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: 
greg@528: /** @defgroup synco Synchronisation Object
greg@528:  *  SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
greg@529:  *  Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
greg@528:  *  @ingroup comobj
greg@528:  */
greg@528: 					 
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@378: typedef void (*post_sync_t)(CO_Data*);
etisserant@378: void _post_sync(CO_Data* d);
etisserant@0: 
etisserant@378: typedef void (*post_TPDO_t)(CO_Data*);
etisserant@378: void _post_TPDO(CO_Data* d);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Transmit a SYNC message and trigger sync TPDOs
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @return
etisserant@0:  */
etisserant@291: UNS8 sendSYNC (CO_Data* d);
greg@528: 
greg@528: /** 
greg@528:  * @brief Transmit a SYNC message on CAN bus
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @return
etisserant@263:  */
etisserant@291: UNS8 sendSYNCMessage(CO_Data* d);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).
greg@528:  *  - Check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
etisserant@235:  *  - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId
etisserant@235:  *  - Trigger sync TPDO emission 
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @return 0 if OK, 0xFF if error 
etisserant@0:  */
etisserant@263: UNS8 proceedSYNC (CO_Data* d);
etisserant@0: 
etisserant@0: #endif