author | greg |
Wed, 16 May 2007 14:17:04 +0200 | |
changeset 201 | 2966cd34162a |
parent 150 | d2fc5d5f8a36 |
child 235 | f812bf6b7237 |
permissions | -rw-r--r-- |
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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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#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)(void); |
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d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
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void _post_sync(void); |
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typedef void (*post_TPDO_t)(void); |
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150
d2fc5d5f8a36
Some win32 fixes following yesterday's API changes.
etisserant
parents:
149
diff
changeset
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void _post_TPDO(void); |
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/** transmit a SYNC message on the bus number bus_id |
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* bus_id is hardware dependant |
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* return canSend(bus_id,&m) |
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*/ |
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UNS8 sendSYNC (CO_Data* d, UNS32 cob_id); |
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/** This function is called when the node is receiving a SYNC |
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* message (cob-id = 0x80). |
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* What does the function : |
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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. (Return -1 if it does not correspond |
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* to the cobId received). |
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* Scan the dictionary from index 0x1800 to the last PDO defined (dict_cstes.max_count_of_PDO_transmit) |
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* for each PDO whose transmission type is on synchro (transmission type < 241) and if the msg must |
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* be send at this SYNC. read the COBID. Verify that the nodeId inside the |
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* nodeId correspond to bDeviceNodeId. (Assume that the cobId of a PDO Transmit is made |
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* with the node id of the node who transmit), get the mapping, launch PDOmGR to send the PDO |
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* *m is a pointer to the message received |
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* bus_id is hardware dependant |
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* return 0 if OK, 0xFF if error |
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*/ |
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UNS8 proceedSYNC (CO_Data* d, Message * m); |
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#endif |