etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@0: 
etisserant@0:  Author: Christian Fortin (canfestival@canopencanada.ca)
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include <stdlib.h>
etisserant@0: 
etisserant@0: #include <sys/time.h>
etisserant@0: #include <signal.h>
etisserant@0: 
etisserant@0: #include <cyg/kernel/kapi.h>
etisserant@0: #include <cyg/hal/hal_arch.h>
etisserant@0: 
etisserant@0: #include "applicfg.h"
etisserant@0: 
etisserant@0: #include <timer.h>
etisserant@0: 
etisserant@0: 
etisserant@0: #define max(a,b) a>b?a:b
etisserant@0: #define min(a,b) a<b?a:b
etisserant@0: 
etisserant@0: 
etisserant@0: // ---------  The timer table ---------
etisserant@0: s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
etisserant@0: TIMEVAL total_sleep_time = TIMEVAL_MAX;
etisserant@0: TIMER_HANDLE last_timer_raw = -1;
etisserant@0: 
etisserant@0: cyg_alarm_t chrono_timer;
etisserant@0: cyg_alarm alarm_timer;
etisserant@0: cyg_handle_t alarm_handle_timer;
etisserant@0: cyg_handle_t rtclock, rtcounter;
etisserant@0: 
etisserant@0: void init_timer(void)
etisserant@0: {
etisserant@0: 	rtclock = cyg_real_time_clock();
etisserant@0: 	cyg_clock_to_counter(rtclock, &rtcounter);
etisserant@0: 
etisserant@0: 	cyg_alarm_create(rtcounter,
etisserant@0:                          &chrono_timer,
etisserant@0:                          0, 
etisserant@0:                          &alarm_handle_timer,
etisserant@0:                          &alarm_timer);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: unsigned int getElapsedTime(void)
etisserant@0: {
etisserant@0: 	// HCS12 main timer :  Increment every 4 us.
etisserant@0: 	return 0; // IO_PORTS_16(TCNTH);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void setTimer(TIMEVAL tm /* in ms? s? us? */)
etisserant@0: {
etisserant@0: /*
etisserant@0: 	this function is required by the library to make the scheduler work
etisserant@0: 	properly
etisserant@0: 	it is called by SetAlarm() (in src/timer.c)
etisserant@0: 
etisserant@0: 	the interrupt vector must call TimeDispatch() (in src/timer.c)
etisserant@0: */
etisserant@0: 	/*
etisserant@0: 		value of alarm time for eCos
etisserant@0: 		  1 = 10 msec
etisserant@0: 		100 = 1 sec
etisserant@0: 
etisserant@0: #define MS_TO_TIMEVAL(ms) ms/10
etisserant@0: #define US_TO_TIMEVAL(us) us*4
etisserant@0: 
etisserant@0: 	*/
etisserant@0: 
etisserant@0: 	cyg_alarm_initialize(alarm_handle_timer, tm, 0);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void chrono_timer(cyg_handle_t alarm, cyg_addrword_t data)
etisserant@0: {
etisserant@0: 	int i;
etisserant@0: 	int next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup
etisserant@0: 	// First run : change timer state depending on time
etisserant@0: 	// Get time since timer signal
etisserant@0: 	int overrun = getElapsedTime();
etisserant@0: 	
etisserant@0: 	int real_total_sleep_time = total_sleep_time + overrun;
etisserant@0: 	
etisserant@0: 	for(i=0; i <= last_timer_raw; i++)
etisserant@0: 	{
etisserant@0: 		s_timer_entry *row = (timers+i);
etisserant@0: 
etisserant@0: 		if (row->state & TIMER_ARMED) // if row is active
etisserant@0: 		{
etisserant@0: 			if (row->val <= real_total_sleep_time) // to be trigged
etisserant@0: 			{
etisserant@0: 				if (!row->interval) // if simply outdated
etisserant@0: 				{
etisserant@0: 					row->state = TIMER_TRIG; // ask for trig
etisserant@0: 				}
etisserant@0: 				else // or period have expired
etisserant@0: 				{
etisserant@0: 					// set val as interval, with overrun correction
etisserant@0: 					row->val = row->interval - (overrun % row->interval);
etisserant@0: 					row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic
etisserant@0: 					// Check if this new timer value is the soonest
etisserant@0: 					next_wakeup = min(row->val,next_wakeup);
etisserant@0: 				}
etisserant@0: 			}
etisserant@0: 			else
etisserant@0: 			{
etisserant@0: 				// Each armed timer value in decremented.
