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include/sync.h
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 529 c171e11707c5
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS. 
/*
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
*/

/** @defgroup synco Synchronisation Object
 *  SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
 *  Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
 *  @ingroup comobj
 */
					 
#ifndef __SYNC_h__
#define __SYNC_h__

void startSYNC(CO_Data* d);

void stopSYNC(CO_Data* d);

typedef void (*post_sync_t)(CO_Data*);
void _post_sync(CO_Data* d);

typedef void (*post_TPDO_t)(CO_Data*);
void _post_TPDO(CO_Data* d);

/** 
 * @brief Transmit a SYNC message and trigger sync TPDOs
 * @param *d Pointer on a CAN object data structure
 * @return
 */
UNS8 sendSYNC (CO_Data* d);

/** 
 * @brief Transmit a SYNC message on CAN bus
 * @param *d Pointer on a CAN object data structure
 * @return
 */
UNS8 sendSYNCMessage(CO_Data* d);

/** 
 * @brief 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 
 * @param *d Pointer on a CAN object data structure
 * @return 0 if OK, 0xFF if error 
 */
UNS8 proceedSYNC (CO_Data* d);

#endif
canfestival