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1 Linux Core0 RedHat Enterprise Linux RedHawk Linux Linux 1/1 RedHat Shared Memory Core1. Core Linux + PREEMPT_RT Shared Memory Core0 1/2 FIFO Linux RealTime Scheduler Core1 POSIX(RedHat) Linux 1/32

2 RTLinux POSIX RT Linux V1 API RT Linux V2 API RedHat/RedHawk/POSIX API rt_get_time gethrtime clock_gettime Hz clock_gettime Hz gethrtime * CLOCK_REALTIME The standard POSIX clock * CLOCK_8254 The clock that is used on non-smp x86 systems * CLOCK_APIC The local APIC clock on SMP x86 systems. #include <time.h> int clock_gettime (clockid_t which_clock, struct timespec *setting) ; gcc [options] file -lccur_rt... which_clock which_clock CLOCK_REALTIME CLOCK_MONOTONIC setting which_clock 0clock_gettime -1 errno clock_gettime (2) man page rt_task_init pthread_create rt_task_delete pthread_delete_np rt_task_make_periodic pthread_make_periodic_np Posix timer timer 2/32

3 rt_task_wait Com pthread_wait_np. pthread_make_periodic_np pthread_attr_getcpu_np. RT-LinuxCPU CPURT-Linux pthread pthread_attr_setreserve_np(v3) pthread_attr_setcpu_np. pthread pthread_attr_getreserve_np(v3) pthread_delete_np. pthread_setfp_np. 0 pthread_suspend_np. pthread_wakeup_np pthread_wakeup_np. pthread_suspend_np pthread_make_periodic_np. pthread_linux rt_com_read. rt_com_setup. rt_com_table rt_com_write.3 rtf RT-FIFO "/dev/rtf" # rtf_create. RT-FIFO rtf_create_handler RT-FIFO Linux RT-FIFO rtf_destroy rtf_create RT-FIFO pthread pthread sigwait() POSIX server_block(),server_wake() pthread_getaffinity_np() CPU mpadvise (MPA_PRC_GETRUN,MPA_TID,0,setp); pthread_setaffinity() CPU pthread sigwait(),sigsupend() POSIX server_block(),server_wake() pthread_create() read() tcseta(),ioctl() write() mkfifo() close(),unlink() 3/32

4 request_rtirq free_rtirq request_rtirq rtf_get. RT-FIFO rtf_put. RT-FIFO rtl_request_irq. IRQ rtl_free_irq. IRQ rtl_get_soft_irq rtl_free_soft_irq. rtl_getcpuid. CPU ID rtl_getschedclock. ID rtl_global_pend_irq. Linux IRQ rtl_hard_disable_irq. IRQ rtl_hard_enable_irq. IRQ rtl_allow_interrupts. cpu rtl_no_interrupts. rtl_restore_interrupts. rtl_no_interrupts rtl_stop_interrupts. cpu rtl_setclockmode. read() write() mpadvise() CLOCK_REALTIME 4/32

5 RTLinux RTLinx RTLinux frank RTLinux Linux RTLinux frank frank_module.c frank_app.c FIFO frank_module frank_app 5/32

6 RTLinux frank_module.c main() frank_module. int main() init_valueue();// init_module(); pause(); cleanup_module(); RTLinux RT-FIFO named pipe realtime pthread POSIX pthread rtf_get(),rtf_put() read(), write() pthread_wakeup_np() pthread_wait_np() pthread_suspend_np() POSIX pthread_make_periodic_np() POSIX pthread rtf_create_handler() select() pthread rtf_printf() printf() gethrtime() NPTL SIGRTMIN+2 NPTL POSIX POSIX RTLinux rtf_create_handler() (SIGRTMAX-SIGRTMIN-2) 6/32

7 frank_module.c frank_module.c init_module()thread_code my_handler 2 frank_module.c pthread_attr_init (&attr); sched_param.sched_priority = 4; pthread_attr_setschedparam (&attr, &sched_param); pthread thread_code ret = pthread_create (&tasks[0], &attr, thread_code, (void *)1); pthread_attr_init (&attr); sched_param.sched_priority = 5; 5 thread_code pthread pthread_attr_setschedparam (&attr, &sched_param); ret = pthread_create (&tasks[1], &attr, thread_code, (void *)2); rtf_create_handler(3, &my_handler); notification pthread daemon /* */ static void notification(void *arg) unsigned int fifo,sno; rtl_fifo_t *tcb; int status=0,retval, fd_flags; fifo = (int)arg; tcb = &RTL_FIFO[fifo]; tcb->flag=1; while(tcb->flag) tcb->timeout.tv_sec = 0; tcb->timeout.tv_usec = ; FD_ZERO(&tcb->readfds); FD_SET(tcb->f_id, &tcb->readfds); retval = select(fd_setsize,&tcb->readfds, NULL, NULL, &tcb->timeout); if (retval>0)/* fifo True */ if (FD_ISSET(tcb->f_id, &tcb->readfds)) tcb->handler(fifo);/*my_handler()*/ pthread_exit((void*)&status); thread_code()ret = pthread_wait_np()pthread_wakeup_np() my_handler() pthread_wakeup_np() pthread_wait_np() sigwait() pthread_wakeup() pthread_kill() 7/32

