This is the openPOWERLINK network stack from systec electronic.
It's a bit messed up as there is a driver mixed into the
middle of it, lots of work needs to be done to unwind the
different portions to make it sane.
Cc: Daniel Krueger <daniel.krueger@systec-electronic.com>
Cc: Ronald Sieber <Ronald.Sieber@systec-electronic.com>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
source "drivers/staging/frontier/Kconfig"
+source "drivers/staging/epl/Kconfig"
+
endif # !STAGING_EXCLUDE_BUILD
endif # STAGING
obj-$(CONFIG_USB_RSPI) += rspiusb/
obj-$(CONFIG_INPUT_MIMIO) += mimio/
obj-$(CONFIG_TRANZPORT) += frontier/
+obj-$(CONFIG_EPL) += epl/
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: header file for benchmarking
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: Benchmark.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ ...
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/08/16 d.k.: start of implementation
+
+****************************************************************************/
+
+#ifndef _BENCHMARK_H_
+#define _BENCHMARK_H_
+
+#include "global.h"
+
+
+#if (TARGET_SYSTEM == _NO_OS_) && (DEV_SYSTEM == _DEV_GNU_CF548X_)
+ #include "common.h"
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+
+// #include <linux/config.h>
+ #include <linux/kernel.h>
+
+ #ifdef CONFIG_COLDFIRE
+ #include <asm/coldfire.h>
+ #include <asm/m5485gpio.h>
+
+ #define BENCHMARK_SET(x) MCF_GPIO_PODR_PCIBG |= (1 << (x)) // (x+1)
+ #define BENCHMARK_RESET(x) MCF_GPIO_PODR_PCIBG &= ~(1 << (x)) // (x+1)
+ #define BENCHMARK_TOGGLE(x) MCF_GPIO_PODR_PCIBR ^= (1 << (x - 5))
+ #else
+ #undef BENCHMARK_MODULES
+ #define BENCHMARK_MODULES 0x00000000
+ #endif
+
+#else
+ // disable Benchmarking
+ #undef BENCHMARK_MODULES
+ #define BENCHMARK_MODULES 0x00000000
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef BENCHMARK_MODULES
+#define BENCHMARK_MODULES 0x00000000
+#endif
+
+#define BENCHMARK_MOD_01 0x00000001
+#define BENCHMARK_MOD_02 0x00000002
+#define BENCHMARK_MOD_03 0x00000004
+#define BENCHMARK_MOD_04 0x00000008
+#define BENCHMARK_MOD_05 0x00000010
+#define BENCHMARK_MOD_06 0x00000020
+#define BENCHMARK_MOD_07 0x00000040
+#define BENCHMARK_MOD_08 0x00000080
+#define BENCHMARK_MOD_09 0x00000100
+#define BENCHMARK_MOD_10 0x00000200
+#define BENCHMARK_MOD_11 0x00000400
+#define BENCHMARK_MOD_12 0x00000800
+#define BENCHMARK_MOD_13 0x00001000
+#define BENCHMARK_MOD_14 0x00002000
+#define BENCHMARK_MOD_15 0x00004000
+#define BENCHMARK_MOD_16 0x00008000
+#define BENCHMARK_MOD_17 0x00010000
+#define BENCHMARK_MOD_18 0x00020000
+#define BENCHMARK_MOD_19 0x00040000
+#define BENCHMARK_MOD_20 0x00080000
+#define BENCHMARK_MOD_21 0x00100000
+#define BENCHMARK_MOD_22 0x00200000
+#define BENCHMARK_MOD_23 0x00400000
+#define BENCHMARK_MOD_24 0x00800000
+#define BENCHMARK_MOD_25 0x01000000
+#define BENCHMARK_MOD_26 0x02000000
+#define BENCHMARK_MOD_27 0x04000000
+#define BENCHMARK_MOD_28 0x08000000
+#define BENCHMARK_MOD_29 0x10000000
+#define BENCHMARK_MOD_30 0x20000000
+#define BENCHMARK_MOD_31 0x40000000
+#define BENCHMARK_MOD_32 0x80000000
+
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_01)
+ #define BENCHMARK_MOD_01_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_01_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_01_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_01_SET(x)
+ #define BENCHMARK_MOD_01_RESET(x)
+ #define BENCHMARK_MOD_01_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_02)
+ #define BENCHMARK_MOD_02_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_02_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_02_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_02_SET(x)
+ #define BENCHMARK_MOD_02_RESET(x)
+ #define BENCHMARK_MOD_02_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_03)
+ #define BENCHMARK_MOD_03_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_03_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_03_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_03_SET(x)
+ #define BENCHMARK_MOD_03_RESET(x)
+ #define BENCHMARK_MOD_03_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_04)
+ #define BENCHMARK_MOD_04_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_04_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_04_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_04_SET(x)
+ #define BENCHMARK_MOD_04_RESET(x)
+ #define BENCHMARK_MOD_04_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_05)
+ #define BENCHMARK_MOD_05_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_05_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_05_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_05_SET(x)
+ #define BENCHMARK_MOD_05_RESET(x)
+ #define BENCHMARK_MOD_05_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_06)
+ #define BENCHMARK_MOD_06_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_06_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_06_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_06_SET(x)
+ #define BENCHMARK_MOD_06_RESET(x)
+ #define BENCHMARK_MOD_06_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_07)
+ #define BENCHMARK_MOD_07_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_07_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_07_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_07_SET(x)
+ #define BENCHMARK_MOD_07_RESET(x)
+ #define BENCHMARK_MOD_07_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_08)
+ #define BENCHMARK_MOD_08_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_08_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_08_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_08_SET(x)
+ #define BENCHMARK_MOD_08_RESET(x)
+ #define BENCHMARK_MOD_08_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_09)
+ #define BENCHMARK_MOD_09_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_09_RESET(x) BENCHMARK_RESET(x)
+ #define BENCHMARK_MOD_09_TOGGLE(x) BENCHMARK_TOGGLE(x)
+#else
+ #define BENCHMARK_MOD_09_SET(x)
+ #define BENCHMARK_MOD_09_RESET(x)
+ #define BENCHMARK_MOD_09_TOGGLE(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_10)
+ #define BENCHMARK_MOD_10_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_10_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_10_SET(x)
+ #define BENCHMARK_MOD_10_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_11)
+ #define BENCHMARK_MOD_11_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_11_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_11_SET(x)
+ #define BENCHMARK_MOD_11_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_12)
+ #define BENCHMARK_MOD_12_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_12_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_12_SET(x)
+ #define BENCHMARK_MOD_12_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_13)
+ #define BENCHMARK_MOD_13_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_13_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_13_SET(x)
+ #define BENCHMARK_MOD_13_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_14)
+ #define BENCHMARK_MOD_14_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_14_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_14_SET(x)
+ #define BENCHMARK_MOD_14_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_15)
+ #define BENCHMARK_MOD_15_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_15_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_15_SET(x)
+ #define BENCHMARK_MOD_15_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_16)
+ #define BENCHMARK_MOD_16_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_16_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_16_SET(x)
+ #define BENCHMARK_MOD_16_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_17)
+ #define BENCHMARK_MOD_17_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_17_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_17_SET(x)
+ #define BENCHMARK_MOD_17_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_18)
+ #define BENCHMARK_MOD_18_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_18_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_18_SET(x)
+ #define BENCHMARK_MOD_18_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_19)
+ #define BENCHMARK_MOD_19_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_19_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_19_SET(x)
+ #define BENCHMARK_MOD_19_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_20)
+ #define BENCHMARK_MOD_20_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_20_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_20_SET(x)
+ #define BENCHMARK_MOD_20_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_21)
+ #define BENCHMARK_MOD_21_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_21_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_21_SET(x)
+ #define BENCHMARK_MOD_21_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_22)
+ #define BENCHMARK_MOD_22_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_22_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_22_SET(x)
+ #define BENCHMARK_MOD_22_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_23)
+ #define BENCHMARK_MOD_23_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_23_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_23_SET(x)
+ #define BENCHMARK_MOD_23_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_24)
+ #define BENCHMARK_MOD_24_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_24_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_24_SET(x)
+ #define BENCHMARK_MOD_24_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_25)
+ #define BENCHMARK_MOD_25_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_25_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_25_SET(x)
+ #define BENCHMARK_MOD_25_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_26)
+ #define BENCHMARK_MOD_26_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_26_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_26_SET(x)
+ #define BENCHMARK_MOD_26_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_27)
+ #define BENCHMARK_MOD_27_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_27_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_27_SET(x)
+ #define BENCHMARK_MOD_27_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_28)
+ #define BENCHMARK_MOD_28_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_28_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_28_SET(x)
+ #define BENCHMARK_MOD_28_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_29)
+ #define BENCHMARK_MOD_29_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_29_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_29_SET(x)
+ #define BENCHMARK_MOD_29_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_30)
+ #define BENCHMARK_MOD_30_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_30_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_30_SET(x)
+ #define BENCHMARK_MOD_30_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_31)
+ #define BENCHMARK_MOD_31_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_31_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_31_SET(x)
+ #define BENCHMARK_MOD_31_RESET(x)
+#endif
+
+#if (BENCHMARK_MODULES & BENCHMARK_MOD_32)
+ #define BENCHMARK_MOD_32_SET(x) BENCHMARK_SET(x)
+ #define BENCHMARK_MOD_32_RESET(x) BENCHMARK_RESET(x)
+#else
+ #define BENCHMARK_MOD_32_SET(x)
+ #define BENCHMARK_MOD_32_RESET(x)
+#endif
+
+
+//---------------------------------------------------------------------------
+// modul global types
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // _BENCHMARK_H_
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Debug interface
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: Debug.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ ...
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+****************************************************************************/
+
+#ifndef _DEBUG_H_
+#define _DEBUG_H_
+
+#include "global.h"
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// global const defines
+//---------------------------------------------------------------------------
+
+// These definitions are important for level-debug traces.
+// A macro DEBUG_GLB_LVL() defines the current debug-level using following bis.
+// If the corresponding bit is set then trace message will be printed out
+// (only if NDEBUG is not defined). The upper debug-levels are reserved for
+// the debug-levels ALWAYS, ERROR and ASSERT.
+#define DEBUG_LVL_01 0x00000001
+#define DEBUG_LVL_02 0x00000002
+#define DEBUG_LVL_03 0x00000004
+#define DEBUG_LVL_04 0x00000008
+#define DEBUG_LVL_05 0x00000010
+#define DEBUG_LVL_06 0x00000020
+#define DEBUG_LVL_07 0x00000040
+#define DEBUG_LVL_08 0x00000080
+#define DEBUG_LVL_09 0x00000100
+#define DEBUG_LVL_10 0x00000200
+#define DEBUG_LVL_11 0x00000400
+#define DEBUG_LVL_12 0x00000800
+#define DEBUG_LVL_13 0x00001000
+#define DEBUG_LVL_14 0x00002000
+#define DEBUG_LVL_15 0x00004000
+#define DEBUG_LVL_16 0x00008000
+#define DEBUG_LVL_17 0x00010000
+#define DEBUG_LVL_18 0x00020000
+#define DEBUG_LVL_19 0x00040000
+#define DEBUG_LVL_20 0x00080000
+#define DEBUG_LVL_21 0x00100000
+#define DEBUG_LVL_22 0x00200000
+#define DEBUG_LVL_23 0x00400000
+#define DEBUG_LVL_24 0x00800000
+#define DEBUG_LVL_25 0x01000000
+#define DEBUG_LVL_26 0x02000000
+#define DEBUG_LVL_27 0x04000000
+#define DEBUG_LVL_28 0x08000000
+#define DEBUG_LVL_29 0x10000000
+#define DEBUG_LVL_ASSERT 0x20000000
+#define DEBUG_LVL_ERROR 0x40000000
+#define DEBUG_LVL_ALWAYS 0x80000000
+
+
+//---------------------------------------------------------------------------
+// global types
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// global vars
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// global function prototypes
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// global macros
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// this macro defines a version string
+#define MAKE_VERSION_STRING(product,appname,verstr,author) \
+ "§prd§:" product ",§app§:" appname ",§ver§:" verstr ",§dat§:" __DATE__ ",§aut§:" author
+
+
+//---------------------------------------------------------------------------
+// this macro defines a build info string (e.g. for using in printf())
+#define DEBUG_MAKE_BUILD_INFO(prefix,product,prodid,descr,verstr,author) "\n" \
+ prefix "***************************************************\n" \
+ prefix "Project: " product ", " prodid "\n" \
+ prefix "Descript.: " descr "\n" \
+ prefix "Author: " author "\n" \
+ prefix "Date: " __DATE__ "\n" \
+ prefix "Version: " verstr "\n" \
+ prefix "***************************************************\n\n"
+
+
+//---------------------------------------------------------------------------
+// The default debug-level is: ERROR and ALWAYS.
+// You can define an other debug-level in project settings.
+#ifndef DEF_DEBUG_LVL
+ #define DEF_DEBUG_LVL (DEBUG_LVL_ALWAYS | DEBUG_LVL_ERROR)
+#endif
+#ifndef DEBUG_GLB_LVL
+ #define DEBUG_GLB_LVL() (DEF_DEBUG_LVL)
+#endif
+
+
+//---------------------------------------------------------------------------
+#if (DEV_SYSTEM == _DEV_WIN32_) && defined (TRACE_MSG)
+
+ // For WIN32 the macro DEBUG_TRACE0 can be defined as function call TraceLvl()
+ // or as macro TRACE().
+ //
+ // Here the parameter 'lvl' can be used with more than one
+ // debug-level (using OR).
+ //
+ // Example: DEBUG_TRACE1(DEBUG_LVL_30 | DEBUG_LVL_02, "Hello %d", bCount);
+
+ #define DEBUG_TRACE0(lvl,str) TraceLvl((lvl),str)
+ #define DEBUG_TRACE1(lvl,str,p1) TraceLvl((lvl),str,p1)
+ #define DEBUG_TRACE2(lvl,str,p1,p2) TraceLvl((lvl),str,p1,p2)
+ #define DEBUG_TRACE3(lvl,str,p1,p2,p3) TraceLvl((lvl),str,p1,p2,p3)
+ #define DEBUG_TRACE4(lvl,str,p1,p2,p3,p4) TraceLvl((lvl),str,p1,p2,p3,p4)
+ #define DEBUG_GLB_LVL() dwDebugLevel_g
+
+#else
+
+ // At microcontrollers we do reduce the memory usage by deleting DEBUG_TRACE-lines
+ // (compiler does delete the lines).
+ //
+ // Here the parameter 'lvl' can only be used with one debug-level.
+ //
+ // Example: DEBUG_TRACE1(DEBUG_LVL_ERROR, "error code %d", dwRet);
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_ALWAYS)
+ #define DEBUG_LVL_ALWAYS_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_ALWAYS_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_ALWAYS_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_ALWAYS_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_ALWAYS_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_ALWAYS_TRACE0(str)
+ #define DEBUG_LVL_ALWAYS_TRACE1(str,p1)
+ #define DEBUG_LVL_ALWAYS_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_ALWAYS_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_ALWAYS_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_ERROR)
+ #define DEBUG_LVL_ERROR_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_ERROR_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_ERROR_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_ERROR_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_ERROR_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_ERROR_TRACE0(str)
+ #define DEBUG_LVL_ERROR_TRACE1(str,p1)
+ #define DEBUG_LVL_ERROR_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_ERROR_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_ERROR_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_ASSERT)
+ #define DEBUG_LVL_ASSERT_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_ASSERT_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_ASSERT_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_ASSERT_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_ASSERT_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_ASSERT_TRACE0(str)
+ #define DEBUG_LVL_ASSERT_TRACE1(str,p1)
+ #define DEBUG_LVL_ASSERT_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_ASSERT_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_ASSERT_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_29)
+ #define DEBUG_LVL_29_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_29_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_29_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_29_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_29_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_29_TRACE0(str)
+ #define DEBUG_LVL_29_TRACE1(str,p1)
+ #define DEBUG_LVL_29_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_29_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_29_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_28)
+ #define DEBUG_LVL_28_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_28_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_28_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_28_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_28_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_28_TRACE0(str)
+ #define DEBUG_LVL_28_TRACE1(str,p1)
+ #define DEBUG_LVL_28_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_28_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_28_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_27)
+ #define DEBUG_LVL_27_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_27_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_27_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_27_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_27_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_27_TRACE0(str)
+ #define DEBUG_LVL_27_TRACE1(str,p1)
+ #define DEBUG_LVL_27_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_27_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_27_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_26)
+ #define DEBUG_LVL_26_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_26_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_26_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_26_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_26_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_26_TRACE0(str)
+ #define DEBUG_LVL_26_TRACE1(str,p1)
+ #define DEBUG_LVL_26_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_26_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_26_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_25)
+ #define DEBUG_LVL_25_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_25_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_25_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_25_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_25_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_25_TRACE0(str)
+ #define DEBUG_LVL_25_TRACE1(str,p1)
+ #define DEBUG_LVL_25_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_25_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_25_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_24)
+ #define DEBUG_LVL_24_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_24_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_24_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_24_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_24_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_24_TRACE0(str)
+ #define DEBUG_LVL_24_TRACE1(str,p1)
+ #define DEBUG_LVL_24_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_24_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_24_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_23)
+ #define DEBUG_LVL_23_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_23_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_23_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_23_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_23_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_23_TRACE0(str)
+ #define DEBUG_LVL_23_TRACE1(str,p1)
+ #define DEBUG_LVL_23_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_23_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_23_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_22)
+ #define DEBUG_LVL_22_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_22_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_22_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_22_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_22_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_22_TRACE0(str)
+ #define DEBUG_LVL_22_TRACE1(str,p1)
+ #define DEBUG_LVL_22_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_22_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_22_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_21)
+ #define DEBUG_LVL_21_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_21_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_21_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_21_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_21_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_21_TRACE0(str)
+ #define DEBUG_LVL_21_TRACE1(str,p1)
+ #define DEBUG_LVL_21_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_21_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_21_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_20)
+ #define DEBUG_LVL_20_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_20_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_20_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_20_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_20_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_20_TRACE0(str)
+ #define DEBUG_LVL_20_TRACE1(str,p1)
+ #define DEBUG_LVL_20_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_20_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_20_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_19)
+ #define DEBUG_LVL_19_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_19_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_19_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_19_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_19_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_19_TRACE0(str)
+ #define DEBUG_LVL_19_TRACE1(str,p1)
+ #define DEBUG_LVL_19_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_19_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_19_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_18)
+ #define DEBUG_LVL_18_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_18_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_18_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_18_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_18_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_18_TRACE0(str)
+ #define DEBUG_LVL_18_TRACE1(str,p1)
+ #define DEBUG_LVL_18_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_18_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_18_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_17)
+ #define DEBUG_LVL_17_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_17_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_17_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_17_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_17_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_17_TRACE0(str)
+ #define DEBUG_LVL_17_TRACE1(str,p1)
+ #define DEBUG_LVL_17_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_17_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_17_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_16)
+ #define DEBUG_LVL_16_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_16_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_16_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_16_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_16_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_16_TRACE0(str)
+ #define DEBUG_LVL_16_TRACE1(str,p1)
+ #define DEBUG_LVL_16_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_16_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_16_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_15)
+ #define DEBUG_LVL_15_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_15_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_15_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_15_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_15_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_15_TRACE0(str)
+ #define DEBUG_LVL_15_TRACE1(str,p1)
+ #define DEBUG_LVL_15_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_15_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_15_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_14)
+ #define DEBUG_LVL_14_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_14_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_14_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_14_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_14_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_14_TRACE0(str)
+ #define DEBUG_LVL_14_TRACE1(str,p1)
+ #define DEBUG_LVL_14_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_14_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_14_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_13)
+ #define DEBUG_LVL_13_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_13_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_13_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_13_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_13_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_13_TRACE0(str)
+ #define DEBUG_LVL_13_TRACE1(str,p1)
+ #define DEBUG_LVL_13_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_13_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_13_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_12)
+ #define DEBUG_LVL_12_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_12_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_12_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_12_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_12_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_12_TRACE0(str)
+ #define DEBUG_LVL_12_TRACE1(str,p1)
+ #define DEBUG_LVL_12_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_12_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_12_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_11)
+ #define DEBUG_LVL_11_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_11_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_11_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_11_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_11_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_11_TRACE0(str)
+ #define DEBUG_LVL_11_TRACE1(str,p1)
+ #define DEBUG_LVL_11_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_11_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_11_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_10)
+ #define DEBUG_LVL_10_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_10_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_10_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_10_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_10_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_10_TRACE0(str)
+ #define DEBUG_LVL_10_TRACE1(str,p1)
+ #define DEBUG_LVL_10_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_10_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_10_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_09)
+ #define DEBUG_LVL_09_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_09_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_09_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_09_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_09_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_09_TRACE0(str)
+ #define DEBUG_LVL_09_TRACE1(str,p1)
+ #define DEBUG_LVL_09_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_09_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_09_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_08)
+ #define DEBUG_LVL_08_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_08_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_08_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_08_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_08_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_08_TRACE0(str)
+ #define DEBUG_LVL_08_TRACE1(str,p1)
+ #define DEBUG_LVL_08_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_08_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_08_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_07)
+ #define DEBUG_LVL_07_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_07_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_07_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_07_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_07_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_07_TRACE0(str)
+ #define DEBUG_LVL_07_TRACE1(str,p1)
+ #define DEBUG_LVL_07_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_07_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_07_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_06)
+ #define DEBUG_LVL_06_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_06_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_06_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_06_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_06_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_06_TRACE0(str)
+ #define DEBUG_LVL_06_TRACE1(str,p1)
+ #define DEBUG_LVL_06_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_06_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_06_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_05)
+ #define DEBUG_LVL_05_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_05_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_05_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_05_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_05_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_05_TRACE0(str)
+ #define DEBUG_LVL_05_TRACE1(str,p1)
+ #define DEBUG_LVL_05_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_05_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_05_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_04)
+ #define DEBUG_LVL_04_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_04_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_04_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_04_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_04_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_04_TRACE0(str)
+ #define DEBUG_LVL_04_TRACE1(str,p1)
+ #define DEBUG_LVL_04_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_04_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_04_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_03)
+ #define DEBUG_LVL_03_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_03_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_03_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_03_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_03_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_03_TRACE0(str)
+ #define DEBUG_LVL_03_TRACE1(str,p1)
+ #define DEBUG_LVL_03_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_03_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_03_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_02)
+ #define DEBUG_LVL_02_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_02_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_02_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_02_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_02_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_02_TRACE0(str)
+ #define DEBUG_LVL_02_TRACE1(str,p1)
+ #define DEBUG_LVL_02_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_02_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_02_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #if (DEBUG_GLB_LVL() & DEBUG_LVL_01)
+ #define DEBUG_LVL_01_TRACE0(str) TRACE0(str)
+ #define DEBUG_LVL_01_TRACE1(str,p1) TRACE1(str,p1)
+ #define DEBUG_LVL_01_TRACE2(str,p1,p2) TRACE2(str,p1,p2)
+ #define DEBUG_LVL_01_TRACE3(str,p1,p2,p3) TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_01_TRACE4(str,p1,p2,p3,p4) TRACE4(str,p1,p2,p3,p4)
+ #else
+ #define DEBUG_LVL_01_TRACE0(str)
+ #define DEBUG_LVL_01_TRACE1(str,p1)
+ #define DEBUG_LVL_01_TRACE2(str,p1,p2)
+ #define DEBUG_LVL_01_TRACE3(str,p1,p2,p3)
+ #define DEBUG_LVL_01_TRACE4(str,p1,p2,p3,p4)
+ #endif
+
+ #define DEBUG_TRACE0(lvl,str) lvl##_TRACE0(str)
+ #define DEBUG_TRACE1(lvl,str,p1) lvl##_TRACE1(str,p1)
+ #define DEBUG_TRACE2(lvl,str,p1,p2) lvl##_TRACE2(str,p1,p2)
+ #define DEBUG_TRACE3(lvl,str,p1,p2,p3) lvl##_TRACE3(str,p1,p2,p3)
+ #define DEBUG_TRACE4(lvl,str,p1,p2,p3,p4) lvl##_TRACE4(str,p1,p2,p3,p4)
+
+#endif
+
+
+//---------------------------------------------------------------------------
+// The macro DEBUG_DUMP_DATA() can be used with the same debug-levels to dump
+// out data bytes. Function DumpData() has to be included.
+// NOTE: DUMP_DATA has to be defined in project settings.
+#if (!defined (NDEBUG) && defined (DUMP_DATA)) || (DEV_SYSTEM == _DEV_WIN32_)
+
+ #ifdef __cplusplus
+ extern "C"
+ {
+ #endif
+
+ void DumpData (char* szStr_p, BYTE MEM* pbData_p, WORD wSize_p);
+
+ #ifdef __cplusplus
+ } // von extern "C"
+ #endif
+
+ #define DEBUG_DUMP_DATA(lvl,str,ptr,siz) if ((DEBUG_GLB_LVL() & (lvl))==(lvl)) \
+ DumpData (str, (BYTE MEM*) (ptr), (WORD) (siz));
+
+#else
+
+ #define DEBUG_DUMP_DATA(lvl,str,ptr,siz)
+
+#endif
+
+
+//---------------------------------------------------------------------------
+// The macro DEBUG_ASSERT() can be used to print out an error string if the
+// parametered expresion does not result TRUE.
+// NOTE: If DEBUG_KEEP_ASSERT is defined, then DEBUG_ASSERT-line will not be
+// deleted from compiler (in release version too).
+#if !defined (NDEBUG) || defined (DEBUG_KEEP_ASSERT)
+
+ #if (DEV_SYSTEM == _DEV_WIN32_)
+
+ // For WIN32 process will be killed after closing message box.
+
+ #define DEBUG_ASSERT0(expr,str) if (!(expr ) && ((DEBUG_GLB_LVL() & DEBUG_LVL_ASSERT)!=0)) { \
+ MessageBox (NULL, \
+ "Assertion failed: line " __LINE__ " file " __FILE__ \
+ "\n -> " str "\n"); \
+ ExitProcess (-1); }
+
+ #define DEBUG_ASSERT1(expr,str,p1) if (!(expr ) && ((DEBUG_GLB_LVL() & DEBUG_LVL_ASSERT)!=0)) { \
+ MessageBox (NULL, \
+ "Assertion failed: line " __LINE__ " file " __FILE__ \
+ "\n -> " str "\n"); \
+ ExitProcess (-1); }
+
+ #else
+
+ // For microcontrollers process will be stopped using endless loop.
+
+ #define DEBUG_ASSERT0(expr,str) if (!(expr )) { \
+ DEBUG_LVL_ASSERT_TRACE3 ( \
+ "Assertion failed: line %d file '%s'\n" \
+ " -> '%s'\n", __LINE__, __FILE__, str); \
+ while (1); }
+
+ #define DEBUG_ASSERT1(expr,str,p1) if (!(expr )) { \
+ DEBUG_LVL_ASSERT_TRACE4 ( \
+ "Assertion failed: line %d file '%s'\n" \
+ " -> '%s'\n" \
+ " -> 0x%08lX\n", __LINE__, __FILE__, str, (DWORD) p1); \
+ while (1); }
+
+ #endif
+
+#else
+
+ #define DEBUG_ASSERT0(expr,str)
+ #define DEBUG_ASSERT1(expr,str,p1)
+
+#endif
+
+
+//---------------------------------------------------------------------------
+// The macro DEBUG_ONLY() implements code, if NDEBUG is not defined.
+#if !defined (DEBUG_ONLY)
+ #if !defined (NDEBUG)
+
+ #define DEBUG_ONLY(expr) expr
+
+ #else
+
+ #define DEBUG_ONLY(expr)
+
+ #endif
+#endif
+
+
+#endif // _DEBUG_H_
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Ethernet driver for Realtek RTL8139 chips
+ except the RTL8139C+, because it has a different
+ Tx descriptor handling.
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: Edrv8139.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.10 $ $Date: 2008/11/21 09:00:38 $
+
+ $State: Exp $
+
+ Build Environment:
+ Dev C++ and GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2008/02/05 d.k.: start of implementation
+
+****************************************************************************/
+
+#include "global.h"
+#include "EplInc.h"
+#include "edrv.h"
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/pci.h>
+#include <linux/interrupt.h>
+#include <linux/init.h>
+#include <linux/errno.h>
+#include <linux/major.h>
+#include <linux/version.h>
+#include <asm/io.h>
+#include <asm/uaccess.h>
+#include <asm/atomic.h>
+#include <asm/irq.h>
+#include <linux/sched.h>
+#include <linux/delay.h>
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+// Buffer handling:
+// All buffers are created statically (i.e. at compile time resp. at
+// initialisation via kmalloc() ) and not dynamically on request (i.e. via
+// EdrvAllocTxMsgBuffer().
+// EdrvAllocTxMsgBuffer() searches for an unused buffer which is large enough.
+// EdrvInit() may allocate some buffers with sizes less than maximum frame
+// size (i.e. 1514 bytes), e.g. for SoC, SoA, StatusResponse, IdentResponse,
+// NMT requests / commands. The less the size of the buffer the less the
+// number of the buffer.
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef EDRV_MAX_TX_BUFFERS
+#define EDRV_MAX_TX_BUFFERS 20
+#endif
+
+#define EDRV_MAX_FRAME_SIZE 0x600
+
+#define EDRV_RX_BUFFER_SIZE 0x8610 // 32 kB + 16 Byte + 1,5 kB (WRAP is enabled)
+#define EDRV_RX_BUFFER_LENGTH (EDRV_RX_BUFFER_SIZE & 0xF800) // buffer size cut down to 2 kB alignment
+
+#define EDRV_TX_BUFFER_SIZE (EDRV_MAX_TX_BUFFERS * EDRV_MAX_FRAME_SIZE) // n * (MTU + 14 + 4)
+
+#define DRV_NAME "epl"
+
+
+#define EDRV_REGW_INT_MASK 0x3C // interrupt mask register
+#define EDRV_REGW_INT_STATUS 0x3E // interrupt status register
+#define EDRV_REGW_INT_ROK 0x0001 // Receive OK interrupt
+#define EDRV_REGW_INT_RER 0x0002 // Receive error interrupt
+#define EDRV_REGW_INT_TOK 0x0004 // Transmit OK interrupt
+#define EDRV_REGW_INT_TER 0x0008 // Transmit error interrupt
+#define EDRV_REGW_INT_RXOVW 0x0010 // Rx buffer overflow interrupt
+#define EDRV_REGW_INT_PUN 0x0020 // Packet underrun/ link change interrupt
+#define EDRV_REGW_INT_FOVW 0x0040 // Rx FIFO overflow interrupt
+#define EDRV_REGW_INT_LENCHG 0x2000 // Cable length change interrupt
+#define EDRV_REGW_INT_TIMEOUT 0x4000 // Time out interrupt
+#define EDRV_REGW_INT_SERR 0x8000 // System error interrupt
+#define EDRV_REGW_INT_MASK_DEF (EDRV_REGW_INT_ROK \
+ | EDRV_REGW_INT_RER \
+ | EDRV_REGW_INT_TOK \
+ | EDRV_REGW_INT_TER \
+ | EDRV_REGW_INT_RXOVW \
+ | EDRV_REGW_INT_FOVW \
+ | EDRV_REGW_INT_PUN \
+ | EDRV_REGW_INT_TIMEOUT \
+ | EDRV_REGW_INT_SERR) // default interrupt mask
+
+#define EDRV_REGB_COMMAND 0x37 // command register
+#define EDRV_REGB_COMMAND_RST 0x10
+#define EDRV_REGB_COMMAND_RE 0x08
+#define EDRV_REGB_COMMAND_TE 0x04
+#define EDRV_REGB_COMMAND_BUFE 0x01
+
+#define EDRV_REGB_CMD9346 0x50 // 93C46 command register
+#define EDRV_REGB_CMD9346_LOCK 0x00 // lock configuration registers
+#define EDRV_REGB_CMD9346_UNLOCK 0xC0 // unlock configuration registers
+
+#define EDRV_REGDW_RCR 0x44 // Rx configuration register
+#define EDRV_REGDW_RCR_NO_FTH 0x0000E000 // no receive FIFO threshold
+#define EDRV_REGDW_RCR_RBLEN32K 0x00001000 // 32 kB receive buffer
+#define EDRV_REGDW_RCR_MXDMAUNL 0x00000700 // unlimited maximum DMA burst size
+#define EDRV_REGDW_RCR_NOWRAP 0x00000080 // do not wrap frame at end of buffer
+#define EDRV_REGDW_RCR_AER 0x00000020 // accept error frames (CRC, alignment, collided)
+#define EDRV_REGDW_RCR_AR 0x00000010 // accept runt
+#define EDRV_REGDW_RCR_AB 0x00000008 // accept broadcast frames
+#define EDRV_REGDW_RCR_AM 0x00000004 // accept multicast frames
+#define EDRV_REGDW_RCR_APM 0x00000002 // accept physical match frames
+#define EDRV_REGDW_RCR_AAP 0x00000001 // accept all frames
+#define EDRV_REGDW_RCR_DEF (EDRV_REGDW_RCR_NO_FTH \
+ | EDRV_REGDW_RCR_RBLEN32K \
+ | EDRV_REGDW_RCR_MXDMAUNL \
+ | EDRV_REGDW_RCR_NOWRAP \
+ | EDRV_REGDW_RCR_AB \
+ | EDRV_REGDW_RCR_AM \
+ | EDRV_REGDW_RCR_APM) // default value
+
+#define EDRV_REGDW_TCR 0x40 // Tx configuration register
+#define EDRV_REGDW_TCR_VER_MASK 0x7CC00000 // mask for hardware version
+#define EDRV_REGDW_TCR_VER_C 0x74000000 // RTL8139C
+#define EDRV_REGDW_TCR_VER_D 0x74400000 // RTL8139D
+#define EDRV_REGDW_TCR_IFG96 0x03000000 // default interframe gap (960 ns)
+#define EDRV_REGDW_TCR_CRC 0x00010000 // disable appending of CRC by the controller
+#define EDRV_REGDW_TCR_MXDMAUNL 0x00000700 // maximum DMA burst size of 2048 b
+#define EDRV_REGDW_TCR_TXRETRY 0x00000000 // 16 retries
+#define EDRV_REGDW_TCR_DEF (EDRV_REGDW_TCR_IFG96 \
+ | EDRV_REGDW_TCR_MXDMAUNL \
+ | EDRV_REGDW_TCR_TXRETRY)
+
+#define EDRV_REGW_MULINT 0x5C // multiple interrupt select register
+
+#define EDRV_REGDW_MPC 0x4C // missed packet counter register
+
+#define EDRV_REGDW_TSAD0 0x20 // Transmit start address of descriptor 0
+#define EDRV_REGDW_TSAD1 0x24 // Transmit start address of descriptor 1
+#define EDRV_REGDW_TSAD2 0x28 // Transmit start address of descriptor 2
+#define EDRV_REGDW_TSAD3 0x2C // Transmit start address of descriptor 3
+#define EDRV_REGDW_TSD0 0x10 // Transmit status of descriptor 0
+#define EDRV_REGDW_TSD_CRS 0x80000000 // Carrier sense lost
+#define EDRV_REGDW_TSD_TABT 0x40000000 // Transmit Abort
+#define EDRV_REGDW_TSD_OWC 0x20000000 // Out of window collision
+#define EDRV_REGDW_TSD_TXTH_DEF 0x00020000 // Transmit FIFO threshold of 64 bytes
+#define EDRV_REGDW_TSD_TOK 0x00008000 // Transmit OK
+#define EDRV_REGDW_TSD_TUN 0x00004000 // Transmit FIFO underrun
+#define EDRV_REGDW_TSD_OWN 0x00002000 // Owner
+
+#define EDRV_REGDW_RBSTART 0x30 // Receive buffer start address
+
+#define EDRV_REGW_CAPR 0x38 // Current address of packet read
+
+#define EDRV_REGDW_IDR0 0x00 // ID register 0
+#define EDRV_REGDW_IDR4 0x04 // ID register 4
+
+#define EDRV_REGDW_MAR0 0x08 // Multicast address register 0
+#define EDRV_REGDW_MAR4 0x0C // Multicast address register 4
+
+
+// defines for the status word in the receive buffer
+#define EDRV_RXSTAT_MAR 0x8000 // Multicast address received
+#define EDRV_RXSTAT_PAM 0x4000 // Physical address matched
+#define EDRV_RXSTAT_BAR 0x2000 // Broadcast address received
+#define EDRV_RXSTAT_ISE 0x0020 // Invalid symbol error
+#define EDRV_RXSTAT_RUNT 0x0010 // Runt packet received
+#define EDRV_RXSTAT_LONG 0x0008 // Long packet
+#define EDRV_RXSTAT_CRC 0x0004 // CRC error
+#define EDRV_RXSTAT_FAE 0x0002 // Frame alignment error
+#define EDRV_RXSTAT_ROK 0x0001 // Receive OK
+
+
+#define EDRV_REGDW_WRITE(dwReg, dwVal) writel(dwVal, EdrvInstance_l.m_pIoAddr + dwReg)
+#define EDRV_REGW_WRITE(dwReg, wVal) writew(wVal, EdrvInstance_l.m_pIoAddr + dwReg)
+#define EDRV_REGB_WRITE(dwReg, bVal) writeb(bVal, EdrvInstance_l.m_pIoAddr + dwReg)
+#define EDRV_REGDW_READ(dwReg) readl(EdrvInstance_l.m_pIoAddr + dwReg)
+#define EDRV_REGW_READ(dwReg) readw(EdrvInstance_l.m_pIoAddr + dwReg)
+#define EDRV_REGB_READ(dwReg) readb(EdrvInstance_l.m_pIoAddr + dwReg)
+
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+
+#define EDRV_COUNT_SEND TGT_DBG_SIGNAL_TRACE_POINT(2)
+#define EDRV_COUNT_TIMEOUT TGT_DBG_SIGNAL_TRACE_POINT(3)
+#define EDRV_COUNT_PCI_ERR TGT_DBG_SIGNAL_TRACE_POINT(4)
+#define EDRV_COUNT_TX TGT_DBG_SIGNAL_TRACE_POINT(5)
+#define EDRV_COUNT_RX TGT_DBG_SIGNAL_TRACE_POINT(6)
+#define EDRV_COUNT_LATECOLLISION TGT_DBG_SIGNAL_TRACE_POINT(10)
+#define EDRV_COUNT_TX_COL_RL TGT_DBG_SIGNAL_TRACE_POINT(11)
+#define EDRV_COUNT_TX_FUN TGT_DBG_SIGNAL_TRACE_POINT(12)
+#define EDRV_COUNT_TX_ERR TGT_DBG_SIGNAL_TRACE_POINT(13)
+#define EDRV_COUNT_RX_CRC TGT_DBG_SIGNAL_TRACE_POINT(14)
+#define EDRV_COUNT_RX_ERR TGT_DBG_SIGNAL_TRACE_POINT(15)
+#define EDRV_COUNT_RX_FOVW TGT_DBG_SIGNAL_TRACE_POINT(16)
+#define EDRV_COUNT_RX_PUN TGT_DBG_SIGNAL_TRACE_POINT(17)
+#define EDRV_COUNT_RX_FAE TGT_DBG_SIGNAL_TRACE_POINT(18)
+#define EDRV_COUNT_RX_OVW TGT_DBG_SIGNAL_TRACE_POINT(19)
+
+#define EDRV_TRACE_CAPR(x) TGT_DBG_POST_TRACE_VALUE(((x) & 0xFFFF) | 0x06000000)
+#define EDRV_TRACE_RX_CRC(x) TGT_DBG_POST_TRACE_VALUE(((x) & 0xFFFF) | 0x0E000000)
+#define EDRV_TRACE_RX_ERR(x) TGT_DBG_POST_TRACE_VALUE(((x) & 0xFFFF) | 0x0F000000)
+#define EDRV_TRACE_RX_PUN(x) TGT_DBG_POST_TRACE_VALUE(((x) & 0xFFFF) | 0x11000000)
+#define EDRV_TRACE(x) TGT_DBG_POST_TRACE_VALUE(((x) & 0xFFFF0000) | 0x0000FEC0)
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+/*
+typedef struct
+{
+ BOOL m_fUsed;
+ unsigned int m_uiSize;
+ MCD_bufDescFec *m_pBufDescr;
+
+} tEdrvTxBufferIntern;
+*/
+
+// Private structure
+typedef struct
+{
+ struct pci_dev* m_pPciDev; // pointer to PCI device structure
+ void* m_pIoAddr; // pointer to register space of Ethernet controller
+ BYTE* m_pbRxBuf; // pointer to Rx buffer
+ dma_addr_t m_pRxBufDma;
+ BYTE* m_pbTxBuf; // pointer to Tx buffer
+ dma_addr_t m_pTxBufDma;
+ BOOL m_afTxBufUsed[EDRV_MAX_TX_BUFFERS];
+ unsigned int m_uiCurTxDesc;
+
+ tEdrvInitParam m_InitParam;
+ tEdrvTxBuffer* m_pLastTransmittedTxBuffer;
+
+} tEdrvInstance;
+
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static int EdrvInitOne(struct pci_dev *pPciDev,
+ const struct pci_device_id *pId);
+
+static void EdrvRemoveOne(struct pci_dev *pPciDev);
+
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+// buffers and buffer descriptors and pointers
+
+static struct pci_device_id aEdrvPciTbl[] = {
+ {0x10ec, 0x8139, PCI_ANY_ID, PCI_ANY_ID, 0, 0, 0},
+ {0,}
+};
+MODULE_DEVICE_TABLE (pci, aEdrvPciTbl);
+
+
+static tEdrvInstance EdrvInstance_l;
+
+
+static struct pci_driver EdrvDriver = {
+ .name = DRV_NAME,
+ .id_table = aEdrvPciTbl,
+ .probe = EdrvInitOne,
+ .remove = EdrvRemoveOne,
+};
+
+
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <edrv> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static BYTE EdrvCalcHash (BYTE * pbMAC_p);
+
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvInit
+//
+// Description: function for init of the Ethernet controller
+//
+// Parameters: pEdrvInitParam_p = pointer to struct including the init-parameters
+//
+// Returns: Errorcode = kEplSuccessful
+// = kEplNoResource
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvInit(tEdrvInitParam * pEdrvInitParam_p)
+{
+tEplKernel Ret;
+int iResult;
+
+ Ret = kEplSuccessful;
+
+ // clear instance structure
+ EPL_MEMSET(&EdrvInstance_l, 0, sizeof (EdrvInstance_l));
+
+ // save the init data
+ EdrvInstance_l.m_InitParam = *pEdrvInitParam_p;
+
+
+ // register PCI driver
+ iResult = pci_register_driver (&EdrvDriver);
+ if (iResult != 0)
+ {
+ printk("%s pci_register_driver failed with %d\n", __FUNCTION__, iResult);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ if (EdrvInstance_l.m_pPciDev == NULL)
+ {
+ printk("%s m_pPciDev=NULL\n", __FUNCTION__);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ // read MAC address from controller
+ printk("%s local MAC = ", __FUNCTION__);
+ for (iResult = 0; iResult < 6; iResult++)
+ {
+ pEdrvInitParam_p->m_abMyMacAddr[iResult] = EDRV_REGB_READ((EDRV_REGDW_IDR0 + iResult));
+ printk("%02X ", (unsigned int)pEdrvInitParam_p->m_abMyMacAddr[iResult]);
+ }
+ printk("\n");
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvShutdown
+//
+// Description: Shutdown the Ethernet controller
+//
+// Parameters: void
+//
+// Returns: Errorcode = kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvShutdown(void)
+{
+
+ // unregister PCI driver
+ printk("%s calling pci_unregister_driver()\n", __FUNCTION__);
+ pci_unregister_driver (&EdrvDriver);
+
+ return kEplSuccessful;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvDefineRxMacAddrEntry
+//
+// Description: Set a multicast entry into the Ethernet controller
+//
+// Parameters: pbMacAddr_p = pointer to multicast entry to set
+//
+// Returns: Errorcode = kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvDefineRxMacAddrEntry (BYTE * pbMacAddr_p)
+{
+tEplKernel Ret = kEplSuccessful;
+DWORD dwData;
+BYTE bHash;
+
+ bHash = EdrvCalcHash (pbMacAddr_p);
+/*
+ dwData = ether_crc(6, pbMacAddr_p);
+
+ printk("EdrvDefineRxMacAddrEntry('%02X:%02X:%02X:%02X:%02X:%02X') hash = %u / %u ether_crc = 0x%08lX\n",
+ (WORD) pbMacAddr_p[0], (WORD) pbMacAddr_p[1], (WORD) pbMacAddr_p[2],
+ (WORD) pbMacAddr_p[3], (WORD) pbMacAddr_p[4], (WORD) pbMacAddr_p[5],
+ (WORD) bHash, (WORD) (dwData >> 26), dwData);
+*/
+ if (bHash > 31)
+ {
+ dwData = EDRV_REGDW_READ(EDRV_REGDW_MAR4);
+ dwData |= 1 << (bHash - 32);
+ EDRV_REGDW_WRITE(EDRV_REGDW_MAR4, dwData);
+ }
+ else
+ {
+ dwData = EDRV_REGDW_READ(EDRV_REGDW_MAR0);
+ dwData |= 1 << bHash;
+ EDRV_REGDW_WRITE(EDRV_REGDW_MAR0, dwData);
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvUndefineRxMacAddrEntry
+//
+// Description: Reset a multicast entry in the Ethernet controller
+//
+// Parameters: pbMacAddr_p = pointer to multicast entry to reset
+//
+// Returns: Errorcode = kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvUndefineRxMacAddrEntry (BYTE * pbMacAddr_p)
+{
+tEplKernel Ret = kEplSuccessful;
+DWORD dwData;
+BYTE bHash;
+
+ bHash = EdrvCalcHash (pbMacAddr_p);
+
+ if (bHash > 31)
+ {
+ dwData = EDRV_REGDW_READ(EDRV_REGDW_MAR4);
+ dwData &= ~(1 << (bHash - 32));
+ EDRV_REGDW_WRITE(EDRV_REGDW_MAR4, dwData);
+ }
+ else
+ {
+ dwData = EDRV_REGDW_READ(EDRV_REGDW_MAR0);
+ dwData &= ~(1 << bHash);
+ EDRV_REGDW_WRITE(EDRV_REGDW_MAR0, dwData);
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvAllocTxMsgBuffer
+//
+// Description: Register a Tx-Buffer
+//
+// Parameters: pBuffer_p = pointer to Buffer structure
+//
+// Returns: Errorcode = kEplSuccessful
+// = kEplEdrvNoFreeBufEntry
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvAllocTxMsgBuffer (tEdrvTxBuffer * pBuffer_p)
+{
+tEplKernel Ret = kEplSuccessful;
+DWORD i;
+
+ if (pBuffer_p->m_uiMaxBufferLen > EDRV_MAX_FRAME_SIZE)
+ {
+ Ret = kEplEdrvNoFreeBufEntry;
+ goto Exit;
+ }
+
+ // search a free Tx buffer with appropriate size
+ for (i = 0; i < EDRV_MAX_TX_BUFFERS; i++)
+ {
+ if (EdrvInstance_l.m_afTxBufUsed[i] == FALSE)
+ {
+ // free channel found
+ EdrvInstance_l.m_afTxBufUsed[i] = TRUE;
+ pBuffer_p->m_uiBufferNumber = i;
+ pBuffer_p->m_pbBuffer = EdrvInstance_l.m_pbTxBuf + (i * EDRV_MAX_FRAME_SIZE);
+ pBuffer_p->m_uiMaxBufferLen = EDRV_MAX_FRAME_SIZE;
+ break;
+ }
+ }
+ if (i >= EDRV_MAX_TX_BUFFERS)
+ {
+ Ret = kEplEdrvNoFreeBufEntry;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvReleaseTxMsgBuffer
+//
+// Description: Register a Tx-Buffer
+//
+// Parameters: pBuffer_p = pointer to Buffer structure
+//
+// Returns: Errorcode = kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvReleaseTxMsgBuffer (tEdrvTxBuffer * pBuffer_p)
+{
+unsigned int uiBufferNumber;
+
+ uiBufferNumber = pBuffer_p->m_uiBufferNumber;
+
+ if (uiBufferNumber < EDRV_MAX_TX_BUFFERS)
+ {
+ EdrvInstance_l.m_afTxBufUsed[uiBufferNumber] = FALSE;
+ }
+
+ return kEplSuccessful;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvSendTxMsg
+//
+// Description: immediately starts the transmission of the buffer
+//
+// Parameters: pBuffer_p = buffer descriptor to transmit
+//
+// Returns: Errorcode = kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvSendTxMsg (tEdrvTxBuffer * pBuffer_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiBufferNumber;
+DWORD dwTemp;
+
+ uiBufferNumber = pBuffer_p->m_uiBufferNumber;
+
+ if ((uiBufferNumber >= EDRV_MAX_TX_BUFFERS)
+ || (EdrvInstance_l.m_afTxBufUsed[uiBufferNumber] == FALSE))
+ {
+ Ret = kEplEdrvBufNotExisting;
+ goto Exit;
+ }
+
+ if (EdrvInstance_l.m_pLastTransmittedTxBuffer != NULL)
+ { // transmission is already active
+ Ret = kEplInvalidOperation;
+ dwTemp = EDRV_REGDW_READ((EDRV_REGDW_TSD0 + (EdrvInstance_l.m_uiCurTxDesc * sizeof (DWORD))));
+ printk("%s InvOp TSD%u = 0x%08lX", __FUNCTION__, EdrvInstance_l.m_uiCurTxDesc, dwTemp);
+ printk(" Cmd = 0x%02X\n", (WORD) EDRV_REGB_READ(EDRV_REGB_COMMAND));
+ goto Exit;
+ }
+
+ // save pointer to buffer structure for TxHandler
+ EdrvInstance_l.m_pLastTransmittedTxBuffer = pBuffer_p;
+
+ EDRV_COUNT_SEND;
+
+ // pad with zeros if necessary, because controller does not do it
+ if (pBuffer_p->m_uiTxMsgLen < MIN_ETH_SIZE)
+ {
+ EPL_MEMSET(pBuffer_p->m_pbBuffer + pBuffer_p->m_uiTxMsgLen, 0, MIN_ETH_SIZE - pBuffer_p->m_uiTxMsgLen);
+ pBuffer_p->m_uiTxMsgLen = MIN_ETH_SIZE;
+ }
+
+ // set DMA address of buffer
+ EDRV_REGDW_WRITE((EDRV_REGDW_TSAD0 + (EdrvInstance_l.m_uiCurTxDesc * sizeof (DWORD))), (EdrvInstance_l.m_pTxBufDma + (uiBufferNumber * EDRV_MAX_FRAME_SIZE)));
+ dwTemp = EDRV_REGDW_READ((EDRV_REGDW_TSAD0 + (EdrvInstance_l.m_uiCurTxDesc * sizeof (DWORD))));
+// printk("%s TSAD%u = 0x%08lX", __FUNCTION__, EdrvInstance_l.m_uiCurTxDesc, dwTemp);
+
+ // start transmission
+ EDRV_REGDW_WRITE((EDRV_REGDW_TSD0 + (EdrvInstance_l.m_uiCurTxDesc * sizeof (DWORD))), (EDRV_REGDW_TSD_TXTH_DEF | pBuffer_p->m_uiTxMsgLen));
+ dwTemp = EDRV_REGDW_READ((EDRV_REGDW_TSD0 + (EdrvInstance_l.m_uiCurTxDesc * sizeof (DWORD))));
+// printk(" TSD%u = 0x%08lX / 0x%08lX\n", EdrvInstance_l.m_uiCurTxDesc, dwTemp, (DWORD)(EDRV_REGDW_TSD_TXTH_DEF | pBuffer_p->m_uiTxMsgLen));
+
+Exit:
+ return Ret;
+}
+
+#if 0
+//---------------------------------------------------------------------------
+//
+// Function: EdrvTxMsgReady
+//
+// Description: starts copying the buffer to the ethernet controller's FIFO
+//
+// Parameters: pbBuffer_p - bufferdescriptor to transmit
+//
+// Returns: Errorcode - kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvTxMsgReady (tEdrvTxBuffer * pBuffer_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiBufferNumber;
+
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvTxMsgStart
+//
+// Description: starts transmission of the ethernet controller's FIFO
+//
+// Parameters: pbBuffer_p - bufferdescriptor to transmit
+//
+// Returns: Errorcode - kEplSuccessful
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel EdrvTxMsgStart (tEdrvTxBuffer * pBuffer_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+
+
+ return Ret;
+}
+#endif
+
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvReinitRx
+//
+// Description: reinitialize the Rx process, because of error
+//
+// Parameters: void
+//
+// Returns: void
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static void EdrvReinitRx(void)
+{
+BYTE bCmd;
+
+ // simply switch off and on the receiver
+ // this will reset the CAPR register
+ bCmd = EDRV_REGB_READ(EDRV_REGB_COMMAND);
+ EDRV_REGB_WRITE(EDRV_REGB_COMMAND, (bCmd & ~EDRV_REGB_COMMAND_RE));
+ EDRV_REGB_WRITE(EDRV_REGB_COMMAND, bCmd);
+
+ // set receive configuration register
+ EDRV_REGDW_WRITE(EDRV_REGDW_RCR, EDRV_REGDW_RCR_DEF);
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvInterruptHandler
+//
+// Description: interrupt handler
+//
+// Parameters: void
+//
+// Returns: void
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if 0
+void EdrvInterruptHandler (void)
+{
+}
+#endif
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,19)
+static int TgtEthIsr (int nIrqNum_p, void* ppDevInstData_p)
+#else
+static int TgtEthIsr (int nIrqNum_p, void* ppDevInstData_p, struct pt_regs* ptRegs_p)
+#endif
+{
+// EdrvInterruptHandler();
+tEdrvRxBuffer RxBuffer;
+tEdrvTxBuffer* pTxBuffer;
+WORD wStatus;
+DWORD dwTxStatus;
+DWORD dwRxStatus;
+WORD wCurRx;
+BYTE* pbRxBuf;
+unsigned int uiLength;
+int iHandled = IRQ_HANDLED;
+
+// printk("¤");
+
+ // read the interrupt status
+ wStatus = EDRV_REGW_READ(EDRV_REGW_INT_STATUS);
+
+ // acknowledge the interrupts
+ EDRV_REGW_WRITE(EDRV_REGW_INT_STATUS, wStatus);
+
+ if (wStatus == 0)
+ {
+ iHandled = IRQ_NONE;
+ goto Exit;
+ }
+
+ // process tasks
+ if ((wStatus & (EDRV_REGW_INT_TER | EDRV_REGW_INT_TOK)) != 0)
+ { // transmit interrupt
+
+ if (EdrvInstance_l.m_pbTxBuf == NULL)
+ {
+ printk("%s Tx buffers currently not allocated\n", __FUNCTION__);
+ goto Exit;
+ }
+
+ // read transmit status
+ dwTxStatus = EDRV_REGDW_READ((EDRV_REGDW_TSD0 + (EdrvInstance_l.m_uiCurTxDesc * sizeof (DWORD))));
+ if ((dwTxStatus & (EDRV_REGDW_TSD_TOK | EDRV_REGDW_TSD_TABT | EDRV_REGDW_TSD_TUN)) != 0)
+ { // transmit finished
+ EdrvInstance_l.m_uiCurTxDesc = (EdrvInstance_l.m_uiCurTxDesc + 1) & 0x03;
+ pTxBuffer = EdrvInstance_l.m_pLastTransmittedTxBuffer;
+ EdrvInstance_l.m_pLastTransmittedTxBuffer = NULL;
+
+ if ((dwTxStatus & EDRV_REGDW_TSD_TOK) != 0)
+ {
+ EDRV_COUNT_TX;
+ }
+ else if ((dwTxStatus & EDRV_REGDW_TSD_TUN) != 0)
+ {
+ EDRV_COUNT_TX_FUN;
+ }
+ else
+ { // assume EDRV_REGDW_TSD_TABT
+ EDRV_COUNT_TX_COL_RL;
+ }
+
+// printk("T");
+ if (pTxBuffer != NULL)
+ {
+ // call Tx handler of Data link layer
+ EdrvInstance_l.m_InitParam.m_pfnTxHandler(pTxBuffer);
+ }
+ }
+ else
+ {
+ EDRV_COUNT_TX_ERR;
+ }
+ }
+
+ if ((wStatus & (EDRV_REGW_INT_RER | EDRV_REGW_INT_FOVW | EDRV_REGW_INT_RXOVW | EDRV_REGW_INT_PUN)) != 0)
+ { // receive error interrupt
+
+ if ((wStatus & EDRV_REGW_INT_FOVW) != 0)
+ {
+ EDRV_COUNT_RX_FOVW;
+ }
+ else if ((wStatus & EDRV_REGW_INT_RXOVW) != 0)
+ {
+ EDRV_COUNT_RX_OVW;
+ }
+ else if ((wStatus & EDRV_REGW_INT_PUN) != 0)
+ { // Packet underrun
+ EDRV_TRACE_RX_PUN(wStatus);
+ EDRV_COUNT_RX_PUN;
+ }
+ else /*if ((wStatus & EDRV_REGW_INT_RER) != 0)*/
+ {
+ EDRV_TRACE_RX_ERR(wStatus);
+ EDRV_COUNT_RX_ERR;
+ }
+
+ // reinitialize Rx process
+ EdrvReinitRx();
+ }
+
+ if ((wStatus & EDRV_REGW_INT_ROK) != 0)
+ { // receive interrupt
+
+ if (EdrvInstance_l.m_pbRxBuf == NULL)
+ {
+ printk("%s Rx buffers currently not allocated\n", __FUNCTION__);
+ goto Exit;
+ }
+
+ // read current offset in receive buffer
+ wCurRx = (EDRV_REGW_READ(EDRV_REGW_CAPR) + 0x10) % EDRV_RX_BUFFER_LENGTH;
+
+ while ((EDRV_REGB_READ(EDRV_REGB_COMMAND) & EDRV_REGB_COMMAND_BUFE) == 0)
+ { // frame available
+
+ // calculate pointer to current frame in receive buffer
+ pbRxBuf = EdrvInstance_l.m_pbRxBuf + wCurRx;
+
+ // read receive status DWORD
+ dwRxStatus = le32_to_cpu(*((DWORD*)pbRxBuf));
+
+ // calculate length of received frame
+ uiLength = dwRxStatus >> 16;
+
+ if (uiLength == 0xFFF0)
+ { // frame is unfinished (maybe early Rx interrupt is active)
+ break;
+ }
+
+ if ((dwRxStatus & EDRV_RXSTAT_ROK) == 0)
+ { // error occured while receiving this frame
+ // ignore it
+ if ((dwRxStatus & EDRV_RXSTAT_FAE) != 0)
+ {
+ EDRV_COUNT_RX_FAE;
+ }
+ else if ((dwRxStatus & EDRV_RXSTAT_CRC) != 0)
+ {
+ EDRV_TRACE_RX_CRC(dwRxStatus);
+ EDRV_COUNT_RX_CRC;
+ }
+ else
+ {
+ EDRV_TRACE_RX_ERR(dwRxStatus);
+ EDRV_COUNT_RX_ERR;
+ }
+
+ // reinitialize Rx process
+ EdrvReinitRx();
+
+ break;
+ }
+ else
+ { // frame is OK
+ RxBuffer.m_BufferInFrame = kEdrvBufferLastInFrame;
+ RxBuffer.m_uiRxMsgLen = uiLength - ETH_CRC_SIZE;
+ RxBuffer.m_pbBuffer = pbRxBuf + sizeof (dwRxStatus);
+
+// printk("R");
+ EDRV_COUNT_RX;
+
+ // call Rx handler of Data link layer
+ EdrvInstance_l.m_InitParam.m_pfnRxHandler(&RxBuffer);
+ }
+
+ // calulate new offset (DWORD aligned)
+ wCurRx = (WORD) ((wCurRx + uiLength + sizeof (dwRxStatus) + 3) & ~0x3);
+ EDRV_TRACE_CAPR(wCurRx - 0x10);
+ EDRV_REGW_WRITE(EDRV_REGW_CAPR, wCurRx - 0x10);
+
+ // reread current offset in receive buffer
+ wCurRx = (EDRV_REGW_READ(EDRV_REGW_CAPR) + 0x10) % EDRV_RX_BUFFER_LENGTH;
+
+ }
+ }
+
+ if ((wStatus & EDRV_REGW_INT_SERR) != 0)
+ { // PCI error
+ EDRV_COUNT_PCI_ERR;
+ }
+
+ if ((wStatus & EDRV_REGW_INT_TIMEOUT) != 0)
+ { // Timeout
+ EDRV_COUNT_TIMEOUT;
+ }
+
+Exit:
+ return iHandled;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvInitOne
+//
+// Description: initializes one PCI device
+//
+// Parameters: pPciDev = pointer to corresponding PCI device structure
+// pId = PCI device ID
+//
+// Returns: (int) = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static int EdrvInitOne(struct pci_dev *pPciDev,
+ const struct pci_device_id *pId)
+{
+int iResult = 0;
+DWORD dwTemp;
+
+ if (EdrvInstance_l.m_pPciDev != NULL)
+ { // Edrv is already connected to a PCI device
+ printk("%s device %s discarded\n", __FUNCTION__, pci_name(pPciDev));
+ iResult = -ENODEV;
+ goto Exit;
+ }
+
+ if (pPciDev->revision >= 0x20)
+ {
+ printk("%s device %s is an enhanced 8139C+ version, which is not supported\n", __FUNCTION__, pci_name(pPciDev));
+ iResult = -ENODEV;
+ goto Exit;
+ }
+
+ EdrvInstance_l.m_pPciDev = pPciDev;
+
+ // enable device
+ printk("%s enable device\n", __FUNCTION__);
+ iResult = pci_enable_device(pPciDev);
+ if (iResult != 0)
+ {
+ goto Exit;
+ }
+
+ if ((pci_resource_flags(pPciDev, 1) & IORESOURCE_MEM) == 0)
+ {
+ iResult = -ENODEV;
+ goto Exit;
+ }
+
+ printk("%s request regions\n", __FUNCTION__);
+ iResult = pci_request_regions(pPciDev, DRV_NAME);
+ if (iResult != 0)
+ {
+ goto Exit;
+ }
+
+ printk("%s ioremap\n", __FUNCTION__);
+ EdrvInstance_l.m_pIoAddr = ioremap (pci_resource_start(pPciDev, 1), pci_resource_len(pPciDev, 1));
+ if (EdrvInstance_l.m_pIoAddr == NULL)
+ { // remap of controller's register space failed
+ iResult = -EIO;
+ goto Exit;
+ }
+
+ // enable PCI busmaster
+ printk("%s enable busmaster\n", __FUNCTION__);
+ pci_set_master (pPciDev);
+
+ // reset controller
+ printk("%s reset controller\n", __FUNCTION__);
+ EDRV_REGB_WRITE(EDRV_REGB_COMMAND, EDRV_REGB_COMMAND_RST);
+
+ // wait until reset has finished
+ for (iResult = 500; iResult > 0; iResult--)
+ {
+ if ((EDRV_REGB_READ(EDRV_REGB_COMMAND) & EDRV_REGB_COMMAND_RST) == 0)
+ {
+ break;
+ }
+
+ schedule_timeout(10);
+ }
+
+ // check hardware version, i.e. chip ID
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_TCR);
+ if (((dwTemp & EDRV_REGDW_TCR_VER_MASK) != EDRV_REGDW_TCR_VER_C)
+ && ((dwTemp & EDRV_REGDW_TCR_VER_MASK) != EDRV_REGDW_TCR_VER_D))
+ { // unsupported chip
+ printk("%s Unsupported chip! TCR = 0x%08lX\n", __FUNCTION__, dwTemp);
+ iResult = -ENODEV;
+ goto Exit;
+ }
+
+ // disable interrupts
+ printk("%s disable interrupts\n", __FUNCTION__);
+ EDRV_REGW_WRITE(EDRV_REGW_INT_MASK, 0);
+ // acknowledge all pending interrupts
+ EDRV_REGW_WRITE(EDRV_REGW_INT_STATUS, EDRV_REGW_READ(EDRV_REGW_INT_STATUS));
+
+ // install interrupt handler
+ printk("%s install interrupt handler\n", __FUNCTION__);
+ iResult = request_irq(pPciDev->irq, TgtEthIsr, IRQF_SHARED, DRV_NAME /*pPciDev->dev.name*/, pPciDev);
+ if (iResult != 0)
+ {
+ goto Exit;
+ }
+
+/*
+ // unlock configuration registers
+ printk("%s unlock configuration registers\n", __FUNCTION__);
+ EDRV_REGB_WRITE(EDRV_REGB_CMD9346, EDRV_REGB_CMD9346_UNLOCK);
+
+ // check if user specified a MAC address
+ printk("%s check specified MAC address\n", __FUNCTION__);
+ for (iResult = 0; iResult < 6; iResult++)
+ {
+ if (EdrvInstance_l.m_InitParam.m_abMyMacAddr[iResult] != 0)
+ {
+ printk("%s set local MAC address\n", __FUNCTION__);
+ // write this MAC address to controller
+ EDRV_REGDW_WRITE(EDRV_REGDW_IDR0,
+ le32_to_cpu(*((DWORD*)&EdrvInstance_l.m_InitParam.m_abMyMacAddr[0])));
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_IDR0);
+
+ EDRV_REGDW_WRITE(EDRV_REGDW_IDR4,
+ le32_to_cpu(*((DWORD*)&EdrvInstance_l.m_InitParam.m_abMyMacAddr[4])));
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_IDR4);
+ break;
+ }
+ }
+ iResult = 0;
+
+ // lock configuration registers
+ EDRV_REGB_WRITE(EDRV_REGB_CMD9346, EDRV_REGB_CMD9346_LOCK);
+*/
+
+ // allocate buffers
+ printk("%s allocate buffers\n", __FUNCTION__);
+ EdrvInstance_l.m_pbTxBuf = pci_alloc_consistent(pPciDev, EDRV_TX_BUFFER_SIZE,
+ &EdrvInstance_l.m_pTxBufDma);
+ if (EdrvInstance_l.m_pbTxBuf == NULL)
+ {
+ iResult = -ENOMEM;
+ goto Exit;
+ }
+
+ EdrvInstance_l.m_pbRxBuf = pci_alloc_consistent(pPciDev, EDRV_RX_BUFFER_SIZE,
+ &EdrvInstance_l.m_pRxBufDma);
+ if (EdrvInstance_l.m_pbRxBuf == NULL)
+ {
+ iResult = -ENOMEM;
+ goto Exit;
+ }
+
+ // reset pointers for Tx buffers
+ printk("%s reset pointers fo Tx buffers\n", __FUNCTION__);
+ EDRV_REGDW_WRITE(EDRV_REGDW_TSAD0, 0);
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_TSAD0);
+ EDRV_REGDW_WRITE(EDRV_REGDW_TSAD1, 0);
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_TSAD1);
+ EDRV_REGDW_WRITE(EDRV_REGDW_TSAD2, 0);
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_TSAD2);
+ EDRV_REGDW_WRITE(EDRV_REGDW_TSAD3, 0);
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_TSAD3);
+
+ printk(" Command = 0x%02X\n", (WORD) EDRV_REGB_READ(EDRV_REGB_COMMAND));
+
+ // set pointer for receive buffer in controller
+ printk("%s set pointer to Rx buffer\n", __FUNCTION__);
+ EDRV_REGDW_WRITE(EDRV_REGDW_RBSTART, EdrvInstance_l.m_pRxBufDma);
+
+ // enable transmitter and receiver
+ printk("%s enable Tx and Rx", __FUNCTION__);
+ EDRV_REGB_WRITE(EDRV_REGB_COMMAND, (EDRV_REGB_COMMAND_RE | EDRV_REGB_COMMAND_TE));
+ printk(" Command = 0x%02X\n", (WORD) EDRV_REGB_READ(EDRV_REGB_COMMAND));
+
+ // clear missed packet counter to enable Rx/Tx process
+ EDRV_REGDW_WRITE(EDRV_REGDW_MPC, 0);
+
+ // set transmit configuration register
+ printk("%s set Tx conf register", __FUNCTION__);
+ EDRV_REGDW_WRITE(EDRV_REGDW_TCR, EDRV_REGDW_TCR_DEF);
+ printk(" = 0x%08X\n", EDRV_REGDW_READ(EDRV_REGDW_TCR));
+
+ // set receive configuration register
+ printk("%s set Rx conf register", __FUNCTION__);
+ EDRV_REGDW_WRITE(EDRV_REGDW_RCR, EDRV_REGDW_RCR_DEF);
+ printk(" = 0x%08X\n", EDRV_REGDW_READ(EDRV_REGDW_RCR));
+
+ // reset multicast MAC address filter
+ EDRV_REGDW_WRITE(EDRV_REGDW_MAR0, 0);
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_MAR0);
+ EDRV_REGDW_WRITE(EDRV_REGDW_MAR4, 0);
+ dwTemp = EDRV_REGDW_READ(EDRV_REGDW_MAR4);
+
+/*
+ // enable transmitter and receiver
+ printk("%s enable Tx and Rx", __FUNCTION__);
+ EDRV_REGB_WRITE(EDRV_REGB_COMMAND, (EDRV_REGB_COMMAND_RE | EDRV_REGB_COMMAND_TE));
+ printk(" Command = 0x%02X\n", (WORD) EDRV_REGB_READ(EDRV_REGB_COMMAND));
+*/
+ // disable early interrupts
+ EDRV_REGW_WRITE(EDRV_REGW_MULINT, 0);
+
+ // enable interrupts
+ printk("%s enable interrupts\n", __FUNCTION__);
+ EDRV_REGW_WRITE(EDRV_REGW_INT_MASK, EDRV_REGW_INT_MASK_DEF);
+
+
+Exit:
+ printk("%s finished with %d\n", __FUNCTION__, iResult);
+ return iResult;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvRemoveOne
+//
+// Description: shuts down one PCI device
+//
+// Parameters: pPciDev = pointer to corresponding PCI device structure
+//
+// Returns: (void)
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static void EdrvRemoveOne(struct pci_dev *pPciDev)
+{
+
+ if (EdrvInstance_l.m_pPciDev != pPciDev)
+ { // trying to remove unknown device
+ BUG_ON(EdrvInstance_l.m_pPciDev != pPciDev);
+ goto Exit;
+ }
+
+ // disable transmitter and receiver
+ EDRV_REGB_WRITE(EDRV_REGB_COMMAND, 0);
+
+ // disable interrupts
+ EDRV_REGW_WRITE(EDRV_REGW_INT_MASK, 0);
+
+ // remove interrupt handler
+ free_irq(pPciDev->irq, pPciDev);
+
+
+ // free buffers
+ if (EdrvInstance_l.m_pbTxBuf != NULL)
+ {
+ pci_free_consistent(pPciDev, EDRV_TX_BUFFER_SIZE,
+ EdrvInstance_l.m_pbTxBuf, EdrvInstance_l.m_pTxBufDma);
+ EdrvInstance_l.m_pbTxBuf = NULL;
+ }
+
+ if (EdrvInstance_l.m_pbRxBuf != NULL)
+ {
+ pci_free_consistent(pPciDev, EDRV_RX_BUFFER_SIZE,
+ EdrvInstance_l.m_pbRxBuf, EdrvInstance_l.m_pRxBufDma);
+ EdrvInstance_l.m_pbRxBuf = NULL;
+ }
+
+ // unmap controller's register space
+ if (EdrvInstance_l.m_pIoAddr != NULL)
+ {
+ iounmap(EdrvInstance_l.m_pIoAddr);
+ }
+
+ // disable the PCI device
+ pci_disable_device(pPciDev);
+
+ // release memory regions
+ pci_release_regions(pPciDev);
+
+ EdrvInstance_l.m_pPciDev = NULL;
+
+Exit:;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EdrvCalcHash
+//
+// Description: function calculates the entry for the hash-table from MAC
+// address
+//
+// Parameters: pbMAC_p - pointer to MAC address
+//
+// Returns: hash value
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#define HASH_BITS 6 // used bits in hash
+#define CRC32_POLY 0x04C11DB6 //
+//#define CRC32_POLY 0xEDB88320 //
+// G(x) = x32 + x26 + x23 + x22 + x16 + x12 + x11 + x10 + x8 + x7 + x5 + x4 + x2 + x + 1
+
+static BYTE EdrvCalcHash (BYTE * pbMAC_p)
+{
+DWORD dwByteCounter;
+DWORD dwBitCounter;
+DWORD dwData;
+DWORD dwCrc;
+DWORD dwCarry;
+BYTE * pbData;
+BYTE bHash;
+
+ pbData = pbMAC_p;
+
+ // calculate crc32 value of mac address
+ dwCrc = 0xFFFFFFFF;
+
+ for (dwByteCounter = 0; dwByteCounter < 6; dwByteCounter++)
+ {
+ dwData = *pbData;
+ pbData++;
+ for (dwBitCounter = 0; dwBitCounter < 8; dwBitCounter++, dwData >>= 1)
+ {
+ dwCarry = (((dwCrc >> 31) ^ dwData) & 1);
+ dwCrc = dwCrc << 1;
+ if (dwCarry != 0)
+ {
+ dwCrc = (dwCrc ^ CRC32_POLY) | dwCarry;
+ }
+ }
+ }
+
+// printk("MyCRC = 0x%08lX\n", dwCrc);
+ // only upper 6 bits (HASH_BITS) are used
+ // which point to specific bit in the hash registers
+ bHash = (BYTE)((dwCrc >> (32 - HASH_BITS)) & 0x3f);
+
+ return bHash;
+}
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: interface for ethernetdriver
+ "fast ethernet controller" (FEC)
+ freescale coldfire MCF528x and compatible FEC
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EdrvFec.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Dev C++ and GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2005/08/01 m.b.: start of implementation
+
+****************************************************************************/
+
+#ifndef _EDRVFEC_H_
+#define _EDRVFEC_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+// do this in config header
+#define TARGET_HARDWARE TGTHW_SPLC_CF54
+
+
+// base addresses
+#if ((TARGET_HARDWARE & TGT_CPU_MASK_) == TGT_CPU_5282)
+
+
+#elif ((TARGET_HARDWARE & TGT_CPU_MASK_) == TGT_CPU_5485)
+
+
+#else
+
+ #error 'ERROR: Target was never implemented!'
