etisserant@343: /*
etisserant@343: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@343: 
etisserant@343: 
etisserant@343: Copyright (C): Jorge Berzosa
etisserant@343: 
etisserant@343: 
etisserant@343: See COPYING file for copyrights details.
etisserant@343: 
etisserant@343: 
etisserant@343: This library is free software; you can redistribute it and/or
etisserant@343: modify it under the terms of the GNU Lesser General Public
etisserant@343: License as published by the Free Software Foundation; either
etisserant@343: version 2.1 of the License, or (at your option) any later version.
etisserant@343: 
etisserant@343: 
etisserant@343: This library is distributed in the hope that it will be useful,
etisserant@343: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@343: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@343: Lesser General Public License for more details.
etisserant@343: 
etisserant@343: 
etisserant@343: You should have received a copy of the GNU Lesser General Public
etisserant@343: License along with this library; if not, write to the Free Software
etisserant@343: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@343: */
etisserant@343: 
etisserant@343: 
etisserant@343: /*!
etisserant@343: ** @file   lss.c
etisserant@343: ** @author Jorge Berzosa
etisserant@343: ** @date   Mon Oct  22 05:44:32 2007
etisserant@343: **
etisserant@343: ** @brief
etisserant@343: **
etisserant@343: **
etisserant@343: */
etisserant@343: 
etisserant@343: 
etisserant@343: #include "data.h"
etisserant@343: #include "lss.h"
etisserant@343: #include "canfestival.h"
etisserant@370: #include "sysdep.h"
etisserant@343: 
etisserant@482: #ifdef CO_ENABLE_LSS
etisserant@482: 
groke6@361: //#define LSS_TIMEOUT_MS	(TIMEVAL)1000  /* ms */
groke6@361: //#define LSS_FS_TIMEOUT_MS	(TIMEVAL)100  /* ms */
etisserant@343: 
etisserant@343: /* Returns the LSS ident field from a Message struct */
etisserant@436: #define getLSSIdent(msg) (((UNS32)msg->data[4] << 24) | ((UNS32)msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1]))
etisserant@436: 
etisserant@343: 
etisserant@343: /* Returns the LSS switch delay field from a Message struct */
etisserant@343: #define getLSSDelay(msg) ((msg->data[2] << 8) | (msg->data[1]))
etisserant@343: 
etisserant@343: /* Returns the LSS FastScan BitCheck field from a Message struct */
etisserant@343: #define getLSSBitCheck(msg) msg->data[5]
etisserant@343: 
etisserant@343: /* Returns the LSS FastScan LSSSub field from a Message struct */
etisserant@343: #define getLSSSub(msg) msg->data[6]
etisserant@343: 
etisserant@343: /* Returns the LSS FastScan LSSNext field from a Message struct */
etisserant@343: #define getLSSNext(msg) msg->data[7]
etisserant@343: 
etisserant@343: /* Prototypes for internals functions */
groke6@381: UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2);
groke6@381: void LssAlarmMSG(CO_Data* d, UNS32 id);
groke6@381: void LssAlarmSDELAY(CO_Data* d, UNS32 id);
groke6@381: 
groke6@381: 
groke6@381: #define StopLSS_MSG_TIMER(){\
groke6@381:  MSG_WAR(0x3D01, "StopLSS_MSG_TIMER", 0);\
groke6@381:  d->lss_transfer.timerMSG = DelAlarm(d->lss_transfer.timerMSG);}
etisserant@343: 
etisserant@343: #define StartLSS_MSG_TIMER(){\
groke6@381:  MSG_WAR(0x3D02, "StartLSS_MSG_TIMER",0);\
groke6@381:  d->lss_transfer.timerMSG = SetAlarm(d,0,&LssAlarmMSG,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);}
groke6@381:  
groke6@381: #define StopLSS_SDELAY_TIMER(){\
groke6@381:  MSG_WAR(0x3D03, "StopLSS_SDELAY_TIMER", 0);\
groke6@381:  d->lss_transfer.timerSDELAY = DelAlarm(d->lss_transfer.timerSDELAY);}
etisserant@343: 
etisserant@343: #define StartLSS_SDELAY_TIMER(){\
groke6@381:  MSG_WAR(0x3D04, "StartLSS_SDELAY_TIMER",0);\
groke6@381:  d->lss_transfer.timerSDELAY= SetAlarm(d,0,&LssAlarmSDELAY,MS_TO_TIMEVAL(d->lss_transfer.switchDelay),MS_TO_TIMEVAL(d->lss_transfer.switchDelay));}
groke6@381: 
groke6@381: 
groke6@381: #ifdef CO_ENABLE_LSS_FS
groke6@381: /* Prototypes for internals functions */
groke6@381: void LssAlarmFS(CO_Data* d, UNS32 id);
groke6@381: 
groke6@381: #define StopLSS_FS_TIMER(){\
groke6@381:  MSG_WAR(0x3D05, "StopLSS_FS_TIMER", id);\
groke6@381:  d->lss_transfer.timerFS = DelAlarm(d->lss_transfer.timerFS);}
etisserant@343: 
groke6@361: #define StartLSS_FS_TIMER(){\
groke6@381:  MSG_WAR(0x3D06, "StartLSS_FS_TIMER",0);\
groke6@381:  d->lss_transfer.timerFS = SetAlarm(d,0,&LssAlarmFS,MS_TO_TIMEVAL(LSS_FS_TIMEOUT_MS),0);}
groke6@381: #endif
groke6@381: 
groke6@381: 
groke6@381: void LssAlarmMSG(CO_Data* d, UNS32 id)
groke6@381: {	
groke6@381:  	StopLSS_MSG_TIMER();
groke6@381: #ifdef CO_ENABLE_LSS_FS
groke6@381: 	if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
groke6@381: 		if(d->lss_transfer.FastScan_SM==LSS_FS_RESET){
groke6@381:    			/* if at least one node had answered before the timer expired, start the FastScan protocol*/
groke6@381:    			if(d->lss_transfer.LSSanswer!=0){
groke6@381:    				d->lss_transfer.LSSanswer=0;
groke6@381:    				d->lss_transfer.BitChecked=31;
groke6@381:    				d->lss_transfer.IDNumber=0;
groke6@381:    				d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
groke6@381:    				StartLSS_FS_TIMER();
groke6@381:    				sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
groke6@381:    				return;
groke6@381:    			}
groke6@381:    			else{ 
groke6@381:    			
groke6@381:     			d->lss_transfer.state = LSS_FINISHED;
groke6@381:     			/* Inform the application that there aren't not configured nodes in the net  */
groke6@381:     			d->lss_transfer.dat1=1;
groke6@381:    			}
groke6@381:    		}
groke6@381:    		else{
groke6@381: 			/* This should not happen, an error ocurred*/
