natanael/ex06/ex06b.c

   1 /* ex06a.c */
   2
   3 #include <stdio.h>
   4 #include <signal.h>
   5 #include <unistd.h>
   6 #include <sys/mman.h>
   7
   8 #include <native/task.h>
   9 #include <native/timer.h>
  10 #include <native/sem.h>
  11
  12 #include  <rtdk.h>
  13 #include <sys/io.h>
  14
  15 #define NTASKS 3
  16
  17 #define HIGH 52 /* high priority */
  18 #define MID 51 /* medium priority */
  19 #define LOW 50  /* low priority */
  20
  21 RT_TASK demo_task[NTASKS];
  22 RT_SEM mysync;
  23
  24 #define BASEPERIOD 0   // baseperiod 0 to get ns
  25
  26 #define EXECTIME   2e8   // execution time in ns
  27 #define SPINTIME   1e7   // spin time in ns
  28
  29 void demo(void *arg)
  30 {
  31         RTIME starttime, runtime;
  32     int num=*(int *)arg;
  33     RT_TASK *curtask;
  34     RT_TASK_INFO curtaskinfo;
  35
  36     rt_printf("Task  : %d\n",num);
  37
  38     rt_sem_p(&mysync,TM_INFINITE);
  39
  40     runtime = 0;
  41     while(runtime < EXECTIME) {
  42       rt_timer_spin(SPINTIME);  // spin cpu doing nothing
  43
  44       runtime = runtime + SPINTIME;
  45
  46       rt_printf("Running Task  : %d  at ms : %d\n",num,runtime/1000000);
  47     }
  48     rt_printf("End Task  : %d\n",num);
  49 }
  50
  51 //startup code
  52 void startup()
  53 {
  54   int i;
  55   char  str[10] ;
  56
  57   // semaphore to sync task startup on
  58   rt_sem_create(&mysync,"MySemaphore",0,S_FIFO);
  59
  60   // set timing to ns
  61   rt_timer_set_mode(BASEPERIOD);
  62
  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);
  68   }
  69   // assign priorities to tasks
  70   // (or in creation use 50+i)
  71   rt_task_set_priority(&demo_task[0],LOW);
  72
  73   // the same priority
  74   rt_task_set_priority(&demo_task[1],HIGH);
  75   rt_task_set_priority(&demo_task[2],HIGH);
  76
  77   rt_printf("wake up all tasks\n");
  78   rt_sem_broadcast(&mysync);
  79 }
  80
  81 void init_xenomai() {
  82   /* Avoids memory swapping for this program */
  83   mlockall(MCL_CURRENT|MCL_FUTURE);
  84
  85   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  86   rt_print_auto_init(1);
  87 }
  88
  89 int main(int argc, char* argv[])
  90 {
  91   printf("\nType CTRL-C to end this program\n\n" );
  92
  93   // code to set things to run xenomai
  94   init_xenomai();
  95
  96   //startup code
  97   startup();
  98
  99   // wait for CTRL-c is typed to end the program
 100   pause();
 101 }