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OP24?@&Pq1&+*,&"47E&-C2*P4,&Y|i;4F+1;Mq1*,&"4w@&<'024f^C61+18.0;+&4 24,.0:+12@24|E6&#@&+V4,&*)862'0n61.&#*,2dE1&*,;Q&4)*,&8;M&+1@!2q1'0&6-C.0'0.2*g61+fE*,&^X. O{;È*,;E1.; H &+F&4B-C&824,;2"n!KiE12"*,2 n61&]+1;.+!-C&*B^X.0&*,2S8#;+Q4,h0Mq1;'0;4E*,&&#T.C4B-C&+!-C&"4I@&'(&*,+1&'BY Memoria Aplicación Kernel Dispositivo Daq_fops open() Daq_open() write() Daq_write() . . . outb() . . . close() Daq_close() . Ports *R¥¥e¥( %§ )- $-$+ '!$+ $+ *+"%!- " ¤ s£;*Q476E!6&"47-/;n6&3+1;<@&Pq1&#*,\"+A;'p1.@!2"*P4G&F'024^6+18.0;+1&"4` 0 !jk0 Q?<k0"j{ !j!k H &"4B-C;4`+1;Mq1*,&4 @&{q1&+<*,&"47E&-C2*P4,&K)E12"*,2F'02F.0+R4B-C2"'028.0>+~?V@&4,.0+R4B-C2"'028.0>+<@&#'gM>@61'0;~&+V'02QMo&M;*,.02Q@!&`(&#*,+&#'/d -C2"'N8;M;~4G& @&4,8*,.q1.0>F2"+!-C&*,.0;*,M&+!-C&Yi2E1*,.Mo&*,2-C.0&+1&'02fM.C4,.0>+~@!&y*,&#:.C4B-C*,2*]&'I@*,.p1&*|^X*,&+!-C&`2"'(&*,+1&'I8;+~&'I+1;Mq1*,& g?f8;+F'02-C2q1'02 P [E2*,2`n6&_"4B-C&UE6&#@26q1.082*g'024z^C61+8#.;+1&"4|&+F'02`M&M;*,.02@&4,.C47-/&#M2Ys£2"*,2 &'0'0;V6-C.0'0.0"2V'023^C6+18.0>+A £ # J!! Ni2V4,&:6+1@23*,&2'.02~'02~;E1&*,28.0>+.0+p1&*P4,2w6-C.0'0.2+@!;V'2w^C6+18.0>+ j! £ 0# J!# L'i4,.0:!+.^X.082@;o@&SZ <Z l 4,&S8;M&#+-C2&+Q'02`4,&88#.>+F4,.0:6.0&+!-C&Yz47-C28;+R4B-C2+!-/&d O,61+!-/;V8;+A;-C*,248;M;3Z Nt ydIZ LI ?3Z l)t LdN4G&Q@!&^X.0+1&+<&+<&#'g2"*,8#a.p1; JdIn61&Q&4 .0+18'6.0@;3&+<'02E1*,.0M&*,2f'h0+1&2!YRg4B-C&&"46+3E*,;8&#@.0M.0&+!-C;~4B-C2"+1@!2"*,@1dbn61&`^X28.0'0.e-C2f'02Q;*,:!2"+1.0"28.0>+V@&'N@!*,. p1&#*Y ZS@&#M\4{dN&')2"*,8#a.p1; J<E!6&@!&~4,&*`.0+18'6.0@;3&+<'02F2#E'0.082"8#.>+n6&o6-C.0'0.0"2F&'|@*,.p1&*PdE2*,2fE;@!&*S6!-/.0'0.0"2* @.08a124I@&^X.0+1.08.0;+1&"4Y.08a1;2*,8a1.p1;y4,&)@&#+;Mo.+12S@!&]&+182q1&2"@!;;UJ# k0!Y #include<Daq.h> Daq_busy=LIBRE; static struct file_operations Daq_fops={ NULL, NULL, Daq_write, NULL, NULL, NULL, NULL, Daq_open, Daq_close } static int Daq_open() { if(Daq_busy==DAQ_BUSY) return –EBUSY; Daq_busy=DAQ_BUSY; printk(“DAQ: abierto.”); outb(0x00,DAQ_OUT); /* Inicialización del hardware */ return 0; } static void Daq_close() { outb(0x00,DAQ_OUT); 54 /* Reset del hardware */ - "$+ )( Daq_busy=LIBRE; printk(“DAQ: cerrado.”); } static int Daq_write() { char c; const char *buff; c=get_user(buff); outb(c,DAQ_OUT); return 0; } int init_module() { register_chrdev(DAQ_MAYOR,”Daq”,&Daq_fops); return 0; } void cleanup_module() { unregister_chrdev(DAQ_MAYOR,”Daq”); } i2^C6+18.0>+ I 00 6-C.0'0.0"2£ j# E2*,2-C;M2*N&'1q?-C&Sn61&S&+p1h02&'E*,;:!*,2"M2@&S2#E'0.0828.0>+y?oj E2*,2S&+p1.02"*[email protected];]q?-C&]2'1E1;*B-£8;*,*,&"47E;[email protected]&+!-C&]@!&]'02)E!6&*B-C2)E2*,2'&#';1Y z47-C&'0./47-C2"@!;F&"4)61+2`p1&*P4G.>+VM`6?~*,&4B6Mo.@!2Q@!&'N@*,.p1&*Pd+;F;E1&*,2#-/.p12!YRi2`p1&*P4,.0>+V8;MÈ1'0&-C2Q@!& edO,6+!-C; 8;+F&'b2*,8a1.p1; J?f& ' Ae 0k0`8;*,*,&"4BE1;[email protected]&+!-C&y4,&UE*,&"4G&+!-C2"*,\+F2"'[^B.+12'b@&'b8#2E1he-061';d6+12Sp1&`n61&y4G&'0& a12?!2S2:*,&:!2"@!;'02S82#E28.0@2@y@!&]'0&8%-61*,2g?`@&)2-C&+18.0>+@!&]'02S.0+!-C&*,*B6E18.0>+£Y g&"4B61M.0&+1@;d|&"4B-C&3M>@61';A4,&~8#;MÈ.0'02F?94G&~.0+R4B-C2'2V&+D&#'g(1&*,+1&'CdN*,&:.C47-/*,\+1@;4G&F@&Pq1.0@2M&+!-C&Ybg4B-C&Fn61&@2 @;*,Mo.@!;Da1247-/2n6&V2'0:6+12<@!&V'24o^C61+8#.;+1&"4f&4f.+p1;82@2!YNs£2*,2V6-C.0'0.0"2*Q&#'@.C47E;4,.-C.p1;d|6+vE*,;:*,2M2<@!& 64762*,.0;E1*,.0M&*,;`.0+p1;8#2PI y4,;q1*,&S&#'£@!&Pp1.08&"d1'0;`862'E*,;@618&S'02.0+1.08.02"'0.0"28.0>+f&S.+1a1.q1.08.0>+Q@!&'£8#;+-C*,;'R@!& 288&"4G;;<k0!<@&#'[email protected];4,.-C. p1;1YIb6&#:;VE!6&@!&~&"4G8*,.q1.*,'0;<8#;+D'23^C61+18.0>+ i 00 =8612"+!-C24p1&8#&"4@!&"4,&#&"dNE12"*,2 ^X.0+12"'0M&#+-C&)'0. q1&#*,2"*,'0;8#;+'02S''02M2@2S2'£4,.C4B-C&Mo2S"k0 YLT28-C2M&+!-C&]8;Mo;y4,.[4,&|-/*,2#-C2"*,2S@!&g61+2*,8a1. p1;1Y z47-C&+!6&Pp1;o@&Pp1.08&@*,.p1&*i?!2E6&#@&4,&#*L.0+R4B-C2'02"@!;d!E&*,;`+1;E61&@&4G&*I6-C.0'.02"@!;`2u1+£Y £2"'-C2&#'£2*,8a1.p1;y&4BE&#8.02"' ;S1!yn6&)'0;.0+18'6?!2S&+&'1^B.'0&"4?47-C&M ?`n6&)+1;4bE1&*,M.-C2S2"8#8&@&#*[email protected])E1;*,8.0>+@&|(&*,+1&'BY Nodos s£2*,2n6&)6+f@&{p1.8#&S@*,.p1&*IE61&@2`4,&*N288&@!.@!;E;*I6+oE*,;:!*,2"M2@&S2#E'0.0828.0>+Q@!&)64B612"*,.0;d1&#'£@!*,. p1&#*i+1&8&"4G.-/2 -C&+1&*I6+oE61+-C;`@&S&#+-C*,2@2@2@;E;*I6+f2*,8a1. p1;`&"47E&8#.2'[''02M2@;[ k0#0# 1!YN+i.0+!6To&"4B-C;4I2"*,8#a.p1;4{d E;*|6+128%6&"47-/.0>+3@&`;*,@&+Rdb4G&y&#+8%6&+!-C*,2"+w6q1.082@;4|&+F&'b@!.*,&#8-C;*,. ; 7!1Y1ZS''0h[E!6&@!&&+18;+!-C*,2"*P4G&S61+2`:!*,2"+ 82+!-/.0@!2"@`@&)&"47-/;4I2*,8a1.p1;4i&4BE&#8.02"'0&"4{d*,&#'28.0;+12"@!;82@2)61+1;@&)&'0'0;4I8;+`6+o@*,.p1&*L47-C2"+1@2*,@`@&'[4,.C4B-C&M2!Y z47-C;4N+1;@;4g4G;+Q2*,8a1.p1;4Nn61&]8;+!-C.0&+1&+Q4G;'2M&+!-C&)@;4I+!uM&*,;4I&+!-C&*,;4{d'0'02M2"@!;4I&'R+!uM&#*,; <Z l =?`&' +!uM&#*,; Vil ]d!n61&gE!6&@!&+p1&*P4G&]&+o'24I8;'6M+12 4 ? @!&g61+'0./47-C2"@!;1Y"s[;*i&CO{&MÈ'0; MiLinux:~# ls -l /dev/lp* crw-rw---root daemon crw-rw---root daemon crw-rw---root daemon 6, 6, 6, 0 Apr 27 1 Apr 27 2 Apr 27 1995 lp0 1995 lp1 1995 lp2 L+V&"47-C&824,;~4,&o'.C47-/2+V'0;4)+;@!;4)8;*,*,&"47E;[email protected]&+!-C&"4)2'024).+!-C&*B^X28&"4|E12"*,2'0&'0;Q@!.C4BE;+1.q1'0&"4)&+wi.+!61TRY1i24|-/*,&4 E*,.0M&#*,248;'6Mo+24`4,;+<'0;42#-/*,.q!6!-/;4@!&'g+1;@; H E1;*n61.0&+VE61&@&F4,&#*S6-C.0'0.0"2@;f?~n6.0&+V&"4S&# ' @61&c1 ; eK{YRi2 8612"*B-C2<8;'61M+12<.0+@!.082<&'S+!uMo&*,; <Z l H KS?'02<4,.0:6.0&+!-C&~&'S+!uMo&*,; Vil H 2' K{YIi2~u1'-/.0M2 8;'6Mo+2o&"4)&'i+1;Mq1*,&Y1>-/&4,&`n61&y&#+~'02È*,.0M&#*]8;'61M+12d[2@&Mo\4)@!&y'0;4zE&*,Mo./4G;4N6R4B612"'0&"4{dR2#E2*,&8&8;M; E*,.0M&#*i'0&-C*,2)6+1 2 8 1.0+@!.082"+1@!;n61&4G&g-C*,2#-C2S@&|6++1;@;UE2*,2)6+@!&Pp1.08&)@*,.p1&*i@!&]8#2"*,28-C&*,&"4%Y L'|+u1M&*,; 5Z l &"4U6+<&+!-C&*,;wu+1.08;~&+&']4,.C47-/&#M2Fn61&Q.0@&#+-C.^X.082f61+hp1;82M&+!-C&o6+<@!&Pp1.08&@*,.p1&*YL' +!uM&#*,; Vil .0@&+!-C.^X.082`6+12Q476q18'024,&`@&#+-C*,;f@&'IM.C4,M;f@*,.p1&*Y1N+F&"4B-C&824G;&T!./47-C&S6+fu1+1.8#;@*,.p1&*g@!& E61&*B-C2E12"*,2'0&'0;d[2"8#8&@.0@!;Q8;+ <Z l Y£rz;+~'0&Pp1&"4)M;@!.^X.082"8#.;+1&"4).0+!-C&*,+124)@!&+!-C*,;Q@!&'i@!*,. p1&#*Pd[;qR4,&*Cp12+1@; n61_+1;@;f^C61&`2"88#&@.0@;db4G&à28&`*,&^X&#*,&+18.022"'E*,.0M&*,;db4G&:61+1@;f;-C&*,8&#*gE!6&*B-C;f@&`'02`s rA?~4,&`288&@!&`2`6+ 8>@!.:!;@!.e^B&*,&+!-C&"d6-C.0'.02"+1@!; Vil SY s£2*,2SE1;@&*I6-C.0'0.0"2*N+61&"4B-C*,;@*,.p1&* d!@&{q1&M;4I8*,&2*b61++1;@;SE12"*,2S_4B-C&Ys£2*,2S&'0';+1&8&"4G.e-C2M;46++!u1M&*,; <Z l mn61&Q+1;3&"4B-C&F4,.0&+1@;w6-C.0'.02"@!;FE1;*&']4G.C4B-C&M2!YRN+=&#'L2*,8a1.p1;fW064,*BWC.0+18'6@!&WC'.0+!6TWCM2XO{;*Y aV&"47-/\+V'0;4 +!uM&#*,;4 <Z l *,&"4,&*Cp12@;4 E;*f&'y4G.C4B-C&M2 H 2''0hUE6&#@&Fp1&*P4,&Vn6&V&' &4B-C\<*,&"4G&*Cp12"@!;<E12"*,2'25E6&#*B-/2 E2*,2'&#';47-C2"+1@2*,@8#;M;<p1.0M;4F2+!-/&#*,.;*,Mo&+!-/&#KPY|&"4,@!&<&'`+!uM&*,; &+2@&'02+!-/&&"4B-C\+ '0.q1*,&"4oE12"*,24G&* 6-C.0'0.0"2@;4 E;*F&'64762*,.0;1Ygs£;@!&M;4f-C;M2*f&' YNL++!6&"47-/*,;A824,;A+1;&"4f+1&8#&"4,2*,.0;<6!-/.0'0.0"2*o6++!u1M&*,; 7* +!$& % +-!%$*+ "%$&$ #"+ - 55 Vil E6&4A&"4B-C&@*,.p1&*V-C.0&+1&D61+124G;'029p1&#*P4,.0>+E2*,2'2u1+.082.0+!-C&*B^X2E12"*,2'0&'0;[email protected];+1.q1'&YN+ '2 &'02q1;*,2"8.0>+f@&'[@*,.p1&*N+1;`8;+!-C&MÈ'02*,&M;4N'02UE;4,.q1.0'0.0@2@@&SMù1'-/.E1'&4IE61&*B-C24IE12"*,2'0&'0;E;*I6+128%6&"47-/.0>+@!& 8'02*,.@!2"@Y &]2@;E!-C2"*,\ Vil A.:62'R2 RY tS+2p1&Q4,&#'&#88.0;+12"@!;4)';4)+!u1M&*,;4 5Z l ? Vil n6&`4,&*,\+f6-C.0'0.2@;4Pd&'b+1;@;o@&Pq1&`4,&*g8#*,&2"@!;&+ &'@.0*,&8-C;*,.0; ,!1YNi.0+61TAE*,;p1&&361+AE*,;:*,2M2Vn61&=4G&~&+182*,:2V@&3&'0'0; I "1RYIz47-C&~8;M2+1@;<@!&Pq1&=4G&* &CO{&86-C2@;8;M;SjPIjj! 1dE;*i*,2;+&4i;qp1.024Y MiLinux:~# mknod /dev/Daq c 31 0 ZS'1E1*,;@68#.*6+'0.C4B-C2@;UE6&#@&Np1&*P4,&)&'R+!6&{p1;+1;@; MiLinux:~# ls -l /dev/Daq crw-r--r-root root ? 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S@&)'02)E6&#*B-/2)E12"*,2'0&'0;d!&'R@*,.p1&*IM2+@!2S&"4B-C&|E*,;8&4,;2 @;*,M.0* `8;+x 1#PjPI !k k0"B dSa124B-C2n6&<'0'0&:!2<61+2A.0+!-/&#*,*B6E8#.>+n6&<'0; @&"47E.0&*B-C2 &CO{&86-C2+1@; L j{ !Ygz47-C&<&"4f61+E*,;8&@!.0M.0&+!-/;DM6?vE;-C&+!-C&VE2*,2.0MÈ1'0&M&+!-C2"*F'02D4,.0+18*,;+1.0"28.0>+@&<'02s r8;+ @.C47E;4,.-C.p1;4I&T-C&*,+1;4Yi2S.0MÈ1'&#M&+!-C2"8.0>+È!6&@!&Lp1&#*P4,&)&+&'R'0.C4B-C2@;n6&S4,&|E*,&4,&+!-C2S2S8;+!-C.+!612"8.0>+[Y Código del driver // Daq.c // Device Driver para utilizar la puerta paralelo como in/out // Crear el nodo con: mknod /dev/Daq c 31 0 #include #include #include #include 56 <linux/module.h> <linux/mm.h> <linux/errno.h> <linux/kernel.h> - "$+ )( #include #include #include #include #include #include #include #include #include #include <linux/major.h> <linux/sched.h> <linux/malloc.h> <linux/ioport.h> <linux/fcntl.h> <linux/delay.h> <time.h> <asm/io.h> <asm/segment.h> <asm/system.h> #include "Daq.h" int Daq_busy = DAQ_FREE; struct wait_queue *Daq_wait_q; static void Daq_irq(void) { wake_up(&Daq_wait_q); } // Semáforo // Declaración de la cola de espera // Despierto a read static int Daq_open(struct inode * inode, struct file * file) { int codigo; // Verifico que el MINOR sea 0 unsigned int minor = MINOR(inode->i_rdev); // Verifico que el semáforo este en verde y lo pongo en rojo if (minor != 0) return -ENODEV; if (Daq_busy == DAQ_BUSY) return -EBUSY; Daq_busy = DAQ_BUSY; // Solicito la interrupción codigo = request_irq(DAQ_IRQ, (void *)Daq_irq, “Daq”); if(codigo){ printk(“ERROR: no se puede utilizar la interrupción 7\n”); return codigo; } else { outb(inb(0x21)&(~DAQ_IRQ),0x21); outb(0x20,0x20); // Habilito máscara de interrupciones } return 0; } static int Daq_read(struct inode * inode, struct file * file, char * buf, int count) { unsigned char testvalue; if(count!=1) return -EINVAL; // Leer de a uno interruptible_sleep_on(&Daq_wait_q); // Espero la interrupción testvalue = inb(DAQ_IN); // Toma el byte del port put_user(testvalue, buf); // Lo envía a la aplicación return 0; } static int Daq_write(struct inode * inode, struct file * file, const char * buf, int count) { char c; const char *temp; temp=buf; while(count>0){ c=get_user(temp); outb(c,DAQ_OUT); count--; temp++; } // Toma el próximo byte // Lo envía al port return temp-buf; } static void Daq_release(struct inode * inode, struct file * file) { Daq_busy = DAQ_FREE; // Semáforo en verde } static struct file_operations Daq_fops = { // Solo open, read, write, y close implementadas 7* +!$& % +-!%$*+ "%$&$ #"+ - 57 NULL, Daq_read, Daq_write, NULL, NULL, NULL, NULL, Daq_open, Daq_release }; // // // // // // // // // seek read write readdir select control mmap open release int init_module( void) { outb(0, DAQ_OUT); if (register_chrdev(DAQ_MAYOR, "Daq", &Daq_fops)) { printk("ERROR: init_module ha fallado\n"); return -EIO; } return 0; } // Reset // Error void cleanup_module( void) { if (Daq_busy) printk("WARNING: Daq ocupado, eliminación postergada\n"); if (unregister_chrdev(DAQ_MAYOR, "Daq") != 0) printk("ERROR: cleanup_module ha fallado\n"); } Archivo de encabezado &S'0.C4B-C228;+!