groke6@381: 			MSG_ERR(0x1D07, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM);
groke6@381:    		}
groke6@381: 	}
groke6@381: 	else
groke6@381: #endif
groke6@381: 	if(d->lss_transfer.command==LSS_IDENT_REMOTE_NON_CONF){
groke6@381: 			MSG_WAR(0x2D08, "LSS timeout. There are not no-configured slaves in the net", 0);
groke6@381: 			d->lss_transfer.state = LSS_FINISHED;
groke6@381: 			d->lss_transfer.dat1=1;
groke6@381: 	}
groke6@381: 	else{
groke6@381: 		MSG_ERR(0x1D09, "LSS timeout. LSS response not received.", 0);
groke6@381:     	MSG_WAR(0x2D0A, "LSS timeout command specifier : ", d->lss_transfer.command);
groke6@381:     	/* Set aborted state */
groke6@381:     	d->lss_transfer.state = LSS_ABORTED_INTERNAL;
groke6@381:     }
groke6@381:     	
groke6@381:     /* Call the user function to inform of the problem.*/
groke6@381:     if(d->lss_transfer.Callback){
groke6@381: 	   	/*If there is a callback, it is responsible of the error*/
groke6@381:     	(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
groke6@381:     }
groke6@381: }
groke6@381:     
groke6@381:     
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: ** @param id                                                                                       
etisserant@343: **/   
groke6@381: void LssAlarmSDELAY(CO_Data* d, UNS32 id)
etisserant@343: {	
groke6@381: 	
groke6@381: 	/* The first switch_delay period expired. Store the node state, change it 
groke6@381:  	 * so no CAN messages will be sent or received, call the ChangeBaudRate function*/
groke6@381:    	if(d->lss_transfer.switchDelayState==SDELAY_FIRST){
groke6@381:    		MSG_WAR(0x3D0B, "LSS switch delay first period expired",0);
groke6@381:     	d->lss_transfer.switchDelayState=SDELAY_SECOND;
groke6@384:     	//(*d->lss_ChangeBaudRate)(d,d->lss_transfer.baudRate);
groke6@384:     	canChangeBaudRate(d->lss_transfer.canHandle_t, d->lss_transfer.baudRate);
groke6@381:     }
groke6@381:     else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */
groke6@381:     	MSG_WAR(0x3D0C, "LSS switch delay second period expired",0);
groke6@381:     	d->lss_transfer.switchDelayState=SDELAY_OFF;
groke6@381:     	StopLSS_SDELAY_TIMER();
groke6@381:     		
groke6@381:     	if (*(d->iam_a_slave))
groke6@381:     		d->canHandle=d->lss_transfer.canHandle_t;
groke6@381:     	else{
groke6@381:     		d->lss_transfer.dat1=0;
groke6@381:     		d->lss_transfer.state=LSS_FINISHED;
groke6@381:     		/* Call the user function */
groke6@381:     		if(d->lss_transfer.Callback){
groke6@381: 	    		(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
groke6@381:     		}
groke6@381:     	}
groke6@381:     }
groke6@381: } 
groke6@381: 
groke6@361: #ifdef CO_ENABLE_LSS_FS
groke6@381: /*!                                                                                                
groke6@381: **                                                                                                 
groke6@381: **                                                                                                 
groke6@381: ** @param d                                                                                        
groke6@381: ** @param id                                                                                       
groke6@381: **/   
groke6@381: void LssAlarmFS(CO_Data* d, UNS32 id)
groke6@381: {	
groke6@381: 	StopLSS_FS_TIMER();
groke6@381: 		
groke6@381: 	switch(d->lss_transfer.FastScan_SM){
groke6@381:    	case LSS_FS_RESET:
groke6@381:    	{
groke6@381:    	   	/* This should not happen, an error ocurred*/
groke6@381: 		MSG_ERR(0x1D0D, "LSS FastScan timeout. FastScan_SM inconsisten state.", d->lss_transfer.FastScan_SM);
groke6@381:    	}
groke6@381:    	break;
groke6@381: 	case LSS_FS_PROCESSING:
groke6@381: 	{
groke6@381: 		/* If there isn't any answer, set the bit */
groke6@381: 		if(d->lss_transfer.LSSanswer==0){
groke6@381: 			UNS32 Mask=0x1;
groke6@381: 			Mask<<=d->lss_transfer.BitChecked;
groke6@381: 			d->lss_transfer.IDNumber|=Mask;
groke6@381: 		}
groke6@381: 		
groke6@381: 		if(d->lss_transfer.BitChecked==0){
groke6@381: 			/* We finished with the current LSS-ID[sub], confirm it */
groke6@381: 			d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION;
groke6@381: 			if(d->lss_transfer.LSSNext<3)d->lss_transfer.LSSNext++;
groke6@381: 		}
groke6@381: 		else{
groke6@381: 			d->lss_transfer.BitChecked--;
groke6@381: 		}
groke6@381:    			
groke6@381:    		d->lss_transfer.LSSanswer=0;
groke6@381:   		StartLSS_FS_TIMER();
groke6@381:    		sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
groke6@381:    		return;
groke6@381:    	}
groke6@381: 	break;
groke6@381: 	case LSS_FS_CONFIRMATION:
groke6@381: 	{
groke6@381: 		if(d->lss_transfer.LSSanswer!=0){
groke6@381: 			d->lss_transfer.LSSanswer=0;
groke6@381: 			
groke6@381: 			if(d->lss_transfer.LSSSub==3){
groke6@381: 				/* The LSS FastScan protocol finished correctly. Restore the parameters */
groke6@381: 				d->lss_transfer.BitChecked=128;
groke6@381: 				d->lss_transfer.FastScan_SM=LSS_FS_RESET;
groke6@381: 				d->lss_transfer.LSSSub=0;
groke6@381: 				d->lss_transfer.LSSNext=0;
groke6@381:    				d->lss_transfer.IDNumber=0;
groke6@381: 				
groke6@381: 				/* Inform the application that the FastScan finished correctly */
groke6@381: 				d->lss_transfer.state = LSS_FINISHED;
groke6@381: 				d->lss_transfer.dat1=0;
groke6@381: 			}
groke6@381: 			else{
groke6@381: 				/* Start with the next LSS-ID[sub] */
groke6@381: 				d->lss_transfer.LSSSub++;
groke6@381: 				d->lss_transfer.BitChecked=31;
groke6@381:    				d->lss_transfer.IDNumber=0;
