124 

   125 \subsubsection{DS-305}

   126 

   127 LSS services are fully supported although they have to be enabled at compile time. Additionally, FastScan LSS service is also optionally enabled. 

   210 ./examples/TestMasterSlaveLSS 3 nodes, NMT SYNC SDO PDO LSS, win32+unix

   417 

   418 \subsubsection{LSS services}

   419 Canfestival optionally supports LSS services but they must be enabled.

   420 \begin{verbatim}

   421 	./configure --enable-lss

   422 \end{verbatim}

   423 

   424 Additionally, the FastScan LSS service can also be enabled.

   425 \begin{verbatim}

   426 	./configure --enable-lss --enable-lss-fs

   427 \end{verbatim}

   428 

  1006 \subsection{TestMasterSlaveLSS}

  1007 

  1008 

  1009 \begin{verbatim}

  1010 **************************************************************

  1011 *  TestMasterSlaveLSS                                        *

  1012 *                                                            *

  1013 *  A LSS example for PC. It does implement 3 CanOpen         *

  1014 *  nodes in the same process. A master and 2 slaves. All     *

  1015 *  communicate together, exchanging periodically NMT, SYNC,  *

  1016 *  SDO and PDO. Master configure heartbeat producer time     *

  1017 *  at 1000 ms for the slaves by concise DCF.                 *

  1018 *                                                            *

  1019 *   Usage:                                                   *

  1020 *   ./TestMasterSlaveLSS  [OPTIONS]                          *

  1021 *                                                            *

  1022 *   OPTIONS:                                                 *

  1023 *     -l : Can library ["libcanfestival_can_virtual.so"]     *

  1024 *                                                            *

  1025 *    SlaveA:                                                 *

  1026 *     -a : bus name ["0"]                                    *

  1027 *     -A : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *

  1028 *                                                            *

  1029 *    SlaveB:                                                 *

  1030 *     -b : bus name ["1"]                                    *

  1031 *     -B : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *

  1032 *                                                            *

  1033 *    Master:                                                 *

  1034 *     -m : bus name ["2"]                                    *

  1035 *     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *

  1036 *                                                            *

  1037 **************************************************************

  1038 \end{verbatim}

  1039 

  1040 The function used to request LSS services is \textit{configNetworkNode}. It works similar to \textit{writeNetworkDict} and its model is the following:

  1041 \begin{verbatim}

  1042 UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, 

  1043 LSSCallback_t Callback)

  1044 \end{verbatim}

  1045 

  1046 \subsection{FastScan}

  1047 FastScan is a special LSS service that allow the dynamically identification of the slave nodes even if they do not have a valid nodeID. This identification is based on the LSS address, composed by vendor ID, product code, revision number and serial number (refer to the DS305 for more information). The LSS address can be partially known or fully unknown. To represent this fact in Canfestival, we use the structure \textit{lss\_fs\_transfer\_t}. The parameter \textit{FS\_LSS\_ID} is an array of four elements which represents the four elements of the LSS address. The other parameter, \textit{FS\_BitChecked}, is also an array and it represents how many bits of each LSS address element are UNKNOWN. The next example is taken from \textit{TestMasterSlaveLSS}, where only the last two digits (8 bits) of vendor ID and product code are unknown and revision number and serial number are totally unknown. 

  1048 

  1049 \begin{verbatim}

  1050 lss_fs_transfer_t lss_fs;

  1051 /* The VendorID and ProductCode are partialy known, */

  1052 /* except the last two digits (8 bits). */

  1053 lss_fs.FS_LSS_ID[0]=Vendor_ID;

  1054 lss_fs.FS_BitChecked[0]=8;

  1055 lss_fs.FS_LSS_ID[1]=Product_Code;

  1056 lss_fs.FS_BitChecked[1]=8;

  1057 /* serialNumber and RevisionNumber are unknown, */

  1058 /* i.e. the 8 digits (32bits) are unknown. */

  1059 lss_fs.FS_BitChecked[2]=32;

  1060 lss_fs.FS_BitChecked[3]=32;

  1061 res=configNetworkNode(&d,LSS_IDENT_FASTSCAN,&lss_fs,0,CheckLSSAndContinue);

  1062 \end{verbatim}