/* part of the Linux kernel module that kicks off the timer task */
int rtapi_app_main(void)
{
int retval;
int slave_prio;
module = rtapi_init("SEM_SLAVE");
if (module < 0) {
rtapi_print("sem slave init: rtapi_init returned %d\n", module);
return -1;
}
/* open the semaphore */
slave_sem = rtapi_sem_new(SEM_KEY, module);
if (slave_sem < 0) {
rtapi_print("sem slave init: rtapi_sem_new returned %d\n", slave_sem);
rtapi_exit(module);
return -1;
}
/* set the task priority to the lowest one; the master is higher */
slave_prio = rtapi_prio_lowest();
/* create the slave task */
slave_task = rtapi_task_new(slave_code, 0 /* arg */ , slave_prio, module,
SLAVE_STACKSIZE, RTAPI_NO_FP);
if (slave_task < 0) {
rtapi_print("sem slave init: rtapi_task_new returned %d\n",
slave_task);
rtapi_exit(module);
return -1;
}
/* start the slave task */
retval = rtapi_task_resume(slave_task);
if (retval != RTAPI_SUCCESS) {
rtapi_print("sem slave init: rtapi_task_start returned %d\n", retval);
rtapi_exit(module);
return -1;
}
rtapi_print("sem slave init: started slave task\n");
return 0;
}
/* part of the Linux kernel module that kicks off the fifo task */
int rtapi_app_main(void)
{
int retval;
int fifo_prio;
long period;
module = rtapi_init("FIFOTASK");
if (module < 0) {
rtapi_print("fifotask init: rtapi_init failed with %d\n", module);
return -1;
}
/* allocate and initialize the fifo */
fifo = rtapi_fifo_new(FIFO_KEY, module, FIFO_SIZE, 'W');
if (fifo < 0) {
rtapi_print("fifotask init: rtapi_fifo_new failed with %d\n", fifo);
rtapi_exit(module);
return -1;
}
rtapi_print("fifotask: created fifo\n");
/* is timer started? if so, what period? */
period = rtapi_clock_set_period(0);
if (period == 0) {
/* not running, start it */
rtapi_print("fifotask init: starting timer with period %ld\n",
TIMER_PERIOD_NSEC);
period = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
if (period < 0) {
rtapi_print
("fifotask 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("fifotask init: clock period too long: %ld\n", period);
rtapi_exit(module);
return -1;
}
rtapi_print("fifotask init: desired clock %ld, actual %ld\n",
TIMER_PERIOD_NSEC, period);
/* set the task priority to lowest, since we only have one task */
fifo_prio = rtapi_prio_lowest();
/* create the fifo task */
fifo_task = rtapi_task_new(fifo_code, 0 /* arg */ , fifo_prio, module,
FIFO_STACKSIZE, RTAPI_NO_FP);
if (fifo_task < 0) {
rtapi_print("fifotask init: rtapi_task_new failed with %d\n",
fifo_task);
rtapi_exit(module);
return -1;
}
/* start the fifo task */
retval = rtapi_task_start(fifo_task, FIFO_PERIOD_NSEC);
if (retval < 0) {
rtapi_print("fifotask init: rtapi_task_start failed with %d\n",
retval);
rtapi_exit(module);
return -1;
}
rtapi_print("fifotask: started fifo task\n");
return 0;
}
/* 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;
}
/* part of the Linux kernel module that kicks off the shmem task */
int rtapi_app_main(void)
{
int retval;
int shmem_prio;
long period;
module = rtapi_init("SHMEMTASK");
if (module < 0) {
rtapi_print("shmemtask init: rtapi_init returned %d\n", module);
return -1;
}
/* allocate and initialize the shared memory structure */
shmem_mem = rtapi_shmem_new(key, module, sizeof(SHMEM_STRUCT));
if (shmem_mem < 0) {
rtapi_print("shmemtask init: rtapi_shmem_new returned %d\n",
shmem_mem);
rtapi_exit(module);
return -1;
}
retval = rtapi_shmem_getptr(shmem_mem, (void **) &shmem_struct);
if (retval < 0) {
rtapi_print("shmemtask init: rtapi_shmem_getptr returned %d\n",
retval);
rtapi_exit(module);
return -1;
}
shmem_struct->heartbeat = 0;
/* is timer started? if so, what period? */
period = rtapi_clock_set_period(0);
if (period == 0) {
/* not running, start it */
rtapi_print("shmemtask init: starting timer with period %ld\n",
TIMER_PERIOD_NSEC);
period = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
if (period < 0) {
rtapi_print
("shmemtask 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("shmemtask init: clock period too long: %ld\n", period);
rtapi_exit(module);
return -1;
}
rtapi_print("shmemtask init: desired clock %ld, actual %ld\n",
TIMER_PERIOD_NSEC, period);
/* set the task priority to lowest, since we only have one task */
shmem_prio = rtapi_prio_lowest();
/* create the shmem task */
shmem_task = rtapi_task_new(shmem_code, 0 /* arg */ , shmem_prio, module,
SHMEM_STACKSIZE, RTAPI_NO_FP);
if (shmem_task < 0) {
rtapi_print("shmemtask init: rtapi_task_new returned %d\n",
shmem_task);
rtapi_exit(module);
return -1;
}
/* start the shmem task */
retval = rtapi_task_start(shmem_task, SHMEM_PERIOD_NSEC);
if (retval < 0) {
rtapi_print("shmemtask init: rtapi_task_start returned %d\n", retval);
rtapi_exit(module);
return -1;
}
rtapi_print("shmemtask init: started shmem task\n");
return 0;
}
