Detailed Description

LSS offers the possibility to inquire and change the settings of certain parameters of the local layers on a CANopen module with LSS Slave capabilities by a CANopen module with LSS Master capabilities via the CAN Network. The following parameters can be inquired and/or changed by the use of LSS:

Node-ID of the CANopen Slave
Bit timing parameters of the physical layer (baud rate)
LSS address (Identity Object, Index 1018H)

By using LSS a LSS Slave can be configured for a CANopen network without using any devices like DIP-switches for setting the parameters.

Include dependency graph for com_lss.h:

Data Structures
struct	ComLssAddress_s

Typedefs
typedef struct ComLssAddress_s	ComLssAddress_ts

Enumerations
enum	ComLssMode_e { eCOM_LSS_MODE_WAITING = 0 , eCOM_LSS_MODE_CONFIGURATION }

enum	ComLssProt_e { }

enum	ComLssStat_e { eCOM_LSS_STAT_ACTIVE = 1 , eCOM_LSS_STAT_SUCCESS , eCOM_LSS_STAT_ERROR , eCOM_LSS_STAT_TIMEOUT }

enum	ComLssInqSrv_e { eCOM_LSS_INQ_SRV_VID = 0 , eCOM_LSS_INQ_SRV_PRD , eCOM_LSS_INQ_SRV_REV , eCOM_LSS_INQ_SRV_SRN , eCOM_LSS_INQ_SRV_NID }

Functions
ComStatus_tv	ComLssConfigureBitTiming (uint8_t ubNetV, uint8_t ubBittimeSelV)

ComStatus_tv	ComLssConfigureNodeId (uint8_t ubNetV, uint8_t ubNodeIdV)

void	ComLssEventReceive (uint8_t ubNetV, uint8_t ubLssProtocolV)

ComStatus_tv	ComLssFastscan (uint8_t ubNetV, uint32_t ulVendorIdV, uint32_t ulProdCodeV, uint32_t ulRevisionNumV, uint32_t ulSerialNumV)

uint32_t	ComLssGetAddrSerialNum (uint8_t ubNetV)

ComStatus_tv	ComLssGetIdentity (uint8_t ubNetV, ComLssAddress_ts *ptsLssAddressV)

ComStatus_tv	ComLssGetStatus (uint8_t ubNetV, uint8_t *pubStatusV)

ComStatus_tv	ComLssIdentifyNonConfiguredSlave (uint8_t ubNetV)

ComStatus_tv	ComLssIdentifyRemoteSlave (uint8_t ubNetV, uint32_t ulVendorIdV, uint32_t ulProdCodeV, uint32_t ulRevisionNumLowV, uint32_t ulRevisionNumHighV, uint32_t ulSerialNumLowV, uint32_t ulSerialNumHighV)

ComStatus_tv	ComLssInquiryService (uint8_t ubNetV, uint8_t ubServiceV)

ComStatus_tv	ComLssSetTimeout (uint8_t ubNetV, uint16_t uwTimeV)

ComStatus_tv	ComLssStoreConfiguration (uint8_t ubNetV)

ComStatus_tv	ComLssSwitchModeGlobal (uint8_t ubNetV, uint8_t ubModeV)

ComStatus_tv	ComLssSwitchModeSelective (uint8_t ubNetV, uint32_t ulVendorIdV, uint32_t ulProdCodeV, uint32_t ulRevisionNumV, uint32_t ulSerialNumV)

Typedef Documentation

◆ ComLssAddress_ts

typedef struct ComLssAddress_s ComLssAddress_ts

CANopen Master - LSS address.

The structure ComLssAddress_s defines a 128-bit number to identify each node uniquely, consisting of the vendor-ID, product code, revision number and serial number with 32 bit each, defined in /CiA301/ object 1018h. The value can be determined by calling ComLssGetIdentity() after an successful LSS fastscan procedure.

Enumeration Type Documentation

◆ ComLssInqSrv_e

enum ComLssInqSrv_e

CANopen Master LSS inquire services

Enumerator
eCOM_LSS_INQ_SRV_VID	inquire vendor ID
eCOM_LSS_INQ_SRV_PRD	inquire product code
eCOM_LSS_INQ_SRV_REV	inquire revision number
eCOM_LSS_INQ_SRV_SRN	inquire serial number
eCOM_LSS_INQ_SRV_NID	inquire node ID

◆ ComLssMode_e

enum ComLssMode_e

See also: ComLssSwitchModeGlobal() LSS mode

This enumeration defines the allowed modes for the LSS switch mode global command.

