11 #include <sys/mman.h>

    11 #include <sys/mman.h>

    12 #include <sys/fcntl.h>

    12 #include <sys/fcntl.h>

    13 

    13 

    14 #include <native/task.h>

    14 #include <native/task.h>

    15 #include <native/timer.h>

    15 #include <native/timer.h>

    17 #include <native/sem.h>

    16 #include <native/sem.h>

    18 #include <native/pipe.h>

    17 #include <native/pipe.h>

    19 

    18 

    20 unsigned int PLC_state = 0;

    19 unsigned int PLC_state = 0;

    21 #define PLC_STATE_TASK_CREATED                 1

    20 #define PLC_STATE_TASK_CREATED                 1

    73   rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));

    72   rt_task_set_periodic(&PLC_task, current_time + next, rt_timer_ns2ticks(period));

    74 }

    73 }

    75 

    74 

    76 void PLC_task_proc(void *arg)

    75 void PLC_task_proc(void *arg)

    77 {

    76 {

    79 

    78 

    80     while (!PLC_shutdown) {

    79     while (!PLC_shutdown) {

    81         PLC_GetTime(&__CURRENT_TIME);

    80         PLC_GetTime(&__CURRENT_TIME);

    82         __run();

    81         __run();

    83         if (PLC_shutdown) break;

    82         if (PLC_shutdown) break;