Xenomai: Hard Real Time Driver Example Tutorial with MMAP using the RTDM (Real Time Driver Model)

// if TIMERINT is defined, the linux timer interrupt is used
//   otherwise the parallel port interrupt is used
#define TIMERINT

// if USEMMAP IS defined, also MMAP operations will be made
#define USEMMAP

#define DEV_FILE                  "demodev0"
#define DEV_FILE_NAME             "demodev"
#define DRV_NAME                  "demodrv"

#define BUFFER_SIZE     100000
#define BUFSIZE         17
#define PAR_INT         7
#define TIMER_INT       0
#define BASEPORT        0x378
#define MMAP            0
#define GETVALUE        1
#define SETVALUE        2

#define STATE_FILE_OPENED         1
#define STATE_TASK_CREATED        2

####################################################################
# MAKEFILE TEMPLATE FOR KERNEL MODULES AND USER SPACE APPLICATIONS #
# V0.3 (C) 2006 www.captain.at #####################################
####################################################################

### Names of the kernel module(s) and user space application(s) ####
###   separated by spaces ##########################################
### (omit names if no module(s) or application(s) is(are) built) ###
KERNELMODULES     ?= realtimedriver
USERAPPS          ?= user
### SKIN = xeno, posix etc.
SKIN              ?= xeno
UNAME             := $(shell uname -r)
KERNELSOURCEDIR   ?= /lib/modules/$(UNAME)/build

### Xenomai directory, xeno-config and library directory ###########
XENO_DIR          ?= /usr/xenomai
XENO_CONFIG       ?= $(XENO_DIR)/bin/xeno-config
XENO_LIB_DIR      ?= $(shell $(XENO_CONFIG) --library-dir)

### User space application compile options #########################
USERAPP_LIBS      ?= -lnative -lrtdm
USERAPP_LDFLAGS   ?= $(shell $(XENO_CONFIG) --$(SKIN)-ldflags)
USERAPP_CFLAGS    ?= $(shell $(XENO_CONFIG) --$(SKIN)-cflags)

### General configuration stuff ####################################
CC                =  $(shell $(XENO_CONFIG) --cc)


####################################################################
#### Usually you don't need to modify this file below this line ####
####################################################################


################ KERNEL MODULE START ###############################
OBJS      := ${patsubst %, %.o, $(KERNELMODULES)}
CLEANTHIS := ${patsubst %, .%*, $(KERNELMODULES)}

ifneq ($(KERNELMODULES),)
ifeq ($(findstring 2.6,$(KERNELSOURCEDIR)),2.6)
### KERNEL 2.6 #####################################################

obj-m	       := $(OBJS)
EXTRA_CFLAGS := -I$(XENO_DIR)/include
PWD          := $(shell pwd)
all:: $(USERAPPS)
	$(MAKE) -C $(KERNELSOURCEDIR) SUBDIRS=$(PWD) modules

else ###############################################################
### KERNEL 2.4 #####################################################

HELP := -I$(KERNELSOURCEDIR)/include/xenomai/compat -I$(XENO_DIR)/include
INCLUDE	:= -I$(KERNELSOURCEDIR)/include $(HELP)
CFLAGS	:= -O2 -Wall -DMODULE -D__KERNEL__ -DLINUX $(INCLUDE)
all:: $(OBJS) $(USERAPPS)
	
endif
endif

clean::
	$(RM) $(CLEANTHIS) *.cmd *.o *.ko *.mod.c
	$(RM) -R .tmp*
################ KERNEL MODULE END #################################


################ USER APPLICATIONS START ###########################
ifneq ($(USERAPPS),)
USERSP := ${patsubst %, %.c, $(USERAPPS)}
$(USERAPPS): $(USERSP)
	$(CC) -o $@ $< $(USERAPP_CFLAGS) $(USERAPP_LDFLAGS) $(USERAPP_LIBS)
endif

clean::
	$(RM) $(USERAPPS)
################# USER APPLICATIONS END ############################

.PHONY: clean