int __init hello_init(void)
{
RTIME sampling;
rt_printk(KERN_INFO "TESTE - *************************** INICIO *******************************\n");
rt_task_init(&Task_1, signalIchi, 0, 3000, 0, 0, NULL);
rt_task_init(&Task_2, signalNi, 0, 3000, 0, 0, NULL);
rt_task_init(&Task_3, signalSan, 0, 3000, 0, 0, NULL);
sampling = start_rt_timer(nano2count(TICK));
rt_sem_init(&rMutex, 1);
rt_task_make_periodic(&Task_1, rt_get_time() + sampling * 16, sampling * 16);
rt_task_make_periodic(&Task_2, rt_get_time() + sampling * 18, sampling * 18);
rt_task_make_periodic(&Task_3, rt_get_time() + sampling * 30, sampling * 30);
rt_change_prio(&Task_1, 2);
rt_change_prio(&Task_2, 1);
rt_change_prio(&Task_3, 3);
rt_printk(KERN_INFO "Init module function\n");
return 0;
}
int main(void)
{
RT_TASK *task;
RTIME now;
int cnt=0;
// make main thread LXRT soft realtime
task = rt_task_init_schmod(nam2num("MYTASK"), 9, 0, 0, SCHED_FIFO, 0xF);
mlockall(MCL_CURRENT | MCL_FUTURE);
// start realtime timer and scheduler
//rt_set_oneshot_mode();
rt_set_periodic_mode();
start_rt_timer(0);
now = rt_get_time() + 10*PERIOD;
rt_task_make_periodic(task, now, PERIOD);
printf("Init mutex and cond.\n");
mutex = rt_sem_init(nam2num("MUTEX"), 1);
if (mutex==0)
printf("Error init mutex\n");
cond = rt_cond_init(nam2num("CONDITION"));
if (cond==0)
printf("Error init cond\n");
thread0 = rt_thread_create(fun0, NULL, 10000);
//thread1 = rt_thread_create(fun1, NULL, 20000);
//rt_sleep(PERIOD);
while (cnt < THRESHOLD) {
rt_task_wait_period();
rt_printk("main: Hello World %d!\n",cnt);
rt_sem_wait(mutex); //now the mutex should have value 0
if (instance_cnt==0) {
rt_sem_signal(mutex); //now the mutex should have vaule 1
rt_printk("worker thread busy!\n");
} else {
instance_cnt++;
rt_cond_signal(cond);
rt_sem_signal(mutex); //now the mutex should have vaule 1
rt_printk("signaling worker thread to start!\n");
}
cnt++;
}
// wait for end of program
printf("TYPE <ENTER> TO TERMINATE\n");
getchar();
// cleanup
stop_rt_timer();
return 0;
}
void *init_task_1(void *arg)
{
unsigned long Task_1_name = nam2num("TASK_1");
//TODO:RAWLINSON
if(!(Task_1 = rt_task_init_schmod(Task_1_name,1,0,0,SCHED_FIFO, CPU_ALLOWED))) {
printf("[ERRO] Não foi possível criar a tarefa 1.\n");
exit(1);
}
rt_allow_nonroot_hrt();
rt_make_hard_real_time();
rt_task_make_periodic(Task_1, rt_get_time() + sampling * 5, sampling * 10);
while (1) {
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
printf("[TASK 1] =======> %s", asctime(newtime));
rt_task_wait_period();
}
}
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;
}
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;
}
void *signalSan(void *arg)
{
RT_TASK *Task_3;
unsigned long Task_3_name = nam2num("TSK_3") + i++;
time_t aclock;
time_t clockNow;
int timeEx, begin_3;
int count = 0;
struct tm *newtime;
Task_3 = rt_task_init(Task_3_name, 0, 0, 0);
// if(!(Task_3 = rt_task_init_schmod(Task_3_name,3,0,0,SCHED_FIFO,1))) {
// printf("CANNOT INIT HANDLER TASK > Task 3 <\n");
// exit(1);
// }
rt_allow_nonroot_hrt();
rt_make_hard_real_time();
rt_task_make_periodic(Task_3, rt_get_time(), sampling * 30);
rt_change_prio(Task_3, 3);
begin_3 = begin;
while (count < 20) {
rt_sem_wait(rMutex);
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
printf(" Signal 3 =======> %s", asctime(newtime));
sleep(1);
time(&aclock); // Pega tempo em segundos.
