sync.c

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include "data.h"
#include "sync.h"
#include "canfestival.h"

/* Prototypes for internals functions */

void SyncAlarm(CO_Data* d, UNS32 id);
UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, 
        UNS8 unsused_bSubindex);

void SyncAlarm(CO_Data* d, UNS32 id)
{
        sendSYNC(d, *d->COB_ID_Sync & 0x1FFFFFFF) ;
}

UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
{
        startSYNC(d);
        return 0;
}

void startSYNC(CO_Data* d)
{
        RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
        RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);

        if(d->syncTimer != TIMER_NONE){
                stopSYNC(d);
        }
        
        if(*d->COB_ID_Sync & 0x40000000 && *d->Sync_Cycle_Period)
        {
                d->syncTimer = SetAlarm(
                                d,
                                0 /*No id needed*/,
                                &SyncAlarm,
                                US_TO_TIMEVAL(*d->Sync_Cycle_Period), 
                                US_TO_TIMEVAL(*d->Sync_Cycle_Period));
        }
}

void stopSYNC(CO_Data* d)
{
        d->syncTimer = DelAlarm(d->syncTimer);
}

UNS8 sendSYNC(CO_Data* d, UNS32 cob_id)
{
  Message m;
  UNS8 resultat ;
  
  MSG_WAR(0x3001, "sendSYNC ", 0);
  
  m.cob_id.w = cob_id ;
  m.rtr = NOT_A_REQUEST;
  m.len = 0;
  resultat = canSend(d->canHandle,&m) ;
  proceedSYNC(d, &m) ; 
  return resultat ;
}

UNS8 proceedSYNC(CO_Data* d, Message *m)
{

  UNS8 res;
  
  MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
  
  (*d->post_sync)();

  /* only operational state allows PDO transmission */
  if(! d->CurrentCommunicationState.csPDO) 
    return 0;

  res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
  
  /*Call user app callback*/
  (*d->post_TPDO)();
  
  return res;
  
}


void _post_sync(){}
void _post_TPDO(){}

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