--- a/src/sync.c Tue Aug 07 17:18:03 2007 +0200
+++ b/src/sync.c Wed Aug 08 01:43:02 2007 +0200
@@ -1,165 +1,171 @@
-/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
-
-Copyright (C): Edouard TISSERANT and Francis DUPIN
-
-See COPYING file for copyrights details.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*/
-
-/*!
-** @file sync.c
-** @author Edouard TISSERANT and Francis DUPIN
-** @date Tue Jun 5 09:32:32 2007
-**
-** @brief
-**
-**
-*/
-
-#include "data.h"
-#include "sync.h"
-#include "canfestival.h"
-
-/* Prototypes for internals functions */
-
-/*!
-**
-**
-** @param d
-** @param id
-**/
-void SyncAlarm(CO_Data* d, UNS32 id);
-UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
- UNS8 unsused_bSubindex);
-
-/*!
-**
-**
-** @param d
-** @param id
-**/
-void SyncAlarm(CO_Data* d, UNS32 id)
-{
- sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
-}
-
-/*!
-** This is called when Index 0x1005 is updated.
-**
-** @param d
-** @param unsused_indextable
-** @param unsused_bSubindex
-**
-** @return
-**/
-UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
-{
- startSYNC(d);
- return 0;
-}
-
-/*!
-**
-**
-** @param d
-**/
-void startSYNC(CO_Data* d)
-{
- RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
- RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
-
- if(d->syncTimer != TIMER_NONE){
- stopSYNC(d);
- }
-
- if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
- {
- d->syncTimer = SetAlarm(
- d,
- 0 /*No id needed*/,
- &SyncAlarm,
- US_TO_TIMEVAL(*d->Sync_Cycle_Period),
- US_TO_TIMEVAL(*d->Sync_Cycle_Period));
- }
-}
-
-/*!
-**
-**
-** @param d
-**/
-void stopSYNC(CO_Data* d)
-{
- d->syncTimer = DelAlarm(d->syncTimer);
-}
-
-/*!
-**
-**
-** @param d
-** @param cob_id
-**
-** @return
-**/
-UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
-{
- Message m;
- UNS8 resultat ;
-
- MSG_WAR(0x3001, "sendSYNC ", 0);
-
- m.cob_id.w = cob_id ;
- m.rtr = NOT_A_REQUEST;
- m.len = 0;
- resultat = canSend(d->canHandle,&m) ;
- proceedSYNC(d, &m) ;
- return resultat ;
-}
-
-/*!
-**
-**
-** @param d
-** @param m
-**
-** @return
-**/
-UNS8 proceedSYNC(CO_Data* d, Message *m)
-{
-
- UNS8 res;
-
- MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
-
- (*d->post_sync)();
-
- /* only operational state allows PDO transmission */
- if(! d->CurrentCommunicationState.csPDO)
- return 0;
-
- res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
-
- /*Call user app callback*/
- (*d->post_TPDO)();
-
- return res;
-
-}
-
-
-void _post_sync(){}
-void _post_TPDO(){}
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+
+See COPYING file for copyrights details.
+
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+
+/*!
+** @file sync.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date Tue Jun 5 09:32:32 2007
+**
+** @brief
+**
+**
+*/
+
+#include "data.h"
+#include "sync.h"
+#include "canfestival.h"
+
+/* Prototypes for internals functions */
+
+/*!
+**
+**
+** @param d
+** @param id
+**/
+void SyncAlarm(CO_Data* d, UNS32 id);
+UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable,
+ UNS8 unsused_bSubindex);
+
+/*!
+**
+**
+** @param d
+** @param id
+**/
+void SyncAlarm(CO_Data* d, UNS32 id)
+{
+ sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
+}
+
+/*!
+** This is called when Index 0x1005 is updated.
+**
+** @param d
+** @param unsused_indextable
+** @param unsused_bSubindex
+**
+** @return
+**/
+UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+{
+ startSYNC(d);
+ return 0;
+}
+
+/*!
+**
+**
+** @param d
+**/
+void startSYNC(CO_Data* d)
+{
+ RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
+ RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
+
+ if(d->syncTimer != TIMER_NONE){
+ stopSYNC(d);
+ }
+
+ if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
+ {
+ d->syncTimer = SetAlarm(
+ d,
+ 0 /*No id needed*/,
+ &SyncAlarm,
+ US_TO_TIMEVAL(*d->Sync_Cycle_Period),
+ US_TO_TIMEVAL(*d->Sync_Cycle_Period));
+ }
+}
+
+/*!
+**
+**
+** @param d
+**/
+void stopSYNC(CO_Data* d)
+{
+ d->syncTimer = DelAlarm(d->syncTimer);
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
+{
+ Message m;
+ UNS8 resultat ;
+
+ MSG_WAR(0x3001, "sendSYNC ", 0);
+
+ m.cob_id.w = cob_id ;
+ m.rtr = NOT_A_REQUEST;
+ m.len = 0;
+ resultat = canSend(d->canHandle,&m) ;
+ proceedSYNC(d, &m) ;
+ return resultat ;
+}
+
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
+UNS8 proceedSYNC(CO_Data* d, Message *m)
+{
+
+ UNS8 res;
+
+ MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
+
+ (*d->post_sync)();
+
+ /* only operational state allows PDO transmission */
+ if(! d->CurrentCommunicationState.csPDO)
+ return 0;
+
+ res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
+
+ /*Call user app callback*/
+ (*d->post_TPDO)();
+
+ return res;
+
+}
+
+
+void _post_sync(){}
+void _post_TPDO(){}