I have been reading the list for some time now and finally have begun implementation
of RTLinux, so now I have a question.
I am doing servo control with Servo-to-go board which generates an interrupt (irq 5).
I have the interrupt service routine working fine. It executes about 25us after the
interrupt line goes low (pt A to pt B). On a scope it looks something like this:
A
IRQ5 —-------------| |------------------------
| |
|______________|
Digital out B
turned on at |--------------------|
start of isr then | 15us |
off at end —------------------------------------------------| isr
|---------------------------------------
My intent is to use the isr to only collect the encoder and analog input data from the
STG board, not to do any pid or trajectory computations. Those two things I want to
do right after the isr in a PID task but not during the isr. I am assuming it would
be bad form to do so. Since interrupts are disabled the isr should be kept as short as
possible. BTW comments on my assumptions are welcome.
My questoin is this, what is the best way to cause the PID task to execute right after
the isr has completed?
I currently have the PID task initialized in the isr modules init code. This sets it
up and puts it into a wait condition. Then at the end of the isr I issue a
rt_task_wakeup. The PID task executes and at the end of it's code I issue a
rt_task_suspend. The sequence starts all over again the next time the isr runs (1
khz).
Is there a better way to do this? A faster way to do this? I don't want the PID task
running in a periodic fashion, but instead immediately after the isr.
Any help or comments are appreciated
Thanks,
Garth Gaddy
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