Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_masternode

Can_open_masternode

Dependencies:   mbed

framework/src/sync.c@0:9dd7c6129683, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:36:47 2011 +0000
Revision:
0:9dd7c6129683
Initial public release of master node example

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:9dd7c6129683 1 /*
sam_grove 0:9dd7c6129683 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:9dd7c6129683 3
sam_grove 0:9dd7c6129683 4
sam_grove 0:9dd7c6129683 5 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 6
sam_grove 0:9dd7c6129683 7
sam_grove 0:9dd7c6129683 8 See COPYING file for copyrights details.
sam_grove 0:9dd7c6129683 9
sam_grove 0:9dd7c6129683 10
sam_grove 0:9dd7c6129683 11 This library is free software; you can redistribute it and/or
sam_grove 0:9dd7c6129683 12 modify it under the terms of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 13 License as published by the Free Software Foundation; either
sam_grove 0:9dd7c6129683 14 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:9dd7c6129683 15
sam_grove 0:9dd7c6129683 16
sam_grove 0:9dd7c6129683 17 This library is distributed in the hope that it will be useful,
sam_grove 0:9dd7c6129683 18 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:9dd7c6129683 19 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:9dd7c6129683 20 Lesser General Public License for more details.
sam_grove 0:9dd7c6129683 21
sam_grove 0:9dd7c6129683 22
sam_grove 0:9dd7c6129683 23 You should have received a copy of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 24 License along with this library; if not, write to the Free Software
sam_grove 0:9dd7c6129683 25 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:9dd7c6129683 26 */
sam_grove 0:9dd7c6129683 27
sam_grove 0:9dd7c6129683 28
sam_grove 0:9dd7c6129683 29 /*!
sam_grove 0:9dd7c6129683 30 ** @file sync.c
sam_grove 0:9dd7c6129683 31 ** @author Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 32 ** @date Tue Jun 5 09:32:32 2007
sam_grove 0:9dd7c6129683 33 **
sam_grove 0:9dd7c6129683 34 ** @brief
sam_grove 0:9dd7c6129683 35 **
sam_grove 0:9dd7c6129683 36 **
sam_grove 0:9dd7c6129683 37 */
sam_grove 0:9dd7c6129683 38
sam_grove 0:9dd7c6129683 39 #include "data.h"
sam_grove 0:9dd7c6129683 40 #include "sync.h"
sam_grove 0:9dd7c6129683 41 #include "canfestival.h"
sam_grove 0:9dd7c6129683 42 #include "sysdep.h"
sam_grove 0:9dd7c6129683 43
sam_grove 0:9dd7c6129683 44 /* Prototypes for internals functions */
sam_grove 0:9dd7c6129683 45
sam_grove 0:9dd7c6129683 46 /*!
sam_grove 0:9dd7c6129683 47 **
sam_grove 0:9dd7c6129683 48 **
sam_grove 0:9dd7c6129683 49 ** @param d
sam_grove 0:9dd7c6129683 50 ** @param id
sam_grove 0:9dd7c6129683 51 **/
sam_grove 0:9dd7c6129683 52 void SyncAlarm(CO_Data* d, UNS32 id);
sam_grove 0:9dd7c6129683 53 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
sam_grove 0:9dd7c6129683 54 UNS8 unsused_bSubindex);
sam_grove 0:9dd7c6129683 55
sam_grove 0:9dd7c6129683 56 /*!
sam_grove 0:9dd7c6129683 57 **
sam_grove 0:9dd7c6129683 58 **
sam_grove 0:9dd7c6129683 59 ** @param d
sam_grove 0:9dd7c6129683 60 ** @param id
sam_grove 0:9dd7c6129683 61 **/
sam_grove 0:9dd7c6129683 62 void SyncAlarm(CO_Data* d, UNS32 id)
sam_grove 0:9dd7c6129683 63 {
sam_grove 0:9dd7c6129683 64 sendSYNC(d) ;
sam_grove 0:9dd7c6129683 65 }
sam_grove 0:9dd7c6129683 66
sam_grove 0:9dd7c6129683 67 /*!
