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<HTML><HEAD> <TITLE>RTAI 1.1 documentation</TITLE> <META HTTP-EQUIV="Content-Type" CONTENT="text/html; charset=iso-8859-1"> <META NAME="Generator" CONTENT="VIM - Vi IMproved 5.3"></HEAD><BODY><A NAME="index"></A><H1><FONT COLOR="#CC0000">DIAPM-RTAI</FONT></H1><H1>(<FONT COLOR="#CC0000">D</FONT>ipartimento di<FONT COLOR="#CC0000">I</FONT>ngegneria<FONT COLOR="#CC0000">A</FONT>erospaziale,<FONT COLOR="#CC0000">P</FONT>olitecnico di<FONT COLOR="#CC0000">M</FONT>ilano<br><FONT COLOR="#CC0000">R</FONT>eal<FONT COLOR="#CC0000">T</FONT>ime<FONT COLOR="#CC0000">A</FONT>pplication<FONT COLOR="#CC0000">I</FONT>nterface)</H1><H1>A Hard Real Time support for LINUX</H1><H3>This document explains how to call the functions available in the RTAIdeveloped at DIAPM.</H3><ul><LI> <A HREF="#task">Task functions</A></LI><LI> <A HREF="#timing">Timing functions</A></LI><LI> <A HREF="#semaphore">Semaphore functions</A></LI><LI> <A HREF="#message">Message handling functions</A></LI><LI> <A HREF="#rpc">RPC (Remote Procedure Call) functions</A></LI><li> <a href="#mbox">Mailbox functions</a></li><LI> <A HREF="#service">RTAI service functions</A></LI><LI> <A HREF="#fifo">FIFO communication functions</A></LI><LI> <A HREF="#fifoaux">Auxiliary functions</A></LI></ul><hr><h4 align=center>Functions provided by rtai_sched module</h4><P>Task functions:<A NAME="task"></A><BLOCKQUOTE> <A HREF="task.html#rt_task_init">rt_task_init</A><BR><A HREF="task.html#rt_task_init_cpuid">rt_task_init_cpuid</A><BR><A HREF="task.html#rt_task_delete">rt_task_delete</A><BR><A HREF="task.html#rt_task_make_periodic">rt_task_make_periodic</A><BR><A HREF="task.html#rt_task_make_periodic_relative_ns">rt_task_make_periodic_relative_ns</A><BR><A HREF="task.html#rt_task_wait_period">rt_task_wait_period</A><BR><A HREF="task.html#rt_task_yield">rt_task_yield</A><BR><A HREF="task.html#rt_task_suspend">rt_task_suspend</A><BR><A HREF="task.html#rt_task_resume">rt_task_resume</A><br><A HREF="task.html#rt_busy_sleep">rt_busy_sleep</A><br><A HREF="task.html#rt_sleep">rt_sleep</A><br><A HREF="task.html#rt_sleep_until">rt_sleep_until</A><BR><A HREF="task.html#rt_get_task_state">rt_get_task_state</A><BR><A HREF="task.html#rt_whoami">rt_whoami</A><BR><A HREF="task.html#rt_task_signal_handler">rt_task_signal_handler</A><BR><A HREF="task.html#rt_set_runnable_on_cpus">rt_set_runnable_on_cpus</A><BR><A HREF="task.html#rt_set_runnable_on_cpuid">rt_set_runnable_on_cpuid</A><BR><A HREF="task.html#rt_task_use_fpu">rt_task_use_fpu</A><BR><A HREF="task.html#rt_linux_use_fpu">rt_linux_use_fpu</A><BR><A HREF="task.html#rt_preempt_always">rt_preempt_always</A><BR><A HREF="task.html#rt_preempt_always_cpuid">rt_preempt_always_cpuid</A></BLOCKQUOTE><A NAME="timing"></A>Timer functions:<BLOCKQUOTE><table border=0 cellspacing=0 cellpadding=0><tr><td><A HREF="timing.html#rt_set_oneshot_mode">rt_set_oneshot_mode</A></td><td width="20"> </td><td><A HREF="timing.html#rt_set_periodic_mode">rt_set_periodic_mode</A></td><tr><td><A HREF="timing.html#start_rt_timer">start_rt_timer</A></td><td> </td><td><A HREF="timing.html#stop_rt_timer">stop_rt_timer</A></td><tr><td><A HREF="timing.html#count2nano">count2nano</A></td><td> </td><td><A HREF="timing.html#nano2count">nano2count</A></td><tr><td><A HREF="timing.html#rt_get_time">rt_get_time</A></td><td> </td><tr><td><A HREF="timing.html#rt_get_time_ns">rt_get_time_ns</A></td><td> </td><tr><td><A HREF="timing.html#rt_get_cpu_time_ns">rt_get_cpu_time_ns</A></td><td> </td><tr><td><A HREF="timing.html#next_period">next_period</A></td><td> </td></table></BLOCKQUOTE><A NAME="semaphore"></A>Semaphore functions:<BLOCKQUOTE><A HREF="semaphore.html#rt_sem_init">rt_sem_init</A><BR><A HREF="semaphore.html#rt_sem_delete">rt_sem_delete</A><BR><A