Intégration Xenomai pour BBB

#include <string.h>
#include <fcntl.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/mman.h>

#include <native/task.h>
#include <native/timer.h>
#include <rtdk.h>
#include "gpio-utils.h"

int toggle = 0          ;
int onOffTime           ;       // Time in micro sec to keep the signal on/off
int gpio = 60;

void fonction_periodique (void * arg)
{
        int err;
        unsigned long depassements;

        rt_task_set_periodic(rt_task_self(), TM_NOW,  1000000000);
        rt_printf("[%lld] Timer programmé...\n", rt_timer_read());
        while ((err = rt_task_wait_period(& depassements)) == 0)
        {
         toggle = !toggle;
         gpio_set_value(gpio, toggle);
                // printf("...value set to %d...\n", toggle);

                //     Pause for a while
                // usleep(onOffTime);
         rt_printf("[%lld]", rt_timer_read());
         if (depassements != 0)
                rt_printf(" Depassements : %lu", depassements);
         rt_printf("\n");
        }
        fprintf(stderr, "rt_task_wait_period(): %s\n",strerror(-err));
        exit(EXIT_FAILURE);
}



int main(int argc, char** argv)
{

//create a variable to store whether we are sending a '1' or a '0'
 char set_value[5];
//Integer to keep track of whether we want on or off
 int gpio_fd;

 if (argc < 2)
 {
                printf("Usage: %s <on/off time in us>\n\n", argv[0]);
                printf("Toggle gpio 60 at the period given\n");
                exit(-1);
} onOffTime = atoi(argv[1]);

 printf("**********************************\n"
        "*  Welcome to PIN Blink program  *\n"
        "*  ....blinking gpio 60          *\n"
        "*  ....period of %d us.........*\n"
        "**********************************\n", 2*onOffTime);

        //Using sysfs we need to write the gpio number to /sys/class/gpio/export
        //This will create the folder /sys/class/gpio/gpio60
        gpio_export(gpio);

        printf("...export file accessed, new pin now accessible\n");

        //SET DIRECTION
        gpio_set_dir(gpio, "out");
        printf("...direction set to output\n");

        gpio_fd = gpio_fd_open(gpio, O_RDONLY);

        RT_TASK task;

        mlockall(MCL_CURRENT|MCL_FUTURE);
        rt_print_auto_init(1);

        if (rt_task_spawn(& task, NULL, 0, 99,
                T_JOINABLE, fonction_periodique, NULL) != 0) {
                fprintf(stderr, "Impossible de creer la tache\n");
                exit(EXIT_FAILURE);
        }
        rt_task_join(& task);
        gpio_fd_close(gpio_fd);
        return 0;