include/sync.h
author etisserant
Thu, 12 Apr 2007 16:14:07 +0200
changeset 152 5e14844e5756
parent 150 d2fc5d5f8a36
child 235 f812bf6b7237
permissions -rw-r--r--
Now, setNodeId does change TPDO and RPDO CobId without testing previous CobId in order to avoid confusion. Standard does not says when 'default value' should be applied. See DS301 - Object 1400h - 15FFh: Receive PDO Communication Parameter page 108.
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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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/** 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