void lsstools_config(UNS8 nodeID, UNS8 command,void* dat2send1, void* dat2send2,int checkactive) {
configNetworkNode(&SpirallingMaster_Data,command,dat2send1,dat2send2,NULL);
if (checkactive) {
UNS32 dat1;
UNS8 dat2;
UNS8 res = getConfigResultNetworkNode (&SpirallingMaster_Data, command, &dat1, &dat2);
while (res == LSS_TRANS_IN_PROGRESS || res == LSS_RESET) {
usleep(100000);
res = getConfigResultNetworkNode (&SpirallingMaster_Data, command, &dat1, &dat2);
}
if (res == LSS_ABORTED_INTERNAL) {
printf("Master : Failed in LSS comand %d. Trying again\n", command);
LSS_step_error++;
if (LSS_step_error < LSS_step_error_max) {
lsstools_loop(nodeID, 0);
} else {
lsstools_loop(nodeID, 1);
}
} else if (res == LSS_FINISHED) {
LSS_step++;
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_SERIAL:
printf("Slave in LSS CONFIGURATION state\n");
break;
case LSS_INQ_NODE_ID:
printf("Slave nodeid %x\n", dat1);
if (dat1 == nodeID) {
LSS_step = 5;
}
break;
}
printf("\n");
lsstools_loop(nodeID, 0);
}
}
}
/* Configuration of the nodeID and baudrate with LSS services:
* --First ask if there is a node with an invalid nodeID.
* --If FastScan is activated it is used to put the slave in the state “configuration”.
* --If FastScan is not activated, identification services are used to identify the slave. Then
* switch mode service is used to put it in configuration state.
* --Next, all the inquire services are used (only for example) and a valid nodeId and a
* new baudrate are assigned to the slave.
* --Finally, the slave's LSS state is restored to “waiting” and all the process is repeated
* again until there isn't any node with an invalid nodeID.
* --After the configuration of all the slaves finished the LSS state of all of them is switched
* again to "configuration" and the Activate Bit Timing service is requested. On sucessfull, the
* LSS state is restored to "waiting" and NMT state is changed to reset (by means of the NMT services).
* */
static void ConfigureLSSNode(CO_Data* d)
{
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 LSS_mode=LSS_WAITING_MODE;
UNS8 Baud_Table=0;
//UNS8 Baud_BitTiming=3;
char* Baud_BitTiming="250K";
UNS8 res;
eprintf("ConfigureLSSNode step %d -> ",init_step_LSS);
switch(init_step_LSS){
case 1: /* LSS=>identify non-configured remote slave */
eprintf("LSS=>identify no-configured remote slave(s)\n");
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
break;
#ifdef CO_ENABLE_LSS_FS
case 2: /* LSS=>FastScan */
{
lss_fs_transfer_t lss_fs;
eprintf("LSS=>FastScan\n");
/* The VendorID and ProductCode are partialy known, except the last two digits (8 bits). */
lss_fs.FS_LSS_ID[0]=Vendor_ID;
lss_fs.FS_BitChecked[0]=8;
lss_fs.FS_LSS_ID[1]=Product_Code;
lss_fs.FS_BitChecked[1]=8;
/* serialNumber and RevisionNumber are unknown, i.e. the 8 digits (32bits) are unknown. */
lss_fs.FS_BitChecked[2]=32;
lss_fs.FS_BitChecked[3]=32;
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_FASTSCAN,&lss_fs,0,CheckLSSAndContinue);
}
break;
#else
case 2: /* LSS=>identify node */
eprintf("LSS=>identify node\n");
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
break;
case 3: /*LSS=>put in configuration mode*/
eprintf("LSS=>put in configuration mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
Vendor_ID++;
break;
#endif
case 4: /* LSS=>inquire nodeID */
eprintf("LSS=>inquire nodeID\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
break;
case 5: /* LSS=>inquire VendorID */
eprintf("LSS=>inquire VendorID\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
break;
case 6: /* LSS=>inquire Product code */
eprintf("LSS=>inquire Product code\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
break;
case 7: /* LSS=>inquire Revision Number */
eprintf("LSS=>inquire Revision Number\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
break;
case 8: /* LSS=>inquire Serial Number */
eprintf("LSS=>inquire Serial Number\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
break;
case 9: /* LSS=>change the nodeID */
eprintf("LSS=>change the nodeId\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
NodeID++;
break;
case 10: /* LSS=>change the Baud rate */
eprintf("LSS=>change the Baud rate\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
break;
case 11:
/*LSS=>store configuration*/
eprintf("LSS=>store configuration\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
break;
case 12: /* LSS=>put in waiting mode */
eprintf("LSS=>put in waiting mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
/* Search again for no-configured slaves*/
eprintf("LSS=>identify no-configured remote slave(s)\n");
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
init_step_LSS=1;
break;
}
}
static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
{
UNS32 dat1;
UNS8 dat2;
printf("CheckLSS->");
if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
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_CONF_ACT_BIT_TIMING:
if(dat1==0){
UNS8 LSS_mode=LSS_WAITING_MODE;
UNS32 SINC_cicle=50000;// us
UNS32 size = sizeof(UNS32);
/* The slaves are now configured (nodeId and Baudrate) via the LSS services.
* Switch the LSS state to WAITING and restart the slaves. */
/*TODO: change the baud rate of the master!!*/
MasterBoard.baudrate="250K";
printf("Master : Switch Delay period finished. Switching to LSS WAITING state\n");
configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
printf("Master : Restarting all the slaves\n");
masterSendNMTstateChange (d, 0x00, NMT_Reset_Comunication);
printf("Master : Starting the SYNC producer\n");
writeLocalDict( d, /*CO_Data* d*/
0x1006, /*UNS16 index*/
0x00, /*UNS8 subind*/
&SINC_cicle, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
return;
}
else{
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
eprintf("Master : unable to activate bit timing. trying again\n");
configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
return;
}
break;
case LSS_SM_SELECTIVE_SERIAL:
printf("Slave in LSS CONFIGURATION state\n");
break;
case LSS_IDENT_REMOTE_SERIAL_HIGH:
printf("node identified\n");
break;
case LSS_IDENT_REMOTE_NON_CONF:
if(dat1==0)
eprintf("There are no-configured remote slave(s) in the net\n");
else
{
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
/*The configuration of the slaves' nodeId ended.
* Start the configuration of the baud rate. */
eprintf("Master : There are not no-configured slaves in the net\n");
eprintf("Switching all the nodes to LSS CONFIGURATION state\n");
configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
eprintf("LSS=>Activate Bit Timing\n");
configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
return;
}
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;
#ifdef CO_ENABLE_LSS_FS
case LSS_IDENT_FASTSCAN:
if(dat1==0)
printf("Slave node identified with FastScan\n");
else
{
printf("There is not unconfigured node in the net\n");
return;
}
init_step_LSS++;
break;
#endif
}
}
printf("\n");
ConfigureLSSNode(d);
}