-C.+!612"8.0>+f&'[2"*,8a1.p1;`@&S@!&^X.0+1.8#.;+1&"4z&S e1"k0j!# H a1&2@&#*i^B.'0&KE2*,2&'@*,.p1&*i@!&gE!6&*B-C2)E12"*,2'0&'0;1Y z47-C&Q2*,8a1.p1;~@&{q1&Q.0+18'6.0*P4,&f&+<&#'NE*,;:!*,2"M2F@!&Q2#E'0.0828.0>+4,.)4,&f@&"4G&2"+56-C.0'.02"*'0248;+R4B-C2+!-/&4PdI8;M;wE;* &CO{&MÈ'0;UZ l)t gY // Daq.h // Definiciones para Daq.c #include <sys/ioctl.h> #define #define #define #define #define #define DAQ_MAYOR DAQ_OUT DAQ_IN DAQ_BUSY DAQ_FREE DAQ_IRQ 31 0x378 0x378 1 0 7 Makefile &È1*,&"4,&#+-C2f2Q8#;+-C.0+!628.0>+V'2f8;+!^X.0:61*,2"8#.>+V+1&8&4,2*,.2oE2*,2f&MÈ'0&2*S&'I6-C.0'0.-/2*,.0; o&+~'028;ME.0'02"8.0>+ @&#'i@*,.p1&*YRB+18'6?!&Sp12"*,.024);E8.0;+1&"4)@&`;E!-/.0M.02"8#.>+38;*,*,&"47E;[email protected]&+!-C&"4)2'i8;MÈ1.0'2@;o@&Mo>@6'0;4%Ys£2*,2`M\4 @&%-/2'0'0&E!6&@!&Q8;+R476'-C2"*P4G&Q'02fE\:.0+12F@&fM2+!62'g@&'|8;MÈ.0'02@;* ["!Y[z47-/2F8#;+^B.:6*,28.0>+4,&oE*,&4,&+!-C2F2"n6h 4,;'0;8;+`^X.0+1&"4E*,\8-C.08;4PdE2*,2Sn61.0&+1&"4I&"4B-C_+`^B2"M.0'0.02"*,.02"@!;4I8;+&'o6-C.0'0.e-C2*,.0;S !Y # Makefile para el driver Daq CC=gcc CFLAGS = -Wall -Wstrict-prototypes -O2 -fomit-frame-pointer \ -fno-strength-reduce -pipe -m486 MODCFLAGS = -DMODULE -DMODVERSIONS -DCPU=486 -DEXPORT_SYMTAB -D__KERNEL__ -DLINUX all: Daq.o Daq.o: Daq.c Daq.h $(CC) $(MODCFLAGS) $(CFLAGS) -c -o Daq.o Daq.c Programa de aplicación &È1*,&"4,&#+-C2f&'g4,.0:61.0&+!-/&E*,;:*,2M2f&+<rE2*,2f'2o6-C.0'0.0"28.0>+~@!&2nd[n6&`:&#+&#*,2`6+12;+1@2o862@*,2@2&#+~&' E.0+ `@!&]'02)E61&*B-C2)E2*,2"'0&'0;d6-C.0'0.0"2+1@;SE12"*,2S'02S:!&+1&*,2"8#.>+o@&)'2gq124,&)@&|-C.0&MÈ;'02)^C6+18.0>++12+;4G'0&&E H K{Y 58 - "$+ )( // Generación de una onda cuadrada con la puerta paralelo #include #include #include #include <stdio.h> <fcntl.h> <time.h> "Daq.h" void main(){ int fd; short number = 0x1111; unsigned char buffer; struct timespec tiempo; // Estructura definida en time.h. tiempo.tv_sec = 0; tiempo.tv_nsec = 100 * 1000000; // Tiempo en segundos // + nanosegundos fd = open("/dev/Daq",O_RDWR); // Abro la puerta paralelo if (fd<0) { perror("ERROR: la puerta paralelo no pudo ser abierta"); exit(-1); } for(i=0;i++;i<1000){ write(fd,"1",1); nanosleep(&tiempo,NULL); write(fd,"0",1); nanosleep(&tiempo,NULL); } close(fd); // Cierro la puerta paralelo } z47-C&<8;+O,61+-C;D@!&VE*,;:!*,2"M24F4,&36!-/.0'0.0"2*,\<2'S^X.0+12'@&#'82#Eh-06'0;E2*,2<M&@!.*f'02VE&#*B^X;*,M2+8#&=@!&3i.+!61TD2"' :&#+&#*,2"*-/2*,&24I8;+q124,&)@&|-/.0&ME;d14,.0+'02S&T-/&#+4G.0>+@&|-C.&#MÈ;*,&2"'BY Z 8;+!-/.0+!628.0>+ 4G&3E*,;4,.0:6&V8;+2'0:61+;4f24BE1&8-C;4fM\42p12+2@;4o@&'S@!./4G&c1;<@&3@*,.p1&*P4{dg8;Mo;4,;+D'024 -C_8+1.0824i@!&]@!&Pq!6:!:.0+1:S?`2"'0:61+124^C61+8#.;+1&"4IM\[email protected];+1. q1'0&"4E12"*,24768#;+^B&88.0>+[Y Depurado del código L'[@&%E6*,2@;`@!&'£8#>@.0:;`@&#'£@!*,. p1&#*i&"46+E24,;S^6+1@2M&+!-C2"'&+&'1E1*,;8&"4G;@&)&'02q1;*,2"8.0>+[Y.08a1;8>@!.:!;@!&Pq1& &"47-/2*bE1&*B^X&8%-/2M&+!-C&);E-C.0M.0"2@;)?`'.q1*,&)@&)&*,*,;*,&"4{d"?!2Sn61&gE124G2"*,\S2)^B;*,M2"*E2*B-C&]@!&'1(&#*,+&#'XY ZS'6q1.082*P4,&S&'R@!*,.p1&*i&+o'2SMo&M;*,.02S*,&"4,&#*Cp12"@!2)E2*,2S&'£4,.C47-/&#M2d!+1;&4bE1;4,.q1'0&]288&#@&*,'0;S6!-C.'0.02"+1@;U6-C.0'0.e-C2*,.0;4 @&)@&{q!6::!.0+:`;*,@!.+12*,.0;4Pd-C2"'R8#;M;y4G&]a12*,h2S8#;+`6+12S2#E'0.082"8#.>+o&+'02SM&M;*,.02S@!&g6R4B62*,.0;1Y tS+~E1*,;8&@!.Mo.&#+-C;f6!-/.0'0.0"2@;fE12"*,2f&'N@&%E6*,2@;F&4S'026!-C.'0.02"8.0>+V@&`'02`^C61+18.0>+b Q@&#+-C*,;f@&'I86&#*BE;f@&' @*,.p1&*PdL-/2')8;M;<4,&oE*,;8&#@&o6-C.0'.02"+1@!;b FE2*,2F@&%E6*,2*SE1*,;:*,2M24y47-C2"+1@2*,@F?V@&-C&8%-/2*&#*,*,;*,&"4Y[z47-C;4 .0+p1;82"8#.;+1&"452"@!.8#.;+12'0&"4V2DE1*,.0+-0(m@!&Pq1&+&'0.0M.0+2*P4,&D&#+m'02p1&#*P4,.0>+x@&%^X.0+.-C.p12D@&'o@*,.p1&*PdUE2*,2Dn61&+1; 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BYgNk0"j{ !j!k &'[email protected]4-C2*,&24I@!&'£4,8#a&#@6'0&*Y >-C&"4,&D'02v6-C.0'.02"8#.>+@& £ 0 eAE12"*,2D8#;MÈ;+1&*3&'.0+R4B-C2"+!-C&A&T28-C;&+&'8612"'@!&Pq1&A8;M&+12"*3'2 &CO{&868#.>+oE&#*,.>@!.082@!&]'024b-C2*,&24Y i 2 +!-/;&'1E1&*,h0;@;d!8;M;&'R.0+R4B-C2"+!-C&)@&)8;M.0&+1";d-C.0&+1&+`61+2S*,&4,;'68.0>+@!& 4G&:RY µ L'i.+!61Ts[l CY d!&+&4B-C&]8#24G;d&4b6!-C.'0.02"@!;SE2*,2S&@!.e-C2*i&'2"*,8a1.p1;S^6&+!-C&"d!8;MÈ1.'02*,'0;8;+'024Ia&#*,*,2"M.0&+!-C24 4B-C2+1@2*,@&3.+R47-/2'02"*,'0;<8#;M;V6+DMo>@6'0;<@!&+!-C*,;<@&')(1&*,+1&'BYib61&:;@&~&#''0;d|&')i.0+!6TVs£l !CY +1;=*,&#2"'0.0"2 ^C61+8#.>+32"'0:6+12&+3&"4B-C22#E'0.0828.0>+£Y1i24)@;4|-C2*,&24)@&-C.&#MÈ;f*,&2'i&"47-/2*,\+~&CO{&86-C2+1@;o^C6&*,2o@&y476 *,2+1:;@!& p1.C4,.0>+RdN?D'024o-C2*,&24f@&3i.0+61TD+1;VE61&@&+D288&#@&*2V'024@!& bi.0+!6T1di?!2Vn6&3+1;4,&3a2V@!&^X.0+1.@!;<+1.0+:u+ M&8#2"+1.C4,M;V@!&F8;M`6+1.0828.0>+ H 8;M; £ £l4`;VM&#M;*,.02~8;MÈ12"*B-C.0@2K{Ybi2Fu1+.0823.0+-C&*,288.0>+VE1;4,.q1'0&Q@!&"4,@!& i.0+!6T`&"4I'02S*,&M;8.0>+@!&'RM>@6'0;d!';n61&].0+!-C&*,*B6MÈ1&]'02S&CO{&8618.0>+@&)'024-C2"*,&#24I@&|-C.0&MÈ;*,&2'XY // rt_sqr.c // Genera una onda cuadrada en la salida 0 del port paralelo 62 #include <./rt.h> #define LPT 0x378 de la PC // Includes necesarios para compilar un módulo en rt.h // Dirección del byte de salida del port paralelo standard RT_TASK tarea1; RT_TASK tarea2; // Declaración de dos tareas de tiempo real - "$+ )( int periodo = 40000; // Período de la onda cuadrada: 40mseg. // Esta función se le asigna a ambas tareas, una envía t=1 y la otra t=0 void funcion(int t) { while (1) { outb(t, LPT); // Escribe al port paralelo rt_task_wait(); // Espera su próximo período } } // Inicialización del módulo: define las dos tareas de tiempo real e indica al // scheduler que las ejecute periódicamente int init_module(void) { RTIME ahora = rt_get_time(); // Obtiene la hora. rt_task_init(&mytask, funcion, 1, 3000, 4); // // rt_task_init(&mytask2, funcion, 0, 3000, 5);// // Esta tarea setea el bit, con prioridad 4 Esta tarea resetea el bit, con prioridad 5 // Ambas tareas se ejecutan periódicamente con un offset de periodo/2 rt_task_make_periodic(&tarea1, ahora + 3000, periodo); rt_task_make_periodic(&tarea2, ahora + 3000 + ( periodo/2 ), periodo); return 0; } // Limpieza del módulo: elimina las dos tareas de tiempo real void cleanup_module(void) { rt_task_delete(&tarea1); rt_task_delete(&tarea2); } Linux POSIX.1 vs. RTLinux 247-/2V2a1;*,254G&~a12+D2"+12'.02"@!;<@;4E;4G.q1.'0.0@2@&4q1.0&+D@!.e^B&*,&+!-C&"4È12"*,2V.0+!-C&*,2"8#8.0;+2*8;+D&#'Sa2*,@S2*,&~&+ i.0+!6Td!82@2)61+12S8;+Q4B6R4[p1&+!-/2BOP24[?`@&"4p1&+!-C2XO{24%Y i.0+!6T`s£l !CY E*,;p1&&|6+oM&82+1./4GM;y47-C2"+1@2*,@`n61&gE1&*,M.-C&gE1*,&"4,&+!-C2*i&'Ra12*,@S2"*,&)2'164762*,.;@&|6+12)^X;*,M2 +1;*,M2'.02"@!2 H 2`-C*,2p1_"4)@!&4B64)@!&Pp1.08&`@*,.p1&*P4GKPY1i2p1&#+-C2BOP2@!&6-C.0'.02"*)&"47-/2`&"47-C*,2-C&:!.2`&"4|n61&&'[E1*,;:*,2M2@;* @&6+12Q2#E'0.0828.0>+FE!6&@!&y@!&"4,8#;+;8#&*]8#;MÈ'0&-C2M&+!-C&y&#'b^C61+8#.;+12M.0&+!-C;Q.0+!-C&*,+1;Q@!&'ia12*,@S2"*,& H a2+1@4Ga2#(&d -C.0M.0+:1dN^B;*,M2~@!&f-/*,2+R4B^X&#*,&+18.02~@&F'0;4`@!2-C;4GKy4,.0&ME*,&Fn61&[email protected];+1:2~@!&')@&Pp1.08&F@!*,. p1&#*y8#;*,*,&"4BE1;+@!.0&+!-/&F2 @.08a12UE.0&2@&Sa12*,@S2"*,&Yz47-/;E1&*,M.-C&S&"4,8*,.q1.0*i2#E'0.0828.0;+1&"4I+;*,Mo2"'0.0"2@24[?E;*B-C2q1'&4Pd!n61&4G;';U6-C.0'0.2+'0;4 M&8#2"+1.C4,M;44B-C2+@!2"*,@3@&`s[l C E12"*,2f288&@!&*S2Q'0;4)*,&8%6*P4,;4%Y1L+3824G;Q@!&`+;[email protected];+1&*P4,&`@!&'i@!&Pp1.08&`@*,.p1&* 2@&8612"@!;db4,&`M;47-/*,>on6&&'bM&8#2"+1.C4,M;o@&&#'2q1;*,28.0>+F@&_4B-C&+1;&"4|8;MÈ1'0.8#2"@!;dR@!&E&+1@!.&#+@!;Q4,.0&ME*,&@!& '02F8;MÈ1'&OP.0@2@V@&'ga12*,@S2"*,&o24G;8.02"@!;1YRi2f@&"4p1&+!-/2BOP2fM\4S+1;-C2q1'0&@!&&"47-/2o^X;*,M2f@&-/*,2q12BOP;F&"4Un6&o+;~4G& @.C47E;+1&@!&8#2E12"8.0@!2"@@&E*,;8#&"4,2M.0&+!-C;&+-C.0&MÈ1;D*,&2'XY|i24 -C2"*,&24Fn6&<288&#@&+2'ya12*,@S2"*,&&"4B-C2*,\"+ 8;[email protected];+12@24È1;*&')^C61+8#.;+12M.0&+!-C;<@&'4G8a1&@61'0&*@&f-C.0&MÈ1;V8;MÈ2*B-C.0@;V@&'|i.0+!6TRY;~E1;*`&'0';V@!&Pq1& @&4,82*B-C2"*P4G&S8;MÈ'0&-C2M&+!-C&S'02S6-C.0'0.0"28.0>+Q@!&]&4B-C2SM&-C;@;'0;:!h2S@!&g-C*,2q12XO{;1'02S82#E28.0@2@y@!&gE1*,;8&"4G2"M.0&+!-C;@!& '0;4N&n6.E;4N28-062'0&"4Na128&Sn61&S&+Q'02:*,2+QM2?!;*,h2@&S'0;4N824,;4E!6&@!2S&+18;+!-/*,2*P4,&|6+124G;'e618.0>+È;*I&"4B-C2gp1h02!Y tS+ &OP&MÈ1'0;D@&<&"47-C;D&"4F&'`*,&8#.&#+-C&<'02+1"2M.0&+!-C;AE;*fE2*B-C&<@&52-C.0;+12"'`B+47-C*B6M&+!-X4f@&361+23p1&*P4,.0>+@!& i2q S.&% E2*,2i.0+!6Ts£l Y df&+'02x8%62'~'02x&MÈ1*,&"4,2E1*,;p1&&&'F&#+-C;*,+1;x@!&D-C*,2q12BOP;doM.0&+!-C*,24n61& *,&8;Mo.&#+@!2`'26!-/.0'0.0"28.0>+F@&'0;4gMù1'-/.E1'&4g@!&Pp1.08&@!*,. p1&#*P4g@!&@;Mo.+1.0;È!uq1'0.08;@.C47E;+1.q1'&4IE2*,2824,.-C;@;`&' a12"*,@2*,&)@&).+R47-/*B61M&+!-C2"8#.>+?`8;+!-/*,;'[4B-C2"+1@!2"*,@Y s£;*;-/*,;3'02"@!;d i.+!61T~E1;4,&&f'02F82#E28.0@2@=@!&-C.0&MÈ1;F*,&2'L*,&#n6&#*,.@!2Q&#+=2'0:61+;4U824,;4Pd E&*,;F8#;M;fE61@; 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" /&4 FK &7;a4$5/&F @&FK *10/F &=/D N = 8D & +>(-10/"*12 C*(*+. -12"&"lF*3 "P JBJB &&D/"P)" O 12"3-C&D 5L&@;\ @"&&+CB$+"4/"&P"&Luw]#P* &&D/,.) +"NXQ2 & 5L&"K)#/Z/"&H<$+E;_012G[&5212"&</&&MNVK""'G G 2,"0) +#"#* &&D/L6"&%$4,.5"L)":[5"5 &4512G[&\/&&|v7G w"(;[0v7G 45 & NL0= @w"v7u ""12G[&/"&*&z*A12&A12A/ @P[&u @&"3* @&&D/*_NMK"2# &L12G[&F/&&(# &12"J;X 5L&"Q(4" @&&wL'L412"& /&&#/"* F[04v7u &w4 K5&G &&QH4 &&D/"2 &&GN V&P,"2 #J &J /"(&L &&D10/"4/"&LB @& 5L&";Z!