> void cyclicloop(void *arg)
> {
> RTIME now, previous;
>
> /*
> * Arguments: &task (NULL=self),
> * start time,
> * period (here: 1 ms=1000000)
> */
> rt_task_set_periodic(NULL, TM_NOW, TASK_PERIOD);
> previous = rt_timer_read();
>
> while (!TasksHalt) {
> rt_task_wait_period(NULL);
> now = rt_timer_read();
> //Read inputs here
> atm60_configure(can_device);
What does this function do?
steps through the initialisation phase and then ends up just calling
the read function. I could have just as well replaced it with the read
function for the example here. can_device="rtcan2".
Roland
> //Set analog output here
> //Do controller calculations here
>
>
>
>
> //Get time period
> double TimeVarTemp=(double)(now - previous);
> Task1Period=TimeVarTemp/ 1000000;
> //printf("Time since last turn: %f ms\n",Task1Period);
> previous = now;
>
> /*
> * NOTE: printf may have unexpected impact on the timing of
> * your program. It is used here in the critical loop
> * only for demonstration purposes.
> */
>
> }
> }//cyclicloop
--
Sebastian
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