--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ecos_lpc2138_sja1000/time_slicer.c Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,219 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+ Author: Christian Fortin (canfestival@canopencanada.ca)
+
+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
+*/
+
+#include <stdlib.h>
+
+#include <sys/time.h>
+#include <signal.h>
+
+#include <cyg/kernel/kapi.h>
+#include <cyg/hal/hal_arch.h>
+
+#include "applicfg.h"
+
+#include <timer.h>
+
+
+#define max(a,b) a>b?a:b
+#define min(a,b) a<b?a:b
+
+
+// --------- The timer table ---------
+s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
+TIMEVAL total_sleep_time = TIMEVAL_MAX;
+TIMER_HANDLE last_timer_raw = -1;
+
+cyg_alarm_t chrono_timer;
+cyg_alarm alarm_timer;
+cyg_handle_t alarm_handle_timer;
+cyg_handle_t rtclock, rtcounter;
+
+void init_timer(void)
+{
+ rtclock = cyg_real_time_clock();
+ cyg_clock_to_counter(rtclock, &rtcounter);
+
+ cyg_alarm_create(rtcounter,
+ &chrono_timer,
+ 0,
+ &alarm_handle_timer,
+ &alarm_timer);
+}
+
+
+unsigned int getElapsedTime(void)
+{
+ // HCS12 main timer : Increment every 4 us.
+ return 0; // IO_PORTS_16(TCNTH);
+}
+
+
+void setTimer(TIMEVAL tm /* in ms? s? us? */)
+{
+/*
+ this function is required by the library to make the scheduler work
+ properly
+ it is called by SetAlarm() (in src/timer.c)
+
+ the interrupt vector must call TimeDispatch() (in src/timer.c)
+*/
+ /*
+ value of alarm time for eCos
+ 1 = 10 msec
+ 100 = 1 sec
+
+#define MS_TO_TIMEVAL(ms) ms/10
+#define US_TO_TIMEVAL(us) us*4
+
+ */
+
+ cyg_alarm_initialize(alarm_handle_timer, tm, 0);
+}
+
+
+void chrono_timer(cyg_handle_t alarm, cyg_addrword_t data)
+{
+ int i;
+ int next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup
+ // First run : change timer state depending on time
+ // Get time since timer signal
+ int overrun = getElapsedTime();
+
+ int real_total_sleep_time = total_sleep_time + overrun;
+
+ for(i=0; i <= last_timer_raw; i++)
+ {
+ s_timer_entry *row = (timers+i);
+
+ if (row->state & TIMER_ARMED) // if row is active
+ {
+ if (row->val <= real_total_sleep_time) // to be trigged
+ {
+ if (!row->interval) // if simply outdated
+ {
+ row->state = TIMER_TRIG; // ask for trig
+ }
+ else // or period have expired
+ {
+ // set val as interval, with overrun correction
+ row->val = row->interval - (overrun % row->interval);
+ row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic
+ // Check if this new timer value is the soonest
+ next_wakeup = min(row->val,next_wakeup);
+ }
+ }
+ else
+ {
+ // Each armed timer value in decremented.
+ row->val -= real_total_sleep_time;
+
+ // Check if this new timer value is the soonest
+ next_wakeup = min(row->val,next_wakeup);
+ }
+ }
+ }
+
+ // Remember how much time we should sleep.
+ total_sleep_time = next_wakeup;
+
+ // Set timer to soonest occurence
+ setTimer(next_wakeup);
+
+ // Then trig them or not.
+ for(i=0; i<=last_timer_raw; i++)
+ {
+ s_timer_entry *row = (timers+i);
+
+ if (row->state & TIMER_TRIG)
+ {
+ row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic)
+ (*row->callback)(row->d, row->id); // trig !
+ }
+ }
+}
+
+
+
+
+TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
+{
+ int i;
+ TIMER_HANDLE row_number = TIMER_NONE;
+
+ if (callback == NULL) // nothing to store
+ return TIMER_NONE;
+
+ // in order to decide new timer setting we have to run over all timer rows
+
+ for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
+ {
+ s_timer_entry *row = (timers+i);
+
+ if (row->state == TIMER_FREE) // an empty row
+ { // just store
+ row->callback = callback;
+ row->d = d;
+ row->id = id;
+ row->val = value;
+ row->interval = period;
+ row->state = TIMER_ARMED;
+
+ row_number = i;
+ break;
+ }
+ }
+
+ if (row_number != TIMER_NONE) // if successfull
+ {
+ if (row_number == last_timer_raw + 1) last_timer_raw++;
+
+ // set next wakeup alarm if new entry is sooner than others, or if it is alone
+ unsigned int real_timer_value = min(value, TIMEVAL_MAX);
+ unsigned int elapsed_time = getElapsedTime();
+
+ if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
+ {
+ total_sleep_time = elapsed_time + real_timer_value;
+ setTimer(real_timer_value);
+ }
+
+ return row_number;
+ }
+
+ return TIMER_NONE;
+}
+
+// --------- Use this to remove an alarm ---------
+TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
+{
+ if (handle != TIMER_NONE)
+ {
+ if (handle == last_timer_raw)
+ last_timer_raw--;
+ timers[handle].state = TIMER_FREE;
+ }
+ else
+ {
+ }
+
+ return TIMER_NONE;
+}