1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Jorge Berzosa

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#ifndef __LSS_h__

    24

#define __LSS_h__

    25

    26

#define SLSS_ADRESS	0x7E4

    27

#define MLSS_ADRESS	0x7E5

    28

    29

#define SDELAY_OFF		0

    30

#define SDELAY_FIRST 	1

    31

#define SDELAY_SECOND 	2

    32

    33

#define LSS_WAITING_MODE 0

    34

#define LSS_CONFIGURATION_MODE 1

    35

    36

/* Switch mode services */

    37

#define LSS_SM_GLOBAL 				 4

    38

#define LSS_SM_SELECTIVE_VENDOR 	64

    39

#define LSS_SM_SELECTIVE_PRODUCT 	65

    40

#define LSS_SM_SELECTIVE_REVISION 	66

    41

#define LSS_SM_SELECTIVE_SERIAL 	67

    42

#define LSS_SM_SELECTIVE_RESP 		68

    43

/* Configuration services */

    44

#define LSS_CONF_NODE_ID 			17

    45

#define LSS_CONF_BIT_TIMING 		19

    46

#define LSS_CONF_ACT_BIT_TIMING 	21

    47

#define LSS_CONF_STORE 				23

    48

/* Inquire services */

    49

#define LSS_INQ_VENDOR_ID 		90

    50

#define LSS_INQ_PRODUCT_CODE 	91

    51

#define LSS_INQ_REV_NUMBER 		92

    52

#define LSS_INQ_SERIAL_NUMBER 	93

    53

#define LSS_INQ_NODE_ID 		94

    54

/* Identification services */

    55

#define LSS_IDENT_REMOTE_VENDOR 		70

    56

#define LSS_IDENT_REMOTE_PRODUCT 		71

    57

#define LSS_IDENT_REMOTE_REV_LOW 		72

    58

#define LSS_IDENT_REMOTE_REV_HIGH 		73

    59

#define LSS_IDENT_REMOTE_SERIAL_LOW 	74

    60

#define LSS_IDENT_REMOTE_SERIAL_HIGH 	75

    61

#define LSS_IDENT_REMOTE_NON_CONF 		76

    62

#define LSS_IDENT_SLAVE 				79

    63

#define LSS_IDENT_NON_CONF_SLAVE 		80

    64

#define LSS_IDENT_FASTSCAN				81

    65

    66

/*FastScan State Machine*/

    67

#define LSS_FS_RESET	0

    68

#define LSS_FS_PROCESSING 1

    69

#define LSS_FS_CONFIRMATION 2

    70

    71

    72

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

    73

    74

typedef void (*lss_StoreConfiguration_t)(CO_Data* d,UNS8*,UNS8*);

    75

//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);

    76

    77

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

    78

//void _lss_ChangeBaudRate(char *BaudRate);

    79

    80

    81

struct struct_lss_transfer;

    82

    83

//#include "timer.h"

    84

    85

/* The Transfer structure

    86

* Used to store the different fields of the internal state of the LSS  

    87

*/

    88

    89

struct struct_lss_transfer {

    90

  UNS8          state;      /* state of the transmission : Takes the values LSS_... */

    91

  UNS8 			command;     /* the LSS command of the transmision */

    92

  UNS8			mode;       /* LSS mode */

    93

    94

  UNS32 		dat1;		/* the data from the last msg received */

    95

  UNS8			dat2; 

    96

    97

  UNS8 nodeID;              /* the new nodeid stored to update the nodeid when switching to LSS operational*/

    98

  UNS8 addr_sel_match;    	/* the matching mask for the LSS Switch Mode Selective service */

    99

  UNS8 addr_ident_match;    /* the matching mask for the LSS Identify Remote Slaves service*/

   100

   101

  char *baudRate;           /* the new baudrate stored to update the node baudrate when a Activate Bit 

   102

  							 * Timing Parameters is received*/

   103

  UNS16 switchDelay;		/* the period of the two delay */

   104

  UNS8  switchDelayState;   /* the state machine for the switchDelay */

   105

  CAN_PORT canHandle_t;

   106

   107

                              /* Time counters to implement a timeout in milliseconds.*/

   108

  TIMER_HANDLE timerMSG;	  /* timerMSG is automatically incremented whenever 

   109

                              * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0 

   110

                              * when the response LSS have been received.