groke6@381:    				d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
groke6@381:    				StartLSS_FS_TIMER();
groke6@381:    				sendMasterLSSMessage(d,LSS_IDENT_FASTSCAN,0,0);
groke6@381:    				return;
groke6@381: 			}
groke6@381: 		}
groke6@381: 		else{
groke6@381: 			/* This should not happen, an error ocurred*/
groke6@381: 			MSG_ERR(0x1D0E, "LSS FastScan timeout. FastScan response not received.", 0);
groke6@381: 			/* Set aborted state */
groke6@381:     		d->lss_transfer.state = LSS_ABORTED_INTERNAL;
groke6@381: 		}
groke6@381: 	}
groke6@381: 	break;
groke6@381: 	}
groke6@381: 
groke6@381:    	/* Call the user function to inform of the problem.*/
groke6@381:    	if(d->lss_transfer.Callback){
groke6@381:     	/*If there is a callback, it is responsible of the error*/
groke6@381:    		(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
groke6@381:    	}
groke6@381: }
groke6@361: #endif
groke6@381: 
groke6@381: 	
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: **/ 
etisserant@343: void startLSS(CO_Data* d)
etisserant@343: {
etisserant@343: 	/*MSG_WAR(0x3D09, "LSS services started",0);*/
etisserant@343: }
etisserant@343: 
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: **/   
etisserant@343: void stopLSS(CO_Data* d)
etisserant@343: {
etisserant@343: 	/*MSG_WAR(0x3D09, "LSS services stopped",0);*/
etisserant@343: }
etisserant@343: 
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: ** @param cob_id                                                                                   
etisserant@343: **                                                                                                 
etisserant@343: ** @return                                                                                         
etisserant@343: **/  
etisserant@343: UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
etisserant@343: {
etisserant@343:   Message m;
etisserant@343:   UNS8 i;
etisserant@343:   
etisserant@343:   if (!d->CurrentCommunicationState.csLSS){
groke6@381:   	MSG_WAR(0x2D17, "unable to send the LSS message, not in the proper state =>", d->nodeState);
groke6@361:   	return 0xFF;
etisserant@343:   }
etisserant@343:    
etisserant@343:   for(i=1;i<8;i++)m.data[i]=0;
etisserant@343:   m.len = 8;
etisserant@343:   m.rtr = NOT_A_REQUEST;
etisserant@343:   m.data[0]=command;
etisserant@370:   m.cob_id=UNS16_LE(SLSS_ADRESS);
etisserant@343:   
etisserant@343:   /* Tha data sent with the msg depends on the command */
etisserant@343:   switch(command){
etisserant@343:   case LSS_INQ_NODE_ID: /* Inquire Node-ID */
etisserant@343:   	m.data[1]=*(UNS8 *)dat1;
etisserant@343:   	break;
etisserant@343:   case LSS_CONF_NODE_ID: /* Configure Node-ID */
etisserant@343:   case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
etisserant@343:   case LSS_CONF_STORE: /* Store Configured Parameters */
etisserant@343:   	m.data[1]=*(UNS8 *)dat1;
etisserant@343:   	m.data[2]=*(UNS8 *)dat2;
etisserant@343:   	break; 
etisserant@343:   case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
etisserant@343:   case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
etisserant@343:   case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
etisserant@343:   case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
etisserant@343: 	m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
etisserant@343: 	m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
etisserant@343: 	m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF);
etisserant@343: 	m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF);
etisserant@343: 	break;
etisserant@343:   case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response*/
etisserant@343:   case LSS_IDENT_SLAVE: /* LSS Identify Slave */
etisserant@343:   case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
etisserant@343:   	break;
etisserant@343:   default:
groke6@381:   	MSG_ERR(0x1D18, "send Slave LSS command not implemented", command);
etisserant@343:   	return 0xFF;
etisserant@343:   }
etisserant@343:   
etisserant@343:   return canSend(d->canHandle,&m);
etisserant@343: }
groke6@384: 			
groke6@384: /* If a baud rate is not supported just comment the line. */
groke6@384: static UNS8 CO_TranslateBaudRate(char* optarg){
groke6@384: 	if(!strcmp( optarg, "1M")) return 0x00;
groke6@384: 	if(!strcmp( optarg, "800K")) return 0x01;
groke6@384: 	if(!strcmp( optarg, "500K")) return 0x02;
groke6@384: 	if(!strcmp( optarg, "250K")) return 0x03;
groke6@384: 	if(!strcmp( optarg, "125K")) return 0x04;
groke6@384: 	if(!strcmp( optarg, "100K")) return 0x05;
groke6@384: 	if(!strcmp( optarg, "50K")) return 0x06;
groke6@384: 	if(!strcmp( optarg, "20K")) return 0x07;
groke6@384: 	if(!strcmp( optarg, "10K")) return 0x08;
groke6@399: 	return 0xFF;
groke6@384: }
etisserant@343: 
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: ** @param cob_id                                                                                   
etisserant@343: **                                                                                                 
etisserant@343: ** @return                                                                                         
etisserant@343: **/  
etisserant@343: UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
etisserant@343: {
etisserant@343:   Message m;
etisserant@343:   UNS8 i;
groke6@381:   UNS8 res;
groke6@381:   UNS8 hasResponse=0;
groke6@381:    
etisserant@343:   for(i=1;i<8;i++)m.data[i]=0;
etisserant@343:   m.len = 8;
etisserant@343:   m.rtr = NOT_A_REQUEST;
etisserant@343:   m.data[0]=command;
etisserant@370:   m.cob_id=UNS16_LE(MLSS_ADRESS);
etisserant@343:   
