146 #ifdef CO_ENABLE_LSS

   147 static void ConfigureLSSNode(CO_Data* d);

   148 UNS8 init_step_LSS=1;

   149 

   150 static void CheckLSSAndContinue(CO_Data* d, UNS8 command)

   151 {

   152 	UNS32 dat1;

   153 	UNS8 dat2;

   154 	printf("CheckLSS->");

   155 	if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){

   156 		if(command==LSS_IDENT_NON_CONF_SLAVE){

   157 			eprintf("Master : There are not no-configured slaves in the net\n", command);

   158 			return;

   159 		}

   160 		else{

   161 			eprintf("Master : Failed in LSS comand %d.  Trying again\n", command);

   162 		}

   163 	}

   164 	else

   165 	{

   166 		init_step_LSS++;

   167 	

   168 		switch(command){

   169 		case LSS_CONF_NODE_ID:

   170    			switch(dat1){

   171    				case 0: printf("Node ID change succesful\n");break;

   172    				case 1: printf("Node ID change error:out of range\n");break;

   173    				case 0xFF:printf("Node ID change error:specific error\n");break;

   174    				default:break;

   175    			}

   176    			break;

   177    		case LSS_CONF_BIT_TIMING:

   178    			switch(dat1){

   179    				case 0: printf("Baud rate change succesful\n");break;

   180    				case 1: printf("Baud rate change error: change baud rate not supported\n");break;

   181    				case 0xFF:printf("Baud rate change error:specific error\n");break;

   182    				default:break;

   183    			}

   184    			break;

   185    		case LSS_CONF_STORE:

   186    			switch(dat1){

   187    				case 0: printf("Store configuration succesful\n");break;

   188    				case 1: printf("Store configuration error:not supported\n");break;

   189    				case 0xFF:printf("Store configuration error:specific error\n");break;

   190    				default:break;

   191    			}

   192    			break;

   193 		case LSS_SM_SELECTIVE_RESP:

   194    			printf("Slave in CONFIGURATION mode\n");

   195    			break;

   196    		case LSS_IDENT_SLAVE:

   197    			printf("node identified\n");

   198    			break;

   199    		case LSS_IDENT_NON_CONF_SLAVE:

   200    			printf("non-configured remote slave in the net\n");

   201    			break;

   202    		case LSS_INQ_VENDOR_ID:

   203    			printf("Slave VendorID %x\n", dat1);

   204    			break;

   205    		case LSS_INQ_PRODUCT_CODE:

   206    			printf("Slave Product Code %x\n", dat1);

   207    			break;

   208    		case LSS_INQ_REV_NUMBER:

   209    			printf("Slave Revision Number %x\n", dat1);

   210    			break;

   211    		case LSS_INQ_SERIAL_NUMBER:

   212    			printf("Slave Serial Number %x\n", dat1);

   213    			break;

   214    		case LSS_INQ_NODE_ID:

   215    			printf("Slave nodeid %x\n", dat1);

   216    			break;

   217 		}

   218 	}

   219 

   220 	printf("\n");

   221 	ConfigureLSSNode(d);

   222 }

   223 

   224 

   225 struct timeval master_prev_time,master_current_time;

   226 static void ConfigureLSSNode(CO_Data* d)

   227 {

   228 	UNS32 Vendor_ID=0x12345678;

   229 	UNS32 Product_Code=0x90123456;

   230 	UNS32 Revision_Number=0x78901234;

   231 	UNS32 Serial_Number=0x56789012;

   232 	UNS32 Revision_Number_high=0x78901240;

   233 	UNS32 Revision_Number_low=0x78901230;

   234 	UNS32 Serial_Number_high=0x56789020;

   235 	UNS32 Serial_Number_low=0x56789010;

   236 	UNS8 NodeID=0x02;

   237 	UNS8 Baud_Table=0;

   238 	UNS8 Baud_BitTiming=3;

   239 	UNS16 Switch_delay=1;

   240 	UNS8 LSS_mode=LSS_WAITING_MODE;

   241 	UNS8 res;

   242 	eprintf("ConfigureLSSNode-> ");

   243 

   244 	switch(init_step_LSS){

   245 		case 1:	/* LSS=>identify non-configured remote slave */

   246 			eprintf("LSS=>identify non-configured remote slave\n");

   247 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);

   248 			break;

   249 		case 2:	/* LSS=>identify node */

   250 			eprintf("LSS=>identify node\n");

   251 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);

   252 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0);

   253 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0);

   254 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0);

   255 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);

   256 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);

   257 			break;

   258 		case 3: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/

   259 			eprintf("LSS=>put in configuration mode\n");

   260 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);

   261 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);

   262 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);

   263 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);

   264 			break;

   265 		case 4:	/* LSS=>inquire nodeID */

   266 			eprintf("LSS=>inquire nodeID\n");

   267 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);

   268 			break;

   269 		case 5:	/* LSS=>inquire VendorID */

   270 			eprintf("LSS=>inquire VendorID\n");

   271 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);

   272 			break;

   273 		case 6:	/* LSS=>inquire Product code */

   274 			eprintf("LSS=>inquire Product code\n");

   275 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);

   276 			break;

   277 		case 7:	/* LSS=>inquire Revision Number */

   278 			eprintf("LSS=>inquire Revision Number\n");

   279 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);

   280 			break;

   281 		case 8:	/* LSS=>inquire Serial Number */

   282 			eprintf("LSS=>inquire Serial Number\n");

   283 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);

   284 			break;

   285 		case 9:	/* LSS=>change the nodeID */

   286 			eprintf("LSS=>change the nodeId\n");

   287 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);

   288 			break;

   289 		case 10:	/* LSS=>change the Baud rate */

   290 			eprintf("LSS=>change the Baud rate\n");

   291 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);

   292 			break;

   293 		case 11:

   294 			eprintf("LSS=>Activate Bit Timing\n");

   295 			res=configNetworkNode(&TestMaster_Data,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0);

   296 			/*no break;*/

   297 			init_step_LSS++;

   298 		case 12:

   299 			/*LSS=>store configuration*/

   300 			/* It will fail the first time (time out) due to the switch delay */

   301 			/* It will fail the second time because it is not implemented in the slave */

   302 			eprintf("LSS=>store configuration\n");

   303 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);

   304 			break;

   305 		case 13: /* LSS=>put in operation mod */

   306 			eprintf("LSS=>put in operation mode\n");

   307 			res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);

   308 			break;

   309 	}

   310 }

   311 #endif

   312 

   458 

   459 void TestMaster_post_SlaveBootup(UNS8 nodeid)

   460 {

   461 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);

   462 	ConfigureSlaveNode(&TestMaster_Data, nodeid);

   463 }

   464