254 lines
9.5 KiB
C
254 lines
9.5 KiB
C
/**
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* CANopen LSS Master/Slave protocol.
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*
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* @file CO_LSS.h
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* @ingroup CO_LSS
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* @author Martin Wagner
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* @copyright 2017 - 2020 Neuberger Gebaeudeautomation GmbH
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*
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CO_LSS_H
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#define CO_LSS_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup CO_LSS LSS
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* @ingroup CO_CANopen
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* @{
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*
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* CANopen Layer Setting Services protocol
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*
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* LSS protocol is according to CiA DSP 305 V3.0.0.
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*
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* LSS services and protocols are used to inquire or to change the settings
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* of three parameters of the physical layer, data link layer, and application
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* layer on a CANopen device with LSS slave capability by a CANopen device
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* with LSS master capability via the CAN network.
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*
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* The following parameters may be inquired or changed:
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* - Node-ID of the CANopen device
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* - Bit timing parameters of the physical layer (bit rate)
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* - LSS address compliant to the identity object (1018h)
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*
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* The connection is established in one of two ways:
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* - addressing a node by it's 128 bit LSS address. This requires that the
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* master already knows the node's LSS address.
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* - scanning the network for unknown nodes (Fastscan). Using this method,
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* unknown devices can be found and configured one by one.
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*
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* Be aware that changing the bit rate is a critical step for the network. A
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* failure will render the network unusable!
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*
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* Using this implementation, only master or slave can be included in one
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* node at a time.
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*
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* For CAN identifiers see #CO_Default_CAN_ID_t
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*/
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#if CO_NO_LSS_CLIENT == 1 || CO_NO_LSS_SERVER == 1
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/**
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* LSS protocol command specifiers
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*
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* The LSS protocols are executed between the LSS master device and the LSS
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* slave device(s) to implement the LSS services. Some LSS protocols require
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* a sequence of CAN messages.
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*
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* As identifying method only "LSS fastscan" is supported.
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*/
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typedef enum {
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CO_LSS_SWITCH_STATE_GLOBAL = 0x04U, /**< Switch state global protocol */
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CO_LSS_SWITCH_STATE_SEL_VENDOR = 0x40U, /**< Switch state selective protocol - Vendor ID */
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CO_LSS_SWITCH_STATE_SEL_PRODUCT = 0x41U, /**< Switch state selective protocol - Product code */
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CO_LSS_SWITCH_STATE_SEL_REV = 0x42U, /**< Switch state selective protocol - Revision number */
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CO_LSS_SWITCH_STATE_SEL_SERIAL = 0x43U, /**< Switch state selective protocol - Serial number */
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CO_LSS_SWITCH_STATE_SEL = 0x44U, /**< Switch state selective protocol - Slave response */
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CO_LSS_CFG_NODE_ID = 0x11U, /**< Configure node ID protocol */
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CO_LSS_CFG_BIT_TIMING = 0x13U, /**< Configure bit timing parameter protocol */
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CO_LSS_CFG_ACTIVATE_BIT_TIMING = 0x15U, /**< Activate bit timing parameter protocol */
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CO_LSS_CFG_STORE = 0x17U, /**< Store configuration protocol */
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CO_LSS_IDENT_SLAVE = 0x4FU, /**< LSS Fastscan response */
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CO_LSS_IDENT_FASTSCAN = 0x51U, /**< LSS Fastscan protocol */
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CO_LSS_INQUIRE_VENDOR = 0x5AU, /**< Inquire identity vendor-ID protocol */
