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: */
etisserant@38: 
etisserant@38: //#define DEBUG_WAR_CONSOLE_ON
etisserant@38: //#define DEBUG_ERR_CONSOLE_ON
etisserant@38: 
etisserant@38: #include <applicfg.h>
etisserant@38: #include "timer.h"
etisserant@38: 
etisserant@38: // ---------  The timer table ---------
etisserant@38: s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
etisserant@38: //
etisserant@38: TIMEVAL total_sleep_time = TIMEVAL_MAX;
etisserant@38: TIMER_HANDLE last_timer_raw = -1;
etisserant@38: 
etisserant@48: #define minval(a,b) ((a<b)?a:b)
etisserant@38: 
etisserant@38: // ---------  Use this to declare a new alarm ---------
etisserant@38: TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
etisserant@38: {
etisserant@38: 	//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: 
etisserant@38: 	// 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: 
etisserant@38: 		if (callback && 	// if something to store
etisserant@38: 		   row->state == TIMER_FREE) // and empty row
etisserant@38: 		{	// 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: 	
etisserant@38: 	if (row_number != TIMER_NONE) // if successfull
etisserant@38: 	{
etisserant@38: 		if (row_number == last_timer_raw + 1) last_timer_raw++;
etisserant@38: 		
etisserant@38: 		// set next wakeup alarm if new entry is sooner than others, or if it is alone
etisserant@38: 		TIMEVAL real_timer_value = minval(value, TIMEVAL_MAX);
etisserant@38: 		TIMEVAL elapsed_time = getElapsedTime();
etisserant@38: 
etisserant@38: 		//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: 		}
etisserant@38: 		//printf("SetAlarm() return %d\n", row_number);
etisserant@38: 		return row_number;
etisserant@38: 	}
etisserant@38: 	return TIMER_NONE;
etisserant@38: }
etisserant@38: 
etisserant@38: // ---------  Use this to remove an alarm ---------
etisserant@38: TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
etisserant@38: {
etisserant@38: 	// 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: 
etisserant@38: 
etisserant@38: // ---------  TimeDispatch is called on each timer expiration ---------
etisserant@38: void TimeDispatch()
etisserant@38: {
etisserant@38: 	TIMER_HANDLE i;
etisserant@38: 	TIMEVAL next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup
etisserant@38: 	// First run : change timer state depending on time
etisserant@38: 	// Get time since timer signal
etisserant@38: 	TIMEVAL overrun = getElapsedTime();
etisserant@38: 	
etisserant@38: 	TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
etisserant@38: 	//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: 
etisserant@38: 		if (row->state & TIMER_ARMED) // if row is active
etisserant@38: 		{
etisserant@38: 			if (row->val <= real_total_sleep_time) // to be trigged
etisserant@38: 			{
etisserant@38: 				//printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time);
etisserant@38: 				if (!row->interval) // if simply outdated
etisserant@38: 				{
etisserant@38: 					row->state = TIMER_TRIG; // ask for trig
etisserant@38: 				}
etisserant@38: 				else // or period have expired
etisserant@38: 				{
etisserant@38: 					// set val as interval, with overrun correction
etisserant@38: 					row->val = row->interval - (overrun % row->interval);
etisserant@38: 					row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic
etisserant@38: 					// Check if this new timer value is the soonest
etisserant@38: 					next_wakeup = minval(row->val,next_wakeup);
etisserant@38: 				}
etisserant@38: 			}
etisserant@38: 			else
etisserant@38: 			{
etisserant@38: 				// Each armed timer value in decremented.
etisserant@38: 				row->val -= real_total_sleep_time;
etisserant@38: 
etisserant@38: 				// Check if this new timer value is the soonest
etisserant@38: 				next_wakeup = minval(row->val,next_wakeup);
etisserant@38: 			}
etisserant@38: 		}
etisserant@38: 	}
etisserant@38: 	
etisserant@38: 	// Remember how much time we should sleep.
etisserant@38: 	total_sleep_time = next_wakeup;
etisserant@38: 
etisserant@38: 	// Set timer to soonest occurence
etisserant@38: 	setTimer(next_wakeup);
etisserant@38: 
etisserant@38: 	// 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: 		{
etisserant@38: 			row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic)
etisserant@38: 			(*row->callback)(row->d, row->id); // trig !
etisserant@38: 		}
etisserant@38: 	}
etisserant@38: }
etisserant@38: