Luis Silvio Cordova Rivadeneira
Can_open_slavenode
Diff: framework/src/lss.c
- Revision:
- 0:6219434a0cb5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/lss.c Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,1017 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+
+Copyright (C): Jorge Berzosa
+
+
+See COPYING file for copyrights details.
+
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+
+/*!
+** @file lss.c
+** @author Jorge Berzosa
+** @date Mon Oct 22 05:44:32 2007
+**
+** @brief
+**
+**
+*/
+
+
+#include "data.h"
+#include "lss.h"
+#include "canfestival.h"
+#include "sysdep.h"
+
+#ifdef CO_ENABLE_LSS
+
+//#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) (((UNS32)msg->data[4] << 24) | ((UNS32)msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1]))
+
+
+/* Returns the LSS switch delay field from a Message struct */
+#define getLSSDelay(msg) ((msg->data[2] << 8) | (msg->data[1]))
+
+/* Returns the LSS FastScan BitCheck field from a Message struct */
+#define getLSSBitCheck(msg) msg->data[5]
+
+/* Returns the LSS FastScan LSSSub field from a Message struct */
+#define getLSSSub(msg) msg->data[6]
+
+/* Returns the LSS FastScan LSSNext field from a Message struct */
+#define getLSSNext(msg) msg->data[7]
+
+/* Prototypes for internals functions */
+UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2);
+void LssAlarmMSG(CO_Data* d, UNS32 id);
+void LssAlarmSDELAY(CO_Data* d, UNS32 id);
+
+
+#define StopLSS_MSG_TIMER(){\
+ MSG_WAR(0x3D01, "StopLSS_MSG_TIMER", 0);\
+ d->lss_transfer.timerMSG = DelAlarm(d->lss_transfer.timerMSG);}
+
+#define StartLSS_MSG_TIMER(){\
+ MSG_WAR(0x3D02, "StartLSS_MSG_TIMER",0);\
+ d->lss_transfer.timerMSG = SetAlarm(d,0,&LssAlarmMSG,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);}
+
+#define StopLSS_SDELAY_TIMER(){\
+ MSG_WAR(0x3D03, "StopLSS_SDELAY_TIMER", 0);\
+ d->lss_transfer.timerSDELAY = DelAlarm(d->lss_transfer.timerSDELAY);}
+
+#define StartLSS_SDELAY_TIMER(){\
+ MSG_WAR(0x3D04, "StartLSS_SDELAY_TIMER",0);\
+ d->lss_transfer.timerSDELAY= SetAlarm(d,0,&LssAlarmSDELAY,MS_TO_TIMEVAL(d->lss_transfer.switchDelay),MS_TO_TIMEVAL(d->lss_transfer.switchDelay));}
+
+
+#ifdef CO_ENABLE_LSS_FS
+/* Prototypes for internals functions */
+void LssAlarmFS(CO_Data* d, UNS32 id);
+
+#define StopLSS_FS_TIMER(){\
+ MSG_WAR(0x3D05, "StopLSS_FS_TIMER", id);\
+ d->lss_transfer.timerFS = DelAlarm(d->lss_transfer.timerFS);}
+
+#define StartLSS_FS_TIMER(){\
+ MSG_WAR(0x3D06, "StartLSS_FS_TIMER",0);\
+ d->lss_transfer.timerFS = SetAlarm(d,0,&LssAlarmFS,MS_TO_TIMEVAL(LSS_FS_TIMEOUT_MS),0);}
+#endif
+
+
+void LssAlarmMSG(CO_Data* d, UNS32 id)
+{
+ StopLSS_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){
+ UNS32 Mask=0xFFFFFFFF;
+ d->lss_transfer.LSSanswer=0;
+ d->lss_transfer.BitChecked=d->lss_transfer.lss_fs_transfer.FS_BitChecked[0];
+ Mask=(UNS32)((UNS64)Mask<<(d->lss_transfer.BitChecked+1));
+ d->lss_transfer.IDNumber=d->lss_transfer.lss_fs_transfer.FS_LSS_ID[0] & Mask;
+ d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
+ //printf("BitChecked=%d, IDNumber=%x MASK=%x\n",d->lss_transfer.BitChecked,d->lss_transfer.IDNumber,Mask);
+ 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(0x1D07, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM);
+ d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+ d->lss_transfer.FastScan_SM=LSS_FS_RESET;
+ }
+ }
+ else
+#endif
+ if(d->lss_transfer.command==LSS_IDENT_REMOTE_NON_CONF){
+ MSG_WAR(0x2D08, "LSS timeout. There are not no-configured slaves in the net", 0);
+ d->lss_transfer.state = LSS_FINISHED;
+ d->lss_transfer.dat1=1;
+ }
+ else{
+ MSG_ERR(0x1D09, "LSS timeout. LSS response not received.", 0);
+ MSG_WAR(0x2D0A, "LSS timeout command specifier : ", d->lss_transfer.command);
+ /* Set aborted state */
+ d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+#ifdef CO_ENABLE_LSS_FS
+ d->lss_transfer.FastScan_SM = LSS_FS_RESET;
+#endif
+ }
+
+ /* 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);
+ }
+}
+
+
+/*!
