/* Free some buffers every 1 second */
static void
osl_cachereclaim(void * data)
{
osl_t *osh = (osl_t *)data;
uint ticks = TAGCACHE_RECLAIM_TIME / (1000/ sysClkRateGet());
if (TAGCACHE_RECLAIM_TIME % (1000 / sysClkRateGet()))
ticks++;
TAGCACHE_LOCK(osh);
bcmcache_reclaim(osh->pkttag_memp);
TAGCACHE_UNLOCK(osh);
wdStart(osh->cache_wd, ticks, (FUNCPTR) osl_cachereclaim_timer, (int) osh);
}
/*----------------------------------------------------------------------*/
static
void resetNameBufs() /* free all named buffers */
{
int retrys;
int callTaskId,DwnLkrTaskId;
int callTaskPrior;
/* Since reset2SafeState should have left the downLinker in a ready
state we now longer need change priority/etc. here to get it to clean
up. 8/6/97
*/
retrys=0;
/* start wdog timeout of 7 seconds */
#ifdef INOVA
pHandlerTimeout = 0;
wdStart(pHandlerWdTimeout,sysClkRateGet() * 7, pHandlerWdISR, 0);
/* free buffers until all are free or watch-dog timeout has occurred */
while ( ((dlbUsedBufs(pDlbDynBufs) > 0) || (dlbUsedBufs(pDlbFixBufs) > 0)) &&
(!pHandlerTimeout) )
{
retrys++;
DPRINT(0,"dlbFreeAll Dyn");
dlbFreeAll(pDlbDynBufs);
DPRINT(0,"dlbFreeAll Fix");
dlbFreeAll(pDlbFixBufs);
Tdelay(1);
DPRINT1(0,"resetNameBufs: retrys: %d\n",retrys);
}
wdCancel(pHandlerWdTimeout);
#endif
}
/* --------------------------------------------------------------------------------------
Name: OS_ShellOutputToFile
Purpose: Takes a shell command in and writes the output of that command to the specified file
Returns: OS_SUCCESS if success
OS_FS_ERR_INVALID_FD if the file descriptor passed in is invalid
OS_FS_ERROR if Error
---------------------------------------------------------------------------------------*/
int32 OS_ShellOutputToFile(char* Cmd, int32 OS_fd)
{
char LocalCmd [OS_MAX_CMD_LEN];
int32 Result;
int32 ReturnCode = OS_FS_SUCCESS;
int32 fdCmd;
char * shellName;
/*
** Check parameters
*/
if (Cmd == NULL)
{
return(OS_FS_ERR_INVALID_POINTER);
}
/* Make sure the file descriptor is legit before using it */
if (OS_fd < 0 || OS_fd >= OS_MAX_NUM_OPEN_FILES || OS_FDTable[OS_fd].IsValid == FALSE)
{
ReturnCode = OS_FS_ERR_INVALID_FD;
}
else
{
/* Create a file to write the command to (or write over the old one) */
fdCmd = OS_creat(OS_SHELL_CMD_INPUT_FILE_NAME,OS_READ_WRITE);
if (fdCmd < OS_FS_SUCCESS)
{
Result = OS_FS_ERROR;
}
else
{
/* copy the command to the file, and then seek back to the beginning of the file */
strncpy(LocalCmd,Cmd, OS_MAX_CMD_LEN);
OS_write(fdCmd,Cmd, strlen(LocalCmd));
OS_lseek(fdCmd,0,OS_SEEK_SET);
/* Create a shell task the will run the command in the file, push output to OS_fd */
Result = shellGenericInit("INTERPRETER=Cmd",0,NULL, &shellName, FALSE, FALSE, OS_FDTable[fdCmd].OSfd, OS_FDTable[OS_fd].OSfd, OS_FDTable[OS_fd].OSfd);
/* Wait for the command to terminate */
do{
taskDelay(sysClkRateGet());
}while (taskNameToId(shellName) != ERROR);
/* Close the file descriptor */
OS_close(fdCmd);
} /* else */
if (Result != OK)
{
ReturnCode = OS_FS_ERROR;
}
}
return ReturnCode;
}/* end OS_ShellOutputToFile */
void periodHost
(
int secs, /* no. of seconds to delay between calls */
FUNCPTR func, /* function to call repeatedly */
int arg1, /* first of eight args to pass to func */
int arg2,
int arg3,
int arg4,
int arg5,
int arg6,
int arg7,
int arg8
)
{
#if ((CPU_FAMILY == ARM) && ARM_THUMB)
func = (FUNCPTR)((UINT32)func | 1);
#endif
FOREVER
{
(* func) (arg1, arg2, arg3, arg4, arg5, arg6, arg7, arg8);
taskDelay (secs * sysClkRateGet ());
}
}
/**************************************************************
*
* dataGetState - Obtains the current DATA Status
*
* This routines Obtains the status of the DATA via 3 different modes.
