1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
|
/*
* RTLinux Hello World example
*
* Written by Michael Barabanov (baraban@fsmlabs.com)
* Copyright (C) 1999-2000 Finite State Machine Labs Inc
* Released under the terms of the GPL Version 2
*
*/
#include <rtl_sync.h>
#include <rtl.h>
#include <time.h>
#include <pthread.h>
#include <rtl_debug.h>
pthread_t thread = 0;
pthread_t thread2 = 0;
void * start_routine(void *arg)
{
int i;
struct sched_param p;
volatile pthread_t self;
self = pthread_self();
p . sched_priority = 1;
pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);
pthread_make_periodic_np (pthread_self(), gethrtime(), 500000000);
if (((int) arg) == 1) {
breakpoint();
}
for (i = 0; i < 20; i ++) {
pthread_wait_np ();
rtl_printf("I'm here; my arg is %x\n", (unsigned) arg);
}
return 0;
}
int init_module(void)
{
pthread_create (&thread, NULL, start_routine, (void *) 1);
return pthread_create (&thread2, NULL, start_routine, (void *) 2);
}
void cleanup_module(void)
{
pthread_cancel (thread);
pthread_join (thread, NULL);
pthread_delete_np (thread2);
}
|
