equal
deleted
inserted
replaced
84 ** |
84 ** |
85 ** @param d |
85 ** @param d |
86 **/ |
86 **/ |
87 void startSYNC(CO_Data* d) |
87 void startSYNC(CO_Data* d) |
88 { |
88 { |
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89 if(d->syncTimer != TIMER_NONE){ |
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90 stopSYNC(d); |
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91 } |
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92 |
89 RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate); |
93 RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate); |
90 RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate); |
94 RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate); |
91 |
95 |
92 if(d->syncTimer != TIMER_NONE){ |
96 if(*d->COB_ID_Sync & 0x40000000ul && *d->Sync_Cycle_Period) |
93 stopSYNC(d); |
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94 } |
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95 |
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96 if(*d->COB_ID_Sync & UNS32_LE(0x40000000) && *d->Sync_Cycle_Period) |
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97 { |
97 { |
98 d->syncTimer = SetAlarm( |
98 d->syncTimer = SetAlarm( |
99 d, |
99 d, |
100 0 /*No id needed*/, |
100 0 /*No id needed*/, |
101 &SyncAlarm, |
101 &SyncAlarm, |