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