X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=mart%2Fex07%2Fex07a.c;h=857f329aa9f1fa1ac3305947e34121d23d950841;hb=684df3dff41d6b109bf1733ac75c347f27afa464;hp=11eac9b26e65b7fbee527241622fe8b2d44feec3;hpb=6112e32082df65a2852fe3cc11b87d7bc0816fe2;p=des2015.git

diff --git a/mart/ex07/ex07a.c b/mart/ex07/ex07a.c
index 11eac9b..857f329 100644
--- a/mart/ex07/ex07a.c
+++ b/mart/ex07/ex07a.c
@@ -1,5 +1,3 @@
-/* ex07a.c */
-
 #include <stdio.h>
 #include <signal.h>
 #include <unistd.h>
@@ -31,69 +29,70 @@ RT_SEM mysync;
 
 void demo(void *arg)
 {
-    RTIME starttime, runtime;
-    int num=*(int *)arg;
-    RT_TASK *curtask;
-    RT_TASK_INFO curtaskinfo;
+	RTIME starttime;
+	RTIME runtime;
+	int num = *(int *)arg;
+	RT_TASK *curtask;
+	RT_TASK_INFO curtaskinfo;
 
-    rt_printf("Task  : %d\n",num);
+	rt_printf("Task : %d\n", num);
 
-    rt_sem_p(&mysync,TM_INFINITE);
+	rt_sem_p(&mysync,TM_INFINITE);
 
-    // let the task run RUNTIME(=200) jiffies in steps of SPINTIME(=20) jiffies
-    runtime = 0;
-    while(runtime < EXECTIME) {
-      rt_timer_spin(SPINTIME*BASEPERIOD);  // spin cpu doing nothing
-      // note: rt_timer_spin function does not accept jiffies only nanoseconds
-      //       deviates from timing conventions throughout the Xenomai API
+	// let the task run RUNTIME(=200) jiffies in steps of SPINTIME(=20) jiffies
+	runtime = 0;
+	while(runtime < EXECTIME) {
+		rt_timer_spin(SPINTIME*BASEPERIOD);  // spin cpu doing nothing
+		// note: rt_timer_spin function does not accept jiffies only nanoseconds
+		//       deviates from timing conventions throughout the Xenomai API
 
-      runtime = runtime + SPINTIME;
+		runtime += SPINTIME;
 
-      rt_printf("Running Task  : %d  at time : %d\n",num,runtime);
-    }
-    rt_printf("End Task  : %d\n",num);
+		rt_printf("Running Task: %d at time: %d\n", num, runtime);
+	}
+	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);
-
-  // change to period mode because round robin does not work
-  // in one shot mode
-  rt_timer_set_mode(BASEPERIOD);// set tick period
-  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);
-  }
-  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);
+
+	// change to period mode because round robin does not work
+	// in one shot mode
+	rt_timer_set_mode(BASEPERIOD);// set tick period
+	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);
+	}
+	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();
 }