--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/src/lss.c Mon Dec 17 13:22:35 2007 +0100
@@ -0,0 +1,662 @@
+/*
+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
+*/
+
+
+/*!
+** @file lss.c
+** @author Jorge Berzosa
+** @date Mon Oct 22 05:44:32 2007
+**
+** @brief
+**
+**
+*/
+
+#ifdef CO_ENABLE_LSS
+
+#include "data.h"
+#include "lss.h"
+#include "canfestival.h"
+
+#define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */
+
+/* Returns the LSS ident field from a Message struct */
+#define getLSSIdent(msg) ((msg->data[4] << 24) | (msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1]))
+
+/* Returns the LSS switch delay field from a Message struct */
+#define getLSSDelay(msg) ((msg->data[2] << 8) | (msg->data[1]))
+
+/* Returns the LSS FastScan BitCheck field from a Message struct */
+#define getLSSBitCheck(msg) msg->data[5]
+
+/* Returns the LSS FastScan LSSSub field from a Message struct */
+#define getLSSSub(msg) msg->data[6]
+
+/* Returns the LSS FastScan LSSNext field from a Message struct */
+#define getLSSNext(msg) msg->data[7]
+
+/* Prototypes for internals functions */
+void LssAlarm(CO_Data* d, UNS32 id);
+
+#define StopLSS_TIMER(id){\
+ MSG_WAR(0x3D01, "StopLSS_TIMER for timer : ", id);\
+ d->lss_transfer.timers[id] = DelAlarm(d->lss_transfer.timers[id]);}
+
+#define StartLSS_MSG_TIMER(){\
+ MSG_WAR(0x3D02, "StartLSS_TIMER for MSG_TIMER",0);\
+ d->lss_transfer.timers[LSS_MSG_TIMER] = SetAlarm(d,LSS_MSG_TIMER,&LssAlarm,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);}
+
+#define StartLSS_SDELAY_TIMER(){\
+ MSG_WAR(0x3D03, "StartLSS_TIMER for SDELAY_TIMER",0);\
+ d->lss_transfer.timers[LSS_SWITCH_DELAY_TIMER] = SetAlarm(d,LSS_SWITCH_DELAY_TIMER,&LssAlarm,MS_TO_TIMEVAL(d->lss_transfer.switchDelay),MS_TO_TIMEVAL(d->lss_transfer.switchDelay));}
+
+
+/*!
+**
+**
+** @param d
+** @param id
+**/
+//struct timeval current_time,init_time;
+void LssAlarm(CO_Data* d, UNS32 id)
+{
+ /*unsigned long time_period;
+
+ gettimeofday(¤t_time,NULL);
+ time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;
+ printf("%3ld.%3ld.%3ld --",time_period/1000000,(time_period%1000000)/1000,time_period%1000);*/
+
+ switch(id){
+ case LSS_MSG_TIMER:
+ MSG_ERR(0x1D04, "LSS timeout. LSS response not received.", 0);
+ MSG_WAR(0x2D05, "LSS timeout command specifier : ", d->lss_transfer.command);
+
+ StopLSS_TIMER(LSS_MSG_TIMER);
+ /* Set aborted state */
+ d->lss_transfer.state = LSS_ABORTED_INTERNAL;
+ /* Call the user function to inform of the problem.*/
+ if(d->lss_transfer.Callback){
+ /*If there is a callback, it is responsible of the error*/
+ (*d->lss_transfer.Callback)(d,d->lss_transfer.command);
+ }
+ break;
+ case LSS_SWITCH_DELAY_TIMER:
+ /* The first switch_delay period has expired. Store the node state, change it
+ * so no CAN messages will be sent or received, call the ChangeBaudRate function*/
+ if(d->lss_transfer.switchDelayState==SDELAY_FIRST){
+ MSG_WAR(0x3D06, "LSS switch delay first period expired",0);
+ d->lss_transfer.switchDelayState=SDELAY_SECOND;
+ //d->lss_transfer.currentState=getState(d);
+ //setState(d, LssTimingDelay);
+ (*d->lss_ChangeBaudRate)(d->lss_transfer.baudRate);
+ }
+ else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */
+ MSG_WAR(0x3D07, "LSS switch delay second period expired",0);
+ d->lss_transfer.switchDelayState=SDELAY_OFF;
+ StopLSS_TIMER(LSS_SWITCH_DELAY_TIMER);
+
+ setState(d, d->lss_transfer.currentState);
+ }
+ break;
+ }
+}
+
+/*!
