# HG changeset patch # User etisserant # Date 1197894155 -3600 # Node ID 118c1cabd0b00831b82b77650b94f0da2774224d # Parent 66f007300c10276e3729b9b24ed124f4dc70d8ba Primary LSS support, thanks to Jorge Berzosa. diff -r 66f007300c10 -r 118c1cabd0b0 configure --- a/configure Fri Dec 14 16:32:38 2007 +0100 +++ b/configure Mon Dec 17 13:22:35 2007 +0100 @@ -107,6 +107,8 @@ echo "On user request: Won't optimize with \"-Ox\"";; --disable-dll) DISABLE_DLL=1; echo "On user request: Won't create and link to dll";; + --enable-lss) ENABLE_LSS=1; + echo "On user request: LSS services enabled";; --debug=*) DEBUG=$optarg;; --MAX_CAN_BUS_ID=*) MAX_CAN_BUS_ID=$1;; --SDO_MAX_LENGTH_TRANSFERT=*) SDO_MAX_LENGTH_TRANSFERT=$1;; @@ -141,6 +143,7 @@ echo " see http://www.ocera.org/download/components/WP7/lincan-0.3.3.html" echo " --timers=foo Use 'foo' as TIMERS driver (can be either 'unix' or 'xeno')" echo " --disable-dll Disable run-time dynamic linking of can, led and nvram drivers" + echo " --enable-lss Enable the LSS services" echo " --disable-Ox Disable gcc \"-Ox\" optimizations." echo " --debug=foo,foo,.. Enable debug messages, ERR -> only errors, WAR)." echo " \"PDO\" send errors and warnings through PDO messages" @@ -567,6 +570,13 @@ SUB_EXE_CFLAGS=$SUB_EXE_CFLAGS\ $SUB_CAN_DLL_CFLAGS fi +if [ $ENABLE_LSS ]; then + SUB_PROG_CFLAGS=$SUB_PROG_CFLAGS\ -DCO_ENABLE_LSS; + SUB_ENABLE_LSS=1 +else + SUB_ENABLE_LSS=0 +fi + ########################################################################### # CREATE MAKEFILES # ########################################################################### @@ -636,6 +646,7 @@ s:SUB_CAN_DRIVER:can_${SUB_CAN_DRIVER}: s:SUB_CAN_DLL_CFLAGS:${SUB_CAN_DLL_CFLAGS}: s:SUB_ENABLE_DLL_DRIVERS:${SUB_ENABLE_DLL_DRIVERS}: + s:SUB_ENABLE_LSS:${SUB_ENABLE_LSS}: " > $makefile done diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/Master.c --- a/examples/TestMasterSlave/Master.c Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/Master.c Mon Dec 17 13:22:35 2007 +0100 @@ -143,12 +143,181 @@ } } +#ifdef CO_ENABLE_LSS +static void ConfigureLSSNode(CO_Data* d); +UNS8 init_step_LSS=1; + +static void CheckLSSAndContinue(CO_Data* d, UNS8 command) +{ + UNS32 dat1; + UNS8 dat2; + printf("CheckLSS->"); + if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){ + if(command==LSS_IDENT_NON_CONF_SLAVE){ + eprintf("Master : There are not no-configured slaves in the net\n", command); + return; + } + else{ + eprintf("Master : Failed in LSS comand %d. Trying again\n", command); + } + } + else + { + init_step_LSS++; + + switch(command){ + case LSS_CONF_NODE_ID: + switch(dat1){ + case 0: printf("Node ID change succesful\n");break; + case 1: printf("Node ID change error:out of range\n");break; + case 0xFF:printf("Node ID change error:specific error\n");break; + default:break; + } + break; + case LSS_CONF_BIT_TIMING: + switch(dat1){ + case 0: printf("Baud rate change succesful\n");break; + case 1: printf("Baud rate change error: change baud rate not supported\n");break; + case 0xFF:printf("Baud rate change error:specific error\n");break; + default:break; + } + break; + case LSS_CONF_STORE: + switch(dat1){ + case 0: printf("Store configuration succesful\n");break; + case 1: printf("Store configuration error:not supported\n");break; + case 0xFF:printf("Store configuration error:specific error\n");break; + default:break; + } + break; + case LSS_SM_SELECTIVE_RESP: + printf("Slave in CONFIGURATION mode\n"); + break; + case LSS_IDENT_SLAVE: + printf("node identified\n"); + break; + case LSS_IDENT_NON_CONF_SLAVE: + printf("non-configured remote slave in the net\n"); + break; + case LSS_INQ_VENDOR_ID: + printf("Slave VendorID %x\n", dat1); + break; + case LSS_INQ_PRODUCT_CODE: + printf("Slave Product Code %x\n", dat1); + break; + case LSS_INQ_REV_NUMBER: + printf("Slave Revision Number %x\n", dat1); + break; + case LSS_INQ_SERIAL_NUMBER: + printf("Slave Serial Number %x\n", dat1); + break; + case LSS_INQ_NODE_ID: + printf("Slave nodeid %x\n", dat1); + break; + } + } + + printf("\n"); + ConfigureLSSNode(d); +} + + +struct timeval master_prev_time,master_current_time; +static void ConfigureLSSNode(CO_Data* d) +{ + UNS32 Vendor_ID=0x12345678; + UNS32 Product_Code=0x90123456; + UNS32 Revision_Number=0x78901234; + UNS32 Serial_Number=0x56789012; + UNS32 Revision_Number_high=0x78901240; + UNS32 Revision_Number_low=0x78901230; + UNS32 Serial_Number_high=0x56789020; + UNS32 Serial_Number_low=0x56789010; + UNS8 NodeID=0x02; + UNS8 Baud_Table=0; + UNS8 Baud_BitTiming=3; + UNS16 Switch_delay=1; + UNS8 LSS_mode=LSS_WAITING_MODE; + UNS8 res; + eprintf("ConfigureLSSNode-> "); + + switch(init_step_LSS){ + case 1: /* LSS=>identify non-configured remote slave */ + eprintf("LSS=>identify non-configured remote slave\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue); + break; + case 2: /* LSS=>identify node */ + eprintf("LSS=>identify node\n"); + res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0); + res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0); + res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0); + res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0); + res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue); + break; + case 