int rt_task_make_periodic_relative_ns(RT_TASK *task,
RTIME start_delay, RTIME period)
{
RTIME idate;
int err;
spl_t s;
xnlock_get_irqsave(&nklock, s);
task = rtai_h2obj_validate(task, RTAI_TASK_MAGIC, RT_TASK);
if (!task) {
err = -EINVAL;
goto unlock_and_exit;
}
idate =
start_delay ? xntbase_ticks2ns(rtai_tbase,
xntbase_get_time(rtai_tbase)) +
start_delay : XN_INFINITE;
err = xnpod_set_thread_periodic(&task->thread_base, idate, period);
if (task->suspend_depth > 0 && --task->suspend_depth == 0) {
xnpod_resume_thread(&task->thread_base, XNSUSP);
xnpod_schedule();
}
unlock_and_exit:
xnlock_put_irqrestore(&nklock, s);
return err;
}
xnticks_t xntbase_convert(xntbase_t *srcbase, xnticks_t ticks, xntbase_t *dstbase)
{
/* Twisted, but tries hard not to rescale to nanoseconds *
before converting, so that we could save a 64bit multiply
in the common cases (i.e. converting to/from master). */
if (dstbase->tickvalue == srcbase->tickvalue)
return ticks;
if (likely(xntbase_master_p(dstbase)))
return xntbase_ticks2ns(srcbase, ticks); /* Periodic to master base. */
if (xntbase_master_p(srcbase))
return xntbase_ns2ticks(dstbase, ticks); /* Master base to periodic. */
/* Periodic to periodic. */
return xntbase_ns2ticks(dstbase, xntbase_ticks2ns(srcbase, ticks));
}
void xntbase_adjust_time(xntbase_t *base, xnsticks_t delta)
{
xnticks_t now;
#ifdef CONFIG_XENO_OPT_TIMING_PERIODIC
if (xntbase_isolated_p(base)) {
/* Only update the specified isolated base. */
base->wallclock_offset += delta;
__setbits(base->status, XNTBSET);
xntslave_adjust(base2slave(base), delta);
} else {
xnholder_t *holder;
#endif /* CONFIG_XENO_OPT_TIMING_PERIODIC */
/* Update all non-isolated bases in the system. */
nktbase.wallclock_offset += xntbase_ticks2ns(base, delta);
now = xnarch_get_cpu_time() + nktbase.wallclock_offset;
xntimer_adjust_all_aperiodic(xntbase_ticks2ns(base, delta));
#ifdef CONFIG_XENO_OPT_TIMING_PERIODIC
for (holder = getheadq(&nktimebaseq);
holder != NULL; holder = nextq(&nktimebaseq, holder)) {
xntbase_t *tbase = link2tbase(holder);
if (tbase == &nktbase || xntbase_isolated_p(tbase))
continue;
tbase->wallclock_offset =
xntbase_ns2ticks(tbase, now) -
xntbase_get_jiffies(tbase);
xntslave_adjust(base2slave(tbase), delta);
}
}
#endif /* CONFIG_XENO_OPT_TIMING_PERIODIC */
trace_mark(xn_nucleus, tbase_adjust, "base %s delta %Lu",
base->name, delta);
}
RTIME rt_get_time_ns(void)
{
RTIME ticks = xntbase_get_time(rtai_tbase);
return xntbase_ticks2ns(rtai_tbase, ticks);
}