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CO_LSS_INQUIRE_PRODUCT = 0x5BU, /**< Inquire identity product-code protocol */
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CO_LSS_INQUIRE_REV = 0x5CU, /**< Inquire identity revision-number protocol */
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CO_LSS_INQUIRE_SERIAL = 0x5DU, /**< Inquire identity serial-number protocol */
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CO_LSS_INQUIRE_NODE_ID = 0x5EU, /**< Inquire node-ID protocol */
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} CO_LSS_cs_t;
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/**
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* Macro to get service type group from command specifier
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* @{*/
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#define CO_LSS_CS_SERVICE_IS_SWITCH_GLOBAL(cs) (cs == CO_LSS_SWITCH_STATE_GLOBAL)
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#define CO_LSS_CS_SERVICE_IS_SWITCH_STATE_SELECTIVE(cs) (cs >= CO_LSS_SWITCH_STATE_SEL_VENDOR && cs <= CO_LSS_SWITCH_STATE_SEL)
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#define CO_LSS_CS_SERVICE_IS_CONFIG(cs) (cs >= CO_LSS_CFG_NODE_ID && cs <= CO_LSS_CFG_STORE)
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#define CO_LSS_CS_SERVICE_IS_INQUIRE(cs) (cs >= CO_LSS_INQUIRE_VENDOR && cs <= CO_LSS_INQUIRE_NODE_ID)
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#define CO_LSS_CS_SERVICE_IS_IDENT(cs) (cs==CO_LSS_IDENT_SLAVE || cs==CO_LSS_IDENT_FASTSCAN)
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/**@}*/
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/**
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* Error codes for Configure node ID protocol
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*/
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typedef enum {
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CO_LSS_CFG_NODE_ID_OK = 0x00U,/**< Protocol successfully completed */
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CO_LSS_CFG_NODE_ID_OUT_OF_RANGE = 0x01U,/**< NID out of range */
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CO_LSS_CFG_NODE_ID_MANUFACTURER = 0xFFU /**< Manufacturer specific error. No further support */
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} CO_LSS_cfgNodeId_t;
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/**
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* Error codes for Configure bit timing parameters protocol
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*/
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typedef enum {
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CO_LSS_CFG_BIT_TIMING_OK = 0x00U,/**< Protocol successfully completed */
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CO_LSS_CFG_BIT_TIMING_OUT_OF_RANGE = 0x01U,/**< Bit timing / Bit rate not supported */
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CO_LSS_CFG_BIT_TIMING_MANUFACTURER = 0xFFU /**< Manufacturer specific error. No further support */
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} CO_LSS_cfgBitTiming_t;
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/**
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* Error codes for Store configuration protocol
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*/
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typedef enum {
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CO_LSS_CFG_STORE_OK = 0x00U, /**< Protocol successfully completed */
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CO_LSS_CFG_STORE_NOT_SUPPORTED = 0x01U, /**< Store configuration not supported */
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CO_LSS_CFG_STORE_FAILED = 0x02U, /**< Storage media access error */
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CO_LSS_CFG_STORE_MANUFACTURER = 0xFFU /**< Manufacturer specific error. No further support */
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} CO_LSS_cfgStore_t;
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/**
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* Fastscan BitCheck. BIT0 means all bits are checked for equality by slave.
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*/
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typedef enum {
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CO_LSS_FASTSCAN_BIT0 = 0x00U, /**< Least significant bit of IDnumbners bit area to be checked */
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/* ... */
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CO_LSS_FASTSCAN_BIT31 = 0x1FU, /**< dito */
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CO_LSS_FASTSCAN_CONFIRM = 0x80U /**< All LSS slaves waiting for scan respond and previous scan is reset */
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} CO_LSS_fastscan_bitcheck;
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#define CO_LSS_FASTSCAN_BITCHECK_VALID(bit) ((bit>=CO_LSS_FASTSCAN_BIT0 && bit<=CO_LSS_FASTSCAN_BIT31) || bit==CO_LSS_FASTSCAN_CONFIRM)
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/**
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* Fastscan LSSsub, LSSnext
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*/
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typedef enum {
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CO_LSS_FASTSCAN_VENDOR_ID = 0, /**< Vendor ID */
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CO_LSS_FASTSCAN_PRODUCT = 1, /**< Product code */
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CO_LSS_FASTSCAN_REV = 2, /**< Revision number */
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CO_LSS_FASTSCAN_SERIAL = 3 /**< Serial number */
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} CO_LSS_fastscan_lss_sub_next;
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#define CO_LSS_FASTSCAN_LSS_SUB_NEXT_VALID(index) (index>=CO_LSS_FASTSCAN_VENDOR_ID && index<=CO_LSS_FASTSCAN_SERIAL)
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/**
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* The LSS address is a 128 bit number, uniquely identifying each node. It
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* consists of the values in object 0x1018.
