natanael/ex09/ex09a2.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 RT_TASK dummy;
  12 #define KEYBOARD_IRQ 1
  13
  14 void key_handler(void *arg)
  15 {
  16         int count = 0;
  17         int nr_interrupts_waiting;
  18
  19     RT_TASK *curtask;
  20     RT_TASK_INFO curtaskinfo;
  21
  22         while(1) {
  23                 //rt_printf("%d\n",count++);
  24                 nr_interrupts_waiting = rt_intr_wait(&keypress,TM_INFINITE);
  25                 if (nr_interrupts_waiting>0)
  26                 {
  27                         // inquire current task
  28                         curtask=rt_task_self();
  29                         rt_task_inquire(curtask,&curtaskinfo);
  30                         rt_printf("Current priority of handler task: %d \n", curtaskinfo.cprio);
  31                 }
  32         }
  33 }
  34
  35 void dummy_task(void *arg) {
  36         while(1) { rt_printf("Sleeping\n");
  37                 rt_task_sleep(2e9);
  38                 rt_printf("Spinning\n");
  39                 rt_timer_spin(3e9);
  40         }
  41 }
  42
  43 //startup code
  44 void startup()
  45 {
  46         rt_intr_create(&keypress, NULL, KEYBOARD_IRQ, I_PROPAGATE);
  47
  48         rt_task_create(&key_isr, NULL,0,50,0);
  49         rt_task_start(&key_isr, &key_handler, NULL);
  50
  51         // Higher priority
  52         rt_task_create(&dummy, NULL,0,53,0);
  53         rt_task_start(&dummy, &dummy_task, NULL);
  54 }
  55
  56 void init_xenomai() {
  57   /* Avoids memory swapping for this program */
  58   mlockall(MCL_CURRENT|MCL_FUTURE);
  59
  60   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  61   rt_print_auto_init(1);
  62 }
  63
  64 int main(int argc, char* argv[])
  65 {
  66   printf("\nType CTRL-C to end this program\n\n" );
  67
  68   // code to set things to run xenomai
  69   init_xenomai();
  70
  71   //startup code
  72   startup();
  73
  74   // wait for CTRL-c is typed to end the program
  75   pause();
  76 }