31 void _post_sync(void); |
31 void _post_sync(void); |
32 |
32 |
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 on the bus number bus_id |
36 /** transmit a SYNC message and trigger sync TPDOs |
37 * bus_id is hardware dependant |
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38 * return canSend(bus_id,&m) |
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39 */ |
37 */ |
40 UNS8 sendSYNC (CO_Data* d, UNS32 cob_id); |
38 UNS8 sendSYNC (CO_Data* d, UNS32 cob_id); |
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39 /** transmit a SYNC message on CAN bus |
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40 */ |
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41 UNS8 sendSYNCMessage(CO_Data* d, UNS32 cob_id); |
41 |
42 |
42 /** 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). |
43 * - 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). |
44 * - 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 |
45 * - Trigger sync TPDO emission |
46 * - Trigger sync TPDO emission |
46 * - return 0 if OK, 0xFF if error |
47 * - return 0 if OK, 0xFF if error |
47 */ |
48 */ |
48 UNS8 proceedSYNC (CO_Data* d, Message * m); |
49 UNS8 proceedSYNC (CO_Data* d); |
49 |
50 |
50 #endif |
51 #endif |