include/lss.h
author fbeaulier
Mon, 29 Aug 2011 17:31:55 +0200
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parent 529 c171e11707c5
child 801 32d146b64a35
permissions -rw-r--r--
patch from Christian Taedcke <hacking@taedcke.com> : fix-wrong-resetSDOline-for-sdo-timeout.patch
FIXED: - The sdo line must not be closed at the end of SDOTimeoutAlarm() if the same sdo line is closed and reopened for a new transfer inside the callback. (Patch from Jaroslav Fojtik)
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/*
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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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/** @defgroup lss Layer Setting Services Object
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 * @brief LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on
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 * a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the
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 * CAN Network.
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 * The following parameters can be inquired and/or changed by the use of LSS:
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 *               - Node-ID of the CANopen Slave
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 *               - Bit timing parameters of the physical layer (baud rate)
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 *               - LSS address (/2/ Identity Object, Index 1018H)
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 *  @ingroup comobj
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 */
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#ifndef __LSS_h__
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#define __LSS_h__
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#define SLSS_ADRESS	0x7E4
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#define MLSS_ADRESS	0x7E5
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#define SDELAY_OFF		0
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#define SDELAY_FIRST 	1
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#define SDELAY_SECOND 	2
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#define LSS_WAITING_MODE 0
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#define LSS_CONFIGURATION_MODE 1
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/* Switch mode services */
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#define LSS_SM_GLOBAL 				 4
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#define LSS_SM_SELECTIVE_VENDOR 	64
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#define LSS_SM_SELECTIVE_PRODUCT 	65
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#define LSS_SM_SELECTIVE_REVISION 	66
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#define LSS_SM_SELECTIVE_SERIAL 	67
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#define LSS_SM_SELECTIVE_RESP 		68
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/* Configuration services */
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#define LSS_CONF_NODE_ID 			17
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#define LSS_CONF_BIT_TIMING 		19
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#define LSS_CONF_ACT_BIT_TIMING 	21
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#define LSS_CONF_STORE 				23
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/* Inquire services */
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#define LSS_INQ_VENDOR_ID 		90
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#define LSS_INQ_PRODUCT_CODE 	91
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#define LSS_INQ_REV_NUMBER 		92
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#define LSS_INQ_SERIAL_NUMBER 	93
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#define LSS_INQ_NODE_ID 		94
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/* Identification services */
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#define LSS_IDENT_REMOTE_VENDOR 		70
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#define LSS_IDENT_REMOTE_PRODUCT 		71
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#define LSS_IDENT_REMOTE_REV_LOW 		72
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#define LSS_IDENT_REMOTE_REV_HIGH 		73
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#define LSS_IDENT_REMOTE_SERIAL_LOW 	74
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#define LSS_IDENT_REMOTE_SERIAL_HIGH 	75
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#define LSS_IDENT_REMOTE_NON_CONF 		76
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#define LSS_IDENT_SLAVE 				79
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#define LSS_IDENT_NON_CONF_SLAVE 		80
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#define LSS_IDENT_FASTSCAN				81
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/*FastScan State Machine*/
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#define LSS_FS_RESET	0
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#define LSS_FS_PROCESSING 1
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#define LSS_FS_CONFIRMATION 2
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typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command); 
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typedef void (*lss_StoreConfiguration_t)(CO_Data* d,UNS8*,UNS8*);
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//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);
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//typedef void (*lss_ChangeBaudRate_t)(CO_Data* d,char*);
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//void _lss_ChangeBaudRate(char *BaudRate);
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struct struct_lss_transfer;
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//#include "timer.h"
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#ifdef CO_ENABLE_LSS_FS
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struct struct_lss_fs_transfer {
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	UNS32 FS_LSS_ID[4];
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	UNS8 FS_BitChecked[4];
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};
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typedef struct struct_lss_fs_transfer lss_fs_transfer_t;
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#endif
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/* The Transfer structure
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* Used to store the different fields of the internal state of the LSS  
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*/
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struct struct_lss_transfer {
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  UNS8          state;      /* state of the transmission : Takes the values LSS_... */
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  UNS8 			command;     /* the LSS command of the transmision */
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  UNS8			mode;       /* LSS mode */
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  UNS32 		dat1;		/* the data from the last msg received */
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  UNS8			dat2; 
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  UNS8 nodeID;              /* the new nodeid stored to update the nodeid when switching to LSS operational*/
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  UNS8 addr_sel_match;    	/* the matching mask for the LSS Switch Mode Selective service */
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  UNS8 addr_ident_match;    /* the matching mask for the LSS Identify Remote Slaves service*/
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  char *baudRate;           /* the new baudrate stored to update the node baudrate when a Activate Bit 
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  							 * Timing Parameters is received*/
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  UNS16 switchDelay;		/* the period of the two delay */
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  UNS8  switchDelayState;   /* the state machine for the switchDelay */
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  CAN_PORT canHandle_t;
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                              /* Time counters to implement a timeout in milliseconds.*/
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  TIMER_HANDLE timerMSG;	  /* timerMSG is automatically incremented whenever 
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                              * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0 
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                              * when the response LSS have been received.
