Add some files of the CANopen graphic terminal project.
#include <stdlib.h>
#include <sys/time.h>
#include <signal.h>
#include <pthread.h>
#include "applicfg.h"
#include "can_driver.h"
#include "timer.h"
pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
TIMEVAL last_time_set = TIMEVAL_MAX;
struct timeval last_sig;
char stop_timer=0;
void sig(int val)
{
signal( SIGALRM, sig);
gettimeofday(&last_sig,NULL);
// printf("getCurrentTime() return=%u\n", p.tv_usec);
}
void initTimer(void)
{
gettimeofday(&last_sig,NULL);
signal( SIGALRM, sig);
stop_timer = 0;
}
void stopTimer(void)
{
stop_timer = 1;
kill(0, SIGALRM);
}
void EnterMutex(void)
{
pthread_mutex_lock(&CanFestival_mutex);
}
void LeaveMutex(void)
{
pthread_mutex_unlock(&CanFestival_mutex);
}
void TimerLoop(TimerCallback_t init_callback)
{
initTimer();
// At first, TimeDispatch will call init_callback.
SetAlarm(NULL, 0, init_callback, 0, 0);
while (!stop_timer) {
EnterMutex();
TimeDispatch();
LeaveMutex();
pause();
}
}
void ReceiveLoop(void* arg)
{
canReceiveLoop((CAN_HANDLE)arg);
}
void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)
{
pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);
}
void WaitReceiveTaskEnd(TASK_HANDLE Thread)
{
pthread_join(Thread, NULL);
}
#define max(a,b) a>b?a:b
void setTimer(TIMEVAL value)
{
// printf("setTimer(TIMEVAL value=%d)\n", value);
struct itimerval timerValues;
struct itimerval timerV = {{0,0},{0,0}};
timerValues.it_value.tv_sec = 0;
timerValues.it_value.tv_usec = max(value,1);
timerValues.it_interval.tv_sec = 0;
timerValues.it_interval.tv_usec = 0;
setitimer(ITIMER_REAL, &timerValues, &timerV);
}
TIMEVAL getElapsedTime(void)
{
struct timeval p;
gettimeofday(&p,NULL);
// printf("getCurrentTime() return=%u\n", p.tv_usec);
return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;
}