50 lines
867 B
C
50 lines
867 B
C
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#include "rt_tick.h"
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#include <pthread.h>
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#include <unistd.h>
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static uint32_t rt_tick = 0;
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static uint8_t is_initialized = 0;
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static void *rt_tick_entry(void *param)
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{
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int us = 1000000 / RT_TICK_PER_SECOND;
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while (1) {
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usleep(us);
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rt_tick++;
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}
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pthread_exit(NULL);
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}
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void rt_tick_init(void)
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{
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if (is_initialized)
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return;
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pthread_t tid;
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pthread_create(&tid, NULL, rt_tick_entry, NULL);
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pthread_detach(tid);
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is_initialized = 1;
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}
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uint32_t rt_tick_get(void)
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{
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return rt_tick;
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}
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uint32_t rt_tick_from_millisecond(int32_t ms)
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{
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uint32_t tick;
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if (ms < 0) {
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tick = (uint32_t)RT_WAITING_FOREVER;
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} else {
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tick = RT_TICK_PER_SECOND * (ms / 1000);
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tick += (RT_TICK_PER_SECOND * (ms % 1000) + 999) / 1000;
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}
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/* return the calculated tick */
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return tick;
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}
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