etisserant@38: /*
etisserant@38: This file is part of CanFestival, a library implementing CanOpen Stack.
etisserant@38:
etisserant@38: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@38:
etisserant@38: See COPYING file for copyrights details.
etisserant@38:
etisserant@38: This library is free software; you can redistribute it and/or
etisserant@38: modify it under the terms of the GNU Lesser General Public
etisserant@38: License as published by the Free Software Foundation; either
etisserant@38: version 2.1 of the License, or (at your option) any later version.
etisserant@38:
etisserant@38: This library is distributed in the hope that it will be useful,
etisserant@38: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@38: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
etisserant@38: Lesser General Public License for more details.
etisserant@38:
etisserant@38: You should have received a copy of the GNU Lesser General Public
etisserant@38: License along with this library; if not, write to the Free Software
etisserant@38: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
etisserant@38: */
nico@208: /*!
nico@208: ** @file timer.c
nico@208: ** @author Edouard TISSERANT and Francis DUPIN
nico@208: ** @date Tue Jun 5 09:32:32 2007
nico@208: **
nico@208: ** @brief
nico@208: **
nico@208: **
nico@208: */
etisserant@38:
frdupin@71: /* #define DEBUG_WAR_CONSOLE_ON */
frdupin@71: /* #define DEBUG_ERR_CONSOLE_ON */
etisserant@38:
etisserant@38: #include <applicfg.h>
etisserant@38: #include "timer.h"
etisserant@38:
frdupin@71: /* --------- The timer table --------- */
etisserant@38: s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
frdupin@71:
etisserant@38: TIMEVAL total_sleep_time = TIMEVAL_MAX;
etisserant@38: TIMER_HANDLE last_timer_raw = -1;
etisserant@38:
etisserant@167: #define min_val(a,b) ((a<b)?a:b)
etisserant@38:
nico@208: /*!
nico@208: ** ------- Use this to declare a new alarm ------
nico@208: **
nico@208: ** @param d
nico@208: ** @param id
nico@208: ** @param callback
nico@208: ** @param value
nico@208: ** @param period
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@38: TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
etisserant@38: {
frdupin@71: /*printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period); */
etisserant@38: TIMER_HANDLE i;
etisserant@38: TIMER_HANDLE row_number = TIMER_NONE;
etisserant@38:
nico@215: /* in order to decide new timer setting we have to run over all timer rows */
etisserant@38: for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
etisserant@38: {
etisserant@38: s_timer_entry *row = (timers+i);
etisserant@38:
nico@215: if (callback && /* if something to store */
nico@215: row->state == TIMER_FREE) /* and empty row */
nico@215: { /* just store */
etisserant@38: row->callback = callback;
etisserant@38: row->d = d;
etisserant@38: row->id = id;
etisserant@38: row->val = value;
etisserant@38: row->interval = period;
etisserant@38: row->state = TIMER_ARMED;
etisserant@38: row_number = i;
etisserant@38: break;
etisserant@38: }
etisserant@38: }
etisserant@38:
nico@215: if (row_number != TIMER_NONE) /* if successfull **/
etisserant@38: {
frdupin@71: TIMEVAL real_timer_value;
frdupin@71: TIMEVAL elapsed_time;
frdupin@71:
etisserant@38: if (row_number == last_timer_raw + 1) last_timer_raw++;
etisserant@38:
nico@215: /* set next wakeup alarm if new entry is sooner than others, or if it is alone */
etisserant@167: real_timer_value = min_val(value, TIMEVAL_MAX);
frdupin@71: elapsed_time = getElapsedTime();
etisserant@38:
nico@215: /*printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time); */
etisserant@38: if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
etisserant@38: {
etisserant@38: total_sleep_time = elapsed_time + real_timer_value;
etisserant@38: setTimer(real_timer_value);
etisserant@38: }
nico@215: /*printf("SetAlarm() return %d\n", row_number); */
etisserant@38: return row_number;
etisserant@38: }
etisserant@38: return TIMER_NONE;
etisserant@38: }
etisserant@38:
nico@208: /*!
nico@208: ** ----- Use this to remove an alarm ----
nico@208: **
nico@208: ** @param handle
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@38: TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
etisserant@38: {
nico@215: /* Quick and dirty. system timer will continue to be trigged, but no action will be preformed. */
etisserant@38: MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
etisserant@38: if(handle != TIMER_NONE)
etisserant@38: {
etisserant@38: if(handle == last_timer_raw)
etisserant@38: last_timer_raw--;
etisserant@38: timers[handle].state = TIMER_FREE;
etisserant@38: }
etisserant@38: else {
etisserant@38: }
etisserant@38: return TIMER_NONE;
etisserant@38: }
etisserant@38:
nico@208: /*!
nico@208: ** ------ TimeDispatch is called on each timer expiration ----
nico@208: **
nico@208: **/
etisserant@38: void TimeDispatch()
etisserant@38: {
etisserant@38: TIMER_HANDLE i;
nico@215: TIMEVAL next_wakeup = TIMEVAL_MAX; /* used to compute when should normaly occur next wakeup */
nico@215: /* First run : change timer state depending on time */
nico@215: /* Get time since timer signal */
etisserant@38: TIMEVAL overrun = getElapsedTime();
etisserant@38:
etisserant@38: TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
frdupin@71: /*printf("total_sleep_time %d + overrun %d\n", total_sleep_time , overrun); */
etisserant@38:
etisserant@38: for(i=0; i <= last_timer_raw; i++)
etisserant@38: {
etisserant@38: s_timer_entry *row = (timers+i);
etisserant@38:
nico@215: if (row->state & TIMER_ARMED) /* if row is active */
etisserant@38: {
nico@215: if (row->val <= real_total_sleep_time) /* to be trigged */
etisserant@38: {
frdupin@71: /*printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time); */
nico@215: if (!row->interval) /* if simply outdated */
etisserant@38: {
nico@215: row->state = TIMER_TRIG; /* ask for trig */
etisserant@38: }
nico@215: else /* or period have expired */
etisserant@38: {
nico@215: /* set val as interval, with overrun correction */
etisserant@38: row->val = row->interval - (overrun % row->interval);
frdupin@71: row->state = TIMER_TRIG_PERIOD; /* ask for trig, periodic */
nico@215: /* Check if this new timer value is the soonest */
etisserant@167: next_wakeup = min_val(row->val,next_wakeup);
etisserant@38: }
etisserant@38: }
etisserant@38: else
etisserant@38: {
nico@215: /* Each armed timer value in decremented. */
etisserant@38: row->val -= real_total_sleep_time;
etisserant@38:
nico@215: /* Check if this new timer value is the soonest */
etisserant@167: next_wakeup = min_val(row->val,next_wakeup);
etisserant@38: }
etisserant@38: }
etisserant@38: }
etisserant@38:
nico@215: /* Remember how much time we should sleep. */
etisserant@38: total_sleep_time = next_wakeup;
etisserant@38:
nico@215: /* Set timer to soonest occurence */
etisserant@38: setTimer(next_wakeup);
etisserant@38:
nico@215: /* Then trig them or not. */
etisserant@38: for(i=0; i<=last_timer_raw; i++)
etisserant@38: {
etisserant@38: s_timer_entry *row = (timers+i);
etisserant@38:
etisserant@38: if (row->state & TIMER_TRIG)
etisserant@38: {
nico@215: row->state &= ~TIMER_TRIG; /* reset trig state (will be free if not periodic) */
etisserant@149: if(row->callback)
nico@215: (*row->callback)(row->d, row->id); /* trig ! */
etisserant@38: }
etisserant@38: }
etisserant@38: }
etisserant@38: