This area describes the API functions of the CANopen timer module. With the listed functions we can define execution of actions after a given time interval with or without a cycle time. The functions are implemented within the source files: 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* |
pointer to parent node object |
| Max | uint32_t |
maximum nunber of timed actions |
| APool[] | CO_TMR_ACTION |
timer action pool array |
| TPool[] | CO_TMR_TIME |
timer event pool array |
| Acts | CO_TMR_ACTION* |
pointer to root of free actions linked list |
| Free | CO_TMR_TIME* |
pointer to root of free events linked list |
| Use | CO_TMR_TIME* |
pointer to root of used events linked list |
| Elapsed | CO_TMR_TIME* |
pointer to root of elapsed timers linked list |
| Freq | uint32_t |
timer ticks per second |
Note: The data within this structure must never be manipulated without the corresponding class member functions. This can lead to unpredictable behavior of the node.