Hi Gabor and Vasili, thanks for your attention,
I changed somethings in my code and i think that because of this i've not
been get negative values writing or reading from fifos. Anyway i'd like to
know what is the meaning of the return values that i get. Now, i've been
getting 12 when i write to the fifos (is it the number of bytes? Is there
some documentation about it?).
Another thing is that my system always freeze in the first time that i
send commands to initiate the periodic tasks, i mean: i turn on the
computer, do a insmod with my module name and when i try initiate my
periodic tasks (running a monitor program) the system freeze, so i have to
reset the computer, my HD is checked and i try everything again, and this
time it works. Is there any way to check what happened when the system
freeze?
A piece of my module:
int comando(unsigned int fifo)
{
int err;
#ifdef V1
RTIME now;
#endif
#ifdef V2
hrtime_t now;
#endif
printk("Handler Comando Chamado\n");
err= rtf_get(fifo, &MSG, sizeof(MSG));
switch (MSG.command){
case START_TASK:
printk("Comando: %d, Tarefa: %d, Periodo: %d\n",
MSG.command,MSG.tarefa,MSG.period);
#ifdef V2
now = gethrtime();
pthread_wakeup_np(tarefa[MSG.tarefa]);
err=pthread_make_periodic_np(tarefa[MSG.tarefa], now,
MSG.period*5000);
if (err<0) { printk("Erro fazendo a tarefa %d periodica, err=
%i\n",MSG.tarefa,err);} else {printk("Sucesso fazendo a tarefa %d
periodica, err= %i\n",MSG.tarefa,err);}
#endif
#ifdef V1
now = rt_get_time();
err=rt_task_make_periodic(&tarefa[MSG.tarefa], now,MSG.period);
if (err<0) { printk("Erro fazendo a tarefa %d periodica, err=
%i\n",MSG.tarefa,err);} else {printk("Sucesso fazendo a tarefa %d
periodica, err= %i\n",MSG.tarefa,err);}
#endif
break;
case STOP_TASK:
printk("Comando: %d, Tarefa: %d, Periodo: %d\n",
MSG.command,MSG.tarefa,MSG.period);
#ifdef V2
err=pthread_suspend_np(tarefa[MSG.tarefa]);
if (err<0) { printk("Erro suspendedo a tarefa %d periodica, err=
%i\n",MSG.tarefa,err);} else {printk("Sucesso suspendendo a tarefa %d
periodica, err= %i \n",MSG.tarefa,err);}
#endif
#ifdef V1
err=rt_task_suspend(&tarefa[MSG.tarefa]);
if (err<0) { printk("Erro suspendedo a tarefa %d periodica,
err= %i\n",MSG.tarefa,err);} else {printk("Sucesso suspendendo a tarefa %d
periodica, err= %i \n",MSG.tarefa,err);}
#endif
count =0;
break;
default:
printk("Dados errados\n");
printk("Comando: %d, Tarefa: %d, Periodo: %d\n",
MSG.command,MSG.tarefa,MSG.period);
return -EINVAL;
printk("Handler Comando Finalizado\n");
return 0;
}
int init_module(void)
{
int adstatus;
int err;
int c[5];
#ifdef V1
RTIME now;
#endif
#ifdef V2
struct sched_param sched_param;
hrtime_t now;
#endif
#ifdef DAS1600
int base = das1601_port_base ? das1601_port_base : AD_BASE; //Determina se
o endereco base sera o mesmo do arquivo .h
range=0x20;
if (AD_POL==0) {
VADPP = 10.0;} // a placa do DAS esta ajustada para trabalhar de 0 a +10
volts
else {
VADPP = 20.0;} // a placa do DAS esta ajustada para trabalhar de -10 a
+10 volts
#endif
#ifdef AIO
int base = AIO_port_base ? AIO_port_base : AD_BASE; //Determina se o
endereco base sera o mesmo do arquivo .h
range=0x20;
VADPP=5.0; // a placa do STD trabalha de 0 a 5 volts
#endif
if((err=init_ad(base, 0x20)) != 0 ) { //Se o AD nao puder ser
inicializado retorna uma mensagem de erro
printk(KERN_INFO "I/O Address already used\n");
printk("I/O Address already used\n");
return(-1);
}
init_ctrl(); //Inicializa as variaveis de tempo, frequencia, escala, etc.
