UNS32 PDO1_COBID = 0x0182;
UNS32 PDO2_COBID = 0x0282;
UNS8 size = sizeof(UNS32);
+ UNS32 SINC_cicle=0;
+ UNS8 data_type = 0;
eprintf("TestMaster_initialisation\n");
&PDO2_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
+
}
// Step counts number of times ConfigureSlaveNode is called
#ifdef CO_ENABLE_LSS
static void ConfigureLSSNode(CO_Data* d);
+// Step counts number of times ConfigureLSSNode is called
UNS8 init_step_LSS=1;
static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
UNS8 dat2;
printf("CheckLSS->");
if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
- if(command==LSS_IDENT_NON_CONF_SLAVE){
+ if(command==LSS_IDENT_REMOTE_NON_CONF){
eprintf("Master : There are not no-configured slaves in the net\n", command);
return;
}
default:break;
}
break;
- case LSS_SM_SELECTIVE_RESP:
+ case LSS_SM_SELECTIVE_SERIAL:
printf("Slave in CONFIGURATION mode\n");
break;
- case LSS_IDENT_SLAVE:
+ case LSS_IDENT_REMOTE_SERIAL_HIGH:
printf("node identified\n");
break;
- case LSS_IDENT_NON_CONF_SLAVE:
+ case LSS_IDENT_REMOTE_NON_CONF:
printf("non-configured remote slave in the net\n");
break;
case LSS_INQ_VENDOR_ID:
case LSS_INQ_NODE_ID:
printf("Slave nodeid %x\n", dat1);
break;
+#ifdef CO_ENABLE_LSS_FS
+ case LSS_IDENT_FASTSCAN:
+ if(dat1==0)
+ printf("Slave node identified with FastScan\n");
+ else
+ {
+ printf("There is not unconfigured node in the net\n");
+ return;
+ }
+ init_step_LSS++;
+ break;
+#endif
}
}
}
-struct timeval master_prev_time,master_current_time;
+/* First ask if there is a node with an invalid nodeID.
+ * If FastScan is activated it is used to put the node in the state “configuration”.
+ * If FastScan is not activated, identification services are used to identify the node.
+ * Then switch mode service is used to put it in configuration state.
+ * Next all the inquire and configuration services are used.
+ * Finally, the node LSS state is restored to “waiting” and all the process is repeated
+ * again until there isn't any node with a invalid nodeID.
+ * */
static void ConfigureLSSNode(CO_Data* d)
{
UNS32 Vendor_ID=0x12345678;
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_WAITING_MODE;
UNS8 res;
- eprintf("ConfigureLSSNode-> ");
+ eprintf("ConfigureLSSNode -> ",0);
switch(init_step_LSS){
case 1: /* LSS=>identify non-configured remote slave */
eprintf("LSS=>identify non-configured remote slave\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
break;
+#ifdef CO_ENABLE_LSS_FS
+ case 2: /* LSS=>FastScan */
+ eprintf("LSS=>FastScan\n");
+ res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_FASTSCAN,0,0,CheckLSSAndContinue);
+ break;
+#else
case 2: /* LSS=>identify node */
eprintf("LSS=>identify node\n");
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
break;
- case 3: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
+ case 3: /*LSS=>put in configuration mode*/
eprintf("LSS=>put in configuration mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
break;
+#endif
case 4: /* LSS=>inquire nodeID */
eprintf("LSS=>inquire nodeID\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
case 13: /* LSS=>put in operation mod */
eprintf("LSS=>put in operation mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);
+ /* Search again for not-configured slaves*/
+ eprintf("LSS=>identify not-configured remote slave\n");
+ res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
+ init_step_LSS=1;
break;
}
}
void TestMaster_post_SlaveBootup(UNS8 nodeid)
{
eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
-
+
ConfigureSlaveNode(&TestMaster_Data, nodeid);
-
}
#include "lss.h"
#include "canfestival.h"
-#define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */
+//#define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */
+//#define LSS_FS_TIMEOUT_MS (TIMEVAL)100 /* ms */
/* Returns the LSS ident field from a Message struct */
#define getLSSIdent(msg) ((msg->data[4] << 24) | (msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1]))
MSG_WAR(0x3D03, "StartLSS_TIMER for SDELAY_TIMER",0);\
d->lss_transfer.timers[LSS_SWITCH_DELAY_TIMER] = SetAlarm(d,LSS_SWITCH_DELAY_TIMER,&LssAlarm,MS_TO_TIMEVAL(d->lss_transfer.switchDelay),MS_TO_TIMEVAL(d->lss_transfer.switchDelay));}
+#define StartLSS_FS_TIMER(){\
+ MSG_WAR(0x3D04, "StartLSS_TIMER for FS_TIMER",0);\
+ d->lss_transfer.timers[LSS_FS_TIMER] = SetAlarm(d,LSS_FS_TIMER,&LssAlarm,MS_TO_TIMEVAL(LSS_FS_TIMEOUT_MS),0);}
+
+UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2);
/*!
