Fixed some build errors and warnigs, thanks to Martin Hollenweger (geautomotive.eu)
/*
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