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ethercat
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Shorter critical sections in examples.

This commit is contained in:
Florian Pose 2007-01-08 08:32:10 +00:00
parent 03c3e13bf9
commit 09a843f8a0
3 changed files with 35 additions and 37 deletions
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36
examples/mini/mini.c
View File

@ -32,7 +32,6 @@
*****************************************************************************/
#include <linux/module.h>
#include <linux/delay.h>
#include <linux/timer.h>
#include <linux/spinlock.h>
#include <linux/interrupt.h>
@ -73,35 +72,36 @@ ec_pdo_reg_t domain1_pdos[] = {
void run(unsigned long data)
{
static unsigned int counter = 0;
static unsigned int einaus = 0;
spin_lock(&master_lock);
static unsigned int blink = 0;
// receive
spin_lock(&master_lock);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
spin_unlock(&master_lock);
// process data
//k_pos = EC_READ_U32(r_ssi);
#ifdef KBUS
EC_WRITE_U8(r_outputs + 2, einaus ? 0xFF : 0x00);
#endif
// send
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
spin_unlock(&master_lock);
// k_pos = EC_READ_U32(r_ssi);
if (counter) {
counter--;
}
else {
counter = FREQUENCY;
einaus = !einaus;
blink = !blink;
}
#ifdef KBUS
EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);
#endif
// send
spin_lock(&master_lock);
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
spin_unlock(&master_lock);
// restart timer
timer.expires += HZ / FREQUENCY;
add_timer(&timer);
@ -211,8 +211,8 @@ void __exit cleanup_mini_module(void)
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT minimal test environment");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT minimal test environment");
module_init(init_mini_module);
module_exit(cleanup_mini_module);

12
examples/msr/msr_sample.c
View File

@ -66,7 +66,7 @@ ec_domain_t *domain1 = NULL;
// raw process data
void *r_ana_out;
// Channels
// channels
double k_ana_out;
ec_pdo_reg_t domain1_pdos[] = {
@ -78,20 +78,20 @@ ec_pdo_reg_t domain1_pdos[] = {
void msr_controller_run(void)
{
rt_sem_wait(&master_sem);
// receive
rt_sem_wait(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
rt_sem_signal(&master_sem);
// Process data
EC_WRITE_S16(r_ana_out, k_ana_out / 10.0 * 0x7FFF);
// Send
rt_sem_wait(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
msr_write_kanal_list();
@ -221,8 +221,8 @@ void __exit cleanup_mod(void)
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT RTAI MSR sample module");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT RTAI MSR sample module");
module_init(init_mod);
module_exit(cleanup_mod);

24
examples/rtai/rtai_sample.c
View File

@ -46,12 +46,6 @@
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT RTAI sample module");
/*****************************************************************************/
// RTAI task frequency in Hz
#define FREQUENCY 10000
#define INHIBIT_TIME 20
@ -84,22 +78,23 @@ ec_pdo_reg_t domain1_pdos[] = {
void run(long data)
{
while (1)
{
while (1) {
t_last_cycle = get_cycles();
rt_sem_wait(&master_sem);
rt_sem_wait(&master_sem);
ecrt_master_receive(master);
ecrt_domain_process(domain1);
rt_sem_signal(&master_sem);
// process data
//k_pos = EC_READ_U32(r_ssi_input);
rt_sem_wait(&master_sem);
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_send(master);
rt_sem_signal(&master_sem);
rt_task_wait_period();
}
}
@ -108,7 +103,7 @@ void run(long data)
int request_lock(void *data)
{
// too close to the next RT cycle: deny access...
// too close to the next real time cycle: deny access...
if (get_cycles() - t_last_cycle > t_critical) return -1;
// allow access
@ -142,7 +137,7 @@ int __init init_mod(void)
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO "Registering domain...\n");
printk(KERN_INFO "Creating domain...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "Domain creation failed!\n");
goto out_release_master;
@ -207,8 +202,11 @@ void __exit cleanup_mod(void)
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT RTAI sample module");
module_init(init_mod);
module_exit(cleanup_mod);
/*****************************************************************************/