**
switch(id){
case LSS_MSG_TIMER:
- MSG_ERR(0x1D04, "LSS timeout. LSS response not received.", 0);
- MSG_WAR(0x2D05, "LSS timeout command specifier : ", d->lss_transfer.command);
-
- StopLSS_TIMER(LSS_MSG_TIMER);
- /* Set aborted state */
- d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+ StopLSS_TIMER(LSS_MSG_TIMER);
+#ifdef CO_ENABLE_LSS_FS
+ if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
+ if(d->lss_transfer.FastScan_SM==LSS_FS_RESET){
+ /* if at least one node had answered before the timer expired, start the FastScan protocol*/
+ if(d->lss_transfer.LSSanswer!=0){
+ d->lss_transfer.LSSanswer=0;
+ d->lss_transfer.BitChecked=31;
+ d->lss_transfer.IDNumber=0;
+ d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
+ StartLSS_FS_TIMER();
+ sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
+ return;
+ }
+ else{
+
+ d->lss_transfer.state = LSS_FINISHED;
+ /* Inform the application that there aren't not configured nodes in the net */
+ d->lss_transfer.dat1=1;
+ }
+ }
+ else{
+ /* This should not happen, an error ocurred*/
+ MSG_ERR(0x1D05, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM);
+ }
+ }
+ else
+#endif
+ {
+ MSG_ERR(0x1D06, "LSS timeout. LSS response not received.", 0);
+ MSG_WAR(0x2D07, "LSS timeout command specifier : ", d->lss_transfer.command);
+ /* Set aborted state */
+ d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+ }
+
/* Call the user function to inform of the problem.*/
if(d->lss_transfer.Callback){
- /*If there is a callback, it is responsible of the error*/
+ /*If there is a callback, it is responsible of the error*/
(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
}
break;
case LSS_SWITCH_DELAY_TIMER:
- /* The first switch_delay period has expired. Store the node state, change it
+ /* The first switch_delay period expired. Store the node state, change it
* so no CAN messages will be sent or received, call the ChangeBaudRate function*/
if(d->lss_transfer.switchDelayState==SDELAY_FIRST){
- MSG_WAR(0x3D06, "LSS switch delay first period expired",0);
+ MSG_WAR(0x3D08, "LSS switch delay first period expired",0);
d->lss_transfer.switchDelayState=SDELAY_SECOND;
- //d->lss_transfer.currentState=getState(d);
- //setState(d, LssTimingDelay);
(*d->lss_ChangeBaudRate)(d->lss_transfer.baudRate);
}
else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */
- MSG_WAR(0x3D07, "LSS switch delay second period expired",0);
+ MSG_WAR(0x3D09, "LSS switch delay second period expired",0);
d->lss_transfer.switchDelayState=SDELAY_OFF;
StopLSS_TIMER(LSS_SWITCH_DELAY_TIMER);
setState(d, d->lss_transfer.currentState);
}
break;
+#ifdef CO_ENABLE_LSS_FS
+ case LSS_FS_TIMER:
+ StopLSS_TIMER(LSS_FS_TIMER);
+
+ switch(d->lss_transfer.FastScan_SM){
+ case LSS_FS_RESET:
+ {
+ /* This should not happen, an error ocurred*/
+ MSG_ERR(0x1D0A, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM);
+ }
+ break;
+ case LSS_FS_PROCESSING:
+ {
+ /* If there isn't any answer, set the bit */
+ if(d->lss_transfer.LSSanswer==0){
+ UNS32 Mask=0x1;
+ Mask<<=d->lss_transfer.BitChecked;
+ d->lss_transfer.IDNumber|=Mask;
+ }
+
+ if(d->lss_transfer.BitChecked==0){
+ /* We finished with the current LSS-ID[sub], confirm it */
+ d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION;
+ if(d->lss_transfer.LSSNext<3)d->lss_transfer.LSSNext++;
+ }
+ else{
+ d->lss_transfer.BitChecked--;
+ }
+
+ d->lss_transfer.LSSanswer=0;
+ StartLSS_FS_TIMER();
+ sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
+ return;
+ }
+ break;
+ case LSS_FS_CONFIRMATION:
+ {
+ if(d->lss_transfer.LSSanswer!=0){
+ d->lss_transfer.LSSanswer=0;
+
+ if(d->lss_transfer.LSSSub==3){
+ /* The LSS FastScan protocol finished correctly. Restore the parameters */
+ d->lss_transfer.BitChecked=128;
+ d->lss_transfer.FastScan_SM=LSS_FS_RESET;
+ d->lss_transfer.LSSSub=0;
+ d->lss_transfer.LSSNext=0;
+ d->lss_transfer.IDNumber=0;
+
+ /* Inform the application that the FastScan finished correctly */
+ d->lss_transfer.state = LSS_FINISHED;
+ d->lss_transfer.dat1=0;
+ }
+ else{
+ /* Start with the next LSS-ID[sub] */
+ d->lss_transfer.LSSSub++;
+ d->lss_transfer.BitChecked=31;
+ d->lss_transfer.IDNumber=0;
+ d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
+ StartLSS_FS_TIMER();
+ sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
+ return;
+ }
+ }
+ else{
+ /* This should not happen, an error ocurred*/
+ MSG_ERR(0x1D0B, "LSS FastScan timeout. FastScan response not received.", 0);
+ /* Set aborted state */
+ d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+ }
+ }
+ break;
+ }
+
+ /* Call the user function to inform of the problem.*/
+ if(d->lss_transfer.Callback){
+ /*If there is a callback, it is responsible of the error*/
+ (*d->lss_transfer.Callback)(d,d->lss_transfer.command);
+ }
+ break;
+#endif
}
}
UNS8 i;
if (!d->CurrentCommunicationState.csLSS){
- MSG_WAR(0x2D0A, "unable to send the LSS message (not in stop or pre-op mode", d->nodeState);
- return 0;
+ MSG_WAR(0x2D0C, "unable to send the LSS message, not in the proper state =>", d->nodeState);
+ return 0xFF;
}
for(i=1;i<8;i++)m.data[i]=0;
case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
break;
default:
- MSG_ERR(0x1D0B, "send Slave LSS command not implemented", command);
+ MSG_ERR(0x1D0D, "send Slave LSS command not implemented", command);
return 0xFF;
- break;
}
return canSend(d->canHandle,&m);
case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
case LSS_INQ_NODE_ID: /* Inquire Node-ID */
break;
+#ifdef CO_ENABLE_LSS_FS
case LSS_IDENT_FASTSCAN:
m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF);
m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF);
m.data[6]=d->lss_transfer.LSSSub;
m.data[7]=d->lss_transfer.LSSNext;
break;
+#endif
default:
- MSG_ERR(0x1D0C, "send Master LSS command not implemented", command);
+ MSG_ERR(0x1D0E, "send Master LSS command not implemented", command);
return 0xFF;
- break;
}
return canSend(d->canHandle,&m);
UNS32 Dat1=0;
UNS8 Dat2=0;
- MSG_WAR(0x3D0D, "MasterLSS proceedLSS; command ", m->data[0]);
- StopLSS_TIMER(LSS_MSG_TIMER);
- /* Set state */
- d->lss_transfer.state = LSS_FINISHED;
+ if(d->lss_transfer.state!=LSS_TRANS_IN_PROGRESS)
+ {
+ //MSG_WAR(0x3D0D, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]);
+ //return 0;
+ goto ErrorProcessMaster;
+ }
+
+ //#ifdef CO_ENABLE_LSS_FS
+ /* The FastScan protocol doesn't stops the timers when a message has been received */
+ /*if(d->lss_transfer.command!=LSS_IDENT_FASTSCAN)
+#endif
+ {
+ StopLSS_TIMER(LSS_MSG_TIMER);
+ d->lss_transfer.state = LSS_FINISHED;
+ }*/
+
+ MSG_WAR(0x3D0F, "MasterLSS proceedLSS; command ", m->data[0]);
switch(msg_cs=m->data[0]){
case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ if(d->lss_transfer.command!=LSS_INQ_NODE_ID)goto ErrorProcessMaster;
Dat1=m->data[1];
break;
case LSS_CONF_NODE_ID: /* Configure Node-ID */
case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
