1

#include <stdlib.h>

     2

     3

#include <sys/time.h>

     4

#include <pthread.h> 

     5

#include <signal.h>

     6

     7

#include "applicfg.h"

     8

#include "can_driver.h"

     9

#include "timer.h"

    10

    11

pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;

    12

    13

TASK_HANDLE TimerLoopThread;

    14

    15

TIMEVAL last_time_set = TIMEVAL_MAX;

    16

    17

struct timeval last_sig;

    18

    19

timer_t timer;

    20

    21

void EnterMutex(void)

    22

{

    23

	pthread_mutex_lock(&CanFestival_mutex); 

    24

}

    25

    26

void LeaveMutex(void)

    27

{

    28

	pthread_mutex_unlock(&CanFestival_mutex);

    29

}

    30

    31

void timer_notify(int val)

    32

{

    33

	gettimeofday(&last_sig,NULL);

    34

	EnterMutex();

    35

	TimeDispatch();

    36

	LeaveMutex();

    37

//	printf("getCurrentTime() return=%u\n", p.tv_usec);

    38

}

    39

    40

void initTimer(void)

    41

{

    42

	struct sigevent sigev;

    43

    44

	// Take first absolute time ref.

    45

	gettimeofday(&last_sig,NULL);

    46

    47

	memset (&sigev, 0, sizeof (struct sigevent));

    48

	sigev.sigev_value.sival_int = 0;

    49

	sigev.sigev_notify = SIGEV_THREAD;

    50

	sigev.sigev_notify_attributes = NULL;

    51

	sigev.sigev_notify_function = timer_notify;

    52

    53

	timer_create (CLOCK_REALTIME, &sigev, &timer);

    54

}

    55

    56

void StopTimerLoop(void)

    57

{

    58

	timer_delete (timer);

    59

}

    60

    61

void StartTimerLoop(TimerCallback_t init_callback)

    62

{

    63

	initTimer();

    64

	// At first, TimeDispatch will call init_callback.

    65

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

    66

}

    67

    68

void ReceiveLoop(void* arg)

    69

{

    70

	canReceiveLoop((CAN_HANDLE)arg);

    71

}

    72

    73

void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)

    74

{

    75

	pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);

    76

}

    77

    78

void WaitReceiveTaskEnd(TASK_HANDLE *Thread)

    79

{

    80

	pthread_kill(*Thread, SIGTERM);

    81

	pthread_join(*Thread, NULL);

    82

}

    83

    84

#define maxval(a,b) ((a>b)?a:b)

    85

void setTimer(TIMEVAL value)

    86

{

    87

//	printf("setTimer(TIMEVAL value=%d)\n", value);

    88

	// TIMEVAL is us whereas setitimer wants ns...

    89

	long tv_nsec = 1000 * (maxval(value,1)%1000000);

    90

	time_t tv_sec = value/1000000;

    91

	struct itimerspec timerValues;

    92

	timerValues.it_value.tv_sec = tv_sec;

    93

	timerValues.it_value.tv_nsec = tv_nsec;

    94

	timerValues.it_interval.tv_sec = 0;

    95

	timerValues.it_interval.tv_nsec = 0;

    96

    97

 	timer_settime (timer, 0, &timerValues, NULL);

    98

}

    99

   100

TIMEVAL getElapsedTime(void)

   101

{

   102

	struct timeval p;

   103

	gettimeofday(&p,NULL);

   104

//	printf("getCurrentTime() return=%u\n", p.tv_usec);

   105

	return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;

   106

}