| author | etisserant |
| Tue, 05 Feb 2008 10:18:25 +0100 | |
| changeset 383 | 7d8afedb8769 |
| parent 381 | 854c43cdc24a |
| child 384 | 83793fc7ce48 |
| permissions | -rw-r--r-- |
| 343 | 1 |
/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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Copyright (C): Jorge Berzosa |
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See COPYING file for copyrights details. |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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/*! |
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** @file lss.c |
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** @author Jorge Berzosa |
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** @date Mon Oct 22 05:44:32 2007 |
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** |
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** @brief |
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** |
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** |
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*/ |
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#ifdef CO_ENABLE_LSS |
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#include "data.h" |
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#include "lss.h" |
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#include "canfestival.h" |
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370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
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#include "sysdep.h" |
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| 361 | 46 |
//#define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */ |
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//#define LSS_FS_TIMEOUT_MS (TIMEVAL)100 /* ms */ |
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| 343 | 48 |
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/* Returns the LSS ident field from a Message struct */ |
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#define getLSSIdent(msg) ((msg->data[4] << 24) | (msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1])) |
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/* Returns the LSS switch delay field from a Message struct */ |
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#define getLSSDelay(msg) ((msg->data[2] << 8) | (msg->data[1])) |
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/* Returns the LSS FastScan BitCheck field from a Message struct */ |
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#define getLSSBitCheck(msg) msg->data[5] |
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/* Returns the LSS FastScan LSSSub field from a Message struct */ |
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#define getLSSSub(msg) msg->data[6] |
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/* Returns the LSS FastScan LSSNext field from a Message struct */ |
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#define getLSSNext(msg) msg->data[7] |
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/* Prototypes for internals functions */ |
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UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2); |
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void LssAlarmMSG(CO_Data* d, UNS32 id); |
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void LssAlarmSDELAY(CO_Data* d, UNS32 id); |
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#define StopLSS_MSG_TIMER(){\
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MSG_WAR(0x3D01, "StopLSS_MSG_TIMER", 0);\ |
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d->lss_transfer.timerMSG = DelAlarm(d->lss_transfer.timerMSG);} |
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#define StartLSS_MSG_TIMER(){\
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MSG_WAR(0x3D02, "StartLSS_MSG_TIMER",0);\ |
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d->lss_transfer.timerMSG = SetAlarm(d,0,&LssAlarmMSG,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);} |
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#define StopLSS_SDELAY_TIMER(){\
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MSG_WAR(0x3D03, "StopLSS_SDELAY_TIMER", 0);\ |
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d->lss_transfer.timerSDELAY = DelAlarm(d->lss_transfer.timerSDELAY);} |
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#define StartLSS_SDELAY_TIMER(){\
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MSG_WAR(0x3D04, "StartLSS_SDELAY_TIMER",0);\ |
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d->lss_transfer.timerSDELAY= SetAlarm(d,0,&LssAlarmSDELAY,MS_TO_TIMEVAL(d->lss_transfer.switchDelay),MS_TO_TIMEVAL(d->lss_transfer.switchDelay));} |
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#ifdef CO_ENABLE_LSS_FS |
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/* Prototypes for internals functions */ |
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void LssAlarmFS(CO_Data* d, UNS32 id); |
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#define StopLSS_FS_TIMER(){\
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MSG_WAR(0x3D05, "StopLSS_FS_TIMER", id);\ |
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d->lss_transfer.timerFS = DelAlarm(d->lss_transfer.timerFS);} |
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#define StartLSS_FS_TIMER(){\
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MSG_WAR(0x3D06, "StartLSS_FS_TIMER",0);\ |
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d->lss_transfer.timerFS = SetAlarm(d,0,&LssAlarmFS,MS_TO_TIMEVAL(LSS_FS_TIMEOUT_MS),0);} |
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#endif |
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void LssAlarmMSG(CO_Data* d, UNS32 id) |
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{
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StopLSS_MSG_TIMER(); |
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#ifdef CO_ENABLE_LSS_FS |
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if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
