90 lines
2.9 KiB
C
90 lines
2.9 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.c
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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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#include "main_utils.h"
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/******************************************************************************/
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int taskTmr_init(taskTmr_t *tt, long intervalns, uint16_t *maxTime){
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int ret;
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ret = tt->fd = timerfd_create(CLOCK_MONOTONIC, 0);
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/* Prepare timer (one shot, each time calculate new expiration time) It is
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* necessary not to use tt->tmrSpec.it_interval, because it is sliding. */
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tt->tmrSpec.it_interval.tv_sec = 0;
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tt->tmrSpec.it_interval.tv_nsec = 0;
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tt->tmrVal = &tt->tmrSpec.it_value;
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if(ret != -1){
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ret = clock_gettime(CLOCK_MONOTONIC, tt->tmrVal);
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}
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if(ret != -1){
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ret = timerfd_settime(tt->fd, TFD_TIMER_ABSTIME, &tt->tmrSpec, NULL);
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}
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tt->intervalns = intervalns;
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tt->intervalus = (int16_t)(intervalns / 1000);
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tt->maxTime = maxTime;
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return ret;
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}
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int taskTmr_wait(taskTmr_t *tt, struct timespec *sync){
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uint64_t tmrExp;
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int ret = 0;
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/* Wait for timer to expire */
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if(read(tt->fd, &tmrExp, sizeof(tmrExp)) != sizeof(uint64_t)) ret = -1;
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/* Calculate maximum interval in microseconds (informative) */
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if(tt->maxTime != NULL){
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struct timespec tmrMeasure;
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if(clock_gettime(CLOCK_MONOTONIC, &tmrMeasure) == -1) ret = -1;
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if(tmrMeasure.tv_sec == tt->tmrVal->tv_sec){
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long dt = tmrMeasure.tv_nsec - tt->tmrVal->tv_nsec;
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dt /= 1000;
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dt += tt->intervalus;
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if(dt > 0xFFFF){
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*tt->maxTime = 0xFFFF;
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}else if(dt > *tt->maxTime){
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*tt->maxTime = (uint16_t) dt;
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}
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}
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}
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/* Calculate next shot for the timer */
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tt->tmrVal->tv_nsec += tt->intervalns;
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if(tt->tmrVal->tv_nsec >= NSEC_PER_SEC){
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tt->tmrVal->tv_nsec -= NSEC_PER_SEC;
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tt->tmrVal->tv_sec++;
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}
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if(timerfd_settime(tt->fd, TFD_TIMER_ABSTIME, &tt->tmrSpec, NULL) == -1) ret = -1;
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return ret;
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}
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