3: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/ + eprintf("LSS=>put in configuration mode\n"); + res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0); + res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0); + res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue); + break; + case 4: /* LSS=>inquire nodeID */ + eprintf("LSS=>inquire nodeID\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue); + break; + case 5: /* LSS=>inquire VendorID */ + eprintf("LSS=>inquire VendorID\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue); + break; + case 6: /* LSS=>inquire Product code */ + eprintf("LSS=>inquire Product code\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue); + break; + case 7: /* LSS=>inquire Revision Number */ + eprintf("LSS=>inquire Revision Number\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue); + break; + case 8: /* LSS=>inquire Serial Number */ + eprintf("LSS=>inquire Serial Number\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue); + break; + case 9: /* LSS=>change the nodeID */ + eprintf("LSS=>change the nodeId\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue); + break; + case 10: /* LSS=>change the Baud rate */ + eprintf("LSS=>change the Baud rate\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue); + break; + case 11: + eprintf("LSS=>Activate Bit Timing\n"); + res=configNetworkNode(&TestMaster_Data,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0); + /*no break;*/ + init_step_LSS++; + case 12: + /*LSS=>store configuration*/ + /* It will fail the first time (time out) due to the switch delay */ + /* It will fail the second time because it is not implemented in the slave */ + eprintf("LSS=>store configuration\n"); + res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue); + break; + case 13: /* LSS=>put in operation mod */ + eprintf("LSS=>put in operation mode\n"); + res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0); + break; + } +} +#endif + void TestMaster_preOperational() { - eprintf("TestMaster_preOperational\n"); - ConfigureSlaveNode(&TestMaster_Data, 0x02); - +#ifdef CO_ENABLE_LSS + /* Ask slave node to go in stop mode */ + masterSendNMTstateChange (&TestMaster_Data, 0, NMT_Stop_Node); + ConfigureLSSNode(&TestMaster_Data); +#endif } void TestMaster_operational() @@ -286,3 +455,10 @@ } MasterSyncCount++; } + +void TestMaster_post_SlaveBootup(UNS8 nodeid) +{ + eprintf("TestMaster_post_SlaveBootup %x\n", nodeid); + ConfigureSlaveNode(&TestMaster_Data, nodeid); +} + diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/Master.h --- a/examples/TestMasterSlave/Master.h Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/Master.h Mon Dec 17 13:22:35 2007 +0100 @@ -12,3 +12,4 @@ void TestMaster_post_sync(void); void TestMaster_post_TPDO(void); void TestMaster_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg); +void TestMaster_post_SlaveBootup(UNS8 nodeid); diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/Slave.c --- a/examples/TestMasterSlave/Slave.c Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/Slave.c Mon Dec 17 13:22:35 2007 +0100 @@ -24,6 +24,7 @@ #include "Master.h" #include "TestMasterSlave.h" +extern s_BOARD SlaveBoard; /*****************************************************************************/ void TestSlave_heartbeatError(UNS8 heartbeatID) { @@ -113,3 +114,15 @@ { eprintf("Slave received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); } + +void TestSlave_StoreConfiguration(UNS8 *error, UNS8 *spec_error) +{ + printf("TestSlave_StoreConfiguration\n"); +} + +void TestSlave_ChangeBaudRate(char *baudrate) +{ + eprintf("TestSlave_ChangeBaudRate from %s to %s\n", SlaveBoard.baudrate, baudrate); + SlaveBoard.baudrate=baudrate; + /* something to do with the new baudrate */ +} diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/Slave.h --- a/examples/TestMasterSlave/Slave.h Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/Slave.h Mon Dec 17 13:22:35 2007 +0100 @@ -13,3 +13,5 @@ void TestSlave_post_TPDO(void); void TestSlave_storeODSubIndex(UNS16 wIndex, UNS8 bSubindex); void TestSlave_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg); +void TestSlave_StoreConfiguration(UNS8 *error, UNS8 *spec_error); +void TestSlave_ChangeBaudRate(char *baudrate); diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/TestMasterSlave.c --- a/examples/TestMasterSlave/TestMasterSlave.c Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/TestMasterSlave.c Mon Dec 17 13:22:35 2007 +0100 @@ -94,8 +94,14 @@ { /****************************** INITIALISATION SLAVE *******************************/ if(strcmp(SlaveBoard.baudrate, "none")) { - /* Defining the node Id */ + +#ifdef CO_ENABLE_LSS + /* Set an invalid nodeID */ + setNodeId(&TestSlave_Data, 0xFF); +#else setNodeId(&TestSlave_Data, 0x02); +#endif + /* init */ setState(&TestSlave_Data, Initialisation); } @@ -121,7 +127,7 @@ int c; extern char *optarg; - char* LibraryPath="libcanfestival_can_virtual.so"; + char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so"; while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF) { @@ -196,6 +202,11 @@ TestSlave_Data.post_TPDO = TestSlave_post_TPDO; TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; TestSlave_Data.post_emcy = TestSlave_post_emcy; +#ifdef CO_ENABLE_LSS + /* in this example the slave doesn't support Store configuration*/ + //TestSlave_Data.lss_StoreConfiguration = TestSlave_StoreConfiguration; + TestSlave_Data.lss_ChangeBaudRate=TestSlave_ChangeBaudRate; +#endif if(!canOpen(&SlaveBoard,&TestSlave_Data)){ eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); @@ -212,6 +223,7 @@ TestMaster_Data.post_sync = TestMaster_post_sync; TestMaster_Data.post_TPDO = TestMaster_post_TPDO; TestMaster_Data.post_emcy = TestMaster_post_emcy; + TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup; if(!canOpen(&MasterBoard,&TestMaster_Data)){ eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate); diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/TestSlave.c --- a/examples/TestMasterSlave/TestSlave.c Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/TestSlave.c Mon Dec 17 13:22:35 2007 +0100 @@ -200,10 +200,10 @@ /* index 0x1018 : Identity. */ UNS8 TestSlave_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/ - UNS32 TestSlave_obj1018_Vendor_ID = 0x0; /* 0 */ - UNS32 TestSlave_obj1018_Product_Code = 0x0; /* 0 */ - UNS32 TestSlave_obj1018_Revision_Number = 0x0; /* 0 */ - UNS32 TestSlave_obj1018_Serial_Number = 0x0; /* 0 */ + UNS32 TestSlave_obj1018_Vendor_ID = 0x12345678; /* 305419896 */ + UNS32 TestSlave_obj1018_Product_Code = 0x90123456; /* 2417112150 */ + UNS32 TestSlave_obj1018_Revision_Number = 0x78901234; /* 2022707764 */ + UNS32 TestSlave_obj1018_Serial_Number = 0x56789012; /* 1450741778 */ subindex TestSlave_Index1018[] = { { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1018 }, diff -r 66f007300c10 -r 118c1cabd0b0 examples/TestMasterSlave/TestSlave.od --- a/examples/TestMasterSlave/TestSlave.od Fri Dec 14 16:32:38 2007 +0100 +++ b/examples/TestMasterSlave/TestSlave.od Mon Dec 17 13:22:35 2007 +0100 @@ -1,10 +1,10 @@ - - + + TestSlave - + @@ -59,7 +59,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -78,7 +78,7 @@ - + @@ -87,13 +87,13 @@ - + - + @@ -107,7 +107,7 @@ - + @@ -118,16 +118,16 @@ - - - - - + + + + + - + @@ -149,7 +149,7 @@ - + @@ -159,7 +159,7 @@ - + @@ -169,13 +169,13 @@ - + - + @@ -190,7 +190,7 @@ - + @@ -203,7 +203,7 @@ - + @@ -213,17 +213,17 @@ - + - + - + - + @@ -232,10 +232,10 @@ - + - + @@ -244,7 +244,7 @@ - + @@ -255,10 +255,10 @@ - + - + EVENT @@ -267,7 +267,7 @@ - + 5000*100 µC = 500 ms @@ -276,7 +276,7 @@ - + @@ -285,7 +285,7 @@ - + 1000 ms @@ -296,10 +296,10 @@ - + - + RTR_SYNC @@ -310,10 +310,10 @@ - + - + RTR @@ -324,7 +324,7 @@ - + @@ -333,7 +333,7 @@ - + @@ -342,7 +342,7 @@ - + @@ -351,7 +351,7 @@ - + @@ -359,18 +359,18 @@ - + - - - - - - - - - + + + + + + + + + @@ -402,15 +402,15 @@ - - - - - - - - - + + + + + + + + + @@ -442,15 +442,15 @@ - - - - - - - - - + + + + + + + + + @@ -482,15 +482,15 @@ - - - - - - - - - + + + + + + + + + @@ -522,15 +522,15 @@ - - - - - - - - - + + + + + + + + + @@ -562,15 +562,15 @@ - - - - - - - - - + + + + + + + + + @@ -602,15 +602,15 @@ - - - - - - - - - + + + + + + + + + @@ -642,15 +642,15 @@ - - - - - - - - - + + + + + + + + + @@ -682,15 +682,15 @@ - - - - - - - - - + + + + + + + + + @@ -722,15 +722,15 @@ - - - - - - - - - + + + + + + + + + @@ -762,15 +762,15 @@ - - - - - - - - - + + + + + + + + + @@ -802,15 +802,15 @@ - - - - - - - - - + + + + + + + + + @@ -842,15 +842,15 @@ - - - - - - - - - + + + + + + + + + @@ -881,7 +881,7 @@ - + slave diff -r 66f007300c10 -r 118c1cabd0b0 include/data.h --- a/include/data.h Fri Dec 14 16:32:38 2007 +0100 +++ b/include/data.h Mon Dec 17 13:22:35 2007 +0100 @@ -44,6 +44,9 @@ #include "sync.h" #include "nmtMaster.h" #include "emcy.h" +#ifdef CO_ENABLE_LSS +#include "lss.h" +#endif /* This structurs contains all necessary information for a CanOpen node */ struct struct_CO_Data { @@ -85,6 +88,7 @@ /*UNS32 *Sync_window_length;;*/ post_sync_t post_sync; post_TPDO_t post_TPDO; + post_SlaveBootup_t post_SlaveBootup; /* General */ UNS8 toggle; @@ -107,6 +111,12 @@ s_errors error_data[EMCY_MAX_ERRORS]; post_emcy_t post_emcy; +#ifdef CO_ENABLE_LSS + /* LSS */ + lss_transfer_t lss_transfer; + lss_StoreConfiguration_t lss_StoreConfiguration; + lss_ChangeBaudRate_t lss_ChangeBaudRate; +#endif }; #define NMTable_Initializer Unknown_state, @@ -133,6 +143,36 @@ 0, /* errRegMask */\ 0 /* active */\ }, + +#ifdef CO_ENABLE_LSS +#define lss_Initializer {\ + LSS_RESET, /* state */\ + 0, /* command */\ + LSS_WAITING_MODE, /* mode */\ + 0, /* dat1 */\ + 0, /* dat2 */\ + Unknown_state, /* currentState */\ + 0, /* NodeID */\ + 0, /* addr_sel_match */\ + 0, /* addr_ident_match */\ + "none", /* BaudRate */\ + 0, /* SwitchDelay */\ + SDELAY_OFF, /* SwitchDelayState */\ + {-1,-1}, /* Timers[2] */\ + NULL, /* Callback */\ + 0, /* IDNumber */\ + 128, /* BitChecked */\ + 0, /* LSSSub */\ + 0, /* LSSNext */\ + 0, /* LSSPos */\ + LSS_FS_RESET /* FastScan_SM */\ + },\ + NULL, /* _lss_StoreConfiguration*/\ + NULL /* _lss_ChangeBaudRate */ +#else +#define lss_Initializer +#endif + /* A macro to initialize the data in client app.