CO_master.h

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#ifndef CO_MASTER_H
#define CO_MASTER_H


#include "CO_driver.h"
#include "CO_SDO.h"
#include "CO_SDOmaster.h"
#include <pthread.h>


extern pthread_mutex_t CO_CAN_VALID_mtx; /* from main */
extern volatile uint32_t CO_timer1ms;    /* from main */


int sdoClientUpload(
        CO_SDOclient_t *SDOclient,
        uint8_t         nodeID,
        uint16_t        idx,
        uint8_t         subidx,
        uint8_t        *dataRx,
        uint32_t        dataRxSize,
        uint32_t       *dataRxLen,
        uint32_t       *SDOabortCode,
        uint16_t        SDOtimeoutTime,
        uint8_t         blockTransferEnable);


int sdoClientDownload(
        CO_SDOclient_t *SDOclient,
        uint8_t         nodeID,
        uint16_t        idx,
        uint8_t         subidx,
        uint8_t        *dataTx,
        uint32_t        dataTxLen,
        uint32_t       *SDOabortCode,
        uint16_t        SDOtimeoutTime,
        uint8_t         blockTransferEnable);


#endif