sync

Documentation

Index

• Constants
• type SYNC
  • func NewSYNC(bm *canopen.BusManager, emergency *emergency.EMCY, entry1005 *od.Entry, ...) (*SYNC, error)
  • func (sync *SYNC) Counter() uint8
  • func (sync *SYNC) CounterOverflow() uint8
  • func (sync *SYNC) Handle(frame canopen.Frame)
  • func (sync *SYNC) Process(nmtIsPreOrOperational bool, timeDifferenceUs uint32, timerNextUs *uint32) uint8
  • func (sync *SYNC) RxToggle() bool

Constants

const (
	EventNone         uint8 = 0 // No SYNC event in last cycle
	EventRxOrTx       uint8 = 1 // SYNC message was received or transmitted in last cycle
	EventPassedWindow uint8 = 2 // Time has just passed SYNC window in last cycle (0x1007)
)

Types

type SYNC

type SYNC struct {
	*canopen.BusManager
	// contains filtered or unexported fields
}

func NewSYNC

func NewSYNC(
	bm *canopen.BusManager,
	emergency *emergency.EMCY,
	entry1005 *od.Entry,
	entry1006 *od.Entry,
	entry1007 *od.Entry,
	entry1019 *od.Entry,
) (*SYNC, error)

func (*SYNC) Counter

func (sync *SYNC) Counter() uint8

func (*SYNC) CounterOverflow

func (sync *SYNC) CounterOverflow() uint8

func (*SYNC) Handle

func (sync *SYNC) Handle(frame canopen.Frame)

Handle SYNC related RX CAN frames

func (*SYNC) Process

func (sync *SYNC) Process(nmtIsPreOrOperational bool, timeDifferenceUs uint32, timerNextUs *uint32) uint8

Process SYNC state machine and TX CAN frames It returns the according sync event This should be called periodically

func (*SYNC) RxToggle

func (sync *SYNC) RxToggle() bool