+**
+**
+** @param d
+** @param id
+**/
+void LssAlarmSDELAY(CO_Data* d, UNS32 id)
+{
+
+ /* 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(0x3D0B, "LSS switch delay first period expired",0);
+ d->lss_transfer.switchDelayState=SDELAY_SECOND;
+ //(*d->lss_ChangeBaudRate)(d,d->lss_transfer.baudRate);
+ canChangeBaudRate(d->lss_transfer.canHandle_t, d->lss_transfer.baudRate);
+ }
+ else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */
+ MSG_WAR(0x3D0C, "LSS switch delay second period expired",0);
+ d->lss_transfer.switchDelayState=SDELAY_OFF;
+ StopLSS_SDELAY_TIMER();
+
+ if (*(d->iam_a_slave))
+ d->canHandle=d->lss_transfer.canHandle_t;
+ else{
+ d->lss_transfer.dat1=0;
+ d->lss_transfer.state=LSS_FINISHED;
+ /* Call the user function */
+ if(d->lss_transfer.Callback){
+ (*d->lss_transfer.Callback)(d,d->lss_transfer.command);
+ }
+ }
+ }
+}
+
+#ifdef CO_ENABLE_LSS_FS
+/*!
+**
+**
+** @param d
+** @param id
+**/
+void LssAlarmFS(CO_Data* d, UNS32 id)
+{
+ StopLSS_FS_TIMER();
+
+ switch(d->lss_transfer.FastScan_SM){
+ case LSS_FS_RESET:
+ {
+ /* This should not happen, an error ocurred*/
+ MSG_ERR(0x1D0D, "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--;
+ }
+ //printf("BitChecked=%d, IDNumber=%x\n",d->lss_transfer.BitChecked,d->lss_transfer.IDNumber);
+ 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{
+ UNS32 Mask=0xFFFFFFFF;
+ /* Start with the next LSS-ID[sub] */
+ d->lss_transfer.LSSSub++;
+ d->lss_transfer.BitChecked=d->lss_transfer.lss_fs_transfer.FS_BitChecked[d->lss_transfer.LSSSub];
+ Mask=(UNS32)((UNS64)Mask<<(d->lss_transfer.BitChecked+1));
+ d->lss_transfer.IDNumber=d->lss_transfer.lss_fs_transfer.FS_LSS_ID[d->lss_transfer.LSSSub] & Mask;
+ d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
+ //printf("BitChecked=%d, IDNumber=%x MASK=%x\n",d->lss_transfer.BitChecked,d->lss_transfer.IDNumber,Mask);
+ StartLSS_FS_TIMER();
+ sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
+ return;
+ }
+ }
+ else{
+ /* This should not happen, an error ocurred*/
+ MSG_ERR(0x1D0E, "LSS FastScan timeout. FastScan response not received.", 0);
+ MSG_ERR(0x1D0E, "There is not any node with LSS_ID# =>", d->lss_transfer.LSSSub);
+ MSG_ERR(0x1D0E, "with the value =>", d->lss_transfer.IDNumber);
+ /* Set aborted state */
+ d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+ d->lss_transfer.FastScan_SM = LSS_FS_RESET;
+ }
+ }
+ 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);
+ }
+}
+#endif
+
+
+/*!
