author | lbessard |
Mon, 20 Apr 2009 17:42:36 +0200 | |
changeset 546 | 13701680330c |
parent 522 | e69d5903a5b2 |
child 576 | b4bc22764a39 |
permissions | -rwxr-xr-x |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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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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/*! |
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** @file timer.c |
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** @author Edouard TISSERANT and Francis DUPIN |
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** @date Tue Jun 5 09:32:32 2007 |
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** |
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** @brief |
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** |
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** |
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*/ |
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/* #define DEBUG_WAR_CONSOLE_ON */ |
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/* #define DEBUG_ERR_CONSOLE_ON */ |
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#include <applicfg.h> |
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#include "timer.h" |
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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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#define min_val(a,b) ((a<b)?a:b) |
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/*! |
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** ------- Use this to declare a new alarm ------ |
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** |
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** @param d |
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** @param id |
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** @param callback |
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** @param value |
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** @param period |
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** |
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** @return |
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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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522
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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TIMER_HANDLE row_number; |
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s_timer_entry *row; |
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/* in order to decide new timer setting we have to run over all timer rows */ |
522
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
|
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for(row_number=0, row=timers; row_number <= last_timer_raw + 1 && row_number < MAX_NB_TIMER; row_number++, row++) |
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{ |
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if (callback && /* if something to store */ |
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row->state == TIMER_FREE) /* and empty row */ |
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{ /* just store */ |
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522
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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TIMEVAL real_timer_value; |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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TIMEVAL elapsed_time; |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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if (row_number == last_timer_raw + 1) last_timer_raw++; |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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elapsed_time = getElapsedTime(); |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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/* set next wakeup alarm if new entry is sooner than others, or if it is alone */ |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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real_timer_value = value > elapsed_time ? value - elapsed_time : 0; |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
|
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real_timer_value = min_val(real_timer_value, TIMEVAL_MAX); |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value) |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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{ |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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total_sleep_time = elapsed_time + real_timer_value; |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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setTimer(real_timer_value); |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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} |
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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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522
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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row->val = value + elapsed_time; |
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row->interval = period; |
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row->state = TIMER_ARMED; |
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522
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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return row_number; |
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} |
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} |
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return TIMER_NONE; |
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} |
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/*! |
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** ----- Use this to remove an alarm ---- |
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** |
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** @param handle |
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** |
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** @return |
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**/ |
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TIMER_HANDLE DelAlarm(TIMER_HANDLE handle) |
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{ |
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/* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */ |
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MSG_WAR(0x3320, "DelAlarm. handle = ", handle); |
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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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return TIMER_NONE; |
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} |
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/*! |
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** ------ TimeDispatch is called on each timer expiration ---- |
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** |
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522
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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**/ |
e69d5903a5b2
Fixed serious bug in setAlarm, causing wrong timer duration when setAlarm not called long after timeDispatch.
greg
parents:
470
diff
changeset
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int tdcount=0; |
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void TimeDispatch(void) |
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{ |
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TIMER_HANDLE i; |
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TIMEVAL 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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TIMEVAL overrun = getElapsedTime(); |
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TIMEVAL real_total_sleep_time = total_sleep_time + overrun; |
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s_timer_entry *row; |
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for(i=0, row = timers; i <= last_timer_raw; i++, row++) |
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{ |
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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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if(row->val < next_wakeup) |
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next_wakeup = row->val; |
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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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if(row->val < next_wakeup) |
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next_wakeup = row->val; |
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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, row = timers; i<=last_timer_raw; i++, row++) |
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{ |
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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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if(row->callback) |
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(*row->callback)(row->d, row->id); /* trig ! */ |
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} |
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} |
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} |