int main(int argc, char *argv[])
{
int fifo, period, skip, average = 0;
RT_TASK *task;
RTIME expected;
if ((fifo = open("/dev/rtf0", O_WRONLY)) < 0) {
printf("Error opening FIFO0 in UCAL\n");
exit(1);
}
if (!(task = rt_task_init_schmod(nam2num("UCAL"), 0, 0, 0, SCHED_FIFO, 0xF))) {
printf("Cannot init UCAL\n");
exit(1);
}
rt_set_oneshot_mode();
period = start_rt_timer(nano2count(atoi(argv[1])));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
expected = rt_get_time() + 100*period;
rt_task_make_periodic(task, expected, period);
for (skip = 0; skip < atoi(argv[2]); skip++) {
expected += period;
rt_task_wait_period();
average += (int)count2nano(rt_get_time() - expected);
}
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(task);
write(fifo, &average, sizeof(average));
close(fifo);
exit(0);
}
int main(void)
{
struct sched_param mysched;
mysched.sched_priority = sched_get_priority_max(SCHED_FIFO);
if( sched_setscheduler( 0, SCHED_FIFO, &mysched ) == -1 ) {
puts(" ERROR IN SETTING THE SCHEDULER UP");
perror("errno");
exit(0);
}
rt_grow_and_lock_stack(20000);
#ifdef ONE_SHOT
rt_set_oneshot_mode();
#endif
start_rt_timer(nano2count(TICK_PERIOD));
firing_time = rt_get_time();
period = nano2count(1000000);
prt = rt_init_timer();
rt_insert_timer(prt, 1, firing_time, period, prh, 0, 1);
rt_tasklet_use_fpu(prt, 1);
seqt = rt_init_timer();
rt_insert_timer(seqt, 0, firing_time, 0, seqh, 0, 1);
while(!end) sleep(1);
stop_rt_timer();
rt_delete_timer(prt);
rt_delete_timer(seqt);
return 0;
}
int init_module(void)
{
int i;
rt_sem_init(&barrier, NTASKS + 1);
smbx = rt_msgget(nam2num("SMSG"), 0x666 | IPC_CREAT);
for (i = 0; i < NTASKS; i++) {
char mname[6] = "RMBX";
mname[4] = i + '0';
mname[5] = 0;
rmbx[i] = rt_msgget(nam2num(mname), 0x666 | IPC_CREAT);
}
rt_set_oneshot_mode();
start_rt_timer(0);
rt_kthread_init(&bthread, bfun, 0, 0x8000, 1, 1, 0);
rt_task_resume(&bthread);
for (i = 0; i < NTASKS; i++) {
rt_kthread_init(&mthread[i], mfun, i, 0x8000, i + 2, 1, 0);
rt_task_resume(&mthread[i]);
}
return 0;
}
int init_module(void)
{
int i;
DBG_PRINT_INIT;
if (rt_task_init(&start_task, start_task_code, 0, 10000, 10, 0, 0) != 0) {
printk("Could not start init task\n");
}
if (rt_mbx_init(&mbx_in, NUM_TASKS*8) || rt_mbx_init(&mbx_out, NUM_TASKS*8)) {
printk("could not create message queue\n");
return 1;
}
for (i = 0; i < NUM_TASKS; ++i) {
rt_sem_init(&sems[i], 0);
if (rt_task_init(&tasks[i], task_code, i, 3000, NUM_TASKS - i, 0, 0) != 0) {
printk("rt_task_ipc_init failed\n");
return 1;
}
}
#ifdef ONE_SHOT
rt_set_oneshot_mode();
#endif
start_rt_timer_ns(10000000);
checkt = rdtsc();
checkj = jiffies;
rt_task_resume(&start_task);
for (i = 0; i < NUM_TASKS; ++i) {
rt_task_resume(&tasks[i]);
}
return 0;
}
static int my_init(void) {
int i, ierr1, ierr2;
rt_typed_sem_init(&semaphore1, 0, BIN_SEM);
rt_typed_sem_init(&semaphore2, 0, BIN_SEM);
rt_set_oneshot_mode();
ierr1 = rt_task_init_cpuid(&tasks[0], task_body1, 0, STACK_SIZE, 1, 0, 0, 0);