*
* NO_WAIT - return the present value immediately.
* WAIT_FOREVER - waits till the STM Status has changed
* and and returns this new value.
* TIME_OUT - waits till the STM Status has changed or
* the number of <secounds> has elasped
* (timed out) before returning.
*
* NOTE: The Task that calls this routine with
* STM_WAIT_FOREVER or STM_TIME_OUT will block !!
*
*
*
* RETURNS:
* STM state - if no error, TIME_OUT - if in STM_TIME_OUT mode call timed out
* or ERROR if called with invalid mode;
*
*/
int dataGetState(DATAOBJ_ID pStmId, int mode, int secounds)
{
int state;
if (pStmId == NULL)
return(ERROR);
switch(mode)
{
case NO_WAIT:
state = pStmId->dataState;
break;
case WAIT_FOREVER: /* block if state has not changed */
semTake(pStmId->pSemStateChg, WAIT_FOREVER);
state = pStmId->dataState;
break;
case TIME_OUT: /* block if state has not changed, until timeout */
if ( semTake(pStmId->pSemStateChg, (sysClkRateGet() * secounds) ) != OK )
state = TIME_OUT;
else
state = pStmId->dataState;
break;
default:
state = ERROR;
break;
}
return(state);
}
/*
OS dependent Open.
*/
int sslOpenOsdep(void)
{
tickspersec = sysClkRateGet();
psOpenMalloc(MAX_MEMORY_USAGE);
return 0;
}
int adcGetState(ADC_ID pAdcId, int mode, int secounds)
/* ADC_ID pAdcId; ADC Object */
/* int mode; mode of call, see above */
/* int secounds; number of secounds to wait before timing out */
{
int state;
if (pAdcId == NULL)
return(ERROR);
switch(mode)
{
case NO_WAIT:
state = pAdcId->adcState;
break;
case WAIT_FOREVER: /* block if state has not changed */
semTake(pAdcId->pSemAdcStateChg, WAIT_FOREVER);
state = pAdcId->adcState;
break;
case TIME_OUT: /* block if state has not changed, until timeout */
if ( semTake(pAdcId->pSemAdcStateChg, (sysClkRateGet() * secounds) ) != OK )
state = TIME_OUT;
else
state = pAdcId->adcState;
break;
default:
state = ERROR;
break;
}
return(state);
}
void OS_BSPMain( void )
{
int TicksPerSecond;
/*
** Initialize the OS API
*/
OS_API_Init();
/*
** Delay for one second.
*/
TicksPerSecond = sysClkRateGet();
(void) taskDelay( TicksPerSecond );
OS_printf("Starting Up OSAPI App.\n");
/*
** Call OSAL entry point.
*/
OS_Application_Startup();
