![](/media/cache/profiles/IMG_2753.JPG.50x50_q85.jpg)
Can_open_masternode
framework/src/sync.c
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:9dd7c6129683
File content as of revision 0:9dd7c6129683:
/* 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){}