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/* test FP operations in RT tasks */
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/version.h>
#include <rtl.h>
#include <time.h>
#include <asm/io.h>
#include <pthread.h>
#include <math.h>
pthread_t mytask;
pthread_t task2;
pthread_t task3;
void *fun (void *t)
{
int i = 0;
double f = 0;
while (1) {
pthread_wait_np();
/* conpr(t == 1 ? "1" : "2"); */
i++;
f++;
if (i != f) {
conpr("Task "); conprn ((int) t);
conpr(" FP error: i = "); conprn(i);
conpr("f = "); conprn(f); conpr("\n");
i = 0;
f = 0;
}
if (i > 200000) {
i = 0;
f = 0;
}
}
/* conpr("The RT-task has stopped.\n"); */
}
void *ifun (void *t)
{
int i=0;
while (1) {
pthread_wait_np();
/* conpr("i"); */
if (i++ % 5000 == 0) {
}
}
}
int init_module (void)
{
struct sched_param p;
hrtime_t now = gethrtime();
pthread_create (&mytask, NULL, fun, (void *) 1);
pthread_make_periodic_np (mytask, now + 2 * NSECS_PER_SEC, 31230000);
pthread_setfp_np (mytask, 1);
p . sched_priority = 1;
pthread_setschedparam (mytask, SCHED_FIFO, &p);
pthread_create (&task2, NULL, fun, (void *) 2);
pthread_make_periodic_np (task2, now + 2 * NSECS_PER_SEC, 50000000);
pthread_setfp_np (task2, 1);
p . sched_priority = 2;
pthread_setschedparam (task2, SCHED_FIFO, &p);
pthread_create (&task3, NULL, ifun, (void *) 3);
pthread_make_periodic_np (task3, now + 2 * NSECS_PER_SEC, 30000000);
pthread_setfp_np (task3, 1);
p . sched_priority = 3;
pthread_setschedparam (task3, SCHED_FIFO, &p);
return 0;
}
void cleanup_module (void)
{
pthread_delete_np (mytask);
pthread_delete_np (task2);
pthread_delete_np (task3);
}
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