diff -r 66f007300c10 -r 118c1cabd0b0 include/lss.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/lss.h	Mon Dec 17 13:22:35 2007 +0100
@@ -0,0 +1,197 @@
+/*
+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
+*/
+
+#ifndef __LSS_h__
+#define __LSS_h__
+
+#define SLSS_ADRESS	0x7E4
+#define MLSS_ADRESS	0x7E5
+
+#define LSS_MSG_TIMER 0
+#define LSS_SWITCH_DELAY_TIMER 1
+
+#define SDELAY_OFF		0
+#define SDELAY_FIRST 	1
+#define SDELAY_SECOND 	2
+
+#define LSS_WAITING_MODE 0
+#define LSS_CONFIGURATION_MODE 1
+
+/* Switch mode services */
+#define LSS_SM_GLOBAL 				 4
+#define LSS_SM_SELECTIVE_VENDOR 	64
+#define LSS_SM_SELECTIVE_PRODUCT 	65
+#define LSS_SM_SELECTIVE_REVISION 	66
+#define LSS_SM_SELECTIVE_SERIAL 	67
+#define LSS_SM_SELECTIVE_RESP 		68
+/* Configuration services */
+#define LSS_CONF_NODE_ID 			17
+#define LSS_CONF_BIT_TIMING 		19
+#define LSS_CONF_ACT_BIT_TIMING 	21
+#define LSS_CONF_STORE 				23
+/* Inquire services */
+#define LSS_INQ_VENDOR_ID 		90
+#define LSS_INQ_PRODUCT_CODE 	91
+#define LSS_INQ_REV_NUMBER 		92
+#define LSS_INQ_SERIAL_NUMBER 	93
+#define LSS_INQ_NODE_ID 		94
+/* Identification services */
+#define LSS_IDENT_REMOTE_VENDOR 		70
+#define LSS_IDENT_REMOTE_PRODUCT 		71
+#define LSS_IDENT_REMOTE_REV_LOW 		72
+#define LSS_IDENT_REMOTE_REV_HIGH 		73
+#define LSS_IDENT_REMOTE_SERIAL_LOW 	74
+#define LSS_IDENT_REMOTE_SERIAL_HIGH 	75
+#define LSS_IDENT_REMOTE_NON_CONF 		76
+#define LSS_IDENT_SLAVE 				79
+#define LSS_IDENT_NON_CONF_SLAVE 		80
+#define LSS_IDENT_FASTSCAN				81
+
+/*FastScan State Machine*/
+#define LSS_FS_RESET	0
+
+
+typedef void (*LSSCallback_t)(CO_Data* d, UNS8 command); 
+
+typedef void (*lss_StoreConfiguration_t)(UNS8*,UNS8*);
+//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error);
+
+typedef void (*lss_ChangeBaudRate_t)(char*);
+//void _lss_ChangeBaudRate(char *BaudRate);
+
+
+struct struct_lss_transfer;
+
+//#include "timer.h"
+
+/* The Transfer structure
+* Used to store the different fields of the internal state of the LSS  
+*/
+
+struct struct_lss_transfer {
+  UNS8          state;      /* state of the transmission : Takes the values LSS_... */
+  UNS8 			command;     /* the LSS command of the transmision */
+  UNS8			mode;       /* LSS mode */
+  
+  UNS32 		dat1;		/* the data from the last msg received */
+  UNS8			dat2; 
+  
+  e_nodeState currentState; /* the state of the node before switching to LSSTimingDelay*/
+  UNS8 nodeID;              /* the new nodeid stored to update the nodeid when switching to LSS operational*/
+  UNS8 addr_sel_match;    	/* the matching mask for the LSS Switch Mode Selective service */
+  UNS8 addr_ident_match;    /* the matching mask for the LSS Identify Remote Slaves service*/
+
+  char *baudRate;           /* the new baudrate stored to update the node baudrate when a Activate Bit 
+  							 * Timing Parameters is received*/
+  UNS16 switchDelay;		/* the period of the two delay */
+  UNS8  switchDelayState;   /* the state machine for the switchDelay */
+
+  TIMER_HANDLE timers[2];      /* Time counters to implement a timeout in milliseconds.
