--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/timers_xeno/timers_xeno.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,138 @@
+#include <stdlib.h>
+#include <unistd.h> 
+
+#include <native/task.h>
+#include <native/timer.h>
+#include <native/mutex.h>
+#include <native/alarm.h>
+
+#include "applicfg.h"
+#include "can_driver.h"
+#include "timer.h"
+
+#define TIMERLOOP_TASK_CREATED        1
+
+RT_MUTEX CanFestival_mutex;
+RT_TASK timerloop_task;
+RT_ALARM timerloop_alarm;
+RTIME last_time_read;
+RTIME last_occured_alarm;
+RTIME last_alarm_set;
+
+char stop_timer=0;
+
+void cleanup_all(void)
+{
+	rt_task_delete(&timerloop_task);
+	rt_alarm_delete(&timerloop_alarm);
+}
+void stopTimer(void)
+{
+	stop_timer = 1;
+	rt_task_unblock(&timerloop_task);
+}
+
+
+void EnterMutex(void)
+{
+	rt_mutex_lock(&CanFestival_mutex, TM_INFINITE); 
+}
+
+void LeaveMutex(void)
+{
+	rt_mutex_unlock(&CanFestival_mutex);
+}
+
+void timerloop_task_proc(void *arg)
+{
+	int ret;
+	do{
+		do{
+			last_occured_alarm = last_alarm_set;
+			EnterMutex();
+			TimeDispatch();
+			LeaveMutex();
+		}while ((ret =  rt_task_sleep_until(last_alarm_set)) == 0);
+	}while (ret == -EINTR && !stop_timer );
+	printf("End of TimerLoop, code %d\n",ret);
+}
+
+void TimerLoop(TimerCallback_t init_callback)
+{
+	int ret;
+	stop_timer = 0;
+
+	ret = rt_alarm_create( &timerloop_alarm, NULL);
+	if (ret) {
+		printf("Failed to create timerloop_alarm, code %d\n",errno);
+		goto error;
+	}
+	
+	//create timerloop_task
+	ret = rt_task_create(&timerloop_task,"timerloop",0,50,0);
+	if (ret) {
+		printf("Failed to create timerloop_task, code %d\n",errno);
+		return;
+	}
+ 	
+	getElapsedTime();
+	last_alarm_set = last_time_read;
+	last_occured_alarm = last_alarm_set;
+	SetAlarm(NULL, 0, init_callback, 0, 0);
+	// start timerloop_task
+	ret = rt_task_start(&timerloop_task,&timerloop_task_proc,NULL);
+	if (ret) {
+		printf("Failed to start timerloop_task, code %d\n",errno);
+		goto error;
+	}
+	
+	// At first, TimeDispatch will call init_callback.
+	pause();
+
+error:
+	cleanup_all();
+}
+
+void ReceiveLoop_task_proc(void* arg)
+{
+	canReceiveLoop((CAN_HANDLE)arg);
+}
+
+void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE *ReceiveLoop_task)
+{
+	int ret;
+	static int id = 0;
+	char taskname[64];
+	sprintf(taskname,"canloop%d",id);
+	id++;
+
+	//create timerloop_task
+	ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0);
+	if (ret) {
+		printf("Failed to create ReceiveLoop_task number %d, code %d\n", id, errno);
+		return;
+	}
+	// start timerloop_task
+	ret = rt_task_start(ReceiveLoop_task,&ReceiveLoop_task_proc,(void*)fd0);
+	if (ret) {
+		printf("Failed to start ReceiveLoop_task number %d, code %d\n", id, errno);
+		return;
+	}
+}
+
+void WaitReceiveTaskEnd(TASK_HANDLE Thread)
+{
+	rt_task_delete(&Thread);
+}
+#define max(a,b) a>b?a:b
+void setTimer(TIMEVAL value)
+{	
+	last_alarm_set = last_time_read + value;
+	rt_task_unblock(&timerloop_task);
+}
+
+TIMEVAL getElapsedTime(void)
+{
+	last_time_read = rt_timer_ticks2ns(rt_timer_read());
+	return last_time_read - last_occured_alarm;
+}