Sam Grove
CANfestival - an open source CANopen framework
Diff: framework/src/sync.c
- Revision:
- 0:6219434a0cb5
diff -r 000000000000 -r 6219434a0cb5 framework/src/sync.c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/sync.c Mon May 30 07:14:41 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){}