= '79"0 &4F&+= @&P /&&0P &&D/"0512& &&#/&PJ(*+"&12k12/"&&*3P &P,= @w "LvEG N O +"* D /"& "" 10/1B @ /MG"|+ /"& 1BD && = $"*"12 "N Int1:Setear_Ready1 JUMP Kernel ; Llega Interrupción 1 (máxima prioridad) Int2:Setear_Ready2 JUMP Kernel ; Llega Interrupción 2 (intermedia) Int3:Setear_Ready3 JUMP Kernel ; Llega Interrupción 1 (mínima prioridad) Kernel: ; ; ; ; NOTA: El orden de este polling es el de prioridades de las rutinas. Utilizo los flags Ready* y Running* como Taks Status. poll1: IFNOT Ready1 JUMP poll2 IF Running1 JUMP scherror Limpiar_Ready1 Setear_Running1 Bajar_Prioridad_1 EXEC Tarea_1 Subir_Prioridad_1 Limpiar_Running1 JUMP Kernel ; ; ; ; ; Miro si llego la interrupcion 1, si no miro la próxima. Si llego y esta todavía ejecutando,salgo con error. Paso la tarea a ejecutando. ; ; ; ; ; ; ; ; ; ; Mientras esta corriendo le bajo la prioridad. Ejecuto la tarea asociada a la interrupción 1. Repongo la prioridad alta. Aviso que termino de correr la tarea 1. Termino. No debo salir hasta que no queden interrupciones pendientes. ; ; ; ; ; ; ; ; Miro si llego la interrupcion2, si no miro la próxima. Si llego y esta todavía ejecutando, salgo con error. Verifico si está corriendo 1. De ser así marco la tarea como pendiente y salgo. Idem anterior. poll2: IFNOT Ready2 JUMP poll3 IF Running2 JUMP pollerror IF Running1 JUMP pollexit Limpiar_Ready2 Setear_Running2 Bajar_Prioridad_2 EXEC Tarea_2 Subir_Prioridad_2 Limpiar_Running2 JUMP Kernel 80 8 poll3: IFNOT Ready3 JUMP pollexit IF Running3 JUMP pollerror IF Running1 JUMP pollexit IF Running2 JUMP pollexit Limpiar_Ready3 Setear_Running3 Bajar_Prioridad_3 EXEC Tarea_3 Subir_Prioridad_3 Limpiar_Running3 JUMP Kernel ; ; ; ; ; ; ; ; Miro si llego la interrupcion3, si no termino. Si llego y esta ejecutando, salgo con error. Verifico si están corriendo la 2 o la 1. De ser así marco la tarea como pendiente y salgo. ; Idem anterior. pollerror: EXEC Tarea_Error pollexit: Return_from_Interrupt ) g.r:cj132B/&( O *"& y V ; Devuelvo el control ; al background. G &PD 48 ,/3" &&7(2B"25 &JE; v" @#2QQ,.579"2G1/&7</&4,4512I$D*,.B)"KD GN Ejecutando La ejecución finaliza No hay otra tarea de mayor prioridad ejecutándose Running = 1 Ready = 0 Lista Esperando Running = 0 Ready = 1 Running = 0 Ready = 0 Suspendida Llega una tarea de mayor prioridad Llega la interrupción asociada Running = 1 Ready = 1 Finaliza la tarea de prioridad mayor Performance y limitaciones "2"-&G" '12Q5a= &D"56"%&7;X/"&0""210/12 -CJE1#9"*&7; /"CJ(+"&&7(-,.-312&3C "A- @&&D/*"Y &"2&wC12"&0,"S0 MD &D*_N O -KJ('# *&7(#-1B*& @&&4RS"TVU##W _ &G9"vE"B &&=/"5 J;X!D @1/ UuS012&+."uN = "2 (&F"010/"*12 P+"&Z4"^&"Z10"% @% &L5 @1/0&@;X",.5/"&/" "0= @& +0 /&+&1229"L'F"u/ Z9"wK/"& FZbFc7dKef*ghi4jN"F"" /"&*"%/"*3$|""12 >z^&"03 *10/&;</"z/"*&7(8>"3/&+&1B &CP$APY./ &0H1BwY*1B-#&G&7(#D/"`9"##12& &&#B/&/"% +&uN O D 3D & @+C/&12% - &20 10/"2-&=/D 3P"?D 1BJ;<G50I 12 9""G$(4/&4JK/Q] 10/"L&DN !" 81 Qz/&"%/P|6" vE ,.?'1B&A &J3D w?12% ?/"&3'"12& &&D/" % =/"`9"*P012& &&GN /&+&1BN O % )"12&A/&P12%$.& Av7Gz = L12% @4M10/#5/"*2HL &&12 HY./"D "N 79"2&&7(2,"2"-]v(aD %$Y "&7212P3K/&D$"12 @0[P2+"&C )&K[2_D/" )"&F5 @&7;[L,.L(4D &k*#&(&`9"*#PD 12#/& `6"5 *10/0&DN O 10//"* = @zD & +?A/&+&12 D w?12% ?/*"> C,A 12& &&]G$G # &510/,5 "% L &&'=/% `6"FY. @&uN O _ ,"44/&+&1BP41/,;Q&12"G9"] *&\'(@= 124/& `6"LHK,"(H"G" & =/"`9"*Q2M12&4/"&4Q%$& K&,.% G &K512& &&GN Q5Y/"&"J5&5/"*"BD 0D & +00%$& <<12= &&P,.L/]k" "#B/&+&1BP /`9"*1/12 &4"D & +B/&1/ `6"9"C/&& C 12& &&PC/&/"% +"&GN4*A"&*z"12 3$D3*&G&7( =/"`9"*V[#""4G(5/&+&12_N = D & +4/&12% @4/ *1B*& O ;C/"&12% * * &%" **40K ;"76"% "# 10/"F10&D @*"G9"Z[";/&F /"&9"*12Jz1/v7z D/"% 6"= @"&;C," )9"*& &,.&#12& &&K12wJ\/" @ KBM#< *&7(]"0/0/VN Q0J(+"*P4/"&*&]0K &F79"4&*&7(4 12 ;"_12&040Y/= @0 bFcEdQefghi5ju;[4,55LG/"H5/&D$&12] XV(D 12N % (0Z/ '46"@= 2FD 1B2/& `6"2QY";_D/"&HL"8(@= 1221B'Z&I/ ;M12 5;]/"&12% H+&75<2*&D @#+&D/L] & 0""5/4,</"L(&Q45 &G6"!K9MK *10/&DN O B76" -,.-0 &2+"2"-1B@(12P/"C79"= &0&GN /" @0G6"4V "0F&&K"4G"4D &`92H\ @&GN O &HK%$& \/ = 4D &`9279"5)&7( /&( K2V(D 12;[0V= @124/& `6"4QYMN x µ V&)"+"3 &JC79"3 & @&P1212&P"12&"310""* "(&C @&P0D/(% @`6"#/"& (@= 12N O 0:9","P' &:9"Dv7 "1212 ;][z,"" /J x µ (?"(&Y`6"10"" &8*0[0D 12 QY;[,.#D 212|v7&&k*0#/&D$D&12"#Q(D 12N_&02<"(&0/"M&' "L J/21BD 2p.6pqqpqs+4Xs:fp4s,. "3D&+-"+&D/"8% 12 P&"8 &JuN "*(210D &2"3J('0/"*M;X *I"+C*B*1/12 -QY./&12 7|9""&7;5?LG" @JBJ &JB @1/&4&B8,.[A &4C* 10/"& "&45*41= @&5$|&2+&D/K0"5/"* x µ N Caso de aplicación *= &DG & Y./&12 /"& )"D )"& /& a= &D&A 7|9""&GNV&0Q(M2L# 10/& &05 @ 6"&D & #% 9"* &10/" &G ; " &3 10/"& *"&/"& "4 &1BG/"*0D &";"L =/kI$D*12 /"& D * |/"QG FDNU 7N"V&2212%$*PL# 10/& &0L010= &(4 @ 12& && "C&D "CG$DG &C*"/&#A12"&P")"CB/(;Q,.#12 P/"&4" >&D k4G VNVUT7N $" @5&+.4< M V&PP*1/12 D Gv" C0 &J &*& 6"&J &J C"B"2/" (*1% w"12 l,. x µ 10/"& "& ;Z1B*& @&&479" G "10/"12 " 6"&D &F9"4&10/4&G ;wGLH42H &;010/1B @2" /&F$ 4&; [#/&\% 12L12"v7#5JK10""*"K0QYXN El hardware 0 *PF6"&7&4 #% 9"2&10/"',.'(210D &'8 & y_ ) grGc0j 132MNZ-&G &kD 0/&"%/Q ,"P$"-10/"*12 A$&12C&G P/&8= "12& &&7;F$&12P H G/&]L12k"12L *B4&G"&7F4!D l. #1249"J(45 10/"L""4K *1B&7F @& 12& && {5Q12&S=;" z* &&D/"Y &"J /& G G &* $" * .5KS;_"P2]9"% 42G,"*&'25/&D /&'1B"&4F1L9"P'( *'0* &10/3{V0NUG5[ &C/&-510% %/Y&L &-{_0N ;K"8(2/"& P*$D*+.&7N O ]9Gv7G `6"- 6"&7(*{|W 82 8 )"10% %/Y&]<,&&]2 "_/&6"" L4"# &12G/02QM&<4 1/& &#/&0* 10/"M2_v" @5$D&k*4H5 &12u/N @ +"* 10/"" @Y. &"lC +& G" & *G6""+*JE;C 10/%$&Q/"&MG"w&D/"*;""4&G$&"4] MM;&= @*_[0/% @&GN 5Q"010/1B @B/&12 ' &'/5D/(% @`6"5"K[B *029"% 12w5#/&D ]{V0N S;_',.#/&1BI # &:9"Dv7&5-0/"&-&,&*2{:UTL9"% ;M"u/"w"L K&&12 @KHK1/%$&\ *\/&45 @&12G/"N V&L10/"*12 &F_12"&Q5)#</"@({@ >Q(] *412H9"5< 10/ 0 12&F{5K12& UGM[#"L9"% V44<"#5*\/"&D |F{@V0N Zu @`6"44G /4</ "N R1 Vref 8051 R2 PWM C Vx Timer 1 R3 1/3 CD4053 sw1 R4 PA.2 INT0 sw2 1/3 1/4 LF347 CD4053 1/4 LF347 1/4 LF347 1/4 LF347 Timer 0 PA.1 PA.0 }(~ !9,9 Á+?Â,Ã9WÄÅ9Æ ~ 799W9W9Ç3È É .54U#K12& &*&40&(&6"0/"&2210"-CV9M] Q2 &&D/"-Y. @&BW 5A#* 5N O _$|""12 2Z6"&7&< 12&2$ vE #% L& 9"59"&76"12 # _NV#&+05Q12&]S2B +' 12;X,"L<_$"2#0Z6"&7(&] #% {@/&]vE10/"* S 2/"& 6"&7(*U L 9"% !#"$%'&'"(%)*+,&'-./102+34!0%'!536+(+!0 +%7 +! +&849,:;(<(01=!><,? 9&'01%)A@B +&' +%'0 +%' 9C,5(%'%'+6D%)D&'+E3 +&'->0+%F&'G+IH%'D 9!%J? 6G<%;%'%)6!K%'G 9(+3L +MN3OPQ%'E&'(L03#+( +&'-Q0+%&'G+K?# +(3#4R!L"$D+(%)&'"$#S T3UWV8X #%'#!3YZD&)3+E3 +&'->+/+(#[1+(<+ 9!(0%'#!D=D%'%)6!0# +(OA\4%'%'+63<03 ++ &)(^<03+G_ +G`6Q0+%&'G+[5ab(`03Q%)0& ] ++3<1003>6!G! +&'-c03Qd<EfeR ] ( <?"G02%'Ng(%8 +&'-G03K%'! +1+%(&'+*(+0ag(+N2+G%' Xh ij$UWk2lmT(n'o Int. Timer 0 Pendiente = Vx/RC Int. Externa 0 Pendiente = Vr/RC (fijo) c a b r N (fijo) tvq w w s p = tmu Ê8Ë w rs pq z y Nx (incógnit a) xay = z3{ | Ê8Ë x }~ !W,9 9+(~ 79,99~ 9 EZa73G+1K(8 ¡<¡?£¢(¤+'¥3<¡E ¤+¦(+N¡?a§2¨)©«ª3¢+3#¡+aG3£¬E)¤<3LG¬1L¡'ª('<®3 +('+( +b¤v¢+3 Q>¤+,¡+¦(!#!I¤+ª!¤+8 #3'3 +¯!¤+'¥b Q3G'°!(''(+<E±²(¤+8¢³¡?>ª¢(+¢3 )''°!<N¡?¢ 3GL(+3 +I(8 ¡a!¡8¢¤+'¥,®(¤+!¯!(+F )1+a¤+G¢(L¦(!'a´¢(G¡¢>+µ$ª(+3 K3K¶G·4ª ¸¹+ª'Dº»»3»®3´¢(K´¢¼¦(!'½'¾9¶(8 ¡¿1+'#ªµ3'G<3<1+3 4ÀN± !" 83 ! !¤+'<! + ¬¢((¤+'!G'+3 ¤+<¡\ª('+3 <®;¢3 )''°!<(`' <¡E µ +,¡'¥ ¡¡E +G® ¡ ª(<¡ + ' ' 3 9 Ë ¡'m¡D !+¡9± Z¡D (+,¡L¡? <¡\ 43±Q'(¤+8¢m¿3+ +b '+ª(` Q¢^<¡E ! !7´¢(L¡D<¡E !¯¢!!(G'D¬'(<''°!<¤+'¥Q3+7¤+3 +GD<D(¡a 'G+N¡2·!¡E #<¡+ ¡7¬E+¤9¢ 2+G´$¢¡2+(¤9¢+3 +¡?¡E +G!À,¿G¡2<¡E !G¸¹+¤9¢ !(#'¡f 4!+¡;a(<¤(¯!¢(F± +(¤9¢(+3 4! <¡\ 4!D Llega INT 0 Programo Timer 0 con N Rampa ascendente (N,oo ) Fin Timer 0 Calculo de accion control Acciono PWM Timer 1 Programo con N' Guard o (N',oo) Fin Timer 1 Cambio rampa ! " }(~ <9,?W \ ,79 (Æ ~ 39799W9WÇ3È É P +9¸N9 ¼¦( <¡ % 'ª'+G ! $# ¢ ¡¡\ 4GB3B¡!¬ ! ´¢(B¡+ ¤+ª!°B3 G!(¸N! ¡ <¡\ 4¡ !+¡ ¡'¢(8 !(+!G+3 <®3¤+ '+ª¡;3K<¡\ª¢(<¡E ¡Z!¤+! !¡9± & ª('G+Q'3 4 '¯! ¬¢(b'c'ª('+G+3 <¤)¥«3`¢ <¡\¢8 <3¡ ¤+¦(+N¡?)¥ +G§2¨'© ¤+¦(+N¡?)¥ ^¢ ¡ 4¡\¬!¤9 )¡ ª(c3¡ ¡¡\ 4G G! ¼¦(¡ ¡?+¤9¢(+(¤+'<®3+D £ª(bª(') ¬¢(!G+3 !)1+3 4$±P <¡^¢m¿«3£¬E++3 c3+G¤+<¡\ª('+3 b! §2¨'© 3+()`!ª <¡¦(<'9('<®a¿ ('*) ±P )!ª,®ª+ ( ª('G+b8¢¯3<N®1+Q¤+'¤+' ¡+¯$¢( 8¢(¯!N®+D '+ª ªG'` ! b'b¡'(¤+('°<!¤+'¥ ¡? 3 3 #¡¡E +G^ª(<¡+3 ¥ '(¤+¦(+() <¡v± § ¤ '3¢!¤+'¥B¡ ¢(<¡E ' +ª(')¤<¤+'¥ 3c'¡^¡Q!¡E + +¯3'm¡1(m¡?<3m¡ +«)3 +E¢3ª¤+'(<¡N®*<¡?¤+8ª ¡ ! +'G ± i. Implementación del sistema cooperativo % + Pª'G+f G'®(¡?K¡¤+'!G'm¡f !+m¡;¤+1)¡;' +E¢3ª¤+'(<¡;2'#¡'¯¢('+3 4¬G -,.'Ê/01-2435768,:9Ê;<.7>=#Ê?A@B ¤<#('Q3+I¡+3 'Q1)1<ª(GZ¤+¦(+N¡?K§2¨'© ¡¤+v 41¢ '''°<!( ¢G(8 Z*¢(G'¡;ª(E ¡a#¡?<''3±A¡\ <#<¡a'D´¢´¢'+1W¿3;ª''!#¿G3N( ¡9±(I¡E Q¡N(G´$¢D¢^9 <3Q)¸¹+¤9¢(¤+'¥Q+ ¡+2¤+ª!°G'3 4E¢ª()2G'¡2+ ¤+<D()1#!ª(#ª(¢(¤+¢(+a+>'#!´$¢¡'¤+'¥>' +ª(+ )¢(#!¤9 '¢!E±A¡\ 4* <+ 4'+('#¦(+3 ¸¹L¡?+I'´¢(#G+(¡'³¡\ E¢¤+¤+'(<¡A )·!¡E G<¡¢m¿>¤+Q+ ¡?4¡\ +G¡ 4'+ª#<'À -,.'Ê/01-2435768, Ê CD.'Ê?-, E@B / 39 +¤+¤+'¥ 3+I¬E) Q¤m¦(N¡'¥± ZQ !+ F<¡\ 4^' +E¢3ª¤+'¥ ¡¤+'!^ N(D)(¤+8¢()a+¤ !'¤9¢''#!¤+¤+'¥>¤+3 ®¿G3N(2ª(+aD¡Eª(¡'¤+'¥3' <#´¢( ¡ ¤<¯3 3+ ('G) +G¦(!) E!¡E m®¢ '''°<!( ¦(!'W('<¡ ¡`3N( H ¯'+(!)!¡9±§+ ª<¡?+3 4!a<Fª¤<¡I(!¤ (¯!¢(G'¡7¦(!'<¡a32 4ª+ '¢*ª!+¦()!Z!,34¡\ª'9¿,± # <¡Q(+¤+!¡!) 84 ´¢(`<¡E ` !+` +(¯`¢((`ª''! < <8 b¤+G 'b! +'N®a¿3b´¢(`< Ç E99W +9~ ! ª(+N¡+^¤++>'G'½)(+² HZ»(®,+ 'G+2¡#39 '+(K¿>(ª$¢¤+D+9±©#¹(ªG8 4'K¡?+ )3 +E¢(ª'2ª(Z''3 4E¢ª¤)¥1+( 'G+;»¿+( 'G+¾!± -,.'Ê/01-2435768, 93Ê5; .$=#Ê? B ('*) G!(¸N^+I¤)¤)^+ ±Z'+(1¢(>ª''! ¡;<3 +'<¡v±;'+(K´$¢¡+;¤++ª(<°3K'3 +E¢ª'Z² H '3 +G+3'+3 G'¡ »,± ¡a+((!¤¯3!¢(®('¤9¢(< §´¢(½7<¡E !G¡<3 #+7¤m¡?G+Q´¢(L¡?#(+¤+<¡?8 4!> <¡Aª''!<¡a38¬++3 <¡N®³<3+ ¡^'¯¥bG!(8ª¢'!(b+¯¡E b² ¤+1c¡^¢<¡\ c+¡'¯$¢'+3 Q)¡\ 4!(±fP ¯8 Qª¢(+ ¦(+N¡? '¤ (¡¤+!#('¡9±3A¡E *ª¯!G'(¤+8¢m¿3#+7+3'+¤+¤+'(<1) G3#'¡aE¢ '(m¡a3+ +(¤+'¥>'3 +E¢ª(¤+'!¡ ¿>+ª¤+'G'+3 G'('¤+'<''°!<¤+'¥>'¡a+¤v¢N¡¡P¢ ')'°!<3¡aG'¤+¤ '!9±§'¯¢((m¡a3'm¡; !+¡ (L¡?K3<¡¤+¼(2+G39 <''P¿G¡?K'(¤+8¢m¿3+¡?'<G 2¤+GD)'!G!¡;#¡E¢(E¢ '¡9± ; INTERRUPCIONES: ORG 0000h LJMP Init ORG 0003h LJMP INT_0 ORG 000Bh LJMP INT_T0 ORG 001Bh LJMP INT_T1 REDIRECCIONAMIENTO DE LAS ; Reset. ; Interrupción externa 0. ; Interrupción del Timer 0. ; Interrupción del Timer 1. ORG 0100h Init: LCALL Init_All Loop_Bkgnd: LCALL Display LCALL Teclado AJMP Loop_Bkgnd INT_O: LCALL Context_Switch LCALL Multiplex LCALL SETB LCALL LCALL Set_Timer_0 PA.1 Calculo_PWM Out_Data MOV IP,#00000010B LCALL Context_Switch RETI INT_TO: ; ; ; ; ; LOOP DE BACKGROUND: Aquí ejecuto el background. Refresco display tomando el dato de las variables globales. Teclado no manejado por interrupciones. ; ; ; ; ; ; ; ; ; ; ; ; ; FIN DE CONVERSION: Interrupción 0: rutina de atención. Salvo los registros que voy a utilizar. Preparo el multiplexor para la próxima conversión. Reprogramo y arranco el timer. Cambio a Vx. Calculo la acción de control. Almaceno los cálculos en variables globales. Doy prioridad al timer 0 hasta que se produzca la interrupcion INT_T0. Recupero los registros que guardé. ; CAMBIO DE PENDIENTE: ; Interrupción Timer atención. CLR PA.1 MOV IP,#00001000B 0: rutina de ; Cambio a Vref. ; Doy prioridad al timer 1 hasta que ; se produzca la interrupcion INT_0. RETI INT_T1: LCALL Context_Switch CLR TR1 LCALL On_Off LCALL Context_Switch RETI ; ; ; ; ; ; ; MANEJO DEL PWM: Salvo los registros que voy a utilizar. Paro el timer. Comando la salida del PWM en On u Off según corresponda. Recupero los registros que utilice. H#¥! <¡´$¢'m¡ <¡ !+m¡2¤m¦(¼¦(+`¡'¢(£ !(+<1+3 4¤+ <¡2( ¦()!¡28¬++3 <¡23#ª(')3<F±a7!µ'G (¼¦(+G ª''!«<¡ ª! ² H ;»,±Z ² H »«¡b3¸N '3 4E¢ª()>ª(Q²H ¾+®1<(8ª¢()!( ² + ¤+9¸¢(3 4`¤+ ² H ;»,±7aK¤ +µ$ *¡ R # 8 ¤ <¡3 £¬E++3 Q+c¤<3Q¤+m¡?®¿`+b² H ;»``¡>+!)'°!Q¤+3 +µ ¡ # 8 ¤ G+G9,¡8¢3 4 ®$ª3¢<¡;(#<¡;(+¤+!¡!)(±!I¡E #!¤++'++³ 4'+ª#3K!¡Eª¢(<¡E 3K3 )¤ '3 +E¢ª(¤+'¥± " D" ~ Æ Ä9 EÅ9Ã99~ W39,Æ ~ Ä 7W 39799Ã9W~ ~ ~ 979,99Æ 9a9WÆ 9 85 §´¢(½ª¢(+2¦(+N¡+!