void upm_delay_ms(unsigned int time)
{
if (time <= 0)
time = 1;
#if defined(UPM_PLATFORM_LINUX)
struct timespec delay_time;
delay_time.tv_sec = time / 1000;
delay_time.tv_nsec = (time % 1000) * 1000000;
// here we spin until the delay is complete - detecting signals
// and continuing where we left off
while (nanosleep(&delay_time, &delay_time) && errno == EINTR)
; // loop
#elif defined(UPM_PLATFORM_ZEPHYR)
# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
struct k_timer timer;
k_timer_init(&timer, NULL, NULL);
k_timer_start(&timer, time, 0);
k_timer_status_sync(&timer);
# else
struct nano_timer timer;
void *timer_data[1];
nano_timer_init(&timer, timer_data);
nano_timer_start(&timer, MSEC(time) + 1);
nano_timer_test(&timer, TICKS_UNLIMITED);
# endif
#endif
}
static void gpio_sch_poll_status(void *arg1, void *unused1, void *unused2)
{
struct device *dev = (struct device *)arg1;
const struct gpio_sch_config *info = dev->config->config_info;
struct gpio_sch_data *gpio = dev->driver_data;
ARG_UNUSED(unused1);
ARG_UNUSED(unused2);
/* Cleaning up GTS first */
z_write_gts(z_read_gts(info->regs), info->regs);
while (gpio->poll) {
u32_t status;
status = z_read_gts(info->regs);
if (!status) {
goto loop;
}
gpio_fire_callbacks(&gpio->callbacks, dev, status);
/* It's not documented but writing the same status value
* into GTS tells to the controller it got handled.
*/
z_write_gts(status, info->regs);
loop:
k_timer_start(&gpio->poll_timer, GPIO_SCH_POLLING_MSEC, 0);
k_timer_status_sync(&gpio->poll_timer);
}
}
void upm_delay(unsigned int time)
{
if (time <= 0)
time = 1;
#if defined(UPM_PLATFORM_LINUX)
struct timespec delay_time;
delay_time.tv_sec = time;
delay_time.tv_nsec = 0;
// The advantage over sleep(3) here is that it will not use
// an alarm signal or handler.
// here we spin until the delay is complete - detecting signals
// and continuing where we left off
while (nanosleep(&delay_time, &delay_time) && errno == EINTR)
; // loop
#elif defined(UPM_PLATFORM_ZEPHYR)
# if KERNEL_VERSION_MAJOR == 1 && KERNEL_VERSION_MINOR >= 6
struct k_timer timer;
k_timer_init(&timer, NULL, NULL);
k_timer_start(&timer, time * 1000, 0);
k_timer_status_sync(&timer);
# else
struct nano_timer timer;
void *timer_data[1];
nano_timer_init(&timer, timer_data);
nano_timer_start(&timer, SECONDS(time) + 1);
nano_timer_test(&timer, TICKS_UNLIMITED);
# endif
#endif
}
