Cygwin port. Still untested. Compiles and link.
--- a/configure Tue Jun 20 19:02:43 2006 +0200
+++ b/configure Tue Jun 20 22:43:37 2006 +0200
@@ -345,8 +345,8 @@
# If target not specified, try to gess one
if [ "$SUB_TARGET" = "" ]; then
if [ "$SUB_OS_NAME" = "CYGWIN" ]; then
- echo "Choosing win32 target"
- SUB_TARGET=win32
+ echo "Choosing unix (cygwin) target"
+ SUB_TARGET=unix
else
echo "Choosing unix target"
SUB_TARGET=unix
@@ -456,6 +456,17 @@
SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpcan
fi
+if [ "$SUB_CAN_DRIVER" = "peak_win32" ]; then
+ if [ "PCAN_HEADER" = "" -o "PCAN_LIB" = "" ]; then
+ echo "!!! ERROR !!! Please set PCAN_LIB PCAN_HEADER [PCAN_INCLUDE] to appropriate paths ! "
+ fi
+ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ \'$PCAN_LIB\'
+ if [ "$PCAN_INCLUDE" != "" ]; then
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -I$PCAN_INCLUDE
+ fi
+ SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ \'-DPCAN_HEADER_=\"$PCAN_HEADER\"\'
+fi
+
if [ "$SUB_CAN_DRIVER" = "none" ]; then
SUB_CAN_DRIVER=
fi
@@ -463,7 +474,9 @@
#### TIMERS_DRIVER ####
if [ "$SUB_TIMERS_DRIVER" = "unix" ]; then
- SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpthread\ -lrt
+ if [ "$SUB_OS_NAME" != "CYGWIN" ]; then
+ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ -lpthread\ -lrt
+ fi
fi
if [ "$SUB_TIMERS_DRIVER" = "xeno" ]; then
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/.cvsignore Tue Jun 20 22:43:37 2006 +0200
@@ -0,0 +1,1 @@
+Makefile
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/Makefile.in Tue Jun 20 22:43:37 2006 +0200
@@ -0,0 +1,59 @@
+#! gmake
+
+#
+# Copyright (C) 2006 Laurent Bessard
+#
+# This file is part of canfestival, a library implementing the canopen
+# stack
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+# Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+CC = SUB_CC
+OPT_CFLAGS = -O2
+CFLAGS = SUB_OPT_CFLAGS
+PROG_CFLAGS = SUB_PROG_CFLAGS
+PREFIX = SUB_PREFIX
+TARGET = SUB_TARGET
+CAN_DRIVER = SUB_CAN_DRIVER
+TIMERS_DRIVER = SUB_TIMERS_DRIVER
+BINUTILS_PREFIX = SUB_BINUTILS_PREFIX
+
+INCLUDES = -I../../include -I../../include/$(TARGET) -I../../include/$(CAN_DRIVER) -I../../include/$(TIMERS_DRIVER)
+
+OBJS = $(CAN_DRIVER).o
+
+SRC_HFILES = ../../include/$(CAN_DRIVER)/cancfg.h
+
+TARGET_HFILES = $(PREFIX)/include/canfestival/cancfg.h
+
+all: driver
+
+driver: $(OBJS)
+
+%o: %c
+ $(CC) $(CFLAGS) $(PROG_CFLAGS) ${PROGDEFINES} $(INCLUDES) -o $@ -c $<
+
+install:
+ mkdir -p $(PREFIX)/include/canfestival
+ cp $(SRC_HFILES) $(PREFIX)/include/canfestival
+
+uninstall:
+ rm -f $(TARGET_HFILES)
+
+clean:
+ -\rm $(OBJS)
+
+mrproper: clean
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/can_peak_win32/can_peak_win32.c Tue Jun 20 22:43:37 2006 +0200
@@ -0,0 +1,166 @@
+/*
+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 <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stddef.h> /* for NULL */
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <signal.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+/* driver pcan pci for Peak board */
+//#include "libpcan.h"
+//#include "pcan.h"
+
+#include <applicfg.h>
+#include "timer.h"
+#include "can_driver.h"
+#include "timers_driver.h"
+
+#define MAX_NB_CAN_PORTS 1
+
+typedef struct {
+ char used;
+ TASK_HANDLE receiveTask;
+ CO_Data* d;
+} CANPort;
+
+CANPort canports[MAX_NB_CAN_PORTS] = {{0,},};
+
+// Define for rtr CAN message
+#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR
+
+/*********functions which permit to communicate with the board****************/
+UNS8 canReceive(CAN_HANDLE fd0, Message *m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+ if ((errno = CAN_Read(& peakMsg))) { // Blocks until no new message or error.