£ ¯!3¤+(¤+'G'+3 4!¤++¤+D+F¬¢(¤)(!G'+3 L3+7¡¡E +GD´¢(<¡a(+¤+<¡?<'®¿ !)¯$¢(¡Z¤3'¤+'!¡Z´$¢2N(G¤9¢ª''N¡ª!)¯3<f¢G!¤9¢!*¬¢(¤+'(<1) (± PQ' ( Ë ¤+¡D¤+!ª+ ¼¦((± ¡D¢!¡E )G¡?+¤9¢¤)3#N¦(+3 ¡;¿'DG<(8ª¢('<¤+'¥>++¯34¡\ L32ª''!<¡Pª!#+ Int. Timer 0 Int. Ext. 0 Int. Timer 0 Int. Ext. 0 Int. Timer 1 Prioridad es Prioridad para Int. Timer 0 Prioridad para Int. Timer 1 Prioridad para Int. Timer 0 CPU Atencion de la Int. Externa 0 Atencion de la Int. Timer 1 Atencion de la Int. }~ !9,9 + P 99~ 79,9Æ 9799W9WÇ3È É ª'G+D£¢(¯!#<¡D(+¤+!¡!)^´¢('¡#'3 +E¢ª(¤+'(<¡¡>G<(8ª¢('+b¤+b¤v¢'!>¿`+`¬G>¤+!ª(++ ¼¦(® ª¢(<¡Q¡®ª(¸¹+ª()®2² H Z» '3 4E¢ª();'¸N+¤v¢¤+'¥G3K ² H ( +<''°!b+#¤<#(' ^ª''!!¡><3+¤9¢!!G+3 <®2² Z!#(7+><¡;'3¡Eª³¡?W('¢G!8 #¯!D¡'(¤+('°<!¤+'¥G+3 K² H +G¤W¸?¢3 (± H R¾ »®3'#¤9¢(<¡?K¹¦()3+(¤+'< ¢(G3£¬E)¤<¤+'¥G3+(ª(+½'#3+ Z»2²H <¡\ ¡G! ¼¦(¡N®f<¡2ª(¡¼('G+(¤+3 <¤+¡¡*+`'¡´¢(¢(>'ª'+G !¤+'¥ ('G) »Dª!2ª3+ZG!(8ª¢'!Z² 3L!¡E D 48ª( ª ± ¡?+G'ª¡?¼()!® !1´¢D(¡D¤9¢ª('+Q'm¡¤+('¤+'(<¡Aª!L'¤+!ª(+<¤)¥±3PQ<¡?#¤+¡1<¡I(+¤<¡!'L!¯¯!Z¢((#3¢N¦( ¡N®3´¢(R¡?K¤<¯32G<(8ª¢('<;)¡fª''!<¡;+¬¢(¤+'¥G3K'¡;+´¢(¡8 ¡ <#¤+>¤+3 J¡?+(K'¡Z3+ '+ªD<¡E 9('+¤+'¡v± A¡\ 2 4!+#¡?K!¯+¯3¥#+1)'ª('+G+3 <¤)¥1´¢¡2!¡¤+¼(2¤+3 4'3¢!¤+'¥± ii. Implementación del kernel 7# P¡!¬ <^ª(<`+¸¹+ª() ¸¹+¤9¢ ¼¦( H 3` '+ª ! +'9± #¥! <¡?Q´¢( <E± <3 +'G^+ª(')¤<¤+'¥ 3`¢ '')°!¥ ¡Q+''G'(< 'c14¡?G ¡? 9ª()!3 +¥b¤+ m¡?)¯3(<¤+'¥« '¡G!¸N¡3+K¯¡E '3 4E¢ª¤)(<¡¹®!¿G¡2<¯3+¯¥D)2 !+#+(+E± ² §3 <¡a¸N+¤9¢3 <;¢(* 4!+DN(I(E¸N!N¡+(¼¦(+3Iª(')3<3 ¡9± 'm¡+ !Q+''®;N(>¤+!#('<N¡?+¼¦(+1ª''! ¤+!#('¡+`'¡2ª''!!¡( ',¡E E¢¤+¤)¥P Z ²7¤+¢ a§ ¡Q¦(!)'3<3¡ ++9¸¹9 b 4!+¡Q +3 ¢ '')°!!G<¡E ' +E¢3ª¤+'(<¡ ´¢ ª+´$¢( +«+Dª¢3 3'¡#E¢3 )(¡D>+ +(¤+'¥b3'¡ <¡\ m®$ª!´¢(Iª3¢+3#¡+;' +E¢(ª'32ª ¡\¢b¸N+¤v¢¤+'¥±Z ¡ 3'Q'3 +E¢ª(¤+'¥b¢(<3 (m¡\ +;¬'`¢('3 +E¢ª(¤+'¥,®ª'Q¤9¢(<I¡?G¸N¤9¢ ¢( P®$ª(<2¬°!!Z<¡\ 4!¤9 '¢!''°<!¤+'¥Gª''!!¡9± P7¡'¯$¢'+3 )¡\ 4!¢(<¡E D)'ª('+G+3 <¤)¥ª!+»¾®G'¤9¢!®ª(Z¤+'!'!®3<'¯$¢(m¡;3K'¡7 !+¡ ¬¢(+G<¡\¢G'¡;#¡'¢(()'!G!#¡E¢(E¢ '(m®3´¢(K(¡ª<¡?+3 43± 86 Ç E99W +9~ ! ORG 0000h INTERRUPCIONES LJMP Reset ; REDIRECCIONAMIENTO DE LAS ; Reset. ; Todas las interrupciones saltan al kernel, ; previo aviso de cuál llego con Ready.* ; (asignar Ready.1 a la interrupción de ; máxima prioridad y Ready.4 a la de mínima) ORG 0003h SETB Ready.3 LJMP Kernel ; Mínima prioridad para la ; interrupción externa 0. ORG 000Bh SETB Ready.1 LJMP Kernel ; Máxima prioridad para la ; interrupción del Timer 0. ORG 001Bh SETB Ready.2 LJMP Kernel ; Prioridad intermedia para la ; interrupción del Timer 1. ORG 0100h Kernel: ; NOTA: El orden de este polling es el orden ; de prioridades de las rutinas. poll1: JNB Ready.1,poll2 0, JB Run.1,pollerr salgo. CLR Ready.1 SETB Run.1 CLR IP.1 CALL pollex LCALL INT_T0 SETB IP.1 CALL pollex CLR Run.1 AJMP Kernel queden ; Miro si llego la interrupción del timer ; si no, miro la próxima. ; Si llego y esta todavía ; ; ; ; ; ; ; ; ; ; ; ejecutando, Atiendo la tarea asociada al timer 0. Aviso que esta corriendo. Mientras esta corriendo le bajo la prioridad. Para que se active el cambio de IP debo ejecutar un RETI. Mando a ejecutar. Repongo la prioridad alta. Ejecuto RETI. Aviso que termino de correr. Termino. No debo salir hasta que no ; interrupciones pendientes. poll2: JNB Ready.2,poll3 1, JB Run.2,pollerr salgo. JB Run.1,pollex CLR Ready.2 SETB Run.2 CLR IP.3 CALL pollex LCALL INT_T1 SETB IP.3 CALL pollex CLR Run.2 AJMP Kernel queden ; Miro si llego la interrupcion del timer ; si no miro la próxima. ; Si llego y esta todavía ; ; ; ; ; ; ; ; ; ; ; ; ejecutando, Si esta Run.2 vuelvo luego. Atiendo la tarea asociada al timer 1. Aviso que esta corriendo. Mientras esta corriendo le bajo la prioridad. Para que se active el cambio de IP debo ejecutar un RETI. Mando a ejecutar. Repongo la prioridad alta. Ejecuto RETI. Aviso que termino de correr. Termino. No debo salir hasta que no ; interrupciones pendientes. poll3: JNB Ready.3,pollex 0, si JB Run.3,pollerr salgo. JB Run.1,pollex así JB Run.2,pollex CLR Ready.3 interrupcion " D" ; Miro si llego la interrupcion externa ; no termino. ; Si llego y esta todavía ejecutando, ; Verifico si esta Run.2 o Run.3. De ser ; vuelvo luego. ; Atiendo la ~ Æ Ä9 EÅ9Ã99~ W39,Æ ~ Ä 7W 39799Ã9W~ ~ ~ 979,99Æ 9a9WÆ 9 tarea asociada a la 87 ; ; ; ; ; ; ; ; ; ; ; SETB Run.3 CLR IP.0 CALL pollex LCALL INT_0 SETB IP.0 CALL pollex CLR Run.3 AJMP Kernel queden externa 0. Aviso que esta corriendo. Mientras esta corriendo le bajo la prioridad. Para que se active el cambio de IP debo ejecutar un RETI. Mando a ejecutar. Repongo la prioridad alta. Ejecuto RETI. Aviso que termino de correr. Termino. No debo salir hasta que no ; interrupciones pendientes. pollerr: LCALL Error ; Hacer algo que indique overflow pollex: RETI ; ; ; ; Regreso de la interrupcion. También uso esta instrucción como habilitador del cambio de prioridades, llamándola con CALL. PROGRAMA: Reset: LCALL Init_All Loop_Bkgnd: ; LOOP DE BACKGROUND: ; Aquí ejecuto el background, si existe. AJMP Loop_Bkgnd INT_O: LCALL Context_Switch LCALL Multiplex LCALL SETB LCALL LCALL Set_Timer_0 PA.1 Calculo_PWM Out_Data LCALL Context_Switch RETI INT_TO: ; ; ; ; ; ; ; ; ; ; ; FIN DE CONVERSION: Interrupción 0: rutina de atención. Salvo los registros que voy a utilizar. Preparo el multiplexor para la próxima conversión. Reprogramo y arranco el timer. Cambio a Vx. Calculo la acción de control. Almaceno los cálculos en variables globales. Recupero los registros que guardé. ; CAMBIO DE PENDIENTE: ; Interrupción Timer atención. CLR PA.1 RETI 0: rutina de ; Cambio a Vref. INT_T1: LCALL Context_Switch CLR TR1 LCALL On_Off según LCALL Context_Switch RETI ; ; ; ; ; MANEJO DEL PWM: Salvo los registros que voy a utilizar. Paro el timer. Comando la salida del PWM en On u Off ; corresponda. ; Recupero los registros que utilice. 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unsigned short msg; void int_contador(void) { data = inw_p(CONTADOR); rtf_put(1,&data,2); } int hand_contador(unsigned int fifo) { rtf_get(3, &msg, 2); outw_p(msg, CONTADOR); return 0; } int init_module(void) { rtf_create(1, 4000); rtf_create(2, 4000); rtf_create_handler(3, &hand_contador); request_RTirq(IRQ_CONTADOR, int_contador); return 0; } void cleanup_module(void) { rtf_destroy(1); rtf_destroy(2); free_RTirq(IRQ_CONTADOR); } R ,4 $hN?($@;^$&%')>>R*&%'B&,C/>@ROBeS&Zk > I *",* "%$]$M$I!N?-* ;*->I9$&%'$@Z$-<-B;='>@"%*",$gC?&/>l>N/-eBR>RBS& fR- fLK N/>@(> AB&%C?DbC/$9N/$(I9BP'$9C%')B-Bj@>(m-*,;\j35j32m;1N?>(>VB&,'$(RO>@ImK/B>(m"%>'*,;+R*& ->gN?->R>%8mS'$@;^$ ->gC%')B-Bj@>RBS& "%$9-*,; j35 j32m;R*I9*!;B3;^$F'(>O')>(>J",$<>(R H/B _/*,;*("%Be&/>(B*,;QZ%-*mRLC/>@-/G=>@RB-BP'>J&?*'>LK/-$I9$&%'$->JBI!N/-e$OI9$&%'>@RBS&8 #!/usr/bin/wish set i 0 set cuentas 0 set fd1 [open "/dev/rtf1" r] set fd2 [open "/dev/rtf2" r] proc Contador {} { global cuentas fd1 i binary scan [read $fd1 2] s data set cuentas [expr $data + $cuentas_] if { $i == 40 } { puts "$cuentas c/seg" set i 0 set cuentas 0 } incr i } fileevent $fd1 readable Contador 0 L 0 L Le 91 # Inicializacion del Contador puts -nonewline $fd2 [ binary format s [ expr 65525 - 41660 ] ] flush $fd2 03->@RO><C Id Tarea de tiempo real FIFO 1 Memoria de usuario Memoria de kernel # GUI (no presentada) Aplicación POSIX.1 en TCL/TK (GUI) /dev/fifo1 /dev/fifo2 FIFO 2 !#"$%'&#( )#*#+',-/.0#1'23#4 5'687#19 $84 "$#:#- ;<1'"1':#5' $87#17#$#4 6#-=1':04 "1#:#$8$>=9 5'$#5' ?#: @BADC% EGFH9 $>=9 $#5'$JI0#4 9 K'$#:07#6LMON= :#'P $@;=C/I9B$&/",*,Z$O& $@;b'$VR>N/dP'eC/-*Y;^$gN?($@;^$&%'S]C/& &%C/$Q_/*$-$I9$&%'*",$9H/>@("Wa >($9C/$gN,C/$",$gB&?RO*(=N?*(>(Q;$g>V-e> $@;b')(=C/RL'C?(>VM$(#@( C?BR>#"%$ >" C?B;BRBS&U"%$ "%>'*,;gk[R*&%'(*-H8!4,$i'(>'> ",$C/&[>@"%>N%')>",*(gN/>@(>i0<7FZ N?>(> ;^$( I9*&%'>@"%*$& $O- K%C;6dJf ZRO*I!N,C/$@;='*lN?*(!",B;bN?*,;BP'B`_/*,;9;='>&/",>("]k",$V;BI!N/-e$gBI!N?-$I $&%')>RBS&887*&%')B$&/$ C?& I9BR(*R*&%'(*->@"%*(9",$ ]K/BP'H;OC?$lI9>&,'B$&/$VC/&/> RO*I!C?&/BR>RBS& K/Be"%B($RRB*&/>@-JRO*& ->V0L7FZ k% C?$gN/$(I9BP'$V-e> $M$RLC?ROBeS&>OC,'S&/*I9>g",$!C/& %(=C,N/*V",$!'>($>X;Z "%$&%')(*V"%$!C?&l$@; 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Ht`bT| `Tup]¦` M t 73%RTte| 4 B^^ p`TtM uBs 7T^M p` 5tRTt` d|¦s-t`3dM¡suB^ ¥3 B^`TteMR B^3%B^_3uJYM{%` M p`Tt^_^tr%+ JS`Tu ` B B BRTt` d| 3%T^s-uB ^ e uBs ` B 3%û n^ tr 4Lt` puB{L duBMR#| ` B 3%û n^ 3¡â u B¥|dTs%`Tt Ba ] puB J%Y 7` B uJùBs BR#R deM% B^ °YT^ dtt d] ^T3 dtûB^ auB^_^`Tt u @{ t pu¥ B p`L dR#B%S^_ Bt^T| 5 B3%3¡RTt2 5R#R &4 uB^ n^TT|«`Tu¦t 4 ^tèt 4tR#R auB3 d^t d` uBR#|de^n]úB^ ud` BT^ 3 Bâ` 4 du HuB|pts d& | uB^ ^T|ptr`#^t 5`b ` ML3%û n^ J@3%e# ^ Ht`T`bT| 5 u Ba] 5HRTt 5R#`Tu puBvsuB^| nM] t eR#M|pt n de^ BR_] Y3%t BR_]t t|d p` BR uB^ u @Y BB pèt BR | nB B^tF,t üB`«uBs` M¦ uB^©t 5tRTt` èuªJY ` M¦3%û n^ Pt eR#B|pt 5_d` pud` $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 123 RTt t`#e| `Tu RTuJ% uBs | d` uB^ | d` 5_t ^d|dTê| t peB^ d`# uB^ RTuJ%YB YJ` dt dT| 5 puB uB^©` t^|®3 B^`TtMLuB^ ´s dtR#BûBsv` B3%û n^ `TuªuB3%T^ d`b 4Lt` u ` Me^ 3%û n^ \][ B ts®Yp d duBR#|dT^§uB^§ud` BT^°3 B^` J 5e B| dtrYT|uBs ` M73-uJ%,t5tRTt` µuBs7Y¢ | nB%{ How to Apply These Terms to Your New Programs tA-ECG,6Fc6<OEZ4[KV6vZV5EY,549oS]49KGp,EC@d49K,:#N:-:EM;6BEA:}W6B564?:698:¡ZVE8F8QN¤;<=6nC~8Q6:E¢:}W6nZCY;<=NO>9]:W6_;68:%d4 :Ep4>WNO6Fc6:WN8eN}8b:Epoq4 6MN:%A56?68QEA:O456dWNO>W@6Fc65,EYK6M>?49K@56?GN8:5N¤;,C:6B49KGJ>W49K,6CKVG,65#:W698Q6:65o8{ `TEJG,Eg8QE]4?:=:4>Wq:}W6BAEY<O<OEdN=K@KE:NO>698e:E[:W6BZV5EY54oI{t:#N}8n84?A698::EJ4:O:49>?W@:W6o¦:E[:}W6p82:}45:#EAT649>?W8EC5>6 ANO<O6B:EoqE8:#6AA6>:}N¤c6<¤q>EYKYc6FJ:W6d6U>?