void *CommandClock_task(void *args)
{
RT_TASK *mytask;
unsigned long command;
char R = 'R';
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *put = (RT_TASK *)0, *task;
if (!(mytask = rt_thread_init(nam2num("CLKTSK"), 1, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT TASK CommandClock_task\n");
exit(1);
}
printf("INIT TASK CommandClock_task %p.\n", mytask);
mlockall(MCL_CURRENT | MCL_FUTURE);
Clockstatus = stopped;
while (ackn != ('a' + 'b')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'b':
get = task;
ackn += command;
break;
case 'a':
put = task;
ackn += command;
break;
}
}
rt_return(put, command);
rt_return(get, command);
while(1) {
switch (Clockstatus) {
case stopped:
rt_receive(put, &command);
if (command == 'R') {
Clockstatus = running;
}
break;
case running:
if (rt_receive_if(put, &command)) {
if (command == 'T') {
Clockstatus = stopped;
}
} else {
command = R;
}
break;
}
rt_send(get, command);
if (command == 'F') {
goto end;
}
}
end:
rt_task_delete(mytask);
printf("END TASK CommandClock_task %p.\n", mytask);
return 0;
}
static void fun(long none)
{
volatile double s, a[MAXDIM], b[MAXDIM];
long msg;
RTIME period, wait_delay, sync_time, aim_time;
*worst_lat = -2000000000;
wait_delay = nano2count(WAIT_DELAY);
period = nano2count(PERIOD);
for(msg = 0; msg < MAXDIM; msg++) {
a[msg] = b[msg] = 3.141592;
}
rtai_cli();
aim_time = rt_get_time();
sync_time = aim_time + wait_delay;
aim_time += period;
while (!rt_receive_if(NULL, &msg)) {
WAIT_AIM_TIME();
sync_time = rt_get_time();
msg = abs((long)(sync_time - aim_time));
sync_time = aim_time + wait_delay;
aim_time += period;
if (msg > *worst_lat) {
*worst_lat = msg;
}
s = dot(a,b, MAXDIM);
rt_busy_sleep(WORKING_TIME);
rt_sleep_until(sync_time);
}
rtai_sti();
}
static void CommandChrono_task(long t)
{
RTIME fiveSeconds = nano2count(FIVE_SECONDS);
unsigned long command;
unsigned int buffered = 0;
unsigned int C = 'C';
unsigned int R = 'R';
int ackn = 0;
RT_TASK *get = (RT_TASK *)0, *put = (RT_TASK *)0, *task;
Chronostatus = stoppedInitial;
while (ackn != ('c' + 'd')) {
task = rt_receive((RT_TASK *)0, &command);
switch (command) {
case 'd':
get = task;
ackn += command;
break;
case 'c':
put = task;
ackn += command;
break;
}
}
rt_return(put, command);
rt_return(get, command);
while(1) {
cpu_used[hard_cpu_id()]++;
switch (Chronostatus) {
case stoppedInitial:
if (buffered) {
command = buffered;
buffered = 0;
} else {
rt_receive(put, &command);
}
Chronostatus = running;
break;
case running:
if (rt_receive_if(put, &command)) {
if (command == 'E') {
Chronostatus = stoppedFinal;
}
} else {
command = C;
}
break;
case stoppedFinal:
Chronostatus = stoppedInitial;
if (rt_receive_timed(put, &command, fiveSeconds) > 0) {
buffered = command;
}
command = R;
break;
}
rt_send(get, command);
}
}
int main(void)
{
RT_TASK *spktsk, *plrtsk;
RTIME period;
MBX *mbx;
char data, temp;
unsigned int msg, i;
// ioperm(PORT_ADR, 1, 1);
iopl(3);
if (!(spktsk = rt_task_init_schmod(nam2num("SPKTSK"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SPEAKER TASK\n");
exit(1);
}
mbx = rt_mbx_init(nam2num("SNDMBX"), 4000);
printf("\nSPEAKER TASK RUNNING\n");
rt_set_oneshot_mode();
start_rt_timer(0);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_task_make_periodic(spktsk, rt_get_time() + 5*period, period);
for (i = 0; i < 100; i++) {
plrtsk = rt_receive(0, &msg);
rt_return(plrtsk, msg);
}
while(1) {
if (!rt_mbx_receive_if(mbx, &data, 1)) {
data = filter(data);
temp = inb(PORT_ADR);
temp &= 0xfd;
temp |= (data & 1) << 1;
outb(temp, PORT_ADR);
}
rt_task_wait_period();
if ((plrtsk = rt_receive_if(0, &msg))) {
rt_return(plrtsk, msg);
break;
}
}
rt_sleep(nano2count(100000000));
rt_make_soft_real_time();
rt_mbx_delete(mbx);
stop_rt_timer();
rt_task_delete(spktsk);
printf("\nSPEAKER TASK STOPS\n");
return 0;
}
static void *intr_handler(void *args)
{
RT_TASK *mytask, *master;
RTIME period;
MBX *mbx;
char data = 'G';
char temp;
unsigned int msg;
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
// rt_allow_nonroot_hrt();
ioperm(PORT_ADR, 1, 1);
if (!(mytask = rt_task_init_schmod(nam2num("SOUND"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SOUND TASK\n");
exit(1);
}
mbx = rt_get_adr(nam2num("SNDMBX"));
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nINIT SOUND TASK %p\n", mytask);
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_mbx_send(mbx, &data, 1);
rt_task_make_periodic(mytask, rt_get_time() + 100*period, period);
while(1) {
if (!rt_mbx_receive_if(mbx, &data, 1)) {
data = filter(data);
temp = inb(PORT_ADR);
temp &= 0xfd;
temp |= (data & 1) << 1;
outb(temp, PORT_ADR);
}
rt_task_wait_period();
if ((master = rt_receive_if(0, &msg))) {
rt_return(master, msg);
break;
}
}
rt_make_soft_real_time();
rt_task_delete(mytask);
printf("\nEND SOUND TASK %p\n", mytask);
return 0;
}
pid_t rt_Creceive(pid_t pid, void *msg, size_t maxsize, size_t *msglen, RTIME delay)
{
RT_TASK *task;
MSGCB *cb;
task = pid ? pid2rttask(pid) : 0;
if (delay) {
task = rt_receive_timed(task, (unsigned int *)&cb, delay);
} else {
task = rt_receive_if(task, (unsigned int *)&cb);
}
if (task) {
if ((pid = rttask2pid(task))) {
*msglen = maxsize <= cb->sbytes ? maxsize : cb->sbytes;
if (*msglen) {
memcpy(msg, cb->sbuf, *msglen);
}
return pid;
}
return 0;
}
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[])
{
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;
}