+ perror("!!! Peak board : error of reading. (from f_can_receive function) \n");
+ return 1;
+ }
+ m->cob_id.w = peakMsg.ID;
+ if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST) /* bits of MSGTYPE_*/
+ m->rtr = 0;
+ else
+ m->rtr = 1;
+ m->len = peakMsg.LEN; /* count of data bytes (0..8) */
+ for(data = 0 ; data < peakMsg.LEN ; data++)
+ m->data[data] = peakMsg.DATA[data]; /* data bytes, up to 8 */
+
+ return 0;
+}
+
+void canReceiveLoop(CAN_HANDLE fd0)
+{
+ CO_Data* d = ((CANPort*)fd0)->d;
+ Message m;
+ while (1) {
+ if(!canReceive(fd0, &m))
+ {
+ EnterMutex();
+ canDispatch(d, &m);
+ LeaveMutex();
+ }else{
+// printf("canReceive returned error\n");
+ break;
+ }
+ }
+}
+
+/***************************************************************************/
+UNS8 canSend(CAN_HANDLE fd0, Message *m)
+{
+ UNS8 data;
+ TPCANMsg peakMsg;
+ peakMsg.ID=m -> cob_id.w; /* 11/29 bit code */
+ if(m->rtr == 0)
+ peakMsg.MSGTYPE = CAN_INIT_TYPE_ST; /* bits of MSGTYPE_*/
+ else {
+ peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR; /* bits of MSGTYPE_*/
+ }
+ peakMsg.LEN = m->len;
+ /* count of data bytes (0..8) */
+ for(data = 0 ; data < m->len; data ++)
+ peakMsg.DATA[data] = m->data[data]; /* data bytes, up to 8 */
+
+ if((errno = CAN_Write(& peakMsg))) {
+ perror("!!! Peak board : error of writing. (from canSend function) \n");
+ return 1;
+ }
+ return 0;
+
+}
+
+/***************************************************************************/
+CAN_HANDLE canOpen(s_BOARD *board)
+{
+ HANDLE fd0 = NULL;
+ char busname[64];
+ char* pEnd;
+ int i;
+
+ for(i=0; i < MAX_NB_CAN_PORTS; i++)
+ {
+ if(!canports[i].used)
+ break;
+ }
+ if(canports[i].used)
+ {
+ perror("can_peak_win32.c: no more can port available with this pcan library\n");
+ perror("can_peak_win32.c: please link another executable with another pcan lib\n");
+ return NULL;
+ }
+// if(strtol(board->busname, &pEnd,0) >= 0)
+// {
+// sprintf(busname,"/dev/pcan%s",board->busname);
+// fd0 = LINUX_CAN_Open(busname, O_RDWR);
+// }
+
+ if (i==MAX_NB_CAN_PORTS || fd0 == NULL)
+ {
+ fprintf (stderr, "Open failed.\n");
+ return (CAN_HANDLE)NULL;
+ }
+
+ CAN_Init(board->baudrate, CAN_INIT_TYPE_ST);
+
+ canports[i].used = 1;
+
+ canports[i].d = board->d;
+ CreateReceiveTask((CANPort*) &canports[i], &canports[i].receiveTask);
+
+ return (CANPort*) &canports[i];
+}
+
+/***************************************************************************/
+int canClose(CAN_HANDLE fd0)
+{
+ CAN_Close();
+ ((CANPort*)fd0)->used = 0;
+ WaitReceiveTaskEnd(&((CANPort*)fd0)->receiveTask);
+ return 0;
+}
--- a/drivers/timers_unix/timers_unix.c Tue Jun 20 19:02:43 2006 +0200
+++ b/drivers/timers_unix/timers_unix.c Tue Jun 20 22:43:37 2006 +0200
@@ -81,12 +81,12 @@
pthread_join(*Thread, NULL);
}
-#define max(a,b) a>b?a:b
+#define maxval(a,b) a>b?a:b
void setTimer(TIMEVAL value)
{
// printf("setTimer(TIMEVAL value=%d)\n", value);
// TIMEVAL is us whereas setitimer wants ns...