case LSS_CONF_STORE: /* Store Configured Parameters */
+ if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster;
Dat1=m->data[1];
Dat2=m->data[2];
break;
case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
+ if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster;
Dat1=getLSSIdent(m);
break;
case LSS_IDENT_SLAVE: /* LSS Identify Slave */
- /*if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
- * ************ TODO *******************
- }*/
+#ifdef CO_ENABLE_LSS_FS
+ if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
+ /* A message arrived during the timer period */
+ d->lss_transfer.LSSanswer=1;
+ return 0;
+ }
+ else
+#endif
+ if(d->lss_transfer.command!=LSS_IDENT_REMOTE_VENDOR && \
+ d->lss_transfer.command!=LSS_IDENT_REMOTE_PRODUCT && \
+ d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_LOW && \
+ d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_HIGH && \
+ d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_LOW && \
+ d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_HIGH )
+ goto ErrorProcessMaster;
break;
case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */
+ if(d->lss_transfer.command!=LSS_SM_SELECTIVE_VENDOR && \
+ d->lss_transfer.command!=LSS_SM_SELECTIVE_PRODUCT && \
+ d->lss_transfer.command!=LSS_SM_SELECTIVE_REVISION && \
+ d->lss_transfer.command!=LSS_SM_SELECTIVE_SERIAL )
+ goto ErrorProcessMaster;
+ break;
case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
+ if(d->lss_transfer.command!=LSS_IDENT_REMOTE_NON_CONF)goto ErrorProcessMaster;
break;
default:
- MSG_ERR(0x1D0E, "Master LSS command not implemented", msg_cs);
+ MSG_ERR(0x1D10, "Master LSS command not implemented", msg_cs);
return 0xFF;
- break;
}
-
+
+ StopLSS_TIMER(LSS_MSG_TIMER);
+ d->lss_transfer.state = LSS_FINISHED;
+
d->lss_transfer.dat1=Dat1;
d->lss_transfer.dat2=Dat2;
/* If there is a callback, it is responsible of the received response */
if(d->lss_transfer.Callback)
- (*d->lss_transfer.Callback)(d,msg_cs);
+ (*d->lss_transfer.Callback)(d,d->lss_transfer.command);
return 0;
+
+ErrorProcessMaster:
+ MSG_WAR(0x3D11, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]);
+ return 0xFF;
+
}
/*!
{
UNS8 msg_cs;
- MSG_WAR(0x3D0F, "SlaveLSS proceedLSS; command ", m->data[0]);
+ MSG_WAR(0x3D12, "SlaveLSS proceedLSS; command ", m->data[0]);
switch(msg_cs=m->data[0]){
case LSS_SM_GLOBAL: /* Switch Mode Global */
/* if there is not a mode change break*/
if(m->data[1] == d->lss_transfer.mode){
- MSG_WAR(0x3D10, "SlaveLSS already in the mode ", m->data[1]);
+ MSG_WAR(0x3D13, "SlaveLSS already in the mode ", m->data[1]);
break;
}
if(m->data[1]==LSS_CONFIGURATION_MODE) {
- MSG_WAR(0x3D11, "SlaveLSS switching to configuration mode ", 0);
+ MSG_WAR(0x3D14, "SlaveLSS switching to configuration mode ", 0);
/* Store the NodeId in case it will be changed */
d->lss_transfer.nodeID=getNodeId(d);
d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
}
else if(m->data[1]==LSS_WAITING_MODE){
- MSG_WAR(0x3D12, "SlaveLSS switching to operational mode ", 0);
+ MSG_WAR(0x3D15, "SlaveLSS switching to operational mode ", 0);
if(d->lss_transfer.switchDelayState==SDELAY_OFF){
/* If the nodeID has changed update it and put the node state to Initialisation. */
if(d->lss_transfer.nodeID!=getNodeId(d)){
- MSG_WAR(0x3D13, "The node Id has changed. Reseting to Initialisation state",0);
+ MSG_WAR(0x3D16, "The node Id has changed. Reseting to Initialisation state",0);
