126 lines
3.7 KiB
C
126 lines
3.7 KiB
C
/*
|
|
* Simple Open EtherCAT Master Library
|
|
*
|
|
* File : osal.c
|
|
* Version : 1.3.1
|
|
* Date : 11-03-2015
|
|
* Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
|
|
* Copyright (C) 2005-2015 Arthur Ketels
|
|
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
|
|
* Copyright (C) 2012-2015 rt-labs AB , Sweden
|
|
*
|
|
* SOEM is free software; you can redistribute it and/or modify it under
|
|
* the terms of the GNU General Public License version 2 as published by the Free
|
|
* Software Foundation.
|
|
*
|
|
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
|
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* As a special exception, if other files instantiate templates or use macros
|
|
* or inline functions from this file, or you compile this file and link it
|
|
* with other works to produce a work based on this file, this file does not
|
|
* by itself cause the resulting work to be covered by the GNU General Public
|
|
* License. However the source code for this file must still be made available
|
|
* in accordance with section (3) of the GNU General Public License.
|
|
*
|
|
* This exception does not invalidate any other reasons why a work based on
|
|
* this file might be covered by the GNU General Public License.
|
|
*
|
|
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
|
|
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
|
|
* the sole purpose of creating, using and/or selling or otherwise distributing
|
|
* an EtherCAT network master provided that an EtherCAT Master License is obtained
|
|
* from Beckhoff Automation GmbH.
|
|
*
|
|
* In case you did not receive a copy of the EtherCAT Master License along with
|
|
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
|
|
* (www.beckhoff.com).
|
|
*/
|
|
|
|
#include <rt.h>
|
|
#include <sys/time.h>
|
|
#include <osal.h>
|
|
|
|
static int64_t sysfrequency;
|
|
static double qpc2usec;
|
|
|
|
#define USECS_PER_SEC 1000000
|
|
|
|
int osal_gettimeofday (struct timeval *tv, struct timezone *tz)
|
|
{
|
|
return gettimeofday (tv, tz);
|
|
}
|
|
|
|
ec_timet osal_current_time (void)
|
|
{
|
|
struct timeval current_time;
|
|
ec_timet return_value;
|
|
|
|
osal_gettimeofday (¤t_time, 0);
|
|
return_value.sec = current_time.tv_sec;
|
|
return_value.usec = current_time.tv_usec;
|
|
return return_value;
|
|
}
|
|
|
|
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 (¤t_time, 0);
|
|
stop_time.tv_sec = self->stop_time.sec;
|
|
stop_time.tv_usec = self->stop_time.usec;
|
|
is_not_yet_expired = timercmp (¤t_time, &stop_time, <);
|
|
|
|
return is_not_yet_expired == FALSE;
|
|
}
|
|
|
|
int osal_usleep(uint32 usec)
|
|
{
|
|
RtSleepEx (usec / 1000);
|
|
return 1;
|
|
}
|
|
|
|
/* Mutex is not needed when running single threaded */
|
|
|
|
void osal_mtx_lock(osal_mutex_t * mtx)
|
|
{
|
|
/* RtWaitForSingleObject((HANDLE)mtx, INFINITE); */
|
|
}
|
|
|
|
void osal_mtx_unlock(osal_mutex_t * mtx)
|
|
{
|
|
/* RtReleaseMutex((HANDLE)mtx); */
|
|
}
|
|
|
|
int osal_mtx_lock_timeout(osal_mutex_t * mtx, uint32_t time_ms)
|
|
{
|
|
/* return RtWaitForSingleObject((HANDLE)mtx, time_ms); */
|
|
return 0;
|
|
}
|
|
|
|
osal_mutex_t * osal_mtx_create(void)
|
|
{
|
|
/* return (void*)RtCreateMutex(NULL, FALSE, NULL); */
|
|
return (void *)0;
|
|
}
|
|
|