--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/include/lss.h Mon Dec 17 13:22:35 2007 +0100
@@ -0,0 +1,197 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+Copyright (C): Jorge Berzosa
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#ifndef __LSS_h__
+#define __LSS_h__
+
+#define SLSS_ADRESS 0x7E4
+#define MLSS_ADRESS 0x7E5
+
+#define LSS_MSG_TIMER 0
+#define LSS_SWITCH_DELAY_TIMER 1
+
+#define SDELAY_OFF 0
+#define SDELAY_FIRST 1
+#define SDELAY_SECOND 2
+
+#define LSS_WAITING_MODE 0
+#define LSS_CONFIGURATION_MODE 1
+
+/* Switch mode services */
+#define LSS_SM_GLOBAL 4
+#define LSS_SM_SELECTIVE_VENDOR 64
+#define LSS_SM_SELECTIVE_PRODUCT 65
+#define LSS_SM_SELECTIVE_REVISION 66
+#define LSS_SM_SELECTIVE_SERIAL 67
+#define LSS_SM_SELECTIVE_RESP 68
+/* Configuration services */
+#define LSS_CONF_NODE_ID 17
+#define LSS_CONF_BIT_TIMING 19
+#define LSS_CONF_ACT_BIT_TIMING 21
+#define LSS_CONF_STORE 23
+/* Inquire services */
+#define LSS_INQ_VENDOR_ID 90
+#define LSS_INQ_PRODUCT_CODE 91
+#define LSS_INQ_REV_NUMBER 92
+#define LSS_INQ_SERIAL_NUMBER 93
+#define LSS_INQ_NODE_ID 94
+/* Identification services */
+#define LSS_IDENT_REMOTE_VENDOR 70
+#define LSS_IDENT_REMOTE_PRODUCT 71
+#define LSS_IDENT_REMOTE_REV_LOW 72
+#define LSS_IDENT_REMOTE_REV_HIGH 73
+#define LSS_IDENT_REMOTE_SERIAL_LOW 74
+#define LSS_IDENT_REMOTE_SERIAL_HIGH 75
+#define LSS_IDENT_REMOTE_NON_CONF 76
+#define LSS_IDENT_SLAVE 79
+#define LSS_IDENT_NON_CONF_SLAVE 80
+#define LSS_IDENT_FASTSCAN 81
+
+/*FastScan State Machine*/
+#define LSS_FS_RESET 0
+
+
+typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command);
+
+typedef void (*lss_StoreConfiguration_t)(UNS8*,UNS8*);
+//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);
+
+typedef void (*lss_ChangeBaudRate_t)(char*);
+//void _lss_ChangeBaudRate(char *BaudRate);
+
+
+struct struct_lss_transfer;
+
+//#include "timer.h"
+
+/* The Transfer structure
+* Used to store the different fields of the internal state of the LSS
+*/
+
+struct struct_lss_transfer {
+ UNS8 state; /* state of the transmission : Takes the values LSS_... */
+ UNS8 command; /* the LSS command of the transmision */
+ UNS8 mode; /* LSS mode */
+
+ UNS32 dat1; /* the data from the last msg received */
+ UNS8 dat2;
+
+ e_nodeState currentState; /* the state of the node before switching to LSSTimingDelay*/
+ UNS8 nodeID; /* the new nodeid stored to update the nodeid when switching to LSS operational*/
+ UNS8 addr_sel_match; /* the matching mask for the LSS Switch Mode Selective service */
+ UNS8 addr_ident_match; /* the matching mask for the LSS Identify Remote Slaves service*/
+
+ char *baudRate; /* the new baudrate stored to update the node baudrate when a Activate Bit
+ * Timing Parameters is received*/
+ UNS16 switchDelay; /* the period of the two delay */
+ UNS8 switchDelayState; /* the state machine for the switchDelay */
+
+ TIMER_HANDLE timers[2]; /* Time counters to implement a timeout in milliseconds.
+ * LSS_MSG_TIMER (index 0) is automatically incremented whenever
+ * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0
+ * when the response LSS have been received.
+ * LSS_SWITCH_DELAY_TIMER (index 1) is automatically incremented whenever
+ * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0
+ * when the two periods have been expired.
+ */
+ LSSCallback_t Callback; /* The user callback func to be called at LSS transaction end */
+
+ UNS32 IDNumber;
+ UNS8 BitChecked;
+ UNS8 LSSSub;
+ UNS8 LSSNext;
+ UNS8 LSSPos;
+ UNS8 FastScan_SM;
+};
+
+#ifdef CO_ENABLE_LSS
+typedef struct struct_lss_transfer lss_transfer_t;
+#else
+typedef UNS8 lss_transfer_t;
+#endif
+
+
+void startLSS(CO_Data* d);
+void stopLSS(CO_Data* d);
+
+
+/** transmit a LSS message
+ * Checks if the msg can be transmited (i.e. we are not in LssTimingDelay state)
+ * command is the LSS command specifier
+ * dat1 and dat2 are pointers to optional data (depend on command)
+ * return sendLSSMessage(d,command,dat1,dat2)
+ */
+UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);
+
+/** transmit a LSS message on CAN bus
+ * comamnd is the LSS command specifier
+ * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave.
+ * dat1 and dat2 are pointers to optional data (depend on command).
+ * return canSend(bus_id,&m)
+ */
+
+UNS8 sendLSSMessage(CO_Data* d, UNS8 command, void *dat1, void *dat2);
+
+/** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).
+ * - Check if there is a callback which will take care of the response. If not return 0 but does nothing.
+ * - Stops the timer so the alarm wont raise an error.
+ * - return 0 if OK
+ */
+UNS8 proceedLSS_Master (CO_Data* d, Message* m );
+
+/** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).
+ * - Call the callback function or send the response message depending on the LSS comand within m.
+ * - return 0 if OK
+ */
+UNS8 proceedLSS_Slave (CO_Data* d, Message* m );
+
+/** Used by the Master application to send a LSS command, WITHOUT response, to the slave.
+ * command: the LSS command. LSS_...
+ * dat1 and dat2: pointers to optional data (depend on command).
+ * return sendLSS(d,command,dat1,dat2)
+ */
+UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);
+
+/** Used by the Master application to send a LSS command, WITH response, to the slave.
+ * The function Callback, which must be defined in the user code, is called at the
+ * end of the exchange (on succes or abort) and can be NULL.
+ * The LSS_MSG_TIMER timer is started to control the timeout
+ * return sendLSS(d,command,dat1,dat2)
+ */
+UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
+
+/** Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
+ Returns : LSS_RESET // Transmission not started. Init state.
+ LSS_FINISHED // data are available
+ LSS_ABORTED_INTERNAL // Aborted but not because of an abort message.
+ LSS_TRANS_IN_PROGRESS // Data not yet available
+
+ * command: the LSS command (unused).
+ * example:
+ * UNS32 dat1;
+ * UNS8 dat2;
+ res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
+ while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
+*/
+UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);
+
+#endif