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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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71
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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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/*printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period); */
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TIMER_HANDLE i;
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TIMER_HANDLE row_number = 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 (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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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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TIMEVAL real_timer_value;
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TIMEVAL elapsed_time;
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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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real_timer_value = min_val(value, TIMEVAL_MAX);
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elapsed_time = getElapsedTime();
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/*printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time); */
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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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/*printf("SetAlarm() return %d\n", row_number); */
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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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/*!
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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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else {
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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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**/
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void TimeDispatch()
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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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/*printf("total_sleep_time %d + overrun %d\n", 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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/*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */
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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_val(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_val(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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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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}
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