*/ /* CO_Data structure */ @@ -186,6 +226,7 @@ /*& NODE_PREFIX ## _obj1007, */ /* Sync_window_length */\ _post_sync, /* post_sync */\ _post_TPDO, /* post_TPDO */\ + _post_SlaveBootup, /* post_SlaveBootup */\ \ /* General */\ 0, /* toggle */\ @@ -208,7 +249,9 @@ {\ REPEAT_EMCY_MAX_ERRORS_TIMES(ERROR_DATA_INITIALIZER)\ },\ - _post_emcy /* post_emcy */\ + _post_emcy, /* post_emcy */\ + /* LSS */\ + lss_Initializer\ } #ifdef __cplusplus diff -r 66f007300c10 -r 118c1cabd0b0 include/def.h --- a/include/def.h Fri Dec 14 16:32:38 2007 +0100 +++ b/include/def.h Mon Dec 17 13:22:35 2007 +0100 @@ -114,6 +114,7 @@ #define SDOtx 0xB #define SDOrx 0xC #define NODE_GUARD 0xE +#define LSS 0xF /* NMT Command Specifier, sent by master to change a slave state */ /* ------------------------------------------------------------- */ @@ -124,6 +125,13 @@ #define NMT_Reset_Node 0x81 #define NMT_Reset_Comunication 0x82 +/** Status of the LSS transmission + */ +#define LSS_RESET 0x0 /* Transmission not started. Init state. */ +#define LSS_FINISHED 0x1 /* data are available */ +#define LSS_ABORTED_INTERNAL 0x2 /* Aborted but not because of an abort message. */ +#define LSS_TRANS_IN_PROGRESS 0x3 + /* constantes used in the different state machines */ /* ----------------------------------------------- */ /* Must not be modified */ diff -r 66f007300c10 -r 118c1cabd0b0 include/lifegrd.h --- a/include/lifegrd.h Fri Dec 14 16:32:38 2007 +0100 +++ b/include/lifegrd.h Mon Dec 17 13:22:35 2007 +0100 @@ -29,6 +29,9 @@ typedef void (*heartbeatError_t)(UNS8); void _heartbeatError(UNS8 heartbeatID); +typedef void (*post_SlaveBootup_t)(UNS8); +void _post_SlaveBootup(UNS8 SlaveID); + #include "data.h" /************************************************************************* 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 diff -r 66f007300c10 -r 118c1cabd0b0 include/states.h --- a/include/states.h Fri Dec 14 16:32:38 2007 +0100 +++ b/include/states.h Mon Dec 17 13:22:35 2007 +0100 @@ -40,7 +40,10 @@ Stopped = 0x04, Operational = 0x05, Pre_operational = 0x7F, - Unknown_state = 0x0F + Unknown_state = 0x0F, +#ifdef CO_ENABLE_LSS + LssTimingDelay = 0x10 +#endif }; typedef enum enum_nodeState e_nodeState; @@ -53,6 +56,7 @@ INTEGER8 csSYNC; INTEGER8 csHeartbeat; INTEGER8 csPDO; + INTEGER8 csLSS; } s_state_communication; /** Function that user app can overload diff -r 66f007300c10 -r 118c1cabd0b0 src/Makefile.in --- a/src/Makefile.in Fri Dec 14 16:32:38 2007 +0100 +++ b/src/Makefile.in Mon Dec 17 13:22:35 2007 +0100 @@ -30,12 +30,18 @@ TARGET = SUB_TARGET CAN_DRIVER = SUB_CAN_DRIVER TIMERS_DRIVER = SUB_TIMERS_DRIVER +ENABLE_LSS = SUB_ENABLE_LSS INCLUDES = -I../include -I../include/$(TARGET) -I../include/$(TIMERS_DRIVER) -I../drivers/$(TARGET) OBJS = $(TARGET)_objacces.o $(TARGET)_lifegrd.o $(TARGET)_sdo.o\ $(TARGET)_pdo.o $(TARGET)_sync.o $(TARGET)_nmtSlave.o $(TARGET)_nmtMaster.o $(TARGET)_states.o $(TARGET)_timer.o $(TARGET)_dcf.o $(TARGET)_emcy.o + +ifeq ($(ENABLE_LSS),1) +OBJS += $(TARGET)_lss.o +endif + # # # # Target specific paramters # # # # ifeq ($(TARGET),hcs12) diff -r 66f007300c10 -r 118c1cabd0b0 src/lifegrd.c --- a/src/lifegrd.c Fri Dec 14 16:32:38 2007 +0100 +++ b/src/lifegrd.c Mon Dec 17 13:22:35 2007 +0100 @@ -133,6 +133,9 @@ ** NMTable[bus_id][nodeId] = Pre_operational */ MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); + + /* call post SlaveBootup with NodeId */ + (*d->post_SlaveBootup)(nodeId); } if( d->NMTable[nodeId] != Unknown_state ) { @@ -250,3 +253,4 @@ ** @param heartbeatID **/ void _heartbeatError(UNS8 heartbeatID){} +void _post_SlaveBootup(UNS8 SlaveID){} diff -r 66f007300c10 -r 118c1cabd0b0 src/lss.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/src/lss.c Mon Dec 17 13:22:35 2007 +0100 @@ -0,0 +1,662 @@ +/* +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 +*/ + + +/*! +** @file lss.c +** @author Jorge Berzosa +** @date Mon Oct 22 05:44:32 2007 +** +** @brief +** +** +*/ + +#ifdef CO_ENABLE_LSS + +#include "data.h" +#include "lss.h" +#include "canfestival.h" + +#define LSS_TIMEOUT_MS (TIMEVAL)1000 /* ms */ + +/* Returns the LSS ident field from a Message struct */ +#define getLSSIdent(msg) ((msg->data[4] << 24) | (msg->data[3] << 16) | (msg->data[2] << 8) | (msg->data[1])) + +/* Returns the LSS switch delay field from a Message struct */ +#define getLSSDelay(msg) ((msg->data[2] << 8) | (msg->data[1])) + +/* Returns the LSS FastScan BitCheck field from a Message struct */ +#define getLSSBitCheck(msg) msg->data[5] + +/* Returns the LSS FastScan LSSSub field from a Message struct */ +#define getLSSSub(msg) msg->data[6] + +/* Returns the LSS FastScan LSSNext field from a Message struct */ +#define getLSSNext(msg) msg->data[7] + +/* Prototypes for internals functions */ +void LssAlarm(CO_Data* d, UNS32 id); + +#define StopLSS_TIMER(id){\ + MSG_WAR(0x3D01, "StopLSS_TIMER for timer : ", id);\ + d->lss_transfer.timers[id] = DelAlarm(d->lss_transfer.timers[id]);} + +#define StartLSS_MSG_TIMER(){\ + MSG_WAR(0x3D02, "StartLSS_TIMER for MSG_TIMER",0);\ + d->lss_transfer.timers[LSS_MSG_TIMER] = SetAlarm(d,LSS_MSG_TIMER,&LssAlarm,MS_TO_TIMEVAL(LSS_TIMEOUT_MS),0);} + +#define StartLSS_SDELAY_TIMER(){\ + MSG_WAR(0x3D03, "StartLSS_TIMER for SDELAY_TIMER",0);\ + 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));} + + +/*! +** +** +** @param d +** @param id +**/ +//struct timeval current_time,init_time; +void LssAlarm(CO_Data* d, UNS32 id) +{ + /*unsigned long time_period; + + gettimeofday(¤t_time,NULL); + time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec; + printf("%3ld.