseHandle(hThread1);
printf("Error:\tPriority of 'hThread1' wasn't set\n");
ExitProcess(0);
}
// Set thread prority
if(RtSetThreadPriority(hThread2, RT_PRIORITY_MAX - 5))
{
printf("OK\t\t'hThread2' priority was set to: RT_PRIORITY_MAX - 5.\n");
}
else
{
CloseHandle(hThread2);
printf("Error:\tPriority of 'hThread2' wasn't set\n");
ExitProcess(0);
}
// Start hThread1
if(RtResumeThread(hThread1) != 0XFFFFFFFF)
{
printf("OK\t\t'hThread1' resumed.\n");
}
else
{
CloseHandle(hThread1);
printf("Error:\t'hThread1' cannot be resumed.\n");
ExitProcess(0);
}
// Start hThread2
if(RtResumeThread(hThread2) != 0XFFFFFFFF)
{
printf("OK\t\t'hThread2' resumed.\n");
}
else
{
CloseHandle(hThread2);
printf("Error:\t'hThread2' cannot be resumed.\n");
ExitProcess(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Test asyn. log message
logMsg.PushMessage("Test message 1", SEVERITY_MAX - 1);
logMsg.PushMessage("Test message 2", SEVERITY_MAX - 1);
logMsg.PushMessage("Test message 3", SEVERITY_MAX - 1);
// Timer test
timerCounter = 0;
LARGE_INTEGER timerLastTime, minTmrPeriod, tmrPeriod;
timerLastTime.QuadPart = 0;
char strMessage[256];
hTimerPWM = RtCreateTimer(NULL, 0, OnTimerPWMTick, NULL, RT_PRIORITY_MAX, CLOCK_3); // Create timer
if(hTimerPWM == NULL)
{
sprintf_s(strMessage, 256, "Error: Timer was not created.\r\n");
logMsg.PushMessage(strMessage, SEVERITY_MAX - 1);
}
if(!RtGetClockTimerPeriod(CLOCK_3, &minTmrPeriod)) // Get minimum timer period
{
sprintf_s(strMessage, 256, "Error: Timer period was not set.\r\n");
logMsg.PushMessage(strMessage, SEVERITY_MAX - 1);
}
tmrPeriod.QuadPart = minTmrPeriod.QuadPart * 10;
printf("\nPeriod = %I64d\n", tmrPeriod.QuadPart);
RtSetTimerRelative(hTimerPWM, &tmrPeriod, &tmrPeriod); // Set required (1ms) timer period
Sleep(1000); // 1s
LARGE_INTEGER cancelCode;
RtCancelTimer(hTimerPWM, &cancelCode); // Close timer
if(hTimerPWM != NULL)RtDeleteTimer(hTimerPWM); // Delete timer
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
logMsg.LoggingStop();
// Waiting for thread end
bool allThreadsEnded;
DWORD ExitCode;
while(1)
{
allThreadsEnded = TRUE;
if(hThread1 != NULL || hThread1 != NULL)
{
if ( GetExitCodeThread(hThread1,&ExitCode) == TRUE )
{
if(ExitCode != STILL_ACTIVE)
{
printf("OK\t\t'hThread1' has ended.\n");
}
else
{
allThreadsEnded = FALSE;
RtSleep(10);
}
}
else
{
DWORD err = GetLastError();
printf("Error:\tGetLastError()=%04x\n", err);
}
if ( GetExitCodeThread(hThread1,&ExitCode) == TRUE )
{
if(ExitCode != STILL_ACTIVE)
{
printf("OK\t\t'hThread2' has ended.\n");
}
else
{
allThreadsEnded = FALSE;
RtSleep(10);
}
}
else
{
DWORD err = GetLastError();
printf("Error:\tGetLastError()=%04x\n", err);
}
}
if(allThreadsEnded)break;
}
ExitProcess(0);
}