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                              */
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  TIMER_HANDLE timerSDELAY;	  /* timerSDELAY is automatically incremented whenever 
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                              * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0 
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                              * when the two periods have been expired.
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                              */
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  LSSCallback_t Callback;   /* The user callback func to be called at LSS transaction end */
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  UNS8 LSSanswer;			/* stores if a message has been received during a timer period */
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#ifdef CO_ENABLE_LSS_FS 
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  UNS32 IDNumber;			/* in the master, the LSS address parameter which it currently tries to identify.
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  							 * in the slave, the LSS address parameter which is being checked (LSS-ID[sub]). */
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  UNS8 BitChecked;			/* bits of the current IDNumber that are currently checked */
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  UNS8 LSSSub;				/* which part of the LSS-ID is currently checked in IDNumber */
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  UNS8 LSSNext;				/* which LSSSub value will be used in the next request */
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  UNS8 LSSPos;				/* in the slave, which part of the LSS-ID is currently processed*/
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  UNS8 FastScan_SM;			/* the state machine for the FastScan protocol */
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  TIMER_HANDLE timerFS;		/* timerFS is automatically incremented when the FastScan service
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  							 * has been requested and reseted to 0 when the protocol ends.
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                              */
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#ifdef CO_ENABLE_LSS_FS
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  lss_fs_transfer_t lss_fs_transfer;
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#endif
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#endif                           
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};
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#ifdef CO_ENABLE_LSS
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typedef struct struct_lss_transfer lss_transfer_t;
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#else
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typedef UNS8 lss_transfer_t;
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#endif
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void startLSS(CO_Data* d);
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void stopLSS(CO_Data* d);
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/** transmit a LSS message 
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 * command is the LSS command specifier
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 * dat1 and dat2 are pointers to optional data (depend on command)
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 * return sendLSSMessage(d,command,dat1,dat2)
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 */
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UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);
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/** transmit a LSS message on CAN bus
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 * comamnd is the LSS command specifier
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 * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave. 
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 * dat1 and dat2 are pointers to optional data (depend on command).
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 * return canSend(bus_id,&m)
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 */
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UNS8 sendLSSMessage(CO_Data* d, UNS8 command,  void *dat1, void *dat2);
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/** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).
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 *  - Check if there is a callback which will take care of the response. If not return 0 but does nothing.
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 *  - Stops the timer so the alarm wont raise an error.
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 *  - return 0 if OK
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 */
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UNS8 proceedLSS_Master (CO_Data* d, Message* m );
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/** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).
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 *  - Call the callback function or send the response message depending on the LSS comand within m.
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 *  - return 0 if OK
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 */
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UNS8 proceedLSS_Slave (CO_Data* d, Message* m );
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/** Used by the Master application to send a LSS command, WITHOUT response, to the slave. 
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 * command: the LSS command. LSS_...
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 * dat1 and dat2: pointers to optional data (depend on command).
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 * return sendLSS(d,command,dat1,dat2)
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 */
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//UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);
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/** 
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 * @ingroup lss
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 * @brief Used by the Master application to send a LSS command, WITH response, to the slave. 
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 * @param *d Pointer on a CAN object data structure
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 * @param command
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 * @param *dat1
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 * @param *dat2
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 * @param Callback The function Callback, which must be defined in the user code, is called at the
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 * end of the exchange (on succes or abort) and can be NULL.
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 * @return sendLSS(d,command,dat1,dat2)
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 * The LSS_MSG_TIMER timer is started to control the timeout
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 */
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UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
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/**
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 * @ingroup lss 
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 * @brief Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
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 * @param *d Pointer on a CAN object data structure
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 * @param command The LSS command (unused).
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 * @param *dat1
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 * @param *dat2
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 * @return : 
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 *          - LSS_RESET				// Transmission not started. Init state.
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 *          - LSS_FINISHED			// data are available                           
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 *          - LSS_ABORTED_INTERNAL	// Aborted but not because of an abort message. 
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 *          - LSS_TRANS_IN_PROGRESS	// Data not yet available
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 * @code
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 * example:
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 * UNS32 dat1;
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 * UNS8 dat2;
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 * res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
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 * while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
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 * @endcode
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*/
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UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);
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#endif