etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #ifndef __SYNC_h__
etisserant@0: #define __SYNC_h__
etisserant@0: 
etisserant@0: void startSYNC(CO_Data* d);
etisserant@0: 
etisserant@0: void stopSYNC(CO_Data* d);
etisserant@0: 
etisserant@0: typedef void (*post_sync_t)(void);
etisserant@0: 
etisserant@0: typedef void (*post_TPDO_t)(void);
etisserant@0: 
etisserant@0: /** transmit a SYNC message on the bus number bus_id
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * return canSend(bus_id,&m)
etisserant@0:  */
etisserant@0: UNS8 sendSYNC (CO_Data* d, UNS32 cob_id);
etisserant@0: 
etisserant@0: /** This function is called when the node is receiving a SYNC 
etisserant@0:  * message (cob-id = 0x80).
etisserant@0:  * What does the function :
etisserant@0:  * check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
etisserant@0:  * Get the SYNC cobId by reading the dictionary index 1005. (Return -1 if it does not correspond 
etisserant@0:  * to the cobId received).
etisserant@0:  * Scan the dictionary from index 0x1800 to the last PDO defined (dict_cstes.max_count_of_PDO_transmit)
etisserant@0:  *   for each PDO whose transmission type is on synchro (transmission type < 241) and if the msg must
etisserant@0:  *   be send at this SYNC. read the COBID. Verify that the nodeId inside the 
etisserant@0:  *   nodeId correspond to bDeviceNodeId. (Assume that the cobId of a PDO Transmit is made 
etisserant@0:  *   with the node id of the node who transmit), get the mapping, launch PDOmGR to send the PDO
etisserant@0:  * *m is a pointer to the message received
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * return 0 if OK, 0xFF if error
etisserant@0:  */
etisserant@0: UNS8 proceedSYNC (CO_Data* d, Message * m);
etisserant@0: 
etisserant@0: #endif