From 756a1b3ca078dafe47811202baf0d61b87e939d8 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 8 Aug 2006 13:07:00 +0000
Subject: [PATCH] RTAI example with INHIBIT time.
---
examples/rtai/rtai_sample.c | 13 ++++++++-----
1 file changed, 8 insertions(+), 5 deletions(-)
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index ba394fdb..aa536517 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -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");
--
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