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if(d->lss_transfer.FastScan_SM==LSS_FS_RESET){
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/* if at least one node had answered before the timer expired, start the FastScan protocol*/ |
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if(d->lss_transfer.LSSanswer!=0){
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d->lss_transfer.LSSanswer=0; |
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d->lss_transfer.BitChecked=31; |
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d->lss_transfer.IDNumber=0; |
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d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
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StartLSS_FS_TIMER(); |
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sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0); |
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return; |
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} |
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else{
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d->lss_transfer.state = LSS_FINISHED; |
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/* Inform the application that there aren't not configured nodes in the net */ |
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d->lss_transfer.dat1=1; |
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} |
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} |
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else{
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/* This should not happen, an error ocurred*/ |
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MSG_ERR(0x1D07, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM); |
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} |
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} |
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else |
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#endif |
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if(d->lss_transfer.command==LSS_IDENT_REMOTE_NON_CONF){
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MSG_WAR(0x2D08, "LSS timeout. There are not no-configured slaves in the net", 0); |
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d->lss_transfer.state = LSS_FINISHED; |
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d->lss_transfer.dat1=1; |
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} |
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else{
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MSG_ERR(0x1D09, "LSS timeout. LSS response not received.", 0); |
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MSG_WAR(0x2D0A, "LSS timeout command specifier : ", d->lss_transfer.command); |
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/* Set aborted state */ |
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d->lss_transfer.state = LSS_ABORTED_INTERNAL; |
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} |
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/* Call the user function to inform of the problem.*/ |
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if(d->lss_transfer.Callback){
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/*If there is a callback, it is responsible of the error*/ |
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(*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
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} |
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} |
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/*! |
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** |
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** |
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** @param d |
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** @param id |
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**/ |
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void LssAlarmSDELAY(CO_Data* d, UNS32 id) |
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{
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/* The first switch_delay period expired. Store the node state, change it |
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* so no CAN messages will be sent or received, call the ChangeBaudRate function*/ |
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if(d->lss_transfer.switchDelayState==SDELAY_FIRST){
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MSG_WAR(0x3D0B, "LSS switch delay first period expired",0); |
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d->lss_transfer.switchDelayState=SDELAY_SECOND; |
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(*d->lss_ChangeBaudRate)(d,d->lss_transfer.baudRate); |
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} |
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else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */
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MSG_WAR(0x3D0C, "LSS switch delay second period expired",0); |
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d->lss_transfer.switchDelayState=SDELAY_OFF; |
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StopLSS_SDELAY_TIMER(); |
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if (*(d->iam_a_slave)) |
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d->canHandle=d->lss_transfer.canHandle_t; |
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else{
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d->lss_transfer.dat1=0; |
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d->lss_transfer.state=LSS_FINISHED; |
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/* Call the user function */ |
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if(d->lss_transfer.Callback){
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(*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
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} |
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} |
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} |
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} |
