6 #include <native/task.h>
7 #include <native/timer.h>
8 #include <native/sem.h>
15 RT_TASK demo_task
[NTASKS
];
18 // set new baseperiod for the clock :
19 // - clock only increments counter when a base period is passed
20 // - the unit of the clock counter is called a jiffie, which in fact
21 // represents that a baseperiod is passed
22 // e.g. If 10 baseperiods are passed, the clock gives an increase
24 #define BASEPERIOD 1e6 // baseperiod in ns.
26 // when base period is set, all times in the api are expressed in jiffies
27 #define EXECTIME 200 // execution time in jiffies
28 #define SPINTIME 10 // spin time in jiffies
34 int num
= *(int *)arg
;
36 RT_TASK_INFO curtaskinfo
;
38 rt_printf("Task : %d\n", num
);
40 rt_sem_p(&mysync
,TM_INFINITE
);
42 // let the task run RUNTIME(=200) jiffies in steps of SPINTIME(=20) jiffies
44 while(runtime
< EXECTIME
) {
45 rt_timer_spin(SPINTIME
*BASEPERIOD
); // spin cpu doing nothing
46 // note: rt_timer_spin function does not accept jiffies only nanoseconds
47 // deviates from timing conventions throughout the Xenomai API
51 rt_printf("Running Task: %d at time: %d\n", num
, runtime
);
53 rt_printf("End Task: %d\n", num
);
62 // semaphore to sync task startup on
63 rt_sem_create(&mysync
, "MySemaphore", 0, S_FIFO
);
65 // change to period mode because round robin does not work
67 rt_timer_set_mode(BASEPERIOD
);// set tick period
68 for(i
= 0; i
< NTASKS
; i
++) {
69 rt_printf("start task: %d\n", i
);
70 sprintf(str
, "task%d", i
);
71 rt_task_create(&demo_task
[i
], str
, 0, 50, 0);
72 rt_task_start(&demo_task
[i
], &demo
, &i
);
74 rt_printf("wake up all tasks\n");
75 rt_sem_broadcast(&mysync
);
79 /* Avoids memory swapping for this program */
80 mlockall(MCL_CURRENT
| MCL_FUTURE
);
82 /* Perform auto-init of rt_print buffers if the task doesn't do so */
83 rt_print_auto_init(1);
86 int main(int argc
, char* argv
[])
88 printf("\nType CTRL-C to end this program\n\n" );
90 // code to set things to run xenomai
96 // wait for CTRL-c is typed to end the program