drivers/timers_xeno/timers_xeno.c
author Laurent Bessard
Wed, 24 Apr 2013 17:28:06 +0200
changeset 781 77fe158d6ccd
parent 468 787a54d068d6
child 797 12340b4ea907
permissions -rw-r--r--
Fixed Save As... function in Beremiz
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#include <stdlib.h>
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#include <unistd.h>
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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/sem.h>
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#include <native/mutex.h>
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#include <native/cond.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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TimerCallback_t exitall;
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RT_MUTEX condition_mutex;
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RT_SEM CanFestival_mutex;
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RT_SEM control_task; 
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RT_COND timer_set;	
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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_timeout_set;
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int stop_timer = 0;
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/**
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 * Init Mutex, Semaphores and Condition variable
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 */
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void TimerInit(void)
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{
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  	int ret = 0;
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  	char taskname[32];
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	// lock process in to RAM
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  	mlockall(MCL_CURRENT | MCL_FUTURE);
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  	snprintf(taskname, sizeof(taskname), "S1-%d", getpid());
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	rt_sem_create(&CanFestival_mutex, taskname, 1, S_FIFO);
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  	snprintf(taskname, sizeof(taskname), "S2-%d", getpid());
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  	rt_sem_create(&control_task, taskname, 0, S_FIFO);
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  	snprintf(taskname, sizeof(taskname), "M1-%d", getpid());
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  	rt_mutex_create(&condition_mutex, taskname);
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  	snprintf(taskname, sizeof(taskname), "C1-%d", getpid());
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  	rt_cond_create(&timer_set, taskname);
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}
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/**
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 * Stop Timer Task
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 * @param exitfunction
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 */
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void StopTimerLoop(TimerCallback_t exitfunction)
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{
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	exitall = exitfunction;
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	stop_timer = 1;
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	rt_cond_signal(&timer_set);
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}
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void cleanup_all(void)
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{
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	if (rt_task_join(&timerloop_task) != 0){
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		printf("Failed to join with Timerloop task\n");
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	}
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	rt_task_delete(&timerloop_task);
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}
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/**
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 * Clean all Semaphores, mutex, condition variable and main task
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 */
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void TimerCleanup(void)
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{
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	rt_sem_delete(&CanFestival_mutex);
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	rt_mutex_delete(&condition_mutex);
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	rt_cond_delete(&timer_set);
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	rt_sem_delete(&control_task);
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	if (rt_task_join(&timerloop_task) != 0){
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		printf("Failed to join with Timerloop task\n");
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	}
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	rt_task_delete(&timerloop_task);
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}
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/**
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 * Take a semaphore
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 */
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void EnterMutex(void)
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{
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	rt_sem_p(&CanFestival_mutex, TM_INFINITE);
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}
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/**
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 * Signaling a semaphore
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 */
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void LeaveMutex(void)
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{
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	rt_sem_v(&CanFestival_mutex);
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}
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static TimerCallback_t init_callback;
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/**
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 * Timer Task
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 */
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void timerloop_task_proc(void *arg)
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{
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	int ret = 0;
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	getElapsedTime();
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	last_timeout_set = 0;
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	last_occured_alarm = last_time_read;
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	/* trigger first alarm */
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	SetAlarm(NULL, 0, init_callback, 0, 0);
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	RTIME current_time;
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	RTIME real_alarm;
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	do{
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		rt_mutex_acquire(&condition_mutex, TM_INFINITE);
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		if(last_timeout_set == TIMEVAL_MAX)
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		{
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			ret = rt_cond_wait(
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				&timer_set,
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				&condition_mutex,
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				TM_INFINITE
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				);		/* Then sleep until next message*/
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			rt_mutex_release(&condition_mutex);
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		}else{
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			current_time = rt_timer_read();
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			real_alarm = last_time_read + last_timeout_set;
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			ret = rt_cond_wait( /* sleep until next deadline */
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				&timer_set,
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				&condition_mutex,
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				(real_alarm - current_time)); /* else alarm consider expired */   
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			if(ret == -ETIMEDOUT){
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				last_occured_alarm = real_alarm;
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				rt_mutex_release(&condition_mutex);
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				EnterMutex();
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				TimeDispatch();
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				LeaveMutex();
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			}else{ 
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				rt_mutex_release(&condition_mutex);
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			}
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		}
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	}while ((ret == 0 || ret == -EINTR || ret == -ETIMEDOUT) && !stop_timer);
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	if(exitall){
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		EnterMutex();
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		exitall(NULL,0);
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		LeaveMutex();
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	}
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}
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/**
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 * Create the Timer Task
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 * @param _init_callback
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 */
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void StartTimerLoop(TimerCallback_t _init_callback)
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{
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	int ret = 0;
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	stop_timer = 0;	
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	init_callback = _init_callback;
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	char taskname[32];
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	snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid());
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	/* create timerloop_task */
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	ret = rt_task_create(&timerloop_task, taskname, 0, 50, T_JOINABLE);
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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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	/* 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 %u\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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/**
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 * Create the CAN Receiver Task
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 * @param fd0 CAN port
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 * @param *ReceiveLoop_task CAN receiver task
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 * @param *ReceiveLoop_task_proc CAN receiver function
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 */
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void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
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{	
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	int ret;
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	static int id = 0;
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	char taskname[32];
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	snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, getpid());
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	id++;
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	/* create ReceiveLoop_task */
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	ret = rt_task_create(ReceiveLoop_task,taskname,0,50,T_JOINABLE);
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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 ReceiveLoop_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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	rt_sem_v(&control_task);
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}
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/**
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 * Wait for the CAN Receiver Task end
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 * @param *ReceiveLoop_task CAN receiver thread
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 */
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void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)
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{
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	if (rt_task_join(ReceiveLoop_task) != 0){
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		printf("Failed to join with Receive task\n");
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	}
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	rt_task_delete(ReceiveLoop_task);
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}
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/**
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 * Set timer for the next wakeup
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 * @param value
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 */
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void setTimer(TIMEVAL value)
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{
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	rt_mutex_acquire(&condition_mutex, TM_INFINITE);
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	last_timeout_set = value;
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	rt_mutex_release(&condition_mutex);
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	rt_cond_signal(&timer_set);
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}
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/**
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 * Get the elapsed time since the last alarm
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 * @return a time in nanoseconds
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 */
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TIMEVAL getElapsedTime(void)
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{
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	RTIME res;
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	rt_mutex_acquire(&condition_mutex, TM_INFINITE);
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	last_time_read = rt_timer_read();
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	res = last_time_read - last_occured_alarm;
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	rt_mutex_release(&condition_mutex);
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	return res;
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}