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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Author: CANopen Canada (canfestival@canopencanada.ca)
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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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#include <applicfg.h>
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#include <def.h>
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#include <can.h>
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#include <data.h>
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#include <objdictdef.h>
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#include <objacces.h>
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#include "can_driver.h"
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#ifdef LED_ENABLE
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#include "led.h"
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#else
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#define led_set_state(a,b)
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#endif
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#include "lss.h"
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/*
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NOTES
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1. since in the LSS protocol all LSS Slave use the same COB, only 1 Slave
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must be allowed to communicate with the Master
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2. the Master always take the iniative. the Slave is only allowed to transmit
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within a confirmed service
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3. requesting message (from the Master) using COB-ID 2021 and response messages
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(from the Slave) using COB-ID 2020
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*/
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/*
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0 = this slave is not talking to the master
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1 = this slave is talking to the master (this slave has been selected via )
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*/
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int slave_selector;
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int current_mode;
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int lss_table_selector, lss_table_index;
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64 |
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/* slave storing the information sent by the master */
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UNS32 lss_buffer[10];
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/*
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how this buffer is used
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for a SLAVE
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[0..3] used to store the LSS Address
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[4..9] use by LSS Identify Remort Slave
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for the MASTER
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[0..3] hold the answer from the slave regarding its ID
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*/
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void lss_copy(UNS8 *data, UNS32 value)
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/* transfert 32 bits value into uns8 data vector */
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{
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data[0] = value & 0xff;
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data[1] = (value>>8) & 0xff;
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data[2] = (value>>16) & 0xff;
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data[3] = (value>>24) & 0xff;
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}
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UNS32 lss_get_value(UNS8 *data)
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/* build a 'UNS32' value from a 'unsigned char' vector */
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{
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return data[0] + (data[1]<<8) + (data[2]<<16) + (data[3]<<24);
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}
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void lss_init_msg(Message *msg)
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{
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msg->cob_id.w = 0;
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msg->rtr = 0;
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msg->len = 0;
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msg->data[0] = 0;
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msg->data[1] = 0;
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msg->data[2] = 0;
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msg->data[3] = 0;
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msg->data[4] = 0;
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msg->data[5] = 0;
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msg->data[6] = 0;
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msg->data[7] = 0;
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}
