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<h1>user_irq.c</h1><div class="fragment"><pre class="fragment"><span class="preprocessor">#include <sys/mman.h></span>
<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">#include <<a class="code" href="include_2native_2intr_8h.html" title="This file is part of the Xenomai project.">native/intr.h</a>></span>
<span class="preprocessor">#define IRQ_NUMBER 7 </span><span class="comment">/* Intercept interrupt #7 */</span>
<span class="preprocessor">#define TASK_PRIO 99 </span><span class="comment">/* Highest RT priority */</span>
<span class="preprocessor">#define TASK_MODE 0 </span><span class="comment">/* No flags */</span>
<span class="preprocessor">#define TASK_STKSZ 0 </span><span class="comment">/* Stack size (use default one) */</span>
RT_INTR intr_desc;
RT_TASK server_desc;
<span class="keywordtype">void</span> irq_server (<span class="keywordtype">void</span> *cookie)
{
<span class="keywordflow">for</span> (;;) {
<span class="comment">/* Wait for the next interrupt on channel #7. */</span>
err = <a name="a0"></a><a class="code" href="group__interrupt.html#g222e6a9a681f83b13ed5b51021711f4d" title="Wait for the next interrupt.">rt_intr_wait</a>(&intr_desc,TM_INFINITE);
<span class="keywordflow">if</span> (!err) {
<span class="comment">/* Process interrupt. */</span>
}
}
}
<span class="keywordtype">int</span> main (<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])
{
<span class="keywordtype">int</span> err;
mlockall(MCL_CURRENT|MCL_FUTURE);
<span class="comment">/* ... */</span>
err = <a name="a1"></a><a class="code" href="group__interrupt.html#g92fa8e83f6f3db05dd1d2d075dd310ee" title="Create an interrupt object from user-space.">rt_intr_create</a>(&intr_desc,<span class="stringliteral">"MyIrq"</span>,IRQ_NUMBER,0);
<span class="comment">/* ... */</span>
err = <a name="a2"></a><a class="code" href="group__task.html#g03387550693c21d0223f739570ccd992" title="Create a new real-time task.">rt_task_create</a>(&server_desc,
<span class="stringliteral">"MyIrqServer"</span>,
TASK_STKSZ,
TASK_PRIO,
TASK_MODE);
<span class="keywordflow">if</span> (!err)
<a name="a3"></a><a class="code" href="group__task.html#gc9638918b8310a430088f5c9a04d2bb7" title="Start a real-time task.">rt_task_start</a>(&server_desc,&irq_server,NULL);
<span class="comment">/* ... */</span>
}
<span class="keywordtype">void</span> cleanup (<span class="keywordtype">void</span>)
{
<a name="a4"></a><a class="code" href="group__interrupt.html#g6da6ddd4e65b0feb47278dae74cab6c9" title="Delete an interrupt object.">rt_intr_delete</a>(&intr_desc);
<a name="a5"></a><a class="code" href="group__task.html#gb6e0d411830710e8cc82d77b9df19510" title="Delete a real-time task.">rt_task_delete</a>(&server_desc);
}
</pre></div> </div>
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