libs
/
SOEM
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fix linux osal timers and osal_current_time

This commit is contained in:
Alex Kalmuk 2021-04-07 00:16:50 +03:00
parent 25e36e44f3
commit cd7acdc78f
1 changed files with 21 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
osal/linux/osal.c
View File

@ -21,30 +21,15 @@ int osal_usleep (uint32 usec)
return nanosleep(&ts, NULL);
}
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
{
struct timespec ts;
int return_value;
(void)tz; /* Not used */
/* Use clock_gettime to prevent possible live-lock.
* Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
* If this function preempts timeadjust and it uses vpage it live-locks.
* Also when using XENOMAI, only clock_gettime is RT safe */
return_value = clock_gettime(CLOCK_MONOTONIC, &ts);
tv->tv_sec = ts.tv_sec;
tv->tv_usec = ts.tv_nsec / 1000;
return return_value;
}
ec_timet osal_current_time(void)
{
struct timeval current_time;
struct timespec current_time;
ec_timet return_value;
osal_gettimeofday(&current_time, 0);
clock_gettime(CLOCK_REALTIME, &current_time);
return_value.sec = current_time.tv_sec;
return_value.usec = current_time.tv_usec;
return_value.usec = current_time.tv_nsec / 1000;
return return_value;
}
@ -60,13 +45,28 @@ void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
}
}
/* Returns time from some unspecified moment in past,
* strictly increasing, used for time intervals measurement. */
static void osal_getrelativetime(struct timeval *tv)
{
struct timespec ts;
/* Use clock_gettime to prevent possible live-lock.
* Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
* If this function preempts timeadjust and it uses vpage it live-locks.
* Also when using XENOMAI, only clock_gettime is RT safe */
clock_gettime(CLOCK_MONOTONIC, &ts);
tv->tv_sec = ts.tv_sec;
tv->tv_usec = ts.tv_nsec / 1000;
}
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);
osal_getrelativetime(&start_time);
timeout.tv_sec = timeout_usec / USECS_PER_SEC;
timeout.tv_usec = timeout_usec % USECS_PER_SEC;
timeradd(&start_time, &timeout, &stop_time);
@ -81,7 +81,7 @@ boolean osal_timer_is_expired (osal_timert * self)
struct timeval stop_time;
int is_not_yet_expired;
osal_gettimeofday(&current_time, 0);
osal_getrelativetime(&current_time);
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, <);