diff --git a/examples/rtai/Makefile b/examples/rtai/Makefile
index 8dc257c4b53ae4fd2b949816fc410da04afad3eb..ca4d02f9eb384e9fb1f9c5352199e63ce063a08e 100644
--- a/examples/rtai/Makefile
+++ b/examples/rtai/Makefile
@@ -35,6 +35,8 @@ obj-m := ec_rtai_sample.o
ec_rtai_sample-objs := rtai_sample.o
+EXTRA_CFLAGS := -I/usr/realtime/include
+
#------------------------------------------------------------------------------
else
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index a54c5a26a9e7d923d37c04670fddbdbb6f3c320c..5b9ed1025e7868b2bff336ad6e08862c23cc0178 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -1,8 +1,6 @@
/******************************************************************************
*
- * m i n i . c
- *
- * Minimal module for EtherCAT.
+ * RTAI sample for the IgH EtherCAT master.
*
* $Id$
*
@@ -28,22 +26,26 @@
#include <linux/module.h>
#include <linux/delay.h>
#include <linux/timer.h>
-#include <linux/spinlock.h>
#include <linux/interrupt.h>
+#include "rtai.h"
+#include "rtai_sched.h"
+#include "rtai_sem.h"
+
#include "../../include/ecrt.h" // EtherCAT realtime interface
#define ASYNC
-#define FREQUENCY 100
+#define TIMERTICKS 1000000
/*****************************************************************************/
-struct timer_list timer;
+// RTAI
+RT_TASK task;
+SEM master_sem;
// EtherCAT
ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
-spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
// data fields
//void *r_ssi_input, *r_ssi_status, *r_4102[3];
@@ -60,76 +62,63 @@ ec_field_init_t domain1_fields[] = {
/*****************************************************************************/
-void run(unsigned long data)
+void run(long data)
{
- static unsigned int counter = 0;
-
- spin_lock(&master_lock);
+ while (1) {
+ rt_sem_wait(&master_sem);
#ifdef ASYNC
- // receive
- ecrt_master_async_receive(master);
- ecrt_domain_process(domain1);
+ // receive
+ ecrt_master_async_receive(master);
+ ecrt_domain_process(domain1);
#else
- // send and receive
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_sync_io(master);
- ecrt_domain_process(domain1);
+ // send and receive
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_sync_io(master);
+ ecrt_domain_process(domain1);
#endif
- // process data
- //k_pos = EC_READ_U32(r_ssi);
+ // process data
+ //k_pos = EC_READ_U32(r_ssi);
#ifdef ASYNC
- // send
- ecrt_domain_queue(domain1);
- ecrt_master_run(master);
- ecrt_master_async_send(master);
+ // send
+ ecrt_domain_queue(domain1);
+ ecrt_master_run(master);
+ ecrt_master_async_send(master);
#endif
- spin_unlock(&master_lock);
+ rt_sem_signal(&master_sem);
- if (counter) {
- counter--;
- }
- else {
- counter = FREQUENCY;
- //printk(KERN_INFO "k_pos = %i\n", k_pos);
- //printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
+ rt_task_wait_period();
}
-
- // restart timer
- timer.expires += HZ / FREQUENCY;
- add_timer(&timer);
}
/*****************************************************************************/
int request_lock(void *data)
{
- unsigned int tries = 0;
- while (1) {
- if (spin_trylock(&master_lock)) {
- if (tries) printk(KERN_INFO "lock: %i tries needed.\n", tries);
- return 1;
- }
- tries++;
- }
+ rt_sem_wait(&master_sem);
+ return 0;
}
/*****************************************************************************/
void release_lock(void *data)
{
- spin_unlock(&master_lock);
+ rt_sem_signal(&master_sem);
}
/*****************************************************************************/
-int __init init_mini_module(void)
+int __init init_mod(void)
{
- printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
+ RTIME tick_period, requested_ticks, now;
+
+ printk(KERN_INFO "=== Starting EtherCAT RTAI sample module... ===\n");
+
+ rt_sem_init(&master_sem, 1);
if ((master = ecrt_request_master(0)) == NULL) {
printk(KERN_ERR "Requesting master 0 failed!\n");
@@ -200,56 +189,71 @@ int __init init_mini_module(void)
ecrt_master_prepare_async_io(master);
#endif
-#if 1
+#if 0
if (ecrt_master_start_eoe(master)) {
printk(KERN_ERR "Failed to start EoE processing!\n");
goto out_deactivate;
}
#endif
- printk("Starting cyclic sample thread.\n");
- init_timer(&timer);
- timer.function = run;
- timer.expires = jiffies + 10;
- add_timer(&timer);
+ printk("Starting cyclic sample thread...\n");
+ requested_ticks = nano2count(TIMERTICKS);
+ tick_period = start_rt_timer(requested_ticks);
+ printk(KERN_INFO "RT timer started with %i/%i ticks.\n",
+ (int) tick_period, (int) requested_ticks);
+
+ if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
+ printk(KERN_ERR "Failed to init RTAI task!\n");
+ goto out_stop_timer;
+ }
+
+ now = rt_get_time();
+ if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
+ printk(KERN_ERR "Failed to run RTAI task!\n");
+ goto out_stop_task;
+ }
- printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
+ printk(KERN_INFO "=== EtherCAT RTAI sample module started. ===\n");
return 0;
-#if 1
+ out_stop_task:
+ rt_task_delete(&task);
+ out_stop_timer:
+ stop_rt_timer();
out_deactivate:
ecrt_master_deactivate(master);
-#endif
out_release_master:
ecrt_release_master(master);
out_return:
+ rt_sem_delete(&master_sem);
return -1;
}
/*****************************************************************************/
-void __exit cleanup_mini_module(void)
+void __exit cleanup_mod(void)
{
- printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
+ printk(KERN_INFO "=== Stopping EtherCAT RTAI sample module... ===\n");
- if (master) {
- del_timer_sync(&timer);
- printk(KERN_INFO "Deactivating master...\n");
- ecrt_master_deactivate(master);
- ecrt_release_master(master);
- }
+ printk(KERN_INFO "Stopping RT task...\n");
+ rt_task_delete(&task);
+ stop_rt_timer();
+ printk(KERN_INFO "Deactivating EtherCAT master...\n");
+ ecrt_master_deactivate(master);
+ ecrt_release_master(master);
+ rt_sem_delete(&master_sem);
- printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
+ printk(KERN_INFO "=== EtherCAT RTAI sample module stopped. ===\n");
}
/*****************************************************************************/
MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
-MODULE_DESCRIPTION ("EtherCAT minimal test environment");
+MODULE_DESCRIPTION ("EtherCAT RTAI sample module");
-module_init(init_mini_module);
-module_exit(cleanup_mini_module);
+module_init(init_mod);
+module_exit(cleanup_mod);
/*****************************************************************************/