Sam Grove
CANfestival - an open source CANopen framework
framework/src/lss.c
- Committer:
- sam_grove
- Date:
- 2012-09-26
- Revision:
- 6:bc64031ac849
- Parent:
- 0:6219434a0cb5
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
*/
/*!
** @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