224 lines
9.2 KiB
C
224 lines
9.2 KiB
C
/**
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* CANopen Layer Setting Services protocol (common).
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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 <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. 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 distributed under the License is
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* distributed on an "AS IS" BASIS, 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 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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#include "301/CO_driver.h"
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/* default configuration, see CO_config.h */
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#ifndef CO_CONFIG_LSS
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#define CO_CONFIG_LSS (CO_CONFIG_LSS_SLAVE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE)
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#endif
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#if (((CO_CONFIG_LSS) & (CO_CONFIG_LSS_SLAVE | CO_CONFIG_LSS_MASTER)) != 0) || defined CO_DOXYGEN
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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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* CANopen Layer Setting Services protocol (common).
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*
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* @ingroup CO_CANopen_305
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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 of three parameters of the physical layer,
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* data link layer, and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS
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* 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 master already knows the node's LSS address.
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* - scanning the network for unknown nodes (Fastscan). Using this method, unknown devices can be found and configured
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* 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 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 node at a time.
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*
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* For CAN identifiers see @ref CO_Default_CAN_ID_t
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*/
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/**
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* @defgroup CO_LSS_command_specifiers CO_LSS command specifiers
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* @{
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*
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* The LSS protocols are executed between the LSS master device and the LSS slave device(s) to implement the LSS
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* services. Some LSS protocols require 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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#define CO_LSS_SWITCH_STATE_GLOBAL 0x04U /**< Switch state global protocol */
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#define CO_LSS_SWITCH_STATE_SEL_VENDOR 0x40U /**< Switch state selective protocol - Vendor ID */
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#define CO_LSS_SWITCH_STATE_SEL_PRODUCT 0x41U /**< Switch state selective protocol - Product code */
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#define CO_LSS_SWITCH_STATE_SEL_REV 0x42U /**< Switch state selective protocol - Revision number */
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#define CO_LSS_SWITCH_STATE_SEL_SERIAL 0x43U /**< Switch state selective protocol - Serial number */
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#define CO_LSS_SWITCH_STATE_SEL 0x44U /**< Switch state selective protocol - Slave response */
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#define CO_LSS_CFG_NODE_ID 0x11U /**< Configure node ID protocol */
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#define CO_LSS_CFG_BIT_TIMING 0x13U /**< Configure bit timing parameter protocol */
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#define CO_LSS_CFG_ACTIVATE_BIT_TIMING 0x15U /**< Activate bit timing parameter protocol */
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#define CO_LSS_CFG_STORE 0x17U /**< Store configuration protocol */
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#define CO_LSS_IDENT_SLAVE 0x4FU /**< LSS Fastscan response */
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#define CO_LSS_IDENT_FASTSCAN 0x51U /**< LSS Fastscan protocol */
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#define CO_LSS_INQUIRE_VENDOR 0x5AU /**< Inquire identity vendor-ID protocol */
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#define CO_LSS_INQUIRE_PRODUCT 0x5BU /**< Inquire identity product-code protocol */
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#define CO_LSS_INQUIRE_REV 0x5CU /**< Inquire identity revision-number protocol */
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#define CO_LSS_INQUIRE_SERIAL 0x5DU /**< Inquire identity serial-number protocol */
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#define CO_LSS_INQUIRE_NODE_ID 0x5EU /**< Inquire node-ID protocol */
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/** @} */
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/**
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* @defgroup CO_LSS_CFG_NODE_ID_status CO_LSS_CFG_NODE_ID status
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* @{
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* Error codes for Configure node ID protocol
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*/
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#define CO_LSS_CFG_NODE_ID_OK 0x00U /**< Protocol successfully completed */
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#define CO_LSS_CFG_NODE_ID_OUT_OF_RANGE 0x01U /**< NID out of range */
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#define CO_LSS_CFG_NODE_ID_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
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/** @} */
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/**
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* @defgroup CO_LSS_CFG_BIT_TIMING_status CO_LSS_CFG_BIT_TIMING status
