Diff: framework/src/canopen_timer.c

Revision:

0:9dd7c6129683

diff -r 000000000000 -r 9dd7c6129683 framework/src/canopen_timer.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/canopen_timer.c	Mon May 30 07:36:47 2011 +0000
@@ -0,0 +1,182 @@
+/*
+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 ! */
+        }
+    }
+}