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