canfestival——从机定时发送心跳报文

1、定时时间的设定

/* index 0x1017 :   Producer Heartbeat Time */  
UNS16 masterObjdict_obj1017 = 0;   /* 0 */
subindex masterObjdict_Index1017[] = 
{
    { RW, uint16, sizeof (UNS16), (void*)&masterObjdict_obj1017, NULL }
};

 masterObjdict_obj1017用来设置时间

2、心跳的初始化

 #define MS_TO_TIMEVAL(ms) ((ms) * 125)：把源代码根据自己的时间需求更改

void heartbeatInit(CO_Data* d)
{

  UNS8 index; /* Index to scan the table of heartbeat consumers */
  RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate);

  d->toggle = 0;

  for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ )
    {
      TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ;
      if ( time )
        {
          d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHeartbeatAlarm, MS_TO_TIMEVAL(time), 0);
        }
    }

  if ( *d->ProducerHeartBeatTime )
    {
      TIMEVAL time = *d->ProducerHeartBeatTime;
      d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHeartbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time));
    }
}

 

 setalarm()的功能：添加一个定时

d：指向结构体的指针

 callback：回调函数

 value：定时时间

  period：为0表示单次触发，不为0表示循环触发

for(){}：遍历所有定时事件入口

if(callback&&row->state==TIMER_FREE)：回调函数存在，并且入口状态时空闲则进入

 getElapsedTime()：获取已经流失的时间

setTimer(real_timer_value)：设定定时器重装载值

接下来就是初始化回调函数、节点指针、ID、触发时间、周期、入口状态

TIMER_HANDLE SetAlarm(CO_Data* d, UNS32 id, TimerCallback_t callback, TIMEVAL value, TIMEVAL period)
{
	TIMER_HANDLE row_number;
	s_timer_entry *row;

	/* in order to decide new timer setting we have to run over all timer rows */
	for(row_number=0, row=timers; row_number <= last_timer_raw + 1 && row_number < MAX_NB_TIMER; row_number++, row++)
	{
		if (callback && 	/* if something to store */
		   row->state == TIMER_FREE) /* and empty row */
		{	/* just store */
			TIMEVAL real_timer_value;
			TIMEVAL elapsed_time;

			if (row_number == last_timer_raw + 1) last_timer_raw++;

			elapsed_time = getElapsedTime();
			/* set next wakeup alarm if new entry is sooner than others, or if it is alone */
			real_timer_value = value;
			real_timer_value = min_val(real_timer_value, TIMEVAL_MAX);

			if (total_sleep_time > elapsed_time && total_sleep_time - elapsed_time > real_timer_value)
			{
				total_sleep_time = elapsed_time + real_timer_value;
				setTimer(real_timer_value);
			}
			row->callback = callback;
			row->d = d;
			row->id = id;
			row->val = value + elapsed_time;
			row->interval = period;
			row->state = TIMER_ARMED;
			return row_number;
		}
	}

	return TIMER_NONE;
}

3、时间处理

TimeDispatch：放入定时器的中断中，时间到达，则使用一次该函数

real_total_sleep_time = total_sleep_time + overrun：total_sleep_time来自setalarm

for()：遍历定时事件入口

if (row->state & TIMER_ARMED) /* if row is active */：如果被占用

if (row->val <= real_total_sleep_time) /* to be trigged */：超时需要触发

if (!row->interval)：不是周期触发

void TimeDispatch(void)
{
	TIMER_HANDLE i;
	TIMEVAL next_wakeup = TIMEVAL_MAX; /* used to compute when should normaly occur next wakeup */
	/* First run : change timer state depending on time */
	/* Get time since timer signal */
	UNS32 overrun = (UNS32)getElapsedTime();

	TIMEVAL real_total_sleep_time = total_sleep_time + overrun;

	s_timer_entry *row;

	for(i=0, row = timers; i <= last_timer_raw; i++, row++)
	{
		if (row->state & TIMER_ARMED) /* if row is active */
		{
			if (row->val <= real_total_sleep_time) /* to be trigged */
			{
				if (!row->interval) /* if simply outdated */
				{
					row->state = TIMER_TRIG; /* ask for trig */
				}
				else /* or period have expired */
				{
					/* set val as interval, with 32 bit overrun correction, */
					/* modulo for 64 bit not available on all platforms     */
					row->val = row->interval - (overrun % (UNS32)row->interval);
					row->state = TIMER_TRIG_PERIOD; /* ask for trig, periodic */
					/* Check if this new timer value is the soonest */
					if(row->val < next_wakeup)
						next_wakeup = row->val;
				}
			}
			else
			{
				/* Each armed timer value in decremented. */
				row->val -= real_total_sleep_time;

				/* Check if this new timer value is the soonest */
				if(row->val < next_wakeup)
					next_wakeup = row->val;
			}
		}
	}

	/* Remember how much time we should sleep. */
	total_sleep_time = next_wakeup;

	/* Set timer to soonest occurence */
	setTimer(next_wakeup);

	/* Then trig them or not. */
	for(i=0, row = timers; i<=last_timer_raw; i++, row++)
	{
		if (row->state & TIMER_TRIG)
		{
			row->state &= ~TIMER_TRIG; /* reset trig state (will be free if not periodic) */
			if(row->callback)
				(*row->callback)(row->d, row->id); /* trig ! */
		}
	}
}

 4、应用

初始化节点状态后，进入运行状态

从机的节点：0x00

运行状态：0x05