267 lines
6.9 KiB
C++
267 lines
6.9 KiB
C++
#include <errno.h>
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#include <signal.h>
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#include <stdio.h>
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#include <string.h>
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#include <sys/resource.h>
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#include <sys/time.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <time.h> /* clock_gettime() */
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#include <sys/mman.h> /* mlockall() */
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#include <sched.h> /* sched_setscheduler() */
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/****************************************************************************/
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#include "ecrt.h"
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/****************************************************************************/
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/** Task period in ns. */
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#define PERIOD_NS (1000000)
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#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is
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guranteed safe to access without
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faulting */
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/****************************************************************************/
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/* Constants */
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#define NSEC_PER_SEC (1000000000)
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#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)
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/****************************************************************************/
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// EtherCAT
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static ec_master_t *master = NULL;
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static ec_master_state_t master_state = {};
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static ec_domain_t *domain1 = NULL;
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static ec_domain_state_t domain1_state = {};
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/****************************************************************************/
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// process data
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static uint8_t *domain1_pd = NULL;
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#define BusCouplerPos 0, 1
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#define DigOutSlavePos 0, 2
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#define Beckhoff_EK1100 0x00000002, 0x044c2c52
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#define Beckhoff_EL2008 0x00000002, 0x07d83052
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// offsets for PDO entries
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static unsigned int off_dig_out;
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const static ec_pdo_entry_reg_t domain1_regs[] = {
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{DigOutSlavePos, Beckhoff_EL2008, 0x7000, 1, &off_dig_out},
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{}
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};
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static unsigned int counter = 0;
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static unsigned int blink = 0;
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/*****************************************************************************/
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// Digital out ------------------------
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static ec_pdo_entry_info_t el2008_pdo_entries[] = {
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{0x7000, 0x01, 1}, /* Output */
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{0x7010, 0x01, 1}, /* Output */
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{0x7020, 0x01, 1}, /* Output */
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{0x7030, 0x01, 1}, /* Output */
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{0x7040, 0x01, 1}, /* Output */
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{0x7050, 0x01, 1}, /* Output */
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{0x7060, 0x01, 1}, /* Output */
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{0x7070, 0x01, 1}, /* Output */
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};
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static ec_pdo_info_t el2008_pdos[] = {
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{0x1600, 1, el2008_pdo_entries + 0}, /* Channel 1 */
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{0x1601, 1, el2008_pdo_entries + 1}, /* Channel 2 */
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{0x1602, 1, el2008_pdo_entries + 2}, /* Channel 3 */
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{0x1603, 1, el2008_pdo_entries + 3}, /* Channel 4 */
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{0x1604, 1, el2008_pdo_entries + 4}, /* Channel 5 */
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{0x1605, 1, el2008_pdo_entries + 5}, /* Channel 6 */
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{0x1606, 1, el2008_pdo_entries + 6}, /* Channel 7 */
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{0x1607, 1, el2008_pdo_entries + 7}, /* Channel 8 */
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};
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static ec_sync_info_t el2008_syncs[] = {
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{0, EC_DIR_OUTPUT, 8, el2008_pdos + 0, EC_WD_ENABLE},
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{0xff}
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};
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/*****************************************************************************/
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void check_domain1_state(void)
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{
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ec_domain_state_t ds;
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ecrt_domain_state(domain1, &ds);
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if (ds.working_counter != domain1_state.working_counter) {
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printf("Domain1: WC %u.\n", ds.working_counter);
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}
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if (ds.wc_state != domain1_state.wc_state) {
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printf("Domain1: State %u.\n", ds.wc_state);
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}
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domain1_state = ds;
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}
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/*****************************************************************************/
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void check_master_state(void)
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{
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ec_master_state_t ms;
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ecrt_master_state(master, &ms);
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if (ms.slaves_responding != master_state.slaves_responding) {
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printf("%u slave(s).\n", ms.slaves_responding);
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}
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if (ms.al_states != master_state.al_states) {
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printf("AL states: 0x%02X.\n", ms.al_states);
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}
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if (ms.link_up != master_state.link_up) {
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printf("Link is %s.\n", ms.link_up ? "up" : "down");
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}
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master_state = ms;
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}
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/*****************************************************************************/
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void cyclic_task()
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{
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// receive process data
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ecrt_master_receive(master);
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ecrt_domain_process(domain1);
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// check process data state
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check_domain1_state();
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if (counter) {
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counter--;
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} else { // do this at 1 Hz
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counter = FREQUENCY;
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// calculate new process data
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blink = !blink;
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// check for master state (optional)
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check_master_state();
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}
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// write process data
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EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);
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// send process data
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ecrt_domain_queue(domain1);
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ecrt_master_send(master);
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}
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/****************************************************************************/
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void stack_prefault(void)
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{
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unsigned char dummy[MAX_SAFE_STACK];
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memset(dummy, 0, MAX_SAFE_STACK);
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}
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/****************************************************************************/
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//int main(int argc, char **argv)
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int main_loop()
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{
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ec_slave_config_t *sc;
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struct timespec wakeup_time;
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int ret = 0;
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master = ecrt_request_master(0);
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if (!master) {
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return -1;
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}
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domain1 = ecrt_master_create_domain(master);
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if (!domain1) {
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return -1;
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}
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if (!(sc = ecrt_master_slave_config(
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master, DigOutSlavePos, Beckhoff_EL2008))) {
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fprintf(stderr, "Failed to get slave configuration.\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(sc, EC_END, el2008_syncs)) {
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fprintf(stderr, "Failed to configure PDOs.\n");
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return -1;
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}
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// Create configuration for bus coupler
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sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
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if (!sc) {
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return -1;
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}
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if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
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fprintf(stderr, "PDO entry registration failed!\n");
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return -1;
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}
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printf("Activating master...\n");
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if (ecrt_master_activate(master)) {
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return -1;
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}
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if (!(domain1_pd = ecrt_domain_data(domain1))) {
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return -1;
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}
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/* Set priority */
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struct sched_param param = {};
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param.sched_priority = sched_get_priority_max(SCHED_FIFO);
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printf("Using priority %i.", param.sched_priority);
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if (sched_setscheduler(0, SCHED_FIFO, ¶m) == -1) {
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perror("sched_setscheduler failed");
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}
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/* Lock memory */
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if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
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fprintf(stderr, "Warning: Failed to lock memory: %s\n",
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strerror(errno));
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}
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stack_prefault();
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printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);
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clock_gettime(CLOCK_MONOTONIC, &wakeup_time);
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wakeup_time.tv_sec += 1; /* start in future */
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wakeup_time.tv_nsec = 0;
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while (1) {
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ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,
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&wakeup_time, NULL);
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if (ret) {
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fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));
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break;
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}
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cyclic_task();
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wakeup_time.tv_nsec += PERIOD_NS;
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while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {
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wakeup_time.tv_nsec -= NSEC_PER_SEC;
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wakeup_time.tv_sec++;
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}
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}
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return ret;
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}
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