Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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<h1>timer.c</h1><a href="timer_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00032"></a>00032 <span class="comment">/* #define DEBUG_WAR_CONSOLE_ON */</span>
<a name="l00033"></a>00033 <span class="comment">/* #define DEBUG_ERR_CONSOLE_ON */</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="win32_2applicfg_8h.html">applicfg.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include "<a class="code" href="timer_8h.html">timer.h</a>"</span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="comment">/* --------- The timer table --------- */</span>
<a name="l00039"></a><a class="code" href="timer_8c.html#adb4c8d5876b377463d33bdeda56b575">00039</a> <a class="code" href="structstruct__s__timer__entry.html">s_timer_entry</a> <a class="code" href="timer_8c.html#adb4c8d5876b377463d33bdeda56b575">timers</a>[<a class="code" href="config_8h.html#893c52ed173989613d09770db8b9f294">MAX_NB_TIMER</a>] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">00041</a> <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> <a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">total_sleep_time</a> = <a class="code" href="hcs12_2applicfg_8h.html#9b8b68779cc690a9f699155420328d0f">TIMEVAL_MAX</a>;
<a name="l00042"></a><a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">00042</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a> = -1;
<a name="l00043"></a>00043
<a name="l00044"></a><a class="code" href="timer_8c.html#d2d95744d6e355721e7bbc2c07d934a4">00044</a> <span class="preprocessor">#define min_val(a,b) ((a<b)?a:b)</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00057"></a><a class="code" href="timer_8h.html#956b22f24089db4c367f40199f838a20">00057</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="timer_8c.html#956b22f24089db4c367f40199f838a20">SetAlarm</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>, <a class="code" href="timer_8h.html#c8436e7543fa1329b00e570246071313">TimerCallback_t</a> <a class="code" href="structstruct__s__timer__entry.html#692e4f379d9b3976895df243e12ccacb">callback</a>, <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> value, <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> period)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="comment">/*printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period); */</span>
<a name="l00060"></a>00060 <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> i;
<a name="l00061"></a>00061 <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> row_number = TIMER_NONE;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">/* in order to decide new timer setting we have to run over all timer rows */</span>
<a name="l00064"></a>00064 <span class="keywordflow">for</span>(i=0; i <= <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a> + 1 && i < <a class="code" href="config_8h.html#893c52ed173989613d09770db8b9f294">MAX_NB_TIMER</a>; i++)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 <a class="code" href="structstruct__s__timer__entry.html">s_timer_entry</a> *row = (<a class="code" href="timer_8c.html#adb4c8d5876b377463d33bdeda56b575">timers</a>+i);
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keywordflow">if</span> (callback && <span class="comment">/* if something to store */</span>
<a name="l00069"></a>00069 row->state == TIMER_FREE) <span class="comment">/* and empty row */</span>
<a name="l00070"></a>00070 { <span class="comment">/* just store */</span>
<a name="l00071"></a>00071 row->callback = callback;
<a name="l00072"></a>00072 row->d = <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>;
<a name="l00073"></a>00073 row->id = <span class="keywordtype">id</span>;
<a name="l00074"></a>00074 row->val = value;
<a name="l00075"></a>00075 row->interval = period;
<a name="l00076"></a>00076 row->state = TIMER_ARMED;
<a name="l00077"></a>00077 row_number = i;
<a name="l00078"></a>00078 <span class="keywordflow">break</span>;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keywordflow">if</span> (row_number != TIMER_NONE) <span class="comment">/* if successfull **/</span>
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> real_timer_value;
<a name="l00085"></a>00085 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> elapsed_time;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keywordflow">if</span> (row_number == <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a> + 1) <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a>++;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">/* set next wakeup alarm if new entry is sooner than others, or if it is alone */</span>
<a name="l00090"></a>00090 real_timer_value = <a class="code" href="timer_8c.html#d2d95744d6e355721e7bbc2c07d934a4">min_val</a>(value, <a class="code" href="hcs12_2applicfg_8h.html#9b8b68779cc690a9f699155420328d0f">TIMEVAL_MAX</a>);
<a name="l00091"></a>00091 elapsed_time = <a class="code" href="canOpenDriver_8c.html#38b23a8ee3748bca3415967b90df1e15">getElapsedTime</a>();
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">/*printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time); */</span>
<a name="l00094"></a>00094 <span class="keywordflow">if</span> (<a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">total_sleep_time</a> > elapsed_time && <a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">total_sleep_time</a> - elapsed_time > real_timer_value)
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 <a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">total_sleep_time</a> = elapsed_time + real_timer_value;
<a name="l00097"></a>00097 <a class="code" href="timers__unix_8c.html#7996006c628d2df030b9684d7a86acd1">setTimer</a>(real_timer_value);
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 <span class="comment">/*printf("SetAlarm() return %d\n", row_number); */</span>
<a name="l00100"></a>00100 <span class="keywordflow">return</span> row_number;
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102 <span class="keywordflow">return</span> TIMER_NONE;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00112"></a><a class="code" href="timer_8h.html#12fe6467e1df03cc40dd6f76123c99f6">00112</a> <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> <a class="code" href="timer_8c.html#12fe6467e1df03cc40dd6f76123c99f6">DelAlarm</a>(<a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> handle)