Enumerator
eCOM_LSS_MODE_WAITING	switch LSS state machine to LSS waiting mode
eCOM_LSS_MODE_CONFIGURATION	switch LSS state machine to LSS configuration mode

◆ ComLssProt_e

enum ComLssProt_e

CANopen Master LSS protocol

Enumerator
eCOM_LSS_PROT_SWI_GLB	switch global command
eCOM_LSS_PROT_SWI_VID	switch mode selective, vendor ID
eCOM_LSS_PROT_SWI_PRD	switch mode selective, product code
eCOM_LSS_PROT_SWI_REV	switch mode selective, revision number
eCOM_LSS_PROT_SWI_SRN	switch mode selective, serial number
eCOM_LSS_PROT_IDENT_VID	identify remote slave, vendor ID
eCOM_LSS_PROT_INQ_VID	inquire vendor ID
eCOM_LSS_PROT_INQ_PRD	inquire product code
eCOM_LSS_PROT_INQ_REV	inquire revision number
eCOM_LSS_PROT_INQ_SRN	inquire serial number
eCOM_LSS_PROT_INQ_NID	inquire node ID
eCOM_LSS_PROT_CONF_STORE	store configuration
eCOM_LSS_PROT_CONF_ID	configure node ID
eCOM_LSS_PROT_CONF_BIT	configure bit-timing
eCOM_LSS_PROT_FASTSCAN	execute fastscan procedure
eCOM_LSS_PROT_IDENTIFY	identify non-configured slave

◆ ComLssStat_e

enum ComLssStat_e

CANopen Master LSS status

Enumerator
eCOM_LSS_STAT_ACTIVE	LSS communication active
eCOM_LSS_STAT_SUCCESS	LSS communication success
eCOM_LSS_STAT_ERROR	LSS protocol error
eCOM_LSS_STAT_TIMEOUT	LSS communication timeout

Function Documentation

◆ ComLssConfigureBitTiming()

ComStatus_tv ComLssConfigureBitTiming	(	uint8_t	ubNetV,
		uint8_t	ubBittimeSelV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubBittimeSelV	New bit-timing value

Returns: Value of enumeration ComErr_e

By means of the Configure Bit Timing Parameters service the LSS Master sets the new bit-timing on a LSS Slave.

◆ ComLssConfigureNodeId()

ComStatus_tv ComLssConfigureNodeId	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubNodeIdV	New Node-ID value

Returns: Value of enumeration ComErr_e

By means of this service the LSS Master configures the NMT-address parameter of a LSS Slave. This service allows only one LSS Slave in configuration mode. The remote result parameter confirms the success or failure of the service. In case of a failure optionally the reason is confirmed.

◆ ComLssEventReceive()

void ComLssEventReceive	(	uint8_t	ubNetV,
		uint8_t	ubLssProtocolV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubLssProtocolV	LSS protocol

The function is called by the LSS master state machine upon reception of a LSS response message issued by the LSS slave device. The parameter ubNetV defines the CANopen network. The value of the parameter ubLssProtocolV is defined by the enumeration ComLssProt_e.

An example implementation is available in the file com_user.c.

◆ ComLssFastscan()

ComStatus_tv ComLssFastscan	(	uint8_t	ubNetV,
		uint32_t	ulVendorIdV,
		uint32_t	ulProdCodeV,
		uint32_t	ulRevisionNumV,
		uint32_t	ulSerialNumV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ulVendorIdV	Vendor ID (1018h, sub 1)
[in]	ulProdCodeV	Product code (1018h, sub 2)
[in]	ulRevisionNumV	Revision number (1018h, sub 3)
[in]	ulSerialNumV	Serial number (1018h, sub 4)

Returns: Value of enumeration ComErr_e

◆ ComLssGetAddrSerialNum()

uint32_t ComLssGetAddrSerialNum ( uint8_t ubNetV )

Deprecated:: This function is deprecated and will be removed in a future version of the CANopen Master protocol stack. Please use ComLssGetIdentity() as a replacement.

Parameters

[in] ubNetV CANopen Network channel

Returns: Serial number

The function returns the serial number of a LSS slave device that was found by the LSS fastscan protocol.

◆ ComLssGetIdentity()

ComStatus_tv ComLssGetIdentity	(	uint8_t	ubNetV,
		ComLssAddress_ts *	ptsLssAddressV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in,out]	ptsLssAddressV	Pointer to LSS address structure

Returns: Value of enumeration ComErr_e

The function allows access to the elements of the LSS address structure ComLssAddress_ts after a LSS slave device was found by the LSS fastscan protocol.

◆ ComLssGetStatus()

ComStatus_tv ComLssGetStatus	(	uint8_t	ubNetV,
		uint8_t *	pubStatusV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	pubStatusV	Pointer to status variable

Returns: Value of enumeration ComErr_e

This function returns the status of the LSS master state machine. Valid codes passes the the pointer pubStatusV are given in the enumeration ComLssStat_e.

◆ ComLssIdentifyNonConfiguredSlave()

ComStatus_tv ComLssIdentifyNonConfiguredSlave ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

This function starts the Identify non-configured remote slave protocol. If there are non-configured remote slaves in the network, the status will be set to eCOM_LSS_STAT_SUCCESS, otherwise the status will be eCOM_LSS_STAT_TIMEOUT.

