1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack.

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#include <linux/spinlock.h>

    24

#include <linux/jiffies.h>

    25

#include <linux/timer.h>

    26

#include <linux/errno.h>

    27

    28

#include "timer.h"

    29

#include "applicfg.h"

    30

    31

static spinlock_t lock = SPIN_LOCK_UNLOCKED;

    32

    33

static struct timer_list timer;

    34

    35

static TIMEVAL last_time_read,

    36

	last_occured_alarm,

    37

	last_alarm_set;

    38

    39

void TimerInit(void)

    40

{

    41

	/* only used in realtime apps */

    42

}

    43

    44

void TimerCleanup(void)

    45

{

    46

	/* only used in realtime apps */

    47

}

    48

    49

void EnterMutex(void)

    50

{

    51

	spin_lock (&lock);

    52

}

    53

    54

void LeaveMutex(void)

    55

{

    56

	spin_unlock (&lock);

    57

}

    58

    59

void timer_notify(unsigned long data)

    60

{

    61

	last_occured_alarm = last_alarm_set;

    62

    63

	EnterMutex();

    64

	TimeDispatch();

    65

	LeaveMutex();

    66

}

    67

    68

void StartTimerLoop(TimerCallback_t init_callback)

    69

{

    70

	getElapsedTime();

    71

	last_alarm_set = last_time_read;

    72

	last_occured_alarm = last_alarm_set;

    73

    74

	init_timer(&timer);

    75

	timer.function = timer_notify;

    76

    77

	EnterMutex();

    78

	// At first, TimeDispatch will call init_callback.

    79

	SetAlarm(NULL, 0, init_callback, 0, 0);

    80

	LeaveMutex();

    81

}

    82

    83

void StopTimerLoop(TimerCallback_t exitfunction)

    84

{

    85

	EnterMutex();

    86

	del_timer (&timer);

    87

	exitfunction(NULL,0);

    88

	LeaveMutex();

    89

}

    90

    91

void setTimer(TIMEVAL value)

    92

{

    93

	if (value == TIMEVAL_MAX)

    94

		return;

    95

    96

	last_alarm_set = last_time_read + value;

    97

	mod_timer (&timer, last_alarm_set);

    98

}

    99

   100

TIMEVAL getElapsedTime(void)

   101

{

   102

	last_time_read = jiffies;

   103

   104

	return (long)last_time_read - (long)last_occured_alarm;

   105

}

   106

   107

void CreateReceiveTask(CAN_PORT port, TASK_HANDLE *Thread, void* ReceiveLoopPtr)

   108

{

   109

	*Thread = kthread_run(ReceiveLoopPtr, port, "canReceiveLoop");

   110

}

   111

   112

void WaitReceiveTaskEnd(TASK_HANDLE *Thread)

   113

{

   114

        /* join thread here because force_sig() does not work */

   115

	while((*Thread)->state <= 0)

   116

	{

   117

	  ; /* >0 means stopped */

   118

	}

   119

}