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Intégration Xenomai pour BBB

a guest Jan 28th, 2014 59 Never
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  1.  
  2. #include <string.h>
  3. #include <fcntl.h>
  4.  
  5. #include <stdio.h>
  6. #include <stdlib.h>
  7. #include <unistd.h>
  8. #include <sys/mman.h>
  9.  
  10. #include <native/task.h>
  11. #include <native/timer.h>
  12. #include <rtdk.h>
  13. #include "gpio-utils.h"
  14.  
  15. int toggle = 0          ;
  16. int onOffTime           ;       // Time in micro sec to keep the signal on/off
  17. int gpio = 60;
  18.  
  19. void fonction_periodique (void * arg)
  20. {
  21.         int err;
  22.         unsigned long depassements;
  23.  
  24.         rt_task_set_periodic(rt_task_self(), TM_NOW,  1000000000);
  25.         rt_printf("[%lld] Timer programmé...\n", rt_timer_read());
  26.         while ((err = rt_task_wait_period(& depassements)) == 0)
  27.         {
  28.          toggle = !toggle;
  29.          gpio_set_value(gpio, toggle);
  30.                 // printf("...value set to %d...\n", toggle);
  31.  
  32.                 //     Pause for a while
  33.                 // usleep(onOffTime);
  34.          rt_printf("[%lld]", rt_timer_read());
  35.          if (depassements != 0)
  36.                 rt_printf(" Depassements : %lu", depassements);
  37.          rt_printf("\n");
  38.         }
  39.         fprintf(stderr, "rt_task_wait_period(): %s\n",strerror(-err));
  40.         exit(EXIT_FAILURE);
  41. }
  42.  
  43.  
  44.  
  45. int main(int argc, char** argv)
  46. {
  47.  
  48. //create a variable to store whether we are sending a '1' or a '0'
  49.  char set_value[5];
  50. //Integer to keep track of whether we want on or off
  51.  int gpio_fd;
  52.  
  53.  if (argc < 2)
  54.  {
  55.                 printf("Usage: %s <on/off time in us>\n\n", argv[0]);
  56.                 printf("Toggle gpio 60 at the period given\n");
  57.                 exit(-1);
  58. } onOffTime = atoi(argv[1]);
  59.  
  60.  printf("**********************************\n"
  61.         "*  Welcome to PIN Blink program  *\n"
  62.         "*  ....blinking gpio 60          *\n"
  63.         "*  ....period of %d us.........*\n"
  64.         "**********************************\n", 2*onOffTime);
  65.  
  66.         //Using sysfs we need to write the gpio number to /sys/class/gpio/export
  67.         //This will create the folder /sys/class/gpio/gpio60
  68.         gpio_export(gpio);
  69.  
  70.         printf("...export file accessed, new pin now accessible\n");
  71.  
  72.         //SET DIRECTION
  73.         gpio_set_dir(gpio, "out");
  74.         printf("...direction set to output\n");
  75.  
  76.         gpio_fd = gpio_fd_open(gpio, O_RDONLY);
  77.  
  78.         RT_TASK task;
  79.  
  80.         mlockall(MCL_CURRENT|MCL_FUTURE);
  81.         rt_print_auto_init(1);
  82.  
  83.         if (rt_task_spawn(& task, NULL, 0, 99,
  84.                 T_JOINABLE, fonction_periodique, NULL) != 0) {
  85.                 fprintf(stderr, "Impossible de creer la tache\n");
  86.                 exit(EXIT_FAILURE);
  87.         }
  88.         rt_task_join(& task);
  89.         gpio_fd_close(gpio_fd);
  90.         return 0;
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