int init_module (void)
{
RTIME tick_period;
RTIME now;
#ifdef SHM_DEBUG
int size = SHMSIZ ;
unsigned long vaddr, paddr;
#endif
shm = (int *)rtai_kmalloc(nam2num(SHMNAM), SHMSIZ);
shm = (int *)rtai_kmalloc(nam2num(SHMNAM), SHMSIZ);
shm = (int *)rtai_kmalloc(nam2num(SHMNAM), SHMSIZ);
shm = (int *)rtai_kmalloc(nam2num(SHMNAM), SHMSIZ);
if (shm == NULL)
return -ENOMEM;
memset(shm, 0, SHMSIZ);
#ifdef SHM_DEBUG
/* Show physical addresses of */
vaddr = (unsigned long)shm;
while (size > 0)
{
paddr = kvirt_to_pa(vaddr);
printk("vaddr=0x%lx paddr=0x%lx\n", vaddr, paddr);
vaddr += PAGE_SIZE;
size -= PAGE_SIZE;
}
#endif
rt_task_init(&thread, fun, 0, STACK_SIZE, 0, 0, 0);
tick_period = start_rt_timer(nano2count(TICK_PERIOD));
now = rt_get_time();
rt_task_make_periodic(&thread, now + tick_period, tick_period*PERIOD_COUNT);
return 0;
}
void* shm_handler(unsigned int srq, unsigned long arg) {
switch (srq) {
case CMD_RTAI_KMALLOC:
do {
struct rtai_kmalloc_desc *mem = (struct rtai_kmalloc_desc*)arg;
return rtai_kmalloc(mem->name,mem->size);
} while(0);
break;
case CMD_RTAI_KFREE:
do {
struct rtai_kfree_desc *mem = (struct rtai_kfree_desc*)arg;
rtai_kfree(mem->name);
return 0;
} while(0);
break;
default:
break;
};
return (void*)-EINVAL;
};