canopen的TimeDispatch微微解

看了三天才明白的，首先始于问题1：因为计数值周期改变了，导致了canopen里面的如下

需要改动；但是计数值改成了ms；#define US_TO_TIMEVAL(us) ((us)/1000)明显不对，因为程序的us不存在小数点的；达不到us级别，只能是ms；如下

us=1 到999   其实本质就是US_TO_TIMEVAL(us) ((us)/100)= 0；调用该宏的都是整数而不是浮点；

而调用这个US_TO_TIMEVAL的只有SetAlarm（）函数；

所以找到这个函数，发现了一个问题2：

       首先value是什么，period是什么，然后找到了一个是绝对值（网上找）一个是周期；

发现只有 TimeDispatch （）函数里面使用计算到；然后有两个思路，

一个是value是有效触发绝对值，而period是周期窗口：周期开始计算；是的可以

但是value只是第一次有效,之后只能是周期值

int tdcount=0;
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++)//遍历每个软定时器
	{
		if (row->state & TIMER_ARMED) /* if row is active *///定时器被激活
		{
			if (row->val <= real_total_sleep_time) /* to be trigged *///现在的val小于上次的val和到这里的偏差，已经可以触发回调了；
			{
				if (!row->interval) /* if simply outdated *///如果是单次
				{
					row->state = TIMER_TRIG; /* ask for trig */
				}
				else /* or period have expired *///周期
				{
					/* 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);//这是重新赋值，后面的被减数只有溢出至少一个周期很久的时候才会生效
					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;//此定时器是马上要触发回调了。把这个值设置成唤醒时间
				}
			}
			else
			{
				/* Each armed timer value in decremented. */
				row->val -= real_total_sleep_time;//值不断缩小

				/* 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;//下次进入此函数的时间，就是休眠总时间

	/* Set timer to soonest occurence */
	setTimer(next_wakeup);//设置下次进入此函数的时间

	/* 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 ! */
		}
	}
}

row->val = row->interval - (overrun % (UNS32)row->interval);

本人觉得是为了防止overrun过大,周期后,还溢出多少的情况