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
23 /* #define DEBUG_WAR_CONSOLE_ON */
24 /* #define DEBUG_ERR_CONSOLE_ON */
29 /* --------- The timer table --------- */
30 s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
32 TIMEVAL total_sleep_time = TIMEVAL_MAX;
33 TIMER_HANDLE last_timer_raw = -1;
35 #define minval(a,b) ((a<b)?a:b)
37 /* --------- Use this to declare a new alarm --------- */
38 TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
40 /*printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period); */
42 TIMER_HANDLE row_number = TIMER_NONE;
44 /* in order to decide new timer setting we have to run over all timer rows */
45 for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
47 s_timer_entry *row = (timers+i);
49 if (callback && /* if something to store */
50 row->state == TIMER_FREE) /* and empty row */
52 row->callback = callback;
56 row->interval = period;
57 row->state = TIMER_ARMED;
63 if (row_number != TIMER_NONE) /* if successfull **/
65 TIMEVAL real_timer_value;
68 if (row_number == last_timer_raw + 1) last_timer_raw++;
70 /* set next wakeup alarm if new entry is sooner than others, or if it is alone */
71 real_timer_value = minval(value, TIMEVAL_MAX);
72 elapsed_time = getElapsedTime();
74 /*printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time); */
75 if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
77 total_sleep_time = elapsed_time + real_timer_value;
78 setTimer(real_timer_value);
80 /*printf("SetAlarm() return %d\n", row_number); */
86 /* --------- Use this to remove an alarm --------- */
87 TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
89 /* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */
90 MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
91 if(handle != TIMER_NONE)
93 if(handle == last_timer_raw)
95 timers[handle].state = TIMER_FREE;
103 /* --------- TimeDispatch is called on each timer expiration --------- */
107 TIMEVAL next_wakeup = TIMEVAL_MAX; /* used to compute when should normaly occur next wakeup */
108 /* First run : change timer state depending on time */
109 /* Get time since timer signal */
110 TIMEVAL overrun = getElapsedTime();
112 TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
113 /*printf("total_sleep_time %d + overrun %d\n", total_sleep_time , overrun); */
115 for(i=0; i <= last_timer_raw; i++)
117 s_timer_entry *row = (timers+i);
119 if (row->state & TIMER_ARMED) /* if row is active */
121 if (row->val <= real_total_sleep_time) /* to be trigged */
123 /*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */
124 if (!row->interval) /* if simply outdated */
126 row->state = TIMER_TRIG; /* ask for trig */
128 else /* or period have expired */
130 /* set val as interval, with overrun correction */
131 row->val = row->interval - (overrun % row->interval);
132 row->state = TIMER_TRIG_PERIOD; /* ask for trig, periodic */
133 /* Check if this new timer value is the soonest */
134 next_wakeup = minval(row->val,next_wakeup);
139 /* Each armed timer value in decremented. */
140 row->val -= real_total_sleep_time;
142 /* Check if this new timer value is the soonest */
143 next_wakeup = minval(row->val,next_wakeup);
148 /* Remember how much time we should sleep. */
149 total_sleep_time = next_wakeup;
151 /* Set timer to soonest occurence */
152 setTimer(next_wakeup);
154 /* Then trig them or not. */
155 for(i=0; i<=last_timer_raw; i++)
157 s_timer_entry *row = (timers+i);
159 if (row->state & TIMER_TRIG)
161 row->state &= ~TIMER_TRIG; /* reset trig state (will be free if not periodic) */
163 (*row->callback)(row->d, row->id); /* trig ! */