[Rtai] Behavior in the kernel space - rtai 3.3

[Suessmilch Bernd]

> -----Original Message-----
> From: rtai-bounces at rtai.org [mailto:rtai-bounces at rtai.org]On Behalf Of
> Djamel Louar
> Sent: Mittwoch, 21. Mai 2008 14:24
> To: rtai at rtai.org
> Subject: [Rtai] Behavior in the kernel space - rtai 3.3
> 
> 
> 
> Hi all,
> 
> I used an ancient program which works with rtai 24 (two years 
> ago) with 
> a more recent version : rtai 3.3.
> This is  a very basic program for beginners.
> It's seem  a different behavior of the execution between the 
> version 24 
> of rtai and the 3.3ver.
> In fact with  rtai 3.3, i can stop the program before its end and i 
> don't think that it is correct for real time systems.
Compared to RTAI-24, RTAI-3.3 has an improved signal handling. In 3.3
signals are proper delivered even to RT-tasks. Due to this improved signal
handling you can interrupt or terminate RT-tasks the same way as ordinary Linux
tasks.

If you don't want a signal to  affect your RT-task you have to provide a proper
setting of the task's signal mask.

> Moroever, i remember that with rtai 24, the system "freezes" 
> during an 
> execution of an RTAI application in the kernel space.
Even with RTAI-24 the system only freezes, when your RT-task consumes
too much CPU time.

Best regards,
Bernd
> 
> So i think that i do a mistake, could someone tell me where 
> i'm wrong ?
> 
> Thanks Djamel.
> 
> My code: task.c
> 
> #include <linux/module.h>
> #include <rtai.h>
> #include <rtai_sched.h>
> #define NUMERO      1
> #define PRIORITE    1
> #define STACK_SIZE  2000
> #define PERIODE     1000000000    //  1 s
> #define TICK_PERIOD 1000000    //  1 ms
> #define N_BOUCLE    10
> 
> static RT_TASK hello_world;
>   int ierr=0;
>   RTIME now;
> 
> static void fun(long arg)
> {
>   int boucle = N_BOUCLE ;
>   while(boucle--){
>      rt_task_wait_period();
>   }
> }
> int init_module(void)
> {
>   rt_task_init(&hello_world, fun, 0, 4000, 0, 0, 0);
>   rt_set_oneshot_mode();
>   start_rt_timer(nano2count(1000));
>    now=rt_get_time()+TICK_PERIOD;
>   rt_task_make_periodic(&hello_world,now,nano2count(PERIODE));
>   return 0;
> }
> void cleanup_module(void) {
>   rt_task_delete(&hello_world);
>   stop_rt_timer();
> }
> 
> Makefiles:
> GNUmakefile:
> ----------------------------------------------------------------
> prefix := $(shell rtai-config --prefix)
> ifeq ($(prefix),)
> $(error Please add <rtai-install>/bin to your PATH variable)
> endif
> CC = $(shell rtai-config --cc)
> ifneq ($(findstring 2.6.,$(shell rtai-config --linux-version 
> 2>/dev/null)),)
> LINUX_DIR = $(shell rtai-config --linux-dir)
> all:
>     $(MAKE) -C $(LINUX_DIR) CC=$(CC) SUBDIRS=$$PWD V=$(V) modules
> clean:
>     $(RM) $(LINUX_DIR)/.tmp_versions/*_rt.mod *.o *.ko *.mod.c .*.cmd
> else
> MODULE_CFLAGS = $(shell rtai-config --module-cflags)
> all: task_rt.o
> task_rt.o: task.c
>     $(CC) $(MODULE_CFLAGS) -c $<
> clean:
>     rm -f *.o
> endif
> .PHONY: clean
> --------------------------------------------------------------
> -------------
> makefile:
> 
> EXTRA_CFLAGS += $(shell rtai-config --module-cxxflags)
> obj-m += task_rt.o
> task_rt-objs := task.o
> --------------------------------------------------------------
> -------------------
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