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/*
* (C) Finite State Machine Labs Inc. 2000 business@fsmlabs.com
*
* Released under the terms of GPL 2.
* Open RTLinux makes use of a patented process described in
* US Patent 5,995,745. Use of this process is governed
* by the Open RTLinux Patent License which can be obtained from
* www.fsmlabs.com/PATENT or by sending email to
* licensequestions@fsmlabs.com
*/
#include <rtl.h>
#include <pthread.h>
#include <rtl_sched.h>
#include <rtl_time.h>
#include <rtl_fifo.h>
#define MODULE_NAME "fp_test"
MODULE_AUTHOR("Nathan Paul Simons <npsimons@fsmlabs.com>");
MODULE_DESCRIPTION("RTLinux floating point test kernel module");
MODULE_PARM(fifo_sz, "i");
MODULE_PARM_DESC(fifo_sz, "Size of FIFO.");
MODULE_PARM(fifo_nr, "i");
MODULE_PARM_DESC(fifo_nr,
"RTL-FIFO number to create (ie, 0 -> /dev/rtf0)");
int fifo_nr = 1, fifo_sz = 8192;
float marker1 = 0;
float marker2 = 0;
float marker3 = 0;
float marker4 = 0;
static pthread_t thread1;
static pthread_t thread2;
static pthread_mutex_t fifo_lock;
char *rtl_strerr(int thiserr)
{
switch (thiserr) {
case EINVAL:
return "EINVAL";
case EDEADLK:
return "EDEADLK";
case EPERM:
return "EPERM";
case -ENODEV:
return "-ENODEV";
case -EINVAL:
return "-EINVAL";
case -EPERM:
return "-EPERM";
case -ESRCH:
return "-ESRCH";
case -EFAULT:
return "-EFAULT";
case -EBUSY:
return "-EBUSY";
case -ENOMEM:
return "-ENOMEM";
case -ENOSPC:
return "-ENOSPC";
case -EAGAIN:
return "-EAGAIN";
default:
return "unknown error";
}
}
void *handler1(void *arg)
{
int retval;
struct sched_param my_sparam;
pthread_setfp_np(pthread_self(), 1);
my_sparam.sched_priority = 1;
if (
(retval =
pthread_setschedparam(pthread_self(), SCHED_FIFO,
&my_sparam)) != 0) {
rtl_printf("%s: pthread_setschedparam(): %s\n",
MODULE_NAME, rtl_strerr(retval));
return NULL;
}
pthread_make_periodic_np(pthread_self(),
clock_gethrtime(CLOCK_REALTIME),
50000000);
/* anybody recognize this value? ;) */
marker1 = 3.1415926535897932384626433832795;
marker3 = .25;
pthread_wait_np();
marker1 = marker3 * marker1;
marker3 = marker1 / .6578;
pthread_wait_np();
marker1 = marker1 + 2.30;
marker3 = marker3 - 2.30;
if ((retval = pthread_mutex_lock(&fifo_lock)) != 0) {
rtl_printf("%s: pthread_mutex_lock(&fifo_lock): %s\n",
MODULE_NAME, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, "handler1:", 9)) < 9) {
rtl_printf("%s: rtf_put(%d, \"handler1:\", 9): %s\n",
MODULE_NAME, fifo_nr, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, &marker1, sizeof(marker1))) <
sizeof(marker1)) {
rtl_printf("%s: rtf_put(%d, marker1, %d): %s\n",
MODULE_NAME, fifo_nr, sizeof(marker1),
rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {
rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",
MODULE_NAME, fifo_nr, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, &marker3, sizeof(marker3))) <
sizeof(marker3)) {
rtl_printf("%s: rtf_put(%d, marker3, %d): %s\n",
MODULE_NAME, fifo_nr, sizeof(marker3),
rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {
rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",
MODULE_NAME, fifo_nr, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = pthread_mutex_unlock(&fifo_lock)) != 0) {
rtl_printf("%s: pthread_mutex_unlock(&fifo_lock): %s\n",
MODULE_NAME, rtl_strerr(retval));
return (void *) retval;
}
return NULL;
}
void *handler2(void *arg)
{
int retval;
struct sched_param my_sparam;
pthread_setfp_np(pthread_self(), 1);
my_sparam.sched_priority = 2;
if (
(retval =
pthread_setschedparam(pthread_self(), SCHED_FIFO,
&my_sparam)) != 0) {
rtl_printf("%s: pthread_setschedparam(): %s\n",
MODULE_NAME, rtl_strerr(retval));
return NULL;
}
pthread_make_periodic_np(pthread_self(),
clock_gethrtime(CLOCK_REALTIME),
50000000);
/* this ones a little harder to recognize, but anyone with a grounding
* in probability should know it. */
marker2 = 2.7182818284590452353602874713526;
pthread_wait_np();
marker4 = -.25;
pthread_wait_np();
marker2 = marker4 + .000001;
pthread_wait_np();
marker4 = marker4 - .001001;
pthread_wait_np();
marker2 = marker2 * .100001;
pthread_wait_np();
marker4 = marker2 / .101101;
pthread_wait_np();
if ((retval = pthread_mutex_lock(&fifo_lock)) != 0) {
rtl_printf("%s: pthread_mutex_lock(&fifo_lock): %s\n",
MODULE_NAME, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, "handler2:", 9)) < 9) {
rtl_printf("%s: rtf_put(%d, \"handler2:\", 9): %s\n",
MODULE_NAME, fifo_nr, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, &marker2, sizeof(marker2))) <
sizeof(marker2)) {
rtl_printf("%s: rtf_put(%d, marker2, %d): %s\n",
MODULE_NAME, fifo_nr, sizeof(marker2),
rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {
rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",
MODULE_NAME, fifo_nr, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, &marker4, sizeof(marker4))) <
sizeof(marker4)) {
rtl_printf("%s: rtf_put(%d, marker4, %d): %s\n",
MODULE_NAME, fifo_nr, sizeof(marker4),
rtl_strerr(retval));
return (void *) retval;
}
if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {
rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",
MODULE_NAME, fifo_nr, rtl_strerr(retval));
return (void *) retval;
}
if ((retval = pthread_mutex_unlock(&fifo_lock)) != 0) {
rtl_printf("%s: pthread_mutex_unlock(&fifo_lock): %s\n",
MODULE_NAME, rtl_strerr(retval));
return (void *) retval;
}
return NULL;
}
int init_module(void)
{
int retval;
pthread_mutex_init(&fifo_lock, NULL);
rtf_destroy(fifo_nr);
if ((retval = rtf_create(fifo_nr, fifo_sz)) != 0) {
rtl_printf("%s: rtf_create(%d, %d): %s\n", MODULE_NAME,
fifo_nr, fifo_sz, rtl_strerr(retval));
return retval;
}
if ((retval = pthread_create(&thread1, NULL, handler1, 0))) {
rtl_printf
("%s: pthread_create(&thread1, NULL, handler1, 0): %s\n",
MODULE_NAME, rtl_strerr(retval));
return retval;
}
if ((retval = pthread_create(&thread2, NULL, handler2, 0))) {
rtl_printf
("%s: pthread_create(&thread2, NULL, handler2, 0): %s\n",
MODULE_NAME, rtl_strerr(retval));
return retval;
}
return 0;
}
void cleanup_module(void)
{
pthread_cancel(thread1);
/* pthread_join(thread1, NULL); */
pthread_cancel(thread2);
/* pthread_join(thread2, NULL); */
}
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