Patch 2: examples.
Makefile | 94 ++++++++++++++++++++++++++++
test01_task.c | 62 ++++++++++++++++++
test02_event_sem.c | 160 +++++++++++++++++++++++++++++++++++++++++++++++
test03_timer.c | 60 +++++++++++++++++
test04_mutex.c | 86 +++++++++++++++++++++++++
test05_nrtsig.c | 82 ++++++++++++++++++++++++
test06_spinlock.c | 84 +++++++++++++++++++++++++
test07_heap.c | 76 ++++++++++++++++++++++
test08_device.c | 131 +++++++++++++++++++++++++++++++++++++++
test09_driver.c | 150 ++++++++++++++++++++++++++++++++++++++++++++
test10_mmap.c | 177 +++++++++++++++++++++++++++++++++++++++++++++++++++++
11 files changed, 1162 insertions(+)
Index: examples/rtdm/user-api/Makefile
===================================================================
--- examples/rtdm/user-api/Makefile (revision 0)
+++ examples/rtdm/user-api/Makefile (revision 0)
@@ -0,0 +1,94 @@
+
+###### CONFIGURATION ######
+
+### List of applications to be build
+APPLICATIONS = test01_task test02_event_sem test03_timer \
+ test04_mutex test05_nrtsig test06_spinlock test07_heap \
+ test08_device test09_driver test10_mmap
+
+### Note: to override the search path for the xeno-config script, use "make XENO=..."
+
+
+### List of modules to be build
+MODULES =
+
+### Note: to override the kernel source path, use "make KSRC=..."
+
+
+
+###### USER SPACE BUILD (no change required normally) ######
+ifeq ($(KERNELRELEASE),)
+ifneq ($(APPLICATIONS),)
+
+### Default Xenomai installation path
+XENO ?= /usr/xenomai
+
+XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config 2>/dev/null)
+
+### Sanity check
+ifeq ($(XENOCONFIG),)
+all::
+ @echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\" <<<"
+ @echo
+endif
+
+
+CC=$(shell $(XENOCONFIG) --cc)
+
+CFLAGS=$(shell $(XENOCONFIG) --xeno-cflags) $(MY_CFLAGS)
+
+LDFLAGS=$(shell $(XENOCONFIG) --xeno-ldflags) $(MY_LDFLAGS) -lrtdm_user
+
+# This includes the library path of given Xenomai into the binary to make live
+# easier for beginners if Xenomai's libs are not in any default search path.
+LDFLAGS+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
+
+all:: $(APPLICATIONS)
+
+clean::
+ $(RM) $(APPLICATIONS) *.o
+
+endif
+endif
+
+
+
+###### KERNEL MODULE BUILD (no change required normally) ######
+ifneq ($(MODULES),)
+
+### Default to sources of currently running kernel
+KSRC ?= /lib/modules/$(shell uname -r)/build
+
+OBJS := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+### Kernel 2.6
+ifeq ($(findstring 2.6,$(KSRC)),2.6)
+
+obj-m := $(OBJS)
+EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix $(ADD_CFLAGS)
+
+all::
+ $(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+
+### Kernel 2.4
+else
+
+ARCH ?= $(shell uname -i)
+INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat -I$(KSRC)/include/xenomai/posix
+CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH) SUBDIRS=$(PWD) modules) $(INCLUDE)
+
+all:: $(OBJS)
+
+endif
+
+## Target for capturing 2.4 module CFLAGS
+modules:
+ @echo "$(CFLAGS)"
+
+clean::
+ $(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers Module.markers modules.order
+ $(RM) -R .tmp*
+
+endif
Index: examples/rtdm/user-api/test01_task.c
===================================================================
--- examples/rtdm/user-api/test01_task.c (revision 0)
+++ examples/rtdm/user-api/test01_task.c (revision 0)
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+
+#include <rtdm/rtdm_driver.h>
+
+void task_proc(void *arg)
+{
+ int i;
+
+ printf("test01_task[RT]: task started\n");
+
+ for(i = 0; i < 10; i++) {
