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Can_open_slavenode
framework/src/lss.c@0:6219434a0cb5, 2011-05-30 (annotated)
- Committer:
- sam_grove
- Date:
- Mon May 30 07:14:41 2011 +0000
- Revision:
- 0:6219434a0cb5
Initial public release of slave node framework port
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sam_grove |
0:6219434a0cb5 | 1 | /* |
sam_grove |
0:6219434a0cb5 | 2 | This file is part of CanFestival, a library implementing CanOpen Stack. |
sam_grove |
0:6219434a0cb5 | 3 | |
sam_grove |
0:6219434a0cb5 | 4 | |
sam_grove |
0:6219434a0cb5 | 5 | Copyright (C): Jorge Berzosa |
sam_grove |
0:6219434a0cb5 | 6 | |
sam_grove |
0:6219434a0cb5 | 7 | |
sam_grove |
0:6219434a0cb5 | 8 | See COPYING file for copyrights details. |
sam_grove |
0:6219434a0cb5 | 9 | |
sam_grove |
0:6219434a0cb5 | 10 | |
sam_grove |
0:6219434a0cb5 | 11 | This library is free software; you can redistribute it and/or |
sam_grove |
0:6219434a0cb5 | 12 | modify it under the terms of the GNU Lesser General Public |
sam_grove |
0:6219434a0cb5 | 13 | License as published by the Free Software Foundation; either |
sam_grove |
0:6219434a0cb5 | 14 | version 2.1 of the License, or (at your option) any later version. |
sam_grove |
0:6219434a0cb5 | 15 | |
sam_grove |
0:6219434a0cb5 | 16 | |
sam_grove |
0:6219434a0cb5 | 17 | This library is distributed in the hope that it will be useful, |
sam_grove |
0:6219434a0cb5 | 18 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
sam_grove |
0:6219434a0cb5 | 19 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
sam_grove |
0:6219434a0cb5 | 20 | Lesser General Public License for more details. |
sam_grove |
0:6219434a0cb5 | 21 | |
sam_grove |
0:6219434a0cb5 | 22 | |
sam_grove |
0:6219434a0cb5 | 23 | You should have received a copy of the GNU Lesser General Public |
sam_grove |
0:6219434a0cb5 | 24 | License along with this library; if not, write to the Free Software |
sam_grove |
0:6219434a0cb5 | 25 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
sam_grove |
0:6219434a0cb5 | 26 | */ |
sam_grove |
0:6219434a0cb5 | 27 | |
sam_grove |
0:6219434a0cb5 | 28 | |
sam_grove |
0:6219434a0cb5 | 29 | /*! |
sam_grove |
0:6219434a0cb5 | 30 | ** @file lss.c |
sam_grove |
0:6219434a0cb5 | 31 | ** @author Jorge Berzosa |
sam_grove |
0:6219434a0cb5 | 32 | ** @date Mon Oct 22 05:44:32 2007 |
sam_grove |
0:6219434a0cb5 | 33 | ** |
sam_grove |
0:6219434a0cb5 | 34 | ** @brief |
sam_grove |
0:6219434a0cb5 | 35 | ** |
sam_grove |
0:6219434a0cb5 | 36 | ** |
sam_grove |
0:6219434a0cb5 | 37 | */ |
sam_grove |
0:6219434a0cb5 | 38 | |
sam_grove |
0:6219434a0cb5 | 39 | |
sam_grove |
0:6219434a0cb5 | 40 | #include "data.h" |
sam_grove |
0:6219434a0cb5 | 41 | #include "lss.h" |
sam_grove |
0:6219434a0cb5 | 42 | #include "canfestival.h" |
sam_grove |
0:6219434a0cb5 | 43 | #include "sysdep.h" |
sam_grove |
0:6219434a0cb5 | 44 | |
sam_grove |
0:6219434a0cb5 | 45 | #ifdef CO_ENABLE_LSS |
sam_grove |
0:6219434a0cb5 | 46 | |
sam_grove |
0:6219434a0cb5 | 47 | //#define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */ |
sam_grove |
0:6219434a0cb5 | 48 | //#define LSS_FS_TIMEOUT_MS (TIMEVAL)100 /* ms */ |
sam_grove |
0:6219434a0cb5 | 49 | |
sam_grove |
0:6219434a0cb5 | 50 | /* Returns the LSS ident field from a Message struct */ |
sam_grove |
0:6219434a0cb5 | 51 | #define getLSSIdent(msg) (((UNS32)msg->data[4] << 24) | ((UNS32)msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1])) |
sam_grove |
0:6219434a0cb5 | 52 | |
sam_grove |
0:6219434a0cb5 | 53 | |
sam_grove |
0:6219434a0cb5 | 54 | /* Returns the LSS switch delay field from a Message struct */ |
sam_grove |
0:6219434a0cb5 | 55 | #define getLSSDelay(msg) ((msg->data[2] << 8) | (msg->data[1])) |
sam_grove |
0:6219434a0cb5 | 56 | |
sam_grove |
0:6219434a0cb5 | 57 | /* Returns the LSS FastScan BitCheck field from a Message struct */ |
sam_grove |
0:6219434a0cb5 | 58 | #define getLSSBitCheck(msg) msg->data[5] |
sam_grove |
0:6219434a0cb5 | 59 | |
sam_grove |
0:6219434a0cb5 | 60 | /* Returns the LSS FastScan LSSSub field from a Message struct */ |
sam_grove |
0:6219434a0cb5 | 61 | #define getLSSSub(msg) msg->data[6] |
sam_grove |
0:6219434a0cb5 | 62 | |
sam_grove |
0:6219434a0cb5 | 63 | /* Returns the LSS FastScan LSSNext field from a Message struct */ |
sam_grove |
0:6219434a0cb5 | 64 | #define getLSSNext(msg) msg->data[7] |
sam_grove |
0:6219434a0cb5 | 65 | |
sam_grove |
0:6219434a0cb5 | 66 | /* Prototypes for internals functions */ |
sam_grove |
0:6219434a0cb5 | 67 | UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2); |
sam_grove |
0:6219434a0cb5 | 68 | void LssAlarmMSG(CO_Data* d, UNS32 id); |
sam_grove |
0:6219434a0cb5 | 69 | void LssAlarmSDELAY(CO_Data* d, UNS32 id); |
sam_grove |
0:6219434a0cb5 | 70 | |
sam_grove |
0:6219434a0cb5 | 71 | |
sam_grove |
0:6219434a0cb5 | 72 | #define StopLSS_MSG_TIMER(){\ |
sam_grove |
0:6219434a0cb5 | 73 | MSG_WAR(0x3D01, "StopLSS_MSG_TIMER", 0);\ |
sam_grove |
0:6219434a0cb5 | 74 | d->lss_transfer.timerMSG = DelAlarm(d->lss_transfer.timerMSG);} |
sam_grove |
0:6219434a0cb5 | 75 | |
sam_grove |
0:6219434a0cb5 | 76 | #define StartLSS_MSG_TIMER(){\ |
sam_grove |
0:6219434a0cb5 | 77 | MSG_WAR(0x3D02, "StartLSS_MSG_TIMER",0);\ |
sam_grove |
0:6219434a0cb5 | 78 | d->lss_transfer.timerMSG = SetAlarm(d,0,&LssAlarmMSG,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);} |
sam_grove |
0:6219434a0cb5 | 79 | |
sam_grove |
0:6219434a0cb5 | 80 | #define StopLSS_SDELAY_TIMER(){\ |
sam_grove |
0:6219434a0cb5 | 81 | MSG_WAR(0x3D03, "StopLSS_SDELAY_TIMER", 0);\ |
sam_grove |
0:6219434a0cb5 | 82 | d->lss_transfer.timerSDELAY = DelAlarm(d->lss_transfer.timerSDELAY);} |
sam_grove |
0:6219434a0cb5 | 83 | |
sam_grove |
0:6219434a0cb5 | 84 | #define StartLSS_SDELAY_TIMER(){\ |
sam_grove |
0:6219434a0cb5 | 85 | MSG_WAR(0x3D04, "StartLSS_SDELAY_TIMER",0);\ |
sam_grove |
0:6219434a0cb5 | 86 | d->lss_transfer.timerSDELAY= SetAlarm(d,0,&LssAlarmSDELAY,MS_TO_TIMEVAL(d->lss_transfer.switchDelay),MS_TO_TIMEVAL(d->lss_transfer.switchDelay));} |
sam_grove |
0:6219434a0cb5 | 87 | |
sam_grove |
0:6219434a0cb5 | 88 | |
sam_grove |
0:6219434a0cb5 | 89 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 90 | /* Prototypes for internals functions */ |
sam_grove |
0:6219434a0cb5 | 91 | void LssAlarmFS(CO_Data* d, UNS32 id); |
sam_grove |
0:6219434a0cb5 | 92 | |
sam_grove |
0:6219434a0cb5 | 93 | #define StopLSS_FS_TIMER(){\ |
sam_grove |
0:6219434a0cb5 | 94 | MSG_WAR(0x3D05, "StopLSS_FS_TIMER", id);\ |
sam_grove |
0:6219434a0cb5 | 95 | d->lss_transfer.timerFS = DelAlarm(d->lss_transfer.timerFS);} |
sam_grove |
0:6219434a0cb5 | 96 | |
sam_grove |
0:6219434a0cb5 | 97 | #define StartLSS_FS_TIMER(){\ |
sam_grove |
0:6219434a0cb5 | 98 | MSG_WAR(0x3D06, "StartLSS_FS_TIMER",0);\ |
sam_grove |
0:6219434a0cb5 | 99 | d->lss_transfer.timerFS = SetAlarm(d,0,&LssAlarmFS,MS_TO_TIMEVAL(LSS_FS_TIMEOUT_MS),0);} |
sam_grove |
0:6219434a0cb5 | 100 | #endif |
sam_grove |
0:6219434a0cb5 | 101 | |
sam_grove |
0:6219434a0cb5 | 102 | |
sam_grove |
0:6219434a0cb5 | 103 | void LssAlarmMSG(CO_Data* d, UNS32 id) |
sam_grove |
0:6219434a0cb5 | 104 | { |
sam_grove |
0:6219434a0cb5 | 105 | StopLSS_MSG_TIMER(); |
sam_grove |
0:6219434a0cb5 | 106 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 107 | if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){ |
sam_grove |
0:6219434a0cb5 | 108 | if(d->lss_transfer.FastScan_SM==LSS_FS_RESET){ |
sam_grove |
0:6219434a0cb5 | 109 | /* if at least one node had answered before the timer expired, start the FastScan protocol*/ |
sam_grove |
0:6219434a0cb5 | 110 | if(d->lss_transfer.LSSanswer!=0){ |
sam_grove |
0:6219434a0cb5 | 111 | UNS32 Mask=0xFFFFFFFF; |
sam_grove |
0:6219434a0cb5 | 112 | d->lss_transfer.LSSanswer=0; |
sam_grove |
0:6219434a0cb5 | 113 | d->lss_transfer.BitChecked=d->lss_transfer.lss_fs_transfer.FS_BitChecked[0]; |
sam_grove |
0:6219434a0cb5 | 114 | Mask=(UNS32)((UNS64)Mask<<(d->lss_transfer.BitChecked+1)); |
sam_grove |
0:6219434a0cb5 | 115 | d->lss_transfer.IDNumber=d->lss_transfer.lss_fs_transfer.FS_LSS_ID[0] & Mask; |
sam_grove |
0:6219434a0cb5 | 116 | d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
sam_grove |
0:6219434a0cb5 | 117 | //printf("BitChecked=%d, IDNumber=%x MASK=%x\n",d->lss_transfer.BitChecked,d->lss_transfer.IDNumber,Mask); |
sam_grove |
