drivers/timers_unix/timers_unix.c
author greg
Tue, 19 Feb 2008 14:53:59 +0100
changeset 403 57d5da3b6228
parent 401 2c90876b9751
child 454 bc000083297a
permissions -rw-r--r--
add changes in configure to force xeno --library-dir
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#include <stdlib.h>
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#include <sys/time.h>
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#include <pthread.h> 
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#include <signal.h>
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#include "applicfg.h"
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#include "timer.h"
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pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
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TASK_HANDLE TimerLoopThread;
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TIMEVAL last_time_set = TIMEVAL_MAX;
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struct timeval last_sig;
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timer_t timer;
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void EnterMutex(void)
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{
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	pthread_mutex_lock(&CanFestival_mutex); 
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}
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void LeaveMutex(void)
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{
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	pthread_mutex_unlock(&CanFestival_mutex);
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}
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void timer_notify(sigval_t val)
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{
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	gettimeofday(&last_sig,NULL);
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	EnterMutex();
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	TimeDispatch();
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	LeaveMutex();
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//	printf("getCurrentTime() return=%u\n", p.tv_usec);
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}
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void initTimer(void)
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{
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	struct sigevent sigev;
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	// Take first absolute time ref.
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	gettimeofday(&last_sig,NULL);
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	memset (&sigev, 0, sizeof (struct sigevent));
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	sigev.sigev_value.sival_int = 0;
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	sigev.sigev_notify = SIGEV_THREAD;
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	sigev.sigev_notify_attributes = NULL;
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	sigev.sigev_notify_function = timer_notify;
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	timer_create (CLOCK_REALTIME, &sigev, &timer);
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}
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void StopTimerLoop(void)
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{
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	EnterMutex();
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	timer_delete (timer);
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	LeaveMutex();
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}
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void StartTimerLoop(TimerCallback_t init_callback)
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{
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	initTimer();
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	EnterMutex();
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	// At first, TimeDispatch will call init_callback.
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	SetAlarm(NULL, 0, init_callback, 0, 0);
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	LeaveMutex();
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}
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void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
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{
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	pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port);
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}
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void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
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{
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	pthread_kill(*Thread, SIGTERM);
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	pthread_join(*Thread, NULL);
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}
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#define maxval(a,b) ((a>b)?a:b)
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void setTimer(TIMEVAL value)
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{
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//	printf("setTimer(TIMEVAL value=%d)\n", value);
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	// TIMEVAL is us whereas setitimer wants ns...
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	long tv_nsec = 1000 * (maxval(value,1)%1000000);
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	time_t tv_sec = value/1000000;
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	struct itimerspec timerValues;
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	timerValues.it_value.tv_sec = tv_sec;
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	timerValues.it_value.tv_nsec = tv_nsec;
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	timerValues.it_interval.tv_sec = 0;
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	timerValues.it_interval.tv_nsec = 0;
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 	timer_settime (timer, 0, &timerValues, NULL);
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}
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TIMEVAL getElapsedTime(void)
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{
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	struct timeval p;
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	gettimeofday(&p,NULL);
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//	printf("getCurrentTime() return=%u\n", p.tv_usec);
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	return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;
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}