+
+#endif
+
+
+
+//---------------------------------------------------------------------------
+// types
+//---------------------------------------------------------------------------
+
+
+// Rx and Tx buffer descriptor format
+typedef struct
+{
+ WORD m_wStatus; // control / status --- used by edrv, do not change in application
+ WORD m_wLength; // transfer length
+ BYTE * m_pbData; // buffer address
+} tBufferDescr;
+
+#if ((TARGET_HARDWARE & TGT_CPU_MASK_) == TGT_CPU_5282)
+
+#elif ((TARGET_HARDWARE & TGT_CPU_MASK_) == TGT_CPU_5485)
+
+#endif
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+
+#endif // #ifndef _EDRV_FEC_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: interface for ethernetdriver
+ "fast ethernet controller" (FEC)
+ freescale coldfire MCF528x and compatible FEC
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EdrvFec5282.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Dev C++ and GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2005/08/01 m.b.: start of implementation
+
+****************************************************************************/
+
+#ifndef _EDRVFEC_H_
+#define _EDRVFEC_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+// base addresses
+#define FEC0_ADDR 0x0000
+#define FEC1_ADDR 0x0000 //tbd
+
+// control / status registers
+#define FEC_EIR 0x1004 // interrupt event register
+#define FEC_EIMR 0x1008 // interrupt mask register
+#define FEC_RDAR 0x1010 // receive descriptor active register
+#define FEC_TDAR 0x1014 // transmit descriptor active register
+#define FEC_ECR 0x1024 // ethernet control register
+#define FEC_MMFR 0x1040 // MII data register
+#define FEC_MSCR 0x1044 // MII speed register
+#define FEC_MIBC 0x1064 // MIB control/status register
+#define FEC_RCR 0x1084 // receive control register
+#define FEC_TCR 0x10C4 // transmit control register
+#define FEC_PALR 0x10E4 // physical address low register
+#define FEC_PAUR 0x10E8 // physical address high + type register
+#define FEC_OPD 0x10EC // opcode + pause register
+#define FEC_IAUR 0x1118 // upper 32 bit of individual hash table
+#define FEC_IALR 0x111C // lower 32 bit of individual hash table
+#define FEC_GAUR 0x1120 // upper 32 bit of group hash table
+#define FEC_GALR 0x1124 // lower 32 bit of group hash table
+#define FEC_TFWR 0x1144 // transmit FIFO watermark
+#define FEC_FRBR 0x114C // FIFO receive bound register
+#define FEC_FRSR 0x1150 // FIFO receive FIFO start register
+#define FEC_ERDSR 0x1180 // pointer to receive descriptor ring
+#define FEC_ETDSR 0x1184 // pointer to transmit descriptor ring
+#define FEC_EMRBR 0x1188 // maximum receive buffer size
+
+// mib block counters memory map
+#define FEC_RMON_T_DROP 0x1200 // count of frames not counted correctly
+#define FEC_RMON_T_PACKETS 0x1204 // RMON tx packet count
+#define FEC_RMON_T_BC_PKT 0x1208 // RMON tx broadcast packets
+#define FEC_RMON_T_MC_PKT 0x120C // RMON tx multicast packets
+#define FEC_RMON_T_CRC_ALIGN 0x1210 // RMON tx packets w CRC/align error
+#define FEC_RMON_T_UNDERSIZE 0x1214 // RMON tx packets < 64 bytes, good CRC
+#define FEC_RMON_T_OVERSIZE 0x1218 // RMON tx packets > MAX_FL bytes, good CRC
+#define FEC_RMON_T_FRAG 0x121C // RMON tx packets < 64 bytes, bad CRC
+#define FEC_RMON_T_JAB 0x1220 // RMON tx packets > MAX_FL bytes, bad CRC
+#define FEC_RMON_T_COL 0x1224 // RMON tx collision count
+#define FEC_RMON_T_P64 0x1228 // RMON tx 64 byte packets
+#define FEC_RMON_T_P65TO127 0x122C // RMON tx 65 to 127 byte packets
+#define FEC_RMON_T_P128TO255 0x1230 // RMON tx 128 to 255 byte packets
+#define FEC_RMON_T_P256TO511 0x1234 // RMON tx 256 to 511 byte packets
+#define FEC_RMON_T_P512TO1023 0x1238 // RMON tx 512 to 1023 byte packets
+#define FEC_RMON_T_P1024TO2047 0x123C // RMON tx 1024 to 2047 byte packets
+#define FEC_RMON_T_P_GTE2048 0x1240 // RMON tx w > 2048 bytes
+#define FEC_RMON_T_OCTETS 0x1244 // RMON tx octets
+#define FEC_IEEE_T_DROP 0x1248 // count of frames not counted correctly
+#define FEC_IEEE_T_FRAME_OK 0x124C // frames transmitted OK
+#define FEC_IEEE_T_1COL 0x1250 // frames transmitted with single collision
+#define FEC_IEEE_T_MCOL 0x1254 // frames transmitted with multiple collisions
+#define FEC_IEEE_T_DEF 0x1258 // frames transmitted after deferral delay
+#define FEC_IEEE_T_LCOL 0x125C // frames transmitted with late collisions
+#define FEC_IEEE_T_EXCOL 0x1260 // frames transmitted with excessive collisions
+#define FEC_IEEE_T_MACERR 0x1264 // frames transmitted with tx-FIFO underrun
+#define FEC_IEEE_T_CSERR 0x1268 // frames transmitted with carrier sense error
+#define FEC_IEEE_T_SQE 0x126C // frames transmitted with SQE error
+#define FEC_IEEE_T_FDXFC 0x1270 // flow control pause frames transmitted
+#define FEC_IEEE_T_OCTETS_OK 0x1274 // octet count for frames transmitted w/o error
+#define FEC_RMON_R_PACKETS 0x1284 // RMON rx packet count
+#define FEC_RMON_R_BC_PKT 0x1288 // RMON rx broadcast packets
+#define FEC_RMON_R_MC_PKT 0x128C // RMON rx multicast packets
+#define FEC_RMON_R_CRC_ALIGN 0x1290 // RMON rx packets w CRC/align error
+#define FEC_RMON_R_UNDERSIZE 0x1294 // RMON rx packets < 64 bytes, good CRC
+#define FEC_RMON_R_OVERSIZE 0x1298 // RMON rx packets > MAX_FL bytes, good CRC
+#define FEC_RMON_R_FRAG 0x129C // RMON rx packets < 64 bytes, bad CRC
+#define FEC_RMON_R_JAB 0x12A0 // RMON rx packets > MAX_FL bytes, bad CRC
+#define FEC_RMON_R_RESVD_0 0x12A4 //
+#define FEC_RMON_R_P64 0x12A8 // RMON rx 64 byte packets
+#define FEC_RMON_R_P65T0127 0x12AC // RMON rx 65 to 127 byte packets
+#define FEC_RMON_R_P128TO255 0x12B0 // RMON rx 128 to 255 byte packets
+#define FEC_RMON_R_P256TO511 0x12B4 // RMON rx 256 to 511 byte packets
+#define FEC_RMON_R_P512TO1023 0x12B8 // RMON rx 512 to 1023 byte packets
+#define FEC_RMON_R_P1024TO2047 0x12BC // RMON rx 1024 to 2047 byte packets
+#define FEC_RMON_R_GTE2048 0x12C0 // RMON rx w > 2048 bytes
+#define FEC_RMON_R_OCTETS 0x12C4 // RMON rx octets
+#define FEC_IEEE_R_DROP 0x12C8 // count of frames not counted correctly
+#define FEC_IEEE_R_FRAME_OK 0x12CC // frames received OK
+#define FEC_IEEE_R_CRC 0x12D0 // frames received with CRC error
+#define FEC_IEEE_R_ALIGN 0x12D4 // frames received with alignment error
+#define FEC_IEEE_R_MACERR 0x12D8 // receive FIFO overflow count
+#define FEC_IEEE_R_FDXFC 0x12DC // flow control pause frames received
+#define FEC_IEEE_R_OCTETS_OK 0x12E0 // octet count for frames rcvd w/o error
+
+// register bit definitions and macros
+#define FEC_EIR_UN (0x00080000)
+#define FEC_EIR_RL (0x00100000)
+#define FEC_EIR_LC (0x00200000)
+#define FEC_EIR_EBERR (0x00400000)
+#define FEC_EIR_MII (0x00800000)
+#define FEC_EIR_RXB (0x01000000)
+#define FEC_EIR_RXF (0x02000000)
+#define FEC_EIR_TXB (0x04000000)
+#define FEC_EIR_TXF (0x08000000)
+#define FEC_EIR_GRA (0x10000000)
+#define FEC_EIR_BABT (0x20000000)
+#define FEC_EIR_BABR (0x40000000)
+#define FEC_EIR_HBERR (0x80000000)
+
+#define FEC_EIMR_UN (0x00080000)
+#define FEC_EIMR_RL (0x00100000)
+#define FEC_EIMR_LC (0x00200000)
+#define FEC_EIMR_EBERR (0x00400000)
+#define FEC_EIMR_MII (0x00800000)
+#define FEC_EIMR_RXB (0x01000000)
+#define FEC_EIMR_RXF (0x02000000)
+#define FEC_EIMR_TXB (0x04000000)
+#define FEC_EIMR_TXF (0x08000000)
+#define FEC_EIMR_GRA (0x10000000)
+#define FEC_EIMR_BABT (0x20000000)
+#define FEC_EIMR_BABR (0x40000000)
+#define FEC_EIMR_HBERR (0x80000000)
+
+#define FEC_RDAR_R_DES_ACTIVE (0x01000000)
+
+#define FEC_TDAR_X_DES_ACTIVE (0x01000000)
+
+#define FEC_ECR_RESET (0x00000001)
+#define FEC_ECR_ETHER_EN (0x00000002)
+
+#define FEC_MMFR_DATA(x) (((x) & 0xFFFF))
+#define FEC_MMFR_TA (0x00020000)
+#define FEC_MMFR_RA(x) (((x) & 0x1F) << 18)
+#define FEC_MMFR_PA(x) (((x) & 0x1F) << 23)
+#define FEC_MMFR_OP_WR (0x10000000)
+#define FEC_MMFR_OP_RD (0x20000000)
+#define FEC_MMFR_ST (0x40000000)
+
+#define FEC_MSCR_MII_SPEED(x) (((x) & 0x1F) << 1)
+#define FEC_MSCR_DIS_PREAMBLE (0x00000008)
+
+#define FEC_MIBC_MIB_IDLE (0x40000000)
+#define FEC_MIBC_MIB_DISABLE (0x80000000)
+
+#define FEC_RCR_LOOP (0x00000001)
+#define FEC_RCR_DRT (0x00000002)
+#define FEC_RCR_MII_MODE (0x00000004)
+#define FEC_RCR_PROM (0x00000008)
+#define FEC_RCR_BC_REJ (0x00000010)
+#define FEC_RCR_FCE (0x00000020)
+#define FEC_RCR_MAX_FL(x) (((x) & 0x07FF) << 16)
+
+#define FEC_TCR_GTS (0x00000001)
+#define FEC_TCR_HBC (0x00000002)
+#define FEC_TCR_FDEN (0x00000004)
+#define FEC_TCR_TFC_PAUSE (0x00000008)
+#define FEC_TCR_RFC_PAUSE (0x00000010)
+
+#define FEC_PALR_BYTE3(x) (((x) & 0xFF) << 0)
+#define FEC_PALR_BYTE2(x) (((x) & 0xFF) << 8)
+#define FEC_PALR_BYTE1(x) (((x) & 0xFF) << 16)
+#define FEC_PALR_BYTE0(x) (((x) & 0xFF) << 24)
+
+//#define FEC_PAUR_TYPE(x) (((x) & 0xFFFF) << 0)
+#define FEC_PAUR_BYTE5(x) (((x) & 0xFF) << 16)
+#define FEC_PAUR_BYTE4(x) (((x) & 0xFF) << 24)
+
+#define FEC_OPD_PAUSE_DUR(x) (((x) & 0xFFFF))
+//#define FEC_OPD_OPCODE(x) (((x) & 0xFFFF) << 16)
+
+//m.b.
+#define FEC_IAUR_BYTE7(x) (((x) & 0xFF) << 0)
+#define FEC_IAUR_BYTE6(x) (((x) & 0xFF) << 8)
+#define FEC_IAUR_BYTE5(x) (((x) & 0xFF) << 16)
+#define FEC_IAUR_BYTE4(x) (((x) & 0xFF) << 24)
+
+#define FEC_IALR_BYTE3(x) (((x) & 0xFF) << 0)
+#define FEC_IALR_BYTE2(x) (((x) & 0xFF) << 8)
+#define FEC_IALR_BYTE1(x) (((x) & 0xFF) << 16)
+#define FEC_IALR_BYTE0(x) (((x) & 0xFF) << 24)
+
+#define FEC_GAUR_BYTE7(x) (((x) & 0xFF) << 0)
+#define FEC_GAUR_BYTE6(x) (((x) & 0xFF) << 8)
+#define FEC_GAUR_BYTE5(x) (((x) & 0xFF) << 16)
+#define FEC_GAUR_BYTE4(x) (((x) & 0xFF) << 24)
+
+#define FEC_GALR_BYTE3(x) (((x) & 0xFF) << 0)
+#define FEC_GALR_BYTE2(x) (((x) & 0xFF) << 8)
+#define FEC_GALR_BYTE1(x) (((x) & 0xFF) << 16)
+#define FEC_GALR_BYTE0(x) (((x) & 0xFF) << 24)
+// ^^^^
+
+#define FEC_TFWR_X_WMRK_64 (0x00000001)
+#define FEC_TFWR_X_WMRK_128 (0x00000002)
+#define FEC_TFWR_X_WMRK_192 (0x00000003)
+
+//m.b.
+#define FEC_FRBR_R_BOUND(x) (((x) & 0xFF) << 2)
+
+//m.b.
+#define FEC_FRSR_R_FSTART(x) (((x) & 0xFF) << 2)
+
+//m.b.
+#define FEC_ERDSR_R_DES_START(x) (((x) & 0x3FFFFFFF) << 2)
+
+//m.b.
+#define FEC_ETSDR_X_DES_START(x) (((x) & 0x3FFFFFFF) << 2)
+
+#define FEC_EMRBR_R_BUF_SIZE(x) (((x) & 0x7F) << 4)
+
+#define FEC_RxBD_TR 0x0001
+#define FEC_RxBD_OV 0x0002
+#define FEC_RxBD_CR 0x0004
+#define FEC_RxBD_NO 0x0010
+#define FEC_RxBD_LG 0x0020
+#define FEC_RxBD_MC 0x0040
+#define FEC_RxBD_BC 0x0080
+#define FEC_RxBD_M 0x0100
+#define FEC_RxBD_L 0x0800
+#define FEC_RxBD_R02 0x1000
+#define FEC_RxBD_W 0x2000
+#define FEC_RxBD_R01 0x4000
+#define FEC_RxBD_INUSE 0x4000
+#define FEC_RxBD_E 0x8000
+
+//m.b.
+//#define FEC_TxBD_CSL 0x0001
+//#define FEC_TxBD_UN 0x0002
+//#define FEC_TxBD_RL 0x0040
+//#define FEC_TxBD_LC 0x0080
+//#define FEC_TxBD_HB 0x0100
+//#define FEC_TxBD_DEF 0x0200
+#define FEC_TxBD_ABC 0x0200
+// ^^^^
+#define FEC_TxBD_TC 0x0400
+#define FEC_TxBD_L 0x0800
+#define FEC_TxBD_TO2 0x1000
+#define FEC_TxBD_W 0x2000
+#define FEC_TxBD_TO1 0x4000
+#define FEC_TxBD_INUSE 0x4000
+#define FEC_TxBD_R 0x8000
+
+//---------------------------------------------------------------------------
+// types
+//---------------------------------------------------------------------------
+
+// Rx and Tx buffer descriptor format
+typedef struct
+{
+ WORD m_wStatus; // control / status --- used by edrv, do not change in application
+ WORD m_wLength; // transfer length
+ BYTE * m_pbData; // buffer address
+} tBufferDescr;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if (NO_OF_INSTANCES > 1)
+ #define ECI_WRITE_DW_REG(off,val) (*(DWORD *)(void *)(&__IPSBAR[off]) = val)
+ #define ECI_READ_DW_REG(off) (*(DWORD *)(void *)(&__IPSBAR[off]))
+#else
+ #if (EDRV_USED_ETH_CTRL == 0)
+ #define ECI_WRITE_DW_REG(off,val) (*(DWORD *)(void *)(&__IPSBAR[FEC0_ADDR+off]) = val)
+ #define ECI_READ_DW_REG(off) (*(DWORD *)(void *)(&__IPSBAR[FEC0_ADDR+off]))
+ #else
+ #define ECI_WRITE_DW_REG(off,val) (*(DWORD *)(void *)(&__IPSBAR[FEC1_ADDR+off]) = val)
+ #define ECI_READ_DW_REG(off) (*(DWORD *)(void *)(&__IPSBAR[FEC1_ADDR+off]))
+ #endif
+#endif
+
+
+
+
+#endif // #ifndef _EDRV_FEC_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: interface for ethernet driver simulation
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EdrvSim.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Dev C++ and GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/15 d.k.: start of implementation
+
+****************************************************************************/
+
+#ifndef _EDRVSIM_H_
+#define _EDRVSIM_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// types
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+void EdrvRxInterruptHandler (BYTE bBufferInFrame_p, BYTE * pbEthernetData_p, WORD wDataLen_p);
+
+
+
+#endif // #ifndef _EDRVSIM_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for EPL API layer
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: Epl.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_API_H_
+#define _EPL_API_H_
+
+#include "EplInc.h"
+#include "EplSdo.h"
+#include "EplObd.h"
+#include "EplLed.h"
+#include "EplEvent.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+typedef struct
+{
+ unsigned int m_uiNodeId;
+ tEplNmtState m_NmtState;
+ tEplNmtNodeEvent m_NodeEvent;
+ WORD m_wErrorCode; // EPL error code if m_NodeEvent == kEplNmtNodeEventError
+ BOOL m_fMandatory;
+
+} tEplApiEventNode;
+
+
+typedef struct
+{
+ tEplNmtState m_NmtState; // local NMT state
+ tEplNmtBootEvent m_BootEvent;
+ WORD m_wErrorCode; // EPL error code if m_BootEvent == kEplNmtBootEventError
+
+} tEplApiEventBoot;
+
+
+typedef struct
+{
+ tEplLedType m_LedType; // type of the LED (e.g. Status or Error)
+ BOOL m_fOn; // state of the LED (e.g. on or off)
+
+} tEplApiEventLed;
+
+
+typedef enum
+{
+ kEplApiEventNmtStateChange = 0x10, // m_NmtStateChange
+// kEplApiEventRequestNmt = 0x11, // m_bNmtCmd
+ kEplApiEventCriticalError = 0x12, // m_InternalError, Stack halted
+ kEplApiEventWarning = 0x13, // m_InternalError, Stack running
+ kEplApiEventNode = 0x20, // m_Node
+ kEplApiEventBoot = 0x21, // m_Boot
+ kEplApiEventSdo = 0x62, // m_Sdo
+ kEplApiEventObdAccess = 0x69, // m_ObdCbParam
+ kEplApiEventLed = 0x70, // m_Led
+
+} tEplApiEventType;
+
+
+typedef union
+{
+ tEplEventNmtStateChange m_NmtStateChange;
+ tEplEventError m_InternalError;
+ tEplSdoComFinished m_Sdo;
+ tEplObdCbParam m_ObdCbParam;
+ tEplApiEventNode m_Node;
+ tEplApiEventBoot m_Boot;
+ tEplApiEventLed m_Led;
+
+} tEplApiEventArg;
+
+
+typedef tEplKernel (PUBLIC ROM* tEplApiCbEvent) (
+ tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg* pEventArg_p, // IN: event argument (union)
+ void GENERIC* pUserArg_p);
+
+
+typedef struct
+{
+ unsigned int m_uiSizeOfStruct;
+ BOOL m_fAsyncOnly; // do not need to register PRes
+ unsigned int m_uiNodeId; // local node ID
+ BYTE m_abMacAddress[6]; // local MAC address
+
+ // 0x1F82: NMT_FeatureFlags_U32
+ DWORD m_dwFeatureFlags;
+ // Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
+ DWORD m_dwCycleLen; // required for error detection
+ // 0x1F98: NMT_CycleTiming_REC
+ // 0x1F98.1: IsochrTxMaxPayload_U16
+ unsigned int m_uiIsochrTxMaxPayload; // const
+ // 0x1F98.2: IsochrRxMaxPayload_U16
+ unsigned int m_uiIsochrRxMaxPayload; // const
+ // 0x1F98.3: PResMaxLatency_U32
+ DWORD m_dwPresMaxLatency; // const in [ns], only required for IdentRes
+ // 0x1F98.4: PReqActPayloadLimit_U16
+ unsigned int m_uiPreqActPayloadLimit; // required for initialisation (+28 bytes)
+ // 0x1F98.5: PResActPayloadLimit_U16
+ unsigned int m_uiPresActPayloadLimit; // required for initialisation of Pres frame (+28 bytes)
+ // 0x1F98.6: ASndMaxLatency_U32
+ DWORD m_dwAsndMaxLatency; // const in [ns], only required for IdentRes
+ // 0x1F98.7: MultiplCycleCnt_U8
+ unsigned int m_uiMultiplCycleCnt; // required for error detection
+ // 0x1F98.8: AsyncMTU_U16
+ unsigned int m_uiAsyncMtu; // required to set up max frame size
+ // 0x1F98.9: Prescaler_U16
+ unsigned int m_uiPrescaler; // required for sync
+ // $$$ Multiplexed Slot
+
+ // 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
+ DWORD m_dwLossOfFrameTolerance;
+
+ // 0x1F8A: NMT_MNCycleTiming_REC
+ // 0x1F8A.1: WaitSoCPReq_U32 in [ns]
+ DWORD m_dwWaitSocPreq;
+
+ // 0x1F8A.2: AsyncSlotTimeout_U32 in [ns]
+ DWORD m_dwAsyncSlotTimeout;
+
+ DWORD m_dwDeviceType; // NMT_DeviceType_U32
+ DWORD m_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32
+ DWORD m_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32
+ DWORD m_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32
+ DWORD m_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
+ QWORD m_qwVendorSpecificExt1;
+ DWORD m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
+ DWORD m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
+ DWORD m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
+ DWORD m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
+ DWORD m_dwIpAddress;
+ DWORD m_dwSubnetMask;
+ DWORD m_dwDefaultGateway;
+ BYTE m_sHostname[32];
+ BYTE m_abVendorSpecificExt2[48];
+
+ char* m_pszDevName; // NMT_ManufactDevName_VS (0x1008/0 local OD)
+ char* m_pszHwVersion; // NMT_ManufactHwVers_VS (0x1009/0 local OD)
+ char* m_pszSwVersion; // NMT_ManufactSwVers_VS (0x100A/0 local OD)
+
+ tEplApiCbEvent m_pfnCbEvent;
+ void* m_pEventUserArg;
+ tEplSyncCb m_pfnCbSync;
+
+} tEplApiInitParam;
+
+
+typedef struct
+{
+ void* m_pImage;
+ unsigned int m_uiSize;
+
+} tEplApiProcessImage;
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiInitialize(tEplApiInitParam* pInitParam_p);
+
+tEplKernel PUBLIC EplApiShutdown(void);
+
+tEplKernel PUBLIC EplApiReadObject(
+ tEplSdoComConHdl* pSdoComConHdl_p,
+ unsigned int uiNodeId_p,
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pDstData_le_p,
+ unsigned int* puiSize_p,
+ tEplSdoType SdoType_p,
+ void* pUserArg_p);
+
+tEplKernel PUBLIC EplApiWriteObject(
+ tEplSdoComConHdl* pSdoComConHdl_p,
+ unsigned int uiNodeId_p,
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pSrcData_le_p,
+ unsigned int uiSize_p,
+ tEplSdoType SdoType_p,
+ void* pUserArg_p);
+
+tEplKernel PUBLIC EplApiFreeSdoChannel(
+ tEplSdoComConHdl SdoComConHdl_p);
+
+tEplKernel PUBLIC EplApiReadLocalObject(
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pDstData_p,
+ unsigned int* puiSize_p);
+
+tEplKernel PUBLIC EplApiWriteLocalObject(
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pSrcData_p,
+ unsigned int uiSize_p);
+
+tEplKernel PUBLIC EplApiCbObdAccess(tEplObdCbParam MEM* pParam_p);
+
+tEplKernel PUBLIC EplApiLinkObject( unsigned int uiObjIndex_p,
+ void* pVar_p,
+ unsigned int* puiVarEntries_p,
+ tEplObdSize* pEntrySize_p,
+ unsigned int uiFirstSubindex_p);
+
+tEplKernel PUBLIC EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p);
+
+tEplKernel PUBLIC EplApiProcess(void);
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+tEplKernel PUBLIC EplApiMnTriggerStateChange(unsigned int uiNodeId_p,
+ tEplNmtNodeCommand NodeCommand_p);
+#endif
+
+tEplKernel PUBLIC EplApiGetIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentResponse** ppIdentResponse_p);
+
+
+// functions for process image will be implemented in separate file
+tEplKernel PUBLIC EplApiProcessImageSetup(void);
+tEplKernel PUBLIC EplApiProcessImageExchangeIn(tEplApiProcessImage* pPI_p);
+tEplKernel PUBLIC EplApiProcessImageExchangeOut(tEplApiProcessImage* pPI_p);
+
+
+#endif // #ifndef _EPL_API_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Definitions for Abstract Memory Interface
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplAmi.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.2 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 06.03.2000 -rs
+ Implementation
+
+ 16.09.2002 -as
+ To save code space the functions AmiSetByte and AmiGetByte
+ are replaced by macros. For targets which assign BYTE by
+ an 16Bit type, the definition of macros must changed to
+ functions.
+
+ 23.02.2005 r.d.:
+ Functions included for extended data types such as UNSIGNED24,
+ UNSIGNED40, ...
+
+ 13.06.2006 d.k.:
+ Extended the interface for EPL with the different functions
+ for little endian and big endian
+
+****************************************************************************/
+
+#ifndef _EPLAMI_H_
+#define _EPLAMI_H_
+
+
+#if ((DEV_SYSTEM & _DEV_64BIT_SUPPORT_) == 0)
+// #ifdef USE_VAR64
+ #error 'ERROR: development system does not support 64 bit operations!'
+// #endif
+#endif
+
+
+//---------------------------------------------------------------------------
+// types
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// Prototypen
+//---------------------------------------------------------------------------
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+#if (TARGET_SYSTEM == _WIN32_)
+ #if defined(INLINE_FUNCTION_DEF)
+ #undef INLINE_FUNCTION
+ #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ #define INLINE_ENABLED TRUE
+ #define EPL_AMI_INLINED
+ #include "../EplStack/amix86.c"
+ #endif
+
+#elif (TARGET_SYSTEM == _LINUX_)
+ #if defined(__m68k__) // it is an big endian machine
+ #if defined(INLINE_FUNCTION_DEF)
+ #undef INLINE_FUNCTION
+ #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ #define INLINE_ENABLED TRUE
+ #define EPL_AMI_INLINED
+ #include "../EplStack/amibe.c"
+ #endif
+ #endif
+#endif
+
+//---------------------------------------------------------------------------
+//
+// write functions
+//
+// To save code space the function AmiSetByte is replaced by
+// an macro.
+// void PUBLIC AmiSetByte (void FAR* pAddr_p, BYTE bByteVal_p);
+
+#define AmiSetByteToBe(pAddr_p, bByteVal_p) {*(BYTE FAR*)(pAddr_p) = (bByteVal_p);}
+#define AmiSetByteToLe(pAddr_p, bByteVal_p) {*(BYTE FAR*)(pAddr_p) = (bByteVal_p);}
+
+#if !defined(INLINE_ENABLED)
+void PUBLIC AmiSetWordToBe (void FAR* pAddr_p, WORD wWordVal_p);
+void PUBLIC AmiSetDwordToBe (void FAR* pAddr_p, DWORD dwDwordVal_p);
+void PUBLIC AmiSetWordToLe (void FAR* pAddr_p, WORD wWordVal_p);
+void PUBLIC AmiSetDwordToLe (void FAR* pAddr_p, DWORD dwDwordVal_p);
+#endif
+
+
+//---------------------------------------------------------------------------
+//
+// read functions
+//
+// To save code space the function AmiGetByte is replaced by
+// an macro.
+// BYTE PUBLIC AmiGetByte (void FAR* pAddr_p);
+
+#define AmiGetByteFromBe(pAddr_p) (*(BYTE FAR*)(pAddr_p))
+#define AmiGetByteFromLe(pAddr_p) (*(BYTE FAR*)(pAddr_p))
+
+#if !defined(INLINE_ENABLED)
+
+WORD PUBLIC AmiGetWordFromBe (void FAR* pAddr_p);
+DWORD PUBLIC AmiGetDwordFromBe (void FAR* pAddr_p);
+WORD PUBLIC AmiGetWordFromLe (void FAR* pAddr_p);
+DWORD PUBLIC AmiGetDwordFromLe (void FAR* pAddr_p);
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetDword24()
+//
+// Description: sets a 24 bit value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// dwDwordVal_p = value to set
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiSetDword24ToBe (void FAR* pAddr_p, DWORD dwDwordVal_p);
+void PUBLIC AmiSetDword24ToLe (void FAR* pAddr_p, DWORD dwDwordVal_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetDword24()
+//
+// Description: reads a 24 bit value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: DWORD = read value
+//
+//---------------------------------------------------------------------------
+
+DWORD PUBLIC AmiGetDword24FromBe (void FAR* pAddr_p);
+DWORD PUBLIC AmiGetDword24FromLe (void FAR* pAddr_p);
+
+
+//#ifdef USE_VAR64
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword40()
+//
+// Description: sets a 40 bit value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiSetQword40ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+void PUBLIC AmiSetQword40ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword40()
+//
+// Description: reads a 40 bit value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+//---------------------------------------------------------------------------
+
+QWORD PUBLIC AmiGetQword40FromBe (void FAR* pAddr_p);
+QWORD PUBLIC AmiGetQword40FromLe (void FAR* pAddr_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword48()
+//
+// Description: sets a 48 bit value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiSetQword48ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+void PUBLIC AmiSetQword48ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword48()
+//
+// Description: reads a 48 bit value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+//---------------------------------------------------------------------------
+
+QWORD PUBLIC AmiGetQword48FromBe (void FAR* pAddr_p);
+QWORD PUBLIC AmiGetQword48FromLe (void FAR* pAddr_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword56()
+//
+// Description: sets a 56 bit value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiSetQword56ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+void PUBLIC AmiSetQword56ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword56()
+//
+// Description: reads a 56 bit value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+//---------------------------------------------------------------------------
+
+QWORD PUBLIC AmiGetQword56FromBe (void FAR* pAddr_p);
+QWORD PUBLIC AmiGetQword56FromLe (void FAR* pAddr_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword64()
+//
+// Description: sets a 64 bit value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiSetQword64ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+void PUBLIC AmiSetQword64ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword64()
+//
+// Description: reads a 64 bit value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+QWORD PUBLIC AmiGetQword64FromBe (void FAR* pAddr_p);
+QWORD PUBLIC AmiGetQword64FromLe (void FAR* pAddr_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetTimeOfDay()
+//
+// Description: sets a TIME_OF_DAY (CANopen) value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// pTimeOfDay_p = pointer to struct TIME_OF_DAY
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiSetTimeOfDay (void FAR* pAddr_p, tTimeOfDay FAR* pTimeOfDay_p);
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetTimeOfDay()
+//
+// Description: reads a TIME_OF_DAY (CANopen) value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+// pTimeOfDay_p = pointer to struct TIME_OF_DAY
+//
+// Return: void
+//
+//---------------------------------------------------------------------------
+
+void PUBLIC AmiGetTimeOfDay (void FAR* pAddr_p, tTimeOfDay FAR* pTimeOfDay_p);
+
+#endif
+
+
+#undef INLINE_ENABLED // disable actual inlining of functions
+#define EPL_AMI_INCLUDED
+
+#ifdef __cplusplus
+ }
+#endif
+
+
+#endif // ifndef _EPLAMI_H_
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for generic EPL API module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplApiGeneric.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.21 $ $Date: 2008/11/21 09:00:38 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/09/05 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "Epl.h"
+#include "kernel/EplDllk.h"
+#include "kernel/EplErrorHandlerk.h"
+#include "kernel/EplEventk.h"
+#include "kernel/EplNmtk.h"
+#include "kernel/EplObdk.h"
+#include "kernel/EplTimerk.h"
+#include "kernel/EplDllkCal.h"
+#include "kernel/EplPdokCal.h"
+#include "user/EplDlluCal.h"
+#include "user/EplLedu.h"
+#include "user/EplNmtCnu.h"
+#include "user/EplNmtMnu.h"
+#include "user/EplSdoComu.h"
+#include "user/EplIdentu.h"
+#include "user/EplStatusu.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+#include "kernel/EplPdok.h"
+#endif
+
+#include "SharedBuff.h"
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0)
+#error "EPL API layer needs EPL module OBDK!"
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplApi */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplApiInitParam m_InitParam;
+
+} tEplApiInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplApiInstance EplApiInstance_g;
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+// NMT state change event callback function
+static tEplKernel PUBLIC EplApiCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p);
+
+// update DLL configuration from OD
+static tEplKernel PUBLIC EplApiUpdateDllConfig(BOOL fUpdateIdentity_p);
+
+// update OD from init param
+static tEplKernel PUBLIC EplApiUpdateObd(void);
+
+// process events from user event queue
+static tEplKernel PUBLIC EplApiProcessEvent(tEplEvent* pEplEvent_p);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+// callback function of SDO module
+static tEplKernel PUBLIC EplApiCbSdoCon(tEplSdoComFinished* pSdoComFinished_p);
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+// callback functions of NmtMnu module
+static tEplKernel PUBLIC EplApiCbNodeEvent(unsigned int uiNodeId_p,
+ tEplNmtNodeEvent NodeEvent_p,
+ tEplNmtState NmtState_p,
+ WORD wErrorCode_p,
+ BOOL fMandatory_p);
+
+static tEplKernel PUBLIC EplApiCbBootEvent(tEplNmtBootEvent BootEvent_p,
+ tEplNmtState NmtState_p,
+ WORD wErrorCode_p);
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+// callback function of Ledu module
+static tEplKernel PUBLIC EplApiCbLedStateChange(tEplLedType LedType_p,
+ BOOL fOn_p);
+#endif
+
+// OD initialization function (implemented in Objdict.c)
+tEplKernel PUBLIC EplObdInitRam (tEplObdInitParam MEM* pInitParam_p);
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiInitialize()
+//
+// Description: add and initialize new instance of EPL stack.
+// After return from this function the application must start
+// the NMT state machine via
+// EplApiExecNmtCommand(kEplNmtEventSwReset)
+// and thereby the whole EPL stack :-)
+//
+// Parameters: pInitParam_p = initialisation parameters
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiInitialize(tEplApiInitParam * pInitParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplObdInitParam ObdInitParam;
+tEplDllkInitParam DllkInitParam;
+#ifndef EPL_NO_FIFO
+ tShbError ShbError;
+#endif
+
+ // reset instance structure
+ EPL_MEMSET(&EplApiInstance_g, 0, sizeof (EplApiInstance_g));
+
+ EPL_MEMCPY(&EplApiInstance_g.m_InitParam, pInitParam_p, min(sizeof (tEplApiInitParam), pInitParam_p->m_uiSizeOfStruct));
+
+ // check event callback function pointer
+ if (EplApiInstance_g.m_InitParam.m_pfnCbEvent == NULL)
+ { // application must always have an event callback function
+ Ret = kEplApiInvalidParam;
+ goto Exit;
+ }
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ // init OD
+// FIXME
+// Ret = EplObdInitRam(&ObdInitParam);
+// if (Ret != kEplSuccessful)
+// {
+// goto Exit;
+// }
+
+ // initialize EplObd module
+ Ret = EplObdInit(&ObdInitParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+#ifndef EPL_NO_FIFO
+ ShbError = ShbInit();
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+#endif
+
+ // initialize EplEventk module
+ Ret = EplEventkInit(EplApiInstance_g.m_InitParam.m_pfnCbSync);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize EplEventu module
+ Ret = EplEventuInit(EplApiProcessEvent);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // init EplTimerk module
+ Ret = EplTimerkInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize EplNmtk module before DLL
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ Ret = EplNmtkInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // initialize EplDllk module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ EPL_MEMCPY(DllkInitParam.m_be_abSrcMac, EplApiInstance_g.m_InitParam.m_abMacAddress, 6);
+ Ret = EplDllkAddInstance(&DllkInitParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize EplErrorHandlerk module
+ Ret = EplErrorHandlerkInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize EplDllkCal module
+ Ret = EplDllkCalAddInstance();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // initialize EplDlluCal module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalAddInstance();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#endif
+
+ // initialize EplPdok module
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ Ret = EplPdokAddInstance();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplPdokCalAddInstance();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#endif
+
+ // initialize EplNmtCnu module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
+ Ret = EplNmtCnuAddInstance(EplApiInstance_g.m_InitParam.m_uiNodeId);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // initialize EplNmtu module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // register NMT event callback function
+ Ret = EplNmtuRegisterStateChangeCb(EplApiCbNmtStateChange);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // initialize EplNmtMnu module
+ Ret = EplNmtMnuInit(EplApiCbNodeEvent, EplApiCbBootEvent);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize EplIdentu module
+ Ret = EplIdentuInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize EplStatusu module
+ Ret = EplStatusuInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // initialize EplLedu module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+ Ret = EplLeduInit(EplApiCbLedStateChange);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // init SDO module
+#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) || \
+ (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0))
+ // init sdo command layer
+ Ret = EplSdoComInit();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // the application must start NMT state machine
+ // via EplApiExecNmtCommand(kEplNmtEventSwReset)
+ // and thereby the whole EPL stack
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiShutdown()
+//
+// Description: deletes an instance of EPL stack
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiShutdown(void)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // $$$ d.k.: check if NMT state is NMT_GS_OFF
+
+ // $$$ d.k.: maybe delete event queues at first, but this implies that
+ // no other module must not use the event queues for communication
+ // during shutdown.
+
+ // delete instance for all modules
+
+ // deinitialize EplSdoCom module
+#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) || \
+ (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0))
+ Ret = EplSdoComDelInstance();
+// PRINTF1("EplSdoComDelInstance(): 0x%X\n", Ret);
+#endif
+
+ // deinitialize EplLedu module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+ Ret = EplLeduDelInstance();
+// PRINTF1("EplLeduDelInstance(): 0x%X\n", Ret);
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // deinitialize EplNmtMnu module
+ Ret = EplNmtMnuDelInstance();
+// PRINTF1("EplNmtMnuDelInstance(): 0x%X\n", Ret);
+
+ // deinitialize EplIdentu module
+ Ret = EplIdentuDelInstance();
+// PRINTF1("EplIdentuDelInstance(): 0x%X\n", Ret);
+
+ // deinitialize EplStatusu module
+ Ret = EplStatusuDelInstance();
+// PRINTF1("EplStatusuDelInstance(): 0x%X\n", Ret);
+#endif
+
+ // deinitialize EplNmtCnu module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
+ Ret = EplNmtCnuDelInstance();
+// PRINTF1("EplNmtCnuDelInstance(): 0x%X\n", Ret);
+#endif
+
+ // deinitialize EplNmtu module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuDelInstance();
+// PRINTF1("EplNmtuDelInstance(): 0x%X\n", Ret);
+#endif
+
+ // deinitialize EplDlluCal module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalDelInstance();
+// PRINTF1("EplDlluCalDelInstance(): 0x%X\n", Ret);
+
+#endif
+
+ // deinitialize EplEventu module
+ Ret = EplEventuDelInstance();
+// PRINTF1("EplEventuDelInstance(): 0x%X\n", Ret);
+
+ // deinitialize EplNmtk module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ Ret = EplNmtkDelInstance();
+// PRINTF1("EplNmtkDelInstance(): 0x%X\n", Ret);
+#endif
+
+ // deinitialize EplDllk module
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplDllkDelInstance();
+// PRINTF1("EplDllkDelInstance(): 0x%X\n", Ret);
+
+ // deinitialize EplDllkCal module
+ Ret = EplDllkCalDelInstance();
+// PRINTF1("EplDllkCalDelInstance(): 0x%X\n", Ret);
+#endif
+
+ // deinitialize EplEventk module
+ Ret = EplEventkDelInstance();
+// PRINTF1("EplEventkDelInstance(): 0x%X\n", Ret);
+
+ // deinitialize EplTimerk module
+ Ret = EplTimerkDelInstance();
+// PRINTF1("EplTimerkDelInstance(): 0x%X\n", Ret);
+
+#ifndef EPL_NO_FIFO
+ ShbExit();
+#endif
+
+ return Ret;
+}
+
+
+//----------------------------------------------------------------------------
+// Function: EplApiExecNmtCommand()
+//
+// Description: executes a NMT command, i.e. post the NMT command/event to the
+// NMTk module. NMT commands which are not appropriate in the current
+// NMT state are silently ignored. Please keep in mind that the
+// NMT state may change until the NMT command is actually executed.
+//
+// Parameters: NmtEvent_p = NMT command/event
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuNmtEvent(NmtEvent_p);
+#endif
+
+ return Ret;
+}
+
+
+//----------------------------------------------------------------------------
+// Function: EplApiLinkObject()
+//
+// Description: Function maps array of application variables onto specified object in OD
+//
+// Parameters: uiObjIndex_p = Function maps variables for this object index
+// pVar_p = Pointer to data memory area for the specified object
+// puiVarEntries_p = IN: pointer to number of entries to map
+// OUT: pointer to number of actually used entries
+// pEntrySize_p = IN: pointer to size of one entry;
+// if size is zero, the actual size will be read from OD
+// OUT: pointer to entire size of all entries mapped
+// uiFirstSubindex_p = This is the first subindex to be mapped.
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiLinkObject( unsigned int uiObjIndex_p,
+ void* pVar_p,
+ unsigned int* puiVarEntries_p,
+ tEplObdSize* pEntrySize_p,
+ unsigned int uiFirstSubindex_p)
+{
+BYTE bVarEntries;
+BYTE bIndexEntries;
+BYTE MEM* pbData;
+unsigned int uiSubindex;
+tEplVarParam VarParam;
+tEplObdSize EntrySize;
+tEplObdSize UsedSize;
+
+tEplKernel RetCode = kEplSuccessful;
+
+ if ((pVar_p == NULL)
+ || (puiVarEntries_p == NULL)
+ || (*puiVarEntries_p == 0)
+ || (pEntrySize_p == NULL))
+ {
+ RetCode = kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ pbData = (BYTE MEM*) pVar_p;
+ bVarEntries = (BYTE) *puiVarEntries_p;
+ UsedSize = 0;
+
+ // init VarParam structure with default values
+ VarParam.m_uiIndex = uiObjIndex_p;
+ VarParam.m_ValidFlag = kVarValidAll;
+
+ if (uiFirstSubindex_p != 0)
+ { // check if object exists by reading subindex 0x00,
+ // because user wants to link a variable to a subindex unequal 0x00
+ // read number of entries
+ EntrySize = (tEplObdSize) sizeof(bIndexEntries);
+ RetCode = EplObdReadEntry (
+ uiObjIndex_p,
+ 0x00,
+ (void GENERIC*) &bIndexEntries,
+ &EntrySize );
+
+ if ((RetCode != kEplSuccessful) || (bIndexEntries == 0x00) )
+ {
+ // Object doesn't exist or invalid entry number
+ RetCode = kEplObdIndexNotExist;
+ goto Exit;
+ }
+ }
+ else
+ { // user wants to link a variable to subindex 0x00
+ // that's OK
+ bIndexEntries = 0;
+ }
+
+ // Correct number of entries if number read from OD is greater
+ // than the specified number.
+ // This is done, so that we do not set more entries than subindexes the
+ // object actually has.
+ if ((bIndexEntries > (bVarEntries + uiFirstSubindex_p - 1)) &&
+ (bVarEntries != 0x00) )
+ {
+ bIndexEntries = (BYTE) (bVarEntries + uiFirstSubindex_p - 1);
+ }
+
+ // map entries
+ for (uiSubindex = uiFirstSubindex_p; uiSubindex <= bIndexEntries; uiSubindex++)
+ {
+ // if passed entry size is 0, then get size from OD
+ if (*pEntrySize_p == 0x00)
+ {
+ // read entry size
+ EntrySize = EplObdGetDataSize(uiObjIndex_p, uiSubindex);
+
+ if (EntrySize == 0x00)
+ {
+ // invalid entry size (maybe object doesn't exist or entry of type DOMAIN is empty)
+ RetCode = kEplObdSubindexNotExist;
+ break;
+ }
+ }
+ else
+ { // use passed entry size
+ EntrySize = *pEntrySize_p;
+ }
+
+ VarParam.m_uiSubindex = uiSubindex;
+
+ // set pointer to user var
+ VarParam.m_Size = EntrySize;
+ VarParam.m_pData = pbData;
+
+ UsedSize += EntrySize;
+ pbData += EntrySize;
+
+ RetCode = EplObdDefineVar(&VarParam);
+ if (RetCode != kEplSuccessful)
+ {
+ break;
+ }
+ }
+
+ // set number of mapped entries and entry size
+ *puiVarEntries_p = ((bIndexEntries - uiFirstSubindex_p) + 1);
+ *pEntrySize_p = UsedSize;
+
+
+Exit:
+
+ return (RetCode);
+
+}
+
+
+// ----------------------------------------------------------------------------
+//
+// Function: EplApiReadObject()
+//
+// Description: reads the specified entry from the OD of the specified node.
+// If this node is a remote node, it performs a SDO transfer, which
+// means this function returns kEplApiTaskDeferred and the application
+// is informed via the event callback function when the task is completed.
+//
+// Parameters: pSdoComConHdl_p = INOUT: pointer to SDO connection handle (may be NULL in case of local OD access)
+// uiNodeId_p = IN: node ID (0 = itself)
+// uiIndex_p = IN: index of object in OD
+// uiSubindex_p = IN: sub-index of object in OD
+// pDstData_le_p = OUT: pointer to data in little endian
+// puiSize_p = INOUT: pointer to size of data
+// SdoType_p = IN: type of SDO transfer
+// pUserArg_p = IN: user-definable argument pointer,
+// which will be passed to the event callback function
+//
+// Return: tEplKernel = error code
+//
+// ----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiReadObject(
+ tEplSdoComConHdl* pSdoComConHdl_p,
+ unsigned int uiNodeId_p,
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pDstData_le_p,
+ unsigned int* puiSize_p,
+ tEplSdoType SdoType_p,
+ void* pUserArg_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if ((uiIndex_p == 0) || (pDstData_le_p == NULL) || (puiSize_p == NULL) || (*puiSize_p == 0))
+ {
+ Ret = kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ if (uiNodeId_p == 0
+ || uiNodeId_p == EplObdGetNodeId())
+ { // local OD access can be performed
+ tEplObdSize ObdSize;
+
+ ObdSize = (tEplObdSize) *puiSize_p;
+ Ret = EplObdReadEntryToLe(uiIndex_p, uiSubindex_p, pDstData_le_p, &ObdSize);
+ *puiSize_p = (unsigned int) ObdSize;
+ }
+ else
+ { // perform SDO transfer
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+ tEplSdoComTransParamByIndex TransParamByIndex;
+// tEplSdoComConHdl SdoComConHdl;
+
+ // check if application provides space for handle
+ if (pSdoComConHdl_p == NULL)
+ {
+ Ret = kEplApiInvalidParam;
+ goto Exit;
+// pSdoComConHdl_p = &SdoComConHdl;
+ }
+
+ // init command layer connection
+ Ret = EplSdoComDefineCon(pSdoComConHdl_p,
+ uiNodeId_p, // target node id
+ SdoType_p); // SDO type
+ if ((Ret != kEplSuccessful) && (Ret != kEplSdoComHandleExists))
+ {
+ goto Exit;
+ }
+ TransParamByIndex.m_pData = pDstData_le_p;
+ TransParamByIndex.m_SdoAccessType = kEplSdoAccessTypeRead;
+ TransParamByIndex.m_SdoComConHdl = *pSdoComConHdl_p;
+ TransParamByIndex.m_uiDataSize = *puiSize_p;
+ TransParamByIndex.m_uiIndex = uiIndex_p;
+ TransParamByIndex.m_uiSubindex = uiSubindex_p;
+ TransParamByIndex.m_pfnSdoFinishedCb = EplApiCbSdoCon;
+ TransParamByIndex.m_pUserArg = pUserArg_p;
+
+ Ret = EplSdoComInitTransferByIndex(&TransParamByIndex);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ Ret = kEplApiTaskDeferred;
+
+#else
+ Ret = kEplApiInvalidParam;
+#endif
+ }
+
+Exit:
+ return Ret;
+}
+
+
+// ----------------------------------------------------------------------------
+//
+// Function: EplApiWriteObject()
+//
+// Description: writes the specified entry to the OD of the specified node.
+// If this node is a remote node, it performs a SDO transfer, which
+// means this function returns kEplApiTaskDeferred and the application
+// is informed via the event callback function when the task is completed.
+//
+// Parameters: pSdoComConHdl_p = INOUT: pointer to SDO connection handle (may be NULL in case of local OD access)
+// uiNodeId_p = IN: node ID (0 = itself)
+// uiIndex_p = IN: index of object in OD
+// uiSubindex_p = IN: sub-index of object in OD
+// pSrcData_le_p = IN: pointer to data in little endian
+// uiSize_p = IN: size of data in bytes
+// SdoType_p = IN: type of SDO transfer
+// pUserArg_p = IN: user-definable argument pointer,
+// which will be passed to the event callback function
+//
+// Return: tEplKernel = error code
+//
+// ----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiWriteObject(
+ tEplSdoComConHdl* pSdoComConHdl_p,
+ unsigned int uiNodeId_p,
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pSrcData_le_p,
+ unsigned int uiSize_p,
+ tEplSdoType SdoType_p,
+ void* pUserArg_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if ((uiIndex_p == 0) || (pSrcData_le_p == NULL) || (uiSize_p == 0))
+ {
+ Ret = kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ if (uiNodeId_p == 0
+ || uiNodeId_p == EplObdGetNodeId())
+ { // local OD access can be performed
+
+ Ret = EplObdWriteEntryFromLe(uiIndex_p, uiSubindex_p, pSrcData_le_p, uiSize_p);
+ }
+ else
+ { // perform SDO transfer
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+ tEplSdoComTransParamByIndex TransParamByIndex;
+// tEplSdoComConHdl SdoComConHdl;
+
+ // check if application provides space for handle
+ if (pSdoComConHdl_p == NULL)
+ {
+ Ret = kEplApiInvalidParam;
+ goto Exit;
+// pSdoComConHdl_p = &SdoComConHdl;
+ }
+
+ // d.k.: How to recycle command layer connection?
+ // Try to redefine it, which will return kEplSdoComHandleExists
+ // and the existing command layer handle.
+ // If the returned handle is busy, EplSdoComInitTransferByIndex()
+ // will return with error.
+ // $$$ d.k.: Collisions may occur with Configuration Manager, if both the application and
+ // Configuration Manager, are trying to communicate with the very same node.
+ // possible solution: disallow communication by application if Configuration Manager is busy
+
+ // init command layer connection
+ Ret = EplSdoComDefineCon(pSdoComConHdl_p,
+ uiNodeId_p, // target node id
+ SdoType_p); // SDO type
+ if ((Ret != kEplSuccessful) && (Ret != kEplSdoComHandleExists))
+ {
+ goto Exit;
+ }
+ TransParamByIndex.m_pData = pSrcData_le_p;
+ TransParamByIndex.m_SdoAccessType = kEplSdoAccessTypeWrite;
+ TransParamByIndex.m_SdoComConHdl = *pSdoComConHdl_p;
+ TransParamByIndex.m_uiDataSize = uiSize_p;
+ TransParamByIndex.m_uiIndex = uiIndex_p;
+ TransParamByIndex.m_uiSubindex = uiSubindex_p;
+ TransParamByIndex.m_pfnSdoFinishedCb = EplApiCbSdoCon;
+ TransParamByIndex.m_pUserArg = pUserArg_p;
+
+ Ret = EplSdoComInitTransferByIndex(&TransParamByIndex);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ Ret = kEplApiTaskDeferred;
+
+#else
+ Ret = kEplApiInvalidParam;
+#endif
+ }
+
+Exit:
+ return Ret;
+}
+
+
+// ----------------------------------------------------------------------------
+//
+// Function: EplApiFreeSdoChannel()
+//
+// Description: frees the specified SDO channel.
+// This function must be called after each call to EplApiReadObject()/EplApiWriteObject()
+// which returns kEplApiTaskDeferred and the application
+// is informed via the event callback function when the task is completed.
+//
+// Parameters: SdoComConHdl_p = IN: SDO connection handle
+//
+// Return: tEplKernel = error code
+//
+// ----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiFreeSdoChannel(
+ tEplSdoComConHdl SdoComConHdl_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+
+ // init command layer connection
+ Ret = EplSdoComUndefineCon(SdoComConHdl_p);
+
+#else
+ Ret = kEplApiInvalidParam;
+#endif
+
+ return Ret;
+}
+
+
+// ----------------------------------------------------------------------------
+//
+// Function: EplApiReadLocalObject()
+//
+// Description: reads the specified entry from the local OD.
+//
+// Parameters: uiIndex_p = IN: index of object in OD
+// uiSubindex_p = IN: sub-index of object in OD
+// pDstData_p = OUT: pointer to data in platform byte order
+// puiSize_p = INOUT: pointer to size of data
+//
+// Return: tEplKernel = error code
+//
+// ----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiReadLocalObject(
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pDstData_p,
+ unsigned int* puiSize_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplObdSize ObdSize;
+
+ ObdSize = (tEplObdSize) *puiSize_p;
+ Ret = EplObdReadEntry(uiIndex_p, uiSubindex_p, pDstData_p, &ObdSize);
+ *puiSize_p = (unsigned int) ObdSize;
+
+ return Ret;
+}
+
+
+// ----------------------------------------------------------------------------
+//
+// Function: EplApiWriteLocalObject()
+//
+// Description: writes the specified entry to the local OD.
+//
+// Parameters: uiIndex_p = IN: index of object in OD
+// uiSubindex_p = IN: sub-index of object in OD
+// pSrcData_p = IN: pointer to data in platform byte order
+// uiSize_p = IN: size of data in bytes
+//
+// Return: tEplKernel = error code
+//
+// ----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiWriteLocalObject(
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ void* pSrcData_p,
+ unsigned int uiSize_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ Ret = EplObdWriteEntry(uiIndex_p, uiSubindex_p, pSrcData_p, (tEplObdSize) uiSize_p);
+
+ return Ret;
+}
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+// ----------------------------------------------------------------------------
+//
+// Function: EplApiMnTriggerStateChange()
+//
+// Description: triggers the specified node command for the specified node.
+//
+// Parameters: uiNodeId_p = node ID for which the node command will be executed
+// NodeCommand_p = node command
+//
+// Return: tEplKernel = error code
+//
+// ----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiMnTriggerStateChange(unsigned int uiNodeId_p,
+ tEplNmtNodeCommand NodeCommand_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ Ret = EplNmtMnuTriggerStateChange(uiNodeId_p, NodeCommand_p);
+
+ return Ret;
+}
+
+#endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiCbObdAccess
+//
+// Description: callback function for OD accesses
+//
+// Parameters: pParam_p = OBD parameter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiCbObdAccess(tEplObdCbParam MEM* pParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+#if (EPL_API_OBD_FORWARD_EVENT != FALSE)
+tEplApiEventArg EventArg;
+
+ // call user callback
+ // must be disabled for EplApiLinuxKernel.c, because of reentrancy problem
+ // for local OD access. This is not so bad as user callback function in
+ // application does not use OD callbacks at the moment.
