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: #ifdef CO_ENABLE_LSS etisserant@343: etisserant@343: #include "data.h" etisserant@343: #include "lss.h" etisserant@343: #include "canfestival.h" etisserant@343: etisserant@343: #define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */ etisserant@343: etisserant@343: /* Returns the LSS ident field from a Message struct */ etisserant@343: #define getLSSIdent(msg) ((msg->data[4] << 24) | (msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1])) 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 */ etisserant@343: void LssAlarm(CO_Data* d, UNS32 id); etisserant@343: etisserant@343: #define StopLSS_TIMER(id){\ etisserant@343: MSG_WAR(0x3D01, "StopLSS_TIMER for timer : ", id);\ etisserant@343: d->lss_transfer.timers[id] = DelAlarm(d->lss_transfer.timers[id]);} etisserant@343: etisserant@343: #define StartLSS_MSG_TIMER(){\ etisserant@343: MSG_WAR(0x3D02, "StartLSS_TIMER for MSG_TIMER",0);\ etisserant@343: d->lss_transfer.timers[LSS_MSG_TIMER] = SetAlarm(d,LSS_MSG_TIMER,&LssAlarm,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);} etisserant@343: etisserant@343: #define StartLSS_SDELAY_TIMER(){\ etisserant@343: MSG_WAR(0x3D03, "StartLSS_TIMER for SDELAY_TIMER",0);\ etisserant@343: 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));} etisserant@343: etisserant@343: etisserant@343: /*! etisserant@343: ** etisserant@343: ** etisserant@343: ** @param d etisserant@343: ** @param id etisserant@343: **/ etisserant@343: //struct timeval current_time,init_time; etisserant@343: void LssAlarm(CO_Data* d, UNS32 id) etisserant@343: { etisserant@343: /*unsigned long time_period; etisserant@343: etisserant@343: gettimeofday(¤t_time,NULL); etisserant@343: time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec; etisserant@343: printf("%3ld.%3ld.%3ld --",time_period/1000000,(time_period%1000000)/1000,time_period%1000);*/ etisserant@343: etisserant@343: switch(id){ etisserant@343: case LSS_MSG_TIMER: etisserant@343: MSG_ERR(0x1D04, "LSS timeout. LSS response not received.", 0); etisserant@343: MSG_WAR(0x2D05, "LSS timeout command specifier : ", d->lss_transfer.command); etisserant@343: etisserant@343: StopLSS_TIMER(LSS_MSG_TIMER); etisserant@343: /* Set aborted state */ etisserant@343: d->lss_transfer.state = LSS_ABORTED_INTERNAL; etisserant@343: /* Call the user function to inform of the problem.*/ etisserant@343: if(d->lss_transfer.Callback){ etisserant@343: /*If there is a callback, it is responsible of the error*/ etisserant@343: (*d->lss_transfer.Callback)(d,d->lss_transfer.command); etisserant@343: } etisserant@343: break; etisserant@343: case LSS_SWITCH_DELAY_TIMER: etisserant@343: /* The first switch_delay period has expired. Store the node state, change it etisserant@343: * so no CAN messages will be sent or received, call the ChangeBaudRate function*/ etisserant@343: if(d->lss_transfer.switchDelayState==SDELAY_FIRST){ etisserant@343: MSG_WAR(0x3D06, "LSS switch delay first period expired",0); etisserant@343: d->lss_transfer.switchDelayState=SDELAY_SECOND; etisserant@343: //d->lss_transfer.currentState=getState(d); etisserant@343: //setState(d, LssTimingDelay); etisserant@343: (*d->lss_ChangeBaudRate)(d->lss_transfer.baudRate); etisserant@343: } etisserant@343: else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */ etisserant@343: MSG_WAR(0x3D07, "LSS switch delay second period expired",0); etisserant@343: d->lss_transfer.switchDelayState=SDELAY_OFF; etisserant@343: StopLSS_TIMER(LSS_SWITCH_DELAY_TIMER); etisserant@343: etisserant@343: setState(d, d->lss_transfer.currentState); etisserant@343: } etisserant@343: break; etisserant@343: } etisserant@343: } etisserant@343: 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){ etisserant@343: MSG_WAR(0x2D0A, "unable to send the LSS message (not in stop or pre-op mode", d->nodeState); etisserant@343: return 0; 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@343: m.cob_id.w=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: etisserant@343: MSG_ERR(0x1D0B, "send Slave LSS command not implemented", command); etisserant@343: return 0xFF; etisserant@343: break; etisserant@343: } etisserant@343: etisserant@343: return canSend(d->canHandle,&m); 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 