drivers/timers_rtai/timers_rtai.c
author greg
Wed, 16 Sep 2009 15:16:19 +0200
changeset 588 ee181b4f177b
parent 468 787a54d068d6
child 801 32d146b64a35
permissions -rwxr-xr-x
Replace macro functions for setODentry and getODentry
(prevent compilation errors with visual studio c++ compiler)
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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 <sys/poll.h>
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#include <rtai_lxrt.h>
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#include <rtai_sem.h>
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#include <pthread.h>
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#include <errno.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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SEM *CanFestival_mutex;
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SEM *condition_mutex;
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SEM *control_task; 
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CND *timer_set;
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// realtime task structures
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RT_TASK *timerloop_task;
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RT_TASK *Main_Task;
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// linux threads id's
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static pthread_t timerloop_thr;
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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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void TimerInit(void)
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{
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    /* Init Main Task */
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    if (!(Main_Task = rt_thread_init(rt_get_name(0), 0, 0, SCHED_FIFO, 1))) {
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            printf("CANNOT INIT MAIN TASK\n");
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            exit(1);
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    }
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  	/* Init Mutex */
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	CanFestival_mutex = rt_sem_init(rt_get_name(0), 1);
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	condition_mutex = rt_typed_sem_init(rt_get_name(0), 1, RES_SEM);
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	timer_set = rt_cond_init(rt_get_name(0));
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	control_task = rt_sem_init(rt_get_name(0), 0);
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	/* Set timer mode and start timer */
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	rt_set_oneshot_mode();
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	start_rt_timer(0);
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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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/**
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 * Clean all Semaphores and main task
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 */
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void TimerCleanup(void)
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{
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	/* Stop timer */
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	stop_rt_timer();
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	/* Delete all mutex and the main task */
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	rt_sem_delete(CanFestival_mutex);
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	rt_sem_delete(condition_mutex);
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	rt_sem_delete(timer_set);
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	rt_sem_delete(control_task);
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	rt_thread_delete(Main_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_wait(CanFestival_mutex);
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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_signal(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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  	// lock process in to RAM
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  	mlockall(MCL_CURRENT | MCL_FUTURE);
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	timerloop_task = rt_thread_init(rt_get_name(0), 0, 0, SCHED_FIFO, 1);
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	rt_make_hard_real_time();
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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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	do{
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		RTIME real_alarm;
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		rt_sem_wait(condition_mutex);
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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);		/* Then sleep until next message*/
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			rt_sem_signal(condition_mutex);
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		}else{
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			real_alarm = last_time_read + last_timeout_set;
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			ret = rt_cond_wait_until(
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				timer_set,
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				condition_mutex,
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				real_alarm); /* Else, sleep until next deadline */
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			if(ret == SEM_TIMOUT){
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				last_occured_alarm = real_alarm;
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				rt_sem_signal(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_sem_signal(condition_mutex);
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			}
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		}
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	}while ( ret != SEM_ERR && !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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	rt_make_soft_real_time();
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	rt_thread_delete(timerloop_task);
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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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	stop_timer = 0;	
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	init_callback = _init_callback;
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	/* start timerloop_task ( do nothing and get blocked ) */
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	timerloop_thr = rt_thread_create(timerloop_task_proc, NULL, 0);
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}
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/* We assume that ReceiveLoop_task_proc is always the same */
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static void (*rtai_ReceiveLoop_task_proc)(CAN_PORT) = NULL;
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/**
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 * Enter in realtime and start the CAN receiver loop
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 * @param port
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 */
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void rtai_canReceiveLoop(CAN_PORT port)
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{
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	RT_TASK *current_task;
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	mlockall(MCL_CURRENT | MCL_FUTURE);
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	current_task = rt_thread_init(rt_get_name(0), 0, 0, SCHED_FIFO, 1);
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	rt_make_hard_real_time();
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	rt_sem_signal(control_task);
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	/* Call original receive loop with port struct as a param */
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	rtai_ReceiveLoop_task_proc(port);
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	rt_make_soft_real_time();
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	rt_thread_delete(current_task);
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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_thread CAN receiver thread
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 * @param *ReceiveLoop_task_proc CAN receiver task
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 */
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void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_thread, void* ReceiveLoop_task_proc)
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{	
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	rtai_ReceiveLoop_task_proc = ReceiveLoop_task_proc;
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	*ReceiveLoop_thread = rt_thread_create(rtai_canReceiveLoop, (void*)fd0, 0); 
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	rt_sem_wait(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_thread CAN receiver thread
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 */
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void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_thread)
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{
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	rt_thread_join(*ReceiveLoop_thread);
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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_sem_wait(condition_mutex);
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	last_timeout_set = value;
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	rt_sem_signal(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_sem_wait(condition_mutex);
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	last_time_read = rt_get_time();
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	res = last_time_read - last_occured_alarm;
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	rt_sem_signal(condition_mutex);
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	return res;
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}