setNodeId(d, d->lss_transfer.nodeID);
setState(d, Initialisation);
}
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
if(m->data[1]>127 && m->data[1]!=0xFF){
- MSG_ERR(0x1D14, "NodeID out of range",0);
+ MSG_ERR(0x1D17, "NodeID out of range",0);
error_code=1; /* NodeID out of range */
}
else{
}
}
else{
- MSG_ERR(0x1D15, "SlaveLSS not in configuration mode",0);
- error_code=0xFF;
+ MSG_WAR(0x3D18, "SlaveLSS not in configuration mode",0);
+ //error_code=0xFF;
+ break;
}
sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
}
case 0x07:d->lss_transfer.baudRate="20K";break;
case 0x08:d->lss_transfer.baudRate="10K";break;
default:
- MSG_ERR(0x1D16, "Baud rate not supported",0);
+ MSG_ERR(0x1D19, "Baud rate not supported",0);
error_code=0xFF; /* Baud rate not supported*/
break;
}
}
else
{
- MSG_ERR(0x1D17, "Bit timing not supported",0);
+ MSG_ERR(0x1D1A, "Bit timing not supported",0);
error_code=0x01; /* bit timing not supported */
}
}
else{
- MSG_ERR(0x1D18, "SlaveLSS not in configuration mode",0);
- error_code=0xFF;
+ MSG_WAR(0x3D1B, "SlaveLSS not in configuration mode",0);
+ //error_code=0xFF;
+ break;
}
sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){
- MSG_ERR(0x1D19, "SlaveLSS not in configuration mode",0);
+ MSG_ERR(0x3D1C, "SlaveLSS not in configuration mode",0);
break;
}
if(d->lss_transfer.baudRate!="none"){
d->lss_transfer.switchDelay=getLSSDelay(m);
- MSG_WAR(0x3D1A, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay);
+ MSG_WAR(0x3D1D, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay);
d->lss_transfer.switchDelayState=SDELAY_FIRST;
d->lss_transfer.currentState=getState(d);
setState(d, LssTimingDelay);
(*d->lss_StoreConfiguration)(&error_code,&spec_error);
}
else{
- MSG_ERR(0x1D1B, "Store configuration not supported",0);
+ MSG_ERR(0x1D1E, "Store configuration not supported",0);
error_code=1; /* store configuration is not supported */
}
}
else{
- MSG_ERR(0x1D1C, "SlaveLSS not in configuration mode",0);
- error_code=0xFF;
+ MSG_WAR(0x3D1F, "SlaveLSS not in configuration mode",0);
+ //error_code=0xFF;
+ break;
}
sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
}
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
{
- MSG_ERR(0x1D1D, "Switch Mode Selective only supported in operational mode",0);
+ MSG_ERR(0x1D20, "Switch Mode Selective only supported in operational mode",0);
break;
}
/* If all the fields has been set */
if(d->lss_transfer.addr_sel_match==0x0F){
- MSG_WAR(0x3D1E, "SlaveLSS switching to configuration mode ", 0);
+ MSG_WAR(0x3D21, "SlaveLSS switching to configuration mode ", 0);
d->lss_transfer.addr_sel_match=0;
d->lss_transfer.nodeID=getNodeId(d);
d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
}
}
else {
- MSG_WAR(0x3D1F, "LSS identity field doesn't match ", _SpecificNodeInfo);
+ MSG_WAR(0x3D22, "LSS identity field doesn't match ", _SpecificNodeInfo);
d->lss_transfer.addr_sel_match=0;
}
}
}
/* If all the fields has been set.. */
if(d->lss_transfer.addr_ident_match==0x3F){
- MSG_WAR(0x3D20, "SlaveLSS identified ", 0);
+ MSG_WAR(0x3D23, "SlaveLSS identified ", 0);
d->lss_transfer.addr_ident_match=0;
sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
}
else if(d->lss_transfer.addr_ident_match==0){
- MSG_WAR(0x3D21, "LSS identify field doesn't match ", _SpecificNodeInfo);
+ MSG_WAR(0x3D24, "LSS identify field doesn't match ", _SpecificNodeInfo);
}
}
break;
case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */
