--- a/examples/xenomai_posix/Makefile.am Mon Mar 21 08:06:49 2011 +0100
+++ b/examples/xenomai_posix/Makefile.am Mon Mar 21 21:07:38 2011 +0100
@@ -36,4 +36,5 @@
ec_xenomai_posix_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I/opt/etherlab/xenomai/include/posix -I$(top_srcdir)/include
ec_xenomai_posix_example_LDFLAGS = -Wl,@/opt/etherlab/xenomai/lib/posix.wrappers -L/opt/etherlab/xenomai/lib -lpthread_rt -lrtdm -L$(top_builddir)/lib/.libs -lethercat -L/opt/etherlab/xenomai/lib -lrtdk -lxenomai -lpthread
+
#------------------------------------------------------------------------------
--- a/examples/xenomai_posix/main.c Mon Mar 21 08:06:49 2011 +0100
+++ b/examples/xenomai_posix/main.c Mon Mar 21 21:07:38 2011 +0100
@@ -40,9 +40,6 @@
#include <string.h>
#include <unistd.h>
#include <limits.h>
-#include <getopt.h>
-#include <netinet/in.h>
-#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <time.h>
@@ -481,16 +478,7 @@
/**********************************************************/
void cleanup_all(void)
{
- printf("delete my_task\n");
-
- pthread_kill(cyclicthread, SIGHUP);
- pthread_join(cyclicthread, NULL);
-
- if (rt_fd >= 0) {
- printf("closing rt device %s\n", &rt_dev_file[0]);
- rt_dev_close(rt_fd);
-
- }
+ run = 0;
}
void catch_signal(int sig)
@@ -504,30 +492,34 @@
void *my_thread(void *arg)
{
- struct sched_param param = { .sched_priority = 1 };
struct timespec next_period;
+
int counter = 0;
int divcounter = 0;
int divider = 10;
- pthread_set_name_np(pthread_self(), "ec_xenomai_posix_test");
- pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m);
-
- clock_gettime(CLOCK_MONOTONIC, &next_period);
-
+
+
+ clock_gettime(CLOCK_REALTIME, &next_period);
while(1) {
next_period.tv_nsec += cycle * 1000;
while (next_period.tv_nsec >= NSEC_PER_SEC) {
next_period.tv_nsec -= NSEC_PER_SEC;
next_period.tv_sec++;
- }
-
- clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &next_period, NULL);
+ }
+
+ clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next_period, NULL);
+
counter++;
- if (counter>600000) {
+ if (counter>60000) {
run=0;
return NULL;
}
+
+ if(run == 0) {
+ return NULL;
+ }
+
// receive ethercat
ecrt_rtdm_master_recieve(rt_fd);
@@ -565,8 +557,6 @@
int main(int argc, char *argv[])
{
- struct sched_param param = { .sched_priority = 1 };
- pthread_attr_t thattr;
ec_slave_config_t *sc;
int rtstatus;
@@ -727,16 +717,21 @@
run=1;
/* Create cyclic RT-thread */
+ struct sched_param param = { .sched_priority = 82 };
+ pthread_attr_t thattr;
pthread_attr_init(&thattr);
pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE);
- pthread_attr_setstacksize(&thattr, PTHREAD_STACK_MIN);
+ pthread_attr_setinheritsched(&thattr, PTHREAD_EXPLICIT_SCHED);
+ pthread_attr_setschedpolicy(&thattr, SCHED_FIFO);
+ pthread_setschedparam(cyclicthread, SCHED_FIFO, ¶m);
+ pthread_set_name_np(cyclicthread, "ec_xenomai_posix_test");
ret = pthread_create(&cyclicthread, &thattr, &my_thread, NULL);
if (ret) {
fprintf(stderr, "%s: pthread_create cyclic task failed\n",
strerror(-ret));
goto failure;
}
- pthread_setschedparam(pthread_self(), SCHED_FIFO, ¶m);
+
@@ -745,12 +740,9 @@
sched_yield();
}
- //rt_task_delete(&my_task);
-
-
-
- pthread_kill(cyclicthread, SIGHUP);
- pthread_join(cyclicthread, NULL);
+
+
+
if (rt_fd >= 0)