8 void *thread_code(void *t) int fifo = (int) t; int taskno = fifo - 1; struct my_msg_struct msg; while (1) int ret; int err; ret = pthread_wait_np();/**/ if ((err = rtf_get (taskno + TASK_CONTROL_FIFO_OFFSET,(char*) &msg, sizeof(msg))) == sizeof(msg)) rtl_printf("task %d: executing the "%d " command to task %d; period %d n", fifo - 1, msg.command, msg.task, msg.period); switch (msg.command) case START_TASK: rtl_printf("rtlinux task: START_TASK: command n"); pthread_make_periodic_np(pthread_self(), gethrtime(), msg.period * 1000);/**/ break; case STOP_TASK: rtl_printf("rtlinux task: STOP_TASK: command n"); pthread_suspend_np(pthread_self());/**/ break; default: rtl_printf("rtlinux task: bad command n"); return 0; rtf_put(fifo, data[fifo - 1], 6); return 0; int my_handler(unsigned int fifo) struct my_msg_struct msg; int err; while ((err = rtf_get(command_fifo,(char*) &msg, sizeof(msg))) == sizeof(msg)) rtf_put (msg.task + TASK_CONTROL_FIFO_OFFSET,(char*) &msg, sizeof(msg)); rtl_printf("fifo handler: sending the "%d " command to task %d; period %d n", msg.command, msg.task, msg.period); pthread_wakeup_np (tasks [msg.task]);/**/ if (err!= 0) return -EINVAL; return 0; int pthread_wakeup_np(pthread_t thread) /* */ int tno; tno = get_tno(pthread_self()); RTL_TSD[tno].state=RTL_RUN; return(pthread_kill(thread, WAITSIGNAL)/**/); int pthread_wait_np(void) /* */ sigset_t diset,eiset,oset; int ret,signo,tno; tno = get_tno(pthread_self()); sigfillset(&diset); for(signo=waitsignal;signo<=sigrtmax;signo++) sigdelset(&diset,signo); if (pthread_sigmask(sig_block,&diset,&oset)==(-1)) return (-1); sigemptyset(&eiset); sigaddset(&eiset,waitsignal); sigaddset(&eiset,rtl_tsd[tno].timer_sno); sigaddset(&eiset,sigint); sigaddset(&eiset,sigio); RTL_TSD[tno].state=RTL_SUSPEND; ret = sigwait(&eiset,&signo);/**/ RTL_TSD[tno].state=RTL_RUN; if (pthread_sigmask(sig_setmask,&oset,&eiset)==(-1)) return (-1); return(ret); 8/32

9 pthread_wakeup_np()rtf_get() START_TASK pthread_make_periodic_np(pthread_self(), gethrtime(), msg.period * 1000); int pthread_make_periodic_np(pthread_t thread,hrtime_t start_time,hrtime_t period) /* */ static struct sigevent event; static timer_t timer; static struct itimerspec itspec; int tno; void * val=null; tno = get_tno(thread); /* Create the POSIX timer to generate signum */ event.sigev_notify = SIGEV_SIGNAL;/**/ RTL_TSD[tno].timer_sno = event.sigev_signo = get_sno(); if (event.sigev_signo < (WAITSIGNAL+1)) return (-1); if (timer_create((clockid_t)clock_realtime,&event,&timer)==(-1))/**/ RTL_TSD[tno].timer_key=(timer_t)-1; return (-1); /* Set the initial delay and period of the timer. This also arms the timer */ clock_gettime(clock_realtime,&itspec.it_value); start_time+=10000ll; itspec.it_value.tv_sec = (unsigned long int)(start_time>>32); itspec.it_value.tv_nsec = (unsigned long int)(start_time & 0xFFFFFFFFLL); itspec.it_interval.tv_sec = (unsigned long int)(period>>32); itspec.it_interval.tv_nsec = (unsigned long int)(period & 0xFFFFFFFFLL); if (timer_settime( timer, TIMER_ABSTIME, &itspec, NULL)==(-1))/**/ RTL_TSD[tno].timer_key=(timer_t)-1; return (-1); RTL_TSD[tno].timer_key=timer; RTL_TSD[tno].state=RTL_RUN; sched_yield(); return(0); int pthread_suspend_np(pthread_t thread) * */ int tno; tno = get_tno(pthread_self()); if (pthread_equal(pthread_self(),thread) ) if (RTL_TSD[tno].timer_key!=((timer_t)-1)) timer_delete(rtl_tsd[tno].timer_key);/**/ else return(pthread_kill(thread, WAITSIGNAL));/**/ API start_time period hrtime_t hrtime_t long long POSIX pthread_kill() rtf_get() STOP_TASK pthread_suspend_np(pthread_self()); pthread_kill() 9/32

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22 pthread pthread_mutex_lock (&Mutex); if(event==0) pthread_cond_wait(&condition,&mutex); Event--; pthread_mutex_unlock(&mutex); pthread_mutex_lockmutex_lock(&mutex); Event++; pthread_cond_signal(&condition); pthread_mutex_unlock(&mutex); pthread_mutex_lock()/pthread_mutex_unlock()mutex Mutex Event Mutex Evant pthread_mutex_cond_wait()mutex Condition POSIX 22/32

23 Mutex Event pthread_cond_signal() Mutex pthread_cond_wait() Mutex Mutex Event do pthread_mutex_lock(&mutex[1]); if(event[1]==0) pthread_cond_wait(&condition[1],&mutex[1]); else /* */ Event[1]--; pthread_mutex_unlock(&mutex[1]); /*; */ while (loop_flag); 23/32

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£Ã¥×¥í¥°¥é¥ß¥ó¥°(2018) - Âè10²ó – Â¿¹à¼°¤ÎÉ¾²Á¡§¥¢¥ë¥´¥ê¥º¥à¤Î²þÁ± – (2018) 10 2018 12 06 p(x) = a n x n + a n 1 x n 1 + + a 1 x + a 0 = n a n x n k=0 p(x) = a n x n + a n 1 x n 1 + + a 1 x + a 0 = n a n x n k=0 1 a k x k = a k {{ x x x p(x) = a n x n + a n 1 x n 1 + +