sam_grove 0:9dd7c6129683 68 ** This is called when Index 0x1005 is updated.
sam_grove 0:9dd7c6129683 69 **
sam_grove 0:9dd7c6129683 70 ** @param d
sam_grove 0:9dd7c6129683 71 ** @param unsused_indextable
sam_grove 0:9dd7c6129683 72 ** @param unsused_bSubindex
sam_grove 0:9dd7c6129683 73 **
sam_grove 0:9dd7c6129683 74 ** @return
sam_grove 0:9dd7c6129683 75 **/
sam_grove 0:9dd7c6129683 76 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
sam_grove 0:9dd7c6129683 77 {
sam_grove 0:9dd7c6129683 78 startSYNC(d);
sam_grove 0:9dd7c6129683 79 return 0;
sam_grove 0:9dd7c6129683 80 }
sam_grove 0:9dd7c6129683 81
sam_grove 0:9dd7c6129683 82 /*!
sam_grove 0:9dd7c6129683 83 **
sam_grove 0:9dd7c6129683 84 **
sam_grove 0:9dd7c6129683 85 ** @param d
sam_grove 0:9dd7c6129683 86 **/
sam_grove 0:9dd7c6129683 87 void startSYNC(CO_Data* d)
sam_grove 0:9dd7c6129683 88 {
sam_grove 0:9dd7c6129683 89 if(d->syncTimer != TIMER_NONE){
sam_grove 0:9dd7c6129683 90 stopSYNC(d);
sam_grove 0:9dd7c6129683 91 }
sam_grove 0:9dd7c6129683 92
sam_grove 0:9dd7c6129683 93 RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
sam_grove 0:9dd7c6129683 94 RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
sam_grove 0:9dd7c6129683 95
sam_grove 0:9dd7c6129683 96 if(*d->COB_ID_Sync & 0x40000000ul && *d->Sync_Cycle_Period)
sam_grove 0:9dd7c6129683 97 {
sam_grove 0:9dd7c6129683 98 d->syncTimer = SetAlarm(
sam_grove 0:9dd7c6129683 99 d,
sam_grove 0:9dd7c6129683 100 0 /*No id needed*/,
sam_grove 0:9dd7c6129683 101 &SyncAlarm,
sam_grove 0:9dd7c6129683 102 US_TO_TIMEVAL(*d->Sync_Cycle_Period),
sam_grove 0:9dd7c6129683 103 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
sam_grove 0:9dd7c6129683 104 }
sam_grove 0:9dd7c6129683 105 }
sam_grove 0:9dd7c6129683 106
sam_grove 0:9dd7c6129683 107 /*!
sam_grove 0:9dd7c6129683 108 **
sam_grove 0:9dd7c6129683 109 **
sam_grove 0:9dd7c6129683 110 ** @param d
sam_grove 0:9dd7c6129683 111 **/
sam_grove 0:9dd7c6129683 112 void stopSYNC(CO_Data* d)
sam_grove 0:9dd7c6129683 113 {
sam_grove 0:9dd7c6129683 114 RegisterSetODentryCallBack(d, 0x1005, 0, NULL);
sam_grove 0:9dd7c6129683 115 RegisterSetODentryCallBack(d, 0x1006, 0, NULL);
sam_grove 0:9dd7c6129683 116 d->syncTimer = DelAlarm(d->syncTimer);
sam_grove 0:9dd7c6129683 117 }
sam_grove 0:9dd7c6129683 118
sam_grove 0:9dd7c6129683 119
sam_grove 0:9dd7c6129683 120 /*!
