diff -r 31dc4ec8710c -r 7802a7d5584f drivers/timers_kernel/timers_kernel.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/timers_kernel/timers_kernel.c	Tue Feb 12 09:44:55 2008 +0100
@@ -0,0 +1,105 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+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 <linux/spinlock.h>
+#include <linux/jiffies.h>
+#include <linux/timer.h>
+#include <linux/errno.h>
+
+#include "timer.h"
+#include "applicfg.h"
+
+static spinlock_t lock = SPIN_LOCK_UNLOCKED;
+
+static struct timer_list timer;
+
+static TIMEVAL last_time_read,
+	last_occured_alarm,
+	last_alarm_set;
+
+
+void EnterMutex(void)
+{
+	spin_lock (&lock);
+}
+
+void LeaveMutex(void)
+{
+	spin_unlock (&lock);
+}
+
+void timer_notify(unsigned long data)
+{
+	last_occured_alarm = last_alarm_set;
+
+	EnterMutex();
+	TimeDispatch();
+	LeaveMutex();
+}
+
+void StartTimerLoop(TimerCallback_t init_callback)
+{
+	getElapsedTime();
+	last_alarm_set = last_time_read;
+	last_occured_alarm = last_alarm_set;
+
+	init_timer(&timer);
+	timer.function = timer_notify;
+
+	EnterMutex();
+	// At first, TimeDispatch will call init_callback.
+	SetAlarm(NULL, 0, init_callback, 0, 0);
+	LeaveMutex();
+}
+
+void StopTimerLoop(void)
+{
+	EnterMutex();
+	del_timer (&timer);
+	LeaveMutex();
+}
+
+void setTimer(TIMEVAL value)
+{
+	if (value == TIMEVAL_MAX)
+		return;
+
+	last_alarm_set = last_time_read + value;
+	mod_timer (&timer, last_alarm_set);
+}
+
+TIMEVAL getElapsedTime(void)
+{
+	last_time_read = jiffies;
+
+	return (long)last_time_read - (long)last_occured_alarm;
+}
+
+void CreateReceiveTask(CAN_PORT port, TASK_HANDLE *Thread, void* ReceiveLoopPtr)
+{
+	*Thread = kthread_run(ReceiveLoopPtr, port, "canReceiveLoop");
+}
+
+void WaitReceiveTaskEnd(TASK_HANDLE Thread)
+{
+	force_sig (SIGTERM, Thread);
+}