diff -r 000000000000 -r 4472ee7c6c3e src/lss.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/lss.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,740 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack.
+
+ Author: CANopen Canada (canfestival@canopencanada.ca)
+
+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
+*/
+
+#include <applicfg.h>
+#include <def.h>
+
+#include <can.h>
+#include <data.h>
+#include <objdictdef.h>
+#include <objacces.h>
+#include "can_driver.h"
+
+#ifdef LED_ENABLE
+#include "led.h"
+#else
+#define led_set_state(a,b)
+#endif
+
+#include "lss.h"
+
+
+
+/*
+	NOTES
+
+	1. since in the LSS protocol all LSS Slave use the same COB, only 1 Slave
+	must be allowed to communicate with the Master
+
+	2. the Master always take the iniative. the Slave is only allowed to transmit
+	within a confirmed service
+
+	3. requesting message (from the Master) using COB-ID 2021 and response messages
+	(from the Slave) using COB-ID 2020
+*/
+
+/*
+	0 = this slave is not talking to the master
+	1 = this slave is talking to the master (this slave has been selected via )
+*/
+int	slave_selector;
+
+int	current_mode;
+
+int	lss_table_selector, lss_table_index;
+
+
+/* slave storing the information sent by the master */
+UNS32 lss_buffer[10];
+/*
+	how this buffer is used
+
+	for a SLAVE 
+	[0..3]  used to store the LSS Address
+	[4..9]  use by LSS Identify Remort Slave
+
+	for the MASTER
+	[0..3] hold the answer from the slave regarding its ID
+*/
+
+
+void lss_copy(UNS8 *data, UNS32 value)
+/* transfert 32 bits value into uns8 data vector */
+{
+	data[0] = value & 0xff;
+	data[1] = (value>>8) & 0xff;
+	data[2] = (value>>16) & 0xff;
+	data[3] = (value>>24) & 0xff;
+}
+
+
+UNS32 lss_get_value(UNS8 *data)
+/* build a 'UNS32' value from a 'unsigned char' vector */
+{
+	return data[0] + (data[1]<<8) + (data[2]<<16) + (data[3]<<24);
+}
+
+
+void lss_init_msg(Message *msg)
+{
+	msg->cob_id.w = 0;
+	msg->rtr = 0;
+	msg->len = 0;
+	msg->data[0] = 0;
+	msg->data[1] = 0;
+	msg->data[2] = 0;
+	msg->data[3] = 0;
+	msg->data[4] = 0;
+	msg->data[5] = 0;
+	msg->data[6] = 0;
+	msg->data[7] = 0;
+}
+
+
+void lss_SwitchModeGlobal(CO_Data *d, UNS32 mode)
+/*
+	this service is used to switch all LSS slaves in the network between operation
+	mode and configuration mode.
+*/
+{	
+	Message msg;
+	lss_init_msg(&msg);
+
+	/* 
+		sending a COB-ID 2021
+		[0] = 4 (for switch mode global)
+		[1] = 0 for operation mode, = 1 for configuration mode
+		[2..7] = 0 reserved
+	*/
+	
+	if (!(d->iam_a_slave))
+	{
+		msg.cob_id.w = 0x07E5 /* 2021 */;
+
+		msg.len = 2;
+		msg.data[0] = 4;
+		msg.data[1] = (UNS8)mode;
+	
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+	else
+	{
+		/* set mode global */
+		current_mode = mode;
+	}
+}
+
+
+void lss_SwitchModeSelective_master(CO_Data *d, UNS32 *LSSaddr)
+/*
+	LSS address : <vendor-id> <product-code> <revision-number> <serial-number>
+	vendor-id : provided by CiA
+	identical to the CANopen identity object
+
+	select the slave corresponding to this ADDRESS
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (d->iam_a_slave) /* not the master */
+		return; 
+
+	msg.cob_id.w = 0x07E5 /* 2021 */;
+	msg.len=5;
+
+	msg.data[0] = 64;
+	lss_copy(msg.data+1, LSSaddr[0]); 
+	/* transmit */
+	(*d->canSend)(&msg);
+
+	msg.data[0] = 65;
+	lss_copy(msg.data+1, LSSaddr[1]); 
+	/* transmit */
+	(*d->canSend)(&msg);
+
+	msg.data[0] = 66;
+	lss_copy(msg.data+1, LSSaddr[2]); 
+	/* transmit */
+	(*d->canSend)(&msg);
+
+	msg.data[0] = 67;
+	lss_copy(msg.data+1, LSSaddr[3]); 
+	/* transmit */
+	(*d->canSend)(&msg);
+}
+
+
+UNS32 lss_validate_address(CO_Data* d)
+{
+#if 0 
+	extern s_identity obj1018;
+
+	/* maybe we should go throught getODentry but those
+	data are 1) RO and 2) the proper ID of this device */
+#else
+	UNS32  r, vendor_id, product_code, revision_number, serial_number;
