62 	exitall = exitfunction;

    62 	exitall = exitfunction;

    63 	stop_timer = 1;

    63 	stop_timer = 1;

    64 	rt_cond_signal(&timer_set);

    64 	rt_cond_signal(&timer_set);

    65 }

    65 }

    66 

    66 

    74 

    67 

    75 /**

    68 /**

    76  * Clean all Semaphores, mutex, condition variable and main task

    69  * Clean all Semaphores, mutex, condition variable and main task

    77  */

    70  */

    78 void TimerCleanup(void)

    71 void TimerCleanup(void)

    79 {

    72 {

    80 	rt_sem_delete(&CanFestival_mutex);

    73 	rt_sem_delete(&CanFestival_mutex);

    81 	rt_mutex_delete(&condition_mutex);

    74 	rt_mutex_delete(&condition_mutex);

    82 	rt_cond_delete(&timer_set);

    75 	rt_cond_delete(&timer_set);

    83 	rt_sem_delete(&control_task);

    76 	rt_sem_delete(&control_task);

    84 	if (rt_task_join(&timerloop_task) != 0){

    78 	if (rt_task_join(&timerloop_task) != 0){

    85 		printf("Failed to join with Timerloop task\n");

    79 		printf("Failed to join with Timerloop task\n");

    86 	}

    80 	}

    87 	rt_task_delete(&timerloop_task);

    81 	rt_task_delete(&timerloop_task);

    88 }

    82 }

   185 	}

   179 	}

   186 	

   180 	

   187 	return;

   181 	return;

   188 	

   182 	

   189 error:

   183 error:

   191 }

   185 }

   192 

   186 

   193 /**

   187 /**

   194  * Create the CAN Receiver Task

   188  * Create the CAN Receiver Task

   195  * @param fd0 CAN port

   189  * @param fd0 CAN port

   223  * Wait for the CAN Receiver Task end

   217  * Wait for the CAN Receiver Task end

   224  * @param *ReceiveLoop_task CAN receiver thread

   218  * @param *ReceiveLoop_task CAN receiver thread

   225  */

   219  */

   226 void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)

   220 void WaitReceiveTaskEnd(TASK_HANDLE *ReceiveLoop_task)

   227 {

   221 {

   228 	if (rt_task_join(ReceiveLoop_task) != 0){

   223 	if (rt_task_join(ReceiveLoop_task) != 0){

   229 		printf("Failed to join with Receive task\n");

   224 		printf("Failed to join with Receive task\n");

   230 	}

   225 	}

   231 	rt_task_delete(ReceiveLoop_task);

   226 	rt_task_delete(ReceiveLoop_task);

   232 }

   227 }