newtime = localtime(&aclock);
printf(" Signal 3 after Sleep =======> %s", asctime(newtime));
timeEx = 3600 * newtime->tm_hour + 60 * newtime->tm_min + newtime->tm_sec;
if( (timeEx - begin_3) > 15 )
printf(" Time Failure of the Signal 3\n");
else printf(" Time Correct of the Signal 3\n");
begin_3 = timeEx + (15 - (timeEx-begin)%15);
rt_sem_signal(rMutex);
rt_task_wait_period();
count++;
}
rt_make_soft_real_time();
rt_task_delete(Task_3);
return 0;
}
int signal_func(void *param)
{
RT_TASK *rt_signal;
//TODO: RTIME sampling;
int value = 0;
int rval = 0;
char name[8];
t_info *t = param;
snprintf(name, 8, "S_%c", t->id);
printf("%s\n", name);
rt_signal = rt_thread_init(nam2num(name), 0, 0, SCHED_FIFO, CPUMAP);
if (!rt_signal) {
printf("Could not init real time signal %c\n", t->id);
rval = -ENODEV;
goto exit;
}
rt_task_make_periodic(rt_signal, rt_get_time() + t->period +
t->delay, t->period);
while (!finish) {
value = !value;
printf("[%Ld] signal %c now in %s.\n",
rt_get_time_ns(),
t->id,
value ? "up" : "down");
rt_task_wait_period();
}
rt_task_delete(rt_signal);
exit:
pthread_exit(NULL);
return rval;
}
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;
}
static void driver(int t)
{
RT_TASK *thread[NTASKS];
int i, l;
unsigned int msg = 0;
RTIME now;
for (i = 1; i < NTASKS; i++) {
thread[0] = rt_receive(0, &msg);
thread[msg] = thread[0];
}
for (i = 1; i < NTASKS; i++) {
rt_return(thread[i], i);
}
now = rt_get_time();
rt_task_make_periodic(rt_whoami(), now + NTASKS*tick_period, tick_period);
msg = 0;
l = LOOPS;
while(l--) {
for (i = 1; i < NTASKS; i++) {
cpu_used[hard_cpu_id()]++;
if (i%2) {
rt_rpc(thread[i], msg, &msg);
} else {
rt_send(thread[i], msg);
msg = 1 - msg;
}
rt_task_wait_period();
}
}
for (i = 1; i < NTASKS; i++) {
rt_send(thread[i], END);
}
}
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);
}
static void *fast_fun(void *arg)
{
int jit, period;
RTIME expected;
if (!(Fast_Task = rt_thread_init(nam2num("FSTSK"), 2, 0, SCHED_FIFO, CPUMAP))) {
printf("CANNOT INIT FAST TASK\n");
exit(1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sem_wait_barrier(barrier);
period = nano2count(FASTMUL*TICK_TIME);
expected = start + 6*nano2count(TICK_TIME);
rt_task_make_periodic(Fast_Task, expected, period);
while (!end) {
jit = abs(count2nano(rt_get_time() - expected));
if (jit > fastjit) {
fastjit = jit;
}
rt_busy_sleep((FASTMUL*TICK_TIME*USEDFRAC)/100);
expected += period;
END("FE\n");
rt_task_wait_period();
BEGIN("FB\n");
}
rt_sem_wait_barrier(barrier);
rt_make_soft_real_time();
rt_thread_delete(Fast_Task);
return 0;
}
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;
}
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 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;
}
void *thread_fun(void *arg)
{
RTIME start_time, period;
RTIME t0, t;
SEM *sem;
RT_TASK *mytask;
unsigned long mytask_name;
int mytask_indx, jit, maxj, maxjp, count;
mytask_indx = *((int *)arg);
mytask_name = taskname(mytask_indx);
cpus_allowed = 1 - cpus_allowed;
