etisserant@343: /*
etisserant@343: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@343: 
etisserant@343: Copyright (C): Jorge Berzosa
etisserant@343: 
etisserant@343: See COPYING file for copyrights details.
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: 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: 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: 
greg@529: /** @defgroup lss Layer Setting Services Object
greg@529:  * @brief LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on
greg@529:  * a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the
greg@529:  * CAN Network.
greg@529:  * The following parameters can be inquired and/or changed by the use of LSS:
greg@529:  *               - Node-ID of the CANopen Slave
greg@529:  *               - Bit timing parameters of the physical layer (baud rate)
greg@529:  *               - LSS address (/2/ Identity Object, Index 1018H)
greg@528:  *  @ingroup comobj
greg@528:  */
greg@528: 					 
etisserant@343: #ifndef __LSS_h__
etisserant@343: #define __LSS_h__
etisserant@343: 
etisserant@343: #define SLSS_ADRESS	0x7E4
etisserant@343: #define MLSS_ADRESS	0x7E5
etisserant@343: 
etisserant@343: #define SDELAY_OFF		0
etisserant@343: #define SDELAY_FIRST 	1
etisserant@343: #define SDELAY_SECOND 	2
etisserant@343: 
etisserant@343: #define LSS_WAITING_MODE 0
etisserant@343: #define LSS_CONFIGURATION_MODE 1
etisserant@343: 
etisserant@343: /* Switch mode services */
etisserant@343: #define LSS_SM_GLOBAL 				 4
etisserant@343: #define LSS_SM_SELECTIVE_VENDOR 	64
etisserant@343: #define LSS_SM_SELECTIVE_PRODUCT 	65
etisserant@343: #define LSS_SM_SELECTIVE_REVISION 	66
etisserant@343: #define LSS_SM_SELECTIVE_SERIAL 	67
etisserant@343: #define LSS_SM_SELECTIVE_RESP 		68
etisserant@343: /* Configuration services */
etisserant@343: #define LSS_CONF_NODE_ID 			17
etisserant@343: #define LSS_CONF_BIT_TIMING 		19
etisserant@343: #define LSS_CONF_ACT_BIT_TIMING 	21
etisserant@343: #define LSS_CONF_STORE 				23
etisserant@343: /* Inquire services */
etisserant@343: #define LSS_INQ_VENDOR_ID 		90
etisserant@343: #define LSS_INQ_PRODUCT_CODE 	91
etisserant@343: #define LSS_INQ_REV_NUMBER 		92
etisserant@343: #define LSS_INQ_SERIAL_NUMBER 	93
etisserant@343: #define LSS_INQ_NODE_ID 		94
etisserant@343: /* Identification services */
etisserant@343: #define LSS_IDENT_REMOTE_VENDOR 		70
etisserant@343: #define LSS_IDENT_REMOTE_PRODUCT 		71
etisserant@343: #define LSS_IDENT_REMOTE_REV_LOW 		72
etisserant@343: #define LSS_IDENT_REMOTE_REV_HIGH 		73
etisserant@343: #define LSS_IDENT_REMOTE_SERIAL_LOW 	74
etisserant@343: #define LSS_IDENT_REMOTE_SERIAL_HIGH 	75
etisserant@343: #define LSS_IDENT_REMOTE_NON_CONF 		76
etisserant@343: #define LSS_IDENT_SLAVE 				79
etisserant@343: #define LSS_IDENT_NON_CONF_SLAVE 		80
etisserant@343: #define LSS_IDENT_FASTSCAN				81
etisserant@343: 
etisserant@343: /*FastScan State Machine*/
etisserant@343: #define LSS_FS_RESET	0
groke6@361: #define LSS_FS_PROCESSING 1
groke6@361: #define LSS_FS_CONFIRMATION 2
etisserant@343: 
etisserant@343: 
etisserant@343: typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command); 
etisserant@343: 
groke6@381: typedef void (*lss_StoreConfiguration_t)(CO_Data* d,UNS8*,UNS8*);
etisserant@343: //void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);
etisserant@343: 
groke6@384: //typedef void (*lss_ChangeBaudRate_t)(CO_Data* d,char*);
etisserant@343: //void _lss_ChangeBaudRate(char *BaudRate);
etisserant@343: 
etisserant@343: 
etisserant@343: struct struct_lss_transfer;
etisserant@343: 
Edouard@801: //#include "timers.h"
etisserant@343: 
