>>>> retval = rtdm_task_init(&pwm_task[i], // there is currently only one >>>> element in this array >>>> "pwm-task", >>>> pwm_task_proc, >>>> 0, >>>> RTDM_TASK_HIGHEST_PRIORITY, >>>> 20000000); // 20ms period >>> >>> Do not use a thread, use a timer. >> >> So you mean instead of starting periodic task with rtdm_task_init() it >> is better use timer functions to trigger pin toggling piece of code? >> Could you please elaborate on it a little? I thought that >> rtdm_task_sleep() and rtdm_task_wait_period() are using timers >> internally to wake up the thread at the right moment. Is not they? > > Yes, but once the timer is woken up, a context switch is needed to wake > up the thread, this adds time.
I see... Nevertheless, I am surprised that context switch is so expensive. > The other alternative I describe in my last mail, that is, using a > dedicated hardware timer with its own irq handler, is a bit more of a > workaround, but still not uncommon in the RTOS world. Well, if nothing else would help, I'll try this way :-) . Thank you! Andrey. _______________________________________________ Xenomai-help mailing list Xenomaifirstname.lastname@example.org https://mail.gna.org/listinfo/xenomai-help