+ rtdm_task_sleep(1000000000);
+ printf("test01_task[RT]: task awoken (i=%d)\n", i);
+ }
+
+ printf("test01_task: leaving task\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t task;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_task_init(&task,
+ "TEST TASK",
+ task_proc, NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ printf("test01_task[main]: task creation failed (err=%d)\n",err);
+ return err;
+ }
+
+ printf("test01_task[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&task, 100);
+
+ printf("test01_task[main]: task destroyed\n");
+
+ return 0;
+}
Index: examples/rtdm/user-api/test02_event_sem.c
===================================================================
--- examples/rtdm/user-api/test02_event_sem.c (revision 0)
+++ examples/rtdm/user-api/test02_event_sem.c (revision 0)
@@ -0,0 +1,160 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+#include <getopt.h>
+#include <errno.h>
+
+#include <rtdm/rtdm_driver.h>
+
+#define MAX_TASK_COUNT 10
+#define MAX_TASK_NAME 32
+
+static int verbose;
+static int use_sem;
+static struct option test_opts[] = {
+ {"help", no_argument, NULL, 'h'},
+ {"verbose", no_argument, NULL, 'v'},
+ {"semaphore", no_argument, NULL, 's'},
+ {0},
+};
+
+rtdm_event_t evts[MAX_TASK_COUNT];
+rtdm_sem_t sems[MAX_TASK_COUNT];
+
+void task_proc_event(void *arg)
+{
+ int i, idx = (int) arg;
+ int nxt_idx = (idx == MAX_TASK_COUNT - 1) ? 0 : idx + 1;
+
+ printf("test02_event_sem[%d]: task started (nxt=%d)\n", idx, nxt_idx);
+
+ for(i = 0; i < 10; i++) {
+
+ rtdm_event_wait(&evts[idx]);
+ printf("test02_event_sem[%d]: event received (i=%d)\n", idx, i);
+
+ rtdm_task_sleep(100000000);
+ if(verbose)
+ printf("test02_event_sem[%d]: task awoken (i=%d)\n", idx, i);
+
+ rtdm_event_signal(&evts[nxt_idx]);
+ printf("test02_event_sem[%d]: event sent (i=%d)\n", idx, i);
+ }
+
+ printf("test02_event_sem[%d]: leaving task\n", idx);
+}
+
+void task_proc_sem(void *arg)
+{
+ int i, idx = (int) arg;
+ int nxt_idx = (idx == MAX_TASK_COUNT - 1) ? 0 : idx + 1;
+
+ printf("test02_event_sem[%d]: task started (nxt=%d)\n", idx, nxt_idx);
+
+ for(i = 0; i < 10; i++) {
+
+ rtdm_sem_down(&sems[idx]);
+ printf("test02_event_sem[%d]: semaphore taken (i=%d)\n", idx, i);
+
+ rtdm_task_sleep(100000000);
+ if(verbose)
+ printf("test02_event_sem[%d]: task awoken (i=%d)\n", idx, i);
+
+ rtdm_sem_up(&sems[nxt_idx]);
+ printf("test02_event_sem[%d]: semaphore released (i=%d)\n", idx, i);
+ }
+
+ printf("test02_event_sem[%d]: leaving task\n", idx);
+}
+
+void do_print_usage(void)
+{
+ fprintf(stdout,
+ "usage:\ttest02_event_sem [OPTS]\n");
+ fprintf(stdout, "\tOPTS:\t -v, --verbose: verbose output\n");
+ fprintf(stdout, "\t\t -s, --semaphore: use semaphore instead of event\n");
+ fprintf(stdout, "\t\t -h, --help: print this help\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t tasks[MAX_TASK_COUNT];
+ char task_name[MAX_TASK_NAME];
+ int c, i, err;
+
+ /* Computes arguments */
+ while ((c =
+ getopt_long(argc, argv, "hvs", test_opts, NULL)) >= 0) {
+ switch (c) {
+ case 'v':
+ verbose = 1;
+ break;
+ case 's':
+ use_sem = 1;
+ break;
+ case 'h':
+ default:
+ do_print_usage();
+ return -EINVAL;
+ }
+ }
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ for(i = 0; i < MAX_TASK_COUNT; i++) {
+
+ sprintf(task_name, "TEST TASK %d", i);
+
+ rtdm_event_init(&evts[i], 0);
+ rtdm_sem_init(&sems[i], 0);
+
+ err = rtdm_task_init(&tasks[i],
+ task_name,
+ use_sem ? task_proc_sem : task_proc_event,