<'C%8NOEYKSEA#45549K,:' V4KG6?49>WgANO<=6d8WEC<=GJW4c6M4?:-<O64Y8:%:W6 >EZY5NO,W: <ONOKV6B4KVGJ4BZEYN=K,:65b:}E¢W656n:W6AC<O<%KE:}NO>6BN8bAECVKG%{ one line to give the program's name and an idea of what it does. Copyright (C) 19yy name of author This program is modify it under as published by of the License, free software; you can redistribute it and/or the terms of the GNU General Public License the Free Software Foundation; either version 2 or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. d<8E[49G,GNOK,AEY5o@4?:NOEYK@EYK@WE:Ep>EYK,:49>:VECp;YJ6<O6>:}5EYKNO>B49KG[ZV4?ZV65eo@4N=<{ tA-:W6Z5EY54oN8eNOK,:}6?549>:N¤c69],o@40V6BN:-EC:OZC,:-4p8WEY5:-KE:NO>6B<=N26:WN8#dW6K@N: 82:}45:8eN=Kq49K@NOK,:654>:N c6Bo@EYG,6 Gnomovision version 69, Copyright (C) 19yy name of author Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details. `TW6LWYYZE:}W6:NO>4<@>EYo@oq49KGV8 49KG 8QWVEC<OG¬8QWE§:}W6L4Z,ZV5EZ5N=4?:6HZ495:8EA@:W6 `show w' `show c' B6K654<3%CY;<=NO>qRTNO>6K%86Y{#uBAd>ECV5F8Q69]b:WV6S>EYo@oq49KGV8B,EC7C~86So@4I;6>?49<O<O6GH8EYo@6:}WNOKXE:W65B:W49K `show 4KG Y:WV6rJ>ECV<OGJ6Fc6Kp;6Bo@EC%869><ONO> ~8eEY5Toq6K,CgN:6o8r}dWV4?:6Fc658CVN:8EC5#Z5EY54oI{ w' `show c' pECµ8WEC<=G4<8EL6:dEC56?oJZV<OE,65 PNApECdEY5 v4+8S4ZV5EY54o@o@6?5\@EY5,ECV5I8>?WVEYEY<]BNA@49KY]n:E8NOK4 >EZ+,5NOW,:-G,N}8Q><O49NOo@6?5 AEY5#:W6nZV5EY54o],NA K6>?698F8Q495¡{ 656BN8e4p84oJZV<O6 4<:65#:W6MK4o@698 Yoyodyne, Inc., hereby disclaims all copyright interest in the program `Gnomovision' (which makes passes at compilers) written by James Hacker. signature of Ty Coon, 1 April 1989 Ty Coon, President of Vice `TWN8 B6K654<n3%C+;<ONO>SRTNO>6K%86IG,EY698JKE:MZ65o@N:dN=K>EY5ZEY54:NOKX,ECV5dZ5EY54o NOK,:EIZ5EZV5NO6:495Z5EY54o8{#tA ,ECV5SZV5EY,549o N}8 4 82C+;5EC,:}NOK6H<ON¤;5495],ECµoq4>EYK%8NOG6?5IN':@o@EY56C~86ACV<[:ELZV65oqN':J<ON=KN=KLZ5EZV5NO6:495 4?ZZV<ONO>4?:N=EYK%8aN:WS:W6p<ON¤;5495¡{VtAT:WN8N8aW4?:-ECSd49K,:#:E@GE]~C~8Q6d:W6 dRTN¤;5495 B6K654<%3%CY;<ON=>BRTNO>6?K~8Q6 NOK%8:64GEA:WN}8bRTNO>6K%8Q6Y{ 124 El Manifiesto GNU >EYK,:N=K,C49>NOYK«86LZ56986K,:4v6?< LhiV² xYl³w V][698>?5N':E ZVEY5I^NO>W45G:}4<O<Oo@49K%][6K<OE8>EYo@NO6KE8G6< ZV5E,6>:E dp]Z4954I8EY<ONO>N:495d4?ZVE,E ZV45:}NO>NZ49>NOYK6KX6<bZV5E,6>:E{a82:6G,EY>CVoq6K,:}Eq:549K%8Qo@N:}6J<O4JANO<OE8EA=4 YC6JAC6@6<#Z,CVK,:EG,6[ZV45:}NOG,4JZV454@6<eG698Q4955EY<O<OEG,6Jo@NO<=68BG6JW65549oqN=6?K:4Y8BG6@8EA:=d456G,6JoJC+I4<:4@>4<=NOG,49G] 8NOK@<O4Y8e>CV4<O698e6<%£U,N':E[G6nRTN=K,CUKE[WCY;NO654p8NOGE¢:49K@,549KG,6Y{ What's GNU? Gnu's Not Unix! GNU, which stands for Gnu's Not Unix, is the name for the complete Unix-compatible software system which I am writing so that I can give it away free to everyone who can use it. Several other volunteers are helping me. Contributions of time, money, programs and equipment are greatly needed. So far we have an Emacs text editor with Lisp for writing editor commands, a source level debugger, a yacc-compatible parser generator, a linker, and around 35 utilities. A shell (command interpreter) is nearly completed. A new portable optimizing C compiler has compiled itself and may be released this year. An initial kernel exists but many more features are needed to emulate Unix. When the kernel and compiler are finished, it will be possible to distribute a GNU system suitable for program development. We will use TeX as our text formatter, but an nroff is being worked on. We will use the free, portable X window system as well. After this we will add a portable Common Lisp, an Empire game, a spreadsheet, and hundreds of other things, plus on-line documentation. We hope to supply, eventually, everything useful that normally comes with a Unix system, and more. GNU will be able to run Unix programs, but will not be identical to Unix. We will make all improvements that are convenient, based on our experience with other operating systems. In particular, we plan to have longer file names, file version numbers, a crashproof file system, file name completion perhaps, terminalindependent display support, and perhaps eventually a Lisp-based window system through which several Lisp programs and ordinary Unix programs can share a screen. Both C and Lisp will be available as system programming languages. We will try to support UUCP, MIT Chaosnet, and Internet protocols for communication. GNU is aimed initially at machines in the 68000/16000 class with virtual memory, because they are the easiest machines to make it run on. The extra effort to make it run on smaller machines will be left to someone who wants to use it on them. To avoid horrible confusion, please pronounce the `G' in the word `GNU' when it is the name of this project. Why I Must Write GNU I consider that the golden rule requires that if I like a program I must share it with other people who like it. Software sellers want to divide the users and conquer them, making each user agree not to share with others. I refuse to break solidarity with other users in this way. I cannot in good conscience sign a nondisclosure agreement or a software license agreement. For years I worked within the Artificial Intelligence Lab to resist such tendencies and other inhospitalities, but eventually they had gone too far: I could not remain in an institution where such things are done for me against my will. So that I can continue to use computers without dishonor, I have decided to put together a sufficient body of free software so that I will be able to get along without any software that is not free. I have resigned from the AI lab to deny MIT any legal excuse to prevent me from giving GNU away. Why GNU Will Be Compatible with Unix Unix is not my ideal system, but it is not too bad. The essential features of Unix seem to be good ones, and I think I can fill in what Unix lacks without spoiling them. And a system compatible with Unix would be convenient for many other people to adopt. How GNU Will Be Available GNU is not in the public domain. Everyone will be permitted to modify and redistribute GNU, but no distributor will be allowed to restrict its further redistribution. That is to say, proprietary modifications will not be allowed. I want to make sure that all versions of GNU remain free. $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 125 Why Many Other Programmers Want to Help I have found many other programmers who are excited about GNU and want to help. Many programmers are unhappy about the commercialization of system software. It may enable them to make more money, but it requires them to feel in conflict with other programmers in general rather than feel as comrades. The fundamental act of friendship among programmers is the sharing of programs; marketing arrangements now typically used essentially forbid programmers to treat others as friends. The purchaser of software must choose between friendship and obeying the law. Naturally, many decide that friendship is more important. But those who believe in law often do not feel at ease with either choice. They become cynical and think that programming is just a way of making money. By working on and using GNU rather than proprietary programs, we can be hospitable to everyone and obey the law. In addition, GNU serves as an example to inspire and a banner to rally others to join us in sharing. This can give us a feeling of harmony which is impossible if we use software that is not free. For about half the programmers I talk to, this is an important happiness that money cannot replace. How You Can Contribute I am asking computer manufacturers for donations of machines and money. I'm asking individuals for donations of programs and work. One consequence you can expect if you donate machines is that GNU will run on them at an early date. The machines should be complete, ready to use systems, approved for use in a residential area, and not in need of sophisticated cooling or power. I have found very many programmers eager to contribute part-time work for GNU. For most projects, such part-time distributed work would be very hard to coordinate; the independently-written parts would not work together. But for the particular task of replacing Unix, this problem is absent. A complete Unix system contains hundreds of utility programs, each of which is documented separately. Most interface specifications are fixed by Unix compatibility. If each contributor can write a compatible replacement for a single Unix utility, and make it work properly in place of the original on a Unix system, then these utilities will work right when put together. Even allowing for Murphy to create a few unexpected problems, assembling these components will be a feasible task. (The kernel will require closer communication and will be worked on by a small, tight group.) If I get donations of money, I may be able to hire a few people full or part time. The salary won't be high by programmers' standards, but I'm looking for people for whom building community spirit is as important as making money. I view this as a way of enabling dedicated people to devote their full energies to working on GNU by sparing them the need to make a living in another way. Why All Computer Users Will Benefit Once GNU is written, everyone will be able to obtain good system software free, just like air. This means much more than just saving everyone the price of a Unix license. It means that much wasteful duplication of system programming effort will be avoided. This effort can go instead into advancing the state of the art. Complete system sources will be available to everyone. As a result, a user who needs changes in the system will always be free to make them himself, or hire any available programmer or company to make them for him. Users will no longer be at the mercy of one programmer or company which owns the sources and is in sole position to make changes. Schools will be able to provide a much more educational environment by encouraging all students to study and improve the system code. Harvard's computer lab used to have the policy that no program could be installed on the system if its sources were not on public display, and upheld it by actually refusing to install certain programs. I was very much inspired by this. Finally, the overhead of considering who owns the system software and what one is or is not entitled to do with it will be lifted. Arrangements to make people pay for using a program, including licensing of copies, always incur a tremendous cost to society through the cumbersome mechanisms necessary to figure out how much (that is, which programs) a person must pay for. And only a police state can force everyone to obey them. Consider a space station where air must be manufactured at great cost: charging each breather per liter of air may be fair, but wearing the metered gas mask all day and all night is intolerable even if everyone can afford to pay the air bill. And the TV cameras everywhere to see if you ever take the mask off are outrageous. It's better to support the air plant with a head tax and chuck the masks. Copying all or parts of a program is as natural to a programmer as breathing, and as productive. It ought to be as free. 126 Some Easily Rebutted Objections to GNU's Goals "Nobody will use it if it is free, because that means they can't rely on any support." "You have to charge for the program to pay for providing the support." If people