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ethercat
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RTAI sample with optimized jitter.

This commit is contained in:
Florian Pose 2006-05-11 09:24:15 +00:00
parent abb3ab22fd
commit c79792a985
2 changed files with 28 additions and 10 deletions
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2
examples/rtai/Makefile
View File

@ -35,7 +35,7 @@ obj-m := ec_rtai_sample.o
ec_rtai_sample-objs := rtai_sample.o
EXTRA_CFLAGS := -I/usr/realtime/include
EXTRA_CFLAGS := -I/usr/realtime/include -mhard-float
#------------------------------------------------------------------------------

36
examples/rtai/rtai_sample.c
View File

@ -28,35 +28,46 @@
#include <linux/timer.h>
#include <linux/interrupt.h>
// RTAI
#include "rtai.h"
#include "rtai_sched.h"
#include "rtai_sem.h"
#include "../../include/ecrt.h" // EtherCAT realtime interface
// EtherCAT realtime interface
#include "../../include/ecrt.h"
/*****************************************************************************/
// comment this for synchronous IO
#define ASYNC
#define TIMERTICKS 1000000
// RTAI task frequency in Hz
#define FREQUENCY 10000
#define TIMERTICKS (1000000000 / FREQUENCY)
/*****************************************************************************/
// RTAI
RT_TASK task;
SEM master_sem;
cycles_t t_last_start = 0;
cycles_t t_critical;
// EtherCAT
ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// data fields
//void *r_ssi_input, *r_ssi_status, *r_4102[3];
void *r_ssi_input;
// channels
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
{NULL, "3", "Beckhoff", "EL5001", "InputValue", 0},
{NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
{&r_ssi_input, "3", "Beckhoff", "EL5001", "InputValue", 0},
{NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
{}
};
@ -64,7 +75,9 @@ ec_field_init_t domain1_fields[] = {
void run(long data)
{
while (1) {
while (1)
{
t_last_start = get_cycles();
rt_sem_wait(&master_sem);
#ifdef ASYNC
@ -80,7 +93,7 @@ void run(long data)
#endif
// process data
//k_pos = EC_READ_U32(r_ssi);
k_pos = EC_READ_U32(r_ssi_input);
#ifdef ASYNC
// send
@ -90,7 +103,6 @@ void run(long data)
#endif
rt_sem_signal(&master_sem);
rt_task_wait_period();
}
}
@ -99,8 +111,12 @@ 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;
// allow access
rt_sem_wait(&master_sem);
return 0; // access allowed
return 0;
}
/*****************************************************************************/
@ -120,6 +136,8 @@ int __init init_mod(void)
rt_sem_init(&master_sem, 1);
t_critical = cpu_khz * 800 / FREQUENCY; // ticks for 80%
if ((master = ecrt_request_master(0)) == NULL) {
printk(KERN_ERR "Requesting master 0 failed!\n");
goto out_return;