CO_SYNC.h

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#ifndef CO_SYNC_H
#define CO_SYNC_H
 
#include "301/CO_driver.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SYNC
#define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER)
#endif
 
#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct{
    CO_EM_t            *em;             
    CO_NMT_internalState_t *operatingState; 
    bool_t              isProducer;
    uint16_t            COB_ID;
    uint32_t            periodTime;
    uint32_t            periodTimeoutTime;
    uint8_t             counterOverflowValue;
    bool_t              curentSyncTimeIsInsideWindow;
    volatile void      *CANrxNew;
    bool_t              CANrxToggle;
    uint8_t             counter;
    uint32_t            timer;
    uint16_t            receiveError;
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void              (*pFunctSignalPre)(void *object);
    void               *functSignalObjectPre;
#endif
    CO_CANmodule_t     *CANdevRx;       
    uint16_t            CANdevRxIdx;    
    CO_CANmodule_t     *CANdevTx;       
    CO_CANtx_t         *CANtxBuff;      
    uint16_t            CANdevTxIdx;    
}CO_SYNC_t;
 
 
typedef enum {
    CO_SYNC_NONE            = 0, 
    CO_SYNC_RECEIVED        = 1, 
    CO_SYNC_OUTSIDE_WINDOW  = 2  
} CO_SYNC_status_t;
 
 
CO_ReturnError_t CO_SYNC_init(
        CO_SYNC_t              *SYNC,
        CO_EM_t                *em,
        CO_SDO_t               *SDO,
        CO_NMT_internalState_t *operatingState,
        uint32_t                COB_ID_SYNCMessage,
        uint32_t                communicationCyclePeriod,
        uint8_t                 synchronousCounterOverflowValue,
        CO_CANmodule_t         *CANdevRx,
        uint16_t                CANdevRxIdx,
        CO_CANmodule_t         *CANdevTx,
        uint16_t                CANdevTxIdx);
 
 
#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
void CO_SYNC_initCallbackPre(
        CO_SYNC_t              *SYNC,
        void                   *object,
        void                  (*pFunctSignalPre)(void *object));
#endif
 
 
CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC);
 
 
CO_SYNC_status_t CO_SYNC_process(
        CO_SYNC_t              *SYNC,
        uint32_t                timeDifference_us,
        uint32_t                ObjDict_synchronousWindowLength,
        uint32_t               *timerNext_us);
 /* CO_SYNC */
 
#ifdef __cplusplus
}
#endif /*__cplusplus*/
 
#endif /* (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE */
 
#endif /* CO_SYNC_H */