SYNC

Collaboration diagram for SYNC:

Functions
void	SyncAlarm (CO_Data *d, UNS32 id)
	<BRIEF> SyncAlarm
UNS32	OnCOB_ID_SyncUpdate (CO_Data *d, const indextable *unsused_indextable, UNS8 unsused_bSubindex)
	This is called when Index 0x1005 is updated.
void	startSYNC (CO_Data *d)
	<BRIEF> startSYNC
void	stopSYNC (CO_Data *d)
	<BRIEF> stopSYNC
UNS8	sendSYNCMessage (CO_Data *d)
	Transmit a SYNC message on CAN bus.
UNS8	sendSYNC (CO_Data *d)
	Transmit a SYNC message and trigger sync TPDOs.
UNS8	processSYNC (CO_Data *d, Message *m)
	This function is called when the node is receiving a SYNC message (cob-id = 0x80).
void	_post_sync (CO_Data *d)
	<BRIEF> _post_sync
void	_post_TPDO (CO_Data *d)
	<BRIEF> _post_TPDO

Detailed Description

Function Documentation

_post_sync()

void _post_sync

(

CO_Data *

d

)

<BRIEF> _post_sync

Parameters

*d	Pointer on a CAN object data structure

Definition at line 165 of file sync.c.

_post_TPDO()

void _post_TPDO

(

CO_Data *

d

)

<BRIEF> _post_TPDO

Parameters

*d	Pointer on a CAN object data structure

Definition at line 172 of file sync.c.

OnCOB_ID_SyncUpdate()

UNS32 OnCOB_ID_SyncUpdate	(	CO_Data *	d,
		const indextable *	unsused_indextable,
		UNS8	unsused_bSubindex )

This is called when Index 0x1005 is updated.

Parameters

*d	Pointer on a CAN object data structure
unsused_indextable
unsused_bSubindex

Returns

Definition at line 47 of file sync.c.

Referenced by startSYNC().

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processSYNC()

UNS8 processSYNC	(	CO_Data *	d,
		Message *	m )

This function is called when the node is receiving a SYNC message (cob-id = 0x80).

• Modified from original CANFestival code to include reading a message from the SYNC object
• 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

  Parameters

  *d	Pointer on a CAN object data structure

  Returns

  0 if OK, 0xFF if error

Definition at line 135 of file sync.c.

Referenced by canDispatch(), and sendSYNC().

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sendSYNC()

UNS8 sendSYNC

(

CO_Data *

d

)

Transmit a SYNC message and trigger sync TPDOs.

Parameters

*d	Pointer on a CAN object data structure

Returns

Definition at line 117 of file sync.c.

Referenced by SyncAlarm().

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sendSYNCMessage()

UNS8 sendSYNCMessage

(

CO_Data *

d

)

Transmit a SYNC message on CAN bus.

Parameters

*d	Pointer on a CAN object data structure

Returns

Definition at line 97 of file sync.c.

Referenced by sendSYNC().

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startSYNC()

void startSYNC

(

CO_Data *

d

)

<BRIEF> startSYNC

Parameters

*d	Pointer on a CAN object data structure

Definition at line 58 of file sync.c.

Referenced by OnCOB_ID_SyncUpdate(), processNMTstateChange(), and switchCommunicationState().

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stopSYNC()

void stopSYNC

(

CO_Data *

d

)

<BRIEF> stopSYNC

Parameters

*d	Pointer on a CAN object data structure

Definition at line 83 of file sync.c.

Referenced by processNMTstateChange(), startSYNC(), and switchCommunicationState().

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SyncAlarm()

void SyncAlarm	(	CO_Data *	d,
		UNS32	id )

<BRIEF> SyncAlarm

Parameters

*d	Pointer on a CAN object data structure
id	not used

Definition at line 33 of file sync.c.

Referenced by startSYNC().

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