Hi,
I mention below a sample code of my project using soem I use the task
function as below.
ret4 = rt_task_create(&Dc_Pll_task, "Dc_time_Pll_task", 0, 99, 0);
void Dc_time_Pll_function()
{
struct timespec ts, tleft;
static int64 integral = 0;
int64 sec, nsec,delta, cycletime=1000000;
clock_gettime(CLOCK_MONOTONIC, &ts);
while(1)
{
previous1 = rt_timer_read(); //read time
input_ek1818 = (Ek1818_data_inputt *)
ec_slave[slave_pos_beck_digitalIO].inputs;//struct
pointers to slave I/O pointers inputs//
output_ek1818 = (Ek1818_data_outputt*) ec_slave[slave_pos_beck_
digitalIO].outputs;
in_EL5101 = (in_EL5101t*) ec_slave[slave_pos_beck_
encoderinterface].inputs;
out_EL5101 = (out_EL5101t*) ec_slave[slave_pos_beck_
encoderinterface].outputs;
nsec = (cycletime + offsettime) % NSEC_PER_SEC;
sec = ((cycletime + offsettime) - nsec) / NSEC_PER_SEC;
ts.tv_sec += sec;
ts.tv_nsec += nsec;
if (ts.tv_nsec >= NSEC_PER_SEC )
{
nsec = ts.tv_nsec % NSEC_PER_SEC;
ts.tv_sec += (ts.tv_nsec - nsec) / NSEC_PER_SEC;
ts.tv_nsec = nsec;
}
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts,
&tleft);
// Loop user code here
if (ec_slave[0].hasdc)
{
//ec_Dctime is the system time synchronised with Ethercat
slave
delta = (ec_DCtime -(cycletime/4)) % cycletime;
if(delta > (cycletime / 2))
{
delta= delta - cycletime;
}
if(delta>0)
{
integral++;
}
if(delta<0)
{
integral--;
}
offsettime = -(delta / 100) - (integral / 20);
}
}
}
and I am using clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts,
&tleft); to wait for a time untill the sleep wakes up this routine
works good,
but when I move a mouse the clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
&ts, &tleft); gets some amount of microsecond added then, and my ethercat
slave loss frame but the slave is synchronised with master.
can anybody solve the problem such that when I move my mouse or keyboard
clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &ts, &tleft); nanosleep
time should not get jumped or time get added to it so that
I dont loss any ethercat frames.
ret4 = rt_task_create(&Dc_Pll_task, "Dc_time_Pll_task", 0, 99, 0);
and the task priority I set is high.
Thank you
R. Ashokkumar
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