158 lines
6.2 KiB
C
158 lines
6.2 KiB
C
/*
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* co_lss.h - contains defines for LSS services
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*
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* Copyright (c) 2012-2023 emotas embedded communication GmbH
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*
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*-------------------------------------------------------------------
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* $Id: co_lss.h 49613 2023-09-26 14:20:14Z boe $
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*
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*-------------------------------------------------------------------
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*
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*
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*
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*/
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/**
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* \brief defines for lss services
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*
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* \file co_lss.h - contains defines for lss services
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*/
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#ifndef CO_LSS_H
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#define CO_LSS_H 1
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#include <co_datatype.h>
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#include "co_drv.h"
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/* datatypes */
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/**
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* \brief LSS slave states
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*/
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typedef enum {
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CO_LSS_STATE_WAITING = 0u, /**< LSS state waiting */
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CO_LSS_STATE_CONFIGURATION = 1u, /**< LSS state configuration */
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CO_LSS_STATE_SILENT_PASSIVE = 2u, /**< LSS state silent in 447, paasive in LSS FD */
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CO_LSS_STATE_REACTIVATE = 3u /**< LSS FD command to leave passive state */
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} CO_LSS_STATE_T;
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/* for compatibility with older versiona */
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#define CO_LSS_STATE_SILENT CO_LSS_STATE_SILENT_PASSIVE
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/**
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* \brief LSS slave services for indication functions
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*/
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typedef enum {
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CO_LSS_SERVICE_STORE, /**< LSS service indication store node id */
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CO_LSS_SERVICE_NEW_BITRATE, /**< LSS service indication new bitrate */
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CO_LSS_SERVICE_BITRATE_OFF, /**< LSS service indication bitrate off */
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CO_LSS_SERVICE_BITRATE_SET, /**< LSS service indication set new bitrate*/
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CO_LSS_SERVICE_BITRATE_ACTIVE, /**< LSS service indication bitrate active */
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CO_LSS_SERVICE_NEW_NODE_ID /**< LSS service indication new node-id */
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} CO_LSS_SERVICE_T;
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/**
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* \brief LSS master services for indication functions
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*/
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typedef enum {
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CO_LSS_MASTER_SERVICE_NON_CONFIG_SLAVE, /**< LSS Master service non-config slave */
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CO_LSS_MASTER_SERVICE_SET_NODEID, /**< LSS Master service set node id*/
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CO_LSS_MASTER_SERVICE_SET_BITRATE, /**< LSS Master service set bitrate*/
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CO_LSS_MASTER_SERVICE_FASTSCAN, /**< LSS Master service fastscan */
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CO_LSS_MASTER_SERVICE_STORE, /**< LSS Master service store */
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CO_LSS_MASTER_SERVICE_INQUIRE_NODEID, /**< LSS Master service inquire node*/
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CO_LSS_MASTER_SERVICE_INQUIRE_VENDOR, /**< LSS Master service inquire vendor */
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CO_LSS_MASTER_SERVICE_INQUIRE_PRODUCT, /**< LSS Master service inquire product */
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CO_LSS_MASTER_SERVICE_INQUIRE_REVISION, /**< LSS Master service inquire revision */
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CO_LSS_MASTER_SERVICE_INQUIRE_SERIAL, /**< LSS Master service inquire serial */
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CO_LSS_MASTER_SERVICE_INQUIRE_ADDRESS, /**< LSS Master service inquire address, CANopen FD */
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CO_LSS_MASTER_SERVICE_BITRATE_OFF, /**< LSS Master service indication bitrate off */
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CO_LSS_MASTER_SERVICE_BITRATE_SET, /**< LSS Master service indication set new bitrate*/
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CO_LSS_MASTER_SERVICE_BITRATE_ACTIVE, /**< LSS Master service indication bitrate active */
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CO_LSS_MASTER_SERVICE_SWITCH_SELECTIVE, /**< LSS Master service switch mode selective */
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CO_LSS_MASTER_SERVICE_IDENTITY, /**< LSS Master service indentity */
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CO_LSS_MASTER_SERVICE_SWITCH_GLOBAL /**< LSS Master service switch mode global */
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} CO_LSS_MASTER_SERVICE_T;
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/**
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* \brief function pointer to LSS indication