etisserant@343:   /* Tha data sent with the msg depends on the command */	
etisserant@343:   switch(command){
groke6@381:   case LSS_CONF_NODE_ID: /* Configure Node-ID */
groke6@381:   	hasResponse=1;
etisserant@343:   case LSS_SM_GLOBAL: /* Switch Mode Global */
etisserant@343:   	m.data[1]=*(UNS8 *)dat1;
etisserant@343:   	break;
etisserant@343:   case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
groke6@384:   	
etisserant@343:   	m.data[1]=*(UNS8 *)dat1;
groke6@384:   	d->lss_transfer.baudRate=*(char **)dat2;
groke6@384:   	
groke6@399:   	if((m.data[2]=CO_TranslateBaudRate(d->lss_transfer.baudRate))!=0xFF){
groke6@384:   		hasResponse=1;
groke6@384: 		break;	 
groke6@384:   	}
groke6@384:   		
groke6@384: 	MSG_ERR(0x1D19, "Master-> Baud rate not supported",0);
groke6@384: 	d->lss_transfer.dat1=0xFF;
groke6@384: 	
groke6@384: 	/* if bit timing is not supported comment the previous code and uncomment the following one*/
groke6@384: 	/*{
groke6@381: 		MSG_ERR(0x1D1A, "Master-> Bit timing not supported",0);
groke6@381: 		d->lss_transfer.dat1=0x01;
groke6@384: 	}*/
groke6@384: 	
groke6@381: 	d->lss_transfer.dat2=0;
groke6@381:  	/* If there is a callback, it is responsible of the error */
groke6@381: 	if(d->lss_transfer.Callback)
groke6@384: 	   	(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
groke6@381: 	return 0xFF;
groke6@399:   	//break;
etisserant@343:   case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
etisserant@343: 	m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
etisserant@343: 	m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
groke6@381: 	if(d->lss_transfer.baudRate!="none"){
groke6@381: 		d->lss_transfer.switchDelay=(UNS16)(*(UNS32*)dat1 & 0xFFFF);
groke6@381: 		d->lss_transfer.switchDelayState=SDELAY_FIRST;
groke6@384: 		d->lss_transfer.canHandle_t=d->canHandle;
groke6@381: 		res=canSend(d->canHandle,&m);
groke6@381:   		if(res==0){
groke6@381:   			StartLSS_SDELAY_TIMER();
groke6@381:   			d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
groke6@381:   		}
groke6@381:   		return res;	
groke6@381: 	}
groke6@381: 	else{
groke6@381: 		MSG_ERR(0x1D1B, "Master-> Baud rate not specified",0);
groke6@381: 		d->lss_transfer.dat1=1;
groke6@381:     	/* If there is a callback, it is responsible of the error */
groke6@381:     	if(d->lss_transfer.Callback){
groke6@381: 	    	(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
groke6@381:     	}
groke6@381: 		return 0xFF;
groke6@381: 	}
groke6@399:   	//break;
groke6@381:   case LSS_SM_SELECTIVE_SERIAL:
groke6@381:   case LSS_IDENT_REMOTE_SERIAL_HIGH:
groke6@381:   	hasResponse=1;
etisserant@343:   case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */
etisserant@343:   case LSS_SM_SELECTIVE_PRODUCT:
etisserant@343:   case LSS_SM_SELECTIVE_REVISION:
etisserant@343:   case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */
etisserant@343:   case LSS_IDENT_REMOTE_PRODUCT:
etisserant@343:   case LSS_IDENT_REMOTE_REV_LOW:
etisserant@343:   case LSS_IDENT_REMOTE_REV_HIGH:
etisserant@343:   case LSS_IDENT_REMOTE_SERIAL_LOW:
etisserant@343: 	m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF);
etisserant@343: 	m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF);
etisserant@343: 	m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF);
etisserant@343: 	m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF);
etisserant@343: 	break;
groke6@381: 	
etisserant@343:   case LSS_CONF_STORE: /* Store Configured Parameters */
etisserant@343:   case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */
etisserant@343:   case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
etisserant@343:   case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
etisserant@343:   case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
etisserant@343:   case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
etisserant@343:   case LSS_INQ_NODE_ID: /* Inquire Node-ID */
groke6@381: 	 hasResponse=1;
etisserant@343:   	break;
groke6@361: #ifdef CO_ENABLE_LSS_FS
etisserant@343:   case LSS_IDENT_FASTSCAN:
etisserant@343: 		m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF);
etisserant@343: 		m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF);
etisserant@343: 		m.data[3]=(UNS8)(d->lss_transfer.IDNumber>>16 & 0xFF);
etisserant@343: 		m.data[4]=(UNS8)(d->lss_transfer.IDNumber>>24 & 0xFF);
etisserant@343: 		m.data[5]=d->lss_transfer.BitChecked;
etisserant@343: 		m.data[6]=d->lss_transfer.LSSSub;
etisserant@343: 		m.data[7]=d->lss_transfer.LSSNext;
groke6@381: 		/* it will generate a response only if it is the start of the FastScan protocol*/
groke6@381: 		if(d->lss_transfer.FastScan_SM==LSS_FS_RESET)hasResponse=1;
etisserant@343: 	break;
groke6@361: #endif
etisserant@343:   default:
groke6@381:    	MSG_ERR(0x1D1C, "send Master LSS command not implemented", command);
etisserant@343:   	return 0xFF;
etisserant@343:   }
etisserant@343: 	
groke6@381:   res=canSend(d->canHandle,&m);
groke6@381:   if(res==0 && hasResponse==1){
groke6@381:   	StartLSS_MSG_TIMER();
groke6@381:   	d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
groke6@381:   }
groke6@381:   return res;
etisserant@343: }
etisserant@343: 
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: ** @param cob_id                                                                                   
etisserant@343: **                                                                                                 
etisserant@343: ** @return                                                                                         
etisserant@343: **/  
etisserant@343: UNS8 sendLSS(CO_Data* d, UNS8 command,void *dat1,void *dat2)
etisserant@343: {