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void lss_SwitchModeGlobal(CO_Data *d, UNS32 mode)
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/*
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this service is used to switch all LSS slaves in the network between operation
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mode and configuration mode.
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*/
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{
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Message msg;
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lss_init_msg(&msg);
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/*
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sending a COB-ID 2021
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[0] = 4 (for switch mode global)
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[1] = 0 for operation mode, = 1 for configuration mode
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[2..7] = 0 reserved
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*/
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if (!(d->iam_a_slave))
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{
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msg.cob_id.w = 0x07E5 /* 2021 */;
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msg.len = 2;
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msg.data[0] = 4;
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msg.data[1] = (UNS8)mode;
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/* transmit */
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(*d->canSend)(&msg);
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}
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else
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{
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/* set mode global */
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current_mode = mode;
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}
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}
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void lss_SwitchModeSelective_master(CO_Data *d, UNS32 *LSSaddr)
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/*
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LSS address : <vendor-id> <product-code> <revision-number> <serial-number>
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vendor-id : provided by CiA
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identical to the CANopen identity object
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select the slave corresponding to this ADDRESS
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*/
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{
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Message msg;
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lss_init_msg(&msg);
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if (d->iam_a_slave) /* not the master */
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return;
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msg.cob_id.w = 0x07E5 /* 2021 */;
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msg.len=5;
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msg.data[0] = 64;
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lss_copy(msg.data+1, LSSaddr[0]);
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/* transmit */
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(*d->canSend)(&msg);
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msg.data[0] = 65;
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lss_copy(msg.data+1, LSSaddr[1]);
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/* transmit */
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(*d->canSend)(&msg);
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msg.data[0] = 66;
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lss_copy(msg.data+1, LSSaddr[2]);
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/* transmit */
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(*d->canSend)(&msg);
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msg.data[0] = 67;
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lss_copy(msg.data+1, LSSaddr[3]);
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/* transmit */
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(*d->canSend)(&msg);
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}
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UNS32 lss_validate_address(CO_Data* d)
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{
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#if 0
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extern s_identity obj1018;
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/* maybe we should go throught getODentry but those
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data are 1) RO and 2) the proper ID of this device */
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#else
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UNS32 r, vendor_id, product_code, revision_number, serial_number;
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UNS8 sz = sizeof(UNS32), dt = int32;
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r = getODentry(d, 0x1018, 1, (void *)&vendor_id, &sz, &dt, 0);
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r = getODentry(d, 0x1018, 2, (void *)&product_code, &sz, &dt, 0);
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r = getODentry(d, 0x1018, 3, (void *)&revision_number, &sz, &dt, 0);
