| 467 | } |
| 468 | |
| 469 | CO_LSSmaster_return_t |
| 470 | CO_LSSmaster_ActivateBit(CO_LSSmaster_t* LSSmaster, uint16_t switchDelay_ms) { |
| 471 | CO_LSSmaster_return_t ret = CO_LSSmaster_INVALID_STATE; |
| 472 | |
| 473 | if (LSSmaster == NULL) { |
| 474 | return CO_LSSmaster_ILLEGAL_ARGUMENT; |
| 475 | } |
| 476 | |
| 477 | /* for activating bit timing, we need to have all slaves set to config |
| 478 | * state. This check makes it a bit harder to shoot ourselves in the foot */ |
| 479 | if ((LSSmaster->state == CO_LSSmaster_STATE_CFG_GLOBAL) && (LSSmaster->command == CO_LSSmaster_COMMAND_WAITING)) { |
| 480 | |
| 481 | CO_FLAG_CLEAR(LSSmaster->CANrxNew); |
| 482 | LSSmaster->TXbuff->data[0] = CO_LSS_CFG_ACTIVATE_BIT_TIMING; |
| 483 | (void)CO_setUint16(&LSSmaster->TXbuff->data[1], CO_SWAP_16(switchDelay_ms)); |
| 484 | (void)memset(&LSSmaster->TXbuff->data[3], 0, sizeof(LSSmaster->TXbuff->data) - 3U); |
| 485 | (void)CO_CANsend(LSSmaster->CANdevTx, LSSmaster->TXbuff); |
| 486 | |
| 487 | /* This is non-confirmed service! */ |
| 488 | ret = CO_LSSmaster_OK; |
| 489 | } |
| 490 | |
| 491 | return ret; |
| 492 | } |
| 493 | |
| 494 | /* |
| 495 | * Helper function - send request |
no test coverage detected