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

		TIMEVAL real_timer_value;

    66

		TIMEVAL elapsed_time;

    67

    68

		if (row_number == last_timer_raw + 1) last_timer_raw++;

    69

    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();

    73

    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)

    76

		{

    77

			total_sleep_time = elapsed_time + real_timer_value;

    78

			setTimer(real_timer_value);

    79

		}

    80

		/*printf("SetAlarm() return %d\n", row_number); */

    81

		return row_number;

    82

	}

    83

	return TIMER_NONE;

    84

}

    85

    86

/* ---------  Use this to remove an alarm --------- */

    87

TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)

    88

{

    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)

    92

	{

    93

		if(handle == last_timer_raw) 

    94

			last_timer_raw--;

    95

		timers[handle].state = TIMER_FREE; 		

    96

	}

    97

	else {

    98

	}

    99

	return TIMER_NONE;

   100

}

   101

   102

   103

/* ---------  TimeDispatch is called on each timer expiration --------- */

   104

void TimeDispatch()

   105

{

   106

	TIMER_HANDLE i;

   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();

   111

   112

	TIMEVAL real_total_sleep_time = total_sleep_time + overrun;

   113

	/*printf("total_sleep_time %d + overrun %d\n", total_sleep_time , overrun); */

   114

   115

	for(i=0; i <= last_timer_raw; i++)

   116

	{

   117

		s_timer_entry *row = (timers+i);

   118

   119

		if (row->state & TIMER_ARMED) /* if row is active */

   120

		{

   121

			if (row->val <= real_total_sleep_time) /* to be trigged */

   122

			{

   123

				/*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */

   124

				if (!row->interval) /* if simply outdated */

   125

				{

   126

					row->state = TIMER_TRIG; /* ask for trig */

   127

				}

   128

				else /* or period have expired */

   129

				{

   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);

   135

				}

   136

			}

   137

			else

   138

			{

   139

				/* Each armed timer value in decremented. */

   140

				row->val -= real_total_sleep_time;

   141

   142

				/* Check if this new timer value is the soonest */

   143

				next_wakeup = minval(row->val,next_wakeup);

   144

			}

   145

		}

   146

	}

   147

   148

	/* Remember how much time we should sleep. */

   149

	total_sleep_time = next_wakeup;

   150

   151

	/* Set timer to soonest occurence */

   152

	setTimer(next_wakeup);

   153

   154

	/* Then trig them or not. */

   155

	for(i=0; i<=last_timer_raw; i++)

   156

	{

   157

		s_timer_entry *row = (timers+i);

   158

   159

		if (row->state & TIMER_TRIG)

   160

		{

   161

			row->state &= ~TIMER_TRIG; /* reset trig state (will be free if not periodic) */

   162

			if(row->callback)

   163

				(*row->callback)(row->d, row->id); /* trig ! */

   164

		}

   165

	}

   166

}

   167