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r = getODentry(d, 0x1018, 4, (void *)&serial_number, &sz, &dt, 0);
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#endif
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/*
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if
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lss_buffer[0] == vendor-id
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lss_buffer[1] == product code
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lss_buffer[2] == revision
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lss_buffer[3] == serial
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then return 1
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else return 0;
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*/
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if (lss_buffer[0] == vendor_id &&
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lss_buffer[1] == product_code &&
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lss_buffer[2] == revision_number &&
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lss_buffer[3] == serial_number)
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{
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return 1;
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}
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return 0;
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}
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void lss_SwitchModeSelective_slave(CO_Data *d)
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/*
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SwitchModeSelective for the SLAVE
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received the frames from the master and start building
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the lss address
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*/
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{
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Message msg;
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lss_init_msg(&msg);
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/*
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the master broadcast the address of a particular slave
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for 64,65 and 66 store the partial address
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when 67 arrive process the call and asknowledge if necessary
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*/
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if (lss_validate_address(d))
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{
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/* slave should transmit cob_id 2020 */
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msg.cob_id.w = 0x07E4 /* 2020 */;
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msg.len = 2;
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msg.data[0] = 68;
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msg.data[1] = (UNS8)current_mode;
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/* transmit */
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(*d->canSend)(&msg);
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}
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/* reset the address */
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lss_buffer[0] = 0;
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lss_buffer[1] = 0;
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lss_buffer[2] = 0;
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lss_buffer[3] = 0;
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}
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void lss_ConfigureNode_ID(CO_Data *d, UNS32 node_id)
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/*
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through this service the LSS Master configures the NMT-address
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parameter of a LSS slave.
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*/
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{
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Message msg;
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lss_init_msg(&msg);
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if (!(d->iam_a_slave))
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{
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msg.cob_id.w = 0x07E5 /* 2021 */;
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msg.len = 2;
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msg.data[0] = 17;
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msg.data[1] = (UNS8)node_id;
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/* transmit */
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(*d->canSend)(&msg);
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}
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else
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{
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/*
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receiving NODE ID from the master
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*/
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/*
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error code
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0 = success
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1 = node id out of range
