23 /* One slave node post_sync callback.

    23 /* One slave node post_sync callback.

    24  * Used to align PLC tick-time on CANopen SYNC

    24  * Used to align PLC tick-time on CANopen SYNC

    25  */

    25  */

    26 %(post_sync)s

    26 %(post_sync)s

    27 

    27 

    28 #define NODE_FORCE_SYNC(nodename) \

    32 #define NODE_FORCE_SYNC(nodename) \

    29     /* Artificially force sync state to 1 so that it is not started */\

    33     /* Artificially force sync state to 1 so that it is not started */\

    30     nodename##_Data.CurrentCommunicationState.csSYNC = -1;\

    34     nodename##_Data.CurrentCommunicationState.csSYNC = -1;\

    31     /* Force sync period to common_ticktime__ so that other node can read it*/\

    35     /* Force sync period to common_ticktime__ so that other node can read it*/\

    32     *nodename##_Data.COB_ID_Sync = 0x40000080;\

    36     *nodename##_Data.COB_ID_Sync = 0x40000080;\

    47 

    51 

    48 void InitNodes(CO_Data* d, UNS32 id)

    52 void InitNodes(CO_Data* d, UNS32 id)

    49 {

    53 {

    50     %(slavebootup_register)s

    54     %(slavebootup_register)s

    51     %(post_sync_register)s

    55     %(post_sync_register)s

    52     %(nodes_init)s

    57     %(nodes_init)s

    53 }

    58 }

    54 

    59 

    55 #define NODE_STOP(nodename) \

    60 #define NODE_STOP(nodename) \

    56     if(init_level-- > 0)\

    61     if(init_level-- > 0)\