/*
** Exit the main thread.
** in VxWorks we can delete all of the OS tasks if we want.
*/
}
/* release semaphore when done */
int
release_access (short int *sem, double timeout)
{
int tst;
ULONG timeout_ticks, start_ticks, current_ticks, elapsed_ticks;
timeout_ticks = (ULONG) (timeout * sysClkRateGet ());
start_ticks = tickGet ();
elapsed_ticks = 0;
while (elapsed_ticks <= timeout_ticks)
{
tst = decrement_read_status (sem);
if (tst == 0)
{
taskUnlock ();
return 0; /* success */
}
else
{
if (tst < 0)
{
taskUnlock ();
rcs_print_error ("invalid semaphore on 0x%x", (int) sem);
return -1; /* invalid semaphore */
}
}
current_ticks = tickGet ();
elapsed_ticks = current_ticks - start_ticks;
}
taskUnlock ();
rcs_print_error ("timed out while releasing access on semphore 0x%x",
(int) sem);
return -1; /* timeout failure */
}
/*
* Main: start the diagnostics and CLI shell under vxWorks.
*/
void
vxSpawn(void)
{
extern void diag_shell(void *);
#ifdef WIND_DEBUG
IMPORT taskDelay(int ticks);
printf("Waiting for CrossWind attach ...\n");
taskDelay(sysClkRateGet()*60);
#endif
sal_core_init();
sal_appl_init();
#ifdef BCM_BPROF_STATS
shr_bprof_stats_time_init();
#endif
#ifdef DEBUG_STARTUP
debugk_select(DEBUG_STARTUP);
#endif
printk ("SOC BIOS (VxWorks) %s v%s.\n", sysModel(), vxWorksVersion);
printk ("Kernel: %s.\n", kernelVersion());
printk ("Made on %s.\n", creationDate);
sal_thread_create("bcmCLI", 128*1024,100, diag_shell, 0);
sal_thread_create("bcmLED", 8192, 99, led_beat, 0);
}
void __mg_os_time_delay (int ms)
{
#ifndef __NOUNIX__
/* use select instead of usleep */
struct timeval timeout;
timeout.tv_sec=0;
timeout.tv_usec=ms*1000;
while (select (0, NULL, NULL, NULL, &timeout) < 0);
#elif defined (__UCOSII__)
OSTimeDly (OS_TICKS_PER_SEC * ms / 1000);
#elif defined (__VXWORKS__)
taskDelay (sysClkRateGet() * ms / 1000);
#elif defined (__PSOS__) || defined (__ECOS__)
struct timespec ts;
ts.tv_sec = 0;
ts.tv_nsec = ms * 1000000;
nanosleep (&ts, NULL);
#elif defined (WIN32)
void __stdcall Sleep (DWORD dwMilliSeconds);
Sleep (ms);
#elif defined (__THREADX__)
tx_thread_sleep (ms/10);
#elif defined (__NUCLEUS__)
NU_Sleep (ms/10);
#elif defined (__OSE__)
delay(ms);
#endif
}
/* Test routine, increase avg. cpu load by exactly 50% */
int cpuBurnLoad50(int seconds)
{
test_wd = wdCreate();
if (!test_wd) {
printf("Error: cannot create watchdog timer\n");
return -1;
}
test_sem = semBCreate(SEM_Q_FIFO, SEM_EMPTY);
if (!test_sem) {
printf("Error: cannot create semaphore\n");
wdDelete(test_wd);
return -1;
}
test_ticks = seconds*sysClkRateGet();
test_burn = FALSE;
wdStart(test_wd, 1, testTick, 0);
while (test_ticks) {
/* sleep for one tick */
semTake(test_sem, WAIT_FOREVER);
/* burn cpu for one tick */
while (test_burn) {
test_counter++;
}
}
semDelete(test_sem);
wdDelete(test_wd);
return 0;
}
/*lint -save -e685 -e568*/
MAILBOX_EXTERN int mailbox_scene_delay(unsigned int scene_id, int *try_times)
{
unsigned int go_on = MAILBOX_FALSE;
unsigned int delay_ms = 0;
unsigned int ticks = 0;
switch (scene_id) {
case MAILBOX_DELAY_SCENE_MSG_FULL:
case MAILBOX_DELAY_SCENE_IFC_FULL:
delay_ms = MAILBOX_VXWORKS_SEND_FULL_DELAY_MS;
/* coverity[unsigned_compare] */
go_on = (*try_times >= MAILBOX_VXWORKS_SEND_FULL_DELAY_TIMES) ?