HREF="semaphore.html#rt_sem_signal">rt_sem_signal</A><BR><A HREF="semaphore.html#rt_sem_wait">rt_sem_wait</A><BR><A HREF="semaphore.html#rt_sem_wait_if">rt_sem_wait_if</A><BR><A HREF="semaphore.html#rt_sem_wait_until">rt_sem_wait_until</A><BR><A HREF="semaphore.html#rt_sem_wait_timed">rt_sem_wait_timed</A></BLOCKQUOTE><A NAME="mbox"></A>Mailbox functions:<BLOCKQUOTE><table border=0 cellspacing=0 cellpadding=0><tr><td><A HREF="mbox.html#rt_mbx_init">rt_mbx_init</A></td><td width=20> </td><td></td><tr><td><A HREF="mbox.html#rt_mbx_delete">rt_mbx_delete</A></td><td> </td><td></td><tr><td><A HREF="mbox.html#rt_mbx_send">rt_mbx_send</A></td><td> </td><td><A HREF="mbox.html#rt_mbx_receive">rt_mbx_receive</A></td><tr><td><A HREF="mbox.html#rt_mbx_send_wp">rt_mbx_send_wp</A></td><td> </td><td><A HREF="mbox.html#rt_mbx_receive_wp">rt_mbx_receive_wp</A></td><tr><td><A HREF="mbox.html#rt_mbx_send_if">rt_mbx_send_if</A></td><td> </td><td><A HREF="mbox.html#rt_mbx_receive_if">rt_mbx_receive_if</A></td><tr><td><A HREF="mbox.html#rt_mbx_send_until">rt_mbx_send_until</A></td><td> </td><td><A HREF="mbox.html#rt_mbx_receive_until">rt_mbx_receive_until</A></td><tr><td><A HREF="mbox.html#rt_mbx_send_timed">rt_mbx_send_timed</A></td><td> </td><td><A HREF="mbox.html#rt_mbx_receive_timed">rt_mbx_receive_timed</A></td></table></BLOCKQUOTE><A NAME="message"></A>Message handling functions:<BLOCKQUOTE><table border=0 cellspacing=0 cellpadding=0><tr><td><A HREF="message.html#rt_send">rt_send</A></td><td width=20> </td><td><A HREF="message.html#rt_receive">rt_receive</A></td><tr><td><A HREF="message.html#rt_send_if">rt_send_if</A></td><td> </td><td><A HREF="message.html#rt_receive_if">rt_receive_if</A></td><tr><td><A HREF="message.html#rt_send_until">rt_send_until</A></td><td> </td><td><A HREF="message.html#rt_receive_until">rt_receive_until</A></td><tr><td><A HREF="message.html#rt_send_timed">rt_send_timed</A></td><td> </td><td><A HREF="message.html#rt_receive_timed">rt_receive_timed</A></td></table></BLOCKQUOTE><A NAME="rpc"></A>RPC (Remote Procedure Call) functions:<BLOCKQUOTE><A HREF="rpc.html#rt_rpc">rt_rpc</A><BR><A HREF="rpc.html#rt_rpc_if">rt_rpc_if</A><BR><A HREF="rpc.html#rt_rpc_until">rt_rpc_until</A><BR><A HREF="rpc.html#rt_rpc_timed">rt_rpc_timed</A><BR><A HREF="rpc.html#rt_isrpc">rt_isrpc</A><BR><A HREF="rpc.html#rt_return">rt_return</A></BLOCKQUOTE><hr><h4 align=center>Functions provided by rtai module</h4>Following there are some function calls, to be used fromRtai tasks, for managing interrupts within Rtai and communication servicesbetween Rtai tasks and Linux processes.<P><A NAME="service"></A>RTAI service functions:<BLOCKQUOTE><table border=0 cellspacing=0 cellpadding=0><tr><td><A HREF="service.html#rt_global_cli">rt_global_cli</A></td><td width=20> </td><td><A HREF="service.html#rt_global_sti">rt_global_sti</A></td><tr><td><A HREF="service.html#rt_global_save_flags">rt_global_save_flags</A></td><td> </td><td><A HREF="service.html#rt_global_restore_flags">rt_global_restore_flags</A></td><tr><td><A HREF="service.html#rt_global_save_flags_and_cli">rt_global_save_flags_and_cli</A></td><td> </td><td></td><tr><td><A HREF="service.html#send_ipi_shorthand">send_ipi_shorthand</A></td><tr><td><A HREF="service.html#send_ipi_logical">send_ipi_logical</A></td><tr><td><A HREF="service.html#rt_assign_irq_to_cpu">rt_assign_irq_to_cpu</A></td><td> </td><td><A HREF="service.html#rt_reset_irq_to_sym_mode">rt_reset_irq_to_sym_mode</A></td><tr><td><A HREF="service.html#rt_request_global_irq">rt_request_global_irq</A></td><td> </td><td><A HREF="service.html#rt_free_global_irq">rt_free_global_irq</A></td><tr><td><A HREF="service.html#request_RTirq">request_RTirq</A></td><td> </td><td><A HREF="service.html#free_RTirq">free_RTirq</A></td><tr><td><A HREF="service.html#rt_request_linux_irq">rt_request_linux_irq</A></td><td> </td><td><A