/* * (C) Finite State Machine Labs Inc. 1997 business@fsmlabs.com * * Released under the terms of GPL 2. * Open RTLinux makes use of a patented process described in * US Patent 5,995,745. Use of this process is governed * by the Open RTLinux Patent License which can be obtained from * www.fsmlabs.com/PATENT or by sending email to * licensequestions@fsmlabs.com */#include <rtl.h>#include <rtl_fifo.h>#include <time.h>#include <rtl_sched.h>#include <rtl_sync.h>#include <pthread.h>#include <unistd.h>#include <rtl_debug.h>#include <errno.h>#include "rt_process.h"int ntests = 500;int period = 1000000;int bperiod = 3100000;int mode = 0;int absolute = 0;int fifo_size = 4000;int advance = 0;MODULE_PARM(period, "i");MODULE_PARM(bperiod, "i");MODULE_PARM(ntests, "i");MODULE_PARM(mode, "i");MODULE_PARM(absolute, "i");MODULE_PARM(advance, "i");pthread_t thread;int fd_fifo;void *thread_code(void *param){	hrtime_t expected;	hrtime_t diff;	hrtime_t now;	hrtime_t last_time = 0;	hrtime_t min_diff;	hrtime_t max_diff;	struct sample samp;	int i;	int cnt = 0;	if (mode) {		int ret = rtl_setclockmode(CLOCK_REALTIME,					   RTL_CLOCK_MODE_PERIODIC,					   period);		if (ret != 0) {			conpr("Setting periodic mode failed\n");			mode = 0;		}	} else {		rtl_setclockmode(CLOCK_REALTIME, RTL_CLOCK_MODE_ONESHOT,				 0);	}	expected =	    clock_gethrtime(CLOCK_REALTIME) + 2 * (hrtime_t) period;	if (advance) {		pthread_make_periodic_np(pthread_self(),					 expected - advance, period);	} else {		pthread_make_periodic_np(pthread_self(), expected, period);	}	fd_fifo = open("/dev/rtf0", O_NONBLOCK);	if (fd_fifo < 0) {		rtl_printf("/dev/rtf0 open returned %d\n", fd_fifo);		return (void *) -1;	}	if (advance) {		rtl_stop_interrupts();	/* Be careful with this! The task won't be preempted by anything else. This is probably only appropriate for small high-priority tasks. */	}	/* first cycle */	pthread_wait_np();	expected += period;	now = clock_gethrtime(CLOCK_MONOTONIC);	last_time = now;	do {		min_diff = 2000000000;		max_diff = -2000000000;		for (i = 0; i < ntests; i++) {			++cnt;			pthread_wait_np();			now = clock_gethrtime(CLOCK_MONOTONIC);			if (absolute && advance && !mode) {				if (now < expected) {					rtl_delay(expected - now);				}				now = clock_gethrtime(CLOCK_MONOTONIC);			}			if (absolute) {				diff = now - expected;			} else {				diff = now - last_time - period;				if (diff < 0) {					diff = -diff;				}			}			if (diff < min_diff) {				min_diff = diff;			}			if (diff > max_diff) {				max_diff = diff;			}			expected += period;			last_time = now;		}		samp.min = min_diff;		samp.max = max_diff;		write(fd_fifo, &samp, sizeof(samp));	} while (1);	return 0;}pthread_t background_threadid;void *background_thread(void *param){	pthread_make_periodic_np(pthread_self(), gethrtime(), bperiod);	while (1) {		hrtime_t t = gethrtime();		/* the measurement task should preempt the following loop */		while (gethrtime() < t + bperiod * 2 / 3);		pthread_wait_np();	}}int init_module(void){	pthread_attr_t attr;	struct sched_param sched_param;	int thread_status;	int fifo_status;	rtf_destroy(0);	fifo_status = rtf_create(0, fifo_size);	if (fifo_status) {		rtl_printf		    ("RTLinux measurement test fail. fifo_status=%d\n",		     fifo_status);		return -1;	}	pthread_attr_init(&attr);	if (rtl_cpu_exists(1)) {		pthread_attr_setcpu_np(&attr, 1);	}	sched_param.sched_priority = 1;	pthread_attr_setschedparam(&attr, &sched_param);	thread_status =	    pthread_create(&thread, &attr, thread_code, (void *) 1);	if (thread_status != 0) {		rtl_printf("failed to create RT-thread: %d\n",			   thread_status);		return -1;	}	if (bperiod) {		pthread_create(&background_threadid, NULL,			       background_thread, NULL);	}	return 0;}void cleanup_module(void){	pthread_cancel(thread);	pthread_join(thread, NULL);	close(fd_fifo);	rtf_destroy(0);	if (bperiod) {		pthread_cancel(background_threadid);		pthread_join(background_threadid, NULL);	}}