CanFestival: src/sync.c Source File

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00033 #include "data.h"
-00034 #include "sync.h"
-00035 #include "canfestival.h"
-00036 
-00037 /* Prototypes for internals functions */
-00038 
-00045 void SyncAlarm(CO_Data* d, UNS32 id);
-00046 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, 
-00047         UNS8 unsused_bSubindex);
-00048 
-00055 void SyncAlarm(CO_Data* d, UNS32 id)
-00056 {
-00057         sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
-00058 }
-00059 
-00069 UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
-00070 {
-00071         startSYNC(d);
-00072         return 0;
-00073 }
-00074 
-00080 void startSYNC(CO_Data* d)
-00081 {
-00082         RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
-00083         RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
-00084 
-00085         if(d->syncTimer != TIMER_NONE){
-00086                 stopSYNC(d);
-00087         }
-00088         
-00089         if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
-00090         {
-00091                 d->syncTimer = SetAlarm(
-00092                                 d,
-00093                                 0 /*No id needed*/,
-00094                                 &SyncAlarm,
-00095                                 US_TO_TIMEVAL(*d->Sync_Cycle_Period), 
-00096                                 US_TO_TIMEVAL(*d->Sync_Cycle_Period));
-00097         }
-00098 }
-00099 
-00105 void stopSYNC(CO_Data* d)
-00106 {
-00107         d->syncTimer = DelAlarm(d->syncTimer);
-00108 }
-00109 
-00118 UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
-00119 {
-00120   Message m;
-00121   UNS8 resultat ;
-00122   
-00123   MSG_WAR(0x3001, "sendSYNC ", 0);
-00124   
-00125   m.cob_id.w = cob_id ;
-00126   m.rtr = NOT_A_REQUEST;
-00127   m.len = 0;
-00128   resultat = canSend(d->canHandle,&m) ;
-00129   proceedSYNC(d, &m) ; 
-00130   return resultat ;
-00131 }
-00132 
-00141 UNS8 proceedSYNC(CO_Data* d, Message *m)
-00142 {
-00143 
-00144   UNS8 res;
-00145   
-00146   MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
-00147   
-00148   (*d->post_sync)();
-00149 
-00150   /* only operational state allows PDO transmission */
-00151   if(! d->CurrentCommunicationState.csPDO) 
-00152     return 0;
-00153 
-00154   res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
-00155   
-00156   /*Call user app callback*/
-00157   (*d->post_TPDO)();
-00158   
-00159   return res;
-00160   
-00161 }
-00162 
-00163 
-00164 void _post_sync(){}
-00165 void _post_TPDO(){}
-