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* \param service - answer for service LSS_SERVICE_xxx
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* \param para - new bitrate / pending node id (only for CO_LSS_SERVICE_STORE)
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* 1000, 500, ... 10 standard bitrates
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* 0 autobaud
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* 0 table specific, values in pErrCode and pErrSpec)
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* \param pErrCode - pointer to error code
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* \param pErrSpec - pointer to error spec
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*
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* \retval 0 - success
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* \retval 1 - store not supported
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* \retval 2 - media access error
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* \retval 255 - implementation specific (value in parameter pErr)
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*/
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typedef void (* CO_EVENT_LSS_T)(CO_LSS_SERVICE_T service,
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UNSIGNED16 para, UNSIGNED8 *pErrCode, UNSIGNED8 *pErrSpec); /*lint !e960 customer specific parameter names */
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typedef enum {
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CO_EVENT_LSS_MASTER_RESULT_OK, /* service ok */
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CO_EVENT_LSS_MASTER_RESULT_TIMEOUT, /* service timed out */
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CO_EVENT_LSS_MASTER_RESULT_ERROR /* service returns with error */
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} CO_EVENT_LSS_MASTER_RESULT_T;
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/**
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* \brief function pointer to LSS master indication
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* \param service - answer for service LSS_MASTER_SERVICE_xxx
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* \param errorCode == 65535 - timeout
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* \param errorCode == 1..255 - error code
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* \param errorCode == 0 - ok
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* \param errorSpec - error spec (if errorCode == 65365)
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* \param pIdentity == NULL - no data available
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* \param pIdentity =! NULL - pIdentity valid
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*
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*/
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typedef void (* CO_EVENT_LSS_MASTER_T)(CO_LSS_MASTER_SERVICE_T,
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UNSIGNED16 errorCode, UNSIGNED8 errorSpec, UNSIGNED32 *pIdentity); /*lint !e960 customer specific parameter names */
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EXTERN_DECL RET_T coLssInit(void);
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EXTERN_DECL RET_T coLssMasterInit(void);
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EXTERN_DECL RET_T coEventRegister_LSS(CO_EVENT_LSS_T pFunction);
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EXTERN_DECL RET_T coEventRegister_LSS_MASTER(CO_EVENT_LSS_MASTER_T pFunction);
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EXTERN_DECL RET_T coLssIdentifyNonConfiguredSlaves(
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UNSIGNED16 timeOutVal, UNSIGNED16 interval);
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EXTERN_DECL void coLssNonConfigSlave(const CO_CAN_REC_MSG_T *pMsg);
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EXTERN_DECL RET_T coLssFastScan(UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssFastScanKnownDevice(UNSIGNED32 vendorId,
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UNSIGNED32 productCode,
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UNSIGNED32 versionNr, UNSIGNED32 serNr, UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssSetNodeId(UNSIGNED8 nodeId,
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UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssSetBitrate(UNSIGNED16 bitRate,
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UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssSetBitrateTable(UNSIGNED8 tableSelector,
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UNSIGNED8 tableIndex, UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssActivateBitrate(UNSIGNED16 switchDelay);
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EXTERN_DECL RET_T coLssSwitchGlobal(CO_LSS_STATE_T mode);
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EXTERN_DECL RET_T coLssSwitchSelective(UNSIGNED32 vendorId,
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UNSIGNED32 productCode,
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UNSIGNED32 versionNr, UNSIGNED32 serNr, UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssStoreConfig(UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssInquireNodeId(UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssInquireIdentity(UNSIGNED8 subIndex,
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UNSIGNED16 timeOutVal);
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EXTERN_DECL RET_T coLssIdentifyRemoteSlaves(UNSIGNED32 vendor,
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UNSIGNED32 productCode,
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UNSIGNED32 revisionLow, UNSIGNED32 revisionHigh,
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UNSIGNED32 serialNumberLow, UNSIGNED32 serialNumberHigh,
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UNSIGNED16 timeOutVal);
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EXTERN_DECL void coLssMasterDisable(void);
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EXTERN_DECL void coLssMasterEnable(void);
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EXTERN_DECL UNSIGNED32 coLssMasterGetInquireData(void);
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EXTERN_DECL RET_T coLssFdInquireAddress(UNSIGNED16 timeOutVal);
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#endif /* CO_LSS_H */
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