--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/AT91/timer_AT91.c	Wed Oct 22 21:05:33 2008 +0200
@@ -0,0 +1,119 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+AT91 Port: 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
+*/
+
+// Includes for the Canfestival driver
+#include "canfestival.h"
+#include "timer.h"
+
+// Define the timer registers
+#define AT91C_BASE_TC	AT91C_BASE_TC2
+#define AT91C_ID_TC	AT91C_ID_TC2
+#define TimerAlarm      AT91C_BASE_TC2->TC_RC
+#define TimerCounter    AT91C_BASE_TC2->TC_CV
+
+#define TIMER_INTERRUPT_LEVEL		1
+
+void timer_can_irq_handler(void);
+
+
+/************************** 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
+******************************************************************************/
+{
+  unsigned int dummy;
+
+  // First, enable the clock of the TIMER
+  AT91F_PMC_EnablePeriphClock (AT91C_BASE_PMC, 1 << AT91C_ID_TC);
+  // Disable the clock and the interrupts
+  AT91C_BASE_TC->TC_CCR = AT91C_TC_CLKDIS ;
+  AT91C_BASE_TC->TC_IDR = 0xFFFFFFFF ;
+  // Clear status bit
+  dummy = AT91C_BASE_TC->TC_SR;
+  // Suppress warning variable "dummy" was set but never used
+  dummy = dummy;
+
+  // Set the Mode of the Timer Counter (MCK / 128)
+  AT91C_BASE_TC->TC_CMR = AT91C_TC_CLKS_TIMER_DIV4_CLOCK;
+
+  // Enable the clock
+  AT91C_BASE_TC->TC_CCR = AT91C_TC_CLKEN ;
+
+  // Open Timer interrupt
+  AT91F_AIC_ConfigureIt (AT91C_BASE_AIC, AT91C_ID_TC, TIMER_INTERRUPT_LEVEL,
+			 AT91C_AIC_SRCTYPE_INT_POSITIVE_EDGE, timer_can_irq_handler);
+
+  AT91C_BASE_TC->TC_IER = AT91C_TC_CPCS;  //  IRQ enable CPC
+  AT91F_AIC_EnableIt (AT91C_BASE_AIC, AT91C_ID_TC2);
+
+  // Start Timer
+  AT91C_BASE_TC->TC_CCR = AT91C_TC_SWTRG ;
+}
+
+void setTimer(TIMEVAL value)
+/******************************************************************************
+Set the timer for the next alarm.
+INPUT	value TIMEVAL (unsigned long)
+OUTPUT	void
+******************************************************************************/
+{
+  TimerAlarm += 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
+  // Calculate the time difference
+  return timer > last_time_set ? timer - last_time_set : last_time_set - timer;
+}
+
+
+//*----------------------------------------------------------------------------
+//* Function Name       : timer_can_irq_handler
+//* Object              : C handler interrupt function by the interrupts
+//*                       assembling routine
+//* Output Parameters   : calls TimeDispatch
+//*----------------------------------------------------------------------------
+void timer_can_irq_handler(void)
+{
+  AT91PS_TC TC_pt = AT91C_BASE_TC;
+  unsigned int dummy;
+  // AcknowAT91B_LEDge interrupt status
+  dummy = TC_pt->TC_SR;
+  // Suppress warning variable "dummy" was set but never used
+  dummy = dummy;
+  last_time_set = TimerCounter;
+  TimeDispatch();	// Call the time handler of the stack to adapt the elapsed time
+}
+