ierr2 = rt_task_init_cpuid(&tasks[1], task_body2, 0, STACK_SIZE, 0, 0, 0, 0);
printk("[task 1] init return code %d by program %s\n", ierr1, __FILE__);
printk("[task 2] init return code %d by program %s\n", ierr2, __FILE__);
if (ierr1 == -1 || ierr2 == -1) {
return -1;
}
start_rt_timer(nano2count(TICK_PERIOD));
first_release = rt_get_time();
for (i = 0 ; i < N_TASK ; i++) {
rt_task_make_periodic(&tasks[i], first_release, PERIOD);
}
return 0;
}
static int my_init(void) {
int i;
rt_set_oneshot_mode();
for (i = 0 ; i < N_TASK ; i++) {
int ierr = rt_task_init_cpuid(&tasks[i], task_body, i, STACK_SIZE, Priority[i], 0, 0, 0);
printk("[task %d] init return code %d by program %s\n", i, ierr, __FILE__);
if (ierr == -1) {
return ierr;
}
}
start_rt_timer(nano2count(TICK_PERIOD));
time_unit = calibrate();
first_release = rt_get_time();
for (i = 0 ; i < N_TASK ; i++) {
rt_task_make_periodic(&tasks[i], first_release, Period[i] * time_unit);
}
return 0;
}
int init_module(void)
{
RTIME tick_period;
int err;
printk("%s: Loading RX%d Test module...\n", test_name, rt_port);
err = rt_spopen(rt_port,
line_param[0], line_param[1], line_param[2],
line_param[3], line_param[4], line_param[5]);
if (err) return err;
/* Register error handler */
rt_spset_err_callback_fun(rt_port, error_handler);
/* Start RX message handler */
rt_task_init(&thread, rx_handler, 0, STACK_SIZE, 0, 0, 0);
rt_task_resume(&thread);
rt_set_oneshot_mode();
if (period) {
tick_period = start_rt_timer(nano2count(period));
rt_task_make_periodic(&thread, rt_get_time(), tick_period);
}
return 0;
}
int realtime_on(void){
int retval;
/*RT_TASK * rt_task_init_schmod(unsigned long name, int priority, int stack_size, int max_msg_size, int policy, int cpus_allowed)*/
if(!(task = rt_task_init_schmod(nam2num("TAREA11"), 1, 0, 0, SCHED_FIFO, 0xF))){
printf("rt_task_init_schmod error\n");
return -1;
}
mlockall( MCL_CURRENT | MCL_FUTURE );
printf("TAREAL EN TIEMPO REAL (name = %lu, address = %p)\n", nam2num("TAREA1"), task);
rt_set_oneshot_mode();
task_period_count = nano2count(task_period_ns);
timer_period_count = start_rt_timer(task_period_count);/*Inicia temporizador*/
printf("\tRequested %d counts, got %d counts\n",(int) task_period_count, (int) timer_period_count);
retval = rt_task_make_periodic(task, rt_get_time() + task_period_count, task_period_count); /* recurring period */
if (0 != retval) {
printf("rt_task_make_periodic error\n");
return -1;
}
rt_make_hard_real_time();
printf("\tPeriodo=%f\n\n",(double)task_period_ns/1e9);
return 1;
}
int main(void)
{
RT_TASK *spktsk, *plrtsk;
RTIME period;
char buf[BUFSIZE], data, temp;
unsigned int msg, i, len;
printf("\n\nGENERIC RECEIVE\n");
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);
}
rt_set_oneshot_mode();
start_rt_timer(0);
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nSPEAKER TASK RUNNING\n");
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_task_make_periodic(spktsk, rt_get_time() + 5*period, period);
