diff -r 000000000000 -r 4472ee7c6c3e drivers/ecos_lpc2138_sja1000/time_slicer.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ecos_lpc2138_sja1000/time_slicer.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,219 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+ Author: Christian Fortin (canfestival@canopencanada.ca)
+
+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
+*/
+
+#include <stdlib.h>
+
+#include <sys/time.h>
+#include <signal.h>
+
+#include <cyg/kernel/kapi.h>
+#include <cyg/hal/hal_arch.h>
+
+#include "applicfg.h"
+
+#include <timer.h>
+
+
+#define max(a,b) a>b?a:b
+#define min(a,b) a<b?a:b
+
+
+// ---------  The timer table ---------
+s_timer_entry timers[MAX_NB_TIMER] = {{TIMER_FREE, NULL, NULL, 0, 0, 0},};
+TIMEVAL total_sleep_time = TIMEVAL_MAX;
+TIMER_HANDLE last_timer_raw = -1;
+
+cyg_alarm_t chrono_timer;
+cyg_alarm alarm_timer;
+cyg_handle_t alarm_handle_timer;
+cyg_handle_t rtclock, rtcounter;
+
+void init_timer(void)
+{
+	rtclock = cyg_real_time_clock();
+	cyg_clock_to_counter(rtclock, &rtcounter);
+
+	cyg_alarm_create(rtcounter,
+                         &chrono_timer,
+                         0, 
+                         &alarm_handle_timer,
+                         &alarm_timer);
+}
+
+
+unsigned int getElapsedTime(void)
+{
+	// HCS12 main timer :  Increment every 4 us.
+	return 0; // IO_PORTS_16(TCNTH);
+}
+
+
+void setTimer(TIMEVAL tm /* in ms? s? us? */)
+{
+/*
+	this function is required by the library to make the scheduler work
+	properly
+	it is called by SetAlarm() (in src/timer.c)
+
+	the interrupt vector must call TimeDispatch() (in src/timer.c)
+*/
+	/*
+		value of alarm time for eCos
+		  1 = 10 msec
+		100 = 1 sec
+
+#define MS_TO_TIMEVAL(ms) ms/10
+#define US_TO_TIMEVAL(us) us*4
+
+	*/
+
+	cyg_alarm_initialize(alarm_handle_timer, tm, 0);
+}
+
+
+void chrono_timer(cyg_handle_t alarm, cyg_addrword_t data)
+{
+	int i;
+	int next_wakeup = TIMEVAL_MAX; // used to compute when should normaly occur next wakeup
+	// First run : change timer state depending on time
+	// Get time since timer signal
+	int overrun = getElapsedTime();
+	
+	int real_total_sleep_time = total_sleep_time + overrun;
+	
+	for(i=0; i <= last_timer_raw; i++)
+	{
+		s_timer_entry *row = (timers+i);
+
+		if (row->state & TIMER_ARMED) // if row is active
+		{
+			if (row->val <= real_total_sleep_time) // to be trigged
+			{
+				if (!row->interval) // if simply outdated
+				{
+					row->state = TIMER_TRIG; // ask for trig
+				}
+				else // or period have expired
+				{
+					// set val as interval, with overrun correction
+					row->val = row->interval - (overrun % row->interval);
+					row->state = TIMER_TRIG_PERIOD; // ask for trig, periodic
+					// Check if this new timer value is the soonest
+					next_wakeup = min(row->val,next_wakeup);
+				}
+			}
+			else
+			{
+				// Each armed timer value in decremented.
+				row->val -= real_total_sleep_time;
+
+				// Check if this new timer value is the soonest
+				next_wakeup = min(row->val,next_wakeup);
+			}
+		}
+	}
+	
+	// Remember how much time we should sleep.
+	total_sleep_time = next_wakeup;
+
+	// Set timer to soonest occurence
+	setTimer(next_wakeup);
+
+	// Then trig them or not.
+	for(i=0; i<=last_timer_raw; i++)
+	{
+		s_timer_entry *row = (timers+i);
+
+		if (row->state & TIMER_TRIG)
+		{
+			row->state &= ~TIMER_TRIG; // reset trig state (will be free if not periodic)
+			(*row->callback)(row->d, row->id); // trig !
+		}
+	}
+}
+
+
+
+
+TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
+{
+	int i;
+	TIMER_HANDLE row_number = TIMER_NONE;
+
+	if (callback == NULL) // nothing to store
+		return TIMER_NONE;
+
+	// in order to decide new timer setting we have to run over all timer rows
+	
+	for(i=0; i <= last_timer_raw + 1 && i < MAX_NB_TIMER; i++)
+	{
+		s_timer_entry *row = (timers+i);
+
+		if (row->state == TIMER_FREE) // an empty row
+		{	// just store
+			row->callback = callback;
+			row->d = d;
+			row->id = id;
+			row->val = value;
+			row->interval = period;
+			row->state = TIMER_ARMED;
+
+			row_number = i;
+			break;
+		}
+	}
+	
+	if (row_number != TIMER_NONE) // if successfull
+	{
+		if (row_number == last_timer_raw + 1) last_timer_raw++;
+		
+		// set next wakeup alarm if new entry is sooner than others, or if it is alone
+		unsigned int real_timer_value = min(value, TIMEVAL_MAX);
+		unsigned int elapsed_time = getElapsedTime();
+
+		if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
+		{
+			total_sleep_time = elapsed_time + real_timer_value;
+			setTimer(real_timer_value);
+		}
+
+		return row_number;
+	}
+
+	return TIMER_NONE;
+}
+
+// ---------  Use this to remove an alarm ---------
+TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
+{
+	if (handle != TIMER_NONE)
+	{
+		if (handle == last_timer_raw) 
+			last_timer_raw--;
+		timers[handle].state = TIMER_FREE; 		
+	}
+	else 
+	{
+	}
+
+	return TIMER_NONE;
+}