feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断
后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新， 并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别 与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例， 避免两个进程争用 Npcap 适配器。 记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg 导出用于归因固定频率的超时；配
This commit is contained in:
@@ -0,0 +1,103 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <time.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <osal.h>
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#include "ee_x86_64_tsc.h"
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#define USECS_PER_SEC 1000000
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#define NSECS_PER_SEC 1000000000
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uint64_t osEE_x86_64_tsc_read(void);
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void ee_usleep(uint32 usec);
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inline int osal_usleep (uint32 usec)
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{
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ee_usleep(usec);
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return 0;
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}
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
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{
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uint64_t time = osEE_x86_64_tsc_read();
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tv->tv_sec = time/NSECS_PER_SEC;
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tv->tv_sec += 946684800UL; /* EtherCAT uses 2000-01-01 as epoch start */
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tv->tv_usec = (time%NSECS_PER_SEC)/1000;
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return 0;
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}
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ec_timet osal_current_time(void)
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{
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struct timeval current_time;
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ec_timet ret;
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osal_gettimeofday(¤t_time, 0);
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ret.sec = current_time.tv_sec;
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ret.usec = current_time.tv_usec;
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return ret;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + USECS_PER_SEC - start->usec;
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} else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start(osal_timert *self, uint32 timeout_usec)
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{
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struct timeval start_time;
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struct timeval timeout;
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struct timeval stop_time;
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osal_gettimeofday(&start_time, 0);
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timeout.tv_sec = timeout_usec / USECS_PER_SEC;
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timeout.tv_usec = timeout_usec % USECS_PER_SEC;
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timeradd(&start_time, &timeout, &stop_time);
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self->stop_time.sec = stop_time.tv_sec;
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self->stop_time.usec = stop_time.tv_usec;
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}
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boolean osal_timer_is_expired (osal_timert *self)
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{
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struct timeval current_time;
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struct timeval stop_time;
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int is_not_yet_expired;
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osal_gettimeofday (¤t_time, 0);
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stop_time.tv_sec = self->stop_time.sec;
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp (¤t_time, &stop_time, <);
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/* OSEE_PRINT("current: %d:%d -- expire: %d:%d -- result: %d\n", */
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/* current_time.tv_sec, */
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/* current_time.tv_usec, */
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/* stop_time.tv_sec, */
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/* stop_time.tv_usec, */
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/* is_not_yet_expired); */
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return is_not_yet_expired == FALSE;
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}
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void *osal_malloc(size_t size)
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{
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return malloc(size);
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}
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void osal_free(void *ptr)
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{
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free(ptr);
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}
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@@ -0,0 +1,41 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef _osal_defs_
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#define _osal_defs_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include <sys/time.h>
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#include <stdlib.h>
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#include <ee.h>
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// define if debug print is needed
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#define EC_DEBUG
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#ifdef EC_DEBUG
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#define EC_PRINT OSEE_PRINT
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#else
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#define EC_PRINT(...) do {} while (0)
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#endif
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#ifndef PACKED
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#define PACKED_BEGIN
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#define PACKED __attribute__((__packed__))
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#define PACKED_END
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#endif
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz);
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void *osal_malloc(size_t size);
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void osal_free(void *ptr);
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#ifdef __cplusplus
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}
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#endif
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#endif
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@@ -0,0 +1,88 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <rt.h>
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#include <sys/time.h>
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#include <osal.h>
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static int64_t sysfrequency;
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static double qpc2usec;
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#define USECS_PER_SEC 1000000
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int osal_gettimeofday (struct timeval *tv, struct timezone *tz)
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{
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return gettimeofday (tv, tz);
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}
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ec_timet osal_current_time (void)
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{
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struct timeval current_time;
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ec_timet return_value;
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osal_gettimeofday (¤t_time, 0);
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return_value.sec = current_time.tv_sec;
