LSS

CANopen Layer Setting Services protocol (common). More...

Collaboration diagram for LSS:

Topics
	CO_LSS command specifiers
	CO_LSS_CFG_NODE_ID status
	Error codes for Configure node ID protocol
	CO_LSS_CFG_BIT_TIMING status
	Error codes for Configure bit timing parameters protocol
	CO_LSS_CFG_STORE status
	Error codes for Store configuration protocol
	CO_LSS_FASTSCAN bitcheck
	Fastscan BitCheck.
	CO_LSS_FASTSCAN lssSub lssNext
	CO_LSS_STATE state
	CO_LSS_BIT_TIMING table
	Definition of table_index for /CiA301/ bit timing table

Files
file	CO_LSS.h
	CANopen Layer Setting Services protocol (common).
file	CO_LSSmaster.h
	CANopen Layer Setting Service - master protocol.
file	CO_LSSslave.h
	CANopen Layer Setting Service - slave protocol.

Data Structures
union	CO_LSS_address_t
	The LSS address is a 128 bit number, uniquely identifying each node. More...

Macros
#define	CO_LSS_NODE_ID_ASSIGNMENT   0xFFU
	Invalid node ID triggers node ID assignment.
#define	CO_LSS_NODE_ID_VALID(nid)   (((nid >= 1U) && (nid <= 0x7FU)) || (nid == CO_LSS_NODE_ID_ASSIGNMENT))
	Macro to check if node id is valid.
#define	CO_LSS_ADDRESS_EQUAL(a1, a2)
	Macro to check if two LSS addresses are equal.

Variables
static const uint16_t	CO_LSS_bitTimingTableLookup [] = {1000, 800, 500, 250, 125, 0, 50, 20, 10, 0}
	Lookup table for conversion between bit timing table and numerical bit rate.

Detailed Description

CANopen Layer Setting Services protocol (common).

LSS protocol is according to CiA DSP 305 V3.0.0.

LSS services and protocols are used to inquire or to change the settings of three parameters of the physical layer, data link layer, and application layer on a CANopen device with LSS slave capability by a CANopen device with LSS master capability via the CAN network.

The following parameters may be inquired or changed:

• Node-ID of the CANopen device
• Bit timing parameters of the physical layer (bit rate)
• LSS address compliant to the identity object (1018h)

The connection is established in one of two ways:

• addressing a node by it's 128 bit LSS address. This requires that the master already knows the node's LSS address.
• scanning the network for unknown nodes (Fastscan). Using this method, unknown devices can be found and configured one by one.

Be aware that changing the bit rate is a critical step for the network. A failure will render the network unusable!

Using this implementation, only master or slave can be included in one node at a time.

For CAN identifiers see Default CANopen identifiers