[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.26,1.27 rtapi.h,1.21,1.22 rtapi_app.h,1.3,1.4

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv22692/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h rtapi_app.h 
Log Message:
added sleep() functions

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** rtai_rtapi.c	16 Aug 2003 20:08:33 -0000	1.26
--- rtai_rtapi.c	16 Aug 2003 20:29:39 -0000	1.27
***************
*** 127,141 ****
  static int fifo_usage_count = 0;
  static int int_usage_count = 0;
  /* Flag used to keep track of timer state */
  static int timer_running = 0;
! static long int timer_period = 0;
  /* global used for message printing */
  int rtapi_msg_level;
- char *rev_str;  /* version of RTAPI */
- 
  static int msg = 7;		/* short name, for use in insmod command */
  MODULE_PARM(msg, "i");
! MODULE_PARM_DESC(msg, "Verbosity, higher value = more messages (default=7)");
! MODULE_DESCRIPTION("Portable realtime API for RTAI");
  MODULE_AUTHOR("John Kasunich, Fred Proctor, & Paul Corner");
  
--- 127,148 ----
  static int fifo_usage_count = 0;
  static int int_usage_count = 0;
+ 
  /* Flag used to keep track of timer state */
  static int timer_running = 0;
! static unsigned long timer_period = 0;
! #define DEFAULT_MAX_SLEEP 10000
! static unsigned long max_sleep = DEFAULT_MAX_SLEEP;
! 
! /* misc vars */
! static char *rev_str;  /* version of RTAPI */
! 
  /* global used for message printing */
  int rtapi_msg_level;
  static int msg = 7;		/* short name, for use in insmod command */
  MODULE_PARM(msg, "i");
! MODULE_PARM_DESC(msg, "debug message level (default=7)");
! 
! /* other module information */
! MODULE_DESCRIPTION("Portable Real Time API for RTAI");
  MODULE_AUTHOR("John Kasunich, Fred Proctor, & Paul Corner");
  
***************
*** 451,454 ****
--- 458,462 ----
        rt_free_timer();
        timer_period = 0;
+       max_sleep = DEFAULT_MAX_SLEEP;
        timer_running = 0;
      }
***************
*** 511,514 ****
--- 519,524 ----
    int_usage_count = 0;
    timer_running = 0;
+   max_sleep = DEFAULT_MAX_SLEEP;
+   timer_period = 0;
    rt_linux_use_fpu(1);
    /* done */
***************
*** 585,588 ****
--- 595,599 ----
      rt_free_timer();
      timer_period = 0;
+     max_sleep = DEFAULT_MAX_SLEEP;
      timer_running = 0;
    }
***************
*** 647,651 ****
  		  "RTAPI: clock_set_period requested: %d  actual: %d\n",
  		  nsecs, timer_period);
! 
    return timer_period;
  }
--- 658,662 ----
  		  "RTAPI: clock_set_period requested: %d  actual: %d\n",
  		  nsecs, timer_period);
!   max_sleep = timer_period / 4;
    return timer_period;
  }
***************
*** 656,659 ****
--- 667,686 ----
    return rt_get_time_ns();
  }
+ 
+ 
+ void rtapi_sleep(unsigned long int nsec)
+ {
+   if ( nsec > max_sleep ) {
+     nsec = max_sleep;
+   }
+   rt_busy_sleep(nsec);
+ }
+ 
+ 
+ unsigned long int rtapi_sleep_max(void)
+ {
+   return max_sleep;
+ }
+ 
  
  /***********************************************************************

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** rtapi.h	15 Aug 2003 20:45:13 -0000	1.21
--- rtapi.h	16 Aug 2003 20:29:39 -0000	1.22
***************
*** 133,139 ****
  * nothing, but it is monotonically increasing (at least for the first  *
  * 200 years or so), and can be used to schedule future events, or to   *
! * time the duration of some activity.  Returns a 2^63 value.           */
  
  extern long long int rtapi_get_time(void);
  
  
--- 133,153 ----
  * nothing, but it is monotonically increasing (at least for the first  *
  * 200 years or so), and can be used to schedule future events, or to   *
! * time the duration of some activity.  Returns a 2^63 value.  The      *
! * resolution of the returned value may be as good as one nano-second,  *
! * or as poor as several microseconds.                                  */
  
  extern long long int rtapi_get_time(void);
+ 
+ /** rtapi_sleep() is a simple delay.  It is intended only for short    *
+ * delays, since it simply loops, wasting CPU cycles.  'nsec' is the    *
+ * desired delay, in nano-seconds.  'rtapi_sleep_max() returns the max  *
+ * delay permitted (usually approximately 1/4 of the timer period).     *
+ * Any call to 'rtapi_sleep()' requesting a delay longer than the max   *
+ * will delay for the max time only.  'rtapi_sleep_max()' should be     *
+ * called befure using 'rtapi_sleep()' to make sure the required delays *
+ * can be achieved.                                                     */
+ 
+ extern void rtapi_sleep(unsigned long int nsec);
+ extern unsigned long int rtapi_sleep_max(void);
  
  

Index: rtapi_app.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi_app.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rtapi_app.h	16 Aug 2003 20:08:33 -0000	1.3
--- rtapi_app.h	16 Aug 2003 20:29:39 -0000	1.4
***************
*** 14,19 ****
  #define rtapi_app_exit(a) cleanup_module(a)
  
- extern int rtapi_app_init(void);
- extern void rtapi_app_return(void);
- 
  #endif /* RTAPI_APP_H */
--- 14,16 ----