dd1677b5bc
- CO_LSSslave: move expensive code from CAN receive (interrupt) to mainline CO_LSSslave_process() function. - LSS slave now runs in parallel to other CANopen objects. - LSS slave and master can run both on same device. - LSS slave, LSS master and gateway-ascii(CiA309) LSS functions tested. - LSSusage.md updated.
121 lines
5 KiB
Markdown
121 lines
5 KiB
Markdown
LSS usage
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=========
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LSS (Layer settings service) is an extension to CANopen described in CiA DSP 305. The
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interface is described in CiA DS 309 3.0.0 (ASCII mapping).
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LSS allows the user to change node ID and bitrate, as well as setting the node ID on an
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unconfigured node.
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LSS uses the the OD Identity register (0x1018) as an unique value to select a node. Therefore
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the LSS address always consists of four 32 bit values. This also means that LSS relies
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on this register to actually be unique. (_vendorID_, _productCode_, _revisionNumber_ and
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_serialNumber_ must be configured and unique on each device.)
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### Preparation for testing on Linux virtual CAN
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LSS can be tested on Linux virtual CAN, similar as in gettingStarted.md.
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1. Open terminal, setup _vcan0_ and _cd_ to CANopenNode directory.
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2. Make some unique CANopen devices:
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- Edit CO_OD.c, change initialization for identity, for example change line to `/*1018*/ {0x4, 0x1L, 0x2L, 0x3L, 0x4L},`
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- `make`
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- `mv canopend canopend4`
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- Edit CO_OD.c, for example: `/*1018*/ {0x4, 0x1L, 0x2L, 0x3L, 0x5L},`
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- `make`
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- `mv canopend canopend5`
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- Repeat this step and create three further "unique" CANopen devices.
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3. Clear default OD storage file. We will use default (empty) storage for all instances:
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- `echo "-" > od_storage`
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4. Run "master" with command interface and node-id = 1. Note that this device
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has enabled both: LSS master and LSS slave. But LSS master does not 'see' own LSS slave.
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- `make`
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- `./canopend vcan0 -i1 -c "stdio"`
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5. Run one CANopen device with node-id=22 in own terminal:
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- `./canopend4 vcan0 -i22`
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6. Run other unique CANopen devices with unconfigured node-id, each in own terminal:
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- `./canopend5 vcan0 -i0xFF`
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- `./canopend6 vcan0 -i0xFF`
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- `./canopend7 vcan0 -i0xFF`
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- `./canopend8 vcan0 -i0xFF`
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7. Note that `lss_store` does not work in this example. For it to work, OD storage must be used properly.
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### Typical usage of LSS
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- Changing the node ID for a known slave, store the new node ID to eeprom, apply new node ID.
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The node currently has the node ID 22.
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help lss
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lss_switch_sel 0x00000001 0x00000002 0x00000003 0x00000004
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lss_set_node 10
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lss_store
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lss_switch_glob 0
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22 reset communication
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Note that the node ID change is not done until reset communication/node.
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- Changing the node ID for a known slave, store the new node ID to eeprom, apply new node ID.
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The node currently has an invalid node ID.
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lss_switch_sel 0x00000001 0x00000002 0x00000003 0x00000005
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lss_set_node 11
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lss_store
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lss_switch_glob 0
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Note that the node ID is automatically applied. This can be seen on `candump`.
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### LSS fastscan
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- Search for a node via LSS fastscan, store the new node ID to eeprom, apply new node ID
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_lss_fastscan
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[0] 0x00000001 0x00000002 0x00000003 0x00000006
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lss_set_node 12
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lss_store
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lss_switch_glob 0
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To increase scanning speed, you can use
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_lss_fastscan 25
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where 25 is the scan step delay in ms. Be aware that the scan will become unreliable when
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the delay is set to low.
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We won't configure this node now, reset LSS. Now we have 1+3 nodes operational in our example.
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lss_switch_glob 0
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### Auto enumerate all nodes
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- Auto enumerate all nodes via LSS fastscan. Enumeration automatically begins at node ID 2
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and node ID is automatically stored to eeprom. Like with _lss_fastscan, an optional
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parameter can be used to change default delay time.
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lss_allnodes
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# Node-ID 2 assigned to: 0x00000001 0x00000002 0x00000003 0x00000007
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# Node-ID 3 assigned to: 0x00000001 0x00000002 0x00000003 0x00000008
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# Found 2 nodes, search finished.
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[0] OK
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- To get further control over the fastscan process, the lss_allnodes command supports
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an extended parameter set.
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Auto enumerate all nodes via LSS fastscan. Set delay time to 25ms, set enumeration start
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to node ID 7, do not store LSS address in eeprom, enumerate only devices with vendor ID
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"0x428", ignore product code and software revision, scan for serial number
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lss_allnodes 25 7 0 2 0x428 1 0 1 0 0 0
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The parameters are as following:
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- 25 scan step delay time in ms
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- 7 enumeration start
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- 0 store node IDs to eeprom; 0 = no, 1 = yes
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- 2 vendor ID scan selector; 0 = fastscan, 2 = match value in next parameter
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- 0x428 vendor ID to match
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- 1 product code scan selector; 0 = fastscan, 1 = ignore, 2 = match value in next parameter
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- 0 product code to match (ignored in this example)
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- 1 software version scan selector; 0 = fastscan, 1 = ignore, 2 = match value in next parameter
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- 0 software version to match (ignored in this example)
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- 0 serial number scan selector; 0 = fastscan, 1 = ignore, 2 = match value in next parameter
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- 0 serial number to match (not used in this example)
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Note that only unconfigured nodes (those without a valid node ID) will take part in
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fastscan!
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