author | luis |
Thu, 29 Nov 2007 11:58:02 +0100 | |
changeset 319 | 4b331759169a |
parent 291 | 6165554cbfe9 |
child 378 | d2abf6c8c27b |
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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void _post_sync(void); |
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typedef void (*post_TPDO_t)(void); |
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void _post_TPDO(void); |
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Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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/** transmit a SYNC message and trigger sync TPDOs |
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*/ |
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Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
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UNS8 sendSYNC (CO_Data* d); |
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Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
etisserant
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/** transmit a SYNC message on CAN bus |
d221d387ad2f
Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
etisserant
parents:
235
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*/ |
291
6165554cbfe9
Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents:
263
diff
changeset
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UNS8 sendSYNCMessage(CO_Data* d); |
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/** 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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* - return 0 if OK, 0xFF if error |
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*/ |
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d221d387ad2f
Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
etisserant
parents:
235
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UNS8 proceedSYNC (CO_Data* d); |
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#endif |