Some bugs reported by Francis Dupin corrected.
/*
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;
}