![](/media/cache/profiles/IMG_2753.JPG.50x50_q85.jpg)
Can_open_slavenode
framework/src/canopen_timer.c
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:6219434a0cb5
File content as of revision 0:6219434a0cb5:
/* This file is part of CanFestival, a library implementing CanOpen Stack. Copyright (C): Edouard TISSERANT and Francis DUPIN See COPYING file for copyrights details. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /*! ** @file timer.c ** @author Edouard TISSERANT and Francis DUPIN ** @date Tue Jun 5 09:32:32 2007 ** ** @brief ** ** */ /* #define DEBUG_WAR_CONSOLE_ON */ /* #define DEBUG_ERR_CONSOLE_ON */ #include <applicfg.h> #include "canopen_timer.h" /* --------- The timer table --------- */ s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},}; TIMEVAL total_sleep_time = TIMEVAL_MAX; TIMER_HANDLE last_timer_raw = -1; #define min_val(a,b) ((a<b)?a:b) /*! ** ------- Use this to declare a new alarm ------ ** ** @param d ** @param id ** @param callback ** @param value ** @param period ** ** @return **/ TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period) { TIMER_HANDLE row_number; s_timer_entry *row; /* in order to decide new timer setting we have to run over all timer rows */ for(row_number=0, row=timers; row_number <= last_timer_raw + 1 && row_number < MAX_NB_TIMER; row_number++, row++) { if (callback && /* if something to store */ row->state == TIMER_FREE) /* and empty row */ { /* just store */ TIMEVAL real_timer_value; TIMEVAL elapsed_time; if (row_number == last_timer_raw + 1) last_timer_raw++; elapsed_time = getElapsedTime(); /* set next wakeup alarm if new entry is sooner than others, or if it is alone */ real_timer_value = value; real_timer_value = min_val(real_timer_value, TIMEVAL_MAX); if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value) { total_sleep_time = elapsed_time + real_timer_value; setTimer(real_timer_value); } row->callback = callback; row->d = d; row->id = id; row->val = value + elapsed_time; row->interval = period; row->state = TIMER_ARMED; return row_number; } } return TIMER_NONE; } /*! ** ----- Use this to remove an alarm ---- ** ** @param handle ** ** @return **/ TIMER_HANDLE DelAlarm(TIMER_HANDLE handle) { /* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */ MSG_WAR(0x3320, "DelAlarm. handle = ", handle); if(handle != TIMER_NONE) { if(handle == last_timer_raw) last_timer_raw--; timers[handle].state = TIMER_FREE; } return TIMER_NONE; } /*! ** ------ TimeDispatch is called on each timer expiration ---- ** **/ int tdcount=0; void TimeDispatch(void) { TIMER_HANDLE i; TIMEVAL next_wakeup = TIMEVAL_MAX; /* used to compute when should normaly occur next wakeup */ /* First run : change timer state depending on time */ /* Get time since timer signal */ UNS32 overrun = (UNS32)getElapsedTime(); TIMEVAL real_total_sleep_time = total_sleep_time + overrun; s_timer_entry *row; for(i=0, row = timers; i <= last_timer_raw; i++, row++) { if (row->state & TIMER_ARMED) /* if row is active */ { if (row->val <= real_total_sleep_time) /* to be trigged */ { if (!row->interval) /* if simply outdated */ { row->state = TIMER_TRIG; /* ask for trig */ } else /* or period have expired */ { /* set val as interval, with 32 bit overrun correction, */ /* modulo for 64 bit not available on all platforms */ row->val = row->interval - (overrun % (UNS32)row->interval); row->state = TIMER_TRIG_PERIOD; /* ask for trig, periodic */ /* Check if this new timer value is the soonest */ if(row->val < next_wakeup) next_wakeup = row->val; } } else { /* Each armed timer value in decremented. */ row->val -= real_total_sleep_time; /* Check if this new timer value is the soonest */ if(row->val < next_wakeup) next_wakeup = row->val; } } } /* Remember how much time we should sleep. */ total_sleep_time = next_wakeup; /* Set timer to soonest occurence */ setTimer(next_wakeup); /* Then trig them or not. */ for(i=0, row = timers; i<=last_timer_raw; i++, row++) { if (row->state & TIMER_TRIG) { row->state &= ~TIMER_TRIG; /* reset trig state (will be free if not periodic) */ if(row->callback) (*row->callback)(row->d, row->id); /* trig ! */ } } }