void *sys_time_thread_main(void *data)
{
int fd;
/* Create the timer */
fd = timerfd_create(CLOCK_MONOTONIC, 0);
if (fd == -1) {
perror("Could not set up timer.");
return NULL;
}
get_rt_prio(SYS_TIME_THREAD_PRIO);
/* Make the timer periodic */
struct itimerspec timer;
/* timer expires after sys_time.resolution sec */
timer.it_value.tv_sec = 0;
timer.it_value.tv_nsec = NSEC_OF_SEC(sys_time.resolution);
/* and every SYS_TIME_RESOLUTION sec after that */
timer.it_interval.tv_sec = 0;
timer.it_interval.tv_nsec = NSEC_OF_SEC(sys_time.resolution);
if (timerfd_settime(fd, 0, &timer, NULL) == -1) {
perror("Could not set up timer.");
return NULL;
}
while (1) {
unsigned long long missed;
/* Wait for the next timer event. If we have missed any the
number is written to "missed" */
int r = read(fd, &missed, sizeof(missed));
if (r == -1) {
perror("Couldn't read timer!");
}
if (missed > 1) {
fprintf(stderr, "Missed %lld timer events!\n", missed);
}
/* set current sys_time */
sys_tick_handler();
}
return NULL;
}
void nps_autopilot_run_systime_step( void ) {
sys_tick_handler();
}
/** needs to be called at SYS_TIME_FREQUENCY */
value sim_sys_time_task(value unit)
{
sys_tick_handler();
return unit;
}