2 This file is part of CanFestival, a library implementing CanOpen Stack.
4 Copyright (C): Edouard TISSERANT and Francis DUPIN
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
24 ** @author Edouard TISSERANT and Francis DUPIN
25 ** @date Tue Jun 5 09:32:32 2007
32 /* #define DEBUG_WAR_CONSOLE_ON */
33 /* #define DEBUG_ERR_CONSOLE_ON */
38 /* --------- The timer table --------- */
39 s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
41 TIMEVAL total_sleep_time = TIMEVAL_MAX;
42 TIMER_HANDLE last_timer_raw = -1;
44 #define min_val(a,b) ((a<b)?a:b)
47 ** ------- Use this to declare a new alarm ------
57 TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
59 /*printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period); */
61 TIMER_HANDLE row_number = TIMER_NONE;
63 /* in order to decide new timer setting we have to run over all timer rows */
64 for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
66 s_timer_entry *row = (timers+i);
68 if (callback && /* if something to store */
69 row->state == TIMER_FREE) /* and empty row */
71 row->callback = callback;
75 row->interval = period;
76 row->state = TIMER_ARMED;
82 if (row_number != TIMER_NONE) /* if successfull **/
84 TIMEVAL real_timer_value;
87 if (row_number == last_timer_raw + 1) last_timer_raw++;
89 /* set next wakeup alarm if new entry is sooner than others, or if it is alone */
90 real_timer_value = min_val(value, TIMEVAL_MAX);
91 elapsed_time = getElapsedTime();
93 /*printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time); */
94 if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
96 total_sleep_time = elapsed_time + real_timer_value;
97 setTimer(real_timer_value);
99 /*printf("SetAlarm() return %d\n", row_number); */
106 ** ----- Use this to remove an alarm ----
112 TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
114 /* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */
115 MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
116 if(handle != TIMER_NONE)
118 if(handle == last_timer_raw)
120 timers[handle].state = TIMER_FREE;
128 ** ------ TimeDispatch is called on each timer expiration ----
134 TIMEVAL next_wakeup = TIMEVAL_MAX; /* used to compute when should normaly occur next wakeup */
135 /* First run : change timer state depending on time */
136 /* Get time since timer signal */
137 TIMEVAL overrun = getElapsedTime();
139 TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
140 /*printf("total_sleep_time %d + overrun %d\n", total_sleep_time , overrun); */
142 for(i=0; i <= last_timer_raw; i++)
144 s_timer_entry *row = (timers+i);
146 if (row->state & TIMER_ARMED) /* if row is active */
148 if (row->val <= real_total_sleep_time) /* to be trigged */
150 /*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */
151 if (!row->interval) /* if simply outdated */
153 row->state = TIMER_TRIG; /* ask for trig */
155 else /* or period have expired */
157 /* set val as interval, with overrun correction */
158 row->val = row->interval - (overrun % row->interval);
159 row->state = TIMER_TRIG_PERIOD; /* ask for trig, periodic */
160 /* Check if this new timer value is the soonest */
161 next_wakeup = min_val(row->val,next_wakeup);
166 /* Each armed timer value in decremented. */
167 row->val -= real_total_sleep_time;
169 /* Check if this new timer value is the soonest */
170 next_wakeup = min_val(row->val,next_wakeup);
175 /* Remember how much time we should sleep. */
176 total_sleep_time = next_wakeup;
178 /* Set timer to soonest occurence */
179 setTimer(next_wakeup);
181 /* Then trig them or not. */
182 for(i=0; i<=last_timer_raw; i++)
184 s_timer_entry *row = (timers+i);
186 if (row->state & TIMER_TRIG)
188 row->state &= ~TIMER_TRIG; /* reset trig state (will be free if not periodic) */
190 (*row->callback)(row->d, row->id); /* trig ! */