author | lbessard |
Mon, 10 Sep 2007 14:32:07 +0200 | |
changeset 268 | 8a21eb5bdedc |
parent 263 | d221d387ad2f |
child 291 | 6165554cbfe9 |
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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/*! |
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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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RegisterSetODentryCallBack(d, 0x1005, 0, NULL); |
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RegisterSetODentryCallBack(d, 0x1006, 0, NULL); |
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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 sendSYNCMessage(CO_Data* d, UNS32 cob_id) |
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{ |
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Message m; |
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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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return canSend(d->canHandle,&m); |
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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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UNS8 res; |
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res = sendSYNCMessage(d, cob_id); |
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proceedSYNC(d) ; |
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return res ; |
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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) |
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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(){} |