As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
Concerned callbacks :
initialisation
preOperational
operational
stopped
heartbeatError
post_sync
post_TPDO
post_SlaveBootup
storeODSubIndex
post_emcy
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<a class="el" href="dir_65dd258ff9b9ef4cd7bd0d22f5e58dba.html">drivers</a> » <a class="el" href="dir_fbe54e12a3ca31aa857852b30ece23ba.html">timers_xeno</a></div>
<h1>timers_xeno.c</h1><a href="timers__xeno_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00002"></a>00002 <span class="preprocessor">#include <unistd.h></span>
<a name="l00003"></a>00003 <span class="preprocessor">#include <sys/mman.h></span>
<a name="l00004"></a>00004
<a name="l00005"></a>00005 <span class="preprocessor">#include <native/task.h></span>
<a name="l00006"></a>00006 <span class="preprocessor">#include <native/timer.h></span>
<a name="l00007"></a>00007 <span class="preprocessor">#include <native/mutex.h></span>
<a name="l00008"></a>00008 <span class="preprocessor">#include <native/alarm.h></span>
<a name="l00009"></a>00009
<a name="l00010"></a>00010 <span class="preprocessor">#include "<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>"</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include "<a class="code" href="can__driver_8h.html">can_driver.h</a>"</span>
<a name="l00012"></a>00012 <span class="preprocessor">#include "<a class="code" href="timer_8h.html">timer.h</a>"</span>
<a name="l00013"></a>00013
<a name="l00014"></a><a class="code" href="timers__xeno_8c.html#2bf49bd85708887357bb07c133e18040">00014</a> <span class="preprocessor">#define TIMERLOOP_TASK_CREATED 1</span>
<a name="l00015"></a>00015 <span class="preprocessor"></span>
<a name="l00016"></a><a class="code" href="timers__xeno_8c.html#7b04510000ccc2625dfec31ce1af3d95">00016</a> RT_MUTEX <a class="code" href="timers__unix_8c.html#16cebc4fb81e0421b9d57fcb5d7b2515">CanFestival_mutex</a>;
<a name="l00017"></a><a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">00017</a> RT_TASK <a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">timerloop_task</a>;
<a name="l00018"></a><a class="code" href="timers__xeno_8c.html#f2434742606eea8e1cb738e3f168235b">00018</a> RTIME <a class="code" href="timers__xeno_8c.html#f2434742606eea8e1cb738e3f168235b">last_time_read</a>;
<a name="l00019"></a><a class="code" href="timers__xeno_8c.html#f0e3fd522984f6999b06ea83f3716afb">00019</a> RTIME <a class="code" href="timers__xeno_8c.html#f0e3fd522984f6999b06ea83f3716afb">last_occured_alarm</a>;
<a name="l00020"></a><a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">00020</a> RTIME <a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">last_alarm_set</a>;
<a name="l00021"></a>00021
<a name="l00022"></a><a class="code" href="timers__xeno_8c.html#4c575a566e5f899b64ad7e45000607ed">00022</a> <span class="keywordtype">char</span> <a class="code" href="timers__xeno_8c.html#4c575a566e5f899b64ad7e45000607ed">stop_timer</a>=0;
<a name="l00023"></a>00023
<a name="l00024"></a><a class="code" href="timers__xeno_8c.html#7daa4eba1dc16bcf9d867b79c61a7b58">00024</a> <span class="keywordtype">void</span> <a class="code" href="timers__xeno_8c.html#7daa4eba1dc16bcf9d867b79c61a7b58">cleanup_all</a>(<span class="keywordtype">void</span>)
<a name="l00025"></a>00025 {
<a name="l00026"></a>00026 rt_task_delete(&<a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">timerloop_task</a>);
<a name="l00027"></a>00027 }
<a name="l00028"></a><a class="code" href="timers__xeno_8c.html#8d52f2db8b505e53ace5dd1c2a789d94">00028</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#8d52f2db8b505e53ace5dd1c2a789d94">StopTimerLoop</a>(<span class="keywordtype">void</span>)
<a name="l00029"></a>00029 {
<a name="l00030"></a>00030 <a class="code" href="timers__xeno_8c.html#4c575a566e5f899b64ad7e45000607ed">stop_timer</a> = 1;
<a name="l00031"></a>00031 rt_task_unblock(&<a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">timerloop_task</a>);
<a name="l00032"></a>00032 }
<a name="l00033"></a>00033
<a name="l00034"></a>00034
<a name="l00035"></a><a class="code" href="timers__xeno_8c.html#aa3c568288a54a9398524255602bbce8">00035</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#aa3c568288a54a9398524255602bbce8">EnterMutex</a>(<span class="keywordtype">void</span>)
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 rt_mutex_lock(&<a class="code" href="timers__unix_8c.html#16cebc4fb81e0421b9d57fcb5d7b2515">CanFestival_mutex</a>, TM_INFINITE);
<a name="l00038"></a>00038 }
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="timers__xeno_8c.html#887d197b991c23bc11f626ae688abec7">00040</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#887d197b991c23bc11f626ae688abec7">LeaveMutex</a>(<span class="keywordtype">void</span>)