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return_value.usec = current_time.tv_usec;
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return return_value;
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}
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void osal_timer_start (osal_timert * self, uint32 timeout_usec)
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{
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struct timeval start_time;
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struct timeval timeout;
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struct timeval stop_time;
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osal_gettimeofday (&start_time, 0);
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timeout.tv_sec = timeout_usec / USECS_PER_SEC;
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timeout.tv_usec = timeout_usec % USECS_PER_SEC;
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timeradd (&start_time, &timeout, &stop_time);
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self->stop_time.sec = stop_time.tv_sec;
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self->stop_time.usec = stop_time.tv_usec;
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}
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boolean osal_timer_is_expired (osal_timert * self)
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{
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struct timeval current_time;
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struct timeval stop_time;
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int is_not_yet_expired;
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osal_gettimeofday (¤t_time, 0);
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stop_time.tv_sec = self->stop_time.sec;
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp (¤t_time, &stop_time, <);
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return is_not_yet_expired == FALSE;
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}
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int osal_usleep(uint32 usec)
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{
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RtSleepEx (usec / 1000);
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return 1;
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}
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/* Mutex is not needed when running single threaded */
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void osal_mtx_lock(osal_mutex_t * mtx)
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{
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/* RtWaitForSingleObject((HANDLE)mtx, INFINITE); */
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}
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void osal_mtx_unlock(osal_mutex_t * mtx)
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{
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/* RtReleaseMutex((HANDLE)mtx); */
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}
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int osal_mtx_lock_timeout(osal_mutex_t * mtx, uint32_t time_ms)
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{
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/* return RtWaitForSingleObject((HANDLE)mtx, time_ms); */
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return 0;
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}
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osal_mutex_t * osal_mtx_create(void)
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{
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/* return (void*)RtCreateMutex(NULL, FALSE, NULL); */
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return (void *)0;
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}
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@@ -0,0 +1,43 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef _osal_defs_
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#define _osal_defs_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// define if debug printf is needed
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//#define EC_DEBUG
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#ifdef EC_DEBUG
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#define EC_PRINT printf
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#else
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#define EC_PRINT(...) do {} while (0)
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#endif
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#ifndef PACKED
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#ifdef _MSC_VER
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#define PACKED_BEGIN __pragma(pack(push, 1))
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#define PACKED
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#define PACKED_END __pragma(pack(pop))
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#elif defined(__GNUC__)
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#define PACKED_BEGIN
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#define PACKED __attribute__((__packed__))
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#define PACKED_END
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#endif
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#endif
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#define OSAL_THREAD_HANDLE RTHANDLE
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#define OSAL_THREAD_FUNC void
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#define OSAL_THREAD_FUNC_RT void
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#ifdef __cplusplus
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}
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#endif
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#endif
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@@ -0,0 +1,144 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <time.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <osal.h>
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#define USECS_PER_SEC 1000000
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int osal_usleep (uint32 usec)
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{
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struct timespec ts;
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ts.tv_sec = usec / USECS_PER_SEC;
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ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
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/* usleep is deprecated, use nanosleep instead */
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return nanosleep(&ts, NULL);
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}
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ec_timet osal_current_time(void)
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{
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struct timespec current_time;
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ec_timet return_value;
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clock_gettime(CLOCK_REALTIME, ¤t_time);
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return_value.sec = current_time.tv_sec;
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return_value.usec = current_time.tv_nsec / 1000;
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return return_value;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + 1000000 - start->usec;
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}
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else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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/* Returns time from some unspecified moment in past,
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* strictly increasing, used for time intervals measurement. */
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static void osal_getrelativetime(struct timeval *tv)
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{
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struct timespec ts;
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/* Use clock_gettime to prevent possible live-lock.
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* Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
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* If this function preempts timeadjust and it uses vpage it live-locks.