0:6219434a0cb5 | 118 | StartLSS_FS_TIMER(); |
sam_grove |
0:6219434a0cb5 | 119 | sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0); |
sam_grove |
0:6219434a0cb5 | 120 | return; |
sam_grove |
0:6219434a0cb5 | 121 | } |
sam_grove |
0:6219434a0cb5 | 122 | else{ |
sam_grove |
0:6219434a0cb5 | 123 | |
sam_grove |
0:6219434a0cb5 | 124 | d->lss_transfer.state = LSS_FINISHED; |
sam_grove |
0:6219434a0cb5 | 125 | /* Inform the application that there aren't not configured nodes in the net */ |
sam_grove |
0:6219434a0cb5 | 126 | d->lss_transfer.dat1=1; |
sam_grove |
0:6219434a0cb5 | 127 | } |
sam_grove |
0:6219434a0cb5 | 128 | } |
sam_grove |
0:6219434a0cb5 | 129 | else{ |
sam_grove |
0:6219434a0cb5 | 130 | /* This should not happen, an error ocurred*/ |
sam_grove |
0:6219434a0cb5 | 131 | MSG_ERR(0x1D07, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM); |
sam_grove |
0:6219434a0cb5 | 132 | d->lss_transfer.state = LSS_ABORTED_INTERNAL; |
sam_grove |
0:6219434a0cb5 | 133 | d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
sam_grove |
0:6219434a0cb5 | 134 | } |
sam_grove |
0:6219434a0cb5 | 135 | } |
sam_grove |
0:6219434a0cb5 | 136 | else |
sam_grove |
0:6219434a0cb5 | 137 | #endif |
sam_grove |
0:6219434a0cb5 | 138 | if(d->lss_transfer.command==LSS_IDENT_REMOTE_NON_CONF){ |
sam_grove |
0:6219434a0cb5 | 139 | MSG_WAR(0x2D08, "LSS timeout. There are not no-configured slaves in the net", 0); |
sam_grove |
0:6219434a0cb5 | 140 | d->lss_transfer.state = LSS_FINISHED; |
sam_grove |
0:6219434a0cb5 | 141 | d->lss_transfer.dat1=1; |
sam_grove |
0:6219434a0cb5 | 142 | } |
sam_grove |
0:6219434a0cb5 | 143 | else{ |
sam_grove |
0:6219434a0cb5 | 144 | MSG_ERR(0x1D09, "LSS timeout. LSS response not received.", 0); |
sam_grove |
0:6219434a0cb5 | 145 | MSG_WAR(0x2D0A, "LSS timeout command specifier : ", d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 146 | /* Set aborted state */ |
sam_grove |
0:6219434a0cb5 | 147 | d->lss_transfer.state = LSS_ABORTED_INTERNAL; |
sam_grove |
0:6219434a0cb5 | 148 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 149 | d->lss_transfer.FastScan_SM = LSS_FS_RESET; |
sam_grove |
0:6219434a0cb5 | 150 | #endif |
sam_grove |
0:6219434a0cb5 | 151 | } |
sam_grove |
0:6219434a0cb5 | 152 | |
sam_grove |
0:6219434a0cb5 | 153 | /* Call the user function to inform of the problem.*/ |
sam_grove |
0:6219434a0cb5 | 154 | if(d->lss_transfer.Callback){ |
sam_grove |
0:6219434a0cb5 | 155 | /*If there is a callback, it is responsible of the error*/ |
sam_grove |
0:6219434a0cb5 | 156 | (*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 157 | } |
sam_grove |
0:6219434a0cb5 | 158 | } |
sam_grove |
0:6219434a0cb5 | 159 | |
sam_grove |
0:6219434a0cb5 | 160 | |
sam_grove |
0:6219434a0cb5 | 161 | /*! |
sam_grove |
0:6219434a0cb5 | 162 | ** |
sam_grove |
0:6219434a0cb5 | 163 | ** |
sam_grove |
0:6219434a0cb5 | 164 | ** @param d |
sam_grove |
0:6219434a0cb5 | 165 | ** @param id |
sam_grove |
0:6219434a0cb5 | 166 | **/ |
sam_grove |
0:6219434a0cb5 | 167 | void LssAlarmSDELAY(CO_Data* d, UNS32 id) |
sam_grove |
0:6219434a0cb5 | 168 | { |
sam_grove |
0:6219434a0cb5 | 169 | |
sam_grove |
0:6219434a0cb5 | 170 | /* The first switch_delay period expired. Store the node state, change it |
sam_grove |
0:6219434a0cb5 | 171 | * so no CAN messages will be sent or received, call the ChangeBaudRate function*/ |
sam_grove |
0:6219434a0cb5 | 172 | if(d->lss_transfer.switchDelayState==SDELAY_FIRST){ |
sam_grove |
0:6219434a0cb5 | 173 | MSG_WAR(0x3D0B, "LSS switch delay first period expired",0); |
sam_grove |
0:6219434a0cb5 | 174 | d->lss_transfer.switchDelayState=SDELAY_SECOND; |
sam_grove |
0:6219434a0cb5 | 175 | //(*d->lss_ChangeBaudRate)(d,d->lss_transfer.baudRate); |
sam_grove |
0:6219434a0cb5 | 176 | canChangeBaudRate(d->lss_transfer.canHandle_t, d->lss_transfer.baudRate); |
sam_grove |
0:6219434a0cb5 | 177 | } |
sam_grove |
0:6219434a0cb5 | 178 | else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */ |
sam_grove |
0:6219434a0cb5 | 179 | MSG_WAR(0x3D0C, "LSS switch delay second period expired",0); |
sam_grove |
0:6219434a0cb5 | 180 | d->lss_transfer.switchDelayState=SDELAY_OFF; |
sam_grove |
0:6219434a0cb5 | 181 | StopLSS_SDELAY_TIMER(); |
sam_grove |
0:6219434a0cb5 | 182 | |
sam_grove |
0:6219434a0cb5 | 183 | if (*(d->iam_a_slave)) |
sam_grove |
0:6219434a0cb5 | 184 | d->canHandle=d->lss_transfer.canHandle_t; |
sam_grove |
0:6219434a0cb5 | 185 | else{ |
sam_grove |
0:6219434a0cb5 | 186 | d->lss_transfer.dat1=0; |
sam_grove |
0:6219434a0cb5 | 187 | d->lss_transfer.state=LSS_FINISHED; |
sam_grove |
0:6219434a0cb5 | 188 | /* Call the user function */ |
sam_grove |
0:6219434a0cb5 | 189 | if(d->lss_transfer.Callback){ |
sam_grove |
0:6219434a0cb5 | 190 | (*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 191 | } |
sam_grove |
0:6219434a0cb5 | 192 | } |
sam_grove |
0:6219434a0cb5 | 193 | } |
sam_grove |
0:6219434a0cb5 | 194 | } |
sam_grove |
0:6219434a0cb5 | 195 | |
sam_grove |
0:6219434a0cb5 | 196 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 197 | /*! |
sam_grove |
0:6219434a0cb5 | 198 | ** |
sam_grove |
0:6219434a0cb5 | 199 | ** |
sam_grove |
0:6219434a0cb5 | 200 | ** @param d |
sam_grove |
0:6219434a0cb5 | 201 | ** @param id |
sam_grove |
0:6219434a0cb5 | 202 | **/ |
sam_grove |
0:6219434a0cb5 | 203 | void LssAlarmFS(CO_Data* d, UNS32 id) |
sam_grove |
0:6219434a0cb5 | 204 | { |
sam_grove |
0:6219434a0cb5 | 205 | StopLSS_FS_TIMER(); |
sam_grove |
0:6219434a0cb5 | 206 | |
sam_grove |
0:6219434a0cb5 | 207 | switch(d->lss_transfer.FastScan_SM){ |
sam_grove |
0:6219434a0cb5 | 208 | case LSS_FS_RESET: |
sam_grove |
0:6219434a0cb5 | 209 | { |
sam_grove |
0:6219434a0cb5 | 210 | /* This should not happen, an error ocurred*/ |
sam_grove |
0:6219434a0cb5 | 211 | MSG_ERR(0x1D0D, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM); |
sam_grove |
0:6219434a0cb5 | 212 | } |
sam_grove |
0:6219434a0cb5 | 213 | break; |
sam_grove |
0:6219434a0cb5 | 214 | case LSS_FS_PROCESSING: |
sam_grove |
0:6219434a0cb5 | 215 | { |
sam_grove |
0:6219434a0cb5 | 216 | /* If there isn't any answer, set the bit */ |
sam_grove |
0:6219434a0cb5 | 217 | if(d->lss_transfer.LSSanswer==0){ |
sam_grove |
0:6219434a0cb5 | 218 | UNS32 Mask=0x1; |
sam_grove |
0:6219434a0cb5 | 219 | Mask<<=d->lss_transfer.BitChecked; |
sam_grove |
0:6219434a0cb5 | 220 | d->lss_transfer.IDNumber|=Mask; |
sam_grove |
0:6219434a0cb5 | 221 | } |
sam_grove |
0:6219434a0cb5 | 222 | |
sam_grove |
0:6219434a0cb5 | 223 | if(d->lss_transfer.BitChecked==0){ |
sam_grove |
0:6219434a0cb5 | 224 | /* We finished with the current LSS-ID[sub], confirm it */ |
sam_grove |
0:6219434a0cb5 | 225 | d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION; |
sam_grove |
0:6219434a0cb5 | 226 | if(d->lss_transfer.LSSNext<3)d->lss_transfer.LSSNext++; |
sam_grove |
0:6219434a0cb5 | 227 | } |
sam_grove |
0:6219434a0cb5 | 228 | else{ |
sam_grove |
0:6219434a0cb5 | 229 | d->lss_transfer.BitChecked--; |
sam_grove |
0:6219434a0cb5 | 230 | } |
sam_grove |
0:6219434a0cb5 | 231 | //printf("BitChecked=%d, IDNumber=%x\n",d->lss_transfer.BitChecked,d->lss_transfer.IDNumber); |
sam_grove |
0:6219434a0cb5 | 232 | d->lss_transfer.LSSanswer=0; |
sam_grove |
0:6219434a0cb5 | 233 | StartLSS_FS_TIMER(); |
sam_grove |
0:6219434a0cb5 | 234 | sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0); |
sam_grove |
0:6219434a0cb5 | 235 | return; |
sam_grove |
0:6219434a0cb5 | 236 | } |
sam_grove |
0:6219434a0cb5 | 237 | break; |
sam_grove |
0:6219434a0cb5 | 238 | case LSS_FS_CONFIRMATION: |
sam_grove |
0:6219434a0cb5 | 239 | { |
sam_grove |
0:6219434a0cb5 | 240 | if(d->lss_transfer.LSSanswer!=0){ |
sam_grove |
0:6219434a0cb5 | 241 | d->lss_transfer.LSSanswer=0; |
sam_grove |
0:6219434a0cb5 | 242 | |
sam_grove |
0:6219434a0cb5 | 243 | if(d->lss_transfer.LSSSub==3){ |
sam_grove |
0:6219434a0cb5 | 244 | /* The LSS FastScan protocol finished correctly. Restore the parameters */ |
sam_grove |
0:6219434a0cb5 | 245 | d->lss_transfer.BitChecked=128; |
sam_grove |
0:6219434a0cb5 | 246 | d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
sam_grove |
0:6219434a0cb5 | 247 | d->lss_transfer.LSSSub=0; |
sam_grove |
0:6219434a0cb5 | 248 | d->lss_transfer.LSSNext=0; |
sam_grove |
0:6219434a0cb5 | 249 | d->lss_transfer.IDNumber=0; |
sam_grove |
0:6219434a0cb5 | 250 | |
sam_grove |