%3ld.%3ld --",time_period/1000000,(time_period%1000000)/1000,time_period%1000);*/ + + switch(id){ + case LSS_MSG_TIMER: + MSG_ERR(0x1D04, "LSS timeout. LSS response not received.", 0); + MSG_WAR(0x2D05, "LSS timeout command specifier : ", d->lss_transfer.command); + + StopLSS_TIMER(LSS_MSG_TIMER); + /* Set aborted state */ + d->lss_transfer.state = LSS_ABORTED_INTERNAL; + /* Call the user function to inform of the problem.*/ + if(d->lss_transfer.Callback){ + /*If there is a callback, it is responsible of the error*/ + (*d->lss_transfer.Callback)(d,d->lss_transfer.command); + } + break; + case LSS_SWITCH_DELAY_TIMER: + /* The first switch_delay period has expired. Store the node state, change it + * so no CAN messages will be sent or received, call the ChangeBaudRate function*/ + if(d->lss_transfer.switchDelayState==SDELAY_FIRST){ + MSG_WAR(0x3D06, "LSS switch delay first period expired",0); + d->lss_transfer.switchDelayState=SDELAY_SECOND; + //d->lss_transfer.currentState=getState(d); + //setState(d, LssTimingDelay); + (*d->lss_ChangeBaudRate)(d->lss_transfer.baudRate); + } + else{ /* d->lss_transfer.switchDelayState==SDELAY_SECOND */ + MSG_WAR(0x3D07, "LSS switch delay second period expired",0); + d->lss_transfer.switchDelayState=SDELAY_OFF; + StopLSS_TIMER(LSS_SWITCH_DELAY_TIMER); + + setState(d, d->lss_transfer.currentState); + } + break; + } +} + +/*! +** +** +** @param d +**/ +void startLSS(CO_Data* d) +{ + /*MSG_WAR(0x3D09, "LSS services started",0);*/ +} + +/*! +** +** +** @param d +**/ +void stopLSS(CO_Data* d) +{ + /*MSG_WAR(0x3D09, "LSS services stopped",0);*/ +} + +/*! +** +** +** @param d +** @param cob_id +** +** @return +**/ +UNS8 sendSlaveLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) +{ + Message m; + UNS8 i; + + if (!d->CurrentCommunicationState.csLSS){ + MSG_WAR(0x2D0A, "unable to send the LSS message (not in stop or pre-op mode", d->nodeState); + return 0; + } + + for(i=1;i<8;i++)m.data[i]=0; + m.len = 8; + m.rtr = NOT_A_REQUEST; + m.data[0]=command; + m.cob_id.w=SLSS_ADRESS; + + /* Tha data sent with the msg depends on the command */ + switch(command){ + case LSS_INQ_NODE_ID: /* Inquire Node-ID */ + m.data[1]=*(UNS8 *)dat1; + break; + case LSS_CONF_NODE_ID: /* Configure Node-ID */ + case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ + case LSS_CONF_STORE: /* Store Configured Parameters */ + m.data[1]=*(UNS8 *)dat1; + m.data[2]=*(UNS8 *)dat2; + break; + case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ + case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ + case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ + case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ + m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); + m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); + m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF); + m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF); + break; + case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response*/ + case LSS_IDENT_SLAVE: /* LSS Identify Slave */ + case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ + break; + default: + MSG_ERR(0x1D0B, "send Slave LSS command not implemented", command); + return 0xFF; + break; + } + + return canSend(d->canHandle,&m); +} + +/*! +** +** +** @param d +** @param cob_id +** +** @return +**/ +UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2) +{ + Message m; + UNS8 i; + + for(i=1;i<8;i++)m.data[i]=0; + m.len = 8; + m.rtr = NOT_A_REQUEST; + m.data[0]=command; + m.cob_id.w=MLSS_ADRESS; + + /* Tha data sent with the msg depends on the command */ + switch(command){ + case LSS_SM_GLOBAL: /* Switch Mode Global */ + d->lss_transfer.state=LSS_FINISHED; + case LSS_CONF_NODE_ID: /* Configure Node-ID */ + m.data[1]=*(UNS8 *)dat1; + break; + case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ + m.data[1]=*(UNS8 *)dat1; + m.data[2]=*(UNS8 *)dat2; + break; + case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */ + m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); + m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); + break; + case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */ + case LSS_SM_SELECTIVE_PRODUCT: + case LSS_SM_SELECTIVE_REVISION: + case LSS_SM_SELECTIVE_SERIAL: + case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */ + case LSS_IDENT_REMOTE_PRODUCT: + case