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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Author: Christian Fortin (canfestival@canopencanada.ca)
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <stdlib.h>
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#include <sys/time.h>
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#include <signal.h>
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#include <cyg/kernel/kapi.h>
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#include <cyg/hal/hal_arch.h>
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#include "applicfg.h"
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#include <timer.h>
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#define max(a,b) a>b?a:b
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#define min(a,b) a<b?a:b
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// --------- The timer table ---------
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s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
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TIMEVAL total_sleep_time = TIMEVAL_MAX;
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TIMER_HANDLE last_timer_raw = -1;
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cyg_alarm_t chrono_timer;
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cyg_alarm alarm_timer;
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cyg_handle_t alarm_handle_timer;
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cyg_handle_t rtclock, rtcounter;
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void init_timer(void)
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{
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rtclock = cyg_real_time_clock();
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cyg_clock_to_counter(rtclock, &rtcounter);
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cyg_alarm_create(rtcounter,
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&chrono_timer,
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0,
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&alarm_handle_timer,
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&alarm_timer);
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}
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unsigned int getElapsedTime(void)
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{
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// HCS12 main timer : Increment every 4 us.
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return 0; // IO_PORTS_16(TCNTH);
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}
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void setTimer(TIMEVAL tm /* in ms? s? us? */)
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{
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/*
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this function is required by the library to make the scheduler work
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properly
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it is called by SetAlarm() (in src/timer.c)
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the interrupt vector must call TimeDispatch() (in src/timer.c)
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*/
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/*
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value of alarm time for eCos
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1 = 10 msec
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100 = 1 sec
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#define MS_TO_TIMEVAL(ms) ms/10
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#define US_TO_TIMEVAL(us) us*4
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*/
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cyg_alarm_initialize(alarm_handle_timer, tm, 0);
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}
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void chrono_timer(cyg_handle_t alarm, cyg_addrword_t data)
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{
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int i;
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int next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup
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// First run : change timer state depending on time
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// Get time since timer signal
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int overrun = getElapsedTime();
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int real_total_sleep_time = total_sleep_time + overrun;
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for(i=0; i <= last_timer_raw; i++)
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{
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s_timer_entry *row = (timers+i);
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if (row->state & TIMER_ARMED) // if row is active
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{
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if (row->val <= real_total_sleep_time) // to be trigged
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{
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if (!row->interval) // if simply outdated
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{
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row->state = TIMER_TRIG; // ask for trig
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}
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else // or period have expired
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{
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// set val as interval, with overrun correction
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row->val = row->interval - (overrun % row->interval);
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row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic
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// Check if this new timer value is the soonest
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next_wakeup = min(row->val,next_wakeup);
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}
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}
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else
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{
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// Each armed timer value in decremented.
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row->val -= real_total_sleep_time;
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// Check if this new timer value is the soonest
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next_wakeup = min(row->val,next_wakeup);
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}
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}
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}
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// Remember how much time we should sleep.
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total_sleep_time = next_wakeup;
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// Set timer to soonest occurence
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setTimer(next_wakeup);
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// Then trig them or not.
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for(i=0; i<=last_timer_raw; i++)
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{
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s_timer_entry *row = (timers+i);
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if (row->state & TIMER_TRIG)
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{
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row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic)
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(*row->callback)(row->d, row->id); // trig !
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}
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}
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}
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TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
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{
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int i;
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TIMER_HANDLE row_number = TIMER_NONE;
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if (callback == NULL) // nothing to store
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return TIMER_NONE;
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// in order to decide new timer setting we have to run over all timer rows
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for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
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{
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s_timer_entry *row = (timers+i);
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if (row->state == TIMER_FREE) // an empty row
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{ // just store
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row->callback = callback;
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row->d = d;
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row->id = id;
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row->val = value;
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row->interval = period;
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row->state = TIMER_ARMED;
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row_number = i;
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break;
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}
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}
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if (row_number != TIMER_NONE) // if successfull
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{
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if (row_number == last_timer_raw + 1) last_timer_raw++;
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// set next wakeup alarm if new entry is sooner than others, or if it is alone
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unsigned int real_timer_value = min(value, TIMEVAL_MAX);
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unsigned int elapsed_time = getElapsedTime();
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if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
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{
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total_sleep_time = elapsed_time + real_timer_value;
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setTimer(real_timer_value);
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}
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return row_number;
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}
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return TIMER_NONE;
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}
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// --------- Use this to remove an alarm ---------
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TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
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{
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if (handle != TIMER_NONE)
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{
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if (handle == last_timer_raw)
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last_timer_raw--;
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timers[handle].state = TIMER_FREE;
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}
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else
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{
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}
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return TIMER_NONE;
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}
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