0:6219434a0cb5 | 251 | /* Inform the application that the FastScan finished correctly */ |
sam_grove |
0:6219434a0cb5 | 252 | d->lss_transfer.state = LSS_FINISHED; |
sam_grove |
0:6219434a0cb5 | 253 | d->lss_transfer.dat1=0; |
sam_grove |
0:6219434a0cb5 | 254 | } |
sam_grove |
0:6219434a0cb5 | 255 | else{ |
sam_grove |
0:6219434a0cb5 | 256 | UNS32 Mask=0xFFFFFFFF; |
sam_grove |
0:6219434a0cb5 | 257 | /* Start with the next LSS-ID[sub] */ |
sam_grove |
0:6219434a0cb5 | 258 | d->lss_transfer.LSSSub++; |
sam_grove |
0:6219434a0cb5 | 259 | d->lss_transfer.BitChecked=d->lss_transfer.lss_fs_transfer.FS_BitChecked[d->lss_transfer.LSSSub]; |
sam_grove |
0:6219434a0cb5 | 260 | Mask=(UNS32)((UNS64)Mask<<(d->lss_transfer.BitChecked+1)); |
sam_grove |
0:6219434a0cb5 | 261 | d->lss_transfer.IDNumber=d->lss_transfer.lss_fs_transfer.FS_LSS_ID[d->lss_transfer.LSSSub] & Mask; |
sam_grove |
0:6219434a0cb5 | 262 | d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
sam_grove |
0:6219434a0cb5 | 263 | //printf("BitChecked=%d, IDNumber=%x MASK=%x\n",d->lss_transfer.BitChecked,d->lss_transfer.IDNumber,Mask); |
sam_grove |
0:6219434a0cb5 | 264 | StartLSS_FS_TIMER(); |
sam_grove |
0:6219434a0cb5 | 265 | sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0); |
sam_grove |
0:6219434a0cb5 | 266 | return; |
sam_grove |
0:6219434a0cb5 | 267 | } |
sam_grove |
0:6219434a0cb5 | 268 | } |
sam_grove |
0:6219434a0cb5 | 269 | else{ |
sam_grove |
0:6219434a0cb5 | 270 | /* This should not happen, an error ocurred*/ |
sam_grove |
0:6219434a0cb5 | 271 | MSG_ERR(0x1D0E, "LSS FastScan timeout. FastScan response not received.", 0); |
sam_grove |
0:6219434a0cb5 | 272 | MSG_ERR(0x1D0E, "There is not any node with LSS_ID# =>", d->lss_transfer.LSSSub); |
sam_grove |
0:6219434a0cb5 | 273 | MSG_ERR(0x1D0E, "with the value =>", d->lss_transfer.IDNumber); |
sam_grove |
0:6219434a0cb5 | 274 | /* Set aborted state */ |
sam_grove |
0:6219434a0cb5 | 275 | d->lss_transfer.state = LSS_ABORTED_INTERNAL; |
sam_grove |
0:6219434a0cb5 | 276 | d->lss_transfer.FastScan_SM = LSS_FS_RESET; |
sam_grove |
0:6219434a0cb5 | 277 | } |
sam_grove |
0:6219434a0cb5 | 278 | } |
sam_grove |
0:6219434a0cb5 | 279 | break; |
sam_grove |
0:6219434a0cb5 | 280 | } |
sam_grove |
0:6219434a0cb5 | 281 | |
sam_grove |
0:6219434a0cb5 | 282 | /* Call the user function to inform of the problem.*/ |
sam_grove |
0:6219434a0cb5 | 283 | if(d->lss_transfer.Callback){ |
sam_grove |
0:6219434a0cb5 | 284 | /*If there is a callback, it is responsible of the error*/ |
sam_grove |
0:6219434a0cb5 | 285 | (*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 286 | } |
sam_grove |
0:6219434a0cb5 | 287 | } |
sam_grove |
0:6219434a0cb5 | 288 | #endif |
sam_grove |
0:6219434a0cb5 | 289 | |
sam_grove |
0:6219434a0cb5 | 290 | |
sam_grove |
0:6219434a0cb5 | 291 | /*! |
sam_grove |
0:6219434a0cb5 | 292 | ** |
sam_grove |
0:6219434a0cb5 | 293 | ** |
sam_grove |
0:6219434a0cb5 | 294 | ** @param d |
sam_grove |
0:6219434a0cb5 | 295 | **/ |
sam_grove |
0:6219434a0cb5 | 296 | void startLSS(CO_Data* d) |
sam_grove |
0:6219434a0cb5 | 297 | { |
sam_grove |
0:6219434a0cb5 | 298 | /*MSG_WAR(0x3D09, "LSS services started",0);*/ |
sam_grove |
0:6219434a0cb5 | 299 | } |
sam_grove |
0:6219434a0cb5 | 300 | |
sam_grove |
0:6219434a0cb5 | 301 | /*! |
sam_grove |
0:6219434a0cb5 | 302 | ** |
sam_grove |
0:6219434a0cb5 | 303 | ** |
sam_grove |
0:6219434a0cb5 | 304 | ** @param d |
sam_grove |
0:6219434a0cb5 | 305 | **/ |
sam_grove |
0:6219434a0cb5 | 306 | void stopLSS(CO_Data* d) |
sam_grove |
0:6219434a0cb5 | 307 | { |
sam_grove |
0:6219434a0cb5 | 308 | /*MSG_WAR(0x3D09, "LSS services stopped",0);*/ |
sam_grove |
0:6219434a0cb5 | 309 | } |
sam_grove |
0:6219434a0cb5 | 310 | |
sam_grove |
0:6219434a0cb5 | 311 | /*! |
sam_grove |
0:6219434a0cb5 | 312 | ** |
sam_grove |
0:6219434a0cb5 | 313 | ** |
sam_grove |
0:6219434a0cb5 | 314 | ** @param d |
sam_grove |
0:6219434a0cb5 | 315 | ** @param cob_id |
sam_grove |
0:6219434a0cb5 | 316 | ** |
sam_grove |
0:6219434a0cb5 | 317 | ** @return |
sam_grove |
0:6219434a0cb5 | 318 | **/ |
sam_grove |
0:6219434a0cb5 | 319 | UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) |
sam_grove |
0:6219434a0cb5 | 320 | { |
sam_grove |
0:6219434a0cb5 | 321 | Message m; |
sam_grove |
0:6219434a0cb5 | 322 | UNS8 i; |
sam_grove |
0:6219434a0cb5 | 323 | |
sam_grove |
0:6219434a0cb5 | 324 | if (!d->CurrentCommunicationState.csLSS){ |
sam_grove |
0:6219434a0cb5 | 325 | MSG_WAR(0x2D17, "unable to send the LSS message, not in the proper state =>", d->nodeState); |
sam_grove |
0:6219434a0cb5 | 326 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 327 | } |
sam_grove |
0:6219434a0cb5 | 328 | |
sam_grove |
0:6219434a0cb5 | 329 | for(i=1;i<8;i++)m.data[i]=0; |
sam_grove |
0:6219434a0cb5 | 330 | m.len = 8; |
sam_grove |
0:6219434a0cb5 | 331 | m.rtr = NOT_A_REQUEST; |
sam_grove |
0:6219434a0cb5 | 332 | m.data[0]=command; |
sam_grove |
0:6219434a0cb5 | 333 | m.cob_id=UNS16_LE(SLSS_ADRESS); |
sam_grove |
0:6219434a0cb5 | 334 | |
sam_grove |
0:6219434a0cb5 | 335 | /* Tha data sent with the msg depends on the command */ |
sam_grove |
0:6219434a0cb5 | 336 | switch(command){ |
sam_grove |
0:6219434a0cb5 | 337 | case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
sam_grove |
0:6219434a0cb5 | 338 | m.data[1]=*(UNS8 *)dat1; |
sam_grove |
0:6219434a0cb5 | 339 | break; |
sam_grove |
0:6219434a0cb5 | 340 | case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
sam_grove |
0:6219434a0cb5 | 341 | case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
sam_grove |
0:6219434a0cb5 | 342 | case LSS_CONF_STORE: /* Store Configured Parameters */ |
sam_grove |
0:6219434a0cb5 | 343 | m.data[1]=*(UNS8 *)dat1; |
sam_grove |
0:6219434a0cb5 | 344 | m.data[2]=*(UNS8 *)dat2; |
sam_grove |
0:6219434a0cb5 | 345 | break; |
sam_grove |
0:6219434a0cb5 | 346 | case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
sam_grove |
0:6219434a0cb5 | 347 | case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
sam_grove |
0:6219434a0cb5 | 348 | case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
sam_grove |
0:6219434a0cb5 | 349 | case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
sam_grove |
0:6219434a0cb5 | 350 | m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 351 | m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 352 | m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 353 | m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 354 | break; |
sam_grove |
0:6219434a0cb5 | 355 | case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response*/ |
sam_grove |
0:6219434a0cb5 | 356 | case LSS_IDENT_SLAVE: /* LSS Identify Slave */ |
sam_grove |
0:6219434a0cb5 | 357 | case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ |
sam_grove |
0:6219434a0cb5 | 358 | break; |
sam_grove |
0:6219434a0cb5 | 359 | default: |
sam_grove |
0:6219434a0cb5 | 360 | MSG_ERR(0x1D18, "send Slave LSS command not implemented", command); |
sam_grove |
0:6219434a0cb5 | 361 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 362 | } |
sam_grove |
0:6219434a0cb5 | 363 | |
sam_grove |
0:6219434a0cb5 | 364 | return canSend(d->canHandle,&m); |
sam_grove |
0:6219434a0cb5 | 365 | } |
sam_grove |
0:6219434a0cb5 | 366 | |
sam_grove |
0:6219434a0cb5 | 367 | /* If a baud rate is not supported just comment the line. */ |
sam_grove |
0:6219434a0cb5 | 368 | static UNS8 CO_TranslateBaudRate(char* optarg){ |
sam_grove |
0:6219434a0cb5 | 369 | if(!strcmp( optarg, "1M")) return 0x00; |
sam_grove |
0:6219434a0cb5 | 370 | if(!strcmp( optarg, "800K")) return 0x01; |
sam_grove |
0:6219434a0cb5 | 371 | if(!strcmp( optarg, "500K")) return 0x02; |
sam_grove |
0:6219434a0cb5 | 372 | if(!strcmp( optarg, "250K")) return 0x03; |
sam_grove |
0:6219434a0cb5 | 373 | if(!strcmp( optarg, "125K")) return 0x04; |
sam_grove |
0:6219434a0cb5 | 374 | if(!strcmp( optarg, "100K")) return 0x05; |
sam_grove |
0:6219434a0cb5 | 375 | if(!strcmp( optarg, "50K")) return 0x06; |
sam_grove |
0:6219434a0cb5 | 376 | if(!strcmp( optarg, "20K")) return 0x07; |
sam_grove |
0:6219434a0cb5 | 377 | if(!strcmp( optarg, "10K")) return 0x08; |
sam_grove |
0:6219434a0cb5 | 378 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 379 | } |
sam_grove |
0:6219434a0cb5 | 380 | |
sam_grove |
0:6219434a0cb5 | 381 | /*! |
sam_grove |
0:6219434a0cb5 | 382 | ** |
sam_grove |
