HI, Jan :) i finish to write code with rtnet to controll my robot.....:) i'm trying to understand the reason because of my modules can't recive and sendback a packet less then 6 ms.The pc is a
What do you mean with it? Is the round-trip time at least 6 ms, or does your box crash when you send packages more frequent than once per 6 ms?
p3 katmai 450 and the robot is controlled by a rtai modules which is
interfaced with my rtnet modules. I use some function exported with
export_symbol and a binary semaphore to syncronize 2 modules but the
robot modules run periodically every 1 ms, my modules can't go down
less 6ms. The robot have a interupt handler and an rt_task that count
irq and my modules have another task that verify if the
communication is down. what do u think? the last version of my code
is very short, i have about 10 instruction and 4 if could be the pc
that can't execute everything? how can i see the cpu occupation?
Mmh, I heard that RTAI has some new load detection feature now, but I don't know any details. Other solution: run a lowest prio rt-task with known bounded execution time (some large loops e.g.). By measuring the extra time this task requires while your rt-application and RTnet is running you can calculate the actual load.
Jan
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