+**
+**
+** @param d
+**/
+void startLSS(CO_Data* d)
+{
+ /*MSG_WAR(0x3D09, "LSS services started",0);*/
+}
+
+/*!
+**
+**
+** @param d
+**/
+void stopLSS(CO_Data* d)
+{
+ /*MSG_WAR(0x3D09, "LSS services stopped",0);*/
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
+{
+ Message m;
+ UNS8 i;
+
+ if (!d->CurrentCommunicationState.csLSS){
+ MSG_WAR(0x2D0A, "unable to send the LSS message (not in stop or pre-op mode", d->nodeState);
+ return 0;
+ }
+
+ for(i=1;i<8;i++)m.data[i]=0;
+ m.len = 8;
+ m.rtr = NOT_A_REQUEST;
+ m.data[0]=command;
+ m.cob_id.w=SLSS_ADRESS;
+
+ /* Tha data sent with the msg depends on the command */
+ switch(command){
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ m.data[1]=*(UNS8 *)dat1;
+ break;
+ case LSS_CONF_NODE_ID: /* Configure Node-ID */
+ case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
+ case LSS_CONF_STORE: /* Store Configured Parameters */
+ m.data[1]=*(UNS8 *)dat1;
+ m.data[2]=*(UNS8 *)dat2;
+ break;
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
+ case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
+ case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
+ m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
+ m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
+ m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF);
+ m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF);
+ break;
+ case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response*/
+ case LSS_IDENT_SLAVE: /* LSS Identify Slave */
+ case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
+ break;
+ default:
+ MSG_ERR(0x1D0B, "send Slave LSS command not implemented", command);
+ return 0xFF;
+ break;
+ }
+
+ return canSend(d->canHandle,&m);
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
+{
+ Message m;
+ UNS8 i;
+
+ for(i=1;i<8;i++)m.data[i]=0;
+ m.len = 8;
+ m.rtr = NOT_A_REQUEST;
+ m.data[0]=command;
+ m.cob_id.w=MLSS_ADRESS;
+
+ /* Tha data sent with the msg depends on the command */
+ switch(command){
+ case LSS_SM_GLOBAL: /* Switch Mode Global */
+ d->lss_transfer.state=LSS_FINISHED;
+ case LSS_CONF_NODE_ID: /* Configure Node-ID */
+ m.data[1]=*(UNS8 *)dat1;
+ break;
+ case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
+ m.data[1]=*(UNS8 *)dat1;
+ m.data[2]=*(UNS8 *)dat2;
+ break;
+ case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
+ m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
+ m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
+ break;
+ case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */
+ case LSS_SM_SELECTIVE_PRODUCT:
+ case LSS_SM_SELECTIVE_REVISION:
+ case LSS_SM_SELECTIVE_SERIAL:
+ case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */
+ case LSS_IDENT_REMOTE_PRODUCT:
+ case LSS_IDENT_REMOTE_REV_LOW:
+ case LSS_IDENT_REMOTE_REV_HIGH:
+ case LSS_IDENT_REMOTE_SERIAL_LOW:
+ case LSS_IDENT_REMOTE_SERIAL_HIGH:
+ m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
+ m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
+ m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF);
+ m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF);
+ break;
+ case LSS_CONF_STORE: /* Store Configured Parameters */
+ case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
+ case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
+ case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ break;
+ case LSS_IDENT_FASTSCAN:
+ m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF);
+ m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF);
+ m.data[3]=(UNS8)(d->lss_transfer.IDNumber>>16 & 0xFF);
+ m.data[4]=(UNS8)(d->lss_transfer.IDNumber>>24 & 0xFF);
+ m.data[5]=d->lss_transfer.BitChecked;
+ m.data[6]=d->lss_transfer.LSSSub;
+ m.data[7]=d->lss_transfer.LSSNext;
+ break;
+ default:
+ MSG_ERR(0x1D0C, "send Master LSS command not implemented", command);
+ return 0xFF;
+ break;
+ }
+
+ return canSend(d->canHandle,&m);
+}
+
+/*!