+ (void *)i, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ printf("test02_event_sem: task creation failed (err=%d)\n",err);
+ return err;
+ }
+ }
+
+ if(verbose)
+ printf("test02_event_sem[main]: using %s as inter-task synch tools\n",
+ use_sem ? "semaphores" : "events");
+
+
+ printf("test02_event_sem[main]: awaking the first task \n");
+ rtdm_event_signal(&evts[0]);
+ rtdm_sem_up(&sems[0]);
+
+ if(verbose)
+ printf("test02_event_sem[main]: waiting for the task completion\n");
+ rtdm_task_join_nrt(&tasks[MAX_TASK_COUNT - 1], 100);
+
+ if(verbose)
+ printf("test02_event_sem[main]: tasks destroyed\n");
+
+ /* The events / semaphores are not destroyed on purpose;
+ this test expects the skin callback to clean them */
+
+ return 0;
+}
Index: examples/rtdm/user-api/test03_timer.c
===================================================================
--- examples/rtdm/user-api/test03_timer.c (revision 0)
+++ examples/rtdm/user-api/test03_timer.c (revision 0)
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <unistd.h>
+#include <sys/mman.h>
+
+#include <rtdm/rtdm_driver.h>
+
+void timer_handler(rtdm_timer_t *timer)
+{
+ printf("test03_timer[handler]: timer occurence\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_timer_t timer;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_timer_init(&timer, timer_handler, "TEST TIMER");
+ if(err < 0) {
+ printf("test03_timer[main]: rtdm_timer_init failed (err=%d)\n",
+ err);
+ return err;
+ }
+
+ err = rtdm_timer_start(&timer, 1000000, 1000000000, RTDM_TIMERMODE_RELATIVE);
+ if(err < 0) {
+ printf("test03_timer[main]: rtdm_timer_init failed (err=%d)\n",
+ err);
+ goto out;
+ }
+
+ sleep(10);
+
+ rtdm_timer_stop(&timer);
+
+out:
+ rtdm_timer_destroy(&timer);
+
+ return err;
+}
Index: examples/rtdm/user-api/test04_mutex.c
===================================================================
--- examples/rtdm/user-api/test04_mutex.c (revision 0)
+++ examples/rtdm/user-api/test04_mutex.c (revision 0)
@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+
+#include <rtdm/rtdm_driver.h>
+
+#define MAX_TASK_COUNT 2
+#define MAX_TASK_NAME 32
+
+rtdm_mutex_t mutex;
+
+void task_proc(void *arg)
+{
+ int i, idx = (int) arg;
+
+ printf("test04_mutex[%d]: task started\n", idx);
+
+ for(i = 0; i < 10; i++) {
+
+ rtdm_mutex_lock(&mutex);
+ printf("test04_mutex[%d]: mutex locked (i=%d)\n", idx, i);
+
+ rtdm_task_sleep(100000000);
+ printf("test04_mutex[%d]: task awoken (i=%d)\n", idx, i);
+
+ rtdm_mutex_unlock(&mutex);
+ printf("test04_mutex[%d]: mutex unlocked (i=%d)\n", idx, i);
+ }
+
+ printf("test04_mutex[%d]: leaving task\n", idx);
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t tasks[MAX_TASK_COUNT];
+ char task_name[MAX_TASK_NAME];
+ int i, err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ rtdm_mutex_init(&mutex);
+
+ for(i = 0; i < MAX_TASK_COUNT; i++) {
+
+ sprintf(task_name, "TEST TASK %d", i);
+
+ err = rtdm_task_init(&tasks[i],
+ task_name,
+ task_proc,
+ (void *)i, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ printf("test04_mutex: task creation failed (err=%d)\n",err);
+ return err;
+ }
+ }
+
+ printf("test04_mutex[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&tasks[MAX_TASK_COUNT - 1], 100);
+
+ printf("test04_mutex[main]: tasks destroyed\n");
+
+ /* The mutex is x not destroyed on purpose;
+ this test expects the skin callback to clean them */
+
+ return 0;
+}
Index: examples/rtdm/user-api/test05_nrtsig.c
===================================================================
--- examples/rtdm/user-api/test05_nrtsig.c (revision 0)