etisserant@343:   UNS8 res=1;
etisserant@343:   
etisserant@343:   /* Tha data sent with the msg depends on the command and if the sender is a master or a slave */
etisserant@343:   if (*(d->iam_a_slave)){ 
etisserant@343:   	res = sendSlaveLSSMessage(d, command,dat1,dat2);
etisserant@343:   }
etisserant@343:   else {/* It is a Master */
etisserant@343:   	res = sendMasterLSSMessage(d, command,dat1,dat2);
etisserant@343:   }
etisserant@343:   return res ;
etisserant@343: }
etisserant@343: 
etisserant@343: 
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: ** @param m                                                                                        
etisserant@343: **                                                                                                 
etisserant@343: ** @return                                                                                         
etisserant@343: **/ 
etisserant@343: UNS8 proceedLSS_Master(CO_Data* d, Message* m )
etisserant@343: { 
etisserant@343: 	UNS8 msg_cs;
etisserant@343: 	UNS32 Dat1=0;
etisserant@343: 	UNS8 Dat2=0;
etisserant@343: 	
groke6@361: 	if(d->lss_transfer.state!=LSS_TRANS_IN_PROGRESS)
groke6@361: 	{
groke6@361: 		//MSG_WAR(0x3D0D, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]);
groke6@361: 		//return 0;
groke6@361: 		goto ErrorProcessMaster;
groke6@361: 	}
groke6@361: 	
groke6@381:  	MSG_WAR(0x3D1E, "MasterLSS proceedLSS; command ", m->data[0]);
etisserant@343: 	
etisserant@343:    	switch(msg_cs=m->data[0]){
etisserant@343:    		case LSS_INQ_NODE_ID: /* Inquire Node-ID */
groke6@361:    			if(d->lss_transfer.command!=LSS_INQ_NODE_ID)goto ErrorProcessMaster;
etisserant@343:    			Dat1=m->data[1];
etisserant@343:    			break;
etisserant@343:    		case LSS_CONF_NODE_ID: /* Configure Node-ID */
etisserant@343:    		case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
etisserant@343:    		case LSS_CONF_STORE: /* Store Configured Parameters */
groke6@361:    			if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster;
etisserant@343:    			Dat1=m->data[1];
etisserant@343:    			Dat2=m->data[2];
etisserant@343:    			break;
etisserant@343:    		case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
etisserant@343:    		case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
etisserant@343:    		case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
etisserant@343:    		case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
groke6@361:    			if(d->lss_transfer.command!=msg_cs)goto ErrorProcessMaster;
etisserant@343:    			Dat1=getLSSIdent(m);
etisserant@343:  			break;
etisserant@343:  		case LSS_IDENT_SLAVE: /* LSS Identify Slave */
groke6@361: #ifdef CO_ENABLE_LSS_FS
groke6@361:    			if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){
groke6@361:    				/* A message arrived during the timer period */
groke6@361:    				d->lss_transfer.LSSanswer=1;
groke6@361:    				return 0;
groke6@361:   			}
groke6@361:   			else
groke6@361: #endif
groke6@361: 			if(d->lss_transfer.command!=LSS_IDENT_REMOTE_VENDOR && \
groke6@361:  				d->lss_transfer.command!=LSS_IDENT_REMOTE_PRODUCT && \
groke6@361:  				d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_LOW && \
groke6@361:  				d->lss_transfer.command!=LSS_IDENT_REMOTE_REV_HIGH && \
groke6@361:  				d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_LOW && \
groke6@361:  				d->lss_transfer.command!=LSS_IDENT_REMOTE_SERIAL_HIGH )
groke6@361:  					goto ErrorProcessMaster;
etisserant@343:   		break;
etisserant@343:  		case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */
groke6@361:  			if(d->lss_transfer.command!=LSS_SM_SELECTIVE_VENDOR && \
groke6@361:  				d->lss_transfer.command!=LSS_SM_SELECTIVE_PRODUCT && \
groke6@361:  				d->lss_transfer.command!=LSS_SM_SELECTIVE_REVISION && \
groke6@361:  				d->lss_transfer.command!=LSS_SM_SELECTIVE_SERIAL )
groke6@361:  					goto ErrorProcessMaster;
groke6@361:  			break;
etisserant@343:    		case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */
groke6@361:    			if(d->lss_transfer.command!=LSS_IDENT_REMOTE_NON_CONF)goto ErrorProcessMaster;
etisserant@343:    			break;
etisserant@343:    		default:
groke6@381:    			MSG_ERR(0x1D1F, "Master LSS command not implemented", msg_cs);
etisserant@343:   			return 0xFF;
etisserant@343:    	}
groke6@361: 	
groke6@381: 	StopLSS_MSG_TIMER();
groke6@361:     d->lss_transfer.state = LSS_FINISHED;
groke6@361:     	
etisserant@343: 	d->lss_transfer.dat1=Dat1;
etisserant@343: 	d->lss_transfer.dat2=Dat2;
etisserant@343:  	/* If there is a callback, it is responsible of the received response */
etisserant@343: 	if(d->lss_transfer.Callback)
groke6@361:     	(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
etisserant@343:     			
etisserant@343:    return 0;
groke6@361:    
groke6@361: ErrorProcessMaster:
groke6@381:     MSG_WAR(0x3D20, "MasterLSS proceedLSS; unexpected message arrived;command ", m->data[0]);
groke6@361: 	return 0xFF;
groke6@361: 		
etisserant@343: }
etisserant@343: 
etisserant@343: /*!                                                                                                
etisserant@343: **                                                                                                 
etisserant@343: **                                                                                                 
etisserant@343: ** @param d                                                                                        
etisserant@343: ** @param m                                                                                        
