Xenomai-forge Tasks and IRQ example

最新推荐文章于 2022-02-22 16:42:55 发布

CyberLabs

最新推荐文章于 2022-02-22 16:42:55 发布

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分类专栏： Linux 文章标签： null delete include

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本文介绍了一个使用实时任务和中断处理机制的示例程序。该程序通过创建实时任务来响应特定中断，并展示了如何配置和启动这些任务。此外，还演示了如何在任务中处理中断并打印运行状态。

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#include <stdio.h>
#include <stdlib.h>

#include <sys/mman.h>
#include <alchemy/task.h>
#include <nucleus/intr.h>

#define IRQ_NUMBER 7 /* Intercept interrupt #7 */
#define TASK_STKSZ 0 /* Stack size (use default one) */
#define TASK_PRIO 99 /* Highest RT priority */
#define TASK_MODE 0 /* No flags */

static RT_INTR intr_desc;
static RT_TASK task_00;
static int count = 1;

#if 1
void cleanup (void)
{
rt_intr_delete(&intr_desc);
rt_task_delete(&task_desc);
}
#endif

#if 1

static void task_00_00 (void *cookie)
{
int err;
for (;;) {

    /* Wait for the next interrupt on channel #7. */
    err = rt_intr_wait(&intr_desc,TM_INFINITE);

    if (err > 0) {   //rt_intr_wait正常返回一个正数，代表未处理中断的数量
      /* Process interrupt. */
    }
}

}

#endif

#if 1
static void task_00_01 (void *cookie)
{
for (;;) {
/* ... "cookie" should be NULL ... */
fprintf(stderr, "task_00 is run %d", count);
count++;
}
}
#endif

#if 1
static void task_00_02 (void *cookie)
{
for (;;) {
/* ... "cookie" should be NULL ... */
fprintf(stderr, "task_01 is run %d", count);
count++;
}
}
#endif

int main (int argc, char *argv[])
{
int err;
mlockall(MCL_CURRENT|MCL_FUTURE);
/* ... */

err = rt_intr_create(&intr_desc,"MyIrq",IRQ_NUMBER,0);

err = rt_task_create(&task_00,
                       "Task_00_Name",
                       TASK_STKSZ,
                       TASK_PRIO,
                       TASK_MODE);
if (!err)
rt_task_start(&task_00,&task_00_00,NULL);
rt_task_start(&task_00,&task_00_01,NULL);
rt_task_start(&task_00,&task_00_02,NULL);

rt_intr_enable(&intr_desc);    //开中断
/* ... */

cleanup ();

exit(0);//return 0;
}