/*!
**
**
** @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(0x2D17, "unable to send the LSS message, not in the proper state =>", d->nodeState);
return 0xFF;
}
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=UNS16_LE(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(0x1D18, "send Slave LSS command not implemented", command);
return 0xFF;
}
}
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendSYNCMessage(CO_Data* d)
{
Message m;
MSG_WAR(0x3001, "sendSYNC ", 0);
m.cob_id = (UNS16)UNS16_LE(*d->COB_ID_Sync);
m.rtr = NOT_A_REQUEST;
m.len = 0;
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param nodeId
**
** @return
**/
UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
{
Message m;
/* message configuration */
UNS16 tmp = nodeId | (NODE_GUARD << 7);
m.cob_id = UNS16_LE(tmp);
m.rtr = REQUEST;
m.len = 0;
MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param m
**/
void canDispatch(CO_Data* d, Message *m)
{
UNS16 cob_id = UNS16_LE(m->cob_id);
switch (cob_id >> 7) {
case SYNC: /* can be a SYNC or a EMCY message */
if (cob_id == 0x080) { /* SYNC */
if (d->CurrentCommunicationState.csSYNC)
proceedSYNC(d);
} else /* EMCY */
if (d->CurrentCommunicationState.csEmergency)
proceedEMCY(d, m);
break;
/* case TIME_STAMP: */
case PDO1tx:
case PDO1rx:
case PDO2tx:
case PDO2rx:
case PDO3tx:
case PDO3rx:
case PDO4tx:
case PDO4rx:
if (d->CurrentCommunicationState.csPDO)
proceedPDO(d, m);
break;
case SDOtx:
case SDOrx:
if (d->CurrentCommunicationState.csSDO)
proceedSDO(d, m);
break;
case NODE_GUARD:
if (d->CurrentCommunicationState.csHeartbeat)
proceedNODE_GUARD(d, m);
break;
case NMT:
if (*(d->iam_a_slave)) {
proceedNMTstateChange(d, m);
}
#ifdef CO_ENABLE_LSS
case LSS:
if (!d->CurrentCommunicationState.csLSS)break;
if ((*(d->iam_a_slave)) && cob_id == MLSS_ADRESS) {
proceedLSS_Slave(d, m);
} else if (!(*(d->iam_a_slave)) && cob_id == SLSS_ADRESS) {
proceedLSS_Master(d, m);
}
break;
#endif
}
}
/*!
**
**
** @param d
** @param cob_id
**
** @return
**/
UNS8 sendMasterLSSMessage(CO_Data* d, UNS8 command,void *dat1,void *dat2)
{
Message m;
UNS8 i;
UNS8 res;
UNS8 hasResponse=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=UNS16_LE(MLSS_ADRESS);
/* Tha data sent with the msg depends on the command */
switch(command)
{
case LSS_CONF_NODE_ID: /* Configure Node-ID */
{
hasResponse=1;
}
case LSS_SM_GLOBAL: /* Switch Mode Global */
{
m.data[1]=*(UNS8 *)dat1;
} break;
case LSS_CONF_BIT_TIMING: /* Configure Bit Timing Parameters */
{
m.data[1]=*(UNS8 *)dat1;
d->lss_transfer.baudRate=*(char **)dat2;
if ((m.data[2]=CO_TranslateBaudRate(d->lss_transfer.baudRate))!=0xFF)
{
hasResponse=1;
break;
}
MSG_ERR(0x1D19, "Master-> Baud rate not supported",0);
d->lss_transfer.dat1=0xFF;
/* if bit timing is not supported comment the previous code and uncomment the following one*/
/*{
MSG_ERR(0x1D1A, "Master-> Bit timing not supported",0);
d->lss_transfer.dat1=0x01;
}*/
d->lss_transfer.dat2=0;
/* If there is a callback, it is responsible of the error */
if (d->lss_transfer.Callback)
{
(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
}
return 0xFF;
//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);
if(d->lss_transfer.baudRate != "none")
{
d->lss_transfer.switchDelay=(UNS16)(*(UNS32*)dat1 & 0xFFFF);
d->lss_transfer.switchDelayState=SDELAY_FIRST;
d->lss_transfer.canHandle_t=d->canHandle;
res=canSend(d->canHandle,&m);
if (res==0)
{
StartLSS_SDELAY_TIMER();
d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
}
return res;
} else
{
MSG_ERR(0x1D1B, "Master-> Baud rate not specified",0);
d->lss_transfer.dat1=1;
/* If there is a callback, it is responsible of the error */
if (d->lss_transfer.Callback)
{
(*d->lss_transfer.Callback)(d,d->lss_transfer.command);
}
return 0xFF;
}
//break;
}
case LSS_SM_SELECTIVE_SERIAL:
case LSS_IDENT_REMOTE_SERIAL_HIGH:
{
hasResponse=1;
}
case LSS_SM_SELECTIVE_VENDOR: /* Switch Mode Selective */
case LSS_SM_SELECTIVE_PRODUCT:
case LSS_SM_SELECTIVE_REVISION:
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:
{
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 */
{
hasResponse=1;
} break;
#ifdef CO_ENABLE_LSS_FS
case LSS_IDENT_FASTSCAN:
{
if (d->lss_transfer.FastScan_SM==LSS_FS_RESET)
{
UNS8 i;
/* Initialize the lss_fs_transfer FastScan parameters */
for(i = 0; i < 4; i++)
{
d->lss_transfer.lss_fs_transfer.FS_LSS_ID[i]=(*(lss_fs_transfer_t*)dat1).FS_LSS_ID[i];
d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]=(*(lss_fs_transfer_t*)dat1).FS_BitChecked[i];
/* Adjust BitChecked from 32-1 to 31-0 */
if (d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]>0)
{
d->lss_transfer.lss_fs_transfer.FS_BitChecked[i]--;
}
}
d->lss_transfer.IDNumber=0;
d->lss_transfer.BitChecked=128;
d->lss_transfer.LSSSub=0;
d->lss_transfer.LSSNext=0;
/* it will generate a response only if it is the start of the FastScan protocol*/
hasResponse=1;
}
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;
#endif
default:
{
MSG_ERR(0x1D1C, "send Master LSS command not implemented", command);
return 0xFF;
}
}
res=canSend(d->canHandle,&m);
if (res==0 && hasResponse==1){
StartLSS_MSG_TIMER();
d->lss_transfer.state=LSS_TRANS_IN_PROGRESS;
}
return res;
}