/*
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
*/
/** @defgroup lss Layer Setting Services Object
* @brief LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on
* a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the
* CAN Network.
* The following parameters can be inquired and/or changed by the use of LSS:
* - Node-ID of the CANopen Slave
* - Bit timing parameters of the physical layer (baud rate)
* - LSS address (/2/ Identity Object, Index 1018H)
* @ingroup comobj
*/
#ifndef __LSS_h__
#define __LSS_h__
#define SLSS_ADRESS 0x7E4
#define MLSS_ADRESS 0x7E5
#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
#define LSS_FS_PROCESSING 1
#define LSS_FS_CONFIRMATION 2
typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command);
typedef void (*lss_StoreConfiguration_t)(CO_Data* d,UNS8*,UNS8*);
//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);
//typedef void (*lss_ChangeBaudRate_t)(CO_Data* d,char*);
//void _lss_ChangeBaudRate(char *BaudRate);
struct struct_lss_transfer;
//#include "timer.h"
#ifdef CO_ENABLE_LSS_FS
struct struct_lss_fs_transfer {
UNS32 FS_LSS_ID[4];
UNS8 FS_BitChecked[4];
};
typedef struct struct_lss_fs_transfer lss_fs_transfer_t;
#endif
/* 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;
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 */
CAN_PORT canHandle_t;
/* Time counters to implement a timeout in milliseconds.*/
TIMER_HANDLE timerMSG; /* timerMSG is automatically incremented whenever
* the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0
* when the response LSS have been received.
*/
TIMER_HANDLE timerSDELAY; /* timerSDELAY 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 */
UNS8 LSSanswer; /* stores if a message has been received during a timer period */
#ifdef CO_ENABLE_LSS_FS
UNS32 IDNumber; /* in the master, the LSS address parameter which it currently tries to identify.
* in the slave, the LSS address parameter which is being checked (LSS-ID[sub]). */
UNS8 BitChecked; /* bits of the current IDNumber that are currently checked */
UNS8 LSSSub; /* which part of the LSS-ID is currently checked in IDNumber */
UNS8 LSSNext; /* which LSSSub value will be used in the next request */
UNS8 LSSPos; /* in the slave, which part of the LSS-ID is currently processed*/
UNS8 FastScan_SM; /* the state machine for the FastScan protocol */
TIMER_HANDLE timerFS; /* timerFS is automatically incremented when the FastScan service
* has been requested and reseted to 0 when the protocol ends.
*/
#ifdef CO_ENABLE_LSS_FS
lss_fs_transfer_t lss_fs_transfer;
#endif
#endif
};
#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
* 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);
/**
* @ingroup lss
* @brief Used by the Master application to send a LSS command, WITH response, to the slave.
* @param *d Pointer on a CAN object data structure
* @param command
* @param *dat1
* @param *dat2
* @param Callback 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.
* @return sendLSS(d,command,dat1,dat2)
* The LSS_MSG_TIMER timer is started to control the timeout
*/
UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
/**
* @ingroup lss
* @brief Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
* @param *d Pointer on a CAN object data structure
* @param command The LSS command (unused).
* @param *dat1
* @param *dat2
* @return :
* - 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
* @code
* 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);
* @endcode
*/
UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);
#endif