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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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/** @defgroup synco Synchronisation Object

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 *  SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.

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 *  Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.

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 *  @ingroup comobj

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 */

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#ifndef __SYNC_h__

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#define __SYNC_h__

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void startSYNC(CO_Data* d);

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void stopSYNC(CO_Data* d);

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typedef void (*post_sync_t)(CO_Data*);

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void _post_sync(CO_Data* d);

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typedef void (*post_TPDO_t)(CO_Data*);

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void _post_TPDO(CO_Data* d);

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/** 

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 * @brief Transmit a SYNC message and trigger sync TPDOs

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 * @param *d Pointer on a CAN object data structure

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 * @return

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 */

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UNS8 sendSYNC (CO_Data* d);

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/** 

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 * @brief Transmit a SYNC message on CAN bus

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 * @param *d Pointer on a CAN object data structure

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 * @return

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 */

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UNS8 sendSYNCMessage(CO_Data* d);

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/** 

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 * @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).

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 *  - Check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).

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 *  - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId

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 *  - Trigger sync TPDO emission 

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 * @param *d Pointer on a CAN object data structure

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 * @return 0 if OK, 0xFF if error 

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 */

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UNS8 proceedSYNC (CO_Data* d);

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#endif