would rather pay for GNU plus service than get GNU free without service, a company to provide just service to people who have obtained GNU free ought to be profitable. We must distinguish between support in the form of real programming work and mere handholding. The former is something one cannot rely on from a software vendor. If your problem is not shared by enough people, the vendor will tell you to get lost. If your business needs to be able to rely on support, the only way is to have all the necessary sources and tools. Then you can hire any available person to fix your problem; you are not at the mercy of any individual. With Unix, the price of sources puts this out of consideration for most businesses. With GNU this will be easy. It is still possible for there to be no available competent person, but this problem cannot be blamed on distribution arrangements. GNU does not eliminate all the world's problems, only some of them. Meanwhile, the users who know nothing about computers need handholding: doing things for them which they could easily do themselves but don't know how. Such services could be provided by companies that sell just hand-holding and repair service. If it is true that users would rather spend money and get a product with service, they will also be willing to buy the service having got the product free. The service companies will compete in quality and price; users will not be tied to any particular one. Meanwhile, those of us who don't need the service should be able to use the program without paying for the service. "You cannot reach many people without advertising, and you must charge for the program to support that." "It's no use advertising a program people can get free." There are various forms of free or very cheap publicity that can be used to inform numbers of computer users about something like GNU. But it may be true that one can reach more microcomputer users with advertising. If this is really so, a business which advertises the service of copying and mailing GNU for a fee ought to be successful enough to pay for its advertising and more. This way, only the users who benefit from the advertising pay for it. On the other hand, if many people get GNU from their friends, and such companies don't succeed, this will show that advertising was not really necessary to spread GNU. Why is it that free market advocates don't want to let the free market decide this? "My company needs a proprietary operating system to get a competitive edge." GNU will remove operating system software from the realm of competition. You will not be able to get an edge in this area, but neither will your competitors be able to get an edge over you. You and they will compete in other areas, while benefiting mutually in this one. If your business is selling an operating system, you will not like GNU, but that's tough on you. If your business is something else, GNU can save you from being pushed into the expensive business of selling operating systems. I would like to see GNU development supported by gifts from many manufacturers and users, reducing the cost to each. "Don't programmers deserve a reward for their creativity?" If anything deserves a reward, it is social contribution. Creativity can be a social contribution, but only in so far as society is free to use the results. If programmers deserve to be rewarded for creating innovative programs, by the same token they deserve to be punished if they restrict the use of these programs. "Shouldn't a programmer be able to ask for a reward for his creativity?" There is nothing wrong with wanting pay for work, or seeking to maximize one's income, as long as one does not use means that are destructive. But the means customary in the field of software today are based on destruction. Extracting money from users of a program by restricting their use of it is destructive because the restrictions reduce the amount and the ways that the program can be used. This reduces the amount of wealth that humanity derives from the program. When there is a deliberate choice to restrict, the harmful consequences are deliberate destruction. The reason a good citizen does not use such destructive means to become wealthier is that, if everyone did so, we would all become poorer from the mutual destructiveness. This is Kantian ethics; or, the Golden Rule. Since I do not like $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 127 the consequences that result if everyone hoards information, I am required to consider it wrong for one to do so. Specifically, the desire to be rewarded for one's creativity does not justify depriving the world in general of all or part of that creativity. "Won't programmers starve?" I could answer that nobody is forced to be a programmer. Most of us cannot manage to get any money for standing on the street and making faces. But we are not, as a result, condemned to spend our lives standing on the street making faces, and starving. We do something else. But that is the wrong answer because it accepts the questioner's implicit assumption: that without ownership of software, programmers cannot possibly be paid a cent. Supposedly it is all or nothing. The real reason programmers will not starve is that it will still be possible for them to get paid for programming; just not paid as much as now. Restricting copying is not the only basis for business in software. It is the most common basis because it brings in the most money. If it were prohibited, or rejected by the customer, software business would move to other bases of organization which are now used less often. There are always numerous ways to organize any kind of business. Probably programming will not be as lucrative on the new basis as it is now. But that is not an argument against the change. It is not considered an injustice that sales clerks make the salaries that they now do. If programmers made the same, that would not be an injustice either. (In practice they would still make considerably more than that.) "Don't people have a right to control how their creativity is used?" "Control over the use of one's ideas" really constitutes control over people's lives; and it is usually used to make their lives more difficult. other People who have studied the issue of intellectual property rights carefully (such as lawyers) say that there is no intrinsic right to intellectual property. The kinds of supposed intellectual property rights that the government recognizes were created by specific acts of legislation for specific purposes. For example, the patent system was established to encourage inventors to disclose the details of their inventions. Its purpose was to help society rather than to help inventors. At the time, the life span of 17 years for a patent was short compared with the rate of advance of the state of the art. Since patents are an issue only among manufacturers, for whom the cost and effort of a license agreement are small compared with setting up production, the patents often do not do much harm. They do not obstruct most individuals who use patented products. The idea of copyright did not exist in ancient times, when authors frequently copied other authors at length in works of non-fiction. This practice was useful, and is the only way many authors' works have survived even in part. The copyright system was created expressly for the purpose of encouraging authorship. In the domain for which it was invented--books, which could be copied economically only on a printing press--it did little harm, and did not obstruct most of the individuals who read the books. All intellectual property rights are just licenses granted by society because it was thought, rightly or wrongly, that society as a whole would benefit by granting them. But in any particular situation, we have to ask: are we really better off granting such license? What kind of act are we licensing a person to do? The case of programs today is very different from that of books a hundred years ago. The fact that the easiest way to copy a program is from one neighbor to another, the fact that a program has both source code and object code which are distinct, and the fact that a program is used rather than read and enjoyed, combine to create a situation in which a person who enforces a copyright is harming society as a whole both materially and spiritually; in which a person should not do so regardless of whether the law enables him to. "Competition makes things get done better." The paradigm of competition is a race: by rewarding the winner, we encourage everyone to run faster. When capitalism really works this way, it does a good job; but its defenders are wrong in assuming it always works this way. If the runners forget why the reward is offered and become intent on winning, no matter how, they may find other strategies--such as, attacking other runners. If the runners get into a fist fight, they will all finish late. Proprietary and secret software is the moral equivalent of runners in a fist fight. Sad to say, the only referee we've got does not seem to object to fights; he just regulates them ("For every ten yards you run, you can fire one shot"). He really ought to break them up, and penalize runners for even trying to fight. "Won't everyone stop programming without a monetary incentive?" 