Upgareded priority and scheduler settings of new threads. Inspired by Pavel Pisa...

diff --git a/pmsm-control/test_sw/main_pmsm.c b/pmsm-control/test_sw/main_pmsm.c
index 51951504c3ea5621e02d9a887ffa58b5547234b7..cbc687979bba0521b9580a81c1bb5d322e382eb7 100644 (file)
--- a/pmsm-control/test_sw/main_pmsm.c
+++ b/pmsm-control/test_sw/main_pmsm.c
@@ -34,7 +34,7 @@
 #define PRIOR_LOW      20
 
 #define THREAD_SHARED  0
 #define PRIOR_LOW      20
 
 #define THREAD_SHARED  0

-#define INIT_VALUE     0       /*init value for semaphor*/
+#define INIT_VALUE     1       /*init value for semaphor*/

 
 
 #define PXMC_SIN_FIX_TAB_BITS 9
 
 
 #define PXMC_SIN_FIX_TAB_BITS 9


@@ -53,7 +53,8 @@
 
 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
 
 
 #define NSEC_PER_SEC    (1000000000) /* The number of nsecs per sec. */
 

-struct sigaction sighnd; /*struktura pro signal handler*/
+
+

 struct rpi_in data;
 struct rpi_state{
        uint8_t test;
 struct rpi_in data;
 struct rpi_state{
        uint8_t test;


@@ -89,13 +90,12 @@ inline void clk_disable(){
 /**
  * \brief Signal handler pro Ctrl+C
  */
 /**
  * \brief Signal handler pro Ctrl+C
  */

-void sighnd_fnc(){
+void appl_stop(){

        spi_disable();
        clk_disable();
        /*muzeme zavrit semafor*/
        sem_destroy(&thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");
        spi_disable();
        clk_disable();
        /*muzeme zavrit semafor*/
        sem_destroy(&thd_par_sem);
         printf("\nprogram bezpecne ukoncen\n");

-        exit(0);

 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){
 }
 
 void substractOffset(struct rpi_in* data, struct rpi_in* offset){


@@ -227,7 +227,6 @@ void prepare_tx(uint8_t * tx){
  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
  */
 void * pos_monitor(void* param){
  * Funkce pravidelne vypisuje posledni zjistenou pozici lokalniho motoru
  */
 void * pos_monitor(void* param){

-       set_priority(param);            /*set priority*/

        while(1){
                printData();
                usleep(1000000);        /*1 Hz*/
        while(1){
                printData();
                usleep(1000000);        /*1 Hz*/


@@ -439,7 +438,6 @@ void * read_data(void* param){
        uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
        char first=1;
        uint16_t last_index;                            /*we have index up-to date*/
        uint8_t tx[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0} ;
        char first=1;
        uint16_t last_index;                            /*we have index up-to date*/

-       set_priority(param);                            /*set priority*/

        pocatek = spi_read(tx);
        clock_gettime(CLOCK_MONOTONIC ,&t);
        /* start after one second */
        pocatek = spi_read(tx);
        clock_gettime(CLOCK_MONOTONIC ,&t);
        /* start after one second */


@@ -482,45 +480,13 @@ void * read_data(void* param){
                }
 }
 
                }
 }
 

+

 /**
 /**

- * \brief Main function.
+ * \brief
+ * Commands detection.

  */
  */

-
-int main(){
+void poll_cmd(){

        unsigned int tmp;
        unsigned int tmp;

-
-       /*nastaveni priorit vlaken*/
-       struct thread_param tsp;
-       tsp.sch_policy = SCHED_FIFO;
-
-       /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
-       sighnd.sa_handler=&sighnd_fnc;
-       sigaction(SIGINT, &sighnd, NULL );
-
-       clk_init();             /* inicializace gpio hodin */
-       spi_init();             /* iniicializace spi*/
-
-       /*semafor pro detekci zpracovani parametru vlaken*/
-       sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
-
-       /*vlakna*/
-       pthread_t tid;                  /*identifikator vlakna*/
-       pthread_attr_t attr;            /*atributy vlakna*/
-       pthread_attr_init(&attr);       /*inicializuj implicitni atributy*/
-
-
-
-       /*ziskavani dat z motoru*//*vysoka priorita*/
-       tsp.sch_prior = PRIOR_HIGH;
-       pthread_create(&tid, &attr, read_data, (void*)&tsp);
-
-       /*vypisovani lokalni pozice*//*nizka priorita*/
-       tsp.sch_prior = PRIOR_LOW;
-       sem_wait(&thd_par_sem);
-       pthread_create(&tid, &attr, pos_monitor, (void*)&tsp);
-
-
-

        /*
         * Note:
         * pri pouziti scanf("%u",&simple_hall_duty); dochazelo
        /*
         * Note:
         * pri pouziti scanf("%u",&simple_hall_duty); dochazelo


@@ -581,6 +547,31 @@ int main(){
                }
 
        }
                }
 
        }

-       return 0;
+       return ;

 }
 }

+/**
+ * \brief Main function.
+ */
+
+int main(){
+       pthread_t base_thread_id;
+       clk_init();             /* inicializace gpio hodin */
+       spi_init();             /* iniicializace spi*/
+
+       /*semafor pro detekci zpracovani parametru vlaken*/
+       sem_init(&thd_par_sem,THREAD_SHARED,INIT_VALUE);
+       setup_environment();
+
+       base_thread_id=pthread_self();

 
 

