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: 
nico@208: /*!
nico@208: ** @file   sync.c
nico@208: ** @author Edouard TISSERANT and Francis DUPIN
nico@208: ** @date   Tue Jun  5 09:32:32 2007
nico@208: **
nico@208: ** @brief
nico@208: **
nico@208: **
nico@208: */
frdupin@71: 
etisserant@0: #include "data.h"
etisserant@0: #include "sync.h"
etisserant@149: #include "canfestival.h"
etisserant@0: 
frdupin@71: /* Prototypes for internals functions */
nico@208: 
nico@208: /*!                                                                                                
nico@208: **                                                                                                 
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: ** @param id                                                                                       
nico@208: **/  
frdupin@53: void SyncAlarm(CO_Data* d, UNS32 id);
frdupin@53: UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, 
frdupin@53: 	UNS8 unsused_bSubindex);
frdupin@53: 
nico@208: /*!                                                                                                
nico@208: **                                                                                                 
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: ** @param id                                                                                       
nico@208: **/   
etisserant@0: void SyncAlarm(CO_Data* d, UNS32 id)
etisserant@0: {
etisserant@0: 	sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
etisserant@0: }
etisserant@0: 
nico@208: /*!                                                                                                
nico@208: ** This is called when Index 0x1005 is updated.                                                                                                
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: ** @param unsused_indextable                                                                       
nico@208: ** @param unsused_bSubindex                                                                        
nico@208: **                                                                                                 
nico@208: ** @return                                                                                         
nico@208: **/  
etisserant@0: UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
etisserant@0: {
etisserant@0: 	startSYNC(d);
lbessard@31: 	return 0;
etisserant@0: }
etisserant@0: 
nico@208: /*!                                                                                                
nico@208: **                                                                                                 
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: **/ 
etisserant@0: void startSYNC(CO_Data* d)
etisserant@0: {
etisserant@0: 	RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
etisserant@0: 	RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
etisserant@0: 
etisserant@0: 	if(d->syncTimer != TIMER_NONE){
etisserant@0: 		stopSYNC(d);
etisserant@0: 	}
etisserant@0: 	
etisserant@0: 	if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
etisserant@0: 	{
etisserant@0: 		d->syncTimer = SetAlarm(
etisserant@0: 				d,
frdupin@71: 				0 /*No id needed*/,
etisserant@0: 				&SyncAlarm,
etisserant@0: 				US_TO_TIMEVAL(*d->Sync_Cycle_Period), 
etisserant@0: 				US_TO_TIMEVAL(*d->Sync_Cycle_Period));
etisserant@0: 	}
etisserant@0: }
etisserant@0: 
nico@208: /*!                                                                                                
nico@208: **                                                                                                 
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: **/   
etisserant@0: void stopSYNC(CO_Data* d)
etisserant@0: {
etisserant@0: 	d->syncTimer = DelAlarm(d->syncTimer);
etisserant@0: }
etisserant@0: 
nico@208: /*!                                                                                                
nico@208: **                                                                                                 
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: ** @param cob_id                                                                                   
nico@208: **                                                                                                 
nico@208: ** @return                                                                                         
nico@208: **/  
etisserant@0: UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
etisserant@0: {
etisserant@0:   Message m;
etisserant@0:   UNS8 resultat ;
etisserant@0:   
etisserant@0:   MSG_WAR(0x3001, "sendSYNC ", 0);
etisserant@0:   
etisserant@0:   m.cob_id.w = cob_id ;
etisserant@0:   m.rtr = NOT_A_REQUEST;
etisserant@0:   m.len = 0;
etisserant@149:   resultat = canSend(d->canHandle,&m) ;
etisserant@0:   proceedSYNC(d, &m) ; 
etisserant@0:   return resultat ;
etisserant@0: }
etisserant@0: 
nico@208: /*!                                                                                                
nico@208: **                                                                                                 
nico@208: **                                                                                                 
nico@208: ** @param d                                                                                        
nico@208: ** @param m                                                                                        
nico@208: **                                                                                                 
nico@208: ** @return                                                                                         
nico@208: **/ 
etisserant@0: UNS8 proceedSYNC(CO_Data* d, Message *m)
etisserant@0: {
etisserant@0: 
etisserant@235:   UNS8 res;
frdupin@71:   
frdupin@71:   MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
frdupin@71:   
etisserant@153:   (*d->post_sync)();
etisserant@153: 
nico@215:   /* only operational state allows PDO transmission */
etisserant@236:   if(! d->CurrentCommunicationState.csPDO) 
etisserant@0:     return 0;
etisserant@235: 
etisserant@235:   res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
etisserant@0:   
etisserant@235:   /*Call user app callback*/
etisserant@235:   (*d->post_TPDO)();
etisserant@0:   
etisserant@235:   return res;
etisserant@235:   
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@149: void _post_sync(){}
etisserant@149: void _post_TPDO(){}