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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
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<!--Converted with LaTeX2HTML 2002-2-1 (1.71)
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original version by:  Nikos Drakos, CBLU, University of Leeds
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* revised and updated by:  Marcus Hennecke, Ross Moore, Herb Swan
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* with significant contributions from:
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  Jens Lippmann, Marek Rouchal, Martin Wilck and others -->
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<HTML>
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<HEAD>
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<TITLE>CanFestival events scheduling</TITLE>
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<BR>
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<B> Next:</B> <A NAME="tex2html395"
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  HREF="node21.html">Linux Target</A>
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<B> Up:</B> <A NAME="tex2html391"
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  HREF="node16.html">Understanding Canfestival</A>
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<B> Previous:</B> <A NAME="tex2html387"
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  HREF="node19.html">CanFestival CAN interfaces</A>
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 &nbsp; <B>  <A NAME="tex2html393"
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  HREF="node1.html">Contents</A></B> 
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<BR>
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<BR></DIV>
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<!--End of Navigation Panel-->
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<H2><A NAME="SECTION00054000000000000000">
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CanFestival events scheduling</A>
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</H2>
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A CanOpen node must be able to take delayed actions.
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<P>
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As exemples, periodic sync emission, heartbeat production or SDO timeout
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need to set some alarms that will be called later and do the job.
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&#181;C generaly do not have enough free timers to handle all the
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CanOpen needs directly. Moreover, CanFestival internal data may be
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corrupt by reentrant calls. 
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CanFestival implement a micro-scheduler (timer.c). It uses only one
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timer to mimic many timers. It manage an alarm table, and call alarms
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at desired time.
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<P>
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<DIV ALIGN="CENTER">
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<IMG
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</DIV>
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Scheduler can handle short clock value ranges limitation found on some
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&#181;C. As an example, value range for a 16bit clock counter with
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4&#181;s tick is crossed within 0.26 seconds... Long alarms must be
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segmented.
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Chronogram illustrate a long alarm (A) and a short periodic alarm (B),
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with a A value &gt; clock range &gt; B value.
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Values t0...t8 are successive setTimer call parameter values. t1
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illustrates an intermediate call to TimeDispatch, caused by a delay
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longer than clock range. Because of long alarm segmentation, at the end
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of t1, TimeDispatch call will not trig any alarm callback.
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<BR>
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<B> Next:</B> <A NAME="tex2html395"
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  HREF="node21.html">Linux Target</A>
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<B> Up:</B> <A NAME="tex2html391"
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  HREF="node16.html">Understanding Canfestival</A>
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<B> Previous:</B> <A NAME="tex2html387"
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  HREF="node19.html">CanFestival CAN interfaces</A>
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 &nbsp; <B>  <A NAME="tex2html393"
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  HREF="node1.html">Contents</A></B> </DIV>
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<ADDRESS>
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epimerde
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2007-06-08
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