0:6219434a0cb5 | 383 | ** |
sam_grove |
0:6219434a0cb5 | 384 | ** @param d |
sam_grove |
0:6219434a0cb5 | 385 | ** @param cob_id |
sam_grove |
0:6219434a0cb5 | 386 | ** |
sam_grove |
0:6219434a0cb5 | 387 | ** @return |
sam_grove |
0:6219434a0cb5 | 388 | **/ |
sam_grove |
0:6219434a0cb5 | 389 | UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) |
sam_grove |
0:6219434a0cb5 | 390 | { |
sam_grove |
0:6219434a0cb5 | 391 | Message m; |
sam_grove |
0:6219434a0cb5 | 392 | UNS8 i; |
sam_grove |
0:6219434a0cb5 | 393 | UNS8 res; |
sam_grove |
0:6219434a0cb5 | 394 | UNS8 hasResponse=0; |
sam_grove |
0:6219434a0cb5 | 395 | |
sam_grove |
0:6219434a0cb5 | 396 | for(i=1;i<8;i++)m.data[i]=0; |
sam_grove |
0:6219434a0cb5 | 397 | m.len = 8; |
sam_grove |
0:6219434a0cb5 | 398 | m.rtr = NOT_A_REQUEST; |
sam_grove |
0:6219434a0cb5 | 399 | m.data[0]=command; |
sam_grove |
0:6219434a0cb5 | 400 | m.cob_id=UNS16_LE(MLSS_ADRESS); |
sam_grove |
0:6219434a0cb5 | 401 | |
sam_grove |
0:6219434a0cb5 | 402 | /* Tha data sent with the msg depends on the command */ |
sam_grove |
0:6219434a0cb5 | 403 | switch(command){ |
sam_grove |
0:6219434a0cb5 | 404 | case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
sam_grove |
0:6219434a0cb5 | 405 | hasResponse=1; |
sam_grove |
0:6219434a0cb5 | 406 | case LSS_SM_GLOBAL: /* Switch Mode Global */ |
sam_grove |
0:6219434a0cb5 | 407 | m.data[1]=*(UNS8 *)dat1; |
sam_grove |
0:6219434a0cb5 | 408 | break; |
sam_grove |
0:6219434a0cb5 | 409 | case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
sam_grove |
0:6219434a0cb5 | 410 | |
sam_grove |
0:6219434a0cb5 | 411 | m.data[1]=*(UNS8 *)dat1; |
sam_grove |
0:6219434a0cb5 | 412 | d->lss_transfer.baudRate=*(char **)dat2; |
sam_grove |
0:6219434a0cb5 | 413 | |
sam_grove |
0:6219434a0cb5 | 414 | if((m.data[2]=CO_TranslateBaudRate(d->lss_transfer.baudRate))!=0xFF){ |
sam_grove |
0:6219434a0cb5 | 415 | hasResponse=1; |
sam_grove |
0:6219434a0cb5 | 416 | break; |
sam_grove |
0:6219434a0cb5 | 417 | } |
sam_grove |
0:6219434a0cb5 | 418 | |
sam_grove |
0:6219434a0cb5 | 419 | MSG_ERR(0x1D19, "Master-> Baud rate not supported",0); |
sam_grove |
0:6219434a0cb5 | 420 | d->lss_transfer.dat1=0xFF; |
sam_grove |
0:6219434a0cb5 | 421 | |
sam_grove |
0:6219434a0cb5 | 422 | /* if bit timing is not supported comment the previous code and uncomment the following one*/ |
sam_grove |
0:6219434a0cb5 | 423 | /*{ |
sam_grove |
0:6219434a0cb5 | 424 | MSG_ERR(0x1D1A, "Master-> Bit timing not supported",0); |
sam_grove |
0:6219434a0cb5 | 425 | d->lss_transfer.dat1=0x01; |
sam_grove |
0:6219434a0cb5 | 426 | }*/ |
sam_grove |
0:6219434a0cb5 | 427 | |
sam_grove |
0:6219434a0cb5 | 428 | d->lss_transfer.dat2=0; |
sam_grove |
0:6219434a0cb5 | 429 | /* If there is a callback, it is responsible of the error */ |
sam_grove |
0:6219434a0cb5 | 430 | if(d->lss_transfer.Callback) |
sam_grove |
0:6219434a0cb5 | 431 | (*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 432 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 433 | //break; |
sam_grove |
0:6219434a0cb5 | 434 | case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */ |
sam_grove |
0:6219434a0cb5 | 435 | m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 436 | m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 437 | if(d->lss_transfer.baudRate!="none"){ |
sam_grove |
0:6219434a0cb5 | 438 | d->lss_transfer.switchDelay=(UNS16)(*(UNS32*)dat1 & 0xFFFF); |
sam_grove |
0:6219434a0cb5 | 439 | d->lss_transfer.switchDelayState=SDELAY_FIRST; |
sam_grove |
0:6219434a0cb5 | 440 | d->lss_transfer.canHandle_t=d->canHandle; |
sam_grove |
0:6219434a0cb5 | 441 | res=canSend(d->canHandle,&m); |
sam_grove |
0:6219434a0cb5 | 442 | if(res==0){ |
sam_grove |
0:6219434a0cb5 | 443 | StartLSS_SDELAY_TIMER(); |
sam_grove |
0:6219434a0cb5 | 444 | d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; |
sam_grove |
0:6219434a0cb5 | 445 | } |
sam_grove |
0:6219434a0cb5 | 446 | return res; |
sam_grove |
0:6219434a0cb5 | 447 | } |
sam_grove |
0:6219434a0cb5 | 448 | else{ |
sam_grove |
0:6219434a0cb5 | 449 | MSG_ERR(0x1D1B, "Master-> Baud rate not specified",0); |
sam_grove |
0:6219434a0cb5 | 450 | d->lss_transfer.dat1=1; |
sam_grove |
0:6219434a0cb5 | 451 | /* If there is a callback, it is responsible of the error */ |
sam_grove |
0:6219434a0cb5 | 452 | if(d->lss_transfer.Callback){ |
sam_grove |
0:6219434a0cb5 | 453 | (*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 454 | } |
sam_grove |
0:6219434a0cb5 | 455 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 456 | } |
sam_grove |
0:6219434a0cb5 | 457 | //break; |
sam_grove |
0:6219434a0cb5 | 458 | case LSS_SM_SELECTIVE_SERIAL: |
sam_grove |
0:6219434a0cb5 | 459 | case LSS_IDENT_REMOTE_SERIAL_HIGH: |
sam_grove |
0:6219434a0cb5 | 460 | hasResponse=1; |
sam_grove |
0:6219434a0cb5 | 461 | case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */ |
sam_grove |
0:6219434a0cb5 | 462 | case LSS_SM_SELECTIVE_PRODUCT: |
sam_grove |
0:6219434a0cb5 | 463 | case LSS_SM_SELECTIVE_REVISION: |
sam_grove |
0:6219434a0cb5 | 464 | case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */ |
sam_grove |
0:6219434a0cb5 | 465 | case LSS_IDENT_REMOTE_PRODUCT: |
sam_grove |
0:6219434a0cb5 | 466 | case LSS_IDENT_REMOTE_REV_LOW: |
sam_grove |
0:6219434a0cb5 | 467 | case LSS_IDENT_REMOTE_REV_HIGH: |
sam_grove |
0:6219434a0cb5 | 468 | case LSS_IDENT_REMOTE_SERIAL_LOW: |
sam_grove |
0:6219434a0cb5 | 469 | m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 470 | m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 471 | m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 472 | m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 473 | break; |
sam_grove |
0:6219434a0cb5 | 474 | |
sam_grove |
0:6219434a0cb5 | 475 | case LSS_CONF_STORE: /* Store Configured Parameters */ |
sam_grove |
0:6219434a0cb5 | 476 | case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */ |
sam_grove |
0:6219434a0cb5 | 477 | case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
sam_grove |
0:6219434a0cb5 | 478 | case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
sam_grove |
0:6219434a0cb5 | 479 | case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
sam_grove |
0:6219434a0cb5 | 480 | case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
sam_grove |
0:6219434a0cb5 | 481 | case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
sam_grove |
0:6219434a0cb5 | 482 | hasResponse=1; |
sam_grove |
0:6219434a0cb5 | 483 | break; |
sam_grove |
0:6219434a0cb5 | 484 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 485 | case LSS_IDENT_FASTSCAN: |
sam_grove |
0:6219434a0cb5 | 486 | if(d->lss_transfer.FastScan_SM==LSS_FS_RESET){ |
sam_grove |
0:6219434a0cb5 | 487 | UNS8 i; |
sam_grove |
0:6219434a0cb5 | 488 | /* Initialize the lss_fs_transfer FastScan parameters */ |
sam_grove |
0:6219434a0cb5 | 489 | for(i=0;i<4;i++){ |
sam_grove |
0:6219434a0cb5 | 490 | d->lss_transfer.lss_fs_transfer.FS_LSS_ID[i]=(*(lss_fs_transfer_t*)dat1).FS_LSS_ID[i]; |
sam_grove |
0:6219434a0cb5 | 491 | d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]=(*(lss_fs_transfer_t*)dat1).FS_BitChecked[i]; |
sam_grove |
0:6219434a0cb5 | 492 | /* Adjust BitChecked from 32-1 to 31-0 */ |
sam_grove |
0:6219434a0cb5 | 493 | if(d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]>0)d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]--; |
sam_grove |
0:6219434a0cb5 | 494 | } |
sam_grove |
0:6219434a0cb5 | 495 | |
sam_grove |
0:6219434a0cb5 | 496 | d->lss_transfer.IDNumber=0; |
sam_grove |
0:6219434a0cb5 | 497 | d->lss_transfer.BitChecked=128; |
sam_grove |
0:6219434a0cb5 | 498 | d->lss_transfer.LSSSub=0; |
sam_grove |
0:6219434a0cb5 | 499 | d->lss_transfer.LSSNext=0; |
sam_grove |
0:6219434a0cb5 | 500 | |
sam_grove |
0:6219434a0cb5 | 501 | /* it will generate a response only if it is the start of the FastScan protocol*/ |
sam_grove |
0:6219434a0cb5 | 502 | hasResponse=1; |
sam_grove |
0:6219434a0cb5 | 503 | } |
sam_grove |
0:6219434a0cb5 | 504 | m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF); |
sam_grove |
0:6219434a0cb5 | 505 | m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 506 | m.data[3]=(UNS8)(d->lss_transfer.IDNumber>>16 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 507 | m.data[4]=(UNS8)(d->lss_transfer.IDNumber>>24 & 0xFF); |
sam_grove |
0:6219434a0cb5 | 508 | m.data[5]=d->lss_transfer.BitChecked; |
