Timer
This section describes the configuration definitions related to the internal timer service. The presented source code lines represents the default configuration.
CO_TMR_TICKS_PER_SEC
#define CO_TMR_TICKS_PER_SEC 1000
This definition specifies the calling frequency of the CANopen timer service function.
Note: within the default implementation, the CANopen timer service function is called from within a hardware timer interrupt service function. Therefore this define shall be identical to the interrupt frequency of the hardware timer.
CO_TMR_N
#define CO_TMR_N 5
This definition specifies the maximum number of CANopen timed actions.
Note: It is allowed to use CANopen timers for the application as well. The number of application timed actions must be considered in this configuration, tooAPI functions of the CANopen timer module. These functions are implemented within the source file: co_tmr.c/h
The class CO.TMR is defined within co_tmr.h and is responsible for the CANopen highspeed timer management. The following data members are in this class:
| Data Member | Type | Description |
|---|---|---|
Node | CO_NODE * | Reference to parent CANopen node |
Max | CPU_INT32U | Maximum number of timed actions |
APool[] | CO_TMR_ACTION | Timer action pool array |
TPool[] | CO_TMR_TIME | Timer event pool array |
Acts | CO_TMR_ACTION * | Reference to root of free actions linked list |
Free | CO_TMR_TIME * | Reference to root of free events linked list |
Use | CO_TMR_TIME * | Reference to root of used events linked list |
Time | CPU_INT32U | Time ticks of next event since creation |
Delay | CPU_INT32U | Time ticks of next event from now |
Note: The data within this structure must never be manipulated without the corresponding class member functions. This can lead to unpredictable behavior of the CANopen node.