MAILBOX_FALSE : MAILBOX_TRUE;
break;
default:
break;
}
if (MAILBOX_TRUE == go_on) {
ticks = (delay_ms * sysClkRateGet()) / MAILBOX_MILLISEC_PER_SECOND; /*lint !e737*/
ticks++;
#ifndef _DRV_LLT_ /*taskDelay()影响UT覆盖率和测试效率*/
(void)taskDelay((int)ticks);
#endif
}
*try_times = *try_times + 1;
return (int)go_on;
}
int getOmtShimStatus()
{
int rtn = 0;
char *buf;
int i;
taskDelay(sysClkRateGet() / 10); /* Wait 100ms for any msgs to finish */
clearport(shimPort); /* Empty the serial FIFO */
putstring(shimPort,"\rSTS\r"); /* Ask for status */
buf = getOmtSerialShimMsg(OMT_STATUS_MSG); /* Read status */
if (!buf){
errLogRet(LOGIT,debugInfo,"getOmtShimStatus: No status returned\n");
rtn = -1;
}else{
for (rtn=i=0; i<(8*sizeof(int)); i++, buf++){
if (*buf == '+'){
rtn |= 1 << i;
}else if (*buf == '\0'){
break;
}else if (*buf != '.'){
errLogRet(LOGIT,debugInfo,
"getOmtShimStatus: Non-status message received\n");
break;
}
}
}
return rtn;
}
void virtualStackTestDummy
(
vsNum
)
{
numTestTasks++;
taskDelay (vsNum * sysClkRateGet());
printf ("Attempting to set myself to Stack %d\n", vsNum);
if (virtualStackNumTaskIdSet(vsNum) == ERROR)
{
printf ("Task for stack %d failed.\n", vsNum);
return;
}
printf ("Task %d has myStackNum of %d\n", vsNum, myStackNum);
printf ("Task %d has stack info of...\n", vsNum);
virtualStackInfo (vsTbl[myStackNum]);
numTestTasks--;
if (numTestTasks == 0)
semGive(virtualStackTestSem);
}
//------------------------------------------------------------------------------
tOplkError timeru_delInstance(void)
{
ULONG msg;
tTimeruData* pTimer;
/* send message to timer task to signal shutdown */
msg = 0;
msgQSend(timeruInstance_l.msgQueue, (char*)&msg, sizeof(ULONG),
NO_WAIT, MSG_PRI_NORMAL);
/* wait for timer task to end */
while (taskIdVerify(timeruInstance_l.taskId) == OK)
taskDelay(sysClkRateGet());
/* free up timer list */
resetTimerList();
while ((pTimer = getNextTimer()) != NULL)
{
hrtimer_delete (pTimer->timer);
removeTimer(pTimer);
OPLK_FREE(pTimer);
}
/* cleanup resources */
semDelete(timeruInstance_l.mutex);
msgQDelete(timeruInstance_l.msgQueue);
timeruInstance_l.pFirstTimer = NULL;
timeruInstance_l.pLastTimer = NULL;
return kErrorOk;
}
static int printTask(int t1, int t2, int t3, int t4, int t5,
int t6, int t7, int t8, int t9, int t10)
{
char msg[LOG_MSGQ_ITEM_LEN+1];
int l;
int lastTick;
int thisTick;
int Hz;
int qHz;
Hz = sysClkRateGet();
qHz = Hz / 4;
#define LOG_ANNOUNCE_MINUTES 5
lastTick = (int) tickGet() - (LOG_ANNOUNCE_MINUTES * 61 * Hz);
while (1) {
while (!printingLog) taskDelay(qHz);
l = msgQReceive(MpMisc.LogQ, msg, LOG_MSGQ_ITEM_LEN, VX_WAIT_FOREVER);
thisTick = (int) tickGet();
if ((LOG_ANNOUNCE_MINUTES * 60 * Hz) < (thisTick - lastTick)) {
lastTick = thisTick;
fprintf(stderr, "MsgLogger: %d.%03d seconds since boot\n",
thisTick/Hz, ((thisTick % Hz) * 1000) / Hz);
