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