From 1de453c92fdbf4d32064cb0cb04180b948acf904 Mon Sep 17 00:00:00 2001
From: Janez <janez.paternoster@siol.net>
Date: Fri, 31 Jan 2020 12:25:22 +0100
Subject: [PATCH] Update CO_SYNC.c

`*timerNext_us` added also to 'Verify timeout'
---
 stack/CO_SYNC.c | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/stack/CO_SYNC.c b/stack/CO_SYNC.c
index c299ef0..3de1f9f 100644
--- a/stack/CO_SYNC.c
+++ b/stack/CO_SYNC.c
@@ -363,8 +363,17 @@ uint8_t CO_SYNC_process(
         }
 
         /* Verify timeout of SYNC */
-        if(SYNC->periodTime && SYNC->timer > SYNC->periodTimeoutTime && *SYNC->operatingState == CO_NMT_OPERATIONAL)
-            CO_errorReport(SYNC->em, CO_EM_SYNC_TIME_OUT, CO_EMC_COMMUNICATION, SYNC->timer);
+        if(SYNC->periodTime && *SYNC->operatingState == CO_NMT_OPERATIONAL) {
+            if(SYNC->timer > SYNC->periodTimeoutTime) {
+                CO_errorReport(SYNC->em, CO_EM_SYNC_TIME_OUT, CO_EMC_COMMUNICATION, SYNC->timer);
+            }
+            else if(timerNext_us != NULL) {
+                uint32_t diff = SYNC->periodTimeoutTime - SYNC->timer;
+                if(*timerNext_us > diff){
+                    *timerNext_us = diff;
+                }
+            }
+        }
     }
     else {
         CO_CANrxNew_CLEAR(SYNC->CANrxNew);