sync.c

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#include "data.h"
#include "sync.h"
#include "canfestival.h"
#include "sysdep.h"
#include "ObjDict.h"
 
#include "app.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) ;
}
 
 
UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
{
    startSYNC(d);
    return 0;
}
 
void startSYNC(CO_Data* d)
{
    if(d->syncTimer != TIMER_NONE){
        stopSYNC(d);
    }
 
    RegisterSetODentryCallBack(d, 0x1005, 0, &OnCOB_ID_SyncUpdate);
    RegisterSetODentryCallBack(d, 0x1006, 0, &OnCOB_ID_SyncUpdate);
 
    if(*d->COB_ID_Sync & 0x00000080ul && *d->Sync_Cycle_Period)
    {
        d->syncTimer = SetAlarm(
                d,
                0 /*No id needed*/,
                &SyncAlarm,
                MS_TO_TIMEVAL(*d->Sync_Cycle_Period),
                MS_TO_TIMEVAL(*d->Sync_Cycle_Period));
    }
}
 
void stopSYNC(CO_Data* d)
{
    RegisterSetODentryCallBack(d, 0x1005, 0, NULL);
    RegisterSetODentryCallBack(d, 0x1006, 0, NULL);
    d->syncTimer = DelAlarm(d->syncTimer);
}
 
 
UNS8 sendSYNCMessage(CO_Data* d)
{
  Message m;
 
  MSG_WAR(0x3001, "sendSYNC ", 0);
 
  m.cob_id = UNS16_LE(*d->COB_ID_Sync);
  m.rtr = NOT_A_REQUEST;
  m.len = 0;
 
  return canSend(d->canHandle, &m);
}
 
 
UNS8 sendSYNC(CO_Data* d)
{
  UNS8 res;
  res = sendSYNCMessage(d);
  processSYNC(d, NULL) ;
  return res ;
}
 
UNS8 processSYNC(CO_Data* d, Message* m)
{
 
  UNS8 res;
 
  MSG_WAR(0x3002, "SYNC received. Proceed. ", 0);
 
  (*d->post_sync)(d);
 
  /* only operational state allows PDO transmission */
  if(! d->CurrentCommunicationState.csPDO)
    return 0;
 
  if(m) //if there is a non-NULL message, let the App use the message
    processSYNCMessageForApp(m);
 
  res = _sendPDOevent(d, 1 /*isSyncEvent*/ );
 
  /*Call user app callback*/
  (*d->post_TPDO)(d);
 
  return res;
 
}
 
void _post_sync(CO_Data* d){}
 
void _post_TPDO(CO_Data* d){}