File content as of revision 6:bc64031ac849:

/*
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
*/

/** @defgroup lss Layer Setting Services Object
 * @brief LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on
 * a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the
 * CAN Network.
 * The following parameters can be inquired and/or changed by the use of LSS:
 *               - Node-ID of the CANopen Slave
 *               - Bit timing parameters of the physical layer (baud rate)
 *               - LSS address (/2/ Identity Object, Index 1018H)
 *  @ingroup comobj
 */
                     
#ifndef __LSS_h__
#define __LSS_h__

#define SLSS_ADRESS    0x7E4
#define MLSS_ADRESS    0x7E5

#define SDELAY_OFF        0
#define SDELAY_FIRST     1
#define SDELAY_SECOND     2

#define LSS_WAITING_MODE 0
#define LSS_CONFIGURATION_MODE 1

/* Switch mode services */
#define LSS_SM_GLOBAL                  4
#define LSS_SM_SELECTIVE_VENDOR     64
#define LSS_SM_SELECTIVE_PRODUCT     65
#define LSS_SM_SELECTIVE_REVISION     66
#define LSS_SM_SELECTIVE_SERIAL     67
#define LSS_SM_SELECTIVE_RESP         68
/* Configuration services */
#define LSS_CONF_NODE_ID             17
#define LSS_CONF_BIT_TIMING         19
#define LSS_CONF_ACT_BIT_TIMING     21
#define LSS_CONF_STORE                 23
/* Inquire services */
#define LSS_INQ_VENDOR_ID         90
#define LSS_INQ_PRODUCT_CODE     91
#define LSS_INQ_REV_NUMBER         92
#define LSS_INQ_SERIAL_NUMBER     93
#define LSS_INQ_NODE_ID         94
/* Identification services */
#define LSS_IDENT_REMOTE_VENDOR         70
#define LSS_IDENT_REMOTE_PRODUCT         71
#define LSS_IDENT_REMOTE_REV_LOW         72
#define LSS_IDENT_REMOTE_REV_HIGH         73
#define LSS_IDENT_REMOTE_SERIAL_LOW     74
#define LSS_IDENT_REMOTE_SERIAL_HIGH     75
#define LSS_IDENT_REMOTE_NON_CONF         76
#define LSS_IDENT_SLAVE                 79
#define LSS_IDENT_NON_CONF_SLAVE         80
#define LSS_IDENT_FASTSCAN                81

/*FastScan State Machine*/
#define LSS_FS_RESET    0
#define LSS_FS_PROCESSING 1
#define LSS_FS_CONFIRMATION 2


typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command); 

typedef void (*lss_StoreConfiguration_t)(CO_Data* d,UNS8*,UNS8*);
//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);

//typedef void (*lss_ChangeBaudRate_t)(CO_Data* d,char*);
//void _lss_ChangeBaudRate(char *BaudRate);


struct struct_lss_transfer;

//#include "timer.h"

#ifdef CO_ENABLE_LSS_FS
struct struct_lss_fs_transfer {
    UNS32 FS_LSS_ID[4];
    UNS8 FS_BitChecked[4];
};

typedef struct struct_lss_fs_transfer lss_fs_transfer_t;
#endif

/* The Transfer structure
* Used to store the different fields of the internal state of the LSS  
*/

struct struct_lss_transfer {
  UNS8          state;      /* state of the transmission : Takes the values LSS_... */
  UNS8             command;     /* the LSS command of the transmision */
  UNS8            mode;       /* LSS mode */
  
  UNS32         dat1;        /* the data from the last msg received */
  UNS8            dat2; 
  
  UNS8 nodeID;              /* the new nodeid stored to update the nodeid when switching to LSS operational*/
  UNS8 addr_sel_match;        /* the matching mask for the LSS Switch Mode Selective service */
  UNS8 addr_ident_match;    /* the matching mask for the LSS Identify Remote Slaves service*/

  char *baudRate;           /* the new baudrate stored to update the node baudrate when a Activate Bit 
                               * Timing Parameters is received*/
  UNS16 switchDelay;        /* the period of the two delay */
  UNS8  switchDelayState;   /* the state machine for the switchDelay */
  CAN_PORT canHandle_t;
    
