/*
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"
#include "sysdep.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) ;
}
/*!
** 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)
{
if(d->syncTimer != TIMER_NONE){
stopSYNC(d);
}
RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
if(*d->COB_ID_Sync & 0x40000000ul && *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)
{
RegisterSetODentryCallBack(d, 0x1005, 0, NULL);
RegisterSetODentryCallBack(d, 0x1006, 0, NULL);
d->syncTimer = DelAlarm(d->syncTimer);
}
/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendSYNCMessage(CO_Data* d)
{
Message m;
MSG_WAR(0x3001, "sendSYNC ", 0);
m.cob_id = (UNS16)UNS16_LE(*d->COB_ID_Sync);
m.rtr = NOT_A_REQUEST;
m.len = 0;
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendSYNC(CO_Data* d)
{
UNS8 res;
res = sendSYNCMessage(d);
proceedSYNC(d) ;
return res ;
}
/*!
**
**
** @param d
** @param m
**
** @return
**/
UNS8 proceedSYNC(CO_Data* d)
{
UNS8 res;
MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
(*d->post_sync)(d);
/* only operational state allows PDO transmission */
if(! d->CurrentCommunicationState.csPDO)
return 0;
res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
/*Call user app callback*/
(*d->post_TPDO)(d);
return res;
}
void _post_sync(CO_Data* d){}
void _post_TPDO(CO_Data* d){}