Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_masternode

Can_open_masternode

Dependencies:   mbed

framework/include/sync.h@7:537bae5a6fc6, 2012-09-26 (annotated)

Committer:
sam_grove
Date:
Wed Sep 26 05:48:14 2012 +0000
Revision:
7:537bae5a6fc6
Parent:
0:9dd7c6129683 
Pushing the project into the new repo

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 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:9dd7c6129683 5
sam_grove 0:9dd7c6129683 6 See COPYING file for copyrights details.
sam_grove 0:9dd7c6129683 7
sam_grove 0:9dd7c6129683 8 This library is free software; you can redistribute it and/or
sam_grove 0:9dd7c6129683 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 10 License as published by the Free Software Foundation; either
sam_grove 0:9dd7c6129683 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:9dd7c6129683 12
sam_grove 0:9dd7c6129683 13 This library is distributed in the hope that it will be useful,
sam_grove 0:9dd7c6129683 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:9dd7c6129683 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:9dd7c6129683 16 Lesser General Public License for more details.
sam_grove 0:9dd7c6129683 17
sam_grove 0:9dd7c6129683 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:9dd7c6129683 19 License along with this library; if not, write to the Free Software
sam_grove 0:9dd7c6129683 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:9dd7c6129683 21 */
sam_grove 0:9dd7c6129683 22
sam_grove 0:9dd7c6129683 23 /** @defgroup synco Synchronisation Object
sam_grove 0:9dd7c6129683 24 * SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
sam_grove 0:9dd7c6129683 25 * Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
sam_grove 0:9dd7c6129683 26 * @ingroup comobj
sam_grove 0:9dd7c6129683 27 */
sam_grove 0:9dd7c6129683 28
sam_grove 0:9dd7c6129683 29 #ifndef __SYNC_h__
sam_grove 0:9dd7c6129683 30 #define __SYNC_h__
sam_grove 0:9dd7c6129683 31
sam_grove 0:9dd7c6129683 32 void startSYNC(CO_Data* d);
sam_grove 0:9dd7c6129683 33
sam_grove 0:9dd7c6129683 34 void stopSYNC(CO_Data* d);
sam_grove 0:9dd7c6129683 35
sam_grove 0:9dd7c6129683 36 typedef void (*post_sync_t)(CO_Data*);
sam_grove 0:9dd7c6129683 37 void _post_sync(CO_Data* d);
sam_grove 0:9dd7c6129683 38
sam_grove 0:9dd7c6129683 39 typedef void (*post_TPDO_t)(CO_Data*);
sam_grove 0:9dd7c6129683 40 void _post_TPDO(CO_Data* d);
sam_grove 0:9dd7c6129683 41
sam_grove 0:9dd7c6129683 42 /**
sam_grove 0:9dd7c6129683 43 * @brief Transmit a SYNC message and trigger sync TPDOs
sam_grove 0:9dd7c6129683 44 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 45 * @return
sam_grove 0:9dd7c6129683 46 */
sam_grove 0:9dd7c6129683 47 UNS8 sendSYNC (CO_Data* d);
sam_grove 0:9dd7c6129683 48
sam_grove 0:9dd7c6129683 49 /**
sam_grove 0:9dd7c6129683 50 * @brief Transmit a SYNC message on CAN bus
sam_grove 0:9dd7c6129683 51 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 52 * @return
sam_grove 0:9dd7c6129683 53 */
sam_grove 0:9dd7c6129683 54 UNS8 sendSYNCMessage(CO_Data* d);
sam_grove 0:9dd7c6129683 55
sam_grove 0:9dd7c6129683 56 /**
sam_grove 0:9dd7c6129683 57 * @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).
sam_grove 0:9dd7c6129683 58 * - Check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
sam_grove 0:9dd7c6129683 59 * - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId
sam_grove 0:9dd7c6129683 60 * - Trigger sync TPDO emission
sam_grove 0:9dd7c6129683 61 * @param *d Pointer on a CAN object data structure
sam_grove 0:9dd7c6129683 62 * @return 0 if OK, 0xFF if error
sam_grove 0:9dd7c6129683 63 */
sam_grove 0:9dd7c6129683 64 UNS8 proceedSYNC (CO_Data* d);
sam_grove 0:9dd7c6129683 65
sam_grove 0:9dd7c6129683 66 #endif