// #define MODULE #include #include #include #include #include #include #include "control.h" RT_TASK tasks[2]; static char *data[] = {"Frank ", "Zappa "}; /* t -- the fifo number */ void fun(int t) { while (1) { rtf_put(t, data[t - 1], 6); rt_task_wait(); } } int my_handler(unsigned int fifo) { struct my_msg_struct msg; int err; RTIME now; while ((err = rtf_get(3, &msg, sizeof(msg))) == sizeof(msg)) { switch (msg.command) { case START_TASK: now = rt_get_time(); rt_task_make_periodic(&tasks[msg.task], now, msg.period); break; case STOP_TASK: rt_task_suspend(&tasks[msg.task]); break; default: return -EINVAL; } } if (err != 0) { return -EINVAL; } return 0; } int init_module(void) { rtf_create(1, 4000); rtf_create(2, 4000); rtf_create(3, 100); /* input control channel */ rt_task_init(&tasks[0], fun, 1, 3000, 4); rt_task_init(&tasks[1], fun, 2, 3000, 5); rtf_create_handler(3, &my_handler); return 0; } void cleanup_module(void) { rtf_destroy(1); rtf_destroy(2); rtf_destroy(3); rt_task_delete(&tasks[0]); rt_task_delete(&tasks[1]); }