etisserant@343: **                                                                                                 
etisserant@343: ** @return                                                                                         
etisserant@343: **/ 
etisserant@343: UNS8 proceedLSS_Slave(CO_Data* d, Message* m )
etisserant@343: {  
etisserant@343: 	UNS8 msg_cs;
etisserant@343: 	
groke6@381:   	MSG_WAR(0x3D21, "SlaveLSS proceedLSS; command ", m->data[0]);
etisserant@343:   	
etisserant@343:    	switch(msg_cs=m->data[0]){
etisserant@343:    	case LSS_SM_GLOBAL:		/* Switch Mode Global */
etisserant@343:    		/* if there is not a mode change break*/
etisserant@343:    		if(m->data[1] == d->lss_transfer.mode){
groke6@381:    			MSG_WAR(0x3D22, "SlaveLSS already in the mode ", m->data[1]);
etisserant@343:    			break;
etisserant@343:    		}
etisserant@343:    		
etisserant@343: 		if(m->data[1]==LSS_CONFIGURATION_MODE)	{
groke6@381: 			MSG_WAR(0x3D23, "SlaveLSS switching to configuration mode ", 0);
etisserant@343: 			/* Store the NodeId in case it will be changed */
groke6@381: 			//d->lss_transfer.nodeID=getNodeId(d);
etisserant@343: 			d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
etisserant@343: 		}
etisserant@343: 		else if(m->data[1]==LSS_WAITING_MODE){
groke6@381: 			MSG_WAR(0x3D24, "SlaveLSS switching to operational mode ", 0);
etisserant@343: 			
groke6@381: 			/* If the nodeID has changed update it and put the node state to Initialisation. */
groke6@381: 			if(d->lss_transfer.nodeID!=getNodeId(d)){
groke6@381: 				if(getNodeId(d)==0xFF){/* The nodeID was 0xFF; initialize the application*/
groke6@381: 					MSG_WAR(0x3D25, "The node Id has changed. Reseting to Initialisation state",0);
etisserant@343: 					setNodeId(d, d->lss_transfer.nodeID);
etisserant@343: 					setState(d, Initialisation);
etisserant@343: 				}
groke6@381: 				else{/* The nodeID will be changed on NMT_Reset Request*/
groke6@381: 				}
etisserant@343: 			}
etisserant@343: 			d->lss_transfer.mode=LSS_WAITING_MODE;
etisserant@343: 		}
etisserant@343: 	break;
etisserant@343: 	case LSS_CONF_NODE_ID: /* Configure Node-ID */
etisserant@343: 	{ 
etisserant@343: 		UNS8 error_code=0;
etisserant@343: 		UNS8 spec_error=0;
etisserant@343: 			
etisserant@343: 		if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
etisserant@343: 			if(m->data[1]>127 && m->data[1]!=0xFF){
groke6@381: 				MSG_ERR(0x1D26, "NodeID out of range",0);
etisserant@343: 				error_code=1; /* NodeID out of range */
etisserant@343: 			}
etisserant@343: 			else{
etisserant@343: 				d->lss_transfer.nodeID=m->data[1];
etisserant@343: 			}
etisserant@343: 		}
etisserant@343: 		else{
groke6@381: 			MSG_WAR(0x3D27, "SlaveLSS not in configuration mode",0);
groke6@361: 			//error_code=0xFF;
groke6@361: 			break;
etisserant@343: 		}
etisserant@343: 		sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
etisserant@343: 	}	
etisserant@343: 	break;
etisserant@343: 	case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
etisserant@343: 	{
etisserant@343: 		UNS8 error_code=0;
etisserant@343: 		UNS8 spec_error=0;
etisserant@343: 			
etisserant@343: 		if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){
groke6@384: 			/* If a baud rate is not supported just comment the line. */
groke6@384: 			switch(m->data[2]){
groke6@384: 			case 0x00:d->lss_transfer.baudRate="1M";break;
groke6@384: 			case 0x01:d->lss_transfer.baudRate="800K";break;
groke6@384: 			case 0x02:d->lss_transfer.baudRate="500K";break;
groke6@384: 			case 0x03:d->lss_transfer.baudRate="250K";break;
groke6@384: 			case 0x04:d->lss_transfer.baudRate="125K";break;
groke6@384: 			case 0x05:d->lss_transfer.baudRate="100K";break;
groke6@384: 			case 0x06:d->lss_transfer.baudRate="50K";break;
groke6@384: 			case 0x07:d->lss_transfer.baudRate="20K";break;
groke6@384: 			case 0x08:d->lss_transfer.baudRate="10K";break;
groke6@384: 			default:
groke6@384: 				MSG_ERR(0x1D28, "Baud rate not supported",0);
groke6@384: 				error_code=0xFF; /* Baud rate not supported*/
groke6@384: 				break; 		
etisserant@343: 			}
etisserant@343: 		}
etisserant@343: 		else{
groke6@381: 			MSG_WAR(0x3D2A, "SlaveLSS not in configuration mode",0);
groke6@361: 			//error_code=0xFF;
groke6@361: 			break;
etisserant@343: 		}
etisserant@343: 		
groke6@384: 		/* if bit timing is not supported comment the previous code and uncomment the following */
groke6@384: 		/*{
groke6@384: 			MSG_ERR(0x1D29, "Bit timing not supported",0);
groke6@384: 			error_code=0x01; // bit timing not supported 
groke6@384: 		}*/
groke6@384: 			
etisserant@343: 		sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
etisserant@343: 	}
etisserant@343: 	break;
etisserant@343: 	case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */
etisserant@343: 		
etisserant@343: 		if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){
groke6@381: 			MSG_ERR(0x3D2B, "SlaveLSS not in configuration mode",0);
etisserant@343: 			break;
etisserant@343: 		}
etisserant@343: 		
etisserant@343: 		if(d->lss_transfer.baudRate!="none"){
etisserant@343: 			d->lss_transfer.switchDelay=getLSSDelay(m);
groke6@381: 			MSG_WAR(0x3D2C, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay);
etisserant@343: 			d->lss_transfer.switchDelayState=SDELAY_FIRST;
groke6@381: 			//d->lss_transfer.currentState=getState(d);
groke6@381: 			//setState(d, LssTimingDelay);
groke6@381: 			d->lss_transfer.canHandle_t=d->canHandle;
groke6@381: 			d->canHandle=NULL;
etisserant@343: 			StartLSS_SDELAY_TIMER();
etisserant@343: 		}
etisserant@343: 	break;
etisserant@343: 	case LSS_CONF_STORE: /* Store Configured Parameters */
etisserant@343: 	{
etisserant@343: 		UNS8 error_code=0;
etisserant@343: 		UNS8 spec_error=0;
