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Shorter critical sections in examples.

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This commit is contained in:
Florian Pose
2007-01-08 08:32:10 +00:00
parent 03c3e13bf9
commit 09a843f8a0
3 changed files with 35 additions and 37 deletions
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examples/rtai/rtai_sample.c
+11 -13
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@@ -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);
/*****************************************************************************/