rt_returnx(rt_receivex(0, &msg, sizeof(int), &len), &msg, 1);
for (i = 0; i < 100; i++) {
rt_returnx(rt_receivex(0, &msg, sizeof(int), &len), &msg, 1);
}
len = 0;
while(1) {
if (len) {
data = filter(buf[i++]);
temp = inb(PORT_ADR);
temp &= 0xfd;
temp |= (data & 1) << 1;
outb(temp, PORT_ADR);
len--;
} else {
if (rt_evdrpx(0, buf, BUFSIZE, &i)) {
// rt_printk("EVDRP %d\n", i);
}
if ((plrtsk = rt_receivex_if(0, buf, BUFSIZE, &len))) {
rt_returnx(plrtsk, &len, sizeof(int));
if (len == sizeof(int) && ((int *)buf)[0] == 0xFFFFFFFF) {
break;
}
i = 0;
}
}
rt_task_wait_period();
}
rt_sleep(nano2count(100000000));
rt_make_soft_real_time();
stop_rt_timer();
rt_task_delete(spktsk);
printf("\nSPEAKER TASK STOPS\n");
return 0;
}
int tdma_attach(struct rtnet_device *rtdev, void *priv)
{
struct rtmac_tdma *tdma = (struct rtmac_tdma *)priv;
rt_printk("RTmac: tdma1: init time devision multiple access (tdma) for realtime stations\n");
memset(tdma, 0, sizeof(struct rtmac_tdma));
spin_lock_init(&tdma->delta_t_lock);
tdma->rtdev = rtdev;
/*
* init semas, they implement a producer consumer between the
* sending realtime- and the driver-task
*
*/
rt_sem_init(&tdma->client_tx, 0);
/*
* init tx queue
*
*/
rtskb_prio_queue_init(&tdma->tx_queue);
/*
* init rt stuff
* - timer
* - list heads
*
*/
/* generic */
/* master */
init_timer(&tdma->rt_add_timer);
INIT_LIST_HEAD(&tdma->rt_add_list);
INIT_LIST_HEAD(&tdma->rt_list);
INIT_LIST_HEAD(&tdma->rt_list_rate);
init_timer(&tdma->task_change_timer);
init_timer(&tdma->master_wait_timer);
init_timer(&tdma->master_sent_conf_timer);
init_timer(&tdma->master_sent_test_timer);
rtskb_queue_init(&tdma->master_queue);
/* client */
init_timer(&tdma->client_sent_ack_timer);
/*
* start timer
*/
rt_set_oneshot_mode();
start_rt_timer(0);
return 0;
}
int init_module(void)
{
unsigned int local_ip;
unsigned int server_ip = rt_inet_aton(server_ip_s);
struct rtnet_callback callback = {echo_rcv, NULL};
if (strlen(local_ip_s) != 0)
local_ip = rt_inet_aton(local_ip_s);
else
local_ip = INADDR_ANY;
if (interval < 1) interval = 1;
if (interval > 1000) interval = 1000;
if (packetsize < 1) packetsize = 1;
if (packetsize > 1400) packetsize = 1400;
printk("***** start of rt_client ***** %s %s *****\n", __DATE__, __TIME__);
printk("local ip address %s=%08x\n", local_ip_s, local_ip);
printk("server ip address %s=%08x\n", server_ip_s, server_ip);
printk("interval = %d\n", interval);
printk("packetsize = %d\n", packetsize);
printk("start timer %d\n", start_timer);
rtf_create(PRINT, 8000);
/* create rt-socket */
sock = socket_rt(AF_INET,SOCK_DGRAM,0);
/* bind the rt-socket to local_addr */
memset(&local_addr, 0, sizeof(struct sockaddr_in));
local_addr.sin_family = AF_INET;
local_addr.sin_port = htons(RCV_PORT);
local_addr.sin_addr.s_addr = local_ip;
bind_rt(sock, (struct sockaddr *)&local_addr, sizeof(struct sockaddr_in));
/* set server-addr */