+ EventArg.m_ObdCbParam = *pParam_p;
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventObdAccess,
+ &EventArg,
+ EplApiInstance_g.m_InitParam.m_pEventUserArg);
+#endif
+
+ switch (pParam_p->m_uiIndex)
+ {
+ //case 0x1006: // NMT_CycleLen_U32 (valid on reset)
+ case 0x1C14: // DLL_LossOfFrameTolerance_U32
+ //case 0x1F98: // NMT_CycleTiming_REC (valid on reset)
+ {
+ if (pParam_p->m_ObdEvent == kEplObdEvPostWrite)
+ {
+ // update DLL configuration
+ Ret = EplApiUpdateDllConfig(FALSE);
+ }
+ break;
+ }
+
+ case 0x1020: // CFM_VerifyConfiguration_REC.ConfId_U32 != 0
+ {
+ if ((pParam_p->m_ObdEvent == kEplObdEvPostWrite)
+ && (pParam_p->m_uiSubIndex == 3)
+ && (*((DWORD*)pParam_p->m_pArg) != 0))
+ {
+ DWORD dwVerifyConfInvalid = 0;
+ // set CFM_VerifyConfiguration_REC.VerifyConfInvalid_U32 to 0
+ Ret = EplObdWriteEntry(0x1020, 4, &dwVerifyConfInvalid, 4);
+ // ignore any error because this objekt is optional
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ case 0x1F9E: // NMT_ResetCmd_U8
+ {
+ if (pParam_p->m_ObdEvent == kEplObdEvPreWrite)
+ {
+ BYTE bNmtCommand;
+
+ bNmtCommand = *((BYTE *) pParam_p->m_pArg);
+ // check value range
+ switch ((tEplNmtCommand)bNmtCommand)
+ {
+ case kEplNmtCmdResetNode:
+ case kEplNmtCmdResetCommunication:
+ case kEplNmtCmdResetConfiguration:
+ case kEplNmtCmdSwReset:
+ case kEplNmtCmdInvalidService:
+ // valid command identifier specified
+ break;
+
+ default:
+ pParam_p->m_dwAbortCode = EPL_SDOAC_VALUE_RANGE_EXCEEDED;
+ Ret = kEplObdAccessViolation;
+ break;
+ }
+ }
+ else if (pParam_p->m_ObdEvent == kEplObdEvPostWrite)
+ {
+ BYTE bNmtCommand;
+
+ bNmtCommand = *((BYTE *) pParam_p->m_pArg);
+ // check value range
+ switch ((tEplNmtCommand)bNmtCommand)
+ {
+ case kEplNmtCmdResetNode:
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuNmtEvent(kEplNmtEventResetNode);
+#endif
+ break;
+
+ case kEplNmtCmdResetCommunication:
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuNmtEvent(kEplNmtEventResetCom);
+#endif
+ break;
+
+ case kEplNmtCmdResetConfiguration:
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuNmtEvent(kEplNmtEventResetConfig);
+#endif
+ break;
+
+ case kEplNmtCmdSwReset:
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuNmtEvent(kEplNmtEventSwReset);
+#endif
+ break;
+
+ case kEplNmtCmdInvalidService:
+ break;
+
+ default:
+ pParam_p->m_dwAbortCode = EPL_SDOAC_VALUE_RANGE_EXCEEDED;
+ Ret = kEplObdAccessViolation;
+ break;
+ }
+ }
+ break;
+ }
+
+ default:
+ break;
+ }
+
+//Exit:
+ return Ret;
+}
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiProcessEvent
+//
+// Description: processes events from event queue and forwards these to
+// the application's event callback function
+//
+// Parameters: pEplEvent_p = pointer to event
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiProcessEvent(
+ tEplEvent* pEplEvent_p)
+{
+tEplKernel Ret;
+tEplEventError* pEventError;
+tEplApiEventType EventType;
+
+ Ret = kEplSuccessful;
+
+ // process event
+ switch(pEplEvent_p->m_EventType)
+ {
+ // error event
+ case kEplEventTypeError:
+ {
+ pEventError = (tEplEventError*) pEplEvent_p->m_pArg;
+ switch (pEventError->m_EventSource)
+ {
+ // treat the errors from the following sources as critical
+ case kEplEventSourceEventk:
+ case kEplEventSourceEventu:
+ case kEplEventSourceDllk:
+ {
+ EventType = kEplApiEventCriticalError;
+ // halt the stack by entering NMT state Off
+ Ret = EplNmtuNmtEvent(kEplNmtEventCriticalError);
+ break;
+ }
+
+ // the other errors are just warnings
+ default:
+ {
+ EventType = kEplApiEventWarning;
+ break;
+ }
+ }
+
+ // call user callback
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(EventType, (tEplApiEventArg*) pEventError, EplApiInstance_g.m_InitParam.m_pEventUserArg);
+ // discard error from callback function, because this could generate an endless loop
+ Ret = kEplSuccessful;
+ break;
+ }
+
+ // at present, there are no other events for this module
+ default:
+ break;
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiCbNmtStateChange
+//
+// Description: callback function for NMT state changes
+//
+// Parameters: NmtStateChange_p = NMT state change event
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p)
+{
+tEplKernel Ret = kEplSuccessful;
+BYTE bNmtState;
+tEplApiEventArg EventArg;
+
+ // save NMT state in OD
+ bNmtState = (BYTE) NmtStateChange_p.m_NewNmtState;
+ Ret = EplObdWriteEntry(0x1F8C, 0, &bNmtState, 1);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // do work which must be done in that state
+ switch (NmtStateChange_p.m_NewNmtState)
+ {
+ // EPL stack is not running
+ case kEplNmtGsOff:
+ break;
+
+ // first init of the hardware
+ case kEplNmtGsInitialising:
+#if 0
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ // configure SDO via UDP (i.e. bind it to the EPL ethernet interface)
+ Ret = EplSdoUdpuConfig(EplApiInstance_g.m_InitParam.m_dwIpAddress, EPL_C_SDO_EPL_PORT);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+#endif
+
+ break;
+
+ // init of the manufacturer-specific profile area and the
+ // standardised device profile area
+ case kEplNmtGsResetApplication:
+ {
+ // reset application part of OD
+ Ret = EplObdAccessOdPart(
+ kEplObdPartApp,
+ kEplObdDirLoad);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ break;
+ }
+
+ // init of the communication profile area
+ case kEplNmtGsResetCommunication:
+ {
+ // reset communication part of OD
+ Ret = EplObdAccessOdPart(
+ kEplObdPartGen,
+ kEplObdDirLoad);
+
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // $$$ d.k.: update OD only if OD was not loaded from non-volatile memory
+ Ret = EplApiUpdateObd();
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ break;
+ }
+
+ // build the configuration with infos from OD
+ case kEplNmtGsResetConfiguration:
+ {
+
+ Ret = EplApiUpdateDllConfig(TRUE);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ break;
+ }
+
+ //-----------------------------------------------------------
+ // CN part of the state machine
+
+ // node liste for EPL-Frames and check timeout
+ case kEplNmtCsNotActive:
+ {
+ // indicate completion of reset in NMT_ResetCmd_U8
+ bNmtState = (BYTE) kEplNmtCmdInvalidService;
+ Ret = EplObdWriteEntry(0x1F9E, 0, &bNmtState, 1);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ break;
+ }
+
+ // node process only async frames
+ case kEplNmtCsPreOperational1:
+ {
+ break;
+ }
+
+ // node process isochronus and asynchronus frames
+ case kEplNmtCsPreOperational2:
+ {
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtCsReadyToOperate:
+ {
+ break;
+ }
+
+ // normal work state
+ case kEplNmtCsOperational:
+ {
+ break;
+ }
+
+ // node stopped by MN
+ // -> only process asynchronus frames
+ case kEplNmtCsStopped:
+ {
+ break;
+ }
+
+ // no EPL cycle
+ // -> normal ethernet communication
+ case kEplNmtCsBasicEthernet:
+ {
+ break;
+ }
+
+ //-----------------------------------------------------------
+ // MN part of the state machine
+
+ // node listens for EPL-Frames and check timeout
+ case kEplNmtMsNotActive:
+ {
+ break;
+ }
+
+ // node processes only async frames
+ case kEplNmtMsPreOperational1:
+ {
+ break;
+ }
+
+ // node processes isochronous and asynchronous frames
+ case kEplNmtMsPreOperational2:
+ {
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtMsReadyToOperate:
+ {
+ break;
+ }
+
+ // normal work state
+ case kEplNmtMsOperational:
+ {
+ break;
+ }
+
+ // no EPL cycle
+ // -> normal ethernet communication
+ case kEplNmtMsBasicEthernet:
+ {
+ break;
+ }
+
+ default:
+ {
+ TRACE0("EplApiCbNmtStateChange(): unhandled NMT state\n");
+ }
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+ // forward event to Led module
+ Ret = EplLeduCbNmtStateChange(NmtStateChange_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // forward event to NmtMn module
+ Ret = EplNmtMnuCbNmtStateChange(NmtStateChange_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // call user callback
+ EventArg.m_NmtStateChange = NmtStateChange_p;
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventNmtStateChange,
+ &EventArg,
+ EplApiInstance_g.m_InitParam.m_pEventUserArg);
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiUpdateDllConfig
+//
+// Description: update configuration of DLL
+//
+// Parameters: fUpdateIdentity_p = TRUE, if identity must be updated
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiUpdateDllConfig(BOOL fUpdateIdentity_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplDllConfigParam DllConfigParam;
+tEplDllIdentParam DllIdentParam;
+tEplObdSize ObdSize;
+WORD wTemp;
+BYTE bTemp;
+
+ // configure Dll
+ EPL_MEMSET(&DllConfigParam, 0, sizeof (DllConfigParam));
+ DllConfigParam.m_uiNodeId = EplObdGetNodeId();
+
+ // Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1006, 0, &DllConfigParam.m_dwCycleLen, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // 0x1F82: NMT_FeatureFlags_U32
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1F82, 0, &DllConfigParam.m_dwFeatureFlags, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // d.k. There is no dependance between FeatureFlags and async-only CN
+ DllConfigParam.m_fAsyncOnly = EplApiInstance_g.m_InitParam.m_fAsyncOnly;
+
+ // 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1C14, 0, &DllConfigParam.m_dwLossOfFrameTolerance, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // 0x1F98: NMT_CycleTiming_REC
+ // 0x1F98.1: IsochrTxMaxPayload_U16
+ ObdSize = 2;
+ Ret = EplObdReadEntry(0x1F98, 1, &wTemp, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ DllConfigParam.m_uiIsochrTxMaxPayload = wTemp;
+
+ // 0x1F98.2: IsochrRxMaxPayload_U16
+ ObdSize = 2;
+ Ret = EplObdReadEntry(0x1F98, 2, &wTemp, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ DllConfigParam.m_uiIsochrRxMaxPayload = wTemp;
+
+ // 0x1F98.3: PResMaxLatency_U32
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1F98, 3, &DllConfigParam.m_dwPresMaxLatency, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // 0x1F98.4: PReqActPayloadLimit_U16
+ ObdSize = 2;
+ Ret = EplObdReadEntry(0x1F98, 4, &wTemp, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ DllConfigParam.m_uiPreqActPayloadLimit = wTemp;
+
+ // 0x1F98.5: PResActPayloadLimit_U16
+ ObdSize = 2;
+ Ret = EplObdReadEntry(0x1F98, 5, &wTemp, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ DllConfigParam.m_uiPresActPayloadLimit = wTemp;
+
+ // 0x1F98.6: ASndMaxLatency_U32
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1F98, 6, &DllConfigParam.m_dwAsndMaxLatency, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // 0x1F98.7: MultiplCycleCnt_U8
+ ObdSize = 1;
+ Ret = EplObdReadEntry(0x1F98, 7, &bTemp, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ DllConfigParam.m_uiMultiplCycleCnt = bTemp;
+
+ // 0x1F98.8: AsyncMTU_U16
+ ObdSize = 2;
+ Ret = EplObdReadEntry(0x1F98, 8, &wTemp, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ DllConfigParam.m_uiAsyncMtu = wTemp;
+
+ // $$$ Prescaler
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // 0x1F8A.1: WaitSoCPReq_U32 in [ns]
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1F8A, 1, &DllConfigParam.m_dwWaitSocPreq, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // 0x1F8A.2: AsyncSlotTimeout_U32 in [ns] (optional)
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1F8A, 2, &DllConfigParam.m_dwAsyncSlotTimeout, &ObdSize);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+#endif
+
+ DllConfigParam.m_uiSizeOfStruct = sizeof (DllConfigParam);
+ Ret = EplDllkConfig(&DllConfigParam);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if (fUpdateIdentity_p != FALSE)
+ {
+ // configure Identity
+ EPL_MEMSET(&DllIdentParam, 0, sizeof (DllIdentParam));
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1000, 0, &DllIdentParam.m_dwDeviceType, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1018, 1, &DllIdentParam.m_dwVendorId, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1018, 2, &DllIdentParam.m_dwProductCode, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1018, 3, &DllIdentParam.m_dwRevisionNumber, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1018, 4, &DllIdentParam.m_dwSerialNumber, &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ DllIdentParam.m_dwIpAddress = EplApiInstance_g.m_InitParam.m_dwIpAddress;
+ DllIdentParam.m_dwSubnetMask = EplApiInstance_g.m_InitParam.m_dwSubnetMask;
+ EPL_MEMCPY(DllIdentParam.m_sHostname, EplApiInstance_g.m_InitParam.m_sHostname, sizeof (DllIdentParam.m_sHostname));
+
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1020, 1, &DllIdentParam.m_dwVerifyConfigurationDate, &ObdSize);
+ // ignore any error, because this object is optional
+
+ ObdSize = 4;
+ Ret = EplObdReadEntry(0x1020, 2, &DllIdentParam.m_dwVerifyConfigurationTime, &ObdSize);
+ // ignore any error, because this object is optional
+
+ // $$$ d.k.: fill rest of ident structure
+
+ DllIdentParam.m_uiSizeOfStruct = sizeof (DllIdentParam);
+ Ret = EplDllkSetIdentity(&DllIdentParam);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiUpdateObd
+//
+// Description: update OD from init param
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiUpdateObd(void)
+{
+tEplKernel Ret = kEplSuccessful;
+WORD wTemp;
+BYTE bTemp;
+
+ // set node id in OD
+ Ret = EplObdSetNodeId(EplApiInstance_g.m_InitParam.m_uiNodeId, // node id
+ kEplObdNodeIdHardware); // set by hardware
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_dwCycleLen != -1)
+ {
+ Ret = EplObdWriteEntry(0x1006, 0, &EplApiInstance_g.m_InitParam.m_dwCycleLen, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_dwLossOfFrameTolerance != -1)
+ {
+ Ret = EplObdWriteEntry(0x1C14, 0, &EplApiInstance_g.m_InitParam.m_dwLossOfFrameTolerance, 4);
+ /* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ // d.k. There is no dependance between FeatureFlags and async-only CN.
+ if (EplApiInstance_g.m_InitParam.m_dwFeatureFlags != -1)
+ {
+ Ret = EplObdWriteEntry(0x1F82, 0, &EplApiInstance_g.m_InitParam.m_dwFeatureFlags, 4);
+ /* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ wTemp = (WORD) EplApiInstance_g.m_InitParam.m_uiIsochrTxMaxPayload;
+ Ret = EplObdWriteEntry(0x1F98, 1, &wTemp, 2);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+
+ wTemp = (WORD) EplApiInstance_g.m_InitParam.m_uiIsochrRxMaxPayload;
+ Ret = EplObdWriteEntry(0x1F98, 2, &wTemp, 2);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+
+ Ret = EplObdWriteEntry(0x1F98, 3, &EplApiInstance_g.m_InitParam.m_dwPresMaxLatency, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+
+ if (EplApiInstance_g.m_InitParam.m_uiPreqActPayloadLimit <= EPL_C_DLL_ISOCHR_MAX_PAYL)
+ {
+ wTemp = (WORD) EplApiInstance_g.m_InitParam.m_uiPreqActPayloadLimit;
+ Ret = EplObdWriteEntry(0x1F98, 4, &wTemp, 2);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_uiPresActPayloadLimit <= EPL_C_DLL_ISOCHR_MAX_PAYL)
+ {
+ wTemp = (WORD) EplApiInstance_g.m_InitParam.m_uiPresActPayloadLimit;
+ Ret = EplObdWriteEntry(0x1F98, 5, &wTemp, 2);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ Ret = EplObdWriteEntry(0x1F98, 6, &EplApiInstance_g.m_InitParam.m_dwAsndMaxLatency, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+
+ if (EplApiInstance_g.m_InitParam.m_uiMultiplCycleCnt <= 0xFF)
+ {
+ bTemp = (BYTE) EplApiInstance_g.m_InitParam.m_uiMultiplCycleCnt;
+ Ret = EplObdWriteEntry(0x1F98, 7, &bTemp, 1);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_uiAsyncMtu <= EPL_C_DLL_MAX_ASYNC_MTU)
+ {
+ wTemp = (WORD) EplApiInstance_g.m_InitParam.m_uiAsyncMtu;
+ Ret = EplObdWriteEntry(0x1F98, 8, &wTemp, 2);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_uiPrescaler <= 1000)
+ {
+ wTemp = (WORD) EplApiInstance_g.m_InitParam.m_uiPrescaler;
+ Ret = EplObdWriteEntry(0x1F98, 9, &wTemp, 2);
+ // ignore return code
+ Ret = kEplSuccessful;
+ }
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (EplApiInstance_g.m_InitParam.m_dwWaitSocPreq != -1)
+ {
+ Ret = EplObdWriteEntry(0x1F8A, 1, &EplApiInstance_g.m_InitParam.m_dwWaitSocPreq, 4);
+ /* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if ((EplApiInstance_g.m_InitParam.m_dwAsyncSlotTimeout != 0) && (EplApiInstance_g.m_InitParam.m_dwAsyncSlotTimeout != -1))
+ {
+ Ret = EplObdWriteEntry(0x1F8A, 2, &EplApiInstance_g.m_InitParam.m_dwAsyncSlotTimeout, 4);
+ /* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+#endif
+
+ // configure Identity
+ if (EplApiInstance_g.m_InitParam.m_dwDeviceType != -1)
+ {
+ Ret = EplObdWriteEntry(0x1000, 0, &EplApiInstance_g.m_InitParam.m_dwDeviceType, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_dwVendorId != -1)
+ {
+ Ret = EplObdWriteEntry(0x1018, 1, &EplApiInstance_g.m_InitParam.m_dwVendorId, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_dwProductCode != -1)
+ {
+ Ret = EplObdWriteEntry(0x1018, 2, &EplApiInstance_g.m_InitParam.m_dwProductCode, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_dwRevisionNumber != -1)
+ {
+ Ret = EplObdWriteEntry(0x1018, 3, &EplApiInstance_g.m_InitParam.m_dwRevisionNumber, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_dwSerialNumber != -1)
+ {
+ Ret = EplObdWriteEntry(0x1018, 4, &EplApiInstance_g.m_InitParam.m_dwSerialNumber, 4);
+/* if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_pszDevName != NULL)
+ {
+ // write Device Name (0x1008)
+ Ret = EplObdWriteEntry (
+ 0x1008, 0, (void GENERIC*) EplApiInstance_g.m_InitParam.m_pszDevName, (tEplObdSize) strlen(EplApiInstance_g.m_InitParam.m_pszDevName));
+/* if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_pszHwVersion != NULL)
+ {
+ // write Hardware version (0x1009)
+ Ret = EplObdWriteEntry (
+ 0x1009, 0, (void GENERIC*) EplApiInstance_g.m_InitParam.m_pszHwVersion, (tEplObdSize) strlen(EplApiInstance_g.m_InitParam.m_pszHwVersion));
+/* if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+ if (EplApiInstance_g.m_InitParam.m_pszSwVersion != NULL)
+ {
+ // write Software version (0x100A)
+ Ret = EplObdWriteEntry (
+ 0x100A, 0, (void GENERIC*) EplApiInstance_g.m_InitParam.m_pszSwVersion, (tEplObdSize) strlen(EplApiInstance_g.m_InitParam.m_pszSwVersion));
+/* if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiCbSdoCon
+//
+// Description: callback function for SDO transfers
+//
+// Parameters: pSdoComFinished_p = SDO parameter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+static tEplKernel PUBLIC EplApiCbSdoCon(tEplSdoComFinished* pSdoComFinished_p)
+{
+tEplKernel Ret;
+tEplApiEventArg EventArg;
+
+ Ret = kEplSuccessful;
+
+ // call user callback
+ EventArg.m_Sdo = *pSdoComFinished_p;
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventSdo,
+ &EventArg,
+ EplApiInstance_g.m_InitParam.m_pEventUserArg);
+
+ return Ret;
+
+}
+#endif
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiCbNodeEvent
+//
+// Description: callback function for node events
+//
+// Parameters: uiNodeId_p = node ID of the CN
+// NodeEvent_p = event from the specified CN
+// NmtState_p = current NMT state of the CN
+// wErrorCode_p = EPL error code if NodeEvent_p==kEplNmtNodeEventError
+// fMandatory_p = flag if CN is mandatory
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiCbNodeEvent(unsigned int uiNodeId_p,
+ tEplNmtNodeEvent NodeEvent_p,
+ tEplNmtState NmtState_p,
+ WORD wErrorCode_p,
+ BOOL fMandatory_p)
+{
+tEplKernel Ret;
+tEplApiEventArg EventArg;
+
+ Ret = kEplSuccessful;
+
+ // call user callback
+ EventArg.m_Node.m_uiNodeId = uiNodeId_p;
+ EventArg.m_Node.m_NodeEvent = NodeEvent_p;
+ EventArg.m_Node.m_NmtState = NmtState_p;
+ EventArg.m_Node.m_wErrorCode = wErrorCode_p;
+ EventArg.m_Node.m_fMandatory = fMandatory_p;
+
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventNode,
+ &EventArg,
+ EplApiInstance_g.m_InitParam.m_pEventUserArg);
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiCbBootEvent
+//
+// Description: callback function for boot events
+//
+// Parameters: BootEvent_p = event from the boot-up process
+// NmtState_p = current local NMT state
+// wErrorCode_p = EPL error code if BootEvent_p==kEplNmtBootEventError
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiCbBootEvent(tEplNmtBootEvent BootEvent_p,
+ tEplNmtState NmtState_p,
+ WORD wErrorCode_p)
+{
+tEplKernel Ret;
+tEplApiEventArg EventArg;
+
+ Ret = kEplSuccessful;
+
+ // call user callback
+ EventArg.m_Boot.m_BootEvent = BootEvent_p;
+ EventArg.m_Boot.m_NmtState = NmtState_p;
+ EventArg.m_Boot.m_wErrorCode = wErrorCode_p;
+
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventBoot,
+ &EventArg,
+ EplApiInstance_g.m_InitParam.m_pEventUserArg);
+
+ return Ret;
+
+}
+
+#endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiCbLedStateChange
+//
+// Description: callback function for LED change events.
+//
+// Parameters: LedType_p = type of LED
+// fOn_p = state of LED
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplApiCbLedStateChange(tEplLedType LedType_p,
+ BOOL fOn_p)
+{
+tEplKernel Ret;
+tEplApiEventArg EventArg;
+
+ Ret = kEplSuccessful;
+
+ // call user callback
+ EventArg.m_Led.m_LedType = LedType_p;
+ EventArg.m_Led.m_fOn = fOn_p;
+
+ Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventLed,
+ &EventArg,
+ EplApiInstance_g.m_InitParam.m_pEventUserArg);
+
+ return Ret;
+
+}
+
+#endif
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for EPL API layer for Linux (kernel and user space)
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplApiLinux.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/08/25 12:17:41 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/10/11 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_API_LINUX_H_
+#define _EPL_API_LINUX_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define EPLLIN_DEV_NAME "epl" // used for "/dev" and "/proc" entry
+
+
+//---------------------------------------------------------------------------
+// Commands for <ioctl>
+//---------------------------------------------------------------------------
+
+#define EPLLIN_CMD_INITIALIZE 0 // ulArg_p ~ tEplApiInitParam*
+#define EPLLIN_CMD_PI_IN 1 // ulArg_p ~ tEplApiProcessImage*
+#define EPLLIN_CMD_PI_OUT 2 // ulArg_p ~ tEplApiProcessImage*
+#define EPLLIN_CMD_WRITE_OBJECT 3 // ulArg_p ~ tEplLinSdoObject*
+#define EPLLIN_CMD_READ_OBJECT 4 // ulArg_p ~ tEplLinSdoObject*
+#define EPLLIN_CMD_WRITE_LOCAL_OBJECT 5 // ulArg_p ~ tEplLinLocalObject*
+#define EPLLIN_CMD_READ_LOCAL_OBJECT 6 // ulArg_p ~ tEplLinLocalObject*
+#define EPLLIN_CMD_FREE_SDO_CHANNEL 7 // ulArg_p ~ tEplSdoComConHdl
+#define EPLLIN_CMD_NMT_COMMAND 8 // ulArg_p ~ tEplNmtEvent
+#define EPLLIN_CMD_GET_EVENT 9 // ulArg_p ~ tEplLinEvent*
+#define EPLLIN_CMD_MN_TRIGGER_STATE_CHANGE 10 // ulArg_p ~ tEplLinNodeCmdObject*
+#define EPLLIN_CMD_PI_SETUP 11 // ulArg_p ~ 0
+#define EPLLIN_CMD_SHUTDOWN 12 // ulArg_p ~ 0
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ unsigned int m_uiEventArgSize;
+ tEplApiEventArg* m_pEventArg;
+ tEplApiEventType* m_pEventType;
+ tEplKernel m_RetCbEvent;
+
+} tEplLinEvent;
+
+typedef struct
+{
+ tEplSdoComConHdl m_SdoComConHdl;
+ BOOL m_fValidSdoComConHdl;
+ unsigned int m_uiNodeId;
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubindex;
+ void* m_le_pData;
+ unsigned int m_uiSize;
+ tEplSdoType m_SdoType;
+ void* m_pUserArg;
+
+} tEplLinSdoObject;
+
+typedef struct
+{
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubindex;
+ void* m_pData;
+ unsigned int m_uiSize;
+
+} tEplLinLocalObject;
+
+typedef struct
+{
+ unsigned int m_uiNodeId;
+ tEplNmtNodeCommand m_NodeCommand;
+
+} tEplLinNodeCmdObject;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+
+#endif // #ifndef _EPL_API_LINUX_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Linux kernel module as wrapper of EPL API layer,
+ i.e. counterpart to a Linux application
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplApiLinuxKernel.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.9 $ $Date: 2008/11/21 09:00:38 $
+
+ $State: Exp $
+
+ Build Environment:
+ GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/10/11 d.k.: Initial Version
+ 2008/04/10 m.u.: Changed to new char driver init
+
+****************************************************************************/
+
+
+// kernel modul and driver
+
+//#include <linux/version.h>
+//#include <linux/config.h>
+
+#include <linux/module.h>
+#include <linux/fs.h>
+#include <linux/cdev.h>
+#include <linux/types.h>
+
+//#include <linux/module.h>
+//#include <linux/kernel.h>
+//#include <linux/init.h>
+//#include <linux/errno.h>
+
+// scheduling
+#include <linux/sched.h>
+
+// memory access
+#include <asm/uaccess.h>
+#include <linux/vmalloc.h>
+
+#ifdef CONFIG_DEVFS_FS
+#include <linux/major.h>
+#include <linux/devfs_fs_kernel.h>
+#endif
+
+#include "Epl.h"
+#include "EplApiLinux.h"
+//#include "kernel/EplPdokCal.h"
+#include "proc_fs.h"
+
+
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
+ // remove ("make invisible") obsolete symbols for kernel versions 2.6
+ // and higher
+ #define MOD_INC_USE_COUNT
+ #define MOD_DEC_USE_COUNT
+ #define EXPORT_NO_SYMBOLS
+#else
+ #error "This driver needs a 2.6.x kernel or higher"
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+// Metainformation
+MODULE_LICENSE("Dual BSD/GPL");
+#ifdef MODULE_AUTHOR
+ MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com");
+ MODULE_DESCRIPTION("EPL API driver");
+#endif
+
+
+//---------------------------------------------------------------------------
+// Configuration
+//---------------------------------------------------------------------------
+
+
+#define EPLLIN_DRV_NAME "systec_epl" // used for <register_chrdev>
+
+
+
+//---------------------------------------------------------------------------
+// Constant definitions
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+#endif
+
+#define EVENT_STATE_INIT 0
+#define EVENT_STATE_IOCTL 1 // ioctl entered and ready to receive EPL event
+#define EVENT_STATE_READY 2 // EPL event can be forwarded to user application
+#define EVENT_STATE_TERM 3 // terminate processing
+
+#define EPL_STATE_NOTOPEN 0
+#define EPL_STATE_NOTINIT 1
+#define EPL_STATE_RUNNING 2
+#define EPL_STATE_SHUTDOWN 3
+
+
+//---------------------------------------------------------------------------
+// Global variables
+//---------------------------------------------------------------------------
+
+#ifdef CONFIG_DEVFS_FS
+
+ // driver major number
+ static int nDrvMajorNumber_g;
+
+#else
+
+ // device number (major and minor)
+ static dev_t nDevNum_g;
+ static struct cdev *pEpl_cdev_g;
+
+#endif
+
+
+static volatile unsigned int uiEplState_g = EPL_STATE_NOTOPEN;
+
+static struct semaphore SemaphoreCbEvent_g; // semaphore for EplLinCbEvent
+static wait_queue_head_t WaitQueueCbEvent_g; // wait queue EplLinCbEvent
+static wait_queue_head_t WaitQueueProcess_g; // wait queue for EplApiProcess (user process)
+static wait_queue_head_t WaitQueueRelease_g; // wait queue for EplLinRelease
+static atomic_t AtomicEventState_g = ATOMIC_INIT(EVENT_STATE_INIT);
+static tEplApiEventType EventType_g; // event type (enum)
+static tEplApiEventArg* pEventArg_g; // event argument (union)
+static tEplKernel RetCbEvent_g; // return code from event callback function
+static wait_queue_head_t WaitQueueCbSync_g; // wait queue EplLinCbSync
+static wait_queue_head_t WaitQueuePI_In_g; // wait queue for EplApiProcessImageExchangeIn (user process)
+static atomic_t AtomicSyncState_g = ATOMIC_INIT(EVENT_STATE_INIT);
+
+
+//---------------------------------------------------------------------------
+// Local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ void* m_pUserArg;
+ void* m_pData;
+
+} tEplLinSdoBufHeader;
+
+
+//---------------------------------------------------------------------------
+// Local variables
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Prototypes of internal functions
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplLinCbEvent(
+ tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg* pEventArg_p, // IN: event argument (union)
+ void GENERIC* pUserArg_p);
+
+tEplKernel PUBLIC EplLinCbSync(void);
+
+static int __init EplLinInit (void);
+static void __exit EplLinExit (void);
+
+
+static int EplLinOpen (struct inode* pDeviceFile_p, struct file* pInstance_p);
+static int EplLinRelease (struct inode* pDeviceFile_p, struct file* pInstance_p);
+static ssize_t EplLinRead (struct file* pInstance_p, char* pDstBuff_p, size_t BuffSize_p, loff_t* pFileOffs_p);
+static ssize_t EplLinWrite (struct file* pInstance_p, const char* pSrcBuff_p, size_t BuffSize_p, loff_t* pFileOffs_p);
+static int EplLinIoctl (struct inode* pDeviceFile_p, struct file* pInstance_p, unsigned int uiIoctlCmd_p, unsigned long ulArg_p);
+
+
+
+
+//---------------------------------------------------------------------------
+// Kernel Module specific Data Structures
+//---------------------------------------------------------------------------
+
+EXPORT_NO_SYMBOLS;
+
+
+
+module_init(EplLinInit);
+module_exit(EplLinExit);
+
+
+
+
+static struct file_operations EplLinFileOps_g =
+{
+ .owner = THIS_MODULE,
+ .open = EplLinOpen,
+ .release = EplLinRelease,
+ .read = EplLinRead,
+ .write = EplLinWrite,
+ .ioctl = EplLinIoctl,
+
+};
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// Initailize Driver
+//---------------------------------------------------------------------------
+// -> insmod driver
+//---------------------------------------------------------------------------
+
+static int __init EplLinInit (void)
+{
+
+tEplKernel EplRet;
+int iErr;
+int iRet;
+#ifdef CONFIG_DEVFS_FS
+int nMinorNumber;
+#endif
+
+ TRACE0("EPL: + EplLinInit...\n");
+ TRACE2("EPL: Driver build: %s / %s\n", __DATE__, __TIME__);
+
+ iRet = 0;
+
+ // initialize global variables
+ atomic_set(&AtomicEventState_g, EVENT_STATE_INIT);
+ sema_init(&SemaphoreCbEvent_g, 1);
+ init_waitqueue_head(&WaitQueueCbEvent_g);
+ init_waitqueue_head(&WaitQueueProcess_g);
+ init_waitqueue_head(&WaitQueueRelease_g);
+
+
+
+#ifdef CONFIG_DEVFS_FS
+
+ // register character device handler
+ TRACE2("EPL: Installing Driver '%s', Version %s...\n", EPLLIN_DRV_NAME, EPL_PRODUCT_VERSION);
+ TRACE0("EPL: (using dynamic major number assignment)\n");
+ nDrvMajorNumber_g = register_chrdev (0, EPLLIN_DRV_NAME, &EplLinFileOps_g);
+ if (nDrvMajorNumber_g != 0)
+ {
+ TRACE2("EPL: Driver '%s' installed successful, assigned MajorNumber=%d\n", EPLLIN_DRV_NAME, nDrvMajorNumber_g);
+ }
+ else
+ {
+ TRACE1("EPL: ERROR: Driver '%s' is unable to get a free MajorNumber!\n", EPLLIN_DRV_NAME);
+ iRet = -EIO;
+ goto Exit;
+ }
+
+
+ // create device node in DEVFS
+ nMinorNumber = 0;
+ TRACE1("EPL: Creating device node '/dev/%s'...\n", EPLLIN_DEV_NAME);
+ iErr = devfs_mk_cdev (MKDEV(nDrvMajorNumber_g, nMinorNumber), S_IFCHR | S_IRUGO | S_IWUGO, EPLLIN_DEV_NAME);
+ if (iErr == 0)
+ {
+ TRACE1("EPL: Device node '/dev/%s' created successful.\n", EPLLIN_DEV_NAME);
+ }
+ else
+ {
+ TRACE1("EPL: ERROR: unable to create device node '/dev/%s'\n", EPLLIN_DEV_NAME);
+ iRet = -EIO;
+ goto Exit;
+ }
+
+#else
+
+ // register character device handler
+ // only one Minor required
+ TRACE2("EPL: Installing Driver '%s', Version %s...\n", EPLLIN_DRV_NAME, EPL_PRODUCT_VERSION);
+ iRet = alloc_chrdev_region (&nDevNum_g, 0, 1, EPLLIN_DRV_NAME);
+ if (iRet == 0)
+ {
+ TRACE2("EPL: Driver '%s' installed successful, assigned MajorNumber=%d\n", EPLLIN_DRV_NAME, MAJOR(nDevNum_g));
+ }
+ else
+ {
+ TRACE1("EPL: ERROR: Driver '%s' is unable to get a free MajorNumber!\n", EPLLIN_DRV_NAME);
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // register cdev structure
+ pEpl_cdev_g = cdev_alloc();
+ pEpl_cdev_g->ops = &EplLinFileOps_g;
+ pEpl_cdev_g->owner = THIS_MODULE;
+ iErr = cdev_add (pEpl_cdev_g, nDevNum_g, 1);
+ if (iErr)
+ {
+ TRACE2("EPL: ERROR %d: Driver '%s' could not be added!\n", iErr, EPLLIN_DRV_NAME);
+ iRet = -EIO;
+ goto Exit;
+ }
+
+#endif
+
+ // create device node in PROCFS
+ EplRet = EplLinProcInit();
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+
+Exit:
+
+ TRACE1("EPL: - EplLinInit (iRet=%d)\n", iRet);
+ return (iRet);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Remove Driver
+//---------------------------------------------------------------------------
+// -> rmmod driver
+//---------------------------------------------------------------------------
+
+static void __exit EplLinExit (void)
+{
+
+tEplKernel EplRet;
+
+ // delete instance for all modules
+// EplRet = EplApiShutdown();
+// printk("EplApiShutdown(): 0x%X\n", EplRet);
+
+ // deinitialize proc fs
+ EplRet = EplLinProcFree();
+ printk("EplLinProcFree(): 0x%X\n", EplRet);
+
+
+ TRACE0("EPL: + EplLinExit...\n");
+
+
+#ifdef CONFIG_DEVFS_FS
+
+ // remove device node from DEVFS
+ devfs_remove (EPLLIN_DEV_NAME);
+ TRACE1("EPL: Device node '/dev/%s' removed.\n", EPLLIN_DEV_NAME);
+
+ // unregister character device handler
+ unregister_chrdev (nDrvMajorNumber_g, EPLLIN_DRV_NAME);
+
+#else
+
+ // remove cdev structure
+ cdev_del(pEpl_cdev_g);
+
+ // unregister character device handler
+ unregister_chrdev_region (nDevNum_g, 1);
+
+#endif
+
+ TRACE1("EPL: Driver '%s' removed.\n", EPLLIN_DRV_NAME);
+
+
+ TRACE0("EPL: - EplLinExit\n");
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Open Driver
+//---------------------------------------------------------------------------
+// -> open("/dev/driver", O_RDWR)...
+//---------------------------------------------------------------------------
+
+static int EplLinOpen (
+ struct inode* pDeviceFile_p, // information about the device to open
+ struct file* pInstance_p) // information about driver instance
+{
+
+int iRet;
+
+
+ TRACE0("EPL: + EplLinOpen...\n");
+
+ MOD_INC_USE_COUNT;
+
+ if (uiEplState_g != EPL_STATE_NOTOPEN)
+ { // stack already initialized
+ iRet = -EALREADY;
+ }
+ else
+ {
+ atomic_set(&AtomicEventState_g, EVENT_STATE_INIT);
+ sema_init(&SemaphoreCbEvent_g, 1);
+ init_waitqueue_head(&WaitQueueCbEvent_g);
+ init_waitqueue_head(&WaitQueueProcess_g);
+ init_waitqueue_head(&WaitQueueRelease_g);
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_INIT);
+ init_waitqueue_head(&WaitQueueCbSync_g);
+ init_waitqueue_head(&WaitQueuePI_In_g);
+
+ uiEplState_g = EPL_STATE_NOTINIT;
+ iRet = 0;
+ }
+
+ TRACE1("EPL: - EplLinOpen (iRet=%d)\n", iRet);
+ return (iRet);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Close Driver
+//---------------------------------------------------------------------------
+// -> close(device)...
+//---------------------------------------------------------------------------
+
+static int EplLinRelease (
+ struct inode* pDeviceFile_p, // information about the device to open
+ struct file* pInstance_p) // information about driver instance
+{
+
+tEplKernel EplRet = kEplSuccessful;
+int iRet;
+
+
+ TRACE0("EPL: + EplLinRelease...\n");
+
+ if (uiEplState_g != EPL_STATE_NOTINIT)
+ {
+ // pass control to sync kernel thread, but signal termination
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbSync_g);
+ wake_up_interruptible(&WaitQueuePI_In_g);
+
+ // pass control to event queue kernel thread
+ atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbEvent_g);
+
+ if (uiEplState_g == EPL_STATE_RUNNING)
+ { // post NmtEventSwitchOff
+ EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
+
+ }
+
+ if (EplRet == kEplSuccessful)
+ {
+ TRACE0("EPL: waiting for NMT_GS_OFF\n");
+ wait_event_interruptible(WaitQueueRelease_g,
+ (uiEplState_g == EPL_STATE_SHUTDOWN));
+ }
+ else
+ { // post NmtEventSwitchOff failed
+ TRACE0("EPL: event post failed\n");
+ }
+
+ // $$$ d.k.: What if waiting was interrupted by signal?
+
+ TRACE0("EPL: call EplApiShutdown()\n");
+ // EPL stack can be safely shut down
+ // delete instance for all EPL modules
+ EplRet = EplApiShutdown();
+ printk("EplApiShutdown(): 0x%X\n", EplRet);
+ }
+
+ uiEplState_g = EPL_STATE_NOTOPEN;
+ iRet = 0;
+
+
+ MOD_DEC_USE_COUNT;
+
+
+ TRACE1("EPL: - EplLinRelease (iRet=%d)\n", iRet);
+ return (iRet);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Read Data from Driver
+//---------------------------------------------------------------------------
+// -> read(...)
+//---------------------------------------------------------------------------
+
+static ssize_t EplLinRead (
+ struct file* pInstance_p, // information about driver instance
+ char* pDstBuff_p, // address of buffer to fill with data
+ size_t BuffSize_p, // length of the buffer
+ loff_t* pFileOffs_p) // offset in the file
+{
+
+int iRet;
+
+
+ TRACE0("EPL: + EplLinRead...\n");
+
+
+ TRACE0("EPL: Sorry, this operation isn't supported.\n");
+ iRet = -EINVAL;
+
+
+ TRACE1("EPL: - EplLinRead (iRet=%d)\n", iRet);
+ return (iRet);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Write Data to Driver
+//---------------------------------------------------------------------------
+// -> write(...)
+//---------------------------------------------------------------------------
+
+static ssize_t EplLinWrite (
+ struct file* pInstance_p, // information about driver instance
+ const char* pSrcBuff_p, // address of buffer to get data from
+ size_t BuffSize_p, // length of the buffer
+ loff_t* pFileOffs_p) // offset in the file
+{
+
+int iRet;
+
+
+ TRACE0("EPL: + EplLinWrite...\n");
+
+
+ TRACE0("EPL: Sorry, this operation isn't supported.\n");
+ iRet = -EINVAL;
+
+
+ TRACE1("EPL: - EplLinWrite (iRet=%d)\n", iRet);
+ return (iRet);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Generic Access to Driver
+//---------------------------------------------------------------------------
+// -> ioctl(...)
+//---------------------------------------------------------------------------
+
+static int EplLinIoctl (
+ struct inode* pDeviceFile_p, // information about the device to open
+ struct file* pInstance_p, // information about driver instance
+ unsigned int uiIoctlCmd_p, // Ioctl command to execute
+ unsigned long ulArg_p) // Ioctl command specific argument/parameter
+{
+
+tEplKernel EplRet;
+int iErr;
+int iRet;
+
+
+// TRACE1("EPL: + EplLinIoctl (uiIoctlCmd_p=%d)...\n", uiIoctlCmd_p);
+
+
+ iRet = -EINVAL;
+
+ switch (uiIoctlCmd_p)
+ {
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_INITIALIZE:
+ {
+ tEplApiInitParam EplApiInitParam;
+
+ iErr = copy_from_user(&EplApiInitParam, (const void*)ulArg_p, sizeof (EplApiInitParam));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ EplApiInitParam.m_pfnCbEvent = EplLinCbEvent;
+ EplApiInitParam.m_pfnCbSync = EplLinCbSync;
+
+ EplRet = EplApiInitialize(&EplApiInitParam);
+
+ uiEplState_g = EPL_STATE_RUNNING;
+
+ iRet = (int) EplRet;
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_SHUTDOWN:
+ { // shutdown the threads
+
+ // pass control to sync kernel thread, but signal termination
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbSync_g);
+ wake_up_interruptible(&WaitQueuePI_In_g);
+
+ // pass control to event queue kernel thread
+ atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbEvent_g);
+
+ if (uiEplState_g == EPL_STATE_RUNNING)
+ { // post NmtEventSwitchOff
+ EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
+
+ }
+
+ iRet = 0;
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_READ_LOCAL_OBJECT:
+ {
+ tEplLinLocalObject LocalObject;
+ void* pData;
+
+ iErr = copy_from_user(&LocalObject, (const void*)ulArg_p, sizeof (LocalObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if ((LocalObject.m_pData == NULL) || (LocalObject.m_uiSize == 0))
+ {
+ iRet = (int) kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ pData = vmalloc(LocalObject.m_uiSize);
+ if (pData == NULL)
+ { // no memory available
+ iRet = -ENOMEM;
+ goto Exit;
+ }
+
+ EplRet = EplApiReadLocalObject(LocalObject.m_uiIndex, LocalObject.m_uiSubindex, pData, &LocalObject.m_uiSize);
+
+ if (EplRet == kEplSuccessful)
+ {
+ iErr = copy_to_user(LocalObject.m_pData, pData, LocalObject.m_uiSize);
+
+ vfree(pData);
+
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // return actual size (LocalObject.m_uiSize)
+ iErr = put_user(LocalObject.m_uiSize,
+ (unsigned int*)(ulArg_p + (unsigned long)&LocalObject.m_uiSize - (unsigned long)&LocalObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ }
+ else
+ {
+ vfree(pData);
+ }
+
+ iRet = (int) EplRet;
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_WRITE_LOCAL_OBJECT:
+ {
+ tEplLinLocalObject LocalObject;
+ void* pData;
+
+ iErr = copy_from_user(&LocalObject, (const void*)ulArg_p, sizeof (LocalObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if ((LocalObject.m_pData == NULL) || (LocalObject.m_uiSize == 0))
+ {
+ iRet = (int) kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ pData = vmalloc(LocalObject.m_uiSize);
+ if (pData == NULL)
+ { // no memory available
+ iRet = -ENOMEM;
+ goto Exit;
+ }
+ iErr = copy_from_user(pData, LocalObject.m_pData, LocalObject.m_uiSize);
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ EplRet = EplApiWriteLocalObject(LocalObject.m_uiIndex, LocalObject.m_uiSubindex, pData, LocalObject.m_uiSize);
+
+ vfree(pData);
+
+ iRet = (int) EplRet;
+ break;
+ }
+
+
+ case EPLLIN_CMD_READ_OBJECT:
+ {
+ tEplLinSdoObject SdoObject;
+ void* pData;
+ tEplLinSdoBufHeader* pBufHeader;
+ tEplSdoComConHdl* pSdoComConHdl;
+
+ iErr = copy_from_user(&SdoObject, (const void*)ulArg_p, sizeof (SdoObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if ((SdoObject.m_le_pData == NULL) || (SdoObject.m_uiSize == 0))
+ {
+ iRet = (int) kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ pBufHeader = (tEplLinSdoBufHeader*) vmalloc(sizeof (tEplLinSdoBufHeader) + SdoObject.m_uiSize);
+ if (pBufHeader == NULL)
+ { // no memory available
+ iRet = -ENOMEM;
+ goto Exit;
+ }
+
+ // initiate temporary buffer
+ pBufHeader->m_pUserArg = SdoObject.m_pUserArg; // original user argument pointer
+ pBufHeader->m_pData = SdoObject.m_le_pData; // original data pointer from app
+ pData = pBufHeader + sizeof (tEplLinSdoBufHeader);
+
+ if (SdoObject.m_fValidSdoComConHdl != FALSE)
+ {
+ pSdoComConHdl = &SdoObject.m_SdoComConHdl;
+ }
+ else
+ {
+ pSdoComConHdl = NULL;
+ }
+
+ EplRet = EplApiReadObject(pSdoComConHdl, SdoObject.m_uiNodeId, SdoObject.m_uiIndex,
+ SdoObject.m_uiSubindex, pData, &SdoObject.m_uiSize,
+ SdoObject.m_SdoType, pBufHeader);
+
+ // return actual SDO handle (SdoObject.m_SdoComConHdl)
+ iErr = put_user(SdoObject.m_SdoComConHdl,
+ (unsigned int*)(ulArg_p + (unsigned long)&SdoObject.m_SdoComConHdl - (unsigned long)&SdoObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if (EplRet == kEplSuccessful)
+ {
+ iErr = copy_to_user(SdoObject.m_le_pData, pData, SdoObject.m_uiSize);
+
+ vfree(pBufHeader);
+
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // return actual size (SdoObject.m_uiSize)
+ iErr = put_user(SdoObject.m_uiSize,
+ (unsigned int*)(ulArg_p + (unsigned long)&SdoObject.m_uiSize - (unsigned long)&SdoObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+ }
+ else if (EplRet != kEplApiTaskDeferred)
+ { // error ocurred
+ vfree(pBufHeader);
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+ }
+
+ iRet = (int) EplRet;
+ break;
+ }
+
+
+ case EPLLIN_CMD_WRITE_OBJECT:
+ {
+ tEplLinSdoObject SdoObject;
+ void* pData;
+ tEplLinSdoBufHeader* pBufHeader;
+ tEplSdoComConHdl* pSdoComConHdl;
+
+ iErr = copy_from_user(&SdoObject, (const void*)ulArg_p, sizeof (SdoObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if ((SdoObject.m_le_pData == NULL) || (SdoObject.m_uiSize == 0))
+ {
+ iRet = (int) kEplApiInvalidParam;
+ goto Exit;
+ }
+
+ pBufHeader = (tEplLinSdoBufHeader*) vmalloc(sizeof (tEplLinSdoBufHeader) + SdoObject.m_uiSize);
+ if (pBufHeader == NULL)
+ { // no memory available
+ iRet = -ENOMEM;
+ goto Exit;
+ }
+
+ // initiate temporary buffer
+ pBufHeader->m_pUserArg = SdoObject.m_pUserArg; // original user argument pointer
+ pBufHeader->m_pData = SdoObject.m_le_pData; // original data pointer from app
+ pData = pBufHeader + sizeof (tEplLinSdoBufHeader);
+
+ iErr = copy_from_user(pData, SdoObject.m_le_pData, SdoObject.m_uiSize);
+
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if (SdoObject.m_fValidSdoComConHdl != FALSE)
+ {
+ pSdoComConHdl = &SdoObject.m_SdoComConHdl;
+ }
+ else
+ {
+ pSdoComConHdl = NULL;
+ }
+
+ EplRet = EplApiWriteObject(pSdoComConHdl, SdoObject.m_uiNodeId, SdoObject.m_uiIndex,
+ SdoObject.m_uiSubindex, pData, SdoObject.m_uiSize,
+ SdoObject.m_SdoType, pBufHeader);
+
+ // return actual SDO handle (SdoObject.m_SdoComConHdl)
+ iErr = put_user(SdoObject.m_SdoComConHdl,
+ (unsigned int*)(ulArg_p + (unsigned long)&SdoObject.m_SdoComConHdl - (unsigned long)&SdoObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if (EplRet != kEplApiTaskDeferred)
+ { // succeeded or error ocurred, but task not deferred
+ vfree(pBufHeader);
+ }
+
+ iRet = (int) EplRet;
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_FREE_SDO_CHANNEL:
+ {
+ // forward SDO handle to EPL stack
+ EplRet = EplApiFreeSdoChannel((tEplSdoComConHdl)ulArg_p);
+
+ iRet = (int) EplRet;
+ break;
+ }
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_MN_TRIGGER_STATE_CHANGE:
+ {
+ tEplLinNodeCmdObject NodeCmdObject;
+
+ iErr = copy_from_user(&NodeCmdObject, (const void*)ulArg_p, sizeof (NodeCmdObject));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ EplRet = EplApiMnTriggerStateChange(NodeCmdObject.m_uiNodeId,
+ NodeCmdObject.m_NodeCommand);
+ iRet = (int) EplRet;
+ break;
+ }
+#endif
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_GET_EVENT:
+ {
+ tEplLinEvent Event;
+
+ // save event structure
+ iErr = copy_from_user(&Event, (const void*)ulArg_p, sizeof (Event));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // save return code from application's event callback function
+ RetCbEvent_g = Event.m_RetCbEvent;
+
+ if (RetCbEvent_g == kEplShutdown)
+ {
+ // pass control to event queue kernel thread, but signal termination
+ atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbEvent_g);
+ // exit with error -> EplApiProcess() will leave the infinite loop
+ iRet = 1;
+ goto Exit;
+ }
+
+ // pass control to event queue kernel thread
+ atomic_set(&AtomicEventState_g, EVENT_STATE_IOCTL);
+ wake_up_interruptible(&WaitQueueCbEvent_g);
+
+ // fall asleep itself in own wait queue
+ iErr = wait_event_interruptible(WaitQueueProcess_g,
+ (atomic_read(&AtomicEventState_g) == EVENT_STATE_READY)
+ || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM));
+ if (iErr != 0)
+ { // waiting was interrupted by signal
+ // pass control to event queue kernel thread, but signal termination
+ atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbEvent_g);
+ // exit with this error -> EplApiProcess() will leave the infinite loop
+ iRet = iErr;
+ goto Exit;
+ }
+ else if (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM)
+ { // termination in progress
+ // pass control to event queue kernel thread, but signal termination
+ wake_up_interruptible(&WaitQueueCbEvent_g);
+ // exit with this error -> EplApiProcess() will leave the infinite loop
+ iRet = 1;
+ goto Exit;
+ }
+
+ // copy event to user space
+ iErr = copy_to_user(Event.m_pEventType, &EventType_g, sizeof (EventType_g));
+ if (iErr != 0)
+ { // not all data could be copied
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // $$$ d.k. perform SDO event processing
+ if (EventType_g == kEplApiEventSdo)
+ {
+ void* pData;
+ tEplLinSdoBufHeader* pBufHeader;
+
+ pBufHeader = (tEplLinSdoBufHeader*) pEventArg_g->m_Sdo.m_pUserArg;
+ pData = pBufHeader + sizeof (tEplLinSdoBufHeader);
+
+ if (pEventArg_g->m_Sdo.m_SdoAccessType == kEplSdoAccessTypeRead)
+ {
+ // copy read data to user space
+ iErr = copy_to_user(pBufHeader->m_pData, pData, pEventArg_g->m_Sdo.m_uiTransferredByte);
+ if (iErr != 0)
+ { // not all data could be copied
+ iRet = -EIO;
+ goto Exit;
+ }
+ }
+ pEventArg_g->m_Sdo.m_pUserArg = pBufHeader->m_pUserArg;
+ vfree(pBufHeader);
+ }
+
+ iErr = copy_to_user(Event.m_pEventArg, pEventArg_g, min(sizeof (tEplApiEventArg), Event.m_uiEventArgSize));
+ if (iErr != 0)
+ { // not all data could be copied
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // return to EplApiProcess(), which will call the application's event callback function
+ iRet = 0;
+
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_PI_SETUP:
+ {
+ EplRet = EplApiProcessImageSetup();
+ iRet = (int) EplRet;
+
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_PI_IN:
+ {
+ tEplApiProcessImage ProcessImageIn;
+
+ // save process image structure
+ iErr = copy_from_user(&ProcessImageIn, (const void*)ulArg_p, sizeof (ProcessImageIn));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ // pass control to event queue kernel thread
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_IOCTL);
+
+ // fall asleep itself in own wait queue
+ iErr = wait_event_interruptible(WaitQueuePI_In_g,
+ (atomic_read(&AtomicSyncState_g) == EVENT_STATE_READY)
+ || (atomic_read(&AtomicSyncState_g) == EVENT_STATE_TERM));
+ if (iErr != 0)
+ { // waiting was interrupted by signal
+ // pass control to sync kernel thread, but signal termination
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbSync_g);
+ // exit with this error -> application will leave the infinite loop
+ iRet = iErr;
+ goto Exit;
+ }
+ else if (atomic_read(&AtomicSyncState_g) == EVENT_STATE_TERM)
+ { // termination in progress
+ // pass control to sync kernel thread, but signal termination
+ wake_up_interruptible(&WaitQueueCbSync_g);
+ // exit with this error -> application will leave the infinite loop
+ iRet = 1;
+ goto Exit;
+ }
+
+ // exchange process image
+ EplRet = EplApiProcessImageExchangeIn(&ProcessImageIn);
+
+ // return to EplApiProcessImageExchangeIn()
+ iRet = (int) EplRet;
+
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_PI_OUT:
+ {
+ tEplApiProcessImage ProcessImageOut;
+
+ // save process image structure
+ iErr = copy_from_user(&ProcessImageOut, (const void*)ulArg_p, sizeof (ProcessImageOut));
+ if (iErr != 0)
+ {
+ iRet = -EIO;
+ goto Exit;
+ }
+
+ if (atomic_read(&AtomicSyncState_g) != EVENT_STATE_READY)
+ {
+ iRet = (int) kEplInvalidOperation;
+ goto Exit;
+ }
+
+ // exchange process image
+ EplRet = EplApiProcessImageExchangeOut(&ProcessImageOut);
+
+ // pass control to sync kernel thread
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
+ wake_up_interruptible(&WaitQueueCbSync_g);
+
+ // return to EplApiProcessImageExchangeout()
+ iRet = (int) EplRet;
+
+ break;
+ }
+
+
+ // ----------------------------------------------------------
+ case EPLLIN_CMD_NMT_COMMAND:
+ {
+ // forward NMT command to EPL stack
+ EplRet = EplApiExecNmtCommand((tEplNmtEvent)ulArg_p);
+
+ iRet = (int) EplRet;
+
+ break;
+ }
+
+
+
+ // ----------------------------------------------------------
+ default:
+ {
+ break;
+ }
+ }
+
+
+Exit:
+
+// TRACE1("EPL: - EplLinIoctl (iRet=%d)\n", iRet);
+ return (iRet);
+
+}
+
+
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+tEplKernel PUBLIC EplLinCbEvent(
+ tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg* pEventArg_p, // IN: event argument (union)
+ void GENERIC* pUserArg_p)
+{
+tEplKernel EplRet = kEplSuccessful;
+int iErr;
+
+ // block any further call to this function, i.e. enter critical section
+ iErr = down_interruptible(&SemaphoreCbEvent_g);
+ if (iErr != 0)
+ { // waiting was interrupted by signal
+ EplRet = kEplShutdown;
+ goto Exit;
+ }
+
+ // wait for EplApiProcess() to call ioctl
+ // normally it should be waiting already for us to pass a new event
+ iErr = wait_event_interruptible(WaitQueueCbEvent_g,
+ (atomic_read(&AtomicEventState_g) == EVENT_STATE_IOCTL)
+ || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM));
+ if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM))
+ { // waiting was interrupted by signal
+ EplRet = kEplShutdown;
+ goto LeaveCriticalSection;
+ }
+
+ // save event information for ioctl
+ EventType_g = EventType_p;
+ pEventArg_g = pEventArg_p;
+
+ // pass control to application's event callback function, i.e. EplApiProcess()
+ atomic_set(&AtomicEventState_g, EVENT_STATE_READY);
+ wake_up_interruptible(&WaitQueueProcess_g);
+
+ // now, the application's event callback function processes the event
+
+ // wait for completion of application's event callback function, i.e. EplApiProcess() calls ioctl again
+ iErr = wait_event_interruptible(WaitQueueCbEvent_g,
+ (atomic_read(&AtomicEventState_g) == EVENT_STATE_IOCTL)
+ || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM));
+ if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_TERM))
+ { // waiting was interrupted by signal
+ EplRet = kEplShutdown;
+ goto LeaveCriticalSection;
+ }
+
+ // read return code from application's event callback function
+ EplRet = RetCbEvent_g;
+
+
+LeaveCriticalSection:
+ up(&SemaphoreCbEvent_g);
+
+Exit:
+ // check if NMT_GS_OFF is reached
+ if (EventType_p == kEplApiEventNmtStateChange)
+ {
+ if (pEventArg_p->m_NmtStateChange.m_NewNmtState == kEplNmtGsOff)
+ { // NMT state machine was shut down
+ TRACE0("EPL: EplLinCbEvent(NMT_GS_OFF)\n");
+ uiEplState_g = EPL_STATE_SHUTDOWN;
+ atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
+ wake_up(&WaitQueueRelease_g);
+ }
+ else
+ { // NMT state machine is running
+ uiEplState_g = EPL_STATE_RUNNING;
+ }
+ }
+
+
+ return EplRet;
+}
+
+
+tEplKernel PUBLIC EplLinCbSync(void)
+{
+tEplKernel EplRet = kEplSuccessful;
+int iErr;
+
+ // check if user process waits for sync
+ if (atomic_read(&AtomicSyncState_g) == EVENT_STATE_IOCTL)
+ {
+ // pass control to application, i.e. EplApiProcessImageExchangeIn()
+ atomic_set(&AtomicSyncState_g, EVENT_STATE_READY);
+ wake_up_interruptible(&WaitQueuePI_In_g);
+
+ // now, the application processes the sync event
+
+ // wait for call of EplApiProcessImageExchangeOut()
+ iErr = wait_event_interruptible(WaitQueueCbSync_g,
+ (atomic_read(&AtomicSyncState_g) == EVENT_STATE_IOCTL)
+ || (atomic_read(&AtomicSyncState_g) == EVENT_STATE_TERM));
+ if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_IOCTL))
+ { // waiting was interrupted by signal or application called wrong function
+ EplRet = kEplShutdown;
+ }
+ }
+ else
+ { // application is currently not waiting for sync
+ // continue without interruption
+ // TPDO are set valid by caller (i.e. EplEventkProcess())
+ }
+
+ TGT_DBG_SIGNAL_TRACE_POINT(1);
+
+ return EplRet;
+}
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for EPL API module (process image)
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplApiProcessImage.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.7 $ $Date: 2008/11/13 17:13:09 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/10/10 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "Epl.h"
+//#include "kernel/EplPdokCal.h"
+
+#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+#include <asm/uaccess.h>
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplApi */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+#if ((EPL_API_PROCESS_IMAGE_SIZE_IN > 0) || (EPL_API_PROCESS_IMAGE_SIZE_OUT > 0))
+ typedef struct
+ {
+ #if EPL_API_PROCESS_IMAGE_SIZE_IN > 0
+ BYTE m_abProcessImageInput[EPL_API_PROCESS_IMAGE_SIZE_IN];
+ #endif
+ #if EPL_API_PROCESS_IMAGE_SIZE_OUT > 0
+ BYTE m_abProcessImageOutput[EPL_API_PROCESS_IMAGE_SIZE_OUT];
+ #endif
+
+ } tEplApiProcessImageInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplApiProcessImageInstance EplApiProcessImageInstance_g;
+#endif
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplApiProcessImageSetup()
+//
+// Description: sets up static process image
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiProcessImageSetup(void)
+{
+tEplKernel Ret = kEplSuccessful;
+#if ((EPL_API_PROCESS_IMAGE_SIZE_IN > 0) || (EPL_API_PROCESS_IMAGE_SIZE_OUT > 0))
+unsigned int uiVarEntries;
+tEplObdSize ObdSize;
+#endif
+
+#if EPL_API_PROCESS_IMAGE_SIZE_IN > 0
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_IN;
+ ObdSize = 1;
+ Ret = EplApiLinkObject(
+ 0x2000,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_IN;
+ ObdSize = 1;
+ Ret = EplApiLinkObject(
+ 0x2001,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 2;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_IN / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2010,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 2;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_IN / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2011,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 4;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_IN / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2020,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 4;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_IN / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2021,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+#endif
+
+#if EPL_API_PROCESS_IMAGE_SIZE_OUT > 0
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_OUT;
+ ObdSize = 1;
+ Ret = EplApiLinkObject(
+ 0x2030,
+ EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_OUT;
+ ObdSize = 1;
+ Ret = EplApiLinkObject(
+ 0x2031,
+ EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 2;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_OUT / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2040,
+ EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 2;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_OUT / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2041,
+ EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 4;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_OUT / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2050,
+ EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+
+ ObdSize = 4;
+ uiVarEntries = EPL_API_PROCESS_IMAGE_SIZE_OUT / ObdSize;
+ Ret = EplApiLinkObject(
+ 0x2051,
+ EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ &uiVarEntries,
+ &ObdSize,
+ 1);
+#endif
+
+ return Ret;
+}
+
+//----------------------------------------------------------------------------
+// Function: EplApiProcessImageExchangeIn()
+//
+// Description: replaces passed input process image with the one of EPL stack
+//
+// Parameters: pPI_p = input process image
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiProcessImageExchangeIn(tEplApiProcessImage* pPI_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+#if EPL_API_PROCESS_IMAGE_SIZE_IN > 0
+ #if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ copy_to_user(pPI_p->m_pImage,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ min(pPI_p->m_uiSize, sizeof (EplApiProcessImageInstance_g.m_abProcessImageInput)));
+ #else
+ EPL_MEMCPY(pPI_p->m_pImage,
+ EplApiProcessImageInstance_g.m_abProcessImageInput,
+ min(pPI_p->m_uiSize, sizeof (EplApiProcessImageInstance_g.m_abProcessImageInput)));
+ #endif
+#endif
+
+ return Ret;
+}
+
+
+//----------------------------------------------------------------------------
+// Function: EplApiProcessImageExchangeOut()
+//
+// Description: copies passed output process image to EPL stack.
+//
+// Parameters: pPI_p = output process image
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//----------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplApiProcessImageExchangeOut(tEplApiProcessImage* pPI_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+#if EPL_API_PROCESS_IMAGE_SIZE_OUT > 0
+ #if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ copy_from_user(EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ pPI_p->m_pImage,
+ min(pPI_p->m_uiSize, sizeof (EplApiProcessImageInstance_g.m_abProcessImageOutput)));
+ #else
+ EPL_MEMCPY(EplApiProcessImageInstance_g.m_abProcessImageOutput,
+ pPI_p->m_pImage,
+ min(pPI_p->m_uiSize, sizeof (EplApiProcessImageInstance_g.m_abProcessImageOutput)));
+ #endif
+#endif
+
+ return Ret;
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: configuration file
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplCfg.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ ...
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/06 k.t.: Start of Implementation
+
+****************************************************************************/
+
+#ifndef _EPLCFG_H_
+#define _EPLCFG_H_
+
+
+
+
+// =========================================================================
+// generic defines which for whole EPL Stack
+// =========================================================================
+#define EPL_USE_DELETEINST_FUNC TRUE
+
+// needed to support datatypes over 32 bit by global.h
+#define USE_VAR64
+
+// EPL_MAX_INSTANCES specifies count of instances of all EPL modules.
+// If it is greater than 1 the first parameter of all
+// functions is the instance number.
+#define EPL_MAX_INSTANCES 1
+
+// This defines the target hardware. Here is encoded wich CPU and wich external
+// peripherals are connected. For possible values refere to target.h. If
+// necessary value is not available EPL stack has to
+// be adapted and tested.
+#define TARGET_HARDWARE TGTHW_PC_WRAPP
+
+// use no FIFOs, make direct calls
+//#define EPL_NO_FIFO
+
+// use no IPC between user- and kernelspace modules, make direct calls
+#define EPL_NO_USER_KERNEL
+
+#ifndef BENCHMARK_MODULES
+#define BENCHMARK_MODULES 0 //0xEE800042L
+#endif
+
+// Default defug level:
+// Only debug traces of these modules will be compiled which flags are set in define DEF_DEBUG_LVL.
+#ifndef DEF_DEBUG_LVL
+#define DEF_DEBUG_LVL 0xEC000000L
+#endif
+// EPL_DBGLVL_OBD = 0x00000004L
+// * EPL_DBGLVL_ASSERT = 0x20000000L
+// * EPL_DBGLVL_ERROR = 0x40000000L
+// * EPL_DBGLVL_ALWAYS = 0x80000000L
+
+
+// EPL_MODULE_INTEGRATION defines all modules which are included in
+// EPL application. Please add or delete modules for your application.
+#define EPL_MODULE_INTEGRATION EPL_MODULE_OBDK \
+ | EPL_MODULE_PDOK \
+ | EPL_MODULE_NMT_MN \
+ | EPL_MODULE_SDOS \
+ | EPL_MODULE_SDOC \
+ | EPL_MODULE_SDO_ASND \
+ | EPL_MODULE_SDO_UDP \
+ | EPL_MODULE_NMT_CN \
+ | EPL_MODULE_NMTU \
+ | EPL_MODULE_NMTK \
+ | EPL_MODULE_DLLK \
+ | EPL_MODULE_DLLU \
+ | EPL_MODULE_VETH
+// | EPL_MODULE_OBDU
+
+// =========================================================================
+// EPL ethernet driver (Edrv) specific defines
+// =========================================================================
+
+// switch this define to TRUE if Edrv supports fast tx frames
+#define EDRV_FAST_TXFRAMES FALSE
+//#define EDRV_FAST_TXFRAMES TRUE
+
+// switch this define to TRUE if Edrv supports early receive interrupts
+#define EDRV_EARLY_RX_INT FALSE
+//#define EDRV_EARLY_RX_INT TRUE
+
+// enables setting of several port pins for benchmarking purposes
+#define EDRV_BENCHMARK FALSE
+//#define EDRV_BENCHMARK TRUE // MCF_GPIO_PODR_PCIBR
+
+// Call Tx handler (i.e. EplDllCbFrameTransmitted()) already if DMA has finished,
+// otherwise call the Tx handler if frame was actually transmitted over ethernet.
+#define EDRV_DMA_TX_HANDLER FALSE
+//#define EDRV_DMA_TX_HANDLER TRUE
+
+// number of used ethernet controller
+//#define EDRV_USED_ETH_CTRL 1
+
+
+// =========================================================================
+// Data Link Layer (DLL) specific defines
+// =========================================================================
+
+// switch this define to TRUE if Edrv supports fast tx frames
+// and DLL shall pass PRes as ready to Edrv after SoC
+#define EPL_DLL_PRES_READY_AFTER_SOC FALSE
+//#define EPL_DLL_PRES_READY_AFTER_SOC TRUE
+
+// switch this define to TRUE if Edrv supports fast tx frames
+// and DLL shall pass PRes as ready to Edrv after SoA
+#define EPL_DLL_PRES_READY_AFTER_SOA FALSE
+//#define EPL_DLL_PRES_READY_AFTER_SOA TRUE
+
+
+// =========================================================================
+// OBD specific defines
+// =========================================================================
+
+// switch this define to TRUE if Epl should compare object range
+// automaticly
+#define EPL_OBD_CHECK_OBJECT_RANGE FALSE
+//#define EPL_OBD_CHECK_OBJECT_RANGE TRUE
+
+// set this define to TRUE if there are strings or domains in OD, which
+// may be changed in object size and/or object data pointer by its object
+// callback function (called event kObdEvWrStringDomain)
+//#define EPL_OBD_USE_STRING_DOMAIN_IN_RAM FALSE
+#define EPL_OBD_USE_STRING_DOMAIN_IN_RAM TRUE
+
+#define EPL_OBD_USE_VARIABLE_SUBINDEX_TAB TRUE
+
+
+// =========================================================================
+// Timer module specific defines
+// =========================================================================
+
+// if TRUE it uses the Timer module implementation of EPL user also in EPL kernel
+#define EPL_TIMER_USE_USER TRUE
+
+// if TRUE the high resolution timer module will be used
+#define EPL_TIMER_USE_HIGHRES TRUE
+//#define EPL_TIMER_USE_HIGHRES FALSE
+
+
+#endif //_EPLCFG_H_
+
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for EPL default constants
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDef.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.15 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DEF_H_
+#define _EPL_DEF_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define EPL_C_ADR_BROADCAST 0xFF // EPL broadcast address
+#define EPL_C_ADR_DIAG_DEF_NODE_ID 0xFD // EPL default address of dignostic device
+#define EPL_C_ADR_DUMMY_NODE_ID 0xFC // EPL dummy node address
+#define EPL_C_ADR_INVALID 0x00 // invalid EPL address
+#define EPL_C_ADR_MN_DEF_NODE_ID 0xF0 // EPL default address of MN
+#define EPL_C_ADR_RT1_DEF_NODE_ID 0xFE // EPL default address of router type 1
+#define EPL_C_DLL_ASND_PRIO_NMTRQST 7 // increased ASnd request priority to be used by NMT Requests
+#define EPL_C_DLL_ASND_PRIO_STD 0 // standard ASnd request priority
+#define EPL_C_DLL_ETHERTYPE_EPL 0x88AB
+#define EPL_C_DLL_ISOCHR_MAX_PAYL 1490 // Byte: maximum size of PReq and PRes payload data, requires C_IP_MAX_MTU
+#define EPL_C_DLL_MAX_ASYNC_MTU 1500 // Byte: maximum asynchronous payload in bytes
+#define EPL_C_DLL_MAX_PAYL_OFFSET 1499 // Byte: maximum offset of Ethernet frame payload, requires C_IP_MAX_MTU
+#define EPL_C_DLL_MAX_RS 7
+#define EPL_C_DLL_MIN_ASYNC_MTU 282 // Byte: minimum asynchronous payload in bytes.
+#define EPL_C_DLL_MIN_PAYL_OFFSET 45 // Byte: minimum offset of Ethernet frame payload
+#define EPL_C_DLL_MULTICAST_ASND 0x01111E000004LL // EPL ASnd multicast MAC address, canonical form
+#define EPL_C_DLL_MULTICAST_PRES 0x01111E000002LL // EPL PRes multicast MAC address, canonical form
+#define EPL_C_DLL_MULTICAST_SOA 0x01111E000003LL // EPL SoA multicast MAC address, canonical form
+#define EPL_C_DLL_MULTICAST_SOC 0x01111E000001LL // EPL Soc multicast MAC address, canonical form
+#define EPL_C_DLL_PREOP1_START_CYCLES 10 // number of unassigning SoA frames at start of NMT_MS_PRE_OPERATIONAL_1
+#define EPL_C_DLL_T_BITTIME 10 // ns: Transmission time per bit on 100 Mbit/s network
+#define EPL_C_DLL_T_EPL_PDO_HEADER 10 // Byte: size of PReq and PRes EPL PDO message header
+#define EPL_C_DLL_T_ETH2_WRAPPER 18 // Byte: size of Ethernet type II wrapper consisting of header and checksum
+#define EPL_C_DLL_T_IFG 640 // ns: Ethernet Interframe Gap
+#define EPL_C_DLL_T_MIN_FRAME 5120 // ns: Size of minimum Ethernet frame (without preamble)
+#define EPL_C_DLL_T_PREAMBLE 960 // ns: Size of Ethernet frame preamble
+
+#define EPL_C_DLL_MINSIZE_SOC 36 // minimum size of SoC without padding and CRC
+#define EPL_C_DLL_MINSIZE_PREQ 60 // minimum size of PRec without CRC
+#define EPL_C_DLL_MINSIZE_PRES 60 // minimum size of PRes without CRC
+#define EPL_C_DLL_MINSIZE_SOA 24 // minimum size of SoA without padding and CRC
+#define EPL_C_DLL_MINSIZE_IDENTRES 176 // minimum size of IdentResponse without CRC
+#define EPL_C_DLL_MINSIZE_STATUSRES 72 // minimum size of StatusResponse without CRC
+#define EPL_C_DLL_MINSIZE_NMTCMD 20 // minimum size of NmtCommand without CommandData, padding and CRC
+#define EPL_C_DLL_MINSIZE_NMTCMDEXT 52 // minimum size of NmtCommand without padding and CRC
+#define EPL_C_DLL_MINSIZE_NMTREQ 20 // minimum size of NmtRequest without CommandData, padding and CRC
+#define EPL_C_DLL_MINSIZE_NMTREQEXT 52 // minimum size of NmtRequest without padding and CRC
+
+#define EPL_C_ERR_MONITOR_DELAY 10 // Error monitoring start delay (not used in DS 1.0.0)
+#define EPL_C_IP_ADR_INVALID 0x00000000L // invalid IP address (0.0.0.0) used to indicate no change
+#define EPL_C_IP_INVALID_MTU 0 // Byte: invalid MTU size used to indicate no change
+#define EPL_C_IP_MAX_MTU 1518 // Byte: maximum size in bytes of the IP stack which must be processed.
+#define EPL_C_IP_MIN_MTU 300 // Byte: minimum size in bytes of the IP stack which must be processed.
