1 \hypertarget{sync_8h}{

     2 \section{/home/epimerde/documents/tc11/Can\-Festival-3/include/sync.h File Reference}

     3 \label{sync_8h}\index{/home/epimerde/documents/tc11/CanFestival-3/include/sync.h@{/home/epimerde/documents/tc11/CanFestival-3/include/sync.h}}

     4 }

     5 \subsection*{Typedefs}

     6 \begin{CompactItemize}

     7 \item 

     8 typedef void($\ast$) \hyperlink{sync_8h_8a0b5b8c19b375ef1c985caa120f3274}{post\_\-sync\_\-t} (void)

     9 \item 

    10 typedef void($\ast$) \hyperlink{sync_8h_b9bc4632750ad12f918aa22a1eb7756b}{post\_\-TPDO\_\-t} (void)

    11 \end{CompactItemize}

    12 \subsection*{Functions}

    13 \begin{CompactItemize}

    14 \item 

    15 void \hyperlink{sync_8h_2e0bf669f5b40dfbdda0f12a5ae3631a}{start\-SYNC} (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$d)

    16 \item 

    17 void \hyperlink{sync_8h_41c47dbd59d22bf9bab6cd288cf27164}{stop\-SYNC} (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$d)

    18 \item 

    19 void \hyperlink{sync_8h_1da155dcbd7fa1271216d74a15e30490}{\_\-post\_\-sync} (void)

    20 \item 

    21 void \hyperlink{sync_8h_1fdf94721303f1c60bb2de1a36b13cc4}{\_\-post\_\-TPDO} (void)

    22 \item 

    23 UNS8 \hyperlink{sync_8h_0bcc501eb14c12365ffbaa3453905b50}{send\-SYNC} (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$d, UNS32 cob\_\-id)

    24 \item 

    25 UNS8 \hyperlink{sync_8h_80cadcba23dc859db8a8d3f52789d6d1}{proceed\-SYNC} (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$d, \hyperlink{structMessage}{Message} $\ast$m)

    26 \end{CompactItemize}

    27 

    28 

    29 \subsection{Typedef Documentation}

    30 \hypertarget{sync_8h_8a0b5b8c19b375ef1c985caa120f3274}{

    31 \index{sync.h@{sync.h}!post_sync_t@{post\_\-sync\_\-t}}

    32 \index{post_sync_t@{post\_\-sync\_\-t}!sync.h@{sync.h}}

    33 \subsubsection[post\_\-sync\_\-t]{\setlength{\rightskip}{0pt plus 5cm}typedef void($\ast$) \hyperlink{sync_8h_8a0b5b8c19b375ef1c985caa120f3274}{post\_\-sync\_\-t}(void)}}

    34 \label{sync_8h_8a0b5b8c19b375ef1c985caa120f3274}

    35 

    36 

    37 

    38 

    39 Definition at line 30 of file sync.h.\hypertarget{sync_8h_b9bc4632750ad12f918aa22a1eb7756b}{

    40 \index{sync.h@{sync.h}!post_TPDO_t@{post\_\-TPDO\_\-t}}

    41 \index{post_TPDO_t@{post\_\-TPDO\_\-t}!sync.h@{sync.h}}

    42 \subsubsection[post\_\-TPDO\_\-t]{\setlength{\rightskip}{0pt plus 5cm}typedef void($\ast$) \hyperlink{sync_8h_b9bc4632750ad12f918aa22a1eb7756b}{post\_\-TPDO\_\-t}(void)}}

    43 \label{sync_8h_b9bc4632750ad12f918aa22a1eb7756b}

    44 

    45 

    46 

    47 

    48 Definition at line 33 of file sync.h.

    49 

    50 \subsection{Function Documentation}

    51 \hypertarget{sync_8h_1da155dcbd7fa1271216d74a15e30490}{

    52 \index{sync.h@{sync.h}!_post_sync@{\_\-post\_\-sync}}

    53 \index{_post_sync@{\_\-post\_\-sync}!sync.h@{sync.h}}

    54 \subsubsection[\_\-post\_\-sync]{\setlength{\rightskip}{0pt plus 5cm}void \_\-post\_\-sync (void)}}

    55 \label{sync_8h_1da155dcbd7fa1271216d74a15e30490}

    56 

    57 

    58 

    59 

    60 Definition at line 245 of file sync.c.\hypertarget{sync_8h_1fdf94721303f1c60bb2de1a36b13cc4}{

    61 \index{sync.h@{sync.h}!_post_TPDO@{\_\-post\_\-TPDO}}

    62 \index{_post_TPDO@{\_\-post\_\-TPDO}!sync.h@{sync.h}}

    63 \subsubsection[\_\-post\_\-TPDO]{\setlength{\rightskip}{0pt plus 5cm}void \_\-post\_\-TPDO (void)}}

    64 \label{sync_8h_1fdf94721303f1c60bb2de1a36b13cc4}

    65 

    66 

    67 

    68 

    69 Definition at line 246 of file sync.c.\hypertarget{sync_8h_80cadcba23dc859db8a8d3f52789d6d1}{

    70 \index{sync.h@{sync.h}!proceedSYNC@{proceedSYNC}}

    71 \index{proceedSYNC@{proceedSYNC}!sync.h@{sync.h}}

    72 \subsubsection[proceedSYNC]{\setlength{\rightskip}{0pt plus 5cm}UNS8 proceed\-SYNC (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$ {\em d}, \hyperlink{structMessage}{Message} $\ast$ {\em m})}}

