35 void TimerInit(void)

    35 void TimerInit(void)

    36 {

    36 {

    37   	int ret = 0;

    37   	int ret = 0;

    38   	char taskname[32];

    38   	char taskname[32];

    39 

    39 

    40   	mlockall(MCL_CURRENT | MCL_FUTURE);

    41   	mlockall(MCL_CURRENT | MCL_FUTURE);

    41 

    42 

    42   	snprintf(taskname, sizeof(taskname), "S1-%d", getpid());

    43   	snprintf(taskname, sizeof(taskname), "S1-%d", getpid());

    43 	rt_sem_create(&CanFestival_mutex, taskname, 1, S_FIFO);

    44 	rt_sem_create(&CanFestival_mutex, taskname, 1, S_FIFO);

    44 

    45 

    75 {

    76 {

    76 	rt_sem_delete(&CanFestival_mutex);

    77 	rt_sem_delete(&CanFestival_mutex);

    77 	rt_mutex_delete(&condition_mutex);

    78 	rt_mutex_delete(&condition_mutex);

    78 	rt_cond_delete(&timer_set);

    79 	rt_cond_delete(&timer_set);

    79 	rt_sem_delete(&control_task);

    80 	rt_sem_delete(&control_task);

    80 }

    82 }

    81 

    83 

    82 /**

    84 /**

    83  * Take a semaphore

    85  * Take a semaphore

    84  */

    86  */

   101  * Timer Task

   103  * Timer Task

   102  */

   104  */

   103 void timerloop_task_proc(void *arg)

   105 void timerloop_task_proc(void *arg)

   104 {

   106 {

   105 	int ret = 0;

   107 	int ret = 0;

   108 

   108 

   109 	getElapsedTime();

   109 	getElapsedTime();

   110 	last_timeout_set = 0;

   110 	last_timeout_set = 0;

   111 	last_occured_alarm = last_time_read;

   111 	last_occured_alarm = last_time_read;

   112 	

   112 	

   147 	if(exitall){

   147 	if(exitall){

   148 		EnterMutex();

   148 		EnterMutex();

   149 		exitall(NULL,0);

   149 		exitall(NULL,0);

   150 		LeaveMutex();

   150 		LeaveMutex();

   151 	}

   151 	}

   154 }

   152 }

   155 

   153 

   156 /**

   154 /**

   157  * Create the Timer Task

   155  * Create the Timer Task

   158  * @param _init_callback

   156  * @param _init_callback