+#define EPL_C_NMT_STATE_TOLERANCE 5 // Cycles: maximum reaction time to NMT state commands
+#define EPL_C_NMT_STATREQ_CYCLE 5 // sec: StatusRequest cycle time to be applied to AsyncOnly CNs
+#define EPL_C_SDO_EPL_PORT 3819
+
+#define EPL_C_DLL_MAX_ASND_SERVICE_IDS 5 // see tEplDllAsndServiceId in EplDll.h
+
+
+
+// Default configuration
+// ======================
+
+#ifndef EPL_D_PDO_Granularity_U8
+#define EPL_D_PDO_Granularity_U8 8 // minimum size of objects to be mapped in bits UNSIGNED8 O O 1 1
+#endif
+
+#ifndef EPL_NMT_MAX_NODE_ID
+#define EPL_NMT_MAX_NODE_ID 254 // maximum node-ID
+#endif
+
+#ifndef EPL_D_NMT_MaxCNNumber_U8
+#define EPL_D_NMT_MaxCNNumber_U8 239 // maximum number of supported regular CNs in the Node ID range 1 .. 239 UNSIGNED8 O O 239 239
+#endif
+
+// defines for EPL API layer static process image
+#ifndef EPL_API_PROCESS_IMAGE_SIZE_IN
+#define EPL_API_PROCESS_IMAGE_SIZE_IN 0
+#endif
+
+#ifndef EPL_API_PROCESS_IMAGE_SIZE_OUT
+#define EPL_API_PROCESS_IMAGE_SIZE_OUT 0
+#endif
+
+// configure whether OD access events shall be forwarded
+// to user callback function.
+// Because of reentrancy for local OD accesses, this has to be disabled
+// when application resides in other address space as the stack (e.g. if
+// EplApiLinuxUser.c and EplApiLinuxKernel.c are used)
+#ifndef EPL_API_OBD_FORWARD_EVENT
+#define EPL_API_OBD_FORWARD_EVENT TRUE
+#endif
+
+#ifndef EPL_OBD_MAX_STRING_SIZE
+#define EPL_OBD_MAX_STRING_SIZE 32 // is used for objects 0x1008/0x1009/0x100A
+#endif
+
+#ifndef EPL_OBD_USE_STORE_RESTORE
+#define EPL_OBD_USE_STORE_RESTORE FALSE
+#endif
+
+#ifndef EPL_OBD_CHECK_OBJECT_RANGE
+#define EPL_OBD_CHECK_OBJECT_RANGE TRUE
+#endif
+
+#ifndef EPL_OBD_USE_STRING_DOMAIN_IN_RAM
+#define EPL_OBD_USE_STRING_DOMAIN_IN_RAM TRUE
+#endif
+
+#ifndef EPL_OBD_USE_VARIABLE_SUBINDEX_TAB
+#define EPL_OBD_USE_VARIABLE_SUBINDEX_TAB TRUE
+#endif
+
+#ifndef EPL_OBD_USE_KERNEL
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0)
+#define EPL_OBD_USE_KERNEL TRUE
+#else
+#define EPL_OBD_USE_KERNEL FALSE
+#endif
+#endif
+
+#ifndef EPL_OBD_INCLUDE_A000_TO_DEVICE_PART
+#define EPL_OBD_INCLUDE_A000_TO_DEVICE_PART FALSE
+#endif
+
+#ifndef EPL_VETH_NAME
+#define EPL_VETH_NAME "epl" // name of net device in Linux
+#endif
+
+/*
+#define EPL_D_CFG_ConfigManager_BOOL // Ability of a MN node to perform Configuration Manager functions BOOLEAN O - N -
+#define EPL_D_CFM_VerifyConf_BOOL // Support of objects CFM_VerifyConfiguration_REC, CFM_ExpConfDateList_AU32, CFM_ExpConfTimeList_AU32 BOOLEAN O O N N
+#define EPL_D_CFM_VerifyConfId_BOOL // Support of objects CFM_VerifyConfiguration_REC.ConfId_U32 and CFM_ExpConfIdList_AU32 BOOLEAN O O N N
+#define EPL_D_DLL_CNFeatureIsochr_BOOL // CN\92s ability to perform isochronous functions BOOLEAN - O - Y
+#define EPL_D_DLL_CNFeatureMultiplex_BOOL // node\92s ability to perform control of multiplexed isochronous communication BOOLEAN - O - N
+#define EPL_D_DLL_FeatureCN_BOOL // node\92s ability to perform CN functions BOOLEAN O O Y Y
+#define EPL_D_DLL_FeatureMN_BOOL // node\92s ability to perform MN functions BOOLEAN M O - N
+#define EPL_D_DLL_MNFeatureMultiplex_BOOL // MN\92s ability to perform control of multiplexed isochronous communication BOOLEAN O - Y -
+#define EPL_D_DLL_MNFeaturePResTx_BOOL // MN\92s ability to transmit PRes BOOLEAN O - Y -
+#define EPL_D_NMT_ASndRxMaxPayload_U16 // size of ASnd frame receive buffer UNSIGNED16 M M - -
+#define EPL_D_NMT_ASndTxMaxPayload_U16 // size of ASnd frame transmit buffer UNSIGNED16 M M - -
+#define EPL_D_NMT_CNASnd2SoC_U32 // minimum delay between end of reception of ASnd and start of reception of SoC UNSIGNED32 - M - -
+#define EPL_D_NMT_CNASndMaxLatency_U32 // delay between end of SoA reception and start of ASnd transmission UNSIGNED32 - M - -
+#define EPL_D_NMT_CNPResMaxLatency_U32 // delay between end of PReq reception and start of PRes transmission UNSIGNED32 - M - -
+#define EPL_D_NMT_CNSoC2PReq_U32 // CN SoC handling maximum time, a subsequent PReq won\92t be handled before SoC handling was finished UNSIGNED32 - M - -
+#define EPL_D_NMT_DeviceType_U32 // Device Type ID UNSIGNED32 M M - -
+#define EPL_D_NMT_EPLVers_U8 EPL // Version implemented by the device UNSIGNED8 M M - -
+#define EPL_D_NMT_ExtStateCmd_BOOL // abitilty to support Extended NMT State Commands BOOLEAN O O Y Y
+#define EPL_D_NMT_InfoSvc_BOOL // ability to support NMT Info Services BOOLEAN O - Y -
+#define EPL_D_NMT_InterfaceAddr_Xh_OSTR // Physical Address of Interface No. Xh OCTET_STRING M M - -
+#define EPL_D_NMT_InterfaceDescr_Xh_VSTR // Description text of Interface No. Xh VISIBLE_STRINGM M - -
+#define EPL_D_NMT_InterfaceMtu_Xh_U32 // MTU of Interface No. Xh UNSIGNED32 M M - -
+#define EPL_D_NMT_InterfaceType_Xh_U8 // Type of Interface No. Xh UNSIGNED8 M M - -
+#define EPL_D_NMT_IsochrRxMaxPayload_U16 // size of isochronous frame receive buffer UNSIGNED16 M M - -
+#define EPL_D_NMT_IsochrTxMaxPayload_U16 // size of isochronous frame transmit buffer UNSIGNED16 M M - -
+#define EPL_D_NMT_ManufactDevName_VS // Manufacturer Device Name VISIBLE_STRING O O - -
+#define EPL_D_NMT_ManufactHwVers_VS // Manufacturer HW version VISIBLE_STRING O O - -
+#define EPL_D_NMT_ManufactSwVers_VS // Manufacturer SW version VISIBLE_STRING O O - -
+#define EPL_D_NMT_MaxCNNodeID_U8 // maximum Node ID available for regular CNs the entry provides an upper limit to the NodeID available for cross traffic PDO reception from a regular CN UNSIGNED8 O O 239 239
+#define EPL_D_NMT_MaxCNNumber_U8 // maximum number of supported regular CNs in the Node ID range 1 .. 239 UNSIGNED8 O O 239 239
+#define EPL_D_NMT_MaxHeartbeats_U8 // number of guard channels UNSIGNED8 O O 254 254
+#define EPL_D_NMT_MNASnd2SoC_U32 // minimum delay between end of reception of ASnd and start of transmission of SoC UNSIGNED32 M - - -
+#define EPL_D_NMT_MNMultiplCycMax_U8 // maximum number of EPL cycles per multiplexed cycle UNSIGNED8 O - 0 -
+#define EPL_D_NMT_MNPRes2PReq_U32 // delay between end of PRes reception and start of PReq transmission UNSIGNED32 M - - -
+#define EPL_D_NMT_MNPRes2PRes_U32 // delay between end of reception of PRes from CNn and start of transmission of PRes by MN UNSIGNED32 M - - -
+#define EPL_D_NMT_MNPResRx2SoA_U32 // delay between end of reception of PRes from CNn and start of transmission of SoA by MN UNSIGNED32 M - - -
+#define EPL_D_NMT_MNPResTx2SoA_U32 // delay between end of PRes transmission by MN and start of transmission of SoA by MN UNSIGNED32 M - - -
+#define EPL_D_NMT_MNSoA2ASndTx_U32 // delay between end of transmission of SoA and start of transmission of ASnd by MN UNSIGNED32 M - - -
+#define EPL_D_NMT_MNSoC2PReq_U32 // MN minimum delay between end of SoC transmission and start of PReq transmission UNSIGNED32 M - - -
+#define EPL_D_NMT_NMTSvcViaUDPIP_BOOL // Ability of a node to perform NMT services via UDP/IP BOOLEAN O - Y -
+#define EPL_D_NMT_NodeIDByHW_BOOL // Ability of a node to support NodeID setup by HW BOOLEAN O O Y Y
+#define EPL_D_NMT_NodeIDBySW_BOOL // Ability of a node to support NodeID setup by SW BOOLEAN O O N N
+#define EPL_D_NMT_ProductCode_U32 // Identity Object Product Code UNSIGNED32 M M - -
+#define EPL_D_NMT_RevisionNo_U32 // Identity Object Revision Number UNSIGNED32 M M - -
+#define EPL_D_NMT_SerialNo_U32 // Identity Object Serial Number UNSIGNED32 M M - -
+#define EPL_D_NMT_SimpleBoot_BOOL // Ability of a MN node to perform Simple Boot Process, if not set Indivual Boot Process shall be proviced BOOLEAN M - - -
+#define EPL_D_NMT_VendorID_U32 // Identity Object Vendor ID UNSIGNED32 M M - -
+#define EPL_D_NWL_Forward_BOOL // Ability of node to forward datagrams BOOLEAN O O N N
+#define EPL_D_NWL_IPSupport_BOOL // Ability of the node cummunicate via IP BOOLEAN - - Y Y
+#define EPL_D_PDO_DynamicMapping_BOOL // Ability of a node to perform dynamic PDO mapping BOOLEAN O O Y Y
+#define EPL_D_PDO_MaxDescrMem_U32 // maximum cumulative memory consumption of TPDO and RPDO describing objects in byte UNSIGNED32 O O MAX_U32 MAX_U32
+#define EPL_D_PDO_RPDOChannels_U8 // number of supported RPDO channels UNSIGNED8 O O 256 256
+#define EPL_D_PDO_RPDOMaxMem_U32 // Maximum memory available for RPDO data per EPL cycle in byte UNSIGNED32 O O MAX_U32 MAX_U32
+#define EPL_D_PDO_RPDOObjects_U8 // Number of supported mapped objects per RPDO channel UNSIGNED8 O O 254 254
+#define EPL_D_PDO_TPDOChannels_U8 // number of supported TPDO channels UNSIGNED8 O - 256 -
+#define EPL_D_PDO_TPDOMaxMem_U32 // Maximum memory available for TPDO data per EPL cycle in byte UNSIGNED32 O O MAX_U32 MAX_U32
+#define EPL_D_PDO_TPDOObjects_U8 // Number of supported mapped objects per TPDO channel UNSIGNED8 O O 254 254
+#define EPL_D_SDO_ViaASnd_BOOL // Ability of a CN to perform SDO transfer by EPL ASnd BOOLEAN - M - -
+#define EPL_D_SDO_ViaPDO_BOOL // Ability of a node to perform SDO transfer by PDO BOOLEAN O O N N
+#define EPL_D_SDO_ViaUDPIP_BOOL // Ability of a CN to perform SDO transfer by UDP/IP BOOLEAN - M - -
+#define EPL_D_SYN_OptimizedSync_BOOL // Ability of node to perform optimized synchronisation BOOLEAN O O N N
+*/
+
+// Emergency error codes
+// ======================
+#define EPL_E_NO_ERROR 0x0000
+// 0xFxxx manufacturer specific error codes
+#define EPL_E_NMT_NO_IDENT_RES 0xF001
+#define EPL_E_NMT_NO_STATUS_RES 0xF002
+
+// 0x816x HW errors
+#define EPL_E_DLL_BAD_PHYS_MODE 0x8161
+#define EPL_E_DLL_COLLISION 0x8162
+#define EPL_E_DLL_COLLISION_TH 0x8163
+#define EPL_E_DLL_CRC_TH 0x8164
+#define EPL_E_DLL_LOSS_OF_LINK 0x8165
+#define EPL_E_DLL_MAC_BUFFER 0x8166
+// 0x82xx Protocol errors
+#define EPL_E_DLL_ADDRESS_CONFLICT 0x8201
+#define EPL_E_DLL_MULTIPLE_MN 0x8202
+// 0x821x Frame size errors
+#define EPL_E_PDO_SHORT_RX 0x8210
+#define EPL_E_PDO_MAP_VERS 0x8211
+#define EPL_E_NMT_ASND_MTU_DIF 0x8212
+#define EPL_E_NMT_ASND_MTU_LIM 0x8213
+#define EPL_E_NMT_ASND_TX_LIM 0x8214
+// 0x823x Timing errors
+#define EPL_E_NMT_CYCLE_LEN 0x8231
+#define EPL_E_DLL_CYCLE_EXCEED 0x8232
+#define EPL_E_DLL_CYCLE_EXCEED_TH 0x8233
+#define EPL_E_NMT_IDLE_LIM 0x8234
+#define EPL_E_DLL_JITTER_TH 0x8235
+#define EPL_E_DLL_LATE_PRES_TH 0x8236
+#define EPL_E_NMT_PREQ_CN 0x8237
+#define EPL_E_NMT_PREQ_LIM 0x8238
+#define EPL_E_NMT_PRES_CN 0x8239
+#define EPL_E_NMT_PRES_RX_LIM 0x823A
+#define EPL_E_NMT_PRES_TX_LIM 0x823B
+// 0x824x Frame errors
+#define EPL_E_DLL_INVALID_FORMAT 0x8241
+#define EPL_E_DLL_LOSS_PREQ_TH 0x8242
+#define EPL_E_DLL_LOSS_PRES_TH 0x8243
+#define EPL_E_DLL_LOSS_SOA_TH 0x8244
+#define EPL_E_DLL_LOSS_SOC_TH 0x8245
+// 0x84xx BootUp Errors
+#define EPL_E_NMT_BA1 0x8410 // other MN in MsNotActive active
+#define EPL_E_NMT_BA1_NO_MN_SUPPORT 0x8411 // MN is not supported
+#define EPL_E_NMT_BPO1 0x8420 // mandatory CN was not found or failed in BootStep1
+#define EPL_E_NMT_BPO1_GET_IDENT 0x8421 // IdentRes was not received
+#define EPL_E_NMT_BPO1_DEVICE_TYPE 0x8422 // wrong device type
+#define EPL_E_NMT_BPO1_VENDOR_ID 0x8423 // wrong vendor ID
+#define EPL_E_NMT_BPO1_PRODUCT_CODE 0x8424 // wrong product code
+#define EPL_E_NMT_BPO1_REVISION_NO 0x8425 // wrong revision number
+#define EPL_E_NMT_BPO1_SERIAL_NO 0x8426 // wrong serial number
+#define EPL_E_NMT_BPO1_CF_VERIFY 0x8428 // verification of configuration failed
+#define EPL_E_NMT_BPO2 0x8430 // mandatory CN failed in BootStep2
+#define EPL_E_NMT_BRO 0x8440 // CheckCommunication failed for mandatory CN
+#define EPL_E_NMT_WRONG_STATE 0x8480 // mandatory CN has wrong NMT state
+
+// Defines for object 0x1F80 NMT_StartUp_U32
+// ==========================================
+#define EPL_NMTST_STARTALLNODES 0x00000002L // Bit 1
+#define EPL_NMTST_NO_AUTOSTART 0x00000004L // Bit 2
+#define EPL_NMTST_NO_STARTNODE 0x00000008L // Bit 3
+#define EPL_NMTST_RESETALL_MAND_CN 0x00000010L // Bit 4
+#define EPL_NMTST_STOPALL_MAND_CN 0x00000040L // Bit 6
+#define EPL_NMTST_NO_AUTOPREOP2 0x00000080L // Bit 7
+#define EPL_NMTST_NO_AUTOREADYTOOP 0x00000100L // Bit 8
+#define EPL_NMTST_EXT_CNIDENTCHECK 0x00000200L // Bit 9
+#define EPL_NMTST_SWVERSIONCHECK 0x00000400L // Bit 10
+#define EPL_NMTST_CONFCHECK 0x00000800L // Bit 11
+#define EPL_NMTST_NO_RETURN_PREOP1 0x00001000L // Bit 12
+#define EPL_NMTST_BASICETHERNET 0x00002000L // Bit 13
+
+// Defines for object 0x1F81 NMT_NodeAssignment_AU32
+// ==================================================
+#define EPL_NODEASSIGN_NODE_EXISTS 0x00000001L // Bit 0
+#define EPL_NODEASSIGN_NODE_IS_CN 0x00000002L // Bit 1
+#define EPL_NODEASSIGN_START_CN 0x00000004L // Bit 2
+#define EPL_NODEASSIGN_MANDATORY_CN 0x00000008L // Bit 3
+#define EPL_NODEASSIGN_KEEPALIVE 0x00000010L //currently not used in EPL V2 standard
+#define EPL_NODEASSIGN_SWVERSIONCHECK 0x00000020L // Bit 5
+#define EPL_NODEASSIGN_SWUPDATE 0x00000040L // Bit 6
+#define EPL_NODEASSIGN_ASYNCONLY_NODE 0x00000100L // Bit 8
+#define EPL_NODEASSIGN_MULTIPLEXED_CN 0x00000200L // Bit 9
+#define EPL_NODEASSIGN_RT1 0x00000400L // Bit 10
+#define EPL_NODEASSIGN_RT2 0x00000800L // Bit 11
+#define EPL_NODEASSIGN_MN_PRES 0x00001000L // Bit 12
+#define EPL_NODEASSIGN_VALID 0x80000000L // Bit 31
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPL_DEF_H_
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for DLL module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDll.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/08 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DLL_H_
+#define _EPL_DLL_H_
+
+#include "EplInc.h"
+#include "EplFrame.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+#ifndef EPL_DLL_MAX_ASND_SERVICE_ID
+#define EPL_DLL_MAX_ASND_SERVICE_ID (EPL_C_DLL_MAX_ASND_SERVICE_IDS + 1) // last is kEplDllAsndSdo == 5
+#endif
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef enum
+{
+ kEplDllAsndNotDefined = 0x00,
+ kEplDllAsndIdentResponse = 0x01,
+ kEplDllAsndStatusResponse = 0x02,
+ kEplDllAsndNmtRequest = 0x03,
+ kEplDllAsndNmtCommand = 0x04,
+ kEplDllAsndSdo = 0x05
+
+} tEplDllAsndServiceId;
+
+typedef enum
+{
+ kEplDllAsndFilterNone = 0x00,
+ kEplDllAsndFilterLocal = 0x01, // receive only ASnd frames with local or broadcast node ID
+ kEplDllAsndFilterAny = 0x02, // receive any ASnd frame
+} tEplDllAsndFilter;
+
+typedef enum
+{
+ kEplDllReqServiceNo = 0x00,
+ kEplDllReqServiceIdent = 0x01,
+ kEplDllReqServiceStatus = 0x02,
+ kEplDllReqServiceNmtRequest = 0x03,
+ kEplDllReqServiceUnspecified= 0xFF,
+
+} tEplDllReqServiceId;
+
+typedef enum
+{
+ kEplDllAsyncReqPrioNmt = 0x07, // PRIO_NMT_REQUEST
+ kEplDllAsyncReqPrio6 = 0x06,
+ kEplDllAsyncReqPrio5 = 0x05,
+ kEplDllAsyncReqPrio4 = 0x04,
+ kEplDllAsyncReqPrioGeneric = 0x03, // PRIO_GENERIC_REQUEST
+ kEplDllAsyncReqPrio2 = 0x02, // till WSP 0.1.3: PRIO_ABOVE_GENERIC
+ kEplDllAsyncReqPrio1 = 0x01, // till WSP 0.1.3: PRIO_BELOW_GENERIC
+ kEplDllAsyncReqPrio0 = 0x00, // till WSP 0.1.3: PRIO_GENERIC_REQUEST
+
+} tEplDllAsyncReqPriority;
+
+typedef struct
+{
+ unsigned int m_uiFrameSize;
+ tEplFrame * m_pFrame;
+ tEplNetTime m_NetTime;
+
+} tEplFrameInfo;
+
+typedef struct
+{
+ unsigned int m_uiSizeOfStruct;
+ BOOL m_fAsyncOnly; // do not need to register PRes-Frame
+ unsigned int m_uiNodeId; // local node ID
+
+ // 0x1F82: NMT_FeatureFlags_U32
+ DWORD m_dwFeatureFlags;
+ // Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
+ DWORD m_dwCycleLen; // required for error detection
+ // 0x1F98: NMT_CycleTiming_REC
+ // 0x1F98.1: IsochrTxMaxPayload_U16
+ unsigned int m_uiIsochrTxMaxPayload; // const
+ // 0x1F98.2: IsochrRxMaxPayload_U16
+ unsigned int m_uiIsochrRxMaxPayload; // const
+ // 0x1F98.3: PResMaxLatency_U32
+ DWORD m_dwPresMaxLatency; // const in [ns], only required for IdentRes
+ // 0x1F98.4: PReqActPayloadLimit_U16
+ unsigned int m_uiPreqActPayloadLimit; // required for initialisation (+24 bytes)
+ // 0x1F98.5: PResActPayloadLimit_U16
+ unsigned int m_uiPresActPayloadLimit; // required for initialisation of Pres frame (+24 bytes)
+ // 0x1F98.6: ASndMaxLatency_U32
+ DWORD m_dwAsndMaxLatency; // const in [ns], only required for IdentRes
+ // 0x1F98.7: MultiplCycleCnt_U8
+ unsigned int m_uiMultiplCycleCnt; // required for error detection
+ // 0x1F98.8: AsyncMTU_U16
+ unsigned int m_uiAsyncMtu; // required to set up max frame size
+ // $$$ 0x1F98.9: Prescaler_U16
+ // $$$ Multiplexed Slot
+
+ // 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
+ DWORD m_dwLossOfFrameTolerance;
+
+ // 0x1F8A: NMT_MNCycleTiming_REC
+ // 0x1F8A.1: WaitSoCPReq_U32 in [ns]
+ DWORD m_dwWaitSocPreq;
+
+ // 0x1F8A.2: AsyncSlotTimeout_U32 in [ns]
+ DWORD m_dwAsyncSlotTimeout;
+
+} tEplDllConfigParam;
+
+typedef struct
+{
+ unsigned int m_uiSizeOfStruct;
+ DWORD m_dwDeviceType; // NMT_DeviceType_U32
+ DWORD m_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32
+ DWORD m_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32
+ DWORD m_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32
+ DWORD m_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
+ QWORD m_qwVendorSpecificExt1;
+ DWORD m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
+ DWORD m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
+ DWORD m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
+ DWORD m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
+ DWORD m_dwIpAddress;
+ DWORD m_dwSubnetMask;
+ DWORD m_dwDefaultGateway;
+ BYTE m_sHostname[32];
+ BYTE m_abVendorSpecificExt2[48];
+
+} tEplDllIdentParam;
+
+typedef struct
+{
+ unsigned int m_uiNodeId;
+ WORD m_wPreqPayloadLimit; // object 0x1F8B: NMT_MNPReqPayloadLimitList_AU16
+ WORD m_wPresPayloadLimit; // object 0x1F8D: NMT_PResPayloadLimitList_AU16
+ DWORD m_dwPresTimeout; // object 0x1F92: NMT_MNCNPResTimeout_AU32
+
+} tEplDllNodeInfo;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+
+#endif // #ifndef _EPL_DLL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for DLL Communication Abstraction Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDllCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/20 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DLLCAL_H_
+#define _EPL_DLLCAL_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+/*#ifndef EPL_DLLCAL_BUFFER_ID_RX
+#define EPL_DLLCAL_BUFFER_ID_RX "EplSblDllCalRx"
+#endif
+
+#ifndef EPL_DLLCAL_BUFFER_SIZE_RX
+#define EPL_DLLCAL_BUFFER_SIZE_RX 32767
+#endif
+*/
+#ifndef EPL_DLLCAL_BUFFER_ID_TX_NMT
+#define EPL_DLLCAL_BUFFER_ID_TX_NMT "EplSblDllCalTxNmt"
+#endif
+
+#ifndef EPL_DLLCAL_BUFFER_SIZE_TX_NMT
+#define EPL_DLLCAL_BUFFER_SIZE_TX_NMT 32767
+#endif
+
+#ifndef EPL_DLLCAL_BUFFER_ID_TX_GEN
+#define EPL_DLLCAL_BUFFER_ID_TX_GEN "EplSblDllCalTxGen"
+#endif
+
+#ifndef EPL_DLLCAL_BUFFER_SIZE_TX_GEN
+#define EPL_DLLCAL_BUFFER_SIZE_TX_GEN 32767
+#endif
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplDllAsndServiceId m_ServiceId;
+ tEplDllAsndFilter m_Filter;
+
+} tEplDllCalAsndServiceIdFilter;
+
+typedef struct
+{
+ tEplDllReqServiceId m_Service;
+ unsigned int m_uiNodeId;
+ BYTE m_bSoaFlag1;
+
+} tEplDllCalIssueRequest;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+
+#endif // #ifndef _EPL_DLLKCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for kernel DLL module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDllk.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.21 $ $Date: 2008/11/13 17:13:09 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/12 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "kernel/EplDllk.h"
+#include "kernel/EplDllkCal.h"
+#include "kernel/EplEventk.h"
+#include "kernel/EplNmtk.h"
+#include "edrv.h"
+#include "Benchmark.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+#include "kernel/EplPdok.h"
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
+#include "kernel/VirtualEthernet.h"
+#endif
+
+//#if EPL_TIMER_USE_HIGHRES != FALSE
+#include "kernel/EplTimerHighResk.h"
+//#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) == 0)
+#error "EPL module DLLK needs EPL module NMTK!"
+#endif
+
+#if (EPL_DLL_PRES_READY_AFTER_SOA != FALSE) && (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)
+#error "EPL module DLLK: select only one of EPL_DLL_PRES_READY_AFTER_SOA and EPL_DLL_PRES_READY_AFTER_SOC."
+#endif
+
+#if ((EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)) \
+ && (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
+#error "EPL module DLLK: currently, EPL_DLL_PRES_READY_AFTER_* is not supported if EPL_MODULE_NMT_MN is enabled."
+#endif
+
+#if (EDRV_FAST_TXFRAMES == FALSE) && \
+ ((EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE))
+#error "EPL module DLLK: EPL_DLL_PRES_READY_AFTER_* is enabled, but not EDRV_FAST_TXFRAMES."
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+#define EPL_DLLK_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \
+ TGT_DBG_POST_TRACE_VALUE((kEplEventSinkDllk << 28) | (Event_p << 24) \
+ | (uiNodeId_p << 16) | wErrorCode_p)
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplDllk */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// defines for indexes of tEplDllInstance.m_pTxFrameInfo
+#define EPL_DLLK_TXFRAME_IDENTRES 0 // IdentResponse on CN / MN
+#define EPL_DLLK_TXFRAME_STATUSRES 1 // StatusResponse on CN / MN
+#define EPL_DLLK_TXFRAME_NMTREQ 2 // NMT Request from FIFO on CN / MN
+#define EPL_DLLK_TXFRAME_NONEPL 3 // non-EPL frame from FIFO on CN / MN
+#define EPL_DLLK_TXFRAME_PRES 4 // PRes on CN / MN
+#define EPL_DLLK_TXFRAME_SOC 5 // SoC on MN
+#define EPL_DLLK_TXFRAME_SOA 6 // SoA on MN
+#define EPL_DLLK_TXFRAME_PREQ 7 // PReq on MN
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+#define EPL_DLLK_TXFRAME_COUNT (7 + EPL_D_NMT_MaxCNNumber_U8 + 2) // on MN: 7 + MaxPReq of regular CNs + 1 Diag + 1 Router
+#else
+#define EPL_DLLK_TXFRAME_COUNT 5 // on CN: 5
+#endif
+
+#define EPL_DLLK_BUFLEN_EMPTY 0 // buffer is empty
+#define EPL_DLLK_BUFLEN_FILLING 1 // just the buffer is being filled
+#define EPL_DLLK_BUFLEN_MIN 60 // minimum ethernet frame length
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef enum
+{
+ kEplDllGsInit = 0x00, // MN/CN: initialisation (< PreOp2)
+ kEplDllCsWaitPreq = 0x01, // CN: wait for PReq frame
+ kEplDllCsWaitSoc = 0x02, // CN: wait for SoC frame
+ kEplDllCsWaitSoa = 0x03, // CN: wait for SoA frame
+ kEplDllMsNonCyclic = 0x04, // MN: reduced EPL cycle (PreOp1)
+ kEplDllMsWaitSocTrig = 0x05, // MN: wait for SoC trigger (cycle timer)
+ kEplDllMsWaitPreqTrig = 0x06, // MN: wait for (first) PReq trigger (WaitSoCPReq_U32)
+ kEplDllMsWaitPres = 0x07, // MN: wait for PRes frame from CN
+ kEplDllMsWaitSoaTrig = 0x08, // MN: wait for SoA trigger (PRes transmitted)
+ kEplDllMsWaitAsndTrig = 0x09, // MN: wait for ASnd trigger (SoA transmitted)
+ kEplDllMsWaitAsnd = 0x0A, // MN: wait for ASnd frame if SoA contained invitation
+
+} tEplDllState;
+
+typedef struct
+{
+ BYTE m_be_abSrcMac[6];
+ tEdrvTxBuffer* m_pTxBuffer; // Buffers for Tx-Frames
+ unsigned int m_uiMaxTxFrames;
+ BYTE m_bFlag1; // Flag 1 with EN, EC for PRes, StatusRes
+ BYTE m_bMnFlag1; // Flag 1 with EA, ER from PReq, SoA of MN
+ BYTE m_bFlag2; // Flag 2 with PR and RS for PRes, StatusRes, IdentRes
+ tEplDllConfigParam m_DllConfigParam;
+ tEplDllIdentParam m_DllIdentParam;
+ tEplDllState m_DllState;
+ tEplDllkCbAsync m_pfnCbAsync;
+ tEplDllAsndFilter m_aAsndFilter[EPL_DLL_MAX_ASND_SERVICE_ID];
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ tEplDllkNodeInfo* m_pFirstNodeInfo;
+ tEplDllkNodeInfo* m_pCurNodeInfo;
+ tEplDllkNodeInfo m_aNodeInfo[EPL_NMT_MAX_NODE_ID];
+ tEplDllReqServiceId m_LastReqServiceId;
+ unsigned int m_uiLastTargetNodeId;
+#endif
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ tEplTimerHdl m_TimerHdlCycle; // used for EPL cycle monitoring on CN and generation on MN
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ tEplTimerHdl m_TimerHdlResponse; // used for CN response monitoring
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+#endif
+
+ unsigned int m_uiCycleCount; // cycle counter (needed for multiplexed cycle support)
+ unsigned long long m_ullFrameTimeout; // frame timeout (cycle length + loss of frame tolerance)
+
+} tEplDllkInstance;
+
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+// if no dynamic memory allocation shall be used
+// define structures statically
+static tEplDllkInstance EplDllkInstance_g;
+
+static tEdrvTxBuffer aEplDllkTxBuffer_l[EPL_DLLK_TXFRAME_COUNT];
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+// change DLL state on event
+static tEplKernel EplDllkChangeState(tEplNmtEvent NmtEvent_p, tEplNmtState NmtState_p);
+
+// called from EdrvInterruptHandler()
+static void EplDllkCbFrameReceived(tEdrvRxBuffer * pRxBuffer_p);
+
+// called from EdrvInterruptHandler()
+static void EplDllkCbFrameTransmitted(tEdrvTxBuffer * pTxBuffer_p);
+
+// check frame and set missing information
+static tEplKernel EplDllkCheckFrame(tEplFrame * pFrame_p, unsigned int uiFrameSize_p);
+
+// called by high resolution timer module to monitor EPL cycle as CN
+#if EPL_TIMER_USE_HIGHRES != FALSE
+static tEplKernel PUBLIC EplDllkCbCnTimer(tEplTimerEventArg* pEventArg_p);
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+// MN: returns internal node info structure
+static tEplDllkNodeInfo* EplDllkGetNodeInfo(unsigned int uiNodeId_p);
+
+// transmit SoA
+static tEplKernel EplDllkMnSendSoa(tEplNmtState NmtState_p,
+ tEplDllState* pDllStateProposed_p,
+ BOOL fEnableInvitation_p);
+
+static tEplKernel EplDllkMnSendSoc(void);
+
+static tEplKernel EplDllkMnSendPreq(tEplNmtState NmtState_p,
+ tEplDllState* pDllStateProposed_p);
+
+static tEplKernel EplDllkAsyncFrameNotReceived(tEplDllReqServiceId ReqServiceId_p, unsigned int uiNodeId_p);
+
+static tEplKernel PUBLIC EplDllkCbMnTimerCycle(tEplTimerEventArg* pEventArg_p);
+
+static tEplKernel PUBLIC EplDllkCbMnTimerResponse(tEplTimerEventArg* pEventArg_p);
+
+#endif
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkAddInstance()
+//
+// Description: add and initialize new instance of EPL stack
+//
+// Parameters: pInitParam_p = initialisation parameters like MAC address
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkAddInstance(tEplDllkInitParam * pInitParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+tEdrvInitParam EdrvInitParam;
+
+ // reset instance structure
+ EPL_MEMSET(&EplDllkInstance_g, 0, sizeof (EplDllkInstance_g));
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskInit();
+ if (Ret != kEplSuccessful)
+ { // error occured while initializing high resolution timer module
+ goto Exit;
+ }
+#endif
+
+ // if dynamic memory allocation available
+ // allocate instance structure
+ // allocate TPDO and RPDO table with default size
+
+ // initialize and link pointers in instance structure to frame tables
+ EplDllkInstance_g.m_pTxBuffer = aEplDllkTxBuffer_l;
+ EplDllkInstance_g.m_uiMaxTxFrames = sizeof (aEplDllkTxBuffer_l) / sizeof (tEdrvTxBuffer);
+
+ // initialize state
+ EplDllkInstance_g.m_DllState = kEplDllGsInit;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // set up node info structure
+ for (uiIndex = 0; uiIndex < tabentries (EplDllkInstance_g.m_aNodeInfo); uiIndex++)
+ {
+ EplDllkInstance_g.m_aNodeInfo[uiIndex].m_uiNodeId = uiIndex + 1;
+ EplDllkInstance_g.m_aNodeInfo[uiIndex].m_wPresPayloadLimit = 0xFFFF;
+ }
+#endif
+
+ // initialize Edrv
+ EPL_MEMCPY(EdrvInitParam.m_abMyMacAddr, pInitParam_p->m_be_abSrcMac, 6);
+ EdrvInitParam.m_pfnRxHandler = EplDllkCbFrameReceived;
+ EdrvInitParam.m_pfnTxHandler = EplDllkCbFrameTransmitted;
+ Ret = EdrvInit(&EdrvInitParam);
+ if (Ret != kEplSuccessful)
+ { // error occured while initializing ethernet driver
+ goto Exit;
+ }
+
+ // copy local MAC address from Ethernet driver back to local instance structure
+ // because Ethernet driver may have read it from controller EEPROM
+ EPL_MEMCPY(EplDllkInstance_g.m_be_abSrcMac, EdrvInitParam.m_abMyMacAddr, 6);
+ EPL_MEMCPY(pInitParam_p->m_be_abSrcMac, EdrvInitParam.m_abMyMacAddr, 6);
+
+ // initialize TxBuffer array
+ for (uiIndex = 0; uiIndex < EplDllkInstance_g.m_uiMaxTxFrames; uiIndex++)
+ {
+ EplDllkInstance_g.m_pTxBuffer[uiIndex].m_pbBuffer = NULL;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
+ Ret = VEthAddInstance(pInitParam_p);
+#endif
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkDelInstance()
+//
+// Description: deletes an instance of EPL stack
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkDelInstance(void)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // reset state
+ EplDllkInstance_g.m_DllState = kEplDllGsInit;
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskDelInstance();
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
+ Ret = VEthDelInstance();
+#endif
+
+ Ret = EdrvShutdown();
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCreateTxFrame
+//
+// Description: creates the buffer for a Tx frame and registers it to the
+// ethernet driver
+//
+// Parameters: puiHandle_p = OUT: handle to frame buffer
+// ppFrame_p = OUT: pointer to pointer of EPL frame
+// puiFrameSize_p = IN/OUT: pointer to size of frame
+// returned size is always equal or larger than
+// requested size, if that is not possible
+// an error will be returned
+// MsgType_p = EPL message type
+// ServiceId_p = Service ID in case of ASnd frame, otherwise
+// kEplDllAsndNotDefined
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCreateTxFrame (unsigned int * puiHandle_p,
+ tEplFrame ** ppFrame_p,
+ unsigned int * puiFrameSize_p,
+ tEplMsgType MsgType_p,
+ tEplDllAsndServiceId ServiceId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplFrame *pTxFrame;
+unsigned int uiHandle = EplDllkInstance_g.m_uiMaxTxFrames;
+tEdrvTxBuffer *pTxBuffer = NULL;
+
+ if (MsgType_p == kEplMsgTypeAsnd)
+ {
+ // search for fixed Tx buffers
+ if (ServiceId_p == kEplDllAsndIdentResponse)
+ {
+ uiHandle = EPL_DLLK_TXFRAME_IDENTRES;
+ }
+ else if (ServiceId_p == kEplDllAsndStatusResponse)
+ {
+ uiHandle = EPL_DLLK_TXFRAME_STATUSRES;
+ }
+ else if ((ServiceId_p == kEplDllAsndNmtRequest) || (ServiceId_p == kEplDllAsndNmtCommand))
+ {
+ uiHandle = EPL_DLLK_TXFRAME_NMTREQ;
+ }
+
+ if (uiHandle >= EplDllkInstance_g.m_uiMaxTxFrames)
+ { // look for free entry
+ uiHandle = EPL_DLLK_TXFRAME_PREQ;
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle];
+ for (; uiHandle < EplDllkInstance_g.m_uiMaxTxFrames; uiHandle++, pTxBuffer++)
+ {
+ if (pTxBuffer->m_pbBuffer == NULL)
+ { // free entry found
+ break;
+ }
+ }
+ }
+ }
+ else if (MsgType_p == kEplMsgTypeNonEpl)
+ {
+ uiHandle = EPL_DLLK_TXFRAME_NONEPL;
+ }
+ else if (MsgType_p == kEplMsgTypePres)
+ {
+ uiHandle = EPL_DLLK_TXFRAME_PRES;
+ }
+ else if (MsgType_p == kEplMsgTypeSoc)
+ {
+ uiHandle = EPL_DLLK_TXFRAME_SOC;
+ }
+ else if (MsgType_p == kEplMsgTypeSoa)
+ {
+ uiHandle = EPL_DLLK_TXFRAME_SOA;
+ }
+ else
+ { // look for free entry
+ uiHandle = EPL_DLLK_TXFRAME_PREQ;
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle];
+ for (; uiHandle < EplDllkInstance_g.m_uiMaxTxFrames; uiHandle++, pTxBuffer++)
+ {
+ if (pTxBuffer->m_pbBuffer == NULL)
+ { // free entry found
+ break;
+ }
+ }
+ if (pTxBuffer->m_pbBuffer != NULL)
+ {
+ Ret = kEplEdrvNoFreeBufEntry;
+ goto Exit;
+ }
+ }
+
+ // test if requested entry is free
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle];
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // entry is not free
+ Ret = kEplEdrvNoFreeBufEntry;
+ goto Exit;
+ }
+
+ // setup Tx buffer
+ pTxBuffer->m_EplMsgType = MsgType_p;
+ pTxBuffer->m_uiMaxBufferLen = *puiFrameSize_p;
+
+ Ret = EdrvAllocTxMsgBuffer(pTxBuffer);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+
+ // because buffer size may be larger than requested
+ // memorize real length of frame
+ pTxBuffer->m_uiTxMsgLen = *puiFrameSize_p;
+
+ // fill whole frame with 0
+ EPL_MEMSET(pTxBuffer->m_pbBuffer, 0, pTxBuffer->m_uiMaxBufferLen);
+
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+
+ if (MsgType_p != kEplMsgTypeNonEpl)
+ { // fill out Frame only if it is an EPL frame
+ // ethertype
+ AmiSetWordToBe(&pTxFrame->m_be_wEtherType, EPL_C_DLL_ETHERTYPE_EPL);
+ // source node ID
+ AmiSetByteToLe(&pTxFrame->m_le_bSrcNodeId, (BYTE) EplDllkInstance_g.m_DllConfigParam.m_uiNodeId);
+ // source MAC address
+ EPL_MEMCPY(&pTxFrame->m_be_abSrcMac[0], &EplDllkInstance_g.m_be_abSrcMac[0], 6);
+ switch (MsgType_p)
+ {
+ case kEplMsgTypeAsnd:
+ // destination MAC address
+ AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], EPL_C_DLL_MULTICAST_ASND);
+ // destination node ID
+ switch (ServiceId_p)
+ {
+ case kEplDllAsndIdentResponse:
+ case kEplDllAsndStatusResponse:
+ { // IdentResponses and StatusResponses are Broadcast
+ AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, (BYTE) EPL_C_ADR_BROADCAST);
+ break;
+ }
+
+ default:
+ break;
+ }
+ // ASnd Service ID
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_le_bServiceId, ServiceId_p);
+ break;
+
+ case kEplMsgTypeSoc:
+ // destination MAC address
+ AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], EPL_C_DLL_MULTICAST_SOC);
+ // destination node ID
+ AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, (BYTE) EPL_C_ADR_BROADCAST);
+ // reset Flags
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Soc.m_le_bFlag1, (BYTE) 0);
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Soc.m_le_bFlag2, (BYTE) 0);
+ break;
+
+ case kEplMsgTypeSoa:
+ // destination MAC address
+ AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], EPL_C_DLL_MULTICAST_SOA);
+ // destination node ID
+ AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, (BYTE) EPL_C_ADR_BROADCAST);
+ // reset Flags
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bFlag1, (BYTE) 0);
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bFlag2, (BYTE) 0);
+ // EPL profile version
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bEplVersion, (BYTE) EPL_SPEC_VERSION);
+ break;
+
+ case kEplMsgTypePres:
+ // destination MAC address
+ AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], EPL_C_DLL_MULTICAST_PRES);
+ // destination node ID
+ AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, (BYTE) EPL_C_ADR_BROADCAST);
+ // reset Flags
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1, (BYTE) 0);
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag2, (BYTE) 0);
+ // PDO size
+ //AmiSetWordToLe(&pTxFrame->m_Data.m_Pres.m_le_wSize, 0);
+ break;
+
+ case kEplMsgTypePreq:
+ // reset Flags
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag1, (BYTE) 0);
+ //AmiSetByteToLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag2, (BYTE) 0);
+ // PDO size
+ //AmiSetWordToLe(&pTxFrame->m_Data.m_Preq.m_le_wSize, 0);
+ break;
+
+ default:
+ break;
+ }
+ // EPL message type
+ AmiSetByteToLe(&pTxFrame->m_le_bMessageType, (BYTE) MsgType_p);
+ }
+
+ *ppFrame_p = pTxFrame;
+ *puiFrameSize_p = pTxBuffer->m_uiMaxBufferLen;
+ *puiHandle_p = uiHandle;
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkDeleteTxFrame
+//
+// Description: deletes the buffer for a Tx frame and frees it in the
+// ethernet driver
+//
+// Parameters: uiHandle_p = IN: handle to frame buffer
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkDeleteTxFrame (unsigned int uiHandle_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEdrvTxBuffer *pTxBuffer = NULL;
+
+ if (uiHandle_p >= EplDllkInstance_g.m_uiMaxTxFrames)
+ { // handle is not valid
+ Ret = kEplDllIllegalHdl;
+ goto Exit;
+ }
+
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle_p];
+
+ // mark buffer as free so that frame will not be send in future anymore
+ // $$$ d.k. What's up with running transmissions?
+ pTxBuffer->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+ pTxBuffer->m_pbBuffer = NULL;
+
+ // delete Tx buffer
+ Ret = EdrvReleaseTxMsgBuffer(pTxBuffer);
+ if (Ret != kEplSuccessful)
+ { // error occured while releasing Tx frame
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkProcess
+//
+// Description: process the passed event
+//
+// Parameters: pEvent_p = event to be processed
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkProcess(tEplEvent * pEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplFrame *pTxFrame;
+tEdrvTxBuffer *pTxBuffer;
+unsigned int uiHandle;
+unsigned int uiFrameSize;
+BYTE abMulticastMac[6];
+tEplDllAsyncReqPriority AsyncReqPriority;
+unsigned int uiFrameCount;
+tEplNmtState NmtState;
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+tEplFrameInfo FrameInfo;
+#endif
+
+
+ switch (pEvent_p->m_EventType)
+ {
+ case kEplEventTypeDllkCreate:
+ {
+ // $$$ reset ethernet driver
+
+ NmtState = *((tEplNmtState*)pEvent_p->m_pArg);
+
+ // initialize flags for PRes and StatusRes
+ EplDllkInstance_g.m_bFlag1 = EPL_FRAME_FLAG1_EC;
+ EplDllkInstance_g.m_bMnFlag1 = 0;
+ EplDllkInstance_g.m_bFlag2 = 0;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // initialize linked node list
+ EplDllkInstance_g.m_pFirstNodeInfo = NULL;
+#endif
+
+ // register TxFrames in Edrv
+
+ // IdentResponse
+ uiFrameSize = EPL_C_DLL_MINSIZE_IDENTRES;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypeAsnd, kEplDllAsndIdentResponse);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+
+ // EPL profile version
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_bEplProfileVersion,
+ (BYTE) EPL_SPEC_VERSION);
+ // FeatureFlags
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwFeatureFlags,
+ EplDllkInstance_g.m_DllConfigParam.m_dwFeatureFlags);
+ // MTU
+ AmiSetWordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_wMtu,
+ (WORD) EplDllkInstance_g.m_DllConfigParam.m_uiAsyncMtu);
+ // PollInSize
+ AmiSetWordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_wPollInSize,
+ (WORD)EplDllkInstance_g.m_DllConfigParam.m_uiPreqActPayloadLimit);
+ // PollOutSize
+ AmiSetWordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_wPollOutSize,
+ (WORD)EplDllkInstance_g.m_DllConfigParam.m_uiPresActPayloadLimit);
+ // ResponseTime / PresMaxLatency
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwResponseTime,
+ EplDllkInstance_g.m_DllConfigParam.m_dwPresMaxLatency);
+ // DeviceType
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwDeviceType,
+ EplDllkInstance_g.m_DllIdentParam.m_dwDeviceType);
+ // VendorId
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwVendorId,
+ EplDllkInstance_g.m_DllIdentParam.m_dwVendorId);
+ // ProductCode
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwProductCode,
+ EplDllkInstance_g.m_DllIdentParam.m_dwProductCode);
+ // RevisionNumber
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwRevisionNumber,
+ EplDllkInstance_g.m_DllIdentParam.m_dwRevisionNumber);
+ // SerialNumber
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwSerialNumber,
+ EplDllkInstance_g.m_DllIdentParam.m_dwSerialNumber);
+ // VendorSpecificExt1
+ AmiSetQword64ToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_qwVendorSpecificExt1,
+ EplDllkInstance_g.m_DllIdentParam.m_qwVendorSpecificExt1);
+ // VerifyConfigurationDate
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwVerifyConfigurationDate,
+ EplDllkInstance_g.m_DllIdentParam.m_dwVerifyConfigurationDate);
+ // VerifyConfigurationTime
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwVerifyConfigurationTime,
+ EplDllkInstance_g.m_DllIdentParam.m_dwVerifyConfigurationTime);
+ // ApplicationSwDate
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwApplicationSwDate,
+ EplDllkInstance_g.m_DllIdentParam.m_dwApplicationSwDate);
+ // ApplicationSwTime
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwApplicationSwTime,
+ EplDllkInstance_g.m_DllIdentParam.m_dwApplicationSwTime);
+ // IPAddress
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwIpAddress,
+ EplDllkInstance_g.m_DllIdentParam.m_dwIpAddress);
+ // SubnetMask
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwSubnetMask,
+ EplDllkInstance_g.m_DllIdentParam.m_dwSubnetMask);
+ // DefaultGateway
+ AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_dwDefaultGateway,
+ EplDllkInstance_g.m_DllIdentParam.m_dwDefaultGateway);
+ // HostName
+ EPL_MEMCPY(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_sHostname[0],
+ &EplDllkInstance_g.m_DllIdentParam.m_sHostname[0],
+ sizeof (EplDllkInstance_g.m_DllIdentParam.m_sHostname));
+ // VendorSpecificExt2
+ EPL_MEMCPY(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_abVendorSpecificExt2[0],
+ &EplDllkInstance_g.m_DllIdentParam.m_abVendorSpecificExt2[0],
+ sizeof (EplDllkInstance_g.m_DllIdentParam.m_abVendorSpecificExt2));
+
+ // StatusResponse
+ uiFrameSize = EPL_C_DLL_MINSIZE_STATUSRES;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypeAsnd, kEplDllAsndStatusResponse);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+
+ // PRes $$$ maybe move this to PDO module
+ if ((EplDllkInstance_g.m_DllConfigParam.m_fAsyncOnly == FALSE)
+ && (EplDllkInstance_g.m_DllConfigParam.m_uiPresActPayloadLimit >= 36))
+ { // it is not configured as async-only CN,
+ // so take part in isochronous phase and register PRes frame
+ uiFrameSize = EplDllkInstance_g.m_DllConfigParam.m_uiPresActPayloadLimit + 24;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypePres, kEplDllAsndNotDefined);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ // initially encode TPDO -> inform PDO module
+ FrameInfo.m_pFrame = pTxFrame;
+ FrameInfo.m_uiFrameSize = uiFrameSize;
+ Ret = EplPdokCbPdoTransmitted(&FrameInfo);
+#endif
+ // reset cycle counter
+ EplDllkInstance_g.m_uiCycleCount = 0;
+ }
+ else
+ { // it is an async-only CN
+ // fool EplDllkChangeState() to think that PRes was not expected
+ EplDllkInstance_g.m_uiCycleCount = 1;
+ }
+
+ // NMT request
+ uiFrameSize = EPL_C_IP_MAX_MTU;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypeAsnd, kEplDllAsndNmtRequest);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+ // mark Tx buffer as empty
+ EplDllkInstance_g.m_pTxBuffer[uiHandle].m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+
+ // non-EPL frame
+ uiFrameSize = EPL_C_IP_MAX_MTU;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypeNonEpl, kEplDllAsndNotDefined);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+ // mark Tx buffer as empty
+ EplDllkInstance_g.m_pTxBuffer[uiHandle].m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+
+ // register multicast MACs in ethernet driver
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_SOC);
+ Ret = EdrvDefineRxMacAddrEntry(abMulticastMac);
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_SOA);
+ Ret = EdrvDefineRxMacAddrEntry(abMulticastMac);
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_PRES);
+ Ret = EdrvDefineRxMacAddrEntry(abMulticastMac);
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_ASND);
+ Ret = EdrvDefineRxMacAddrEntry(abMulticastMac);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (NmtState >= kEplNmtMsNotActive)
+ { // local node is MN
+ unsigned int uiIndex;
+
+ // SoC
+ uiFrameSize = EPL_C_DLL_MINSIZE_SOC;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypeSoc, kEplDllAsndNotDefined);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+
+ // SoA
+ uiFrameSize = EPL_C_DLL_MINSIZE_SOA;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pTxFrame, &uiFrameSize, kEplMsgTypeSoa, kEplDllAsndNotDefined);
+ if (Ret != kEplSuccessful)
+ { // error occured while registering Tx frame
+ goto Exit;
+ }
+
+ for (uiIndex = 0; uiIndex < tabentries (EplDllkInstance_g.m_aNodeInfo); uiIndex++)
+ {
+// EplDllkInstance_g.m_aNodeInfo[uiIndex].m_uiNodeId = uiIndex + 1;
+ EplDllkInstance_g.m_aNodeInfo[uiIndex].m_wPresPayloadLimit = (WORD) EplDllkInstance_g.m_DllConfigParam.m_uiIsochrRxMaxPayload;
+ }
+
+ // calculate cycle length
+ EplDllkInstance_g.m_ullFrameTimeout = 1000LL
+ * ((unsigned long long) EplDllkInstance_g.m_DllConfigParam.m_dwCycleLen);
+ }
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+ Ret = EplDllkCalAsyncClearBuffer();
+
+ break;
+ }
+
+ case kEplEventTypeDllkDestroy:
+ {
+ // destroy all data structures
+
+ NmtState = *((tEplNmtState*)pEvent_p->m_pArg);
+
+ // delete Tx frames
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_IDENTRES);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_STATUSRES);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_PRES);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_NMTREQ);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_NONEPL);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (NmtState >= kEplNmtMsNotActive)
+ { // local node was MN
+ unsigned int uiIndex;
+
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_SOC);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_SOA);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ for (uiIndex = 0; uiIndex < tabentries (EplDllkInstance_g.m_aNodeInfo); uiIndex++)
+ {
+ if (EplDllkInstance_g.m_aNodeInfo[uiIndex].m_pPreqTxBuffer != NULL)
+ {
+ uiHandle = EplDllkInstance_g.m_aNodeInfo[uiIndex].m_pPreqTxBuffer - EplDllkInstance_g.m_pTxBuffer;
+ EplDllkInstance_g.m_aNodeInfo[uiIndex].m_pPreqTxBuffer = NULL;
+ Ret = EplDllkDeleteTxFrame(uiHandle);
+ if (Ret != kEplSuccessful)
+ { // error occured while deregistering Tx frame
+ goto Exit;
+ }
+
+ }
+ EplDllkInstance_g.m_aNodeInfo[uiIndex].m_wPresPayloadLimit = 0xFFFF;
+ }
+ }
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+ // deregister multicast MACs in ethernet driver
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_SOC);
+ Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac);
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_SOA);
+ Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac);
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_PRES);
+ Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac);
+ AmiSetQword48ToBe(&abMulticastMac[0], EPL_C_DLL_MULTICAST_ASND);
+ Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac);
+
+ // delete timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskDeleteTimer(&EplDllkInstance_g.m_TimerHdlCycle);
+#endif
+
+ break;
+ }
+
+ case kEplEventTypeDllkFillTx:
+ {
+ // fill TxBuffer of specified priority with new frame if empty
+
+ pTxFrame = NULL;
+ AsyncReqPriority = *((tEplDllAsyncReqPriority *) pEvent_p->m_pArg);
+ switch (AsyncReqPriority)
+ {
+ case kEplDllAsyncReqPrioNmt: // NMT request priority
+ {
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ];
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // NmtRequest does exist
+ // check if frame is empty and not being filled
+ if (pTxBuffer->m_uiTxMsgLen == EPL_DLLK_BUFLEN_EMPTY)
+ {
+ // mark Tx buffer as filling is in process
+ pTxBuffer->m_uiTxMsgLen = EPL_DLLK_BUFLEN_FILLING;
+ // set max buffer size as input parameter
+ uiFrameSize = pTxBuffer->m_uiMaxBufferLen;
+ // copy frame from shared loop buffer to Tx buffer
+ Ret = EplDllkCalAsyncGetTxFrame(
+ pTxBuffer->m_pbBuffer, &uiFrameSize, AsyncReqPriority);
+ if (Ret == kEplSuccessful)
+ {
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+ Ret = EplDllkCheckFrame(pTxFrame, uiFrameSize);
+
+ // set buffer valid
+ pTxBuffer->m_uiTxMsgLen = uiFrameSize;
+ }
+ else if (Ret == kEplDllAsyncTxBufferEmpty)
+ { // empty Tx buffer is not a real problem
+ // so just ignore it
+ Ret = kEplSuccessful;
+ // mark Tx buffer as empty
+ pTxBuffer->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+ }
+ }
+ }
+ break;
+ }
+
+ default: // generic priority
+ {
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL];
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // non-EPL frame does exist
+ // check if frame is empty and not being filled
+ if (pTxBuffer->m_uiTxMsgLen == EPL_DLLK_BUFLEN_EMPTY)
+ {
+ // mark Tx buffer as filling is in process
+ pTxBuffer->m_uiTxMsgLen = EPL_DLLK_BUFLEN_FILLING;
+ // set max buffer size as input parameter
+ uiFrameSize = pTxBuffer->m_uiMaxBufferLen;
+ // copy frame from shared loop buffer to Tx buffer
+ Ret = EplDllkCalAsyncGetTxFrame(
+ pTxBuffer->m_pbBuffer, &uiFrameSize, AsyncReqPriority);
+ if (Ret == kEplSuccessful)
+ {
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+ Ret = EplDllkCheckFrame(pTxFrame, uiFrameSize);
+
+ // set buffer valid
+ pTxBuffer->m_uiTxMsgLen = uiFrameSize;
+ }
+ else if (Ret == kEplDllAsyncTxBufferEmpty)
+ { // empty Tx buffer is not a real problem
+ // so just ignore it
+ Ret = kEplSuccessful;
+ // mark Tx buffer as empty
+ pTxBuffer->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+ }
+ }
+ }
+ break;
+ }
+ }
+
+ NmtState = EplNmtkGetNmtState();
+
+ if ((NmtState == kEplNmtCsBasicEthernet) || (NmtState == kEplNmtMsBasicEthernet))
+ { // send frame immediately
+ if (pTxFrame != NULL)
+ { // frame is present
+ // padding is done by Edrv or ethernet controller
+ Ret = EdrvSendTxMsg(pTxBuffer);
+ }
+ else
+ { // no frame moved to TxBuffer
+ // check if TxBuffers contain unsent frames
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY)
+ { // NMT request Tx buffer contains a frame
+ Ret = EdrvSendTxMsg(
+ &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ]);
+ }
+ else if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY)
+ { // non-EPL Tx buffer contains a frame
+ Ret = EdrvSendTxMsg(
+ &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL]);
+ }
+ if (Ret == kEplInvalidOperation)
+ { // ignore error if caused by already active transmission
+ Ret = kEplSuccessful;
+ }
+ }
+ // reset PRes flag 2
+ EplDllkInstance_g.m_bFlag2 = 0;
+ }
+ else
+ {
+ // update Flag 2 (PR, RS)
+ Ret = EplDllkCalAsyncGetTxCount(&AsyncReqPriority, &uiFrameCount);
+ if (AsyncReqPriority == kEplDllAsyncReqPrioNmt)
+ { // non-empty FIFO with hightest priority is for NMT requests
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY)
+ { // NMT request Tx buffer contains a frame
+ // add one more frame
+ uiFrameCount++;
+ }
+ }
+ else
+ { // non-empty FIFO with highest priority is for generic frames
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY)
+ { // NMT request Tx buffer contains a frame
+ // use NMT request FIFO, because of higher priority
+ uiFrameCount = 1;
+ AsyncReqPriority = kEplDllAsyncReqPrioNmt;
+ }
+ else if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY)
+ { // non-EPL Tx buffer contains a frame
+ // use NMT request FIFO, because of higher priority
+ // add one more frame
+ uiFrameCount++;
+ }
+ }
+
+ if (uiFrameCount > 7)
+ { // limit frame request to send counter to 7
+ uiFrameCount = 7;
+ }
+ if (uiFrameCount > 0)
+ {
+ EplDllkInstance_g.m_bFlag2 =
+ (BYTE) (((AsyncReqPriority << EPL_FRAME_FLAG2_PR_SHIFT) & EPL_FRAME_FLAG2_PR)
+ | (uiFrameCount & EPL_FRAME_FLAG2_RS));
+ }
+ else
+ {
+ EplDllkInstance_g.m_bFlag2 = 0;
+ }
+ }
+
+ break;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ case kEplEventTypeDllkStartReducedCycle:
+ {
+ // start the reduced cycle by programming the cycle timer
+ // it is issued by NMT MN module, when PreOp1 is entered
+
+ // clear the asynchronous queues
+ Ret = EplDllkCalAsyncClearQueues();
+
+ // reset cycle counter (everytime a SoA is triggerd in PreOp1 the counter is incremented
+ // and when it reaches EPL_C_DLL_PREOP1_START_CYCLES the SoA may contain invitations)
+ EplDllkInstance_g.m_uiCycleCount = 0;
+
+ // remove any CN from isochronous phase
+ while (EplDllkInstance_g.m_pFirstNodeInfo != NULL)
+ {
+ EplDllkDeleteNode(EplDllkInstance_g.m_pFirstNodeInfo->m_uiNodeId);
+ }
+
+ // change state to NonCyclic,
+ // hence EplDllkChangeState() will not ignore the next call
+ EplDllkInstance_g.m_DllState = kEplDllMsNonCyclic;
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if (EplDllkInstance_g.m_DllConfigParam.m_dwAsyncSlotTimeout != 0)
+ {
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlCycle,
+ EplDllkInstance_g.m_DllConfigParam.m_dwAsyncSlotTimeout,
+ EplDllkCbMnTimerCycle,
+ 0L,
+ FALSE);
+ }
+#endif
+
+ break;
+ }
+#endif
+
+#if EPL_DLL_PRES_READY_AFTER_SOA != FALSE
+ case kEplEventTypeDllkPresReady:
+ {
+ // post PRes to transmit FIFO
+
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState != kEplNmtCsBasicEthernet)
+ {
+ // Does PRes exist?
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES].m_pbBuffer != NULL)
+ { // PRes does exist
+ pTxFrame = (tEplFrame *) EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES].m_pbBuffer;
+ // update frame (NMT state, RD, RS, PR, MS, EN flags)
+ if (NmtState < kEplNmtCsPreOperational2)
+ { // NMT state is not PreOp2, ReadyToOp or Op
+ // fake NMT state PreOp2, because PRes will be sent only in PreOp2 or greater
+ NmtState = kEplNmtCsPreOperational2;
+ }
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ if (NmtState != kEplNmtCsOperational)
+ { // mark PDO as invalid in NMT state Op
+ // $$$ reset only RD flag; set other flags appropriately
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1, 0);
+ }
+ // $$$ make function that updates Pres, StatusRes
+ // mark PRes frame as ready for transmission
+ Ret = EdrvTxMsgReady(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]);
+ }
+ }
+
+ break;
+ }
+#endif
+ default:
+ {
+ ASSERTMSG(FALSE, "EplDllkProcess(): unhandled event type!\n");
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkConfig
+//
+// Description: configure parameters of DLL
+//
+// Parameters: pDllConfigParam_p = configuration parameters
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkConfig(tEplDllConfigParam * pDllConfigParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+// d.k. check of NMT state disabled, because CycleLen is programmed at run time by MN without reset of CN
+/*tEplNmtState NmtState;
+
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState > kEplNmtGsResetConfiguration)
+ { // only allowed in state DLL_GS_INIT
+ Ret = kEplInvalidOperation;
+ goto Exit;
+ }
+*/
+ EPL_MEMCPY (&EplDllkInstance_g.m_DllConfigParam, pDllConfigParam_p,
+ (pDllConfigParam_p->m_uiSizeOfStruct < sizeof (tEplDllConfigParam) ?
+ pDllConfigParam_p->m_uiSizeOfStruct : sizeof (tEplDllConfigParam)));
+
+ if ((EplDllkInstance_g.m_DllConfigParam.m_dwCycleLen != 0)
+ && (EplDllkInstance_g.m_DllConfigParam.m_dwLossOfFrameTolerance != 0))
+ { // monitor EPL cycle, calculate frame timeout
+ EplDllkInstance_g.m_ullFrameTimeout = (1000LL
+ * ((unsigned long long) EplDllkInstance_g.m_DllConfigParam.m_dwCycleLen))
+ + ((unsigned long long) EplDllkInstance_g.m_DllConfigParam.m_dwLossOfFrameTolerance);
+ }
+ else
+ {
+ EplDllkInstance_g.m_ullFrameTimeout = 0LL;
+ }
+
+ if (EplDllkInstance_g.m_DllConfigParam.m_fAsyncOnly != FALSE)
+ { // it is configured as async-only CN
+ // disable multiplexed cycle, that m_uiCycleCount will not be incremented spuriously on SoC
+ EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt = 0;
+ }
+
+//Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkSetIdentity
+//
+// Description: configure identity of local node for IdentResponse
+//
+// Parameters: pDllIdentParam_p = identity
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkSetIdentity(tEplDllIdentParam * pDllIdentParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ EPL_MEMCPY (&EplDllkInstance_g.m_DllIdentParam, pDllIdentParam_p,
+ (pDllIdentParam_p->m_uiSizeOfStruct < sizeof (tEplDllIdentParam) ?
+ pDllIdentParam_p->m_uiSizeOfStruct : sizeof (tEplDllIdentParam)));
+
+ // $$$ if IdentResponse frame exists update it
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkRegAsyncHandler
+//
+// Description: registers handler for non-EPL frames
+//
+// Parameters: pfnDllkCbAsync_p = pointer to callback function
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkRegAsyncHandler(tEplDllkCbAsync pfnDllkCbAsync_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (EplDllkInstance_g.m_pfnCbAsync == NULL)
+ { // no handler registered yet
+ EplDllkInstance_g.m_pfnCbAsync = pfnDllkCbAsync_p;
+ }
+ else
+ { // handler already registered
+ Ret = kEplDllCbAsyncRegistered;
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkDeregAsyncHandler
+//
+// Description: deregisters handler for non-EPL frames
+//
+// Parameters: pfnDllkCbAsync_p = pointer to callback function
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkDeregAsyncHandler(tEplDllkCbAsync pfnDllkCbAsync_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (EplDllkInstance_g.m_pfnCbAsync == pfnDllkCbAsync_p)
+ { // same handler is registered
+ // deregister it
+ EplDllkInstance_g.m_pfnCbAsync = NULL;
+ }
+ else
+ { // wrong handler or no handler registered
+ Ret = kEplDllCbAsyncRegistered;
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkSetAsndServiceIdFilter()
+//
+// Description: sets the specified node ID filter for the specified
+// AsndServiceId. It registers C_DLL_MULTICAST_ASND in ethernet
+// driver if any AsndServiceId is open.
+//
+// Parameters: ServiceId_p = ASnd Service ID
+// Filter_p = node ID filter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkSetAsndServiceIdFilter(tEplDllAsndServiceId ServiceId_p, tEplDllAsndFilter Filter_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (ServiceId_p < tabentries (EplDllkInstance_g.m_aAsndFilter))
+ {
+ EplDllkInstance_g.m_aAsndFilter[ServiceId_p] = Filter_p;
+ }
+
+ return Ret;
+}
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkSetFlag1OfNode()
+//
+// Description: sets Flag1 (for PReq and SoA) of the specified node ID.
+//
+// Parameters: uiNodeId_p = node ID
+// bSoaFlag1_p = flag1
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkSetFlag1OfNode(unsigned int uiNodeId_p, BYTE bSoaFlag1_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplDllkNodeInfo* pNodeInfo;
+
+ pNodeInfo = EplDllkGetNodeInfo(uiNodeId_p);
+ if (pNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ goto Exit;
+ }
+
+ // store flag1 in internal node info structure
+ pNodeInfo->m_bSoaFlag1 = bSoaFlag1_p;
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkGetFirstNodeInfo()
+//
+// Description: returns first info structure of first node in isochronous phase.
+// It is only useful for ErrorHandlerk module.
+//
+// Parameters: ppNodeInfo_p = pointer to pointer of internal node info structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkGetFirstNodeInfo(tEplDllkNodeInfo** ppNodeInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ *ppNodeInfo_p = EplDllkInstance_g.m_pFirstNodeInfo;
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkAddNode()
+//
+// Description: adds the specified node to the isochronous phase.