LSS_IDENT_REMOTE_REV_LOW: + case LSS_IDENT_REMOTE_REV_HIGH: + case LSS_IDENT_REMOTE_SERIAL_LOW: + case LSS_IDENT_REMOTE_SERIAL_HIGH: + m.data[1]=(UNS8)(*(UNS32*)dat1 & 0xFF); + m.data[2]=(UNS8)(*(UNS32*)dat1>>8 & 0xFF); + m.data[3]=(UNS8)(*(UNS32*)dat1>>16 & 0xFF); + m.data[4]=(UNS8)(*(UNS32*)dat1>>24 & 0xFF); + break; + case LSS_CONF_STORE: /* Store Configured Parameters */ + case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */ + case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ + case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ + case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ + case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ + case LSS_INQ_NODE_ID: /* Inquire Node-ID */ + break; + case LSS_IDENT_FASTSCAN: + m.data[1]=(UNS8)(d->lss_transfer.IDNumber & 0xFF); + m.data[2]=(UNS8)(d->lss_transfer.IDNumber>>8 & 0xFF); + m.data[3]=(UNS8)(d->lss_transfer.IDNumber>>16 & 0xFF); + m.data[4]=(UNS8)(d->lss_transfer.IDNumber>>24 & 0xFF); + m.data[5]=d->lss_transfer.BitChecked; + m.data[6]=d->lss_transfer.LSSSub; + m.data[7]=d->lss_transfer.LSSNext; + break; + default: + MSG_ERR(0x1D0C, "send Master LSS command not implemented", command); + return 0xFF; + break; + } + + return canSend(d->canHandle,&m); +} + +/*! +** +** +** @param d +** @param cob_id +** +** @return +**/ +UNS8 sendLSS(CO_Data* d, UNS8 command,void *dat1,void *dat2) +{ + UNS8 res=1; + + /* Tha data sent with the msg depends on the command and if the sender is a master or a slave */ + if (*(d->iam_a_slave)){ + res = sendSlaveLSSMessage(d, command,dat1,dat2); + } + else {/* It is a Master */ + res = sendMasterLSSMessage(d, command,dat1,dat2); + } + return res ; +} + + +/*! +** +** +** @param d +** @param m +** +** @return +**/ +UNS8 proceedLSS_Master(CO_Data* d, Message* m ) +{ + UNS8 msg_cs; + UNS32 Dat1=0; + UNS8 Dat2=0; + + MSG_WAR(0x3D0D, "MasterLSS proceedLSS; command ", m->data[0]); + StopLSS_TIMER(LSS_MSG_TIMER); + /* Set state */ + d->lss_transfer.state = LSS_FINISHED; + + switch(msg_cs=m->data[0]){ + case LSS_INQ_NODE_ID: /* Inquire Node-ID */ + Dat1=m->data[1]; + break; + case LSS_CONF_NODE_ID: /* Configure Node-ID */ + case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ + case LSS_CONF_STORE: /* Store Configured Parameters */ + Dat1=m->data[1]; + Dat2=m->data[2]; + break; + case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ + case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ + case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ + case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ + Dat1=getLSSIdent(m); + break; + case LSS_IDENT_SLAVE: /* LSS Identify Slave */ + /*if(d->lss_transfer.command==LSS_IDENT_FASTSCAN){ + * ************ TODO ******************* + }*/ + break; + case LSS_SM_SELECTIVE_RESP: /* Switch Mode Selective response */ + case LSS_IDENT_NON_CONF_SLAVE: /* LSS identify non-configured remote slave */ + break; + default: + MSG_ERR(0x1D0E, "Master LSS command not implemented", msg_cs); + return 0xFF; + break; + } + + d->lss_transfer.dat1=Dat1; + d->lss_transfer.dat2=Dat2; + /* If there is a callback, it is responsible of the received response */ + if(d->lss_transfer.Callback) + (*d->lss_transfer.Callback)(d,msg_cs); + + return 0; +} + +/*! +** +** +** @param d +** @param m +** +** @return +**/ +UNS8 proceedLSS_Slave(CO_Data* d, Message* m ) +{ + UNS8 msg_cs; + + MSG_WAR(0x3D0F, "SlaveLSS proceedLSS; command ", m->data[0]); + + switch(msg_cs=m->data[0]){ + case LSS_SM_GLOBAL: /* Switch Mode Global */ + /* if there is not a mode change break*/ + if(m->data[1] == d->lss_transfer.mode){ + MSG_WAR(0x3D10, "SlaveLSS already in the mode ", m->data[1]); + break; + } + + if(m->data[1]==LSS_CONFIGURATION_MODE) { + MSG_WAR(0x3D11, "SlaveLSS switching to configuration mode ", 0); + /* Store the NodeId in case it will be changed */ + d->lss_transfer.nodeID=getNodeId(d); + d->lss_transfer.mode=LSS_CONFIGURATION_MODE; + } + else if(m->data[1]==LSS_WAITING_MODE){ + MSG_WAR(0x3D12, "SlaveLSS switching to operational mode ", 0); + + if(d->lss_transfer.switchDelayState==SDELAY_OFF){ + /* If the nodeID has changed update it and put the node state to Initialisation. */ + if(d->lss_transfer.nodeID!=getNodeId(d)){ + MSG_WAR(0x3D13, "The node Id has changed. Reseting to Initialisation state",0); + setNodeId(d, d->lss_transfer.nodeID); + setState(d, Initialisation); + } + } + d->lss_transfer.mode=LSS_WAITING_MODE; + } + break; + case LSS_CONF_NODE_ID: /* Configure Node-ID */ + { + UNS8 error_code=0; + UNS8 spec_error=0; + + if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ + if(m->data[1]>127 && m->data[1]!