myrt_process.c

实时linux RTAI 下的如何使用RTFIFO代码

#include <linux/kernel.h>
#include <linux/module.h>
#include <asm/io.h>
#include <math.h>
#include <rtai.h>
#include <rtai_sched.h>
#include <rtai_fifos.h>


#define TICK_PERIOD 1000000
#define TASK_PRIORITY 1
#define STACK_SIZE 10000
#define FIFO 0

static RT_TASK rt_task;

static void fun(int t)
{
	int counter = 0;
	float sin_value;   
	while (1) {
		sin_value = sin(2*M_PI*1*rt_get_cpu_time_ns()/1E9);
		//sin_value = rt_get_cpu_time_ns()/1E9;
		rtf_put(FIFO, &counter, sizeof(counter));
		rtf_put(FIFO, &sin_value, sizeof(sin_value));
		counter++;
		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);
	rtf_create(FIFO, 8000);
	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();
	rtf_destroy(FIFO);
	rt_task_delete(&rt_task);
	return;
}