diff -r 000000000000 -r 4472ee7c6c3e drivers/timers_unix/timers_unix.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/timers_unix/timers_unix.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,96 @@
+#include <stdlib.h>
+
+#include <sys/time.h>
+#include <signal.h>
+#include <pthread.h> 
+
+#include "applicfg.h"
+#include "can_driver.h"
+#include "timer.h"
+
+pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+TIMEVAL last_time_set = TIMEVAL_MAX;
+
+struct timeval last_sig;
+
+char stop_timer=0;
+
+void sig(int val)
+{
+	signal( SIGALRM, sig);
+	gettimeofday(&last_sig,NULL);
+//	printf("getCurrentTime() return=%u\n", p.tv_usec);
+}
+
+void initTimer(void)
+{
+	gettimeofday(&last_sig,NULL);
+	signal( SIGALRM, sig);
+	stop_timer = 0;
+}
+
+void stopTimer(void)
+{
+	stop_timer = 1;
+	kill(0, SIGALRM);	
+}
+
+void EnterMutex(void)
+{
+	pthread_mutex_lock(&CanFestival_mutex); 
+}
+
+void LeaveMutex(void)
+{
+	pthread_mutex_unlock(&CanFestival_mutex);
+}
+
+void TimerLoop(TimerCallback_t init_callback)
+{
+	initTimer();
+	// At first, TimeDispatch will call init_callback.
+	SetAlarm(NULL, 0, init_callback, 0, 0);
+	while (!stop_timer) {
+		EnterMutex();
+		TimeDispatch();
+		LeaveMutex();
+		pause();
+	}
+}
+
+void ReceiveLoop(void* arg)
+{
+	canReceiveLoop((CAN_HANDLE)arg);
+}
+
+void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)
+{
+	pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);
+}
+
+void WaitReceiveTaskEnd(TASK_HANDLE Thread)
+{
+	pthread_join(Thread, NULL);
+}
+
+#define max(a,b) a>b?a:b
+void setTimer(TIMEVAL value)
+{
+//	printf("setTimer(TIMEVAL value=%d)\n", value);
+	struct itimerval timerValues;
+	struct itimerval timerV = {{0,0},{0,0}};
+	timerValues.it_value.tv_sec = 0;
+	timerValues.it_value.tv_usec = max(value,1);
+	timerValues.it_interval.tv_sec = 0;
+	timerValues.it_interval.tv_usec = 0;
+	setitimer(ITIMER_REAL, &timerValues, &timerV);
+}
+
+TIMEVAL getElapsedTime(void)
+{
+	struct timeval p;
+	gettimeofday(&p,NULL);
+//	printf("getCurrentTime() return=%u\n", p.tv_usec);
+	return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;
+}