-CFLAGS=$(shell xeno-config --xeno-cflags) -lnative -lrtdk
-LDFLAGS=$(shell xeno-config --xeno-ldflags)
+###### CONFIGURATION ######
-BINARIES=$(addprefix ex03,a b c)
+### List of applications to be build
+APPLICATIONS = ex03a ex03b ex03c1 ex03c2
-all: $(BINARIES)
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
-clean:
- $(RM) -v $(BINARIES) *.o
+
+### List of modules to be build
+MODULES =
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lnative
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+LDFLAGS+= -lrtdk
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### SPECIAL TARGET RULES ######
+rtprint: rtprint.c
+ $(CC) $(CFLAGS) $? $(LDFLAGS) -lrtdk -o $@
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
+ $(RM) -R .tmp*
+
+endif
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+#include <native/sem.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+RT_SEM semGlobal;
+
+void demo(void *arg)
+{
+ rt_sem_p(&semGlobal, 0);
+
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ // print task name
+ int num = * (int *)arg;
+ rt_printf("Task name : %s \n", curtaskinfo.name);
+
+ rt_sem_v(&semGlobal);
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+ int i;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ /* create semaphore */
+ rt_sem_create(&semGlobal,"semaphore",0,S_PRIO);
+
+ rt_printf("start task\n");
+
+ for (i=0; i<5; i++)
+ {
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello-%d",i);
+ rt_task_create(&demo_task, str, 0, 50+i, 0);
+
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, &i);
+ }
+
+ rt_sem_v(&semGlobal);
+}
\ No newline at end of file
--- /dev/null
+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <native/task.h>
+#include <native/timer.h>
+#include <native/sem.h>
+
+#include <rtdk.h>
+RT_TASK demo_task;
+RT_SEM semGlobal;
+
+void demo(void *arg)
+{
+ RT_TASK *curtask;
+ RT_TASK_INFO curtaskinfo;
+
+ // inquire current task
+ curtask=rt_task_self();
+ rt_task_inquire(curtask,&curtaskinfo);
+
+ rt_sem_p(&semGlobal,TM_INFINITE);
+
+ // print task name
+ int num = * (int *)arg;
+ rt_printf("Task name : %s \n", curtaskinfo.name);
+}
+
+int main(int argc, char* argv[])
+{
+ char str[10] ;
+ int i;
+
+ // Perform auto-init of rt_print buffers if the task doesn't do so
+ rt_print_auto_init(1);
+
+ // Lock memory : avoid memory swapping for this program
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ /* create semaphore */
+ rt_sem_create(&semGlobal,"semaphore",0,S_PRIO);
+
+ rt_printf("start task\n");
+
+ for (i=0; i<5; i++)
+ {
+ /*
+ * Arguments: &task,
+ * name,
+ * stack size (0=default),
+ * priority,
+ * mode (FPU, start suspended, ...)
+ */
+ sprintf(str,"hello-%d",i);
+ rt_task_create(&demo_task, str, 0, 50+i, 0);
+
+ /*
+ * Arguments: &task,
+ * task function,
+ * function argument
+ */
+ rt_task_start(&demo_task, &demo, &i);
+ }
+
+ rt_sem_broadcast(&semGlobal);
+
+}
\ No newline at end of file
are finished.
3c.
-rt_sem_v doesn't work because they are released and the first one will get the
-lock. rt_sem_broadcast works because all tasks are released at the same time
-and the priority is then the next measure of who goes first.
+Using semaphore, we can start task that has higher priority than the others. As we can see from the output, the order of the task is based on its priority.
-CFLAGS=$(shell xeno-config --xeno-cflags) -lnative -lrtdk
-LDFLAGS=$(shell xeno-config --xeno-ldflags)
+###### CONFIGURATION ######
-BINARIES=$(addprefix ex06,a b c d)
+### List of applications to be build
+APPLICATIONS = ex06a ex06b ex06c ex06d
-all: $(BINARIES)
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
-clean:
- $(RM) -v $(BINARIES) *.o
+
+### List of modules to be build
+MODULES =
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lnative
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+LDFLAGS+= -lrtdk
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### SPECIAL TARGET RULES ######
+rtprint: rtprint.c
+ $(CC) $(CFLAGS) $? $(LDFLAGS) -lrtdk -o $@
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
+ $(RM) -R .tmp*
+
+endif
\ No newline at end of file
-CFLAGS=$(shell xeno-config --xeno-cflags) -lnative -lrtdk
-LDFLAGS=$(shell xeno-config --xeno-ldflags)
+###### CONFIGURATION ######
-BINARIES=$(addprefix ex07,a b c)
+### List of applications to be build
+APPLICATIONS = ex07a ex07b ex07c
-all: $(BINARIES)
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
-clean:
- $(RM) -v $(BINARIES) *.o
+
+### List of modules to be build
+MODULES =
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lnative
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+LDFLAGS+= -lrtdk
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### SPECIAL TARGET RULES ######
+rtprint: rtprint.c
+ $(CC) $(CFLAGS) $? $(LDFLAGS) -lrtdk -o $@
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
+ $(RM) -R .tmp*
+
+endif
\ No newline at end of file
repositories / des2015.git / commitdiff