   111

                              */

   112

   113

  TIMER_HANDLE timerSDELAY;	  /* timerSDELAY is automatically incremented whenever 

   114

                              * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0 

   115

                              * when the two periods have been expired.

   116

                              */

   117

   118

  LSSCallback_t Callback;   /* The user callback func to be called at LSS transaction end */

   119

   120

  UNS8 LSSanswer;			/* stores if a message has been received during a timer period */

   121

   122

#ifdef CO_ENABLE_LSS_FS 

   123

  UNS32 IDNumber;			/* in the master, the LSS address parameter which it currently tries to identify.

   124

  							 * in the slave, the LSS address parameter which is being checked (LSS-ID[sub]). */

   125

  UNS8 BitChecked;			/* bits of the current IDNumber that are currently checked */

   126

  UNS8 LSSSub;				/* which part of the LSS-ID is currently checked in IDNumber */

   127

  UNS8 LSSNext;				/* which LSSSub value will be used in the next request */

   128

  UNS8 LSSPos;				/* in the slave, which part of the LSS-ID is currently processed*/

   129

  UNS8 FastScan_SM;			/* the state machine for the FastScan protocol */

   130

  TIMER_HANDLE timerFS;		/* timerFS is automatically incremented when the FastScan service

   131

  							 * has been requested and reseted to 0 when the protocol ends.

   132

                              */

   133

#endif                           

   134

};

   135

   136

#ifdef CO_ENABLE_LSS

   137

typedef struct struct_lss_transfer lss_transfer_t;

   138

#else

   139

typedef UNS8 lss_transfer_t;

   140

#endif

   141

   142

   143

void startLSS(CO_Data* d);

   144

void stopLSS(CO_Data* d);

   145

   146

   147

/** transmit a LSS message 

   148

 * command is the LSS command specifier

   149

 * dat1 and dat2 are pointers to optional data (depend on command)

   150

 * return sendLSSMessage(d,command,dat1,dat2)

   151

 */

   152

UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);

   153

   154

/** transmit a LSS message on CAN bus

   155

 * comamnd is the LSS command specifier

   156

 * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave. 

   157

 * dat1 and dat2 are pointers to optional data (depend on command).

   158

 * return canSend(bus_id,&m)

   159

 */

   160

   161

UNS8 sendLSSMessage(CO_Data* d, UNS8 command,  void *dat1, void *dat2);

   162

   163

/** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).

   164

 *  - Check if there is a callback which will take care of the response. If not return 0 but does nothing.

   165

 *  - Stops the timer so the alarm wont raise an error.

   166

 *  - return 0 if OK

   167

 */

   168

UNS8 proceedLSS_Master (CO_Data* d, Message* m );

   169

   170

/** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).

   171

 *  - Call the callback function or send the response message depending on the LSS comand within m.

   172

 *  - return 0 if OK

   173

 */

   174

UNS8 proceedLSS_Slave (CO_Data* d, Message* m );

   175

   176

/** Used by the Master application to send a LSS command, WITHOUT response, to the slave. 

   177

 * command: the LSS command. LSS_...

   178

 * dat1 and dat2: pointers to optional data (depend on command).

   179

 * return sendLSS(d,command,dat1,dat2)

   180

 */

   181

//UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);

   182

   183

/** Used by the Master application to send a LSS command, WITH response, to the slave. 

   184

 * The function Callback, which must be defined in the user code, is called at the

   185

 * end of the exchange (on succes or abort) and can be NULL.

   186

 * The LSS_MSG_TIMER timer is started to control the timeout

   187

 * return sendLSS(d,command,dat1,dat2)

   188

 */

   189

UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);

   190

   191

/** Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.

   192

  Returns : LSS_RESET				// Transmission not started. Init state.

   193

			LSS_FINISHED			// data are available                           

   194

			LSS_ABORTED_INTERNAL	// Aborted but not because of an abort message. 

   195

			LSS_TRANS_IN_PROGRESS	// Data not yet available

   196

   197

  * command: the LSS command (unused).

   198

  * example:

   199

  * UNS32 dat1;

   200

  * UNS8 dat2;

   201

  res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID

   202

  while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);

   203

*/

   204

UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);

   205

   206

#endif