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ethercat
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Working Xenomai Posix example

This commit is contained in:
Andreas Stewering-Bone 2011-03-21 21:07:38 +01:00
parent a69e1f8ae4
commit b8acd30da5
2 changed files with 20 additions and 27 deletions
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1
examples/xenomai_posix/Makefile.am
View File

@ -36,4 +36,5 @@ ec_xenomai_posix_example_SOURCES = main.c
ec_xenomai_posix_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I/opt/etherlab/xenomai/include/posix -I$(top_srcdir)/include
ec_xenomai_posix_example_LDFLAGS = -Wl,@/opt/etherlab/xenomai/lib/posix.wrappers -L/opt/etherlab/xenomai/lib -lpthread_rt -lrtdm -L$(top_builddir)/lib/.libs -lethercat -L/opt/etherlab/xenomai/lib -lrtdk -lxenomai -lpthread
#------------------------------------------------------------------------------

46
examples/xenomai_posix/main.c
View File

@ -40,9 +40,6 @@
#include <string.h>
#include <unistd.h>
#include <limits.h>
#include <getopt.h>
#include <netinet/in.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <time.h>
@ -481,16 +478,7 @@ void rt_sync()
/**********************************************************/
void cleanup_all(void)
{
printf("delete my_task\n");
pthread_kill(cyclicthread, SIGHUP);
pthread_join(cyclicthread, NULL);
if (rt_fd >= 0) {
printf("closing rt device %s\n", &rt_dev_file[0]);
rt_dev_close(rt_fd);
}
run = 0;
}
void catch_signal(int sig)
@ -504,30 +492,34 @@ void catch_signal(int sig)
void *my_thread(void *arg)
{
struct sched_param param = { .sched_priority = 1 };
struct timespec next_period;
int counter = 0;
int divcounter = 0;
int divider = 10;
pthread_set_name_np(pthread_self(), "ec_xenomai_posix_test");
pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
clock_gettime(CLOCK_MONOTONIC, &next_period);
clock_gettime(CLOCK_REALTIME, &next_period);
while(1) {
next_period.tv_nsec += cycle * 1000;
while (next_period.tv_nsec >= NSEC_PER_SEC) {
next_period.tv_nsec -= NSEC_PER_SEC;
next_period.tv_sec++;
}
}
clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next_period, NULL);
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_period, NULL);
counter++;
if (counter>600000) {
if (counter>60000) {
run=0;
return NULL;
}
if(run == 0) {
return NULL;
}
// receive ethercat
ecrt_rtdm_master_recieve(rt_fd);
@ -565,8 +557,6 @@ void *my_thread(void *arg)
int main(int argc, char *argv[])
{
struct sched_param param = { .sched_priority = 1 };
pthread_attr_t thattr;
ec_slave_config_t *sc;
int rtstatus;
@ -727,16 +717,21 @@ int main(int argc, char *argv[])
run=1;
/* Create cyclic RT-thread */
struct sched_param param = { .sched_priority = 82 };
pthread_attr_t thattr;
pthread_attr_init(&thattr);
pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE);
pthread_attr_setstacksize(&thattr, PTHREAD_STACK_MIN);
pthread_attr_setinheritsched(&thattr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&thattr, SCHED_FIFO);
pthread_setschedparam(cyclicthread, SCHED_FIFO, &param);
pthread_set_name_np(cyclicthread, "ec_xenomai_posix_test");
ret = pthread_create(&cyclicthread, &thattr, &my_thread, NULL);
if (ret) {
fprintf(stderr, "%s: pthread_create cyclic task failed\n",
strerror(-ret));
goto failure;
}
pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
@ -745,12 +740,9 @@ int main(int argc, char *argv[])
sched_yield();
}
//rt_task_delete(&my_task);
pthread_kill(cyclicthread, SIGHUP);
pthread_join(cyclicthread, NULL);
if (rt_fd >= 0)