mart/ex11/ex11.c

   1 #include <stdio.h>
   2 #include <signal.h>
   3 #include <unistd.h>
   4 #include <sys/mman.h>
   5 #include <sys/io.h>
   6
   7 #include <native/task.h>
   8 #include <native/timer.h>
   9 #include <native/intr.h>
  10
  11 #include <rtdk.h>
  12
  13 #define LPT1IRQ 7
  14 #define TICKS 5
  15 #define MAXX 10
  16 #define MAXY 7
  17
  18 RT_TASK intrtask, drawtask;
  19 RTIME ticks[TICKS+1];
  20 RTIME tocks[TICKS+1];
  21
  22 void add_tick(RTIME *t, RTIME tnew)
  23 {
  24   unsigned int i = 0;
  25   t[TICKS] = 0;
  26   for(i=TICKS-1; i>0; i--){
  27     t[i] = t[i-1];
  28     t[TICKS] += t[i];
  29   }
  30   t[0] = tnew;
  31   t[TICKS] = t[TICKS]/TICKS;
  32 }
  33
  34 void taskd(void *arg)
  35 {
  36   RTIME time = *(RTIME *)arg;
  37   rt_printf("Time to draw=%.2fms\n", time/1000/1000.0);
  38   RTIME step = time/MAXX;
  39   rt_printf("Every x has %.2fms\n", step/1000/1000.0);
  40 }
  41
  42 void taski(void *arg)
  43 {
  44         //Register as interrupt handler
  45         RT_INTR intr;
  46         rt_intr_create(&intr, NULL, LPT1IRQ, 0);
  47   rt_printf("Interrupt created\n");
  48
  49   //Initialize and declare the timer variables
  50         RTIME tick = rt_timer_read();
  51   RTIME tock;
  52   RTIME period;
  53         while(1){
  54     //Wait for tick (long stretch)
  55                 rt_intr_wait(&intr, TM_INFINITE);
  56     tock = rt_timer_read();
  57     add_tick(ticks, rt_timer_read()-tick);
  58
  59     // Tocks are the short stretches
  60     if(tocks[TICKS] < ticks[TICKS]){
  61       // sleep until the arm is most left
  62       rt_task_sleep(tocks[TICKS]/2);
  63             rt_task_create(&drawtask, NULL, 0, 50, 0);
  64       period = ticks[TICKS]/2+tocks[TICKS]/2;
  65             rt_task_start(&drawtask, &taskd, &period);
  66       rt_printf("tocks is the short stretch\n");
  67     }
  68
  69     //Wait for tock (shorter stretch)
  70                 rt_intr_wait(&intr, TM_INFINITE);
  71     tick = rt_timer_read();
  72     add_tick(tocks, rt_timer_read()-tock);
  73
  74     //Long stretch
  75     if(ticks[TICKS] < tocks[TICKS]){
  76       // sleep until the arm is most left
  77       rt_task_sleep(ticks[TICKS]/2);
  78             rt_task_create(&drawtask, NULL, 0, 50, 0);
  79       period = tocks[TICKS]/2+ticks[TICKS]/2;
  80             rt_task_start(&drawtask, &taskd, &period);
  81       rt_printf("ticks is the short stretch\n");
  82     }
  83
  84     //Print average
  85     //rt_printf("avgtick: %lluns, avgtock: %lluns, avgticktock: %lluns\n",
  86     //    ticks[TICKS], tocks[TICKS], (ticks[TICKS]+tocks[TICKS])/2);
  87         }
  88 }
  89
  90 int main(int argc, char* argv[])
  91 {
  92         rt_print_auto_init(1);
  93         mlockall(MCL_CURRENT | MCL_FUTURE);
  94
  95         // Get permission to write to parallel port
  96         ioperm(0x37A, 1, 1);
  97         ioperm(0x378, 1, 1);
  98         outb(inb(0x37A) | 0x10, 0x37A);
  99
 100         rt_task_create(&intrtask, NULL, 0, 50, 0);
 101         rt_task_start(&intrtask, &taski, 0);
 102
 103         pause();
 104 }