00001 #include <stdlib.h>
 00002 #include <unistd.h>
 00003 #include <sys/mman.h>
@@ -32,74 +32,74 @@
 00011 #include "can_driver.h"
 00012 #include "timer.h"
 00013 
-00014 #define TIMERLOOP_TASK_CREATED        1
+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;
+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;
+00022 char stop_timer=0;
 00023 
-00024 void cleanup_all(void)
+00024 void cleanup_all(void)
 00025 {
-00026         rt_task_delete(&timerloop_task);
+00026         rt_task_delete(&timerloop_task);
 00027 }
-00028 void StopTimerLoop(void)
+00028 void StopTimerLoop(void)
 00029 {
-00030         stop_timer = 1;
-00031         rt_task_unblock(&timerloop_task);
+00030         stop_timer = 1;
+00031         rt_task_unblock(&timerloop_task);
 00032 }
 00033 
 00034 
-00035 void EnterMutex(void)
+00035 void EnterMutex(void)
 00036 {
-00037         rt_mutex_lock(&CanFestival_mutex, TM_INFINITE); 
+00037         rt_mutex_lock(&CanFestival_mutex, TM_INFINITE); 
 00038 }
 00039 
-00040 void LeaveMutex(void)
+00040 void LeaveMutex(void)
 00041 {
-00042         rt_mutex_unlock(&CanFestival_mutex);
+00042         rt_mutex_unlock(&CanFestival_mutex);
 00043 }
 00044 
-00045 void timerloop_task_proc(void *arg)
+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);
+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);
+00056         }while (!stop_timer);
 00057         printf("End of TimerLoop, code %d\n",ret);
 00058 }
 00059 
-00060 void StartTimerLoop(TimerCallback_t init_callback)
+00060 void StartTimerLoop(TimerCallback_t init_callback)
 00061 {
 00062         int ret;
-00063         stop_timer = 0;
+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         //create timerloop_task
-00070         ret = rt_task_create(&timerloop_task, taskname, 0, 50, 0);
+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);
+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         // start timerloop_task
-00081         ret = rt_task_start(&timerloop_task,&timerloop_task_proc,NULL);
+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;
@@ -108,10 +108,10 @@
 00087         return;
 00088         
 00089 error:
-00090         cleanup_all();
+00090         cleanup_all();
 00091 }
 00092 
-00093 void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
+00093 void CreateReceiveTask(CAN_PORT fd0, TASK_HANDLE *ReceiveLoop_task, void* ReceiveLoop_task_proc)
 00094 {
 00095         int ret;
 00096         static int id = 0;
@@ -135,23 +135,23 @@
 00114         }
 00115 }
 00116 
-00117 void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
+00117 void WaitReceiveTaskEnd(TASK_HANDLE *Thread)
 00118 {
 00119         rt_task_delete(Thread);
 00120 }
 00121 
-00122 void setTimer(TIMEVAL value)
+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);
+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)
+00128 TIMEVAL getElapsedTime(void)
 00129 {
-00130         last_time_read = rt_timer_ticks2ns(rt_timer_read());
-00131         return last_time_read - last_occured_alarm;
+00130         last_time_read = rt_timer_ticks2ns(rt_timer_read());
+00131         return last_time_read - last_occured_alarm;
 00132 }
-
timers_xeno.c