memset(&server_addr, 0, sizeof(struct sockaddr_in));
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(SRV_PORT);
server_addr.sin_addr.s_addr = server_ip;
/* set up callback handler */
ioctl_rt(sock, RTNET_RTIOC_CALLBACK, &callback);
if (start_timer) {
rt_set_oneshot_mode();
start_rt_timer(0);
}
rt_task_init(&rt_task,(void *)process,0,4096,10,0,NULL);
rt_task_make_periodic_relative_ns(&rt_task, 1000000,
(RTIME)interval * 1000000);
return 0;
}
int init_module(void)
{
RTIME period;
rt_task_init(&agentask, fun, 0, STACK_SIZE, 0, 0, 0);
rt_set_oneshot_mode();
period = start_rt_timer((int) nano2count(TICK_PERIOD));
rt_task_make_periodic(&agentask, rt_get_time() + period, period);
return 0;
}
int init_module(void)
{
rt_task_init(&parent_task, parent_func, 0, STACK_SIZE, 0, 0, 0);
rt_set_oneshot_mode();
period = start_rt_timer((int) nano2count(TICK_PERIOD));
rt_set_runnable_on_cpus(&parent_task, RUN_ON_CPUS);
rt_task_resume(&parent_task);
return 0;
}
static int
__latency_init(void)
{
/* XXX check option ranges here */
/* register a proc entry */
#ifdef CONFIG_PROC_FS
create_proc_read_entry("rtai/latency_calibrate", /* name */
0, /* default mode */
NULL, /* parent dir */
proc_read, /* function */
NULL /* client data */
);
#endif
rtf_create(DEBUG_FIFO, 16000); /* create a fifo length: 16000 bytes */
rt_linux_use_fpu(use_fpu); /* declare if we use the FPU */
rt_task_init( /* create our measuring task */
&thread, /* poiter to our RT_TASK */
fun, /* implementation of the task */
0, /* we could transfer data -> task */
3000, /* stack size */
0, /* priority */
use_fpu, /* do we use the FPU? */
0 /* signal? XXX */
);
rt_set_runnable_on_cpus( /* select on which CPUs the task is */
&thread, /* allowed to run */
RUN_ON_CPUS
);
/* Test if we have to start the timer */
if (start_timer || (start_timer = !rt_is_hard_timer_running())) {
if (timer_mode) {
rt_set_periodic_mode();
} else {
rt_set_oneshot_mode();
}
rt_assign_irq_to_cpu(TIMER_8254_IRQ, TIMER_TO_CPU);
period_counts = start_rt_timer(nano2count(period));
} else {
period_counts = nano2count(period);
}
loops = (1000000000*avrgtime)/period;
/* Calculate the start time for the task. */
/* We set this to "now plus 10 periods" */
expected = rt_get_time() + 10 * period_counts;
rt_task_make_periodic(&thread, expected, period_counts);
return 0;
}
int main(void)
{
int i, indx[NTASKS];
unsigned long mytask_name = nam2num("MASTER");
signal(SIGINT, endme);
if (!(mytask = rt_task_init(mytask_name, 1, 0, 0))) {
printf("CANNOT INIT TASK %lu\n", mytask_name);
exit(1);
}
printf("MASTER INIT: name = %lu, address = %p.\n", mytask_name, mytask);
sem = rt_sem_init(10000, 0);
rt_set_oneshot_mode();
// rt_set_periodic_mode();
start_rt_timer(0);
for (i = 0; i < ntasks; i++) {
indx[i] = i;
if (!(task[i] = rt_thread_create(thread_fun, &indx[i], 10000))) {
printf("ERROR IN CREATING THREAD %d\n", indx[i]);
exit(1);
}
}
for (i = 0; i < ntasks; i++) {