// Cria as FIFOs
c[0] = rtf_create(0, 1000); // y
c[1] = rtf_create(1, 1000); // status ad
c[2] = rtf_create(2, 1000); // parametros PID
c[3] = rtf_create(3, 1000); // u
c[4] = rtf_create(4, 1000); //comandos para o tarefa0 (lei_controle) e
para o tarefa1 (salvar_dados)
printk("Fifo return 0=%d 1=%d 2=%d 3=%d 4=%d\n",c[0],c[1],c[2],c[3],c[4]);
// Cria as threads
#ifdef V2
pthread_create(&tarefa[0], NULL,lei_controle, (void *)1);
if (err<0) { printk("Erro iniciando a tarefa 0\n");} else {printk("Tarefa
0 inicializada corretamente\n");}
sched_param.sched_priority = 1;
pthread_setschedparam (tarefa[0], SCHED_FIFO, &sched_param);
pthread_create (&tarefa[1], NULL,salvar_dados, (void *)1);
if (err<0) { printk("Erro iniciando a tarefa 1\n");} else {printk("Tarefa
1 inicializada corretamente\n");}
sched_param.sched_priority = 4;
pthread_setschedparam (tarefa[1], SCHED_FIFO, &sched_param);
now = gethrtime();
/* the 2 tasks run periodically with an offset of 100 time units -> Nao
entendi o comentario */
pthread_make_periodic_np(tarefa[0], now + 1 * NSECS_PER_SEC, RT_TICKS_CTRL);
pthread_make_periodic_np(tarefa[1], now + 2 * NSECS_PER_SEC, RT_TICKS_SAVE);
#endif
#ifdef V1
err = rt_task_init(&tarefa[0],(void *)lei_controle,1,3000,1);
if (err<0) { printk("Erro iniciando a tarefa 0\n");} else {printk("Tarefa 0
inicializada corretamente\n");}
rt_task_init(&tarefa[1],(void *)salvar_dados,1,3000,4);
if (err<0) { printk("Erro iniciando a tarefa 1\n");} else {printk("Tarefa 1
inicializada corretamente\n");}
//printk("Tarefas inicializadas\n");
now = rt_get_time();
/* the 2 tasks run periodically with an offset of 100 time units */
err=rt_task_make_periodic(&tarefa[0], now,120000);
if (err<0) { printk("Erro fazendo a tarefa 0 periodica\n");} else
{printk("Sucesso fazendo a tarefa 0 periodica\n");}
rt_task_make_periodic(&tarefa[1], now + 3000,120000);
if (err<0) { printk("Erro fazendo a tarefa 1 periodica\n");} else
{printk("Sucesso fazendo a tarefa 1 periodica\n");}
#endif
// Cria o handler de modificacao dos parametros do PID
err=rtf_create_handler(2,&mod_pid); //Toda vez que ha uma modificacao da
fifo 2 mod_pid eh chamada
if (err<0) { printk("Erro criando o handler 1\n");} else {printk("Sucesso
criando o handler 1\n");}
err=rtf_create_handler(4,&comando); //A rotina comando le a fifo 4 e
determina o inicio e o fim das tarefas
if (err<0) { printk("Erro criando o handler 2\n");} else {printk("Sucesso
criando o handler 2\n");}
return 0;
}
My monitor:
#include <stdio.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/types.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <rtl_fifo.h>
#include <rtl_time.h>
#include "declaracoes.h"
#define BUFSIZE 70
char buf[BUFSIZE];
char ch;
int main()
{
int fd0, fd1, ctl;
int n;
int i;
int err;
mensagens MSG;
ch='\0';
if ((fd0 = open("/dev/rtf0", O_RDONLY)) < 0) {
fprintf(stderr, "Error opening /dev/rtf0\n");
exit(1);
}
if ((fd1 = open("/dev/rtf3", O_RDONLY)) < 0) {
fprintf(stderr, "Error opening /dev/rtf3\n");
exit(1);
}
if ((ctl = open("/dev/rtf4", O_WRONLY)) < 0) {
fprintf(stderr, "Error opening /dev/rtf4\n");
exit(1);
}
/* now start the tasks */
MSG.command = START_TASK;
MSG.tarefa = 0;
MSG.period = 200000;
err = write(ctl, &MSG, sizeof(MSG));
fprintf(stderr, "Return value to write to ctl (comand fifo,
rtf4) : %i\n", err);
MSG.tarefa = 1;
MSG.period = 400000;
err = write(ctl, &MSG, sizeof(MSG));
fprintf(stderr, "Return value to write to ctl (comand fifo,
rtf4) : %i\n", err);
fprintf(stderr,"Tecle f para finalizar: ");
while (ch != 'f') {ch = getchar();}
fprintf(stderr, "frank_app: now sending commands to stop RT-tasks\n");
// stop the tasks
MSG.command = STOP_TASK;
MSG.tarefa = 0;
MSG.period = 200000;
err = write(ctl, &MSG, sizeof(MSG));
fprintf(stderr, "Return value to write to ctl (comand fifo,
rtf4) : %i\n", err);
MSG.tarefa = 1;
MSG.period = 400000;
err= write(ctl, &MSG, sizeof(MSG));
fprintf(stderr, "Return value to write to ctl (comand fifo, rtf4) : %i\n",
err);
return 0;
}
Thanks again,
Daniela.
At 08:53 AM 14/06/00 +0100, you wrote:
>
>
>Daniela Soares de Almeida schrieb:
>
>> Gabor,
>>
>> Thank you very much for your help.
>> I got initiate two periodic tasks using a comand passed trough a fifo (from
>> a linux task) but it's happening something strange. When i write to the
>> fifo in my linux task the return value is negative (like the task couldn't
>> have wrote correctly to the fifo) but when i test in my rt-linux module if
>> the commands were received they are there (with the right values!) the same
>> occurs when i test if my peridic task was initiliazed (in rt module) the
>> return vale is negative but the tasks are initialized. The program seems
>> works well but i'd like to understand better how rt-linux works so you or
>> somebody else has some idea why this occurs?
>>
>
>Its difficult to give help on this without having a look on the source.
>You should add some of the lines which are writing/ reading to/from the fifos
>
>Vasili
>
>>
>> Thanks,
>>
>>
Daniela.
>>
>> At 12:17 PM 09/06/00 +0200, you wrote:
>> >
>> >> I'd like to know if it's possible to change the period of a
periodic task
>> >> running rt_make_periodic (or pthread_make_periodic_np) more than one
time
>> >> in the same module. I mean: each time my linux program write to a
fifo a
>> >
>> >Yes, I do this.
>> >Several times I call pthread_make_periodic_np() in order to specify
>> >when the task have to return from the following rt_task_delay().
>> >
>> >> handler runs in my rt-module with rt_make_periodic (or
>> >> pthread_make_periodic_np) using period values passed through the fifo
>> >> (something like frank_app running START_TASK many times, each time
with a
>> >> "msg.period" different)
>> >
>> >Regards
>> >
>> >Gabor
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