author | etisserant |
Fri, 30 Mar 2007 16:57:45 +0200 | |
changeset 128 | 2d20b4360905 |
parent 47 | 8a1047ab51f4 |
child 145 | e747d2e26af0 |
permissions | -rw-r--r-- |
0 | 1 |
#include <stdlib.h> |
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8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
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#include <unistd.h> |
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
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#include <sys/mman.h> |
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#include <native/task.h> |
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#include <native/timer.h> |
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#include <native/mutex.h> |
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#include <native/alarm.h> |
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#include "applicfg.h" |
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#include "can_driver.h" |
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#include "timer.h" |
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#define TIMERLOOP_TASK_CREATED 1 |
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RT_MUTEX CanFestival_mutex; |
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RT_TASK timerloop_task; |
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RTIME last_time_read; |
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RTIME last_occured_alarm; |
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RTIME last_alarm_set; |
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char stop_timer=0; |
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void cleanup_all(void) |
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{ |
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rt_task_delete(&timerloop_task); |
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} |
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void StopTimerLoop(void) |
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{ |
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stop_timer = 1; |
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rt_task_unblock(&timerloop_task); |
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} |
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void EnterMutex(void) |
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{ |
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rt_mutex_lock(&CanFestival_mutex, TM_INFINITE); |
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} |
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void LeaveMutex(void) |
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{ |
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rt_mutex_unlock(&CanFestival_mutex); |
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} |
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void timerloop_task_proc(void *arg) |
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{ |
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int ret; |
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do{ |
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do{ |
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last_occured_alarm = last_alarm_set; |
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EnterMutex(); |
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TimeDispatch(); |
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LeaveMutex(); |
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while ((ret = rt_task_sleep_until(last_alarm_set)) == -EINTR); |
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}while (ret == 0); |
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}while (!stop_timer); |
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printf("End of TimerLoop, code %d\n",ret); |
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} |
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void StartTimerLoop(TimerCallback_t init_callback) |
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{ |
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int ret; |
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stop_timer = 0; |
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8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
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char taskname[32]; |
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
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snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid()); |
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8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
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mlockall(MCL_CURRENT | MCL_FUTURE); |
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
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//create timerloop_task |
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8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
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ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0); |
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if (ret) { |
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printf("Failed to create timerloop_task, code %d\n",errno); |
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return; |
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} |
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getElapsedTime(); |
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last_alarm_set = last_time_read; |
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last_occured_alarm = last_alarm_set; |
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SetAlarm(NULL, 0, init_callback, 0, 0); |
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// start timerloop_task |
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ret = rt_task_start(&timerloop_task,&timerloop_task_proc,NULL); |
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if (ret) { |
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printf("Failed to start timerloop_task, code %d\n",errno); |
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goto error; |
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} |
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return; |
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error: |
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cleanup_all(); |
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} |
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void ReceiveLoop_task_proc(void* arg) |
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{ |
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canReceiveLoop((CAN_HANDLE)arg); |
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} |
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void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE *ReceiveLoop_task) |
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{ |
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int ret; |
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static int id = 0; |
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47
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
102 |
char taskname[32]; |
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
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snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, getpid()); |
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id++; |
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47
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
106 |
mlockall(MCL_CURRENT | MCL_FUTURE); |
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
107 |
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//create timerloop_task |
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ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0); |
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if (ret) { |
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printf("Failed to create ReceiveLoop_task number %d, code %d\n", id, errno); |
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return; |
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} |
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// start timerloop_task |
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ret = rt_task_start(ReceiveLoop_task,&ReceiveLoop_task_proc,(void*)fd0); |
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if (ret) { |
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printf("Failed to start ReceiveLoop_task number %d, code %d\n", id, errno); |
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return; |
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} |
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} |
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void WaitReceiveTaskEnd(TASK_HANDLE *Thread) |
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{ |
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rt_task_delete(Thread); |
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} |
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void setTimer(TIMEVAL value) |
47
8a1047ab51f4
SOCKET-CAN support added. Many thanks to Jan Kiszka !
etisserant
parents:
35
diff
changeset
|
128 |
{ |
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last_alarm_set = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : last_time_read + value; |
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rt_task_unblock(&timerloop_task); |
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} |
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TIMEVAL getElapsedTime(void) |
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{ |
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last_time_read = rt_timer_ticks2ns(rt_timer_read()); |
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return last_time_read - last_occured_alarm; |
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} |