sam_grove |
0:6219434a0cb5 | 509 | m.data[6]=d->lss_transfer.LSSSub; |
sam_grove |
0:6219434a0cb5 | 510 | m.data[7]=d->lss_transfer.LSSNext; |
sam_grove |
0:6219434a0cb5 | 511 | break; |
sam_grove |
0:6219434a0cb5 | 512 | #endif |
sam_grove |
0:6219434a0cb5 | 513 | default: |
sam_grove |
0:6219434a0cb5 | 514 | MSG_ERR(0x1D1C, "send Master LSS command not implemented", command); |
sam_grove |
0:6219434a0cb5 | 515 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 516 | } |
sam_grove |
0:6219434a0cb5 | 517 | |
sam_grove |
0:6219434a0cb5 | 518 | res=canSend(d->canHandle,&m); |
sam_grove |
0:6219434a0cb5 | 519 | if(res==0 && hasResponse==1){ |
sam_grove |
0:6219434a0cb5 | 520 | StartLSS_MSG_TIMER(); |
sam_grove |
0:6219434a0cb5 | 521 | d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; |
sam_grove |
0:6219434a0cb5 | 522 | } |
sam_grove |
0:6219434a0cb5 | 523 | return res; |
sam_grove |
0:6219434a0cb5 | 524 | } |
sam_grove |
0:6219434a0cb5 | 525 | |
sam_grove |
0:6219434a0cb5 | 526 | /*! |
sam_grove |
0:6219434a0cb5 | 527 | ** |
sam_grove |
0:6219434a0cb5 | 528 | ** |
sam_grove |
0:6219434a0cb5 | 529 | ** @param d |
sam_grove |
0:6219434a0cb5 | 530 | ** @param cob_id |
sam_grove |
0:6219434a0cb5 | 531 | ** |
sam_grove |
0:6219434a0cb5 | 532 | ** @return |
sam_grove |
0:6219434a0cb5 | 533 | **/ |
sam_grove |
0:6219434a0cb5 | 534 | UNS8 sendLSS(CO_Data* d, UNS8 command,void *dat1,void *dat2) |
sam_grove |
0:6219434a0cb5 | 535 | { |
sam_grove |
0:6219434a0cb5 | 536 | UNS8 res=1; |
sam_grove |
0:6219434a0cb5 | 537 | |
sam_grove |
0:6219434a0cb5 | 538 | /* Tha data sent with the msg depends on the command and if the sender is a master or a slave */ |
sam_grove |
0:6219434a0cb5 | 539 | if (*(d->iam_a_slave)){ |
sam_grove |
0:6219434a0cb5 | 540 | res = sendSlaveLSSMessage(d, command,dat1,dat2); |
sam_grove |
0:6219434a0cb5 | 541 | } |
sam_grove |
0:6219434a0cb5 | 542 | else {/* It is a Master */ |
sam_grove |
0:6219434a0cb5 | 543 | res = sendMasterLSSMessage(d, command,dat1,dat2); |
sam_grove |
0:6219434a0cb5 | 544 | } |
sam_grove |
0:6219434a0cb5 | 545 | return res ; |
sam_grove |
0:6219434a0cb5 | 546 | } |
sam_grove |
0:6219434a0cb5 | 547 | |
sam_grove |
0:6219434a0cb5 | 548 | |
sam_grove |
0:6219434a0cb5 | 549 | /*! |
sam_grove |
0:6219434a0cb5 | 550 | ** |
sam_grove |
0:6219434a0cb5 | 551 | ** |
sam_grove |
0:6219434a0cb5 | 552 | ** @param d |
sam_grove |
0:6219434a0cb5 | 553 | ** @param m |
sam_grove |
0:6219434a0cb5 | 554 | ** |
sam_grove |
0:6219434a0cb5 | 555 | ** @return |
sam_grove |
0:6219434a0cb5 | 556 | **/ |
sam_grove |
0:6219434a0cb5 | 557 | UNS8 proceedLSS_Master(CO_Data* d, Message* m ) |
sam_grove |
0:6219434a0cb5 | 558 | { |
sam_grove |
0:6219434a0cb5 | 559 | UNS8 msg_cs; |
sam_grove |
0:6219434a0cb5 | 560 | UNS32 Dat1=0; |
sam_grove |
0:6219434a0cb5 | 561 | UNS8 Dat2=0; |
sam_grove |
0:6219434a0cb5 | 562 | |
sam_grove |
0:6219434a0cb5 | 563 | if(d->lss_transfer.state!=LSS_TRANS_IN_PROGRESS) |
sam_grove |
0:6219434a0cb5 | 564 | { |
sam_grove |
0:6219434a0cb5 | 565 | //MSG_WAR(0x3D0D, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]); |
sam_grove |
0:6219434a0cb5 | 566 | //return 0; |
sam_grove |
0:6219434a0cb5 | 567 | goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 568 | } |
sam_grove |
0:6219434a0cb5 | 569 | |
sam_grove |
0:6219434a0cb5 | 570 | MSG_WAR(0x3D1E, "MasterLSS proceedLSS; command ", m->data[0]); |
sam_grove |
0:6219434a0cb5 | 571 | |
sam_grove |
0:6219434a0cb5 | 572 | switch(msg_cs=m->data[0]){ |
sam_grove |
0:6219434a0cb5 | 573 | case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
sam_grove |
0:6219434a0cb5 | 574 | if(d->lss_transfer.command!=LSS_INQ_NODE_ID)goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 575 | Dat1=m->data[1]; |
sam_grove |
0:6219434a0cb5 | 576 | break; |
sam_grove |
0:6219434a0cb5 | 577 | case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
sam_grove |
0:6219434a0cb5 | 578 | case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
sam_grove |
0:6219434a0cb5 | 579 | case LSS_CONF_STORE: /* Store Configured Parameters */ |
sam_grove |
0:6219434a0cb5 | 580 | if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 581 | Dat1=m->data[1]; |
sam_grove |
0:6219434a0cb5 | 582 | Dat2=m->data[2]; |
sam_grove |
0:6219434a0cb5 | 583 | break; |
sam_grove |
0:6219434a0cb5 | 584 | case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
sam_grove |
0:6219434a0cb5 | 585 | case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
sam_grove |
0:6219434a0cb5 | 586 | case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
sam_grove |
0:6219434a0cb5 | 587 | case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
sam_grove |
0:6219434a0cb5 | 588 | if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 589 | Dat1=getLSSIdent(m); |
sam_grove |
0:6219434a0cb5 | 590 | break; |
sam_grove |
0:6219434a0cb5 | 591 | case LSS_IDENT_SLAVE: /* LSS Identify Slave */ |
sam_grove |
0:6219434a0cb5 | 592 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 593 | if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){ |
sam_grove |
0:6219434a0cb5 | 594 | /* A message arrived during the timer period */ |
sam_grove |
0:6219434a0cb5 | 595 | d->lss_transfer.LSSanswer=1; |
sam_grove |
0:6219434a0cb5 | 596 | return 0; |
sam_grove |
0:6219434a0cb5 | 597 | } |
sam_grove |
0:6219434a0cb5 | 598 | else |
sam_grove |
0:6219434a0cb5 | 599 | #endif |
sam_grove |
0:6219434a0cb5 | 600 | if(d->lss_transfer.command!=LSS_IDENT_REMOTE_VENDOR && \ |
sam_grove |
0:6219434a0cb5 | 601 | d->lss_transfer.command!=LSS_IDENT_REMOTE_PRODUCT && \ |
sam_grove |
0:6219434a0cb5 | 602 | d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_LOW && \ |
sam_grove |
0:6219434a0cb5 | 603 | d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_HIGH && \ |
sam_grove |
0:6219434a0cb5 | 604 | d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_LOW && \ |
sam_grove |
0:6219434a0cb5 | 605 | d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_HIGH ) |
sam_grove |
0:6219434a0cb5 | 606 | goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 607 | break; |
sam_grove |
0:6219434a0cb5 | 608 | case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */ |
sam_grove |
0:6219434a0cb5 | 609 | if(d->lss_transfer.command!=LSS_SM_SELECTIVE_VENDOR && \ |
sam_grove |
0:6219434a0cb5 | 610 | d->lss_transfer.command!=LSS_SM_SELECTIVE_PRODUCT && \ |
sam_grove |
0:6219434a0cb5 | 611 | d->lss_transfer.command!=LSS_SM_SELECTIVE_REVISION && \ |
sam_grove |
0:6219434a0cb5 | 612 | d->lss_transfer.command!=LSS_SM_SELECTIVE_SERIAL ) |
sam_grove |
0:6219434a0cb5 | 613 | goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 614 | break; |
sam_grove |
0:6219434a0cb5 | 615 | case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ |
sam_grove |
0:6219434a0cb5 | 616 | if(d->lss_transfer.command!=LSS_IDENT_REMOTE_NON_CONF)goto ErrorProcessMaster; |
sam_grove |
0:6219434a0cb5 | 617 | break; |
sam_grove |
0:6219434a0cb5 | 618 | default: |
sam_grove |
0:6219434a0cb5 | 619 | MSG_ERR(0x1D1F, "Master LSS command not implemented", msg_cs); |
sam_grove |
0:6219434a0cb5 | 620 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 621 | } |
sam_grove |
0:6219434a0cb5 | 622 | |
sam_grove |
0:6219434a0cb5 | 623 | StopLSS_MSG_TIMER(); |
sam_grove |
0:6219434a0cb5 | 624 | d->lss_transfer.state = LSS_FINISHED; |
sam_grove |
0:6219434a0cb5 | 625 | |
sam_grove |
0:6219434a0cb5 | 626 | d->lss_transfer.dat1=Dat1; |
sam_grove |
0:6219434a0cb5 | 627 | d->lss_transfer.dat2=Dat2; |
sam_grove |
0:6219434a0cb5 | 628 | /* If there is a callback, it is responsible of the received response */ |
sam_grove |
0:6219434a0cb5 | 629 | if(d->lss_transfer.Callback) |
sam_grove |
0:6219434a0cb5 | 630 | (*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
sam_grove |
0:6219434a0cb5 | 631 | |
sam_grove |
0:6219434a0cb5 | 632 | return 0; |
sam_grove |
0:6219434a0cb5 | 633 | |
sam_grove |
0:6219434a0cb5 | 634 | ErrorProcessMaster: |
sam_grove |
0:6219434a0cb5 | 635 | MSG_WAR(0x3D20, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]); |
sam_grove |
0:6219434a0cb5 | 636 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 637 | |
sam_grove |
0:6219434a0cb5 | 638 | } |
sam_grove |
0:6219434a0cb5 | 639 | |
sam_grove |
0:6219434a0cb5 | 640 | /*! |
sam_grove |
0:6219434a0cb5 | 641 | ** |
sam_grove |
0:6219434a0cb5 | 642 | ** |