sam_grove 0:9dd7c6129683 121 **
sam_grove 0:9dd7c6129683 122 **
sam_grove 0:9dd7c6129683 123 ** @param d
sam_grove 0:9dd7c6129683 124 ** @param cob_id
sam_grove 0:9dd7c6129683 125 **
sam_grove 0:9dd7c6129683 126 ** @return
sam_grove 0:9dd7c6129683 127 **/
sam_grove 0:9dd7c6129683 128 UNS8 sendSYNCMessage(CO_Data* d)
sam_grove 0:9dd7c6129683 129 {
sam_grove 0:9dd7c6129683 130 Message m;
sam_grove 0:9dd7c6129683 131
sam_grove 0:9dd7c6129683 132 MSG_WAR(0x3001, "sendSYNC ", 0);
sam_grove 0:9dd7c6129683 133
sam_grove 0:9dd7c6129683 134 m.cob_id = (UNS16)UNS16_LE(*d->COB_ID_Sync);
sam_grove 0:9dd7c6129683 135 m.rtr = NOT_A_REQUEST;
sam_grove 0:9dd7c6129683 136 m.len = 0;
sam_grove 0:9dd7c6129683 137
sam_grove 0:9dd7c6129683 138 return canSend(d->canHandle,&m);
sam_grove 0:9dd7c6129683 139 }
sam_grove 0:9dd7c6129683 140
sam_grove 0:9dd7c6129683 141
sam_grove 0:9dd7c6129683 142 /*!
sam_grove 0:9dd7c6129683 143 **
sam_grove 0:9dd7c6129683 144 **
sam_grove 0:9dd7c6129683 145 ** @param d
sam_grove 0:9dd7c6129683 146 ** @param cob_id
sam_grove 0:9dd7c6129683 147 **
sam_grove 0:9dd7c6129683 148 ** @return
sam_grove 0:9dd7c6129683 149 **/
sam_grove 0:9dd7c6129683 150 UNS8 sendSYNC(CO_Data* d)
sam_grove 0:9dd7c6129683 151 {
sam_grove 0:9dd7c6129683 152 UNS8 res;
sam_grove 0:9dd7c6129683 153 res = sendSYNCMessage(d);
sam_grove 0:9dd7c6129683 154 proceedSYNC(d) ;
sam_grove 0:9dd7c6129683 155 return res ;
sam_grove 0:9dd7c6129683 156 }
sam_grove 0:9dd7c6129683 157
sam_grove 0:9dd7c6129683 158 /*!
sam_grove 0:9dd7c6129683 159 **
sam_grove 0:9dd7c6129683 160 **
sam_grove 0:9dd7c6129683 161 ** @param d
sam_grove 0:9dd7c6129683 162 ** @param m
sam_grove 0:9dd7c6129683 163 **
sam_grove 0:9dd7c6129683 164 ** @return
sam_grove 0:9dd7c6129683 165 **/
sam_grove 0:9dd7c6129683 166 UNS8 proceedSYNC(CO_Data* d)
sam_grove 0:9dd7c6129683 167 {
sam_grove 0:9dd7c6129683 168
sam_grove 0:9dd7c6129683 169 UNS8 res;
sam_grove 0:9dd7c6129683 170
sam_grove 0:9dd7c6129683 171 MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
sam_grove 0:9dd7c6129683 172
sam_grove 0:9dd7c6129683 173 (*d->post_sync)(d);
sam_grove 0:9dd7c6129683 174
sam_grove 0:9dd7c6129683 175 /* only operational state allows PDO transmission */
sam_grove 0:9dd7c6129683 176 if(! d->CurrentCommunicationState.csPDO)
sam_grove 0:9dd7c6129683 177 return 0;
sam_grove 0:9dd7c6129683 178
sam_grove 0:9dd7c6129683 179 res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
sam_grove 0:9dd7c6129683 180
sam_grove 0:9dd7c6129683 181 /*Call user app callback*/
sam_grove 0:9dd7c6129683 182 (*d->post_TPDO)(d);
sam_grove 0:9dd7c6129683 183
sam_grove 0:9dd7c6129683 184 return res;
sam_grove 0:9dd7c6129683 185
sam_grove 0:9dd7c6129683 186 }
sam_grove 0:9dd7c6129683 187
sam_grove 0:9dd7c6129683 188
sam_grove 0:9dd7c6129683 189 void _post_sync(CO_Data* d){}
sam_grove 0:9dd7c6129683 190 void _post_TPDO(CO_Data* d){}