+**
+**
+** @param d
+**/
+void startLSS(CO_Data* d)
+{
+ /*MSG_WAR(0x3D09, "LSS services started",0);*/
+}
+
+/*!
+**
+**
+** @param d
+**/
+void stopLSS(CO_Data* d)
+{
+ /*MSG_WAR(0x3D09, "LSS services stopped",0);*/
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
+{
+ Message m;
+ UNS8 i;
+
+ if (!d->CurrentCommunicationState.csLSS){
+ MSG_WAR(0x2D17, "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;
+ m.len = 8;
+ m.rtr = NOT_A_REQUEST;
+ m.data[0]=command;
+ m.cob_id=UNS16_LE(SLSS_ADRESS);
+
+ /* Tha data sent with the msg depends on the command */
+ switch(command){
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ m.data[1]=*(UNS8 *)dat1;
+ 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 */
+ m.data[1]=*(UNS8 *)dat1;
+ m.data[2]=*(UNS8 *)dat2;
+ break;
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ 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 */
+ m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
+ m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
+ m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF);
+ m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF);
+ break;
+ case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response*/
+ case LSS_IDENT_SLAVE: /* LSS Identify Slave */
+ case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
+ break;
+ default:
+ MSG_ERR(0x1D18, "send Slave LSS command not implemented", command);
+ return 0xFF;
+ }
+
+ return canSend(d->canHandle,&m);
+}
+
+/* If a baud rate is not supported just comment the line. */
+static UNS8 CO_TranslateBaudRate(char* optarg){
+ if(!strcmp( optarg, "1M")) return 0x00;
+ if(!strcmp( optarg, "800K")) return 0x01;
+ if(!strcmp( optarg, "500K")) return 0x02;
+ if(!strcmp( optarg, "250K")) return 0x03;
+ if(!strcmp( optarg, "125K")) return 0x04;
+ if(!strcmp( optarg, "100K")) return 0x05;
+ if(!strcmp( optarg, "50K")) return 0x06;
+ if(!strcmp( optarg, "20K")) return 0x07;
+ if(!strcmp( optarg, "10K")) return 0x08;
+ return 0xFF;
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
+{
+ Message m;
+ UNS8 i;
+ UNS8 res;
+ UNS8 hasResponse=0;
+
+ for(i=1;i<8;i++)m.data[i]=0;
+ m.len = 8;
+ m.rtr = NOT_A_REQUEST;
+ m.data[0]=command;
+ m.cob_id=UNS16_LE(MLSS_ADRESS);
+
+ /* Tha data sent with the msg depends on the command */
+ switch(command){
+ case LSS_CONF_NODE_ID: /* Configure Node-ID */
+ hasResponse=1;
+ case LSS_SM_GLOBAL: /* Switch Mode Global */
+ m.data[1]=*(UNS8 *)dat1;
+ break;
+ case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
+
+ m.data[1]=*(UNS8 *)dat1;
+ d->lss_transfer.baudRate=*(char **)dat2;
+
+ if((m.data[2]=CO_TranslateBaudRate(d->lss_transfer.baudRate))!=0xFF){
+ hasResponse=1;
+ break;
+ }
+
+ MSG_ERR(0x1D19, "Master-> Baud rate not supported",0);
+ d->lss_transfer.dat1=0xFF;
+
+ /* if bit timing is not supported comment the previous code and uncomment the following one*/
+ /*{
+ MSG_ERR(0x1D1A, "Master-> Bit timing not supported",0);
+ d->lss_transfer.dat1=0x01;
+ }*/
+
+ d->lss_transfer.dat2=0;
+ /* If there is a callback, it is responsible of the error */
+ if(d->lss_transfer.Callback)
+ (*d->lss_transfer.Callback)(d,d->lss_transfer.command);
+ return 0xFF;
+ //break;
+ case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
+ m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
+ m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
+ if(d->lss_transfer.baudRate!="none"){
+ d->lss_transfer.switchDelay=(UNS16)(*(UNS32*)dat1 & 0xFFFF);
+ d->lss_transfer.switchDelayState=SDELAY_FIRST;
+ d->lss_transfer.canHandle_t=d->canHandle;
+ res=canSend(d->canHandle,&m);
+ if(res==0){
+ StartLSS_SDELAY_TIMER();
+ d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
+ }
+ return res;
+ }
+ else{
+ MSG_ERR(0x1D1B, "Master-> Baud rate not specified",0);
+ d->lss_transfer.dat1=1;
+ /* If there is a callback, it is responsible of the error */
