src/timer.c

   1 /*
   2 This file is part of CanFestival, a library implementing CanOpen Stack.
   3
   4 Copyright (C): Edouard TISSERANT and Francis DUPIN
   5
   6 See COPYING file for copyrights details.
   7
   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.
  12
  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.
  17
  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
  21 */
  22
  23 //#define DEBUG_WAR_CONSOLE_ON
  24 //#define DEBUG_ERR_CONSOLE_ON
  25
  26 #include <applicfg.h>
  27 #include "timer.h"
  28
  29 // ---------  The timer table ---------
  30 s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
  31 //
  32 TIMEVAL total_sleep_time = TIMEVAL_MAX;
  33 TIMER_HANDLE last_timer_raw = -1;
  34
  35 #define minval(a,b) ((a<b)?a:b)
  36
  37 // ---------  Use this to declare a new alarm ---------
  38 TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
  39 {
  40         //printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period);
  41         TIMER_HANDLE i;
  42         TIMER_HANDLE row_number = TIMER_NONE;
  43
  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++)
  46         {
  47                 s_timer_entry *row = (timers+i);
  48
  49                 if (callback &&         // if something to store
  50                    row->state == TIMER_FREE) // and empty row
  51                 {       // just store
  52                         row->callback = callback;
  53                         row->d = d;
  54                         row->id = id;
  55                         row->val = value;
  56                         row->interval = period;
  57                         row->state = TIMER_ARMED;
  58                         row_number = i;
  59                         break;
  60                 }
  61         }
  62
  63         if (row_number != TIMER_NONE) // if successfull
  64         {
  65                 if (row_number == last_timer_raw + 1) last_timer_raw++;
  66
  67                 // set next wakeup alarm if new entry is sooner than others, or if it is alone
  68                 TIMEVAL real_timer_value = minval(value, TIMEVAL_MAX);
  69                 TIMEVAL elapsed_time = getElapsedTime();
  70
  71                 //printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time);
  72                 if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
  73                 {
  74                         total_sleep_time = elapsed_time + real_timer_value;
  75                         setTimer(real_timer_value);
  76                 }
  77                 //printf("SetAlarm() return %d\n", row_number);
  78                 return row_number;
  79         }
  80         return TIMER_NONE;
  81 }
  82
  83 // ---------  Use this to remove an alarm ---------
  84 TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
  85 {
  86         // Quick and dirty. system timer will continue to be trigged, but no action will be preformed.
  87         MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
  88         if(handle != TIMER_NONE)
  89         {
  90                 if(handle == last_timer_raw)
  91                         last_timer_raw--;
  92                 timers[handle].state = TIMER_FREE;
  93         }
  94         else {
  95         }
  96         return TIMER_NONE;
  97 }
  98
  99
 100 // ---------  TimeDispatch is called on each timer expiration ---------
 101 void TimeDispatch()
 102 {
 103         TIMER_HANDLE i;
 104         TIMEVAL next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup
 105         // First run : change timer state depending on time
 106         // Get time since timer signal
 107         TIMEVAL overrun = getElapsedTime();
 108
 109         TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
 110         //printf("total_sleep_time %d + overrun %d\n", total_sleep_time , overrun);
 111
 112         for(i=0; i <= last_timer_raw; i++)
 113         {
 114                 s_timer_entry *row = (timers+i);
 115
 116                 if (row->state & TIMER_ARMED) // if row is active
 117                 {
 118                         if (row->val <= real_total_sleep_time) // to be trigged
 119                         {
 120                                 //printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time);
 121                                 if (!row->interval) // if simply outdated
 122                                 {
 123                                         row->state = TIMER_TRIG; // ask for trig
 124                                 }
 125                                 else // or period have expired
 126                                 {
 127                                         // set val as interval, with overrun correction
 128                                         row->val = row->interval - (overrun % row->interval);
 129                                         row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic
 130                                         // Check if this new timer value is the soonest
 131                                         next_wakeup = minval(row->val,next_wakeup);
 132                                 }
 133                         }
 134                         else
 135                         {
 136                                 // Each armed timer value in decremented.
 137                                 row->val -= real_total_sleep_time;
 138
 139                                 // Check if this new timer value is the soonest
 140                                 next_wakeup = minval(row->val,next_wakeup);
 141                         }
 142                 }
 143         }
 144
 145         // Remember how much time we should sleep.
 146         total_sleep_time = next_wakeup;
 147
 148         // Set timer to soonest occurence
 149         setTimer(next_wakeup);
 150
 151         // Then trig them or not.
 152         for(i=0; i<=last_timer_raw; i++)
 153         {
 154                 s_timer_entry *row = (timers+i);
 155
 156                 if (row->state & TIMER_TRIG)
 157                 {
 158                         row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic)
 159                         (*row->callback)(row->d, row->id); // trig !
 160                 }
 161         }
 162 }
 163