etisserant@343: 		
etisserant@343: 		if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ 
etisserant@343: 			if(d->lss_StoreConfiguration){
etisserant@343: 				 /* call lss_StoreConfiguration with NodeId */
groke6@381: 	  			(*d->lss_StoreConfiguration)(d,&error_code,&spec_error);
etisserant@343: 			}
etisserant@343: 			else{
groke6@381: 				MSG_ERR(0x1D2E, "Store configuration not supported",0);
etisserant@343: 				error_code=1; /* store configuration is not supported */
etisserant@343: 			}	
etisserant@343: 		}
etisserant@343: 		else{
groke6@381: 			MSG_WAR(0x3D2F, "SlaveLSS not in configuration mode",0);
groke6@361: 			//error_code=0xFF;
groke6@361: 			break;
etisserant@343: 		}
etisserant@343: 		sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error);
etisserant@343: 	}
etisserant@343: 	break;
etisserant@343: 	case LSS_SM_SELECTIVE_VENDOR:	/* Switch Mode Selective */
etisserant@343: 	case LSS_SM_SELECTIVE_PRODUCT:
etisserant@343: 	case LSS_SM_SELECTIVE_REVISION:
etisserant@343: 	case LSS_SM_SELECTIVE_SERIAL:
etisserant@343: 	{
etisserant@343: 		UNS32 errorCode;
etisserant@343:   		const indextable *ptrTable;
etisserant@343:   		ODCallback_t *Callback;
etisserant@343:   		UNS32 _SpecificNodeInfo;
etisserant@343:   
etisserant@343:   		if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
etisserant@343:   		{
groke6@381:   			MSG_ERR(0x1D30, "Switch Mode Selective only supported in operational mode",0);
etisserant@343:   			break;
etisserant@343:   		}
etisserant@343:   			
etisserant@343: 		_SpecificNodeInfo=getLSSIdent(m);
etisserant@343: 				
etisserant@343: 		ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
etisserant@343: 		if(_SpecificNodeInfo==*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_SM_SELECTIVE_VENDOR-1)].pObject){
etisserant@343: 			
etisserant@343: 			d->lss_transfer.addr_sel_match|=(0x01<<(msg_cs-LSS_SM_SELECTIVE_VENDOR));
etisserant@343: 			/* If all the fields has been set */
etisserant@343: 			if(d->lss_transfer.addr_sel_match==0x0F){
etisserant@343: 				
groke6@381: 				MSG_WAR(0x3D31, "SlaveLSS switching to configuration mode ", 0);
etisserant@343: 				d->lss_transfer.addr_sel_match=0;
etisserant@343: 				d->lss_transfer.nodeID=getNodeId(d);
etisserant@343: 				d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
etisserant@343: 
etisserant@343: 				sendSlaveLSSMessage(d,LSS_SM_SELECTIVE_RESP,0,0);
etisserant@343: 			}
etisserant@343: 		}	
etisserant@343: 		else {
groke6@381: 			MSG_WAR(0x3D32, "LSS identity field doesn't match ", _SpecificNodeInfo);
etisserant@343: 			d->lss_transfer.addr_sel_match=0;
etisserant@343: 		}	
etisserant@343: 	}	
etisserant@343: 	break;
etisserant@343: 	case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */
etisserant@343: 	case LSS_IDENT_REMOTE_PRODUCT:
etisserant@343: 	case LSS_IDENT_REMOTE_REV_LOW:
etisserant@343: 	case LSS_IDENT_REMOTE_REV_HIGH:
etisserant@343: 	case LSS_IDENT_REMOTE_SERIAL_LOW:
etisserant@343: 	case LSS_IDENT_REMOTE_SERIAL_HIGH:
etisserant@343: 	{
etisserant@343: 		UNS32 errorCode;
etisserant@343:   		const indextable *ptrTable;
etisserant@343:   		ODCallback_t *Callback;
etisserant@343:   		UNS32 _SpecificNodeInfo;
etisserant@343:   		
etisserant@343: 		_SpecificNodeInfo=getLSSIdent(m);
etisserant@343: 		
etisserant@343: 		ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
etisserant@343: 			
etisserant@343: 		/* Check if the data match the identity object. */
etisserant@343: 		switch(msg_cs){
etisserant@343: 		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;
etisserant@343: 		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;
etisserant@343: 		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;
etisserant@343: 		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;
etisserant@343: 		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;
etisserant@343: 		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;
etisserant@343: 		}
etisserant@343: 		/* If all the fields has been set.. */
etisserant@343: 		if(d->lss_transfer.addr_ident_match==0x3F){
groke6@381: 			MSG_WAR(0x3D33, "SlaveLSS identified ", 0);
etisserant@343: 			d->lss_transfer.addr_ident_match=0;
etisserant@343: 			sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
etisserant@343: 		}
etisserant@343: 		else if(d->lss_transfer.addr_ident_match==0){
groke6@381: 			MSG_WAR(0x3D34, "LSS identify field doesn't match ", _SpecificNodeInfo);
etisserant@343: 		}
etisserant@343: 	}
etisserant@343: 	break;
etisserant@343: 	case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */
etisserant@343: 	{
etisserant@343: 		if(getNodeId(d)==0xFF){		
groke6@381: 			MSG_WAR(0x3D35, "SlaveLSS non-configured ", 0);
etisserant@343: 			sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0);
etisserant@343: 		}
etisserant@343: 		else{
groke6@381: 			MSG_WAR(0x3D36, "SlaveLSS already configured ", 0);
etisserant@343: 		}
etisserant@343: 	}
etisserant@343: 	break;
etisserant@343: 	case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */
etisserant@343: 	case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */
etisserant@343: 	case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */
etisserant@343: 	case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */
etisserant@343: 	if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
etisserant@343: 	{
etisserant@343: 	
etisserant@343: 		UNS32 errorCode;
etisserant@343:   		const indextable *ptrTable;
etisserant@343:   		ODCallback_t *Callback;
etisserant@343:   		UNS32 _SpecificNodeInfo;
etisserant@343:   
etisserant@343:   		ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
etisserant@343:   		_SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject;