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* @{
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* Error codes for Configure bit timing parameters protocol
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*/
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#define CO_LSS_CFG_BIT_TIMING_OK 0x00U /**< Protocol successfully completed */
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#define CO_LSS_CFG_BIT_TIMING_OUT_OF_RANGE 0x01U /**< Bit timing / Bit rate not supported */
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#define CO_LSS_CFG_BIT_TIMING_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
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/** @} */
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/**
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* @defgroup CO_LSS_CFG_STORE_status CO_LSS_CFG_STORE status
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* @{
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* Error codes for Store configuration protocol
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*/
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#define CO_LSS_CFG_STORE_OK 0x00U /**< Protocol successfully completed */
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#define CO_LSS_CFG_STORE_NOT_SUPPORTED 0x01U /**< Store configuration not supported */
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#define CO_LSS_CFG_STORE_FAILED 0x02U /**< Storage media access error */
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#define CO_LSS_CFG_STORE_MANUFACTURER 0xFFU /**< Manufacturer specific error. No further support */
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/** @} */
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/**
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* @defgroup CO_LSS_FASTSCAN_bitcheck CO_LSS_FASTSCAN bitcheck
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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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#define CO_LSS_FASTSCAN_BIT0 0x00U /**< Least significant bit of IDnumbners bit area to be checked */
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/* ... */
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#define CO_LSS_FASTSCAN_BIT31 0x1FU /**< dito */
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#define CO_LSS_FASTSCAN_CONFIRM 0x80U /**< All LSS slaves waiting for scan respond and previous scan is reset */
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/** @} */
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/**
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* @defgroup CO_LSS_FASTSCAN_lssSub_lssNext CO_LSS_FASTSCAN lssSub lssNext
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* @{
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*/
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#define CO_LSS_FASTSCAN_VENDOR_ID 0x00U /**< Vendor ID */
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#define CO_LSS_FASTSCAN_PRODUCT 0x01U /**< Product code */
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#define CO_LSS_FASTSCAN_REV 0x02U /**< Revision number */
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#define CO_LSS_FASTSCAN_SERIAL 0x03U /**< Serial number */
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/** @} */
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/**
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* The LSS address is a 128 bit number, uniquely identifying each node. It 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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* @defgroup CO_LSS_STATE_state CO_LSS_STATE state
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* @{
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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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#define CO_LSS_STATE_WAITING 0x00U /**< LSS FSA waiting for requests */
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#define CO_LSS_STATE_CONFIGURATION 0x01U /**< LSS FSA waiting for configuration */
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/** @} */
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/**
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* @defgroup CO_LSS_BIT_TIMING_table CO_LSS_BIT_TIMING table
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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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#define CO_LSS_BIT_TIMING_1000 0U /**< 1000kbit/s */
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#define CO_LSS_BIT_TIMING_800 1U /**< 800kbit/s */
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#define CO_LSS_BIT_TIMING_500 2U /**< 500kbit/s */
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#define CO_LSS_BIT_TIMING_250 3U /**< 250kbit/s */
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#define CO_LSS_BIT_TIMING_125 4U /**< 125kbit/s */
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/* 5U - reserved */
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#define CO_LSS_BIT_TIMING_50 6U /**< 50kbit/s */
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#define CO_LSS_BIT_TIMING_20 7U /**< 20kbit/s */
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#define CO_LSS_BIT_TIMING_10 8U /**< 10kbit/s */
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#define CO_LSS_BIT_TIMING_AUTO 9U /**< Automatic bit rate detection */
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/** @} */
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/**
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* Lookup table for conversion between bit timing table and numerical bit rate
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*/
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static const uint16_t CO_LSS_bitTimingTableLookup[] = {1000, 800, 500, 250, 125, 0, 50, 20, 10, 0};
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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 >= 1U) && (nid <= 0x7FU)) || (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) && (a1.identity.vendorID == a2.identity.vendorID))
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/** @} */ /* @defgroup CO_LSS */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* (CO_CONFIG_LSS) & (CO_CONFIG_LSS_SLAVE | CO_CONFIG_LSS_MASTER) */
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#endif /* CO_LSS_H */
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