Configuration manager with DCF in object 0x1F22 rewritten almost from scratch.
1. The boot-up message from a device starts a verification of entries
2. If all entries matches the node is started
3. If an entry differs the whole dcf is written and a save is done
4. A reset is send to the node
5. If several boot-up are received at the same time they will be managed one
by one thus only one free sdo client is needed for the whole process.
/*
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 __TIMERSCFG_H__
#define __TIMERSCFG_H__
#include <native/task.h>
#include <native/timer.h>
#include <native/mutex.h>
#include <native/cond.h>
#include <native/sem.h>
#include <native/alarm.h>
// Time unit : ns
// Time resolution : 64bit (~584 years)
#define TIMEVAL RTIME
#define TIMEVAL_MAX ~(RTIME)0
#define MS_TO_TIMEVAL(ms) rt_timer_ns2ticks((RTIME)ms*1000000)
#define US_TO_TIMEVAL(us) rt_timer_ns2ticks((RTIME)us*1000)
#define TASK_HANDLE RT_TASK
#endif