+++ examples/rtdm/user-api/test05_nrtsig.c (revision 0)
@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+
+#include <rtdm/rtdm_driver.h>
+
+void task_proc(void *arg)
+{
+ rtdm_nrtsig_t *nrt_sig = (rtdm_nrtsig_t *)arg;
+ int i;
+
+ for(i = 0; i < 10; i++) {
+
+ printf("test05_nrtsig[RT]:: launching NRT signal (i=%d)\n", i);
+ rtdm_nrtsig_pend(nrt_sig);
+
+ rtdm_task_sleep(100000000);
+ printf("test05_nrtsig[RT]:: task awoken (i=%d)\n", i);
+ }
+
+ printf("test05_nrtsig[RT]: leaving task\n");
+}
+
+void nrtsig_handler(unsigned int virq, void *arg)
+{
+ printf("test05_nrtsig[NRT]: handler called\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t task;
+ rtdm_nrtsig_t nrt_sig;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_nrtsig_init(&nrt_sig, nrtsig_handler, NULL);
+
+ if(err != 0) {
+ printf("test05_nrtsig[main]: NRT signal creation failed (err=%d)\n",
+ err);
+ return err;
+ }
+
+ err = rtdm_task_init(&task,
+ "TEST TASK",
+ task_proc, &nrt_sig, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ printf("test05_nrtsig[main]: task creation failed (err=%d)\n",err);
+ return err;
+ }
+
+ printf("test05_nrtsig[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&task, 100);
+
+ printf("test05_nrtsig[main]: task destroyed\n");
+
+ /* The NRT signal is not destroyed on purpose;
+ this test expects the skin callback to clean it */
+
+ return 0;
+}
Index: examples/rtdm/user-api/test06_spinlock.c
===================================================================
--- examples/rtdm/user-api/test06_spinlock.c (revision 0)
+++ examples/rtdm/user-api/test06_spinlock.c (revision 0)
@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+
+#include <rtdm/rtdm_driver.h>
+
+#define MAX_TASK_COUNT 2
+#define MAX_TASK_NAME 32
+
+rtdm_lock_t spinlock = RTDM_LOCK_UNLOCKED;
+
+void task_proc(void *arg)
+{
+ int i, idx = (int) arg;
+ rtdm_lockctx_t context;
+
+ printf("test06_spinlock[%d]: task started\n", idx);
+
+ for(i = 0; i < 10; i++) {
+
+ rtdm_lock_get_irqsave(&spinlock, context);
+ printf("test06_spinlock[%d]: spinlock locked (i=%d)\n", idx, i);
+
+ rtdm_lock_put_irqrestore(&spinlock, context);
+ printf("test06_spinlock[%d]: spinlock unlocked (i=%d)\n", idx, i);
+
+ rtdm_task_sleep(100000000);
+ printf("test06_spinlock[%d]: task awoken (i=%d)\n", idx, i);
+ }
+
+ printf("test06_spinlock[%d]: leaving task\n", idx);
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t tasks[MAX_TASK_COUNT];
+ char task_name[MAX_TASK_NAME];
+ int i, err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ for(i = 0; i < MAX_TASK_COUNT; i++) {
+
+ sprintf(task_name, "TEST TASK %d", i);
+
+ err = rtdm_task_init(&tasks[i],
+ task_name,
+ task_proc,
+ (void *)i, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ printf("test06_spinlock: task creation failed (err=%d)\n",err);
+ return err;
+ }
+ }
+
+ printf("test06_spinlock[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&tasks[MAX_TASK_COUNT - 1], 100);
+
+ printf("test06_spinlock[main]: tasks destroyed\n");
+
+ /* No need to destroy the spinlock */
+
+ return 0;
+}
Index: examples/rtdm/user-api/test07_heap.c
===================================================================
--- examples/rtdm/user-api/test07_heap.c (revision 0)
+++ examples/rtdm/user-api/test07_heap.c (revision 0)
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+#include <string.h>
+
+#include <rtdm/rtdm_driver.h>
+
+void task_proc(void *arg)
+{
+ int i;
+ void *block;
+
+ printf("test07_heap[RT]: task started\n");
+
+ for(i = 0; i < 10; i++) {
