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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Author: Christian Fortin (canfestival@canopencanada.ca) |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #include <stdlib.h> |
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24 |
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25 #include <sys/time.h> |
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26 #include <signal.h> |
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27 |
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28 #include <cyg/kernel/kapi.h> |
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29 #include <cyg/hal/hal_arch.h> |
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30 |
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31 #include "applicfg.h" |
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32 |
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33 #include <timer.h> |
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34 |
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35 |
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36 #define max(a,b) a>b?a:b |
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37 #define min(a,b) a<b?a:b |
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38 |
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39 |
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40 // --------- The timer table --------- |
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41 s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},}; |
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42 TIMEVAL total_sleep_time = TIMEVAL_MAX; |
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43 TIMER_HANDLE last_timer_raw = -1; |
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44 |
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45 cyg_alarm_t chrono_timer; |
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46 cyg_alarm alarm_timer; |
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47 cyg_handle_t alarm_handle_timer; |
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48 cyg_handle_t rtclock, rtcounter; |
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49 |
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50 void init_timer(void) |
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51 { |
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52 rtclock = cyg_real_time_clock(); |
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53 cyg_clock_to_counter(rtclock, &rtcounter); |
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54 |
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55 cyg_alarm_create(rtcounter, |
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56 &chrono_timer, |
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57 0, |
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58 &alarm_handle_timer, |
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59 &alarm_timer); |
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60 } |
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61 |
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62 |
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63 unsigned int getElapsedTime(void) |
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64 { |
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65 // HCS12 main timer : Increment every 4 us. |
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66 return 0; // IO_PORTS_16(TCNTH); |
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67 } |
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68 |
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69 |
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70 void setTimer(TIMEVAL tm /* in ms? s? us? */) |
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71 { |
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72 /* |
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73 this function is required by the library to make the scheduler work |
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74 properly |
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75 it is called by SetAlarm() (in src/timer.c) |
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76 |
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77 the interrupt vector must call TimeDispatch() (in src/timer.c) |
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78 */ |
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79 /* |
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80 value of alarm time for eCos |
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81 1 = 10 msec |
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82 100 = 1 sec |
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83 |
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84 #define MS_TO_TIMEVAL(ms) ms/10 |
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85 #define US_TO_TIMEVAL(us) us*4 |
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86 |
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87 */ |
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88 |
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89 cyg_alarm_initialize(alarm_handle_timer, tm, 0); |
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90 } |
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91 |
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92 |
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93 void chrono_timer(cyg_handle_t alarm, cyg_addrword_t data) |
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94 { |
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95 int i; |
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96 int next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup |
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97 // First run : change timer state depending on time |
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98 // Get time since timer signal |
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99 int overrun = getElapsedTime(); |
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100 |
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101 int real_total_sleep_time = total_sleep_time + overrun; |
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102 |
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103 for(i=0; i <= last_timer_raw; i++) |
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104 { |
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105 s_timer_entry *row = (timers+i); |
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106 |
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107 if (row->state & TIMER_ARMED) // if row is active |
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108 { |
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109 if (row->val <= real_total_sleep_time) // to be trigged |
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110 { |
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111 if (!row->interval) // if simply outdated |
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112 { |
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113 row->state = TIMER_TRIG; // ask for trig |
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114 } |
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115 else // or period have expired |
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116 { |
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117 // set val as interval, with overrun correction |
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118 row->val = row->interval - (overrun % row->interval); |
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119 row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic |
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120 // Check if this new timer value is the soonest |
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121 next_wakeup = min(row->val,next_wakeup); |
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122 } |
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123 } |
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124 else |
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125 { |
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126 // Each armed timer value in decremented. |
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127 row->val -= real_total_sleep_time; |
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128 |
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129 // Check if this new timer value is the soonest |
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130 next_wakeup = min(row->val,next_wakeup); |
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131 } |
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132 } |
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133 } |
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134 |
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135 // Remember how much time we should sleep. |
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136 total_sleep_time = next_wakeup; |
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137 |
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138 // Set timer to soonest occurence |
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139 setTimer(next_wakeup); |
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140 |
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141 // Then trig them or not. |
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142 for(i=0; i<=last_timer_raw; i++) |
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143 { |
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144 s_timer_entry *row = (timers+i); |
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145 |
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146 if (row->state & TIMER_TRIG) |
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147 { |
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148 row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic) |
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149 (*row->callback)(row->d, row->id); // trig ! |
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150 } |
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151 } |
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152 } |
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153 |
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154 |
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155 |
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156 |
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157 TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period) |
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158 { |
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159 int i; |
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160 TIMER_HANDLE row_number = TIMER_NONE; |
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161 |
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162 if (callback == NULL) // nothing to store |
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163 return TIMER_NONE; |
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164 |
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165 // in order to decide new timer setting we have to run over all timer rows |
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166 |
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167 for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++) |
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168 { |
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169 s_timer_entry *row = (timers+i); |
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170 |
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171 if (row->state == TIMER_FREE) // an empty row |
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172 { // just store |
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173 row->callback = callback; |
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174 row->d = d; |
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175 row->id = id; |
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176 row->val = value; |
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177 row->interval = period; |
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178 row->state = TIMER_ARMED; |
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179 |
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180 row_number = i; |
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181 break; |
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182 } |
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183 } |
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184 |
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185 if (row_number != TIMER_NONE) // if successfull |
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186 { |
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187 if (row_number == last_timer_raw + 1) last_timer_raw++; |
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188 |
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189 // set next wakeup alarm if new entry is sooner than others, or if it is alone |
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190 unsigned int real_timer_value = min(value, TIMEVAL_MAX); |
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191 unsigned int elapsed_time = getElapsedTime(); |
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192 |
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193 if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value) |
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194 { |
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195 total_sleep_time = elapsed_time + real_timer_value; |
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196 setTimer(real_timer_value); |
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197 } |
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198 |
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199 return row_number; |
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200 } |
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201 |
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202 return TIMER_NONE; |
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203 } |
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204 |
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205 // --------- Use this to remove an alarm --------- |
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206 TIMER_HANDLE DelAlarm(TIMER_HANDLE handle) |
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207 { |
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208 if (handle != TIMER_NONE) |
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209 { |
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210 if (handle == last_timer_raw) |
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211 last_timer_raw--; |
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212 timers[handle].state = TIMER_FREE; |
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213 } |
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214 else |
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215 { |
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216 } |
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217 |
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218 return TIMER_NONE; |
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219 } |