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 rt_mutex_unlock(&<a class="code" href="timers__unix_8c.html#16cebc4fb81e0421b9d57fcb5d7b2515">CanFestival_mutex</a>);
<a name="l00043"></a>00043 }
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="timers__xeno_8c.html#cfb2e8d3c5662059b0a5d3028a538b7c">00045</a> <span class="keywordtype">void</span> <a class="code" href="timers__xeno_8c.html#cfb2e8d3c5662059b0a5d3028a538b7c">timerloop_task_proc</a>(<span class="keywordtype">void</span> *arg)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <span class="keywordtype">int</span> ret;
<a name="l00048"></a>00048 <span class="keywordflow">do</span>{
<a name="l00049"></a>00049 <span class="keywordflow">do</span>{
<a name="l00050"></a>00050 <a class="code" href="timers__xeno_8c.html#f0e3fd522984f6999b06ea83f3716afb">last_occured_alarm</a> = <a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">last_alarm_set</a>;
<a name="l00051"></a>00051 <a class="code" href="timers__unix_8c.html#aa3c568288a54a9398524255602bbce8">EnterMutex</a>();
<a name="l00052"></a>00052 <a class="code" href="timer_8c.html#7a5a515821c2e4fb2f66bac72389da00">TimeDispatch</a>();
<a name="l00053"></a>00053 <a class="code" href="timers__unix_8c.html#887d197b991c23bc11f626ae688abec7">LeaveMutex</a>();
<a name="l00054"></a>00054 <span class="keywordflow">while</span> ((ret = rt_task_sleep_until(<a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">last_alarm_set</a>)) == -EINTR);
<a name="l00055"></a>00055 }<span class="keywordflow">while</span> (ret == 0);
<a name="l00056"></a>00056 }<span class="keywordflow">while</span> (!<a class="code" href="timers__xeno_8c.html#4c575a566e5f899b64ad7e45000607ed">stop_timer</a>);
<a name="l00057"></a>00057 printf(<span class="stringliteral">"End of TimerLoop, code %d\n"</span>,ret);
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a><a class="code" href="timers__xeno_8c.html#dd08f21a7c3fcbcd53a2c41b00879fdd">00060</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#dd08f21a7c3fcbcd53a2c41b00879fdd">StartTimerLoop</a>(<a class="code" href="timer_8h.html#c8436e7543fa1329b00e570246071313">TimerCallback_t</a> init_callback)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <span class="keywordtype">int</span> ret;
<a name="l00063"></a>00063 <a class="code" href="timers__xeno_8c.html#4c575a566e5f899b64ad7e45000607ed">stop_timer</a> = 0;
<a name="l00064"></a>00064 <span class="keywordtype">char</span> taskname[32];
<a name="l00065"></a>00065 snprintf(taskname, <span class="keyword">sizeof</span>(taskname), <span class="stringliteral">"timerloop-%d"</span>, getpid());
<a name="l00066"></a>00066
<a name="l00067"></a>00067 mlockall(MCL_CURRENT | MCL_FUTURE);
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">//create timerloop_task</span>
<a name="l00070"></a>00070 ret = rt_task_create(&<a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">timerloop_task</a>, taskname, 0, 50, 0);
<a name="l00071"></a>00071 <span class="keywordflow">if</span> (ret) {
<a name="l00072"></a>00072 printf(<span class="stringliteral">"Failed to create timerloop_task, code %d\n"</span>,errno);
<a name="l00073"></a>00073 <span class="keywordflow">return</span>;
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <a class="code" href="canOpenDriver_8c.html#38b23a8ee3748bca3415967b90df1e15">getElapsedTime</a>();
<a name="l00077"></a>00077 <a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">last_alarm_set</a> = <a class="code" href="timers__xeno_8c.html#f2434742606eea8e1cb738e3f168235b">last_time_read</a>;
<a name="l00078"></a>00078 <a class="code" href="timers__xeno_8c.html#f0e3fd522984f6999b06ea83f3716afb">last_occured_alarm</a> = <a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">last_alarm_set</a>;
<a name="l00079"></a>00079 <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(NULL, 0, init_callback, 0, 0);
<a name="l00080"></a>00080 <span class="comment">// start timerloop_task</span>
<a name="l00081"></a>00081 ret = rt_task_start(&<a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">timerloop_task</a>,&<a class="code" href="timers__xeno_8c.html#cfb2e8d3c5662059b0a5d3028a538b7c">timerloop_task_proc</a>,NULL);
<a name="l00082"></a>00082 <span class="keywordflow">if</span> (ret) {
<a name="l00083"></a>00083 printf(<span class="stringliteral">"Failed to start timerloop_task, code %d\n"</span>,errno);
<a name="l00084"></a>00084 <span class="keywordflow">goto</span> error;
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keywordflow">return</span>;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 error:
