drivers/timers_xeno/timers_xeno.c
author lbessard
Wed, 10 Jan 2007 17:42:34 +0100
changeset 64 c72dd78e547f
parent 47 8a1047ab51f4
child 145 e747d2e26af0
permissions -rw-r--r--
Bug reported by Dean corrected
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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/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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	char taskname[32];
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	snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid());
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	mlockall(MCL_CURRENT | MCL_FUTURE);
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	//create timerloop_task
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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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	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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	mlockall(MCL_CURRENT | MCL_FUTURE);
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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)
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{
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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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}