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#ifdef CO_ENABLE_LSS_FS |
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/*! |
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** |
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** |
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** @param d |
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** @param id |
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**/ |
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void LssAlarmFS(CO_Data* d, UNS32 id) |
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{
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StopLSS_FS_TIMER(); |
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switch(d->lss_transfer.FastScan_SM){
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case LSS_FS_RESET: |
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{
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/* This should not happen, an error ocurred*/ |
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MSG_ERR(0x1D0D, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM); |
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} |
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break; |
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case LSS_FS_PROCESSING: |
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{
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/* If there isn't any answer, set the bit */ |
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if(d->lss_transfer.LSSanswer==0){
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UNS32 Mask=0x1; |
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Mask<<=d->lss_transfer.BitChecked; |
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d->lss_transfer.IDNumber|=Mask; |
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} |
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if(d->lss_transfer.BitChecked==0){
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/* We finished with the current LSS-ID[sub], confirm it */ |
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d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION; |
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if(d->lss_transfer.LSSNext<3)d->lss_transfer.LSSNext++; |
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} |
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else{
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d->lss_transfer.BitChecked--; |
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} |
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d->lss_transfer.LSSanswer=0; |
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StartLSS_FS_TIMER(); |
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sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0); |
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return; |
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} |
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break; |
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case LSS_FS_CONFIRMATION: |
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{
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if(d->lss_transfer.LSSanswer!=0){
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d->lss_transfer.LSSanswer=0; |
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if(d->lss_transfer.LSSSub==3){
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/* The LSS FastScan protocol finished correctly. Restore the parameters */ |
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d->lss_transfer.BitChecked=128; |
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d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
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d->lss_transfer.LSSSub=0; |
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d->lss_transfer.LSSNext=0; |
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d->lss_transfer.IDNumber=0; |
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/* Inform the application that the FastScan finished correctly */ |
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d->lss_transfer.state = LSS_FINISHED; |
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d->lss_transfer.dat1=0; |
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} |
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else{
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/* Start with the next LSS-ID[sub] */ |
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d->lss_transfer.LSSSub++; |
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d->lss_transfer.BitChecked=31; |
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d->lss_transfer.IDNumber=0; |
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d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
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StartLSS_FS_TIMER(); |
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sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0); |
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return; |
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} |
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} |
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else{
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/* This should not happen, an error ocurred*/ |
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MSG_ERR(0x1D0E, "LSS FastScan timeout. FastScan response not received.", 0); |
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/* Set aborted state */ |
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d->lss_transfer.state = LSS_ABORTED_INTERNAL; |
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} |
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} |
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break; |
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} |
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/* Call the user function to inform of the problem.*/ |
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if(d->lss_transfer.Callback){
