mirror of
https://github.com/OpenEtherCATsociety/SOEM.git
synced 2026-02-06 09:03:10 +08:00
7c2da72988
This commit adds osal_get_monotonic_time() and osal_monotonic_sleep(). These functions are designed to facilitate synchronization with DC time, which can achieve nanosecond precision. To support this functionality, the ec_timet structure has been refactored to hold time values in nanoseconds, eliminating the need to maintain separate time representations. Change-Id: I039a006ccdb21ba35c437ab76e44e5153c711998
110 lines
3.3 KiB
C
110 lines
3.3 KiB
C
/*
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* This software is dual-licensed under GPLv3 and a commercial
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* license. See the file LICENSE.md distributed with this software for
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* full license information.
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*/
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#ifndef _osal_
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#define _osal_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "osal_defs.h"
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#include <stdint.h>
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#include <stddef.h>
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/* General types */
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#ifndef TRUE
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#define TRUE 1
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#endif
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#ifndef FALSE
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#define FALSE 0
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#endif
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typedef uint8_t boolean;
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typedef int8_t int8;
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typedef int16_t int16;
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typedef int32_t int32;
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typedef uint8_t uint8;
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typedef uint16_t uint16;
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typedef uint32_t uint32;
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typedef int64_t int64;
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typedef uint64_t uint64;
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typedef float float32;
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typedef double float64;
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typedef struct osal_timer
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{
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ec_timet stop_time;
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} osal_timert;
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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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void osal_get_monotonic_time(ec_timet *tv);
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int osal_monotonic_sleep(ec_timet *ts);
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void osal_timer_start(osal_timert *self, uint32 timeout_us);
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boolean osal_timer_is_expired(osal_timert *self);
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int osal_usleep(uint32 usec);
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ec_timet osal_current_time(void);
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff);
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int osal_thread_create(void *thandle, int stacksize, void *func, void *param);
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int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param);
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void *osal_malloc(size_t size);
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void osal_free(void *ptr);
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void *osal_mutex_create(void);
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void osal_mutex_destroy(void *mutex);
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void osal_mutex_lock(void *mutex);
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void osal_mutex_unlock(void *mutex);
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#ifndef osal_timespec_from_usec
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#define osal_timespec_from_usec(usec, result) \
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do \
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{ \
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(result)->tv_sec = usec / 1000000; \
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(result)->tv_nsec = (usec % 1000000) * 1000; \
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} while (0)
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#endif
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#ifndef osal_timespeccmp
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#define osal_timespeccmp(a, b, CMP) \
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(((a)->tv_sec == (b)->tv_sec) \
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? ((a)->tv_nsec CMP(b)->tv_nsec) \
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: ((a)->tv_sec CMP(b)->tv_sec))
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#endif
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#ifndef osal_timespecadd
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#define osal_timespecadd(a, b, result) \
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do \
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{ \
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(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
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(result)->tv_nsec = (a)->tv_nsec + (b)->tv_nsec; \
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if ((result)->tv_nsec >= 1000000000) \
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{ \
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++(result)->tv_sec; \
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(result)->tv_nsec -= 1000000000; \
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} \
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} while (0)
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#endif
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#ifndef osal_timespecsub
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#define osal_timespecsub(a, b, result) \
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do \
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{ \
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(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
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(result)->tv_nsec = (a)->tv_nsec - (b)->tv_nsec; \
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if ((result)->tv_nsec < 0) \
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{ \
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--(result)->tv_sec; \
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(result)->tv_nsec += 1000000000; \
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} \
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} while (0)
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif
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