The RTAI function rt_task_make_periodic() takes absolute ticks as the start_time argument, however this was being compared to ns in the RTAI emulation layer.
This patch fixes this, and also removes '+ period' as this seems wrong with the way xnpod_set_thread_periodic() works. Patch is against r1717 so it won't apply directly to head, but the same logical bug seems to exist there?
diff --git a/ksrc/skins/rtai/task.c b/ksrc/skins/rtai/task.c index 1f4cd2c..3426aed 100644 --- a/ksrc/skins/rtai/task.c +++ b/ksrc/skins/rtai/task.c @@ -272,7 +272,7 @@ int rt_task_make_periodic(RT_TASK *task, RTIME start_time, RTIME period) goto unlock_and_exit; } - if (start_time + period <= xnpod_ticks2ns(xnpod_get_time())) + if (start_time <= xnpod_get_time()) start_time = XN_INFINITE; err = xnpod_set_thread_periodic(&task->thread_base, start_time, period);
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