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_BIT_TIMING_VALID(index) (index != 5 && (index >= CO_LSS_BIT_TIMING_1000 && index <= CO_LSS_BIT_TIMING_AUTO))
	Macro to check if index contains valid bit timing.

#define	CO_LSS_NODE_ID_ASSIGNMENT 0xFFU
	Invalid node ID triggers node ID assignment.

#define	CO_LSS_NODE_ID_VALID(nid) ((nid >= 1 && nid <= 0x7F) \|\| 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.

Enumerations
enum	CO_LSS_cs_t { CO_LSS_SWITCH_STATE_GLOBAL = 0x04U, CO_LSS_SWITCH_STATE_SEL_VENDOR = 0x40U, CO_LSS_SWITCH_STATE_SEL_PRODUCT = 0x41U, CO_LSS_SWITCH_STATE_SEL_REV = 0x42U, CO_LSS_SWITCH_STATE_SEL_SERIAL = 0x43U, CO_LSS_SWITCH_STATE_SEL = 0x44U, CO_LSS_CFG_NODE_ID = 0x11U, CO_LSS_CFG_BIT_TIMING = 0x13U, CO_LSS_CFG_ACTIVATE_BIT_TIMING = 0x15U, CO_LSS_CFG_STORE = 0x17U, CO_LSS_IDENT_SLAVE = 0x4FU, CO_LSS_IDENT_FASTSCAN = 0x51U, CO_LSS_INQUIRE_VENDOR = 0x5AU, CO_LSS_INQUIRE_PRODUCT = 0x5BU, CO_LSS_INQUIRE_REV = 0x5CU, CO_LSS_INQUIRE_SERIAL = 0x5DU, CO_LSS_INQUIRE_NODE_ID = 0x5EU }
	LSS protocol command specifiers. More...

enum	CO_LSS_cfgNodeId_t { CO_LSS_CFG_NODE_ID_OK = 0x00U, CO_LSS_CFG_NODE_ID_OUT_OF_RANGE = 0x01U, CO_LSS_CFG_NODE_ID_MANUFACTURER = 0xFFU }
	Error codes for Configure node ID protocol. More...

enum	CO_LSS_cfgBitTiming_t { CO_LSS_CFG_BIT_TIMING_OK = 0x00U, CO_LSS_CFG_BIT_TIMING_OUT_OF_RANGE = 0x01U, CO_LSS_CFG_BIT_TIMING_MANUFACTURER = 0xFFU }
	Error codes for Configure bit timing parameters protocol. More...

enum	CO_LSS_cfgStore_t { CO_LSS_CFG_STORE_OK = 0x00U, CO_LSS_CFG_STORE_NOT_SUPPORTED = 0x01U, CO_LSS_CFG_STORE_FAILED = 0x02U, CO_LSS_CFG_STORE_MANUFACTURER = 0xFFU }
	Error codes for Store configuration protocol. More...

enum	CO_LSS_fastscan_bitcheck { CO_LSS_FASTSCAN_BIT0 = 0x00U, CO_LSS_FASTSCAN_BIT31 = 0x1FU, CO_LSS_FASTSCAN_CONFIRM = 0x80U }
	Fastscan BitCheck. More...

enum	CO_LSS_fastscan_lss_sub_next { CO_LSS_FASTSCAN_VENDOR_ID = 0, CO_LSS_FASTSCAN_PRODUCT = 1, CO_LSS_FASTSCAN_REV = 2, CO_LSS_FASTSCAN_SERIAL = 3 }
	Fastscan LSSsub, LSSnext. More...

enum	CO_LSS_state_t { CO_LSS_STATE_WAITING = 0, CO_LSS_STATE_CONFIGURATION = 1 }
	LSS finite state automaton. More...

enum	CO_LSS_bitTimingTable_t { CO_LSS_BIT_TIMING_1000 = 0, CO_LSS_BIT_TIMING_800 = 1, CO_LSS_BIT_TIMING_500 = 2, CO_LSS_BIT_TIMING_250 = 3, CO_LSS_BIT_TIMING_125 = 4, CO_LSS_BIT_TIMING_50 = 6, CO_LSS_BIT_TIMING_20 = 7, CO_LSS_BIT_TIMING_10 = 8, CO_LSS_BIT_TIMING_AUTO = 9 }
	Definition of table_index for /CiA301/ bit timing table. More...

Variables
static const uint16_t	CO_LSS_bitTimingTableLookup []
	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 CO_Default_CAN_ID_t

Enumeration Type Documentation

◆ CO_LSS_cs_t

enum CO_LSS_cs_t

LSS protocol command specifiers.

The LSS protocols are executed between the LSS master device and the LSS slave device(s) to implement the LSS services. Some LSS protocols require a sequence of CAN messages.

As identifying method only "LSS fastscan" is supported.

