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#ifndef MODULE
#define MODULE
#endif
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/version.h>
#include <linux/errno.h>
#include <linux/cons.h>
#include <rtl_sched.h>
#include <rtl_fifo.h>
#include "control.h"
RT_TASK tasks[2];
static char *data[] = {"Frank ", "Zappa "};
/* t -- the fifo number */
void fun(int t) {
while (1) {
/* conpr(t - 1 ? "0" : "1"); */
rtf_put(t, data[t - 1], 6);
rt_task_wait();
}
}
int my_handler(unsigned int fifo)
{
struct my_msg_struct msg;
int err;
RTIME now;
// conpr("h");
while ((err = rtf_get(3, &msg, sizeof(msg))) == sizeof(msg)) {
switch (msg.command) {
case START_TASK:
now = rt_get_time();
rt_task_make_periodic(&tasks[msg.task], now, msg.period);
break;
case STOP_TASK:
rt_task_suspend(&tasks[msg.task]);
break;
default:
return -EINVAL;
}
}
if (err != 0) {
return -EINVAL;
}
return 0;
}
#define DEBUG
int init_module(void)
{
int c[3];
rtf_destroy(1);
rtf_destroy(2);
rtf_destroy(3);
c[0] = rtf_create(1, 4000);
c[1] = rtf_create(2, 4000);
c[2] = rtf_create(3, 100); /* input control channel */
printk("Fifo return 1=%d 2=%d 3=%d\n",c[0],c[1],c[2]);
rt_task_init(&tasks[0], fun, 1, 3000, 4);
rt_task_init(&tasks[1], fun, 2, 3000, 5);
rtf_create_handler(3, &my_handler);
return 0;
}
void cleanup_module(void)
{
#ifdef DEBUG
printk("%d\n", rtf_destroy(1));
printk("%d\n", rtf_destroy(2));
printk("%d\n", rtf_destroy(3));
#else
rtf_destroy(1);
rtf_destroy(2);
rtf_destroy(3);
#endif
rt_task_delete(&tasks[0]);
rt_task_delete(&tasks[1]);
}
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