                              /* Time counters to implement a timeout in milliseconds.*/
  TIMER_HANDLE timerMSG;      /* timerMSG is automatically incremented whenever 
                              * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0 
                              * when the response LSS have been received.
                              */
                             
  TIMER_HANDLE timerSDELAY;      /* timerSDELAY is automatically incremented whenever 
                              * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0 
                              * when the two periods have been expired.
                              */
                              
  LSSCallback_t Callback;   /* The user callback func to be called at LSS transaction end */
  
  UNS8 LSSanswer;            /* stores if a message has been received during a timer period */

#ifdef CO_ENABLE_LSS_FS 
  UNS32 IDNumber;            /* in the master, the LSS address parameter which it currently tries to identify.
                               * in the slave, the LSS address parameter which is being checked (LSS-ID[sub]). */
  UNS8 BitChecked;            /* bits of the current IDNumber that are currently checked */
  UNS8 LSSSub;                /* which part of the LSS-ID is currently checked in IDNumber */
  UNS8 LSSNext;                /* which LSSSub value will be used in the next request */
  UNS8 LSSPos;                /* in the slave, which part of the LSS-ID is currently processed*/
  UNS8 FastScan_SM;            /* the state machine for the FastScan protocol */
  TIMER_HANDLE timerFS;        /* timerFS is automatically incremented when the FastScan service
                               * has been requested and reseted to 0 when the protocol ends.
                              */
#ifdef CO_ENABLE_LSS_FS
  lss_fs_transfer_t lss_fs_transfer;
#endif
  
#endif                           
};

#ifdef CO_ENABLE_LSS
typedef struct struct_lss_transfer lss_transfer_t;
#else
typedef UNS8 lss_transfer_t;
#endif
  


void startLSS(CO_Data* d);
void stopLSS(CO_Data* d);


/** transmit a LSS message 
 * command is the LSS command specifier
 * dat1 and dat2 are pointers to optional data (depend on command)
 * return sendLSSMessage(d,command,dat1,dat2)
 */
UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);

/** transmit a LSS message on CAN bus
 * comamnd is the LSS command specifier
 * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave. 
 * dat1 and dat2 are pointers to optional data (depend on command).
 * return canSend(bus_id,&m)
 */
 
UNS8 sendLSSMessage(CO_Data* d, UNS8 command,  void *dat1, void *dat2);

/** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).
 *  - Check if there is a callback which will take care of the response. If not return 0 but does nothing.
 *  - Stops the timer so the alarm wont raise an error.
 *  - return 0 if OK
 */
UNS8 proceedLSS_Master (CO_Data* d, Message* m );

/** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).
 *  - Call the callback function or send the response message depending on the LSS comand within m.
 *  - return 0 if OK
 */
UNS8 proceedLSS_Slave (CO_Data* d, Message* m );

/** Used by the Master application to send a LSS command, WITHOUT response, to the slave. 
 * command: the LSS command. LSS_...
 * dat1 and dat2: pointers to optional data (depend on command).
 * return sendLSS(d,command,dat1,dat2)
 */
//UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);

/** 
 * @ingroup lss
 * @brief Used by the Master application to send a LSS command, WITH response, to the slave. 
 * @param *d Pointer on a CAN object data structure
 * @param command
 * @param *dat1
 * @param *dat2
 * @param Callback The function Callback, which must be defined in the user code, is called at the
 * end of the exchange (on succes or abort) and can be NULL.
 * @return sendLSS(d,command,dat1,dat2)
 * The LSS_MSG_TIMER timer is started to control the timeout
 */
UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);

/**
 * @ingroup lss 
 * @brief Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
 * @param *d Pointer on a CAN object data structure
 * @param command The LSS command (unused).
 * @param *dat1
 * @param *dat2
 * @return : 
 *          - LSS_RESET                // Transmission not started. Init state.
 *          - LSS_FINISHED            // data are available                           
 *          - LSS_ABORTED_INTERNAL    // Aborted but not because of an abort message. 
 *          - LSS_TRANS_IN_PROGRESS    // Data not yet available
 * @code
 * example:
 * UNS32 dat1;
 * UNS8 dat2;
 * res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
 * while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
 * @endcode
*/
UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);

#endif