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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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/*!
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** @file sync.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date Tue Jun 5 09:32:32 2007
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**
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** @brief
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**
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**
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*/
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#include "data.h"
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#include "sync.h"
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#include "canfestival.h"
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/* Prototypes for internals functions */
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/*!
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**
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**
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** @param d
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** @param id
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**/
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void SyncAlarm(CO_Data* d, UNS32 id);
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
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UNS8 unsused_bSubindex);
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/*!
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**
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**
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** @param d
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** @param id
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**/
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void SyncAlarm(CO_Data* d, UNS32 id)
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{
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sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
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}
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/*!
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** This is called when Index 0x1005 is updated.
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**
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** @param d
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** @param unsused_indextable
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** @param unsused_bSubindex
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**
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** @return
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**/
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UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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startSYNC(d);
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return 0;
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}
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/*!
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**
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**
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** @param d
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**/
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void startSYNC(CO_Data* d)
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{
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RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
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RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
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if(d->syncTimer != TIMER_NONE){
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stopSYNC(d);
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}
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if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
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{
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d->syncTimer = SetAlarm(
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d,
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0 /*No id needed*/,
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&SyncAlarm,
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US_TO_TIMEVAL(*d->Sync_Cycle_Period),
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US_TO_TIMEVAL(*d->Sync_Cycle_Period));
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}
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}
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/*!
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**
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**
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** @param d
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**/
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void stopSYNC(CO_Data* d)
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{
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d->syncTimer = DelAlarm(d->syncTimer);
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}
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/*!
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**
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**
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** @param d
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** @param cob_id
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**
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** @return
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**/
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UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
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{
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Message m;
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UNS8 resultat ;
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MSG_WAR(0x3001, "sendSYNC ", 0);
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m.cob_id.w = cob_id ;
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m.rtr = NOT_A_REQUEST;
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m.len = 0;
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resultat = canSend(d->canHandle,&m) ;
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proceedSYNC(d, &m) ;
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return resultat ;
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}
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/*!
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**
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**
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** @param d
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** @param m
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**
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** @return
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**/
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UNS8 proceedSYNC(CO_Data* d, Message *m)
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{
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UNS8 res;
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MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
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(*d->post_sync)();
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/* only operational state allows PDO transmission */
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if(! d->CurrentCommunicationState.csPDO)
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return 0;
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res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
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/*Call user app callback*/
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(*d->post_TPDO)();
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return res;
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}
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void _post_sync(){}
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void _post_TPDO(){}
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