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 KEYBOARD_IRQ 1
  12
  13 void key_handler(void *arg)
  14 {
  15         int count = 0;
  16         int nr_interrupts_waiting;
  17         while(1) {
  18                 rt_printf("%d\n",count++);
  19                 nr_interrupts_waiting = rt_intr_wait(&keypress,TM_INFINITE);
  20                 if (nr_interrupts_waiting>0)
  21                 {
  22                 }
  23         }
  24 }
  25
  26 //startup code
  27 void startup()
  28 {
  29         rt_intr_create(&keypress, NULL, KEYBOARD_IRQ, I_PROPAGATE);
  30
  31         rt_task_create(&key_isr, NULL,0,50,0);
  32         rt_task_start(&key_isr, &key_handler, NULL);
  33 }
  34
  35 void init_xenomai() {
  36   /* Avoids memory swapping for this program */
  37   mlockall(MCL_CURRENT|MCL_FUTURE);
  38
  39   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  40   rt_print_auto_init(1);
  41 }
  42
  43 int main(int argc, char* argv[])
  44 {
  45   printf("\nType CTRL-C to end this program\n\n" );
  46
  47   // code to set things to run xenomai
  48   init_xenomai();
  49
  50   //startup code
  51   startup();
  52
  53   // wait for CTRL-c is typed to end the program
  54   pause();
  55 }