while (!rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_send(rt_get_adr(taskname(i)), (unsigned long)sem);
}
for (i = 0; i < ntasks; i++) {
rt_sem_wait(sem);
}
for (i = 0; i < ntasks; i++) {
while (rt_get_adr(taskname(i))) {
rt_sleep(nano2count(20000000));
}
}
for (i = 0; i < ntasks; i++) {
rt_thread_join(task[i]);
}
rt_sem_delete(sem);
stop_rt_timer();
rt_task_delete(mytask);
printf("MASTER %lu %p ENDS\n", mytask_name, mytask);
return 0;
}
int init_module(void)
{
rt_task_init(&thread, fun, 0, 3000, 0, 0, 0);
rt_set_oneshot_mode();
period = start_rt_timer(nano2count(PERIOD));
expected = rt_get_time() + 10*period;
rt_task_make_periodic(&thread, expected, period);
// rt_printk("\n\n*** 'LATENCY_8254 IN USE %d", LATENCY_8254);
printk("\n*** Wait %d seconds for it ... ***\n\n", (int)(((long long)SKIP*(long long)PERIOD)/1000000000));
return 0;
}
int init_module(void)
{
#ifdef ONE_SHOT
rt_set_oneshot_mode();
#endif
rt_sem_init(¬Empty, 0);
rt_typed_sem_init(&mutex, 1, SEM_TYPE);
TimesBufferstatus = empty;
HourBufferstatus = empty;
return 0;
}
int init_module(void)
{
#ifdef ONE_SHOT
rt_set_oneshot_mode();
#endif
firing_time = rt_get_time() + nano2count(100000000);
period = nano2count(TICK_PERIOD);
start_rt_timer(period);
rt_insert_timer(&prt, 1, firing_time, period, prh, 0xAAAAAAAA, 0);
rt_insert_timer(&ost, 0, firing_time, nano2count(PERIODIC_BUDDY*TICK_PERIOD/2), osh, 0xBBBBBBBB, 0);
return 0;
}
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;
}
int init_module(void)
{
RTIME tick_period;
rtf_create_using_bh(CMDF, 4, 0);
#ifdef ONE_SHOT
rt_set_oneshot_mode();
#endif
tick_period = start_rt_timer(nano2count(TICK_PERIOD));
rt_task_init(&thread, intr_handler, 0, STACK_SIZE, 0, 0, 0);
rt_task_make_periodic(&thread, rt_get_time() + 2*tick_period, tick_period);
return 0;
}
int init_module(void)
{
rt_bits_init(&bits, 0xFFFF0000);
rt_task_init(&task0, fun0, 0, STACK_SIZE, 0, 0, 0);
rt_task_init(&task1, fun1, 0, STACK_SIZE, 0, 0, 0);
rt_task_init(&task, fun, 0, STACK_SIZE, 0, 0, 0);
rt_set_oneshot_mode();
start_rt_timer(nano2count(SLEEP_TIME));
rt_task_resume(&task0);
rt_task_resume(&task1);
rt_task_resume(&task);
return 0;
}
int main(void)
{
RT_TASK *mytask;
int smbx, rmbx[NTASKS];
int i, bthread, mthread[NTASKS];
char msg[] = "let's end the game";
mytask = rt_thread_init(nam2num("MAIN"), 2, 0, SCHED_FIFO, 0xF);
barrier = rt_sem_init(rt_get_name(0), NTASKS + 1);
smbx = rt_msgget(nam2num("SMSG"), 0x666 | IPC_CREAT);
for (i = 0; i < NTASKS; i++) {
char mname[6] = "RMBX";
mname[4] = i + '0';
mname[5] = 0;
rmbx[i] = rt_msgget(nam2num(mname), 0x666 | IPC_CREAT);
}
rt_set_oneshot_mode();
start_rt_timer(0);
bthread = rt_thread_create(bfun, 0, 0x8000);
for (i = 0; i < NTASKS; i++) {
mthread[i] = rt_thread_create(mfun, (void *)i, 0x8000);
}
printf("IF NOTHING HAPPENS IS OK, TYPE ENTER TO FINISH.\n");
getchar();
for (i = 0; i < NTASKS; i++) {
end = i;
rt_msgsnd_nu(rmbx[i], 1, msg, sizeof(msg), 0);
rt_thread_join(mthread[i]);
}
end = NTASKS;