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* Also when using XENOMAI, only clock_gettime is RT safe */
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clock_gettime(CLOCK_MONOTONIC, &ts);
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tv->tv_sec = ts.tv_sec;
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tv->tv_usec = ts.tv_nsec / 1000;
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}
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void osal_timer_start(osal_timert * self, uint32 timeout_usec)
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{
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struct timeval start_time;
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struct timeval timeout;
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struct timeval stop_time;
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osal_getrelativetime(&start_time);
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timeout.tv_sec = timeout_usec / USECS_PER_SEC;
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timeout.tv_usec = timeout_usec % USECS_PER_SEC;
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timeradd(&start_time, &timeout, &stop_time);
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self->stop_time.sec = stop_time.tv_sec;
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self->stop_time.usec = stop_time.tv_usec;
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}
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boolean osal_timer_is_expired (osal_timert * self)
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{
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struct timeval current_time;
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struct timeval stop_time;
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int is_not_yet_expired;
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osal_getrelativetime(¤t_time);
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stop_time.tv_sec = self->stop_time.sec;
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp(¤t_time, &stop_time, <);
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return is_not_yet_expired == FALSE;
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}
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void *osal_malloc(size_t size)
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{
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return malloc(size);
|
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}
|
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void osal_free(void *ptr)
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||||
{
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free(ptr);
|
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}
|
||||
|
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int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
|
||||
{
|
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int ret;
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pthread_attr_t attr;
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pthread_t *threadp;
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||||
|
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threadp = thandle;
|
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pthread_attr_init(&attr);
|
||||
pthread_attr_setstacksize(&attr, stacksize);
|
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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;
|
||||
|
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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;
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED_BEGIN
|
||||
#define PACKED __attribute__((__packed__))
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
#include <pthread.h>
|
||||
#define OSAL_THREAD_HANDLE pthread_t *
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,144 @@
|
||||
/*
|
||||
* 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);
|
||||
}
|
||||
|
||||
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;
|
||||
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_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;
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED_BEGIN
|
||||
#define PACKED __attribute__((__packed__))
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
#include <pthread.h>
|
||||
#define OSAL_THREAD_HANDLE pthread_t *
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,59 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_
|
||||
#define _osal_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
#include "osal_defs.h"
|
||||
#include <stdint.h>
|
||||
|
||||
/* General types */
|
||||
#ifndef TRUE
|
||||
#define TRUE 1
|
||||
#endif
|
||||
#ifndef FALSE
|
||||
#define FALSE 0
|
||||
#endif
|
||||
typedef uint8_t boolean;
|
||||
typedef int8_t int8;
|
||||
typedef int16_t int16;
|
||||
typedef int32_t int32;
|
||||
typedef uint8_t uint8;
|
||||
typedef uint16_t uint16;
|
||||
typedef uint32_t uint32;
|
||||
typedef int64_t int64;
|
||||
typedef uint64_t uint64;
|
||||
typedef float float32;
|
||||
typedef double float64;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint32 sec; /*< Seconds elapsed since the Epoch (Jan 1, 1970) */
|
||||
uint32 usec; /*< Microseconds elapsed since last second boundary */
|
||||
} ec_timet;
|
||||
|
||||
typedef struct osal_timer
|
||||
{
|
||||
ec_timet stop_time;
|
||||
} osal_timert;
|
||||
|
||||
void osal_timer_start(osal_timert * self, uint32 timeout_us);
|
||||
boolean osal_timer_is_expired(osal_timert * self);
|
||||
int osal_usleep(uint32 usec);
|
||||
ec_timet osal_current_time(void);
|
||||
void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff);
|
||||
int osal_thread_create(void *thandle, int stacksize, void *func, void *param);
|
||||
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,144 @@
|
||||
/*
|
||||
* 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);
|
||||
}
|
||||
|
||||
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;
|
||||
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_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;
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
@@ -0,0 +1,38 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED_BEGIN
|
||||
#define PACKED __attribute__((__packed__))
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
#include <pthread.h>
|
||||
#define OSAL_THREAD_HANDLE pthread_t *
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,145 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <osal.h>
|
||||
#include <kern.h>
|
||||
#include <time.h>
|
||||
#include <sys/time.h>
|
||||
#include <config.h>
|
||||
|
||||
#define timercmp(a, b, CMP) \
|
||||
(((a)->tv_sec == (b)->tv_sec) ? \
|
||||
((a)->tv_usec CMP (b)->tv_usec) : \
|
||||
((a)->tv_sec CMP (b)->tv_sec))
|
||||
#define timeradd(a, b, result) \
|
||||
do { \
|
||||
(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
|
||||
(result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \
|
||||
if ((result)->tv_usec >= 1000000) \
|
||||
{ \
|
||||
++(result)->tv_sec; \
|
||||
(result)->tv_usec -= 1000000; \
|
||||
} \
|
||||
} while (0)
|
||||
#define timersub(a, b, result) \
|
||||
do { \
|
||||
(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
|
||||
(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
|
||||
if ((result)->tv_usec < 0) { \
|
||||
--(result)->tv_sec; \
|
||||
(result)->tv_usec += 1000000; \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#define USECS_PER_SEC 1000000
|
||||
#define USECS_PER_TICK (USECS_PER_SEC / CFG_TICKS_PER_SECOND)
|
||||
|
||||
|
||||
/* Workaround for rt-labs defect 776.
