Diff: framework/include/sync.h

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/include/sync.h	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,66 @@
+/*
+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
+*/
+
+/** @defgroup synco Synchronisation Object
+ *  SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
+ *  Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
+ *  @ingroup comobj
+ */
+					 
+#ifndef __SYNC_h__
+#define __SYNC_h__
+
+void startSYNC(CO_Data* d);
+
+void stopSYNC(CO_Data* d);
+
+typedef void (*post_sync_t)(CO_Data*);
+void _post_sync(CO_Data* d);
+
+typedef void (*post_TPDO_t)(CO_Data*);
+void _post_TPDO(CO_Data* d);
+
+/** 
+ * @brief Transmit a SYNC message and trigger sync TPDOs
+ * @param *d Pointer on a CAN object data structure
+ * @return
+ */
+UNS8 sendSYNC (CO_Data* d);
+
+/** 
+ * @brief Transmit a SYNC message on CAN bus
+ * @param *d Pointer on a CAN object data structure
+ * @return
+ */
+UNS8 sendSYNCMessage(CO_Data* d);
+
+/** 
+ * @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).
+ *  - Check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
+ *  - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId
+ *  - Trigger sync TPDO emission 
+ * @param *d Pointer on a CAN object data structure
+ * @return 0 if OK, 0xFF if error 
+ */
+UNS8 proceedSYNC (CO_Data* d);
+
+#endif