+//
+// Parameters: pNodeInfo_p = pointer of node info structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkAddNode(tEplDllNodeInfo * pNodeInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplDllkNodeInfo* pIntNodeInfo;
+tEplDllkNodeInfo** ppIntNodeInfo;
+unsigned int uiHandle;
+tEplFrame* pFrame;
+unsigned int uiFrameSize;
+
+ pIntNodeInfo = EplDllkGetNodeInfo(pNodeInfo_p->m_uiNodeId);
+ if (pIntNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ goto Exit;
+ }
+
+ EPL_DLLK_DBG_POST_TRACE_VALUE(kEplEventTypeDllkAddNode,
+ pNodeInfo_p->m_uiNodeId,
+ 0);
+
+ // copy node configuration
+ pIntNodeInfo->m_dwPresTimeout = pNodeInfo_p->m_dwPresTimeout;
+ pIntNodeInfo->m_wPresPayloadLimit = pNodeInfo_p->m_wPresPayloadLimit;
+
+ // $$$ d.k.: actually add node only if MN. On CN it is sufficient to update the node configuration
+ if (pNodeInfo_p->m_uiNodeId == EplDllkInstance_g.m_DllConfigParam.m_uiNodeId)
+ { // we shall send PRes ourself
+ // insert our node at the end of the list
+ ppIntNodeInfo = &EplDllkInstance_g.m_pFirstNodeInfo;
+ while ((*ppIntNodeInfo != NULL) && ((*ppIntNodeInfo)->m_pNextNodeInfo != NULL))
+ {
+ ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo;
+ }
+ if (*ppIntNodeInfo != NULL)
+ {
+ if ((*ppIntNodeInfo)->m_uiNodeId == pNodeInfo_p->m_uiNodeId)
+ { // node was already added to list
+ // $$$ d.k. maybe this should be an error
+ goto Exit;
+ }
+ else
+ { // add our node at the end of the list
+ ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo;
+ }
+ }
+ // set "PReq"-TxBuffer to PRes-TxBuffer
+ pIntNodeInfo->m_pPreqTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES];
+ }
+ else
+ { // normal CN shall be added to isochronous phase
+ // insert node into list in ascending order
+ ppIntNodeInfo = &EplDllkInstance_g.m_pFirstNodeInfo;
+ while ((*ppIntNodeInfo != NULL)
+ && ((*ppIntNodeInfo)->m_uiNodeId < pNodeInfo_p->m_uiNodeId)
+ && ((*ppIntNodeInfo)->m_uiNodeId != EplDllkInstance_g.m_DllConfigParam.m_uiNodeId))
+ {
+ ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo;
+ }
+ if ((*ppIntNodeInfo != NULL) && ((*ppIntNodeInfo)->m_uiNodeId == pNodeInfo_p->m_uiNodeId))
+ { // node was already added to list
+ // $$$ d.k. maybe this should be an error
+ goto Exit;
+ }
+ }
+
+ // initialize elements of internal node info structure
+ pIntNodeInfo->m_bSoaFlag1 = 0;
+ pIntNodeInfo->m_fSoftDelete = FALSE;
+ pIntNodeInfo->m_NmtState = kEplNmtCsNotActive;
+ if (pIntNodeInfo->m_pPreqTxBuffer == NULL)
+ { // create TxBuffer entry
+ uiFrameSize = pNodeInfo_p->m_wPreqPayloadLimit + 24;
+ Ret = EplDllkCreateTxFrame(&uiHandle, &pFrame, &uiFrameSize, kEplMsgTypePreq, kEplDllAsndNotDefined);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ pIntNodeInfo->m_pPreqTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle];
+ AmiSetByteToLe(&pFrame->m_le_bDstNodeId, (BYTE) pNodeInfo_p->m_uiNodeId);
+
+ // set up destination MAC address
+ EPL_MEMCPY(pFrame->m_be_abDstMac, pIntNodeInfo->m_be_abMacAddr, 6);
+
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ {
+ tEplFrameInfo FrameInfo;
+
+ // initially encode TPDO -> inform PDO module
+ FrameInfo.m_pFrame = pFrame;
+ FrameInfo.m_uiFrameSize = uiFrameSize;
+ Ret = EplPdokCbPdoTransmitted(&FrameInfo);
+ }
+ #endif
+ }
+ pIntNodeInfo->m_ulDllErrorEvents = 0L;
+ // add node to list
+ pIntNodeInfo->m_pNextNodeInfo = *ppIntNodeInfo;
+ *ppIntNodeInfo = pIntNodeInfo;
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkDeleteNode()
+//
+// Description: removes the specified node from the isochronous phase.
+//
+// Parameters: uiNodeId_p = node ID
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkDeleteNode(unsigned int uiNodeId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplDllkNodeInfo* pIntNodeInfo;
+tEplDllkNodeInfo** ppIntNodeInfo;
+unsigned int uiHandle;
+
+ pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId_p);
+ if (pIntNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ goto Exit;
+ }
+
+ EPL_DLLK_DBG_POST_TRACE_VALUE(kEplEventTypeDllkDelNode,
+ uiNodeId_p,
+ 0);
+
+ // search node in whole list
+ ppIntNodeInfo = &EplDllkInstance_g.m_pFirstNodeInfo;
+ while ((*ppIntNodeInfo != NULL) && ((*ppIntNodeInfo)->m_uiNodeId != uiNodeId_p))
+ {
+ ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo;
+ }
+ if ((*ppIntNodeInfo == NULL) || ((*ppIntNodeInfo)->m_uiNodeId != uiNodeId_p))
+ { // node was not found in list
+ // $$$ d.k. maybe this should be an error
+ goto Exit;
+ }
+
+ // remove node from list
+ *ppIntNodeInfo = pIntNodeInfo->m_pNextNodeInfo;
+
+ if ((pIntNodeInfo->m_pPreqTxBuffer != NULL)
+ && (pIntNodeInfo->m_pPreqTxBuffer != &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]))
+ { // delete TxBuffer entry
+ uiHandle = pIntNodeInfo->m_pPreqTxBuffer - EplDllkInstance_g.m_pTxBuffer;
+ pIntNodeInfo->m_pPreqTxBuffer = NULL;
+ Ret = EplDllkDeleteTxFrame(uiHandle);
+/* if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }*/
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkSoftDeleteNode()
+//
+// Description: removes the specified node not immediately from the isochronous phase.
+// Instead the will be removed after error (late/loss PRes) without
+// charging the error.
+//
+// Parameters: uiNodeId_p = node ID
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkSoftDeleteNode(unsigned int uiNodeId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplDllkNodeInfo* pIntNodeInfo;
+
+ pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId_p);
+ if (pIntNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ goto Exit;
+ }
+
+ EPL_DLLK_DBG_POST_TRACE_VALUE(kEplEventTypeDllkSoftDelNode,
+ uiNodeId_p,
+ 0);
+
+ pIntNodeInfo->m_fSoftDelete = TRUE;
+
+Exit:
+ return Ret;
+}
+
+
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkChangeState
+//
+// Description: change DLL state on event and diagnose some communication errors
+//
+// Parameters: NmtEvent_p = DLL event (wrapped in NMT event)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDllkChangeState(tEplNmtEvent NmtEvent_p, tEplNmtState NmtState_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+tEplErrorHandlerkEvent DllEvent;
+
+ DllEvent.m_ulDllErrorEvents = 0;
+ DllEvent.m_uiNodeId = 0;
+ DllEvent.m_NmtState = NmtState_p;
+
+ switch (NmtState_p)
+ {
+ case kEplNmtGsOff:
+ case kEplNmtGsInitialising:
+ case kEplNmtGsResetApplication:
+ case kEplNmtGsResetCommunication:
+ case kEplNmtGsResetConfiguration:
+ case kEplNmtCsBasicEthernet:
+ // enter DLL_GS_INIT
+ EplDllkInstance_g.m_DllState = kEplDllGsInit;
+ break;
+
+ case kEplNmtCsNotActive:
+ case kEplNmtCsPreOperational1:
+ // reduced EPL cycle is active
+ if (NmtEvent_p == kEplNmtEventDllCeSoc)
+ { // SoC received
+ // enter DLL_CS_WAIT_PREQ
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitPreq;
+ }
+ else
+ {
+ // enter DLL_GS_INIT
+ EplDllkInstance_g.m_DllState = kEplDllGsInit;
+ }
+ break;
+
+ case kEplNmtCsPreOperational2:
+ case kEplNmtCsReadyToOperate:
+ case kEplNmtCsOperational:
+ // full EPL cycle is active
+
+ switch (EplDllkInstance_g.m_DllState)
+ {
+ case kEplDllCsWaitPreq:
+ switch (NmtEvent_p)
+ {
+ // DLL_CT2
+ case kEplNmtEventDllCePreq:
+ // enter DLL_CS_WAIT_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_RECVD_PREQ;
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa;
+ break;
+
+ // DLL_CT8
+ case kEplNmtEventDllCeFrameTimeout:
+ if (NmtState_p == kEplNmtCsPreOperational2)
+ { // ignore frame timeout in PreOp2,
+ // because the previously configured cycle len
+ // may be wrong.
+ // 2008/10/15 d.k. If it would not be ignored,
+ // we would go cyclically to PreOp1 and on next
+ // SoC back to PreOp2.
+ break;
+ }
+
+ // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA | EPL_DLL_ERR_CN_LOSS_SOC;
+
+ // enter DLL_CS_WAIT_SOC
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc;
+ break;
+
+ case kEplNmtEventDllCeSoa:
+ // check if multiplexed and PReq should have been received in this cycle
+ // and if >= NMT_CS_READY_TO_OPERATE
+ if ((EplDllkInstance_g.m_uiCycleCount == 0)
+ && (NmtState_p >= kEplNmtCsReadyToOperate))
+ { // report DLL_CEV_LOSS_OF_PREQ
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_PREQ;
+ }
+
+ // enter DLL_CS_WAIT_SOC
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc;
+ break;
+
+ // DLL_CT7
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeAsnd:
+ // report DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA;
+
+ case kEplNmtEventDllCePres:
+ default:
+ // remain in this state
+ break;
+ }
+ break;
+
+ case kEplDllCsWaitSoc:
+ switch (NmtEvent_p)
+ {
+ // DLL_CT1
+ case kEplNmtEventDllCeSoc:
+ // start of cycle and isochronous phase
+ // enter DLL_CS_WAIT_PREQ
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitPreq;
+ break;
+
+ // DLL_CT4
+// case kEplNmtEventDllCePres:
+ case kEplNmtEventDllCeFrameTimeout:
+ if (NmtState_p == kEplNmtCsPreOperational2)
+ { // ignore frame timeout in PreOp2,
+ // because the previously configured cycle len
+ // may be wrong.
+ // 2008/10/15 d.k. If it would not be ignored,
+ // we would go cyclically to PreOp1 and on next
+ // SoC back to PreOp2.
+ break;
+ }
+
+ // fall through
+
+ case kEplNmtEventDllCePreq:
+ case kEplNmtEventDllCeSoa:
+ // report DLL_CEV_LOSS_SOC
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOC;
+
+ case kEplNmtEventDllCeAsnd:
+ default:
+ // remain in this state
+ break;
+ }
+ break;
+
+ case kEplDllCsWaitSoa:
+ switch (NmtEvent_p)
+ {
+ case kEplNmtEventDllCeFrameTimeout:
+ // DLL_CT3
+ if (NmtState_p == kEplNmtCsPreOperational2)
+ { // ignore frame timeout in PreOp2,
+ // because the previously configured cycle len
+ // may be wrong.
+ // 2008/10/15 d.k. If it would not be ignored,
+ // we would go cyclically to PreOp1 and on next
+ // SoC back to PreOp2.
+ break;
+ }
+
+ // fall through
+
+ case kEplNmtEventDllCePreq:
+ // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA | EPL_DLL_ERR_CN_LOSS_SOC;
+
+ case kEplNmtEventDllCeSoa:
+ // enter DLL_CS_WAIT_SOC
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc;
+ break;
+
+ // DLL_CT9
+ case kEplNmtEventDllCeSoc:
+ // report DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA;
+
+ // enter DLL_CS_WAIT_PREQ
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitPreq;
+ break;
+
+ // DLL_CT10
+ case kEplNmtEventDllCeAsnd:
+ // report DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA;
+
+ case kEplNmtEventDllCePres:
+ default:
+ // remain in this state
+ break;
+ }
+ break;
+
+ case kEplDllGsInit:
+ // enter DLL_CS_WAIT_PREQ
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitPreq;
+ break;
+
+ default:
+ break;
+ }
+ break;
+
+ case kEplNmtCsStopped:
+ // full EPL cycle is active, but without PReq/PRes
+
+ switch (EplDllkInstance_g.m_DllState)
+ {
+ case kEplDllCsWaitPreq:
+ switch (NmtEvent_p)
+ {
+ // DLL_CT2
+ case kEplNmtEventDllCePreq:
+ // enter DLL_CS_WAIT_SOA
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa;
+ break;
+
+ // DLL_CT8
+ case kEplNmtEventDllCeFrameTimeout:
+ // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA | EPL_DLL_ERR_CN_LOSS_SOC;
+
+ case kEplNmtEventDllCeSoa:
+ // NMT_CS_STOPPED active
+ // it is Ok if no PReq was received
+
+ // enter DLL_CS_WAIT_SOC
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc;
+ break;
+
+ // DLL_CT7
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeAsnd:
+ // report DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA;
+
+ case kEplNmtEventDllCePres:
+ default:
+ // remain in this state
+ break;
+ }
+ break;
+
+ case kEplDllCsWaitSoc:
+ switch (NmtEvent_p)
+ {
+ // DLL_CT1
+ case kEplNmtEventDllCeSoc:
+ // start of cycle and isochronous phase
+ // enter DLL_CS_WAIT_SOA
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa;
+ break;
+
+ // DLL_CT4
+// case kEplNmtEventDllCePres:
+ case kEplNmtEventDllCePreq:
+ case kEplNmtEventDllCeSoa:
+ case kEplNmtEventDllCeFrameTimeout:
+ // report DLL_CEV_LOSS_SOC
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOC;
+
+ case kEplNmtEventDllCeAsnd:
+ default:
+ // remain in this state
+ break;
+ }
+ break;
+
+ case kEplDllCsWaitSoa:
+ switch (NmtEvent_p)
+ {
+ // DLL_CT3
+ case kEplNmtEventDllCeFrameTimeout:
+ // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA | EPL_DLL_ERR_CN_LOSS_SOC;
+
+ case kEplNmtEventDllCeSoa:
+ // enter DLL_CS_WAIT_SOC
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc;
+ break;
+
+ // DLL_CT9
+ case kEplNmtEventDllCeSoc:
+ // report DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA;
+ // remain in DLL_CS_WAIT_SOA
+ break;
+
+ // DLL_CT10
+ case kEplNmtEventDllCeAsnd:
+ // report DLL_CEV_LOSS_SOA
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_CN_LOSS_SOA;
+
+ case kEplNmtEventDllCePreq:
+ // NMT_CS_STOPPED active and we do not expect any PReq
+ // so just ignore it
+ case kEplNmtEventDllCePres:
+ default:
+ // remain in this state
+ break;
+ }
+ break;
+
+ case kEplDllGsInit:
+ default:
+ // enter DLL_CS_WAIT_PREQ
+ EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa;
+ break;
+ }
+ break;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ case kEplNmtMsNotActive:
+ case kEplNmtMsBasicEthernet:
+ break;
+
+ case kEplNmtMsPreOperational1:
+ // reduced EPL cycle is active
+ if (EplDllkInstance_g.m_DllState != kEplDllMsNonCyclic)
+ { // stop cycle timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskDeleteTimer(&EplDllkInstance_g.m_TimerHdlCycle);
+#endif
+ EplDllkInstance_g.m_DllState = kEplDllMsNonCyclic;
+
+ // stop further processing,
+ // because it will be restarted by NMT MN module
+ break;
+ }
+
+ switch (NmtEvent_p)
+ {
+ case kEplNmtEventDllMeSocTrig:
+ case kEplNmtEventDllCeAsnd:
+ { // because of reduced EPL cycle SoA shall be triggered, not SoC
+ tEplDllState DummyDllState;
+
+ Ret = EplDllkAsyncFrameNotReceived(EplDllkInstance_g.m_LastReqServiceId,
+ EplDllkInstance_g.m_uiLastTargetNodeId);
+
+ // go ahead and send SoA
+ Ret = EplDllkMnSendSoa(NmtState_p,
+ &DummyDllState,
+ (EplDllkInstance_g.m_uiCycleCount >= EPL_C_DLL_PREOP1_START_CYCLES));
+ // increment cycle counter to detect if EPL_C_DLL_PREOP1_START_CYCLES empty cycles are elapsed
+ EplDllkInstance_g.m_uiCycleCount++;
+
+ // reprogram timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if (EplDllkInstance_g.m_DllConfigParam.m_dwAsyncSlotTimeout != 0)
+ {
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlCycle,
+ EplDllkInstance_g.m_DllConfigParam.m_dwAsyncSlotTimeout,
+ EplDllkCbMnTimerCycle,
+ 0L,
+ FALSE);
+ }
+#endif
+ break;
+ }
+
+ default:
+ break;
+ }
+ break;
+
+ case kEplNmtMsPreOperational2:
+ case kEplNmtMsReadyToOperate:
+ case kEplNmtMsOperational:
+ // full EPL cycle is active
+ switch (NmtEvent_p)
+ {
+ case kEplNmtEventDllMeSocTrig:
+ {
+ // update cycle counter
+ if (EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt > 0)
+ { // multiplexed cycle active
+ EplDllkInstance_g.m_uiCycleCount = (EplDllkInstance_g.m_uiCycleCount + 1) % EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt;
+ // $$$ check multiplexed cycle restart
+ // -> toggle MC flag
+ // -> change node linked list
+ }
+ else
+ { // non-multiplexed cycle active
+ // start with first node in isochronous phase
+ EplDllkInstance_g.m_pCurNodeInfo = NULL;
+ }
+
+ switch (EplDllkInstance_g.m_DllState)
+ {
+ case kEplDllMsNonCyclic:
+ { // start continuous cycle timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlCycle,
+ EplDllkInstance_g.m_ullFrameTimeout,
+ EplDllkCbMnTimerCycle,
+ 0L,
+ TRUE);
+#endif
+ // continue with sending SoC
+ }
+
+ case kEplDllMsWaitAsnd:
+ case kEplDllMsWaitSocTrig:
+ { // if m_LastReqServiceId is still valid,
+ // SoA was not correctly answered
+ // and user part has to be informed
+ Ret = EplDllkAsyncFrameNotReceived(EplDllkInstance_g.m_LastReqServiceId,
+ EplDllkInstance_g.m_uiLastTargetNodeId);
+
+ // send SoC
+ Ret = EplDllkMnSendSoc();
+
+ // new DLL state
+ EplDllkInstance_g.m_DllState = kEplDllMsWaitPreqTrig;
+
+ // start WaitSoCPReq Timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlResponse,
+ EplDllkInstance_g.m_DllConfigParam.m_dwWaitSocPreq,
+ EplDllkCbMnTimerResponse,
+ 0L,
+ FALSE);
+#endif
+ break;
+ }
+
+ default:
+ { // wrong DLL state / cycle time exceeded
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_MN_CYCTIMEEXCEED;
+ EplDllkInstance_g.m_DllState = kEplDllMsWaitSocTrig;
+ break;
+ }
+ }
+
+ break;
+ }
+
+ case kEplNmtEventDllMePresTimeout:
+ {
+
+ switch (EplDllkInstance_g.m_DllState)
+ {
+ case kEplDllMsWaitPres:
+ { // PRes not received
+
+ if (EplDllkInstance_g.m_pCurNodeInfo->m_fSoftDelete == FALSE)
+ { // normal isochronous CN
+ DllEvent.m_ulDllErrorEvents |= EPL_DLL_ERR_MN_CN_LOSS_PRES;
+ DllEvent.m_uiNodeId = EplDllkInstance_g.m_pCurNodeInfo->m_uiNodeId;
+ }
+ else
+ { // CN shall be deleted softly
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkSoftDelNode;
+ // $$$ d.k. set Event.m_NetTime to current time
+ Event.m_uiSize = sizeof (unsigned int);
+ Event.m_pArg = &EplDllkInstance_g.m_pCurNodeInfo->m_uiNodeId;
+ Ret = EplEventkPost(&Event);
+ }
+
+ // continue with sending next PReq
+ }
+
+ case kEplDllMsWaitPreqTrig:
+ {
+ // send next PReq
+ Ret = EplDllkMnSendPreq(NmtState_p, &EplDllkInstance_g.m_DllState);
+
+ break;
+ }
+
+ default:
+ { // wrong DLL state
+ break;
+ }
+ }
+
+ break;
+ }
+
+ case kEplNmtEventDllCePres:
+ {
+
+ switch (EplDllkInstance_g.m_DllState)
+ {
+ case kEplDllMsWaitPres:
+ { // PRes received
+ // send next PReq
+ Ret = EplDllkMnSendPreq(NmtState_p, &EplDllkInstance_g.m_DllState);
+
+ break;
+ }
+
+ default:
+ { // wrong DLL state
+ break;
+ }
+ }
+
+ break;
+ }
+
+ case kEplNmtEventDllMeSoaTrig:
+ {
+
+ switch (EplDllkInstance_g.m_DllState)
+ {
+ case kEplDllMsWaitSoaTrig:
+ { // MN PRes sent
+ // send SoA
+ Ret = EplDllkMnSendSoa(NmtState_p, &EplDllkInstance_g.m_DllState, TRUE);
+
+ break;
+ }
+
+ default:
+ { // wrong DLL state
+ break;
+ }
+ }
+
+ break;
+ }
+
+ case kEplNmtEventDllCeAsnd:
+ { // ASnd has been received, but it may be not the requested one
+/*
+ // report if SoA was correctly answered
+ Ret = EplDllkAsyncFrameNotReceived(EplDllkInstance_g.m_LastReqServiceId,
+ EplDllkInstance_g.m_uiLastTargetNodeId);
+*/
+ if (EplDllkInstance_g.m_DllState == kEplDllMsWaitAsnd)
+ {
+ EplDllkInstance_g.m_DllState = kEplDllMsWaitSocTrig;
+ }
+ break;
+ }
+
+ default:
+ break;
+ }
+ break;
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+ default:
+ break;
+ }
+
+ if (DllEvent.m_ulDllErrorEvents != 0)
+ { // error event set -> post it to error handler
+ Event.m_EventSink = kEplEventSinkErrk;
+ Event.m_EventType = kEplEventTypeDllError;
+ // $$$ d.k. set Event.m_NetTime to current time
+ Event.m_uiSize = sizeof (DllEvent);
+ Event.m_pArg = &DllEvent;
+ Ret = EplEventkPost(&Event);
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCbFrameReceived()
+//
+// Description: called from EdrvInterruptHandler()
+//
+// Parameters: pRxBuffer_p = receive buffer structure
+//
+// Returns: (none)
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static void EplDllkCbFrameReceived(tEdrvRxBuffer * pRxBuffer_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtState NmtState;
+tEplNmtEvent NmtEvent = kEplNmtEventNoEvent;
+tEplEvent Event;
+tEplFrame *pFrame;
+tEplFrame *pTxFrame;
+tEdrvTxBuffer *pTxBuffer = NULL;
+tEplFrameInfo FrameInfo;
+tEplMsgType MsgType;
+tEplDllReqServiceId ReqServiceId;
+unsigned int uiAsndServiceId;
+unsigned int uiNodeId;
+BYTE bFlag1;
+
+ BENCHMARK_MOD_02_SET(3);
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState <= kEplNmtGsResetConfiguration)
+ {
+ goto Exit;
+ }
+
+ pFrame = (tEplFrame *) pRxBuffer_p->m_pbBuffer;
+
+#if EDRV_EARLY_RX_INT != FALSE
+ switch (pRxBuffer_p->m_BufferInFrame)
+ {
+ case kEdrvBufferFirstInFrame:
+ {
+ MsgType = (tEplMsgType)AmiGetByteFromLe(&pFrame->m_le_bMessageType);
+ if (MsgType == kEplMsgTypePreq)
+ {
+ if (EplDllkInstance_g.m_DllState == kEplDllCsWaitPreq)
+ { // PReq expected and actually received
+ // d.k.: The condition above is sufficent, because EPL cycle is active
+ // and no non-EPL frame shall be received in isochronous phase.
+ // start transmission PRes
+ // $$$ What if Tx buffer is invalid?
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES];
+#if (EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)
+ Ret = EdrvTxMsgStart(pTxBuffer);
+#else
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+ // update frame (NMT state, RD, RS, PR, MS, EN flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ if (NmtState != kEplNmtCsOperational)
+ { // mark PDO as invalid in NMT state Op
+ // $$$ reset only RD flag; set other flags appropriately
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1, 0);
+ }
+ // $$$ make function that updates Pres, StatusRes
+ // send PRes frame
+ Ret = EdrvSendTxMsg(pTxBuffer);
+#endif
+ }
+ }
+ goto Exit;
+ }
+
+ case kEdrvBufferMiddleInFrame:
+ {
+ goto Exit;
+ }
+
+ case kEdrvBufferLastInFrame:
+ {
+ break;
+ }
+ }
+#endif
+
+ FrameInfo.m_pFrame = pFrame;
+ FrameInfo.m_uiFrameSize = pRxBuffer_p->m_uiRxMsgLen;
+ FrameInfo.m_NetTime.m_dwNanoSec = pRxBuffer_p->m_NetTime.m_dwNanoSec;
+ FrameInfo.m_NetTime.m_dwSec = pRxBuffer_p->m_NetTime.m_dwSec;
+
+ if (AmiGetWordFromBe(&pFrame->m_be_wEtherType) != EPL_C_DLL_ETHERTYPE_EPL)
+ { // non-EPL frame
+ //TRACE2("EplDllkCbFrameReceived: pfnCbAsync=0x%p SrcMAC=0x%llx\n", EplDllkInstance_g.m_pfnCbAsync, AmiGetQword48FromBe(pFrame->m_be_abSrcMac));
+ if (EplDllkInstance_g.m_pfnCbAsync != NULL)
+ { // handler for async frames is registered
+ EplDllkInstance_g.m_pfnCbAsync(&FrameInfo);
+ }
+
+ goto Exit;
+ }
+
+ MsgType = (tEplMsgType)AmiGetByteFromLe(&pFrame->m_le_bMessageType);
+ switch (MsgType)
+ {
+ case kEplMsgTypePreq:
+ {
+ // PReq frame
+ // d.k.: (we assume that this PReq frame is intended for us and don't check DstNodeId)
+ if (AmiGetByteFromLe(&pFrame->m_le_bDstNodeId) != EplDllkInstance_g.m_DllConfigParam.m_uiNodeId)
+ { // this PReq is not intended for us
+ goto Exit;
+ }
+ NmtEvent = kEplNmtEventDllCePreq;
+
+ if (NmtState >= kEplNmtMsNotActive)
+ { // MN is active -> wrong msg type
+ break;
+ }
+
+#if EDRV_EARLY_RX_INT == FALSE
+ if (NmtState >= kEplNmtCsPreOperational2)
+ { // respond to and process PReq frames only in PreOp2, ReadyToOp and Op
+ // Does PRes exist?
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES];
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // PRes does exist
+#if (EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)
+ EdrvTxMsgStart(pTxBuffer);
+#else
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+ // update frame (NMT state, RD, RS, PR, MS, EN flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ bFlag1 = AmiGetByteFromLe(&pFrame->m_Data.m_Preq.m_le_bFlag1);
+ // save EA flag
+ EplDllkInstance_g.m_bMnFlag1 =
+ (EplDllkInstance_g.m_bMnFlag1 & ~EPL_FRAME_FLAG1_EA)
+ | (bFlag1 & EPL_FRAME_FLAG1_EA);
+ // preserve MS flag
+ bFlag1 &= EPL_FRAME_FLAG1_MS;
+ // add EN flag from Error signaling module
+ bFlag1 |= EplDllkInstance_g.m_bFlag1 & EPL_FRAME_FLAG1_EN;
+ if (NmtState != kEplNmtCsOperational)
+ { // mark PDO as invalid in NMT state Op
+ // reset only RD flag
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1, bFlag1);
+ }
+ else
+ { // leave RD flag untouched
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1,
+ (AmiGetByteFromLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1) & EPL_FRAME_FLAG1_RD)
+ | bFlag1);
+ }
+ // $$$ update EPL_DLL_PRES_READY_AFTER_* code
+ // send PRes frame
+ Ret = EdrvSendTxMsg(pTxBuffer);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+ }
+#endif
+ // inform PDO module
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ if (NmtState >= kEplNmtCsReadyToOperate)
+ { // inform PDO module only in ReadyToOp and Op
+ if (NmtState != kEplNmtCsOperational)
+ {
+ // reset RD flag and all other flags, but that does not matter, because they were processed above
+ AmiSetByteToLe(&pFrame->m_Data.m_Preq.m_le_bFlag1, 0);
+ }
+
+ // compares real frame size and PDO size
+ if ((unsigned int) (AmiGetWordFromLe(&pFrame->m_Data.m_Preq.m_le_wSize) + 24)
+ > FrameInfo.m_uiFrameSize)
+ { // format error
+ tEplErrorHandlerkEvent DllEvent;
+
+ DllEvent.m_ulDllErrorEvents = EPL_DLL_ERR_INVALID_FORMAT;
+ DllEvent.m_uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
+ DllEvent.m_NmtState = NmtState;
+ Event.m_EventSink = kEplEventSinkErrk;
+ Event.m_EventType = kEplEventTypeDllError;
+ Event.m_NetTime = FrameInfo.m_NetTime;
+ Event.m_uiSize = sizeof (DllEvent);
+ Event.m_pArg = &DllEvent;
+ Ret = EplEventkPost(&Event);
+ break;
+ }
+
+ // forward PReq frame as RPDO to PDO module
+ Ret = EplPdokCbPdoReceived(&FrameInfo);
+
+ }
+#if (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // PRes does exist
+ // inform PDO module about PRes after PReq
+ FrameInfo.m_pFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+ FrameInfo.m_uiFrameSize = pTxBuffer->m_uiMaxBufferLen;
+ Ret = EplPdokCbPdoTransmitted(&FrameInfo);
+ }
+#endif
+#endif
+
+#if EDRV_EARLY_RX_INT == FALSE
+ // $$$ inform emergency protocol handling (error signaling module) about flags
+ }
+#endif
+
+ // reset cycle counter
+ EplDllkInstance_g.m_uiCycleCount = 0;
+
+ break;
+ }
+
+ case kEplMsgTypePres:
+ {
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ tEplDllkNodeInfo* pIntNodeInfo;
+ tEplHeartbeatEvent HeartbeatEvent;
+#endif
+
+ // PRes frame
+ NmtEvent = kEplNmtEventDllCePres;
+
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
+
+ if ((NmtState >= kEplNmtCsPreOperational2)
+ && (NmtState <= kEplNmtCsOperational))
+ { // process PRes frames only in PreOp2, ReadyToOp and Op of CN
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId);
+ if (pIntNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ goto Exit;
+ }
+ }
+ else if (EplDllkInstance_g.m_DllState == kEplDllMsWaitPres)
+ { // or process PRes frames in MsWaitPres
+
+ pIntNodeInfo = EplDllkInstance_g.m_pCurNodeInfo;
+ if ((pIntNodeInfo == NULL) || (pIntNodeInfo->m_uiNodeId != uiNodeId))
+ { // ignore PRes, because it is from wrong CN
+ // $$$ maybe post event to NmtMn module
+ goto Exit;
+ }
+
+ // forward Flag2 to asynchronous scheduler
+ bFlag1 = AmiGetByteFromLe(&pFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bFlag2);
+ Ret = EplDllkCalAsyncSetPendingRequests(uiNodeId,
+ ((tEplDllAsyncReqPriority) ((bFlag1 & EPL_FRAME_FLAG2_PR) >> EPL_FRAME_FLAG2_PR_SHIFT)),
+ (bFlag1 & EPL_FRAME_FLAG2_RS));
+
+#endif
+ }
+ else
+ { // ignore PRes, because it was received in wrong NMT state
+ // but execute EplDllkChangeState() and post event to NMT module
+ break;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ { // check NMT state of CN
+ HeartbeatEvent.m_wErrorCode = EPL_E_NO_ERROR;
+ HeartbeatEvent.m_NmtState =
+ (tEplNmtState) (AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bNmtStatus) | EPL_NMT_TYPE_CS);
+ if (pIntNodeInfo->m_NmtState != HeartbeatEvent.m_NmtState)
+ { // NMT state of CN has changed -> post event to NmtMnu module
+ if (pIntNodeInfo->m_fSoftDelete == FALSE)
+ { // normal isochronous CN
+ HeartbeatEvent.m_uiNodeId = uiNodeId;
+ Event.m_EventSink = kEplEventSinkNmtMnu;
+ Event.m_EventType = kEplEventTypeHeartbeat;
+ Event.m_uiSize = sizeof (HeartbeatEvent);
+ Event.m_pArg = &HeartbeatEvent;
+ }
+ else
+ { // CN shall be deleted softly
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkSoftDelNode;
+ Event.m_uiSize = sizeof (unsigned int);
+ Event.m_pArg = &pIntNodeInfo->m_uiNodeId;
+ }
+ Event.m_NetTime = FrameInfo.m_NetTime;
+ Ret = EplEventkPost(&Event);
+
+ // save current NMT state of CN in internal node structure
+ pIntNodeInfo->m_NmtState = HeartbeatEvent.m_NmtState;
+ }
+ }
+#endif
+
+ // inform PDO module
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ if ((NmtState != kEplNmtCsPreOperational2)
+ && (NmtState != kEplNmtMsPreOperational2))
+ { // inform PDO module only in ReadyToOp and Op
+ // compare real frame size and PDO size?
+ if (((unsigned int) (AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize) + 24)
+ > FrameInfo.m_uiFrameSize)
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ || (AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize) > pIntNodeInfo->m_wPresPayloadLimit)
+#endif
+ )
+ { // format error
+ tEplErrorHandlerkEvent DllEvent;
+
+ DllEvent.m_ulDllErrorEvents = EPL_DLL_ERR_INVALID_FORMAT;
+ DllEvent.m_uiNodeId = uiNodeId;
+ DllEvent.m_NmtState = NmtState;
+ Event.m_EventSink = kEplEventSinkErrk;
+ Event.m_EventType = kEplEventTypeDllError;
+ Event.m_NetTime = FrameInfo.m_NetTime;
+ Event.m_uiSize = sizeof (DllEvent);
+ Event.m_pArg = &DllEvent;
+ Ret = EplEventkPost(&Event);
+ break;
+ }
+ if ((NmtState != kEplNmtCsOperational)
+ && (NmtState != kEplNmtMsOperational))
+ {
+ // reset RD flag and all other flags, but that does not matter, because they were processed above
+ AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bFlag1, 0);
+ }
+ Ret = EplPdokCbPdoReceived(&FrameInfo);
+ }
+#endif
+
+ break;
+ }
+
+ case kEplMsgTypeSoc:
+ {
+ // SoC frame
+ NmtEvent = kEplNmtEventDllCeSoc;
+
+ if (NmtState >= kEplNmtMsNotActive)
+ { // MN is active -> wrong msg type
+ break;
+ }
+
+#if EPL_DLL_PRES_READY_AFTER_SOC != FALSE
+ // post PRes to transmit FIFO of the ethernet controller, but don't start
+ // transmission over bus
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES];
+ // Does PRes exist?
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // PRes does exist
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+ // update frame (NMT state, RD, RS, PR, MS, EN flags)
+ if (NmtState < kEplNmtCsPreOperational2)
+ { // NMT state is not PreOp2, ReadyToOp or Op
+ // fake NMT state PreOp2, because PRes will be sent only in PreOp2 or greater
+ NmtState = kEplNmtCsPreOperational2;
+ }
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ if (NmtState != kEplNmtCsOperational)
+ { // mark PDO as invalid in NMT state Op
+ // $$$ reset only RD flag; set other flags appropriately
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1, 0);
+ }
+ // $$$ make function that updates Pres, StatusRes
+ // mark PRes frame as ready for transmission
+ Ret = EdrvTxMsgReady(pTxBuffer);
+ }
+#endif
+
+ if (NmtState >= kEplNmtCsPreOperational2)
+ { // SoC frames only in PreOp2, ReadyToOp and Op
+ // trigger synchronous task
+ Event.m_EventSink = kEplEventSinkSync;
+ Event.m_EventType = kEplEventTypeSync;
+ Event.m_uiSize = 0;
+ Ret = EplEventkPost(&Event);
+
+ // update cycle counter
+ if (EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt > 0)
+ { // multiplexed cycle active
+ EplDllkInstance_g.m_uiCycleCount = (EplDllkInstance_g.m_uiCycleCount + 1) % EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt;
+ }
+ }
+
+ // reprogram timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if (EplDllkInstance_g.m_ullFrameTimeout != 0)
+ {
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlCycle, EplDllkInstance_g.m_ullFrameTimeout, EplDllkCbCnTimer, 0L, FALSE);
+ }
+#endif
+
+ break;
+ }
+
+ case kEplMsgTypeSoa:
+ {
+ // SoA frame
+ NmtEvent = kEplNmtEventDllCeSoa;
+
+ if (NmtState >= kEplNmtMsNotActive)
+ { // MN is active -> wrong msg type
+ break;
+ }
+
+ pTxFrame = NULL;
+
+ if ((NmtState & EPL_NMT_SUPERSTATE_MASK) != EPL_NMT_CS_EPLMODE)
+ { // do not respond, if NMT state is < PreOp1 (i.e. not EPL_MODE)
+ break;
+ }
+
+ // check TargetNodeId
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_Data.m_Soa.m_le_bReqServiceTarget);
+ if (uiNodeId == EplDllkInstance_g.m_DllConfigParam.m_uiNodeId)
+ { // local node is the target of the current request
+
+ // check ServiceId
+ ReqServiceId = (tEplDllReqServiceId) AmiGetByteFromLe(&pFrame->m_Data.m_Soa.m_le_bReqServiceId);
+ if (ReqServiceId == kEplDllReqServiceStatus)
+ { // StatusRequest
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES].m_pbBuffer != NULL)
+ { // StatusRes does exist
+
+ pTxFrame = (tEplFrame *) EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES].m_pbBuffer;
+ // update StatusRes frame (NMT state, EN, EC, RS, PR flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bFlag1, EplDllkInstance_g.m_bFlag1);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ // send StatusRes
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ TGT_DBG_SIGNAL_TRACE_POINT(8);
+
+ // update error signaling
+ bFlag1 = AmiGetByteFromLe(&pFrame->m_Data.m_Soa.m_le_bFlag1);
+ if (((bFlag1 ^ EplDllkInstance_g.m_bMnFlag1) & EPL_FRAME_FLAG1_ER) != 0)
+ { // exception reset flag was changed by MN
+ // assume same state for EC in next cycle (clear all other bits)
+ if ((bFlag1 & EPL_FRAME_FLAG1_ER) != 0)
+ {
+ // set EC and reset rest
+ EplDllkInstance_g.m_bFlag1 = EPL_FRAME_FLAG1_EC;
+ }
+ else
+ {
+ // reset complete flag 1 (including EC and EN)
+ EplDllkInstance_g.m_bFlag1 = 0;
+ }
+ }
+ // save flag 1 from MN for Status request response cycle
+ EplDllkInstance_g.m_bMnFlag1 = bFlag1;
+ }
+ }
+ else if (ReqServiceId == kEplDllReqServiceIdent)
+ { // IdentRequest
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES].m_pbBuffer != NULL)
+ { // IdentRes does exist
+ pTxFrame = (tEplFrame *) EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES].m_pbBuffer;
+ // update IdentRes frame (NMT state, RS, PR flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ // send IdentRes
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ TGT_DBG_SIGNAL_TRACE_POINT(7);
+ }
+ }
+ else if (ReqServiceId == kEplDllReqServiceNmtRequest)
+ { // NmtRequest
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_pbBuffer != NULL)
+ { // NmtRequest does exist
+ // check if frame is not empty and not being filled
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_FILLING)
+ {
+ /*if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen < EPL_DLLK_BUFLEN_MIN)
+ { // pad frame
+ EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen = EPL_DLLK_BUFLEN_MIN;
+ }*/
+ // memorize transmission
+ pTxFrame = (tEplFrame*)1;
+ // send NmtRequest
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ }
+ }
+
+ }
+ else if (ReqServiceId == kEplDllReqServiceUnspecified)
+ { // unspecified invite
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_pbBuffer != NULL)
+ { // non-EPL frame does exist
+ // check if frame is not empty and not being filled
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_uiTxMsgLen > EPL_DLLK_BUFLEN_FILLING)
+ {
+ /*if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen < EPL_DLLK_BUFLEN_MIN)
+ { // pad frame
+ EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen = EPL_DLLK_BUFLEN_MIN;
+ }*/
+ // memorize transmission
+ pTxFrame = (tEplFrame*)1;
+ // send non-EPL frame
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ }
+ }
+
+ }
+ else if (ReqServiceId == kEplDllReqServiceNo)
+ { // no async service requested -> do nothing
+ }
+ }
+
+#if EPL_DLL_PRES_READY_AFTER_SOA != FALSE
+ if (pTxFrame == NULL)
+ { // signal process function readiness of PRes frame
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkPresReady;
+ Event.m_uiSize = 0;
+ Event.m_pArg = NULL;
+ Ret = EplEventkPost(&Event);
+ }
+#endif
+
+ // inform PDO module
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+// Ret = EplPdokCbSoa(&FrameInfo);
+#endif
+
+ // $$$ put SrcNodeId, NMT state and NetTime as HeartbeatEvent into eventqueue
+
+ // $$$ inform emergency protocol handling about flags
+ break;
+ }
+
+ case kEplMsgTypeAsnd:
+ {
+ // ASnd frame
+ NmtEvent = kEplNmtEventDllCeAsnd;
+
+ // ASnd service registered?
+ uiAsndServiceId = (unsigned int) AmiGetByteFromLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if ((EplDllkInstance_g.m_DllState >= kEplDllMsNonCyclic)
+ && ((((tEplDllAsndServiceId) uiAsndServiceId) == kEplDllAsndStatusResponse)
+ || (((tEplDllAsndServiceId) uiAsndServiceId) == kEplDllAsndIdentResponse)))
+ { // StatusRes or IdentRes received
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
+ if ((EplDllkInstance_g.m_LastReqServiceId == ((tEplDllReqServiceId) uiAsndServiceId))
+ && (uiNodeId == EplDllkInstance_g.m_uiLastTargetNodeId))
+ { // mark request as responded
+ EplDllkInstance_g.m_LastReqServiceId = kEplDllReqServiceNo;
+ }
+ if (((tEplDllAsndServiceId) uiAsndServiceId) == kEplDllAsndIdentResponse)
+ { // memorize MAC address of CN for PReq
+ tEplDllkNodeInfo* pIntNodeInfo;
+
+ pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId);
+ if (pIntNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ }
+ else
+ {
+ EPL_MEMCPY(pIntNodeInfo->m_be_abMacAddr, pFrame->m_be_abSrcMac, 6);
+ }
+ }
+
+ // forward Flag2 to asynchronous scheduler
+ bFlag1 = AmiGetByteFromLe(&pFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bFlag2);
+ Ret = EplDllkCalAsyncSetPendingRequests(uiNodeId,
+ ((tEplDllAsyncReqPriority) ((bFlag1 & EPL_FRAME_FLAG2_PR) >> EPL_FRAME_FLAG2_PR_SHIFT)),
+ (bFlag1 & EPL_FRAME_FLAG2_RS));
+ }
+#endif
+
+ if (uiAsndServiceId < EPL_DLL_MAX_ASND_SERVICE_ID)
+ { // ASnd service ID is valid
+ if (EplDllkInstance_g.m_aAsndFilter[uiAsndServiceId] == kEplDllAsndFilterAny)
+ { // ASnd service ID is registered
+ // forward frame via async receive FIFO to userspace
+ Ret = EplDllkCalAsyncFrameReceived(&FrameInfo);
+ }
+ else if (EplDllkInstance_g.m_aAsndFilter[uiAsndServiceId] == kEplDllAsndFilterLocal)
+ { // ASnd service ID is registered, but only local node ID or broadcasts
+ // shall be forwarded
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId);
+ if ((uiNodeId == EplDllkInstance_g.m_DllConfigParam.m_uiNodeId)
+ || (uiNodeId == EPL_C_ADR_BROADCAST))
+ { // ASnd frame is intended for us
+ // forward frame via async receive FIFO to userspace
+ Ret = EplDllkCalAsyncFrameReceived(&FrameInfo);
+ }
+ }
+ }
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+
+ if (NmtEvent != kEplNmtEventNoEvent)
+ { // event for DLL and NMT state machine generated
+ Ret = EplDllkChangeState(NmtEvent, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if ((NmtEvent != kEplNmtEventDllCeAsnd)
+ && ((NmtState <= kEplNmtCsPreOperational1) || (NmtEvent != kEplNmtEventDllCePres)))
+ { // NMT state machine is not interested in ASnd frames and PRes frames when not CsNotActive or CsPreOp1
+ // inform NMT module
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Event.m_pArg = &NmtEvent;
+ Ret = EplEventkPost(&Event);
+ }
+ }
+
+Exit:
+ if (Ret != kEplSuccessful)
+ {
+ DWORD dwArg;
+
+ BENCHMARK_MOD_02_TOGGLE(9);
+
+ dwArg = EplDllkInstance_g.m_DllState | (NmtEvent << 8);
+
+ // Error event for API layer
+ Ret = EplEventkPostError(kEplEventSourceDllk,
+ Ret,
+ sizeof(dwArg),
+ &dwArg);
+ }
+ BENCHMARK_MOD_02_RESET(3);
+ return;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCbFrameTransmitted()
+//
+// Description: called from EdrvInterruptHandler().
+// It signals
+//
+// Parameters: pRxBuffer_p = receive buffer structure
+//
+// Returns: (none)
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static void EplDllkCbFrameTransmitted(tEdrvTxBuffer * pTxBuffer_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+tEplDllAsyncReqPriority Priority;
+tEplNmtState NmtState;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) \
+ && (EPL_DLL_PRES_READY_AFTER_SOC == FALSE)
+tEplFrameInfo FrameInfo;
+#endif
+
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState <= kEplNmtGsResetConfiguration)
+ {
+ goto Exit;
+ }
+
+ if ((pTxBuffer_p - EplDllkInstance_g.m_pTxBuffer) == EPL_DLLK_TXFRAME_NMTREQ)
+ { // frame from NMT request FIFO sent
+ // mark Tx-buffer as empty
+ pTxBuffer_p->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+
+ // post event to DLL
+ Priority = kEplDllAsyncReqPrioNmt;
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkFillTx;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &Priority;
+ Event.m_uiSize = sizeof(Priority);
+ Ret = EplEventkPost(&Event);
+ }
+ else if ((pTxBuffer_p - EplDllkInstance_g.m_pTxBuffer) == EPL_DLLK_TXFRAME_NONEPL)
+ { // frame from generic priority FIFO sent
+ // mark Tx-buffer as empty
+ pTxBuffer_p->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY;
+
+ // post event to DLL
+ Priority = kEplDllAsyncReqPrioGeneric;
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkFillTx;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &Priority;
+ Event.m_uiSize = sizeof(Priority);
+ Ret = EplEventkPost(&Event);
+ }
+#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) \
+ && (EPL_DLL_PRES_READY_AFTER_SOC == FALSE)) \
+ || (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ else if ((pTxBuffer_p->m_EplMsgType == kEplMsgTypePreq)
+ || (pTxBuffer_p->m_EplMsgType == kEplMsgTypePres))
+ { // PRes resp. PReq frame sent
+
+ #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) \
+ && (EPL_DLL_PRES_READY_AFTER_SOC == FALSE))
+ {
+ // inform PDO module
+ FrameInfo.m_pFrame = (tEplFrame *) pTxBuffer_p->m_pbBuffer;
+ FrameInfo.m_uiFrameSize = pTxBuffer_p->m_uiMaxBufferLen;
+ Ret = EplPdokCbPdoTransmitted(&FrameInfo);
+ }
+ #endif
+
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ {
+ // if own Pres on MN, trigger SoA
+ if ((NmtState >= kEplNmtMsPreOperational2)
+ && (pTxBuffer_p == &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]))
+ {
+ Ret = EplDllkChangeState(kEplNmtEventDllMeSoaTrig, NmtState);
+ }
+ }
+ #endif
+
+ #if EPL_DLL_PRES_READY_AFTER_SOA != FALSE
+ goto Exit;
+ #endif
+ }
+#endif
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ else if (pTxBuffer_p->m_EplMsgType == kEplMsgTypeSoa)
+ { // SoA frame sent
+ tEplNmtEvent NmtEvent = kEplNmtEventDllMeSoaSent;
+
+ // check if we are invited
+ if (EplDllkInstance_g.m_uiLastTargetNodeId == EplDllkInstance_g.m_DllConfigParam.m_uiNodeId)
+ {
+ tEplFrame *pTxFrame;
+
+ if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceStatus)
+ { // StatusRequest
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES].m_pbBuffer != NULL)
+ { // StatusRes does exist
+
+ pTxFrame = (tEplFrame *) EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES].m_pbBuffer;
+ // update StatusRes frame (NMT state, EN, EC, RS, PR flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bFlag1, EplDllkInstance_g.m_bFlag1);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ // send StatusRes
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ TGT_DBG_SIGNAL_TRACE_POINT(8);
+
+ }
+ }
+ else if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceIdent)
+ { // IdentRequest
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES].m_pbBuffer != NULL)
+ { // IdentRes does exist
+ pTxFrame = (tEplFrame *) EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES].m_pbBuffer;
+ // update IdentRes frame (NMT state, RS, PR flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_bNmtStatus, (BYTE) NmtState);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse.m_le_bFlag2, EplDllkInstance_g.m_bFlag2);
+ // send IdentRes
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ TGT_DBG_SIGNAL_TRACE_POINT(7);
+ }
+ }
+ else if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceNmtRequest)
+ { // NmtRequest
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_pbBuffer != NULL)
+ { // NmtRequest does exist
+ // check if frame is not empty and not being filled
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_FILLING)
+ {
+ // check if this frame is a NMT command,
+ // then forward this frame back to NmtMnu module,
+ // because it needs the time, when this frame is
+ // actually sent, to start the timer for monitoring
+ // the NMT state change.
+
+ pTxFrame = (tEplFrame *) EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_pbBuffer;
+ if ((AmiGetByteFromLe(&pTxFrame->m_le_bMessageType)
+ == (BYTE) kEplMsgTypeAsnd)
+ && (AmiGetByteFromLe(&pTxFrame->m_Data.m_Asnd.m_le_bServiceId)
+ == (BYTE) kEplDllAsndNmtCommand))
+ { // post event directly to NmtMnu module
+ Event.m_EventSink = kEplEventSinkNmtMnu;
+ Event.m_EventType = kEplEventTypeNmtMnuNmtCmdSent;
+ Event.m_uiSize = EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen;
+ Event.m_pArg = pTxFrame;
+ Ret = EplEventkPost(&Event);
+
+ }
+
+ // send NmtRequest
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ }
+ }
+
+ }
+ else if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceUnspecified)
+ { // unspecified invite
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_pbBuffer != NULL)
+ { // non-EPL frame does exist
+ // check if frame is not empty and not being filled
+ if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_uiTxMsgLen > EPL_DLLK_BUFLEN_FILLING)
+ {
+ // send non-EPL frame
+ Ret = EdrvSendTxMsg(&EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL]);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ }
+ }
+ }
+ // ASnd frame was sent, remove the request
+ EplDllkInstance_g.m_LastReqServiceId = kEplDllReqServiceNo;
+ }
+
+ // forward event to ErrorHandler and PDO module
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Event.m_pArg = &NmtEvent;
+ Ret = EplEventkPost(&Event);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+#endif
+
+#if EPL_DLL_PRES_READY_AFTER_SOA != FALSE
+ else
+ { // d.k.: Why that else? on CN it is entered on IdentRes and StatusRes
+ goto Exit;
+ }
+
+ // signal process function readiness of PRes frame
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkPresReady;
+ Event.m_uiSize = 0;
+ Event.m_pArg = NULL;
+ Ret = EplEventkPost(&Event);
+
+#endif
+
+Exit:
+ if (Ret != kEplSuccessful)
+ {
+ DWORD dwArg;
+
+ BENCHMARK_MOD_02_TOGGLE(9);
+
+ dwArg = EplDllkInstance_g.m_DllState | (pTxBuffer_p->m_EplMsgType << 16);
+
+ // Error event for API layer
+ Ret = EplEventkPostError(kEplEventSourceDllk,
+ Ret,
+ sizeof(dwArg),
+ &dwArg);
+ }
+
+ return;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCheckFrame()
+//
+// Description: check frame and set missing information
+//
+// Parameters: pFrame_p = ethernet frame
+// uiFrameSize_p = size of frame
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDllkCheckFrame(tEplFrame * pFrame_p, unsigned int uiFrameSize_p)
+{
+tEplMsgType MsgType;
+WORD wEtherType;
+
+ // check frame
+ if (pFrame_p != NULL)
+ {
+ // check SrcMAC
+ if (AmiGetQword48FromBe(pFrame_p->m_be_abSrcMac) == 0)
+ {
+ // source MAC address
+ EPL_MEMCPY(&pFrame_p->m_be_abSrcMac[0], &EplDllkInstance_g.m_be_abSrcMac[0], 6);
+ }
+
+ // check ethertype
+ wEtherType = AmiGetWordFromBe(&pFrame_p->m_be_wEtherType);
+ if (wEtherType == 0)
+ {
+ // assume EPL frame
+ wEtherType = EPL_C_DLL_ETHERTYPE_EPL;
+ AmiSetWordToBe(&pFrame_p->m_be_wEtherType, wEtherType);
+ }
+
+ if (wEtherType == EPL_C_DLL_ETHERTYPE_EPL)
+ {
+ // source node ID
+ AmiSetByteToLe(&pFrame_p->m_le_bSrcNodeId, (BYTE) EplDllkInstance_g.m_DllConfigParam.m_uiNodeId);
+
+ // check message type
+ MsgType = AmiGetByteFromLe(&pFrame_p->m_le_bMessageType);
+ if (MsgType == 0)
+ {
+ MsgType = kEplMsgTypeAsnd;
+ AmiSetByteToLe(&pFrame_p->m_le_bMessageType, (BYTE) MsgType);
+ }
+
+ if (MsgType == kEplMsgTypeAsnd)
+ {
+ // destination MAC address
+ AmiSetQword48ToBe(&pFrame_p->m_be_abDstMac[0], EPL_C_DLL_MULTICAST_ASND);
+ }
+
+ }
+ }
+
+ return kEplSuccessful;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCbCnTimer()
+//
+// Description: called by timer module. It monitors the EPL cycle when it is a CN.
+//
+// Parameters: pEventArg_p = timer event argument
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+static tEplKernel PUBLIC EplDllkCbCnTimer(tEplTimerEventArg* pEventArg_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtState NmtState;
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if (pEventArg_p->m_TimerHdl != EplDllkInstance_g.m_TimerHdlCycle)
+ { // zombie callback
+ // just exit
+ goto Exit;
+ }
+#endif
+
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState <= kEplNmtGsResetConfiguration)
+ {
+ goto Exit;
+ }
+
+ Ret = EplDllkChangeState(kEplNmtEventDllCeFrameTimeout, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // 2008/10/15 d.k. reprogramming of timer not necessary,
+ // because it will be programmed, when SoC is received.
+/*
+ // reprogram timer
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if ((NmtState > kEplNmtCsPreOperational1)
+ && (EplDllkInstance_g.m_ullFrameTimeout != 0))
+ {
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlCycle, EplDllkInstance_g.m_ullFrameTimeout, EplDllkCbCnTimer, 0L, FALSE);
+ }
+#endif
+*/
+
+Exit:
+ if (Ret != kEplSuccessful)
+ {
+ DWORD dwArg;
+
+ BENCHMARK_MOD_02_TOGGLE(9);
+
+ dwArg = EplDllkInstance_g.m_DllState | (kEplNmtEventDllCeFrameTimeout << 8);
+
+ // Error event for API layer
+ Ret = EplEventkPostError(kEplEventSourceDllk,
+ Ret,
+ sizeof(dwArg),
+ &dwArg);
+ }
+
+ return Ret;
+}
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCbMnTimerCycle()
+//
+// Description: called by timer module. It triggers the SoC when it is a MN.
+//
+// Parameters: pEventArg_p = timer event argument
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplDllkCbMnTimerCycle(tEplTimerEventArg* pEventArg_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtState NmtState;
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if (pEventArg_p->m_TimerHdl != EplDllkInstance_g.m_TimerHdlCycle)
+ { // zombie callback
+ // just exit
+ goto Exit;
+ }
+#endif
+
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState <= kEplNmtGsResetConfiguration)
+ {
+ goto Exit;
+ }
+
+ Ret = EplDllkChangeState(kEplNmtEventDllMeSocTrig, NmtState);
+
+Exit:
+ if (Ret != kEplSuccessful)
+ {
+ DWORD dwArg;
+
+ BENCHMARK_MOD_02_TOGGLE(9);
+
+ dwArg = EplDllkInstance_g.m_DllState | (kEplNmtEventDllMeSocTrig << 8);
+
+ // Error event for API layer
+ Ret = EplEventkPostError(kEplEventSourceDllk,
+ Ret,
+ sizeof(dwArg),
+ &dwArg);
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCbMnTimerResponse()
+//
+// Description: called by timer module. It monitors the PRes timeout.
+//
+// Parameters: pEventArg_p = timer event argument
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplDllkCbMnTimerResponse(tEplTimerEventArg* pEventArg_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtState NmtState;
+
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ if (pEventArg_p->m_TimerHdl != EplDllkInstance_g.m_TimerHdlResponse)
+ { // zombie callback
+ // just exit
+ goto Exit;
+ }
+#endif
+
+ NmtState = EplNmtkGetNmtState();
+
+ if (NmtState <= kEplNmtGsResetConfiguration)
+ {
+ goto Exit;
+ }
+
+ Ret = EplDllkChangeState(kEplNmtEventDllMePresTimeout, NmtState);
+
+Exit:
+ if (Ret != kEplSuccessful)
+ {
+ DWORD dwArg;
+
+ BENCHMARK_MOD_02_TOGGLE(9);
+
+ dwArg = EplDllkInstance_g.m_DllState | (kEplNmtEventDllMePresTimeout << 8);
+
+ // Error event for API layer
+ Ret = EplEventkPostError(kEplEventSourceDllk,
+ Ret,
+ sizeof(dwArg),
+ &dwArg);
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkGetNodeInfo()
+//
+// Description: returns node info structure of the specified node.
+//
+// Parameters: uiNodeId_p = node ID
+//
+// Returns: tEplDllkNodeInfo* = pointer to internal node info structure
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplDllkNodeInfo* EplDllkGetNodeInfo(unsigned int uiNodeId_p)
+{
+ // $$$ d.k.: use hash algorithm to retrieve the appropriate node info structure
+ // if size of array is less than 254.
+ uiNodeId_p--; // node ID starts at 1 but array at 0
+ if (uiNodeId_p >= tabentries (EplDllkInstance_g.m_aNodeInfo))
+ {
+ return NULL;
+ }
+ else
+ {
+ return &EplDllkInstance_g.m_aNodeInfo[uiNodeId_p];
+ }
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkMnSendSoa()
+//
+// Description: it updates and transmits the SoA.
+//
+// Parameters: NmtState_p = current NMT state
+// pDllStateProposed_p = proposed DLL state
+// fEnableInvitation_p = enable invitation for asynchronous phase
+// it will be disabled for EPL_C_DLL_PREOP1_START_CYCLES SoAs
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDllkMnSendSoa(tEplNmtState NmtState_p,
+ tEplDllState* pDllStateProposed_p,
+ BOOL fEnableInvitation_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEdrvTxBuffer *pTxBuffer = NULL;
+tEplFrame *pTxFrame;
+tEplDllkNodeInfo* pNodeInfo;
+
+ *pDllStateProposed_p = kEplDllMsNonCyclic;
+
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_SOA];
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // SoA does exist
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+
+ if (fEnableInvitation_p != FALSE)
+ { // fetch target of asynchronous phase
+ if (EplDllkInstance_g.m_bFlag2 == 0)
+ { // own queues are empty
+ EplDllkInstance_g.m_LastReqServiceId = kEplDllReqServiceNo;
+ }
+ else if (((tEplDllAsyncReqPriority) (EplDllkInstance_g.m_bFlag2 >> EPL_FRAME_FLAG2_PR_SHIFT)) == kEplDllAsyncReqPrioNmt)
+ { // frames in own NMT request queue available
+ EplDllkInstance_g.m_LastReqServiceId = kEplDllReqServiceNmtRequest;
+ }
+ else
+ {
+ EplDllkInstance_g.m_LastReqServiceId = kEplDllReqServiceUnspecified;
+ }
+ Ret = EplDllkCalAsyncGetSoaRequest(&EplDllkInstance_g.m_LastReqServiceId, &EplDllkInstance_g.m_uiLastTargetNodeId);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ if (EplDllkInstance_g.m_LastReqServiceId != kEplDllReqServiceNo)
+ { // asynchronous phase will be assigned to one node
+ if (EplDllkInstance_g.m_uiLastTargetNodeId == EPL_C_ADR_INVALID)
+ { // exchange invalid node ID with local node ID
+ EplDllkInstance_g.m_uiLastTargetNodeId = EplDllkInstance_g.m_DllConfigParam.m_uiNodeId;
+ // d.k. DLL state WaitAsndTrig is not helpful;
+ // so just step over to WaitSocTrig,
+ // because own ASnd is sent automatically in CbFrameTransmitted() after SoA.
+ //*pDllStateProposed_p = kEplDllMsWaitAsndTrig;
+ *pDllStateProposed_p = kEplDllMsWaitSocTrig;
+ }
+ else
+ { // assignment to CN
+ *pDllStateProposed_p = kEplDllMsWaitAsnd;
+ }
+
+ pNodeInfo = EplDllkGetNodeInfo(EplDllkInstance_g.m_uiLastTargetNodeId);
+ if (pNodeInfo == NULL)
+ { // no node info structure available
+ Ret = kEplDllNoNodeInfo;
+ goto Exit;
+ }
+
+ // update frame (EA, ER flags)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bFlag1,
+ pNodeInfo->m_bSoaFlag1 & (EPL_FRAME_FLAG1_EA | EPL_FRAME_FLAG1_ER));
+ }
+ else
+ { // no assignment of asynchronous phase
+ *pDllStateProposed_p = kEplDllMsWaitSocTrig;
+ EplDllkInstance_g.m_uiLastTargetNodeId = EPL_C_ADR_INVALID;
+ }
+
+ // update frame (target)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bReqServiceId, (BYTE) EplDllkInstance_g.m_LastReqServiceId);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bReqServiceTarget, (BYTE) EplDllkInstance_g.m_uiLastTargetNodeId);
+
+ }
+ else
+ { // invite nobody
+ // update frame (target)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bReqServiceId, (BYTE) 0);
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bReqServiceTarget, (BYTE) 0);
+ }
+
+ // update frame (NMT state)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bNmtStatus, (BYTE) NmtState_p);
+
+ // send SoA frame
+ Ret = EdrvSendTxMsg(pTxBuffer);
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkMnSendSoc()
+//
+// Description: it updates and transmits the SoA.
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDllkMnSendSoc(void)
+{
+tEplKernel Ret = kEplSuccessful;
+tEdrvTxBuffer* pTxBuffer = NULL;
+tEplFrame* pTxFrame;
+tEplEvent Event;
+
+ pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_SOC];
+ if (pTxBuffer->m_pbBuffer != NULL)
+ { // SoC does exist
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+
+ // $$$ update NetTime
+
+ // send SoC frame
+ Ret = EdrvSendTxMsg(pTxBuffer);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // trigger synchronous task
+ Event.m_EventSink = kEplEventSinkSync;
+ Event.m_EventType = kEplEventTypeSync;
+ Event.m_uiSize = 0;
+ Ret = EplEventkPost(&Event);
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkMnSendPreq()
+//
+// Description: it updates and transmits the PReq for the next isochronous CN
+// or own PRes if enabled.
+//
+// Parameters: NmtState_p = current NMT state
+// pDllStateProposed_p = proposed DLL state
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDllkMnSendPreq(tEplNmtState NmtState_p,
+ tEplDllState* pDllStateProposed_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEdrvTxBuffer *pTxBuffer = NULL;
+tEplFrame *pTxFrame;
+BYTE bFlag1 = 0;
+
+
+ if (EplDllkInstance_g.m_pCurNodeInfo == NULL)
+ { // start with first isochronous CN
+ EplDllkInstance_g.m_pCurNodeInfo = EplDllkInstance_g.m_pFirstNodeInfo;
+ }
+ else
+ { // iterate to next isochronous CN
+ EplDllkInstance_g.m_pCurNodeInfo = EplDllkInstance_g.m_pCurNodeInfo->m_pNextNodeInfo;
+ }
+
+ if (EplDllkInstance_g.m_pCurNodeInfo == NULL)
+ { // last isochronous CN reached
+ Ret = EplDllkMnSendSoa(NmtState_p, pDllStateProposed_p, TRUE);
+ goto Exit;
+ }
+ else
+ {
+ pTxBuffer = EplDllkInstance_g.m_pCurNodeInfo->m_pPreqTxBuffer;
+ bFlag1 = EplDllkInstance_g.m_pCurNodeInfo->m_bSoaFlag1 & EPL_FRAME_FLAG1_EA;
+ *pDllStateProposed_p = kEplDllMsWaitPres;
+
+ // start PRes Timer
+ // $$$ d.k.: maybe move this call to CbFrameTransmitted(), because the time should run from there
+#if EPL_TIMER_USE_HIGHRES != FALSE
+ Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlResponse,
+ EplDllkInstance_g.m_pCurNodeInfo->m_dwPresTimeout,
+ EplDllkCbMnTimerResponse,
+ 0L,
+ FALSE);
+#endif
+ }
+
+ if (pTxBuffer == NULL)
+ { // PReq does not exist
+ Ret = kEplDllTxBufNotReady;
+ goto Exit;
+ }
+
+ pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer;
+
+ if (pTxFrame != NULL)
+ { // PReq does exist
+ if (NmtState_p == kEplNmtMsOperational)
+ { // leave RD flag untouched
+ bFlag1 |= AmiGetByteFromLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag1) & EPL_FRAME_FLAG1_RD;
+ }
+
+ if (pTxBuffer == &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES])
+ { // PRes of MN will be sent
+ // update NMT state
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bNmtStatus, (BYTE) NmtState_p);
+ *pDllStateProposed_p = kEplDllMsWaitSoaTrig;
+ }
+
+ // $$$ d.k. set EPL_FRAME_FLAG1_MS if necessary
+ // update frame (Flag1)
+ AmiSetByteToLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag1, bFlag1);
+
+ // calculate frame size from payload size
+ pTxBuffer->m_uiTxMsgLen = AmiGetWordFromLe(&pTxFrame->m_Data.m_Preq.m_le_wSize) + 24;
+
+ // send PReq frame
+ Ret = EdrvSendTxMsg(pTxBuffer);
+ }
+ else
+ {
+ Ret = kEplDllTxFrameInvalid;
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkAsyncFrameNotReceived()
+//
+// Description: passes empty ASnd frame to receive FIFO.
+// It will be called only for frames with registered AsndServiceIds
+// (only kEplDllAsndFilterAny).
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDllkAsyncFrameNotReceived(tEplDllReqServiceId ReqServiceId_p, unsigned int uiNodeId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+BYTE abBuffer[18];
+tEplFrame* pFrame = (tEplFrame*) abBuffer;
+tEplFrameInfo FrameInfo;
+
+ // check if previous SoA invitation was not answered
+ switch (ReqServiceId_p)
+ {
+ case kEplDllReqServiceIdent:
+ case kEplDllReqServiceStatus:
+ // ASnd service registered?
