AVR port, thanks to Peter Christen, Comat AG.
/*
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
*/
#ifndef __SYNC_h__
#define __SYNC_h__
void startSYNC(CO_Data* d);
void stopSYNC(CO_Data* d);
typedef void (*post_sync_t)(void);
void _post_sync(void);
typedef void (*post_TPDO_t)(void);
void _post_TPDO(void);
/** transmit a SYNC message and trigger sync TPDOs
*/
UNS8 sendSYNC (CO_Data* d);
/** transmit a SYNC message on CAN bus
*/
UNS8 sendSYNCMessage(CO_Data* d);
/** This function is called when the node is receiving a SYNC message (cob-id = 0x80).
* - check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
* - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId
* - Trigger sync TPDO emission
* - return 0 if OK, 0xFF if error
*/
UNS8 proceedSYNC (CO_Data* d);
#endif