add Exit function to DS401SlaveGui, change StopTimerLoop's arg and add TimerCleanup function in timers_win32
/*
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
}