HREF="service.html#rt_free_linux_irq">rt_free_linux_irq</A></td><tr><td><A HREF="service.html#rt_pend_linux_irq">rt_pend_linux_irq</A></td><tr><td><A HREF="service.html#rt_request_srq">rt_request_srq</A></td><td> </td><td><A HREF="service.html#rt_free_srq">rt_free_srq</A></td><tr><td><A HREF="service.html#rt_pend_linux_srq">rt_pend_linux_srq</A></td><tr><td><A HREF="service.html#rt_request_timer">rt_request_timer</A></td><td> </td><td><A HREF="service.html#rt_free_timer">rt_free_timer</A></td><tr><td><A HREF="service.html#rt_mount_rtai">rt_mount_rtai</A></td><td> </td><td><A HREF="service.html#rt_umount_rtai">rt_umount_rtai</A></td><tr><td>rt_ack_irq</td><td> </td><td></td><tr><td>rt_mask_and_ack_irq</td><td> </td><td></td><tr><td>rt_unmask_irq</td><td> </td><td></td><tr><td>rt_startup_irq</td><td> </td><td>rt_shutdown_irq</td><tr><td>rt_enable_irq</td><td> </td><td>rt_disable_irq</td><tr><td>enable_RTirq</td><td> </td><td>disable_RTirq</td></table></BLOCKQUOTE><hr><h4 align=center>Functions provided by rtai_fifos module</h4><A NAME="fifo"></A>RTAI FIFO communication functions (these are a modificationof RT-FIFO devices developed by Michael Barabanov for<a href="http://www.rtlinux.org/">NMT_RTLinux</a>):<BLOCKQUOTE><table border=0 cellspacing=0 cellpadding=0><tr><th align=left>Called from RT task<th width=20> <th align=left>Called from Linux process<tr><td><A HREF="fifo.html#rtf_create">rtf_create</A></td><td> </td><td>rtf_open_sized</td><tr><td></td><td> </td><td>[open]</td><tr><td><A HREF="fifo.html#rtf_destroy">rtf_destroy</A></td><td> </td><td>[close]</td><tr><td><A HREF="fifo.html#rtf_reset">rtf_reset</A></td><td> </td><td>rtf_reset</td><tr><td><A HREF="fifo.html#rtf_resize">rtf_resize</A></td><td> </td><td>rtf_resize</td><tr><td><A HREF="fifo.html#rtf_put">rtf_put</A></td><td> </td><td>[write]</td><tr><td></td><td> </td><td>rtf_write_timed</td><tr><td><A HREF="fifo.html#rtf_get">rtf_get</A></td><td> </td><td>[read]</td><tr><td></td><td> </td><td>rtf_read_all_at_once</td><tr><td></td><td> </td><td>rtf_read_timed</td><tr><td><A HREF="fifo.html#rtf_create_handler">rtf_create_handler</A></td><td> </td><td></td><tr><td></td><td> </td><td>rtf_set_async_sig</td></table></BLOCKQUOTE>In Linux RTL fifos have to be created by<code>mknod /dev/rtf<i><x></i> c 63 <i><x></i></code>where <i><x></i>is the minor device number, from 0 to 63; thuson the Linux side RTL fifos can be used as standard character devices.<p><A NAME="fifosem"></A>RTAI FIFO semaphore functions:<BLOCKQUOTE><table border=0 cellspacing=0 cellpadding=0><tr><th align=left>Called from RT task<th width=20> <th align=left>Called from Linux process<tr><td>rtf_sem_init</td><td> </td><td>rtf_sem_init</td><tr><td>rtf_sem_post</td><td> </td><td>rtf_sem_post</td><tr><td></td><td> </td><td>rtf_sem_wait</td><tr><td>rtf_sem_trywait</td><td> </td><td>rtf_sem_trywait</td><tr><td></td><td> </td><td>rtf_sem_timed_wait</td><tr><td>rtf_sem_destroy</td><td> </td><td>rtf_sem_destroy</td></table></BLOCKQUOTE><p><A NAME="fifoaux"></A>RTAI FIFO auxiliary functions:<BLOCKQUOTE> rt_printk<BR>rt_print_to_screen</BLOCKQUOTE><HR><P>The distribution contains some examples on how to usethe above described services in subdirectories of directory examples.<p>Document written by: E. Bianchi, L. Dozio, P. Mantegazza.<br>Dipartimento di Ingegneria Aerospaziale<br>Politecnico di Milano<br>e-mail: <a href="mailto:mantegazza@aero.polimi.it">mantegazza@aero.polimi.it</a><br>e-mail: <a href="mailto:dozio@aero.polimi.it">dozio@aero.polimi.it</a><p>Revised and updated by <a href="http://www.sztaki.hu/~kissg/">G醔or Kiss</a><br><a href="http://www.sztaki.hu">Computer and Automation Institute</a>of Hungarian Academy of Sciences</BODY></HTML>⌨️ 快捷键说明
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