added exercises for week 2

diff --git a/mart/ex03/ex03a.c b/mart/ex03/ex03a.c
new file mode 100644 (file)
index 0000000..195a64f
--- /dev/null
+++ b/mart/ex03/ex03a.c
@@ -0,0 +1,56 @@
+#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>
+
+#define ITER 10
+
+static RT_TASK  t1;
+static RT_TASK  t2;
+
+int global = 0;
+
+void taskOne(void *arg)
+{
+    int i;
+    for (i=0; i < ITER; i++)
+    {
+        rt_printf("I am taskOne and global = %d................\n", ++global);
+    }
+}
+
+void taskTwo(void *arg)
+{
+    int i;
+    for (i=0; i < ITER; i++)
+    {
+        rt_printf("I am taskTwo and global = %d----------------\n", --global);
+    }
+}
+
+int main(int argc, char* argv[])
+{
+    /* Perform auto-init of rt_print buffers if the task doesn't do so */
+    rt_print_auto_init(1);
+
+    /* Avoids memory swapping for this program */
+    mlockall(MCL_CURRENT|MCL_FUTURE);
+
+    /* create the two tasks */
+    rt_task_create(&t1, "task1", 0, 1, 0);
+    rt_task_create(&t2, "task2", 0, 1, 0);
+
+    /* start the two tasks */
+    rt_task_start(&t1, &taskOne, 0);
+    rt_task_start(&t2, &taskTwo, 0);
+
+    return 0;
+}
+
+

diff --git a/mart/ex06/ex06a.c b/mart/ex06/ex06a.c
new file mode 100644 (file)
index 0000000..cdefd1b
--- /dev/null
+++ b/mart/ex06/ex06a.c
@@ -0,0 +1,99 @@
+/* ex06a.c */
+
+#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>
+#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
+
+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);
+}
+
+//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);
+}
+
+void init_xenomai() {
+  /* 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);
+}
+
+int main(int argc, char* argv[])
+{
+  printf("\nType CTRL-C to end this program\n\n" );
+
+  // code to set things to run xenomai
+  init_xenomai();
+
+  //startup code
+  startup();
+
+  // wait for CTRL-c is typed to end the program
+  pause();
+}

diff --git a/mart/ex07/ex07a.c b/mart/ex07/ex07a.c
new file mode 100644 (file)
index 0000000..11eac9b
--- /dev/null
+++ b/mart/ex07/ex07a.c
@@ -0,0 +1,99 @@
+/* ex07a.c */
+
+#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>
+#include <sys/io.h>
+
+#define NTASKS 3
+
+RT_TASK demo_task[NTASKS];
+RT_SEM mysync;
+
+// set new baseperiod for the clock :
+// - clock only increments counter when a base period is passed
+// - the unit of the clock counter is called a jiffie, which in fact
+//   represents that a baseperiod is passed
+//   e.g. If 10 baseperiods are passed, the clock gives an increase
+//   in 10 jiffies
+#define BASEPERIOD 1e6   // baseperiod in ns.
+
+// when base period is set, all times in the api are expressed in jiffies
+#define EXECTIME   200   // execution time in jiffies
+#define SPINTIME    10   // spin time in jiffies
+
+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);
+
+    // 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;
+
+      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);
+}
+
+void init_xenomai() {
+  /* 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);
+}
+
+int main(int argc, char* argv[])
+{
+  printf("\nType CTRL-C to end this program\n\n" );
+
+  // code to set things to run xenomai
+  init_xenomai();
+
+  //startup code
+  startup();
+
+  // wait for CTRL-c is typed to end the program
+  pause();
+}