+ if (EplDllkInstance_g.m_aAsndFilter[ReqServiceId_p] == kEplDllAsndFilterAny)
+ { // ASnd service ID is registered
+ AmiSetByteToLe(&pFrame->m_le_bSrcNodeId, (BYTE) uiNodeId_p);
+ // EPL MsgType ASnd
+ AmiSetByteToLe(&pFrame->m_le_bMessageType, (BYTE) kEplMsgTypeAsnd);
+ // ASnd Service ID
+ AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId, (BYTE) ReqServiceId_p);
+ // create frame info structure
+ FrameInfo.m_pFrame = pFrame;
+ FrameInfo.m_uiFrameSize = 18; // empty non existing ASnd frame
+ // forward frame via async receive FIFO to userspace
+ Ret = EplDllkCalAsyncFrameReceived(&FrameInfo);
+ }
+ break;
+ default:
+ // no invitation issued or it was successfully answered or it is uninteresting
+ break;
+ }
+
+ return Ret;
+}
+
+
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for kernel DLL Communication Abstraction Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDllkCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.7 $ $Date: 2008/11/13 17:13:09 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/15 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "kernel/EplDllkCal.h"
+#include "kernel/EplDllk.h"
+#include "kernel/EplEventk.h"
+
+#include "EplDllCal.h"
+#ifndef EPL_NO_FIFO
+#include "SharedBuff.h"
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef min
+#define min(a,b) (((a) < (b)) ? (a) : (b))
+#endif
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplDllkCal */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define EPL_DLLKCAL_MAX_QUEUES 5 // CnGenReq, CnNmtReq, {MnGenReq, MnNmtReq}, MnIdentReq, MnStatusReq
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+#ifndef EPL_NO_FIFO
+// tShbInstance m_ShbInstanceRx; // FIFO for Rx ASnd frames
+ tShbInstance m_ShbInstanceTxNmt; // FIFO for Tx frames with NMT request priority
+ tShbInstance m_ShbInstanceTxGen; // FIFO for Tx frames with generic priority
+#else
+ unsigned int m_uiFrameSizeNmt;
+ BYTE m_abFrameNmt[1500];
+ unsigned int m_uiFrameSizeGen;
+ BYTE m_abFrameGen[1500];
+#endif
+
+ tEplDllkCalStatistics m_Statistics;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // IdentRequest queue with CN node IDs
+ unsigned int m_auiQueueIdentReq[EPL_D_NMT_MaxCNNumber_U8 + 1]; // 1 entry is reserved to distinguish between full and empty
+ unsigned int m_uiWriteIdentReq;
+ unsigned int m_uiReadIdentReq;
+
+ // StatusRequest queue with CN node IDs
+ unsigned int m_auiQueueStatusReq[EPL_D_NMT_MaxCNNumber_U8 + 1]; // 1 entry is reserved to distinguish between full and empty
+ unsigned int m_uiWriteStatusReq;
+ unsigned int m_uiReadStatusReq;
+
+ unsigned int m_auiQueueCnRequests[254 * 2];
+ // first 254 entries represent the generic requests of the corresponding node
+ // second 254 entries represent the NMT requests of the corresponding node
+ unsigned int m_uiNextQueueCnRequest;
+ unsigned int m_uiNextRequestQueue;
+#endif
+
+} tEplDllkCalInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+// if no dynamic memory allocation shall be used
+// define structures statically
+static tEplDllkCalInstance EplDllkCalInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAddInstance()
+//
+// Description: add and initialize new instance of DLL CAL module
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAddInstance()
+{
+tEplKernel Ret = kEplSuccessful;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned int fShbNewCreated;
+
+/* ShbError = ShbCirAllocBuffer (EPL_DLLCAL_BUFFER_SIZE_RX, EPL_DLLCAL_BUFFER_ID_RX,
+ &EplDllkCalInstance_g.m_ShbInstanceRx, &fShbNewCreated);
+ // returns kShbOk, kShbOpenMismatch, kShbOutOfMem or kShbInvalidArg
+
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+*/
+ ShbError = ShbCirAllocBuffer (EPL_DLLCAL_BUFFER_SIZE_TX_NMT, EPL_DLLCAL_BUFFER_ID_TX_NMT,
+ &EplDllkCalInstance_g.m_ShbInstanceTxNmt, &fShbNewCreated);
+ // returns kShbOk, kShbOpenMismatch, kShbOutOfMem or kShbInvalidArg
+
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+
+/* ShbError = ShbCirSetSignalHandlerNewData (EplDllkCalInstance_g.m_ShbInstanceTxNmt, EplDllkCalTxNmtSignalHandler, kShbPriorityNormal);
+ // returns kShbOk, kShbAlreadySignaling or kShbInvalidArg
+
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+*/
+ ShbError = ShbCirAllocBuffer (EPL_DLLCAL_BUFFER_SIZE_TX_GEN, EPL_DLLCAL_BUFFER_ID_TX_GEN,
+ &EplDllkCalInstance_g.m_ShbInstanceTxGen, &fShbNewCreated);
+ // returns kShbOk, kShbOpenMismatch, kShbOutOfMem or kShbInvalidArg
+
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+
+/* ShbError = ShbCirSetSignalHandlerNewData (EplDllkCalInstance_g.m_ShbInstanceTxGen, EplDllkCalTxGenSignalHandler, kShbPriorityNormal);
+ // returns kShbOk, kShbAlreadySignaling or kShbInvalidArg
+
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+*/
+#else
+ EplDllkCalInstance_g.m_uiFrameSizeNmt = 0;
+ EplDllkCalInstance_g.m_uiFrameSizeGen = 0;
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalDelInstance()
+//
+// Description: deletes instance of DLL CAL module
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalDelInstance()
+{
+tEplKernel Ret = kEplSuccessful;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+
+/* ShbError = ShbCirReleaseBuffer (EplDllkCalInstance_g.m_ShbInstanceRx);
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+ EplDllkCalInstance_g.m_ShbInstanceRx = NULL;
+*/
+ ShbError = ShbCirReleaseBuffer (EplDllkCalInstance_g.m_ShbInstanceTxNmt);
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+ EplDllkCalInstance_g.m_ShbInstanceTxNmt = NULL;
+
+ ShbError = ShbCirReleaseBuffer (EplDllkCalInstance_g.m_ShbInstanceTxGen);
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ }
+ EplDllkCalInstance_g.m_ShbInstanceTxGen = NULL;
+
+#else
+ EplDllkCalInstance_g.m_uiFrameSizeNmt = 0;
+ EplDllkCalInstance_g.m_uiFrameSizeGen = 0;
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalProcess
+//
+// Description: process the passed configuration
+//
+// Parameters: pEvent_p = event containing configuration options
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalProcess(tEplEvent * pEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ switch (pEvent_p->m_EventType)
+ {
+ case kEplEventTypeDllkServFilter:
+ {
+ tEplDllCalAsndServiceIdFilter* pServFilter;
+
+ pServFilter = (tEplDllCalAsndServiceIdFilter*) pEvent_p->m_pArg;
+ Ret = EplDllkSetAsndServiceIdFilter(pServFilter->m_ServiceId, pServFilter->m_Filter);
+ break;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ case kEplEventTypeDllkIssueReq:
+ {
+ tEplDllCalIssueRequest* pIssueReq;
+
+ pIssueReq = (tEplDllCalIssueRequest*) pEvent_p->m_pArg;
+ Ret = EplDllkCalIssueRequest(pIssueReq->m_Service, pIssueReq->m_uiNodeId, pIssueReq->m_bSoaFlag1);
+ break;
+ }
+
+ case kEplEventTypeDllkAddNode:
+ {
+ tEplDllNodeInfo* pNodeInfo;
+
+ pNodeInfo = (tEplDllNodeInfo*) pEvent_p->m_pArg;
+ Ret = EplDllkAddNode(pNodeInfo);
+ break;
+ }
+
+ case kEplEventTypeDllkDelNode:
+ {
+ unsigned int* puiNodeId;
+
+ puiNodeId = (unsigned int*) pEvent_p->m_pArg;
+ Ret = EplDllkDeleteNode(*puiNodeId);
+ break;
+ }
+
+ case kEplEventTypeDllkSoftDelNode:
+ {
+ unsigned int* puiNodeId;
+
+ puiNodeId = (unsigned int*) pEvent_p->m_pArg;
+ Ret = EplDllkSoftDeleteNode(*puiNodeId);
+ break;
+ }
+#endif
+
+ case kEplEventTypeDllkIdentity:
+ {
+ tEplDllIdentParam* pIdentParam;
+
+ pIdentParam = (tEplDllIdentParam*) pEvent_p->m_pArg;
+ if (pIdentParam->m_uiSizeOfStruct > pEvent_p->m_uiSize)
+ {
+ pIdentParam->m_uiSizeOfStruct = pEvent_p->m_uiSize;
+ }
+ Ret = EplDllkSetIdentity(pIdentParam);
+ break;
+ }
+
+ case kEplEventTypeDllkConfig:
+ {
+ tEplDllConfigParam* pConfigParam;
+
+ pConfigParam = (tEplDllConfigParam*) pEvent_p->m_pArg;
+ if (pConfigParam->m_uiSizeOfStruct > pEvent_p->m_uiSize)
+ {
+ pConfigParam->m_uiSizeOfStruct = pEvent_p->m_uiSize;
+ }
+ Ret = EplDllkConfig(pConfigParam);
+ break;
+ }
+
+ default:
+ break;
+ }
+
+//Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncGetTxCount()
+//
+// Description: returns count of Tx frames of FIFO with highest priority
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncGetTxCount(tEplDllAsyncReqPriority * pPriority_p, unsigned int * puiCount_p)
+{
+tEplKernel Ret = kEplSuccessful;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned long ulFrameCount;
+
+ // get frame count of Tx FIFO with NMT request priority
+ ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceTxNmt, &ulFrameCount);
+ // returns kShbOk, kShbInvalidArg
+
+ // error handling
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ if (ulFrameCount > EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountNmt)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountNmt = ulFrameCount;
+ }
+
+ if (ulFrameCount != 0)
+ { // NMT requests are in queue
+ *pPriority_p = kEplDllAsyncReqPrioNmt;
+ *puiCount_p = (unsigned int) ulFrameCount;
+ goto Exit;
+ }
+
+ // get frame count of Tx FIFO with generic priority
+ ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceTxGen, &ulFrameCount);
+ // returns kShbOk, kShbInvalidArg
+
+ // error handling
+ if (ShbError != kShbOk)
+ {
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ if (ulFrameCount > EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountGen)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountGen = ulFrameCount;
+ }
+
+ *pPriority_p = kEplDllAsyncReqPrioGeneric;
+ *puiCount_p = (unsigned int) ulFrameCount;
+
+Exit:
+#else
+ if (EplDllkCalInstance_g.m_uiFrameSizeNmt > 0)
+ {
+ *pPriority_p = kEplDllAsyncReqPrioNmt;
+ *puiCount_p = 1;
+ }
+ else if (EplDllkCalInstance_g.m_uiFrameSizeGen > 0)
+ {
+ *pPriority_p = kEplDllAsyncReqPrioGeneric;
+ *puiCount_p = 1;
+ }
+ else
+ {
+ *pPriority_p = kEplDllAsyncReqPrioGeneric;
+ *puiCount_p = 0;
+ }
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncGetTxFrame()
+//
+// Description: returns Tx frames from FIFO with specified priority
+//
+// Parameters: pFrame_p = IN: pointer to buffer
+// puiFrameSize_p = IN: max size of buffer
+// OUT: actual size of frame
+// Priority_p = IN: priority
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncGetTxFrame(void * pFrame_p, unsigned int * puiFrameSize_p, tEplDllAsyncReqPriority Priority_p)
+{
+tEplKernel Ret = kEplSuccessful;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned long ulFrameSize;
+
+ switch (Priority_p)
+ {
+ case kEplDllAsyncReqPrioNmt: // NMT request priority
+ ShbError = ShbCirReadDataBlock (EplDllkCalInstance_g.m_ShbInstanceTxNmt, (BYTE *) pFrame_p, *puiFrameSize_p, &ulFrameSize);
+ // returns kShbOk, kShbDataTruncated, kShbInvalidArg, kShbNoReadableData
+ break;
+
+ default: // generic priority
+ ShbError = ShbCirReadDataBlock (EplDllkCalInstance_g.m_ShbInstanceTxGen, (BYTE *) pFrame_p, *puiFrameSize_p, &ulFrameSize);
+ // returns kShbOk, kShbDataTruncated, kShbInvalidArg, kShbNoReadableData
+ break;
+
+ }
+
+ // error handling
+ if (ShbError != kShbOk)
+ {
+ if (ShbError == kShbNoReadableData)
+ {
+ Ret = kEplDllAsyncTxBufferEmpty;
+ }
+ else
+ { // other error
+ Ret = kEplNoResource;
+ }
+ goto Exit;
+ }
+
+ *puiFrameSize_p = (unsigned int) ulFrameSize;
+
+Exit:
+#else
+ switch (Priority_p)
+ {
+ case kEplDllAsyncReqPrioNmt: // NMT request priority
+ *puiFrameSize_p = min(*puiFrameSize_p, EplDllkCalInstance_g.m_uiFrameSizeNmt);
+ EPL_MEMCPY(pFrame_p, EplDllkCalInstance_g.m_abFrameNmt, *puiFrameSize_p);
+ EplDllkCalInstance_g.m_uiFrameSizeNmt = 0;
+ break;
+
+ default: // generic priority
+ *puiFrameSize_p = min(*puiFrameSize_p, EplDllkCalInstance_g.m_uiFrameSizeGen);
+ EPL_MEMCPY(pFrame_p, EplDllkCalInstance_g.m_abFrameGen, *puiFrameSize_p);
+ EplDllkCalInstance_g.m_uiFrameSizeGen = 0;
+ break;
+ }
+
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncFrameReceived()
+//
+// Description: passes ASnd frame to receive FIFO.
+// It will be called only for frames with registered AsndServiceIds.
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncFrameReceived(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+ Event.m_EventSink = kEplEventSinkDlluCal;
+ Event.m_EventType = kEplEventTypeAsndRx;
+ Event.m_pArg = pFrameInfo_p->m_pFrame;
+ Event.m_uiSize = pFrameInfo_p->m_uiFrameSize;
+ // pass NetTime of frame to userspace
+ Event.m_NetTime = pFrameInfo_p->m_NetTime;
+
+ Ret = EplEventkPost(&Event);
+ if (Ret != kEplSuccessful)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulCurRxFrameCount++;
+ }
+ else
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulMaxRxFrameCount++;
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncSend()
+//
+// Description: puts the given frame into the transmit FIFO with the specified
+// priority.
+//
+// Parameters: pFrameInfo_p = frame info structure
+// Priority_p = priority
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncSend(tEplFrameInfo * pFrameInfo_p, tEplDllAsyncReqPriority Priority_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+
+ switch (Priority_p)
+ {
+ case kEplDllAsyncReqPrioNmt: // NMT request priority
+ ShbError = ShbCirWriteDataBlock (EplDllkCalInstance_g.m_ShbInstanceTxNmt, pFrameInfo_p->m_pFrame, pFrameInfo_p->m_uiFrameSize);
+ // returns kShbOk, kShbExceedDataSizeLimit, kShbBufferFull, kShbInvalidArg
+ break;
+
+ default: // generic priority
+ ShbError = ShbCirWriteDataBlock (EplDllkCalInstance_g.m_ShbInstanceTxGen, pFrameInfo_p->m_pFrame, pFrameInfo_p->m_uiFrameSize);
+ // returns kShbOk, kShbExceedDataSizeLimit, kShbBufferFull, kShbInvalidArg
+ break;
+
+ }
+
+ // error handling
+ switch (ShbError)
+ {
+ case kShbOk:
+ break;
+
+ case kShbExceedDataSizeLimit:
+ Ret = kEplDllAsyncTxBufferFull;
+ break;
+
+ case kShbBufferFull:
+ Ret = kEplDllAsyncTxBufferFull;
+ break;
+
+ case kShbInvalidArg:
+ default:
+ Ret = kEplNoResource;
+ break;
+ }
+
+#else
+
+ switch (Priority_p)
+ {
+ case kEplDllAsyncReqPrioNmt: // NMT request priority
+ if (EplDllkCalInstance_g.m_uiFrameSizeNmt == 0)
+ {
+ EPL_MEMCPY(EplDllkCalInstance_g.m_abFrameNmt, pFrameInfo_p->m_pFrame, pFrameInfo_p->m_uiFrameSize);
+ EplDllkCalInstance_g.m_uiFrameSizeNmt = pFrameInfo_p->m_uiFrameSize;
+ }
+ else
+ {
+ Ret = kEplDllAsyncTxBufferFull;
+ goto Exit;
+ }
+ break;
+
+ default: // generic priority
+ if (EplDllkCalInstance_g.m_uiFrameSizeGen == 0)
+ {
+ EPL_MEMCPY(EplDllkCalInstance_g.m_abFrameGen, pFrameInfo_p->m_pFrame, pFrameInfo_p->m_uiFrameSize);
+ EplDllkCalInstance_g.m_uiFrameSizeGen = pFrameInfo_p->m_uiFrameSize;
+ }
+ else
+ {
+ Ret = kEplDllAsyncTxBufferFull;
+ goto Exit;
+ }
+ break;
+ }
+
+#endif
+
+ // post event to DLL
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkFillTx;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &Priority_p;
+ Event.m_uiSize = sizeof(Priority_p);
+ Ret = EplEventkPost(&Event);
+
+#ifdef EPL_NO_FIFO
+Exit:
+#endif
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncClearBuffer()
+//
+// Description: clears the transmit buffer
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncClearBuffer(void)
+{
+tEplKernel Ret = kEplSuccessful;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+
+ ShbError = ShbCirResetBuffer (EplDllkCalInstance_g.m_ShbInstanceTxNmt, 1000, NULL);
+ ShbError = ShbCirResetBuffer (EplDllkCalInstance_g.m_ShbInstanceTxGen, 1000, NULL);
+
+#else
+ EplDllkCalInstance_g.m_uiFrameSizeNmt = 0;
+ EplDllkCalInstance_g.m_uiFrameSizeGen = 0;
+#endif
+
+// EPL_MEMSET(&EplDllkCalInstance_g.m_Statistics, 0, sizeof (tEplDllkCalStatistics));
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncClearQueues()
+//
+// Description: clears the transmit buffer
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+tEplKernel EplDllkCalAsyncClearQueues(void)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // clear MN asynchronous queues
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest = 0;
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 0;
+ EplDllkCalInstance_g.m_uiReadIdentReq = 0;
+ EplDllkCalInstance_g.m_uiWriteIdentReq = 0;
+ EplDllkCalInstance_g.m_uiReadStatusReq = 0;
+ EplDllkCalInstance_g.m_uiWriteStatusReq = 0;
+
+ return Ret;
+}
+#endif
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalGetStatistics()
+//
+// Description: returns statistics of the asynchronous queues.
+//
+// Parameters: ppStatistics = statistics structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalGetStatistics(tEplDllkCalStatistics ** ppStatistics)
+{
+tEplKernel Ret = kEplSuccessful;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+
+ ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceTxNmt, &EplDllkCalInstance_g.m_Statistics.m_ulCurTxFrameCountNmt);
+ ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceTxGen, &EplDllkCalInstance_g.m_Statistics.m_ulCurTxFrameCountGen);
+// ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceRx, &EplDllkCalInstance_g.m_Statistics.m_ulCurRxFrameCount);
+
+#else
+ if (EplDllkCalInstance_g.m_uiFrameSizeNmt > 0)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulCurTxFrameCountNmt = 1;
+ }
+ else
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulCurTxFrameCountNmt = 0;
+ }
+ if (EplDllkCalInstance_g.m_uiFrameSizeGen > 0)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulCurTxFrameCountGen = 1;
+ }
+ else
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulCurTxFrameCountGen = 0;
+ }
+#endif
+
+ *ppStatistics = &EplDllkCalInstance_g.m_Statistics;
+ return Ret;
+}
+
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalIssueRequest()
+//
+// Description: issues a StatusRequest or a IdentRequest to the specified node.
+//
+// Parameters: Service_p = request service ID
+// uiNodeId_p = node ID
+// bSoaFlag1_p = flag1 for this node (transmit in SoA and PReq)
+// If 0xFF this flag is ignored.
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalIssueRequest(tEplDllReqServiceId Service_p, unsigned int uiNodeId_p, BYTE bSoaFlag1_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (bSoaFlag1_p != 0xFF)
+ {
+ Ret = EplDllkSetFlag1OfNode(uiNodeId_p, bSoaFlag1_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ // add node to appropriate request queue
+ switch (Service_p)
+ {
+ case kEplDllReqServiceIdent:
+ {
+ if (((EplDllkCalInstance_g.m_uiWriteIdentReq + 1) % tabentries (EplDllkCalInstance_g.m_auiQueueIdentReq))
+ == EplDllkCalInstance_g.m_uiReadIdentReq)
+ { // queue is full
+ Ret = kEplDllAsyncTxBufferFull;
+ goto Exit;
+ }
+ EplDllkCalInstance_g.m_auiQueueIdentReq[EplDllkCalInstance_g.m_uiWriteIdentReq] = uiNodeId_p;
+ EplDllkCalInstance_g.m_uiWriteIdentReq =
+ (EplDllkCalInstance_g.m_uiWriteIdentReq + 1) % tabentries (EplDllkCalInstance_g.m_auiQueueIdentReq);
+ break;
+ }
+
+ case kEplDllReqServiceStatus:
+ {
+ if (((EplDllkCalInstance_g.m_uiWriteStatusReq + 1) % tabentries (EplDllkCalInstance_g.m_auiQueueStatusReq))
+ == EplDllkCalInstance_g.m_uiReadStatusReq)
+ { // queue is full
+ Ret = kEplDllAsyncTxBufferFull;
+ goto Exit;
+ }
+ EplDllkCalInstance_g.m_auiQueueStatusReq[EplDllkCalInstance_g.m_uiWriteStatusReq] = uiNodeId_p;
+ EplDllkCalInstance_g.m_uiWriteStatusReq =
+ (EplDllkCalInstance_g.m_uiWriteStatusReq + 1) % tabentries (EplDllkCalInstance_g.m_auiQueueStatusReq);
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplDllInvalidParam;
+ goto Exit;
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncGetSoaRequest()
+//
+// Description: returns next request for SoA. This function is called by DLLk module.
+//
+// Parameters: pReqServiceId_p = pointer to request service ID
+// IN: available request for MN NMT or generic request queue (Flag2.PR)
+// or kEplDllReqServiceNo if queues are empty
+// OUT: next request
+// puiNodeId_p = OUT: pointer to node ID of next request
+// = EPL_C_ADR_INVALID, if request is self addressed
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncGetSoaRequest(tEplDllReqServiceId* pReqServiceId_p, unsigned int* puiNodeId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiCount;
+
+// *pReqServiceId_p = kEplDllReqServiceNo;
+
+ for (uiCount = EPL_DLLKCAL_MAX_QUEUES; uiCount > 0; uiCount--)
+ {
+ switch (EplDllkCalInstance_g.m_uiNextRequestQueue)
+ {
+ case 0:
+ { // CnGenReq
+ for (;EplDllkCalInstance_g.m_uiNextQueueCnRequest < (tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests) / 2);
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest++)
+ {
+ if (EplDllkCalInstance_g.m_auiQueueCnRequests[EplDllkCalInstance_g.m_uiNextQueueCnRequest] > 0)
+ { // non empty queue found
+ // remove one request from queue
+ EplDllkCalInstance_g.m_auiQueueCnRequests[EplDllkCalInstance_g.m_uiNextQueueCnRequest]--;
+ *puiNodeId_p = EplDllkCalInstance_g.m_uiNextQueueCnRequest + 1;
+ *pReqServiceId_p = kEplDllReqServiceUnspecified;
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest++;
+ if (EplDllkCalInstance_g.m_uiNextQueueCnRequest >= (tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests) / 2))
+ { // last node reached
+ // continue with CnNmtReq queue at next SoA
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 1;
+ }
+ goto Exit;
+ }
+ }
+ // all CnGenReq queues are empty -> continue with CnNmtReq queue
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 1;
+ break;
+ }
+
+ case 1:
+ { // CnNmtReq
+ for (;EplDllkCalInstance_g.m_uiNextQueueCnRequest < tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests);
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest++)
+ {
+ if (EplDllkCalInstance_g.m_auiQueueCnRequests[EplDllkCalInstance_g.m_uiNextQueueCnRequest] > 0)
+ { // non empty queue found
+ // remove one request from queue
+ EplDllkCalInstance_g.m_auiQueueCnRequests[EplDllkCalInstance_g.m_uiNextQueueCnRequest]--;
+ *puiNodeId_p = EplDllkCalInstance_g.m_uiNextQueueCnRequest + 1 - (tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests) / 2);
+ *pReqServiceId_p = kEplDllReqServiceNmtRequest;
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest++;
+ if (EplDllkCalInstance_g.m_uiNextQueueCnRequest > tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests))
+ { // last node reached
+ // restart CnGenReq queue
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest = 0;
+ // continue with MnGenReq queue at next SoA
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 2;
+ }
+ goto Exit;
+ }
+ }
+ // restart CnGenReq queue
+ EplDllkCalInstance_g.m_uiNextQueueCnRequest = 0;
+ // all CnNmtReq queues are empty -> continue with MnGenReq queue
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 2;
+ break;
+ }
+
+ case 2:
+ { // MnNmtReq and MnGenReq
+ // next queue will be MnIdentReq queue
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 3;
+ if (*pReqServiceId_p != kEplDllReqServiceNo)
+ {
+ *puiNodeId_p = EPL_C_ADR_INVALID; // DLLk must exchange this with the actual node ID
+ goto Exit;
+ }
+ break;
+ }
+
+ case 3:
+ { // MnIdentReq
+ // next queue will be MnStatusReq queue
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 4;
+ if (EplDllkCalInstance_g.m_uiReadIdentReq != EplDllkCalInstance_g.m_uiWriteIdentReq)
+ { // queue is not empty
+ *puiNodeId_p = EplDllkCalInstance_g.m_auiQueueIdentReq[EplDllkCalInstance_g.m_uiReadIdentReq];
+ EplDllkCalInstance_g.m_uiReadIdentReq =
+ (EplDllkCalInstance_g.m_uiReadIdentReq + 1) % tabentries (EplDllkCalInstance_g.m_auiQueueIdentReq);
+ *pReqServiceId_p = kEplDllReqServiceIdent;
+ goto Exit;
+ }
+ break;
+ }
+
+ case 4:
+ { // MnStatusReq
+ // next queue will be CnGenReq queue
+ EplDllkCalInstance_g.m_uiNextRequestQueue = 0;
+ if (EplDllkCalInstance_g.m_uiReadStatusReq != EplDllkCalInstance_g.m_uiWriteStatusReq)
+ { // queue is not empty
+ *puiNodeId_p = EplDllkCalInstance_g.m_auiQueueStatusReq[EplDllkCalInstance_g.m_uiReadStatusReq];
+ EplDllkCalInstance_g.m_uiReadStatusReq =
+ (EplDllkCalInstance_g.m_uiReadStatusReq + 1) % tabentries (EplDllkCalInstance_g.m_auiQueueStatusReq);
+ *pReqServiceId_p = kEplDllReqServiceStatus;
+ goto Exit;
+ }
+ break;
+ }
+
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDllkCalAsyncSetPendingRequests()
+//
+// Description: sets the pending asynchronous frame requests of the specified node.
+// This will add the node to the asynchronous request scheduler.
+//
+// Parameters: uiNodeId_p = node ID
+// AsyncReqPrio_p = asynchronous request priority
+// uiCount_p = count of asynchronous frames
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDllkCalAsyncSetPendingRequests(unsigned int uiNodeId_p, tEplDllAsyncReqPriority AsyncReqPrio_p, unsigned int uiCount_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // add node to appropriate request queue
+ switch (AsyncReqPrio_p)
+ {
+ case kEplDllAsyncReqPrioNmt:
+ {
+ uiNodeId_p--;
+ if (uiNodeId_p >= (tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests) / 2))
+ {
+ Ret = kEplDllInvalidParam;
+ goto Exit;
+ }
+ uiNodeId_p += tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests) / 2;
+ EplDllkCalInstance_g.m_auiQueueCnRequests[uiNodeId_p] = uiCount_p;
+ break;
+ }
+
+ default:
+ {
+ uiNodeId_p--;
+ if (uiNodeId_p >= (tabentries (EplDllkCalInstance_g.m_auiQueueCnRequests) / 2))
+ {
+ Ret = kEplDllInvalidParam;
+ goto Exit;
+ }
+ EplDllkCalInstance_g.m_auiQueueCnRequests[uiNodeId_p] = uiCount_p;
+ break;
+ }
+ }
+
+Exit:
+ return Ret;
+}
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// Callback handler for new data signaling
+//---------------------------------------------------------------------------
+
+#ifndef EPL_NO_FIFO
+/*static void EplDllkCalTxNmtSignalHandler (
+ tShbInstance pShbRxInstance_p,
+ unsigned long ulDataSize_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+tEplDllAsyncReqPriority Priority;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned long ulBlockCount;
+
+
+ ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceTxNmt, &ulBlockCount);
+ if (ulBlockCount > EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountNmt)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountNmt = ulBlockCount;
+ }
+
+#endif
+
+ // post event to DLL
+ Priority = kEplDllAsyncReqPrioNmt;
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkFillTx;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &Priority;
+ Event.m_uiSize = sizeof(Priority);
+ Ret = EplEventkPost(&Event);
+
+}
+
+static void EplDllkCalTxGenSignalHandler (
+ tShbInstance pShbRxInstance_p,
+ unsigned long ulDataSize_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+tEplDllAsyncReqPriority Priority;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned long ulBlockCount;
+
+
+ ShbError = ShbCirGetReadBlockCount (EplDllkCalInstance_g.m_ShbInstanceTxGen, &ulBlockCount);
+ if (ulBlockCount > EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountGen)
+ {
+ EplDllkCalInstance_g.m_Statistics.m_ulMaxTxFrameCountGen = ulBlockCount;
+ }
+
+#endif
+
+ // post event to DLL
+ Priority = kEplDllAsyncReqPrioGeneric;
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkFillTx;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &Priority;
+ Event.m_uiSize = sizeof(Priority);
+ Ret = EplEventkPost(&Event);
+
+}
+*/
+#endif
+
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for DLL Communication Abstraction Layer module in EPL user part
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDlluCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.7 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/20 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "user/EplDlluCal.h"
+#include "user/EplEventu.h"
+
+#include "EplDllCal.h"
+
+// include only if direct call between user- and kernelspace is enabled
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+#include "kernel/EplDllkCal.h"
+#endif
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplDlluCal */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplDlluCbAsnd m_apfnDlluCbAsnd[EPL_DLL_MAX_ASND_SERVICE_ID];
+
+} tEplDlluCalInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+// if no dynamic memory allocation shall be used
+// define structures statically
+static tEplDlluCalInstance EplDlluCalInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDlluCalSetAsndServiceIdFilter(tEplDllAsndServiceId ServiceId_p, tEplDllAsndFilter Filter_p);
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalAddInstance()
+//
+// Description: add and initialize new instance of DLL CAL module
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalAddInstance()
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplDlluCalInstance_g, 0, sizeof (EplDlluCalInstance_g));
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalDelInstance()
+//
+// Description: deletes an instance of DLL CAL module
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalDelInstance()
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplDlluCalInstance_g, 0, sizeof (EplDlluCalInstance_g));
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalProcess
+//
+// Description: process the passed asynch frame
+//
+// Parameters: pEvent_p = event containing frame to be processed
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalProcess(tEplEvent * pEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplMsgType MsgType;
+unsigned int uiAsndServiceId;
+tEplFrameInfo FrameInfo;
+
+ if (pEvent_p->m_EventType == kEplEventTypeAsndRx)
+ {
+ FrameInfo.m_pFrame = (tEplFrame*) pEvent_p->m_pArg;
+ FrameInfo.m_uiFrameSize = pEvent_p->m_uiSize;
+ // extract NetTime
+ FrameInfo.m_NetTime = pEvent_p->m_NetTime;
+
+ MsgType = (tEplMsgType)AmiGetByteFromLe(&FrameInfo.m_pFrame->m_le_bMessageType);
+ if (MsgType != kEplMsgTypeAsnd)
+ {
+ Ret = kEplInvalidOperation;
+ goto Exit;
+ }
+
+ uiAsndServiceId = (unsigned int) AmiGetByteFromLe(&FrameInfo.m_pFrame->m_Data.m_Asnd.m_le_bServiceId);
+ if (uiAsndServiceId < EPL_DLL_MAX_ASND_SERVICE_ID)
+ { // ASnd service ID is valid
+ if (EplDlluCalInstance_g.m_apfnDlluCbAsnd[uiAsndServiceId] != NULL)
+ { // handler was registered
+ Ret = EplDlluCalInstance_g.m_apfnDlluCbAsnd[uiAsndServiceId](&FrameInfo);
+ }
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalRegAsndService()
+//
+// Description: registers the specified handler for the specified
+// AsndServiceId with the specified node ID filter.
+//
+// Parameters: ServiceId_p = ASnd Service ID
+// pfnDlluCbAsnd_p = callback function
+// Filter_p = node ID filter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalRegAsndService(tEplDllAsndServiceId ServiceId_p, tEplDlluCbAsnd pfnDlluCbAsnd_p, tEplDllAsndFilter Filter_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (ServiceId_p < tabentries (EplDlluCalInstance_g.m_apfnDlluCbAsnd))
+ {
+ // memorize function pointer
+ EplDlluCalInstance_g.m_apfnDlluCbAsnd[ServiceId_p] = pfnDlluCbAsnd_p;
+
+ if (pfnDlluCbAsnd_p == NULL)
+ { // close filter
+ Filter_p = kEplDllAsndFilterNone;
+ }
+
+ // set filter in DLL module in kernel part
+ Ret = EplDlluCalSetAsndServiceIdFilter(ServiceId_p, Filter_p);
+
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalAsyncSend()
+//
+// Description: sends the frame with the specified priority.
+//
+// Parameters: pFrameInfo_p = frame
+// m_uiFrameSize does not include the
+// ethernet header (14 bytes)
+// Priority_p = priority
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalAsyncSend(tEplFrameInfo * pFrameInfo_p, tEplDllAsyncReqPriority Priority_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ pFrameInfo_p->m_uiFrameSize += 14; // add size of ethernet header
+ Ret = EplDllkCalAsyncSend(pFrameInfo_p, Priority_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalIssueRequest()
+//
+// Description: issues a StatusRequest or a IdentRequest to the specified node.
+//
+// Parameters: Service_p = request service ID
+// uiNodeId_p = node ID
+// bSoaFlag1_p = flag1 for this node (transmit in SoA and PReq)
+// If 0xFF this flag is ignored.
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalIssueRequest(tEplDllReqServiceId Service_p, unsigned int uiNodeId_p, BYTE bSoaFlag1_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // add node to appropriate request queue
+ switch (Service_p)
+ {
+ case kEplDllReqServiceIdent:
+ case kEplDllReqServiceStatus:
+ {
+ tEplEvent Event;
+ tEplDllCalIssueRequest IssueReq;
+
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkIssueReq;
+ IssueReq.m_Service = Service_p;
+ IssueReq.m_uiNodeId = uiNodeId_p;
+ IssueReq.m_bSoaFlag1 = bSoaFlag1_p;
+ Event.m_pArg = &IssueReq;
+ Event.m_uiSize = sizeof (IssueReq);
+
+ Ret = EplEventuPost(&Event);
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplDllInvalidParam;
+ goto Exit;
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalAddNode()
+//
+// Description: adds the specified node to the isochronous phase.
+//
+// Parameters: pNodeInfo_p = pointer of node info structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalAddNode(tEplDllNodeInfo * pNodeInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkAddNode;
+ Event.m_pArg = pNodeInfo_p;
+ Event.m_uiSize = sizeof (tEplDllNodeInfo);
+
+ Ret = EplEventuPost(&Event);
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalDeleteNode()
+//
+// Description: removes the specified node from the isochronous phase.
+//
+// Parameters: uiNodeId_p = node ID
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalDeleteNode(unsigned int uiNodeId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkDelNode;
+ Event.m_pArg = &uiNodeId_p;
+ Event.m_uiSize = sizeof (uiNodeId_p);
+
+ Ret = EplEventuPost(&Event);
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalSoftDeleteNode()
+//
+// Description: removes the specified node softly from the isochronous phase.
+//
+// Parameters: uiNodeId_p = node ID
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalSoftDeleteNode(unsigned int uiNodeId_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkSoftDelNode;
+ Event.m_pArg = &uiNodeId_p;
+ Event.m_uiSize = sizeof (uiNodeId_p);
+
+ Ret = EplEventuPost(&Event);
+
+ return Ret;
+}
+
+
+#endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplDlluCalSetAsndServiceIdFilter()
+//
+// Description: forwards call to EplDllkSetAsndServiceIdFilter() in kernel part
+//
+// Parameters: ServiceId_p = ASnd Service ID
+// Filter_p = node ID filter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplDlluCalSetAsndServiceIdFilter(tEplDllAsndServiceId ServiceId_p, tEplDllAsndFilter Filter_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+tEplDllCalAsndServiceIdFilter ServFilter;
+
+ Event.m_EventSink = kEplEventSinkDllkCal;
+ Event.m_EventType = kEplEventTypeDllkServFilter;
+ ServFilter.m_ServiceId = ServiceId_p;
+ ServFilter.m_Filter = Filter_p;
+ Event.m_pArg = &ServFilter;
+ Event.m_uiSize = sizeof (ServFilter);
+
+ Ret = EplEventuPost(&Event);
+
+ return Ret;
+}
+
+
+#endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: definitions for all EPL-function return codes
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplErrDef.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.9 $ $Date: 2008/06/23 14:56:33 $
+
+ $State: Exp $
+
+ Build Environment:
+ all
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2005/12/05 -as: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#ifndef _EPL_ERRORDEF_H_
+#define _EPL_ERRORDEF_H_
+
+
+//---------------------------------------------------------------------------
+// return codes
+//---------------------------------------------------------------------------
+
+typedef enum
+{
+ // area for generic errors 0x0000 - 0x000F
+ kEplSuccessful = 0x0000, // no error/successful run
+ kEplIllegalInstance = 0x0001, // the called Instanz does not exist
+ kEplInvalidInstanceParam = 0x0002, //
+ kEplNoFreeInstance = 0x0003, // XxxAddInstance was called but no free instance is available
+ kEplWrongSignature = 0x0004, // wrong signature while writing to object 0x1010 or 0x1011
+ kEplInvalidOperation = 0x0005, // operation not allowed in this situation
+ kEplInvalidNodeId = 0x0007, // invalid NodeId was specified
+ kEplNoResource = 0x0008, // resource could not be created (Windows, PxROS, ...)
+ kEplShutdown = 0x0009, // stack is shutting down
+ kEplReject = 0x000A, // reject the subsequent command
+
+ // area for EDRV module 0x0010 - 0x001F
+// kEplEdrvNoFrame = 0x0010, // no CAN message was received
+// kEplEdrvMsgHigh = 0x0011, // CAN message with high priority was received
+// kEplEdrvMsgLow = 0x0012, // CAN message with low priority was received
+ kEplEdrvInitError = 0x0013, // initialisation error
+ kEplEdrvNoFreeBufEntry = 0x0014, // no free entry in internal buffer table for Tx frames
+ kEplEdrvBufNotExisting = 0x0015, // specified Tx buffer does not exist
+// kEplEdrvNoFreeChannel = 0x0014, // CAN controller has not a free channel
+// kEplEdrvTxBuffHighOverrun = 0x0015, // buffer for high priority CAN transmit messages has overrun
+// kEplEdrvTxBuffLowOverrun = 0x0016, // buffer for low priority CAN transmit messages has overrun
+// kEplEdrvIllegalBdi = 0x0017, // unsupported baudrate within baudrate table
+// kEplEdrvBusy = 0x0018, // remote frame can not be updated because no bus contact or CAN
+ // transmission is activ
+// kEplEdrvInvalidDriverType = 0x0019, // (PC: Windows or Linux) invalid driver type
+// kEplEdrvDriverNotFound = 0x001A, // (PC: Windows or Linux) driver (DLL) could not be found
+// kEplEdrvInvalidBaseAddress = 0x001B, // (PC: Windows or Linux) driver could not found the CAN controller
+// kEplEdrvInvalidParam = 0x001C, // invalid param in function call
+
+ // area for COB module 0x0020 - 0x002F
+/* kEplCobNoFreeEntry = 0x0020, // no free entry in RX- or TX-COB table
+ kEplCobAlreadyExist = 0x0021, // COB-ID already exists in RX- resp. TX-COB table
+ */
+ kEplDllIllegalHdl = 0x0022, // illegal handle for a TxFrame was passed
+ kEplDllCbAsyncRegistered = 0x0023, // handler for non-EPL frames was already registered before
+// kEplDllAsyncRxBufferFull = 0x0024, // receive buffer for asynchronous frames is full
+ kEplDllAsyncTxBufferEmpty = 0x0025, // transmit buffer for asynchronous frames is empty
+ kEplDllAsyncTxBufferFull = 0x0026, // transmit buffer for asynchronous frames is full
+ kEplDllNoNodeInfo = 0x0027, // MN: too less space in the internal node info structure
+ kEplDllInvalidParam = 0x0028, // invalid parameters passed to function
+ kEplDllTxBufNotReady = 0x002E, // TxBuffer (e.g. for PReq) is not ready yet
+ kEplDllTxFrameInvalid = 0x002F, // TxFrame (e.g. for PReq) is invalid or does not exist
+/* kEplCobIllegalCanId = 0x0023, // COB-ID is not allowed (like 0x000 is reserved for NMT, ...)
+ kEplCobInvalidCanId = 0x0024, // COB-ID is switched off
+ kEplCobCdrvStateSet = 0x0025, // at least one bit of CAN driver state is set
+ kEplCobNoFreeEntryHighBuf = 0x0026, // no free entry in high priotity RX- or TX-COB table
+ kEplCobOwnId = 0x0027, // COB-ID already exists in own module which calls CobDefine() or CobCheck()
+*/
+ // area for OBD module 0x0030 - 0x003F
+ kEplObdIllegalPart = 0x0030, // unknown OD part
+ kEplObdIndexNotExist = 0x0031, // object index does not exist in OD
+ kEplObdSubindexNotExist = 0x0032, // subindex does not exist in object index
+ kEplObdReadViolation = 0x0033, // read access to a write-only object
+ kEplObdWriteViolation = 0x0034, // write access to a read-only object
+ kEplObdAccessViolation = 0x0035, // access not allowed
+ kEplObdUnknownObjectType = 0x0036, // object type not defined/known
+ kEplObdVarEntryNotExist = 0x0037, // object does not contain VarEntry structure
+ kEplObdValueTooLow = 0x0038, // value to write to an object is too low
+ kEplObdValueTooHigh = 0x0039, // value to write to an object is too high
+ kEplObdValueLengthError = 0x003A, // value to write is to long or to short
+// kEplObdIllegalFloat = 0x003B, // illegal float variable
+// kEplObdWrongOdBuilderKey = 0x003F, // OD was generated with demo version of tool ODBuilder
+
+ // area for NMT module 0x0040 - 0x004F
+ kEplNmtUnknownCommand = 0x0040, // unknown NMT command
+ kEplNmtInvalidFramePointer = 0x0041, // pointer to the frame is not valid
+ kEplNmtInvalidEvent = 0x0042, // invalid event send to NMT-modul
+ kEplNmtInvalidState = 0x0043, // unknown state in NMT-State-Maschine
+ kEplNmtInvalidParam = 0x0044, // invalid parameters specified
+
+ // area for SDO/UDP module 0x0050 - 0x005F
+ kEplSdoUdpMissCb = 0x0050, // missing callback-function pointer during inti of
+ // module
+ kEplSdoUdpNoSocket = 0x0051, // error during init of socket
+ kEplSdoUdpSocketError = 0x0052, // error during usage of socket
+ kEplSdoUdpThreadError = 0x0053, // error during start of listen thread
+ kEplSdoUdpNoFreeHandle = 0x0054, // no free connection handle for Udp
+ kEplSdoUdpSendError = 0x0055, // Error during send of frame
+ kEplSdoUdpInvalidHdl = 0x0056, // the connection handle is invalid
+
+ // area for SDO Sequence layer module 0x0060 - 0x006F
+ kEplSdoSeqMissCb = 0x0060, // no callback-function assign
+ kEplSdoSeqNoFreeHandle = 0x0061, // no free handle for connection
+ kEplSdoSeqInvalidHdl = 0x0062, // invalid handle in SDO sequence layer
+ kEplSdoSeqUnsupportedProt = 0x0063, // unsupported Protocol selected
+ kEplSdoSeqNoFreeHistory = 0x0064, // no free entry in history
+ kEplSdoSeqFrameSizeError = 0x0065, // the size of the frames is not correct
+ kEplSdoSeqRequestAckNeeded = 0x0066, // indeicates that the history buffer is full
+ // and a ack request is needed
+ kEplSdoSeqInvalidFrame = 0x0067, // frame not valid
+ kEplSdoSeqConnectionBusy = 0x0068, // connection is busy -> retry later
+ kEplSdoSeqInvalidEvent = 0x0069, // invalid event received
+
+ // area for SDO Command Layer Module 0x0070 - 0x007F
+ kEplSdoComUnsupportedProt = 0x0070, // unsupported Protocol selected
+ kEplSdoComNoFreeHandle = 0x0071, // no free handle for connection
+ kEplSdoComInvalidServiceType= 0x0072, // invalid SDO service type specified
+ kEplSdoComInvalidHandle = 0x0073, // handle invalid
+ kEplSdoComInvalidSendType = 0x0074, // the stated to of frame to send is
+ // not possible
+ kEplSdoComNotResponsible = 0x0075, // internal error: command layer handle is
+ // not responsible for this event from sequence layer
+ kEplSdoComHandleExists = 0x0076, // handle to same node already exists
+ kEplSdoComHandleBusy = 0x0077, // transfer via this handle is already running
+ kEplSdoComInvalidParam = 0x0078, // invalid parameters passed to function
+
+ // area for EPL Event-Modul 0x0080 - 0x008F
+ kEplEventUnknownSink = 0x0080, // unknown sink for event
+ kEplEventPostError = 0x0081, // error during post of event
+
+
+
+ // area for EPL Timer Modul 0x0090 - 0x009F
+ kEplTimerInvalidHandle = 0x0090, // invalid handle for timer
+ kEplTimerNoTimerCreated = 0x0091, // no timer was created caused by
+ // an error
+
+ // area for EPL SDO/Asnd Module 0x00A0 - 0x0AF
+ kEplSdoAsndInvalidNodeId = 0x00A0, //0 node id is invalid
+ kEplSdoAsndNoFreeHandle = 0x00A1, // no free handle for connection
+ kEplSdoAsndInvalidHandle = 0x00A2, // handle for connection is invalid
+
+
+ // area for PDO module 0x00B0 - 0x00BF
+ kEplPdoNotExist = 0x00B0, // selected PDO does not exist
+ kEplPdoLengthExceeded = 0x00B1, // length of PDO mapping exceedes 64 bis
+ kEplPdoGranularityMismatch = 0x00B2, // configured PDO granularity is not equal to supported granularity
+ kEplPdoInitError = 0x00B3, // error during initialisation of PDO module
+ kEplPdoErrorPdoEncode = 0x00B4, // error during encoding a PDO
+ kEplPdoErrorPdoDecode = 0x00B5, // error during decoding a PDO
+ kEplPdoErrorSend = 0x00B6, // error during sending a PDO
+ kEplPdoErrorSyncWin = 0x00B7, // the SYNC window runs out during sending SYNC-PDOs
+ kEplPdoErrorMapp = 0x00B8, // invalid PDO mapping
+ kEplPdoVarNotFound = 0x00B9, // variable was not found in function PdoSignalVar()
+ kEplPdoErrorEmcyPdoLen = 0x00BA, // the length of a received PDO is unequal to the expected value
+ kEplPdoWriteConstObject = 0x00BB, // constant object can not be written
+ // (only TxType, Inhibit-, Event Time for CANopen Kit)
+
+ // area for LSS slave module
+/* kEplLsssResetNode = 0x0080, // NMT command "reset node" has to be processed after LSS configuration
+ // new of NodeId
+ kEplLsssInvalidNodeId = 0x0081, // no valid NodeId is configured -> wait until it is configured with
+ // LSS service before calling CcmConnectToNet()
+*/
+ // area for emergency consumer module 0x0090 - 0x009F
+/* kEplEmccNoFreeProducerEntry = 0x0090, // no free entry to add a Emergency Producer
+ kEplEmccNodeIdNotExist = 0x0091, // selected NodeId was never added
+ kEplEmccNodeIdInvalid = 0x0092, // selected NodeId is outside of range (0x01 until 0x7F)
+ kEplEmccNodeIdExist = 0x0093, // selected NodeId already exist
+*/
+ // area for dynamic OD 0x00A0 - 0x00AF
+/* kEplDynNoMemory = 0x00A0, // no memory available
+ kEplDynInvalidConfig = 0x00A1, // invalid configuration in segment container
+*/
+ // area for hertbeat consumer module 0x00B0 - 0x00BF
+/* kEplHbcEntryNotExist = 0x00B0, // Heartbeat Producer node not configured
+ kEplHbcEntryAlreadyExist = 0x00B1, // NodeId was already defined in heartbeat consumer table (object 0x1016)
+*/
+ // Configuration manager module 0x00C0 - 0x00CF
+ kEplCfgMaConfigError = 0x00C0, // error in configuration manager
+ kEplCfgMaSdocTimeOutError = 0x00C1, // error in configuration manager, Sdo timeout
+ kEplCfgMaInvalidDcf = 0x00C2, // configration file not valid
+ kEplCfgMaUnsupportedDcf = 0x00C3, // unsupported Dcf format
+ kEplCfgMaConfigWithErrors = 0x00C4, // configuration finished with errors
+ kEplCfgMaNoFreeConfig = 0x00C5, // no free configuration entry
+ kEplCfgMaNoConfigData = 0x00C6, // no configuration data present
+ kEplCfgMaUnsuppDatatypeDcf = 0x00C7, // unsupported datatype found in dcf
+ // -> this entry was not configured
+
+
+ // area for LSS master module 0x00D0 - 0x00DF
+/* kEplLssmIllegalMode = 0x00D0, // illegal LSS mode (operation / configuration)
+ kEplLssmIllegalState = 0x00D1, // function was called in illegal state of LSS master
+ kEplLssmBusy = 0x00D2, // LSS process is busy with an previous service
+ kEplLssmIllegalCmd = 0x00D3, // illegal command code was set for function LssmInquireIdentity()
+ kEplLssmTimeout = 0x00D4, // LSS slave did not answer a LSS service
+ kEplLssmErrorInConfirm = 0x00D5, // LSS slave replied an error code for a LSS service
+*/
+ // area for CCM modules 0x00E0 - 0xEF
+/* kEplCcmStoreUnvalidState = 0x00E0, // memory device not available due device state
+ kEplCcmStoreHwError = 0x00E1, // hw error due device access
+*/
+ // area for SRDO module 0x0100 - 0x011F
+/* kEplSrdoNotExist = 0x0100, // selected SRDO does not exist
+ kEplSrdoGranularityMismatch = 0x0101, // configured SRDO granularity is not equal to supported granularity
+ kEplSrdoCfgTimingError = 0x0102, // configuration is not ok (Timing)
+ kEplSrdoCfgIdError = 0x0103, // configuration is not ok (CobIds)
+ kEplSrdoCfgCrcError = 0x0104, // configuration is not ok (CRC)
+ kEplSrdoNmtError = 0x0105, // an action was tried in a wrong NMT state
+ kEplSrdoInvalidCfg = 0x0106, // an action was tried with an invald SRDO configuration
+ kEplSrdoInvalid = 0x0107, // an action was tried with an invald SRDO
+ kEplSrdoRxTxConflict = 0x0108, // an transmission was tried with an receive SRDO (or the other way)
+ kEplSrdoIllegalCanId = 0x0109, // the CanId is invalid
+ kEplSrdoCanIdAlreadyInUse = 0x010A, // the CanId is already in use
+ kEplSrdoNotInOrder = 0x010B, // the two messages of a SRDO are not in order
+ kEplSrdoSctTimeout = 0x010C, // timeout of SCT
+ kEplSrdoSrvtTimeout = 0x010D, // timeout of SRVT
+ kEplSrdoCanIdNotValid = 0x010E, // one of received CAN-IDs are not equal to configured one
+ kEplSrdoDlcNotValid = 0x010F, // one of received CAN-DLC are not equal to configured one
+ kEplSrdoErrorMapp = 0x0110, // wrong values in mapping found
+ kEplSrdoDataError = 0x0111, // data of CAN messages are not invers
+ kEplSrdoLengthExceeded = 0x0112, // length of SRDO mapping exceedes 64 bit per CAN-message
+ kEplSrdoNotHandledInApp = 0x0113, // the SRDO error was not handled in AppSrdoError()
+ kEplSrdoOverrun = 0x0114 // a RxSRDO was received but the pevious one was not else processed
+*/
+
+ kEplApiTaskDeferred = 0x0140, // EPL performs task in background and informs the application (or vice-versa), when it is finished
+ kEplApiInvalidParam = 0x0142, // passed invalid parameters to a function (e.g. invalid node id)
+
+ // area untill 0x07FF is reserved
+ // area for user application from 0x0800 to 0x7FFF
+
+} tEplKernel;
+
+
+#endif
+//EOF
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for error handler module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplErrorHandlerk.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.9 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/10/02 d.k.: start of the implementation
+
+****************************************************************************/
+
+#include "kernel/EplErrorHandlerk.h"
+#include "EplNmt.h"
+#include "kernel/EplEventk.h"
+#include "kernel/EplObdk.h" // function prototyps of the EplOBD-Modul
+#include "kernel/EplDllk.h"
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0)
+#error "EPL ErrorHandler module needs EPL module OBDK!"
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ DWORD m_dwCumulativeCnt; // subindex 1
+ DWORD m_dwThresholdCnt; // subindex 2
+ DWORD m_dwThreshold; // subindex 3
+
+} tEplErrorHandlerkErrorCounter;
+
+typedef struct
+{
+ tEplErrorHandlerkErrorCounter m_CnLossSoc; // object 0x1C0B
+ tEplErrorHandlerkErrorCounter m_CnLossPreq; // object 0x1C0D
+ tEplErrorHandlerkErrorCounter m_CnCrcErr; // object 0x1C0F
+ unsigned long m_ulDllErrorEvents;
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ tEplErrorHandlerkErrorCounter m_MnCrcErr; // object 0x1C00
+ tEplErrorHandlerkErrorCounter m_MnCycTimeExceed; // object 0x1C02
+ DWORD m_adwMnCnLossPresCumCnt[254]; // object 0x1C07
+ DWORD m_adwMnCnLossPresThrCnt[254]; // object 0x1C08
+ DWORD m_adwMnCnLossPresThreshold[254];// object 0x1C09
+ BOOL m_afMnCnLossPresEvent[254];
+#endif
+
+} tEplErrorHandlerkInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static tEplErrorHandlerkInstance EplErrorHandlerkInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel EplErrorHandlerkLinkErrorCounter(
+ tEplErrorHandlerkErrorCounter* pErrorCounter_p,
+ unsigned int uiIndex_p);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+static tEplKernel EplErrorHandlerkLinkArray(
+ DWORD* pdwValue_p,
+ unsigned int uiValueCount_p,
+ unsigned int uiIndex_p);
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <Epl-Kernelspace-Error-Handler> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplErrorHandlerkInit
+//
+// Description: function initialize the first instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplErrorHandlerkInit(void)
+{
+tEplKernel Ret;
+
+
+ Ret = EplErrorHandlerkAddInstance();
+
+
+return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplErrorHandlerkAddInstance
+//
+// Description: function add one more instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplErrorHandlerkAddInstance(void)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // reset only event variable,
+ // all other instance members are reset by OD or may keep their current value
+ // d.k.: this is necessary for the cumulative counters, which shall not be reset
+ EplErrorHandlerkInstance_g.m_ulDllErrorEvents = 0;
+
+ // link counters to OD
+ // $$$ d.k. if OD resides in userspace, fetch pointer to shared memory,
+ // which shall have the same structure as the instance (needs to be declared globally).
+ // Other idea: error counter shall belong to the process image
+ // (reset of counters by SDO write are a little bit tricky).
