natanael/ex10/ex10a.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 const RTIME period = 1e5;
  10 const int nsamples = 10000;
  11
  12 RT_TASK task;
  13 RTIME write_time;
  14 RTIME arr_write_time[10000];
  15 RTIME time_diff[10000];
  16
  17 void write_RTIMES(char * filename, unsigned int number_of_values,
  18                   RTIME *time_values){
  19         unsigned int n=0;
  20         FILE *file;
  21         file = fopen(filename,"w");
  22         while (n<number_of_values) {
  23           fprintf(file,"%u;%llu\n",n,time_values[n]);
  24           n++;
  25         }
  26         fclose(file);
  27  }
  28
  29 void do_task(void *arg)
  30 {
  31         RT_TASK *curtask;
  32         RT_TASK_INFO curtaskinfo;
  33         int i;
  34
  35         // inquire current task
  36         curtask=rt_task_self();
  37         rt_task_inquire(curtask,&curtaskinfo);
  38
  39         rt_task_set_periodic(NULL, TM_NOW, period);
  40
  41         for(i=0; i<nsamples; i++)
  42         {
  43                 write_time = rt_timer_read();
  44                 arr_write_time[i] = write_time;
  45
  46                 rt_task_wait_period(NULL);
  47
  48                 time_diff[i] = rt_timer_read() - write_time;
  49         }
  50         write_RTIMES("time_diff.csv",nsamples,time_diff);
  51
  52 }
  53
  54 //startup code
  55 void startup()
  56 {
  57         rt_task_create(&task, NULL,0,50,0);
  58         rt_task_start(&task, &do_task, NULL);
  59 }
  60
  61 void init_xenomai() {
  62   /* Avoids memory swapping for this program */
  63   mlockall(MCL_CURRENT|MCL_FUTURE);
  64
  65   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  66   rt_print_auto_init(1);
  67 }
  68
  69 int main(int argc, char* argv[])
  70 {
  71   printf("\nType CTRL-C to end this program\n\n" );
  72
  73   // code to set things to run xenomai
  74   init_xenomai();
  75
  76   //startup code
  77   startup();
  78
  79   // wait for CTRL-c is typed to end the program
  80   pause();
  81 }