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sync.cpp
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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
*/
/*!
** @file sync.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 09:32:32 2007
**
** @brief
**
**
*/
#include "data.h"
#include "sync.h"
#include "sysdep.h"
/* Prototypes for internals functions */
#ifdef INCLUDE_SYNC_FUNCTIONS
/*!
**
**
** @param d
** @param id
**/
void SyncAlarm(UNS32 id);
UNS32 OnCOB_ID_SyncUpdate(const indextable * unsused_indextable,
UNS8 unsused_bSubindex);
/*!
**
**
** @param d
** @param id
**/
void SyncAlarm(UNS32 id)
{
sendSYNC(d);
}
/*!
** This is called when Index 0x1005 is updated.
**
** @param d
** @param unsused_indextable
** @param unsused_bSubindex
**
** @return
**/
UNS32 OnCOB_ID_SyncUpdate(const subindex * OD_entry, UNS16 bIndex, UNS8 bSubindex, UNS8 writeAccess) {
startSYNC();
return 0;
}
/*!
**
**
** @param d
**/
void startSYNC()
{
if(ObjDict_Data->syncTimer != TIMER_NONE) {
stopSYNC();
}
RegisterSetODentryCallBack(ObjDict_Data, 0x1005, 0, &OnCOB_ID_SyncUpdate);
RegisterSetODentryCallBack(ObjDict_Data, 0x1006, 0, &OnCOB_ID_SyncUpdate);
if(COB_ID_Sync & 0x40000000ul && Sync_Cycle_Period)
{
ObjDict_Data->syncTimer = SetAlarm(
0 /*No id needed*/,
&SyncAlarm,
MS_TO_TIMEVAL(*ObjDict_Data->Sync_Cycle_Period/1000),
MS_TO_TIMEVAL(*ObjDict_Data->Sync_Cycle_Period/1000));
}
}
/*!
**
**
** @param d
**/
void stopSYNC()
{
RegisterSetODentryCallBack(ObjDict_Data, 0x1005, 0, NULL);
RegisterSetODentryCallBack(ObjDict_Data, 0x1006, 0, NULL);
ObjDict_Data->syncTimer = DelAlarm(ObjDict_Data->syncTimer);
}
/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendSYNCMessage()
{
Message m;
MSG_WAR(0x3001, "sendSYNC ", 0);
m.cob_id = (UNS16)UNS16_LE(COB_ID_Sync);
m.rtr = NOT_A_REQUEST;
m.len = 0;
return canSend(&m);
}
/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendSYNC()
{
UNS8 res;
res = sendSYNCMessage(d);
proceedSYNC(d);
return res;
}
#else
void startSYNC() {
}
void stopSYNC() {
}
#endif
/*!
**
**
** @param d
** @param m
**
** @return
**/
UNS8 proceedSYNC() {
UNS8 res;
MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
(*ObjDict_Data.post_sync)();
/* only operational state allows PDO transmission */
if (!ObjDict_Data.CurrentCommunicationState.csPDO)
return 0;
res = _sendPDOevent(1 /*isSyncEvent*/);
/*Call user app callback*/
(*ObjDict_Data.post_TPDO)();
return res;
}
void _post_sync() {
}
void _post_TPDO() {
}