Changes needed for FreeBSD clock usage in sample

controller/controller/controller_sample.c

@@ -136,6 +136,12 @@ static void *sample_thread(void *arg)
 	struct timespec t_io;
 	struct timespec t_end;
 	param.sched_priority = 99;
+	clockid_t clock;
+#ifdef __FreeBSD__
+	pthread_condattr_t attr;
+	pthread_mutex_t lock;
+	pthread_cond_t cv;
+#endif
 	
 	log_send(LOG_T_DEBUG, "Starting sample thread");
 	controller_sample_thread_running = true;
@@ -150,7 +156,21 @@ static void *sample_thread(void *arg)
 		    strerror(errno));
 	}
 
-	clock_gettime(0, &t);
+#ifndef __FreeBSD__
+	clock = 0;
+#else
+	clock = CLOCK_MONOTONIC_PRECISE;
+	pthread_condattr_init(&attr);
+	pthread_condattr_setclock(&attr, clock);
+	pthread_cond_init(&cv, &attr);
+	pthread_condattr_destroy(&attr);
+
+	pthread_mutex_init(&lock, NULL);
+	pthread_mutex_lock(&lock);
+#endif
+
+	clock_gettime(clock, &t);
+	
 	t.tv_nsec = 0;
 	t.tv_sec++;
 
@@ -168,19 +188,23 @@ static void *sample_thread(void *arg)
 
 		/* Wait for the right moment... 
 		   (Internal timer or external interrupt) */
+#ifndef __FreeBSD__
 		clock_nanosleep(0, TIMER_ABSTIME, &t, NULL);
+#else
+		pthread_cond_timedwait(&cv, &lock, &t);
+#endif
 
-		clock_gettime(0, &t_start);
+		clock_gettime(clock, &t_start);
 
 		/* Do sample stuff */
 		controller_block_calculate();
 		
-		clock_gettime(0, &t_io);
+		clock_gettime(clock, &t_io);
 		
 		controller_block_trace();
 		controller_block_param_handle();
 		
-		clock_gettime(0, &t_end);
+		clock_gettime(clock, &t_end);
 		
 		sample_timing_add(&st_start, &t, &t_start);
 		sample_timing_add(&st_io, &t_start, &t_io);