drivers/timers_unix/timers_unix.c

   1 #include <stdlib.h>
   2
   3 #include <sys/time.h>
   4 #include <pthread.h>
   5 #include <signal.h>
   6
   7 #include "applicfg.h"
   8 #include "can_driver.h"
   9 #include "timer.h"
  10
  11 pthread_mutex_t CanFestival_mutex = PTHREAD_MUTEX_INITIALIZER;
  12
  13 TASK_HANDLE TimerLoopThread;
  14
  15 TIMEVAL last_time_set = TIMEVAL_MAX;
  16
  17 struct timeval last_sig;
  18
  19 timer_t timer;
  20
  21 void EnterMutex(void)
  22 {
  23         pthread_mutex_lock(&CanFestival_mutex);
  24 }
  25
  26 void LeaveMutex(void)
  27 {
  28         pthread_mutex_unlock(&CanFestival_mutex);
  29 }
  30
  31 void timer_notify(int val)
  32 {
  33         gettimeofday(&last_sig,NULL);
  34         EnterMutex();
  35         TimeDispatch();
  36         LeaveMutex();
  37 //      printf("getCurrentTime() return=%u\n", p.tv_usec);
  38 }
  39
  40 void initTimer(void)
  41 {
  42         struct sigevent sigev;
  43
  44         // Take first absolute time ref.
  45         gettimeofday(&last_sig,NULL);
  46
  47         memset (&sigev, 0, sizeof (struct sigevent));
  48         sigev.sigev_value.sival_int = 0;
  49         sigev.sigev_notify = SIGEV_THREAD;
  50         sigev.sigev_notify_attributes = NULL;
  51         sigev.sigev_notify_function = timer_notify;
  52
  53         timer_create (CLOCK_REALTIME, &sigev, &timer);
  54 }
  55
  56 void StopTimerLoop(void)
  57 {
  58         timer_delete (timer);
  59 }
  60
  61 void StartTimerLoop(TimerCallback_t init_callback)
  62 {
  63         initTimer();
  64         // At first, TimeDispatch will call init_callback.
  65         SetAlarm(NULL, 0, init_callback, 0, 0);
  66 }
  67
  68 void ReceiveLoop(void* arg)
  69 {
  70         canReceiveLoop((CAN_HANDLE)arg);
  71 }
  72
  73 void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread)
  74 {
  75         pthread_create(Thread, NULL, (void *)&ReceiveLoop, (void*)fd0);
  76 }
  77
  78 void WaitReceiveTaskEnd(TASK_HANDLE Thread)
  79 {
  80         pthread_join(Thread, NULL);
  81 }
  82
  83 #define max(a,b) a>b?a:b
  84 void setTimer(TIMEVAL value)
  85 {
  86 //      printf("setTimer(TIMEVAL value=%d)\n", value);
  87         // TIMEVAL is us whereas setitimer wants ns...
  88         long tv_nsec = 1000 * (max(value,1)%1000000);
  89         time_t tv_sec = value/1000000;
  90         struct itimerspec timerValues;
  91         timerValues.it_value.tv_sec = tv_sec;
  92         timerValues.it_value.tv_nsec = tv_nsec;
  93         timerValues.it_interval.tv_sec = 0;
  94         timerValues.it_interval.tv_nsec = 0;
  95
  96         timer_settime (timer, 0, &timerValues, NULL);
  97 }
  98
  99 TIMEVAL getElapsedTime(void)
 100 {
 101         struct timeval p;
 102         gettimeofday(&p,NULL);
 103 //      printf("getCurrentTime() return=%u\n", p.tv_usec);
 104         return (p.tv_sec - last_sig.tv_sec)* 1000000 + p.tv_usec - last_sig.tv_usec;
 105 }