+ if(d->lss_transfer.Callback){
+ (*d->lss_transfer.Callback)(d,d->lss_transfer.command);
+ }
+ return 0xFF;
+ }
+ //break;
+ case LSS_SM_SELECTIVE_SERIAL:
+ case LSS_IDENT_REMOTE_SERIAL_HIGH:
+ hasResponse=1;
+ case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */
+ case LSS_SM_SELECTIVE_PRODUCT:
+ case LSS_SM_SELECTIVE_REVISION:
+ case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */
+ case LSS_IDENT_REMOTE_PRODUCT:
+ case LSS_IDENT_REMOTE_REV_LOW:
+ case LSS_IDENT_REMOTE_REV_HIGH:
+ case LSS_IDENT_REMOTE_SERIAL_LOW:
+ m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
+ m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
+ m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF);
+ m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF);
+ break;
+
+ case LSS_CONF_STORE: /* Store Configured Parameters */
+ case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ 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 */
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ hasResponse=1;
+ break;
+#ifdef CO_ENABLE_LSS_FS
+ case LSS_IDENT_FASTSCAN:
+ if(d->lss_transfer.FastScan_SM==LSS_FS_RESET){
+ UNS8 i;
+ /* Initialize the lss_fs_transfer FastScan parameters */
+ for(i=0;i<4;i++){
+ d->lss_transfer.lss_fs_transfer.FS_LSS_ID[i]=(*(lss_fs_transfer_t*)dat1).FS_LSS_ID[i];
+ d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]=(*(lss_fs_transfer_t*)dat1).FS_BitChecked[i];
+ /* Adjust BitChecked from 32-1 to 31-0 */
+ if(d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]>0)d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]--;
+ }
+
+ d->lss_transfer.IDNumber=0;
+ d->lss_transfer.BitChecked=128;
+ d->lss_transfer.LSSSub=0;
+ d->lss_transfer.LSSNext=0;
+
+ /* it will generate a response only if it is the start of the FastScan protocol*/
+ hasResponse=1;
+ }
+ m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF);
+ m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF);
+ m.data[3]=(UNS8)(d->lss_transfer.IDNumber>>16 & 0xFF);
+ m.data[4]=(UNS8)(d->lss_transfer.IDNumber>>24 & 0xFF);
+ m.data[5]=d->lss_transfer.BitChecked;
+ m.data[6]=d->lss_transfer.LSSSub;
+ m.data[7]=d->lss_transfer.LSSNext;
+ break;
+#endif
+ default:
+ MSG_ERR(0x1D1C, "send Master LSS command not implemented", command);
+ return 0xFF;
+ }
+
+ res=canSend(d->canHandle,&m);
+ if(res==0 && hasResponse==1){
+ StartLSS_MSG_TIMER();
+ d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
+ }
+ return res;
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendLSS(CO_Data* d, UNS8 command,void *dat1,void *dat2)
+{
+ UNS8 res=1;
+
+ /* Tha data sent with the msg depends on the command and if the sender is a master or a slave */
+ if (*(d->iam_a_slave)){
+ res = sendSlaveLSSMessage(d, command,dat1,dat2);
+ }
+ else {/* It is a Master */
+ res = sendMasterLSSMessage(d, command,dat1,dat2);
+ }
+ return res ;
+}
+
+
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
+UNS8 proceedLSS_Master(CO_Data* d, Message* m )
+{
+ UNS8 msg_cs;
+ UNS32 Dat1=0;
+ UNS8 Dat2=0;
+
+ 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;
+ }
+
+ MSG_WAR(0x3D1E, "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_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ 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 */
+#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(0x1D1F, "Master LSS command not implemented", msg_cs);
+ return 0xFF;
+ }
+
+ StopLSS_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,d->lss_transfer.command);
+
+ return 0;
+
+ErrorProcessMaster:
+ MSG_WAR(0x3D20, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]);
+ return 0xFF;
+
+}
+
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
+UNS8 proceedLSS_Slave(CO_Data* d, Message* m )
+{
+ UNS8 msg_cs;
+
+ MSG_WAR(0x3D21, "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(0x3D22, "SlaveLSS already in the mode ", m->data[1]);
+ break;
+ }
+
