/* RTAI LXRT Frequency Test - www.captain.at
	This example is for RTAI3.2 and magma (which will be 3.3)
	Produces a square wave on the parallel port
*/

#include <stdio.h>
#include <errno.h>
#include <sys/mman.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <rtai_lxrt.h>
#include <rtai_sem.h>
#include <rtai_usi.h>
#include <sys/io.h>
       
static volatile int end = 0;
static volatile int endsquare = 1;
#define BASEPORT 0x378
//             s  m  μ  n
#define PERIOD     100000

static void *square_handler(void *args) {
	RT_TASK *handler;
	RTIME period;

 	if (!(handler = rt_task_init_schmod(nam2num("SQHDLR"), 0, 0, 0, SCHED_FIFO, 0xF))) {
		printf("CANNOT INIT HANDLER TASK > SQHDLR <\n");
		exit(1);
	}
	rt_allow_nonroot_hrt();
	mlockall(MCL_CURRENT | MCL_FUTURE);
	rt_set_oneshot_mode();
	start_rt_timer(0);
 	period = nano2count(PERIOD);
	rt_make_hard_real_time();
	endsquare = 0;
	rt_task_make_periodic(handler, rt_get_time() + period, period);

	while ( !endsquare ) {
		outb_p(0, BASEPORT);
		rt_task_wait_period();
		outb_p(255, BASEPORT);
		rt_task_wait_period();
	}

	stop_rt_timer();
	rt_make_soft_real_time();
	rt_task_delete(handler);
	return 0;
}

// signal-handler, to ensure clean exit on Ctrl-C
void clean_exit(int dummy) { end = 1; }

int main(void) {
	RT_TASK *maint; //, *squaretask;
	int squarethread;
	
	// install signal handler
	signal(SIGTERM, clean_exit);	
	signal(SIGINT, clean_exit);

	if (!(maint = rt_task_init(nam2num("MAIN"), 1, 0, 0))) {
		printf("CANNOT INIT MAIN TASK > MAIN <\n");
		exit(1);
	}

	// ask for permission to access the parallel port from user-space
	if (iopl(3)) {
		printf("iopl err\n");
		rt_task_delete(maint);
		exit(1);
	}

	squarethread = rt_thread_create(square_handler, NULL, 10000);  // create thread
	while (endsquare) {   // wait until thread went to hard real time
		usleep(100000);
	}

	while (!end) { usleep(100000); }

	endsquare = 1;
	printf("TEST ENDS\n");
	rt_thread_join(squarethread);
	rt_task_delete(maint);
	return 0;
}

prefix := $(shell rtai-config --prefix)

ifeq ($(prefix),)
$(error Please add <rtai-install>/bin to your PATH variable)
endif

CC = $(shell rtai-config --cc)
LXRT_CFLAGS = $(shell rtai-config --lxrt-cflags)
LXRT_LDFLAGS = $(shell rtai-config --lxrt-ldflags)

all: freqtest

freqtest: freqtest.c
	$(CC) $(LXRT_CFLAGS) -o $@ $< $(LXRT_LDFLAGS)

clean:
	rm -f *.o freqtest

.PHONY: clean

#!/bin/sh
TMP=$PWD
cd /usr/realtime/modules/

insmod ./rtai_hal.ko
insmod ./rtai_lxrt.ko
insmod ./rtai_sem.ko
insmod ./rtai_tasklets.ko
insmod ./rtai_usi.ko

#insmod ./rtai_hal.o
#insmod ./rtai_lxrt.o
#insmod ./rtai_sem.o
#insmod ./rtai_tasklets.o
#insmod ./rtai_usi.o

cd $TMP