a8130923a9d65c8d3cd5933df66cb5d07721a733
8 #include <native/task.h>
9 #include <native/timer.h>
10 #include <native/sem.h>
17 #define HIGH 52 /* high priority */
18 #define MID 51 /* medium priority */
19 #define LOW 50 /* low priority */
21 RT_TASK demo_task
[NTASKS
];
24 #define BASEPERIOD 0 // baseperiod 0 to get ns
26 #define EXECTIME 2e8 // execution time in ns
27 #define SPINTIME 1e7 // spin time in ns
31 RTIME starttime
, runtime
;
34 RT_TASK_INFO curtaskinfo
;
36 rt_printf("Task : %d\n",num
);
38 rt_sem_p(&mysync
,TM_INFINITE
);
41 while(runtime
< EXECTIME
) {
42 rt_timer_spin(SPINTIME
); // spin cpu doing nothing
44 runtime
= runtime
+ SPINTIME
;
46 rt_printf("Running Task : %d at ms : %d\n",num
,runtime
/1000000);
48 rt_printf("End Task : %d\n",num
);
57 // semaphore to sync task startup on
58 rt_sem_create(&mysync
,"MySemaphore",0,S_FIFO
);
61 rt_timer_set_mode(BASEPERIOD
);
63 for(i
=0; i
< NTASKS
; i
++) {
64 rt_printf("start task : %d\n",i
);
65 sprintf(str
,"task%d",i
);
66 rt_task_create(&demo_task
[i
], str
, 0, 50, 0);
67 rt_task_start(&demo_task
[i
], &demo
, &i
);
69 // assign priorities to tasks
70 // (or in creation use 50+i)
71 rt_task_set_priority(&demo_task
[0],LOW
);
74 rt_task_set_priority(&demo_task
[1],HIGH
);
75 rt_task_set_priority(&demo_task
[2],HIGH
);
77 rt_printf("wake up all tasks\n");
78 rt_sem_broadcast(&mysync
);
82 /* Avoids memory swapping for this program */
83 mlockall(MCL_CURRENT
|MCL_FUTURE
);
85 /* Perform auto-init of rt_print buffers if the task doesn't do so */
86 rt_print_auto_init(1);
89 int main(int argc
, char* argv
[])
91 printf("\nType CTRL-C to end this program\n\n" );
93 // code to set things to run xenomai
99 // wait for CTRL-c is typed to end the program