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<h1>kernel_task.c</h1><div class="fragment"><pre class="fragment"><span class="preprocessor">#include <<a class="code" href="task_8h.html" title="This file is part of the Xenomai project.">native/task.h</a>></span>
<span class="preprocessor">#define TASK_PRIO 99 </span><span class="comment">/* Highest RT priority */</span>
<span class="preprocessor">#define TASK_MODE T_FPU|T_CPU(0) </span><span class="comment">/* Uses FPU, bound to CPU #0 */</span>
<span class="preprocessor">#define TASK_STKSZ 4096 </span><span class="comment">/* Stack size (in bytes) */</span>
RT_TASK task_desc;
<span class="keywordtype">void</span> task_body (<span class="keywordtype">void</span> *cookie)
{
<span class="keywordflow">for</span> (;;) {
<span class="comment">/* ... "cookie" should be NULL ... */</span>
}
}
<span class="keywordtype">int</span> init_module (<span class="keywordtype">void</span>)
{
<span class="keywordtype">int</span> err;
<span class="comment">/* ... */</span>
err = <a name="a0"></a><a class="code" href="group__task.html#g03387550693c21d0223f739570ccd992" title="Create a new real-time task.">rt_task_create</a>(&task_desc,
<span class="stringliteral">"MyTaskName"</span>,
TASK_STKSZ,
TASK_PRIO,
TASK_MODE);
<span class="keywordflow">if</span> (!err)
<a name="a1"></a><a class="code" href="group__task.html#gc9638918b8310a430088f5c9a04d2bb7" title="Start a real-time task.">rt_task_start</a>(&task_desc,&task_body,NULL);
<span class="comment">/* ... */</span>
}
<span class="keywordtype">void</span> cleanup_module (<span class="keywordtype">void</span>)
{
<a name="a2"></a><a class="code" href="group__task.html#gb6e0d411830710e8cc82d77b9df19510" title="Delete a real-time task.">rt_task_delete</a>(&task_desc);
}
</pre></div> </div>
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