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) etisserant@343: { etisserant@343: Message m; etisserant@343: UNS8 i; 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@343: m.cob_id.w=MLSS_ADRESS; etisserant@343: etisserant@343: /* Tha data sent with the msg depends on the command */ etisserant@343: switch(command){ etisserant@343: case LSS_SM_GLOBAL: /* Switch Mode Global */ etisserant@343: d->lss_transfer.state=LSS_FINISHED; etisserant@343: case LSS_CONF_NODE_ID: /* Configure Node-ID */ etisserant@343: m.data[1]=*(UNS8 *)dat1; etisserant@343: break; etisserant@343: case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ etisserant@343: m.data[1]=*(UNS8 *)dat1; etisserant@343: m.data[2]=*(UNS8 *)dat2; etisserant@343: 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); 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: 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: 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_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 */ etisserant@343: break; 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; etisserant@343: break; etisserant@343: default: etisserant@343: MSG_ERR(0x1D0C, "send Master LSS command not implemented", command); etisserant@343: return 0xFF; etisserant@343: break; etisserant@343: } etisserant@343: etisserant@343: return canSend(d->canHandle,&m); 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: etisserant@343: MSG_WAR(0x3D0D, "MasterLSS proceedLSS; command ", m->data[0]); etisserant@343: StopLSS_TIMER(LSS_MSG_TIMER); etisserant@343: /* Set state */ etisserant@343: d->lss_transfer.state = LSS_FINISHED; etisserant@343: etisserant@343: switch(msg_cs=m->data[0]){ etisserant@343: case LSS_INQ_NODE_ID: /* Inquire Node-ID */ 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 */ 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 */ etisserant@343: Dat1=getLSSIdent(m); etisserant@343: break; etisserant@343: case LSS_IDENT_SLAVE: /* LSS Identify Slave */ etisserant@343: /*if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){ etisserant@343: * ************ TODO ******************* etisserant@343: }*/ etisserant@343: break; etisserant@343: case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */ etisserant@343: case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ etisserant@343: break; etisserant@343: default: etisserant@343: MSG_ERR(0x1D0E, "Master LSS command not implemented", msg_cs); etisserant@343: return 0xFF; etisserant@343: break; etisserant@343: } etisserant@343: 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) etisserant@343: (*d->lss_transfer.Callback)(d,msg_cs); etisserant@343: etisserant@343: return 0; 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: etisserant@343: MSG_WAR(0x3D0F, "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){ etisserant@343: MSG_WAR(0x3D10, "SlaveLSS already in the mode ", m->data[1]); etisserant@343: break; etisserant@343: } etisserant@343: etisserant@343: if(m->data[1]==LSS_CONFIGURATION_MODE) { etisserant@343: MSG_WAR(0x3D11, "SlaveLSS switching to configuration mode ", 0); etisserant@343: /* Store the NodeId in case it will be changed */ etisserant@343: 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){ etisserant@343: MSG_WAR(0x3D12, "SlaveLSS switching to operational mode ", 0); etisserant@343: etisserant@343: if(d->lss_transfer.switchDelayState==SDELAY_OFF){ etisserant@343: /* If the nodeID has changed update it and put the node state to Initialisation. */ etisserant@343: if(d->lss_transfer.nodeID!=getNodeId(d)){ etisserant@343: MSG_WAR(0x3D13, "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: } 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){ etisserant@343: MSG_ERR(0x1D14, "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{ etisserant@343: MSG_ERR(0x1D15, "SlaveLSS not in configuration mode",0); etisserant@343: error_code=0xFF; 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){ etisserant@343: /* Change the baud rate only if the function lss_ChangeBaudRate etisserant@343: * has been implemented. If not send an error. etisserant@343: */ etisserant@343: if(d->lss_ChangeBaudRate){ etisserant@343: /* If a baud rate is not supported just comment the line. */ etisserant@343: switch(m->data[2]){ etisserant@343: case 0x00:d->lss_transfer.baudRate="1M";break; etisserant@343: case 0x01:d->lss_transfer.baudRate="800K";break; etisserant@343: case 0x02:d->lss_transfer.baudRate="500K";break; etisserant@343: case 0x03:d->lss_transfer.baudRate="250K";break; etisserant@343: case 0x04:d->lss_transfer.baudRate="125K";break; etisserant@343: case 0x05:d->lss_transfer.baudRate="100K";break; etisserant@343: case 0x06:d->lss_transfer.baudRate="50K";break; etisserant@343: case 0x07:d->lss_transfer.baudRate="20K";break; etisserant@343: case 0x08:d->lss_transfer.baudRate="10K";break; etisserant@343: default: etisserant@343: MSG_ERR(0x1D16, "Baud rate not supported",0); etisserant@343: error_code=0xFF; /* Baud rate not supported*/ etisserant@343: break; etisserant@343: } etisserant@343: } etisserant@343: else etisserant@343: { etisserant@343: MSG_ERR(0x1D17, "Bit timing not supported",0); etisserant@343: error_code=0x01; /* bit timing not supported */ etisserant@343: } etisserant@343: } etisserant@343: else{ etisserant@343: MSG_ERR(0x1D18, "SlaveLSS not in configuration mode",0); etisserant@343: error_code=0xFF; etisserant@343: } etisserant@343: 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){ etisserant@343: MSG_ERR(0x1D19, "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); etisserant@343: MSG_WAR(0x3D1A, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay); etisserant@343: d->lss_transfer.switchDelayState=SDELAY_FIRST; etisserant@343: d->lss_transfer.currentState=getState(d); etisserant@343: setState(d, LssTimingDelay); 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 */ etisserant@343: (*d->lss_StoreConfiguration)(&error_code,&spec_error); etisserant@343: } etisserant@343: else{ etisserant@343: MSG_ERR(0x1D1B, "Store configuration not supported",0); etisserant@343: error_code=1; /* store configuration is not supported */ etisserant@343: } etisserant@343: } etisserant@343: else{ etisserant@343: MSG_ERR(0x1D1C, "SlaveLSS not in configuration mode",0); etisserant@343: error_code=0xFF; 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: { etisserant@343: MSG_ERR(0x1D1D, "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: etisserant@343: MSG_WAR(0x3D1E, "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 { etisserant@343: MSG_WAR(0x3D1F, "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){ etisserant@343: MSG_WAR(0x3D20, "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){ etisserant@343: MSG_WAR(0x3D21, "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){ etisserant@343: MSG_WAR(0x3D22, "SlaveLSS non-configured ", 0); etisserant@343: sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0); etisserant@343: } etisserant@343: else{ etisserant@343: MSG_WAR(0x3D23, "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; etisserant@343: MSG_WAR(0x3D24, "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); etisserant@343: MSG_WAR(0x3D25, "SlaveLSS Node ID inquired ", NodeID); etisserant@343: sendSlaveLSSMessage(d,msg_cs,&NodeID,0); etisserant@343: } etisserant@343: else{ etisserant@343: MSG_ERR(0x1D26, "SlaveLSS not in configuration mode",0); etisserant@343: } etisserant@343: break; etisserant@343: case LSS_IDENT_FASTSCAN: etisserant@343: { etisserant@343: /******* TODO *******/ etisserant@343: } etisserant@343: break; etisserant@343: default: etisserant@343: MSG_ERR(0x1D27, "SlaveLSS command not implemented", msg_cs); etisserant@343: return 0xFF; etisserant@343: break; etisserant@343: } etisserant@343: etisserant@343: return 0; etisserant@343: } etisserant@343: etisserant@343: UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2) etisserant@343: { etisserant@343: return sendMasterLSSMessage(d,command,dat1,dat2); etisserant@343: } etisserant@343: etisserant@343: UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback) etisserant@343: { etisserant@343: d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; etisserant@343: d->lss_transfer.Callback=Callback; etisserant@343: d->lss_transfer.command=command; etisserant@343: etisserant@343: StopLSS_TIMER(LSS_MSG_TIMER); etisserant@343: 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: //void _lss_ChangeBaudRate(char *BaudRate){printf("_lss_ChangeBaudRate\n");} etisserant@343: etisserant@343: #endif