+	UNS8   sz = sizeof(UNS32), dt = int32;
+
+	r = getODentry(d, 0x1018, 1, (void *)&vendor_id, &sz, &dt, 0);
+	r = getODentry(d, 0x1018, 2, (void *)&product_code, &sz, &dt, 0);
+	r = getODentry(d, 0x1018, 3, (void *)&revision_number, &sz, &dt, 0);
+	r = getODentry(d, 0x1018, 4, (void *)&serial_number, &sz, &dt, 0);
+
+#endif
+	/*
+		if
+		lss_buffer[0] == vendor-id
+		lss_buffer[1] == product code
+		lss_buffer[2] == revision
+		lss_buffer[3] == serial
+
+		then return 1
+		else return 0;
+	*/
+
+	if (lss_buffer[0] == vendor_id  &&
+	    lss_buffer[1] == product_code &&
+	    lss_buffer[2] == revision_number &&
+	    lss_buffer[3] == serial_number)
+	{
+		return 1;
+	}
+
+	return 0;
+}
+
+
+void lss_SwitchModeSelective_slave(CO_Data *d)
+/* 
+	SwitchModeSelective for the SLAVE
+	received the frames from the master and start building 
+	the lss address 
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	/*
+		the master broadcast the address of a particular slave
+		for 64,65 and 66 store the partial address
+		when 67 arrive process the call and asknowledge if necessary
+	*/
+
+	if (lss_validate_address(d))
+	{
+		/* slave should transmit cob_id 2020  */
+		msg.cob_id.w = 0x07E4 /* 2020 */;
+
+		msg.len = 2;
+		msg.data[0] = 68;
+		msg.data[1] = (UNS8)current_mode;
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+
+	/* reset the address */
+	lss_buffer[0] = 0;
+	lss_buffer[1] = 0;
+	lss_buffer[2] = 0;
+	lss_buffer[3] = 0;
+}
+
+
+void lss_ConfigureNode_ID(CO_Data *d, UNS32 node_id)
+/*
+	through this service the LSS Master configures the NMT-address
+	parameter of a LSS slave.
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (!(d->iam_a_slave))
+	{
+		msg.cob_id.w = 0x07E5 /* 2021 */;
+
+		msg.len = 2;
+		msg.data[0] = 17;
+		msg.data[1] = (UNS8)node_id;
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+	else
+	{
+		/*
+			receiving NODE ID from the master
+		*/
+
+		/*
+			error code 
+			0 = success
+			1 = node id out of range
+			2..254 = reserved
+			255 = implementation specific error occured
+				spec error = mode detailed error
+		*/
+		msg.cob_id.w = 0x07E4 /* 2020 */;
+
+		msg.len = 3;
+		msg.data[0] = 17;
+		/* msg.data[1] = error code */
+		/* msg.data[2] = spec error */
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+}
+
+
+void lss_ConfigureBitTimingParameters(CO_Data *d, 
+                                      UNS32 table_selector,
+                                      UNS32 table_index)
+/*
+	this service allows all LSS slaves in configuration mode.
+	must be followed by an Activate Bit Timing Parameters
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (!(d->iam_a_slave))
+	{
+		msg.cob_id.w = 0x07E5 /* 2021 */;
+
+		msg.len = 3;
+		msg.data[0] = 19;
+		msg.data[1] = (UNS8)table_selector;
+		msg.data[2] = (UNS8)table_index;
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+	else
+	{
+		UNS8 error_code;
+
+		/* validate if this baudrate is possible */
+		if (table_selector == 0  &&  baudrate_valid(table_index) == 1)
+		{
+			lss_table_selector = table_selector;
+			lss_table_index = table_index;
+		}
+		else
+			error_code = 1; /* bit timing not supported */
+
+		msg.cob_id.w = 0x07E4 /* 2020 */;
+
+		msg.len = 3;
+		msg.data[0] = 19;
+		msg.data[1] = error_code;
+		msg.data[2] = 0;
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+
+	led_set_state(d, LED_AUTOBITRATE);
+}
+
+
+void lss_ActivateBitTimingParameters_master(CO_Data *d, unsigned short switch_delay)
+/*
+	switch_delay in ms
+
+	switch_delay has to be longer than the longest timeof any node
+	in the network to avoid that a node already switches while another
+	stills transmist the old bit timing parameters
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (d->iam_a_slave)
+		return;
+	
+	msg.cob_id.w = 0x07E5 /* 2021 */;