=0xFF){ + MSG_ERR(0x1D14, "NodeID out of range",0); + error_code=1; /* NodeID out of range */ + } + else{ + d->lss_transfer.nodeID=m->data[1]; + } + } + else{ + MSG_ERR(0x1D15, "SlaveLSS not in configuration mode",0); + error_code=0xFF; + } + sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); + } + break; + case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */ + { + UNS8 error_code=0; + UNS8 spec_error=0; + + if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ + /* Change the baud rate only if the function lss_ChangeBaudRate + * has been implemented. If not send an error. + */ + if(d->lss_ChangeBaudRate){ + /* If a baud rate is not supported just comment the line. */ + switch(m->data[2]){ + case 0x00:d->lss_transfer.baudRate="1M";break; + case 0x01:d->lss_transfer.baudRate="800K";break; + case 0x02:d->lss_transfer.baudRate="500K";break; + case 0x03:d->lss_transfer.baudRate="250K";break; + case 0x04:d->lss_transfer.baudRate="125K";break; + case 0x05:d->lss_transfer.baudRate="100K";break; + case 0x06:d->lss_transfer.baudRate="50K";break; + case 0x07:d->lss_transfer.baudRate="20K";break; + case 0x08:d->lss_transfer.baudRate="10K";break; + default: + MSG_ERR(0x1D16, "Baud rate not supported",0); + error_code=0xFF; /* Baud rate not supported*/ + break; + } + } + else + { + MSG_ERR(0x1D17, "Bit timing not supported",0); + error_code=0x01; /* bit timing not supported */ + } + } + else{ + MSG_ERR(0x1D18, "SlaveLSS not in configuration mode",0); + error_code=0xFF; + } + + sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); + } + break; + case LSS_CONF_ACT_BIT_TIMING: /* Activate Bit Timing Parameters */ + + if(d->lss_transfer.mode!=LSS_CONFIGURATION_MODE){ + MSG_ERR(0x1D19, "SlaveLSS not in configuration mode",0); + break; + } + + if(d->lss_transfer.baudRate!="none"){ + d->lss_transfer.switchDelay=getLSSDelay(m); + MSG_WAR(0x3D1A, "Slave Switch Delay set to: ",d->lss_transfer.switchDelay); + d->lss_transfer.switchDelayState=SDELAY_FIRST; + d->lss_transfer.currentState=getState(d); + setState(d, LssTimingDelay); + StartLSS_SDELAY_TIMER(); + } + break; + case LSS_CONF_STORE: /* Store Configured Parameters */ + { + UNS8 error_code=0; + UNS8 spec_error=0; + + if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE){ + if(d->lss_StoreConfiguration){ + /* call lss_StoreConfiguration with NodeId */ + (*d->lss_StoreConfiguration)(&error_code,&spec_error); + } + else{ + MSG_ERR(0x1D1B, "Store configuration not supported",0); + error_code=1; /* store configuration is not supported */ + } + } + else{ + MSG_ERR(0x1D1C, "SlaveLSS not in configuration mode",0); + error_code=0xFF; + } + sendSlaveLSSMessage(d,msg_cs,&error_code,&spec_error); + } + break; + case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */ + case LSS_SM_SELECTIVE_PRODUCT: + case LSS_SM_SELECTIVE_REVISION: + case LSS_SM_SELECTIVE_SERIAL: + { + UNS32 errorCode; + const indextable *ptrTable; + ODCallback_t *Callback; + UNS32 _SpecificNodeInfo; + + if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) + { + MSG_ERR(0x1D1D, "Switch Mode Selective only supported in operational mode",0); + break; + } + + _SpecificNodeInfo=getLSSIdent(m); + + ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); + if(_SpecificNodeInfo==*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_SM_SELECTIVE_VENDOR-1)].pObject){ + + d->lss_transfer.addr_sel_match|=(0x01<<(msg_cs-LSS_SM_SELECTIVE_VENDOR)); + /* If all the fields has been set */ + if(d->lss_transfer.addr_sel_match==0x0F){ + + MSG_WAR(0x3D1E, "SlaveLSS switching to configuration mode ", 0); + d->lss_transfer.addr_sel_match=0; + d->lss_transfer.nodeID=getNodeId(d); + d->lss_transfer.mode=LSS_CONFIGURATION_MODE; + + sendSlaveLSSMessage(d,LSS_SM_SELECTIVE_RESP,0,0); + } + } + else { + MSG_WAR(0x3D1F, "LSS identity field doesn't match ", _SpecificNodeInfo); + d->lss_transfer.addr_sel_match=0; + } + } + break; + case LSS_IDENT_REMOTE_VENDOR: /* LSS Identify Remote Slaves */ + case LSS_IDENT_REMOTE_PRODUCT: + case LSS_IDENT_REMOTE_REV_LOW: + case LSS_IDENT_REMOTE_REV_HIGH: + case LSS_IDENT_REMOTE_SERIAL_LOW: + case LSS_IDENT_REMOTE_SERIAL_HIGH: + { + UNS32 errorCode; + const indextable *ptrTable; + ODCallback_t *Callback; + UNS32 _SpecificNodeInfo; + + _SpecificNodeInfo=getLSSIdent(m); + + ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); + + /* Check if the data match the identity object. */ + switch(msg_cs){ + 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; + 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; + 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; + 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; + 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; + 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; + } + /* If all the fields has been set.. */ + if(d->lss_transfer.addr_ident_match==0x3F){ + MSG_WAR(0x3D20, "SlaveLSS identified ", 0); + d->lss_transfer.addr_ident_match=0; + sendSlaveLSSMessage(d,LSS_IDENT_SLAVE,0,0); + } + else if(d->lss_transfer.addr_ident_match==0){ + MSG_WAR(0x3D21, "LSS identify field doesn't match ", _SpecificNodeInfo); + } + } + break; + case LSS_IDENT_REMOTE_NON_CONF: /* LSS identify non-configured remote slave */ + { + if(getNodeId(d)==0xFF){ + MSG_WAR(0x3D22, "SlaveLSS non-configured ", 0); + sendSlaveLSSMessage(d,LSS_IDENT_NON_CONF_SLAVE,0,0); + } + else{ + MSG_WAR(0x3D23, "SlaveLSS already configured ", 0); + } + } + break; + case LSS_INQ_VENDOR_ID: /* Inquire Identity Vendor-ID */ + case LSS_INQ_PRODUCT_CODE: /* Inquire Identity Product-Code */ + case