132 lines
4.2 KiB
C
132 lines
4.2 KiB
C
/*
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* Different utilities for using CANopenNode tasks from mainline.
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*
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* @file main_utils.h
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* @author Janez Paternoster
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* @copyright 2015 Janez Paternoster
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <http://canopennode.sourceforge.net>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MAIN_UTILS_H
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#define MAIN_UTILS_H
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#include <stdio.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <time.h>
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#include <sys/timerfd.h>
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#include <sys/socket.h>
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#include <linux/can.h>
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#include <linux/can/raw.h>
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#define NSEC_PER_SEC (1000000000) /* The number of nanoseconds per second. */
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#define NSEC_PER_MSEC (1000000) /* The number of nanoseconds per millisecond. */
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/* Utilities for 'Timer interval task'. ***************************************/
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/* It is used for short, realtime processing of CANopen SYNC and PDO objects,
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* triggered in constant, non-sliding intervals. */
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typedef struct{
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int fd; /* file descriptor */
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struct itimerspec tmrSpec;
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struct timespec *tmrVal;
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long intervalns;
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uint16_t intervalus;
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uint16_t *maxTime;
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}taskTmr_t;
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/* Create Linux timerfd and configures tt object.
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*
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* @param tt This object.
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* @param intervalns Interval in nanoseconds.
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* @param maxTime Pointer to value, which will indicate longest interval in
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* microseconds. If NULL, calculations won't be made.
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*
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* @return 0 on success, -1 on error, info in errno.
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*/
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int taskTmr_init(taskTmr_t *tt, long intervalns, uint16_t *maxTime);
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/* Block in equal intervals.
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*
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* @param tt This object.
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* @param sync Time of CANopen SYNC signal. If not NULL, taskTmr will
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* synchronize with SYNC signal. Not yet implemented.
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*
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* @return 0 on success, -1 on error, info in errno.
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*/
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int taskTmr_wait(taskTmr_t *tt, struct timespec *sync);
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/* Utilities for 'Mainline task'. *********************************************/
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/* It is used for delay in mainline */
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typedef struct{
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int fd; /* file descriptor */
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struct itimerspec tmrSpec;
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volatile uint16_t *tmr1ms;
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uint16_t tmr1msPrev;
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uint16_t *maxTime;
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}taskMain_t;
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/* Create Linux timerfd and configures tt object.
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*
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* @param tt This object.
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* @param tmr1ms Variable, which is externally incremented each millisecond.
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* @param maxTime Pointer to value, which will indicate longest interval in
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* milliseconds. If NULL, calculations won't be made.
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*
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* @return 0 on success, -1 on error, info in errno.
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*/
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int taskMain_init(taskMain_t *tt, volatile uint16_t *tmr1ms, uint16_t *maxTime);
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/* Block for defined delay.
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*
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* @param tt This object.
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* @param timeDiff Return value - time difference from previous call in milliseconds.
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*
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* @return 0 on success, -1 on error, info in errno.
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*/
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int taskMain_wait(taskMain_t *tt, uint16_t *timeDiff);
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/* Set next delay.
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*
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* @param tt This object.
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* @param delay Delay in milliseconds.
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*
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* @return 0 on success, -1 on error, info in errno.
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*/
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int taskMain_setDelay(taskMain_t *tt, uint16_t delay);
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/* Helpers ********************************************************************/
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/* Print all options of CAN socket using printf function.
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*
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* @param fdSocket File descriptor for CAN socket.
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*/
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void printSocketCanOptions(int fdSocket);
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#endif
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