renaming
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@@ -12,28 +12,28 @@ LIB=-L/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/libppmac -lppmac -L/opt/eldk
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CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-g++
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LD=$(CC)
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all: sampleCode
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all: triggerSync
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%.o: %.c
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$(CC) -g $(INC) -c $^ -o $@
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sampleCode: sampleCode.o
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triggerSync: triggerSync.o
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$(LD) -g $(LIB) $^ -o $@
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scp $@ root@$(HOST):/tmp
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scp /opt/eldk-4.2/ppc_4xxFP/usr/bin/gdbserver root@$(HOST):/tmp
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clean:
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rm -f sampleCode sampleCode *.o
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rm -f triggerSync triggerSync *.o
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Debug: all
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cleanDebug: clean
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#export LD_LIBRARY_PATH=/opt/ppmac/libppmac/
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#/tmp/sampleCode
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#/tmp/gdbserver localhost:2000 /tmp/sampleCode
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#/tmp/triggerSync
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#/tmp/gdbserver localhost:2000 /tmp/triggerSync
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# /opt/eldk-4.2/usr/bin/ppc_4xxFP-gdb
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# file sampleCode
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# file triggerSync
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# b main
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# target remote MOTTEST-CPPM-CRM0573:2000
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# continue
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@@ -1,15 +0,0 @@
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<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
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<CodeBlocks_layout_file>
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<FileVersion major="1" minor="0" />
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<ActiveTarget name="Debug" />
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<File name="sampleCode.c" open="1" top="1" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
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<Cursor>
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<Cursor1 position="337" topLine="0" />
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</Cursor>
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</File>
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<File name="Makefile" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
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<Cursor>
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<Cursor1 position="735" topLine="0" />
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</Cursor>
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</File>
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</CodeBlocks_layout_file>
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@@ -1,67 +1,21 @@
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// >>>>>>> https://www.ashwinnarayan.com/post/xenomai-realtime-programming-part-2/
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// >>>>>>> https://xenomai.org/documentation/xenomai-2.4/html/api/group__task.html
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#include <stdio.h>
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#include <gplib.h>
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#include <math.h>
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#include <stdio.h>
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#include <signal.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <native/task.h>
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#include <native/timer.h>
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#include <math.h>
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extern struct SHM *pshm;
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// >>>>>>> https://www.ashwinnarayan.com/post/xenomai-realtime-programming-part-2/
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#define CLOCK_RES 1e-9 //Clock resolution is 1 ns by default
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#define LOOP_PERIOD 1e7 //Expressed in ticks
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//RTIME period = 1000000000;
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RT_TASK loop_task;
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void loop_task_proc(void *arg)
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{
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RT_TASK *curtask;
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RT_TASK_INFO curtaskinfo;
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int iret = 0;
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RTIME tstart, now;
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curtask = rt_task_self();
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rt_task_inquire(curtask, &curtaskinfo);
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int ctr = 0;
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//Print the info
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printf("Starting task %s with period of 10 ms ....\n", curtaskinfo.name);
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//Make the task periodic with a specified loop period
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rt_task_set_periodic(NULL, TM_NOW, LOOP_PERIOD);
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tstart = rt_timer_read();
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//Start the task loop
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while(1){
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printf("Loop count: %d, Loop time: %.5f ms\n", ctr, (rt_timer_read() - tstart)/1000000.0);
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ctr++;
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rt_task_wait_period(NULL);
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}
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}
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void loop_task_run()
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{
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char str[20];
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//Lock the memory to avoid memory swapping for this program
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mlockall(MCL_CURRENT | MCL_FUTURE);
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printf("Starting cyclic task...\n");
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//Create the real time task
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sprintf(str, "cyclic_task");
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rt_task_create(&loop_task, str, 0, 50, 0);
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//Since task starts in suspended mode, start task
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rt_task_start(&loop_task, &loop_task_proc, 0);
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//Wait for Ctrl-C
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pause();
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}
