void __ISR(_TIMER_2_VECTOR, IPL3SOFT) CO_TimerInterruptHandler(void){
bool_t syncWas;
CO_TMR_ISR_FLAG = 0;
CO_timer1ms++;
// if(CO->CANmodule[0]->CANnormal) {
// bool_t syncWas;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, 1000);
/* Re-enable CANrx, if it was disabled by SYNC callback */
// TODO this and outer loop
/* Further I/O or nonblocking application code may go here. */
program1ms();
/* Write outputs */
CO_process_TPDO(CO, syncWas, 1000);
// }
/* verify timer overflow */
if(CO_TMR_ISR_FLAG == 1){
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0);
CO_TMR_ISR_FLAG = 0;
}
/* calculate cycle time for performance measurement */
uint16_t t = CO_TMR_TMR / (CO_PBCLK / 100);
OD_performance[ODA_performance_timerCycleTime] = t;
if(t > OD_performance[ODA_performance_timerCycleMaxTime])
OD_performance[ODA_performance_timerCycleMaxTime] = t;
}
/* timer thread executes in constant intervals ********************************/
static void tmrTask_thread(void){
for(;;) {
/* sleep for interval */
INCREMENT_1MS(CO_timer1ms);
if(CO_CAN_OK) {
bool_t syncWas;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, TMR_TASK_INTERVAL);
/* Reenable CANrx, if it was disabled by SYNC callback */
/* Further I/O or nonblocking application code may go here. */
/* Write outputs */
CO_process_TPDO(CO, syncWas, TMR_TASK_INTERVAL);
}
}
/* verify timer overflow */
if(0){
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0U);
}
}
void CALLBACK TimerProc(void* lpParametar,
BOOLEAN TimerOrWaitFired)
{
CO_timer1ms++;
if (CO->CANmodule[0]->CANnormal) {
bool_t syncWas;
int i;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, 1000);
/* Re-enable CANrx, if it was disabled by SYNC callback */
CO_CAN_ISR_ENABLE = 1;
#if CO_NO_CAN_MODULES >= 2
CO_CAN_ISR2_ENABLE = 1;
#endif
/* Further I/O or nonblocking application code may go here. */
#if CO_NO_TRACE > 0
OD_time.epochTimeOffsetMs++;
for (i = 0; i<OD_traceEnable && i<CO_NO_TRACE; i++) {
CO_trace_process(CO->trace[i], OD_time.epochTimeOffsetMs);
}
#endif
program1ms();
/* Write outputs */
CO_process_TPDO(CO, syncWas, 1000);
}
LARGE_INTEGER Frequency;
LARGE_INTEGER StartingTime;
LARGE_INTEGER ElapsedMicroseconds;
QueryPerformanceFrequency(&Frequency);
QueryPerformanceCounter(&StartingTime);
ElapsedMicroseconds.QuadPart = StartingTime.QuadPart - li_timer.QuadPart;
ElapsedMicroseconds.QuadPart *= 1000000;
ElapsedMicroseconds.QuadPart /= Frequency.QuadPart;
double t = ElapsedMicroseconds.QuadPart / 1000.0;
t = 1000.0 / t;
OD_performance[ODA_performance_timerCycleTime] = t;
if (t > OD_performance[ODA_performance_timerCycleMaxTime])
OD_performance[ODA_performance_timerCycleMaxTime] = t;
li_timer = StartingTime;
}
/* timer interrupt function executes every millisecond ************************/
CO_TIMER_ISR(){
/* clear interrupt flag bit */
CO_TMR_ISR_FLAG = 0;
CO_timer1ms++;
if(CO->CANmodule[0]->CANnormal) {
bool_t syncWas;
/* Process Sync and read inputs */
syncWas = CO_process_SYNC_RPDO(CO, 1000);
/* Re-enable CANrx, if it was disabled by SYNC callback */
CO_CAN_ISR_ENABLE = 1;
/* Further I/O or nonblocking application code may go here. */
/* read RPDO and show it on example LEDS on Explorer16 */
uint8_t leds = OD_writeOutput8Bit[0];
LATAbits.LATA3 = (leds&0x08) ? 1 : 0;
LATAbits.LATA4 = (leds&0x10) ? 1 : 0;
LATAbits.LATA5 = (leds&0x20) ? 1 : 0;
LATAbits.LATA6 = (leds&0x40) ? 1 : 0;
LATAbits.LATA7 = (leds&0x80) ? 1 : 0;
/* prepare TPDO from example buttons on Explorer16 */
uint8_t but = 0;
if(!PORTDbits.RD6) but |= 0x08;
if(!PORTDbits.RD7) but |= 0x04;
if(!PORTDbits.RD13) but |= 0x01;
OD_readInput8Bit[0] = but;
#if 0
/* Debug - disable CANrx for 650 ms, if button pressed. */
static uint16_t tmrDebug = 0;
if(!PORTDbits.RD13) {
if(tmrDebug < 650) {
CO_CAN_ISR_ENABLE = 0;
tmrDebug++;
}
else {
CO_CAN_ISR_ENABLE = 1;
}
}
else {
CO_CAN_ISR_ENABLE = 1;
tmrDebug = 0;
}
#endif
/* Write outputs */
CO_process_TPDO(CO, syncWas, 1000);
/* verify timer overflow */
if(CO_TMR_ISR_FLAG == 1){
CO_errorReport(CO->em, CO_EM_ISR_TIMER_OVERFLOW, CO_EMC_SOFTWARE_INTERNAL, 0);
CO_TMR_ISR_FLAG = 0;
}
}
/* calculate cycle time for performance measurement */
uint16_t t = CO_TMR_TMR / (CO_FCY / 100);
OD_performance[ODA_performance_timerCycleTime] = t;
if(t > OD_performance[ODA_performance_timerCycleMaxTime])
OD_performance[ODA_performance_timerCycleMaxTime] = t;
}