+
+ block = rtdm_malloc(sizeof(rtdm_task_t));
+
+ printf("test07_heap[RT]: allocated block = 0x%x (i=%d)\n", block, i);
+
+ memset(block, 0, sizeof(rtdm_task_t));
+
+ rtdm_task_sleep(1000000000);
+
+ if(i % 2 == 0) {
+ rtdm_free(block);
+ printf("test07_heap[RT]: freed block = 0x%x (i=%d)\n",
+ block, i);
+ }
+ }
+
+ printf("test07_heap[RT]: leaving task\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t task;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_task_init(&task,
+ "TEST TASK",
+ task_proc, NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ printf("test07_heap[main]: task creation failed (err=%d)\n",err);
+ return err;
+ }
+
+ printf("test07_heap[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&task, 100);
+
+ printf("test07_heap[main]: task destroyed\n");
+
+ return 0;
+}
Index: examples/rtdm/user-api/test08_device.c
===================================================================
--- examples/rtdm/user-api/test08_device.c (revision 0)
+++ examples/rtdm/user-api/test08_device.c (revision 0)
@@ -0,0 +1,131 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+#include <string.h>
+
+#include <rtdm/rtdm_driver.h>
+
+struct dummy_context {
+ int nouse;
+};
+
+int test_dev_open(struct rtdm_dev_context *context,
+ rtdm_user_info_t * user_info, int flags)
+{
+ rtdm_printk("test08_device[DRV]: test_dev_open called\n");
+ return 0;
+}
+
+int test_dev_close(struct rtdm_dev_context *context, rtdm_user_info_t * user_info)
+{
+ rtdm_printk("test08_device[DRV]: test_dev_close called\n");
+ return 0;
+}
+
+ssize_t test_dev_read(struct rtdm_dev_context * context,
+ rtdm_user_info_t * user_info, void *buf, size_t nbytes)
+{
+ rtdm_printk("test08_device[DRV]: test_dev_read called\n");
+ return 0;
+}
+
+ssize_t test_dev_write(struct rtdm_dev_context * context,
+ rtdm_user_info_t * user_info,
+ const void *buf, size_t nbytes)
+{
+ rtdm_printk("test08_device[DRV]: test_dev_write called\n");
+ return 0;
+}
+
+int test_dev_ioctl(struct rtdm_dev_context *context,
+ rtdm_user_info_t * user_info, unsigned int request, void *arg)
+{
+ rtdm_printk("test08_device[DRV]: test_dev_ioctl called\n");
+ return 0;
+}
+
+static struct rtdm_device test_dev = {
+ .struct_version = RTDM_DEVICE_STRUCT_VER,
+ .device_flags = RTDM_NAMED_DEVICE,
+ .context_size = sizeof(struct dummy_context),
+ .device_name = "test_dev",
+ .open_rt = test_dev_open,
+
+ .ops = {
+ .close_rt = test_dev_close,
+ .ioctl_rt = test_dev_ioctl,
+ .read_rt = test_dev_read,
+ .write_rt = test_dev_write,
+ },
+
+ .device_class = RTDM_CLASS_EXPERIMENTAL,
+ .driver_name = "Test user driver",
+ .driver_version = RTDM_DRIVER_VER(0, 0, 1),
+
+ .peripheral_name = "Test user device",
+};
+
+void task_proc(void *arg)
+{
+ int fd;
+
+ rtdm_printk("test08_device[RT]: task started\n");
+
+ fd = rt_dev_open("test_dev", 0);
+
+ rt_dev_read(fd, NULL, 0);
+
+ rt_dev_write(fd, NULL, 0);
+
+ rt_dev_close(fd);
+
+ rtdm_printk("test08_device[RT]: leaving task\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t task;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_dev_register(&test_dev);
+
+ err = rtdm_task_init(&task,
+ "TEST TASK",
+ task_proc, NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ rtdm_printk("test08_device[main]: task creation failed (err=%d)\n",
+ err);
+ return err;
+ }
+
+ rtdm_printk("test08_device[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&task, 100);
+
+ rtdm_printk("test08_device[main]: task destroyed\n");
+
+ err = rtdm_dev_unregister(&test_dev, 0);
+
+ return 0;
