Goran Bervar wrote:
>
> Hello,
>
> Good news: I am an experienced C(++) programmer familiar with computer
> hardware and different platforms. Bad news: I am completely new to RT Linux
> and also
> quite a beginner in Linux programming in general. I wrote some real-time
> (some would call it a quasi real-time) applications controlling user
> hardware in good-old DOS or using a special "operating systems" such as
> pKernel. I am investigating the possibility to port one of my applications
> from DOS to RT Linux mainly for educational purposes. I've installed RT 3.0,
> went through examples and now - I am completely confused. I'll be grateful
> for any help you can give to kick me over the start of my project.
>
> First, a layout of DOS application. I am trying to port a typical "two-task"
> single processor sampling application. The "user interface task" is running
> as a normal DOS application using a home-made GUI library (that is also
> ported to Linux using svgalib). The "real time task" is an interrupt handler
> routine trigged by the highest priority hardware IRQ with constant period,
> say 1 ms. Routine consists of IO operations (that must be done in constant
> period with minimal glitch)
Do not know what you mean here by "minimal glitch"..
and some quite complex computations (that must
> be done at least just before the next interrupt). In DOS, IRQ routine simply
> blocks the execution of the OS (read: no STI for the time of the execution)
> and takes approximately 60% of available processor time on 100 MHz Pentium
> processor time each time it runs. Tasks interact via shared memory using the
> only possible locking mechanism - user task disables interrupt for a very
> short time
I assume this disable interrupt by the user task is for some I/O
operation.
>while execution of IRQ routine can not be interrupted. Under DOS
> I know exactly what I am doing so it even works.
>
> This is what I am planning to port to RT Linux. I suppose I should consider
> redesign of my application and here is where I need some help. First some
> questions:
>
> 1) IMO it is always a bad idea to lock the serious RTOS (excluding DOS of
> course <g>) for such a long time. Can somebody explain what would happen
> under RTL if done so?
>
> 2) Handling IRQ, I have to make all IO operations before re-enabling
> interrupts. I assume after that computation should be made in the highest
> priority task in RT kernel space. Is anything wrong with such a design? Some
> better ideas? Link to a similar example? And BTW, how to detect an overdue?
>
Not sure that you need to disable interrupts assuming that you can
always
accomplish your I/O and computations before the next sample time.
Especially
true if you have some other periodic requirement for rtl.
> 3) Can I use scheduling instead of IRQ to start the sample? How "accurate"
> is it?
>
I am using rtl 2.0 and both scheduling and IRQ are very accurate,
probably within 20 us. on 400 Mhz. K6-III.
> 4) Communication between threads is something I can not decide how to.
> Taking in account that there is quite some non-critical information from RT
> thread (mostly read-only) that user thread must read often (where the data
> *may* be partly incorrect now and than), what is in your opinion "the best"
> way to do it? Shared memory, FIFOs, messaging...?
>
I would "push" the data from the rtl thread to the user Linux GUI
process
using a rtl FIFO. In the Linux process, I would make a select call on
the
FIFO and only spend time reading the FIFO when the rtl thread had
complete
data ready.
I would also have a second FIFO from the user Linux task back to the rtl
process and use my rtl process as a driver. (Assuming that the Linux
task
has some I/O requirement)
> 5) I have some problem understanding RT Linux mutexes. Do they include
> priority switch to avoid priority dead locks?
>
> Well, enough for the first post. I believe you'll hear from me again soon.
>
> Sincerely
>
> goran
>
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