sam_grove |
0:6219434a0cb5 | 643 | ** @param d |
sam_grove |
0:6219434a0cb5 | 644 | ** @param m |
sam_grove |
0:6219434a0cb5 | 645 | ** |
sam_grove |
0:6219434a0cb5 | 646 | ** @return |
sam_grove |
0:6219434a0cb5 | 647 | **/ |
sam_grove |
0:6219434a0cb5 | 648 | UNS8 proceedLSS_Slave(CO_Data* d, Message* m ) |
sam_grove |
0:6219434a0cb5 | 649 | { |
sam_grove |
0:6219434a0cb5 | 650 | UNS8 msg_cs; |
sam_grove |
0:6219434a0cb5 | 651 | |
sam_grove |
0:6219434a0cb5 | 652 | MSG_WAR(0x3D21, "SlaveLSS proceedLSS; command ", m->data[0]); |
sam_grove |
0:6219434a0cb5 | 653 | |
sam_grove |
0:6219434a0cb5 | 654 | switch(msg_cs=m->data[0]){ |
sam_grove |
0:6219434a0cb5 | 655 | case LSS_SM_GLOBAL: /* Switch Mode Global */ |
sam_grove |
0:6219434a0cb5 | 656 | /* if there is not a mode change break*/ |
sam_grove |
0:6219434a0cb5 | 657 | if(m->data[1] == d->lss_transfer.mode){ |
sam_grove |
0:6219434a0cb5 | 658 | MSG_WAR(0x3D22, "SlaveLSS already in the mode ", m->data[1]); |
sam_grove |
0:6219434a0cb5 | 659 | break; |
sam_grove |
0:6219434a0cb5 | 660 | } |
sam_grove |
0:6219434a0cb5 | 661 | |
sam_grove |
0:6219434a0cb5 | 662 | if(m->data[1]==LSS_CONFIGURATION_MODE) { |
sam_grove |
0:6219434a0cb5 | 663 | MSG_WAR(0x3D23, "SlaveLSS switching to configuration mode ", 0); |
sam_grove |
0:6219434a0cb5 | 664 | /* Store the NodeId in case it will be changed */ |
sam_grove |
0:6219434a0cb5 | 665 | //d->lss_transfer.nodeID=getNodeId(d); |
sam_grove |
0:6219434a0cb5 | 666 | d->lss_transfer.mode=LSS_CONFIGURATION_MODE; |
sam_grove |
0:6219434a0cb5 | 667 | } |
sam_grove |
0:6219434a0cb5 | 668 | else if(m->data[1]==LSS_WAITING_MODE){ |
sam_grove |
0:6219434a0cb5 | 669 | MSG_WAR(0x3D24, "SlaveLSS switching to operational mode ", 0); |
sam_grove |
0:6219434a0cb5 | 670 | |
sam_grove |
0:6219434a0cb5 | 671 | /* If the nodeID has changed update it and put the node state to Initialisation. */ |
sam_grove |
0:6219434a0cb5 | 672 | if(d->lss_transfer.nodeID!=getNodeId(d)){ |
sam_grove |
0:6219434a0cb5 | 673 | if(getNodeId(d)==0xFF){/* The nodeID was 0xFF; initialize the application*/ |
sam_grove |
0:6219434a0cb5 | 674 | MSG_WAR(0x3D25, "The node Id has changed. Reseting to Initialisation state",0); |
sam_grove |
0:6219434a0cb5 | 675 | setNodeId(d, d->lss_transfer.nodeID); |
sam_grove |
0:6219434a0cb5 | 676 | setState(d, Initialisation); |
sam_grove |
0:6219434a0cb5 | 677 | } |
sam_grove |
0:6219434a0cb5 | 678 | else{/* The nodeID will be changed on NMT_Reset_Comunication Request*/ |
sam_grove |
0:6219434a0cb5 | 679 | } |
sam_grove |
0:6219434a0cb5 | 680 | } |
sam_grove |
0:6219434a0cb5 | 681 | d->lss_transfer.mode=LSS_WAITING_MODE; |
sam_grove |
0:6219434a0cb5 | 682 | } |
sam_grove |
0:6219434a0cb5 | 683 | break; |
sam_grove |
0:6219434a0cb5 | 684 | case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
sam_grove |
0:6219434a0cb5 | 685 | { |
sam_grove |
0:6219434a0cb5 | 686 | UNS8 error_code=0; |
sam_grove |
0:6219434a0cb5 | 687 | UNS8 spec_error=0; |
sam_grove |
0:6219434a0cb5 | 688 | |
sam_grove |
0:6219434a0cb5 | 689 | if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ |
sam_grove |
0:6219434a0cb5 | 690 | if(m->data[1]>127 && m->data[1]!=0xFF){ |
sam_grove |
0:6219434a0cb5 | 691 | MSG_ERR(0x1D26, "NodeID out of range",0); |
sam_grove |
0:6219434a0cb5 | 692 | error_code=1; /* NodeID out of range */ |
sam_grove |
0:6219434a0cb5 | 693 | } |
sam_grove |
0:6219434a0cb5 | 694 | else{ |
sam_grove |
0:6219434a0cb5 | 695 | d->lss_transfer.nodeID=m->data[1]; |
sam_grove |
0:6219434a0cb5 | 696 | } |
sam_grove |
0:6219434a0cb5 | 697 | } |
sam_grove |
0:6219434a0cb5 | 698 | else{ |
sam_grove |
0:6219434a0cb5 | 699 | MSG_WAR(0x3D27, "SlaveLSS not in configuration mode",0); |
sam_grove |
0:6219434a0cb5 | 700 | //error_code=0xFF; |
sam_grove |
0:6219434a0cb5 | 701 | break; |
sam_grove |
0:6219434a0cb5 | 702 | } |
sam_grove |
0:6219434a0cb5 | 703 | sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); |
sam_grove |
0:6219434a0cb5 | 704 | } |
sam_grove |
0:6219434a0cb5 | 705 | break; |
sam_grove |
0:6219434a0cb5 | 706 | case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
sam_grove |
0:6219434a0cb5 | 707 | { |
sam_grove |
0:6219434a0cb5 | 708 | UNS8 error_code=0; |
sam_grove |
0:6219434a0cb5 | 709 | UNS8 spec_error=0; |
sam_grove |
0:6219434a0cb5 | 710 | |
sam_grove |
0:6219434a0cb5 | 711 | if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ |
sam_grove |
0:6219434a0cb5 | 712 | /* If a baud rate is not supported just comment the line. */ |
sam_grove |
0:6219434a0cb5 | 713 | switch(m->data[2]){ |
sam_grove |
0:6219434a0cb5 | 714 | case 0x00:d->lss_transfer.baudRate="1M";break; |
sam_grove |
0:6219434a0cb5 | 715 | case 0x01:d->lss_transfer.baudRate="800K";break; |
sam_grove |
0:6219434a0cb5 | 716 | case 0x02:d->lss_transfer.baudRate="500K";break; |
sam_grove |
0:6219434a0cb5 | 717 | case 0x03:d->lss_transfer.baudRate="250K";break; |
sam_grove |
0:6219434a0cb5 | 718 | case 0x04:d->lss_transfer.baudRate="125K";break; |
sam_grove |
0:6219434a0cb5 | 719 | case 0x05:d->lss_transfer.baudRate="100K";break; |
sam_grove |
0:6219434a0cb5 | 720 | case 0x06:d->lss_transfer.baudRate="50K";break; |
sam_grove |
0:6219434a0cb5 | 721 | case 0x07:d->lss_transfer.baudRate="20K";break; |
sam_grove |
0:6219434a0cb5 | 722 | case 0x08:d->lss_transfer.baudRate="10K";break; |
sam_grove |
0:6219434a0cb5 | 723 | default: |
sam_grove |
0:6219434a0cb5 | 724 | MSG_ERR(0x1D28, "Baud rate not supported",0); |
sam_grove |
0:6219434a0cb5 | 725 | error_code=0xFF; /* Baud rate not supported*/ |
sam_grove |
0:6219434a0cb5 | 726 | break; |
sam_grove |
0:6219434a0cb5 | 727 | } |
sam_grove |
0:6219434a0cb5 | 728 | } |
sam_grove |
0:6219434a0cb5 | 729 | else{ |
sam_grove |
0:6219434a0cb5 | 730 | MSG_WAR(0x3D2A, "SlaveLSS not in configuration mode",0); |
sam_grove |
0:6219434a0cb5 | 731 | //error_code=0xFF; |
sam_grove |
0:6219434a0cb5 | 732 | break; |
sam_grove |
0:6219434a0cb5 | 733 | } |
sam_grove |
0:6219434a0cb5 | 734 | |
sam_grove |
0:6219434a0cb5 | 735 | /* if bit timing is not supported comment the previous code and uncomment the following */ |
sam_grove |
0:6219434a0cb5 | 736 | /*{ |
sam_grove |
0:6219434a0cb5 | 737 | MSG_ERR(0x1D29, "Bit timing not supported",0); |
sam_grove |
0:6219434a0cb5 | 738 | error_code=0x01; // bit timing not supported |
sam_grove |
0:6219434a0cb5 | 739 | }*/ |
sam_grove |
0:6219434a0cb5 | 740 | |
sam_grove |
0:6219434a0cb5 | 741 | sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); |
sam_grove |
0:6219434a0cb5 | 742 | } |
sam_grove |
0:6219434a0cb5 | 743 | break; |
sam_grove |
0:6219434a0cb5 | 744 | case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */ |
sam_grove |
0:6219434a0cb5 | 745 | |
sam_grove |
0:6219434a0cb5 | 746 | if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){ |
sam_grove |
0:6219434a0cb5 | 747 | MSG_ERR(0x3D2B, "SlaveLSS not in configuration mode",0); |
sam_grove |
0:6219434a0cb5 | 748 | break; |
sam_grove |
0:6219434a0cb5 | 749 | } |
sam_grove |
0:6219434a0cb5 | 750 | |
sam_grove |
0:6219434a0cb5 | 751 | if(d->lss_transfer.baudRate!="none"){ |
sam_grove |
0:6219434a0cb5 | 752 | d->lss_transfer.switchDelay=getLSSDelay(m); |
sam_grove |
0:6219434a0cb5 | 753 | MSG_WAR(0x3D2C, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay); |
sam_grove |
0:6219434a0cb5 | 754 | d->lss_transfer.switchDelayState=SDELAY_FIRST; |
sam_grove |
0:6219434a0cb5 | 755 | //d->lss_transfer.currentState=getState(d); |
sam_grove |
0:6219434a0cb5 | 756 | //setState(d, LssTimingDelay); |
sam_grove |
0:6219434a0cb5 | 757 | d->lss_transfer.canHandle_t=d->canHandle; |
sam_grove |
0:6219434a0cb5 | 758 | d->canHandle=NULL; |
sam_grove |
0:6219434a0cb5 | 759 | StartLSS_SDELAY_TIMER(); |
sam_grove |
0:6219434a0cb5 | 760 | } |
sam_grove |
0:6219434a0cb5 | 761 | break; |
sam_grove |
0:6219434a0cb5 | 762 | case LSS_CONF_STORE: /* Store Configured Parameters */ |
sam_grove |
0:6219434a0cb5 | 763 | { |
sam_grove |
0:6219434a0cb5 | 764 | UNS8 error_code=0; |
sam_grove |
0:6219434a0cb5 | 765 | UNS8 spec_error=0; |
sam_grove |
0:6219434a0cb5 | 766 | |
sam_grove |
0:6219434a0cb5 | 767 | if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ |
sam_grove |
0:6219434a0cb5 | 768 | if(d->lss_StoreConfiguration){ |
sam_grove |
0:6219434a0cb5 | 769 | /* call lss_StoreConfiguration with NodeId */ |
sam_grove |