+                              * LSS_MSG_TIMER (index 0) is automatically incremented whenever 
+                              * the lss state is in LSS_TRANS_IN_PROGRESS, and reseted to 0 
+                              * when the response LSS have been received.
+                              * LSS_SWITCH_DELAY_TIMER (index 1) is automatically incremented whenever 
+                              * the lss switchDelayState is in SDELAY_FIRST or SDELAY_SECOND, and reseted to 0 
+                              * when the two periods have been expired.
+                              */
+  LSSCallback_t Callback;   /* The user callback func to be called at LSS transaction end */
+  
+  UNS32 IDNumber;
+  UNS8 BitChecked;
+  UNS8 LSSSub;
+  UNS8 LSSNext;
+  UNS8 LSSPos;
+  UNS8 FastScan_SM;
+};
+
+#ifdef CO_ENABLE_LSS
+typedef struct struct_lss_transfer lss_transfer_t;
+#else
+typedef UNS8 lss_transfer_t;
+#endif
+  
+  
+void startLSS(CO_Data* d);
+void stopLSS(CO_Data* d);
+
+
+/** transmit a LSS message 
+ * Checks if the msg can be transmited (i.e. we are not in LssTimingDelay state)
+ * command is the LSS command specifier
+ * dat1 and dat2 are pointers to optional data (depend on command)
+ * return sendLSSMessage(d,command,dat1,dat2)
+ */
+UNS8 sendLSS (CO_Data* d, UNS8 command,void *dat1, void *dat2);
+
+/** transmit a LSS message on CAN bus
+ * comamnd is the LSS command specifier
+ * bus_id is MLSS_ADRESS or SLSS_ADRESS depending in d->iam_a_slave. 
+ * dat1 and dat2 are pointers to optional data (depend on command).
+ * return canSend(bus_id,&m)
+ */
+ 
+UNS8 sendLSSMessage(CO_Data* d, UNS8 command,  void *dat1, void *dat2);
+
+/** This function is called when the node is receiving a Master LSS message (cob-id = 0x7E5).
+ *  - Check if there is a callback which will take care of the response. If not return 0 but does nothing.
+ *  - Stops the timer so the alarm wont raise an error.
+ *  - return 0 if OK
+ */
+UNS8 proceedLSS_Master (CO_Data* d, Message* m );
+
+/** This function is called when the node is receiving a Slave LSS message (cob-id = 0x7E4).
+ *  - Call the callback function or send the response message depending on the LSS comand within m.
+ *  - return 0 if OK
+ */
+UNS8 proceedLSS_Slave (CO_Data* d, Message* m );
+
+/** Used by the Master application to send a LSS command, WITHOUT response, to the slave. 
+ * command: the LSS command. LSS_...
+ * dat1 and dat2: pointers to optional data (depend on command).
+ * return sendLSS(d,command,dat1,dat2)
+ */
+UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2);
+
+/** Used by the Master application to send a LSS command, WITH response, to the slave. 
+ * The function Callback, which must be defined in the user code, is called at the
+ * end of the exchange (on succes or abort) and can be NULL.
+ * The LSS_MSG_TIMER timer is started to control the timeout
+ * return sendLSS(d,command,dat1,dat2)
+ */
+UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback);
+
+/** Use this function after a configNetworkNode or configNetworkNodeCallBack to get the result.
+  Returns : LSS_RESET				// Transmission not started. Init state.
+			LSS_FINISHED			// data are available                           
+			LSS_ABORTED_INTERNAL	// Aborted but not because of an abort message. 
+			LSS_TRANS_IN_PROGRESS	// Data not yet available
+
+  * command: the LSS command (unused).
+  * example:
+  * UNS32 dat1;
+  * UNS8 dat2;
+  res=configNetworkNodeCallBack(&_Data,LSS_INQ_NODE_ID,0,0,NULL); // inquire the nodeID
+  while (getConfigResultNetworkNode (&_Data, LSS_INQ_NODE_ID, &dat1, &dat2) != LSS_TRANS_IN_PROGRESS);
+*/
+UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2);
+
+#endif