rt_msgsnd_nu(smbx, 1, msg, sizeof(msg), 0);
rt_thread_join(bthread);
for (i = 0; i < NTASKS; i++) {
rt_msgctl(rmbx[i], IPC_RMID, NULL);
printf("TASK %d, LOOPS: %d.\n", i, cnt[i]);
}
rt_msgctl(smbx, IPC_RMID, NULL);
stop_rt_timer();
rt_sem_delete(barrier);
rt_task_delete(mytask);
printf("MAIN TASK ENDS.\n");
return 0;
}
int init_module(void)
{
rt_typed_mbx_init(&smbx, 5, MBX_TYPE); //5
rt_typed_mbx_init(&rmbx[0], 1, MBX_TYPE); //1
rt_typed_mbx_init(&rmbx[1], 3, MBX_TYPE); //3
rt_task_init(&btask, bfun, 0, STACK_SIZE, 0, 0, 0);
rt_task_init(&mtask[0], mfun, 0, STACK_SIZE, 1, 0, 0);
rt_task_init(&mtask[1], mfun, 1, STACK_SIZE, 1, 0, 0);
rt_set_oneshot_mode();
start_rt_timer(nano2count(SLEEP_TIME));
rt_task_resume(&btask);
rt_task_resume(&mtask[0]);
rt_task_resume(&mtask[1]);
return 0;
}
int init_module(void)
{
int i;
thread = (RT_TASK *)kmalloc(NTASKS*sizeof(RT_TASK), GFP_KERNEL);
rt_rwl_init(&rwl);
rt_set_oneshot_mode();
start_rt_timer(0);
for (i = 0; i < NTASKS; i++) {
extcnt[i] = 999999;
rt_task_init(&thread[i], fun, i + 1, STACK_SIZE, NTASKS - i, 0, 0);
rt_task_resume(&thread[i]);
}
return 0;
}
int main(void)
{
pthread_t thread;
unsigned int player, cnt;
unsigned long msg;
RT_TASK *mytask;
MBX *mbx;
char data[BUFSIZE];
signal(SIGINT, endme);
rt_allow_nonroot_hrt();
if ((player = open("../../../share/linux.au", O_RDONLY)) < 0) {
printf("ERROR OPENING SOUND FILE (linux.au)\n");
exit(1);
}
if (!(mytask = rt_task_init(nam2num("SNDMAS"), 2, 0, 0))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nINIT MASTER TASK %p\n\n(CTRL-C TO END EVERYTHING)\n", mytask);
mbx = rt_typed_named_mbx_init("SNDMBX", 2000, FIFO_Q);
rt_set_oneshot_mode();
start_rt_timer(0);
thread = rt_thread_create(intr_handler, NULL, 10000);
rt_mbx_receive(mbx, &data, 1);
while (!end) {
lseek(player, 0, SEEK_SET);
while(!end && (cnt = read(player, &data, BUFSIZE)) > 0) {
rt_mbx_send(mbx, data, cnt);
}
}
rt_rpc(rt_get_adr(nam2num("SOUND")), msg, &msg);
while (rt_get_adr(nam2num("SOUND"))) {
rt_sleep(nano2count(1000000));
}
rt_task_delete(mytask);
rt_mbx_delete(mbx);
stop_rt_timer();
close(player);
printf("\nEND MASTER TASK %p\n", mytask);
rt_thread_join(thread);
return 0;
}
int __init rtcfg_init(void)
{
int ret;
printk("RTcfg: init real-time configuration distribution protocol\n");
#if defined(CONFIG_RTAI_24) || defined(CONFIG_RTAI_30) || defined(CONFIG_RTAI_31)
if (start_timer) {
rt_set_oneshot_mode();
start_rt_timer(0);
}
#endif
ret = rtcfg_init_ioctls();
if (ret != 0)
goto error1;
rtcfg_init_state_machines();
ret = rtcfg_init_frames();
if (ret != 0)
goto error2;
#ifdef CONFIG_PROC_FS
ret = rtcfg_init_proc();
if (ret != 0)
goto error3;
#endif
return 0;
error3:
rtcfg_cleanup_frames();
error2:
rtcfg_cleanup_state_machines();
rtcfg_cleanup_ioctls();
error1:
#if defined(CONFIG_RTAI_24) || defined(CONFIG_RTAI_30) || defined(CONFIG_RTAI_31)
if (start_timer)
stop_rt_timer();
#endif
return ret;
}
int init_module(void)
{
int ret;