0:6219434a0cb5 | 770 | (*d->lss_StoreConfiguration)(d,&error_code,&spec_error); |
sam_grove |
0:6219434a0cb5 | 771 | } |
sam_grove |
0:6219434a0cb5 | 772 | else{ |
sam_grove |
0:6219434a0cb5 | 773 | MSG_ERR(0x1D2E, "Store configuration not supported",0); |
sam_grove |
0:6219434a0cb5 | 774 | error_code=1; /* store configuration is not supported */ |
sam_grove |
0:6219434a0cb5 | 775 | } |
sam_grove |
0:6219434a0cb5 | 776 | } |
sam_grove |
0:6219434a0cb5 | 777 | else{ |
sam_grove |
0:6219434a0cb5 | 778 | MSG_WAR(0x3D2F, "SlaveLSS not in configuration mode",0); |
sam_grove |
0:6219434a0cb5 | 779 | //error_code=0xFF; |
sam_grove |
0:6219434a0cb5 | 780 | break; |
sam_grove |
0:6219434a0cb5 | 781 | } |
sam_grove |
0:6219434a0cb5 | 782 | sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); |
sam_grove |
0:6219434a0cb5 | 783 | } |
sam_grove |
0:6219434a0cb5 | 784 | break; |
sam_grove |
0:6219434a0cb5 | 785 | case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */ |
sam_grove |
0:6219434a0cb5 | 786 | case LSS_SM_SELECTIVE_PRODUCT: |
sam_grove |
0:6219434a0cb5 | 787 | case LSS_SM_SELECTIVE_REVISION: |
sam_grove |
0:6219434a0cb5 | 788 | case LSS_SM_SELECTIVE_SERIAL: |
sam_grove |
0:6219434a0cb5 | 789 | { |
sam_grove |
0:6219434a0cb5 | 790 | UNS32 errorCode; |
sam_grove |
0:6219434a0cb5 | 791 | const indextable *ptrTable; |
sam_grove |
0:6219434a0cb5 | 792 | ODCallback_t *Callback; |
sam_grove |
0:6219434a0cb5 | 793 | UNS32 _SpecificNodeInfo; |
sam_grove |
0:6219434a0cb5 | 794 | |
sam_grove |
0:6219434a0cb5 | 795 | if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) |
sam_grove |
0:6219434a0cb5 | 796 | { |
sam_grove |
0:6219434a0cb5 | 797 | MSG_ERR(0x1D30, "Switch Mode Selective only supported in operational mode",0); |
sam_grove |
0:6219434a0cb5 | 798 | break; |
sam_grove |
0:6219434a0cb5 | 799 | } |
sam_grove |
0:6219434a0cb5 | 800 | |
sam_grove |
0:6219434a0cb5 | 801 | _SpecificNodeInfo=getLSSIdent(m); |
sam_grove |
0:6219434a0cb5 | 802 | |
sam_grove |
0:6219434a0cb5 | 803 | ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
sam_grove |
0:6219434a0cb5 | 804 | if(_SpecificNodeInfo==*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_SM_SELECTIVE_VENDOR-1)].pObject){ |
sam_grove |
0:6219434a0cb5 | 805 | |
sam_grove |
0:6219434a0cb5 | 806 | d->lss_transfer.addr_sel_match|=(0x01<<(msg_cs-LSS_SM_SELECTIVE_VENDOR)); |
sam_grove |
0:6219434a0cb5 | 807 | /* If all the fields has been set */ |
sam_grove |
0:6219434a0cb5 | 808 | if(d->lss_transfer.addr_sel_match==0x0F){ |
sam_grove |
0:6219434a0cb5 | 809 | |
sam_grove |
0:6219434a0cb5 | 810 | MSG_WAR(0x3D31, "SlaveLSS switching to configuration mode ", 0); |
sam_grove |
0:6219434a0cb5 | 811 | d->lss_transfer.addr_sel_match=0; |
sam_grove |
0:6219434a0cb5 | 812 | d->lss_transfer.nodeID=getNodeId(d); |
sam_grove |
0:6219434a0cb5 | 813 | d->lss_transfer.mode=LSS_CONFIGURATION_MODE; |
sam_grove |
0:6219434a0cb5 | 814 | |
sam_grove |
0:6219434a0cb5 | 815 | sendSlaveLSSMessage(d,LSS_SM_SELECTIVE_RESP,0,0); |
sam_grove |
0:6219434a0cb5 | 816 | } |
sam_grove |
0:6219434a0cb5 | 817 | } |
sam_grove |
0:6219434a0cb5 | 818 | else { |
sam_grove |
0:6219434a0cb5 | 819 | MSG_WAR(0x3D32, "LSS identity field doesn't match ", _SpecificNodeInfo); |
sam_grove |
0:6219434a0cb5 | 820 | d->lss_transfer.addr_sel_match=0; |
sam_grove |
0:6219434a0cb5 | 821 | } |
sam_grove |
0:6219434a0cb5 | 822 | } |
sam_grove |
0:6219434a0cb5 | 823 | break; |
sam_grove |
0:6219434a0cb5 | 824 | case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */ |
sam_grove |
0:6219434a0cb5 | 825 | case LSS_IDENT_REMOTE_PRODUCT: |
sam_grove |
0:6219434a0cb5 | 826 | case LSS_IDENT_REMOTE_REV_LOW: |
sam_grove |
0:6219434a0cb5 | 827 | case LSS_IDENT_REMOTE_REV_HIGH: |
sam_grove |
0:6219434a0cb5 | 828 | case LSS_IDENT_REMOTE_SERIAL_LOW: |
sam_grove |
0:6219434a0cb5 | 829 | case LSS_IDENT_REMOTE_SERIAL_HIGH: |
sam_grove |
0:6219434a0cb5 | 830 | { |
sam_grove |
0:6219434a0cb5 | 831 | UNS32 errorCode; |
sam_grove |
0:6219434a0cb5 | 832 | const indextable *ptrTable; |
sam_grove |
0:6219434a0cb5 | 833 | ODCallback_t *Callback; |
sam_grove |
0:6219434a0cb5 | 834 | UNS32 _SpecificNodeInfo; |
sam_grove |
0:6219434a0cb5 | 835 | |
sam_grove |
0:6219434a0cb5 | 836 | _SpecificNodeInfo=getLSSIdent(m); |
sam_grove |
0:6219434a0cb5 | 837 | |
sam_grove |
0:6219434a0cb5 | 838 | ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
sam_grove |
0:6219434a0cb5 | 839 | |
sam_grove |
0:6219434a0cb5 | 840 | /* Check if the data match the identity object. */ |
sam_grove |
0:6219434a0cb5 | 841 | switch(msg_cs){ |
sam_grove |
0:6219434a0cb5 | 842 | case LSS_IDENT_REMOTE_VENDOR:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo == *(UNS32*)ptrTable->pSubindex[1].pObject)? d->lss_transfer.addr_ident_match|0x01:0; break; |
sam_grove |
0:6219434a0cb5 | 843 | case LSS_IDENT_REMOTE_PRODUCT:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo == *(UNS32*)ptrTable->pSubindex[2].pObject)? d->lss_transfer.addr_ident_match|0x02:0; break; |
sam_grove |
0:6219434a0cb5 | 844 | case LSS_IDENT_REMOTE_REV_LOW:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo <= *(UNS32*)ptrTable->pSubindex[3].pObject)? d->lss_transfer.addr_ident_match|0x04:0; break; |
sam_grove |
0:6219434a0cb5 | 845 | case LSS_IDENT_REMOTE_REV_HIGH:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo >= *(UNS32*)ptrTable->pSubindex[3].pObject)? d->lss_transfer.addr_ident_match|0x08:0; break; |
sam_grove |
0:6219434a0cb5 | 846 | case LSS_IDENT_REMOTE_SERIAL_LOW:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo <= *(UNS32*)ptrTable->pSubindex[4].pObject)? d->lss_transfer.addr_ident_match|0x10:0; break; |
sam_grove |
0:6219434a0cb5 | 847 | case LSS_IDENT_REMOTE_SERIAL_HIGH:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo >= *(UNS32*)ptrTable->pSubindex[4].pObject)? d->lss_transfer.addr_ident_match|0x20:0; break; |
sam_grove |
0:6219434a0cb5 | 848 | } |
sam_grove |
0:6219434a0cb5 | 849 | /* If all the fields has been set.. */ |
sam_grove |
0:6219434a0cb5 | 850 | if(d->lss_transfer.addr_ident_match==0x3F){ |
sam_grove |
0:6219434a0cb5 | 851 | MSG_WAR(0x3D33, "SlaveLSS identified ", 0); |
sam_grove |
0:6219434a0cb5 | 852 | d->lss_transfer.addr_ident_match=0; |
sam_grove |
0:6219434a0cb5 | 853 | sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
sam_grove |
0:6219434a0cb5 | 854 | } |
sam_grove |
0:6219434a0cb5 | 855 | else if(d->lss_transfer.addr_ident_match==0){ |
sam_grove |
0:6219434a0cb5 | 856 | MSG_WAR(0x3D34, "LSS identify field doesn't match ", _SpecificNodeInfo); |
sam_grove |
0:6219434a0cb5 | 857 | } |
sam_grove |
0:6219434a0cb5 | 858 | } |
sam_grove |
0:6219434a0cb5 | 859 | break; |
sam_grove |
0:6219434a0cb5 | 860 | case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */ |
sam_grove |
0:6219434a0cb5 | 861 | { |
sam_grove |
0:6219434a0cb5 | 862 | if(getNodeId(d)==0xFF){ |
sam_grove |
0:6219434a0cb5 | 863 | MSG_WAR(0x3D35, "SlaveLSS non-configured ", 0); |
sam_grove |
0:6219434a0cb5 | 864 | sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0); |
sam_grove |
0:6219434a0cb5 | 865 | } |
sam_grove |
0:6219434a0cb5 | 866 | else{ |
sam_grove |
0:6219434a0cb5 | 867 | MSG_WAR(0x3D36, "SlaveLSS already configured ", 0); |
sam_grove |
0:6219434a0cb5 | 868 | } |
sam_grove |
0:6219434a0cb5 | 869 | } |
sam_grove |
0:6219434a0cb5 | 870 | break; |
sam_grove |
0:6219434a0cb5 | 871 | case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
sam_grove |
0:6219434a0cb5 | 872 | case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
sam_grove |
0:6219434a0cb5 | 873 | case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
sam_grove |
0:6219434a0cb5 | 874 | case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
sam_grove |
0:6219434a0cb5 | 875 | if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) |
sam_grove |
0:6219434a0cb5 | 876 | { |
sam_grove |
0:6219434a0cb5 | 877 | |
sam_grove |
0:6219434a0cb5 | 878 | UNS32 errorCode; |
sam_grove |
0:6219434a0cb5 | 879 | const indextable *ptrTable; |
sam_grove |
0:6219434a0cb5 | 880 | ODCallback_t *Callback; |
sam_grove |
0:6219434a0cb5 | 881 | UNS32 _SpecificNodeInfo; |
sam_grove |
0:6219434a0cb5 | 882 | |
sam_grove |
0:6219434a0cb5 | 883 | ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
sam_grove |
0:6219434a0cb5 | 884 | _SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject; |