128 Actually, many Programming has who are best at even though they people will program with absolutely no monetary incentive. an irresistible fascination for some people, usually the people it. There is no shortage of professional musicians who keep at it have no hope of making a living that way. But really this question, though commonly asked, is not appropriate to the situation. Pay for programmers will not disappear, only become less. So the right question is, will anyone program with a reduced monetary incentive? My experience shows that they will. For more than ten years, many of the world's best programmers worked at the Artificial Intelligence Lab for far less money than they could have had anywhere else. They got many kinds of non-monetary rewards: fame and appreciation, for example. And creativity is also fun, a reward in itself. Then most of them left when offered a chance to do the same interesting work for a lot of money. What the facts show is that people will program for reasons other than riches; but if given a chance to make a lot of money as well, they will come to expect and demand it. Low-paying organizations do poorly in competition with high-paying ones, but they do not have to do badly if the high-paying ones are banned. "We need the programmers desperately. If they demand that we stop helping our neighbors, we have to obey." You're never so desperate that you have to obey this sort of demand. Remember: millions for defense, but not a cent for tribute! "Programmers need to make a living somehow." In the short run, this is true. However, there are plenty of ways that programmers could make a living without selling the right to use a program. This way is customary now because it brings programmers and businessmen the most money, not because it is the only way to make a living. It is easy to find other ways if you want to find them. Here are a number of examples. A manufacturer introducing a new computer will pay for the porting of operating systems onto the new hardware. The sale of teaching, hand-holding and maintenance services could also employ programmers. People with new ideas could distribute programs as freeware, asking for donations from satisfied users, or selling hand-holding services. I have met people who are already working this way successfully. Users with related needs can form users' groups, and pay dues. A group would contract with programming companies to write programs that the group's members would like to use. All sorts of development can be funded with a Software Tax: Suppose everyone who buys a computer has to pay x percent of the price as a software tax. The government gives this to an agency like the NSF to spend on software development. But if the computer buyer makes a donation to software development himself, he can take a credit against the tax. He can donate to the project of his own choosing--often, chosen because he hopes to use the results when it is done. He can take a credit for any amount of donation up to the total tax he had to pay. The total tax rate could be decided by a vote of the payers of the tax, weighted according to the amount they will be taxed on. The consequences: The computer-using community supports software development. This community decides what level of support is needed. Users who care which projects their share is spent on can choose this for themselves. In the long run, making programs free is a step toward the post-scarcity world, where nobody will have to work very hard just to make a living. People will be free to devote themselves to activities that are fun, such as programming, after spending the necessary ten hours a week on required tasks such as legislation, family counseling, robot repair and asteroid prospecting. There will be no need to be able to make a living from programming. We have already greatly reduced the amount of work that the whole society must do for its actual productivity, but only a little of this has translated itself into leisure for workers because much nonproductive activity is required to accompany $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 129 productive activity. The main causes of this are bureaucracy and isometric struggles against competition. Free software will greatly reduce these drains in the area of software production. 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puB^G 6 jl?± jh %{ ©>?EYK:NOK,CV4>NOYK86SoJC698:54I6<45>WN¤cEXG,6>EYK,ANOCV54>NOYKHK6>698Q495NOEP LhYlx+²OkOl\BZV454I>EYoJZVNO<O45p6@NOK%8:4<=45d6< G5N¤c65C:NO<=NO49KG,E<O4µW6554o@NO6K,:4 $ph+lY]DCK,:}E>EYK¥CVK¦6Dr6oJZV<OEG6<O4 C:NO<=NO49>?N=YK¦G6?<G,5N c6?5G,698G,6LCVK ZV5EY,549oq4d6KB{ 140 RTE8BG5N¤c65F8B68ZV6?>ANO>E8nZV454@<O4+8nZ<O49>4Y8&iVwOhjYmM iVwm ,kOhj mPNOoJZ<O6o@6K,:49G,4+8nC,:N=<ONO49KGEI86?KVG,4+8aZV<O4>4Y8 ¶ B\eZC6G6KI6?KV>?EYK:545F86[6KI6<#GN8 V6:O:6pCV6d4>EYoJZV4 4p4[698:4d:698QN8F]DQCVK,:E>?EYK<OE8 Lh+lxY²=kOlB@6Dr6oJZV<OE8G,6 µ 4?ZV <ONO>49>?N=YK%],<ON8:E8bZV454p865bC:NO<=NO49G,E8{ //****************************************************** // udaq.c // Character Device Driver genérico para la placa µ UDAQ // // Crear el device en el filesystem con el comando: // mknod /dev/udaq c UDAQ_MAYOR UDAQ_MENOR // // Alejandro Veiga // Primera versión: Junio de 1997 // Update: Febrero de 1999 //****************************************************** // Kernel includes (ver man pages) #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include <linux/module.h> <linux/mm.h> <linux/errno.h> <linux/kernel.h> <linux/major.h> <linux/sched.h> <linux/malloc.h> <linux/ioport.h> <linux/fcntl.h> <linux/delay.h> <time.h> <asm/io.h> <asm/segment.h> <asm/system.h> <sys/ioctl.h> // Estos valores deben coincidir con el seteo de jumpers // en la placa. #define UDAQ_PORT 0x380 #define UDAQ_IRQ 7 // Estos valores deben coincidir con los de /dev/udaq #define UDAQ_MAYOR 33 #define UDAQ_MENOR 0 // 1: verbose, 0: siencioso #define UDAQ_DEBUG 1 // 1: ocupado, 0: libre #define UDAQ_BUSY 1 #define UDAQ_FREE 0 // GLOBALES // Wait queue utilizada por el read, para que la interrupción lo despierte. struct wait_queue *udaq_wait_q; // Declaración del formato de datos (16 bits) unsigned short data_out; int udaq_busy = UDAQ_FREE; int irq = UDAQ_IRQ; //==================================================== // // Rutina de atención de la interrupción proveniente // de la placa µDAQ. // //==================================================== static void udaq_irq(int irq) { #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_irq: interrupción recibida.\n"); #endif // Solamente despierto al read (si es que habia uno dormido) wake_up(&udaq_wait_q); #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_irq: read despertado.\n"); #endif } //==================================================== $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 141 //==================================================== // // Implementación de las llamadas // open, read, write y close // //==================================================== //==================================================== static int udaq_open(struct inode * inode, struct file * file) //==================================================== { unsigned int menor = MINOR(inode->i_rdev); int ret_code; // Verifico el valor de MENOR if (menor != UDAQ_MENOR) return -ENODEV; // Si no está ocupada, la ocupo. if (udaq_busy == UDAQ_BUSY) return -EBUSY; udaq_busy = UDAQ_BUSY; // Solicito la interrupción y verifico errores ret_code = request_irq(irq,(void *)udaq_irq, SA_INTERRUPT,"udaq",NULL); if (ret_code) { printk(KERN_WARNING "udaq: no pudo inicializarse la irq.\n"); return ret_code; } #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_open: dispositivo abierto e irq \ exitosamente instalada.\n"); #endif return 0; } //==================================================== static int udaq_read(struct inode * inode, struct file * file, char * buf, int count) //==================================================== { short data = 0xffff; // Solo acepta una palabra de datos a la vez. if(count!=1) return -EINVAL; #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_read: yendo a dormir.\n" ); #endif // Espero la interrupción de hardware interruptible_sleep_on(&udaq_wait_q); #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_read: despertado por irq.\n" ); #endif // Leo el dato que envía la placa hacia la memoria del kernel data = inb_p(UDAQ_PORT); #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_read: Dato leido: %d.\n", data); #endif // Envío el dato a la memoria de programa utilizando el // buffer de caracteres put_fs_word(data, buf); #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_read: Dato enviado al programa.\n"); #endif return 0; } 142 //==================================================== static int udaq_write(struct inode * inode, struct file * file, const char * buf, int count) //==================================================== { short data = 0; // Tomo la palabra a enviar desde la memoria de programa data = get_fs_word(buf); #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_write: recibido: %d.\n", data); #endif // Envío el dato al port outb_p(data, UDAQ_PORT); #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_write: palabra enviada.\n"); #endif return 0; } /*====================================================*/ static void udaq_close(struct inode * inode, struct file * file) /*====================================================*/ { free_irq(irq,NULL); udaq_busy = UDAQ_FREE; #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq_close: dispositivo e irq liberados.\n"); #endif } //==================================================== // Por último, la interfaz con el kernel: // file_operations, init_module y cleanup_module //==================================================== //==================================================== // Registro las operaciones en el kernel //==================================================== static struct file_operations udaq_fops = { NULL, // seek no implementado udaq_read, udaq_write, NULL, // readdir no implementado NULL, // select no implementado NULL, // control no implementado NULL, // mmap no implementado udaq_open, udaq_close }; //==================================================== int init_module(void) //==================================================== { #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq:\n"); printk(KERN_DEBUG "udaq:\n"); printk(KERN_DEBUG "udaq: init_module: comenzando inicialización.\n"); #endif // Registro el device driver utilizando el número MAYOR if (register_chrdev(UDAQ_MAYOR, "udaq", &udaq_fops)) { printk(KERN_ERR "register_chrdev failed: goodbye world :-(\n"); return -EIO; } #ifdef UDAQ_DEBUG else printk(KERN_DEBUG "udaq: driver registrado.