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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Jorge Berzosa |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #ifndef __LSS_h__ |
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24 #define __LSS_h__ |
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25 |
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26 #define SLSS_ADRESS 0x7E4 |
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27 #define MLSS_ADRESS 0x7E5 |
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28 |
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29 #define LSS_MSG_TIMER 0 |
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30 #define LSS_SWITCH_DELAY_TIMER 1 |
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31 |
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32 #define SDELAY_OFF 0 |
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33 #define SDELAY_FIRST 1 |
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34 #define SDELAY_SECOND 2 |
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35 |
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36 #define LSS_WAITING_MODE 0 |
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37 #define LSS_CONFIGURATION_MODE 1 |
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38 |
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39 /* Switch mode services */ |
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40 #define LSS_SM_GLOBAL 4 |
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41 #define LSS_SM_SELECTIVE_VENDOR 64 |
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42 #define LSS_SM_SELECTIVE_PRODUCT 65 |
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43 #define LSS_SM_SELECTIVE_REVISION 66 |
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44 #define LSS_SM_SELECTIVE_SERIAL 67 |
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45 #define LSS_SM_SELECTIVE_RESP 68 |
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46 /* Configuration services */ |
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47 #define LSS_CONF_NODE_ID 17 |
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48 #define LSS_CONF_BIT_TIMING 19 |
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49 #define LSS_CONF_ACT_BIT_TIMING 21 |
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50 #define LSS_CONF_STORE 23 |
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51 /* Inquire services */ |
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52 #define LSS_INQ_VENDOR_ID 90 |
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53 #define LSS_INQ_PRODUCT_CODE 91 |
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54 #define LSS_INQ_REV_NUMBER 92 |
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55 #define LSS_INQ_SERIAL_NUMBER 93 |
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56 #define LSS_INQ_NODE_ID 94 |
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57 /* Identification services */ |
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58 #define LSS_IDENT_REMOTE_VENDOR 70 |
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59 #define LSS_IDENT_REMOTE_PRODUCT 71 |
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60 #define LSS_IDENT_REMOTE_REV_LOW 72 |
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61 #define LSS_IDENT_REMOTE_REV_HIGH 73 |
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62 #define LSS_IDENT_REMOTE_SERIAL_LOW 74 |
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63 #define LSS_IDENT_REMOTE_SERIAL_HIGH 75 |
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64 #define LSS_IDENT_REMOTE_NON_CONF 76 |
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65 #define LSS_IDENT_SLAVE 79 |
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66 #define LSS_IDENT_NON_CONF_SLAVE 80 |
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67 #define LSS_IDENT_FASTSCAN 81 |
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68 |
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69 /*FastScan State Machine*/ |
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70 #define LSS_FS_RESET 0 |
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71 |
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72 |
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73 typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command); |
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74 |
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75 typedef void (*lss_StoreConfiguration_t)(UNS8*,UNS8*); |
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76 //void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error); |
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77 |
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78 typedef void (*lss_ChangeBaudRate_t)(char*); |
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79 //void _lss_ChangeBaudRate(char *BaudRate); |
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80 |
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81 |
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82 struct struct_lss_transfer; |
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83 |
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84 //#include "timer.h" |
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85 |
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86 /* The Transfer structure |
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87 * Used to store the different fields of the internal state of the LSS |
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88 */ |
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89 |
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90 struct struct_lss_transfer { |
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91 UNS8 state; /* state of the transmission : Takes the values LSS_... */ |
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92 UNS8 command; /* the LSS command of the transmision */ |
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93 UNS8 mode; /* LSS mode */ |
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94 |
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95 UNS32 dat1; /* the data from the last msg received */ |
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96 UNS8 dat2; |
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97 |
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98 e_nodeState currentState; /* the state of the node before switching to LSSTimingDelay*/ |
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99 UNS8 nodeID; /* the new nodeid stored to update the nodeid when switching to LSS operational*/ |
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100 UNS8 addr_sel_match; /* the matching mask for the LSS Switch Mode Selective service */ |
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101 UNS8 addr_ident_match; /* the matching mask for the LSS Identify Remote Slaves service*/ |
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102 |
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103 char *baudRate; /* the new baudrate stored to update the node baudrate when a Activate Bit |
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104 * Timing Parameters is received*/ |
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105 UNS16 switchDelay; /* the period of the two delay */ |
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106 UNS8 switchDelayState; /* the state machine for the switchDelay */ |
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107 |
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108 TIMER_HANDLE timers[2]; /* Time counters to implement a timeout in milliseconds. |
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109 * LSS_MSG_TIMER (index 0) is automatically incremented whenever |
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110 * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0 |
