natanael/ex09/ex09a1.c

   1 #include <stdio.h>
   2 #include <signal.h>
   3 #include <unistd.h>
   4 #include <sys/mman.h>
   5 #include <native/intr.h>
   6 #include <sys/io.h>
   7 #include <native/task.h>
   8
   9 RT_INTR keypress;
  10 RT_TASK key_isr;
  11 #define PARPORT_IRQ 7
  12
  13 unsigned char byte;
  14
  15 void key_handler(void *arg)
  16 {
  17         int count = 0;
  18         int nr_interrupts_waiting;
  19         while(1) {
  20                 rt_printf("%d\n",count++);
  21                 nr_interrupts_waiting = rt_intr_wait(&keypress,TM_INFINITE);
  22                 if (nr_interrupts_waiting>0)
  23                 {
  24                 }
  25         }
  26 }
  27
  28 //startup code
  29 void startup()
  30 {
  31     rt_intr_create(&keypress, NULL, PARPORT_IRQ, I_PROPAGATE);
  32     enable_interupt();
  33
  34         rt_task_create(&key_isr, NULL,0,50,0);
  35         rt_task_start(&key_isr, &key_handler, NULL);
  36
  37 }
  38
  39 void init_xenomai() {
  40   /* Avoids memory swapping for this program */
  41   mlockall(MCL_CURRENT|MCL_FUTURE);
  42
  43   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  44   rt_print_auto_init(1);
  45 }
  46
  47 void enable_interupt()
  48 {
  49     ioperm(0x37A, 1, 1);
  50     byte = inb(0x37A);
  51     byte = byte | 0x10; /* hex 10 = 00010000 */
  52     outb(byte, 0x37A);
  53 }
  54
  55 void disable_interupt()
  56 {
  57     byte = inb(0x37A);
  58     byte = byte & 0xEF; /* hex EF = binary 11101111 */
  59     outb(byte, 0x37A);
  60 }
  61
  62 int main(int argc, char* argv[])
  63 {
  64   printf("\nType CTRL-C to end this program\n\n" );
  65
  66   // code to set things to run xenomai
  67   init_xenomai();
  68
  69   //startup code
  70   startup();
  71
  72   // wait for CTRL-c is typed to end the program
  73   pause();
  74
  75   disable_interupt();
  76 }