CanFestival: drivers/timers_xeno/timers

00001 #include <stdlib.h>
nico@215: 00002 #include <unistd.h>
nico@215: 00003 #include <sys/mman.h>
nico@215: 00004 
nico@215: 00005 #include <native/task.h>
nico@215: 00006 #include <native/timer.h>
nico@215: 00007 #include <native/mutex.h>
nico@215: 00008 #include <native/alarm.h>
nico@215: 00009 
nico@215: 00010 #include "applicfg.h"
nico@215: 00011 #include "can_driver.h"
nico@215: 00012 #include "timer.h"
nico@215: 00013 
etisserant@240: 00014 #define TIMERLOOP_TASK_CREATED        1
nico@215: 00015 
etisserant@240: 00016 RT_MUTEX CanFestival_mutex;
etisserant@240: 00017 RT_TASK timerloop_task;
etisserant@240: 00018 RTIME last_time_read;
etisserant@240: 00019 RTIME last_occured_alarm;
etisserant@240: 00020 RTIME last_alarm_set;
nico@215: 00021 
etisserant@240: 00022 char stop_timer=0;
nico@215: 00023 
etisserant@240: 00024 void cleanup_all(void)
nico@215: 00025 {
etisserant@240: 00026         rt_task_delete(&timerloop_task);
nico@215: 00027 }
etisserant@240: 00028 void StopTimerLoop(void)
nico@215: 00029 {
etisserant@240: 00030         stop_timer = 1;
etisserant@240: 00031         rt_task_unblock(&timerloop_task);
nico@215: 00032 }
nico@215: 00033 
nico@215: 00034 
etisserant@240: 00035 void EnterMutex(void)
nico@215: 00036 {
etisserant@240: 00037         rt_mutex_lock(&CanFestival_mutex, TM_INFINITE); 
nico@215: 00038 }
nico@215: 00039 
etisserant@240: 00040 void LeaveMutex(void)
nico@215: 00041 {
etisserant@240: 00042         rt_mutex_unlock(&CanFestival_mutex);
nico@215: 00043 }
nico@215: 00044 
etisserant@240: 00045 void timerloop_task_proc(void *arg)
nico@215: 00046 {
nico@215: 00047         int ret;
nico@215: 00048         do{
nico@215: 00049                 do{
etisserant@240: 00050                         last_occured_alarm = last_alarm_set;
etisserant@240: 00051                         EnterMutex();
etisserant@240: 00052                         TimeDispatch();
etisserant@240: 00053                         LeaveMutex();
etisserant@240: 00054                         while ((ret = rt_task_sleep_until(last_alarm_set)) == -EINTR);
nico@215: 00055                 }while (ret == 0);
etisserant@240: 00056         }while (!stop_timer);
nico@215: 00057         printf("End of TimerLoop, code %d\n",ret);
nico@215: 00058 }
nico@215: 00059 
etisserant@240: 00060 void StartTimerLoop(TimerCallback_t init_callback)
nico@215: 00061 {
nico@215: 00062         int ret;
etisserant@240: 00063         stop_timer = 0;
nico@215: 00064         char taskname[32];
nico@215: 00065         snprintf(taskname, sizeof(taskname), "timerloop-%d", getpid());
nico@215: 00066 
nico@215: 00067         mlockall(MCL_CURRENT | MCL_FUTURE);
nico@215: 00068 
nico@215: 00069         //create timerloop_task
etisserant@240: 00070         ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0);
nico@215: 00071         if (ret) {
nico@215: 00072                 printf("Failed to create timerloop_task, code %d\n",errno);
nico@215: 00073                 return;
nico@215: 00074         }
nico@215: 00075         
etisserant@240: 00076         getElapsedTime();
etisserant@240: 00077         last_alarm_set = last_time_read;
etisserant@240: 00078         last_occured_alarm = last_alarm_set;
etisserant@240: 00079         SetAlarm(NULL, 0, init_callback, 0, 0);
nico@215: 00080         // start timerloop_task
etisserant@240: 00081         ret = rt_task_start(&timerloop_task,&timerloop_task_proc,NULL);
nico@215: 00082         if (ret) {
nico@215: 00083                 printf("Failed to start timerloop_task, code %d\n",errno);
nico@215: 00084                 goto error;
nico@215: 00085         }
nico@215: 00086         
nico@215: 00087         return;
nico@215: 00088         
nico@215: 00089 error:
etisserant@240: 00090         cleanup_all();
nico@215: 00091 }
nico@215: 00092 
etisserant@240: 00093 void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
nico@215: 00094 {
nico@215: 00095         int ret;
nico@215: 00096         static int id = 0;
nico@215: 00097         char taskname[32];
nico@215: 00098         snprintf(taskname, sizeof(taskname), "canloop%d-%d", id, getpid());
nico@215: 00099         id++;
nico@215: 00100 
nico@215: 00101         mlockall(MCL_CURRENT | MCL_FUTURE);
nico@215: 00102 
nico@215: 00103         //create timerloop_task
nico@215: 00104         ret = rt_task_create(ReceiveLoop_task,taskname,0,50,0);
nico@215: 00105         if (ret) {
nico@215: 00106                 printf("Failed to create ReceiveLoop_task number %d, code %d\n", id, errno);
nico@215: 00107                 return;
nico@215: 00108         }
nico@215: 00109         // start timerloop_task
nico@215: 00110         ret = rt_task_start(ReceiveLoop_task,ReceiveLoop_task_proc,(void*)fd0);
nico@215: 00111         if (ret) {
nico@215: 00112                 printf("Failed to start ReceiveLoop_task number %d, code %d\n", id, errno);
nico@215: 00113                 return;
nico@215: 00114         }
nico@215: 00115 }
nico@215: 00116 
etisserant@240: 00117 void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
nico@215: 00118 {
nico@215: 00119         rt_task_delete(Thread);
nico@215: 00120 }
nico@215: 00121 
etisserant@240: 00122 void setTimer(TIMEVAL value)
nico@215: 00123 {
etisserant@240: 00124         last_alarm_set = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : last_time_read + value;
etisserant@240: 00125         rt_task_unblock(&timerloop_task);
nico@215: 00126 }
nico@215: 00127 
etisserant@240: 00128 TIMEVAL getElapsedTime(void)
nico@215: 00129 {
etisserant@240: 00130         last_time_read = rt_timer_ticks2ns(rt_timer_read());
etisserant@240: 00131         return last_time_read - last_occured_alarm;
nico@215: 00132 }
etisserant@240:
timers_xeno.c