+
+ Ret = EplErrorHandlerkLinkErrorCounter(
+ &EplErrorHandlerkInstance_g.m_CnLossSoc,
+ 0x1C0B);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplErrorHandlerkLinkErrorCounter(
+ &EplErrorHandlerkInstance_g.m_CnLossPreq,
+ 0x1C0D);
+ // ignore return code, because object 0x1C0D is conditional
+
+ Ret = EplErrorHandlerkLinkErrorCounter(
+ &EplErrorHandlerkInstance_g.m_CnCrcErr,
+ 0x1C0F);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ Ret = EplErrorHandlerkLinkErrorCounter(
+ &EplErrorHandlerkInstance_g.m_MnCrcErr,
+ 0x1C00);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplErrorHandlerkLinkErrorCounter(
+ &EplErrorHandlerkInstance_g.m_MnCycTimeExceed,
+ 0x1C02);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplErrorHandlerkLinkArray(
+ EplErrorHandlerkInstance_g.m_adwMnCnLossPresCumCnt,
+ tabentries(EplErrorHandlerkInstance_g.m_adwMnCnLossPresCumCnt),
+ 0x1C07);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplErrorHandlerkLinkArray(
+ EplErrorHandlerkInstance_g.m_adwMnCnLossPresThrCnt,
+ tabentries(EplErrorHandlerkInstance_g.m_adwMnCnLossPresThrCnt),
+ 0x1C08);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplErrorHandlerkLinkArray(
+ EplErrorHandlerkInstance_g.m_adwMnCnLossPresThreshold,
+ tabentries(EplErrorHandlerkInstance_g.m_adwMnCnLossPresThreshold),
+ 0x1C09);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#endif
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplErrorHandlerkDelInstance
+//
+// Description: function delete instance an free the bufferstructure
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplErrorHandlerkDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+
+return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplErrorHandlerkProcess
+//
+// Description: processes error events from DLL
+//
+//
+//
+// Parameters: pEvent_p = pointer to event-structur from buffer
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplErrorHandlerkProcess(tEplEvent* pEvent_p)
+{
+tEplKernel Ret;
+unsigned long ulDllErrorEvents;
+tEplEvent Event;
+tEplNmtEvent NmtEvent;
+
+ Ret = kEplSuccessful;
+
+ // check m_EventType
+ switch(pEvent_p->m_EventType)
+ {
+ case kEplEventTypeDllError:
+ {
+ tEplErrorHandlerkEvent* pErrHandlerEvent = (tEplErrorHandlerkEvent*)pEvent_p->m_pArg;
+
+ ulDllErrorEvents = pErrHandlerEvent->m_ulDllErrorEvents;
+
+ // check the several error events
+ if ((EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwThreshold > 0)
+ && ((ulDllErrorEvents & EPL_DLL_ERR_CN_LOSS_SOC) != 0))
+ { // loss of SoC event occured
+ // increment cumulative counter by 1
+ EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwCumulativeCnt++;
+ // increment threshold counter by 8
+ EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwThresholdCnt += 8;
+ if (EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwThresholdCnt
+ >= EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwThreshold)
+ { // threshold is reached
+ // $$$ d.k.: generate error history entry E_DLL_LOSS_SOC_TH
+
+ // post event to NMT state machine
+ NmtEvent = kEplNmtEventNmtCycleError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Ret = EplEventkPost(&Event);
+ }
+ EplErrorHandlerkInstance_g.m_ulDllErrorEvents |=
+ EPL_DLL_ERR_CN_LOSS_SOC;
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwThreshold > 0)
+ && ((ulDllErrorEvents & EPL_DLL_ERR_CN_LOSS_PREQ) != 0))
+ { // loss of PReq event occured
+ // increment cumulative counter by 1
+ EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwCumulativeCnt++;
+ // increment threshold counter by 8
+ EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwThresholdCnt += 8;
+ if (EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwThresholdCnt
+ >= EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwThreshold)
+ { // threshold is reached
+ // $$$ d.k.: generate error history entry E_DLL_LOSS_PREQ_TH
+
+ // post event to NMT state machine
+ NmtEvent = kEplNmtEventNmtCycleError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Ret = EplEventkPost(&Event);
+ }
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwThresholdCnt > 0)
+ && ((ulDllErrorEvents & EPL_DLL_ERR_CN_RECVD_PREQ) != 0))
+ { // PReq correctly received
+ // decrement threshold counter by 1
+ EplErrorHandlerkInstance_g.m_CnLossPreq.m_dwThresholdCnt--;
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwThreshold > 0)
+ && ((ulDllErrorEvents & EPL_DLL_ERR_CN_CRC) != 0))
+ { // CRC error event occured
+ // increment cumulative counter by 1
+ EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwCumulativeCnt++;
+ // increment threshold counter by 8
+ EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwThresholdCnt += 8;
+ if (EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwThresholdCnt
+ >= EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwThreshold)
+ { // threshold is reached
+ // $$$ d.k.: generate error history entry E_DLL_CRC_TH
+
+ // post event to NMT state machine
+ NmtEvent = kEplNmtEventNmtCycleError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Ret = EplEventkPost(&Event);
+ }
+ EplErrorHandlerkInstance_g.m_ulDllErrorEvents |=
+ EPL_DLL_ERR_CN_CRC;
+ }
+
+ if ((ulDllErrorEvents & EPL_DLL_ERR_INVALID_FORMAT) != 0)
+ { // invalid format error occured (only direct reaction)
+ // $$$ d.k.: generate error history entry E_DLL_INVALID_FORMAT
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (pErrHandlerEvent->m_NmtState >= kEplNmtMsNotActive)
+ { // MN is active
+ if (pErrHandlerEvent->m_uiNodeId != 0)
+ {
+ tEplHeartbeatEvent HeartbeatEvent;
+
+ // remove node from isochronous phase
+ Ret = EplDllkDeleteNode(pErrHandlerEvent->m_uiNodeId);
+
+ // inform NmtMnu module about state change, which shall send NMT command ResetNode to this CN
+ HeartbeatEvent.m_uiNodeId = pErrHandlerEvent->m_uiNodeId;
+ HeartbeatEvent.m_NmtState = kEplNmtCsNotActive;
+ HeartbeatEvent.m_wErrorCode = EPL_E_DLL_INVALID_FORMAT;
+ Event.m_EventSink = kEplEventSinkNmtMnu;
+ Event.m_EventType = kEplEventTypeHeartbeat;
+ Event.m_uiSize = sizeof (HeartbeatEvent);
+ Event.m_pArg = &HeartbeatEvent;
+ Ret = EplEventkPost(&Event);
+ }
+ // $$$ and else should lead to InternComError
+ }
+ else
+#endif
+ { // CN is active
+ // post event to NMT state machine
+ NmtEvent = kEplNmtEventInternComError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Ret = EplEventkPost(&Event);
+ }
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if ((EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwThreshold > 0)
+ && ((ulDllErrorEvents & EPL_DLL_ERR_MN_CRC) != 0))
+ { // CRC error event occured
+ // increment cumulative counter by 1
+ EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwCumulativeCnt++;
+ // increment threshold counter by 8
+ EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwThresholdCnt += 8;
+ if (EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwThresholdCnt
+ >= EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwThreshold)
+ { // threshold is reached
+ // $$$ d.k.: generate error history entry E_DLL_CRC_TH
+
+ // post event to NMT state machine
+ NmtEvent = kEplNmtEventNmtCycleError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Ret = EplEventkPost(&Event);
+ }
+ EplErrorHandlerkInstance_g.m_ulDllErrorEvents |=
+ EPL_DLL_ERR_MN_CRC;
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwThreshold > 0)
+ && ((ulDllErrorEvents & EPL_DLL_ERR_MN_CYCTIMEEXCEED) != 0))
+ { // cycle time exceeded event occured
+ // increment cumulative counter by 1
+ EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwCumulativeCnt++;
+ // increment threshold counter by 8
+ EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwThresholdCnt += 8;
+ if (EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwThresholdCnt
+ >= EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwThreshold)
+ { // threshold is reached
+ // $$$ d.k.: generate error history entry E_DLL_CYCLE_EXCEED_TH
+
+ // post event to NMT state machine
+ NmtEvent = kEplNmtEventNmtCycleError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof (NmtEvent);
+ Ret = EplEventkPost(&Event);
+ }
+ // $$$ d.k.: else generate error history entry E_DLL_CYCLE_EXCEED
+ EplErrorHandlerkInstance_g.m_ulDllErrorEvents |=
+ EPL_DLL_ERR_MN_CYCTIMEEXCEED;
+ }
+
+ if ((ulDllErrorEvents & EPL_DLL_ERR_MN_CN_LOSS_PRES) != 0)
+ { // CN loss PRes event occured
+ unsigned int uiNodeId;
+
+ uiNodeId = pErrHandlerEvent->m_uiNodeId - 1;
+ if ((uiNodeId < tabentries(EplErrorHandlerkInstance_g.m_adwMnCnLossPresCumCnt))
+ && (EplErrorHandlerkInstance_g.m_adwMnCnLossPresThreshold[uiNodeId] > 0))
+ {
+ // increment cumulative counter by 1
+ EplErrorHandlerkInstance_g.m_adwMnCnLossPresCumCnt[uiNodeId]++;
+ // increment threshold counter by 8
+ EplErrorHandlerkInstance_g.m_adwMnCnLossPresThrCnt[uiNodeId] += 8;
+ if (EplErrorHandlerkInstance_g.m_adwMnCnLossPresThrCnt[uiNodeId]
+ >= EplErrorHandlerkInstance_g.m_adwMnCnLossPresThreshold[uiNodeId])
+ { // threshold is reached
+ tEplHeartbeatEvent HeartbeatEvent;
+
+ // $$$ d.k.: generate error history entry E_DLL_LOSS_PRES_TH
+
+ // remove node from isochronous phase
+ Ret = EplDllkDeleteNode(pErrHandlerEvent->m_uiNodeId);
+
+ // inform NmtMnu module about state change, which shall send NMT command ResetNode to this CN
+ HeartbeatEvent.m_uiNodeId = pErrHandlerEvent->m_uiNodeId;
+ HeartbeatEvent.m_NmtState = kEplNmtCsNotActive;
+ HeartbeatEvent.m_wErrorCode = EPL_E_DLL_LOSS_PRES_TH;
+ Event.m_EventSink = kEplEventSinkNmtMnu;
+ Event.m_EventType = kEplEventTypeHeartbeat;
+ Event.m_uiSize = sizeof (HeartbeatEvent);
+ Event.m_pArg = &HeartbeatEvent;
+ Ret = EplEventkPost(&Event);
+ }
+ EplErrorHandlerkInstance_g.m_afMnCnLossPresEvent[uiNodeId] = TRUE;
+ }
+ }
+#endif
+
+ break;
+ }
+
+ // NMT event
+ case kEplEventTypeNmtEvent:
+ {
+ if ((*(tEplNmtEvent*)pEvent_p->m_pArg) == kEplNmtEventDllCeSoa)
+ { // SoA event of CN -> decrement threshold counters
+
+ if ((EplErrorHandlerkInstance_g.m_ulDllErrorEvents & EPL_DLL_ERR_CN_LOSS_SOC) == 0)
+ { // decrement loss of SoC threshold counter, because it didn't occur last cycle
+ if (EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwThresholdCnt > 0)
+ {
+ EplErrorHandlerkInstance_g.m_CnLossSoc.m_dwThresholdCnt--;
+ }
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_ulDllErrorEvents & EPL_DLL_ERR_CN_CRC) == 0)
+ { // decrement CRC threshold counter, because it didn't occur last cycle
+ if (EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwThresholdCnt > 0)
+ {
+ EplErrorHandlerkInstance_g.m_CnCrcErr.m_dwThresholdCnt--;
+ }
+ }
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ else if ((*(tEplNmtEvent*)pEvent_p->m_pArg) == kEplNmtEventDllMeSoaSent)
+ { // SoA event of MN -> decrement threshold counters
+ tEplDllkNodeInfo* pIntNodeInfo;
+ unsigned int uiNodeId;
+
+ Ret = EplDllkGetFirstNodeInfo(&pIntNodeInfo);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+ // iterate through node info structure list
+ while (pIntNodeInfo != NULL)
+ {
+ uiNodeId = pIntNodeInfo->m_uiNodeId - 1;
+ if (uiNodeId < tabentries(EplErrorHandlerkInstance_g.m_adwMnCnLossPresCumCnt))
+ {
+ if (EplErrorHandlerkInstance_g.m_afMnCnLossPresEvent[uiNodeId] == FALSE)
+ {
+ if (EplErrorHandlerkInstance_g.m_adwMnCnLossPresThrCnt[uiNodeId] > 0)
+ {
+ EplErrorHandlerkInstance_g.m_adwMnCnLossPresThrCnt[uiNodeId]--;
+ }
+ }
+ else
+ {
+ EplErrorHandlerkInstance_g.m_afMnCnLossPresEvent[uiNodeId] = FALSE;
+ }
+ }
+ pIntNodeInfo = pIntNodeInfo->m_pNextNodeInfo;
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_ulDllErrorEvents & EPL_DLL_ERR_MN_CRC) == 0)
+ { // decrement CRC threshold counter, because it didn't occur last cycle
+ if (EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwThresholdCnt > 0)
+ {
+ EplErrorHandlerkInstance_g.m_MnCrcErr.m_dwThresholdCnt--;
+ }
+ }
+
+ if ((EplErrorHandlerkInstance_g.m_ulDllErrorEvents & EPL_DLL_ERR_MN_CYCTIMEEXCEED) == 0)
+ { // decrement cycle exceed threshold counter, because it didn't occur last cycle
+ if (EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwThresholdCnt > 0)
+ {
+ EplErrorHandlerkInstance_g.m_MnCycTimeExceed.m_dwThresholdCnt--;
+ }
+ }
+ }
+#endif
+
+ // reset error events
+ EplErrorHandlerkInstance_g.m_ulDllErrorEvents = 0L;
+
+ break;
+ }
+
+
+ // unknown type
+ default:
+ {
+ }
+
+ } // end of switch(pEvent_p->m_EventType)
+
+
+ return Ret;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplErrorHandlerkLinkErrorCounter
+//
+// Description: link specified error counter structure to OD entry
+//
+// Parameters: pErrorCounter_p = pointer to error counter structure
+// uiIndex_p = OD index
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplErrorHandlerkLinkErrorCounter(
+ tEplErrorHandlerkErrorCounter* pErrorCounter_p,
+ unsigned int uiIndex_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplVarParam VarParam;
+
+ VarParam.m_pData = &pErrorCounter_p->m_dwCumulativeCnt;
+ VarParam.m_Size = sizeof(DWORD);
+ VarParam.m_uiIndex = uiIndex_p;
+ VarParam.m_uiSubindex = 0x01;
+ VarParam.m_ValidFlag = kVarValidAll;
+ Ret = EplObdDefineVar(&VarParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ VarParam.m_pData = &pErrorCounter_p->m_dwThresholdCnt;
+ VarParam.m_Size = sizeof(DWORD);
+ VarParam.m_uiIndex = uiIndex_p;
+ VarParam.m_uiSubindex = 0x02;
+ VarParam.m_ValidFlag = kVarValidAll;
+ Ret = EplObdDefineVar(&VarParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ VarParam.m_pData = &pErrorCounter_p->m_dwThreshold;
+ VarParam.m_Size = sizeof(DWORD);
+ VarParam.m_uiIndex = uiIndex_p;
+ VarParam.m_uiSubindex = 0x03;
+ VarParam.m_ValidFlag = kVarValidAll;
+ Ret = EplObdDefineVar(&VarParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplErrorHandlerkLinkErrorCounter
+//
+// Description: link specified error counter structure to OD entry
+//
+// Parameters: pErrorCounter_p = pointer to error counter structure
+// uiIndex_p = OD index
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+static tEplKernel EplErrorHandlerkLinkArray(
+ DWORD* pdwValue_p,
+ unsigned int uiValueCount_p,
+ unsigned int uiIndex_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplVarParam VarParam;
+tEplObdSize EntrySize;
+BYTE bIndexEntries;
+
+ EntrySize = (tEplObdSize) sizeof(bIndexEntries);
+ Ret = EplObdReadEntry (
+ uiIndex_p,
+ 0x00,
+ (void GENERIC*) &bIndexEntries,
+ &EntrySize );
+
+ if ((Ret != kEplSuccessful) || (bIndexEntries == 0x00))
+ {
+ // Object doesn't exist or invalid entry number
+ Ret = kEplObdIndexNotExist;
+ goto Exit;
+ }
+
+ if (bIndexEntries < uiValueCount_p)
+ {
+ uiValueCount_p = bIndexEntries;
+ }
+
+ VarParam.m_Size = sizeof(DWORD);
+ VarParam.m_uiIndex = uiIndex_p;
+ VarParam.m_ValidFlag = kVarValidAll;
+
+ for (VarParam.m_uiSubindex = 0x01; VarParam.m_uiSubindex <= uiValueCount_p; VarParam.m_uiSubindex++)
+ {
+ VarParam.m_pData = pdwValue_p;
+ Ret = EplObdDefineVar(&VarParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ pdwValue_p++;
+ }
+
+Exit:
+ return Ret;
+}
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for event module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplEvent.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/12 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_EVENT_H_
+#define _EPL_EVENT_H_
+
+#include "EplInc.h"
+#include "EplNmt.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// name and size of event queues
+#define EPL_EVENT_NAME_SHB_KERNEL_TO_USER "ShbKernelToUser"
+#ifndef EPL_EVENT_SIZE_SHB_KERNEL_TO_USER
+#define EPL_EVENT_SIZE_SHB_KERNEL_TO_USER 32768 // 32 kByte
+#endif
+
+#define EPL_EVENT_NAME_SHB_USER_TO_KERNEL "ShbUserToKernel"
+#ifndef EPL_EVENT_SIZE_SHB_USER_TO_KERNEL
+#define EPL_EVENT_SIZE_SHB_USER_TO_KERNEL 32768 // 32 kByte
+#endif
+
+
+// max size of event argument
+#ifndef EPL_MAX_EVENT_ARG_SIZE
+#define EPL_MAX_EVENT_ARG_SIZE 256 // because of PDO
+#endif
+
+#define EPL_DLL_ERR_MN_CRC 0x00000001L // object 0x1C00
+#define EPL_DLL_ERR_MN_COLLISION 0x00000002L // object 0x1C01
+#define EPL_DLL_ERR_MN_CYCTIMEEXCEED 0x00000004L // object 0x1C02
+#define EPL_DLL_ERR_MN_LOSS_LINK 0x00000008L // object 0x1C03
+#define EPL_DLL_ERR_MN_CN_LATE_PRES 0x00000010L // objects 0x1C04-0x1C06
+#define EPL_DLL_ERR_MN_CN_LOSS_PRES 0x00000080L // objects 0x1C07-0x1C09
+#define EPL_DLL_ERR_CN_COLLISION 0x00000400L // object 0x1C0A
+#define EPL_DLL_ERR_CN_LOSS_SOC 0x00000800L // object 0x1C0B
+#define EPL_DLL_ERR_CN_LOSS_SOA 0x00001000L // object 0x1C0C
+#define EPL_DLL_ERR_CN_LOSS_PREQ 0x00002000L // object 0x1C0D
+#define EPL_DLL_ERR_CN_RECVD_PREQ 0x00004000L // decrement object 0x1C0D/2
+#define EPL_DLL_ERR_CN_SOC_JITTER 0x00008000L // object 0x1C0E
+#define EPL_DLL_ERR_CN_CRC 0x00010000L // object 0x1C0F
+#define EPL_DLL_ERR_CN_LOSS_LINK 0x00020000L // object 0x1C10
+#define EPL_DLL_ERR_MN_LOSS_STATRES 0x00040000L // objects 0x1C15-0x1C17 (should be operated by NmtMnu module)
+#define EPL_DLL_ERR_BAD_PHYS_MODE 0x00080000L // no object
+#define EPL_DLL_ERR_MAC_BUFFER 0x00100000L // no object (NMT_GT6)
+#define EPL_DLL_ERR_INVALID_FORMAT 0x00200000L // no object (NMT_GT6)
+#define EPL_DLL_ERR_ADDRESS_CONFLICT 0x00400000L // no object (remove CN from configuration)
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+// EventType determines the argument of the event
+typedef enum
+{
+ kEplEventTypeNmtEvent = 0x01, // NMT event
+ // arg is pointer to tEplNmtEvent
+ kEplEventTypePdoRx = 0x02, // PDO frame received event (PRes/PReq)
+ // arg is pointer to tEplFrame
+ kEplEventTypePdoTx = 0x03, // PDO frame transmitted event (PRes/PReq)
+ // arg is pointer to tEplFrameInfo
+ kEplEventTypePdoSoa = 0x04, // SoA frame received event (isochronous phase completed)
+ // arg is pointer to nothing
+ kEplEventTypeSync = 0x05, // Sync event (e.g. SoC or anticipated SoC)
+ // arg is pointer to nothing
+ kEplEventTypeTimer = 0x06, // Timer event
+ // arg is pointer to tEplTimerEventArg
+ kEplEventTypeHeartbeat = 0x07, // Heartbeat event
+ // arg is pointer to tEplHeartbeatEvent
+ kEplEventTypeDllkCreate = 0x08, // DLL kernel create event
+ // arg is pointer to the new tEplNmtState
+ kEplEventTypeDllkDestroy = 0x09, // DLL kernel destroy event
+ // arg is pointer to the old tEplNmtState
+ kEplEventTypeDllkFillTx = 0x0A, // DLL kernel fill TxBuffer event
+ // arg is pointer to tEplDllAsyncReqPriority
+ kEplEventTypeDllkPresReady = 0x0B, // DLL kernel PRes ready event
+ // arg is pointer to nothing
+ kEplEventTypeError = 0x0C, // Error event for API layer
+ // arg is pointer to tEplEventError
+ kEplEventTypeNmtStateChange = 0x0D, // indicate change of NMT-State
+ // arg is pointer to tEplEventNmtStateChange
+ kEplEventTypeDllError = 0x0E, // DLL error event for Error handler
+ // arg is pointer to tEplErrorHandlerkEvent
+ kEplEventTypeAsndRx = 0x0F, // received ASnd frame for DLL user module
+ // arg is pointer to tEplFrame
+ kEplEventTypeDllkServFilter = 0x10, // configure ServiceIdFilter
+ // arg is pointer to tEplDllCalServiceIdFilter
+ kEplEventTypeDllkIdentity = 0x11, // configure Identity
+ // arg is pointer to tEplDllIdentParam
+ kEplEventTypeDllkConfig = 0x12, // configure ConfigParam
+ // arg is pointer to tEplDllConfigParam
+ kEplEventTypeDllkIssueReq = 0x13, // issue Ident/Status request
+ // arg is pointer to tEplDllCalIssueRequest
+ kEplEventTypeDllkAddNode = 0x14, // add node to isochronous phase
+ // arg is pointer to tEplDllNodeInfo
+ kEplEventTypeDllkDelNode = 0x15, // remove node from isochronous phase
+ // arg is pointer to unsigned int
+ kEplEventTypeDllkSoftDelNode= 0x16, // remove node softly from isochronous phase
+ // arg is pointer to unsigned int
+ kEplEventTypeDllkStartReducedCycle = 0x17, // start reduced EPL cycle on MN
+ // arg is pointer to nothing
+ kEplEventTypeNmtMnuNmtCmdSent = 0x18, // NMT command was actually sent
+ // arg is pointer to tEplFrame
+
+} tEplEventType;
+
+
+// EventSink determines the consumer of the event
+typedef enum
+{
+ kEplEventSinkSync = 0x00, // Sync event for application or kernel EPL module
+ kEplEventSinkNmtk = 0x01, // events for Nmtk module
+ kEplEventSinkDllk = 0x02, // events for Dllk module
+ kEplEventSinkDlluCal = 0x03, // events for DlluCal module
+ kEplEventSinkDllkCal = 0x04, // events for DllkCal module
+ kEplEventSinkPdok = 0x05, // events for Pdok module
+ kEplEventSinkNmtu = 0x06, // events for Nmtu module
+ kEplEventSinkErrk = 0x07, // events for Error handler module
+ kEplEventSinkErru = 0x08, // events for Error signaling module
+ kEplEventSinkSdoAsySeq = 0x09, // events for asyncronous SDO Sequence Layer module
+ kEplEventSinkNmtMnu = 0x0A, // events for NmtMnu module
+ kEplEventSinkLedu = 0x0B, // events for Ledu module
+ kEplEventSinkApi = 0x0F, // events for API module
+
+} tEplEventSink;
+
+
+// EventSource determines the source of an errorevent
+typedef enum
+{
+ // kernelspace modules
+ kEplEventSourceDllk = 0x01, // Dllk module
+ kEplEventSourceNmtk = 0x02, // Nmtk module
+ kEplEventSourceObdk = 0x03, // Obdk module
+ kEplEventSourcePdok = 0x04, // Pdok module
+ kEplEventSourceTimerk = 0x05, // Timerk module
+ kEplEventSourceEventk = 0x06, // Eventk module
+ kEplEventSourceSyncCb = 0x07, // sync-Cb
+ kEplEventSourceErrk = 0x08, // Error handler module
+
+ // userspace modules
+ kEplEventSourceDllu = 0x10, // Dllu module
+ kEplEventSourceNmtu = 0x11, // Nmtu module
+ kEplEventSourceNmtCnu = 0x12, // NmtCnu module
+ kEplEventSourceNmtMnu = 0x13, // NmtMnu module
+ kEplEventSourceObdu = 0x14, // Obdu module
+ kEplEventSourceSdoUdp = 0x15, // Sdo/Udp module
+ kEplEventSourceSdoAsnd = 0x16, // Sdo/Asnd module
+ kEplEventSourceSdoAsySeq = 0x17, // Sdo asynchronus Sequence Layer module
+ kEplEventSourceSdoCom = 0x18, // Sdo command layer module
+ kEplEventSourceTimeru = 0x19, // Timeru module
+ kEplEventSourceCfgMau = 0x1A, // CfgMau module
+ kEplEventSourceEventu = 0x1B, // Eventu module
+ kEplEventSourceEplApi = 0x1C, // Api module
+ kEplEventSourceLedu = 0x1D, // Ledu module
+
+} tEplEventSource;
+
+
+// structure of EPL event (element order must not be changed!)
+typedef struct
+{
+ tEplEventType m_EventType /*:28*/; // event type
+ tEplEventSink m_EventSink /*:4*/; // event sink
+ tEplNetTime m_NetTime; // timestamp
+ unsigned int m_uiSize; // size of argument
+ void * m_pArg; // argument of event
+
+} tEplEvent;
+
+
+// short structure of EPL event without argument and its size (element order must not be changed!)
+typedef struct
+{
+ tEplEventType m_EventType /*:28*/; // event type
+ tEplEventSink m_EventSink /*:4*/; // event sink
+ tEplNetTime m_NetTime; // timestamp
+
+} tEplEventShort;
+
+
+typedef struct
+{
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubIndex;
+
+} tEplEventObdError;
+
+
+// structure for kEplEventTypeError
+typedef struct
+{
+ tEplEventSource m_EventSource; // module which posted this error event
+ tEplKernel m_EplError; // EPL error which occured
+ union
+ {
+ BYTE m_bArg;
+ DWORD m_dwArg;
+ tEplEventSource m_EventSource; // from Eventk/u module (originating error source)
+ tEplEventObdError m_ObdError; // from Obd module
+// tEplErrHistoryEntry m_HistoryEntry; // from Nmtk/u module
+
+ } m_Arg;
+
+} tEplEventError;
+
+
+// structure for kEplEventTypeDllError
+typedef struct
+{
+ unsigned long m_ulDllErrorEvents; // EPL_DLL_ERR_*
+ unsigned int m_uiNodeId;
+ tEplNmtState m_NmtState;
+
+} tEplErrorHandlerkEvent;
+
+
+// callback function to get informed about sync event
+typedef tEplKernel (PUBLIC* tEplSyncCb) (void);
+
+// callback function for generic events
+typedef tEplKernel (PUBLIC* tEplProcessEventCb) (tEplEvent* pEplEvent_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+
+#endif // #ifndef _EPL_EVENT_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Epl-Kernelspace-Event-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplEventk.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.9 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/20 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "kernel/EplEventk.h"
+#include "kernel/EplNmtk.h"
+#include "kernel/EplDllk.h"
+#include "kernel/EplDllkCal.h"
+#include "kernel/EplErrorHandlerk.h"
+#include "Benchmark.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+#include "kernel/EplPdok.h"
+#include "kernel/EplPdokCal.h"
+#endif
+
+#ifdef EPL_NO_FIFO
+ #include "user/EplEventu.h"
+#else
+ #include "SharedBuff.h"
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+#ifndef EPL_NO_FIFO
+ tShbInstance m_pShbKernelToUserInstance;
+ tShbInstance m_pShbUserToKernelInstance;
+#else
+
+#endif
+ tEplSyncCb m_pfnCbSync;
+ unsigned int m_uiUserToKernelFullCount;
+
+} tEplEventkInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+static tEplEventkInstance EplEventkInstance_g;
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+// callback function for incoming events
+#ifndef EPL_NO_FIFO
+static void EplEventkRxSignalHandlerCb (
+ tShbInstance pShbRxInstance_p,
+ unsigned long ulDataSize_p);
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <Epl-Kernelspace-Event> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkInit
+//
+// Description: function initializes the first instance
+//
+// Parameters: pfnCbSync_p = callback-function for sync event
+//
+// Returns: tEpKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplEventkInit(tEplSyncCb pfnCbSync_p)
+{
+tEplKernel Ret;
+
+ Ret = EplEventkAddInstance(pfnCbSync_p);
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkAddInstance
+//
+// Description: function adds one more instance
+//
+// Parameters: pfnCbSync_p = callback-function for sync event
+//
+// Returns: tEpKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplEventkAddInstance(tEplSyncCb pfnCbSync_p)
+{
+tEplKernel Ret;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned int fShbNewCreated;
+#endif
+
+ Ret = kEplSuccessful;
+
+ // init instance structure
+ EplEventkInstance_g.m_uiUserToKernelFullCount = 0;
+
+ // save cb-function
+ EplEventkInstance_g.m_pfnCbSync = pfnCbSync_p;
+
+#ifndef EPL_NO_FIFO
+ // init shared loop buffer
+ // kernel -> user
+ ShbError = ShbCirAllocBuffer (EPL_EVENT_SIZE_SHB_KERNEL_TO_USER,
+ EPL_EVENT_NAME_SHB_KERNEL_TO_USER,
+ &EplEventkInstance_g.m_pShbKernelToUserInstance,
+ &fShbNewCreated);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkAddInstance(): ShbCirAllocBuffer(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ // user -> kernel
+ ShbError = ShbCirAllocBuffer (EPL_EVENT_SIZE_SHB_USER_TO_KERNEL,
+ EPL_EVENT_NAME_SHB_USER_TO_KERNEL,
+ &EplEventkInstance_g.m_pShbUserToKernelInstance,
+ &fShbNewCreated);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkAddInstance(): ShbCirAllocBuffer(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ // register eventhandler
+ ShbError = ShbCirSetSignalHandlerNewData (EplEventkInstance_g.m_pShbUserToKernelInstance,
+ EplEventkRxSignalHandlerCb,
+ kshbPriorityHigh);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkAddInstance(): ShbCirSetSignalHandlerNewData(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+Exit:
+#endif
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkDelInstance
+//
+// Description: function deletes instance and frees the buffers
+//
+// Parameters: void
+//
+// Returns: tEpKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplEventkDelInstance()
+{
+tEplKernel Ret;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+#endif
+
+ Ret = kEplSuccessful;
+
+#ifndef EPL_NO_FIFO
+ // set eventhandler to NULL
+ ShbError = ShbCirSetSignalHandlerNewData (EplEventkInstance_g.m_pShbUserToKernelInstance,
+ NULL,
+ kShbPriorityNormal);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkDelInstance(): ShbCirSetSignalHandlerNewData(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ }
+
+ // free buffer User -> Kernel
+ ShbError = ShbCirReleaseBuffer (EplEventkInstance_g.m_pShbUserToKernelInstance);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkDelInstance(): ShbCirReleaseBuffer(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ }
+ else
+ {
+ EplEventkInstance_g.m_pShbUserToKernelInstance = NULL;
+ }
+
+ // free buffer Kernel -> User
+ ShbError = ShbCirReleaseBuffer (EplEventkInstance_g.m_pShbKernelToUserInstance);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkDelInstance(): ShbCirReleaseBuffer(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ }
+ else
+ {
+ EplEventkInstance_g.m_pShbKernelToUserInstance = NULL;
+ }
+#endif
+
+return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkProcess
+//
+// Description: Kernelthread that dispatches events in kernel part
+//
+// Parameters: pEvent_p = pointer to event-structure from buffer
+//
+// Returns: tEpKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplEventkProcess(tEplEvent* pEvent_p)
+{
+tEplKernel Ret;
+tEplEventSource EventSource;
+
+ Ret = kEplSuccessful;
+
+ // error handling if event queue is full
+ if (EplEventkInstance_g.m_uiUserToKernelFullCount > 0)
+ { // UserToKernel event queue has run out of space -> kEplNmtEventInternComError
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ tEplEvent Event;
+ tEplNmtEvent NmtEvent;
+#endif
+#ifndef EPL_NO_FIFO
+ tShbError ShbError;
+#endif
+
+ // directly call NMTk process function, because event queue is full
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ NmtEvent = kEplNmtEventInternComError;
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_NetTime.m_dwNanoSec = 0;
+ Event.m_NetTime.m_dwSec = 0;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent;
+ Event.m_uiSize = sizeof(NmtEvent);
+ Ret = EplNmtkProcess(&Event);
+#endif
+
+ // NMT state machine changed to reset (i.e. NMT_GS_RESET_COMMUNICATION)
+ // now, it is safe to reset the counter and empty the event queue
+#ifndef EPL_NO_FIFO
+ ShbError = ShbCirResetBuffer (EplEventkInstance_g.m_pShbUserToKernelInstance, 1000, NULL);
+#endif
+
+ EplEventkInstance_g.m_uiUserToKernelFullCount = 0;
+ TGT_DBG_SIGNAL_TRACE_POINT(22);
+
+ // also discard the current event (it doesn't matter if we lose another event)
+ goto Exit;
+ }
+
+ // check m_EventSink
+ switch(pEvent_p->m_EventSink)
+ {
+ case kEplEventSinkSync:
+ {
+ if (EplEventkInstance_g.m_pfnCbSync != NULL)
+ {
+ Ret = EplEventkInstance_g.m_pfnCbSync();
+ if (Ret == kEplSuccessful)
+ {
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ // mark TPDOs as valid
+ Ret = EplPdokCalSetTpdosValid(TRUE);
+#endif
+ }
+ else if ((Ret != kEplReject) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceSyncCb;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ }
+ break;
+ }
+
+ // NMT-Kernel-Modul
+ case kEplEventSinkNmtk:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ Ret = EplNmtkProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceNmtk;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ if ((pEvent_p->m_EventType == kEplEventTypeNmtEvent)
+ && ((*((tEplNmtEvent*)pEvent_p->m_pArg) == kEplNmtEventDllCeSoa)
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ || (*((tEplNmtEvent*)pEvent_p->m_pArg) == kEplNmtEventDllMeSoaSent)
+#endif
+ ))
+ { // forward SoA event to error handler
+ Ret = EplErrorHandlerkProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceErrk;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ // forward SoA event to PDO module
+ pEvent_p->m_EventType = kEplEventTypePdoSoa;
+ Ret = EplPdokProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourcePdok;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+
+ }
+ break;
+#endif
+ }
+
+ // events for Dllk module
+ case kEplEventSinkDllk:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplDllkProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceDllk;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+ break;
+ }
+
+ // events for DllkCal module
+ case kEplEventSinkDllkCal:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplDllkCalProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceDllk;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+ break;
+ }
+
+ //
+ case kEplEventSinkPdok:
+ {
+ // PDO-Module
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ Ret = EplPdokProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourcePdok;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+ break;
+ }
+
+ // events for Error handler module
+ case kEplEventSinkErrk:
+ {
+ // only call error handler if DLL is present
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplErrorHandlerkProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceErrk;
+
+ // Error event for API layer
+ EplEventkPostError(kEplEventSourceEventk,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ break;
+#endif
+ }
+
+ // unknown sink
+ default:
+ {
+ Ret = kEplEventUnknownSink;
+ }
+
+ } // end of switch(pEvent_p->m_EventSink)
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkPost
+//
+// Description: post events from kernel part
+//
+// Parameters: pEvent_p = pointer to event-structure from buffer
+//
+// Returns: tEpKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplEventkPost(tEplEvent * pEvent_p)
+{
+tEplKernel Ret;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+tShbCirChunk ShbCirChunk;
+unsigned long ulDataSize;
+unsigned int fBufferCompleted;
+#endif
+
+ Ret = kEplSuccessful;
+
+
+ // the event must be posted by using the abBuffer
+ // it is neede because the Argument must by copied
+ // to the buffer too and not only the pointer
+
+#ifndef EPL_NO_FIFO
+ // 2006/08/03 d.k.: Event and argument are posted as separate chunks to the event queue.
+ ulDataSize = sizeof(tEplEvent) + ((pEvent_p->m_pArg != NULL) ? pEvent_p->m_uiSize : 0);
+#endif
+
+ // decide in which buffer the event have to write
+ switch(pEvent_p->m_EventSink)
+ {
+ // kernelspace modules
+ case kEplEventSinkSync:
+ case kEplEventSinkNmtk:
+ case kEplEventSinkDllk:
+ case kEplEventSinkDllkCal:
+ case kEplEventSinkPdok:
+ case kEplEventSinkErrk:
+ {
+#ifndef EPL_NO_FIFO
+ // post message
+ BENCHMARK_MOD_27_SET(2);
+ ShbError = ShbCirAllocDataBlock (EplEventkInstance_g.m_pShbUserToKernelInstance,
+ &ShbCirChunk,
+ ulDataSize);
+ switch (ShbError)
+ {
+ case kShbOk:
+ break;
+
+ case kShbBufferFull:
+ {
+ EplEventkInstance_g.m_uiUserToKernelFullCount++;
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+
+ default:
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkPost(): ShbCirAllocDataBlock(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ }
+ ShbError = ShbCirWriteDataChunk (EplEventkInstance_g.m_pShbUserToKernelInstance,
+ &ShbCirChunk,
+ pEvent_p,
+ sizeof (tEplEvent),
+ &fBufferCompleted);
+ if (ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkPost(): ShbCirWriteDataChunk(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ if (fBufferCompleted == FALSE)
+ {
+ ShbError = ShbCirWriteDataChunk (EplEventkInstance_g.m_pShbUserToKernelInstance,
+ &ShbCirChunk,
+ pEvent_p->m_pArg,
+ (unsigned long) pEvent_p->m_uiSize,
+ &fBufferCompleted);
+ if ((ShbError != kShbOk) || (fBufferCompleted == FALSE))
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkPost(): ShbCirWriteDataChunk2(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ }
+ BENCHMARK_MOD_27_RESET(2);
+
+#else
+ Ret = EplEventkProcess(pEvent_p);
+#endif
+
+ break;
+ }
+
+ // userspace modules
+ case kEplEventSinkNmtu:
+ case kEplEventSinkNmtMnu:
+ case kEplEventSinkSdoAsySeq:
+ case kEplEventSinkApi:
+ case kEplEventSinkDlluCal:
+ case kEplEventSinkErru:
+ {
+#ifndef EPL_NO_FIFO
+ // post message
+// BENCHMARK_MOD_27_SET(3); // 74 µs until reset
+ ShbError = ShbCirAllocDataBlock (EplEventkInstance_g.m_pShbKernelToUserInstance,
+ &ShbCirChunk,
+ ulDataSize);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkPost(): ShbCirAllocDataBlock(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ ShbError = ShbCirWriteDataChunk (EplEventkInstance_g.m_pShbKernelToUserInstance,
+ &ShbCirChunk,
+ pEvent_p,
+ sizeof (tEplEvent),
+ &fBufferCompleted);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkPost(): ShbCirWriteDataChunk(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ if (fBufferCompleted == FALSE)
+ {
+ ShbError = ShbCirWriteDataChunk (EplEventkInstance_g.m_pShbKernelToUserInstance,
+ &ShbCirChunk,
+ pEvent_p->m_pArg,
+ (unsigned long) pEvent_p->m_uiSize,
+ &fBufferCompleted);
+ if ((ShbError != kShbOk) || (fBufferCompleted == FALSE))
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventkPost(): ShbCirWriteDataChunk2(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ }
+// BENCHMARK_MOD_27_RESET(3); // 82 µs until ShbCirGetReadDataSize() in EplEventu
+
+#else
+ Ret = EplEventuProcess(pEvent_p);
+#endif
+
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplEventUnknownSink;
+ }
+
+
+ }// end of switch(pEvent_p->m_EventSink)
+
+#ifndef EPL_NO_FIFO
+Exit:
+#endif
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkPostError
+//
+// Description: post error event from kernel part to API layer
+//
+// Parameters: EventSource_p = source-module of the error event
+// EplError_p = code of occured error
+// ArgSize_p = size of the argument
+// pArg_p = pointer to the argument
+//
+// Returns: tEpKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplEventkPostError(tEplEventSource EventSource_p,
+ tEplKernel EplError_p,
+ unsigned int uiArgSize_p,
+ void* pArg_p)
+{
+tEplKernel Ret;
+BYTE abBuffer[EPL_MAX_EVENT_ARG_SIZE];
+tEplEventError* pEventError = (tEplEventError*) abBuffer;
+tEplEvent EplEvent;
+
+ Ret = kEplSuccessful;
+
+ // create argument
+ pEventError->m_EventSource = EventSource_p;
+ pEventError->m_EplError = EplError_p;
+ EPL_MEMCPY(&pEventError->m_Arg, pArg_p, uiArgSize_p);
+
+ // create event
+ EplEvent.m_EventType = kEplEventTypeError;
+ EplEvent.m_EventSink = kEplEventSinkApi;
+ EPL_MEMSET(&EplEvent.m_NetTime, 0x00, sizeof(EplEvent.m_NetTime));
+ EplEvent.m_uiSize = (sizeof(EventSource_p)+ sizeof(EplError_p)+ uiArgSize_p);
+ EplEvent.m_pArg = &abBuffer[0];
+
+ // post errorevent
+ Ret = EplEventkPost(&EplEvent);
+
+ return Ret;
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventkRxSignalHandlerCb()
+//
+// Description: Callback-function for events from user and kernel part
+//
+// Parameters: pShbRxInstance_p = Instance-pointer of buffer
+// ulDataSize_p = size of data
+//
+// Returns: void
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#ifndef EPL_NO_FIFO
+static void EplEventkRxSignalHandlerCb (
+ tShbInstance pShbRxInstance_p,
+ unsigned long ulDataSize_p)
+{
+tEplEvent *pEplEvent;
+tShbError ShbError;
+//unsigned long ulBlockCount;
+//unsigned long ulDataSize;
+BYTE abDataBuffer[sizeof(tEplEvent) + EPL_MAX_EVENT_ARG_SIZE];
+ // d.k.: abDataBuffer contains the complete tEplEvent structure
+ // and behind this the argument
+
+ TGT_DBG_SIGNAL_TRACE_POINT(20);
+
+ BENCHMARK_MOD_27_RESET(0);
+ // copy data from event queue
+ ShbError = ShbCirReadDataBlock (pShbRxInstance_p,
+ &abDataBuffer[0],
+ sizeof(abDataBuffer),
+ &ulDataSize_p);
+ if(ShbError != kShbOk)
+ {
+ // error goto exit
+ goto Exit;
+ }
+
+ // resolve the pointer to the event structure
+ pEplEvent = (tEplEvent *) abDataBuffer;
+ // set Datasize
+ pEplEvent->m_uiSize = (ulDataSize_p - sizeof(tEplEvent));
+ if(pEplEvent->m_uiSize > 0)
+ {
+ // set pointer to argument
+ pEplEvent->m_pArg = &abDataBuffer[sizeof(tEplEvent)];
+ }
+ else
+ {
+ //set pointer to NULL
+ pEplEvent->m_pArg = NULL;
+ }
+
+ BENCHMARK_MOD_27_SET(0);
+ // call processfunction
+ EplEventkProcess(pEplEvent);
+
+Exit:
+ return;
+}
+#endif
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Epl-Userspace-Event-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplEventu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/20 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplEventu.h"
+#include "user/EplNmtu.h"
+#include "user/EplNmtMnu.h"
+#include "user/EplSdoAsySequ.h"
+#include "user/EplDlluCal.h"
+#include "user/EplLedu.h"
+#include "Benchmark.h"
+
+#ifdef EPL_NO_FIFO
+ #include "kernel/EplEventk.h"
+#else
+ #include "SharedBuff.h"
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+#ifndef EPL_NO_FIFO
+ tShbInstance m_pShbKernelToUserInstance;
+ tShbInstance m_pShbUserToKernelInstance;
+#endif
+ tEplProcessEventCb m_pfnApiProcessEventCb;
+
+}tEplEventuInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//#ifndef EPL_NO_FIFO
+static tEplEventuInstance EplEventuInstance_g;
+//#endif
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+#ifndef EPL_NO_FIFO
+// callback function for incomming events
+static void EplEventuRxSignalHandlerCb (
+ tShbInstance pShbRxInstance_p,
+ unsigned long ulDataSize_p);
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <Epl-User-Event> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuInit
+//
+// Description: function initialize the first instance
+//
+//
+//
+// Parameters: pfnApiProcessEventCb_p = function pointer for API event callback
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplEventuInit(tEplProcessEventCb pfnApiProcessEventCb_p)
+{
+tEplKernel Ret;
+
+
+ Ret = EplEventuAddInstance(pfnApiProcessEventCb_p);
+
+
+return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuAddInstance
+//
+// Description: function add one more instance
+//
+//
+//
+// Parameters: pfnApiProcessEventCb_p = function pointer for API event callback
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplEventuAddInstance(tEplProcessEventCb pfnApiProcessEventCb_p)
+{
+tEplKernel Ret;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+unsigned int fShbNewCreated;
+#endif
+
+ Ret = kEplSuccessful;
+
+
+ // init instance variables
+ EplEventuInstance_g.m_pfnApiProcessEventCb = pfnApiProcessEventCb_p;
+
+#ifndef EPL_NO_FIFO
+ // init shared loop buffer
+ // kernel -> user
+ ShbError = ShbCirAllocBuffer (EPL_EVENT_SIZE_SHB_KERNEL_TO_USER,
+ EPL_EVENT_NAME_SHB_KERNEL_TO_USER,
+ &EplEventuInstance_g.m_pShbKernelToUserInstance,
+ &fShbNewCreated);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuAddInstance(): ShbCirAllocBuffer(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+
+ // user -> kernel
+ ShbError = ShbCirAllocBuffer (EPL_EVENT_SIZE_SHB_USER_TO_KERNEL,
+ EPL_EVENT_NAME_SHB_USER_TO_KERNEL,
+ &EplEventuInstance_g.m_pShbUserToKernelInstance,
+ &fShbNewCreated);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuAddInstance(): ShbCirAllocBuffer(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ // register eventhandler
+ ShbError = ShbCirSetSignalHandlerNewData (EplEventuInstance_g.m_pShbKernelToUserInstance,
+ EplEventuRxSignalHandlerCb,
+ kShbPriorityNormal);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuAddInstance(): ShbCirSetSignalHandlerNewData(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+Exit:
+#endif
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuDelInstance
+//
+// Description: function delete instance an free the bufferstructure
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplEventuDelInstance()
+{
+tEplKernel Ret;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+#endif
+
+ Ret = kEplSuccessful;
+
+#ifndef EPL_NO_FIFO
+ // set eventhandler to NULL
+ ShbError = ShbCirSetSignalHandlerNewData (EplEventuInstance_g.m_pShbKernelToUserInstance,
+ NULL,
+ kShbPriorityNormal);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuDelInstance(): ShbCirSetSignalHandlerNewData(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ }
+
+ // free buffer User -> Kernel
+ ShbError = ShbCirReleaseBuffer (EplEventuInstance_g.m_pShbUserToKernelInstance);
+ if((ShbError != kShbOk) && (ShbError != kShbMemUsedByOtherProcs))
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuDelInstance(): ShbCirReleaseBuffer(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ }
+ else
+ {
+ EplEventuInstance_g.m_pShbUserToKernelInstance = NULL;
+ }
+
+ // free buffer Kernel -> User
+ ShbError = ShbCirReleaseBuffer (EplEventuInstance_g.m_pShbKernelToUserInstance);
+ if((ShbError != kShbOk) && (ShbError != kShbMemUsedByOtherProcs))
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuDelInstance(): ShbCirReleaseBuffer(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplNoResource;
+ }
+ else
+ {
+ EplEventuInstance_g.m_pShbKernelToUserInstance = NULL;
+ }
+
+#endif
+
+return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuProcess
+//
+// Description: Kernelthread that dispatches events in kernelspace
+//
+//
+//
+// Parameters: pEvent_p = pointer to event-structur from buffer
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplEventuProcess(tEplEvent* pEvent_p)
+{
+tEplKernel Ret;
+tEplEventSource EventSource;
+
+ Ret = kEplSuccessful;
+
+ // check m_EventSink
+ switch(pEvent_p->m_EventSink)
+ {
+ // NMT-User-Module
+ case kEplEventSinkNmtu:
+ {
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuProcessEvent(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceNmtu;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+ break;
+ }
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // NMT-MN-User-Module
+ case kEplEventSinkNmtMnu:
+ {
+ Ret = EplNmtMnuProcessEvent(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceNmtMnu;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ break;
+ }
+#endif
+
+#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) \
+ || (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0))
+ // events for asynchronus SDO Sequence Layer
+ case kEplEventSinkSdoAsySeq:
+ {
+ Ret = EplSdoAsySeqProcessEvent(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceSdoAsySeq;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ break;
+ }
+#endif
+
+ // LED user part module
+ case kEplEventSinkLedu:
+ {
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+ Ret = EplLeduProcessEvent(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceLedu;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+#endif
+ break;
+ }
+
+ // event for EPL api
+ case kEplEventSinkApi:
+ {
+ if (EplEventuInstance_g.m_pfnApiProcessEventCb != NULL)
+ {
+ Ret = EplEventuInstance_g.m_pfnApiProcessEventCb(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceEplApi;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ }
+ break;
+
+ }
+
+ case kEplEventSinkDlluCal:
+ {
+ Ret = EplDlluCalProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceDllu;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ break;
+
+ }
+
+ case kEplEventSinkErru:
+ {
+ /*
+ Ret = EplErruProcess(pEvent_p);
+ if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
+ {
+ EventSource = kEplEventSourceErru;
+
+ // Error event for API layer
+ EplEventuPostError(kEplEventSourceEventu,
+ Ret,
+ sizeof(EventSource),
+ &EventSource);
+ }
+ */
+ break;
+
+ }
+
+ // unknown sink
+ default:
+ {
+ Ret = kEplEventUnknownSink;
+ }
+
+ } // end of switch(pEvent_p->m_EventSink)
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuPost
+//
+// Description: post events from userspace
+//
+//
+//
+// Parameters: pEvent_p = pointer to event-structur from buffer
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplEventuPost(tEplEvent * pEvent_p)
+{
+tEplKernel Ret;
+#ifndef EPL_NO_FIFO
+tShbError ShbError;
+tShbCirChunk ShbCirChunk;
+unsigned long ulDataSize;
+unsigned int fBufferCompleted;
+#endif
+
+ Ret = kEplSuccessful;
+
+
+#ifndef EPL_NO_FIFO
+ // 2006/08/03 d.k.: Event and argument are posted as separate chunks to the event queue.
+ ulDataSize = sizeof(tEplEvent) + ((pEvent_p->m_pArg != NULL) ? pEvent_p->m_uiSize : 0);
+#endif
+
+ // decide in which buffer the event have to write
+ switch(pEvent_p->m_EventSink)
+ {
+ // kernelspace modules
+ case kEplEventSinkSync:
+ case kEplEventSinkNmtk:
+ case kEplEventSinkDllk:
+ case kEplEventSinkDllkCal:
+ case kEplEventSinkPdok:
+ case kEplEventSinkErrk:
+ {
+#ifndef EPL_NO_FIFO
+ // post message
+ ShbError = ShbCirAllocDataBlock (EplEventuInstance_g.m_pShbUserToKernelInstance,
+ &ShbCirChunk,
+ ulDataSize);
+ if (ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuPost(): ShbCirAllocDataBlock(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ ShbError = ShbCirWriteDataChunk (EplEventuInstance_g.m_pShbUserToKernelInstance,
+ &ShbCirChunk,
+ pEvent_p,
+ sizeof (tEplEvent),
+ &fBufferCompleted);
+ if (ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuPost(): ShbCirWriteDataChunk(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ if (fBufferCompleted == FALSE)
+ {
+ ShbError = ShbCirWriteDataChunk (EplEventuInstance_g.m_pShbUserToKernelInstance,
+ &ShbCirChunk,
+ pEvent_p->m_pArg,
+ (unsigned long) pEvent_p->m_uiSize,
+ &fBufferCompleted);
+ if ((ShbError != kShbOk) || (fBufferCompleted == FALSE))
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuPost(): ShbCirWriteDataChunk2(U2K) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ }
+#else
+ Ret = EplEventkProcess(pEvent_p);
+#endif
+
+ break;
+ }
+
+ // userspace modules
+ case kEplEventSinkNmtMnu:
+ case kEplEventSinkNmtu:
+ case kEplEventSinkSdoAsySeq:
+ case kEplEventSinkApi:
+ case kEplEventSinkDlluCal:
+ case kEplEventSinkErru:
+ case kEplEventSinkLedu:
+ {
+#ifndef EPL_NO_FIFO
+ // post message
+ ShbError = ShbCirAllocDataBlock (EplEventuInstance_g.m_pShbKernelToUserInstance,
+ &ShbCirChunk,
+ ulDataSize);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuPost(): ShbCirAllocDataBlock(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ ShbError = ShbCirWriteDataChunk (EplEventuInstance_g.m_pShbKernelToUserInstance,
+ &ShbCirChunk,
+ pEvent_p,
+ sizeof (tEplEvent),
+ &fBufferCompleted);
+ if(ShbError != kShbOk)
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuPost(): ShbCirWriteDataChunk(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ if (fBufferCompleted == FALSE)
+ {
+ ShbError = ShbCirWriteDataChunk (EplEventuInstance_g.m_pShbKernelToUserInstance,
+ &ShbCirChunk,
+ pEvent_p->m_pArg,
+ (unsigned long) pEvent_p->m_uiSize,
+ &fBufferCompleted);
+ if ((ShbError != kShbOk) || (fBufferCompleted == FALSE))
+ {
+ EPL_DBGLVL_EVENTK_TRACE1("EplEventuPost(): ShbCirWriteDataChunk2(K2U) -> 0x%X\n", ShbError);
+ Ret = kEplEventPostError;
+ goto Exit;
+ }
+ }
+
+#else
+ Ret = EplEventuProcess(pEvent_p);
+#endif
+
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplEventUnknownSink;
+ }
+
+
+ }// end of switch(pEvent_p->m_EventSink)
+
+#ifndef EPL_NO_FIFO
+Exit:
+#endif
+ return Ret;
+
+}
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuPostError
+//
+// Description: post errorevent from userspace
+//
+//
+//
+// Parameters: EventSource_p = source-module of the errorevent
+// EplError_p = code of occured error
+// uiArgSize_p = size of the argument
+// pArg_p = pointer to the argument
+//
+//
+// Returns: tEpKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplEventuPostError(tEplEventSource EventSource_p,
+ tEplKernel EplError_p,
+ unsigned int uiArgSize_p,
+ void* pArg_p)
+{
+tEplKernel Ret;
+BYTE abBuffer[EPL_MAX_EVENT_ARG_SIZE];
+tEplEventError* pEventError = (tEplEventError*) abBuffer;
+tEplEvent EplEvent;
+
+ Ret = kEplSuccessful;
+
+ // create argument
+ pEventError->m_EventSource = EventSource_p;
+ pEventError->m_EplError = EplError_p;
+ EPL_MEMCPY(&pEventError->m_Arg, pArg_p, uiArgSize_p);
+
+ // create event
+ EplEvent.m_EventType = kEplEventTypeError;
+ EplEvent.m_EventSink = kEplEventSinkApi;
+ EPL_MEMSET(&EplEvent.m_NetTime, 0x00, sizeof(EplEvent.m_NetTime));
+ EplEvent.m_uiSize = (sizeof(EventSource_p)+ sizeof(EplError_p)+ uiArgSize_p);
+ EplEvent.m_pArg = &abBuffer[0];
+
+ // post errorevent
+ Ret = EplEventuPost(&EplEvent);
+
+ return Ret;
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEventuRxSignalHandlerCb()
+//
+// Description: Callback-function for evets from kernelspace
+//
+//
+//
+// Parameters: pShbRxInstance_p = Instance-pointer for buffer
+// ulDataSize_p = size of data
+//
+//
+// Returns: void
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#ifndef EPL_NO_FIFO
+static void EplEventuRxSignalHandlerCb (
+ tShbInstance pShbRxInstance_p,
+ unsigned long ulDataSize_p)
+{
+tEplEvent *pEplEvent;
+tShbError ShbError;
+//unsigned long ulBlockCount;
+//unsigned long ulDataSize;
+BYTE abDataBuffer[sizeof(tEplEvent) + EPL_MAX_EVENT_ARG_SIZE];
+ // d.k.: abDataBuffer contains the complete tEplEvent structure
+ // and behind this the argument
+
+ TGT_DBG_SIGNAL_TRACE_POINT(21);
+
+// d.k. not needed because it is already done in SharedBuff
+/* do
+ {
+ BENCHMARK_MOD_28_SET(1); // 4 µs until reset
+ // get messagesize
+ ShbError = ShbCirGetReadDataSize (pShbRxInstance_p, &ulDataSize);
+ if(ShbError != kShbOk)
+ {
+ // error goto exit
+ goto Exit;
+ }
+
+ BENCHMARK_MOD_28_RESET(1); // 14 µs until set
+*/
+ // copy data from event queue
+ ShbError = ShbCirReadDataBlock (pShbRxInstance_p,
+ &abDataBuffer[0],
+ sizeof(abDataBuffer),
+ &ulDataSize_p);
+ if(ShbError != kShbOk)
+ {
+ // error goto exit
+ goto Exit;
+ }
+
+ // resolve the pointer to the event structure
+ pEplEvent = (tEplEvent *) abDataBuffer;
+ // set Datasize
+ pEplEvent->m_uiSize = (ulDataSize_p - sizeof(tEplEvent));
+ if(pEplEvent->m_uiSize > 0)
+ {
+ // set pointer to argument
+ pEplEvent->m_pArg = &abDataBuffer[sizeof(tEplEvent)];
+ }
+ else
+ {
+ //set pointer to NULL
+ pEplEvent->m_pArg = NULL;
+ }
+
+ BENCHMARK_MOD_28_SET(1);
+ // call processfunction
+ EplEventuProcess(pEplEvent);
+
+ BENCHMARK_MOD_28_RESET(1);
+ // read number of left messages to process
+// d.k. not needed because it is already done in SharedBuff
+/* ShbError = ShbCirGetReadBlockCount (pShbRxInstance_p, &ulBlockCount);
+ if (ShbError != kShbOk)
+ {
+ // error goto exit
+ goto Exit;
+ }
+ } while (ulBlockCount > 0);
+*/
+Exit:
+ return;
+}
+#endif
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for EPL frames
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplFrame.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/06/23 14:56:33 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_FRAME_H_
+#define _EPL_FRAME_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+// defines for EplFrame.m_wFlag
+#define EPL_FRAME_FLAG1_RD 0x01 // ready (PReq, PRes)
+#define EPL_FRAME_FLAG1_ER 0x02 // exception reset (error signalling) (SoA)
+#define EPL_FRAME_FLAG1_EA 0x04 // exception acknowledge (error signalling) (PReq, SoA)
+#define EPL_FRAME_FLAG1_EC 0x08 // exception clear (error signalling) (StatusRes)
+#define EPL_FRAME_FLAG1_EN 0x10 // exception new (error signalling) (PRes, StatusRes)
+#define EPL_FRAME_FLAG1_MS 0x20 // multiplexed slot (PReq)
+#define EPL_FRAME_FLAG1_PS 0x40 // prescaled slot (SoC)
+#define EPL_FRAME_FLAG1_MC 0x80 // multiplexed cycle completed (SoC)
+#define EPL_FRAME_FLAG2_RS 0x07 // number of pending requests to send (PRes, StatusRes, IdentRes)
+#define EPL_FRAME_FLAG2_PR 0x38 // priority of requested asynch. frame (PRes, StatusRes, IdentRes)
+#define EPL_FRAME_FLAG2_PR_SHIFT 3 // shift of priority of requested asynch. frame
+
+// error history/status entry types
+#define EPL_ERR_ENTRYTYPE_STATUS 0x8000
+#define EPL_ERR_ENTRYTYPE_HISTORY 0x0000
+#define EPL_ERR_ENTRYTYPE_EMCY 0x4000
+#define EPL_ERR_ENTRYTYPE_MODE_ACTIVE 0x1000
+#define EPL_ERR_ENTRYTYPE_MODE_CLEARED 0x2000
+#define EPL_ERR_ENTRYTYPE_MODE_OCCURRED 0x3000
+#define EPL_ERR_ENTRYTYPE_MODE_MASK 0x3000
+#define EPL_ERR_ENTRYTYPE_PROF_VENDOR 0x0001
+#define EPL_ERR_ENTRYTYPE_PROF_EPL 0x0002
+#define EPL_ERR_ENTRYTYPE_PROF_MASK 0x0FFF
+
+// defines for EPL version / PDO version
+#define EPL_VERSION_SUB 0x0F // sub version
+#define EPL_VERSION_MAIN 0xF0 // main version
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+// $$$ d.k.: move this definition to global.h
+// byte-align structures
+#ifdef _MSC_VER
+# pragma pack( push, packing )
+# pragma pack( 1 )
+# define PACK_STRUCT
+#elif defined( __GNUC__ )
+# define PACK_STRUCT __attribute__((packed))
+#else
+# error you must byte-align these structures with the appropriate compiler directives
+#endif
+
+
+typedef struct
+{
+ // Offset 17
+ BYTE m_le_bRes1; // reserved
+ // Offset 18
+ BYTE m_le_bFlag1; // Flags: MC, PS
+ // Offset 19
+ BYTE m_le_bFlag2; // Flags: res
+ // Offset 20
+ tEplNetTime m_le_NetTime; // supported if D_NMT_NetTimeIsRealTime_BOOL is set
+ // Offset 28
+ QWORD m_le_RelativeTime; // in us (supported if D_NMT_RelativeTime_BOOL is set)
+
+} PACK_STRUCT tEplSocFrame;
+
+typedef struct
+{
+ // Offset 17
+ BYTE m_le_bRes1; // reserved
+ // Offset 18
+ BYTE m_le_bFlag1; // Flags: MS, EA, RD
+ // Offset 19
+ BYTE m_le_bFlag2; // Flags: res
+ // Offset 20
+ BYTE m_le_bPdoVersion;
+ // Offset 21
+ BYTE m_le_bRes2; // reserved
+ // Offset 22
+ WORD m_le_wSize;
+ // Offset 24
+ BYTE m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16*/];
+
+} PACK_STRUCT tEplPreqFrame;
+
+typedef struct
+{
+ // Offset 17
+ BYTE m_le_bNmtStatus; // NMT state
+ // Offset 18
+ BYTE m_le_bFlag1; // Flags: MS, EN, RD
+ // Offset 19
+ BYTE m_le_bFlag2; // Flags: PR, RS
+ // Offset 20
+ BYTE m_le_bPdoVersion;
+ // Offset 21
+ BYTE m_le_bRes2; // reserved
+ // Offset 22
+ WORD m_le_wSize;
+ // Offset 24
+ BYTE m_le_abPayload[256 /*D_NMT_IsochrRxMaxPayload_U16
+ / D_NMT_IsochrTxMaxPayload_U16*/];
+
+} PACK_STRUCT tEplPresFrame;
+
+typedef struct
+{
+ // Offset 17
+ BYTE m_le_bNmtStatus; // NMT state
+ // Offset 18
+ BYTE m_le_bFlag1; // Flags: EA, ER
+ // Offset 19
+ BYTE m_le_bFlag2; // Flags: res
+ // Offset 20
+ BYTE m_le_bReqServiceId;
+ // Offset 21
+ BYTE m_le_bReqServiceTarget;
+ // Offset 22
+ BYTE m_le_bEplVersion;
+
+} PACK_STRUCT tEplSoaFrame;
+
+typedef struct
+{
+ WORD m_wEntryType;
+ WORD m_wErrorCode;
+ tEplNetTime m_TimeStamp;
+ BYTE m_abAddInfo[8];
+
+} PACK_STRUCT tEplErrHistoryEntry;
+
+typedef struct
+{
+ // Offset 18
+ BYTE m_le_bFlag1; // Flags: EN, EC
+ BYTE m_le_bFlag2; // Flags: PR, RS
+ BYTE m_le_bNmtStatus; // NMT state
+ BYTE m_le_bRes1[3];
+ QWORD m_le_qwStaticError; // static error bit field
+ tEplErrHistoryEntry m_le_aErrHistoryEntry[14];
+
+} PACK_STRUCT tEplStatusResponse;
+
+typedef struct
+{
+ // Offset 18
+ BYTE m_le_bFlag1; // Flags: res
+ BYTE m_le_bFlag2; // Flags: PR, RS
+ BYTE m_le_bNmtStatus; // NMT state
+ BYTE m_le_bIdentRespFlags; // Flags: FW
+ BYTE m_le_bEplProfileVersion;
+ BYTE m_le_bRes1;
+ DWORD m_le_dwFeatureFlags; // NMT_FeatureFlags_U32
+ WORD m_le_wMtu; // NMT_CycleTiming_REC.AsyncMTU_U16: C_IP_MIN_MTU - C_IP_MAX_MTU
+ WORD m_le_wPollInSize; // NMT_CycleTiming_REC.PReqActPayload_U16
+ WORD m_le_wPollOutSize; // NMT_CycleTiming_REC.PResActPayload_U16
+ DWORD m_le_dwResponseTime; // NMT_CycleTiming_REC.PResMaxLatency_U32
+ WORD m_le_wRes2;
+ DWORD m_le_dwDeviceType; // NMT_DeviceType_U32
+ DWORD m_le_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32
+ DWORD m_le_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32
+ DWORD m_le_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32
+ DWORD m_le_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
+ QWORD m_le_qwVendorSpecificExt1;
+ DWORD m_le_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
+ DWORD m_le_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
+ DWORD m_le_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
+ DWORD m_le_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
+ DWORD m_le_dwIpAddress;
+ DWORD m_le_dwSubnetMask;
+ DWORD m_le_dwDefaultGateway;
+ BYTE m_le_sHostname[32];
+ BYTE m_le_abVendorSpecificExt2[48];
+
+} PACK_STRUCT tEplIdentResponse;
+
+typedef struct
+{
+ // Offset 18
+ BYTE m_le_bNmtCommandId;
+ BYTE m_le_bRes1;
+ BYTE m_le_abNmtCommandData[32];
+
+} PACK_STRUCT tEplNmtCommandService;
+
+typedef struct
+{
+ BYTE m_le_bReserved;
+ BYTE m_le_bTransactionId;
+ BYTE m_le_bFlags;
+ BYTE m_le_bCommandId;
+ WORD m_le_wSegmentSize;
+ WORD m_le_wReserved;
+ BYTE m_le_abCommandData[8]; // just reserve a minimum number of bytes as a placeholder
+
+}PACK_STRUCT tEplAsySdoCom;
+
+
+// asynchronous SDO Sequence Header
+typedef struct
+{
+ BYTE m_le_bRecSeqNumCon;
+ BYTE m_le_bSendSeqNumCon;
+ BYTE m_le_abReserved[2];
+ tEplAsySdoCom m_le_abSdoSeqPayload;
+
+} PACK_STRUCT tEplAsySdoSeq;
+
+typedef struct
+{
+ // Offset 18
+ BYTE m_le_bNmtCommandId;
+ BYTE m_le_bTargetNodeId;
+ BYTE m_le_abNmtCommandData[32];
+
+} PACK_STRUCT tEplNmtRequestService;
+
+
+typedef union
+{
+ // Offset 18
+ tEplStatusResponse m_StatusResponse;
+ tEplIdentResponse m_IdentResponse;
+ tEplNmtCommandService m_NmtCommandService;
+ tEplNmtRequestService m_NmtRequestService;
+ tEplAsySdoSeq m_SdoSequenceFrame;
+ BYTE m_le_abPayload[256 /*D_NMT_ASndTxMaxPayload_U16
+ / D_NMT_ASndRxMaxPayload_U16*/];
+
+} tEplAsndPayload;
+
+typedef struct
+{
+ // Offset 17
+ BYTE m_le_bServiceId;
+ // Offset 18
+ tEplAsndPayload m_Payload;
+
+} PACK_STRUCT tEplAsndFrame;
+
+typedef union
+{
+ // Offset 17
+ tEplSocFrame m_Soc;
+ tEplPreqFrame m_Preq;
+ tEplPresFrame m_Pres;
+ tEplSoaFrame m_Soa;
+ tEplAsndFrame m_Asnd;
+
+} tEplFrameData;
+
+typedef struct
+{
+ // Offset 0
+ BYTE m_be_abDstMac[6]; // MAC address of the addressed nodes
+ // Offset 6
+ BYTE m_be_abSrcMac[6]; // MAC address of the transmitting node
+ // Offset 12
+ WORD m_be_wEtherType; // Ethernet message type (big endian)
+ // Offset 14
+ BYTE m_le_bMessageType; // EPL message type
+ // Offset 15
+ BYTE m_le_bDstNodeId; // EPL node ID of the addressed nodes
+ // Offset 16
+ BYTE m_le_bSrcNodeId; // EPL node ID of the transmitting node
+ // Offset 17
+ tEplFrameData m_Data;
+
+} PACK_STRUCT tEplFrame;
+
+// un-byte-align structures
+#ifdef _MSC_VER
+# pragma pack( pop, packing )
+#endif
+
+
+typedef enum
+{
+ kEplMsgTypeNonEpl = 0x00,
+ kEplMsgTypeSoc = 0x01,
+ kEplMsgTypePreq = 0x03,
+ kEplMsgTypePres = 0x04,
+ kEplMsgTypeSoa = 0x05,
+ kEplMsgTypeAsnd = 0x06,
+
+} tEplMsgType;
+
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPL_FRAME_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Identu-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplIdentu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/21 09:00:38 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/11/15 d.k.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplIdentu.h"
+#include "user/EplDlluCal.h"
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <xxxxx> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplIdentResponse* m_apIdentResponse[254]; // the IdentResponse are managed dynamically
+ tEplIdentuCbResponse m_apfnCbResponse[254];
+
+} tEplIdentuInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplIdentuInstance EplIdentuInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplIdentuCbIdentResponse(tEplFrameInfo * pFrameInfo_p);
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuInit
+//
+// Description: init first instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplIdentuInit()
+{
+tEplKernel Ret;
+
+ Ret = EplIdentuAddInstance();
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuAddInstance
+//
+// Description: init other instances of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplIdentuAddInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplIdentuInstance_g, 0, sizeof (EplIdentuInstance_g));
+
+ // register IdentResponse callback function
+ Ret = EplDlluCalRegAsndService(kEplDllAsndIdentResponse, EplIdentuCbIdentResponse, kEplDllAsndFilterAny);
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuDelInstance
+//
+// Description: delete instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplIdentuDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // deregister IdentResponse callback function
+ Ret = EplDlluCalRegAsndService(kEplDllAsndIdentResponse, NULL, kEplDllAsndFilterNone);
+
+ Ret = EplIdentuReset();
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuReset
+//
+// Description: resets this instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplIdentuReset()
+{
+tEplKernel Ret;
+int iIndex;
+
+ Ret = kEplSuccessful;
+
+ for (iIndex = 0; iIndex < tabentries (EplIdentuInstance_g.m_apIdentResponse); iIndex++)
+ {
+ if (EplIdentuInstance_g.m_apIdentResponse[iIndex] != NULL)
+ { // free memory
+ EPL_FREE(EplIdentuInstance_g.m_apIdentResponse[iIndex]);
+ }
+ }
+
+ EPL_MEMSET(&EplIdentuInstance_g, 0, sizeof (EplIdentuInstance_g));
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuGetIdentResponse
+//
+// Description: returns the IdentResponse for the specified node.
+//
+// Parameters: uiNodeId_p = IN: node ID
+// ppIdentResponse_p = OUT: pointer to pointer of IdentResponse
+// equals NULL, if no IdentResponse available
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplIdentuGetIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentResponse** ppIdentResponse_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // decrement node ID, because array is zero based
+ uiNodeId_p--;
+ if (uiNodeId_p < tabentries (EplIdentuInstance_g.m_apIdentResponse))
+ {
+ *ppIdentResponse_p = EplIdentuInstance_g.m_apIdentResponse[uiNodeId_p];
+ }
+ else
+ { // invalid node ID specified
+ *ppIdentResponse_p = NULL;
+ Ret = kEplInvalidNodeId;
+ }
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuRequestIdentResponse
+//
+// Description: returns the IdentResponse for the specified node.
+//
+// Parameters: uiNodeId_p = IN: node ID
+// pfnCbResponse_p = IN: function pointer to callback function
+// which will be called if IdentResponse is received
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplIdentuRequestIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentuCbResponse pfnCbResponse_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // decrement node ID, because array is zero based
+ uiNodeId_p--;
+ if (uiNodeId_p < tabentries (EplIdentuInstance_g.m_apfnCbResponse))
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (EplIdentuInstance_g.m_apfnCbResponse[uiNodeId_p] != NULL)
+ { // request already issued (maybe by someone else)
+ Ret = kEplInvalidOperation;
+ }
+ else
+ {
+ EplIdentuInstance_g.m_apfnCbResponse[uiNodeId_p] = pfnCbResponse_p;
+ Ret = EplDlluCalIssueRequest(kEplDllReqServiceIdent, (uiNodeId_p + 1), 0xFF);
+ }
+#else
+ Ret = kEplInvalidOperation;
+#endif
+ }
+ else
+ { // invalid node ID specified
+ Ret = kEplInvalidNodeId;
+ }
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuGetRunningRequests
+//
+// Description: returns a bit field with the running requests for node-ID 1-32
+// just for debugging purposes
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT DWORD PUBLIC EplIdentuGetRunningRequests(void)
+{
+DWORD dwReqs = 0;
+unsigned int uiIndex;
+
+ for (uiIndex = 0; uiIndex < 32; uiIndex++)
+ {
+ if (EplIdentuInstance_g.m_apfnCbResponse[uiIndex] != NULL)
+ {
+ dwReqs |= (1 << uiIndex);
+ }
+ }
+
+ return dwReqs;
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplIdentuCbIdentResponse
+//
+// Description: callback funktion for IdentResponse
+//
+//
+//
+// Parameters: pFrameInfo_p = Frame with the IdentResponse
+//
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplIdentuCbIdentResponse(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiNodeId;
+unsigned int uiIndex;
+tEplIdentuCbResponse pfnCbResponse;
+
+ uiNodeId = AmiGetByteFromLe(&pFrameInfo_p->m_pFrame->m_le_bSrcNodeId);
+
+ uiIndex = uiNodeId - 1;
+
+ if (uiIndex < tabentries (EplIdentuInstance_g.m_apfnCbResponse))
+ {
+ // memorize pointer to callback function
+ pfnCbResponse = EplIdentuInstance_g.m_apfnCbResponse[uiIndex];
+ // reset callback function pointer so that caller may issue next request immediately
+ EplIdentuInstance_g.m_apfnCbResponse[uiIndex] = NULL;
+
+ if (pFrameInfo_p->m_uiFrameSize < EPL_C_DLL_MINSIZE_IDENTRES)
+ { // IdentResponse not received or it has invalid size
+ if (pfnCbResponse == NULL)
+ { // response was not requested
+ goto Exit;
+ }
+ Ret = pfnCbResponse(uiNodeId, NULL);
+ }
+ else
+ { // IdentResponse received
+ if (EplIdentuInstance_g.m_apIdentResponse[uiIndex] == NULL)
+ { // memory for IdentResponse must be allocated
+ EplIdentuInstance_g.m_apIdentResponse[uiIndex] = EPL_MALLOC(sizeof (tEplIdentResponse));
+ if (EplIdentuInstance_g.m_apIdentResponse[uiIndex] == NULL)
+ { // malloc failed
+ if (pfnCbResponse == NULL)
+ { // response was not requested
+ goto Exit;
+ }
+ Ret = pfnCbResponse(uiNodeId, &pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse);
+ goto Exit;
+ }
+ }
+ // copy IdentResponse to instance structure
+ EPL_MEMCPY(EplIdentuInstance_g.m_apIdentResponse[uiIndex], &pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_IdentResponse, sizeof(tEplIdentResponse));
+ if (pfnCbResponse == NULL)
+ { // response was not requested
+ goto Exit;
+ }
+ Ret = pfnCbResponse(uiNodeId, EplIdentuInstance_g.m_apIdentResponse[uiIndex]);
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: basic include file for internal EPL stack modules
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplInc.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_INC_H_
+#define _EPL_INC_H_
+
+// ============================================================================
+// include files
+// ============================================================================
+#if defined(WIN32) || defined(_WIN32)
+
+ #ifdef UNDER_RTSS
+ // RTX header
+ #include <windows.h>
+ #include <process.h>
+ #include <rtapi.h>
+
+ #elif __BORLANDC__
+ // borland C header
+ #include <windows.h>
+ #include <process.h>
+
+ #elif WINCE
+ #include <windows.h>
+
+ #else
+ // MSVC needs to include windows.h at first
+ // the following defines ar necessary for function prototypes for waitable timers
+ #define _WIN32_WINDOWS 0x0401
+ #define _WIN32_WINNT 0x0400
+ #include <windows.h>
+ #include <process.h>
+ #endif
+
+#endif
+
+// defines for module integration
+// possible other include file needed
+// These constants defines modules which can be included in the Epl application.
+// Use this constants for define EPL_MODULE_INTEGRATION in file EplCfg.h.
