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);
}
}
}
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);
}