/* * (C) Finite State Machine Labs Inc. 2000 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 <pthread.h>#include <rtl_sched.h>#include <rtl_time.h>#include <rtl_fifo.h>#define MODULE_NAME	"fp_test"MODULE_AUTHOR("Nathan Paul Simons <npsimons@fsmlabs.com>");MODULE_DESCRIPTION("RTLinux floating point test kernel module");MODULE_PARM(fifo_sz, "i");MODULE_PARM_DESC(fifo_sz, "Size of FIFO.");MODULE_PARM(fifo_nr, "i");MODULE_PARM_DESC(fifo_nr,		 "RTL-FIFO number to create (ie, 0 -> /dev/rtf0)");int fifo_nr = 1, fifo_sz = 8192;float marker1 = 0;float marker2 = 0;float marker3 = 0;float marker4 = 0;static pthread_t thread1;static pthread_t thread2;static pthread_mutex_t fifo_lock;char *rtl_strerr(int thiserr){	switch (thiserr) {	case EINVAL:		return "EINVAL";	case EDEADLK:		return "EDEADLK";	case EPERM:		return "EPERM";	case -ENODEV:		return "-ENODEV";	case -EINVAL:		return "-EINVAL";	case -EPERM:		return "-EPERM";	case -ESRCH:		return "-ESRCH";	case -EFAULT:		return "-EFAULT";	case -EBUSY:		return "-EBUSY";	case -ENOMEM:		return "-ENOMEM";	case -ENOSPC:		return "-ENOSPC";	case -EAGAIN:		return "-EAGAIN";	default:		return "unknown error";	}}void *handler1(void *arg){	int retval;	struct sched_param my_sparam;	pthread_setfp_np(pthread_self(), 1);	my_sparam.sched_priority = 1;	if (	    (retval =	     pthread_setschedparam(pthread_self(), SCHED_FIFO,				   &my_sparam)) != 0) {		rtl_printf("%s: pthread_setschedparam(): %s\n",			   MODULE_NAME, rtl_strerr(retval));		return NULL;	}	pthread_make_periodic_np(pthread_self(),				 clock_gethrtime(CLOCK_REALTIME),				 50000000);	/* anybody recognize this value? ;) */	marker1 = 3.1415926535897932384626433832795;	marker3 = .25;	pthread_wait_np();	marker1 = marker3 * marker1;	marker3 = marker1 / .6578;	pthread_wait_np();	marker1 = marker1 + 2.30;	marker3 = marker3 - 2.30;	if ((retval = pthread_mutex_lock(&fifo_lock)) != 0) {		rtl_printf("%s: pthread_mutex_lock(&fifo_lock): %s\n",			   MODULE_NAME, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, "handler1:", 9)) < 9) {		rtl_printf("%s: rtf_put(%d, \"handler1:\", 9): %s\n",			   MODULE_NAME, fifo_nr, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, &marker1, sizeof(marker1))) <	    sizeof(marker1)) {		rtl_printf("%s: rtf_put(%d, marker1, %d): %s\n",			   MODULE_NAME, fifo_nr, sizeof(marker1),			   rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {		rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",			   MODULE_NAME, fifo_nr, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, &marker3, sizeof(marker3))) <	    sizeof(marker3)) {		rtl_printf("%s: rtf_put(%d, marker3, %d): %s\n",			   MODULE_NAME, fifo_nr, sizeof(marker3),			   rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {		rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",			   MODULE_NAME, fifo_nr, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = pthread_mutex_unlock(&fifo_lock)) != 0) {		rtl_printf("%s: pthread_mutex_unlock(&fifo_lock): %s\n",			   MODULE_NAME, rtl_strerr(retval));		return (void *) retval;	}	return NULL;}void *handler2(void *arg){	int retval;	struct sched_param my_sparam;	pthread_setfp_np(pthread_self(), 1);	my_sparam.sched_priority = 2;	if (	    (retval =	     pthread_setschedparam(pthread_self(), SCHED_FIFO,				   &my_sparam)) != 0) {		rtl_printf("%s: pthread_setschedparam(): %s\n",			   MODULE_NAME, rtl_strerr(retval));		return NULL;	}	pthread_make_periodic_np(pthread_self(),				 clock_gethrtime(CLOCK_REALTIME),				 50000000);	/* this ones a little harder to recognize, but anyone with a grounding	 * in probability should know it. */	marker2 = 2.7182818284590452353602874713526;	pthread_wait_np();	marker4 = -.25;	pthread_wait_np();	marker2 = marker4 + .000001;	pthread_wait_np();	marker4 = marker4 - .001001;	pthread_wait_np();	marker2 = marker2 * .100001;	pthread_wait_np();	marker4 = marker2 / .101101;	pthread_wait_np();	if ((retval = pthread_mutex_lock(&fifo_lock)) != 0) {		rtl_printf("%s: pthread_mutex_lock(&fifo_lock): %s\n",			   MODULE_NAME, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, "handler2:", 9)) < 9) {		rtl_printf("%s: rtf_put(%d, \"handler2:\", 9): %s\n",			   MODULE_NAME, fifo_nr, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, &marker2, sizeof(marker2))) <	    sizeof(marker2)) {		rtl_printf("%s: rtf_put(%d, marker2, %d): %s\n",			   MODULE_NAME, fifo_nr, sizeof(marker2),			   rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {		rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",			   MODULE_NAME, fifo_nr, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, &marker4, sizeof(marker4))) <	    sizeof(marker4)) {		rtl_printf("%s: rtf_put(%d, marker4, %d): %s\n",			   MODULE_NAME, fifo_nr, sizeof(marker4),			   rtl_strerr(retval));		return (void *) retval;	}	if ((retval = rtf_put(fifo_nr, ":", 1)) < 1) {		rtl_printf("%s: rtf_put(%d, \":\", 1): %s\n",			   MODULE_NAME, fifo_nr, rtl_strerr(retval));		return (void *) retval;	}	if ((retval = pthread_mutex_unlock(&fifo_lock)) != 0) {		rtl_printf("%s: pthread_mutex_unlock(&fifo_lock): %s\n",			   MODULE_NAME, rtl_strerr(retval));		return (void *) retval;	}	return NULL;}int init_module(void){	int retval;	pthread_mutex_init(&fifo_lock, NULL);	rtf_destroy(fifo_nr);	if ((retval = rtf_create(fifo_nr, fifo_sz)) != 0) {		rtl_printf("%s: rtf_create(%d, %d): %s\n", MODULE_NAME,			   fifo_nr, fifo_sz, rtl_strerr(retval));		return retval;	}	if ((retval = pthread_create(&thread1, NULL, handler1, 0))) {		rtl_printf		    ("%s: pthread_create(&thread1, NULL, handler1, 0): %s\n",		     MODULE_NAME, rtl_strerr(retval));		return retval;	}	if ((retval = pthread_create(&thread2, NULL, handler2, 0))) {		rtl_printf		    ("%s: pthread_create(&thread2, NULL, handler2, 0): %s\n",		     MODULE_NAME, rtl_strerr(retval));		return retval;	}	return 0;}void cleanup_module(void){	pthread_cancel(thread1);/*	pthread_join(thread1, NULL); */	pthread_cancel(thread2);/*	pthread_join(thread2, NULL); */}