com_time.h File Reference

Detailed Description

The TIME stamp Object is broadcasted periodically by the TIME producer. This TIME provides the simple network clock.

There may be a time jitter in transmission by the TIME producer corresponding approximately to the latency due to some other message being transmitted just before the TIME. In order to guarantee timely access to the CAN bus the TIME is given a very high priority identifier (see object 1012h).

Include dependency graph for com_time.h:

Data Structures
struct	ComTimeOfDay_s

Enumerations
enum	ComTimeMode_e {   eCOM_TIME_MODE_CONSUMER = 0 ,   eCOM_TIME_MODE_PRODUCER = 1 ,   eCOM_TIME_MODE_DISABLE = 2 }

Functions
void	ComTimeEventConsume (uint8_t ubNetV, ComTimeOfDay_ts *ptsTimeStampV)
ComStatus_tv	ComTimeGetId (uint8_t ubNetV, uint32_t *pulIdV)
ComStatus_tv	ComTimeGetMode (uint8_t ubNetV, uint8_t *pubModeV)
ComStatus_tv	ComTimeProduce (uint8_t ubNetV)
ComStatus_tv	ComTimeSetId (uint8_t ubNetV, uint32_t ulIdV)
ComStatus_tv	ComTimeSetMode (uint8_t ubNetV, uint8_t ubModeV)
ComTimeOfDay_ts *	ComTimeStampFromLocaltime (void)

Enumeration Type Documentation

ComTimeMode_e

enum ComTimeMode_e

The enumeration defines the values for setting the TIME service mode to either producer or consumer. The definitions are used by ComTimeGetMode() and ComTimeSetMode().

By default (i.e. after start-up of the protocol stack), the TIME service is disabled.

Enumerator
eCOM_TIME_MODE_CONSUMER	Consume TIME service
eCOM_TIME_MODE_PRODUCER	Produce TIME service
eCOM_TIME_MODE_DISABLE	Disable TIME service

Function Documentation

ComTimeEventConsume()

void ComTimeEventConsume	(	uint8_t	ubNetV,
		ComTimeOfDay_ts *	ptsTimeStampV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	ptsTimeStampV	Pointer to time-of-day structure

This function is called upon reception of a TIME message.

The action on this function is application specific. The function body is placed inside the file com_user.c.

ComTimeGetId()

ComStatus_tv ComTimeGetId	(	uint8_t	ubNetV,
		uint32_t *	pulIdV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	pulIdV	Pointer to identifier value variable

Returns

Value of enumeration ComErr_e

See also

ComTimeSetId()

This function reads the identifier value for the TIME service.

ComTimeGetMode()

ComStatus_tv ComTimeGetMode	(	uint8_t	ubNetV,
		uint8_t *	pubModeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[out]	pubModeV	Pointer to device mode variable

Returns

Value of enumeration ComErr_e

This function reads the device mode for the TIME service.

ComTimeProduce()

ComStatus_tv ComTimeProduce

(

uint8_t

ubNetV

)

Parameters

[in]

ubNetV

CANopen Network channel

Returns

Value of enumeration ComErr_e

See also

ComTimeGetTimeOfDay()

This function is used by the application in order to trigger the transmission of the TIME service. The internal TIME_OF_DAY structure is copied into the service payload.

ComTimeSetId()

ComStatus_tv ComTimeSetId	(	uint8_t	ubNetV,
		uint32_t	ulIdV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ulIdV	Identifier value

Returns

Value of enumeration ComErr_e

See also

ComTimeSetMode()

This function changes the identifier value for the TIME service. If the ID_FLAG_EXTENDED is set, the CANopen service uses the Extended Frame Format (EFF, 29-Bit CAN-ID).

ComTimeSetMode()

ComStatus_tv ComTimeSetMode	(	uint8_t	ubNetV,
		uint8_t	ubModeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubModeV	Service mode

Returns

Value of enumeration ComErr_e

This function changes the mode (producer/consumer) for the TIME service, possible values for the parameter ubModeV are defined by the enumeration ComTimeMode_e.

ComTimeSetMode(eCOM_NET_1, eCOM_TIME_MODE_PRODUCER);
ComTimeSetId(eCOM_NET_1, 0x120);
ComTimeProduce(eCOM_NET_1, ComTimeStampFromLocaltime(localtime()) )

ComTimeStampFromLocaltime()

ComTimeOfDay_ts * ComTimeStampFromLocaltime

(

void

)

Returns

Pointer to time-of-day structure

The implementation is OS specific.