groke6@381:   		MSG_WAR(0x3D37, "SlaveLSS identity field inquired ", _SpecificNodeInfo);
etisserant@343: 			
etisserant@343: 		sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0);
etisserant@343: 	}
etisserant@343: 	break;
etisserant@343: 	case LSS_INQ_NODE_ID: /* Inquire Node-ID */
etisserant@343: 		if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE)
etisserant@343: 		{
etisserant@343: 			UNS8 NodeID;
etisserant@343: 	
etisserant@343: 			NodeID=getNodeId(d);
groke6@381: 			MSG_WAR(0x3D38, "SlaveLSS Node ID inquired ", NodeID);
etisserant@343: 			sendSlaveLSSMessage(d,msg_cs,&NodeID,0);
etisserant@343: 		}
etisserant@343: 		else{
groke6@381: 			MSG_WAR(0x3D39, "SlaveLSS not in configuration mode",0);
groke6@361: 		}
groke6@361: 	break;
groke6@361: #ifdef CO_ENABLE_LSS_FS
etisserant@343: 	case LSS_IDENT_FASTSCAN:
etisserant@343: 	{
groke6@361: 		/* If the nodeID isn't 0xFF the slave shall not participate  */
groke6@361: 		if(getNodeId(d)!=0xFF)break;
groke6@361: 		if(getLSSBitCheck(m)==128)d->lss_transfer.FastScan_SM=LSS_FS_RESET;
groke6@361: 		
groke6@361:    		switch(d->lss_transfer.FastScan_SM){
groke6@361:    		case LSS_FS_RESET:
groke6@361:    		{
groke6@361:    			UNS32 errorCode;
groke6@361:   			const indextable *ptrTable;
groke6@361:   			ODCallback_t *Callback;
groke6@361:   				
groke6@381: 			MSG_WAR(0x3D3A, "SlaveLSS Reseting LSSPos", 0);
groke6@361: 			d->lss_transfer.LSSPos=0;
groke6@361: 			d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;
groke6@361: 			
groke6@361:   			ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
groke6@361:   			d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject;
groke6@361: 			
groke6@361: 			sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
groke6@361:    		}
groke6@361: 		break;
groke6@361: 		case LSS_FS_PROCESSING:/*if(getLSSBitCheck(m)<32)*/
groke6@361: 			if(d->lss_transfer.LSSPos==getLSSSub(m))
groke6@361: 			{
groke6@361: 				UNS32 Mask=0xFFFFFFFF<<getLSSBitCheck(m);
groke6@361: 				
groke6@381: 				MSG_WAR(0x3D3B, "SlaveLSS FastScan IDNumber", getLSSIdent(m));
groke6@381: 				MSG_WAR(0x3D3C, "SlaveLSS FastScan BitMask ", Mask);
groke6@381: 				MSG_WAR(0x3D3D, "SlaveLSS FastScan LSS-ID  ", d->lss_transfer.IDNumber);
groke6@361: 				
groke6@361: 				if((getLSSIdent(m) & Mask)==(d->lss_transfer.IDNumber & Mask))
groke6@361: 				{
groke6@361: 					sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
groke6@361: 				}
groke6@361: 				
groke6@361: 				if(getLSSBitCheck(m)==0)
groke6@361: 				{
groke6@361: 					d->lss_transfer.FastScan_SM=LSS_FS_CONFIRMATION;
groke6@361: 				}
groke6@361: 			}
groke6@361: 			break;
groke6@361: 		case LSS_FS_CONFIRMATION:
groke6@361: 			if(d->lss_transfer.LSSPos==getLSSSub(m))
groke6@361: 			{
groke6@361: 				if(getLSSIdent(m)==d->lss_transfer.IDNumber)
groke6@361: 				{
groke6@361: 					/* Current LSS-ID[sub] confirmed correctly */
groke6@381: 					MSG_WAR(0x3D3E, "SlaveLSS FastScan IDNumber and LSS-ID match=>", d->lss_transfer.IDNumber);
groke6@361: 					if(d->lss_transfer.LSSPos==3)
groke6@361: 					{
groke6@361: 						/* All LSS-ID[sub] identified correctly, switching to configuration mode */
groke6@381: 						MSG_WAR(0x3D3F, "SlaveLSS switching to configuration mode ", 0);
groke6@361: 			   			d->lss_transfer.nodeID=getNodeId(d);
groke6@361: 			   			d->lss_transfer.mode=LSS_CONFIGURATION_MODE;
groke6@361: 			    		d->lss_transfer.FastScan_SM=LSS_FS_RESET;
groke6@361: 			    		d->lss_transfer.LSSPos=0xFF;
groke6@361: 					}		
groke6@361: 					else
groke6@361: 					{
groke6@361: 						/* Switch to the next LSS-ID[sub] */
groke6@361: 						UNS32 errorCode;
groke6@361:   						const indextable *ptrTable;
groke6@361:   						ODCallback_t *Callback;
groke6@361: 		
groke6@361: 						d->lss_transfer.LSSPos=getLSSNext(m);
groke6@361: 						ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback);
groke6@361:   						d->lss_transfer.IDNumber=*(UNS32*)ptrTable->pSubindex[d->lss_transfer.LSSPos+1].pObject;
groke6@361: 						d->lss_transfer.FastScan_SM=LSS_FS_PROCESSING;						
groke6@361: 					}
groke6@361: 					sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0);
groke6@361: 				}
groke6@361: 			}
groke6@361: 			break;
groke6@361: 		}
etisserant@343: 	}	
etisserant@343: 	break;
groke6@361: #endif
etisserant@343:    	default:
groke6@381:    		MSG_ERR(0x1D40, "SlaveLSS command not implemented", msg_cs);
etisserant@343:   		return 0xFF;
etisserant@343:    	}
etisserant@343:    
etisserant@343:     return 0;
etisserant@343: }
etisserant@343: 
groke6@381: /*UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2)
etisserant@343: {
etisserant@343: 	return sendMasterLSSMessage(d,command,dat1,dat2);
groke6@381: }*/
groke6@381: 
groke6@381: UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback)
etisserant@343: {
groke6@381: 	//d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
etisserant@343: 	d->lss_transfer.Callback=Callback;
etisserant@343: 	d->lss_transfer.command=command;
etisserant@343: 	
groke6@381: 	StopLSS_MSG_TIMER();
groke6@381:   	//StartLSS_MSG_TIMER();
etisserant@343:   	
etisserant@343: 	return sendMasterLSSMessage(d,command,dat1,dat2);
etisserant@343: }
etisserant@343: 
etisserant@343: UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2)
etisserant@343: { 
etisserant@343:   *dat1=d->lss_transfer.dat1;
etisserant@343:   *dat2=d->lss_transfer.dat2;
etisserant@343:   return d->lss_transfer.state;
etisserant@343: }
etisserant@343: 
etisserant@343: //void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error){printf("_lss_StoreConfiguration\n");}
etisserant@343: 
etisserant@343: #endif