1 #include <stdlib.h>

     2 

     3 #include <sys/time.h>

     4 #include <signal.h>

     5 #include <pthread.h> 

     6 

     7 #include "applicfg.h"

     8 #include "can_driver.h"

     9 #include "timer.h"

    10 

    11 pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;

    12 

    13 TIMEVAL last_time_set = TIMEVAL_MAX;

    14 

    15 struct timeval last_sig;

    16 

    17 char stop_timer=0;

    18 

    19 void sig(int val)

    20 {

    21 	signal( SIGALRM, sig);

    22 	gettimeofday(&last_sig,NULL);

    23 //	printf("getCurrentTime() return=%u\n", p.tv_usec);

    24 }

    25 

    26 void initTimer(void)

    27 {

    28 	gettimeofday(&last_sig,NULL);

    29 	signal( SIGALRM, sig);

    30 	stop_timer = 0;

    31 }

    32 

    33 void stopTimer(void)

    34 {

    35 	stop_timer = 1;

    36 	kill(0, SIGALRM);	

    37 }

    38 

    39 void EnterMutex(void)

    40 {

    41 	pthread_mutex_lock(&CanFestival_mutex); 

    42 }

    43 

    44 void LeaveMutex(void)

    45 {

    46 	pthread_mutex_unlock(&CanFestival_mutex);

    47 }

    48 

    49 void TimerLoop(TimerCallback_t init_callback)

    50 {

    51 	initTimer();

    52 	// At first, TimeDispatch will call init_callback.

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

    54 	while (!stop_timer) {

    55 		EnterMutex();

    56 		TimeDispatch();

    57 		LeaveMutex();

    58 		pause();

    59 	}

    60 }

    61 

    62 void ReceiveLoop(void* arg)

    63 {

    64 	canReceiveLoop((CAN_HANDLE)arg);

    65 }

    66 

    67 void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)

    68 {

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

    70 }

    71 

    72 void WaitReceiveTaskEnd(TASK_HANDLE Thread)

    73 {

    74 	pthread_join(Thread, NULL);

    75 }

    76 

    77 #define max(a,b) a>b?a:b

    78 void setTimer(TIMEVAL value)

    79 {

    80 //	printf("setTimer(TIMEVAL value=%d)\n", value);

    81 	struct itimerval timerValues;

    82 	struct itimerval timerV = {{0,0},{0,0}};

    83 	timerValues.it_value.tv_sec = 0;

    84 	timerValues.it_value.tv_usec = max(value,1);

    85 	timerValues.it_interval.tv_sec = 0;

    86 	timerValues.it_interval.tv_usec = 0;

    87 	setitimer(ITIMER_REAL, &timerValues, &timerV);

    88 }

    89 

    90 TIMEVAL getElapsedTime(void)

    91 {

    92 	struct timeval p;

    93 	gettimeofday(&p,NULL);

    94 //	printf("getCurrentTime() return=%u\n", p.tv_usec);

    95 	return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;

    96 }