Merge branch 'master' of https://github.com/CANopenNode/CANopenNode

301/CO_HBconsumer.c

@@ -332,6 +332,7 @@ void CO_HBconsumer_process(
 
             if (monitoredNode->HBstate == CO_HBconsumer_UNCONFIGURED) {
                 /* continue, if node is not monitored */
+                monitoredNode++;
                 continue;
             }
             /* Verify if received message is heartbeat or bootup */

301/CO_PDO.c

@@ -889,7 +889,7 @@ uint8_t CO_TPDOisCOS(CO_TPDO_t *TPDO){
 }
 
 /******************************************************************************/
-int16_t CO_TPDOsend(CO_TPDO_t *TPDO){
+CO_ReturnError_t CO_TPDOsend(CO_TPDO_t *TPDO){
     int16_t i;
     uint8_t* pPDOdataByte;
     uint8_t** ppODdataByte;

301/CO_PDO.h

@@ -396,7 +396,7 @@ uint8_t CO_TPDOisCOS(CO_TPDO_t *TPDO);
  *
  * @return Same as CO_CANsend().
  */
-int16_t CO_TPDOsend(CO_TPDO_t *TPDO);
+CO_ReturnError_t CO_TPDOsend(CO_TPDO_t *TPDO);
 
 
 /**

301/CO_SYNC.c

@@ -346,6 +346,14 @@ void CO_SYNC_initCallbackPre(
 }
 #endif
 
+/******************************************************************************/
+CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC){
+    if(++SYNC->counter > SYNC->counterOverflowValue) SYNC->counter = 1;
+    SYNC->timer = 0;
+    SYNC->CANrxToggle = SYNC->CANrxToggle ? false : true;
+    SYNC->CANtxBuff->data[0] = SYNC->counter;
+    return CO_CANsend(SYNC->CANdevTx, SYNC->CANtxBuff);
+}
 
 /******************************************************************************/
 CO_SYNC_status_t CO_SYNC_process(
@@ -374,12 +382,8 @@ CO_SYNC_status_t CO_SYNC_process(
         /* SYNC producer */
         if(SYNC->isProducer && SYNC->periodTime){
             if(SYNC->timer >= SYNC->periodTime){
-                if(++SYNC->counter > SYNC->counterOverflowValue) SYNC->counter = 1;
-                SYNC->timer = 0;
                 ret = CO_SYNC_RECEIVED;
-                SYNC->CANrxToggle = SYNC->CANrxToggle ? false : true;
+                CO_SYNCsend(SYNC);
-                SYNC->CANtxBuff->data[0] = SYNC->counter;
-                CO_CANsend(SYNC->CANdevTx, SYNC->CANtxBuff);
             }
 #if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_TIMERNEXT
             /* Calculate when next SYNC needs to be sent */
@@ -409,10 +413,13 @@ CO_SYNC_status_t CO_SYNC_process(
         }
 
         /* Verify timeout of SYNC */
-        if(SYNC->periodTime && *SYNC->operatingState == CO_NMT_OPERATIONAL) {
+        if(SYNC->periodTime && (*SYNC->operatingState == CO_NMT_OPERATIONAL || *SYNC->operatingState == CO_NMT_PRE_OPERATIONAL)){
             if(SYNC->timer > SYNC->periodTimeoutTime) {
                 CO_errorReport(SYNC->em, CO_EM_SYNC_TIME_OUT, CO_EMC_COMMUNICATION, SYNC->timer);
             }
+            else {
+                CO_errorReset(SYNC->em, CO_EM_SYNC_TIME_OUT, CO_EMC_COMMUNICATION);
+            }
 #if (CO_CONFIG_SYNC) & CO_CONFIG_FLAG_TIMERNEXT
             else if(timerNext_us != NULL) {
                 uint32_t diff = SYNC->periodTimeoutTime - SYNC->timer;

301/CO_SYNC.h

@@ -178,6 +178,21 @@ void CO_SYNC_initCallbackPre(
 #endif
 
 
+/**
+ * Send SYNC message.
+ *
+ * This function prepares and sends a SYNC object. The application should only
+ * call this if direct control of SYNC transmission is needed, otherwise use
+ * CO_SYNC_process().
+ *
+ *
+ * @param TPDO TPDO object.
+ *
+ * @return Same as CO_CANsend().
+ */
+CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC);
+
+
 /**
  * Process SYNC communication.
  *

doc/deviceSupport.md

@@ -48,12 +48,12 @@ Zephyr RTOS
 * CANopenNode integration with Zephyr RTOS
 * https://github.com/zephyrproject-rtos/zephyr/tree/master/subsys/canbus/canopen
 * Example integration: https://docs.zephyrproject.org/latest/samples/subsys/canbus/canopen/README.html
-* CANopenNode version:
+* CANopenNode version: v1.3
 * Status: stable
-* Features: OD storage, LED indicators, SDO server demo for Zephyr RTOS
+* Features: OD storage, LED indicators, Program Download, SDO server demo for Zephyr RTOS
 * Development tools: Zephyr SDK
 * Demo hardware: Any development board with CAN interface and Zephyr support (see https://docs.zephyrproject.org/latest/boards/index.html)
-* Information updated 2020-01-21
+* Information updated 2020-09-28
 
 
 Mbed-os RTOS + STM32 (F091RC, L496ZG)