This is the C code and it is run for an Intel core to quad , 2.4 MHZ CPU:
#include <sys/mman.h>
#include <native/timer.h>
#include <stdio.h>
#include <native/alarm.h>
#include <native/task.h>
void main(){
RT_TIMER_INFO var1;
RTIME var2;
SRTIME nanosec;
char c1, *name1;
RT_ALARM alarm1;
RT_ALARM_INFO info1;
int i,j;
RT_TASK task1;
mlockall(MCL_CURRENT|MCL_FUTURE);
j = rt_task_shadow(&task1, "xentask1", 50, T_FPU);
if(j == 0)
printf("successfully task was moved to the primary domain\n");
printf("RTIME, size=%d\n", sizeof(RTIME));
printf("unsigned long long, size=%d\n", sizeof(unsigned long long));
printf("unsigned long, size=%d\n", sizeof(unsigned long));
printf("unsigned, size=%d\n", sizeof(unsigned));
printf("\nAperiodic mode\n");
rt_timer_set_mode(0);
rt_timer_inquire(&var1);
printf("period=%.1llu, date=%.1llu tsc=%.1llu\n", var1.period, var1.date,
var1.tsc);
nanosec = 1;
printf("%.1llu ns = %.1llu internal clock ticks\n", nanosec,
rt_timer_ns2ticks(nanosec));
printf("%.1llu ns = %.1llu CPU clock tick\n", nanosec,
rt_timer_ns2tsc(nanosec));
printf("%.1llu = current system time\n", rt_timer_read());
printf("\nPeriodic mode\n");
rt_timer_set_mode(100000000);
nanosec = 1000000;
printf("%.1llu ns = %.1llu internal clock ticks\n", nanosec,
rt_timer_ns2ticks(nanosec));
rt_timer_inquire(&var1);
printf("period=%.1llu, date=%.1llu tsc=%.1llu\n", var1.period, var1.date,
var1.tsc);
printf("%.1llu = current system time\n", rt_timer_read());
printf("\nrt-timer_spin-test-in-periodic-mode\n");
rt_timer_spin(50);
printf("\nnow pops up after...seconds\n");
printf("\nrt-timer_spin-test-in-aperiodic-mode\n");
rt_timer_set_mode(0);
rt_timer_spin(1000000000ull);
printf("\nnow pops up after...seconds\n");
printf("\n");
rt_timer_set_mode(0);
printf("\n1 tick in aperiodic mode is %.1llu nano seconds \n",
rt_timer_ticks2ns(1));
rt_timer_set_mode(100000000);
printf("\n1 tick in periodic mode is %.1llu nano seconds \n",
rt_timer_ticks2ns(1));
printf("\nPress any key to continue...\nn: next tsc; q:quit\n");
do{
c1 = getchar();
if(c1 == 'n')
printf("\ntsc = %.1llu\n", rt_timer_tsc());
}while (c1 != 'q');
printf("\n 10 CPU ticks = %.1llu nano seconds \n", rt_timer_tsc2ns(10));
rt_timer_set_mode(0);
printf("\ntesting alarm services\n");
printf("\nreading alarm information\n");
rt_alarm_create(&alarm1, "alarm1");
rt_alarm_inquire(&alarm1, &info1);
printf("expiration = %.1llu, expiries = %.1lu, name = %s\n",
info1.expiration, info1.expiries, info1.name );
printf("now starting the periodic timer...\n");
rt_alarm_start(&alarm1, 2000000000ull, 1000000000ull);
for(i = 0; i < 1; i++){
j = rt_alarm_wait(&alarm1);
if(j == -EPERM)
printf("sucess");
}
printf("\n");
rt_alarm_inquire(&alarm1, &info1);
printf("expiration = %.1llu, expiries = %.1lu, name = %s\n",
info1.expiration, info1.expiries, info1.name );
printf("now starting the one shot timer...\n");
for(i = 0; i < 3; i++){
rt_alarm_start(&alarm1, 1000000000ull, TM_INFINITE);
rt_alarm_wait(&alarm1);
rt_alarm_inquire(&alarm1, &info1);
printf("expiration = %.1llu, expiries = %.1lu, name = %s\n",
info1.expiration, info1.expiries, info1.name );
}
while(1);
}
and it is compiled by the following makefile:
###### CONFIGURATION ######
### List of applications to be build
APPLICATIONS = examp2
### Note: to override the search path for the xeno-config script, use "make
XENO=..."
