Hi guys ...
I wrote a simple code just to learn how to deal with real time tasks, but
there is something wrong .....
the code is working , and my tasks running , but the processor load is to
high 98% ....
#include <stdio.h>
#include <sys/mman.h>
#include <native/task.h>
#include <native/timer.h>
void periodic_1(void *arg);
void periodic_refresh (void *arg);
void refreshScreen();
#define TASK_PRIORITY 99 //Priority
#define TASK_PRIORITY2 95 //Priority
#define TASK_MODE 0
#define TASK_STACKSIZE 0
#define TASK_PERIOD 10 * 1000000 //10ms
#define TASK_PERIOD2 1000 * 1000000 //5ms
RT_TASK td,task2;
void periodic_refresh (void *arg){
unsigned long over;
int err2 =
rt_task_set_periodic(NULL,TM_NOW,rt_timer_ns2ticks(TASK_PERIOD2));
for(;;){
err2 = rt_task_wait_period(&over);
if(err2)break;
}
}
void periodic_1(void *arg){
unsigned long over1;
int err1 =
rt_task_set_periodic(NULL,TM_NOW,rt_timer_ns2ticks(TASK_PERIOD));
for(;;){
err1 = rt_task_wait_period(&over1);
if(err1)break;
}
}
int main (int argc, char *argv[]){
int err=0,err2=0;
mlockall(MCL_CURRENT|MCL_FUTURE);
err=rt_task_spawn(&td,
"serialRead",TASK_STACKSIZE,TASK_PRIORITY,TASK_MODE,&periodic_1,NULL);
err2=rt_task_spawn(&task2,
"refresh",TASK_STACKSIZE,TASK_PRIORITY2,TASK_MODE,&periodic_refresh,NULL);
if(!err && !err2){
refreshScreen();
for(;;){}
rt_task_delete(&td);
rt_task_delete(&task2);
}
return 0;
}
void refreshScreen(void){
system("reset");
printf("|---------------------------------------------------------------------------------------|\n");
printf("| Xenomai
Task
|\n");
printf("|---------------------------------------------------------------------------------------|\n\n\n");
printf("Press ctrl+c to finish ...\n");
}
Thanks
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