126 lines
3.8 KiB
C
126 lines
3.8 KiB
C
/*
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* Simple Open EtherCAT Master Library
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*
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* File : osal.c
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* Version : 1.3.1
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* Date : 11-03-2015
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* Copyright (C) 2005-2015 Speciaal Machinefabriek Ketels v.o.f.
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* Copyright (C) 2005-2015 Arthur Ketels
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* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
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* Copyright (C) 2012-2015 rt-labs AB , Sweden
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*
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* SOEM is free software; you can redistribute it and/or modify it under
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* the terms of the GNU General Public License version 2 as published by the Free
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* Software Foundation.
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*
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* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
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* WARRANTY; without even the implied warranty of MERCHANTABILITY or
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* As a special exception, if other files instantiate templates or use macros
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* or inline functions from this file, or you compile this file and link it
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* with other works to produce a work based on this file, this file does not
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* by itself cause the resulting work to be covered by the GNU General Public
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* License. However the source code for this file must still be made available
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* in accordance with section (3) of the GNU General Public License.
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*
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* This exception does not invalidate any other reasons why a work based on
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* this file might be covered by the GNU General Public License.
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*
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* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
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* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
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* the sole purpose of creating, using and/or selling or otherwise distributing
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* an EtherCAT network master provided that an EtherCAT Master License is obtained
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* from Beckhoff Automation GmbH.
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*
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* In case you did not receive a copy of the EtherCAT Master License along with
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* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
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* (www.beckhoff.com).
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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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