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//RTIME period = 10000000;
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RT_TASK trigsync_task;
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void trigsync_func(void *arg)
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@@ -74,7 +28,6 @@ void trigsync_func(void *arg)
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curtask = rt_task_self();
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rt_task_inquire(curtask, &curtaskinfo);
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int ctr = 0;
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//Print the info
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printf("Starting task %s with period of 10 ms ....\n", curtaskinfo.name);
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@@ -82,13 +35,19 @@ void trigsync_func(void *arg)
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//Make the task periodic with a specified loop period
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rt_task_set_periodic(NULL, TM_NOW, LOOP_PERIOD);
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int ctr = 0;
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unsigned srvStart,srvCnt,diff,maxDiff;
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tstart = rt_timer_read();
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pshm = GetSharedMemPtr();
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srvStart=srvCnt=pshm->ServoCount;
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//Start the task loop
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while(1){
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printf("Loop count: %d, Loop time: %.5f ms\n", ctr, (rt_timer_read() - tstart)/1000000.0);
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while(ctr<200){
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printf("sLoop count: %d, Loop time: %.5f ms\n", ctr, (rt_timer_read() - tstart)/1000000.0);
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ctr++;
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rt_task_wait_period(NULL);
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//int rt_task_sleep_until
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}
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/* float ang,pos;
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int i;
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@@ -114,11 +73,12 @@ void trigsync_run()
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printf("Starting cyclic task...\n");
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//Create the real time task
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sprintf(str, "cyclic_task");
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rt_task_create(&trigsync_task, str, 0, 50, 0);
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rt_task_create(&trigsync_task, str, 0, 50, T_JOINABLE);
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//Since task starts in suspended mode, start task
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rt_task_start(&trigsync_task, &trigsync_func, 0);
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//Wait for Ctrl-C
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pause();
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printf("Wait for Ctrl-C\n");
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rt_task_join (&trigsync_task);
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}
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@@ -2,13 +2,13 @@
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<CodeBlocks_project_file>
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<FileVersion major="1" minor="6" />
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<Project>
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<Option title="c-samples" />
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<Option title="triggerSync" />
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<Option makefile_is_custom="1" />
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<Option pch_mode="2" />
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<Option compiler="deltatau_gcc" />
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<Build>
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<Target title="Debug">
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<Option output="bin/c-samples" prefix_auto="1" extension_auto="1" />
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<Option output="bin" prefix_auto="1" extension_auto="1" />
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<Option object_output="obj/" />
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<Option type="1" />
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<Option compiler="deltatau_gcc" />
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@@ -16,7 +16,7 @@
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</Build>
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<Unit filename="Makefile" />
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<Unit filename="Readme.md" />
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<Unit filename="sampleCode.c">
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<Unit filename="triggerSync.c">
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<Option compilerVar="CC" />
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</Unit>
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<Extensions>
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@@ -32,7 +32,7 @@
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<search_path add="/opt/eldk-4.2/PPMAC_rootfs-7-wheezy/opt/ppmac/rtpmac" />
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<search_path add="/opt/eldk-4.2/ppc_4xxFP/usr/include" />
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<remote_debugging>
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<options conn_type="0" serial_baud="115200" ip_address="MOTTEST-CPPM-CRM0573" ip_port="2000" additional_cmds_before="file sampleCode" />
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<options conn_type="0" serial_baud="115200" ip_address="MOTTEST-CPPM-CRM0573" ip_port="2000" additional_cmds_before="file triggerSync" />
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</remote_debugging>
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</debugger>
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</Extensions>
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@@ -2,12 +2,12 @@
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<CodeBlocks_layout_file>
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<FileVersion major="1" minor="0" />
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<ActiveTarget name="Debug" />
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<File name="Makefile" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
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<File name="Makefile" open="1" top="1" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
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<Cursor>
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<Cursor1 position="687" topLine="3" />
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<Cursor1 position="853" topLine="12" />
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</Cursor>
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</File>
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<File name="sampleCode.c" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
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<File name="triggerSync.c" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
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<Cursor>
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<Cursor1 position="835" topLine="9" />
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</Cursor>
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