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2..254 = reserved
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255 = implementation specific error occured
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spec error = mode detailed error
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*/
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msg.cob_id.w = 0x07E4 /* 2020 */;
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msg.len = 3;
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msg.data[0] = 17;
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/* msg.data[1] = error code */
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/* msg.data[2] = spec error */
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/* transmit */
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(*d->canSend)(&msg);
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}
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}
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void lss_ConfigureBitTimingParameters(CO_Data *d,
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UNS32 table_selector,
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UNS32 table_index)
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/*
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this service allows all LSS slaves in configuration mode.
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must be followed by an Activate Bit Timing Parameters
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*/
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{
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Message msg;
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lss_init_msg(&msg);
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if (!(d->iam_a_slave))
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{
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msg.cob_id.w = 0x07E5 /* 2021 */;
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msg.len = 3;
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msg.data[0] = 19;
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msg.data[1] = (UNS8)table_selector;
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msg.data[2] = (UNS8)table_index;
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/* transmit */
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(*d->canSend)(&msg);
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}
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else
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{
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UNS8 error_code;
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/* validate if this baudrate is possible */
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if (table_selector == 0 && baudrate_valid(table_index) == 1)
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{
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lss_table_selector = table_selector;
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lss_table_index = table_index;
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}
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else
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error_code = 1; /* bit timing not supported */
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msg.cob_id.w = 0x07E4 /* 2020 */;
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msg.len = 3;
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msg.data[0] = 19;
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msg.data[1] = error_code;
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msg.data[2] = 0;
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/* transmit */
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(*d->canSend)(&msg);
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}
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led_set_state(d, LED_AUTOBITRATE);
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}
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361 |
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362 |
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void lss_ActivateBitTimingParameters_master(CO_Data *d, unsigned short switch_delay)
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/*
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switch_delay in ms
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366 |
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switch_delay has to be longer than the longest timeof any node
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in the network to avoid that a node already switches while another
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stills transmist the old bit timing parameters
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*/
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371 |
{
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Message msg;
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lss_init_msg(&msg);
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if (d->iam_a_slave)
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return;
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377 |
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msg.cob_id.w = 0x07E5 /* 2021 */;
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msg.len = 3;
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msg.data[0] = 21;