+**
+**
+** @param d
+** @param cob_id
+**
+** @return
+**/
+UNS8 sendLSS(CO_Data* d, UNS8 command,void *dat1,void *dat2)
+{
+ UNS8 res=1;
+
+ /* Tha data sent with the msg depends on the command and if the sender is a master or a slave */
+ if (*(d->iam_a_slave)){
+ res = sendSlaveLSSMessage(d, command,dat1,dat2);
+ }
+ else {/* It is a Master */
+ res = sendMasterLSSMessage(d, command,dat1,dat2);
+ }
+ return res ;
+}
+
+
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
+UNS8 proceedLSS_Master(CO_Data* d, Message* m )
+{
+ UNS8 msg_cs;
+ UNS32 Dat1=0;
+ UNS8 Dat2=0;
+
+ MSG_WAR(0x3D0D, "MasterLSS proceedLSS; command ", m->data[0]);
+ StopLSS_TIMER(LSS_MSG_TIMER);
+ /* Set state */
+ d->lss_transfer.state = LSS_FINISHED;
+
+ switch(msg_cs=m->data[0]){
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ Dat1=m->data[1];
+ break;
+ case LSS_CONF_NODE_ID: /* Configure Node-ID */
+ case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
+ case LSS_CONF_STORE: /* Store Configured Parameters */
+ Dat1=m->data[1];
+ Dat2=m->data[2];
+ break;
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
+ case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
+ case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
+ Dat1=getLSSIdent(m);
+ break;
+ case LSS_IDENT_SLAVE: /* LSS Identify Slave */
+ /*if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
+ * ************ TODO *******************
+ }*/
+ break;
+ case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */
+ case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
+ break;
+ default:
+ MSG_ERR(0x1D0E, "Master LSS command not implemented", msg_cs);
+ return 0xFF;
+ break;
+ }
+
+ d->lss_transfer.dat1=Dat1;
+ d->lss_transfer.dat2=Dat2;
+ /* If there is a callback, it is responsible of the received response */
+ if(d->lss_transfer.Callback)
+ (*d->lss_transfer.Callback)(d,msg_cs);
+
+ return 0;
+}
+
+/*!
+**
+**
+** @param d
+** @param m
+**
+** @return
+**/
+UNS8 proceedLSS_Slave(CO_Data* d, Message* m )
+{
+ UNS8 msg_cs;
+
+ MSG_WAR(0x3D0F, "SlaveLSS proceedLSS; command ", m->data[0]);
+
+ switch(msg_cs=m->data[0]){
+ case LSS_SM_GLOBAL: /* Switch Mode Global */
+ /* if there is not a mode change break*/
+ if(m->data[1] == d->lss_transfer.mode){
+ MSG_WAR(0x3D10, "SlaveLSS already in the mode ", m->data[1]);
+ break;
+ }
+
+ if(m->data[1]==LSS_CONFIGURATION_MODE) {
+ MSG_WAR(0x3D11, "SlaveLSS switching to configuration mode ", 0);
+ /* Store the NodeId in case it will be changed */
+ d->lss_transfer.nodeID=getNodeId(d);
+ d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
+ }
+ else if(m->data[1]==LSS_WAITING_MODE){
+ MSG_WAR(0x3D12, "SlaveLSS switching to operational mode ", 0);
+
+ if(d->lss_transfer.switchDelayState==SDELAY_OFF){
+ /* If the nodeID has changed update it and put the node state to Initialisation. */
+ if(d->lss_transfer.nodeID!=getNodeId(d)){
+ MSG_WAR(0x3D13, "The node Id has changed. Reseting to Initialisation state",0);
+ setNodeId(d, d->lss_transfer.nodeID);
+ setState(d, Initialisation);
+ }
+ }
+ d->lss_transfer.mode=LSS_WAITING_MODE;
+ }
+ break;
+ case LSS_CONF_NODE_ID: /* Configure Node-ID */
+ {
+ UNS8 error_code=0;
+ UNS8 spec_error=0;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
+ if(m->data[1]>127 && m->data[1]!=0xFF){
+ MSG_ERR(0x1D14, "NodeID out of range",0);
+ error_code=1; /* NodeID out of range */
+ }
+ else{
+ d->lss_transfer.nodeID=m->data[1];
+ }
+ }
+ else{
+ MSG_ERR(0x1D15, "SlaveLSS not in configuration mode",0);
+ error_code=0xFF;
+ }
+ sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
+ }
+ break;
+ case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
+ {
+ UNS8 error_code=0;
+ UNS8 spec_error=0;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
+ /* Change the baud rate only if the function lss_ChangeBaudRate
+ * has been implemented. If not send an error.
