include/sync.h
changeset 529 c171e11707c5
parent 528 0a30e161d63c
equal deleted inserted replaced
528:0a30e161d63c 529:c171e11707c5
    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);