}
if (l > 0) {
msg[l] = 0;
fwrite(msg, 1, l, stderr);
} else {
osPrintf("\n\nLogger: quitting!\n\n");
return 0;
}
}
}
bool ControleurDAxe::procedureDInitialisation()
{
float pressionMuscle1 = _pActionneur->pressionMuscle1();
float pressionMuscle2 = _pActionneur->pressionMuscle2();
float pressionDeBase = _pActionneur->pressionDeBase();
//printf("Pression axe : %f %f \n", pressionMuscle1, pressionMuscle2);
while (pressionMuscle1 < (pressionDeBase + _commandeRepos)|| pressionMuscle2 < (pressionDeBase - _commandeRepos))
{
if (pressionMuscle1<(pressionDeBase + _commandeRepos))
pressionMuscle1 += 0.05;
else
pressionMuscle1 = pressionDeBase + _commandeRepos;
if (pressionMuscle2<(pressionDeBase - _commandeRepos))
pressionMuscle2 += 0.05;
else pressionMuscle2 = pressionDeBase - _commandeRepos;
_pActionneur->envoyerCommandeDecouplee(pressionMuscle1,pressionMuscle2);
taskDelay(sysClkRateGet()/10);
}
_deltaCommande = _commandeRepos;
//printf("Commande precedente : %f\n", _deltaCommande);
return true;
}
LOCAL void sysTffsInit (void)
{
UINT32 ix = 0;
UINT32 iy = 1;
UINT32 iz = 2;
int oldTick;
/* we assume followings:
* - no interrupts except timer is happening.
* - the loop count that consumes 1 msec is in 32 bit.
* it is done in the early stage of usrRoot() in tffsDrv(). */
oldTick = tickGet();
while (oldTick == tickGet()) /* wait for next clock interrupt */
;
oldTick = tickGet();
while (oldTick == tickGet()) /* loop one clock tick */
{
iy = KILL_TIME_FUNC; /* consume time */
ix++; /* increment the counter */
}
sysTffsMsecLoopCount = ix * sysClkRateGet() / 1000;
/* TODO:
* Call each sockets register routine here
*/
rfaRegister (); /* RFA socket interface register */
}
LOCAL void timexScale
(
int ticks, /* total ticks required for all reps */
int reps, /* number of reps performed */
FAST int *pScale, /* ptr where to return scale:
* 0 = secs, 1 = millisecs, 2 = microsecs */
FAST int *pTime, /* ptr where to return time per rep in above units */
int *pError, /* ptr where to return error margin in above units */
int *pPercent /* ptr where to return percent error (0..100) */
)
{
FAST int scalePerSec;
/* calculate time per rep in best scale */
*pScale = 0; /* start with "seconds" scale */
scalePerSec = 1;
*pTime = ticks * scalePerSec / sysClkRateGet () / reps;
while ((*pScale < 2) && (*pTime < 100))
{
(*pScale)++;
scalePerSec = scalePerSec * 1000;
*pTime = ticks * scalePerSec / sysClkRateGet () / reps;
}
/* adjust for overhead if in microseconds scale */
if (*pScale == 2)
{
*pTime -= overhead;
if (*pTime < 0)
*pTime = 0;
}
/* calculate error */
*pError = scalePerSec / sysClkRateGet () / reps;
if (*pTime == 0)
*pPercent = 100;
else
*pPercent = 100 * *pError / *pTime;
}
static double tm_Time_F(int s)
{
static double ret;
#ifdef TIMES
static struct tms tstart,tend;
if(s == START) {