|
||||
* Default implementation of udelay() didn't work correctly when tick was
|
||||
* shorter than one millisecond.
|
||||
*/
|
||||
void udelay (uint32_t us)
|
||||
{
|
||||
tick_t ticks = (us / USECS_PER_TICK) + 1;
|
||||
task_delay (ticks);
|
||||
}
|
||||
|
||||
int gettimeofday(struct timeval *tp, void *tzp)
|
||||
{
|
||||
tick_t tick = tick_get();
|
||||
tick_t ticks_left;
|
||||
|
||||
ASSERT (tp != NULL);
|
||||
|
||||
tp->tv_sec = tick / CFG_TICKS_PER_SECOND;
|
||||
|
||||
ticks_left = tick % CFG_TICKS_PER_SECOND;
|
||||
tp->tv_usec = ticks_left * USECS_PER_TICK;
|
||||
ASSERT (tp->tv_usec < USECS_PER_SEC);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int osal_usleep (uint32 usec)
|
||||
{
|
||||
udelay(usec);
|
||||
return 0;
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
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;
|
||||
|
||||
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;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
thandle = task_spawn ("worker", func, 6,stacksize, param);
|
||||
if(!thandle)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
|
||||
{
|
||||
thandle = task_spawn ("worker_rt", func, 15 ,stacksize, param);
|
||||
if(!thandle)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED_BEGIN
|
||||
#define PACKED __attribute__((__packed__))
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
#define OSAL_THREAD_HANDLE task_t *
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,187 @@
|
||||
/*
|
||||
* 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 <stdio.h>
|
||||
#include <osal.h>
|
||||
#include <vxWorks.h>
|
||||
#include <taskLib.h>
|
||||
|
||||
|
||||
#define timercmp(a, b, CMP) \
|
||||
(((a)->tv_sec == (b)->tv_sec) ? \
|
||||
((a)->tv_usec CMP (b)->tv_usec) : \
|
||||
((a)->tv_sec CMP (b)->tv_sec))
|
||||
#define timeradd(a, b, result) \
|
||||
do { \
|
||||
(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
|
||||
(result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \
|
||||
if ((result)->tv_usec >= 1000000) \
|
||||
{ \
|
||||
++(result)->tv_sec; \
|
||||
(result)->tv_usec -= 1000000; \
|
||||
} \
|
||||
} while (0)
|
||||
#define timersub(a, b, result) \
|
||||
do { \
|
||||
(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
|
||||
(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
|
||||
if ((result)->tv_usec < 0) { \
|
||||
--(result)->tv_sec; \
|
||||
(result)->tv_usec += 1000000; \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
#define USECS_PER_SEC 1000000
|
||||
|
||||
/* OBS! config worker threads must have higher prio that task running ec_configuration */
|
||||
#define ECAT_TASK_PRIO_HIGH 20 /* Priority for high performance network task */
|
||||
#define ECAT_TASK_PRIO_LOW 80 /* Priority for high performance network task */
|
||||
#define ECAT_STACK_SIZE 10000 /* Stack size for high performance task */
|
||||
static int ecatTaskOptions = VX_SUPERVISOR_MODE | VX_UNBREAKABLE;
|
||||
static int ecatTaskIndex = 0;
|
||||
|
||||
#ifndef use_task_delay
|
||||
#define use_task_delay 1
|
||||
#endif
|
||||
|
||||
int osal_usleep (uint32 usec)
|
||||
{
|
||||
#if (use_task_delay == 1)
|
||||
/* Task delay 0 only yields */
|
||||
taskDelay(usec / 1000);
|
||||
return 0;
|
||||
#else
|
||||
/* The suspension may be longer than requested due to the rounding up of
|
||||
* the request to the timer's resolution or to other scheduling activities
|
||||
* (e.g., a higher priority task intervenes).
