etisserant@391: /*
edouard@629: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@391: 
etisserant@391: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@391: 
etisserant@391: See COPYING file for copyrights details.
etisserant@391: 
etisserant@391: This library is free software; you can redistribute it and/or
etisserant@391: modify it under the terms of the GNU Lesser General Public
etisserant@391: License as published by the Free Software Foundation; either
etisserant@391: version 2.1 of the License, or (at your option) any later version.
etisserant@391: 
etisserant@391: This library is distributed in the hope that it will be useful,
etisserant@391: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@391: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@391: Lesser General Public License for more details.
etisserant@391: 
etisserant@391: You should have received a copy of the GNU Lesser General Public
etisserant@391: License along with this library; if not, write to the Free Software
etisserant@391: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@391: */
etisserant@391: 
etisserant@391: #include <linux/spinlock.h>
etisserant@391: #include <linux/jiffies.h>
Edouard@801: #include <linux/timers.h>
etisserant@391: #include <linux/errno.h>
etisserant@391: 
Edouard@801: #include "timers.h"
etisserant@391: #include "applicfg.h"
etisserant@391: 
etisserant@391: static spinlock_t lock = SPIN_LOCK_UNLOCKED;
etisserant@391: 
etisserant@391: static struct timer_list timer;
etisserant@391: 
etisserant@391: static TIMEVAL last_time_read,
etisserant@391: 	last_occured_alarm,
etisserant@391: 	last_alarm_set;
etisserant@391: 
greg@467: void TimerInit(void)
greg@467: {
greg@467: 	/* only used in realtime apps */
greg@467: }
greg@467: 
greg@467: void TimerCleanup(void)
greg@467: {
greg@467: 	/* only used in realtime apps */
greg@467: }
etisserant@391: 
etisserant@391: void EnterMutex(void)
etisserant@391: {
etisserant@391: 	spin_lock (&lock);
etisserant@391: }
etisserant@391: 
etisserant@391: void LeaveMutex(void)
etisserant@391: {
etisserant@391: 	spin_unlock (&lock);
etisserant@391: }
etisserant@391: 
etisserant@391: void timer_notify(unsigned long data)
etisserant@391: {
etisserant@391: 	last_occured_alarm = last_alarm_set;
etisserant@391: 
etisserant@391: 	EnterMutex();
etisserant@391: 	TimeDispatch();
etisserant@391: 	LeaveMutex();
etisserant@391: }
etisserant@391: 
etisserant@391: void StartTimerLoop(TimerCallback_t init_callback)
etisserant@391: {
etisserant@391: 	getElapsedTime();
etisserant@391: 	last_alarm_set = last_time_read;
etisserant@391: 	last_occured_alarm = last_alarm_set;
etisserant@391: 
etisserant@391: 	init_timer(&timer);
etisserant@391: 	timer.function = timer_notify;
etisserant@391: 
etisserant@391: 	EnterMutex();
etisserant@391: 	// At first, TimeDispatch will call init_callback.
etisserant@391: 	SetAlarm(NULL, 0, init_callback, 0, 0);
etisserant@391: 	LeaveMutex();
etisserant@391: }
etisserant@391: 
greg@467: void StopTimerLoop(TimerCallback_t exitfunction)
etisserant@391: {
etisserant@391: 	EnterMutex();
etisserant@391: 	del_timer (&timer);
greg@467: 	exitfunction(NULL,0);
etisserant@391: 	LeaveMutex();
etisserant@391: }
etisserant@391: 
etisserant@391: void setTimer(TIMEVAL value)
etisserant@391: {
etisserant@391: 	if (value == TIMEVAL_MAX)
etisserant@391: 		return;
etisserant@391: 
etisserant@391: 	last_alarm_set = last_time_read + value;
etisserant@391: 	mod_timer (&timer, last_alarm_set);
etisserant@391: }
etisserant@391: 
etisserant@391: TIMEVAL getElapsedTime(void)
etisserant@391: {
etisserant@391: 	last_time_read = jiffies;
etisserant@391: 
etisserant@391: 	return (long)last_time_read - (long)last_occured_alarm;
etisserant@391: }
etisserant@391: 
etisserant@391: void CreateReceiveTask(CAN_PORT port, TASK_HANDLE *Thread, void* ReceiveLoopPtr)
etisserant@391: {
etisserant@391: 	*Thread = kthread_run(ReceiveLoopPtr, port, "canReceiveLoop");
etisserant@391: }
etisserant@391: 
greg@467: void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
etisserant@391: {
edouard@629:         /* join thread here because force_sig() does not work */
edouard@629: 	while((*Thread)->state <= 0)
edouard@629: 	{
edouard@629: 	  ; /* >0 means stopped */
edouard@629: 	}
etisserant@391: }