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
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
|
/*
* (C) Finite State Machine Labs Inc. 1997 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 <rtl_fifo.h>
#include <time.h>
#include <rtl_sched.h>
#include <rtl_sync.h>
#include <pthread.h>
#include <unistd.h>
#include <rtl_debug.h>
#include <errno.h>
#include "rt_process.h"
int ntests = 500;
int period = 1000000;
int bperiod = 3100000;
int mode = 0;
int absolute = 0;
int fifo_size = 4000;
int advance = 0;
MODULE_PARM(period, "i");
MODULE_PARM(bperiod, "i");
MODULE_PARM(ntests, "i");
MODULE_PARM(mode, "i");
MODULE_PARM(absolute, "i");
MODULE_PARM(advance, "i");
pthread_t thread;
int fd_fifo;
void *thread_code(void *param)
{
hrtime_t expected;
hrtime_t diff;
hrtime_t now;
hrtime_t last_time = 0;
hrtime_t min_diff;
hrtime_t max_diff;
struct sample samp;
int i;
int cnt = 0;
if (mode) {
int ret = rtl_setclockmode(CLOCK_REALTIME,
RTL_CLOCK_MODE_PERIODIC,
period);
if (ret != 0) {
conpr("Setting periodic mode failed\n");
mode = 0;
}
} else {
rtl_setclockmode(CLOCK_REALTIME, RTL_CLOCK_MODE_ONESHOT,
0);
}
expected =
clock_gethrtime(CLOCK_REALTIME) + 2 * (hrtime_t) period;
if (advance) {
pthread_make_periodic_np(pthread_self(),
expected - advance, period);
} else {
pthread_make_periodic_np(pthread_self(), expected, period);
}
fd_fifo = open("/dev/rtf0", O_NONBLOCK);
if (fd_fifo < 0) {
rtl_printf("/dev/rtf0 open returned %d\n", fd_fifo);
return (void *) -1;
}
if (advance) {
rtl_stop_interrupts(); /* Be careful with this! The task won't be preempted by anything else. This is probably only appropriate for small high-priority tasks. */
}
/* first cycle */
pthread_wait_np();
expected += period;
now = clock_gethrtime(CLOCK_MONOTONIC);
last_time = now;
do {
min_diff = 2000000000;
max_diff = -2000000000;
for (i = 0; i < ntests; i++) {
++cnt;
pthread_wait_np();
now = clock_gethrtime(CLOCK_MONOTONIC);
if (absolute && advance && !mode) {
if (now < expected) {
rtl_delay(expected - now);
}
now = clock_gethrtime(CLOCK_MONOTONIC);
}
if (absolute) {
diff = now - expected;
} else {
diff = now - last_time - period;
if (diff < 0) {
diff = -diff;
}
}
if (diff < min_diff) {
min_diff = diff;
}
if (diff > max_diff) {
max_diff = diff;
}
expected += period;
last_time = now;
}
samp.min = min_diff;
samp.max = max_diff;
write(fd_fifo, &samp, sizeof(samp));
} while (1);
return 0;
}
pthread_t background_threadid;
void *background_thread(void *param)
{
pthread_make_periodic_np(pthread_self(), gethrtime(), bperiod);
while (1) {
hrtime_t t = gethrtime();
/* the measurement task should preempt the following loop */
while (gethrtime() < t + bperiod * 2 / 3);
pthread_wait_np();
}
}
int init_module(void)
{
pthread_attr_t attr;
struct sched_param sched_param;
int thread_status;
int fifo_status;
rtf_destroy(0);
fifo_status = rtf_create(0, fifo_size);
if (fifo_status) {
rtl_printf
("RTLinux measurement test fail. fifo_status=%d\n",
fifo_status);
return -1;
}
pthread_attr_init(&attr);
if (rtl_cpu_exists(1)) {
pthread_attr_setcpu_np(&attr, 1);
}
sched_param.sched_priority = 1;
pthread_attr_setschedparam(&attr, &sched_param);
thread_status =
pthread_create(&thread, &attr, thread_code, (void *) 1);
if (thread_status != 0) {
rtl_printf("failed to create RT-thread: %d\n",
thread_status);
return -1;
}
if (bperiod) {
pthread_create(&background_threadid, NULL,
background_thread, NULL);
}
return 0;
}
void cleanup_module(void)
{
pthread_cancel(thread);
pthread_join(thread, NULL);
close(fd_fifo);
rtf_destroy(0);
if (bperiod) {
pthread_cancel(background_threadid);
pthread_join(background_threadid, NULL);
}
}
|
