From 8fe88366312bd07e80eba418b6d2542b9629f608 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 8 Jan 2007 08:32:10 +0000
Subject: [PATCH] Shorter critical sections in examples.
---
examples/mini/mini.c | 36 ++++++++++++++++++------------------
examples/msr/msr_sample.c | 12 ++++++------
examples/rtai/rtai_sample.c | 24 +++++++++++-------------
3 files changed, 35 insertions(+), 37 deletions(-)
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index 7fb49434..aca2a641 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -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);
diff --git a/examples/msr/msr_sample.c b/examples/msr/msr_sample.c
index 44b0c0bb..b2506e52 100644
--- a/examples/msr/msr_sample.c
+++ b/examples/msr/msr_sample.c
@@ -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);
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index 76e8ac4f..f6b95f13 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -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);
/*****************************************************************************/
-
--
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