Hello, I have wrote a program according to Igh user examples and it run well
now in controlling my servo motor.
I tried to get time spent of the cyclic_task() function and found it would be
more than 40 us for several times while
others are almost less than 30 us. In the cyclic_task() function, there are
just some domain receive and send work.
Does these long times are occurred because of the AL state was changing before
the servo run into op state?
Below are my get time code to find the maximum time the cyclic_task() function
will cost in loop while：
pause();
struct timeval t1,t2;
uint32_t delta1;
static uint32_t delta2=0;
gettimeofday(&t1, NULL);
printf("%u.%06u cyclic start\n", t1.tv_sec, t1.tv_usec);
cyclic_task();
gettimeofday(&t2, NULL);
printf("%u.%06u cyclic end\n", t2.tv_sec, t2.tv_usec);
delta1 = (t2.tv_sec - t1.tv_sec)*1000000 + (t2.tv_usec-t1.tv_usec);
if(delta2 < delta1)
{
delta2 = delta1;
printf("delta2 %d\n", delta2);
}
The output results were a lot, but like this:
test1:
Configuring PDOs...
Activating master...
Starting timer...
Started.
1458617764.700566 cyclic start
1458617764.700588 cyclic end
delta2 22
...
1458617764.714150 cyclic start
1458617764.714155 cyclic end
1458617764.714251 cyclic start
1458617764.714294 cyclic end
delta2 43
1458617764.714351 cyclic start
1458617764.714357 cyclic end
...
1458617764.720957 cyclic start
1458617764.720972 cyclic end
1458617764.721057 cyclic start
1458617764.721106 cyclic end
delta2 49
1458617764.721158 cyclic start
1458617764.721170 cyclic end
1458617764.721256 cyclic start
1458617764.721267 cyclic end
1458617764.721357 cyclic start
1458617764.721371 cyclic end
...
test2:
Configuring PDOs...
Activating master...
Starting timer...
Started.
1458618364.657068 cyclic start
1458618364.657090 cyclic end
delta2 22
1458618364.657146 cyclic start
1458618364.657153 cyclic end
...
1458618364.677251 cyclic start
1458618364.677262 cyclic end
1458618364.677351 cyclic start
1458618364.677399 cyclic end
delta2 48
1458618364.677462 cyclic start
1458618364.677474 cyclic end
...
1458618364.704543 cyclic start
1458618364.704548 cyclic end
1458618364.704643 cyclic start
1458618364.704713 cyclic end
delta2 70
1458618364.704747 cyclic start
1458618364.704752 cyclic end
1458618364.704843 cyclic start
1458618364.704849 cyclic end
...
Thanks for attention!
--
-------------------end---------------------
--Yin(^-^)
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