sam_grove |
0:6219434a0cb5 | 885 | MSG_WAR(0x3D37, "SlaveLSS identity field inquired ", _SpecificNodeInfo); |
sam_grove |
0:6219434a0cb5 | 886 | |
sam_grove |
0:6219434a0cb5 | 887 | sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0); |
sam_grove |
0:6219434a0cb5 | 888 | } |
sam_grove |
0:6219434a0cb5 | 889 | break; |
sam_grove |
0:6219434a0cb5 | 890 | case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
sam_grove |
0:6219434a0cb5 | 891 | if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) |
sam_grove |
0:6219434a0cb5 | 892 | { |
sam_grove |
0:6219434a0cb5 | 893 | UNS8 NodeID; |
sam_grove |
0:6219434a0cb5 | 894 | |
sam_grove |
0:6219434a0cb5 | 895 | NodeID=getNodeId(d); |
sam_grove |
0:6219434a0cb5 | 896 | MSG_WAR(0x3D38, "SlaveLSS Node ID inquired ", NodeID); |
sam_grove |
0:6219434a0cb5 | 897 | sendSlaveLSSMessage(d,msg_cs,&NodeID,0); |
sam_grove |
0:6219434a0cb5 | 898 | } |
sam_grove |
0:6219434a0cb5 | 899 | else{ |
sam_grove |
0:6219434a0cb5 | 900 | MSG_WAR(0x3D39, "SlaveLSS not in configuration mode",0); |
sam_grove |
0:6219434a0cb5 | 901 | } |
sam_grove |
0:6219434a0cb5 | 902 | break; |
sam_grove |
0:6219434a0cb5 | 903 | #ifdef CO_ENABLE_LSS_FS |
sam_grove |
0:6219434a0cb5 | 904 | case LSS_IDENT_FASTSCAN: |
sam_grove |
0:6219434a0cb5 | 905 | { |
sam_grove |
0:6219434a0cb5 | 906 | /* If the nodeID isn't 0xFF the slave shall not participate */ |
sam_grove |
0:6219434a0cb5 | 907 | if(getNodeId(d)!=0xFF)break; |
sam_grove |
0:6219434a0cb5 | 908 | if(getLSSBitCheck(m)==128)d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
sam_grove |
0:6219434a0cb5 | 909 | |
sam_grove |
0:6219434a0cb5 | 910 | switch(d->lss_transfer.FastScan_SM){ |
sam_grove |
0:6219434a0cb5 | 911 | case LSS_FS_RESET: |
sam_grove |
0:6219434a0cb5 | 912 | { |
sam_grove |
0:6219434a0cb5 | 913 | UNS32 errorCode; |
sam_grove |
0:6219434a0cb5 | 914 | const indextable *ptrTable; |
sam_grove |
0:6219434a0cb5 | 915 | ODCallback_t *Callback; |
sam_grove |
0:6219434a0cb5 | 916 | |
sam_grove |
0:6219434a0cb5 | 917 | MSG_WAR(0x3D3A, "SlaveLSS Reseting LSSPos", 0); |
sam_grove |
0:6219434a0cb5 | 918 | d->lss_transfer.LSSPos=0; |
sam_grove |
0:6219434a0cb5 | 919 | d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
sam_grove |
0:6219434a0cb5 | 920 | |
sam_grove |
0:6219434a0cb5 | 921 | ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
sam_grove |
0:6219434a0cb5 | 922 | d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject; |
sam_grove |
0:6219434a0cb5 | 923 | |
sam_grove |
0:6219434a0cb5 | 924 | sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
sam_grove |
0:6219434a0cb5 | 925 | } |
sam_grove |
0:6219434a0cb5 | 926 | break; |
sam_grove |
0:6219434a0cb5 | 927 | case LSS_FS_PROCESSING:/*if(getLSSBitCheck(m)<32)*/ |
sam_grove |
0:6219434a0cb5 | 928 | if(d->lss_transfer.LSSPos==getLSSSub(m)) |
sam_grove |
0:6219434a0cb5 | 929 | { |
sam_grove |
0:6219434a0cb5 | 930 | UNS32 Mask=0xFFFFFFFF<<getLSSBitCheck(m); |
sam_grove |
0:6219434a0cb5 | 931 | |
sam_grove |
0:6219434a0cb5 | 932 | MSG_WAR(0x3D3B, "SlaveLSS FastScan IDNumber", getLSSIdent(m)); |
sam_grove |
0:6219434a0cb5 | 933 | MSG_WAR(0x3D3C, "SlaveLSS FastScan BitMask ", Mask); |
sam_grove |
0:6219434a0cb5 | 934 | MSG_WAR(0x3D3D, "SlaveLSS FastScan LSS-ID ", d->lss_transfer.IDNumber); |
sam_grove |
0:6219434a0cb5 | 935 | |
sam_grove |
0:6219434a0cb5 | 936 | if((getLSSIdent(m) & Mask)==(d->lss_transfer.IDNumber & Mask)) |
sam_grove |
0:6219434a0cb5 | 937 | { |
sam_grove |
0:6219434a0cb5 | 938 | sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
sam_grove |
0:6219434a0cb5 | 939 | } |
sam_grove |
0:6219434a0cb5 | 940 | |
sam_grove |
0:6219434a0cb5 | 941 | if(getLSSBitCheck(m)==0) |
sam_grove |
0:6219434a0cb5 | 942 | { |
sam_grove |
0:6219434a0cb5 | 943 | d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION; |
sam_grove |
0:6219434a0cb5 | 944 | } |
sam_grove |
0:6219434a0cb5 | 945 | } |
sam_grove |
0:6219434a0cb5 | 946 | break; |
sam_grove |
0:6219434a0cb5 | 947 | case LSS_FS_CONFIRMATION: |
sam_grove |
0:6219434a0cb5 | 948 | if(d->lss_transfer.LSSPos==getLSSSub(m)) |
sam_grove |
0:6219434a0cb5 | 949 | { |
sam_grove |
0:6219434a0cb5 | 950 | if(getLSSIdent(m)==d->lss_transfer.IDNumber) |
sam_grove |
0:6219434a0cb5 | 951 | { |
sam_grove |
0:6219434a0cb5 | 952 | /* Current LSS-ID[sub] confirmed correctly */ |
sam_grove |
0:6219434a0cb5 | 953 | MSG_WAR(0x3D3E, "SlaveLSS FastScan IDNumber and LSS-ID match=>", d->lss_transfer.IDNumber); |
sam_grove |
0:6219434a0cb5 | 954 | if(d->lss_transfer.LSSPos==3) |
sam_grove |
0:6219434a0cb5 | 955 | { |
sam_grove |
0:6219434a0cb5 | 956 | /* All LSS-ID[sub] identified correctly, switching to configuration mode */ |
sam_grove |
0:6219434a0cb5 | 957 | MSG_WAR(0x3D3F, "SlaveLSS switching to configuration mode ", 0); |
sam_grove |
0:6219434a0cb5 | 958 | d->lss_transfer.nodeID=getNodeId(d); |
sam_grove |
0:6219434a0cb5 | 959 | d->lss_transfer.mode=LSS_CONFIGURATION_MODE; |
sam_grove |
0:6219434a0cb5 | 960 | d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
sam_grove |
0:6219434a0cb5 | 961 | d->lss_transfer.LSSPos=0xFF; |
sam_grove |
0:6219434a0cb5 | 962 | } |
sam_grove |
0:6219434a0cb5 | 963 | else |
sam_grove |
0:6219434a0cb5 | 964 | { |
sam_grove |
0:6219434a0cb5 | 965 | /* Switch to the next LSS-ID[sub] */ |
sam_grove |
0:6219434a0cb5 | 966 | UNS32 errorCode; |
sam_grove |
0:6219434a0cb5 | 967 | const indextable *ptrTable; |
sam_grove |
0:6219434a0cb5 | 968 | ODCallback_t *Callback; |
sam_grove |
0:6219434a0cb5 | 969 | |
sam_grove |
0:6219434a0cb5 | 970 | d->lss_transfer.LSSPos=getLSSNext(m); |
sam_grove |
0:6219434a0cb5 | 971 | ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
sam_grove |
0:6219434a0cb5 | 972 | d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject; |
sam_grove |
0:6219434a0cb5 | 973 | d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
sam_grove |
0:6219434a0cb5 | 974 | } |
sam_grove |
0:6219434a0cb5 | 975 | sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
sam_grove |
0:6219434a0cb5 | 976 | } |
sam_grove |
0:6219434a0cb5 | 977 | } |
sam_grove |
0:6219434a0cb5 | 978 | break; |
sam_grove |
0:6219434a0cb5 | 979 | } |
sam_grove |
0:6219434a0cb5 | 980 | } |
sam_grove |
0:6219434a0cb5 | 981 | break; |
sam_grove |
0:6219434a0cb5 | 982 | #endif |
sam_grove |
0:6219434a0cb5 | 983 | default: |
sam_grove |
0:6219434a0cb5 | 984 | MSG_ERR(0x1D40, "SlaveLSS command not implemented", msg_cs); |
sam_grove |
0:6219434a0cb5 | 985 | return 0xFF; |
sam_grove |
0:6219434a0cb5 | 986 | } |
sam_grove |
0:6219434a0cb5 | 987 | |
sam_grove |
0:6219434a0cb5 | 988 | return 0; |
sam_grove |
0:6219434a0cb5 | 989 | } |
sam_grove |
0:6219434a0cb5 | 990 | |
sam_grove |
0:6219434a0cb5 | 991 | /*UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2) |
sam_grove |
0:6219434a0cb5 | 992 | { |
sam_grove |
0:6219434a0cb5 | 993 | return sendMasterLSSMessage(d,command,dat1,dat2); |
sam_grove |
0:6219434a0cb5 | 994 | }*/ |
sam_grove |
0:6219434a0cb5 | 995 | |
sam_grove |
0:6219434a0cb5 | 996 | UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback) |
sam_grove |
0:6219434a0cb5 | 997 | { |
sam_grove |
0:6219434a0cb5 | 998 | //d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; |
sam_grove |
0:6219434a0cb5 | 999 | d->lss_transfer.Callback=Callback; |
sam_grove |
0:6219434a0cb5 | 1000 | d->lss_transfer.command=command; |
sam_grove |
0:6219434a0cb5 | 1001 | |
sam_grove |
0:6219434a0cb5 | 1002 | StopLSS_MSG_TIMER(); |
sam_grove |
0:6219434a0cb5 | 1003 | //StartLSS_MSG_TIMER(); |
sam_grove |
0:6219434a0cb5 | 1004 | |
sam_grove |
0:6219434a0cb5 | 1005 | return sendMasterLSSMessage(d,command,dat1,dat2); |
sam_grove |
0:6219434a0cb5 | 1006 | } |
sam_grove |
0:6219434a0cb5 | 1007 | |
sam_grove |
0:6219434a0cb5 | 1008 | UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2) |
sam_grove |
0:6219434a0cb5 | 1009 | { |
sam_grove |
0:6219434a0cb5 | 1010 | *dat1=d->lss_transfer.dat1; |
sam_grove |
0:6219434a0cb5 | 1011 | *dat2=d->lss_transfer.dat2; |
sam_grove |
0:6219434a0cb5 | 1012 | return d->lss_transfer.state; |
sam_grove |
0:6219434a0cb5 | 1013 | } |
sam_grove |
0:6219434a0cb5 | 1014 | |
sam_grove |
0:6219434a0cb5 | 1015 | //void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error){printf("_lss_StoreConfiguration\n");} |
sam_grove |
0:6219434a0cb5 | 1016 | |
sam_grove |
0:6219434a0cb5 | 1017 | #endif |