sync.h

/*
 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
 */

/** @defgroup synco Synchronisation Object
 *  SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
 *  Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
 *  @ingroup comobj
 */

#ifndef __SYNC_h__
#define __SYNC_h__

void startSYNC();

void stopSYNC();

typedef void (*post_sync_t)();
void _post_sync();

typedef void (*post_TPDO_t)();
void _post_TPDO();

/** 
 * @brief Transmit a SYNC message and trigger sync TPDOs
 * @param *d Pointer on a CAN object data structure
 * @return
 */
UNS8 sendSYNC();

/** 
 * @brief Transmit a SYNC message on CAN bus
 * @param *d Pointer on a CAN object data structure
 * @return
 */
UNS8 sendSYNCMessage();

/** 
 * @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).
 *  - Check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
 *  - Get the SYNC cobId by reading the dictionary index 1005, check it does correspond to the received cobId
 *  - Trigger sync TPDO emission 
 * @param *d Pointer on a CAN object data structure
 * @return 0 if OK, 0xFF if error 
 */
UNS8 proceedSYNC();

#endif