if (!(mytask = rt_task_init_schmod(mytask_name, 1, 0, 0, SCHED_FIFO, 1 << cpus_allowed))) {
printf("CANNOT INIT TASK %lu\n", mytask_name);
exit(1);
}
printf("THREAD INIT: index = %d, name = %lu, address = %p.\n", mytask_indx, mytask_name, mytask);
mlockall(MCL_CURRENT | MCL_FUTURE);
if (!(mytask_indx%2)) {
rt_make_hard_real_time();
}
rt_receive(0, (unsigned long *)((void *)&sem));
period = nano2count(PERIOD);
start_time = rt_get_time() + nano2count(10000000);
rt_task_make_periodic(mytask, start_time + (mytask_indx + 1)*period, ntasks*period);
// start of task body
{
count = maxj = 0;
t0 = rt_get_cpu_time_ns();
while(count++ < LOOPS) {
rt_task_wait_period();
t = rt_get_cpu_time_ns();
if ((jit = t - t0 - ntasks*(RTIME)PERIOD) < 0) {
jit = -jit;
}
if (count > 1 && jit > maxj) {
maxj = jit;
}
t0 = t;
// rtai_print_to_screen("THREAD: index = %d, count %d\n", mytask_indx, count);
}
maxjp = (maxj + 499)/1000;
}
// end of task body
rt_sem_signal(sem);
if (!(mytask_indx%2)) {
rt_make_soft_real_time();
}
rt_task_delete(mytask);
printf("THREAD %lu ENDS, LOOPS: %d MAX JIT: %d (us)\n", mytask_name, count, maxjp);
return 0;
}
static void *latency_fun(void *arg)
{
struct sample { long min, max, avrg, jitters[2]; } samp;
int diff;
int skip;
int average;
int min_diff;
int max_diff;
int period;
RT_TASK *chktsk;
RTIME expected;
min_diff = 1000000000;
max_diff = -1000000000;
if (!(Latency_Task = rt_thread_init(nam2num("PRETSK"), 0, 0, SCHED_FIFO, CPUMAP))) {
printf("CANNOT INIT LATENCY TASK\n");
exit(1);
}
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sem_wait_barrier(barrier);
period = nano2count(TICK_TIME);
expected = start + 3*period;
rt_task_make_periodic(Latency_Task, expected, period);
while (!end) {
average = 0;
for (skip = 0; skip < NAVRG && !end; skip++) {
expected += period;
END("HE\n");
rt_task_wait_period();
BEGIN("HB\n");
diff = count2nano(rt_get_time() - expected);
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
average += diff;
}
samp.min = min_diff;
samp.max = max_diff;
samp.avrg = average/NAVRG;
samp.jitters[0] = fastjit;
samp.jitters[1] = slowjit;
if ((chktsk = rt_get_adr(nam2num("PRECHK")))) {
rt_sendx_if(chktsk, &samp, sizeof(samp));
}
}
rt_sem_wait_barrier(barrier);
rt_make_soft_real_time();
rt_thread_delete(Latency_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;
}
static int __preempt_init(void)
{
RTIME start;
rtf_create(FIFO, 1000);
rt_linux_use_fpu(USE_FPU);
rt_task_init_cpuid(&thread, fun, 0, 5000, 0, USE_FPU, 0, 0);
rt_task_init_cpuid(&Fast_Task, Fast_Thread, 0, 5000, 1, 0, 0, 0);
rt_task_init_cpuid(&Slow_Task, Slow_Thread, 0, 5000, 2, 0, 0, 0);
#ifdef ONESHOT_MODE
rt_set_oneshot_mode();
#endif
period = start_rt_timer(nano2count(TICK_TIME));
expected = start = rt_get_time() + 100*period;
rt_task_make_periodic(&thread, start, period);
rt_task_make_periodic(&Fast_Task, start, FASTMUL*period);
rt_task_make_periodic(&Slow_Task, start, SLOWMUL*period);
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;
}
