SOEM/osal/linux/osal.c

145 lines
3.5 KiB
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>
#define USECS_PER_SEC 1000000
int osal_usleep (uint32 usec)
{
struct timespec ts;
ts.tv_sec = usec / USECS_PER_SEC;
ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
/* usleep is deprecated, use nanosleep instead */
return nanosleep(&ts, NULL);
}
ec_timet osal_current_time(void)
{
struct timespec current_time;
ec_timet return_value;
clock_gettime(CLOCK_REALTIME, &current_time);
return_value.sec = current_time.tv_sec;
return_value.usec = current_time.tv_nsec / 1000;
return return_value;
}
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 + 1000000 - start->usec;
}
else {
diff->sec = end->sec - start->sec;
diff->usec = end->usec - start->usec;
}
}
/* 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_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);
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_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, <);
return is_not_yet_expired == FALSE;
}
void *osal_malloc(size_t size)
{
return malloc(size);
}
void osal_free(void *ptr)
{
free(ptr);
}
int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
{
int ret;
pthread_attr_t attr;
pthread_t *threadp;
threadp = thandle;
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, stacksize);
ret = pthread_create(threadp, &attr, func, param);
if(ret < 0)
{
return 0;
}
return 1;
}
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
{
int ret;
pthread_attr_t attr;
struct sched_param schparam;
pthread_t *threadp;
threadp = thandle;
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, stacksize);
ret = pthread_create(threadp, &attr, func, param);
pthread_attr_destroy(&attr);
if(ret < 0)
{
return 0;
}
memset(&schparam, 0, sizeof(schparam));
schparam.sched_priority = 40;
ret = pthread_setschedparam(*threadp, SCHED_FIFO, &schparam);
if(ret < 0)
{
return 0;
}
return 1;
}