--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/AVR/timer_AVR.c	Thu Jan 31 15:20:59 2008 +0100
@@ -0,0 +1,93 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AVR Port: Andreas GLAUSER and Peter CHRISTEN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+// AVR implementation of the  CANopen timer driver, uses Timer 3 (16 bit)
+
+// Includes for the Canfestival driver
+#include "canfestival.h"
+#include "timer.h"
+
+// Define the timer registers
+#define TimerAlarm        OCR3B
+#define TimerCounter      TCNT3
+
+/************************** Modul variables **********************************/
+// Store the last timer value to calculate the elapsed time
+static TIMEVAL last_time_set = TIMEVAL_MAX;     
+
+void initTimer(void)
+/******************************************************************************
+Initializes the timer, turn on the interrupt and put the interrupt time to zero
+INPUT	void
+OUTPUT	void
+******************************************************************************/
+{
+  TimerAlarm = 0;		// Set it back to the zero
+	// Set timer 3 for CANopen operation tick 8us max, time is 524ms
+  TCCR3B = 1 << CS31 | 1 << CS30;       // Timer 3 normal, mit CK/64
+  TIMSK3 = 1 << OCIE3B;                 // Enable the interrupt
+}
+
+void setTimer(TIMEVAL value)
+/******************************************************************************
+Set the timer for the next alarm.
+INPUT	value TIMEVAL (unsigned long)
+OUTPUT	void
+******************************************************************************/
+{
+  TimerAlarm += (int)value;	// Add the desired time to timer interrupt time
+}
+
+TIMEVAL getElapsedTime(void)
+/******************************************************************************
+Return the elapsed time to tell the Stack how much time is spent since last call.
+INPUT	void
+OUTPUT	value TIMEVAL (unsigned long) the elapsed time
+******************************************************************************/
+{
+  unsigned int timer = TimerCounter;            // Copy the value of the running timer
+  if (timer > last_time_set)                    // In case the timer value is higher than the last time.
+    return (timer - last_time_set);             // Calculate the time difference
+  else if (timer < last_time_set)
+    return (last_time_set - timer);             // Calculate the time difference
+  else
+    return TIMEVAL_MAX;
+}
+
+#ifdef  __IAR_SYSTEMS_ICC__
+#pragma type_attribute = __interrupt
+#pragma vector=TIMER3_COMPB_vect
+void TIMER3_COMPB_interrupt(void)
+#else	// GCC
+ISR(TIMER3_COMPB_vect)
+#endif	// GCC
+/******************************************************************************
+Interruptserviceroutine Timer 3 Compare B for the CAN timer
+******************************************************************************/
+{
+  last_time_set = TimerCounter;
+  TimeDispatch();                               // Call the time handler of the stack to adapt the elapsed time
+}
+
+
+