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msg.data[1] = (UNS8)(switch_delay & 0xff);
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msg.data[2] = (UNS8)((switch_delay >> 8) & 0xff);
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384 |
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385 |
#ifdef LED_ENABLE
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386 |
led_set_state(LED_AUTOBITRATE);
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387 |
#endif
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388 |
/* transmit */
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|
389 |
(*d->canSend)(&msg);
|
|
|
390 |
}
|
|
|
391 |
|
|
|
392 |
|
|
|
393 |
void lss_ActivateBitTimingParameters_slave(UNS8 byte_low, UNS8 byte_high)
|
|
|
394 |
{
|
|
|
395 |
/* rebuild the delay value (short) from the 2 (UNS8) data */
|
|
|
396 |
unsigned short switch_delay = byte_low + (((UNS16)byte_high)<<8);
|
|
|
397 |
|
|
|
398 |
/* set the baudrate to the value proposed by the master */
|
|
|
399 |
if (lss_table_selector == 0)
|
|
|
400 |
baudrate_set(lss_table_index);
|
|
|
401 |
|
|
|
402 |
/* wait for switch_delay ms before continuing */
|
|
|
403 |
}
|
|
|
404 |
|
|
|
405 |
|
|
|
406 |
void lss_StoreConfiguredParameters(CO_Data *d)
|
|
|
407 |
/*
|
|
|
408 |
store configured parameters into non-volatile storage
|
|
|
409 |
*/
|
|
|
410 |
{
|
|
|
411 |
Message msg;
|
|
|
412 |
lss_init_msg(&msg);
|
|
|
413 |
|
|
|
414 |
if (!(d->iam_a_slave))
|
|
|
415 |
{
|
|
|
416 |
msg.cob_id.w = 0x07E5 /* 2021 */;
|
|
|
417 |
|
|
|
418 |
msg.len = 1;
|
|
|
419 |
msg.data[0] = 23;
|
|
|
420 |
|
|
|
421 |
/* transmit */
|
|
|
422 |
(*d->canSend)(&msg);
|
|
|
423 |
}
|
|
|
424 |
else
|
|
|
425 |
{
|
|
|
426 |
msg.cob_id.w = 0x07E4 /* 2020 */;
|
|
|
427 |
|
|
|
428 |
msg.data[0] = 23;
|
|
|
429 |
/* msg.data[1] = error code; */
|
|
|
430 |
/* msg.data[2] = spec err */
|
|
|
431 |
|
|
|
432 |
/* transmit */
|
|
|
433 |
(*d->canSend)(&msg);
|
|
|
434 |
}
|
|
|
435 |
}
|
|
|
436 |
|
|
|
437 |
|
|
|
438 |
void lss_InquireLSSAddress_master(CO_Data *d, int flag)
|
|
|
439 |
/*
|
|
|
440 |
this service allows to determine the LSS-address parameters of a LSS-slave in
|
|
|
441 |
configuration mode
|
|
|
442 |
|
|
|
443 |
request 1 single item of the LSS address
|
|
|
444 |
0 = request vendor-id
|
|
|
445 |
1 = request product-id
|
|
|
446 |
2 = request revision
|
|
|
447 |
3 = request serial
|
|
|
448 |
*/
|
|
|
449 |
{
|
|
|
450 |
Message msg;
|
|
|
451 |
lss_init_msg(&msg);
|
|
|
452 |
|
|
|
453 |
if (!(d->iam_a_slave))
|
|
|
454 |
{
|
|
|
455 |
msg.cob_id.w = 0x07E5 /* 2021 */;
|
|
|
456 |
|
|
|
457 |
msg.len = 1;
|
|
|
458 |
msg.data[0] = 90 + flag;
|
|
|
459 |
|
|
|
460 |
/* transmit */
|
|
|
461 |
(*d->canSend)(&msg);
|
|
|
462 |
}
|
|
|
463 |
}
|
|
|
464 |
|
|
|
465 |
|
|
|
466 |
int lss_InquireLSSAddress_slave(CO_Data *d, int cs)
|
|
|
467 |
{
|
|
|
468 |
Message msg;
|
|
|
469 |
lss_init_msg(&msg);
|
|
|
470 |
|
|
|
471 |
if (!(d->iam_a_slave)) /* not a slave */
|
|
|
472 |
return -1;
|
|
|
473 |
|
|
|
474 |
UNS32 value = 0;
|
|
|
475 |
|
|
|
476 |
switch(cs)
|
|
|
477 |
{
|
|
|
478 |
case 90:
|
|
|
479 |
value = 0; /* = vendor id */
|
|
|
480 |
break;
|
|
|
481 |
case 91:
|
|
|
482 |
value = 0; /* = product code */
|
|
|
483 |
break;
|
|
|
484 |
case 92:
|
|
|
485 |
value = 0; /* = revision */
|
|
|
486 |
break;
|
|
|
487 |
case 93:
|
|
|
488 |
value = 0; /* = serial */
|
|
|
489 |
break;
|
|
|
490 |
}
|
|
|
491 |
|
|
|
492 |
if (value > 0)
|
|
|
493 |
{
|
|
|
494 |
msg.cob_id.w = 0x07E4 /* 2020 */;
|
|
|
495 |
|
|
|
496 |
msg.len=5;
|
|
|
497 |
msg.data[0] = cs;
|
|
|
498 |
lss_copy(msg.data+1, value);
|
|
|
499 |
|
|
|
500 |
/* transmit */
|
|
|
501 |
(*d->canSend)(&msg);
|
|
|
502 |
|
|
|
503 |
return 0;
|
|
|
504 |
}
|
|
|
505 |
|
|
|
506 |
return -1;
|
|
|
507 |
}
|
|
|
508 |
|
|
|
509 |
|
|
|
510 |
void lss_IdentifyRemoteSlaves(CO_Data *d,
|
|
|
511 |
UNS32 vendor_id,
|
|
|
512 |
UNS32 product_code,
|
|
|
513 |
UNS32 rev_low,
|
|
|
514 |
UNS32 rev_high,
|
|
|
515 |
UNS32 serial_low,
|
|
|
516 |
UNS32 serial_high)
|
|
|
517 |
/*
|
|
|
518 |
throught this service, the LSS Master requests all LSS slave whose LSS address
|
|
|
519 |
meets the LSSaddr_sel to idenfity themselves through LSS Identify Slave
|
|
|
520 |
*/
|
|
|
521 |
{
|
|
|
522 |
Message msg;
|
|
|
523 |
lss_init_msg(&msg);
|
|
|
524 |
|
|
|
525 |
if (!(d->iam_a_slave))
|
|
|
526 |
{
|
|
|
527 |
/*
|
|
|
528 |
request answers from all slaves corresponding
|
|
|
529 |
to the revision and serial range of values
|
|
|
530 |
*/
|
|
|
531 |
|
|
|
532 |
msg.cob_id.w = 0x07E5 /* 2021 */;
|
|
|
533 |
msg.len=5;
|
|
|
534 |
|
|
|
535 |
msg.data[0] = 70;
|
|
|
536 |
lss_copy(msg.data+1, vendor_id);
|
|
|
537 |
/* transmit */
|
|
|
538 |
(*d->canSend)(&msg);
|
|
|
539 |
|
|
|
540 |
msg.data[0] = 71;
|
|
|
541 |
lss_copy(msg.data+1, product_code);
|
|
|
542 |
/* transmit */
|
|
|
543 |
(*d->canSend)(&msg);
|
|
|
544 |
|
|
|
545 |
msg.data[0] = 72; /* revision number low */
|
|
|
546 |
lss_copy(msg.data+1, rev_low);
|
|
|
547 |
/* transmit */
|
|
|
548 |
(*d->canSend)(&msg);
|
|
|
549 |
|
|
|
550 |
msg.data[0] = 73; /* revision number high */
|
|
|
551 |
lss_copy(msg.data+1, rev_high);
|
|
|
552 |
/* transmit */
|
|
|
553 |
(*d->canSend)(&msg);
|
|
|
554 |
|
|
|
555 |
msg.data[0] = 74; /* serial number low */
|
|
|
556 |
lss_copy(msg.data+1, serial_low);
|
|
|
557 |
/* transmit */
|
|
|
558 |
(*d->canSend)(&msg);
|
|
|
559 |
|
|
|
560 |
msg.data[0] = 75; /* serial number high */
|
|
|
