natanael/ex10/ex10d2.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
  15 RT_INTR intr;
  16 #define PARPORT_IRQ 7
  17 unsigned char byte;
  18
  19 void enable_interupt()
  20 {
  21     ioperm(0x37A, 1, 1);
  22     byte = inb(0x37A);
  23     byte = byte | 0x10; /* hex 10 = 00010000 */
  24     outb(byte, 0x37A);
  25
  26         // enable port D0
  27         ioperm(0x378, 1, 1);
  28     byte = inb(0x378);
  29     byte = byte | 0x01; /* hex 10 = 00010000 */
  30     outb(byte, 0x378);
  31 }
  32
  33 void disable_interupt()
  34 {
  35     byte = inb(0x37A);
  36     byte = byte & 0xEF; /* hex EF = binary 11101111 */
  37     outb(byte, 0x37A);
  38 }
  39
  40 void send_parallel_port_intrp()
  41 {
  42         outb(inb(0x378) & 0xFE, 0x378);
  43         outb(inb(0x378) | 0x01, 0x378); /* enable interrupt */
  44 }
  45
  46 void do_task(void *arg)
  47 {
  48         for(;;)
  49         {
  50                 send_parallel_port_intrp();
  51
  52                 rt_intr_wait(&intr,TM_INFINITE);
  53         }
  54 }
  55
  56 //startup code
  57 void startup()
  58 {
  59         rt_intr_create(&intr, NULL, PARPORT_IRQ, I_PROPAGATE);
  60     enable_interupt();
  61
  62         rt_task_create(&task, NULL,0,50,0);
  63         rt_task_start(&task, &do_task, NULL);
  64 }
  65
  66 void init_xenomai() {
  67   /* Avoids memory swapping for this program */
  68   mlockall(MCL_CURRENT|MCL_FUTURE);
  69
  70   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  71   rt_print_auto_init(1);
  72 }
  73
  74 int main(int argc, char* argv[])
  75 {
  76   printf("\nType CTRL-C to end this program\n\n" );
  77
  78   // code to set things to run xenomai
  79   init_xenomai();
  80
  81   //startup code
  82   startup();
  83
  84   // wait for CTRL-c is typed to end the program
  85   pause();
  86
  87   disable_interupt();
  88 }