Enumerator
CO_LSS_SWITCH_STATE_GLOBAL	Switch state global protocol.
CO_LSS_SWITCH_STATE_SEL_VENDOR	Switch state selective protocol - Vendor ID.
CO_LSS_SWITCH_STATE_SEL_PRODUCT	Switch state selective protocol - Product code.
CO_LSS_SWITCH_STATE_SEL_REV	Switch state selective protocol - Revision number.
CO_LSS_SWITCH_STATE_SEL_SERIAL	Switch state selective protocol - Serial number.
CO_LSS_SWITCH_STATE_SEL	Switch state selective protocol - Slave response.
CO_LSS_CFG_NODE_ID	Configure node ID protocol.
CO_LSS_CFG_BIT_TIMING	Configure bit timing parameter protocol.
CO_LSS_CFG_ACTIVATE_BIT_TIMING	Activate bit timing parameter protocol.
CO_LSS_CFG_STORE	Store configuration protocol.
CO_LSS_IDENT_SLAVE	LSS Fastscan response.
CO_LSS_IDENT_FASTSCAN	LSS Fastscan protocol.
CO_LSS_INQUIRE_VENDOR	Inquire identity vendor-ID protocol.
CO_LSS_INQUIRE_PRODUCT	Inquire identity product-code protocol.
CO_LSS_INQUIRE_REV	Inquire identity revision-number protocol.
CO_LSS_INQUIRE_SERIAL	Inquire identity serial-number protocol.
CO_LSS_INQUIRE_NODE_ID	Inquire node-ID protocol.

◆ CO_LSS_cfgNodeId_t

enum CO_LSS_cfgNodeId_t

Error codes for Configure node ID protocol.

Enumerator

CO_LSS_CFG_NODE_ID_OK

Protocol successfully completed.

CO_LSS_CFG_NODE_ID_OUT_OF_RANGE

NID out of range.

CO_LSS_CFG_NODE_ID_MANUFACTURER

Manufacturer specific error.

No further support

◆ CO_LSS_cfgBitTiming_t

enum CO_LSS_cfgBitTiming_t

Error codes for Configure bit timing parameters protocol.

Enumerator

CO_LSS_CFG_BIT_TIMING_OK

Protocol successfully completed.

CO_LSS_CFG_BIT_TIMING_OUT_OF_RANGE

Bit timing / Bit rate not supported.

CO_LSS_CFG_BIT_TIMING_MANUFACTURER

Manufacturer specific error.

No further support

◆ CO_LSS_cfgStore_t

enum CO_LSS_cfgStore_t

Error codes for Store configuration protocol.

Enumerator
CO_LSS_CFG_STORE_OK	Protocol successfully completed.
CO_LSS_CFG_STORE_NOT_SUPPORTED	Store configuration not supported.
CO_LSS_CFG_STORE_FAILED	Storage media access error.
CO_LSS_CFG_STORE_MANUFACTURER	Manufacturer specific error. No further support

◆ CO_LSS_fastscan_bitcheck

enum CO_LSS_fastscan_bitcheck

Fastscan BitCheck.

BIT0 means all bits are checked for equality by slave.

Enumerator
CO_LSS_FASTSCAN_BIT0	Least significant bit of IDnumbners bit area to be checked.
CO_LSS_FASTSCAN_BIT31	dito
CO_LSS_FASTSCAN_CONFIRM	All LSS slaves waiting for scan respond and previous scan is reset.

◆ CO_LSS_fastscan_lss_sub_next

enum CO_LSS_fastscan_lss_sub_next

Fastscan LSSsub, LSSnext.

Enumerator
CO_LSS_FASTSCAN_VENDOR_ID	Vendor ID.
CO_LSS_FASTSCAN_PRODUCT	Product code.
CO_LSS_FASTSCAN_REV	Revision number.
CO_LSS_FASTSCAN_SERIAL	Serial number.

◆ CO_LSS_state_t

enum CO_LSS_state_t

LSS finite state automaton.

The LSS FSA shall provide the following states:

Initial: Pseudo state, indicating the activation of the FSA.
LSS waiting: In this state, the LSS slave device waits for requests.
LSS configuration: In this state variables may be configured in the LSS slave.
Final: Pseudo state, indicating the deactivation of the FSA.

Enumerator
CO_LSS_STATE_WAITING	LSS FSA waiting for requests.
CO_LSS_STATE_CONFIGURATION	LSS FSA waiting for configuration.

◆ CO_LSS_bitTimingTable_t

enum CO_LSS_bitTimingTable_t

Definition of table_index for /CiA301/ bit timing table.

Enumerator
CO_LSS_BIT_TIMING_1000	1000kbit/s
CO_LSS_BIT_TIMING_800	800kbit/s
CO_LSS_BIT_TIMING_500	500kbit/s
CO_LSS_BIT_TIMING_250	250kbit/s
CO_LSS_BIT_TIMING_125	125kbit/s
CO_LSS_BIT_TIMING_50	50kbit/s
CO_LSS_BIT_TIMING_20	20kbit/s
CO_LSS_BIT_TIMING_10	10kbit/s
CO_LSS_BIT_TIMING_AUTO	Automatic bit rate detection.

Files

Data Structures

Macros

Enumerations

Variables