+ */
+ if(d->lss_ChangeBaudRate){
+ /* If a baud rate is not supported just comment the line. */
+ switch(m->data[2]){
+ case 0x00:d->lss_transfer.baudRate="1M";break;
+ case 0x01:d->lss_transfer.baudRate="800K";break;
+ case 0x02:d->lss_transfer.baudRate="500K";break;
+ case 0x03:d->lss_transfer.baudRate="250K";break;
+ case 0x04:d->lss_transfer.baudRate="125K";break;
+ case 0x05:d->lss_transfer.baudRate="100K";break;
+ case 0x06:d->lss_transfer.baudRate="50K";break;
+ case 0x07:d->lss_transfer.baudRate="20K";break;
+ case 0x08:d->lss_transfer.baudRate="10K";break;
+ default:
+ MSG_ERR(0x1D16, "Baud rate not supported",0);
+ error_code=0xFF; /* Baud rate not supported*/
+ break;
+ }
+ }
+ else
+ {
+ MSG_ERR(0x1D17, "Bit timing not supported",0);
+ error_code=0x01; /* bit timing not supported */
+ }
+ }
+ else{
+ MSG_ERR(0x1D18, "SlaveLSS not in configuration mode",0);
+ error_code=0xFF;
+ }
+
+ sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
+ }
+ break;
+ case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
+
+ if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){
+ MSG_ERR(0x1D19, "SlaveLSS not in configuration mode",0);
+ break;
+ }
+
+ if(d->lss_transfer.baudRate!="none"){
+ d->lss_transfer.switchDelay=getLSSDelay(m);
+ MSG_WAR(0x3D1A, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay);
+ d->lss_transfer.switchDelayState=SDELAY_FIRST;
+ d->lss_transfer.currentState=getState(d);
+ setState(d, LssTimingDelay);
+ StartLSS_SDELAY_TIMER();
+ }
+ break;
+ case LSS_CONF_STORE: /* Store Configured Parameters */
+ {
+ UNS8 error_code=0;
+ UNS8 spec_error=0;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
+ if(d->lss_StoreConfiguration){
+ /* call lss_StoreConfiguration with NodeId */
+ (*d->lss_StoreConfiguration)(&error_code,&spec_error);
+ }
+ else{
+ MSG_ERR(0x1D1B, "Store configuration not supported",0);
+ error_code=1; /* store configuration is not supported */
+ }
+ }
+ else{
+ MSG_ERR(0x1D1C, "SlaveLSS not in configuration mode",0);
+ error_code=0xFF;
+ }
+ sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
+ }
+ break;
+ case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */
+ case LSS_SM_SELECTIVE_PRODUCT:
+ case LSS_SM_SELECTIVE_REVISION:
+ case LSS_SM_SELECTIVE_SERIAL:
+ {
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+ UNS32 _SpecificNodeInfo;
+
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
+ {
+ MSG_ERR(0x1D1D, "Switch Mode Selective only supported in operational mode",0);
+ break;
+ }
+
+ _SpecificNodeInfo=getLSSIdent(m);
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+ if(_SpecificNodeInfo==*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_SM_SELECTIVE_VENDOR-1)].pObject){
+
+ d->lss_transfer.addr_sel_match|=(0x01<<(msg_cs-LSS_SM_SELECTIVE_VENDOR));
+ /* If all the fields has been set */
+ if(d->lss_transfer.addr_sel_match==0x0F){
+
+ MSG_WAR(0x3D1E, "SlaveLSS switching to configuration mode ", 0);
+ d->lss_transfer.addr_sel_match=0;
+ d->lss_transfer.nodeID=getNodeId(d);
+ d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
+
+ sendSlaveLSSMessage(d,LSS_SM_SELECTIVE_RESP,0,0);
+ }
+ }
+ else {
+ MSG_WAR(0x3D1F, "LSS identity field doesn't match ", _SpecificNodeInfo);
+ d->lss_transfer.addr_sel_match=0;
+ }
+ }
+ break;
+ case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */
+ case LSS_IDENT_REMOTE_PRODUCT:
+ case LSS_IDENT_REMOTE_REV_LOW:
+ case LSS_IDENT_REMOTE_REV_HIGH:
+ case LSS_IDENT_REMOTE_SERIAL_LOW:
+ case LSS_IDENT_REMOTE_SERIAL_HIGH:
+ {
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+ UNS32 _SpecificNodeInfo;
+
+ _SpecificNodeInfo=getLSSIdent(m);
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+
+ /* Check if the data match the identity object. */
