SOEM/osal/erika/osal.c

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/*
* 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);
}