◆ ComLssIdentifyRemoteSlave()

ComStatus_tv ComLssIdentifyRemoteSlave	(	uint8_t	ubNetV,
		uint32_t	ulVendorIdV,
		uint32_t	ulProdCodeV,
		uint32_t	ulRevisionNumLowV,
		uint32_t	ulRevisionNumHighV,
		uint32_t	ulSerialNumLowV,
		uint32_t	ulSerialNumHighV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ulVendorIdV	Vendor ID (1018h, sub 1)
[in]	ulProdCodeV	Product code (1018h, sub 2)
[in]	ulRevisionNumLowV	Revision number (1018h, sub 3)
[in]	ulRevisionNumHighV	Revision number (1018h, sub 3)
[in]	ulSerialNumLowV	Serial number (1018h, sub 4)
[in]	ulSerialNumHighV	Serial number (1018h, sub 4)

Returns: Value of enumeration ComErr_e

This function starts the Identify remote slave protocol. The boundaries are included in the interval. All LSS slave devices with matching vendor-ID and product-code and whose major revision-number and serial-numbers are located within the given ranges, shall identify themselves with the LSS identify slave service.

◆ ComLssInquiryService()

ComStatus_tv ComLssInquiryService	(	uint8_t	ubNetV,
		uint8_t	ubServiceV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubServiceV	Service type (ComLssInqSrv_e)

Returns: Value of enumeration ComErr_e

The inquiry services are available only in configuration mode.

◆ ComLssSetTimeout()

ComStatus_tv ComLssSetTimeout	(	uint8_t	ubNetV,
		uint16_t	uwTimeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	uwTimeV	Timeout value in milliseconds

Returns: Value of enumeration ComErr_e

This function sets a timeout value for a LSS communication. If the response to a LSS request by the master takes longer than this timeout value, the state of the communication will be changed to eCOM_LSS_STAT_TIMEOUT. The state of the LSS communication can be evaluated by calling ComLssGetStatus(). Please note that the timeout value is a multiple of the timer period (COM_TIMER_PERIOD). A value supplied to this function will be rounded towards the next lower value if necessary.

For LSS Fastscan, the configured timeout value is uwTimeV / 10 in order to increase the speed of # Fastscan algorithm.

◆ ComLssStoreConfiguration()

ComStatus_tv ComLssStoreConfiguration ( uint8_t ubNetV )

Parameters

[in] ubNetV CANopen Network channel

Returns: Value of enumeration ComErr_e

This function is used to store the configured parameters.

◆ ComLssSwitchModeGlobal()

ComStatus_tv ComLssSwitchModeGlobal	(	uint8_t	ubNetV,
		uint8_t	ubModeV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ubModeV	LSS mode

Returns: Value of enumeration ComErr_e

See also: ComLssSwitchModeSelective()

The Switch Mode Services control the mode attribute of a LSS Slave. LSS provides three ways to put LSS Slave into configuration mode:

Switch Mode Global - ComLssSwitchModeGlobal()
Switch Mode Selective - ComLssSwitchModeSelective()
Fastscan - ComLssFastscan()

Switch Mode Selective and Fastscan switch exactly one LSS Slave from operation mode to configuration mode. Switch Mode Global switches all LSS Slaves from operation mode to configuration mode and vice versa.

Possible values for the parameter ubModeV are defined by the enumeration ComLssMode_e.

◆ ComLssSwitchModeSelective()

ComStatus_tv ComLssSwitchModeSelective	(	uint8_t	ubNetV,
		uint32_t	ulVendorIdV,
		uint32_t	ulProdCodeV,
		uint32_t	ulRevisionNumV,
		uint32_t	ulSerialNumV
	)

Parameters

[in]	ubNetV	CANopen Network channel
[in]	ulVendorIdV	Vendor ID (1018h, sub 1)
[in]	ulProdCodeV	Product code (1018h, sub 2)
[in]	ulRevisionNumV	Revision number (1018h, sub 3)
[in]	ulSerialNumV	Serial number (1018h, sub 4)

Returns: Value of enumeration ComErr_e

See also: ComLssSwitchModeGlobal()

The Switch Mode Services control the mode attribute of a LSS Slave.

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ComLssAddress_ts

Enumeration Type Documentation

◆ ComLssInqSrv_e

◆ ComLssMode_e

◆ ComLssProt_e

◆ ComLssStat_e

Function Documentation

◆ ComLssConfigureBitTiming()

◆ ComLssConfigureNodeId()

◆ ComLssEventReceive()

◆ ComLssFastscan()

◆ ComLssGetAddrSerialNum()

◆ ComLssGetIdentity()

◆ ComLssGetStatus()

◆ ComLssIdentifyNonConfiguredSlave()

◆ ComLssIdentifyRemoteSlave()

◆ ComLssInquiryService()

◆ ComLssSetTimeout()

◆ ComLssStoreConfiguration()

◆ ComLssSwitchModeGlobal()

◆ ComLssSwitchModeSelective()