Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/** @defgroup synco Synchronisation Object
+ * SYNC object is a CANopen message forcing the receiving nodes to sample the inputs mapped into synchronous TPDOS.
+ * Receiving this message cause the node to set the outputs to values received in the previous synchronous RPDO.
+ * @ingroup comobj
+ */
+
#ifndef __SYNC_h__
#define __SYNC_h__
void stopSYNC(CO_Data* d);
-typedef void (*post_sync_t)(void);
-void _post_sync(void);
+typedef void (*post_sync_t)(CO_Data*);
+void _post_sync(CO_Data* d);
-typedef void (*post_TPDO_t)(void);
-void _post_TPDO(void);
+typedef void (*post_TPDO_t)(CO_Data*);
+void _post_TPDO(CO_Data* d);
-/** transmit a SYNC message and trigger sync TPDOs
+/**
+ * @brief Transmit a SYNC message and trigger sync TPDOs
+ * @param *d Pointer on a CAN object data structure
+ * @return
*/
UNS8 sendSYNC (CO_Data* d);
-/** transmit a SYNC message on CAN bus
+
+/**
+ * @brief Transmit a SYNC message on CAN bus
+ * @param *d Pointer on a CAN object data structure
+ * @return
*/
UNS8 sendSYNCMessage(CO_Data* d);
-/** This function is called when the node is receiving a SYNC message (cob-id = 0x80).
- * - check if the node is in OERATIONAL mode. (other mode : return 0 but does nothing).
+/**
+ * @brief This function is called when the node is receiving a SYNC message (cob-id = 0x80).
+ * - 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
- * - return 0 if OK, 0xFF if error
+ * @param *d Pointer on a CAN object data structure
+ * @return 0 if OK, 0xFF if error
*/
UNS8 proceedSYNC (CO_Data* d);