plots

[des2015.git] / mart / ex06 / ex06a.c

diff --git a/mart/ex06/ex06a.c b/mart/ex06/ex06a.c
index cdefd1b..4fb986c 100644 (file)
--- a/mart/ex06/ex06a.c
+++ b/mart/ex06/ex06a.c
@@ -1,5 +1,3 @@
-/* ex06a.c */
-
 #include <stdio.h>
 #include <signal.h>
 #include <unistd.h>
@@ -9,91 +7,81 @@
 #include <native/timer.h>
 #include <native/sem.h>
 
-#include  <rtdk.h>
+#include <rtdk.h>
 #include <sys/io.h>
 
 #define NTASKS 3
 
-#define HIGH 52 /* high priority */
-#define MID 51 /* medium priority */
-#define LOW 50  /* low priority */
-
-RT_TASK demo_task[NTASKS];
-RT_SEM mysync;
-
 #define BASEPERIOD 0   // baseperiod 0 to get ns
 
 #define EXECTIME   2e8   // execution time in ns
 #define SPINTIME   1e7   // spin time in ns
 
+RT_TASK demo_task[NTASKS];
+RT_SEM mysync;
+
 void demo(void *arg)
 {
-    RTIME starttime, runtime;
-    int num=*(int *)arg;
-    RT_TASK *curtask;
-    RT_TASK_INFO curtaskinfo;
-
-    rt_printf("Task  : %d\n",num);
-
-    rt_sem_p(&mysync,TM_INFINITE);
-
-    runtime = 0;
-    while(runtime < EXECTIME) {
-      rt_timer_spin(SPINTIME);  // spin cpu doing nothing
-
-      runtime = runtime + SPINTIME;
-
-      rt_printf("Running Task  : %d  at ms : %d\n",num,runtime/1000000);
-    }
-    rt_printf("End Task  : %d\n",num);
+       RTIME starttime;
+       RTIME runtime;
+       int num = *(int *)arg;
+       RT_TASK *curtask;
+       RT_TASK_INFO curtaskinfo;
+
+       rt_printf("Task: %d\n", num);
+
+       rt_sem_p(&mysync, TM_INFINITE);
+
+       runtime = 0;
+       while(runtime < EXECTIME) {
+               rt_timer_spin(SPINTIME);  // spin cpu doing nothing
+               runtime = runtime + SPINTIME;
+               rt_printf("Running Task: %d at ms: %d\n", num, runtime/1000000);
+       }
+       rt_printf("End Task: %d\n", num);
 }
 
 //startup code
 void startup()
 {
-  int i;
-  char  str[10] ;
-
-  // semaphore to sync task startup on
-  rt_sem_create(&mysync,"MySemaphore",0,S_FIFO);
-
-  // set timing to ns
-  rt_timer_set_mode(BASEPERIOD);
-
-  for(i=0; i < NTASKS; i++) {
-    rt_printf("start task  : %d\n",i);
-    sprintf(str,"task%d",i);
-    rt_task_create(&demo_task[i], str, 0, 50, 0);
-    rt_task_start(&demo_task[i], &demo, &i);
-  }
-  // assign priorities to tasks
-  // (or in creation use 50+i)
-  rt_task_set_priority(&demo_task[0],LOW);
-  rt_task_set_priority(&demo_task[1],MID);
-  rt_task_set_priority(&demo_task[2],HIGH);
-
-  rt_printf("wake up all tasks\n");
-  rt_sem_broadcast(&mysync);
+       int i;
+       char  str[10] ;
+
+       // semaphore to sync task startup on
+       rt_sem_create(&mysync, "MySemaphore", 0, S_FIFO);
+
+       // set timing to ns
+       rt_timer_set_mode(BASEPERIOD);
+
+       for(i = 0; i < NTASKS; i++) {
+               rt_printf("start task: %d\n",i);
+               sprintf(str,"task%d",i);
+               rt_task_create(&demo_task[i], str, 0, 50+i, 0);
+               rt_task_start(&demo_task[i], &demo, &i);
+       }
+
+       rt_printf("wake up all tasks\n");
+       rt_sem_broadcast(&mysync);
 }
 
 void init_xenomai() {
-  /* Avoids memory swapping for this program */
-  mlockall(MCL_CURRENT|MCL_FUTURE);
+       /* Avoids memory swapping for this program */
+       mlockall(MCL_CURRENT|MCL_FUTURE);
 
-  /* Perform auto-init of rt_print buffers if the task doesn't do so */
-  rt_print_auto_init(1);
+       /* Perform auto-init of rt_print buffers if the task doesn't do so */
+       rt_print_auto_init(1);
 }
 
 int main(int argc, char* argv[])
 {
-  printf("\nType CTRL-C to end this program\n\n" );
+       printf("\nType CTRL-C to end this program\n\n" );
 
-  // code to set things to run xenomai
-  init_xenomai();
+       // code to set things to run xenomai
+       init_xenomai();
 
-  //startup code
-  startup();
+       //startup code
+       startup();
 
-  // wait for CTRL-c is typed to end the program
-  pause();
+       // wait for CTRL-c is typed to end the program
+       pause();
 }