void rtt_sleep(int ms)
{
TIME_SPEC ts;
ts.tv_sec = 0;
ts.tv_nsec = ms * 1000*1000;
rtos_nanosleep(&ts, NULL);
}
INTERNAL_QUAL void rtos_task_yield(RTOS_TASK* t) {
#if 0
//under plain gnulinux, sched_yield may have little influence, so sleep
// to force rescheduling of other threads.
NANO_TIME timeRemaining = 1000; // 1ms
TIME_SPEC ts( ticks2timespec( timeRemaining ) );
rtos_nanosleep( &ts , NULL );
#else
int ret = sched_yield();
if ( ret != 0)
perror("rtos_task_yield");
#endif
}
INTERNAL_QUAL int rtos_task_wait_period( RTOS_TASK* task )
{
if ( task->period == 0 )
return 0;
//rtos_printf("Time is %lld nsec, Mark is %lld nsec.\n",rtos_get_time_ns(), task->periodMark );
// CALCULATE in nsecs
NANO_TIME timeRemaining = task->periodMark - rtos_get_time_ns();
// next wake-up time :
task->periodMark += task->period;
if ( timeRemaining > 0 ) {
//rtos_printf("Waiting for %lld nsec\n",timeRemaining);
TIME_SPEC ts( ticks2timespec( timeRemaining ) );
rtos_nanosleep( &ts , NULL );
return 0;
}
return -1;
}
