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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 "timers.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