+
+	msg.len = 3;
+	msg.data[0] = 21;
+	msg.data[1] = (UNS8)(switch_delay &  0xff);
+	msg.data[2] = (UNS8)((switch_delay >> 8) & 0xff);
+
+#ifdef LED_ENABLE
+	led_set_state(LED_AUTOBITRATE);		
+#endif
+	/* transmit */
+	(*d->canSend)(&msg);
+}
+
+
+void lss_ActivateBitTimingParameters_slave(UNS8 byte_low, UNS8 byte_high)
+{
+	/* rebuild the delay value (short) from the 2 (UNS8) data */
+	unsigned short switch_delay = byte_low + (((UNS16)byte_high)<<8);
+
+	/* set the baudrate to the value proposed by the master */
+	if (lss_table_selector == 0)
+		baudrate_set(lss_table_index);
+
+	/* wait for switch_delay ms before continuing */
+}
+
+
+void lss_StoreConfiguredParameters(CO_Data *d)
+/*
+	store configured parameters into non-volatile storage
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (!(d->iam_a_slave))
+	{
+		msg.cob_id.w = 0x07E5 /* 2021 */;
+
+		msg.len = 1;
+		msg.data[0] = 23;
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+	else
+	{
+		msg.cob_id.w = 0x07E4 /* 2020 */;
+
+		msg.data[0] = 23;
+		/* msg.data[1] = error code; */
+		/* msg.data[2] = spec err */
+		
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+}
+
+
+void lss_InquireLSSAddress_master(CO_Data *d, int flag)
+/*
+	this service allows to determine the LSS-address parameters of a LSS-slave in
+	configuration mode
+
+	request 1 single item of the LSS address
+	0 = request vendor-id
+	1 = request product-id
+	2 = request revision
+	3 = request serial
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (!(d->iam_a_slave))
+	{
+		msg.cob_id.w = 0x07E5 /* 2021 */;
+
+		msg.len = 1;
+		msg.data[0] = 90 + flag;
+	
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+}
+
+
+int lss_InquireLSSAddress_slave(CO_Data *d, int cs)
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (!(d->iam_a_slave)) /* not a slave */
+		return -1;
+
+	UNS32 value = 0;
+
+	switch(cs)
+	{
+		case 90:
+			value = 0; /* = vendor id */
+			break;
+		case 91:
+			value = 0; /* = product code */
+			break;
+		case 92:
+			value = 0; /* = revision */
+			break;
+		case 93:
+			value = 0; /* = serial */
+			break;
+	}
+
+	if (value > 0)
+	{
+		msg.cob_id.w = 0x07E4 /* 2020 */;
+	
+		msg.len=5;
+		msg.data[0] = cs;
+		lss_copy(msg.data+1, value);
+		
+		/* transmit */
+		(*d->canSend)(&msg);
+
+		return 0;
+	}
+
+	return -1;
+}
+
+
+void lss_IdentifyRemoteSlaves(CO_Data *d, 
+                              UNS32 vendor_id,
+                              UNS32 product_code,
+                              UNS32 rev_low,
+                              UNS32 rev_high,
+                              UNS32 serial_low,
+                              UNS32 serial_high)
+/*
+	throught this service, the LSS Master requests all LSS slave whose LSS address
+	meets the LSSaddr_sel to idenfity themselves through LSS Identify Slave
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (!(d->iam_a_slave))
+	{
+		/*
+			request answers from all slaves corresponding
+			to the revision and serial range of values
+		*/
+
+		msg.cob_id.w = 0x07E5 /* 2021 */;
+		msg.len=5;
+
+		msg.data[0] = 70;
+		lss_copy(msg.data+1, vendor_id);
+		/* transmit */
+		(*d->canSend)(&msg);
+
+		msg.data[0] = 71;
+		lss_copy(msg.data+1, product_code); 
+		/* transmit */
+		(*d->canSend)(&msg);
+	
+		msg.data[0] = 72; /* revision number low */
+		lss_copy(msg.data+1, rev_low);
+		/* transmit */
+		(*d->canSend)(&msg);
+
+		msg.data[0] = 73; /* revision number high */
+		lss_copy(msg.data+1, rev_high);
+		/* transmit */
+		(*d->canSend)(&msg);
+	
+		msg.data[0] = 74; /* serial number low */
+		lss_copy(msg.data+1, serial_low);
+		/* transmit */
+		(*d->canSend)(&msg);
+
+		msg.data[0] = 75; /* serial number high */
+		lss_copy(msg.data+1, serial_high);
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+}
+
+
+int lss_validate_range_addr(CO_Data *d)
