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-<H2><A NAME="SECTION00054000000000000000">
-CanFestival events scheduling</A>
-</H2>
-A CanOpen node must be able to take delayed actions.
-
-<P>
-As exemples, periodic sync emission, heartbeat production or SDO timeout
-need to set some alarms that will be called later and do the job.
-
-<P>
-µC generaly do not have enough free timers to handle all the
-CanOpen needs directly. Moreover, CanFestival internal data may be
-corrupt by reentrant calls.
-
-<P>
-CanFestival implement a micro-scheduler (timer.c). It uses only one
-timer to mimic many timers. It manage an alarm table, and call alarms
-at desired time.
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-Scheduler can handle short clock value ranges limitation found on some
-µC. As an example, value range for a 16bit clock counter with
-4µs tick is crossed within 0.26 seconds... Long alarms must be
-segmented.
-
-<P>
-Chronogram illustrate a long alarm (A) and a short periodic alarm (B),
-with a A value > clock range > B value.
-Values t0...t8 are successive setTimer call parameter values. t1
-illustrates an intermediate call to TimeDispatch, caused by a delay
-longer than clock range. Because of long alarm segmentation, at the end
-of t1, TimeDispatch call will not trig any alarm callback.
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