/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendSYNC(CO_Data* d)
{
UNS8 res;
res = sendSYNCMessage(d);
proceedSYNC(d) ;
return res ;
}
/*!
**
**
** @param d
** @param m
**/
void canDispatch(CO_Data* d, Message *m)
{
UNS16 cob_id = UNS16_LE(m->cob_id);
switch (cob_id >> 7) {
case SYNC: /* can be a SYNC or a EMCY message */
if (cob_id == 0x080) { /* SYNC */
if (d->CurrentCommunicationState.csSYNC)
proceedSYNC(d);
} else /* EMCY */
if (d->CurrentCommunicationState.csEmergency)
proceedEMCY(d, m);
break;
/* case TIME_STAMP: */
case PDO1tx:
case PDO1rx:
case PDO2tx:
case PDO2rx:
case PDO3tx:
case PDO3rx:
case PDO4tx:
case PDO4rx:
if (d->CurrentCommunicationState.csPDO)
proceedPDO(d, m);
break;
case SDOtx:
case SDOrx:
if (d->CurrentCommunicationState.csSDO)
proceedSDO(d, m);
break;
case NODE_GUARD:
if (d->CurrentCommunicationState.csHeartbeat)
proceedNODE_GUARD(d, m);
break;
case NMT:
if (*(d->iam_a_slave)) {
proceedNMTstateChange(d, m);
}
#ifdef CO_ENABLE_LSS
case LSS:
if (!d->CurrentCommunicationState.csLSS)break;
if ((*(d->iam_a_slave)) && cob_id == MLSS_ADRESS) {
proceedLSS_Slave(d, m);
} else if (!(*(d->iam_a_slave)) && cob_id == SLSS_ADRESS) {
proceedLSS_Master(d, m);
}
break;
#endif
}
}