+       /*main control loop*/
+       create_rt_task(&base_thread_id,PRIOR_HIGH,read_data,NULL);
+
+       /*monitor of current state*/
+       create_rt_task(&base_thread_id,PRIOR_LOW,pos_monitor,NULL);
+
+       /*wait for commands*/
+       poll_cmd();
+
+       return 0;
+}

diff --git a/pmsm-control/test_sw/misc.c b/pmsm-control/test_sw/misc.c
index 78d4eb523920b762193dd018711cb899dbc657b1..170bd54666d4df09d543231ab9d0e93e0d07e502 100644 (file)
--- a/pmsm-control/test_sw/misc.c
+++ b/pmsm-control/test_sw/misc.c
@@ -8,21 +8,84 @@
  *     Vetsinou pro komunikaci mezi vlakny, jejich sychronizaci a predavani priorit.
  */
 
  *     Vetsinou pro komunikaci mezi vlakny, jejich sychronizaci a predavani priorit.
  */
 

-#include "misc.h"
+

 #include <sched.h>
 #include <sched.h>

+#include <signal.h>    /*signal handler*/
+#include <stdlib.h>
+#include <stdio.h>     /*printf*/
+#include <pthread.h>
+
+#include "misc.h"
+
+

 
 /**
 
 /**

- * nastavi prioritu a scheduler podle parametru
- * funkce na konci vrati semafor, aby mohlo dojit k opetovne zmene parametru
- * \param pointer na struct thread_sched_param
+ * \brief
+ * Signal handler.
+ */
+void appl_sig_handler(int sig){
+       appl_stop();
+       exit(1);
+}
+
+/*
+ * \brief Setup initial environment.
+ */
+void setup_environment(){
+       /*struktura pro signal handler*/
+       struct sigaction sighnd;
+
+       atexit(appl_stop);
+
+       /*nastaveni signalu pro vypnuti pomoci Ctrl+C*/
+       sighnd.sa_handler=appl_sig_handler;
+       sigaction(SIGINT, &sighnd, NULL );
+}
+
+/*
+ * \brief
+ * Creates RT thread

  */
  */

-void set_priority(void * param){
-       struct sched_param sp;
-       struct thread_param *tp = ((struct thread_param*) param);
+int create_rt_task(pthread_t *thread, int prio, void *(*start_routine) (void *), void *arg){
+       int ret ;

 
 

-       sp.sched_priority = tp->sch_prior; /*vysoka priorita*/
-       if(sched_setscheduler(0, tp->sch_policy, &sp) == -1) {
-               perror("pid sched_setscheduler failed");
+       pthread_attr_t attr;
+       struct sched_param schparam;
+
+       /*inicializace implicitnich atributu*/
+       if (pthread_attr_init(&attr) != 0) {
+               fprintf(stderr, "pthread_attr_init failed\n");
+               return -1;
+       }
+
+       /*nastavi dedeni planovace z attr*/
+       if (pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED) != 0) {
+               fprintf(stderr, "pthread_attr_setinheritsched failed\n");
+               return -1;
+       }
+
+       /*nastaveni planovace*/
+       if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO) != 0) {
+               fprintf(stderr, "pthread_attr_setschedpolicy SCHED_FIFO failed\n");
+               return -1;
+       }
+
+       schparam.sched_priority = prio;
+
+       /*nastavit atribut attr podle hodnoty schparam*/
+       if (pthread_attr_setschedparam(&attr, &schparam) != 0) {
+               fprintf(stderr, "pthread_attr_setschedparam failed\n");
+               return -1;

        }
        }

-       sem_post(&thd_par_sem);
+
+       /*vytvori vlakno*/
+       ret = pthread_create(thread, &attr, start_routine, arg);
+
+       /*uvolni strukturu, nema vliv na vlakna jiz vytvorena*/
+       pthread_attr_destroy(&attr);
+
+       return ret;

 }
 }

+
+
+

diff --git a/pmsm-control/test_sw/misc.h b/pmsm-control/test_sw/misc.h
index 14b108911c6be3fee8f3e8424e12b46e2647ae9c..7a131c0be06d9e9e0f6f632cf1c0e615f858c657 100644 (file)
--- a/pmsm-control/test_sw/misc.h
+++ b/pmsm-control/test_sw/misc.h
@@ -8,24 +8,32 @@
 #ifndef MISC_H_
 #define MISC_H_
 
 #ifndef MISC_H_
 #define MISC_H_
 

+#ifndef NULL
+#define NULL (void*)0
+#endif /*NULL*/
+

 #include <semaphore.h>
 
 sem_t thd_par_sem; ///< semafor pro detekci zpracovani parametru noveho vlakna
 
 #include <semaphore.h>
 
 sem_t thd_par_sem; ///< semafor pro detekci zpracovani parametru noveho vlakna
 

-/*
- * struktura predana novym vlaknum
+/**
+ * \brief
+ * Setup initial environment.

  */
  */

-struct thread_param{
-       int sch_policy;
-       int sch_prior;
-};
+void setup_environment();

 
 /**
 
 /**

- * nastavi prioritu a scheduler podle parametru
- * na konci vrati semafor
- * \param pointer na struct thread_sched_param
+ * \brief
+ * Extern handler for signal termination.
+ * Deklarovana jako 'extern', protoze ji pouzivaji funkce v misc.c,
+ *     deklarovana je ale jinde. Vetsinou v main file.

  */
  */

-extern void set_priority(void *);
+extern void appl_stop();

 
 

+/**
+ * \brief
+ * Create RT capable thread.
+ */
+int create_rt_task(pthread_t *thread, int prio, void *(*start_routine) (void *), void *arg);

 
 #endif /* MISC_H_ */
 
 #endif /* MISC_H_ */