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/*If there is a callback, it is responsible of the error*/ |
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(*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
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} |
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} |
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| 361 | 271 |
#endif |
| 381 | 272 |
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| 343 | 274 |
/*! |
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** |
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** |
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** @param d |
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**/ |
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void startLSS(CO_Data* d) |
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{
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/*MSG_WAR(0x3D09, "LSS services started",0);*/ |
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} |
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283 |
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/*! |
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285 |
** |
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286 |
** |
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287 |
** @param d |
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**/ |
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void stopLSS(CO_Data* d) |
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{
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/*MSG_WAR(0x3D09, "LSS services stopped",0);*/ |
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} |
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293 |
||
294 |
/*! |
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295 |
** |
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296 |
** |
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297 |
** @param d |
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298 |
** @param cob_id |
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299 |
** |
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300 |
** @return |
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301 |
**/ |
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302 |
UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) |
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{
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Message m; |
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305 |
UNS8 i; |
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306 |
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307 |
if (!d->CurrentCommunicationState.csLSS){
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| 381 | 308 |
MSG_WAR(0x2D17, "unable to send the LSS message, not in the proper state =>", d->nodeState); |
| 361 | 309 |
return 0xFF; |
| 343 | 310 |
} |
311 |
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for(i=1;i<8;i++)m.data[i]=0; |
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m.len = 8; |
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314 |
m.rtr = NOT_A_REQUEST; |
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315 |
m.data[0]=command; |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
316 |
m.cob_id=UNS16_LE(SLSS_ADRESS); |
| 343 | 317 |
|
318 |
/* Tha data sent with the msg depends on the command */ |
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319 |
switch(command){
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|
320 |
case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
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321 |
m.data[1]=*(UNS8 *)dat1; |
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322 |
break; |
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323 |
case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
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324 |
case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
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325 |
case LSS_CONF_STORE: /* Store Configured Parameters */ |
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326 |
m.data[1]=*(UNS8 *)dat1; |
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327 |
m.data[2]=*(UNS8 *)dat2; |
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328 |
break; |
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329 |
case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
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330 |
case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
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331 |
case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
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332 |
case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
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333 |
m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); |
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334 |
m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); |
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335 |
m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF); |
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336 |
m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF); |
|
337 |
break; |
|
338 |
case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response*/ |
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339 |
case LSS_IDENT_SLAVE: /* LSS Identify Slave */ |
|
340 |
case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ |
|
341 |
break; |
|
342 |
default: |
|
| 381 | 343 |
MSG_ERR(0x1D18, "send Slave LSS command not implemented", command); |
| 343 | 344 |
return 0xFF; |
345 |
} |
|
346 |
||
347 |
return canSend(d->canHandle,&m); |
|
348 |
} |
|
349 |
||
350 |
/*! |
|
351 |
** |
|
352 |
** |
|
353 |
** @param d |
|
354 |
** @param cob_id |
|
355 |
** |
|
356 |
** @return |
|
357 |
**/ |
|
358 |
UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) |
|
359 |
{
|
|
360 |
Message m; |
|
361 |
UNS8 i; |
|
| 381 | 362 |
UNS8 res; |
363 |
UNS8 hasResponse=0; |
|
364 |
||
| 343 | 365 |
for(i=1;i<8;i++)m.data[i]=0; |
366 |
m.len = 8; |