groke6@517: #ifdef CO_ENABLE_LSS_FS
groke6@517: struct struct_lss_fs_transfer {
groke6@517: 	UNS32 FS_LSS_ID[4];
groke6@517: 	UNS8 FS_BitChecked[4];
groke6@517: };
groke6@517: 
groke6@517: typedef struct struct_lss_fs_transfer lss_fs_transfer_t;
groke6@517: #endif
groke6@517: 
etisserant@343: /* The Transfer structure
etisserant@343: * Used to store the different fields of the internal state of the LSS  
etisserant@343: */
etisserant@343: 
etisserant@343: struct struct_lss_transfer {
etisserant@343:   UNS8          state;      /* state of the transmission : Takes the values LSS_... */
etisserant@343:   UNS8 			command;     /* the LSS command of the transmision */
etisserant@343:   UNS8			mode;       /* LSS mode */
etisserant@343:   
etisserant@343:   UNS32 		dat1;		/* the data from the last msg received */
etisserant@343:   UNS8			dat2; 
etisserant@343:   
etisserant@343:   UNS8 nodeID;              /* the new nodeid stored to update the nodeid when switching to LSS operational*/
etisserant@343:   UNS8 addr_sel_match;    	/* the matching mask for the LSS Switch Mode Selective service */
etisserant@343:   UNS8 addr_ident_match;    /* the matching mask for the LSS Identify Remote Slaves service*/
etisserant@343: 
etisserant@343:   char *baudRate;           /* the new baudrate stored to update the node baudrate when a Activate Bit 
etisserant@343:   							 * Timing Parameters is received*/
etisserant@343:   UNS16 switchDelay;		/* the period of the two delay */
etisserant@343:   UNS8  switchDelayState;   /* the state machine for the switchDelay */
etisserant@405:   CAN_PORT canHandle_t;
groke6@381:     
groke6@381:                               /* Time counters to implement a timeout in milliseconds.*/
groke6@381:   TIMER_HANDLE timerMSG;	  /* timerMSG is automatically incremented whenever 
etisserant@343:                               * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0 
etisserant@343:                               * when the response LSS have been received.
groke6@381:                               */
groke6@381:                              
groke6@381:   TIMER_HANDLE timerSDELAY;	  /* timerSDELAY is automatically incremented whenever 
etisserant@343:                               * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0 
etisserant@343:                               * when the two periods have been expired.
etisserant@343:                               */
groke6@381:                               
etisserant@343:   LSSCallback_t Callback;   /* The user callback func to be called at LSS transaction end */
etisserant@343:   
groke6@361:   UNS8 LSSanswer;			/* stores if a message has been received during a timer period */
groke6@381: 
groke6@381: #ifdef CO_ENABLE_LSS_FS 
groke6@361:   UNS32 IDNumber;			/* in the master, the LSS address parameter which it currently tries to identify.
groke6@361:   							 * in the slave, the LSS address parameter which is being checked (LSS-ID[sub]). */
groke6@361:   UNS8 BitChecked;			/* bits of the current IDNumber that are currently checked */
groke6@361:   UNS8 LSSSub;				/* which part of the LSS-ID is currently checked in IDNumber */
groke6@361:   UNS8 LSSNext;				/* which LSSSub value will be used in the next request */
groke6@361:   UNS8 LSSPos;				/* in the slave, which part of the LSS-ID is currently processed*/
groke6@361:   UNS8 FastScan_SM;			/* the state machine for the FastScan protocol */
groke6@381:   TIMER_HANDLE timerFS;		/* timerFS is automatically incremented when the FastScan service
groke6@381:   							 * has been requested and reseted to 0 when the protocol ends.
