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ethercat
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RTAI example with INHIBIT time.

This commit is contained in:
Florian Pose 2006-08-08 13:07:00 +00:00
parent 2fb55f48c7
commit c44b3f9dc0
1 changed files with 8 additions and 5 deletions
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13
examples/rtai/rtai_sample.c
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@ -54,6 +54,8 @@ MODULE_DESCRIPTION("EtherCAT RTAI sample module");
// RTAI task frequency in Hz
#define FREQUENCY 10000
#define INHIBIT_TIME 20
#define TIMERTICKS (1000000000 / FREQUENCY)
/*****************************************************************************/
@ -61,7 +63,7 @@ MODULE_DESCRIPTION("EtherCAT RTAI sample module");
// RTAI
RT_TASK task;
SEM master_sem;
cycles_t t_last_start = 0, t_critical;
cycles_t t_last_cycle = 0, t_critical;
// EtherCAT
ec_master_t *master = NULL;
@ -84,7 +86,7 @@ void run(long data)
{
while (1)
{
t_last_start = get_cycles();
t_last_cycle = get_cycles();
rt_sem_wait(&master_sem);
ecrt_master_receive(master);
@ -106,7 +108,7 @@ void run(long data)
int request_lock(void *data)
{
// too close to the next RT cycle: deny access...
if (get_cycles() - t_last_start > t_critical) return -1;
if (get_cycles() - t_last_cycle > t_critical) return -1;
// allow access
rt_sem_wait(&master_sem);
@ -130,13 +132,14 @@ int __init init_mod(void)
rt_sem_init(&master_sem, 1);
t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80%
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
if ((master = ecrt_request_master(0)) == NULL) {
if (!(master = ecrt_request_master(0))) {
printk(KERN_ERR "Requesting master 0 failed!\n");
goto out_return;
}
ecrt_master_callbacks(master, request_lock, release_lock, NULL);
printk(KERN_INFO "Registering domain...\n");