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/*
$License:
Copyright (C) 2012 InvenSense Corporation, All Rights Reserved.
$
*/
/*******************************************************************************
*
* $Id: mlos_linux.c 5629 2011-06-11 03:13:08Z mcaramello $
*
******************************************************************************/
/**
* @defgroup MLOS
* @brief OS Interface.
*
* @{
* @file mlos.c
* @brief OS Interface.
*/
/* ------------- */
/* - Includes. - */
/* ------------- */
#include <sys/time.h>
#include <unistd.h>
#include <pthread.h>
#include <stdlib.h>
#include <errno.h>
#include "stdint_invensense.h"
#include "mlos.h"
/* -------------- */
/* - Functions. - */
/* -------------- */
/**
* @brief Allocate space
* @param num_bytes number of bytes
* @return pointer to allocated space
*/
void *inv_malloc(unsigned int num_bytes)
{
// Allocate space.
void *alloc_ptr = malloc(num_bytes);
return alloc_ptr;
}
/**
* @brief Free allocated space
* @param ptr pointer to space to deallocate
* @return error code.
*/
inv_error_t inv_free(void *ptr)
{
if (ptr)
free(ptr);
return INV_SUCCESS;
}
/**
* @brief Mutex create function
* @param mutex pointer to mutex handle
* @return error code.
*/
inv_error_t inv_create_mutex(HANDLE *mutex)
{
int res;
pthread_mutex_t *pm = malloc(sizeof(pthread_mutex_t));
if(pm == NULL)
return INV_ERROR;
res = pthread_mutex_init(pm, NULL);
if(res == -1) {
free(pm);
return INV_ERROR_OS_CREATE_FAILED;
}
*mutex = (HANDLE)pm;
return INV_SUCCESS;
}
/**
* @brief Mutex lock function
* @param mutex Mutex handle
* @return error code.
*/
inv_error_t inv_lock_mutex(HANDLE mutex)
{
int res;
pthread_mutex_t *pm = (pthread_mutex_t *)mutex;
res = pthread_mutex_lock(pm);
if(res == -1)
return INV_ERROR_OS_LOCK_FAILED;
return INV_SUCCESS;
}
/**
* @brief Mutex unlock function
* @param mutex mutex handle
* @return error code.
*/
inv_error_t inv_unlock_mutex(HANDLE mutex)
{
int res;
pthread_mutex_t *pm = (pthread_mutex_t *)mutex;
res = pthread_mutex_unlock(pm);
if(res == -1)
return INV_ERROR_OS_LOCK_FAILED;
return INV_SUCCESS;
}
/**
* @brief open file
* @param filename name of the file to open.
* @return error code.
*/
FILE *inv_fopen(char *filename)
{
FILE *fp = fopen(filename, "r");
return fp;
}
/**
* @brief close the file.
* @param fp handle to file to close.
* @return error code.
*/
void inv_fclose(FILE *fp)
{
fclose(fp);
}
/**
* @brief Close Handle
* @param handle handle to the resource.
* @return Zero if success, an error code otherwise.
*/
inv_error_t inv_destroy_mutex(HANDLE handle)
{
int error;
pthread_mutex_t *pm = (pthread_mutex_t *)handle;
error = pthread_mutex_destroy(pm);
if (error)
return errno;
free((void*) handle);
return INV_SUCCESS;}
/**
* @brief Sleep function.
*/
void inv_sleep(int m_secs)
{
usleep(m_secs * 1000);
}
/**
* @brief get system's internal tick count.
* Used for time reference.
* @return current tick count.
*/
unsigned long inv_get_tick_count()
{
struct timeval tv;
if (gettimeofday(&tv, NULL) != 0)
return 0;
return (long)((tv.tv_sec * 1000000LL + tv.tv_usec) / 1000LL);
}
/** @} */
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