    73 \label{sync_8h_80cadcba23dc859db8a8d3f52789d6d1}

    74 

    75 

    76 This function is called when the node is receiving a SYNC message (cob-id = 0x80). What does the function : check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing). Get the SYNC cob\-Id by reading the dictionary index 1005. (Return -1 if it does not correspond to the cob\-Id received). Scan the dictionary from index 0x1800 to the last PDO defined (dict\_\-cstes.max\_\-count\_\-of\_\-PDO\_\-transmit) for each PDO whose transmission type is on synchro (transmission type $<$ 241) and if the msg must be send at this SYNC. read the COBID. Verify that the node\-Id inside the node\-Id correspond to b\-Device\-Node\-Id. (Assume that the cob\-Id of a PDO Transmit is made with the node id of the node who transmit), get the mapping, launch PDOm\-GR to send the PDO $\ast$m is a pointer to the message received bus\_\-id is hardware dependant return 0 if OK, 0x\-FF if error 

    77 

    78 Definition at line 93 of file sync.c.

    79 

    80 References td\_\-indextable::b\-Sub\-Count, Copy\-Bits(), struct\_\-s\_\-process\_\-var::count, struct\_\-CO\_\-Data::count\_\-sync, struct\_\-s\_\-timer\_\-entry::d, struct\_\-s\_\-process\_\-var::data, struct\_\-CO\_\-Data::first\-Index, get\-ODentry(), struct\_\-CO\_\-Data::last\-Index, MSG\_\-ERR, MSG\_\-WAR, struct\_\-CO\_\-Data::node\-State, struct\_\-CO\_\-Data::objdict, OD\_\-SUCCESSFUL, Operational, s\_\-quick\_\-index::PDO\_\-TRS, s\_\-quick\_\-index::PDO\_\-TRS\_\-MAP, PDOm\-GR(), td\_\-subindex::p\-Object, struct\_\-CO\_\-Data::post\_\-sync, struct\_\-CO\_\-Data::post\_\-TPDO, struct\_\-CO\_\-Data::process\_\-var, td\_\-indextable::p\-Subindex, state10, state11, state3, state4, state5, state7, state8, state9, TRANS\_\-SYNC\_\-MAX, TRANS\_\-SYNC\_\-MIN, UNS16, UNS32, and UNS8.\hypertarget{sync_8h_0bcc501eb14c12365ffbaa3453905b50}{

    81 \index{sync.h@{sync.h}!sendSYNC@{sendSYNC}}

    82 \index{sendSYNC@{sendSYNC}!sync.h@{sync.h}}

    83 \subsubsection[sendSYNC]{\setlength{\rightskip}{0pt plus 5cm}UNS8 send\-SYNC (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$ {\em d}, UNS32 {\em cob\_\-id})}}

    84 \label{sync_8h_0bcc501eb14c12365ffbaa3453905b50}

    85 

    86 

    87 transmit a SYNC message on the bus number bus\_\-id bus\_\-id is hardware dependant return can\-Send(bus\_\-id,\&m) 

    88 

    89 Definition at line 77 of file sync.c.

    90 

    91 References struct\_\-CO\_\-Data::can\-Handle, can\-Send(), Message::cob\_\-id, struct\_\-s\_\-timer\_\-entry::d, Message::len, MSG\_\-WAR, NOT\_\-A\_\-REQUEST, proceed\-SYNC(), Message::rtr, UNS8, and SHORT\_\-CAN::w.\hypertarget{sync_8h_2e0bf669f5b40dfbdda0f12a5ae3631a}{

    92 \index{sync.h@{sync.h}!startSYNC@{startSYNC}}

    93 \index{startSYNC@{startSYNC}!sync.h@{sync.h}}

    94 \subsubsection[startSYNC]{\setlength{\rightskip}{0pt plus 5cm}void start\-SYNC (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$ {\em d})}}

    95 \label{sync_8h_2e0bf669f5b40dfbdda0f12a5ae3631a}

    96 

    97 

    98 

    99 

   100 Definition at line 50 of file sync.c.

   101 

   102 References struct\_\-CO\_\-Data::COB\_\-ID\_\-Sync, struct\_\-s\_\-timer\_\-entry::d, On\-COB\_\-ID\_\-Sync\-Update(), Register\-Set\-ODentry\-Call\-Back(), Set\-Alarm(), stop\-SYNC(), struct\_\-CO\_\-Data::Sync\_\-Cycle\_\-Period, Sync\-Alarm(), struct\_\-CO\_\-Data::sync\-Timer, and US\_\-TO\_\-TIMEVAL.\hypertarget{sync_8h_41c47dbd59d22bf9bab6cd288cf27164}{

   103 \index{sync.h@{sync.h}!stopSYNC@{stopSYNC}}

   104 \index{stopSYNC@{stopSYNC}!sync.h@{sync.h}}

   105 \subsubsection[stopSYNC]{\setlength{\rightskip}{0pt plus 5cm}void stop\-SYNC (\hyperlink{structstruct__CO__Data}{CO\_\-Data} $\ast$ {\em d})}}

   106 \label{sync_8h_41c47dbd59d22bf9bab6cd288cf27164}

   107 

   108 

   109 

   110 

   111 Definition at line 71 of file sync.c.

   112 

   113 References struct\_\-s\_\-timer\_\-entry::d, Del\-Alarm(), and struct\_\-CO\_\-Data::sync\-Timer.