CO_SYNC.h

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#ifndef CO_SYNC_H
#define CO_SYNC_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SYNC
#define CO_CONFIG_SYNC                                                                                                 \
    (CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE                           \
     | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
 
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
    CO_EM_t* em;             
    volatile void* CANrxNew; 
    uint8_t receiveError;    
    bool_t CANrxToggle;      
    uint8_t timeoutError;    
    uint8_t counterOverflowValue; 
    uint8_t counter;              
    bool_t syncIsOutsideWindow;   
    uint32_t timer;               
    uint32_t* OD_1006_period;     
    uint32_t* OD_1007_window;     
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
    bool_t isProducer;        
    CO_CANmodule_t* CANdevTx; 
    CO_CANtx_t* CANtxBuff;    
#endif
 
#if ((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
    CO_CANmodule_t* CANdevRx;         
    uint16_t CANdevRxIdx;             
    OD_extension_t OD_1005_extension; 
    uint16_t CAN_ID;                  
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
    uint16_t CANdevTxIdx;             
    OD_extension_t OD_1019_extension; 
#endif
#endif
 
#if (((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
} CO_SYNC_t;
 
typedef enum {
    CO_SYNC_NONE = 0,         
    CO_SYNC_RX_TX = 1,        
    CO_SYNC_PASSED_WINDOW = 2 
} CO_SYNC_status_t;
 
CO_ReturnError_t CO_SYNC_init(CO_SYNC_t* SYNC, CO_EM_t* em, OD_entry_t* OD_1005_cobIdSync,
                              OD_entry_t* OD_1006_commCyclePeriod, OD_entry_t* OD_1007_syncWindowLen,
                              OD_entry_t* OD_1019_syncCounterOvf, CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx,
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
                              CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx,
#endif
                              uint32_t* errInfo);
 
#if (((CO_CONFIG_SYNC)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_SYNC_initCallbackPre(CO_SYNC_t* SYNC, void* object, void (*pFunctSignalPre)(void* object));
#endif
 
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_PRODUCER) != 0) || defined CO_DOXYGEN
static inline CO_ReturnError_t
CO_SYNCsend(CO_SYNC_t* SYNC) {
    if (++SYNC->counter > SYNC->counterOverflowValue) {
        SYNC->counter = 1;
    }
    SYNC->timer = 0;
    SYNC->CANrxToggle = SYNC->CANrxToggle ? false : true;
    SYNC->CANtxBuff->data[0] = SYNC->counter;
    return CO_CANsend(SYNC->CANdevTx, SYNC->CANtxBuff);
}
#endif
 
CO_SYNC_status_t CO_SYNC_process(CO_SYNC_t* SYNC, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
                                 uint32_t* timerNext_us);
 
 /* CO_SYNC */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE */
 
#endif /* CO_SYNC_H */