+{
+	/*
+		if 
+
+		lss_buffer[4] == vendor_id
+		lss_buffer[5] == product code
+		lss_buffer[6] <= revision <= lss_buffer[7]
+		lss_buffer[8] <= serial <= lss_buffer[9]
+
+		then return 1
+		else return 0
+	*/
+
+	UNS32  r, vendor_id, product_code, revision_number, serial_number;
+	UNS8   sz = sizeof(UNS32), dt = int32;
+
+	r = getODentry(d, 0x1018, 1, (void *)&vendor_id, &sz, &dt, 0);
+	r = getODentry(d, 0x1018, 2, (void *)&product_code, &sz, &dt, 0);
+	r = getODentry(d, 0x1018, 3, (void *)&revision_number, &sz, &dt, 0);
+	r = getODentry(d, 0x1018, 4, (void *)&serial_number, &sz, &dt, 0);
+
+	if (lss_buffer[4] == vendor_id  &&
+	    lss_buffer[5] == product_code &&
+	    lss_buffer[6] <= revision_number &&
+	    revision_number <= lss_buffer[7] &&
+	    lss_buffer[8] <= serial_number &&
+	    serial_number <= lss_buffer[9])
+	{
+		return 1;
+	}
+
+	return 0;
+}
+
+
+void lss_IdentifySlave(CO_Data *d)
+/*
+	through this service, an LSS slave indicates that it is a slave
+	with LSS address within the LSSaddr_sel
+*/
+{
+	Message msg;
+	lss_init_msg(&msg);
+
+	if (lss_validate_range_addr(d))
+	{
+		msg.cob_id.w = 0x07E4 /* 2020 */;
+
+		msg.len = 1;
+		msg.data[0] = 79;
+
+		/* transmit */
+		(*d->canSend)(&msg);
+	}
+
+	/* reset */
+	lss_buffer[4] = 0;
+	lss_buffer[5] = 0;
+	lss_buffer[6] = 0;
+	lss_buffer[7] = 0;
+	lss_buffer[8] = 0;
+	lss_buffer[9] = 0;
+}
+
+
+int lss_process_msg(CO_Data *d, Message *msg)
+{
+	/* process the incoming message */
+	if (msg->cob_id.w == 0x07E4 /* 2020 */)
+	{
+		// should be the master
+		// a slave just answered
+		switch(msg->data[0])
+		{
+			/* slave acknowledging the SwitchModeSelective call */
+			case 68: 
+				/* msg->data[1] contains the 'mode global' value from the slave*/
+				break;
+
+			/* a slave had acknowledged the call from LSS Identify Remote Slave */
+			case 79:
+				break;
+
+			/* the slave acknowledged and sent the requested data */
+			case 90:
+				lss_buffer[0] = lss_get_value(msg->data+1);
+				/* action ? */
+				break;
+			case 91:
+				lss_buffer[1] = lss_get_value(msg->data+1);
+				/* action ? */
+				break;
+			case 92:
+				lss_buffer[2] = lss_get_value(msg->data+1);
+				/* action ? */
+				break;
+			case 93:
+				lss_buffer[3] = lss_get_value(msg->data+1);
+				/* action ? */
+				break;
+		}
+	}
+
+	else if (msg->cob_id.w == 0x07E5 /* 2021 */)
+	{
+		// should be a slave
+		// the master sent a request
+		switch(msg->data[0])
+		{
+			case 4:
+				lss_SwitchModeGlobal(d, msg->data[1]);
+				break;
+
+			case 17:
+				lss_ConfigureNode_ID(d, msg->data[1]);
+				break;
+
+			case 19:
+				lss_ConfigureBitTimingParameters(d, msg->data[1], msg->data[2]);
+				break;
+			case 21:
+				lss_ActivateBitTimingParameters_slave(msg->data[1], msg->data[2]);
+				break;
+
+			/* Switch Mode Selective */
+			case 64:
+				lss_buffer[0] = lss_get_value(msg->data+1);
+				break;
+			case 65:
+				lss_buffer[1] = lss_get_value(msg->data+1);
+				break;
+			case 66:
+				lss_buffer[2] = lss_get_value(msg->data+1);
+				break;
+			case 67:
+				lss_buffer[3] = lss_get_value(msg->data+1);
+				lss_SwitchModeSelective_slave(d);
+				break;
+
+			/* Identify Remote Slave */
+			case 70:
+				lss_buffer[4] = lss_get_value(msg->data+1);
+				break;
+			case 71:
+				lss_buffer[5] = lss_get_value(msg->data+1);
+				break;
+			case 72:
+				lss_buffer[6] = lss_get_value(msg->data+1);
+				break;
+			case 73:
+				lss_buffer[7] = lss_get_value(msg->data+1);
+				break;
+			case 74:
+				lss_buffer[8] = lss_get_value(msg->data+1);
+				break;
+			case 75:
+				lss_buffer[9] = lss_get_value(msg->data+1);
+				lss_IdentifySlave(d);
+				break;
+
+			/* Inquire Identify of Slave */
+			case 90:
+			case 91:
+			case 92:
+			case 93:
+				lss_InquireLSSAddress_slave(d, msg->data[0]);
+				break;
+		}
+	}
+
+	return 0;
+}