static void *rt_BaseRate(void *args)
{
char name[7];
int i;
static RTIME t0;
for (i = 0; i < MAX_NTARGETS; i++) {
sprintf(name,"BRT%d",i);
if (!rt_get_adr(nam2num(name))) break;
}
if (!(rt_BaseRateTask = rt_task_init_schmod(nam2num(name), *((int *)args), 0, 0, SCHED_FIFO, CpuMap))) {
fprintf(stderr,"Cannot init rt_BaseRateTask.\n");
return (void *)1;
}
sem_post(&err_sem);
iopl(3);
rt_task_use_fpu(rt_BaseRateTask, 1);
MXmain();
grow_and_lock_stack(stackinc);
if (UseHRT) {
rt_make_hard_real_time();
}
rt_rpc(rt_MainTask, 0, (void *)name);
t0 = rt_get_cpu_time_ns();
rt_task_make_periodic(rt_BaseRateTask, rt_get_time() + rt_BaseRateTick, rt_BaseRateTick);
while (!endBaseRate) {
#ifdef TASKDURATION
RTTSKper=rt_get_cpu_time_ns()-RTTSKinit;
#endif
WaitTimingEvent(TimingEventArg);
if (endBaseRate) break;
APPLICATION_Process_Event(TIME_EV);
SIM_TIME = (rt_get_cpu_time_ns() - t0)*1.0E-9;
#ifdef TASKDURATION
RTTSKinit=rt_get_cpu_time_ns();
#endif
}
if (UseHRT) {
rt_make_soft_real_time();
}
rt_task_delete(rt_BaseRateTask);
return 0;
}
void parent_func(int arg)
{
int i;
rt_printk("Starting parent task %d\n", arg);
for (i = 0; i < NUM_CHILDREN; i++) {
rt_task_init(&child_task[i], child_func, i, STACK_SIZE, PRIORITY, 0, 0);
rt_set_task_trap_handler(&child_task[i], 14, my_trap_handler);
rt_task_make_periodic(&child_task[i], rt_get_time() + period, period*i);
}
rt_task_suspend(rt_whoami());
}
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 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;
}
static void *intr_handler(void *args)
{
RT_TASK *mytask, *master;
RTIME period;
MBX *mbx;
char data = 'G';
char temp;
unsigned int msg;
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
// rt_allow_nonroot_hrt();
ioperm(PORT_ADR, 1, 1);
if (!(mytask = rt_task_init_schmod(nam2num("SOUND"), 1, 0, 0, SCHED_FIFO, 0xF))) {
printf("CANNOT INIT SOUND TASK\n");
exit(1);
}
mbx = rt_get_adr(nam2num("SNDMBX"));
mlockall(MCL_CURRENT | MCL_FUTURE);
printf("\nINIT SOUND TASK %p\n", mytask);
rt_make_hard_real_time();
period = nano2count(PERIOD);
rt_mbx_send(mbx, &data, 1);
rt_task_make_periodic(mytask, rt_get_time() + 100*period, period);
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 ((master = rt_receive_if(0, &msg))) {
rt_return(master, msg);
break;
}
}
rt_make_soft_real_time();
rt_task_delete(mytask);
printf("\nEND SOUND TASK %p\n", mytask);
return 0;
}
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 _rtapi_task_start_hook(task_data *task, int task_id,
unsigned long int period_nsec) {
int retval;
unsigned long int quo, period_counts;
period_counts = nano2count((RTIME)period_nsec);
quo = (period_counts + timer_counts / 2) / timer_counts;
period_counts = quo * timer_counts;
period_nsec = count2nano(period_counts);
/* start the task */
retval = rt_task_make_periodic(ostask_array[task_id],
rt_get_time() + period_counts, period_counts);
if (retval != 0) {
return -EINVAL;
}
return 0;
}
static __init int hello_init(void)
{
RTIME tick_period;
RTIME now;
Q8_Initialise(0); // initialise Q8 Board 0