|
367 |
m.rtr = NOT_A_REQUEST; |
|
368 |
m.data[0]=command; |
|
|
370
6fecf36df407
Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
etisserant
parents:
365
diff
changeset
|
369 |
m.cob_id=UNS16_LE(MLSS_ADRESS); |
| 343 | 370 |
|
371 |
/* Tha data sent with the msg depends on the command */ |
|
372 |
switch(command){
|
|
| 381 | 373 |
case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
374 |
hasResponse=1; |
|
| 343 | 375 |
case LSS_SM_GLOBAL: /* Switch Mode Global */ |
376 |
m.data[1]=*(UNS8 *)dat1; |
|
377 |
break; |
|
378 |
case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
|
379 |
m.data[1]=*(UNS8 *)dat1; |
|
380 |
m.data[2]=*(UNS8 *)dat2; |
|
| 381 | 381 |
if(d->lss_ChangeBaudRate){
|
382 |
/* If a baud rate is not supported just comment the line. */ |
|
383 |
switch(m.data[2]){
|
|
384 |
case 0x00:d->lss_transfer.baudRate="1M";break; |
|
385 |
case 0x01:d->lss_transfer.baudRate="800K";break; |
|
386 |
case 0x02:d->lss_transfer.baudRate="500K";break; |
|
387 |
case 0x03:d->lss_transfer.baudRate="250K";break; |
|
388 |
case 0x04:d->lss_transfer.baudRate="125K";break; |
|
389 |
case 0x05:d->lss_transfer.baudRate="100K";break; |
|
390 |
case 0x06:d->lss_transfer.baudRate="50K";break; |
|
391 |
case 0x07:d->lss_transfer.baudRate="20K";break; |
|
392 |
case 0x08:d->lss_transfer.baudRate="10K";break; |
|
393 |
default: |
|
394 |
MSG_ERR(0x1D19, "Master-> Baud rate not supported",0); |
|
395 |
d->lss_transfer.dat1=0xFF; |
|
396 |
goto ErrorBitRateMaster; |
|
397 |
break; |
|
398 |
} |
|
399 |
hasResponse=1; |
|
400 |
break; |
|
401 |
} |
|
402 |
else{
|
|
403 |
MSG_ERR(0x1D1A, "Master-> Bit timing not supported",0); |
|
404 |
d->lss_transfer.dat1=0x01; |
|
405 |
} |
|
406 |
||
407 |
ErrorBitRateMaster: |
|
408 |
d->lss_transfer.dat2=0; |
|
409 |
/* If there is a callback, it is responsible of the error */ |
|
410 |
if(d->lss_transfer.Callback) |
|
411 |
(*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
|
412 |
return 0xFF; |
|
| 343 | 413 |
break; |
414 |
case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */ |
|
415 |
m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); |
|
416 |
m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); |
|
| 381 | 417 |
if(d->lss_transfer.baudRate!="none"){
|
418 |
d->lss_transfer.switchDelay=(UNS16)(*(UNS32*)dat1 & 0xFFFF); |
|
419 |
d->lss_transfer.switchDelayState=SDELAY_FIRST; |
|
420 |
res=canSend(d->canHandle,&m); |
|
421 |
if(res==0){
|
|
422 |
StartLSS_SDELAY_TIMER(); |
|
423 |
d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; |
|
424 |
} |
|
425 |
return res; |
|
426 |
} |
|
427 |
else{
|
|
428 |
MSG_ERR(0x1D1B, "Master-> Baud rate not specified",0); |
|
429 |
d->lss_transfer.dat1=1; |
|
430 |
/* If there is a callback, it is responsible of the error */ |
|
431 |
if(d->lss_transfer.Callback){
|
|
432 |
(*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
|
433 |
} |
|
434 |
return 0xFF; |
|
435 |
} |
|
| 343 | 436 |
break; |
| 381 | 437 |
case LSS_SM_SELECTIVE_SERIAL: |
438 |
case LSS_IDENT_REMOTE_SERIAL_HIGH: |
|
439 |
hasResponse=1; |
|
| 343 | 440 |
case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */ |
441 |
case LSS_SM_SELECTIVE_PRODUCT: |
|
442 |
case LSS_SM_SELECTIVE_REVISION: |
|
443 |
case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */ |
|
444 |
case LSS_IDENT_REMOTE_PRODUCT: |
|
445 |
case LSS_IDENT_REMOTE_REV_LOW: |
|
446 |
case LSS_IDENT_REMOTE_REV_HIGH: |
|
447 |
case LSS_IDENT_REMOTE_SERIAL_LOW: |
|
448 |
m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); |
|
449 |
m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); |
|
450 |
m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF); |
|
451 |
m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF); |
|
452 |
break; |
|
| 381 | 453 |
|
| 343 | 454 |
case LSS_CONF_STORE: /* Store Configured Parameters */ |
455 |
case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */ |
|
456 |
case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
|
457 |
case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
|
458 |
case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
|
459 |
case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
|
460 |
case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
|
| 381 | 461 |
hasResponse=1; |
| 343 | 462 |
break; |
| 361 | 463 |
#ifdef CO_ENABLE_LSS_FS |
| 343 | 464 |
case LSS_IDENT_FASTSCAN: |
465 |
m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF); |
|
466 |
m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF); |
|
467 |
m.data[3]=(UNS8)(d->lss_transfer.IDNumber>>16 & 0xFF); |
|
468 |
m.data[4]=(UNS8)(d->lss_transfer.IDNumber>>24 & 0xFF); |
|
469 |
m.data[5]=d->lss_transfer.BitChecked; |
|
470 |
m.data[6]=d->lss_transfer.LSSSub; |
|
471 |
m.data[7]=d->lss_transfer.LSSNext; |
|
| 381 | 472 |
/* it will generate a response only if it is the start of the FastScan protocol*/ |
473 |
if(d->lss_transfer.FastScan_SM==LSS_FS_RESET)hasResponse=1; |
|
| 343 | 474 |
break; |
| 361 | 475 |
#endif |
| 343 | 476 |
default: |
| 381 | 477 |
MSG_ERR(0x1D1C, "send Master LSS command not implemented", command); |
| 343 | 478 |
return 0xFF; |
479 |
} |
|
480 |
||
| 381 | 481 |
res=canSend(d->canHandle,&m); |
482 |
if(res==0 && hasResponse==1){
|
|
483 |
StartLSS_MSG_TIMER(); |
|
484 |
d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; |
|
485 |
} |
|
486 |
return res; |
|
| 343 | 487 |
} |
488 |
||
489 |
/*! |
|
490 |
** |
|
491 |
** |
|
492 |
** @param d |
|
493 |
** @param cob_id |
|
494 |
** |
|
495 |
** @return |
|
496 |
**/ |
|
497 |
UNS8 sendLSS(CO_Data* d, UNS8 command,void *dat1,void *dat2) |
|
498 |
{
|
|
499 |
UNS8 res=1; |
|
500 |
||
501 |
/* Tha data sent with the msg depends on the command and if the sender is a master or a slave */ |
|
502 |
if (*(d->iam_a_slave)){
|
|
503 |
res = sendSlaveLSSMessage(d, command,dat1,dat2); |
|
504 |
} |
|
505 |
else {/* It is a Master */
|
|
506 |
res = sendMasterLSSMessage(d, command,dat1,dat2); |
|
507 |
} |
|
508 |
return res ; |
|
509 |
} |
|
510 |
||
511 |
||
512 |
/*! |
|
513 |
** |
|
514 |
** |
|
515 |
** @param d |
|
516 |
** @param m |
|
517 |
** |
|
518 |