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111 * when the response LSS have been received. |
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112 * LSS_SWITCH_DELAY_TIMER (index 1) is automatically incremented whenever |
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113 * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0 |
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114 * when the two periods have been expired. |
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115 */ |
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116 LSSCallback_t Callback; /* The user callback func to be called at LSS transaction end */ |
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117 |
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118 UNS32 IDNumber; |
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119 UNS8 BitChecked; |
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120 UNS8 LSSSub; |
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121 UNS8 LSSNext; |
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122 UNS8 LSSPos; |
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123 UNS8 FastScan_SM; |
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124 }; |
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125 |
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126 #ifdef CO_ENABLE_LSS |
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127 typedef struct struct_lss_transfer lss_transfer_t; |
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128 #else |
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129 typedef UNS8 lss_transfer_t; |
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130 #endif |
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131 |
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132 |
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133 void startLSS(CO_Data* d); |
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134 void stopLSS(CO_Data* d); |
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135 |
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136 |
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137 /** transmit a LSS message |
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138 * Checks if the msg can be transmited (i.e. we are not in LssTimingDelay state) |
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139 * command is the LSS command specifier |
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140 * dat1 and dat2 are pointers to optional data (depend on command) |
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141 * return sendLSSMessage(d,command,dat1,dat2) |
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142 */ |
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143 UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2); |
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144 |
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145 /** transmit a LSS message on CAN bus |
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146 * comamnd is the LSS command specifier |
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147 * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave. |
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148 * dat1 and dat2 are pointers to optional data (depend on command). |
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149 * return canSend(bus_id,&m) |
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150 */ |
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151 |
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152 UNS8 sendLSSMessage(CO_Data* d, UNS8 command, void *dat1, void *dat2); |
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153 |
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154 /** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5). |
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155 * - Check if there is a callback which will take care of the response. If not return 0 but does nothing. |
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156 * - Stops the timer so the alarm wont raise an error. |
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157 * - return 0 if OK |
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158 */ |
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159 UNS8 proceedLSS_Master (CO_Data* d, Message* m ); |
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160 |
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161 /** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4). |
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162 * - Call the callback function or send the response message depending on the LSS comand within m. |
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163 * - return 0 if OK |
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164 */ |
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165 UNS8 proceedLSS_Slave (CO_Data* d, Message* m ); |
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166 |
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167 /** Used by the Master application to send a LSS command, WITHOUT response, to the slave. |
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168 * command: the LSS command. LSS_... |
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169 * dat1 and dat2: pointers to optional data (depend on command). |
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170 * return sendLSS(d,command,dat1,dat2) |
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171 */ |
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172 UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2); |
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173 |
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174 /** Used by the Master application to send a LSS command, WITH response, to the slave. |
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175 * The function Callback, which must be defined in the user code, is called at the |
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176 * end of the exchange (on succes or abort) and can be NULL. |
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177 * The LSS_MSG_TIMER timer is started to control the timeout |
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178 * return sendLSS(d,command,dat1,dat2) |
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179 */ |
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180 UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback); |
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181 |
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182 /** Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result. |
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183 Returns : LSS_RESET // Transmission not started. Init state. |
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184 LSS_FINISHED // data are available |
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185 LSS_ABORTED_INTERNAL // Aborted but not because of an abort message. |
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186 LSS_TRANS_IN_PROGRESS // Data not yet available |
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187 |
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188 * command: the LSS command (unused). |
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189 * example: |
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190 * UNS32 dat1; |
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191 * UNS8 dat2; |
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192 res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID |
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193 while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS); |
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194 */ |
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195 UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2); |
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196 |
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197 #endif |