diff -r 2cb34a4ac65a -r 6b5a4c21e061 doc/doxygen/html/timers__xeno_8c-source.html --- a/doc/doxygen/html/timers__xeno_8c-source.html Tue Jun 05 17:34:33 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,156 +0,0 @@ - - -CanFestival: /home/epimerde/documents/tc11/CanFestival-3/drivers/timers_xeno/timers_xeno.c Source File - - - - -
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/home/epimerde/documents/tc11/CanFestival-3/drivers/timers_xeno/timers_xeno.c

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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         //create timerloop_task
-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         // start timerloop_task
-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         //create timerloop_task
-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         // start timerloop_task
-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 }
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