+ if(m->data[1]==LSS_CONFIGURATION_MODE) {
+ MSG_WAR(0x3D23, "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(0x3D24, "SlaveLSS switching to operational mode ", 0);
+
+ /* If the nodeID has changed update it and put the node state to Initialisation. */
+ if(d->lss_transfer.nodeID!=getNodeId(d)){
+ if(getNodeId(d)==0xFF){/* The nodeID was 0xFF; initialize the application*/
+ MSG_WAR(0x3D25, "The node Id has changed. Reseting to Initialisation state",0);
+ setNodeId(d, d->lss_transfer.nodeID);
+ setState(d, Initialisation);
+ }
+ else{/* The nodeID will be changed on NMT_Reset_Comunication Request*/
+ }
+ }
+ d->lss_transfer.mode=LSS_WAITING_MODE;
+ }
+ break;
+ case LSS_CONF_NODE_ID: /* Configure Node-ID */
+ {
+ UNS8 error_code=0;
+ UNS8 spec_error=0;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
+ if(m->data[1]>127 && m->data[1]!=0xFF){
+ MSG_ERR(0x1D26, "NodeID out of range",0);
+ error_code=1; /* NodeID out of range */
+ }
+ else{
+ d->lss_transfer.nodeID=m->data[1];
+ }
+ }
+ else{
+ MSG_WAR(0x3D27, "SlaveLSS not in configuration mode",0);
+ //error_code=0xFF;
+ break;
+ }
+ sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
+ }
+ break;
+ case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
+ {
+ UNS8 error_code=0;
+ UNS8 spec_error=0;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
+ /* If a baud rate is not supported just comment the line. */
+ switch(m->data[2]){
+ case 0x00:d->lss_transfer.baudRate="1M";break;
+ case 0x01:d->lss_transfer.baudRate="800K";break;
+ case 0x02:d->lss_transfer.baudRate="500K";break;
+ case 0x03:d->lss_transfer.baudRate="250K";break;
+ case 0x04:d->lss_transfer.baudRate="125K";break;
+ case 0x05:d->lss_transfer.baudRate="100K";break;
+ case 0x06:d->lss_transfer.baudRate="50K";break;
+ case 0x07:d->lss_transfer.baudRate="20K";break;
+ case 0x08:d->lss_transfer.baudRate="10K";break;
+ default:
+ MSG_ERR(0x1D28, "Baud rate not supported",0);
+ error_code=0xFF; /* Baud rate not supported*/
+ break;
+ }
+ }
+ else{
+ MSG_WAR(0x3D2A, "SlaveLSS not in configuration mode",0);
+ //error_code=0xFF;
+ break;
+ }
+
+ /* if bit timing is not supported comment the previous code and uncomment the following */
+ /*{
+ MSG_ERR(0x1D29, "Bit timing not supported",0);
+ error_code=0x01; // bit timing not supported
+ }*/
+
+ sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
+ }
+ break;
+ case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
+
+ if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){
+ MSG_ERR(0x3D2B, "SlaveLSS not in configuration mode",0);
+ break;
+ }
+
+ if(d->lss_transfer.baudRate!="none"){
+ d->lss_transfer.switchDelay=getLSSDelay(m);
+ MSG_WAR(0x3D2C, "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_transfer.canHandle_t=d->canHandle;
+ d->canHandle=NULL;
+ StartLSS_SDELAY_TIMER();
+ }
+ break;
+ case LSS_CONF_STORE: /* Store Configured Parameters */
+ {
+ UNS8 error_code=0;
+ UNS8 spec_error=0;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
+ if(d->lss_StoreConfiguration){
+ /* call lss_StoreConfiguration with NodeId */
+ (*d->lss_StoreConfiguration)(d,&error_code,&spec_error);
+ }
+ else{
+ MSG_ERR(0x1D2E, "Store configuration not supported",0);
+ error_code=1; /* store configuration is not supported */
+ }
+ }
+ else{
+ MSG_WAR(0x3D2F, "SlaveLSS not in configuration mode",0);
+ //error_code=0xFF;
+ break;
+ }
+ sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
+ }
+ break;
+ case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */
+ case LSS_SM_SELECTIVE_PRODUCT:
+ case LSS_SM_SELECTIVE_REVISION:
+ case LSS_SM_SELECTIVE_SERIAL:
+ {
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+ UNS32 _SpecificNodeInfo;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
+ {
+ MSG_ERR(0x1D30, "Switch Mode Selective only supported in operational mode",0);
+ break;
+ }
+
+ _SpecificNodeInfo=getLSSIdent(m);
