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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