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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: LSS Class Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><h1>LSS Class Reference</h1><!-- doxytag: class="LSS" --><!-- doxytag: inherits="Receiver" --><p>Inheritance diagram for LSS:<p><center><img src="classLSS.png" usemap="#LSS_map" border="0" alt=""></center><map name="LSS_map"><area href="classReceiver.html" alt="Receiver" shape="rect" coords="0,0,63,24"></map><a href="classLSS-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>CANopen Layer Setting Services object. <p>The Layer Setting Services (LSS) protocol is part of the CANopen network standard. The intent of LSS is to allow low level network settings, such as the network bit rate and device node ID numbers to be configured over the network.<p>The CANopen protocol requires each device on the network to have a unique node ID number in the range 1 to 127. In general, it's not possible to communicate with a device using CANopen if it doesn't have a unique node ID in this range.<p>The LSS protocol allows some limited communication with any device on the network even if it doesn't have a node ID set. This allows node ID numbers to be assigned to devices over the network.<p>This object implements the LSS protocol and allows devices on the network to be queried and configured.<p>For more detailed information on the LSS protocol please see the CANopen standard document DSP305.<p><p>Definition at line <a class="el" href="CML__CanOpen_8h-source.html#l00282">282</a> of file <a class="el" href="CML__CanOpen_8h-source.html">CML_CanOpen.h</a>.<table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#a0">LSS</a> (<a class="el" href="classCanOpen.html">CanOpen</a> &<a class="el" href="classReceiver.html#p0">co</a>)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor for the LSS object. <a href="#a0"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#a1">FindAmplifiers</a> (int max, <a class="el" href="CML__Utils_8h.html#a10">uint32</a> serial[])</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Search the CANopen network for Copley amplifiers. <a href="#a1"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#a2">setTimeout</a> (<a class="el" href="CML__Utils_8h.html#a9">int32</a> to)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Set the timeout value used by the LSS protocol. <a href="#a2"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#a3">getTimeout</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current timeout value used by the LSS protocol. <a href="#a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#a4">GetAmpNodeID</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> serial, <a class="el" href="CML__Utils_8h.html#a2">byte</a> &nodeID)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current CANopen node ID of the specified amplifier. <a href="#a4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#a5">SetAmpNodeID</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> serial, <a class="el" href="CML__Utils_8h.html#a2">byte</a> nodeID)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Set the CANopen node ID of the specified amplifier. <a href="#a5"></a><br></td></tr><tr><td colspan="2"><br><h2>Protected Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#b0">SelectAmp</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> serial)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Put the specified amplifier into LSS configure mode. <a href="#b0"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#b1">FindAmpSerial</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> low, <a class="el" href="CML__Utils_8h.html#a10">uint32</a> high)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Find the serial number of the first amplifier in the passed range. <a href="#b1"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b2"></a><!-- doxytag: member="LSS::NewFrame" ref="b2" args="(CanFrame &frame)" -->int </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#b2">NewFrame</a> (<a class="el" href="structCanFrame.html">CanFrame</a> &frame)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This method is called by the main CAN network listener when a new LSS response frame is received. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLSS.html#b3">Xmit</a> (<a class="el" href="CML__Utils_8h.html#a2">byte</a> cs, <a class="el" href="CML__Utils_8h.html#a10">uint32</a> data=0)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Transmit a LSS CAN frame. <a href="#b3"></a><br></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="LSS::LSS" ref="a0" args="(CanOpen &co)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="classLSS.html">LSS</a> </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="classCanOpen.html">CanOpen</a> & </td> <td class="mdname1" valign="top" nowrap> <em>co</em> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Default constructor for the LSS object. <p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>co</em> </td><td>A reference to the CANopen network object over which this protocol will run.</td></tr> </table></dl><p>Definition at line <a class="el" href="LSS_8cpp-source.html#l00012">12</a> of file <a class="el" href="LSS_8cpp-source.html">LSS.cpp</a>. </td> </tr></table><hr><h2>Member Function Documentation</h2><a class="anchor" name="a1"></a><!-- doxytag: member="LSS::FindAmplifiers" ref="a1" args="(int max, uint32 serial[])" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">int FindAmplifiers </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">int </td> <td class="mdname" nowrap> <em>max</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td> <td class="mdname" nowrap> <em>serial</em>[]</td> </tr> <tr> <td class="md"></td> <td class="md">) </td> <td class="md" colspan="2"></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Search the CANopen network for Copley amplifiers. <p>This function uses the CANopen Layer Setting Services (LSS) protocol to find amplifiers on the network. All Copley amplifiers on the CANopen network can be identified using this protocol, even if they do not have a valid CANopen node ID number configured.<p>On return from this function, the passed array will have been filled with the serial numbers of all the amplifiers found. These serial numbers may then be passed to <a class="el" href="classLSS.html#a5">LSS::SetAmpNodeID</a> to assign a node ID number to the amplifier.<p>Note that firmware support for the LSS protocol was added starting with version 4.04. Any amplifier on the network with earlier firmware will not be discovered using this technique.<p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>max</em> </td><td>The maximum number of amplifier serial numbers to be returned. </td></tr> <tr><td valign="top"></td><td valign="top"><em>serial</em> </td><td>An array where the amplifier serial numbers will be returned. This array must be at least max elements long.</td></tr> </table></dl><dl compact><dt><b>Returns:</b></dt><dd>The number of amplifiers actually found. This is not limited to the max parameter value</dd></dl><p>Definition at line <a class="el" href="LSS_8cpp-source.html#l00045">45</a> of file <a class="el" href="LSS_8cpp-source.html">LSS.cpp</a>. </td> </tr></table><a class="anchor" name="b1"></a><!-- doxytag: member="LSS::FindAmpSerial" ref="b1" args="(uint32 low, uint32 high)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a10">uint32</a> FindAmpSerial </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td> <td class="mdname" nowrap> <em>low</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td> <td class="mdname" nowrap> <em>high</em></td> </tr> <tr> <td class="md"></td> <td class="md">) </td> <td class="md" colspan="2"><code> [protected]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Find the serial number of the first amplifier in the passed range. <p><dl compact><dt><b>Returns:</b></dt><dd>the serial number, or zero if no amp found.</dd></dl><p>Definition at line <a class="el" href="LSS_8cpp-source.html#l00189">189</a> of file <a class="el" href="LSS_8cpp-source.html">LSS.cpp</a>. </td> </tr></table><a class="anchor" name="a4"></a><!-- doxytag: member="LSS::GetAmpNodeID" ref="a4" args="(uint32 serial, byte &nodeID)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a> * GetAmpNodeID </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a10">uint32</a> </td> <td class="mdname" nowrap> <em>serial</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a2">byte</a> & </td> <td class="mdname" nowrap> <em>nodeID</em></td> </tr> <tr> <td class="md"></td> <td class="md">) </td> <td class="md" colspan="2"></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>⌨️ 快捷键说明
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