Hello everybody,
Has anybody successfully tested captured the sync frame on RTAI. I tried to run
the tdma-api.c example on rtai (i modified the code a bit), but when i issue
the
rt_dev_ioctl(fd, RTMAC_RTIOC_WAITONCYCLE_EX, &waitinfo);
it returns the "error code -38". Any idea why is that?
I set the machine to tdma master on rteth0 interface and the sync frame is
transmited.
I sniffed the lan with wireshark and it is there. The code i tested is pasted
below.
Regards
Klemen
---------------------------------------------------------------------
#include <stdlib.h>
#include <stdio.h>
#include <signal.h>
#include <sys/mman.h>
#include <rtnet.h>
#include <rtmac.h>
int fd;
int main(int argc, char *argv[])
{
RT_TASK *task;
struct rtmac_waitinfo waitinfo;
int err;
mlockall(MCL_CURRENT | MCL_FUTURE);
fd = rt_dev_open("TDMA0", O_RDWR);
if (fd < 0) {
fprintf(stderr, "failed to open TDMA0\n");
exit(1);
}
rt_make_hard_real_time();
waitinfo.type = TDMA_WAIT_ON_SYNC;
waitinfo.size = sizeof(waitinfo);
while (1) {
do
{
err = rt_dev_ioctl(fd, RTMAC_RTIOC_WAITONCYCLE_EX, &waitinfo);
if (err) {
fprintf(stderr, "failed to issue RTMAC_RTIOC_WAITONCYCLE_EX, "
"error code %d\n", err);
rt_dev_close(fd);
exit(1);
}
} while (waitinfo.cycle_no%100 != 0);
printf("cycle #%ld, start %.9f s, offset %lld ns\n",
waitinfo.cycle_no,
(waitinfo.cycle_start+waitinfo.clock_offset)/1000000000.0,
(unsigned long long)waitinfo.clock_offset);
}
rt_make_soft_real_time();
rt_dev_close(fd);
return(0);
}
------------------------------------------------------------------------------
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