# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1230548118 0
# Node ID 6e8477e16eec8657fc982cfd06df3a39523cece7
# Parent  8765cdafdc1705b8ddb4df13b52b11a8bdb6a19e
Reverted rtai example changes.

diff -r 8765cdafdc17 -r 6e8477e16eec examples/rtai/rtai_sample.c
--- a/examples/rtai/rtai_sample.c	Mon Dec 29 10:52:51 2008 +0000
+++ b/examples/rtai/rtai_sample.c	Mon Dec 29 10:55:18 2008 +0000
@@ -47,7 +47,7 @@
 
 // Module parameters
 
-#define FREQUENCY 1000 // task frequency in Hz
+#define FREQUENCY 2000 // task frequency in Hz
 #define INHIBIT_TIME 20
 
 #define TIMERTICKS (1000000000 / FREQUENCY)
@@ -95,6 +95,9 @@
     {}
 };
 
+static unsigned int counter = 0;
+static unsigned int blink = 0;
+
 /*****************************************************************************/
 
 #ifdef CONFIGURE_PDOS
@@ -201,35 +204,42 @@
 
 /*****************************************************************************/
 
-#define US(x) ((unsigned int) (x) * 1000 / cpu_khz)
-
 void run(long data)
 {
-    cycles_t c0, c1, c2, c3, c4;
-    unsigned int c = 10000;
-
     while (1) {
         t_last_cycle = get_cycles();
 
-        c0 = get_cycles();
+        // receive process data
+        rt_sem_wait(&master_sem);
         ecrt_master_receive(master);
-        c1 = get_cycles();
         ecrt_domain_process(domain1);
-        c2 = get_cycles();
+        rt_sem_signal(&master_sem);
+
+        // check process data state (optional)
+        check_domain1_state();
+
+        if (counter) {
+            counter--;
+        } else { // do this at 1 Hz
+            counter = FREQUENCY;
+
+            // calculate new process data
+            blink = !blink;
+
+            // check for master state (optional)
+            check_master_state();
+
+            // check for islave configuration state(s) (optional)
+            check_slave_config_states();
+        }
+
+        // write process data
+        EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
+
+        rt_sem_wait(&master_sem);
         ecrt_domain_queue(domain1);
-        c3 = get_cycles();
         ecrt_master_send(master);
-        c4 = get_cycles();
-
-        if (c) {
-            printk("TTTT4 %6u %4u %4u %4u %4u\n",
-                    c,
-                    US(c1 - c0),
-                    US(c2 - c1),
-                    US(c3 - c2),
-                    US(c4 - c3));
-            c--;
-        }
+        rt_sem_signal(&master_sem);
 		
         rt_task_wait_period();
     }