{
if(getNodeId(d)==0xFF){
- MSG_WAR(0x3D22, "SlaveLSS non-configured ", 0);
+ MSG_WAR(0x3D25, "SlaveLSS non-configured ", 0);
sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0);
}
else{
- MSG_WAR(0x3D23, "SlaveLSS already configured ", 0);
+ MSG_WAR(0x3D26, "SlaveLSS already configured ", 0);
}
}
break;
ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
_SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject;
- MSG_WAR(0x3D24, "SlaveLSS identity field inquired ", _SpecificNodeInfo);
+ MSG_WAR(0x3D27, "SlaveLSS identity field inquired ", _SpecificNodeInfo);
sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0);
}
UNS8 NodeID;
NodeID=getNodeId(d);
- MSG_WAR(0x3D25, "SlaveLSS Node ID inquired ", NodeID);
+ MSG_WAR(0x3D28, "SlaveLSS Node ID inquired ", NodeID);
sendSlaveLSSMessage(d,msg_cs,&NodeID,0);
}
else{
- MSG_ERR(0x1D26, "SlaveLSS not in configuration mode",0);
+ MSG_WAR(0x3D29, "SlaveLSS not in configuration mode",0);
}
break;
+#ifdef CO_ENABLE_LSS_FS
case LSS_IDENT_FASTSCAN:
{
- /******* TODO *******/
+ /* If the nodeID isn't 0xFF the slave shall not participate */
+ if(getNodeId(d)!=0xFF)break;
+ if(getLSSBitCheck(m)==128)d->lss_transfer.FastScan_SM=LSS_FS_RESET;
+
+ switch(d->lss_transfer.FastScan_SM){
+ case LSS_FS_RESET:
+ {
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+
+ MSG_WAR(0x3D2A, "SlaveLSS Reseting LSSPos", 0);
+ d->lss_transfer.LSSPos=0;
+ d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+ d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject;
+
+ sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
+ }
+ break;
+ case LSS_FS_PROCESSING:/*if(getLSSBitCheck(m)<32)*/
+ if(d->lss_transfer.LSSPos==getLSSSub(m))
+ {
+ UNS32 Mask=0xFFFFFFFF<<getLSSBitCheck(m);
+
+ MSG_WAR(0x3D2B, "SlaveLSS FastScan IDNumber", getLSSIdent(m));
+ MSG_WAR(0x3D2C, "SlaveLSS FastScan BitMask ", Mask);
+ MSG_WAR(0x3D2D, "SlaveLSS FastScan LSS-ID ", d->lss_transfer.IDNumber);
+
+ if((getLSSIdent(m) & Mask)==(d->lss_transfer.IDNumber & Mask))
+ {
+ sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
+ }
+
+ if(getLSSBitCheck(m)==0)
+ {
+ d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION;
+ }
+ }
+ break;
+ case LSS_FS_CONFIRMATION:
+ if(d->lss_transfer.LSSPos==getLSSSub(m))
+ {
+ if(getLSSIdent(m)==d->lss_transfer.IDNumber)
+ {
+ /* Current LSS-ID[sub] confirmed correctly */
+ MSG_WAR(0x3D2E, "SlaveLSS FastScan IDNumber and LSS-ID match=>", d->lss_transfer.IDNumber);
+ if(d->lss_transfer.LSSPos==3)
+ {
+ /* All LSS-ID[sub] identified correctly, switching to configuration mode */
+ MSG_WAR(0x3D2F, "SlaveLSS switching to configuration mode ", 0);
+ d->lss_transfer.nodeID=getNodeId(d);
+ d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
+ d->lss_transfer.FastScan_SM=LSS_FS_RESET;
+ d->lss_transfer.LSSPos=0xFF;
+ }
+ else
+ {
+ /* Switch to the next LSS-ID[sub] */
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+
+ d->lss_transfer.LSSPos=getLSSNext(m);
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+ d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject;
+ d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
+ }
+ sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
+ }
+ }
+ break;
+ }
}
break;
+#endif
default:
- MSG_ERR(0x1D27, "SlaveLSS command not implemented", msg_cs);
+ MSG_ERR(0x1D30, "SlaveLSS command not implemented", msg_cs);
return 0xFF;
- break;
}
return 0;
projects / CanFestival-3.git / commitdiff