|
||||
*/
|
||||
struct timespec ts;
|
||||
ts.tv_sec = usec / USECS_PER_SEC;
|
||||
ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
|
||||
return nanosleep(&ts, NULL);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
|
||||
{
|
||||
struct timespec ts;
|
||||
int return_value;
|
||||
(void)tz; /* Not used */
|
||||
|
||||
/* Use clock_gettime CLOCK_MONOTONIC to a avoid NTP time adjustments */
|
||||
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;
|
||||
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_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;
|
||||
}
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
char task_name[20];
|
||||
TASK_ID * tid = (TASK_ID *)thandle;
|
||||
FUNCPTR func_ptr = func;
|
||||
_Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
|
||||
|
||||
snprintf(task_name,sizeof(task_name),"worker_%d",ecatTaskIndex++);
|
||||
|
||||
*tid = taskSpawn (task_name, ECAT_TASK_PRIO_LOW,
|
||||
ecatTaskOptions, ECAT_STACK_SIZE,
|
||||
func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
||||
if(*tid == TASK_ID_ERROR)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
|
||||
{
|
||||
char task_name[20];
|
||||
TASK_ID * tid = (TASK_ID *)thandle;
|
||||
FUNCPTR func_ptr = func;
|
||||
_Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
|
||||
|
||||
snprintf(task_name,sizeof(task_name),"worker_rt_%d",ecatTaskIndex++);
|
||||
|
||||
*tid = taskSpawn (task_name, ECAT_TASK_PRIO_HIGH,
|
||||
ecatTaskOptions, ECAT_STACK_SIZE,
|
||||
func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
||||
|
||||
if(*tid == TASK_ID_ERROR)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED_BEGIN
|
||||
#define PACKED __attribute__((__packed__))
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
#define OSAL_THREAD_HANDLE TASK_ID
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,153 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <winsock2.h>
|
||||
#include <osal.h>
|
||||
#include "osal_win32.h"
|
||||
|
||||
static int64_t sysfrequency;
|
||||
static double qpc2usec;
|
||||
|
||||
#define USECS_PER_SEC 1000000
|
||||
|
||||
static int osal_getrelativetime(struct timeval *tv, struct timezone *tz)
|
||||
{
|
||||
int64_t wintime, usecs;
|
||||
(void)tz;
|
||||
if(!sysfrequency)
|
||||
{
|
||||
timeBeginPeriod(1);
|
||||
QueryPerformanceFrequency((LARGE_INTEGER *)&sysfrequency);
|
||||
qpc2usec = 1000000.0 / sysfrequency;
|
||||
}
|
||||
QueryPerformanceCounter((LARGE_INTEGER *)&wintime);
|
||||
usecs = (int64_t)((double)wintime * qpc2usec);
|
||||
tv->tv_sec = (long)(usecs / 1000000);
|
||||
tv->tv_usec = (long)(usecs - (tv->tv_sec * 1000000));
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
|
||||
{
|
||||
FILETIME system_time;
|
||||
int64 system_time64, usecs;
|
||||
(void)tz;
|
||||
/* The offset variable is required to switch from Windows epoch (January 1, 1601) to
|
||||
* Unix epoch (January 1, 1970). Number of days between both epochs: 134.774
|
||||
*
|
||||
* The time returned by GetSystemTimeAsFileTime() changes in 100 ns steps, so the
|
||||
* following factors are required for the conversion from days to 100 ns steps:
|
||||
*
|
||||
* 86.400 seconds per day; 1.000.000 microseconds per second; 10 * 100 ns per microsecond
