/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
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
*/
/*!
** @file timer.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 09:32:32 2007
**
** @brief
**
**
*/
/* #define DEBUG_WAR_CONSOLE_ON */
/* #define DEBUG_ERR_CONSOLE_ON */
#include <applicfg.h>
#include "timer.h"
/* --------- 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;
#define min_val(a,b) ((a<b)?a:b)
/*!
** ------- Use this to declare a new alarm ------
**
** @param d
** @param id
** @param callback
** @param value
** @param period
**
** @return
**/
TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
{
/*printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period); */
TIMER_HANDLE i;
TIMER_HANDLE row_number = 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 (callback && /* if something to store */
row->state == TIMER_FREE) /* and 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 **/
{
TIMEVAL real_timer_value;
TIMEVAL elapsed_time;
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 */
real_timer_value = min_val(value, TIMEVAL_MAX);
elapsed_time = getElapsedTime();
/*printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time); */
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);
}
/*printf("SetAlarm() return %d\n", row_number); */
return row_number;
}
return TIMER_NONE;
}
/*!
** ----- Use this to remove an alarm ----
**
** @param handle
**
** @return
**/
TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
{
/* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */
MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
if(handle != TIMER_NONE)
{
if(handle == last_timer_raw)
last_timer_raw--;
timers[handle].state = TIMER_FREE;
}
else {
}
return TIMER_NONE;
}
/*!
** ------ TimeDispatch is called on each timer expiration ----
**
**/
void TimeDispatch()
{
TIMER_HANDLE i;
TIMEVAL 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 */
TIMEVAL overrun = getElapsedTime();
TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
/*printf("total_sleep_time %d + overrun %d\n", 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 */
{
/*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */
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_val(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_val(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) */
if(row->callback)
(*row->callback)(row->d, row->id); /* trig ! */
}
}
}