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ethercat
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Userspace example with priority.

This commit is contained in:
Florian Pose 2008-10-02 15:38:35 +00:00
parent ed9e83fbea
commit 05e0935e0d
1 changed files with 26 additions and 12 deletions
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38
examples/user/main.c
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@ -4,15 +4,19 @@
*
****************************************************************************/
#include <unistd.h>
#include <sys/time.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include "ecrt.h"
#define PRIORITY 1
/****************************************************************************/
static unsigned int sig_alarms = 0;
@ -50,9 +54,17 @@ int main(int argc, char **argv)
if (!sc)
return -1;
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
#if PRIORITY
pid_t pid = getpid();
if (setpriority(PRIO_PROCESS, pid, -19))
fprintf(stderr, "Warning: Failed to set priority: %s\n",
strerror(errno));
#endif
sa.sa_handler = signal_handler;
sigemptyset(&sa.sa_mask);
sa.sa_flags = 0;
@ -61,25 +73,27 @@ int main(int argc, char **argv)
return -1;
}
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
tv.it_interval.tv_usec = 10000;
tv.it_interval.tv_usec = 100000;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
return 1;
}
printf("Started.\n");
while (1) {
sleep(1);
while (sig_alarms != user_alarms) {
#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u %u\n", t.tv_sec, t.tv_usec);
#if 1
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
#endif
while (sig_alarms != user_alarms) {
ecrt_master_receive(master);
ecrt_master_send(master);