|
||||
*/
|
||||
int64 offset = -134774LL * 86400LL * 1000000LL * 10LL;
|
||||
|
||||
GetSystemTimeAsFileTime(&system_time);
|
||||
|
||||
system_time64 = ((int64)(system_time.dwHighDateTime) << 32) + (int64)system_time.dwLowDateTime;
|
||||
system_time64 += offset;
|
||||
usecs = system_time64 / 10;
|
||||
|
||||
tv->tv_sec = (long)(usecs / 1000000);
|
||||
tv->tv_usec = (long)(usecs - (tv->tv_sec * 1000000));
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
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_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;
|
||||
}
|
||||
}
|
||||
|
||||
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, 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_getrelativetime (¤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)
|
||||
{
|
||||
osal_timert qtime;
|
||||
osal_timer_start(&qtime, usec);
|
||||
if(usec >= 1000)
|
||||
{
|
||||
SleepEx(usec / 1000, FALSE);
|
||||
}
|
||||
while(!osal_timer_is_expired(&qtime));
|
||||
return 1;
|
||||
}
|
||||
|
||||
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)
|
||||
{
|
||||
*(OSAL_THREAD_HANDLE*)thandle = CreateThread(NULL, stacksize, func, param, 0, NULL);
|
||||
if(!thandle)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
|
||||
{
|
||||
int ret;
|
||||
ret = osal_thread_create(thandle, stacksize, func, param);
|
||||
if (ret)
|
||||
{
|
||||
ret = SetThreadPriority(thandle, THREAD_PRIORITY_TIME_CRITICAL);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
#define WIN32_LEAN_AND_MEAN // Exclude some conflicting definitions in windows header
|
||||
#include <windows.h>
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED
|
||||
#ifdef __GNUC__
|
||||
#define PACKED_BEGIN _Pragma("pack(push,1)")
|
||||
#define PACKED_END _Pragma("pack(pop)")
|
||||
#else
|
||||
#define PACKED_BEGIN __pragma(pack(push, 1))
|
||||
#define PACKED_END __pragma(pack(pop))
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
#define OSAL_THREAD_HANDLE HANDLE
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,36 @@
|
||||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_win32_
|
||||
#define _osal_win32_
|
||||
|
||||
/* Convenience macros for operations on timevals.
|
||||
NOTE: `timercmp' does not work for >= or <=. */
|
||||
# define timerisset(tvp) ((tvp)->tv_sec || (tvp)->tv_usec)
|
||||
# define timeradd(a, b, result) \
|
||||
do { \
|
||||
(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
|
||||
(result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \
|
||||
if ((result)->tv_usec >= 1000000) \
|
||||
{ \
|
||||
++(result)->tv_sec; \
|
||||
(result)->tv_usec -= 1000000; \
|
||||
} \
|
||||
} while (0)
|
||||
# define timersub(a, b, result) \
|
||||
do { \
|
||||
(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
|
||||
(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
|
||||
if ((result)->tv_usec < 0) { \
|
||||
--(result)->tv_sec; \
|
||||
(result)->tv_usec += 1000000; \
|
||||
} \
|
||||
} while (0)
|
||||
|
||||
struct timezone;
|
||||
// currently the tz parameter is ignored in the win32 implmentation.
|
||||
int osal_gettimeofday (struct timeval *tv, struct timezone *tz);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user