** @return |
|
519 |
**/ |
|
520 |
UNS8 proceedLSS_Master(CO_Data* d, Message* m ) |
|
521 |
{
|
|
522 |
UNS8 msg_cs; |
|
523 |
UNS32 Dat1=0; |
|
524 |
UNS8 Dat2=0; |
|
525 |
||
| 361 | 526 |
if(d->lss_transfer.state!=LSS_TRANS_IN_PROGRESS) |
527 |
{
|
|
528 |
//MSG_WAR(0x3D0D, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]); |
|
529 |
//return 0; |
|
530 |
goto ErrorProcessMaster; |
|
531 |
} |
|
532 |
||
| 381 | 533 |
MSG_WAR(0x3D1E, "MasterLSS proceedLSS; command ", m->data[0]); |
| 343 | 534 |
|
535 |
switch(msg_cs=m->data[0]){
|
|
536 |
case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
|
| 361 | 537 |
if(d->lss_transfer.command!=LSS_INQ_NODE_ID)goto ErrorProcessMaster; |
| 343 | 538 |
Dat1=m->data[1]; |
539 |
break; |
|
540 |
case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
|
541 |
case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
|
542 |
case LSS_CONF_STORE: /* Store Configured Parameters */ |
|
| 361 | 543 |
if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster; |
| 343 | 544 |
Dat1=m->data[1]; |
545 |
Dat2=m->data[2]; |
|
546 |
break; |
|
547 |
case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
|
548 |
case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
|
549 |
case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
|
550 |
case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
|
| 361 | 551 |
if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster; |
| 343 | 552 |
Dat1=getLSSIdent(m); |
553 |
break; |
|
554 |
case LSS_IDENT_SLAVE: /* LSS Identify Slave */ |
|
| 361 | 555 |
#ifdef CO_ENABLE_LSS_FS |
556 |
if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
|
|
557 |
/* A message arrived during the timer period */ |
|
558 |
d->lss_transfer.LSSanswer=1; |
|
559 |
return 0; |
|
560 |
} |
|
561 |
else |
|
562 |
#endif |
|
563 |
if(d->lss_transfer.command!=LSS_IDENT_REMOTE_VENDOR && \ |
|
564 |
d->lss_transfer.command!=LSS_IDENT_REMOTE_PRODUCT && \ |
|
565 |
d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_LOW && \ |
|
566 |
d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_HIGH && \ |
|
567 |
d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_LOW && \ |
|
568 |
d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_HIGH ) |
|
569 |
goto ErrorProcessMaster; |
|
| 343 | 570 |
break; |
571 |
case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */ |
|
| 361 | 572 |
if(d->lss_transfer.command!=LSS_SM_SELECTIVE_VENDOR && \ |
573 |
d->lss_transfer.command!=LSS_SM_SELECTIVE_PRODUCT && \ |
|
574 |
d->lss_transfer.command!=LSS_SM_SELECTIVE_REVISION && \ |
|
575 |
d->lss_transfer.command!=LSS_SM_SELECTIVE_SERIAL ) |
|
576 |
goto ErrorProcessMaster; |
|
577 |
break; |
|
| 343 | 578 |
case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ |
| 361 | 579 |
if(d->lss_transfer.command!=LSS_IDENT_REMOTE_NON_CONF)goto ErrorProcessMaster; |
| 343 | 580 |
break; |
581 |
default: |
|
| 381 | 582 |
MSG_ERR(0x1D1F, "Master LSS command not implemented", msg_cs); |
| 343 | 583 |
return 0xFF; |
584 |
} |
|
| 361 | 585 |
|
| 381 | 586 |
StopLSS_MSG_TIMER(); |
| 361 | 587 |
d->lss_transfer.state = LSS_FINISHED; |
588 |
||
| 343 | 589 |
d->lss_transfer.dat1=Dat1; |
590 |
d->lss_transfer.dat2=Dat2; |
|
591 |
/* If there is a callback, it is responsible of the received response */ |
|
592 |
if(d->lss_transfer.Callback) |
|
| 361 | 593 |
(*d->lss_transfer.Callback)(d,d->lss_transfer.command); |
| 343 | 594 |
|
595 |
return 0; |
|
| 361 | 596 |
|
597 |
ErrorProcessMaster: |
|
| 381 | 598 |
MSG_WAR(0x3D20, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]); |
| 361 | 599 |
return 0xFF; |
600 |
||
| 343 | 601 |
} |
602 |
||
603 |
/*! |
|
604 |
** |
|
605 |
** |
|
606 |
** @param d |
|
607 |
** @param m |
|
608 |
** |
|
609 |
** @return |
|
610 |
**/ |
|
611 |
UNS8 proceedLSS_Slave(CO_Data* d, Message* m ) |
|
612 |
{
|
|
613 |
UNS8 msg_cs; |
|
614 |
||
| 381 | 615 |
MSG_WAR(0x3D21, "SlaveLSS proceedLSS; command ", m->data[0]); |
| 343 | 616 |
|
617 |
switch(msg_cs=m->data[0]){
|
|
618 |
case LSS_SM_GLOBAL: /* Switch Mode Global */ |
|
619 |
/* if there is not a mode change break*/ |
|
620 |
if(m->data[1] == d->lss_transfer.mode){
|
|
| 381 | 621 |
MSG_WAR(0x3D22, "SlaveLSS already in the mode ", m->data[1]); |
| 343 | 622 |
break; |
623 |
} |
|
624 |
||
625 |
if(m->data[1]==LSS_CONFIGURATION_MODE) {
|
|
| 381 | 626 |
MSG_WAR(0x3D23, "SlaveLSS switching to configuration mode ", 0); |
| 343 | 627 |
/* Store the NodeId in case it will be changed */ |
| 381 | 628 |
//d->lss_transfer.nodeID=getNodeId(d); |
| 343 | 629 |
d->lss_transfer.mode=LSS_CONFIGURATION_MODE; |
630 |
} |
|
631 |
else if(m->data[1]==LSS_WAITING_MODE){
|
|
| 381 | 632 |
MSG_WAR(0x3D24, "SlaveLSS switching to operational mode ", 0); |
| 343 | 633 |
|
| 381 | 634 |
/* If the nodeID has changed update it and put the node state to Initialisation. */ |
635 |
if(d->lss_transfer.nodeID!=getNodeId(d)){
|
|
636 |
if(getNodeId(d)==0xFF){/* The nodeID was 0xFF; initialize the application*/
|
|
637 |
MSG_WAR(0x3D25, "The node Id has changed. Reseting to Initialisation state",0); |
|
| 343 | 638 |
setNodeId(d, d->lss_transfer.nodeID); |
639 |
setState(d, Initialisation); |
|
640 |
} |
|
| 381 | 641 |
else{/* The nodeID will be changed on NMT_Reset Request*/
|
642 |
setNodeId(d, d->lss_transfer.nodeID); |
|
643 |
} |
|
| 343 | 644 |
} |
645 |
d->lss_transfer.mode=LSS_WAITING_MODE; |
|
646 |
} |
|
647 |
break; |
|
648 |
case LSS_CONF_NODE_ID: /* Configure Node-ID */ |
|
649 |
{
|
|
650 |
UNS8 error_code=0; |
|
651 |
UNS8 spec_error=0; |
|
652 |
||
653 |
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
|
|
654 |
if(m->data[1]>127 && m->data[1]!=0xFF){
|
|
| 381 | 655 |
MSG_ERR(0x1D26, "NodeID out of range",0); |
| 343 | 656 |
error_code=1; /* NodeID out of range */ |
657 |
} |
|
658 |
else{
|
|
659 |
d->lss_transfer.nodeID=m->data[1]; |
|
660 |
} |
|
661 |
} |
|
662 |
else{
|
|
| 381 | 663 |
MSG_WAR(0x3D27, "SlaveLSS not in configuration mode",0); |
| 361 | 664 |
//error_code=0xFF; |
665 |
break; |
|
| 343 | 666 |
} |
667 |
sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); |
|
668 |
} |
|
669 |
break; |
|
670 |
