natanael/ex11/ex11a.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 do_task(void *arg)
  18 {
  19         int i;
  20         rt_task_set_periodic(NULL, TM_NOW, period);
  21
  22         for(i=0; i<nsamples; i++)
  23         {
  24                 write_time = rt_timer_read();
  25                 arr_write_time[i] = write_time;
  26
  27                 rt_task_wait_period(NULL);
  28
  29                 time_diff[i] = rt_timer_read() - write_time;
  30         }
  31 }
  32
  33 //startup code
  34 void startup()
  35 {
  36         rt_task_create(&task, NULL,0,50,0);
  37         rt_task_start(&task, &do_task, NULL);
  38 }
  39
  40 void init_xenomai() {
  41   /* Avoids memory swapping for this program */
  42   mlockall(MCL_CURRENT|MCL_FUTURE);
  43
  44   /* Perform auto-init of rt_print buffers if the task doesn't do so */
  45   rt_print_auto_init(1);
  46 }
  47
  48 int main(int argc, char* argv[])
  49 {
  50   printf("\nType CTRL-C to end this program\n\n" );
  51
  52   // code to set things to run xenomai
  53   init_xenomai();
  54
  55   //startup code
  56   startup();
  57
  58   // wait for CTRL-c is typed to end the program
  59   pause();
  60 }