- long tv_nsec = 1000 * (max(value,1)%1000000);
+ long tv_nsec = 1000 * (maxval(value,1)%1000000);
time_t tv_sec = value/1000000;
struct itimerspec timerValues;
timerValues.it_value.tv_sec = tv_sec;
--- a/examples/TestMasterSlave/.cvsignore Tue Jun 20 19:02:43 2006 +0200
+++ b/examples/TestMasterSlave/.cvsignore Tue Jun 20 22:43:37 2006 +0200
@@ -1,3 +1,4 @@
Makefile
TestMasterSlave
result.txt
+TestMasterSlave.exe
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/include/can_peak_win32/cancfg.h Tue Jun 20 22:43:37 2006 +0200
@@ -0,0 +1,31 @@
+/*
+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
+*/
+
+#ifndef __CANCFG_H__
+#define __CANCFG_H__
+
+#include <windef.h>
+//#include "Pcan_usb.h"
+#include PCAN_HEADER_
+#define CAN_HANDLE void*
+
+#endif
--- a/include/timers_unix/timerscfg.h Tue Jun 20 19:02:43 2006 +0200
+++ b/include/timers_unix/timerscfg.h Tue Jun 20 22:43:37 2006 +0200
@@ -28,7 +28,7 @@
// Time unit : us
// Time resolution : 64bit (~584942 years)
#define TIMEVAL unsigned long long
-#define TIMEVAL_MAX 0xffffffffffffffff
+#define TIMEVAL_MAX ~(TIMEVAL)0
#define MS_TO_TIMEVAL(ms) ms*1000
#define US_TO_TIMEVAL(us) us
--- a/src/timer.c Tue Jun 20 19:02:43 2006 +0200
+++ b/src/timer.c Tue Jun 20 22:43:37 2006 +0200
@@ -1,164 +1,163 @@
-/*
-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
-*/
-
-//#define DEBUG_WAR_CONSOLE_ON
-//#define DEBUG_ERR_CONSOLE_ON
-
-#include <applicfg.h>
-#include "timer.h"
-
-// --------- 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;
-
-#define max(a,b) a>b?a:b
-#define min(a,b) a<b?a:b
-
-// --------- Use this to declare a new alarm ---------
-TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
-{
- //printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period);
- TIMER_HANDLE i;
- TIMER_HANDLE row_number = 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 (callback && // if something to store
- row->state == TIMER_FREE) // and 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
- TIMEVAL real_timer_value = min(value, TIMEVAL_MAX);
- TIMEVAL elapsed_time = getElapsedTime();
-
- //printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time);
- 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);
- }
- //printf("SetAlarm() return %d\n", row_number);
- return row_number;
- }
- return TIMER_NONE;
-}
-
-// --------- Use this to remove an alarm ---------
-TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
-{
- // Quick and dirty. system timer will continue to be trigged, but no action will be preformed.
- MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
- if(handle != TIMER_NONE)
- {
- if(handle == last_timer_raw)
- last_timer_raw--;
- timers[handle].state = TIMER_FREE;
- }
- else {
- }
- return TIMER_NONE;
-}
-
-
-// --------- TimeDispatch is called on each timer expiration ---------
-void TimeDispatch()
-{
- TIMER_HANDLE i;
- TIMEVAL 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
- TIMEVAL overrun = getElapsedTime();
-
- TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
- //printf("total_sleep_time %d + overrun %d\n", 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
- {
- //printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time);
- 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 !
- }
- }
-}
-
+/*
+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
+*/
+
+//#define DEBUG_WAR_CONSOLE_ON
+//#define DEBUG_ERR_CONSOLE_ON
+
+#include <applicfg.h>
+#include "timer.h"
+
+// --------- 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;
+
+#define minval(a,b) a<b?a:b
+
+// --------- Use this to declare a new alarm ---------
+TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
+{
+ //printf("SetAlarm(UNS32 id=%d, TimerCallback_t callback=%x, TIMEVAL value=%d, TIMEVAL period=%d)\n", id, callback, value, period);
+ TIMER_HANDLE i;
+ TIMER_HANDLE row_number = 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 (callback && // if something to store
+ row->state == TIMER_FREE) // and 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
+ TIMEVAL real_timer_value = minval(value, TIMEVAL_MAX);
+ TIMEVAL elapsed_time = getElapsedTime();
+
+ //printf("elapsed_time=%d real_timer_value=%d total_sleep_time=%d\n", elapsed_time, real_timer_value, total_sleep_time);
+ 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);
+ }
+ //printf("SetAlarm() return %d\n", row_number);
+ return row_number;
+ }
+ return TIMER_NONE;
+}
+
+// --------- Use this to remove an alarm ---------
+TIMER_HANDLE DelAlarm(TIMER_HANDLE handle)
+{
+ // Quick and dirty. system timer will continue to be trigged, but no action will be preformed.
+ MSG_WAR(0x3320, "DelAlarm. handle = ", handle);
+ if(handle != TIMER_NONE)
+ {
+ if(handle == last_timer_raw)
+ last_timer_raw--;
+ timers[handle].state = TIMER_FREE;
+ }
+ else {
+ }
+ return TIMER_NONE;
+}
+
+
+// --------- TimeDispatch is called on each timer expiration ---------
+void TimeDispatch()
+{
+ TIMER_HANDLE i;
+ TIMEVAL 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
+ TIMEVAL overrun = getElapsedTime();
+
+ TIMEVAL real_total_sleep_time = total_sleep_time + overrun;
+ //printf("total_sleep_time %d + overrun %d\n", 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
+ {
+ //printf("row->val(%d) <= (%d)real_total_sleep_time\n", row->val, real_total_sleep_time);
+ 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 = minval(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 = minval(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 !
+ }
+ }
+}
+