COTmrCreate

Description

This function creates the defined action and links this action into the event timer list at the correct timing.

Prototype

CPU_INT16S COTmrCreate(CO_TMR *tmr, CPU_INT32U startTime, CPU_INT32U cycleTime, CO_TMR_FUNC func, void *para);

Parameter	Description
`tmr`	Pointer to timer structure
`startTime`	delta time in ticks for the first timer event
cycleTime	if != 0, the delta time in ticks for the cyclic timer events
func	pointer to the action callback function
para	pointer to the callback function parameter

Returned Value

>=0 the action identifier

<0 an error is detected

Example

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.