src/timer.c
author etisserant
Fri, 25 Jul 2008 10:57:20 +0200
changeset 504 ad574af3628d
parent 470 86ff6646b721
child 522 e69d5903a5b2
permissions -rwxr-xr-x
Added removal of dynamically loaded CAN driver interface library in clean make target
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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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	/*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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	s_timer_entry *row;
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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, row=timers; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++, 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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			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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	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(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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	/*printf("total_sleep_time %d + overrun %d\n", 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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				/*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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					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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}