Exemplo n.º 1
0
/**
 * INITIALIZATION and DESTRUCTION
 */
ImuInterfaceNonRT::ImuInterfaceNonRT()
{
  stop_reading_ = false;
  sl_rt_mutex_init(&mutex_);
  num_writes_ = 0;
  num_reads_ = 0;
  initialized_ = false;
//  gravity_[0] = gravity_[1] = gravity_[2] =0.0;
  timestamp_ = 0;
}
Exemplo n.º 2
0
/*!*****************************************************************************
 *******************************************************************************
\note  initXeno
\date  Oct. 2009

\remarks 

xenomai specific initializations

 *******************************************************************************
Function Parameters: [in]=input,[out]=output

none

 ******************************************************************************/
void
initXeno(char *task_name)
{
  int rc;
  struct sigaction sa;

  // lock all of the pages currently and pages that become
  // mapped into the address space of the process
  mlockall(MCL_CURRENT | MCL_FUTURE);

  sl_rt_mutex_init(&mutex1);

  //become a real-time process
  char name[100];
  sprintf(name, "x%s_main_%d", task_name, parent_process_id);
  rt_task_shadow(NULL, name, 0, 0);

  // what to do when mode switches happen
  signal(SIGDEBUG, action_upon_switch);

  // start the non real-time printing library
  rt_print_auto_init(1);

  // get the timer info
  if ((rc=rt_timer_set_mode((RTIME) XENO_CLOCK_PERIOD)))
    printf("rc_timer_set_mode returned %d\n",rc);

  // check what we got
  RT_TIMER_INFO info;
  rt_timer_inquire(&info);
  if (info.period == TM_ONESHOT)
    printf("Timer Period = TM_ONESHOT\n");
  else
    printf("Timer Period = %ld [ns]\n",(long) info.period);

}