natanael/ex10/ex10d1.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 = 100000;
  10 const int nsamples = 10000;
  11
  12 RT_TASK task;
  13 RTIME write_time;
  14 RTIME time_diff[10000];
  15
  16 RT_INTR intr;
  17 #define PARPORT_IRQ 7
  18 unsigned char byte;
  19
  20 void enable_interupt()
  21 {
  22     ioperm(0x37A, 1, 1);
  23     byte = inb(0x37A);
  24     byte = byte | 0x10; /* hex 10 = 00010000 */
  25     outb(byte, 0x37A);
  26
  27         // enable port D0
  28         ioperm(0x378, 1, 1);
  29     byte = inb(0x378);
  30     byte = byte | 0x10; /* hex 10 = 00010000 */
  31     outb(byte, 0x378);
  32 }
  33
  34 void disable_interupt()
  35 {
  36     byte = inb(0x37A);
  37     byte = byte & 0xEF; /* hex EF = binary 11101111 */
  38     outb(byte, 0x37A);
  39 }
  40
  41 void write_RTIMES(char * filename, unsigned int number_of_values,
  42                   RTIME *time_values){
  43         unsigned int n=0;
  44         FILE *file;
  45         file = fopen(filename,"w");
  46         while (n<number_of_values) {
  47           fprintf(file,"%u,%llu\n",n,time_values[n]);
  48           n++;
  49         }
  50         fclose(file);
  51         rt_printf("File saved\n");
  52  }
  53
  54 void send_parallel_port_intrp()
  55 {
  56         outb(inb(0x378) & 0xEF, 0x378);
  57         outb(inb(0x378) | 0x10, 0x378); /* enable interrupt */
  58 }
  59
  60 void do_task(void *arg)
  61 {
  62         int i;
  63
  64         rt_task_set_periodic(NULL, TM_NOW, period);
  65
  66         for(i=0; i<nsamples; i++)
  67         {
  68                 write_time = rt_timer_read();
  69
  70                 send_parallel_port_intrp();
  71
  72                 rt_intr_wait(&intr,TM_INFINITE);
  73
  74                 time_diff[i] = rt_timer_read() - write_time;
  75
  76                 rt_task_wait_period(NULL);
  77         }
  78         write_RTIMES("time_diff_d.csv",nsamples,time_diff);
  79 }
  80
  81 //startup code
  82 void startup()
  83 {
  84         rt_intr_create(&intr, NULL, PARPORT_IRQ, I_PROPAGATE);
  85     enable_interupt();
  86
  87         rt_task_create(&task, NULL,0,50,0);
  88         rt_task_start(&task, &do_task, NULL);
  89 }
  90
  91 void init_xenomai() {
  92   /* Avoids memory swapping for this program */
  93   mlockall(MCL_CURRENT|MCL_FUTURE);
  94
  95   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  96   rt_print_auto_init(1);
  97 }
  98 int main(int argc, char* argv[])
  99 {
 100   printf("\nType CTRL-C to end this program\n\n" );
 101
 102   // code to set things to run xenomai
 103   init_xenomai();
 104
 105   //startup code
 106   startup();
 107
 108   // wait for CTRL-c is typed to end the program
 109   pause();
 110
 111   disable_interupt();
 112 }