+}
Index: examples/rtdm/user-api/test09_driver.c
===================================================================
--- examples/rtdm/user-api/test09_driver.c (revision 0)
+++ examples/rtdm/user-api/test09_driver.c (revision 0)
@@ -0,0 +1,150 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+#include <string.h>
+
+#include <rtdm/rtdm_driver.h>
+
+struct dummy_context {
+ int nouse;
+};
+
+int test_drv_open(struct rtdm_dev_context *context,
+ rtdm_user_info_t * user_info, int flags)
+{
+ rtdm_printk("test09_driver[DRV]: test_drv_open called\n");
+ return 0;
+}
+
+int test_drv_close(struct rtdm_dev_context *context, rtdm_user_info_t * user_info)
+{
+ rtdm_printk("test09_driver[DRV]: test_drv_close called\n");
+ return 0;
+}
+
+ssize_t test_drv_read(struct rtdm_dev_context * context,
+ rtdm_user_info_t * user_info, void *buf, size_t nbytes)
+{
+ unsigned char _b[8] = { 0xa, 0x5, 0xa, 0x5, 0xa, 0x5, 0xa, 0x5 };
+ unsigned int _count = nbytes > 8 ? 8 : nbytes;
+
+ rtdm_printk("test09_driver[DRV]: test_drv_read called\n");
+
+ return rtdm_safe_copy_to_user(user_info, buf, _b, _count);
+}
+
+ssize_t test_drv_write(struct rtdm_dev_context * context,
+ rtdm_user_info_t * user_info,
+ const void *buf, size_t nbytes)
+{
+ unsigned char _b[8];
+ unsigned int i, _count = nbytes > 8 ? 8 : nbytes;
+
+ rtdm_printk("test09_driver[DRV]: test_drv_write called\n");
+
+ if(rtdm_safe_copy_from_user(user_info, _b, buf, _count) < 0)
+ return -EFAULT;
+
+ rtdm_printk("test09_driver[DRV]: data = { ");
+
+ for(i = 0; i < _count; i++)
+ rtdm_printk("0x%x, ", _b[i]);
+
+ rtdm_printk("}\n");
+
+ return 0;
+}
+
+int test_drv_ioctl(struct rtdm_dev_context *context,
+ rtdm_user_info_t * user_info, unsigned int request, void *arg)
+{
+ rtdm_printk("test09_driver[DRV]: test_drv_ioctl called\n");
+ return 0;
+}
+
+static struct rtdm_device test_drv = {
+ .struct_version = RTDM_DEVICE_STRUCT_VER,
+ .device_flags = RTDM_NAMED_DEVICE,
+ .context_size = sizeof(struct dummy_context),
+ .device_name = "test_drv",
+ .open_rt = test_drv_open,
+
+ .ops = {
+ .close_rt = test_drv_close,
+ .ioctl_rt = test_drv_ioctl,
+ .read_rt = test_drv_read,
+ .write_rt = test_drv_write,
+ },
+
+ .device_class = RTDM_CLASS_EXPERIMENTAL,
+ .driver_name = "Test user driver",
+ .driver_version = RTDM_DRIVER_VER(0, 0, 1),
+
+ .peripheral_name = "Test user device",
+};
+
+void task_proc(void *arg)
+{
+ int fd;
+ unsigned char buf[8];
+
+ rtdm_printk("test09_driver[RT]: task started\n");
+
+ fd = rt_dev_open("test_drv", 0);
+
+ rt_dev_read(fd, buf, 8);
+
+ rt_dev_write(fd, buf, 8);
+
+ rt_dev_close(fd);
+
+ rtdm_printk("test09_driver[RT]: leaving task\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t task;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_dev_register(&test_drv);
+
+ err = rtdm_task_init(&task,
+ "TEST TASK",
+ task_proc, NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ rtdm_printk("test09_driver[main]: task creation failed (err=%d)\n",
+ err);
+ return err;
+ }
+
+ rtdm_printk("test09_driver[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&task, 100);
+
+ rtdm_printk("test09_driver[main]: task destroyed\n");
+
+ err = rtdm_dev_unregister(&test_drv, 0);
+
+ return 0;
+}
Index: examples/rtdm/user-api/test10_mmap.c
===================================================================
--- examples/rtdm/user-api/test10_mmap.c (revision 0)
+++ examples/rtdm/user-api/test10_mmap.c (revision 0)
@@ -0,0 +1,177 @@
+/*
+ * Copyright (C) 2005 Joerg Langenberg <joerg.langenb...@gmx.net>.
