Hi,
it seems that i have a big problem with preemption. (kernel 2.6.31, arm
freescale imx25, xenomai 2.5.6 )
I send a simple application that doesn't work.
The task with name 'task2ms' has higher priority than 'taskPrintf', but
'taskPrintf' stop the task 'task2ms' until sleeps.
I think i have a problem with ipipe porting.
Any idea ?
--
+------------------------------------------------------------------------------------------------+
Roberto Bielli
Sviluppo Software
Axel S.r.l.
Via Del Cannino, 3
21020 Crosio Della Valle
Varese - Italy
Telefono: +39 0332 949600
Fax: +39 0332 969315
E-mail: roberto.bie...@axelsw.it
Web Site: www.axelsw.it
+------------------------------------------------------------------------------------------------+
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+------------------------------------------------------------------------------------------------+
#include <stdio.h>
#include <stdint.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/mman.h> /* for MCL_CURRENT and MCL_FUTURE */
#include <rtdm/rtdm.h>
#include <native/task.h>
#define RTXENDRIVER_TYPE RTDM_CLASS_TESTING
#define RTXENDRIVER_SUBCLASS 0
#define DEVICE_NAME
"axc25xendriverCAN"
/*---------------------------PRIVATE DATA---------------------------------*/
#define GPIO6_ON *Gpio2ValAddr |= 1 << 6
#define GPIO6_OFF *Gpio2ValAddr &= ~(1 << 6);
static RT_TASK rt_task_desc;
typedef unsigned int canid_t;
struct can_frame {
canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
unsigned char can_dlc; /* data length code: 0 .. 8 */
unsigned char data[8] __attribute__((aligned(8)));
};
/* valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
/* special address description flags for the CAN_ID */
#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
#define CAN_ERR_FLAG 0x20000000U /* error frame */
int device;
//dati per la gestione memoria mappata
static unsigned long * Gpio2ValAddr = NULL;
/*---------------------------PUBLIC FUNCTIONS------------------------------*/
RT_TASK tskDesc;
RT_TASK tskCan;
RT_TASK tskDesc1;
int read_index =0;
int write_index =0;
#define SIZE_BUFFER 64
struct can_frame globCanFrameBuffer[SIZE_BUFFER];
volatile int x;
volatile int y;
/*void taskCan( void * params )
{
struct can_frame frame;
int nbytes;
for(;;)
{
nbytes = rt_dev_read( device, &frame, sizeof( frame ));
}
}*/
void task2ms( void * params )
{
struct can_frame frame;
int nbytes;
for(;;)
{
GPIO6_ON;
rt_task_sleep( 2000000 );
GPIO6_OFF;
}
}
void taskPrintf( void * params )
{
for(;;)
{
for( x=0; x < 1000000; x++ );
for( x=0; x < 1000000; x++ );
rt_task_sleep( 10000000 );
}
}
/*void taskRead( void * params )
{
struct can_frame frame;
int i;
while (1 )
{
//rt_task_sleep( 10000000 );
int nbytes;
GPIO6_ON;
nbytes = rt_dev_read( device, &frame, sizeof( frame ));
GPIO6_OFF;
//for( x=0; x < 1000000; x++ );
//for( x=0; x < 1000000; x++ );
if( nbytes != sizeof( frame ) )
{
printf( "Incomplete rtr CAN frame\n" );
return;
}
else
{
//rt_mutex_acquire( &mutex );
globCanFrameBuffer[ write_index++ ] = frame;
if( write_index == SIZE_BUFFER )
{
write_index = 0;
//printf("Rec %d\n", SIZE_BUFFER );
}
/*printf( "REC %03X, LEN %d, %02X %02X %02X %02X %02X
%02X %02X %02X\n", frame.can_id, frame.can_dlc,
frame.data[0],
frame.data[1],
frame.data[2],
frame.data[3],
frame.data[4],
frame.data[5],
frame.data[6],
frame.data[7]);
//rt_mutex_release( &mutex );
}
}
}*/
/*void taskPrint( void * params )
{
int localReadIndex;
int i;
while (1 )
{
rt_task_sleep( 10000000 );
for( y=0; y < 1000000; y++ );
for( y=0; y < 1000000; y++ );
//rt_mutex_acquire( &mutex );
/*if( write_index != read_index )
{
localReadIndex = read_index;
read_index++;
if( read_index == SIZE_BUFFER )
read_index = 0;
//rt_mutex_release( &mutex );
printf( "RX: %04d - ", localReadIndex );
printf( "Len: %1d -
",globCanFrameBuffer[localReadIndex].can_dlc );
printf( "ID: %08X -
",globCanFrameBuffer[localReadIndex].can_id );
for( i=0; i <
globCanFrameBuffer[localReadIndex].can_dlc; i++ )
printf( "%02X ",
globCanFrameBuffer[localReadIndex].data[i] );
printf("\n");
}
else
rt_mutex_release( &mutex );
}
}*/
//#define QUANTUMTIMEMS 2
//#define QUANTUMTIMENS ( QUANTUMTIMEMS * 1000000 )
int main(int argc, char *argv[])
{
int ret;
char key;
int nbytes;
struct can_frame frame;
int fd;
//fprintf(stderr, "AXC25 CAN driver\n");
// no memory-swapping for this programm
ret = mlockall(MCL_CURRENT | MCL_FUTURE);
if( ret )
{
perror("ERROR : mlockall has failled");
exit(1);
}
//fd = open( "/dev/mem", O_RDWR | O_SYNC );
//Gpio2ValAddr = (unsigned long *)mmap( NULL, 0x1000, PROT_READ |
PROT_WRITE, MAP_SHARED, fd, 0x53FD0000 );
//rt_timer_set_mode( QUANTUMTIMENS );
//rt_mutex_create( &mutex, "mutexWrite" );
//
// Turn the current task into a RT-task.
