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)
{
#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;
}
void osh(unsigned long data)
{
if (ostloops++ < LOOPS) {
rt_printk("\nFIRED BUDDY: %3d, %lx", ostloops, data);
#if PERIODIC_BUDDY == 0
rt_insert_timer(&ost, 0, firing_time += nano2count(TICK_PERIOD/2), 0, osh, 0xBBBBBBBB, 0);
#endif
} else {
rt_printk("\n");
rt_remove_timer(&ost);
}
}
RTAI_SYSCALL_MODE void rt_ptimer_settime(timer_t timer, const struct itimerspec *value, unsigned long data, long flags)
{
struct rt_tasklet_struct *tasklet;
RTIME now;
tasklet = posix_timer[timer].timer;
rt_remove_timer(tasklet);
now = rt_get_time();
if (flags == TIMER_ABSTIME) {
if (timespec2count(&(value->it_value)) < now) {
now -= timespec2count (&(value->it_value));
}else {
now = 0;
}
}
if (timespec2count ( &(value->it_value)) > 0) {
if (data) {
rt_insert_timer(tasklet, 0, now + timespec2count ( &(value->it_value) ), timespec2count ( &(value->it_interval) ), NULL, data, -1);
} else {
rt_insert_timer(tasklet, 0, now + timespec2count ( &(value->it_value) ), timespec2count ( &(value->it_interval) ), tasklet->handler, tasklet->data, 0);
}
}
}
void seqh(unsigned long data)
{
switch (opcod) {
case 0: {
rt_printk("- SEQUENCER FIRED FOR A FAST POLLING\n");
rt_insert_timer(seqt, 10, rt_get_time() + nano2count(500000), nano2count(500000), seqh, 0, 1);
opcod = 1;
}
break;
case 1: {
if (poloops++ < LOOPS) {
if (poloops == 1) {
rt_printk("- SEQUENCER BEGINS FAST POLLING\n");
}
} else {
rt_printk("- SEQUENCER FAST POLLING ENDED, TIMED FOR A LATER FINAL OPERATION\n");
rt_set_timer_firing_time(seqt, rt_get_time() + nano2count(50000000));
opcod = 2;
}
}
break;
case 2: {
rt_printk("- SEQUENCER EXECUTES FINAL OPERATION, ... THEN\n SLOWLY POLLS WAITING FOR THE END OF THE PERIODIC COMPUTATIONAL TASKLET\n");
opcod = 3;
}
break;
case 3: {
if (endp) {
rt_printk("- PERIODIC COMPUTATIONAL TASKLET GONE, SEQUENCER ENDS IT ALL\n");
rt_remove_timer(seqt);
end = 1;
} else {
// rt_printk("\nSEQUENCER WAITING FOR PERIODIC TIMER END");
}
}
break;
}
}
