-
-
-
-
-
-
-- Next: Linux Target - Up: Understanding Canfestival - Previous: CanFestival CAN interfaces - Contents -
-
-
-
-
-
-
-
--As exemples, periodic sync emission, heartbeat production or SDO timeout -need to set some alarms that will be called later and do the job. - -
-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. - -
-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. - -
-
-
--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. - -
-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. - -
-
-
-- -
-
-
-
-
-
-
-