//times(&tstart); shilps
return(0);
} else {
//times(&tend); shilpa
ret=((double)(tend.tms_utime-tstart.tms_utime))/HZ;
return((ret == 0.0)?1e-6:ret);
}
#elif defined(OPENSSL_SYS_NETWARE)
static clock_t tstart,tend;
if (s == START)
{
tstart=clock();
return(0);
}
else
{
tend=clock();
ret=(double)((double)(tend)-(double)(tstart));
return((ret < 0.001)?0.001:ret);
}
#elif defined(OPENSSL_SYS_VXWORKS)
{
static unsigned long tick_start, tick_end;
if( s == START )
{
tick_start = tickGet();
return 0;
}
else
{
tick_end = tickGet();
ret = (double)(tick_end - tick_start) / (double)sysClkRateGet();
return((ret == 0.0)?1e-6:ret);
}
}
#else /* !times() */
static struct timeb tstart,tend;
long i;
if(s == START) {
ftime(&tstart);
return(0);
} else {
ftime(&tend);
i=(long)tend.millitm-(long)tstart.millitm;
ret=((double)(tend.time-tstart.time))+((double)i)/1000.0;
return((ret == 0.0)?1e-6:ret);
}
#endif
}
void sysAuxClkInit(void)
{
if((auxDog = wdCreate()) == NULL){
logMsg("watchDog create failed!\n", 0, 0, 0, 0, 0, 0);
return;
}
sysAuxClkTicksPerSecond = sysClkRateGet();
}
STATUS control::exit() const
{
CAN_PACKET sendPack,recvPack;
memset(&sendPack,0,CP_SIZE);
memset(&recvPack,0,CP_SIZE);
driverDisable(ERROR_ALL_NODE);
faultLEDControl(false,ERROR_ALL_NODE);
taskDelay(sysClkRateGet() / 2);
GV::isStopAll = TRUE;
taskDelay(sysClkRateGet() / 2);
can.release();
net.release();
digitalIO.release();
DISPLAY_FAULT("关机退出!");
file.writeLogFile("关机退出!");
return OK;
}
/*
* =====================================================================
* Function:getSysClkRate()
* Description: Get system clock Rate, times/second
* Input: N/A
* Output: N/A
* Return: clock rate(perSecond) on SUCCESS, -1 otherwise.
*======================================================================
*/
int getSysClkRate(void)
{
#ifdef LINUX_OS
return 100;
#elif VXWORKS_OS
return sysClkRateGet();
#endif
}
void
tsleep(int n)
{
#ifdef VXWORKS
taskDelay ((sysClkRateGet() / NTICKS) * n);
#else
#endif
}
UGL_LOCAL void initGL (GLsizei width, GLsizei height)
{
UGL_LOCAL GLfloat pos[4] = {5.0, 5.0, 10.0, 1.0 };
UGL_LOCAL GLfloat red[4] = {0.8, 0.1, 0.0, 1.0 };
UGL_LOCAL GLfloat green[4] = {0.0, 0.8, 0.2, 1.0 };
UGL_LOCAL GLfloat blue[4] = {0.2, 0.2, 1.0, 1.0 };
glLightfv (GL_LIGHT0, GL_POSITION, pos);
glEnable (GL_CULL_FACE);
glEnable (GL_LIGHTING);
glEnable (GL_LIGHT0);
glEnable (GL_DEPTH_TEST);
/* make the gears */
gear1 = glGenLists (1);
glNewList (gear1, GL_COMPILE);
glMaterialfv (GL_FRONT, GL_AMBIENT_AND_DIFFUSE, red);
gear (1.0, 4.0, 1.0, 20, 0.7);
glEndList ();
gear2 = glGenLists (1);
glNewList (gear2, GL_COMPILE);
glMaterialfv (GL_FRONT, GL_AMBIENT_AND_DIFFUSE, green);
gear (0.5, 2.0, 2.0, 10, 0.7);
glEndList ();
gear3 = glGenLists (1);
glNewList (gear3, GL_COMPILE);
glMaterialfv (GL_FRONT, GL_AMBIENT_AND_DIFFUSE, blue);