Q8_DACConfigure(0, 4, 1, 10); // configure the DAC: brd 0, channel 4, bipolar, 10V range
Q8_EncInitialise(0,1,0,0,1,1,1); // configure the encoder: brd 0, encoder 1, single quad, index & polarity set
rt_task_init(&thread, fun, 0, STACK_SIZE, PRIORITY, USE_FPU, NULL); // init the rt thread
tick_period = start_rt_timer(nano2count(TICK_PERIOD)); // start the timer
now = rt_get_time();
rt_task_make_periodic(&thread, now + tick_period, tick_period*PERIOD_COUNT);
printk(KERN_ALERT "Q8 Test Module Running:\n");
printk(KERN_ALERT "DAC4 mirroring voltage on ADC0 + encoder value.\n");
return 0;
}
static void* rt_system_thread(void * arg)
{
struct timeval tv;
int64_t ts1, ts2;
SEM * shm_sem;
SEM * sync_sem;
RT_TASK *task;
M3EcSystemShm * sys = (M3EcSystemShm *)arg;
printf("Starting real-time thread\n",0);
RTIME t_last;
int cntr=0;
task = rt_task_init_schmod(nam2num("M3SYSP"), 0, 0, 0, SCHED_FIFO, 0xF);
rt_allow_nonroot_hrt();
if (task==NULL)
{
printf("Failed to create RT-TASK M3SYSP\n",0);
return 0;
}
shm_sem=(SEM*)rt_get_adr(nam2num(SEMNAM_M3LSHM));
if (!shm_sem)
{
printf("Unable to find the SEMNAM_M3LSHM semaphore.\n",0);
rt_task_delete(task);
return 0;
}
//else
// printf("Allocated shm_sem semaphore %08x \n",shm_sem);
sync_sem=(SEM*)rt_get_adr(nam2num(SEMNAM_M3SYNC));
if (!sync_sem)
{
printf("Unable to find the SEMNAM_M3SYNC semaphore.\n",0);
rt_task_delete(task);
rt_sem_delete(shm_sem);
return 0;
}
//else
// printf("Allocated sync_sem semaphore %08x \n",sync_sem);
RTIME tick_period = nano2count(RT_TIMER_TICKS_NS);
RTIME now = rt_get_time();
rt_task_make_periodic(task, now + tick_period, tick_period);
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
t_last=now;
sys_thread_active=1;
uint64_t tl;
while(!sys_thread_end)
{
rt_sem_wait(sync_sem);
rt_sem_wait(shm_sem);
if (cntr%200==0)
{
now=rt_get_time_ns();
float dt = (now-t_last)/1000000.0;
count2timeval(nano2count(rt_get_real_time_ns()), &tv);
printf("\n\nM3 Cycle: %d: 200 cycles in %4.3f ms. EC cycles: %d\n", cntr,dt, sys->counter);
printf("DT: timestamp_dt (uS) : %lld\n",(sys->timestamp_ns-tl)/1000);
t_last=now;
SysEcShmPrettyPrint(sys);
}
tl=sys->timestamp_ns;
cntr++;
rt_sem_signal(shm_sem);
rt_task_wait_period();
}
printf("Exiting RealTime Thread...\n",0);
rt_make_soft_real_time();
rt_task_delete(task);
sys_thread_active=0;
return 0;
}
int main(int argc, char* argv[])
{
unsigned long mtsk_name = nam2num("MTSK");
unsigned long btsk_name = nam2num("BTSK");
unsigned long sem_name = nam2num("SEM");
unsigned long smbx_name = nam2num("SMBX");
unsigned long rmbx_name = nam2num("RMBX");
unsigned long msg;
long long mbx_msg;
long long llmsg = 0xaaaaaaaaaaaaaaaaLL;
RT_TASK *mtsk, *rcvd_from;
SEM *sem;
MBX *smbx, *rmbx;
int pid, count;
if (!(mtsk = rt_task_init_schmod(mtsk_name, 0, 0, 0, SCHED_FIFO, 0x1))) {
printf("CANNOT INIT MASTER TASK\n");
exit(1);
}
printf("MASTER TASK INIT: name = %lx, address = %p.\n", mtsk_name, mtsk);
printf("MASTER TASK STARTS THE ONESHOT TIMER\n");
rt_set_oneshot_mode();
