test/boards/e3_176_ref/备份扭矩模式/app_frm_timer.c

#include "app_config.h"
#include "interface.h"

#include "app_frm_timer.h"
#include "app_frm_signal.h"

// 全局计时器列表头指针
static Timer *timer_list = NULL;

// 添加一个静态变量来跟踪当前定时器数量
static uint32_t current_timer_count = 0;

// 初始化定时器
void timerInit(Timer *timer)
{
    if (timer == NULL)
    {
        return;
    }
    timer->target_time = 0;
    timer->elapsed_time = 0;
    timer->start_time = 0;
    timer->active = 0;
    timer->priority = 1; // 默认优先级为1
    timer->next = NULL;
}

// 修改 timerStart 函数
void timerStart(Timer *timer, uint32_t target_time, unsigned char priority)
{
    if (timer == NULL || target_time == 0)
    {
        printf("Error: Null timer pointer or invalid target time\n");
        return;
    }

    // 检查定时器是否已经在列表中
    Timer *current = timer_list;
    while (current != NULL)
    {
        if (current == timer)
        {
            // 定时器已在列表中, 只需更新其参数
            irq_state_t saved_state = enter_critical_section();

            timer->target_time = target_time;
            timer->start_time = getCurrentTime();
            timer->elapsed_time = 0;
            timer->active = 1;
            timer->priority = priority;

            exit_critical_section(saved_state);
            return;
        }
        current = current->next;
    }

    // 检查是否达到最大定时器数量
    if (current_timer_count >= MAX_TIMERS)
    {
        printf("Error: Maximum number of timers reached\n");
        return;
    }

    // 初始化新定时器
    irq_state_t saved_state = enter_critical_section();

    timer->target_time = target_time;
    timer->start_time = getCurrentTime();
    timer->elapsed_time = 0;
    timer->active = 1;
    timer->priority = priority;

    // 将定时器插入到定时器列表
    timer->next = timer_list;
    timer_list = timer;
    current_timer_count++;

    exit_critical_section(saved_state);
}

// 停止定时器
void timerStop(Timer *timer)
{
    if (timer == NULL)
    {
        return;
    }

    irq_state_t saved_state = enter_critical_section();

    Timer *current = timer_list;
    Timer *prev = NULL;
    while (current != NULL)
    {
        if (current == timer)
        {
            // 从链表中移除定时器
            if (prev == NULL)
            {
                timer_list = current->next;
            }
            else
            {
                prev->next = current->next;
            }
            current_timer_count--;
            timer->active = 0;
            timer->next = NULL; // 断开链接
            break;
        }
        prev = current;
        current = current->next;
    }

    exit_critical_section(saved_state);
}

// 更新所有定时器, 在定时器中断中调用
void timerUpdateAll(void)
{
    irq_state_t saved_state = enter_critical_section();

    Timer *prev = NULL;
    Timer *current = timer_list;

    while (current != NULL)
    {
        if (current->active)
        {
            current->elapsed_time++;
            if (current->elapsed_time >= current->target_time)
            {
                current->active = 0;
                // 发送定时器过期消息
                publishMessage((void *)(uintptr_t)current, current->priority);

                // 从链表中移除已过期的定时器
                if (prev == NULL)
                {
                    timer_list = current->next;
                }
                else
                {
                    prev->next = current->next;
                }
                current_timer_count--;
                Timer *expired_timer = current;
                current = current->next;
                expired_timer->next = NULL; // 断开链接
                continue;                   // 跳过前进 prev 指针
            }
        }
        prev = current;
        current = current->next;
    }

    exit_critical_section(saved_state);
}

// 获取当前定时器数量
uint32_t getCurrentTimerCount(void)
{
    return current_timer_count;
}