diff -r 5a17bcb520ef -r f812bf6b7237 src/sync.c
--- a/src/sync.c	Fri Jun 29 19:48:22 2007 +0200
+++ b/src/sync.c	Fri Jun 29 19:51:39 2007 +0200
@@ -141,33 +141,7 @@
 UNS8 proceedSYNC(CO_Data* d, Message *m)
 {
 
-  UNS8 	pdoNum,       /* number of the actual processed pdo-nr. */
-        prp_j;
-
-  const UNS8 *     pMappingCount = NULL;      /* count of mapped objects...*/
-  /* pointer to the var which is mapped to a pdo */
-  /* void *     pMappedAppObject = NULL; */
-  /* pointer fo the var which holds the mapping parameter of an mapping entry  */
-  UNS32 *    pMappingParameter = NULL;  
-  /* pointer to the transmissiontype...*/
-  UNS8 *     pTransmissionType = NULL;  
-  UNS32 *    pwCobId = NULL;	
-
-  UNS8 dataType;
-  UNS16 index;
-  UNS8 subIndex;
-  UNS8 offset;
-  UNS8 status;
-  UNS8 Size;
-  UNS32 objDict;	
-  UNS16 offsetObjdict;
-  UNS16 offsetObjdictMap;
-  UNS16 lastIndex;
-  
-  status = state3;
-  pdoNum = 0x00;
-  prp_j = 0x00;
-  offset = 0x00;
+  UNS8 res;
   
   MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
   
@@ -176,117 +150,14 @@
   /* only operational state allows PDO transmission */
   if( d->nodeState != Operational ) 
     return 0;
+
+  res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
   
-  /* So, the node is in operational state */
-  /* study all PDO stored in the objects dictionary */	
- 
-  offsetObjdict = d->firstIndex->PDO_TRS;
-  lastIndex = d->lastIndex->PDO_TRS;
-  offsetObjdictMap = d->firstIndex->PDO_TRS_MAP;
+  /*Call user app callback*/
+  (*d->post_TPDO)();
   
-  if(offsetObjdict) while( offsetObjdict <= lastIndex) {  
-    switch( status ) {
-                    
-    case state3:    /* get the PDO transmission type */
-      if (d->objdict[offsetObjdict].bSubCount <= 2) {
-	  MSG_ERR(0x1004, "Subindex 2  not found at index ", 0x1800 + pdoNum);
-	  return 0xFF;
-	}
-      pTransmissionType = (UNS8*) d->objdict[offsetObjdict].pSubindex[2].pObject;    
-      MSG_WAR(0x3005, "Reading PDO at index : ", 0x1800 + pdoNum);
-      status = state4; 
-      break;     
-    case state4:	/* check if transmission type is after (this) SYNC */
-                        /* The message may not be transmited every SYNC but every n SYNC */      
-      if( (*pTransmissionType >= TRANS_SYNC_MIN) && (*pTransmissionType <= TRANS_SYNC_MAX) &&
-          (++d->count_sync[pdoNum] == *pTransmissionType) ) {	
-	d->count_sync[pdoNum] = 0;
-	MSG_WAR(0x3007, "  PDO is on SYNCHRO. Trans type : ", *pTransmissionType);
-	status = state5;
-	break;
-      }
-      else {
-	MSG_WAR(0x3008, "  Not on synchro or not at this SYNC. Trans type : ", 
-		*pTransmissionType);
-	pdoNum++;
-	offsetObjdict++;
-	offsetObjdictMap++;
-	status = state11;
-	break;
-      }      
-    case state5:	/* get PDO CobId */
-        pwCobId = (UNS32*) d->objdict[offsetObjdict].pSubindex[1].pObject;     
-	MSG_WAR(0x3009, "  PDO CobId is : ", *pwCobId);
-	status = state7;
-	break;     
-    case state7:  /* get mapped objects number to transmit with this PDO */
-      pMappingCount = (UNS8*) d->objdict[offsetObjdictMap].pSubindex[0].pObject;
-	MSG_WAR(0x300D, "  Number of objects mapped : ",*pMappingCount );
-	status = state8;
-    case state8:	/* get mapping parameters */
-      pMappingParameter = (UNS32*) d->objdict[offsetObjdictMap].pSubindex[prp_j + 1].pObject;
-	MSG_WAR(0x300F, "  got mapping parameter : ", *pMappingParameter);
-	MSG_WAR(0x3050, "    at index : ", 0x1A00 + pdoNum);
-	MSG_WAR(0x3051, "    sub-index : ", prp_j + 1);
-	status = state9;
-    
-    case state9:	/* get data to transmit */ 
-	{
-	  UNS8 ByteSize;
-	  UNS8 tmp[]= {0,0,0,0,0,0,0,0};
-	  index = (UNS16)((*pMappingParameter) >> 16);
-          subIndex = (UNS8)(( (*pMappingParameter) >> (UNS8)8 ) & (UNS32)0x000000FF);
-	  Size = (UNS8)(*pMappingParameter); /* Size in bits */
-	  ByteSize = 1 + ((Size - 1) >> 3); /*1->8 => 1 ; 9->16 => 2, ... */
-	  objDict = getODentry(d, index, subIndex, tmp, &ByteSize, &dataType, 0 );
-	  /* copy bit per bit in little endian*/
-	  CopyBits(Size, ((UNS8*)tmp), 0 , 0, (UNS8*)&d->process_var.data[offset>>3], offset%8, 0);
-	}   
-        if( objDict != OD_SUCCESSFUL ){
-          MSG_ERR(0x1013, " Couldn't find mapped variable at index-subindex-size : ", (UNS16)(*pMappingParameter));
-          return 0xFF;
-        }
-	
-	offset += Size ;
-	d->process_var.count = 1 + ((offset - 1) >> 3);
-	prp_j++;
-	status = state10;	 
-	break;					
-      
-    case state10:	/* loop to get all the data to transmit */
-      if( prp_j < *pMappingCount ){
-	MSG_WAR(0x3014, "  next variable mapped : ", prp_j);
-	status = state8;
-	break;
-      }
-      else {
-	MSG_WAR(0x3015, "  End scan mapped variable", 0);
-	PDOmGR( d, *pwCobId );	
-	MSG_WAR(0x3016, "  End of this pdo. Should have been sent", 0);
-	pdoNum++;
-	offsetObjdict++;
-	offsetObjdictMap++;
-	offset = 0x00;
-	prp_j = 0x00;
-	status = state11;
-	break;
-      }
-      
-    case state11:     
-      MSG_WAR(0x3017, "next pdo index : ", pdoNum);
-      status = state3;
-      break;
-      
-    default:
-      MSG_ERR(0x1019,"Unknown state has been reached : %d",status);
-      return 0xFF;
-    }/* end switch case */
-    
-  }/* end while( prp_i<dict_cstes.max_count_of_PDO_transmit ) */
-   
-  (*d->post_TPDO)();
-
-  return 0;
+  return res;
+  
 }