+ switch(msg_cs){
+ case LSS_IDENT_REMOTE_VENDOR:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo == *(UNS32*)ptrTable->pSubindex[1].pObject)? d->lss_transfer.addr_ident_match|0x01:0; break;
+ case LSS_IDENT_REMOTE_PRODUCT:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo == *(UNS32*)ptrTable->pSubindex[2].pObject)? d->lss_transfer.addr_ident_match|0x02:0; break;
+ case LSS_IDENT_REMOTE_REV_LOW:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo <= *(UNS32*)ptrTable->pSubindex[3].pObject)? d->lss_transfer.addr_ident_match|0x04:0; break;
+ case LSS_IDENT_REMOTE_REV_HIGH:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo >= *(UNS32*)ptrTable->pSubindex[3].pObject)? d->lss_transfer.addr_ident_match|0x08:0; break;
+ case LSS_IDENT_REMOTE_SERIAL_LOW:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo <= *(UNS32*)ptrTable->pSubindex[4].pObject)? d->lss_transfer.addr_ident_match|0x10:0; break;
+ case LSS_IDENT_REMOTE_SERIAL_HIGH:d->lss_transfer.addr_ident_match=(_SpecificNodeInfo >= *(UNS32*)ptrTable->pSubindex[4].pObject)? d->lss_transfer.addr_ident_match|0x20:0; break;
+ }
+ /* If all the fields has been set.. */
+ if(d->lss_transfer.addr_ident_match==0x3F){
+ MSG_WAR(0x3D20, "SlaveLSS identified ", 0);
+ d->lss_transfer.addr_ident_match=0;
+ sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
+ }
+ else if(d->lss_transfer.addr_ident_match==0){
+ MSG_WAR(0x3D21, "LSS identify field doesn't match ", _SpecificNodeInfo);
+ }
+ }
+ break;
+ case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */
+ {
+ if(getNodeId(d)==0xFF){
+ MSG_WAR(0x3D22, "SlaveLSS non-configured ", 0);
+ sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0);
+ }
+ else{
+ MSG_WAR(0x3D23, "SlaveLSS already configured ", 0);
+ }
+ }
+ break;
+ case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
+ case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
+ case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
+ case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
+ {
+
+ UNS32 errorCode;
+ const indextable *ptrTable;
+ ODCallback_t *Callback;
+ UNS32 _SpecificNodeInfo;
+
+ ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
+ _SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject;
+ MSG_WAR(0x3D24, "SlaveLSS identity field inquired ", _SpecificNodeInfo);
+
+ sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0);
+ }
+ break;
+ case LSS_INQ_NODE_ID: /* Inquire Node-ID */
+ if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
+ {
+ UNS8 NodeID;
+
+ NodeID=getNodeId(d);
+ MSG_WAR(0x3D25, "SlaveLSS Node ID inquired ", NodeID);
+ sendSlaveLSSMessage(d,msg_cs,&NodeID,0);
+ }
+ else{
+ MSG_ERR(0x1D26, "SlaveLSS not in configuration mode",0);
+ }
+ break;
+ case LSS_IDENT_FASTSCAN:
+ {
+ /******* TODO *******/
+ }
+ break;
+ default:
+ MSG_ERR(0x1D27, "SlaveLSS command not implemented", msg_cs);
+ return 0xFF;
+ break;
+ }
+
+ return 0;
+}
+
+UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2)
+{
+ return sendMasterLSSMessage(d,command,dat1,dat2);
+}
+
+UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback)
+{
+ d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
+ d->lss_transfer.Callback=Callback;
+ d->lss_transfer.command=command;
+
+ StopLSS_TIMER(LSS_MSG_TIMER);
+ StartLSS_MSG_TIMER();
+
+ return sendMasterLSSMessage(d,command,dat1,dat2);
+}
+
+UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2)
+{
+ *dat1=d->lss_transfer.dat1;
+ *dat2=d->lss_transfer.dat2;
+ return d->lss_transfer.state;
+}
+
+//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error){printf("_lss_StoreConfiguration\n");}
+//void _lss_ChangeBaudRate(char *BaudRate){printf("_lss_ChangeBaudRate\n");}
+
+#endif