groke6@381:                               */
groke6@517: #ifdef CO_ENABLE_LSS_FS
groke6@517:   lss_fs_transfer_t lss_fs_transfer;
groke6@517: #endif
groke6@517:   
groke6@381: #endif                           
etisserant@343: };
etisserant@343: 
etisserant@343: #ifdef CO_ENABLE_LSS
etisserant@343: typedef struct struct_lss_transfer lss_transfer_t;
etisserant@343: #else
etisserant@343: typedef UNS8 lss_transfer_t;
etisserant@343: #endif
etisserant@343:   
groke6@517: 
groke6@517: 
etisserant@343: void startLSS(CO_Data* d);
etisserant@343: void stopLSS(CO_Data* d);
etisserant@343: 
etisserant@343: 
etisserant@343: /** transmit a LSS message 
etisserant@343:  * command is the LSS command specifier
etisserant@343:  * dat1 and dat2 are pointers to optional data (depend on command)
etisserant@343:  * return sendLSSMessage(d,command,dat1,dat2)
etisserant@343:  */
etisserant@343: UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);
etisserant@343: 
etisserant@343: /** transmit a LSS message on CAN bus
etisserant@343:  * comamnd is the LSS command specifier
etisserant@343:  * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave. 
etisserant@343:  * dat1 and dat2 are pointers to optional data (depend on command).
etisserant@343:  * return canSend(bus_id,&m)
etisserant@343:  */
etisserant@343:  
etisserant@343: UNS8 sendLSSMessage(CO_Data* d, UNS8 command,  void *dat1, void *dat2);
etisserant@343: 
etisserant@343: /** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).
etisserant@343:  *  - Check if there is a callback which will take care of the response. If not return 0 but does nothing.
etisserant@343:  *  - Stops the timer so the alarm wont raise an error.
etisserant@343:  *  - return 0 if OK
etisserant@343:  */
etisserant@343: UNS8 proceedLSS_Master (CO_Data* d, Message* m );
etisserant@343: 
etisserant@343: /** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).
etisserant@343:  *  - Call the callback function or send the response message depending on the LSS comand within m.
etisserant@343:  *  - return 0 if OK
etisserant@343:  */
etisserant@343: UNS8 proceedLSS_Slave (CO_Data* d, Message* m );
etisserant@343: 
etisserant@343: /** Used by the Master application to send a LSS command, WITHOUT response, to the slave. 
etisserant@343:  * command: the LSS command. LSS_...
etisserant@343:  * dat1 and dat2: pointers to optional data (depend on command).
etisserant@343:  * return sendLSS(d,command,dat1,dat2)
etisserant@343:  */
groke6@381: //UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);
etisserant@343: 
greg@529: /** 
greg@529:  * @ingroup lss
greg@529:  * @brief Used by the Master application to send a LSS command, WITH response, to the slave. 
greg@529:  * @param *d Pointer on a CAN object data structure
greg@529:  * @param command
greg@529:  * @param *dat1
greg@529:  * @param *dat2
greg@529:  * @param Callback The function Callback, which must be defined in the user code, is called at the
etisserant@343:  * end of the exchange (on succes or abort) and can be NULL.
greg@529:  * @return sendLSS(d,command,dat1,dat2)
etisserant@343:  * The LSS_MSG_TIMER timer is started to control the timeout
etisserant@343:  */
groke6@381: UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
etisserant@343: 
greg@529: /**
greg@529:  * @ingroup lss 
greg@529:  * @brief Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
greg@529:  * @param *d Pointer on a CAN object data structure
greg@529:  * @param command The LSS command (unused).
greg@529:  * @param *dat1
greg@529:  * @param *dat2
greg@529:  * @return : 
greg@529:  *          - LSS_RESET				// Transmission not started. Init state.
greg@529:  *          - LSS_FINISHED			// data are available                           
greg@529:  *          - LSS_ABORTED_INTERNAL	// Aborted but not because of an abort message. 
greg@529:  *          - LSS_TRANS_IN_PROGRESS	// Data not yet available
greg@529:  * @code
greg@529:  * example:
greg@529:  * UNS32 dat1;
greg@529:  * UNS8 dat2;
greg@529:  * res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
greg@529:  * while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
greg@529:  * @endcode
etisserant@343: */
etisserant@343: UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);
etisserant@343: 
etisserant@343: #endif