// The task has no name to allow multiple program instances to be run
// at the same time.
//
/*ret = rt_task_shadow(&rt_task_desc, NULL, 1, 0);
if( ret != 0 )
{
fprintf(stderr, "ERROR : rt_task_shadow: %s\n", strerror(-ret));
exit( 1 );
}*/
//open the device
/*fprintf(stderr, "CAN open\n");*/
/*device = rt_dev_open( DEVICE_NAME, 0 );
if( device < 0 )
{
printf( "ERROR : can't open device %s (%s)\n", DEVICE_NAME,
strerror( -device ));
exit( 1 );
}*/
//partenza lettura
//rt_task_spawn( &tskDesc, "taskRead", 0, 71, T_JOINABLE, taskRead,
NULL );
//partenza stampa
//rt_task_spawn( &tskDesc1, "taskPrint", 0, 72, T_JOINABLE, taskPrint,
NULL );
//rt_task_spawn( &tskCan, "taskCan", 0, 99, T_JOINABLE, taskCan, NULL );
rt_task_spawn( &tskDesc, "task2ms", 0, 99, T_JOINABLE, task2ms, NULL );
rt_task_spawn( &tskDesc1, "taskPrintf", 0, 90, T_JOINABLE, taskPrintf,
NULL );
for(;;)
{
//rt_task_sleep(1000000000);
sleep( 1 );
}
/*for(;;)
{
key = getchar();
if( key == 'd' )
{
frame.can_id = 1;
nbytes = rt_dev_write( device, &frame, sizeof( frame ));
printf("end write\n");
}
else if( key == 'e' )
{
break;
}
else if( key == 's' )
{
frame.can_id = 0x602;
frame.can_id &= CAN_SFF_MASK;
frame.can_dlc = 8;
frame.data[ 0 ] = 0x40;
frame.data[ 1 ] = 0x00;
frame.data[ 2 ] = 0x10;
frame.data[ 3 ] = 0x00;
frame.data[ 4 ] = 0x00;
frame.data[ 5 ] = 0x00;
frame.data[ 6 ] = 0x00;
frame.data[ 7 ] = 0x00;
nbytes = rt_dev_write( device, &frame, sizeof( frame ));
if( nbytes != sizeof( frame ) )
{
printf( "Incomplete trs CAN frame\n" );
}
else
{
printf( "CAN frame has been sent\n" );
}
}
else if( key == 'r' )
{
frame.can_id = 0x702;
frame.can_id &= CAN_SFF_MASK;
frame.can_id |= CAN_RTR_FLAG;
frame.can_dlc = 1;
frame.data[ 0 ] = 0x00;
frame.data[ 1 ] = 0x00;
frame.data[ 2 ] = 0x00;
frame.data[ 3 ] = 0x00;
frame.data[ 4 ] = 0x00;
frame.data[ 5 ] = 0x00;
frame.data[ 6 ] = 0x00;
frame.data[ 7 ] = 0x00;
nbytes = rt_dev_write( device, &frame, sizeof( frame ));
if( nbytes != sizeof( frame ) )
{
printf( "Incomplete rtr CAN frame\n" );
}
else
{
printf( "CAN rtr frame has been sent\n" );
}
}
}*/
//rt_task_delete( &tskDesc );
//rt_task_join( &tskDesc );
//close the device
//fprintf(stderr, "CAN close\n");
/*ret = rt_dev_close( device );
if( ret < 0 )
{
printf( "ERROR : can't close device %s (%s)\n", DEVICE_NAME,
strerror( -ret ));
exit( 1 );
}*/
return 0;
}
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