LSS_INQ_REV_NUMBER: /* Inquire Identity Revision-Number */ + case LSS_INQ_SERIAL_NUMBER: /* Inquire Identity Serial-Number */ + if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) + { + + UNS32 errorCode; + const indextable *ptrTable; + ODCallback_t *Callback; + UNS32 _SpecificNodeInfo; + + ptrTable = (*d->scanIndexOD)(0x1018, &errorCode, &Callback); + _SpecificNodeInfo=*(UNS32*)ptrTable->pSubindex[msg_cs-(LSS_INQ_VENDOR_ID-1)].pObject; + MSG_WAR(0x3D24, "SlaveLSS identity field inquired ", _SpecificNodeInfo); + + sendSlaveLSSMessage(d,msg_cs,&_SpecificNodeInfo,0); + } + break; + case LSS_INQ_NODE_ID: /* Inquire Node-ID */ + if(d->lss_transfer.mode==LSS_CONFIGURATION_MODE) + { + UNS8 NodeID; + + NodeID=getNodeId(d); + MSG_WAR(0x3D25, "SlaveLSS Node ID inquired ", NodeID); + sendSlaveLSSMessage(d,msg_cs,&NodeID,0); + } + else{ + MSG_ERR(0x1D26, "SlaveLSS not in configuration mode",0); + } + break; + case LSS_IDENT_FASTSCAN: + { + /******* TODO *******/ + } + break; + default: + MSG_ERR(0x1D27, "SlaveLSS command not implemented", msg_cs); + return 0xFF; + break; + } + + return 0; +} + +UNS8 configNetworkNode(CO_Data* d, UNS8 command, void *dat1, void* dat2) +{ + return sendMasterLSSMessage(d,command,dat1,dat2); +} + +UNS8 configNetworkNodeCallBack (CO_Data* d, UNS8 command, void *dat1, void* dat2, LSSCallback_t Callback) +{ + d->lss_transfer.state=LSS_TRANS_IN_PROGRESS; + d->lss_transfer.Callback=Callback; + d->lss_transfer.command=command; + + StopLSS_TIMER(LSS_MSG_TIMER); + StartLSS_MSG_TIMER(); + + return sendMasterLSSMessage(d,command,dat1,dat2); +} + +UNS8 getConfigResultNetworkNode (CO_Data* d, UNS8 command, UNS32* dat1, UNS8* dat2) +{ + *dat1=d->lss_transfer.dat1; + *dat2=d->lss_transfer.dat2; + return d->lss_transfer.state; +} + +//void _lss_StoreConfiguration(UNS8 *error, UNS8 *spec_error){printf("_lss_StoreConfiguration\n");} +//void _lss_ChangeBaudRate(char *BaudRate){printf("_lss_ChangeBaudRate\n");} + +#endif diff -r 66f007300c10 -r 118c1cabd0b0 src/nmtSlave.c --- a/src/nmtSlave.c Fri Dec 14 16:32:38 2007 +0100 +++ b/src/nmtSlave.c Mon Dec 17 13:22:35 2007 +0100 @@ -98,6 +98,10 @@ { Message m; +#ifdef CO_ENABLE_LSS + if(*d->bDeviceNodeId==0xFF)return 0; +#endif + MSG_WAR(0x3407, "Send a Boot-Up msg ", 0); /* message configuration */ diff -r 66f007300c10 -r 118c1cabd0b0 src/states.c --- a/src/states.c Fri Dec 14 16:32:38 2007 +0100 +++ b/src/states.c Mon Dec 17 13:22:35 2007 +0100 @@ -34,7 +34,9 @@ #include "dcf.h" #include "nmtSlave.h" #include "emcy.h" - +#ifdef CO_ENABLE_LSS +#include "lss.h" +#endif /** Prototypes for internals functions */ /*! ** @@ -102,6 +104,19 @@ { proceedNMTstateChange(d,m); } +#ifdef CO_ENABLE_LSS + case LSS: + if (!d->CurrentCommunicationState.csLSS)break; + if ((*(d->iam_a_slave)) && m->cob_id.w==MLSS_ADRESS) + { + proceedLSS_Slave(d,m); + } + else if(!(*(d->iam_a_slave)) && m->cob_id.w==SLSS_ADRESS) + { + proceedLSS_Master(d,m); + } + break; +#endif } } @@ -131,6 +146,9 @@ StartOrStop(csEmergency, emergencyInit(d), emergencyStop(d)) StartOrStop(csPDO, PDOInit(d), PDOStop(d)) StartOrStop(csBoot_Up, None, slaveSendBootUp(d)) +#ifdef CO_ENABLE_LSS + StartOrStop(csLSS, startLSS(d), stopLSS(d)) +#endif } /*! @@ -147,7 +165,7 @@ switch( newState ){ case Initialisation: { - s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0}; + s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0, 0}; /* This will force a second loop for the state switch */ d->nodeState = Initialisation; newState = Pre_operational; @@ -161,7 +179,7 @@ case Pre_operational: { - s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0}; + s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0, 1}; d->nodeState = Pre_operational; newState = Pre_operational; switchCommunicationState(d, &newCommunicationState); @@ -180,7 +198,7 @@ case Operational: if(d->nodeState == Initialisation) return 0xFF; { - s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1}; + s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1, 0}; d->nodeState = Operational; newState = Operational; switchCommunicationState(d, &newCommunicationState); @@ -191,13 +209,23 @@ case Stopped: if(d->nodeState == Initialisation) return 0xFF; { - s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0}; + s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0, 1}; d->nodeState = Stopped; newState = Stopped; switchCommunicationState(d, &newCommunicationState); (*d->stopped)(); } break; +#ifdef CO_ENABLE_LSS + case LssTimingDelay: + { + s_state_communication newCommunicationState = {0, 0, 0, 0, 0, 0, 0}; + d->nodeState = LssTimingDelay; + newState = LssTimingDelay; + switchCommunicationState(d, &newCommunicationState); + } + break; +#endif default: return 0xFF; @@ -228,6 +256,15 @@ void setNodeId(CO_Data* d, UNS8 nodeId) { UNS16 offset = d->firstIndex->SDO_SVR; + +#ifdef CO_ENABLE_LSS + if(nodeId==0xFF) + { + *d->bDeviceNodeId = nodeId; + return; + } +#endif + if(offset){ /* Adjust COB-ID Client->Server (rx) only id already set to default value*/ if(*(UNS32*)d->objdict[offset].pSubindex[1].pObject = 0x600 + *d->bDeviceNodeId){