myrt_process.c

实时linux RTAI 下的如何使用RTFIFO代码

#include <linux/module.h>
#include <asm/io.h>
#include <math.h>
#include <rtai.h>
#include <rtai_shm.h>
#include <rtai_sched.h>
#include <rtai_nam2num.h>
#include "parameters.h"

static RT_TASK rt_task;

static struct data_str *data;

static void fun(int t)
{
	unsigned int count = 0;
	float seno,coseno;
	while (1) {
		data->indx_counter = count;
		seno = sin(2*M_PI*1*rt_get_cpu_time_ns()/1E9);
		coseno = cos(2*M_PI*1*rt_get_cpu_time_ns()/1E9);
		data->sin_value = seno;
		data->cos_value = coseno;
		count++;
		rt_task_wait_period();
	}
}

int init_module(void)
{
	RTIME tick_period;
	rt_set_periodic_mode();
	rt_task_init(&rt_task, fun, 1, STACK_SIZE, TASK_PRIORITY, 1, 0);
	data = rtai_kmalloc(nam2num(SHMNAM), sizeof(struct data_str));
	tick_period = start_rt_timer(nano2count(TICK_PERIOD));
	rt_task_make_periodic(&rt_task, rt_get_time() + tick_period, tick_period);
	return 0;
}

void cleanup_module(void)
{
	stop_rt_timer();
	rt_task_delete(&rt_task);
	rtai_kfree(nam2num(SHMNAM));
	return;
}