+ * Copyright (C) 2008 Alexis Berlemont <alexis.berlem...@free.fr>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <stdio.h>
+#include <sys/mman.h>
+#include <string.h>
+
+#include <rtdm/rtdm_driver.h>
+
+#define TEST_IO 'c'
+#define TEST_MAP_IOCTL _IOWR(TEST_IO, 0, unsigned int)
+
+#define TEST_MAP_BUF_SIZE 0x100
+
+struct map_context {
+ void *buf;
+};
+
+void test_vm_open(struct vm_area_struct *area)
+{
+ void *priv = (unsigned long *)area->vm_private_data;
+ rtdm_printk("test10_mmap[DRV]: test_vm_open called (priv=0x%x)\n", priv);
+}
+
+void test_vm_close(struct vm_area_struct *area)
+{
+ void *priv = (unsigned long *)area->vm_private_data;
+ rtdm_printk("test10_mmap[DRV]: test_vm_close called (priv=0x%x)\n", priv);
+}
+
+static struct vm_operations_struct test_map_ops = {
+ .open = test_vm_open,
+ .close = test_vm_close,
+};
+
+int test_map_open(struct rtdm_dev_context *context,
+ rtdm_user_info_t * user_info, int flags)
+{
+ struct map_context *cxt = (struct map_context *)context->dev_private;
+
+ rtdm_printk("test10_mmap[DRV]: test_map_open called\n");
+
+ cxt->buf = rtdm_malloc(TEST_MAP_BUF_SIZE);
+ if(cxt->buf == NULL)
+ return -ENOMEM;
+
+ memset(cxt->buf, 0xa5, TEST_MAP_BUF_SIZE);
+
+ return 0;
+}
+
+int test_map_close(struct rtdm_dev_context *context, rtdm_user_info_t * user_info)
+{
+ struct map_context *cxt = (struct map_context *)context->dev_private;
+
+ rtdm_printk("test10_mmap[DRV]: test_map_close called\n");
+
+ if(cxt->buf != NULL)
+ rtdm_free(cxt->buf);
+
+ return 0;
+}
+
+int test_map_ioctl(struct rtdm_dev_context *context,
+ rtdm_user_info_t * user_info, unsigned int request, void *arg)
+{
+ struct map_context *cxt = (struct map_context *)context->dev_private;
+ int err;
+ void *ptr;
+
+ rtdm_printk("test10_mmap[DRV]: test_map_ioctl called\n");
+
+ if(request != TEST_MAP_IOCTL)
+ return -EINVAL;
+
+ err = rtdm_mmap_to_user(user_info,
+ cxt->buf,
+ TEST_MAP_BUF_SIZE,
+ PROT_READ | PROT_WRITE, &ptr, &test_map_ops, NULL);
+
+ return rtdm_safe_copy_to_user(user_info, arg, &ptr, sizeof(unsigned long));
+}
+
+static struct rtdm_device test_map = {
+ .struct_version = RTDM_DEVICE_STRUCT_VER,
+ .device_flags = RTDM_NAMED_DEVICE,
+ .context_size = sizeof(struct map_context),
+ .device_name = "test_map",
+ .open_rt = test_map_open,
+
+ .ops = {
+ .close_rt = test_map_close,
+ .ioctl_rt = test_map_ioctl,
+ },
+
+ .device_class = RTDM_CLASS_EXPERIMENTAL,
+ .driver_name = "Test user driver",
+ .driver_version = RTDM_DRIVER_VER(0, 0, 1),
+
+ .peripheral_name = "Test user device",
+};
+
+void task_proc(void *arg)
+{
+ int fd, err, i;
+ unsigned char *map_base;
+ unsigned char buf[8];
+
+ rtdm_printk("test10_mmap[RT]: task started\n");
+
+ fd = rt_dev_open("test_map", 0);
+ if(fd < 0)
+ return;
+
+ err = rt_dev_ioctl(fd, TEST_MAP_IOCTL, &map_base);
+ if(err < 0)
+ goto out_task;
+
+ for(i = 0; i < TEST_MAP_BUF_SIZE; i++) {
+ rtdm_printk("0x%x", map_base[i]);
+ if((i + 1) % 8 == 0)
+ rtdm_printk("\n");
+ else
+ rtdm_printk(", ");
+ }
+
+out_task:
+ rt_dev_close(fd);
+
+ rtdm_printk("test10_mmap[RT]: leaving task\n");
+}
+
+int main(int argc, char *argv[])
+{
+ rtdm_task_t task;
+ int err;
+
+ mlockall(MCL_CURRENT|MCL_FUTURE);
+
+ err = rtdm_dev_register(&test_map);
+
+ err = rtdm_task_init(&task,
+ "TEST TASK",
+ task_proc, NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
+
+ if(err != 0) {
+ rtdm_printk("test10_mmap[main]: task creation failed (err=%d)\n",
+ err);
+ return err;
+ }
+
+ rtdm_printk("test10_mmap[main]: waiting for the task completion\n");
+
+ rtdm_task_join_nrt(&task, 100);
+
+ rtdm_printk("test10_mmap[main]: task destroyed\n");
+
+ err = rtdm_dev_unregister(&test_map, 0);
+
+ return 0;
+}
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