gear (1.3, 2.0, 0.5, 10, 0.7);
glEndList ();
glEnable (GL_NORMALIZE);
glViewport (0, 0, width, height);
glMatrixMode (GL_PROJECTION);
glLoadIdentity ();
if (width>height)
{
GLfloat w = (GLfloat) width / (GLfloat) height;
glFrustum (-w, w, -1.0, 1.0, 5.0, 60.0);
}
else
{
GLfloat h = (GLfloat) height / (GLfloat) width;
glFrustum (-1.0, 1.0, -h, h, 5.0, 60.0);
}
glMatrixMode (GL_MODELVIEW);
glLoadIdentity ();
glTranslatef (0.0, 0.0, -40.0);
#ifdef COUNT_FRAMES
tickStart = tickGet ();
tickBySec = sysClkRateGet ();
#endif
}
bool EventImpl::waitImpl(long milliseconds)
{
if (!_state)
{
int ticks = milliseconds*sysClkRateGet()/1000;
return semTake(_sem, ticks) == OK;
}
else return true;
}
/*----------------------------------------------------------------------*/
static
void resetNameBufs() /* free all named buffers */
{
int retrys;
int callTaskId,DwnLkrTaskId;
int callTaskPrior;
/* Since reset2SafeState should have left the downLinker in a ready
state we now longer need change priority/etc. here to get it to clean
up. 8/6/97
*/
#ifdef XXX
callTaskId = taskIdSelf();
DwnLkrTaskId = taskNameToId("tDownLink");
taskPriorityGet(callTaskId,&callTaskPrior);
#endif
retrys=0;
/* start wdog timeout of 7 seconds */
pHandlerTimeout = 0;
wdStart(pHandlerWdTimeout,sysClkRateGet() * 7, pHandlerWdISR, 0);
/* free buffers until all are free or watch-dog timeout has occurred */
while ( ((dlbUsedBufs(pDlbDynBufs) > 0) || (dlbUsedBufs(pDlbFixBufs) > 0)) &&
(!pHandlerTimeout) )
{
retrys++;
DPRINT(0,"dlbFreeAll Dyn");
dlbFreeAll(pDlbDynBufs);
DPRINT(0,"dlbFreeAll Fix");
dlbFreeAll(pDlbFixBufs);
Tdelay(1);
DPRINT1(0,"resetNameBufs: retrys: %d\n",retrys);
#ifdef XXX
/* Lower priority to allow downlinker in */
if (callTaskPrior <= DOWNLINKER_TASK_PRIORITY)
taskPrioritySet(callTaskId,(DOWNLINKER_TASK_PRIORITY+1));
Tdelay(10);
DPRINT1(-1,"resetNameBufs: retrys: %d\n",retrys);
if (retrys > 7)
{
if (taskIsSuspended(DwnLkrTaskId))
{
DPRINT(-1,"resetNameBufs: clearCurrentNameBuffer()\n");
clearCurrentNameBuffer();
}
}
#endif
}
wdCancel(pHandlerWdTimeout);
/* taskPrioritySet(callTaskId,callTaskPrior); */
/* resumeDownLink(); */
}
void bhs_MutexRobot::infiniteTimerTask() {
int lnTicksToWaitBetweenRobotCycles = sysClkRateGet() / 25;
semTake(m_startSem, WAIT_FOREVER);
while (true) {
semGive(m_periodSem);
taskDelay(lnTicksToWaitBetweenRobotCycles);
}
}
/* Start the 1 second timer */
static bool
osl_cachereclaim_timer_start(osl_t *osh)
{
uint ticks;
if ((osh->cache_lock = semBCreate(SEM_Q_FIFO, SEM_FULL)) == NULL)
return FALSE;
if ((osh->cache_wd = wdCreate()) == NULL)
return FALSE;
ticks = TAGCACHE_RECLAIM_TIME / (1000/ sysClkRateGet());
if (TAGCACHE_RECLAIM_TIME % (1000 / sysClkRateGet()))
ticks++;
if ((wdStart(osh->cache_wd, ticks, (FUNCPTR) osl_cachereclaim_timer, (int) osh)) != OK)
return FALSE;
return TRUE;
}