RTOS work threads

git-svn-id: svn://db.shs.com.ru/pip@687 12ceb7fc-bf1f-11e4-8940-5bc7170c53b5

src_main/core/pitime.cpp

@@ -30,7 +30,10 @@
 //#  include <crt_externs.h>
    extern clock_serv_t __pi_mac_clock;
 #endif
-
+#ifdef FREERTOS
+#  include "freertos/FreeRTOS.h"
+#  include "freertos/task.h"
+#endif
 
 /*! \class PISystemTime
  * \brief System time
@@ -63,8 +66,12 @@ void piUSleep(int usecs) {
 	//printf("Sleep %d\n", usecs / 1000);
 	if (usecs > 0) Sleep(usecs / 1000);
 #else
+#  ifdef FREERTOS
+	vTaskDelay(usecs / 1000 / portTICK_PERIOD_MS);
+#  else
 	usecs -= PISystemTests::usleep_offset_us;
 	if (usecs > 0) usleep(usecs);
+#  endif
 #endif
 }
 
@@ -243,8 +250,18 @@ PISystemTime PISystemTime::current(bool precise_but_not_system) {
 	mach_timespec_t t_cur;
 	clock_get_time(__pi_mac_clock, &t_cur);
 #  else
+#    ifdef FREERTOS
+	timespec t_cur;
+	timeval tv;
+	tv.tv_sec = 0;
+	tv.tv_usec = 0;
+        gettimeofday(&tv, NULL);
+	t_cur.tv_sec = tv.tv_sec;
+	t_cur.tv_nsec = tv.tv_usec * 1000;
+#    else
 	timespec t_cur;
 	clock_gettime(0, &t_cur);
+#    endif
 #  endif
 	return PISystemTime(t_cur.tv_sec, t_cur.tv_nsec);
 #endif