2 This file is part of CanFestival, a library implementing CanOpen Stack.
4 Copyright (C): Jorge Berzosa
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
26 #define SLSS_ADRESS 0x7E4
27 #define MLSS_ADRESS 0x7E5
29 #define LSS_MSG_TIMER 0
30 #define LSS_SWITCH_DELAY_TIMER 1
33 #define SDELAY_FIRST 1
34 #define SDELAY_SECOND 2
36 #define LSS_WAITING_MODE 0
37 #define LSS_CONFIGURATION_MODE 1
39 /* Switch mode services */
40 #define LSS_SM_GLOBAL 4
41 #define LSS_SM_SELECTIVE_VENDOR 64
42 #define LSS_SM_SELECTIVE_PRODUCT 65
43 #define LSS_SM_SELECTIVE_REVISION 66
44 #define LSS_SM_SELECTIVE_SERIAL 67
45 #define LSS_SM_SELECTIVE_RESP 68
46 /* Configuration services */
47 #define LSS_CONF_NODE_ID 17
48 #define LSS_CONF_BIT_TIMING 19
49 #define LSS_CONF_ACT_BIT_TIMING 21
50 #define LSS_CONF_STORE 23
51 /* Inquire services */
52 #define LSS_INQ_VENDOR_ID 90
53 #define LSS_INQ_PRODUCT_CODE 91
54 #define LSS_INQ_REV_NUMBER 92
55 #define LSS_INQ_SERIAL_NUMBER 93
56 #define LSS_INQ_NODE_ID 94
57 /* Identification services */
58 #define LSS_IDENT_REMOTE_VENDOR 70
59 #define LSS_IDENT_REMOTE_PRODUCT 71
60 #define LSS_IDENT_REMOTE_REV_LOW 72
61 #define LSS_IDENT_REMOTE_REV_HIGH 73
62 #define LSS_IDENT_REMOTE_SERIAL_LOW 74
63 #define LSS_IDENT_REMOTE_SERIAL_HIGH 75
64 #define LSS_IDENT_REMOTE_NON_CONF 76
65 #define LSS_IDENT_SLAVE 79
66 #define LSS_IDENT_NON_CONF_SLAVE 80
67 #define LSS_IDENT_FASTSCAN 81
69 /*FastScan State Machine*/
70 #define LSS_FS_RESET 0
73 typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command);
75 typedef void (*lss_StoreConfiguration_t)(UNS8*,UNS8*);
76 //void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);
78 typedef void (*lss_ChangeBaudRate_t)(char*);
79 //void _lss_ChangeBaudRate(char *BaudRate);
82 struct struct_lss_transfer;
86 /* The Transfer structure
87 * Used to store the different fields of the internal state of the LSS
90 struct struct_lss_transfer {
91 UNS8 state; /* state of the transmission : Takes the values LSS_... */
92 UNS8 command; /* the LSS command of the transmision */
93 UNS8 mode; /* LSS mode */
95 UNS32 dat1; /* the data from the last msg received */
98 e_nodeState currentState; /* the state of the node before switching to LSSTimingDelay*/
99 UNS8 nodeID; /* the new nodeid stored to update the nodeid when switching to LSS operational*/
100 UNS8 addr_sel_match; /* the matching mask for the LSS Switch Mode Selective service */
101 UNS8 addr_ident_match; /* the matching mask for the LSS Identify Remote Slaves service*/
103 char *baudRate; /* the new baudrate stored to update the node baudrate when a Activate Bit
104 * Timing Parameters is received*/
105 UNS16 switchDelay; /* the period of the two delay */
106 UNS8 switchDelayState; /* the state machine for the switchDelay */
108 TIMER_HANDLE timers[2]; /* Time counters to implement a timeout in milliseconds.
109 * LSS_MSG_TIMER (index 0) is automatically incremented whenever
110 * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0
111 * when the response LSS have been received.
112 * LSS_SWITCH_DELAY_TIMER (index 1) is automatically incremented whenever
113 * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0
114 * when the two periods have been expired.
116 LSSCallback_t Callback; /* The user callback func to be called at LSS transaction end */
127 typedef struct struct_lss_transfer lss_transfer_t;
129 typedef UNS8 lss_transfer_t;
133 void startLSS(CO_Data* d);
134 void stopLSS(CO_Data* d);
137 /** transmit a LSS message
138 * Checks if the msg can be transmited (i.e. we are not in LssTimingDelay state)
139 * command is the LSS command specifier
140 * dat1 and dat2 are pointers to optional data (depend on command)
141 * return sendLSSMessage(d,command,dat1,dat2)
143 UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);
145 /** transmit a LSS message on CAN bus
146 * comamnd is the LSS command specifier
147 * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave.
148 * dat1 and dat2 are pointers to optional data (depend on command).
149 * return canSend(bus_id,&m)
152 UNS8 sendLSSMessage(CO_Data* d, UNS8 command, void *dat1, void *dat2);
154 /** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).
155 * - Check if there is a callback which will take care of the response. If not return 0 but does nothing.
156 * - Stops the timer so the alarm wont raise an error.
159 UNS8 proceedLSS_Master (CO_Data* d, Message* m );
161 /** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).
162 * - Call the callback function or send the response message depending on the LSS comand within m.
165 UNS8 proceedLSS_Slave (CO_Data* d, Message* m );
167 /** Used by the Master application to send a LSS command, WITHOUT response, to the slave.
168 * command: the LSS command. LSS_...
169 * dat1 and dat2: pointers to optional data (depend on command).
170 * return sendLSS(d,command,dat1,dat2)
172 UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);
174 /** Used by the Master application to send a LSS command, WITH response, to the slave.
175 * The function Callback, which must be defined in the user code, is called at the
176 * end of the exchange (on succes or abort) and can be NULL.
177 * The LSS_MSG_TIMER timer is started to control the timeout
178 * return sendLSS(d,command,dat1,dat2)
180 UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
182 /** Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
183 Returns : LSS_RESET // Transmission not started. Init state.
184 LSS_FINISHED // data are available
185 LSS_ABORTED_INTERNAL // Aborted but not because of an abort message.
186 LSS_TRANS_IN_PROGRESS // Data not yet available
188 * command: the LSS command (unused).
192 res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
193 while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
195 UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);