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*/
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typedef union {
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uint32_t addr[4];
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struct {
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uint32_t vendorID;
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uint32_t productCode;
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uint32_t revisionNumber;
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uint32_t serialNumber;
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} identity;
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} CO_LSS_address_t;
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/**
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* LSS finite state automaton
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*
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* The LSS FSA shall provide the following states:
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* - Initial: Pseudo state, indicating the activation of the FSA.
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* - LSS waiting: In this state, the LSS slave device waits for requests.
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* - LSS configuration: In this state variables may be configured in the LSS slave.
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* - Final: Pseudo state, indicating the deactivation of the FSA.
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*/
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typedef enum {
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CO_LSS_STATE_WAITING = 0, /**< LSS FSA waiting for requests*/
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CO_LSS_STATE_CONFIGURATION = 1, /**< LSS FSA waiting for configuration*/
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} CO_LSS_state_t;
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/**
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* Definition of table_index for /CiA301/ bit timing table
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*/
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typedef enum {
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CO_LSS_BIT_TIMING_1000 = 0, /**< 1000kbit/s */
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CO_LSS_BIT_TIMING_800 = 1, /**< 800kbit/s */
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CO_LSS_BIT_TIMING_500 = 2, /**< 500kbit/s */
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CO_LSS_BIT_TIMING_250 = 3, /**< 250kbit/s */
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CO_LSS_BIT_TIMING_125 = 4, /**< 125kbit/s */
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/* reserved = 5 */
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CO_LSS_BIT_TIMING_50 = 6, /**< 50kbit/s */
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CO_LSS_BIT_TIMING_20 = 7, /**< 20kbit/s */
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CO_LSS_BIT_TIMING_10 = 8, /**< 10kbit/s */
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CO_LSS_BIT_TIMING_AUTO = 9, /**< Automatic bit rate detection */
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} CO_LSS_bitTimingTable_t;
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/**
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* Lookup table for conversion between bit timing table and numerical
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* bit rate
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*/
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static const uint16_t CO_LSS_bitTimingTableLookup[] = {
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1000,
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800,
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500,
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250,
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125,
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0,
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50,
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20,
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10,
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0
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};
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/**
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* Macro to check if index contains valid bit timing
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*/
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#define CO_LSS_BIT_TIMING_VALID(index) (index != 5 && (index >= CO_LSS_BIT_TIMING_1000 && index <= CO_LSS_BIT_TIMING_AUTO))
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/**
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* Invalid node ID triggers node ID assignment
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*/
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#define CO_LSS_NODE_ID_ASSIGNMENT 0xFFU
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/**
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* Macro to check if node id is valid
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*/
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#define CO_LSS_NODE_ID_VALID(nid) ((nid >= 1 && nid <= 0x7F) || nid == CO_LSS_NODE_ID_ASSIGNMENT)
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/**
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* Macro to check if two LSS addresses are equal
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*/
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#define CO_LSS_ADDRESS_EQUAL(/*CO_LSS_address_t*/ a1, /*CO_LSS_address_t*/ a2) \
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(a1.identity.productCode == a2.identity.productCode && \
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a1.identity.revisionNumber == a2.identity.revisionNumber && \
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a1.identity.serialNumber == a2.identity.serialNumber && \
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a1.identity.vendorID == a2.identity.vendorID)
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#endif /* CO_NO_LSS_CLIENT == 1 || CO_NO_LSS_SERVER == 1 */
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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/** @} */
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#endif
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