SOEM/osal/erika/osal.c

/*
 * Licensed under the GNU General Public License version 2 with exceptions. See
 * LICENSE file in the project root for full license information
 */

#include <time.h>
#include <sys/time.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <osal.h>

#include "ee_x86_64_tsc.h"

#define USECS_PER_SEC     1000000
#define NSECS_PER_SEC     1000000000

uint64_t osEE_x86_64_tsc_read(void);

void ee_usleep(uint32 usec);

inline int osal_usleep (uint32 usec)
{
	ee_usleep(usec);
	return 0;
}

int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
{
	uint64_t time = osEE_x86_64_tsc_read();
	tv->tv_sec = time/NSECS_PER_SEC;
	tv->tv_sec += 946684800UL;  /* EtherCAT uses 2000-01-01 as epoch start */
	tv->tv_usec = (time%NSECS_PER_SEC)/1000;
	return 0;
}

ec_timet osal_current_time(void)
{
   	struct timeval current_time;
   	ec_timet ret;

   	osal_gettimeofday(&current_time, 0);
   	ret.sec = current_time.tv_sec;
   	ret.usec = current_time.tv_usec;
   	return ret;
}

void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
{
   	if (end->usec < start->usec) {
      		diff->sec = end->sec - start->sec - 1;
      		diff->usec = end->usec + USECS_PER_SEC - start->usec;
   	} else {
      		diff->sec = end->sec - start->sec;
      		diff->usec = end->usec - start->usec;
   	}
}

void osal_timer_start(osal_timert *self, uint32 timeout_usec)
{
   	struct timeval start_time;
   	struct timeval timeout;
   	struct timeval stop_time;

   	osal_gettimeofday(&start_time, 0);
   	timeout.tv_sec = timeout_usec / USECS_PER_SEC;
   	timeout.tv_usec = timeout_usec % USECS_PER_SEC;
   	timeradd(&start_time, &timeout, &stop_time);

   	self->stop_time.sec = stop_time.tv_sec;
   	self->stop_time.usec = stop_time.tv_usec;
}

boolean osal_timer_is_expired (osal_timert *self)
{
   	struct timeval current_time;
   	struct timeval stop_time;
   	int is_not_yet_expired;

   	osal_gettimeofday (&current_time, 0);
   	stop_time.tv_sec = self->stop_time.sec;
   	stop_time.tv_usec = self->stop_time.usec;
   	is_not_yet_expired = timercmp (&current_time, &stop_time, <);
/* 	OSEE_PRINT("current: %d:%d -- expire: %d:%d -- result: %d\n", */
/* 			current_time.tv_sec, */
/* 			current_time.tv_usec, */
/* 			stop_time.tv_sec, */
/* 			stop_time.tv_usec, */
/* 			is_not_yet_expired); */

   	return is_not_yet_expired == FALSE;
}

void *osal_malloc(size_t size)
{
   	return malloc(size);
}

void osal_free(void *ptr)
{
   	free(ptr);
}