case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ |
|
671 |
{
|
|
672 |
UNS8 error_code=0; |
|
673 |
UNS8 spec_error=0; |
|
674 |
||
675 |
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
|
|
676 |
/* Change the baud rate only if the function lss_ChangeBaudRate |
|
677 |
* has been implemented. If not send an error. |
|
678 |
*/ |
|
679 |
if(d->lss_ChangeBaudRate){
|
|
680 |
/* If a baud rate is not supported just comment the line. */ |
|
681 |
switch(m->data[2]){
|
|
682 |
case 0x00:d->lss_transfer.baudRate="1M";break; |
|
683 |
case 0x01:d->lss_transfer.baudRate="800K";break; |
|
684 |
case 0x02:d->lss_transfer.baudRate="500K";break; |
|
685 |
case 0x03:d->lss_transfer.baudRate="250K";break; |
|
686 |
case 0x04:d->lss_transfer.baudRate="125K";break; |
|
687 |
case 0x05:d->lss_transfer.baudRate="100K";break; |
|
688 |
case 0x06:d->lss_transfer.baudRate="50K";break; |
|
689 |
case 0x07:d->lss_transfer.baudRate="20K";break; |
|
690 |
case 0x08:d->lss_transfer.baudRate="10K";break; |
|
691 |
default: |
|
| 381 | 692 |
MSG_ERR(0x1D28, "Baud rate not supported",0); |
| 343 | 693 |
error_code=0xFF; /* Baud rate not supported*/ |
694 |
break; |
|
695 |
} |
|
696 |
} |
|
697 |
else |
|
698 |
{
|
|
| 381 | 699 |
MSG_ERR(0x1D29, "Bit timing not supported",0); |
| 343 | 700 |
error_code=0x01; /* bit timing not supported */ |
701 |
} |
|
702 |
} |
|
703 |
else{
|
|
| 381 | 704 |
MSG_WAR(0x3D2A, "SlaveLSS not in configuration mode",0); |
| 361 | 705 |
//error_code=0xFF; |
706 |
break; |
|
| 343 | 707 |
} |
708 |
||
709 |
sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); |
|
710 |
} |
|
711 |
break; |
|
712 |
case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */ |
|
713 |
||
714 |
if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){
|
|
| 381 | 715 |
MSG_ERR(0x3D2B, "SlaveLSS not in configuration mode",0); |
| 343 | 716 |
break; |
717 |
} |
|
718 |
||
719 |
if(d->lss_transfer.baudRate!="none"){
|
|
720 |
d->lss_transfer.switchDelay=getLSSDelay(m); |
|
| 381 | 721 |
MSG_WAR(0x3D2C, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay); |
| 343 | 722 |
d->lss_transfer.switchDelayState=SDELAY_FIRST; |
| 381 | 723 |
//d->lss_transfer.currentState=getState(d); |
724 |
//setState(d, LssTimingDelay); |
|
725 |
d->lss_transfer.canHandle_t=d->canHandle; |
|
726 |
d->canHandle=NULL; |
|
| 343 | 727 |
StartLSS_SDELAY_TIMER(); |
728 |
} |
|
729 |
break; |
|
730 |
case LSS_CONF_STORE: /* Store Configured Parameters */ |
|
731 |
{
|
|
732 |
UNS8 error_code=0; |
|
733 |
UNS8 spec_error=0; |
|
734 |
||
735 |
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
|
|
736 |
if(d->lss_StoreConfiguration){
|
|
737 |
/* call lss_StoreConfiguration with NodeId */ |
|
| 381 | 738 |
(*d->lss_StoreConfiguration)(d,&error_code,&spec_error); |
| 343 | 739 |
} |
740 |
else{
|
|
| 381 | 741 |
MSG_ERR(0x1D2E, "Store configuration not supported",0); |
| 343 | 742 |
error_code=1; /* store configuration is not supported */ |
743 |
} |
|
744 |
} |
|
745 |
else{
|
|
| 381 | 746 |
MSG_WAR(0x3D2F, "SlaveLSS not in configuration mode",0); |
| 361 | 747 |
//error_code=0xFF; |
748 |
break; |
|
| 343 | 749 |
} |
750 |
sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); |
|
751 |
} |
|
752 |
break; |
|
753 |
case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */ |
|
754 |
case LSS_SM_SELECTIVE_PRODUCT: |
|
755 |
case LSS_SM_SELECTIVE_REVISION: |
|
756 |
case LSS_SM_SELECTIVE_SERIAL: |
|
757 |
{
|
|
758 |
UNS32 errorCode; |
|
759 |
const indextable *ptrTable; |
|
760 |
ODCallback_t *Callback; |
|
761 |
UNS32 _SpecificNodeInfo; |
|
762 |
||
763 |
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) |
|
764 |
{
|
|
| 381 | 765 |
MSG_ERR(0x1D30, "Switch Mode Selective only supported in operational mode",0); |
| 343 | 766 |
break; |
767 |
} |
|
768 |
||
769 |
_SpecificNodeInfo=getLSSIdent(m); |
|
770 |
||
771 |
ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
|
772 |
if(_SpecificNodeInfo==*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_SM_SELECTIVE_VENDOR-1)].pObject){
|
|
773 |
||
774 |
d->lss_transfer.addr_sel_match|=(0x01<<(msg_cs-LSS_SM_SELECTIVE_VENDOR)); |
|
775 |
/* If all the fields has been set */ |
|
776 |
if(d->lss_transfer.addr_sel_match==0x0F){
|
|
777 |
||
| 381 | 778 |
MSG_WAR(0x3D31, "SlaveLSS switching to configuration mode ", 0); |
| 343 | 779 |
d->lss_transfer.addr_sel_match=0; |
780 |
d->lss_transfer.nodeID=getNodeId(d); |
|
781 |
d->lss_transfer.mode=LSS_CONFIGURATION_MODE; |
|
782 |
||
783 |
sendSlaveLSSMessage(d,LSS_SM_SELECTIVE_RESP,0,0); |
|
784 |
} |
|
785 |
} |
|
786 |
else {
|
|
| 381 | 787 |
MSG_WAR(0x3D32, "LSS identity field doesn't match ", _SpecificNodeInfo); |
| 343 | 788 |
d->lss_transfer.addr_sel_match=0; |
789 |
} |
|
790 |
} |
|
791 |
break; |
|
792 |
case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */ |
|
793 |
case LSS_IDENT_REMOTE_PRODUCT: |
|
794 |
case LSS_IDENT_REMOTE_REV_LOW: |
|
795 |
case LSS_IDENT_REMOTE_REV_HIGH: |
|
796 |
case LSS_IDENT_REMOTE_SERIAL_LOW: |
|
797 |
case LSS_IDENT_REMOTE_SERIAL_HIGH: |
|
798 |
{
|
|
799 |
UNS32 errorCode; |
|
800 |
const indextable *ptrTable; |
|
801 |
ODCallback_t *Callback; |
|
802 |
UNS32 _SpecificNodeInfo; |
|
803 |
||
804 |
_SpecificNodeInfo=getLSSIdent(m); |
|
805 |
||
806 |
ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
|
807 |
||
808 |
/* Check if the data match the identity object. */ |
|
809 |
switch(msg_cs){
|
|
810 |
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; |
|
811 |
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; |
|
812 |
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; |
|
813 |
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; |
|
814 |
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; |
|
815 |
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; |
|
816 |
} |
|
817 |
/* If all the fields has been set.. */ |
|
818 |
if(d->lss_transfer.addr_ident_match==0x3F){
|
|
| 381 | 819 |
MSG_WAR(0x3D33, "SlaveLSS identified ", 0); |
| 343 | 820 |
d->lss_transfer.addr_ident_match=0; |
821 |
sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
|
822 |
} |
|
823 |
else if(d->lss_transfer.addr_ident_match==0){