<a name="l00090"></a>00090 <a class="code" href="timers__xeno_8c.html#7daa4eba1dc16bcf9d867b79c61a7b58">cleanup_all</a>();
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00093"></a><a class="code" href="timers__xeno_8c.html#2fd14b68f735eb13d95b60da047f26c6">00093</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#09c921f9537f26895843a3c21620855b">CreateReceiveTask</a>(<a class="code" href="unix_2applicfg_8h.html#c5a917a8cacf5edd42ba6486c0c8a243">CAN_PORT</a> fd0, <a class="code" href="timers__unix_2timerscfg_8h.html#69c1aff70ae463b42314dc6689cb7400">TASK_HANDLE</a> *ReceiveLoop_task, <span class="keywordtype">void</span>* ReceiveLoop_task_proc)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="keywordtype">int</span> ret;
<a name="l00096"></a>00096 <span class="keyword">static</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0;
<a name="l00097"></a>00097 <span class="keywordtype">char</span> taskname[32];
<a name="l00098"></a>00098 snprintf(taskname, <span class="keyword">sizeof</span>(taskname), <span class="stringliteral">"canloop%d-%d"</span>, <span class="keywordtype">id</span>, getpid());
<a name="l00099"></a>00099 <span class="keywordtype">id</span>++;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 mlockall(MCL_CURRENT | MCL_FUTURE);
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">//create timerloop_task</span>
<a name="l00104"></a>00104 ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0);
<a name="l00105"></a>00105 <span class="keywordflow">if</span> (ret) {
<a name="l00106"></a>00106 printf(<span class="stringliteral">"Failed to create ReceiveLoop_task number %d, code %d\n"</span>, <span class="keywordtype">id</span>, errno);
<a name="l00107"></a>00107 <span class="keywordflow">return</span>;
<a name="l00108"></a>00108 }
<a name="l00109"></a>00109 <span class="comment">// start timerloop_task</span>
<a name="l00110"></a>00110 ret = rt_task_start(ReceiveLoop_task,ReceiveLoop_task_proc,(<span class="keywordtype">void</span>*)fd0);
<a name="l00111"></a>00111 <span class="keywordflow">if</span> (ret) {
<a name="l00112"></a>00112 printf(<span class="stringliteral">"Failed to start ReceiveLoop_task number %d, code %d\n"</span>, <span class="keywordtype">id</span>, errno);
<a name="l00113"></a>00113 <span class="keywordflow">return</span>;
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116
<a name="l00117"></a><a class="code" href="timers__xeno_8c.html#b712d2cb572b9cd5f7ce99fff8922ddc">00117</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#b21b041545f4dfc5660514fbc3c2f89c">WaitReceiveTaskEnd</a>(<a class="code" href="timers__unix_2timerscfg_8h.html#69c1aff70ae463b42314dc6689cb7400">TASK_HANDLE</a> *Thread)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 rt_task_delete(Thread);
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00122"></a><a class="code" href="timers__xeno_8c.html#7996006c628d2df030b9684d7a86acd1">00122</a> <span class="keywordtype">void</span> <a class="code" href="timers__unix_8c.html#7996006c628d2df030b9684d7a86acd1">setTimer</a>(<a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> value)
<a name="l00123"></a>00123 {
<a name="l00124"></a>00124 <a class="code" href="timers__xeno_8c.html#f567c1ed1dc6f3d12732e18e05167a86">last_alarm_set</a> = (value == <a class="code" href="hcs12_2applicfg_8h.html#9b8b68779cc690a9f699155420328d0f">TIMEVAL_MAX</a>) ? <a class="code" href="hcs12_2applicfg_8h.html#9b8b68779cc690a9f699155420328d0f">TIMEVAL_MAX</a> : <a class="code" href="timers__xeno_8c.html#f2434742606eea8e1cb738e3f168235b">last_time_read</a> + value;
<a name="l00125"></a>00125 rt_task_unblock(&<a class="code" href="timers__xeno_8c.html#b5326f600737761d3c937b523f3b43ff">timerloop_task</a>);
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127
<a name="l00128"></a><a class="code" href="timers__xeno_8c.html#75efe30105165658d05d871255f8c0a2">00128</a> <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> <a class="code" href="canOpenDriver_8c.html#38b23a8ee3748bca3415967b90df1e15">getElapsedTime</a>(<span class="keywordtype">void</span>)
<a name="l00129"></a>00129 {
<a name="l00130"></a>00130 <a class="code" href="timers__xeno_8c.html#f2434742606eea8e1cb738e3f168235b">last_time_read</a> = rt_timer_ticks2ns(rt_timer_read());
<a name="l00131"></a>00131 <span class="keywordflow">return</span> <a class="code" href="timers__xeno_8c.html#f2434742606eea8e1cb738e3f168235b">last_time_read</a> - <a class="code" href="timers__xeno_8c.html#f0e3fd522984f6999b06ea83f3716afb">last_occured_alarm</a>;
<a name="l00132"></a>00132 }
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
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