start_rt_timer(nano2count(10000000));
mlockall(MCL_CURRENT | MCL_FUTURE);
rt_make_hard_real_time();
rt_sleep(1000000);
printf("MASTER TASK MAKES ITSELF PERIODIC WITH A PERIOD OF 1 ms\n");
rt_task_make_periodic(mtsk, rt_get_time(), nano2count(PERIOD));
rt_sleep(nano2count(1000000000));
count = PERIODIC_LOOPS;
printf("MASTER TASK LOOPS ON WAIT_PERIOD FOR %d PERIODS\n", count);
while(count--) {
printf("PERIOD %d\n", count);
rt_task_wait_period();
}
count = SLEEP_LOOPS;
printf("MASTER TASK LOOPS ON SLEEP 0.1 s FOR %d PERIODS\n", count);
while(count--) {
printf("SLEEPING %d\n", count);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK YIELDS ITSELF\n");
rt_task_yield();
printf("MASTER TASK CREATES BUDDY TASK\n");
pid = fork();
if (!pid) {
execl("./slave", "./slave", NULL);
}
printf("MASTER TASK SUSPENDS ITSELF, TO BE RESUMED BY BUDDY TASK\n");
rt_task_suspend(mtsk);
printf("MASTER TASK RESUMED BY BUDDY TASK\n");
if (!(sem = rt_sem_init(sem_name, 0))) {
printf("CANNOT CREATE SEMAPHORE %lx\n", sem_name);
exit(1);
}
printf("MASTER TASK CREATES SEM: name = %lx, address = %p.\n", sem_name, sem);
printf("MASTER TASK WAIT_IF ON SEM\n");
rt_sem_wait_if(sem);
printf("MASTER STEP BLOCKS WAITING ON SEM\n");
rt_sem_wait(sem);
printf("MASTER TASK SIGNALLED BY BUDDY TASK WAKES UP AND BLOCKS WAIT TIMED 1 s ON SEM\n");
rt_sem_wait_timed(sem, nano2count(1000000000));
printf("MASTER TASK DELETES SEM\n");
rt_sem_delete(sem);
printf("MASTER TASK BLOCKS RECEIVING FROM ANY\n");
rcvd_from = rt_receive(0, (void *)&msg);
printf("MASTER TASK RECEIVED MESSAGE %lx FROM BUDDY TASK\n", msg);
printf("MASTER TASK RPCS TO BUDDY TASK THE MESSAGE %lx\n", 0xabcdefL);
rcvd_from = rt_rpc(rcvd_from, 0xabcdef, (void *)&msg);
printf("MASTER TASK RECEIVED THE MESSAGE %lx RETURNED BY BUDDY TASK\n", msg);
//exit(1);
if (!(smbx = rt_mbx_init(smbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", smbx_name);
exit(1);
}
if (!(rmbx = rt_mbx_init(rmbx_name, 1))) {
printf("CANNOT CREATE MAILBOX %lx\n", rmbx_name);
exit(1);
}
printf("MASTER TASK CREATED TWO MAILBOXES %p %p %p %p \n", smbx, rmbx, &mtsk_name, &msg);
count = MBX_LOOPS;
while(count--) {
rt_mbx_send(smbx, &llmsg, sizeof(llmsg));
printf("%d MASTER TASK SENDS THE MESSAGE %llx MBX\n", count, llmsg);
mbx_msg = 0;
rt_mbx_receive_timed(rmbx, &mbx_msg, sizeof(mbx_msg), nano2count(MSG_DELAY));
printf("%d MASTER TASK RECEIVED THE MESSAGE %llx FROM MBX\n", count, mbx_msg);
rt_sleep(nano2count(DELAY));
}
printf("MASTER TASK SENDS THE MESSAGE %lx TO BUDDY TO ALLOW ITS END\n", 0xeeeeeeeeL);
rt_send(rcvd_from, 0xeeeeeeee);
printf("MASTER TASK WAITS FOR BUDDY TASK END\n");
while (rt_get_adr(btsk_name)) {
rt_sleep(nano2count(1000000000));
}
printf("MASTER TASK STOPS THE PERIODIC TIMER\n");
stop_rt_timer();
printf("MASTER TASK DELETES MAILBOX %p\n", smbx);
rt_mbx_delete(smbx);
printf("MASTER TASK DELETES MAILBOX %p\n", rmbx);
rt_mbx_delete(rmbx);
printf("MASTER TASK DELETES ITSELF\n");
rt_task_delete(mtsk);
printf("END MASTER TASK\n");
return 0;
}