etisserant@0: 				row->val -= real_total_sleep_time;
etisserant@0: 
etisserant@0: 				// Check if this new timer value is the soonest
etisserant@0: 				next_wakeup = min(row->val,next_wakeup);
etisserant@0: 			}
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: 	
etisserant@0: 	// Remember how much time we should sleep.
etisserant@0: 	total_sleep_time = next_wakeup;
etisserant@0: 
etisserant@0: 	// Set timer to soonest occurence
etisserant@0: 	setTimer(next_wakeup);
etisserant@0: 
etisserant@0: 	// Then trig them or not.
etisserant@0: 	for(i=0; i<=last_timer_raw; i++)
etisserant@0: 	{
etisserant@0: 		s_timer_entry *row = (timers+i);
etisserant@0: 
etisserant@0: 		if (row->state & TIMER_TRIG)
etisserant@0: 		{
etisserant@0: 			row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic)
etisserant@0: 			(*row->callback)(row->d, row->id); // trig !
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
etisserant@0: {
etisserant@0: 	int i;
etisserant@0: 	TIMER_HANDLE row_number = TIMER_NONE;
etisserant@0: 
etisserant@0: 	if (callback == NULL) // nothing to store
etisserant@0: 		return TIMER_NONE;
etisserant@0: 
etisserant@0: 	// in order to decide new timer setting we have to run over all timer rows
etisserant@0: 	
etisserant@0: 	for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
etisserant@0: 	{
etisserant@0: 		s_timer_entry *row = (timers+i);
etisserant@0: 
etisserant@0: 		if (row->state == TIMER_FREE) // an empty row
etisserant@0: 		{	// just store
etisserant@0: 			row->callback = callback;
etisserant@0: 			row->d = d;
etisserant@0: 			row->id = id;
etisserant@0: 			row->val = value;
etisserant@0: 			row->interval = period;
etisserant@0: 			row->state = TIMER_ARMED;
etisserant@0: 
etisserant@0: 			row_number = i;
etisserant@0: 			break;
etisserant@0: 		}
etisserant@0: 	}
etisserant@0: 	
etisserant@0: 	if (row_number != TIMER_NONE) // if successfull
etisserant@0: 	{
etisserant@0: 		if (row_number == last_timer_raw + 1) last_timer_raw++;
etisserant@0: 		
etisserant@0: 		// set next wakeup alarm if new entry is sooner than others, or if it is alone
etisserant@0: 		unsigned int real_timer_value = min(value, TIMEVAL_MAX);
etisserant@0: 		unsigned int elapsed_time = getElapsedTime();
etisserant@0: 
etisserant@0: 		if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
etisserant@0: 		{
etisserant@0: 			total_sleep_time = elapsed_time + real_timer_value;
etisserant@0: 			setTimer(real_timer_value);
etisserant@0: 		}
etisserant@0: 
etisserant@0: 		return row_number;
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return TIMER_NONE;
etisserant@0: }
etisserant@0: 
etisserant@0: // ---------  Use this to remove an alarm ---------
etisserant@0: TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
etisserant@0: {
etisserant@0: 	if (handle != TIMER_NONE)
etisserant@0: 	{
etisserant@0: 		if (handle == last_timer_raw) 
etisserant@0: 			last_timer_raw--;
etisserant@0: 		timers[handle].state = TIMER_FREE; 		
etisserant@0: 	}
etisserant@0: 	else 
etisserant@0: 	{
etisserant@0: 	}
etisserant@0: 
etisserant@0: 	return TIMER_NONE;
etisserant@0: }