Xenomai user irq 示例

在用户空间下通过实时任务来实现用户态下的中断处理.

参考:

http://www.xenomai.org/documentation/trunk/html/api/user_irq_8c-example.html

#include <sys/mman.h>
#include <native/task.h>
#include <native/intr.h>
#define IRQ_NUMBER 7 /* Intercept interrupt #7 */
#define TASK_PRIO 99 /* Highest RT priority */
#define TASK_MODE 0 /* No flags */
#define TASK_STKSZ 0 /* Stack size (use default one) */
RT_INTR intr_desc;
RT_TASK server_desc;
void irq_server (void *cookie)
{
for (;;) {
/* Wait for the next interrupt on channel #7. */
err = rt_intr_wait(&intr_desc,TM_INFINITE);
if (!err) {
/* Process interrupt. */
}
}
}
int main (int argc, char *argv[])
{
int err;
mlockall(MCL_CURRENT|MCL_FUTURE);
/* ... */
err = rt_intr_create(&intr_desc,"MyIrq",IRQ_NUMBER,0);
/* ... */
err = rt_task_create(&server_desc,
"MyIrqServer",
TASK_STKSZ,
TASK_PRIO,
TASK_MODE);
if (!err)
rt_task_start(&server_desc,&irq_server,NULL);
/* ... */
}
void cleanup (void)
{
rt_intr_delete(&intr_desc);
rt_task_delete(&server_desc);
}