7.5.3 ���A���^�C�����W���[�� rt_ctlmodule

#include <rtl.h>
#define TASK_CONTROL_FIFO_OFFSET 3

void *thread_code(void *t)
{
  // ����
}

int my_handler(unsigned int fifo)
{
  struct my_msg_struct msg;
  int err;

  while ((err = rtf_get(COM_FIFO, &msg, 
                        sizeof(msg))) 
          == sizeof(msg)) {
    rtf_put (msg.task + TASK_CTRL_FIFO_OFFSET, 
             &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 (task);
  }
  return 0;
}

int init_module(void)
{
  rtf_destroy(1);
  rtf_destroy(2);
  rtf_destroy(3);
   c[0] = rtf_create(1, 4000);
  c[1] = rtf_create(2, 200);
  c[2] = rtf_create(3, 200);

/******* USB Control ********/
  //buffer allocation
  PciScan();
  CreateSharedMemory();
  GetUsbControlMemory();
/****************************/

  pthread_attr_init (&attr);
  sched_param.sched_priority = 4;
  pthread_attr_setschedparam (&attr, &sched_param);
  ret = pthread_create (&task,  &attr, 
                        thread_code, (void *)1);

  rtf_create_handler(COMMAND_FIFO, &my_handler); 
  pthread_setfp_np(task, 1);  // use float
  return 0;
}

void cleanup_module(void)
{
  rtf_destroy(1);
  rtf_destroy(2);
  rtf_destroy(3);

  pthread_setfp_np(task, 0);  // no use float
  pthread_cancel (task);
  pthread_join (task, NULL);

/******* USB Control ********/
  CloseSharedMemory();
  ReleaseUsbControlMemory();
/****************************/
}


void *thread_code(void *t)
{
  while (1) {
    ret = pthread_wait_np();
    if ((err = rtf_get (taskno + 
         TASK_CONTROL_FIFO_OFFSET, &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:
          printk("task start\n");
          pthread_make_periodic_np(pthread_self(), 
                gethrtime(), msg.period * 1000);
          break;
        case STOP_TASK:
          pthread_suspend_np(pthread_self());
          printk("task stop\n");
          rtf_put(1, "task stop \n", 
                  sizeof("task stop \n"));
          break;
        default:
          rtl_printf("RTLinux task: bad command\n");
          return 0;
      }
    }
    ////sample code
/******* USB Control ********/
    PlugCheck();
    ModeControl();
    SendToken();
/****************************/
  }
}