unsigned long local_ip = rt_inet_aton(local_ip_s);
unsigned long server_ip = rt_inet_aton(server_ip_s);
rtf_create(PRINT, 40000);
rt_sem_init(&tx_sem, 0);
rt_printk ("local ip address %s=%8x\n", local_ip_s, (unsigned int) local_ip);
rt_printk ("server ip address %s=%8x\n", server_ip_s, (unsigned int) server_ip);
/* create rt-socket */
sock=rt_socket(AF_INET,SOCK_DGRAM,0);
/* bind the rt-socket to local_addr */
memset(&local_addr, 0, sizeof(struct sockaddr_in));
local_addr.sin_family = AF_INET;
local_addr.sin_port = htons(RCV_PORT);
local_addr.sin_addr.s_addr = local_ip;
ret=rt_socket_bind(sock, (struct sockaddr *) &local_addr, sizeof(struct sockaddr_in));
/* set server-addr */
memset(&server_addr, 0, sizeof(struct sockaddr_in));
server_addr.sin_family = AF_INET;
server_addr.sin_port = htons(SRV_PORT);
server_addr.sin_addr.s_addr = server_ip;
// set up receiving
rt_socket_callback(sock, echo_rcv, NULL);
rt_set_oneshot_mode();
start_rt_timer(TIMERTICKS);
ret=rt_task_init(&rt_task,(void *)process,0,4096,10,0,NULL);
rt_task_resume(&rt_task);
rt_request_global_irq(parirq, parport_irq_handler);
rt_startup_irq(parirq);
outb(0xFF, PAR_DATA);
outb(0x14 + KHZ0_1, PAR_CONTROL);
return ret;
}
static int test_init(void) {
int ierr;
rt_set_oneshot_mode();
printk("PGM STARTING\n");
init_matrices();
// Create real-time tasks
ierr = rt_task_init_cpuid(&sens_task, // task
senscode, // rt_thread
0, // data
STACK_SIZE, // stack_size
3, // priority
0, // uses_fpu
0, // signal
0); // cpuid
ierr = rt_task_init_cpuid(&act_task, // task
actcode, // rt_thread
0, // data
STACK_SIZE, // stack_size
4, // priority
0, // uses_fpu
0, // signal
0); // cpuid
// init semaphores
rt_typed_sem_init(&sensDone, // semaphore pointer
0, // initial value
BIN_SEM); // semaphore type
if (!ierr) {
start_rt_timer(nano2count(TICK_PERIOD));
now = rt_get_time();
// Start tasks
rt_task_make_periodic(&sens_task, now, nano2count(PERIOD));
//rt_task_resume(&act_task);
}
//return ierr;
return 0; // pour ne pas faire planter le kernel
}
int init_module(void)
{
int i;
rt_set_oneshot_mode();
start_rt_timer(0);
sync_sem = rt_named_sem_init("SYNCSM", 0);
prio_sem = rt_named_sem_init("PRIOSM", 0);
if (!(mbx_in = rt_named_mbx_init("MBXIN", NUM_TASKS*8)) || !(mbx_out = rt_named_mbx_init("MBXOUT", NUM_TASKS*8))) {
rt_printk("could not create message queues\n");
return 1;
}
for (i = 0; i < NUM_TASKS; ++i) {
sems[i] = rt_named_sem_init(sem[i], 0);
}
print_sem = rt_typed_named_sem_init("PRTSEM", 1, BIN_SEM);
return 0;
}
int init_module(void)
{
int i;
rt_set_oneshot_mode();
start_rt_timer(0);
rt_mbx_init(&mbx, 5);
for (i = 0; i < NUM_TASKS; i++) {
rt_task_init(&task[i], fun1, i, STACK_SIZE, 0, 0, 0);
rt_task_resume(&task[i]);
}
rt_task_init(&task[NUM_TASKS], fun2, NUM_TASKS, STACK_SIZE, 1, 0, 0);
rt_task_resume(&task[NUM_TASKS]);
while (atomic_read(&cleanup) < (NUM_TASKS + 1)) {
current->state = TASK_INTERRUPTIBLE;
schedule_timeout(HZ/10);
}
return 0;
}
