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The following example installs a cyclic called function AppCyclicFunc() to the CANopen node AppNode. The timed function will be called the first time after 10ms and then every 25ms with the parameter 0xcafe.

    CPU_INT16S  aid;
    :
    aid = COTmrCreate(&(AppNode.Tmr), 10, 25, AppCyclicFunc, 0xcafe);
    if (aid >= 0) {
        /* tid holds the timer identifier */
    } else {
        /* error during creation of timed action */
    }
    :

Note: The example assumes, that the application callback function AppCyclicFunc() is implemented with the correct prototype. The configuration setting CO_TMR_TICKS_PER.SEC is assumed to be 1000, e.g. 1 tick is equal to 1ms. See CANopen Config Manual for details.

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