52 	timer_create (CLOCK_REALTIME, &sigev, &timer);

    52 	timer_create (CLOCK_REALTIME, &sigev, &timer);

    53 }

    53 }

    54 

    54 

    55 void StopTimerLoop(void)

    55 void StopTimerLoop(void)

    56 {

    56 {

    57 	timer_delete (timer);

    58 	timer_delete (timer);

    58 }

    60 }

    59 

    61 

    60 void StartTimerLoop(TimerCallback_t init_callback)

    62 void StartTimerLoop(TimerCallback_t init_callback)

    61 {

    63 {

    62 	initTimer();

    64 	initTimer();

    63 	// At first, TimeDispatch will call init_callback.

    66 	// At first, TimeDispatch will call init_callback.

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

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

    65 }

    69 }

    66 

    70 

    67 void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)

    71 void CreateReceiveTask(CAN_PORT port, TASK_HANDLE* Thread, void* ReceiveLoopPtr)

    68 {

    72 {

    69 	pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port);

    73 	pthread_create(Thread, NULL, ReceiveLoopPtr, (void*)port);