\n"); #endif return 0; } $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 143 //==================================================== void cleanup_module(void) //==================================================== { #ifdef UDAQ_DEBUG printk(KERN_DEBUG "udaq: cleanup_module called\n"); #endif // Verifico que no esté ocupado if (udaq_busy) { printk(KERN_WARNING "udaq: dispositivo ocupado; el módulo no pudo retirarse\n"); return -EBUSY; } // Elimino del kernel if (unregister_chrdev(UDAQ_MAYOR, "udaq") != 0) { printk("udaq: cleanup_module failed\n"); return -EIO; } #ifdef UDAQ_DEBUG else printk(KERN_DEBUG "udaq: cleanup_module succeeded\n"); #endif } Makefile a82:645>WN¤cE]DCK:ES>EYKI6<C,:}NO<ON:495NOE $ph+lY]Z65o@N:6p6<#>?EYoJZVNO<O49G,E@6pNOK%8:4<O49>NOYKIG,6<#o@YGYC<OE@>EY556982ZVEYKGNO6K,:6 4<-j,l±Y²Oz9l[jYm²±YlmBG6d<O4dZ<=4>4[6K£5NO>4,{%p:6986d<O4¢C:NO<=NO49>?N=YKqG6B<=E8bA<O4V8eG6BEZ:NOo@NO49>NOYK@G,6MoqYGYCV<OE8bZV454d6< >EYoJZNO<=4GEY5{ CC=gcc CFLAGS = -Wall -Wstrict-prototypes -O2 -fomit-frame-pointer \ -fno-strength-reduce -pipe -m486 MODCFLAGS := $(CFLAGS) -DMODULE -DMODVERSIONS -DCPU=486 -DEXPORT_SYMTAB \ -D__KERNEL__ -DLINUX all: udaq.o udaq.o: udaq.c udaq.h $(CC) $(MODCFLAGS) -c -o udaq.o udaq.c install: udaq.o insmod udaq.o lsmod Ejemplo de programa de aplicación en C // Este ejemplo muy simple muestra cómo el nuevo // dispositovo de Linux, accesible desde /dev/daq // una vez que el módulo anterior está instalado, // puede ser manejado en forma idéntica a un archivo. #include <stdio.h> #include <fcntl.h> #include "udaq.h" void main(){ int fd; short data = 0x0fff; // Abro el dispositivo, verificando errores posibles fd = open("/dev/udaq",O_RDWR); if (fd<0) { perror("No pudo abrirse el dispositivo."); exit(-1); } printf("Dispositivo abierto.\n"); // Escribo una palabra de 16 bits write(fd,&data,1); // Leo una palabra de 16 bits, sincronizado con la interrupción read(fd,&data,1); 144 printf("Palabra leida: %d\n",data); // Cierro el dispositivo y salgo close(fd); exit(0); } La aplicación RTLinux dKV449<:65K4?:}N¤c44v<O4C,:}NO<ONO94>NOYK¦G6<OE87G5N¤c65F8 3-uJ,t@{8Q6HZ56986?K:49K,:65NOEY5o@6K,:6Y{ dYC86L<ON}82:4<=4 4?ZV<ONO>49>?N=YKq>EYoJZV<O6:4Y],>EYK@<O4BC:NO<ON=4>NOYK@G6B<OE8T>CV4?:}5E¢s-ts-up8bZV454d6<%4>>698QEp4d<OE8eG4?:}E8eG,6M<O4Y8#Z<O49>4Y8 ¶ [{ µ #define MODULE #include #include #include #include #include #include #include #include <linux/module.h> <linux/kernel.h> <linux/version.h> <linux/errno.h> <linux/rtl_version.h> <asm/io.h> <asm/rt_irq.h> <rtl_fifo.h> #define CONTROL 0x380 #define IRQ_CONTROL 5 #define CONTADOR 0x280 #define IRQ_CONTADOR 7 unsigned short data; unsigned short msg; void int_contador(void) { data = inw_p(CONTADOR); rtf_put(1,&data,2); } void int_control(void) { data = inw_p(CONTROL); rtf_put(2,&data,2); } int hand_contador(unsigned int fifo) { rtf_get(3, &msg, 2); outw_p(msg, CONTADOR); return 0; } int hand_control(unsigned int fifo) { rtf_get(4, &msg, 2); outw_p(msg, CONTROL); return 0; } int init_module(void) { rtf_create(1, 4000); rtf_create(2, 4000); rtf_create(3, 4000); rtf_create(4, 4000); rtf_create_handler(3, &hand_contador); rtf_create_handler(4, &hand_control); request_RTirq(IRQ_CONTADOR, int_contador); request_RTirq(IRQ_CONTROL, int_control); return 0; } void cleanup_module(void) { rtf_destroy(1); rtf_destroy(2); $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 145 rtf_destroy(3); rtf_destroy(4); free_RTirq(IRQ_CONTADOR); free_RTirq(IRQ_CONTROL); } Makefile a82:645>WN¤cE]TDQCVK,:Ev>EYK¥6<JC:NO<ON:}45NOE $ph+lvP8:4KVG,495GZ4954L:EYG4Y8<O4+8GN82:}5N¤;,C>NOEYKV68SRTNOK,CVU\]BZ65o@N:6H6< >EYoJZNO<=4GE[6MNOK%8:4<O49>NOYK@G,6<%o@YGCV<OEp<ON8:4GE[49K,:65NOEY5o@6K,:6Y{ INCLUDE = /usr/src/rtl/include CFLAGS = -O2 -Wall all: app moss install app: app.c gcc -I${INCLUDE} ${CFLAGS} -o app app.c moss: rtl_moss.c gcc -I${INCLUDE} ${CFLAGS} -D__KERNEL__ -D__RT__ -c rtl_moss.c clean: rm -f app rtl_moss.o install: rmmod rtl_moss insmod rtl_moss Ejemplo de aplicación en Tcl/Tk _<p8QNOYCVNO6K,:6IZ5EY54o@4XG,6I4Z<ON=>?49>NOYK C:NO<ON=4X6?<Mo@YGCV<OE^`#RTNOK,CVU7Z56986K,:4GEZV56FcNO4o@6K,:69]#ZV5Ec66SCKV4 NOK,:}6?5A49,5AN=>?4LZV4546<JC~82CV45NOE{M8:4698Q>5N:}E6?Kµ6?<<O6KCV4DF6HG,67ZV5EY,549o@4>NOYK`T>2< 3 ` -4L6<O>W%]0 / / 1] GN82ZVEYKN¤;<=6B6KJ:EYG,4+8e<O4+8eG,N}82:5N ;,C>NOEYK698eG6nRTN=K,CU%{ #!/usr/bin/bltwish namespace import blt::* # Custom varialbles set DIR "/home/moss/public_html" # Definiciones para utilizar Jtools (Selector de archivos, prompt, etc.) set jstools_library /usr/lib/jstools set jstools_pkg [file join $jstools_library pkg] set auto_path [concat [list $jstools_pkg] [list $jstools_library] $auto_path] #set bg_color [j:prompt_colour_rgb] #puts $bg_color set color "#d5cbb3" # Seteo de T_MAX T_MIN y T_STEP desde el archivo de configuracion source ./Mossbauer.conf set DIM [ expr (( $T_MAX - $T_MIN ) / $T_STEP) + 1 ] set RUN 0 set TIEMPO_MAX 10000 set set set set set set set i 1 temp 0 cuentas 0 cuentas_ 0 canal 0 tiempo 0 set_point 0 set font "*-utopia-bold-r-normal--16-*-*-*-*-*-*-*" set set set set set set 146 FIFO1 FIFO2 FIFO3 FIFO4 LOG1 LOG2 [open [open [open [open [open [open "/dev/rtf1" r] "/dev/rtf2" r] "/dev/rtf3" w] "/dev/rtf4" w] "$DIR/contador.log" w] "$DIR/control.log" w] proc Contador {} { global cuentas_ cuentas FIFO1 i canal yVectH DIM RUN LOG1 if { $RUN == 0 } { binary scan [read $FIFO1 2] s data set cuentas [expr $data * 40] } if { $RUN == 1 } { binary scan [read $FIFO1 2] s data set cuentas [expr $data * 40] set yVectH($canal) [expr $yVectH($canal) + $data] if { $i == 40 } { # set cuentas "[ int $yVectH($canal)] c/seg" set i 0 incr canal } if { $canal == $DIM } { SalvarTodo set RUN 0 puts $LOG1 "END : [ exec date +%H:%M:%S ]" flush $LOG1 set canal 0 } incr i } } proc Control {} { global temp FIFO2 TIEMPO_MAX global tiempo set_point xVect yVectT yVectS binary scan [read $FIFO2 2] s data set temp $data set xVect(++end) $tiempo set yVectT(++end) $temp set yVectS(++end) $set_point if { $tiempo > $TIEMPO_MAX } { xVect delete 0 yVectT delete 0 yVectS delete 0 } incr tiempo } proc SalvarTodo {} { global DIR T_MIN T_MAX T_STEP DIM xVectH yVectH set HTML1 [open "$DIR/contador.html" w] set HTML2 [open "$DIR/control.html" w] set DAT1 [open "$DIR/contador.dat" w] set DAT2 [open "$DIR/control.dat" w] puts $DAT1 "[ exec date +%H:%M:%S ]" puts $HTML1 "<TITLE>Corrida finalizada [ exec date +%H:%M:%S ]</TITLE>" puts $HTML1 "<BODY BGCOLOR=#CCCCCC>" puts $HTML1 "<H3>Histograma terminado [exec date +%H:%M:%S]</H3>" for {set j 0} {$j < $DIM} {incr j} { puts $DAT1 "$xVectH($j) $yVectH($j)" puts $HTML1 "$xVectH($j) -> $yVectH($j) <BR>"} puts $HTML1 "</BODY>" close close close close $HTML1 $HTML2 $DAT1 $DAT2 } proc SendContador { param } { global FIFO3 if { $param == 10 || $param == "Div2" } { puts -nonewline $FIFO3 [ binary format s 65026 ] # 65024 + $divisor } if { $param == 4 || $param == "Reset" } { puts -nonewline $FIFO3 [ binary format s 65284 ] } if { $param == 3 || $param == "NoGate" } { puts -nonewline $FIFO3 [ binary format s 65283 ] $! *$2 "$,%! *Y)# ), # $ " .#%! $"! 147 } if { $param == 2 || $param == "Gate" } { puts -nonewline $FIFO3 [ binary format } if { $param == 1 || $param == "Start" } { puts -nonewline $FIFO3 [ binary format } if { $param == 0 || $param == "Stop" } { puts -nonewline $FIFO3 [ binary format } if { $param > 10 } { puts -nonewline $FIFO3 [ binary format } s 65282 ] s 65281 ] s 65280 ] s [ expr 65525 - $param ] ] flush $FIFO3 } proc SendControl { num } { global FIFO4 set_point set set_point $num puts -nonewline $FIFO4 [ binary format s $num ] flush $FIFO4 } # INIT proc Init {} { global T_MAX T_MIN T_STEP DIM global xVectH yVectH LOG1 LOG2 canal i global xVect yVectT yVectS puts $LOG1 "INIT: [ exec date +%H:%M:%S ] " puts $LOG2 "INIT: [ exec date +%H:%M:%S ] " flush $LOG1 flush $LOG2 set canal 0 set i 1 # Inicializacion de vectores de registro de temperatura vector xVect(0) vector yVectT(0) vector yVectS(0) # Inicializacion de vectores para el histograma vector xVectH($DIM) yVectH($DIM) set acc $T_MIN for {set j 0} {$j < $DIM} {incr j} { set xVectH($j) $acc set yVectH($j) 0 set acc [ expr $acc + $T_STEP ] } } # QUIT proc Quit {} { global FIFO1 FIFO2 FIFO3 FIFO4 LOG1 LOG2 SendControl 0 SalvarTodo puts $LOG1 "QUIT: [ exec date +%H:%M:%S ] " puts $LOG2 "QUIT: [ exec date +%H:%M:%S ] " close $FIFO1 close $FIFO2 close $FIFO3 close $FIFO4 close $LOG1 close $LOG2 destroy . } # Inicializaciones varias Init ############################################################### # GUI # Color de fondo y titulo . configure -bg gray wm title . "Mossbauer" 148 frame .menu -relief raised -borderwidth 2 menubutton .menu.help -text Help -menu .menu.help.m -underline 0 menu .menu.help.m .menu.help.m add command -label "About" -underline 0 \ -command { } menubutton .menu.file -text File -menu .menu.file.m -underline 0 menu .menu.file.m .menu.file.m add command -label "Run" -underline 0 \ -command { if {$RUN == 1} { j:alert -text "Already running"}; if {$RUN == 0} { set RUN 1; puts $LOG1 "RUN : [exec date +%H:%M:%S]"; flush $LOG1 } } .menu.file.m add command -label "Stop" -underline 0 \ -command { if {$RUN == 0} { j:alert -text "Already stopped"}; if {$RUN == 1} { set RUN 0; puts $LOG1 "STOP: [exec date +%H:%M:%S]"; flush $LOG1 } } .menu.file.m add command -label "Reset" -underline 0 \ -command { Init } .menu.file.m add command -label "Cambiar Temp" -underline 0 \ -command { set temp_set [j:prompt -text "Entre la nueva temperatura" \ -title "Temperatura"]; SendControl $temp_set; puts $LOG1 "TEMP: [exec date +%H:%M:%S ] to $temp_set"; flush $LOG1 } .menu.file.m add command -label "Quit" -underline 0 \ -command { Quit } label .cuentas -textvariable cuentas -font $font -relief sunken -bg $color \ -width 8 label .temp -textvariable temp -font $font -relief sunken -bg $color \ -width 8 # Plot estilo Fisica graph .h -title "Cuentas vs. Temperatura" -bg gray \ -plotbackground white \ -height 2i -width 5i .h grid configure -hide no .h axis configure x -min $T_MIN -max $T_MAX .h element create T -xdata xVectH -ydata yVectH -linewidth 0 \ -symbol cross -pixel 0.025i \ -color #222222 -label "" graph .gT -title "Registro de temperatura" -bg gray \ -plotbackground white \ -height 1.8i -width 5i .gT axis configure y -min $T_MIN -max $T_MAX .gT grid configure -hide no .gT element create T -xdata xVect -ydata yVectT -symbol "" \ -color #AA0000 -label "" graph .gS -title "Registro de temperatura programada" -bg gray \ -plotbackground white \ -height 1.8i -width 5i .gS axis configure y -min $T_MIN -max $T_MAX .gS grid configure -hide no .gS element create T -xdata xVect -ydata yVectS -symbol "" \ -color #00AA00 -label "" # PACK table . .menu 0,0 -fill x -cspan 10 table .menu .menu.file 0,0 table .menu .menu.help 0,25 table . .cuentas 1,0 -cspan 1 table . .temp 1,1 -cspan 1 -padx {0 5} table . .h 2,0 -cspan 2 -padx {0 15} table . .gT 3,0 -cspan 2 -padx {0 15} table . .gS 4,0 -cspan 2 -padx {0 15} ######################################################### # Inicializacion del Contador y el Control. 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