1

/*

     2

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

     3

     4

     5

Copyright (C): Edouard TISSERANT and Francis DUPIN

     6

     7

     8

See COPYING file for copyrights details.

     9

    10

    11

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

    12

modify it under the terms of the GNU Lesser General Public

    13

License as published by the Free Software Foundation; either

    14

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

    15

    16

    17

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

    18

but WITHOUT ANY WARRANTY; without even the implied warranty of

    19

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    20

Lesser General Public License for more details.

    21

    22

    23

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

    24

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

    25

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

    26

*/

    27

    28

    29

/*!

    30

** @file   sync.c

    31

** @author Edouard TISSERANT and Francis DUPIN

    32

** @date   Tue Jun  5 09:32:32 2007

    33

**

    34

** @brief

    35

**

    36

**

    37

*/

    38

    39

#include "data.h"

    40

#include "sync.h"

    41

#include "canfestival.h"

    42

    43

/* Prototypes for internals functions */

    44

    45

/*!                                                                                                

    46

**                                                                                                 

    47

**                                                                                                 

    48

** @param d                                                                                        

    49

** @param id                                                                                       

    50

**/  

    51

void SyncAlarm(CO_Data* d, UNS32 id);

    52

UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, 

    53

	UNS8 unsused_bSubindex);

    54

    55

/*!                                                                                                

    56

**                                                                                                 

    57

**                                                                                                 

    58

** @param d                                                                                        

    59

** @param id                                                                                       

    60

**/   

    61

void SyncAlarm(CO_Data* d, UNS32 id)

    62

{

    63

	sendSYNC(d) ;

    64

}

    65

    66

/*!                                                                                                

    67

** This is called when Index 0x1005 is updated.                                                                                                

    68

**                                                                                                 

    69

** @param d                                                                                        

    70

** @param unsused_indextable                                                                       

    71

** @param unsused_bSubindex                                                                        

    72

**                                                                                                 

    73

** @return                                                                                         

    74

**/  

    75

UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)

    76

{

    77

	startSYNC(d);

    78

	return 0;

    79

}

    80

    81

/*!                                                                                                

    82

**                                                                                                 

    83

**                                                                                                 

    84

** @param d                                                                                        

    85

**/ 

    86

void startSYNC(CO_Data* d)

    87

{

    88

	RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);

    89

	RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);

    90

    91

	if(d->syncTimer != TIMER_NONE){

    92

		stopSYNC(d);

    93

	}

    94

    95

	if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)

    96

	{

    97

		d->syncTimer = SetAlarm(

    98

				d,

    99

				0 /*No id needed*/,

   100

				&SyncAlarm,

   101

				US_TO_TIMEVAL(*d->Sync_Cycle_Period), 

   102

				US_TO_TIMEVAL(*d->Sync_Cycle_Period));

   103

	}

   104

}

   105

   106

/*!                                                                                                

   107

**                                                                                                 

   108

**                                                                                                 

   109

** @param d                                                                                        

   110

**/   

   111

void stopSYNC(CO_Data* d)

   112

{

   113

    RegisterSetODentryCallBack(d, 0x1005, 0, NULL);

   114

    RegisterSetODentryCallBack(d, 0x1006, 0, NULL);

   115

	d->syncTimer = DelAlarm(d->syncTimer);

   116

}

   117

   118

   119

/*!                                                                                                

   120

**                                                                                                 

   121

**                                                                                                 

   122

** @param d                                                                                        

   123

** @param cob_id                                                                                   

   124

**                                                                                                 

   125

** @return                                                                                         

   126

**/  

   127

UNS8 sendSYNCMessage(CO_Data* d)

   128

{

   129

  Message m;

   130

   131

  MSG_WAR(0x3001, "sendSYNC ", 0);

   132

   133

  m.cob_id.w = *d->COB_ID_Sync & 0x1FFFFFFF;

   134

  m.rtr = NOT_A_REQUEST;

   135

  m.len = 0;

   136

   137

  return canSend(d->canHandle,&m);

   138

}

   139

   140

   141

/*!                                                                                                

   142

**                                                                                                 

   143

**                                                                                                 

   144

** @param d                                                                                        

   145

** @param cob_id                                                                                   

   146

**                                                                                                 

   147

** @return                                                                                         

   148

**/  

   149

UNS8 sendSYNC(CO_Data* d)

   150

{

   151

  UNS8 res;

   152

  res = sendSYNCMessage(d);

   153

  proceedSYNC(d) ; 

   154

  return res ;

   155

}

   156

   157

/*!                                                                                                

   158

**                                                                                                 

   159

**                                                                                                 

   160

** @param d                                                                                        

   161

** @param m                                                                                        

   162

**                                                                                                 

   163

** @return                                                                                         

   164

**/ 

   165

UNS8 proceedSYNC(CO_Data* d)

   166

{

   167

   168

  UNS8 res;

   169

   170

  MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);

   171

   172

  (*d->post_sync)();

   173

   174

  /* only operational state allows PDO transmission */

   175

  if(! d->CurrentCommunicationState.csPDO) 

   176

    return 0;

   177

   178

  res = _sendPDOevent(d, 1 /*isSyncEvent*/ );

   179

   180

  /*Call user app callback*/

   181

  (*d->post_TPDO)();

   182

   183

  return res;

   184

   185

}

   186

   187

   188

void _post_sync(){}

   189

void _post_TPDO(){}