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Can_open_masternode
Diff: framework/src/sync.c
- Revision:
- 0:9dd7c6129683
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/src/sync.c Mon May 30 07:36:47 2011 +0000 @@ -0,0 +1,190 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + + +Copyright (C): Edouard TISSERANT and Francis DUPIN + + +See COPYING file for copyrights details. + + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + + +/*! +** @file sync.c +** @author Edouard TISSERANT and Francis DUPIN +** @date Tue Jun 5 09:32:32 2007 +** +** @brief +** +** +*/ + +#include "data.h" +#include "sync.h" +#include "canfestival.h" +#include "sysdep.h" + +/* Prototypes for internals functions */ + +/*! +** +** +** @param d +** @param id +**/ +void SyncAlarm(CO_Data* d, UNS32 id); +UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, + UNS8 unsused_bSubindex); + +/*! +** +** +** @param d +** @param id +**/ +void SyncAlarm(CO_Data* d, UNS32 id) +{ + sendSYNC(d) ; +} + +/*! +** This is called when Index 0x1005 is updated. +** +** @param d +** @param unsused_indextable +** @param unsused_bSubindex +** +** @return +**/ +UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) +{ + startSYNC(d); + return 0; +} + +/*! +** +** +** @param d +**/ +void startSYNC(CO_Data* d) +{ + if(d->syncTimer != TIMER_NONE){ + stopSYNC(d); + } + + RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate); + RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate); + + if(*d->COB_ID_Sync & 0x40000000ul && *d->Sync_Cycle_Period) + { + d->syncTimer = SetAlarm( + d, + 0 /*No id needed*/, + &SyncAlarm, + US_TO_TIMEVAL(*d->Sync_Cycle_Period), + US_TO_TIMEVAL(*d->Sync_Cycle_Period)); + } +} + +/*! +** +** +** @param d +**/ +void stopSYNC(CO_Data* d) +{ + RegisterSetODentryCallBack(d, 0x1005, 0, NULL); + RegisterSetODentryCallBack(d, 0x1006, 0, NULL); + d->syncTimer = DelAlarm(d->syncTimer); +} + + +/*! +** +** +** @param d +** @param cob_id +** +** @return +**/ +UNS8 sendSYNCMessage(CO_Data* d) +{ + Message m; + + MSG_WAR(0x3001, "sendSYNC ", 0); + + m.cob_id = (UNS16)UNS16_LE(*d->COB_ID_Sync); + m.rtr = NOT_A_REQUEST; + m.len = 0; + + return canSend(d->canHandle,&m); +} + + +/*! +** +** +** @param d +** @param cob_id +** +** @return +**/ +UNS8 sendSYNC(CO_Data* d) +{ + UNS8 res; + res = sendSYNCMessage(d); + proceedSYNC(d) ; + return res ; +} + +/*! +** +** +** @param d +** @param m +** +** @return +**/ +UNS8 proceedSYNC(CO_Data* d) +{ + + UNS8 res; + + MSG_WAR(0x3002, "SYNC received. Proceed. ", 0); + + (*d->post_sync)(d); + + /* only operational state allows PDO transmission */ + if(! d->CurrentCommunicationState.csPDO) + return 0; + + res = _sendPDOevent(d, 1 /*isSyncEvent*/ ); + + /*Call user app callback*/ + (*d->post_TPDO)(d); + + return res; + +} + + +void _post_sync(CO_Data* d){} +void _post_TPDO(CO_Data* d){}