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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 "can_driver.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(int 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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	timer_delete (timer);

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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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	// At first, TimeDispatch will call init_callback.

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

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}

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void ReceiveLoop(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* Thread)

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{

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

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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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}