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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
21 */ |
21 */ |
22 |
22 |
23 /** @defgroup synco Synchronisation Object |
23 /** @defgroup synco Synchronisation Object |
24 * SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS. |
24 * SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS. |
25 * Receiving this message causse the node to set the outputs to values received in the previous synchronous RPDO. |
25 * Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO. |
26 * @ingroup comobj |
26 * @ingroup comobj |
27 */ |
27 */ |
28 |
28 |
29 #ifndef __SYNC_h__ |
29 #ifndef __SYNC_h__ |
30 #define __SYNC_h__ |
30 #define __SYNC_h__ |
38 |
38 |
39 typedef void (*post_TPDO_t)(CO_Data*); |
39 typedef void (*post_TPDO_t)(CO_Data*); |
40 void _post_TPDO(CO_Data* d); |
40 void _post_TPDO(CO_Data* d); |
41 |
41 |
42 /** |
42 /** |
43 * @ingroup synco |
|
44 * @brief Transmit a SYNC message and trigger sync TPDOs |
43 * @brief Transmit a SYNC message and trigger sync TPDOs |
45 * @param *d Pointer on a CAN object data structure |
44 * @param *d Pointer on a CAN object data structure |
46 * @return |
45 * @return |
47 */ |
46 */ |
48 UNS8 sendSYNC (CO_Data* d); |
47 UNS8 sendSYNC (CO_Data* d); |
49 |
48 |
50 /** |
49 /** |
51 * @ingroup synco |
|
52 * @brief Transmit a SYNC message on CAN bus |
50 * @brief Transmit a SYNC message on CAN bus |
53 * @param *d Pointer on a CAN object data structure |
51 * @param *d Pointer on a CAN object data structure |
54 * @return |
52 * @return |
55 */ |
53 */ |
56 UNS8 sendSYNCMessage(CO_Data* d); |
54 UNS8 sendSYNCMessage(CO_Data* d); |