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33 typedef void (*post_TPDO_t)(void); |
33 typedef void (*post_TPDO_t)(void); |
34 void _post_TPDO(void); |
34 void _post_TPDO(void); |
35 |
35 |
36 /** transmit a SYNC message and trigger sync TPDOs |
36 /** transmit a SYNC message and trigger sync TPDOs |
37 */ |
37 */ |
38 UNS8 sendSYNC (CO_Data* d, UNS32 cob_id); |
38 UNS8 sendSYNC (CO_Data* d); |
39 /** transmit a SYNC message on CAN bus |
39 /** transmit a SYNC message on CAN bus |
40 */ |
40 */ |
41 UNS8 sendSYNCMessage(CO_Data* d, UNS32 cob_id); |
41 UNS8 sendSYNCMessage(CO_Data* d); |
42 |
42 |
43 /** This function is called when the node is receiving a SYNC message (cob-id = 0x80). |
43 /** This function is called when the node is receiving a SYNC message (cob-id = 0x80). |
44 * - check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing). |
44 * - check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing). |
45 * - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId |
45 * - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId |
46 * - Trigger sync TPDO emission |
46 * - Trigger sync TPDO emission |