include/sync.h
author greg
Fri, 09 May 2008 09:47:56 +0200
changeset 463 f7455fef585f
parent 378 d2abf6c8c27b
child 528 0a30e161d63c
permissions -rw-r--r--
add rt_task_join for receive task and timerloop task
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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)(CO_Data*);
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void _post_sync(CO_Data* d);
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typedef void (*post_TPDO_t)(CO_Data*);
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void _post_TPDO(CO_Data* d);
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/** transmit a SYNC message and trigger sync TPDOs
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 */
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UNS8 sendSYNC (CO_Data* d);
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/** transmit a SYNC message on CAN bus
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 */
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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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UNS8 proceedSYNC (CO_Data* d);
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#endif