1 /*
2 * Copyright (c) 2019 Vestas Wind Systems A/S
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <CANopen.h>
8
9 /**
10 * @brief CANopen sync thread.
11 *
12 * The CANopen real-time sync thread processes SYNC RPDOs and TPDOs
13 * through the CANopenNode stack with an interval of 1 millisecond.
14 *
15 * @param p1 Unused
16 * @param p2 Unused
17 * @param p3 Unused
18 */
canopen_sync_thread(void * p1,void * p2,void * p3)19 static void canopen_sync_thread(void *p1, void *p2, void *p3)
20 {
21 uint32_t start; /* cycles */
22 uint32_t stop; /* cycles */
23 uint32_t delta; /* cycles */
24 uint32_t elapsed = 0; /* microseconds */
25 bool sync;
26
27 ARG_UNUSED(p1);
28 ARG_UNUSED(p2);
29 ARG_UNUSED(p3);
30
31 while (true) {
32 start = k_cycle_get_32();
33 if (CO && CO->CANmodule[0] && CO->CANmodule[0]->CANnormal) {
34 CO_LOCK_OD();
35 sync = CO_process_SYNC(CO, elapsed);
36 CO_process_RPDO(CO, sync);
37 CO_process_TPDO(CO, sync, elapsed);
38 CO_UNLOCK_OD();
39 }
40
41 k_sleep(K_MSEC(1));
42 stop = k_cycle_get_32();
43 delta = stop - start;
44 elapsed = (uint32_t)k_cyc_to_ns_floor64(delta) / NSEC_PER_USEC;
45 }
46 }
47
48 K_THREAD_DEFINE(canopen_sync, CONFIG_CANOPENNODE_SYNC_THREAD_STACK_SIZE,
49 canopen_sync_thread, NULL, NULL, NULL,
50 CONFIG_CANOPENNODE_SYNC_THREAD_PRIORITY, 0, 1);
51
