Hi
I'm a newbie in real time programming and I recently came to know of
Xenomai. After patching the Xenomai to the linux kernel, I ran some
examples that I found from the Internet to get a better understanding of
the periodic task. Everything seems to run fine when I start two tasks
with period of 1s and 2s, but the system freezes when I added more tasks
( more than 2 tasks). The period is at 1s, 2s and 3s so i think the
processor has more than enough time to process the tasks.
I also read that the periodic mode is emulated by a software driver
which uses one-shot mode programming. Thus i did not enable periodic
timing when I compile the Linux kernel, is this the cause of the problem?
I'm using a system with Core i7, ubuntu 10.04, linux kernel 2.6.32.15,
xenomai 2.5.4
Do let me know what I did wrong in the code, thanks in advance!!
void demo (void *arg)
{
//take in argument
int num = (int *)arg;
RT_TASK *curtask;
RT_TASK_INFO curtaskinfo;
curtask=rt_task_self();
rt_task_inquire(curtask,&curtaskinfo);
// task period in seconds
rt_task_set_periodic(NULL, TM_NOW, (1000000000 * num));
while(1)
{
rt_printf("Task name: %s \n", curtaskinfo.name);
rt_task_wait_period(NULL);
}
}
int main(int argc, char **argv)
{
rt_print_auto_init(1);
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_task_create(&demo_task1, "task1", 0, 1, 0);
rt_task_create(&demo_task2, "task2", 0, 1, 0);
rt_task_create(&demo_task3, "task3", 0, 1, 0);
rt_task_start(&demo_task1, &demo, 1);
rt_task_start(&demo_task2, &demo, 2);
rt_task_start(&demo_task3, &demo, 3);
pause();
return 0;
}
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