|
|
| 381 | 824 |
MSG_WAR(0x3D34, "LSS identify field doesn't match ", _SpecificNodeInfo); |
| 343 | 825 |
} |
826 |
} |
|
827 |
break; |
|
828 |
case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */ |
|
829 |
{
|
|
830 |
if(getNodeId(d)==0xFF){
|
|
| 381 | 831 |
MSG_WAR(0x3D35, "SlaveLSS non-configured ", 0); |
| 343 | 832 |
sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0); |
833 |
} |
|
834 |
else{
|
|
| 381 | 835 |
MSG_WAR(0x3D36, "SlaveLSS already configured ", 0); |
| 343 | 836 |
} |
837 |
} |
|
838 |
break; |
|
839 |
case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ |
|
840 |
case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ |
|
841 |
case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ |
|
842 |
case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ |
|
843 |
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) |
|
844 |
{
|
|
845 |
||
846 |
UNS32 errorCode; |
|
847 |
const indextable *ptrTable; |
|
848 |
ODCallback_t *Callback; |
|
849 |
UNS32 _SpecificNodeInfo; |
|
850 |
||
851 |
ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
|
852 |
_SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject; |
|
| 381 | 853 |
MSG_WAR(0x3D37, "SlaveLSS identity field inquired ", _SpecificNodeInfo); |
| 343 | 854 |
|
855 |
sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0); |
|
856 |
} |
|
857 |
break; |
|
858 |
case LSS_INQ_NODE_ID: /* Inquire Node-ID */ |
|
859 |
if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) |
|
860 |
{
|
|
861 |
UNS8 NodeID; |
|
862 |
||
863 |
NodeID=getNodeId(d); |
|
| 381 | 864 |
MSG_WAR(0x3D38, "SlaveLSS Node ID inquired ", NodeID); |
| 343 | 865 |
sendSlaveLSSMessage(d,msg_cs,&NodeID,0); |
866 |
} |
|
867 |
else{
|
|
| 381 | 868 |
MSG_WAR(0x3D39, "SlaveLSS not in configuration mode",0); |
| 361 | 869 |
} |
870 |
break; |
|
871 |
#ifdef CO_ENABLE_LSS_FS |
|
| 343 | 872 |
case LSS_IDENT_FASTSCAN: |
873 |
{
|
|
| 361 | 874 |
/* If the nodeID isn't 0xFF the slave shall not participate */ |
875 |
if(getNodeId(d)!=0xFF)break; |
|
876 |
if(getLSSBitCheck(m)==128)d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
|
877 |
||
878 |
switch(d->lss_transfer.FastScan_SM){
|
|
879 |
case LSS_FS_RESET: |
|
880 |
{
|
|
881 |
UNS32 errorCode; |
|
882 |
const indextable *ptrTable; |
|
883 |
ODCallback_t *Callback; |
|
884 |
||
| 381 | 885 |
MSG_WAR(0x3D3A, "SlaveLSS Reseting LSSPos", 0); |
| 361 | 886 |
d->lss_transfer.LSSPos=0; |
887 |
d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
|
888 |
||
889 |
ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
|
890 |
d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject; |
|
891 |
||
892 |
sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
|
893 |
} |
|
894 |
break; |
|
895 |
case LSS_FS_PROCESSING:/*if(getLSSBitCheck(m)<32)*/ |
|
896 |
if(d->lss_transfer.LSSPos==getLSSSub(m)) |
|
897 |
{
|
|
898 |
UNS32 Mask=0xFFFFFFFF<<getLSSBitCheck(m); |
|
899 |
||
| 381 | 900 |
MSG_WAR(0x3D3B, "SlaveLSS FastScan IDNumber", getLSSIdent(m)); |
901 |
MSG_WAR(0x3D3C, "SlaveLSS FastScan BitMask ", Mask); |
|
902 |
MSG_WAR(0x3D3D, "SlaveLSS FastScan LSS-ID ", d->lss_transfer.IDNumber); |
|
| 361 | 903 |
|
904 |
if((getLSSIdent(m) & Mask)==(d->lss_transfer.IDNumber & Mask)) |
|
905 |
{
|
|
906 |
sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
|
907 |
} |
|
908 |
||
909 |
if(getLSSBitCheck(m)==0) |
|
910 |
{
|
|
911 |
d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION; |
|
912 |
} |
|
913 |
} |
|
914 |
break; |
|
915 |
case LSS_FS_CONFIRMATION: |
|
916 |
if(d->lss_transfer.LSSPos==getLSSSub(m)) |
|
917 |
{
|
|
918 |
if(getLSSIdent(m)==d->lss_transfer.IDNumber) |
|
919 |
{
|
|
920 |
/* Current LSS-ID[sub] confirmed correctly */ |
|
| 381 | 921 |
MSG_WAR(0x3D3E, "SlaveLSS FastScan IDNumber and LSS-ID match=>", d->lss_transfer.IDNumber); |
| 361 | 922 |
if(d->lss_transfer.LSSPos==3) |
923 |
{
|
|
924 |
/* All LSS-ID[sub] identified correctly, switching to configuration mode */ |
|
| 381 | 925 |
MSG_WAR(0x3D3F, "SlaveLSS switching to configuration mode ", 0); |
| 361 | 926 |
d->lss_transfer.nodeID=getNodeId(d); |
927 |
d->lss_transfer.mode=LSS_CONFIGURATION_MODE; |
|
928 |
d->lss_transfer.FastScan_SM=LSS_FS_RESET; |
|
929 |
d->lss_transfer.LSSPos=0xFF; |
|
930 |
} |
|
931 |
else |
|
932 |
{
|
|
933 |
/* Switch to the next LSS-ID[sub] */ |
|
934 |
UNS32 errorCode; |
|
935 |
const indextable *ptrTable; |
|
936 |
ODCallback_t *Callback; |
|
937 |
||
938 |
d->lss_transfer.LSSPos=getLSSNext(m); |
|
939 |
ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); |
|
940 |
d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject; |
|
941 |
d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING; |
|
942 |
} |
|
943 |
sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); |
|
944 |
} |
|
945 |
} |
|
946 |
break; |
|
947 |
} |
|
| 343 | 948 |
} |
949 |
break; |
|
| 361 | 950 |
#endif |
| 343 | 951 |
default: |
| 381 | 952 |
MSG_ERR(0x1D40, "SlaveLSS command not implemented", msg_cs); |
| 343 | 953 |
return 0xFF; |
954 |
} |
|
955 |
||
956 |
return 0; |
|
957 |
} |
|
958 |
||
| 381 | 959 |
/*UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2) |
| 343 | 960 |
{
|
961 |
return sendMasterLSSMessage(d,command,dat1,dat2); |
|
| 381 | 962 |
}*/ |
963 |
||
964 |
UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback) |
|
| 343 | 965 |
{
|
| 381 | 966 |
//d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; |
| 343 | 967 |
d->lss_transfer.Callback=Callback; |
968 |
d->lss_transfer.command=command; |
|
969 |
||
| 381 | 970 |
StopLSS_MSG_TIMER(); |
971 |
//StartLSS_MSG_TIMER(); |
|
| 343 | 972 |
|
973 |
return sendMasterLSSMessage(d,command,dat1,dat2); |
|
974 |
} |
|
975 |
||
976 |
UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2) |
|
977 |
{
|
|
978 |
*dat1=d->lss_transfer.dat1; |
|
979 |
*dat2=d->lss_transfer.dat2; |
|
980 |
return d->lss_transfer.state; |
|
981 |
} |
|
982 |
||
983 |
//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error){printf("_lss_StoreConfiguration\n");}
|
|
984 |
//void _lss_ChangeBaudRate(char *BaudRate){printf("_lss_ChangeBaudRate\n");}
|
|
985 |
||
986 |
#endif |