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+ if(_SpecificNodeInfo==*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_SM_SELECTIVE_VENDOR-1)].pObject){
+
+ d->lss_transfer.addr_sel_match|=(0x01<<(msg_cs-LSS_SM_SELECTIVE_VENDOR));
+ /* If all the fields has been set */
+ if(d->lss_transfer.addr_sel_match==0x0F){
+
+ MSG_WAR(0x3D31, "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;
+
+ sendSlaveLSSMessage(d,LSS_SM_SELECTIVE_RESP,0,0);
+ }
+ }
+ else {
+ MSG_WAR(0x3D32, "LSS identity field doesn't match ", _SpecificNodeInfo);
+ d->lss_transfer.addr_sel_match=0;
+ }
+ }
+ break;
+ case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */
+ case LSS_IDENT_REMOTE_PRODUCT:
+ case LSS_IDENT_REMOTE_REV_LOW:
+ case LSS_IDENT_REMOTE_REV_HIGH:
+ case LSS_IDENT_REMOTE_SERIAL_LOW:
+ case LSS_IDENT_REMOTE_SERIAL_HIGH:
+ {
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+ UNS32 _SpecificNodeInfo;
+
+ _SpecificNodeInfo=getLSSIdent(m);
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+
+ /* Check if the data match the identity object. */
+ switch(msg_cs){
+ 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;
+ 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;
+ 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;
+ 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;
+ 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;
+ 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;
+ }
+ /* If all the fields has been set.. */
+ if(d->lss_transfer.addr_ident_match==0x3F){
+ MSG_WAR(0x3D33, "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(0x3D34, "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(0x3D35, "SlaveLSS non-configured ", 0);
+ sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0);
+ }
+ else{
+ MSG_WAR(0x3D36, "SlaveLSS already configured ", 0);
+ }
+ }
+ break;
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ 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.mode==LSS_CONFIGURATION_MODE)
+ {
+
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+ UNS32 _SpecificNodeInfo;
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+ _SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject;
+ MSG_WAR(0x3D37, "SlaveLSS identity field inquired ", _SpecificNodeInfo);
+
+ sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0);
+ }
+ break;
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
+ {
+ UNS8 NodeID;
+
+ NodeID=getNodeId(d);
+ MSG_WAR(0x3D38, "SlaveLSS Node ID inquired ", NodeID);
+ sendSlaveLSSMessage(d,msg_cs,&NodeID,0);
+ }
+ else{
+ MSG_WAR(0x3D39, "SlaveLSS not in configuration mode",0);
+ }
+ break;
+#ifdef CO_ENABLE_LSS_FS
+ case LSS_IDENT_FASTSCAN:
+ {
+ /* 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(0x3D3A, "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(0x3D3B, "SlaveLSS FastScan IDNumber", getLSSIdent(m));
+ MSG_WAR(0x3D3C, "SlaveLSS FastScan BitMask ", Mask);
+ MSG_WAR(0x3D3D, "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(0x3D3E, "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(0x3D3F, "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(0x1D40, "SlaveLSS command not implemented", msg_cs);
+ return 0xFF;
+ }
+
+ return 0;
+}
+
+/*UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2)
+{
+ return sendMasterLSSMessage(d,command,dat1,dat2);
+}*/
+
+UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback)
+{
+ //d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
+ d->lss_transfer.Callback=Callback;
+ d->lss_transfer.command=command;
+
+ StopLSS_MSG_TIMER();
+ //StartLSS_MSG_TIMER();
+
+ return sendMasterLSSMessage(d,command,dat1,dat2);
+}
+
+UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2)
+{
+ *dat1=d->lss_transfer.dat1;
+ *dat2=d->lss_transfer.dat2;
+ return d->lss_transfer.state;
+}
+
+//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error){printf("_lss_StoreConfiguration\n");}
+
+#endif