com_demo_sync.c

---

//============================================================================//
// File:          com_demo_sync.c                                             //
// Description:   Examples for SYNC service in CANopen Master stack           //
//                                                                            //
// Copyright (C) MicroControl GmbH & Co. KG                                   //
// 53844 Troisdorf - Germany                                                  //
// www.microcontrol.net                                                       //
//                                                                            //
//----------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of         //
// MicroControl GmbH & Co. KG, Germany. The program(s) may be used            //
// and/or copied only with the written permission of MicroControl GmbH &      //
// Co. KG or in accordance with the terms and conditions stipulated in        //
// the agreement/contract under which the program(s) have been supplied.      //
//                                                                            //
//============================================================================//



#include "com_sync.h"

#if COM_SYNC_SUPPORT > 0

//----------------------------------------------------------------------------//
// ComDemoSyncCounter()                                                       //
// Start SYNC with identifier 201h and SYNC counter, cycle time 20 ms         //
//----------------------------------------------------------------------------//
ComStatus_tv ComDemoSyncCounter(uint8_t ubNetV)
{
   ComStatus_tv   tvStatusT;

   //----------------------------------------------------------------
   // disable the SYNC service, otherwise we can't change the
   // identifier value
   //
   tvStatusT = ComSyncEnable(ubNetV, 0);
   if(tvStatusT != eCOM_ERR_OK)
   {
      return(tvStatusT);
   }

   //----------------------------------------------------------------
   // now set the identifier to 201h
   //
   tvStatusT = ComSyncSetId(ubNetV, 0x0201);
   if(tvStatusT != eCOM_ERR_OK)
   {
      return (tvStatusT);
   }

   //----------------------------------------------------------------
   // the SYNC counter shall run from 1 .. 32
   //
   tvStatusT = ComSyncSetCounter(ubNetV, 32);
   if(tvStatusT != eCOM_ERR_OK)
   {
      return (tvStatusT);
   }

   //----------------------------------------------------------------
   // set the cycle time to 20 ms
   // we don't check the return value here because nothing
   // bad can happen at this stage
   //
   ComSyncSetCycleTime(ubNetV, 20000);

   //----------------------------------------------------------------
   // enable the SYNC service again
   //
   ComSyncEnable(ubNetV, 1);

   return(tvStatusT);
}  // ComDemoSyncCounter


//----------------------------------------------------------------------------//
// ComDemoSyncStart()                                                         //
// Start SYNC with default identifier and 500 milliseconds cycle time         //
//----------------------------------------------------------------------------//
ComStatus_tv ComDemoSyncStart(uint8_t ubNetV)
{
   ComStatus_tv   tvStatusT;

   //----------------------------------------------------------------
   // set the cycle time to 500 ms
   //
   tvStatusT = ComSyncSetCycleTime(ubNetV, 500000);
   if(tvStatusT != eCOM_ERR_OK)
   {
      return(tvStatusT);
   }

   //----------------------------------------------------------------
   // enable the SYNC service
   //
   tvStatusT = ComSyncEnable(ubNetV, 1);

   return(tvStatusT);
}  // ComDemoSyncStart

#endif