561 |
lss_copy(msg.data+1, serial_high);
|
|
|
562 |
/* transmit */
|
|
|
563 |
(*d->canSend)(&msg);
|
|
|
564 |
}
|
|
|
565 |
}
|
|
|
566 |
|
|
|
567 |
|
|
|
568 |
int lss_validate_range_addr(CO_Data *d)
|
|
|
569 |
{
|
|
|
570 |
/*
|
|
|
571 |
if
|
|
|
572 |
|
|
|
573 |
lss_buffer[4] == vendor_id
|
|
|
574 |
lss_buffer[5] == product code
|
|
|
575 |
lss_buffer[6] <= revision <= lss_buffer[7]
|
|
|
576 |
lss_buffer[8] <= serial <= lss_buffer[9]
|
|
|
577 |
|
|
|
578 |
then return 1
|
|
|
579 |
else return 0
|
|
|
580 |
*/
|
|
|
581 |
|
|
|
582 |
UNS32 r, vendor_id, product_code, revision_number, serial_number;
|
|
|
583 |
UNS8 sz = sizeof(UNS32), dt = int32;
|
|
|
584 |
|
|
|
585 |
r = getODentry(d, 0x1018, 1, (void *)&vendor_id, &sz, &dt, 0);
|
|
|
586 |
r = getODentry(d, 0x1018, 2, (void *)&product_code, &sz, &dt, 0);
|
|
|
587 |
r = getODentry(d, 0x1018, 3, (void *)&revision_number, &sz, &dt, 0);
|
|
|
588 |
r = getODentry(d, 0x1018, 4, (void *)&serial_number, &sz, &dt, 0);
|
|
|
589 |
|
|
|
590 |
if (lss_buffer[4] == vendor_id &&
|
|
|
591 |
lss_buffer[5] == product_code &&
|
|
|
592 |
lss_buffer[6] <= revision_number &&
|
|
|
593 |
revision_number <= lss_buffer[7] &&
|
|
|
594 |
lss_buffer[8] <= serial_number &&
|
|
|
595 |
serial_number <= lss_buffer[9])
|
|
|
596 |
{
|
|
|
597 |
return 1;
|
|
|
598 |
}
|
|
|
599 |
|
|
|
600 |
return 0;
|
|
|
601 |
}
|
|
|
602 |
|
|
|
603 |
|
|
|
604 |
void lss_IdentifySlave(CO_Data *d)
|
|
|
605 |
/*
|
|
|
606 |
through this service, an LSS slave indicates that it is a slave
|
|
|
607 |
with LSS address within the LSSaddr_sel
|
|
|
608 |
*/
|
|
|
609 |
{
|
|
|
610 |
Message msg;
|
|
|
611 |
lss_init_msg(&msg);
|
|
|
612 |
|
|
|
613 |
if (lss_validate_range_addr(d))
|
|
|
614 |
{
|
|
|
615 |
msg.cob_id.w = 0x07E4 /* 2020 */;
|
|
|
616 |
|
|
|
617 |
msg.len = 1;
|
|
|
618 |
msg.data[0] = 79;
|
|
|
619 |
|
|
|
620 |
/* transmit */
|
|
|
621 |
(*d->canSend)(&msg);
|
|
|
622 |
}
|
|
|
623 |
|
|
|
624 |
/* reset */
|
|
|
625 |
lss_buffer[4] = 0;
|
|
|
626 |
lss_buffer[5] = 0;
|
|
|
627 |
lss_buffer[6] = 0;
|
|
|
628 |
lss_buffer[7] = 0;
|
|
|
629 |
lss_buffer[8] = 0;
|
|
|
630 |
lss_buffer[9] = 0;
|
|
|
631 |
}
|
|
|
632 |
|
|
|
633 |
|
|
|
634 |
int lss_process_msg(CO_Data *d, Message *msg)
|
|
|
635 |
{
|
|
|
636 |
/* process the incoming message */
|
|
|
637 |
if (msg->cob_id.w == 0x07E4 /* 2020 */)
|
|
|
638 |
{
|
|
|
639 |
// should be the master
|
|
|
640 |
// a slave just answered
|
|
|
641 |
switch(msg->data[0])
|
|
|
642 |
{
|
|
|
643 |
/* slave acknowledging the SwitchModeSelective call */
|
|
|
644 |
case 68:
|
|
|
645 |
/* msg->data[1] contains the 'mode global' value from the slave*/
|
|
|
646 |
break;
|
|
|
647 |
|
|
|
648 |
/* a slave had acknowledged the call from LSS Identify Remote Slave */
|
|
|
649 |
case 79:
|
|
|
650 |
break;
|
|
|
651 |
|
|
|
652 |
/* the slave acknowledged and sent the requested data */
|
|
|
653 |
case 90:
|
|
|
654 |
lss_buffer[0] = lss_get_value(msg->data+1);
|
|
|
655 |
/* action ? */
|
|
|
656 |
break;
|
|
|
657 |
case 91:
|
|
|
658 |
lss_buffer[1] = lss_get_value(msg->data+1);
|
|
|
659 |
/* action ? */
|
|
|
660 |
break;
|
|
|
661 |
case 92:
|
|
|
662 |
lss_buffer[2] = lss_get_value(msg->data+1);
|
|
|
663 |
/* action ? */
|
|
|
664 |
break;
|
|
|
665 |
case 93:
|
|
|
666 |
lss_buffer[3] = lss_get_value(msg->data+1);
|
|
|
667 |
/* action ? */
|
|
|
668 |
break;
|
|
|
669 |
}
|
|
|
670 |
}
|
|
|
671 |
|
|
|
672 |
else if (msg->cob_id.w == 0x07E5 /* 2021 */)
|
|
|
673 |
{
|
|
|
674 |
// should be a slave
|
|
|
675 |
// the master sent a request
|
|
|
676 |
switch(msg->data[0])
|
|
|
677 |
{
|
|
|
678 |
case 4:
|
|
|
679 |
lss_SwitchModeGlobal(d, msg->data[1]);
|
|
|
680 |
break;
|
|
|
681 |
|
|
|
682 |
case 17:
|
|
|
683 |
lss_ConfigureNode_ID(d, msg->data[1]);
|
|
|
684 |
break;
|
|
|
685 |
|
|
|
686 |
case 19:
|
|
|
687 |
lss_ConfigureBitTimingParameters(d, msg->data[1], msg->data[2]);
|
|
|
688 |
break;
|
|
|
689 |
case 21:
|
|
|
690 |
lss_ActivateBitTimingParameters_slave(msg->data[1], msg->data[2]);
|
|
|
691 |
break;
|
|
|
692 |
|
|
|
693 |
/* Switch Mode Selective */
|
|
|
694 |
case 64:
|
|
|
695 |
lss_buffer[0] = lss_get_value(msg->data+1);
|
|
|
696 |
break;
|
|
|
697 |
case 65:
|
|
|
698 |
lss_buffer[1] = lss_get_value(msg->data+1);
|
|
|
699 |
break;
|
|
|
700 |
case 66:
|
|
|
701 |
lss_buffer[2] = lss_get_value(msg->data+1);
|
|
|
702 |
break;
|
|
|
703 |
case 67:
|
|
|
704 |
lss_buffer[3] = lss_get_value(msg->data+1);
|
|
|
705 |
lss_SwitchModeSelective_slave(d);
|
|
|
706 |
break;
|
|
|
707 |
|
|
|
708 |
/* Identify Remote Slave */
|
|
|
709 |
case 70:
|
|
|
710 |
lss_buffer[4] = lss_get_value(msg->data+1);
|
|
|
711 |
break;
|
|
|
712 |
case 71:
|
|
|
713 |
lss_buffer[5] = lss_get_value(msg->data+1);
|
|
|
714 |
break;
|
|
|
715 |
case 72:
|
|
|
716 |
lss_buffer[6] = lss_get_value(msg->data+1);
|
|
|
717 |
break;
|
|
|
718 |
case 73:
|
|
|
719 |
lss_buffer[7] = lss_get_value(msg->data+1);
|
|
|
720 |
break;
|
|
|
721 |
case 74:
|
|
|
722 |
lss_buffer[8] = lss_get_value(msg->data+1);
|
|
|
723 |
break;
|
|
|
724 |
case 75:
|
|
|
725 |
lss_buffer[9] = lss_get_value(msg->data+1);
|
|
|
726 |
lss_IdentifySlave(d);
|
|
|
727 |
break;
|
|
|
728 |
|
|
|
729 |
/* Inquire Identify of Slave */
|
|
|
730 |
case 90:
|
|
|
731 |
case 91:
|
|
|
732 |
case 92:
|
|
|
733 |
case 93:
|
|
|
734 |
lss_InquireLSSAddress_slave(d, msg->data[0]);
|
|
|
735 |
break;
|
|
|
736 |
}
|
|
|
737 |
}
|
|
|
738 |
|
|
|
739 |
return 0;
|
|
|
740 |
}
|