static void timer_task_proc(void *arg)
{
struct rt_tmbench_context *ctx = arg;
int count;
/* first event: one millisecond from now. */
ctx->date = rtdm_clock_read_monotonic() + 1000000;
while (1) {
int err;
for (count = 0; count < ctx->samples_per_sec; count++) {
RTDM_EXECUTE_ATOMICALLY(
ctx->start_time = rtdm_clock_read_monotonic();
err =
rtdm_task_sleep_abs(ctx->date,
RTDM_TIMERMODE_ABSOLUTE);
);
if (err)
return;
eval_inner_loop(ctx,
(long)(rtdm_clock_read_monotonic() -
ctx->date));
}
eval_outer_loop(ctx);
}
void
pwm_up(rtdm_timer_t *timer)
{
int retval;
size_t channel = 0;
for(; channel < RC_NUM; ++channel)
{
// set pwm to high
gpio_set_value(channels[channel].pwm, 1);
// ideal time to put signal down
down_time[channel] = rtdm_clock_read_monotonic() + up_interval[channel];
if(reconfigured[channel])
{
reconfigured[channel] = 0;
rtdm_timer_stop(&down_timer[channel]);
// request timer to fire DELTA ns earlier then needed
retval = rtdm_timer_start(&down_timer[channel],
up_interval[channel] - DELTA,
PERIOD,
RTDM_TIMERMODE_RELATIVE);
if(retval)
rtdm_printk("TB6612FNG: error reconfiguring down-timer #%i: %i\n",
channel, retval);
}
}
}
void
pwm_down(rtdm_timer_t *timer)
{
size_t channel = 0;
// Search for our timer to determine the channel
for(; channel < sizeof(down_timer) / sizeof(down_timer[0]); ++channel)
{
if(timer == &down_timer[channel])
break;
}
// spin until the ideal time to put signal down
while(down_time[channel] > rtdm_clock_read_monotonic());
// set pwm to low
gpio_set_value(channels[channel].pwm, 0);
}
int setup_timer_handler(void)
{
int ret = 0;
priv = netdev_priv(get_vlc_dev());
//Get the first packets in the packet ring
rx_packet = get_rx_packet();
tx_packet = get_tx_packet();
//Init semas
rtdm_sem_init(&tx_sem, 1);
rtdm_sem_init(&rx_sem, 1);
//Store the current time
rx_sleep_slot = rtdm_clock_read_monotonic();
tx_sleep_slot = rx_sleep_slot + sleep_increment / 2;
early_late_slot = do_div(sleep_increment, 5);
//Return an error if either is NULL
if(!rx_packet || !tx_packet) goto error;
//Start the rx and tx handler tasks
rtdm_task_init(&rx_handler_task, "VLC rx handler", rx_handler,
NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
if(ret) goto error;
rtdm_task_init(&tx_handler_task, "VLC tx handler", tx_handler,
NULL, RTDM_TASK_HIGHEST_PRIORITY, 0);
if(ret) goto error;
return 0;
error:
rtdm_task_destroy(&rx_handler_task);
rtdm_task_destroy(&tx_handler_task);
return -1;
}
