diff -r 003cc3c63855 -r f49e5a6b7804 doc/doxygen/html/timers__xeno_8c-source.html --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/doc/doxygen/html/timers__xeno_8c-source.html Fri Jun 08 09:23:56 2007 +0200 @@ -0,0 +1,158 @@ + + +CanFestival: drivers/timers_xeno/timers_xeno.c Source File + + + + +
+
+
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+ +

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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