### List of modules to be build
MODULES =
### Note: to override the kernel source path, use "make KSRC=..."
###### USER SPACE BUILD (no change required normally) ######
ifeq ($(KERNELRELEASE),)
ifneq ($(APPLICATIONS),)
### Default Xenomai installation path
XENO ?= /usr/xenomai
XENOCONFIG=$(shell PATH=$(XENO):$(XENO)/bin:$(PATH) which xeno-config
2>/dev/null)
### Sanity check
ifeq ($(XENOCONFIG),)
all::
@echo ">>> Invoke make like this: \"make XENO=/path/to/xeno-config\"
<<<"
@echo
endif
CC=$(shell $(XENOCONFIG) --cc)
CPPFLAGS=$(shell $(XENOCONFIG) --skin=native --cflags) $(MY_CFLAGS)
LDFLAGS=$(MY_LDFLAGS)
LDLIBS=$(shell $(XENOCONFIG) --skin=native --ldflags)
# This includes the library path of given Xenomai into the binary to make
live
# easier for beginners if Xenomai's libs are not in any default search path.
LOADLIBES+=-Xlinker -rpath -Xlinker $(shell $(XENOCONFIG) --libdir)
all:: $(APPLICATIONS)
clean::
$(RM) $(APPLICATIONS) *.o
endif
endif
###### KERNEL MODULE BUILD (no change required normally) ######
ifneq ($(MODULES),)
### Default to sources of currently running kernel
KSRC ?= /lib/modules/$(shell uname -r)/build
OBJS := ${patsubst %, %.o, $(MODULES)}
CLEANMOD := ${patsubst %, .%*, $(MODULES)}
PWD := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
### Kernel 2.6 or 3.0
PATCHLEVEL:=$(shell sed 's/PATCHLEVEL = \(.*\)/\1/;t;d' $(KSRC)/Makefile)
VERSION:=$(shell sed 's/VERSION = \(.*\)/\1/;t;d' $(KSRC)/Makefile)
ifneq ($(VERSION).$(PATCHLEVEL),2.4)
obj-m := $(OBJS)
EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix
$(ADD_CFLAGS)
all::
$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
### Kernel 2.4
else
ARCH ?= $(shell uname -i)
INCLUDE := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/compat
-I$(KSRC)/include/xenomai/posix
CFLAGS += $(shell $(MAKE) -s -C $(KSRC) CC=$(CC) ARCH=$(ARCH)
SUBDIRS=$(PWD) modules) $(INCLUDE)
all:: $(OBJS)
endif
## Target for capturing 2.4 module CFLAGS
modules:
@echo "$(CFLAGS)"
clean::
$(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers Module.markers
modules.order
$(RM) -R .tmp*
endif
On Wed, Oct 9, 2013 at 2:21 PM, Gilles Chanteperdrix <
gilles.chanteperd...@xenomai.org> wrote:
>
> ali hagigat wrote:
> > I have installed xenomai-2.6.2.1 for linux-3.5.7 under Fedora 13
> correctly
> > and the Xenomai tests like, "latency", seem to work properly. I have
> > written a application and have made it execute in the primary xenomai
> mode
> > by rt_task_shadow and the timer mode is set in one shot=aperiodic.
> > I have put the following instruction at the end of my C code:
> >
> > while(1);
> >
> > and I have only one real time application in user space. Watchdog timer
> > facility has been enabled inside the kernel. but it does not kill the
> > runaway process after 4 seconds!! that task continues to run. For the
> > first
> > 3 minutes when i use "PS axu" , it shows that CPU has been use over 70%.
> > But the number will rise gradually so that it becomes 88%, even 100% and
> > then suddenly, the system freezes and the screen is not updated and
> > keyboard and other things seem not functioning.
> >
> > That was the first problem.
>
> Please post the full code of the test application. The only reason I could
> see for such a behaviour would be if the signal SIGXCPU is ignored, masked,
> or its handler does not stop the program.
>
> >
> > Another problem is that before executing that real-time application, when
> > i
> > execute the regular Linux tasks like i run "make -j 16" for compiling the
> > Linux kernel, system becomes not responsive much, for some minutes the
> > keystrokes of the keyboard are not taken till "make" finishes.
> > What is the reason for that?
> >
> > That was the second problem.
>
> I do not understand how this problem is related to Xenomai.
>
> --
> Gilles
>
>
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