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 <span class="comment">/* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */</span>
<a name="l00115"></a>00115 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3320, <span class="stringliteral">"DelAlarm. handle = "</span>, handle);
<a name="l00116"></a>00116 <span class="keywordflow">if</span>(handle != TIMER_NONE)
<a name="l00117"></a>00117 {
<a name="l00118"></a>00118 <span class="keywordflow">if</span>(handle == <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a>)
<a name="l00119"></a>00119 <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a>--;
<a name="l00120"></a>00120 <a class="code" href="timer_8c.html#adb4c8d5876b377463d33bdeda56b575">timers</a>[handle].<a class="code" href="structstruct__s__timer__entry.html#48f463cd0804517aeb60b27979143c56">state</a> = TIMER_FREE;
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 <span class="keywordflow">else</span> {
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 <span class="keywordflow">return</span> TIMER_NONE;
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126
<a name="l00131"></a><a class="code" href="timer_8h.html#cfbb167cb53b81998c9a6f5af0c93c13">00131</a> <span class="keywordtype">void</span> <a class="code" href="timer_8c.html#7a5a515821c2e4fb2f66bac72389da00">TimeDispatch</a>()
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 <a class="code" href="timer_8h.html#92d252e2b6f4cf50c0e7450c20d5db48">TIMER_HANDLE</a> i;
<a name="l00134"></a>00134 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> next_wakeup = <a class="code" href="hcs12_2applicfg_8h.html#9b8b68779cc690a9f699155420328d0f">TIMEVAL_MAX</a>; <span class="comment">/* used to compute when should normaly occur next wakeup */</span>
<a name="l00135"></a>00135 <span class="comment">/* First run : change timer state depending on time */</span>
<a name="l00136"></a>00136 <span class="comment">/* Get time since timer signal */</span>
<a name="l00137"></a>00137 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> overrun = <a class="code" href="canOpenDriver_8c.html#38b23a8ee3748bca3415967b90df1e15">getElapsedTime</a>();
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <a class="code" href="hcs12_2applicfg_8h.html#dea5fb459bddd6fd539cdf665dd657e6">TIMEVAL</a> real_total_sleep_time = <a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">total_sleep_time</a> + overrun;
<a name="l00140"></a>00140 <span class="comment">/*printf("total_sleep_time %d + overrun %d\n", total_sleep_time , overrun); */</span>
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keywordflow">for</span>(i=0; i <= <a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a>; i++)
<a name="l00143"></a>00143 {
<a name="l00144"></a>00144 <a class="code" href="structstruct__s__timer__entry.html">s_timer_entry</a> *row = (<a class="code" href="timer_8c.html#adb4c8d5876b377463d33bdeda56b575">timers</a>+i);
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="keywordflow">if</span> (row->state & TIMER_ARMED) <span class="comment">/* if row is active */</span>
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 if (row->val <= real_total_sleep_time) <span class="comment">/* to be trigged */</span>
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="comment">/*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */</span>
<a name="l00151"></a>00151 if (!row->interval) <span class="comment">/* if simply outdated */</span>
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153 row->state = TIMER_TRIG; <span class="comment">/* ask for trig */</span>
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155 <span class="keywordflow">else</span> <span class="comment">/* or period have expired */</span>
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157 <span class="comment">/* set val as interval, with overrun correction */</span>
<a name="l00158"></a>00158 row->val = row->interval - (overrun % row->interval);
<a name="l00159"></a>00159 row->state = TIMER_TRIG_PERIOD; <span class="comment">/* ask for trig, periodic */</span>
<a name="l00160"></a>00160 <span class="comment">/* Check if this new timer value is the soonest */</span>
<a name="l00161"></a>00161 next_wakeup = <a class="code" href="timer_8c.html#d2d95744d6e355721e7bbc2c07d934a4">min_val</a>(row->val,next_wakeup);
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 <span class="keywordflow">else</span>
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 <span class="comment">/* Each armed timer value in decremented. */</span>
<a name="l00167"></a>00167 row->val -= real_total_sleep_time;
<a name="l00168"></a>00168
<a name="l00169"></a>00169 <span class="comment">/* Check if this new timer value is the soonest */</span>
<a name="l00170"></a>00170 next_wakeup = <a class="code" href="timer_8c.html#d2d95744d6e355721e7bbc2c07d934a4">min_val</a>(row->val,next_wakeup);
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="comment">/* Remember how much time we should sleep. */</span>
<a name="l00176"></a>00176 <a class="code" href="timer_8c.html#242986a224c5a02d6341dd5bfdf71008">total_sleep_time</a> = next_wakeup;
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="comment">/* Set timer to soonest occurence */</span>
<a name="l00179"></a>00179 <a class="code" href="timers__unix_8c.html#7996006c628d2df030b9684d7a86acd1">setTimer</a>(next_wakeup);
<a name="l00180"></a>00180
<a name="l00181"></a>00181 <span class="comment">/* Then trig them or not. */</span>
<a name="l00182"></a>00182 <span class="keywordflow">for</span>(i=0; i<=<a class="code" href="timer_8c.html#4afd63ff2f23fe7cd60f0d82e78c4426">last_timer_raw</a>; i++)
<a name="l00183"></a>00183 {
<a name="l00184"></a>00184 <a class="code" href="structstruct__s__timer__entry.html">s_timer_entry</a> *row = (<a class="code" href="timer_8c.html#adb4c8d5876b377463d33bdeda56b575">timers</a>+i);
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordflow">if</span> (row->state & TIMER_TRIG)
<a name="l00187"></a>00187 {
<a name="l00188"></a>00188 row->state &= ~TIMER_TRIG; <span class="comment">/* reset trig state (will be free if not periodic) */</span>
<a name="l00189"></a>00189 <span class="keywordflow">if</span>(row->callback)
<a name="l00190"></a>00190 (*row->callback)(row->d, row->id); <span class="comment">/* trig ! */</span>
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
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