Difference between revisions of "Xenomai:Blinking LEDs"

#include <stdio.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <signal.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/timer.h>

#define TIMESLEEP 1000000000
#define LED "/dev/gpio/PD31"

RT_TASK blink_task;
int fd;

void blink(void *arg)
{
    int iomask = 0x00;
  
    rt_task_set_periodic(NULL, TM_NOW, TIMESLEEP);
  
    while(1) {
        rt_task_wait_period(NULL);
        write(fd,&iomask,sizeof(iomask));
        iomask ^= 1;
    }
}

void catch_signal() {}

int main(int argc, char **argv)
{  
    signal(SIGTERM, catch_signal);
    signal(SIGINT, catch_signal);
  
    /* Avoids memory swapping for this program */
    mlockall(MCL_CURRENT|MCL_FUTURE);

    /* led device opening */
    if ((fd = open(LED, O_WRONLY)) < 0) {
        printf("Open error on %s\n",LED);
        exit(0);
    }
    /* Task Creation */
    rt_task_create(&blink_task, "blinkLed", 0, 99, 0);  
    rt_task_start(&blink_task, &blink, NULL);
    getchar();
    rt_task_delete(&blink_task);
    close(fd);

    return 0;
}

 int rt_task_create(RT_TASK * task, const char * name, int stksize, int prio, int mode)

 int rt_task_start (RT_TASK *task, void(*entry)(void *cookie), void *cookie)

 int rt_task_set_periodic (RT_TASK *task, RTIME idate, RTIME period)

 int rt_task_wait_period (unsigned long *overruns_r)

###### CONFIGURATION ######
DEST_DIR=/tftpboot/local/bin
ARMADEUS_BASE_DIR=../
include $(ARMADEUS_BASE_DIR)/Makefile.in

XENO=$(ARMADEUS_ROOTFS_DIR)/usr/xenomai

CC:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-gcc
LD:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-ld
CXX:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-g++
AS:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-as
NM:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-nm
AR:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-ar
SIZE:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-size
OBJCOPY:=$(ARMADEUS_TOOLCHAIN_PATH)/arm-linux-objcopy

EXEC=blink_led_xeno_userspace

SRC= $(wildcard *.c)
OBJ= $(SRC:.c=.o)
CFLAGS=-g -W -Wall -I$(XENO)/include -I$(XENO)/include/native  -I$(XENO)/include/rtdm -D_GNU_SOURCE -D_REENTRANT
LDFLAGS=-L$(XENO)/lib -Xlinker -rpath $(XENO)/lib -Xlinker $(XENO)/lib/libnative.a $(XENO)/lib/librtdm.a -lpthread -lnative -lrtdm

$(EXEC): $(OBJ)
	$(CC) -o $@ $^ $(LDFLAGS)

$(OBJ): $(SRC)
	$(CC) $(CFLAGS) -o $@ -c $<

all: $(EXEC)

clean:
	rm -rf $(OBJ)
	rm -rf $(EXEC)
	rm -f *.c~ *.h~ Makefile~

install: $(EXEC)
        mkdir $(DEST_DIR)/$(EXEC)
        echo "$(EXEC):native:!./$(EXEC);popall:control_c" > /$(DEST_DIR)/$(EXEC)/.runinfo
	cp $(EXEC) $(DEST_DIR)/$(EXEC)

mrproper: clean
	rm -rf $(DEST_DIR)/$(EXEC)

.PHONY: all install clean mrproper