+#define EPL_MODULE_OBDK 0x00000001L // OBD kernel part module
+#define EPL_MODULE_PDOK 0x00000002L // PDO kernel part module
+#define EPL_MODULE_NMT_MN 0x00000004L // NMT MN module
+#define EPL_MODULE_SDOS 0x00000008L // SDO Server module
+#define EPL_MODULE_SDOC 0x00000010L // SDO Client module
+#define EPL_MODULE_SDO_ASND 0x00000020L // SDO over Asnd module
+#define EPL_MODULE_SDO_UDP 0x00000040L // SDO over UDP module
+#define EPL_MODULE_SDO_PDO 0x00000080L // SDO in PDO module
+#define EPL_MODULE_NMT_CN 0x00000100L // NMT CN module
+#define EPL_MODULE_NMTU 0x00000200L // NMT user part module
+#define EPL_MODULE_NMTK 0x00000400L // NMT kernel part module
+#define EPL_MODULE_DLLK 0x00000800L // DLL kernel part module
+#define EPL_MODULE_DLLU 0x00001000L // DLL user part module
+#define EPL_MODULE_OBDU 0x00002000L // OBD user part module
+#define EPL_MODULE_CFGMA 0x00004000L // Configuartioan Manager module
+#define EPL_MODULE_VETH 0x00008000L // virtual ethernet driver module
+#define EPL_MODULE_PDOU 0x00010000L // PDO user part module
+#define EPL_MODULE_LEDU 0x00020000L // LED user part module
+
+#include "EplCfg.h" // EPL configuration file (configuration from application)
+
+#include "global.h" // global definitions
+
+#include "EplDef.h" // EPL configuration file (default configuration)
+#include "EplInstDef.h" // defines macros for instance types and table
+#include "Debug.h" // debug definitions
+
+#include "EplErrDef.h" // EPL error codes for API funtions
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+// IEEE 1588 conformant net time structure
+typedef struct
+{
+ DWORD m_dwSec;
+ DWORD m_dwNanoSec;
+
+} tEplNetTime;
+
+
+#include "EplTarget.h" // target specific functions and definitions
+
+#include "EplAmi.h"
+
+// -------------------------------------------------------------------------
+// macros
+// -------------------------------------------------------------------------
+
+#define EPL_SPEC_VERSION 0x20 // ETHERNET Powerlink V. 2.0
+#define EPL_STACK_VERSION(ver,rev,rel) ((((DWORD)(ver)) & 0xFF)|((((DWORD)(rev))&0xFF)<<8)|(((DWORD)(rel))<<16))
+#define EPL_OBJ1018_VERSION(ver,rev,rel) ((((DWORD)(ver))<<16) |(((DWORD)(rev))&0xFFFF))
+#define EPL_STRING_VERSION(ver,rev,rel) "V" #ver "." #rev " r" #rel
+
+#include "EplVersion.h"
+
+// defines for EPL FeatureFlags
+#define EPL_FEATURE_ISOCHR 0x00000001
+#define EPL_FEATURE_SDO_UDP 0x00000002
+#define EPL_FEATURE_SDO_ASND 0x00000004
+#define EPL_FEATURE_SDO_PDO 0x00000008
+#define EPL_FEATURE_NMT_INFO 0x00000010
+#define EPL_FEATURE_NMT_EXT 0x00000020
+#define EPL_FEATURE_PDO_DYN 0x00000040
+#define EPL_FEATURE_NMT_UDP 0x00000080
+#define EPL_FEATURE_CFGMA 0x00000100
+#define EPL_FEATURE_DLL_MULTIPLEX 0x00000200
+#define EPL_FEATURE_NODEID_SW 0x00000400
+#define EPL_FEATURE_NMT_BASICETH 0x00000800
+#define EPL_FEATURE_RT1 0x00001000
+#define EPL_FEATURE_RT2 0x00002000
+
+
+// generate EPL NMT_FeatureFlags_U32
+#ifndef EPL_DEF_FEATURE_ISOCHR
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ #define EPL_DEF_FEATURE_ISOCHR (EPL_FEATURE_ISOCHR)
+ #else
+ #define EPL_DEF_FEATURE_ISOCHR 0
+ #endif
+#endif
+
+#ifndef EPL_DEF_FEATURE_SDO_ASND
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ #define EPL_DEF_FEATURE_SDO_ASND (EPL_FEATURE_SDO_ASND)
+ #else
+ #define EPL_DEF_FEATURE_SDO_ASND 0
+ #endif
+#endif
+
+#ifndef EPL_DEF_FEATURE_SDO_UDP
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ #define EPL_DEF_FEATURE_SDO_UDP (EPL_FEATURE_SDO_UDP)
+ #else
+ #define EPL_DEF_FEATURE_SDO_UDP 0
+ #endif
+#endif
+
+#ifndef EPL_DEF_FEATURE_SDO_PDO
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_PDO)) != 0)
+ #define EPL_DEF_FEATURE_SDO_PDO (EPL_FEATURE_SDO_PDO)
+ #else
+ #define EPL_DEF_FEATURE_SDO_PDO 0
+ #endif
+#endif
+
+#ifndef EPL_DEF_FEATURE_PDO_DYN
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+ #define EPL_DEF_FEATURE_PDO_DYN (EPL_FEATURE_PDO_DYN)
+ #else
+ #define EPL_DEF_FEATURE_PDO_DYN 0
+ #endif
+#endif
+
+#ifndef EPL_DEF_FEATURE_CFGMA
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0)
+ #define EPL_DEF_FEATURE_CFGMA (EPL_FEATURE_CFGMA)
+ #else
+ #define EPL_DEF_FEATURE_CFGMA 0
+ #endif
+#endif
+
+#define EPL_DEF_FEATURE_FLAGS (EPL_DEF_FEATURE_ISOCHR \
+ | EPL_DEF_FEATURE_SDO_ASND \
+ | EPL_DEF_FEATURE_SDO_UDP \
+ | EPL_DEF_FEATURE_SDO_PDO \
+ | EPL_DEF_FEATURE_PDO_DYN \
+ | EPL_DEF_FEATURE_CFGMA)
+
+
+#ifndef tabentries
+#define tabentries(a) (sizeof(a)/sizeof(*(a)))
+#endif
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// definitions for DLL export
+#if ((DEV_SYSTEM == _DEV_WIN32_) || (DEV_SYSTEM == _DEV_WIN_CE_)) && defined (COP_LIB)
+
+ #define EPLDLLEXPORT __declspec (dllexport)
+
+#else
+
+ #define EPLDLLEXPORT
+
+#endif
+
+
+// ============================================================================
+// common debug macros
+// ============================================================================
+// for using macro DEBUG_TRACEx()
+//
+// Example:
+// DEBUG_TRACE1 (EPL_DBGLVL_OBD, "Value is %d\n" , wObjectIndex);
+//
+// This message only will be printed if:
+// - NDEBUG is not defined AND !!!
+// - flag 0x00000004L is set in DEF_DEBUG_LVL (can be defined in copcfg.h)
+//
+// default level is defined in copdef.h
+
+// debug-level and TRACE-macros // standard-level // flags for DEF_DEBUG_LVL
+#define EPL_DBGLVL_EDRV DEBUG_LVL_01 // 0x00000001L
+#define EPL_DBGLVL_EDRV_TRACE0 DEBUG_LVL_01_TRACE0
+#define EPL_DBGLVL_EDRV_TRACE1 DEBUG_LVL_01_TRACE1
+#define EPL_DBGLVL_EDRV_TRACE2 DEBUG_LVL_01_TRACE2
+#define EPL_DBGLVL_EDRV_TRACE3 DEBUG_LVL_01_TRACE3
+#define EPL_DBGLVL_EDRV_TRACE4 DEBUG_LVL_01_TRACE4
+
+#define EPL_DBGLVL_DLL DEBUG_LVL_02 // 0x00000002L
+#define EPL_DBGLVL_DLL_TRACE0 DEBUG_LVL_02_TRACE0
+#define EPL_DBGLVL_DLL_TRACE1 DEBUG_LVL_02_TRACE1
+#define EPL_DBGLVL_DLL_TRACE2 DEBUG_LVL_02_TRACE2
+#define EPL_DBGLVL_DLL_TRACE3 DEBUG_LVL_02_TRACE3
+#define EPL_DBGLVL_DLL_TRACE4 DEBUG_LVL_02_TRACE4
+
+#define EPL_DBGLVL_OBD DEBUG_LVL_03 // 0x00000004L
+#define EPL_DBGLVL_OBD_TRACE0 DEBUG_LVL_03_TRACE0
+#define EPL_DBGLVL_OBD_TRACE1 DEBUG_LVL_03_TRACE1
+#define EPL_DBGLVL_OBD_TRACE2 DEBUG_LVL_03_TRACE2
+#define EPL_DBGLVL_OBD_TRACE3 DEBUG_LVL_03_TRACE3
+#define EPL_DBGLVL_OBD_TRACE4 DEBUG_LVL_03_TRACE4
+
+#define EPL_DBGLVL_NMTK DEBUG_LVL_04 // 0x00000008L
+#define EPL_DBGLVL_NMTK_TRACE0 DEBUG_LVL_04_TRACE0
+#define EPL_DBGLVL_NMTK_TRACE1 DEBUG_LVL_04_TRACE1
+#define EPL_DBGLVL_NMTK_TRACE2 DEBUG_LVL_04_TRACE2
+#define EPL_DBGLVL_NMTK_TRACE3 DEBUG_LVL_04_TRACE3
+#define EPL_DBGLVL_NMTK_TRACE4 DEBUG_LVL_04_TRACE4
+
+#define EPL_DBGLVL_NMTCN DEBUG_LVL_05 // 0x00000010L
+#define EPL_DBGLVL_NMTCN_TRACE0 DEBUG_LVL_05_TRACE0
+#define EPL_DBGLVL_NMTCN_TRACE1 DEBUG_LVL_05_TRACE1
+#define EPL_DBGLVL_NMTCN_TRACE2 DEBUG_LVL_05_TRACE2
+#define EPL_DBGLVL_NMTCN_TRACE3 DEBUG_LVL_05_TRACE3
+#define EPL_DBGLVL_NMTCN_TRACE4 DEBUG_LVL_05_TRACE4
+
+#define EPL_DBGLVL_NMTU DEBUG_LVL_06 // 0x00000020L
+#define EPL_DBGLVL_NMTU_TRACE0 DEBUG_LVL_06_TRACE0
+#define EPL_DBGLVL_NMTU_TRACE1 DEBUG_LVL_06_TRACE1
+#define EPL_DBGLVL_NMTU_TRACE2 DEBUG_LVL_06_TRACE2
+#define EPL_DBGLVL_NMTU_TRACE3 DEBUG_LVL_06_TRACE3
+#define EPL_DBGLVL_NMTU_TRACE4 DEBUG_LVL_06_TRACE4
+
+#define EPL_DBGLVL_NMTMN DEBUG_LVL_07 // 0x00000040L
+#define EPL_DBGLVL_NMTMN_TRACE0 DEBUG_LVL_07_TRACE0
+#define EPL_DBGLVL_NMTMN_TRACE1 DEBUG_LVL_07_TRACE1
+#define EPL_DBGLVL_NMTMN_TRACE2 DEBUG_LVL_07_TRACE2
+#define EPL_DBGLVL_NMTMN_TRACE3 DEBUG_LVL_07_TRACE3
+#define EPL_DBGLVL_NMTMN_TRACE4 DEBUG_LVL_07_TRACE4
+
+//...
+
+#define EPL_DBGLVL_SDO DEBUG_LVL_25 // 0x01000000
+#define EPL_DBGLVL_SDO_TRACE0 DEBUG_LVL_25_TRACE0
+#define EPL_DBGLVL_SDO_TRACE1 DEBUG_LVL_25_TRACE1
+#define EPL_DBGLVL_SDO_TRACE2 DEBUG_LVL_25_TRACE2
+#define EPL_DBGLVL_SDO_TRACE3 DEBUG_LVL_25_TRACE3
+#define EPL_DBGLVL_SDO_TRACE4 DEBUG_LVL_25_TRACE4
+
+#define EPL_DBGLVL_VETH DEBUG_LVL_26 // 0x02000000
+#define EPL_DBGLVL_VETH_TRACE0 DEBUG_LVL_26_TRACE0
+#define EPL_DBGLVL_VETH_TRACE1 DEBUG_LVL_26_TRACE1
+#define EPL_DBGLVL_VETH_TRACE2 DEBUG_LVL_26_TRACE2
+#define EPL_DBGLVL_VETH_TRACE3 DEBUG_LVL_26_TRACE3
+#define EPL_DBGLVL_VETH_TRACE4 DEBUG_LVL_26_TRACE4
+
+#define EPL_DBGLVL_EVENTK DEBUG_LVL_27 // 0x04000000
+#define EPL_DBGLVL_EVENTK_TRACE0 DEBUG_LVL_27_TRACE0
+#define EPL_DBGLVL_EVENTK_TRACE1 DEBUG_LVL_27_TRACE1
+#define EPL_DBGLVL_EVENTK_TRACE2 DEBUG_LVL_27_TRACE2
+#define EPL_DBGLVL_EVENTK_TRACE3 DEBUG_LVL_27_TRACE3
+#define EPL_DBGLVL_EVENTK_TRACE4 DEBUG_LVL_27_TRACE4
+
+#define EPL_DBGLVL_EVENTU DEBUG_LVL_28 // 0x08000000
+#define EPL_DBGLVL_EVENTU_TRACE0 DEBUG_LVL_28_TRACE0
+#define EPL_DBGLVL_EVENTU_TRACE1 DEBUG_LVL_28_TRACE1
+#define EPL_DBGLVL_EVENTU_TRACE2 DEBUG_LVL_28_TRACE2
+#define EPL_DBGLVL_EVENTU_TRACE3 DEBUG_LVL_28_TRACE3
+#define EPL_DBGLVL_EVENTU_TRACE4 DEBUG_LVL_28_TRACE4
+
+// SharedBuff
+#define EPL_DBGLVL_SHB DEBUG_LVL_29 // 0x10000000
+#define EPL_DBGLVL_SHB_TRACE0 DEBUG_LVL_29_TRACE0
+#define EPL_DBGLVL_SHB_TRACE1 DEBUG_LVL_29_TRACE1
+#define EPL_DBGLVL_SHB_TRACE2 DEBUG_LVL_29_TRACE2
+#define EPL_DBGLVL_SHB_TRACE3 DEBUG_LVL_29_TRACE3
+#define EPL_DBGLVL_SHB_TRACE4 DEBUG_LVL_29_TRACE4
+
+#define EPL_DBGLVL_ASSERT DEBUG_LVL_ASSERT // 0x20000000L
+#define EPL_DBGLVL_ASSERT_TRACE0 DEBUG_LVL_ASSERT_TRACE0
+#define EPL_DBGLVL_ASSERT_TRACE1 DEBUG_LVL_ASSERT_TRACE1
+#define EPL_DBGLVL_ASSERT_TRACE2 DEBUG_LVL_ASSERT_TRACE2
+#define EPL_DBGLVL_ASSERT_TRACE3 DEBUG_LVL_ASSERT_TRACE3
+#define EPL_DBGLVL_ASSERT_TRACE4 DEBUG_LVL_ASSERT_TRACE4
+
+#define EPL_DBGLVL_ERROR DEBUG_LVL_ERROR // 0x40000000L
+#define EPL_DBGLVL_ERROR_TRACE0 DEBUG_LVL_ERROR_TRACE0
+#define EPL_DBGLVL_ERROR_TRACE1 DEBUG_LVL_ERROR_TRACE1
+#define EPL_DBGLVL_ERROR_TRACE2 DEBUG_LVL_ERROR_TRACE2
+#define EPL_DBGLVL_ERROR_TRACE3 DEBUG_LVL_ERROR_TRACE3
+#define EPL_DBGLVL_ERROR_TRACE4 DEBUG_LVL_ERROR_TRACE4
+
+#define EPL_DBGLVL_ALWAYS DEBUG_LVL_ALWAYS // 0x80000000L
+#define EPL_DBGLVL_ALWAYS_TRACE0 DEBUG_LVL_ALWAYS_TRACE0
+#define EPL_DBGLVL_ALWAYS_TRACE1 DEBUG_LVL_ALWAYS_TRACE1
+#define EPL_DBGLVL_ALWAYS_TRACE2 DEBUG_LVL_ALWAYS_TRACE2
+#define EPL_DBGLVL_ALWAYS_TRACE3 DEBUG_LVL_ALWAYS_TRACE3
+#define EPL_DBGLVL_ALWAYS_TRACE4 DEBUG_LVL_ALWAYS_TRACE4
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPL_INC_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: definitions for generating instances
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplInstDef.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ ...
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ r.d.: first implementation
+
+****************************************************************************/
+
+#ifndef _EPLINSTDEF_H_
+#define _EPLINSTDEF_H_
+
+
+// =========================================================================
+// types and macros for generating instances
+// =========================================================================
+
+typedef enum
+{
+ kStateUnused = 0,
+ kStateDeleted = 1,
+ kStateUsed = 0xFF
+
+} tInstState;
+
+//------------------------------------------------------------------------------------------
+
+typedef void MEM* tEplPtrInstance;
+typedef BYTE tEplInstanceHdl;
+
+// define const for illegale values
+#define CCM_ILLINSTANCE NULL
+#define CCM_ILLINSTANCE_HDL 0xFF
+
+//------------------------------------------------------------------------------------------
+// if more than one instance then use this macros
+#if (EPL_MAX_INSTANCES > 1)
+
+ //--------------------------------------------------------------------------------------
+ // macro definition for instance table definition
+ //--------------------------------------------------------------------------------------
+
+ // memory attributes for instance table
+ #define INST_NEAR // faster access to variables
+ #define INST_FAR // variables wich have to located in xdata
+ #define STATIC // prevent warnings for variables with same name
+
+ #define INSTANCE_TYPE_BEGIN typedef struct {
+ #define INSTANCE_TYPE_END } tEplInstanceInfo;
+
+
+ //--------------------------------------------------------------------------------------
+ // macro definition for API interface
+ //--------------------------------------------------------------------------------------
+
+ // declaration:
+
+ // macros for declaration within function header or prototype of API functions
+ #define CCM_DECL_INSTANCE_HDL tEplInstanceHdl InstanceHandle
+ #define CCM_DECL_INSTANCE_HDL_ tEplInstanceHdl InstanceHandle,
+
+ // macros for declaration of pointer to instance handle within function header or prototype of API functions
+ #define CCM_DECL_PTR_INSTANCE_HDL tEplInstanceHdl MEM* pInstanceHandle
+ #define CCM_DECL_PTR_INSTANCE_HDL_ tEplInstanceHdl MEM* pInstanceHandle,
+
+ // macros for declaration instance as lokacl variable within functions
+ #define CCM_DECL_INSTANCE_PTR_LOCAL tCcmInstanceInfo MEM* pInstance;
+ #define CCM_DECL_PTR_INSTANCE_HDL_LOCAL tEplInstanceHdl MEM* pInstanceHandle;
+
+ // reference:
+
+ // macros for reference of instance handle for function parameters
+ #define CCM_INSTANCE_HDL InstanceHandle
+ #define CCM_INSTANCE_HDL_ InstanceHandle,
+
+ // macros for reference of instance parameter for function parameters
+ #define CCM_INSTANCE_PARAM(par) par
+ #define CCM_INSTANCE_PARAM_(par) par,
+
+ // macros for reference of instance parameter for writing or reading values
+ #define CCM_INST_ENTRY (*((tEplPtrInstance)pInstance))
+
+ // processing:
+
+ // macros for process instance handle
+ #define CCM_CHECK_INSTANCE_HDL() if (InstanceHandle >= EPL_MAX_INSTANCES) \
+ {return (kEplIllegalInstance);}
+
+
+ // macros for process pointer to instance handle
+ #define CCM_CHECK_PTR_INSTANCE_HDL() if (pInstanceHandle == NULL) \
+ {return (kEplInvalidInstanceParam);}
+
+ // This macro returned the handle and pointer to next free instance.
+ #define CCM_GET_FREE_INSTANCE_AND_HDL() pInstance = CcmGetFreeInstanceAndHandle (pInstanceHandle); \
+ ASSERT (*pInstanceHandle != CCM_ILLINSTANCE_HDL);
+
+ #define CCM_CHECK_INSTANCE_PTR() if (pInstance == CCM_ILLINSTANCE) \
+ {return (kEplNoFreeInstance);}
+
+ #define CCM_GET_INSTANCE_PTR() pInstance = CcmGetInstancePtr (InstanceHandle);
+ #define CCM_GET_FREE_INSTANCE_PTR() pInstance = GetFreeInstance (); \
+ ASSERT (pInstance != CCM_ILLINSTANCE);
+
+
+ //--------------------------------------------------------------------------------------
+ // macro definition for stack interface
+ //--------------------------------------------------------------------------------------
+
+ // macros for declaration within the function header, prototype or local var list
+ // Declaration of pointers within function paramater list must defined as void MEM*
+ // pointer.
+ #define EPL_MCO_DECL_INSTANCE_PTR void MEM* pInstance
+ #define EPL_MCO_DECL_INSTANCE_PTR_ void MEM* pInstance,
+ #define EPL_MCO_DECL_INSTANCE_PTR_LOCAL tEplPtrInstance pInstance;
+
+ // macros for reference of pointer to instance
+ // These macros are used for parameter passing to called function.
+ #define EPL_MCO_INSTANCE_PTR pInstance
+ #define EPL_MCO_INSTANCE_PTR_ pInstance,
+ #define EPL_MCO_ADDR_INSTANCE_PTR_ &pInstance,
+
+ // macro for access of struct members of one instance
+ // An access to a member of instance table must be casted by the local
+ // defined type of instance table.
+ #define EPL_MCO_INST_ENTRY (*(tEplPtrInstance)pInstance)
+ #define EPL_MCO_GLB_VAR(var) (((tEplPtrInstance)pInstance)->var)
+
+ // macros for process pointer to instance
+ #define EPL_MCO_GET_INSTANCE_PTR() pInstance = (tEplPtrInstance) GetInstancePtr (InstanceHandle);
+ #define EPL_MCO_GET_FREE_INSTANCE_PTR() pInstance = (tEplPtrInstance) GetFreeInstance (); \
+ ASSERT (pInstance != CCM_ILLINSTANCE);
+
+ // This macro should be used to check the passed pointer to an public function
+ #define EPL_MCO_CHECK_INSTANCE_STATE() ASSERT (pInstance != NULL); \
+ ASSERT (((tEplPtrInstance)pInstance)->m_InstState == kStateUsed);
+
+ // macros for declaration of pointer to instance pointer
+ #define EPL_MCO_DECL_PTR_INSTANCE_PTR void MEM* MEM* pInstancePtr
+ #define EPL_MCO_DECL_PTR_INSTANCE_PTR_ void MEM* MEM* pInstancePtr,
+
+ // macros for reference of pointer to instance pointer
+ // These macros are used for parameter passing to called function.
+ #define EPL_MCO_PTR_INSTANCE_PTR pInstancePtr
+ #define EPL_MCO_PTR_INSTANCE_PTR_ pInstancePtr,
+
+ // macros for process pointer to instance pointer
+ #define EPL_MCO_CHECK_PTR_INSTANCE_PTR() ASSERT (pInstancePtr != NULL);
+ #define EPL_MCO_SET_PTR_INSTANCE_PTR() (*pInstancePtr = pInstance);
+
+ #define EPL_MCO_INSTANCE_PARAM(a) (a)
+ #define EPL_MCO_INSTANCE_PARAM_(a) (a),
+ #define EPL_MCO_INSTANCE_PARAM_IDX_() EPL_MCO_INSTANCE_PARAM_ (EPL_MCO_GLB_VAR (m_bInstIndex))
+ #define EPL_MCO_INSTANCE_PARAM_IDX() EPL_MCO_INSTANCE_PARAM (EPL_MCO_GLB_VAR (m_bInstIndex))
+ #define EPL_MCO_WRITE_INSTANCE_STATE(a) EPL_MCO_GLB_VAR (m_InstState) = a;
+
+ // this macro deletes all instance entries as unused
+ #define EPL_MCO_DELETE_INSTANCE_TABLE() \
+ { \
+ tEplInstanceInfo MEM* pInstance = &aEplInstanceTable_g[0]; \
+ tFastByte InstNumber = 0; \
+ tFastByte i = EPL_MAX_INSTANCES; \
+ do { \
+ pInstance->m_InstState = (BYTE) kStateUnused; \
+ pInstance->m_bInstIndex = (BYTE) InstNumber; \
+ pInstance++; InstNumber++; i--; \
+ } while (i != 0); \
+ }
+
+ // definition of functions which has to be defined in each module of CANopen stack
+ #define EPL_MCO_DEFINE_INSTANCE_FCT() \
+ static tEplPtrInstance GetInstancePtr (tEplInstanceHdl InstHandle_p); \
+ static tEplPtrInstance GetFreeInstance (void);
+ #define EPL_MCO_DECL_INSTANCE_FCT() \
+ static tEplPtrInstance GetInstancePtr (tEplInstanceHdl InstHandle_p) { \
+ return &aEplInstanceTable_g[InstHandle_p]; } \
+ static tEplPtrInstance GetFreeInstance (void) { \
+ tEplInstanceInfo MEM* pInstance = &aEplInstanceTable_g[0]; \
+ tFastByte i = EPL_MAX_INSTANCES; \
+ do { if (pInstance->m_InstState != kStateUsed) { \
+ return (tEplPtrInstance) pInstance; } \
+ pInstance++; i--; } \
+ while (i != 0); \
+ return CCM_ILLINSTANCE; }
+
+ // this macro defines the instance table. Each entry is reserved for an instance of CANopen.
+ #define EPL_MCO_DECL_INSTANCE_VAR() \
+ static tEplInstanceInfo MEM aEplInstanceTable_g [EPL_MAX_INSTANCES];
+
+ // this macro defines member variables in instance table which are needed in
+ // all modules of Epl stack
+ #define EPL_MCO_DECL_INSTANCE_MEMBER() \
+ STATIC BYTE m_InstState; \
+ STATIC BYTE m_bInstIndex;
+
+ #define EPL_MCO_INSTANCE_PARAM_IDX_() EPL_MCO_INSTANCE_PARAM_ (EPL_MCO_GLB_VAR (m_bInstIndex))
+ #define EPL_MCO_INSTANCE_PARAM_IDX() EPL_MCO_INSTANCE_PARAM (EPL_MCO_GLB_VAR (m_bInstIndex))
+
+#else // only one instance is used
+
+ // Memory attributes for instance table.
+ #define INST_NEAR NEAR // faster access to variables
+ #define INST_FAR MEM // variables wich have to located in xdata
+ #define STATIC static // prevent warnings for variables with same name
+
+ #define INSTANCE_TYPE_BEGIN
+ #define INSTANCE_TYPE_END
+
+// macros for declaration, initializing and member access for instance handle
+// This class of macros are used by API function to inform CCM-modul which
+// instance is to be used.
+
+ // macros for reference of instance handle
+ // These macros are used for parameter passing to CANopen API function.
+ #define CCM_INSTANCE_HDL
+ #define CCM_INSTANCE_HDL_
+
+ #define CCM_DECL_INSTANCE_PTR_LOCAL
+
+ // macros for declaration within the function header or prototype
+ #define CCM_DECL_INSTANCE_HDL void
+ #define CCM_DECL_INSTANCE_HDL_
+
+ // macros for process instance handle
+ #define CCM_CHECK_INSTANCE_HDL()
+
+ // macros for declaration of pointer to instance handle
+ #define CCM_DECL_PTR_INSTANCE_HDL void
+ #define CCM_DECL_PTR_INSTANCE_HDL_
+
+ // macros for process pointer to instance handle
+ #define CCM_CHECK_PTR_INSTANCE_HDL()
+
+ // This macro returned the handle and pointer to next free instance.
+ #define CCM_GET_FREE_INSTANCE_AND_HDL()
+
+ #define CCM_CHECK_INSTANCE_PTR()
+
+ #define CCM_GET_INSTANCE_PTR()
+ #define CCM_GET_FREE_INSTANCE_PTR()
+
+ #define CCM_INSTANCE_PARAM(par)
+ #define CCM_INSTANCE_PARAM_(par)
+
+ #define CCM_INST_ENTRY aCcmInstanceTable_g[0]
+
+// macros for declaration, initializing and member access for instance pointer
+// This class of macros are used by CANopen internal function to point to one instance.
+
+ // macros for declaration within the function header, prototype or local var list
+ #define EPL_MCO_DECL_INSTANCE_PTR void
+ #define EPL_MCO_DECL_INSTANCE_PTR_
+ #define EPL_MCO_DECL_INSTANCE_PTR_LOCAL
+
+ // macros for reference of pointer to instance
+ // These macros are used for parameter passing to called function.
+ #define EPL_MCO_INSTANCE_PTR
+ #define EPL_MCO_INSTANCE_PTR_
+ #define EPL_MCO_ADDR_INSTANCE_PTR_
+
+ // macros for process pointer to instance
+ #define EPL_MCO_GET_INSTANCE_PTR()
+ #define EPL_MCO_GET_FREE_INSTANCE_PTR()
+
+ // This macro should be used to check the passed pointer to an public function
+ #define EPL_MCO_CHECK_INSTANCE_STATE()
+
+ // macros for declaration of pointer to instance pointer
+ #define EPL_MCO_DECL_PTR_INSTANCE_PTR void
+ #define EPL_MCO_DECL_PTR_INSTANCE_PTR_
+
+ // macros for reference of pointer to instance pointer
+ // These macros are used for parameter passing to called function.
+ #define EPL_MCO_PTR_INSTANCE_PTR
+ #define EPL_MCO_PTR_INSTANCE_PTR_
+
+ // macros for process pointer to instance pointer
+ #define EPL_MCO_CHECK_PTR_INSTANCE_PTR()
+ #define EPL_MCO_SET_PTR_INSTANCE_PTR()
+
+ #define EPL_MCO_INSTANCE_PARAM(a)
+ #define EPL_MCO_INSTANCE_PARAM_(a)
+ #define EPL_MCO_INSTANCE_PARAM_IDX_()
+ #define EPL_MCO_INSTANCE_PARAM_IDX()
+
+ // macro for access of struct members of one instance
+ #define EPL_MCO_INST_ENTRY aEplInstanceTable_g[0]
+ #define EPL_MCO_GLB_VAR(var) (var)
+ #define EPL_MCO_WRITE_INSTANCE_STATE(a)
+
+ // this macro deletes all instance entries as unused
+ #define EPL_MCO_DELETE_INSTANCE_TABLE()
+
+ // definition of functions which has to be defined in each module of CANopen stack
+ #define EPL_MCO_DEFINE_INSTANCE_FCT()
+ #define EPL_MCO_DECL_INSTANCE_FCT()
+
+ // this macro defines the instance table. Each entry is reserved for an instance of CANopen.
+ #define EPL_MCO_DECL_INSTANCE_VAR()
+
+ // this macro defines member variables in instance table which are needed in
+ // all modules of CANopen stack
+ #define EPL_MCO_DECL_INSTANCE_MEMBER()
+
+#endif
+
+
+/*
+#if (CDRV_MAX_INSTANCES > 1)
+
+ #define CDRV_REENTRANT REENTRANT
+
+#else
+
+ #define CDRV_REENTRANT
+
+#endif
+*/
+
+
+#endif // _EPLINSTDEF_H_
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for status and error LED
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplLed.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.1 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2008/11/17 d.k.: start of the implementation
+
+
+****************************************************************************/
+
+
+#ifndef _EPLLED_H_
+#define _EPLLED_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+typedef enum
+{
+ kEplLedTypeStatus = 0x00,
+ kEplLedTypeError = 0x01,
+
+} tEplLedType;
+
+
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPLLED_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: global include file for EPL-NMT-Modules
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmt.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#ifndef _EPLNMT_H_
+#define _EPLNMT_H_
+
+#include "EplInc.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// define super-states and masks to identify a super-state
+#define EPL_NMT_GS_POWERED 0x0008 // super state
+#define EPL_NMT_GS_INITIALISATION 0x0009 // super state
+#define EPL_NMT_GS_COMMUNICATING 0x000C // super state
+#define EPL_NMT_CS_EPLMODE 0x000D // super state
+#define EPL_NMT_MS_EPLMODE 0x000D // super state
+
+#define EPL_NMT_SUPERSTATE_MASK 0x000F // mask to select state
+
+#define EPL_NMT_TYPE_UNDEFINED 0x0000 // type of NMT state is still undefined
+#define EPL_NMT_TYPE_CS 0x0100 // CS type of NMT state
+#define EPL_NMT_TYPE_MS 0x0200 // MS type of NMT state
+#define EPL_NMT_TYPE_MASK 0x0300 // mask to select type of NMT state (i.e. CS or MS)
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+// the lower Byte of the NMT-State is encoded
+// like the values in the EPL-Standard
+// the higher byte is used to encode MN
+// (Bit 1 of the higher byte = 1) or CN (Bit 0 of the
+// higher byte = 1)
+// the super-states are not mentioned in this
+// enum because they are no real states
+// --> there are masks defined to indentify the
+// super-states
+
+typedef enum
+{
+ kEplNmtGsOff = 0x0000,
+ kEplNmtGsInitialising = 0x0019,
+ kEplNmtGsResetApplication = 0x0029,
+ kEplNmtGsResetCommunication = 0x0039,
+ kEplNmtGsResetConfiguration = 0x0079,
+ kEplNmtCsNotActive = 0x011C,
+ kEplNmtCsPreOperational1 = 0x011D,
+ kEplNmtCsStopped = 0x014D,
+ kEplNmtCsPreOperational2 = 0x015D,
+ kEplNmtCsReadyToOperate = 0x016D,
+ kEplNmtCsOperational = 0x01FD,
+ kEplNmtCsBasicEthernet = 0x011E,
+ kEplNmtMsNotActive = 0x021C,
+ kEplNmtMsPreOperational1 = 0x021D,
+ kEplNmtMsPreOperational2 = 0x025D,
+ kEplNmtMsReadyToOperate = 0x026D,
+ kEplNmtMsOperational = 0x02FD,
+ kEplNmtMsBasicEthernet = 0x021E
+
+} tEplNmtState;
+
+// NMT-events
+typedef enum
+{
+ // Events from DLL
+ // Events defined by EPL V2 specification
+ kEplNmtEventNoEvent = 0x00,
+// kEplNmtEventDllMePres = 0x01,
+ kEplNmtEventDllMePresTimeout = 0x02,
+// kEplNmtEventDllMeAsnd = 0x03,
+// kEplNmtEventDllMeAsndTimeout = 0x04,
+ kEplNmtEventDllMeSoaSent = 0x04,
+ kEplNmtEventDllMeSocTrig = 0x05,
+ kEplNmtEventDllMeSoaTrig = 0x06,
+ kEplNmtEventDllCeSoc = 0x07,
+ kEplNmtEventDllCePreq = 0x08,
+ kEplNmtEventDllCePres = 0x09,
+ kEplNmtEventDllCeSoa = 0x0A,
+ kEplNmtEventDllCeAsnd = 0x0B,
+ kEplNmtEventDllCeFrameTimeout = 0x0C,
+
+ // Events triggered by NMT-Commands
+ kEplNmtEventSwReset = 0x10, // NMT_GT1, NMT_GT2, NMT_GT8
+ kEplNmtEventResetNode = 0x11,
+ kEplNmtEventResetCom = 0x12,
+ kEplNmtEventResetConfig = 0x13,
+ kEplNmtEventEnterPreOperational2= 0x14,
+ kEplNmtEventEnableReadyToOperate= 0x15,
+ kEplNmtEventStartNode = 0x16, // NMT_CT7
+ kEplNmtEventStopNode = 0x17,
+
+ // Events triggered by higher layer
+ kEplNmtEventEnterResetApp = 0x20,
+ kEplNmtEventEnterResetCom = 0x21,
+ kEplNmtEventInternComError = 0x22, // NMT_GT6, internal communication error -> enter ResetCommunication
+ kEplNmtEventEnterResetConfig = 0x23,
+ kEplNmtEventEnterCsNotActive = 0x24,
+ kEplNmtEventEnterMsNotActive = 0x25,
+ kEplNmtEventTimerBasicEthernet = 0x26, // NMT_CT3; timer triggered state change (NotActive -> BasicEth)
+ kEplNmtEventTimerMsPreOp1 = 0x27, // enter PreOp1 on MN (NotActive -> MsPreOp1)
+ kEplNmtEventNmtCycleError = 0x28, // NMT_CT11, NMT_MT6; error during cycle -> enter PreOp1
+ kEplNmtEventTimerMsPreOp2 = 0x29, // enter PreOp2 on MN (MsPreOp1 -> MsPreOp2 if kEplNmtEventAllMandatoryCNIdent)
+ kEplNmtEventAllMandatoryCNIdent = 0x2A, // enter PreOp2 on MN if kEplNmtEventTimerMsPreOp2
+ kEplNmtEventEnterReadyToOperate = 0x2B, // application ready for the state ReadyToOp
+ kEplNmtEventEnterMsOperational = 0x2C, // enter Operational on MN
+ kEplNmtEventSwitchOff = 0x2D, // enter state Off
+ kEplNmtEventCriticalError = 0x2E, // enter state Off because of critical error
+
+} tEplNmtEvent;
+
+
+// type for argument of event kEplEventTypeNmtStateChange
+typedef struct
+{
+ tEplNmtState m_NewNmtState;
+ tEplNmtEvent m_NmtEvent;
+
+} tEplEventNmtStateChange;
+
+
+// structure for kEplEventTypeHeartbeat
+typedef struct
+{
+ unsigned int m_uiNodeId; // NodeId
+ tEplNmtState m_NmtState; // NMT state (remember distinguish between MN / CN)
+ WORD m_wErrorCode; // EPL error code in case of NMT state NotActive
+
+} tEplHeartbeatEvent;
+
+
+typedef enum
+{
+ kEplNmtNodeEventFound = 0x00,
+ kEplNmtNodeEventUpdateSw = 0x01, // application shall update software on CN
+ kEplNmtNodeEventCheckConf = 0x02, // application / Configuration Manager shall check and update configuration on CN
+ kEplNmtNodeEventUpdateConf = 0x03, // application / Configuration Manager shall update configuration on CN (check was done by NmtMn module)
+ kEplNmtNodeEventVerifyConf = 0x04, // application / Configuration Manager shall verify configuration of CN
+ kEplNmtNodeEventReadyToStart= 0x05, // issued if EPL_NMTST_NO_STARTNODE set
+ // application must call EplNmtMnuSendNmtCommand(kEplNmtCmdStartNode) manually
+ kEplNmtNodeEventNmtState = 0x06,
+ kEplNmtNodeEventError = 0x07, // NMT error of CN
+
+} tEplNmtNodeEvent;
+
+
+typedef enum
+{
+ kEplNmtNodeCommandBoot = 0x01, // if EPL_NODEASSIGN_START_CN not set it must be issued after kEplNmtNodeEventFound
+ kEplNmtNodeCommandSwOk = 0x02, // application updated software on CN successfully
+ kEplNmtNodeCommandSwUpdated = 0x03, // application updated software on CN successfully
+ kEplNmtNodeCommandConfOk = 0x04, // application / Configuration Manager has updated configuration on CN successfully
+ kEplNmtNodeCommandConfReset = 0x05, // application / Configuration Manager has updated configuration on CN successfully
+ // and CN needs ResetConf so that the configuration gets actived
+ kEplNmtNodeCommandConfErr = 0x06, // application / Configuration Manager failed on updating configuration on CN
+ kEplNmtNodeCommandStart = 0x07, // if EPL_NMTST_NO_STARTNODE set it must be issued after kEplNmtNodeEventReadyToStart
+
+} tEplNmtNodeCommand;
+
+
+typedef enum
+{
+ kEplNmtBootEventBootStep1Finish = 0x00, // PreOp2 is possible
+ kEplNmtBootEventBootStep2Finish = 0x01, // ReadyToOp is possible
+ kEplNmtBootEventCheckComFinish = 0x02, // Operational is possible
+ kEplNmtBootEventOperational = 0x03, // all mandatory CNs are Operational
+ kEplNmtBootEventError = 0x04, // boot process halted because of an error
+
+} tEplNmtBootEvent;
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPLNMT_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for NMT-CN-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtCnu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "user/EplNmtCnu.h"
+#include "user/EplDlluCal.h"
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ unsigned int m_uiNodeId;
+ tEplNmtuCheckEventCallback m_pfnCheckEventCb;
+
+} tEplNmtCnuInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static tEplNmtCnuInstance EplNmtCnuInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplNmtCommand EplNmtCnuGetNmtCommand(tEplFrameInfo * pFrameInfo_p);
+
+static BOOL EplNmtCnuNodeIdList(BYTE* pbNmtCommandDate_p);
+
+static tEplKernel PUBLIC EplNmtCnuCommandCb(tEplFrameInfo * pFrameInfo_p);
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuInit
+//
+// Description: init the first instance of the module
+//
+//
+//
+// Parameters: uiNodeId_p = NodeId of the local node
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuInit(unsigned int uiNodeId_p)
+{
+tEplKernel Ret;
+
+ Ret = EplNmtCnuAddInstance(uiNodeId_p);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuAddInstance
+//
+// Description: init the add new instance of the module
+//
+//
+//
+// Parameters: uiNodeId_p = NodeId of the local node
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuAddInstance(unsigned int uiNodeId_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplNmtCnuInstance_g, 0, sizeof (EplNmtCnuInstance_g));
+
+ // save nodeid
+ EplNmtCnuInstance_g.m_uiNodeId = uiNodeId_p;
+
+ // register callback-function for NMT-commands
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalRegAsndService(kEplDllAsndNmtCommand,
+ EplNmtCnuCommandCb,
+ kEplDllAsndFilterLocal);
+#endif
+
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuDelInstance
+//
+// Description: delte instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ // deregister callback function from DLL
+ Ret = EplDlluCalRegAsndService(kEplDllAsndNmtCommand,
+ NULL,
+ kEplDllAsndFilterNone);
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuSendNmtRequest
+//
+// Description: Send an NMT-Request to the MN
+//
+//
+//
+// Parameters: uiNodeId_p = NodeId of the local node
+// NmtCommand_p = requested NMT-Command
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuSendNmtRequest(
+ unsigned int uiNodeId_p,
+ tEplNmtCommand NmtCommand_p)
+{
+tEplKernel Ret;
+tEplFrameInfo NmtRequestFrameInfo;
+tEplFrame NmtRequestFrame;
+
+
+ Ret = kEplSuccessful;
+
+ // build frame
+ EPL_MEMSET(&NmtRequestFrame.m_be_abDstMac[0], 0x00, sizeof(NmtRequestFrame.m_be_abDstMac)); // set by DLL
+ EPL_MEMSET(&NmtRequestFrame.m_be_abSrcMac[0], 0x00, sizeof(NmtRequestFrame.m_be_abSrcMac)); // set by DLL
+ AmiSetWordToBe(&NmtRequestFrame.m_be_wEtherType, EPL_C_DLL_ETHERTYPE_EPL);
+ AmiSetByteToLe(&NmtRequestFrame.m_le_bDstNodeId, (BYTE) EPL_C_ADR_MN_DEF_NODE_ID); // node id of the MN
+ AmiSetByteToLe(&NmtRequestFrame.m_le_bMessageType, (BYTE)kEplMsgTypeAsnd);
+ AmiSetByteToLe(&NmtRequestFrame.m_Data.m_Asnd.m_le_bServiceId, (BYTE) kEplDllAsndNmtRequest);
+ AmiSetByteToLe(&NmtRequestFrame.m_Data.m_Asnd.m_Payload.m_NmtRequestService.m_le_bNmtCommandId,
+ (BYTE)NmtCommand_p);
+ AmiSetByteToLe(&NmtRequestFrame.m_Data.m_Asnd.m_Payload.m_NmtRequestService.m_le_bTargetNodeId,
+ (BYTE)uiNodeId_p); // target for the nmt command
+ EPL_MEMSET(&NmtRequestFrame.m_Data.m_Asnd.m_Payload.m_NmtRequestService.m_le_abNmtCommandData[0], 0x00, sizeof(NmtRequestFrame.m_Data.m_Asnd.m_Payload.m_NmtRequestService.m_le_abNmtCommandData));
+
+
+
+ // build info-structure
+ NmtRequestFrameInfo.m_NetTime.m_dwNanoSec = 0;
+ NmtRequestFrameInfo.m_NetTime.m_dwSec = 0;
+ NmtRequestFrameInfo.m_pFrame = &NmtRequestFrame;
+ NmtRequestFrameInfo.m_uiFrameSize = EPL_C_DLL_MINSIZE_NMTREQ; // sizeof(NmtRequestFrame);
+
+ // send NMT-Request
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalAsyncSend(&NmtRequestFrameInfo, // pointer to frameinfo
+ kEplDllAsyncReqPrioNmt); // priority
+#endif
+
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuRegisterStateChangeCb
+//
+// Description: register Callback-function go get informed about a
+// NMT-Change-State-Event
+//
+//
+//
+// Parameters: pfnEplNmtStateChangeCb_p = functionpointer
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuRegisterCheckEventCb(
+ tEplNmtuCheckEventCallback pfnEplNmtCheckEventCb_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // save callback-function in modul global var
+ EplNmtCnuInstance_g.m_pfnCheckEventCb = pfnEplNmtCheckEventCb_p;
+
+ return Ret;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuCommandCb
+//
+// Description: callback funktion for NMT-Commands
+//
+//
+//
+// Parameters: pFrameInfo_p = Frame with the NMT-Commando
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel PUBLIC EplNmtCnuCommandCb(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtCommand NmtCommand;
+BOOL fNodeIdInList;
+tEplNmtEvent NmtEvent = kEplNmtEventNoEvent;
+
+
+ if(pFrameInfo_p == NULL)
+ {
+ Ret = kEplNmtInvalidFramePointer;
+ goto Exit;
+ }
+
+ NmtCommand = EplNmtCnuGetNmtCommand(pFrameInfo_p);
+
+ // check NMT-Command
+ switch(NmtCommand)
+ {
+
+ //------------------------------------------------------------------------
+ // plain NMT state commands
+ case kEplNmtCmdStartNode:
+ { // send NMT-Event to state maschine kEplNmtEventStartNode
+ NmtEvent = kEplNmtEventStartNode;
+ break;
+ }
+
+ case kEplNmtCmdStopNode:
+ { // send NMT-Event to state maschine kEplNmtEventStopNode
+ NmtEvent = kEplNmtEventStopNode;
+ break;
+ }
+
+ case kEplNmtCmdEnterPreOperational2:
+ { // send NMT-Event to state maschine kEplNmtEventEnterPreOperational2
+ NmtEvent = kEplNmtEventEnterPreOperational2;
+ break;
+ }
+
+ case kEplNmtCmdEnableReadyToOperate:
+ { // send NMT-Event to state maschine kEplNmtEventEnableReadyToOperate
+ NmtEvent = kEplNmtEventEnableReadyToOperate;
+ break;
+ }
+
+ case kEplNmtCmdResetNode:
+ { // send NMT-Event to state maschine kEplNmtEventResetNode
+ NmtEvent = kEplNmtEventResetNode;
+ break;
+ }
+
+ case kEplNmtCmdResetCommunication:
+ { // send NMT-Event to state maschine kEplNmtEventResetCom
+ NmtEvent = kEplNmtEventResetCom;
+ break;
+ }
+
+ case kEplNmtCmdResetConfiguration:
+ { // send NMT-Event to state maschine kEplNmtEventResetConfig
+ NmtEvent = kEplNmtEventResetConfig;
+ break;
+ }
+
+ case kEplNmtCmdSwReset:
+ { // send NMT-Event to state maschine kEplNmtEventSwReset
+ NmtEvent = kEplNmtEventSwReset;
+ break;
+ }
+
+ //------------------------------------------------------------------------
+ // extended NMT state commands
+
+ case kEplNmtCmdStartNodeEx:
+ {
+ // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&(pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]));
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventStartNode;
+ }
+ break;
+ }
+
+ case kEplNmtCmdStopNodeEx:
+ { // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventStopNode;
+ }
+ break;
+ }
+
+ case kEplNmtCmdEnterPreOperational2Ex:
+ { // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventEnterPreOperational2;
+ }
+ break;
+ }
+
+ case kEplNmtCmdEnableReadyToOperateEx:
+ { // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventEnableReadyToOperate;
+ }
+ break;
+ }
+
+ case kEplNmtCmdResetNodeEx:
+ {// check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventResetNode;
+ }
+ break;
+ }
+
+ case kEplNmtCmdResetCommunicationEx:
+ { // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventResetCom;
+ }
+ break;
+ }
+
+ case kEplNmtCmdResetConfigurationEx:
+ { // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventResetConfig;
+ }
+ break;
+ }
+
+ case kEplNmtCmdSwResetEx:
+ { // check if own nodeid is in EPL node list
+ fNodeIdInList = EplNmtCnuNodeIdList(&pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0]);
+ if(fNodeIdInList != FALSE)
+ { // own nodeid in list
+ // send event to process command
+ NmtEvent = kEplNmtEventSwReset;
+ }
+ break;
+ }
+
+ //------------------------------------------------------------------------
+ // NMT managing commands
+
+ // TODO: add functions to process managing command (optional)
+
+ case kEplNmtCmdNetHostNameSet:
+ {
+ break;
+ }
+
+ case kEplNmtCmdFlushArpEntry:
+ {
+ break;
+ }
+
+ //------------------------------------------------------------------------
+ // NMT info services
+
+ // TODO: forward event with infos to the application (optional)
+
+ case kEplNmtCmdPublishConfiguredCN:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishActiveCN:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishPreOperational1:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishPreOperational2:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishReadyToOperate:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishOperational:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishStopped:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishEmergencyNew:
+ {
+ break;
+ }
+
+ case kEplNmtCmdPublishTime:
+ {
+ break;
+ }
+
+ //-----------------------------------------------------------------------
+ // error from MN
+ // -> requested command not supported by MN
+ case kEplNmtCmdInvalidService:
+ {
+
+ // TODO: errorevent to application
+ break;
+ }
+
+ //------------------------------------------------------------------------
+ // default
+ default:
+ {
+ Ret = kEplNmtUnknownCommand;
+ goto Exit;
+ }
+
+ }// end of switch(NmtCommand)
+
+ if (NmtEvent != kEplNmtEventNoEvent)
+ {
+ if (EplNmtCnuInstance_g.m_pfnCheckEventCb != NULL)
+ {
+ Ret = EplNmtCnuInstance_g.m_pfnCheckEventCb(NmtEvent);
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ else if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+ Ret = EplNmtuNmtEvent(NmtEvent);
+#endif
+ }
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuGetNmtCommand()
+//
+// Description: returns the NMT-Command from the frame
+//
+//
+//
+// Parameters: pFrameInfo_p = pointer to the Frame
+// with the NMT-Command
+//
+//
+// Returns: tEplNmtCommand = NMT-Command
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplNmtCommand EplNmtCnuGetNmtCommand(tEplFrameInfo * pFrameInfo_p)
+{
+tEplNmtCommand NmtCommand;
+tEplNmtCommandService* pNmtCommandService;
+
+ pNmtCommandService = &pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService;
+
+ NmtCommand = (tEplNmtCommand)AmiGetByteFromLe(&pNmtCommandService->m_le_bNmtCommandId);
+
+ return NmtCommand;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtCnuNodeIdList()
+//
+// Description: check if the own nodeid is set in EPL Node List
+//
+//
+//
+// Parameters: pbNmtCommandDate_p = pointer to the data of the NMT Command
+//
+//
+// Returns: BOOL = TRUE if nodeid is set in EPL Node List
+// FALSE if nodeid not set in EPL Node List
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static BOOL EplNmtCnuNodeIdList(BYTE* pbNmtCommandDate_p)
+{
+BOOL fNodeIdInList;
+unsigned int uiByteOffset;
+BYTE bBitOffset;
+BYTE bNodeListByte;
+
+ // get byte-offset of the own nodeid in NodeIdList
+ // devide though 8
+ uiByteOffset = (unsigned int)(EplNmtCnuInstance_g.m_uiNodeId >> 3);
+ // get bitoffset
+ bBitOffset = (BYTE) EplNmtCnuInstance_g.m_uiNodeId % 8;
+
+ bNodeListByte = AmiGetByteFromLe(&pbNmtCommandDate_p[uiByteOffset]);
+ if((bNodeListByte & bBitOffset) == 0)
+ {
+ fNodeIdInList = FALSE;
+ }
+ else
+ {
+ fNodeIdInList = TRUE;
+ }
+
+return fNodeIdInList;
+}
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for NMT-MN-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtMnu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.18 $ $Date: 2008/11/19 09:52:24 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplNmtMnu.h"
+#include "user/EplTimeru.h"
+#include "user/EplIdentu.h"
+#include "user/EplStatusu.h"
+#include "user/EplObdu.h"
+#include "user/EplDlluCal.h"
+#include "Benchmark.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE)
+#error "EPL NmtMnu module needs EPL module OBDU or OBDK!"
+#endif
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+#define EPL_NMTMNU_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \
+ TGT_DBG_POST_TRACE_VALUE((kEplEventSinkNmtMnu << 28) | (Event_p << 24) \
+ | (uiNodeId_p << 16) | wErrorCode_p)
+
+
+// defines for flags in node info structure
+#define EPL_NMTMNU_NODE_FLAG_ISOCHRON 0x0001 // CN is being accessed isochronously
+#define EPL_NMTMNU_NODE_FLAG_NOT_SCANNED 0x0002 // CN was not scanned once -> decrement SignalCounter and reset flag
+#define EPL_NMTMNU_NODE_FLAG_HALTED 0x0004 // boot process for this CN is halted
+#define EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED 0x0008 // NMT command was just issued, wrong NMT states will be tolerated
+#define EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ 0x0300 // counter for StatusRequest timer handle
+#define EPL_NMTMNU_NODE_FLAG_COUNT_LONGER 0x0C00 // counter for longer timeouts timer handle
+#define EPL_NMTMNU_NODE_FLAG_INC_STATREQ 0x0100 // increment for StatusRequest timer handle
+#define EPL_NMTMNU_NODE_FLAG_INC_LONGER 0x0400 // increment for longer timeouts timer handle
+ // These counters will be incremented at every timer start
+ // and copied to timerarg. When the timer event occures
+ // both will be compared and if unequal the timer event
+ // will be discarded, because it is an old one.
+
+// defines for timer arguments to draw a distinction between serveral events
+#define EPL_NMTMNU_TIMERARG_NODE_MASK 0x000000FFL // mask that contains the node-ID
+#define EPL_NMTMNU_TIMERARG_IDENTREQ 0x00010000L // timer event is for IdentRequest
+#define EPL_NMTMNU_TIMERARG_STATREQ 0x00020000L // timer event is for StatusRequest
+#define EPL_NMTMNU_TIMERARG_LONGER 0x00040000L // timer event is for longer timeouts
+#define EPL_NMTMNU_TIMERARG_STATE_MON 0x00080000L // timer event for StatusRequest to monitor execution of NMT state changes
+#define EPL_NMTMNU_TIMERARG_COUNT_SR 0x00000300L // counter for StatusRequest
+#define EPL_NMTMNU_TIMERARG_COUNT_LO 0x00000C00L // counter for longer timeouts
+ // The counters must have the same position as in the node flags above.
+
+#define EPL_NMTMNU_SET_FLAGS_TIMERARG_STATREQ(pNodeInfo_p, uiNodeId_p, TimerArg_p) \
+ pNodeInfo_p->m_wFlags = \
+ ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_STATREQ) \
+ & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) \
+ | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \
+ TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_STATREQ | uiNodeId_p | \
+ (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \
+ TimerArg_p.m_EventSink = kEplEventSinkNmtMnu;
+
+#define EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ(pNodeInfo_p, uiNodeId_p, TimerArg_p) \
+ pNodeInfo_p->m_wFlags = \
+ ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_STATREQ) \
+ & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) \
+ | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \
+ TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_IDENTREQ | uiNodeId_p | \
+ (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \
+ TimerArg_p.m_EventSink = kEplEventSinkNmtMnu;
+
+#define EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER(pNodeInfo_p, uiNodeId_p, TimerArg_p) \
+ pNodeInfo_p->m_wFlags = \
+ ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_LONGER) \
+ & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER) \
+ | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_LONGER); \
+ TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_LONGER | uiNodeId_p | \
+ (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER); \
+ TimerArg_p.m_EventSink = kEplEventSinkNmtMnu;
+
+#define EPL_NMTMNU_SET_FLAGS_TIMERARG_STATE_MON(pNodeInfo_p, uiNodeId_p, TimerArg_p) \
+ pNodeInfo_p->m_wFlags = \
+ ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_STATREQ) \
+ & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) \
+ | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \
+ TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_STATE_MON | uiNodeId_p | \
+ (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \
+ TimerArg_p.m_EventSink = kEplEventSinkNmtMnu;
+
+
+// defines for global flags
+#define EPL_NMTMNU_FLAG_HALTED 0x0001 // boot process is halted
+#define EPL_NMTMNU_FLAG_APP_INFORMED 0x0002 // application was informed about possible NMT state change
+
+// return pointer to node info structure for specified node ID
+// d.k. may be replaced by special (hash) function if node ID array is smaller than 254
+#define EPL_NMTMNU_GET_NODEINFO(uiNodeId_p) (&EplNmtMnuInstance_g.m_aNodeInfo[uiNodeId_p - 1])
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef enum
+{
+ kEplNmtMnuIntNodeEventNoIdentResponse = 0x00,
+ kEplNmtMnuIntNodeEventIdentResponse = 0x01,
+ kEplNmtMnuIntNodeEventBoot = 0x02,
+ kEplNmtMnuIntNodeEventExecReset = 0x03,
+ kEplNmtMnuIntNodeEventConfigured = 0x04,
+ kEplNmtMnuIntNodeEventNoStatusResponse = 0x05,
+ kEplNmtMnuIntNodeEventStatusResponse = 0x06,
+ kEplNmtMnuIntNodeEventHeartbeat = 0x07,
+ kEplNmtMnuIntNodeEventNmtCmdSent = 0x08,
+ kEplNmtMnuIntNodeEventTimerIdentReq = 0x09,
+ kEplNmtMnuIntNodeEventTimerStatReq = 0x0A,
+ kEplNmtMnuIntNodeEventTimerStateMon = 0x0B,
+ kEplNmtMnuIntNodeEventTimerLonger = 0x0C,
+ kEplNmtMnuIntNodeEventError = 0x0D,
+
+} tEplNmtMnuIntNodeEvent;
+
+
+typedef enum
+{
+ kEplNmtMnuNodeStateUnknown = 0x00,
+ kEplNmtMnuNodeStateIdentified = 0x01,
+ kEplNmtMnuNodeStateResetConf = 0x02, // CN reset after configuration update
+ kEplNmtMnuNodeStateConfigured = 0x03, // BootStep1 completed
+ kEplNmtMnuNodeStateReadyToOp = 0x04, // BootStep2 completed
+ kEplNmtMnuNodeStateComChecked = 0x05, // Communication checked successfully
+ kEplNmtMnuNodeStateOperational = 0x06, // CN is in NMT state OPERATIONAL
+
+} tEplNmtMnuNodeState;
+
+
+typedef struct
+{
+ tEplTimerHdl m_TimerHdlStatReq; // timer to delay StatusRequests and IdentRequests
+ tEplTimerHdl m_TimerHdlLonger; // 2nd timer for NMT command EnableReadyToOp and CheckCommunication
+ tEplNmtMnuNodeState m_NodeState; // internal node state (kind of sub state of NMT state)
+ DWORD m_dwNodeCfg; // subindex from 0x1F81
+ WORD m_wFlags; // flags: CN is being accessed isochronously
+
+} tEplNmtMnuNodeInfo;
+
+
+typedef struct
+{
+ tEplNmtMnuNodeInfo m_aNodeInfo[EPL_NMT_MAX_NODE_ID];
+ tEplTimerHdl m_TimerHdlNmtState; // timeout for stay in NMT state
+ unsigned int m_uiMandatorySlaveCount;
+ unsigned int m_uiSignalSlaveCount;
+ unsigned long m_ulStatusRequestDelay; // in [ms] (object 0x1006 * EPL_C_NMT_STATREQ_CYCLE)
+ unsigned long m_ulTimeoutReadyToOp; // in [ms] (object 0x1F89/5)
+ unsigned long m_ulTimeoutCheckCom; // in [ms] (object 0x1006 * MultiplexedCycleCount)
+ WORD m_wFlags; // global flags
+ DWORD m_dwNmtStartup; // object 0x1F80 NMT_StartUp_U32
+ tEplNmtMnuCbNodeEvent m_pfnCbNodeEvent;
+ tEplNmtMnuCbBootEvent m_pfnCbBootEvent;
+
+} tEplNmtMnuInstance;
+
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplNmtMnuInstance EplNmtMnuInstance_g;
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplNmtMnuCbNmtRequest(tEplFrameInfo * pFrameInfo_p);
+
+static tEplKernel PUBLIC EplNmtMnuCbIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentResponse* pIdentResponse_p);
+
+static tEplKernel PUBLIC EplNmtMnuCbStatusResponse(
+ unsigned int uiNodeId_p,
+ tEplStatusResponse* pStatusResponse_p);
+
+static tEplKernel EplNmtMnuCheckNmtState(
+ unsigned int uiNodeId_p,
+ tEplNmtMnuNodeInfo* pNodeInfo_p,
+ tEplNmtState NodeNmtState_p,
+ WORD wErrorCode_p,
+ tEplNmtState LocalNmtState_p);
+
+static tEplKernel EplNmtMnuStartBootStep1(void);
+
+static tEplKernel EplNmtMnuStartBootStep2(void);
+
+static tEplKernel EplNmtMnuStartCheckCom(void);
+
+static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p);
+
+static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p);
+
+static tEplKernel EplNmtMnuStartNodes(void);
+
+static tEplKernel EplNmtMnuProcessInternalEvent(
+ unsigned int uiNodeId_p,
+ tEplNmtState NodeNmtState_p,
+ WORD wErrorCode_p,
+ tEplNmtMnuIntNodeEvent NodeEvent_p);
+
+static tEplKernel EplNmtMnuReset(void);
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuInit
+//
+// Description: init first instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplNmtMnuInit(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p,
+ tEplNmtMnuCbBootEvent pfnCbBootEvent_p)
+{
+tEplKernel Ret;
+
+ Ret = EplNmtMnuAddInstance(pfnCbNodeEvent_p, pfnCbBootEvent_p);
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuAddInstance
+//
+// Description: init other instances of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplNmtMnuAddInstance(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p,
+ tEplNmtMnuCbBootEvent pfnCbBootEvent_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplNmtMnuInstance_g, 0, sizeof (EplNmtMnuInstance_g));
+
+ if ((pfnCbNodeEvent_p == NULL) || (pfnCbBootEvent_p == NULL))
+ {
+ Ret = kEplNmtInvalidParam;
+ goto Exit;
+ }
+ EplNmtMnuInstance_g.m_pfnCbNodeEvent = pfnCbNodeEvent_p;
+ EplNmtMnuInstance_g.m_pfnCbBootEvent = pfnCbBootEvent_p;
+
+ // initialize StatusRequest delay
+ EplNmtMnuInstance_g.m_ulStatusRequestDelay = 5000L;
+
+ // register NmtMnResponse callback function
+ Ret = EplDlluCalRegAsndService(kEplDllAsndNmtRequest, EplNmtMnuCbNmtRequest, kEplDllAsndFilterLocal);
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuDelInstance
+//
+// Description: delete instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplNmtMnuDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // deregister NmtMnResponse callback function
+ Ret = EplDlluCalRegAsndService(kEplDllAsndNmtRequest, NULL, kEplDllAsndFilterNone);
+
+ Ret = EplNmtMnuReset();
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuSendNmtCommandEx
+//
+// Description: sends the specified NMT command to the specified node.
+//
+// Parameters: uiNodeId_p = node ID to which the NMT command will be sent
+// NmtCommand_p = NMT command
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplNmtMnuSendNmtCommandEx(unsigned int uiNodeId_p,
+ tEplNmtCommand NmtCommand_p,
+ void* pNmtCommandData_p,
+ unsigned int uiDataSize_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplFrameInfo FrameInfo;
+BYTE abBuffer[EPL_C_DLL_MINSIZE_NMTCMDEXT];
+tEplFrame* pFrame = (tEplFrame*) abBuffer;
+BOOL fSoftDeleteNode = FALSE;
+
+ if ((uiNodeId_p == 0) || (uiNodeId_p > EPL_C_ADR_BROADCAST))
+ { // invalid node ID specified
+ Ret = kEplInvalidNodeId;
+ goto Exit;
+ }
+
+ if ((pNmtCommandData_p != NULL) && (uiDataSize_p > (EPL_C_DLL_MINSIZE_NMTCMDEXT - EPL_C_DLL_MINSIZE_NMTCMD)))
+ {
+ Ret = kEplNmtInvalidParam;
+ goto Exit;
+ }
+
+ // $$$ d.k. may be check in future versions if the caller wants to perform prohibited state transitions
+ // the CN should not perform these transitions, but the expected NMT state will be changed and never fullfilled.
+
+ // build frame
+ EPL_MEMSET(pFrame, 0x00, sizeof(abBuffer));
+ AmiSetByteToLe(&pFrame->m_le_bDstNodeId, (BYTE) uiNodeId_p);
+ AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId, (BYTE) kEplDllAsndNmtCommand);
+ AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_bNmtCommandId,
+ (BYTE)NmtCommand_p);
+ if ((pNmtCommandData_p != NULL) && (uiDataSize_p > 0))
+ { // copy command data to frame
+ EPL_MEMCPY(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0], pNmtCommandData_p, uiDataSize_p);
+ }
+
+ // build info structure
+ FrameInfo.m_NetTime.m_dwNanoSec = 0;
+ FrameInfo.m_NetTime.m_dwSec = 0;
+ FrameInfo.m_pFrame = pFrame;
+ FrameInfo.m_uiFrameSize = sizeof(abBuffer);
+
+ // send NMT-Request
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalAsyncSend(&FrameInfo, // pointer to frameinfo
+ kEplDllAsyncReqPrioNmt); // priority
+#endif
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ EPL_DBGLVL_NMTMN_TRACE2("NMTCmd(%02X->%02X)\n", NmtCommand_p, uiNodeId_p);
+
+ switch (NmtCommand_p)
+ {
+ case kEplNmtCmdStartNode:
+ case kEplNmtCmdEnterPreOperational2:
+ case kEplNmtCmdEnableReadyToOperate:
+ {
+ // nothing left to do,
+ // because any further processing is done
+ // when the NMT command is actually sent
+ goto Exit;
+ }
+
+ case kEplNmtCmdStopNode:
+ {
+ fSoftDeleteNode = TRUE;
+ break;
+ }
+
+ case kEplNmtCmdResetNode:
+ case kEplNmtCmdResetCommunication:
+ case kEplNmtCmdResetConfiguration:
+ case kEplNmtCmdSwReset:
+ {
+ break;
+ }
+
+ default:
+ goto Exit;
+ }
+
+ // remove CN from isochronous phase;
+ // This must be done here and not when NMT command is actually sent
+ // because it will be too late and may cause unwanted errors
+ if (uiNodeId_p != EPL_C_ADR_BROADCAST)
+ {
+ if (fSoftDeleteNode == FALSE)
+ { // remove CN immediately from isochronous phase
+ Ret = EplDlluCalDeleteNode(uiNodeId_p);
+ }
+ else
+ { // remove CN from isochronous phase softly
+ Ret = EplDlluCalSoftDeleteNode(uiNodeId_p);
+ }
+ }
+ else
+ { // do it for all active CNs
+ for (uiNodeId_p = 1; uiNodeId_p <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiNodeId_p++)
+ {
+ if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId_p)->m_dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0)
+ {
+ if (fSoftDeleteNode == FALSE)
+ { // remove CN immediately from isochronous phase
+ Ret = EplDlluCalDeleteNode(uiNodeId_p);
+ }
+ else
+ { // remove CN from isochronous phase softly
+ Ret = EplDlluCalSoftDeleteNode(uiNodeId_p);
+ }
+ }
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuSendNmtCommand
+//
+// Description: sends the specified NMT command to the specified node.
+//
+// Parameters: uiNodeId_p = node ID to which the NMT command will be sent
+// NmtCommand_p = NMT command
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplNmtMnuSendNmtCommand(unsigned int uiNodeId_p,
+ tEplNmtCommand NmtCommand_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ Ret = EplNmtMnuSendNmtCommandEx(uiNodeId_p, NmtCommand_p, NULL, 0);
+
+//Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuTriggerStateChange
+//
+// Description: triggers the specified node command for the specified node.
+//
+// Parameters: uiNodeId_p = node ID for which the node command will be executed
+// NodeCommand_p = node command
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplNmtMnuTriggerStateChange(unsigned int uiNodeId_p,
+ tEplNmtNodeCommand NodeCommand_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtMnuIntNodeEvent NodeEvent;
+tEplObdSize ObdSize;
+BYTE bNmtState;
+WORD wErrorCode = EPL_E_NO_ERROR;
+
+ if ((uiNodeId_p == 0) || (uiNodeId_p >= EPL_C_ADR_BROADCAST))
+ {
+ Ret = kEplInvalidNodeId;
+ goto Exit;
+ }
+
+ switch (NodeCommand_p)
+ {
+ case kEplNmtNodeCommandBoot:
+ {
+ NodeEvent = kEplNmtMnuIntNodeEventBoot;
+ break;
+ }
+
+ case kEplNmtNodeCommandConfOk:
+ {
+ NodeEvent = kEplNmtMnuIntNodeEventConfigured;
+ break;
+ }
+
+ case kEplNmtNodeCommandConfErr:
+ {
+ NodeEvent = kEplNmtMnuIntNodeEventError;
+ wErrorCode = EPL_E_NMT_BPO1_CF_VERIFY;
+ break;
+ }
+
+ case kEplNmtNodeCommandConfReset:
+ {
+ NodeEvent = kEplNmtMnuIntNodeEventExecReset;
+ break;
+ }
+
+ default:
+ { // invalid node command
+ goto Exit;
+ }
+ }
+
+ // fetch current NMT state
+ ObdSize = 1;
+ Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtState, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ wErrorCode,
+ NodeEvent);
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuCbNmtStateChange
+//
+// Description: callback function for NMT state changes
+//
+// Parameters: NmtStateChange_p = NMT state change event
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplNmtMnuCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // do work which must be done in that state
+ switch (NmtStateChange_p.m_NewNmtState)
+ {
+ // EPL stack is not running
+/* case kEplNmtGsOff:
+ break;
+
+ // first init of the hardware
+ case kEplNmtGsInitialising:
+ break;
+
+ // init of the manufacturer-specific profile area and the
+ // standardised device profile area
+ case kEplNmtGsResetApplication:
+ {
+ break;
+ }
+
+ // init of the communication profile area
+ case kEplNmtGsResetCommunication:
+ {
+ break;
+ }
+*/
+ // build the configuration with infos from OD
+ case kEplNmtGsResetConfiguration:
+ {
+ DWORD dwTimeout;
+ tEplObdSize ObdSize;
+
+ // read object 0x1F80 NMT_StartUp_U32
+ ObdSize = 4;
+ Ret = EplObduReadEntry(0x1F80, 0, &EplNmtMnuInstance_g.m_dwNmtStartup, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+
+ // compute StatusReqDelay = object 0x1006 * EPL_C_NMT_STATREQ_CYCLE
+ ObdSize = sizeof (dwTimeout);
+ Ret = EplObduReadEntry(0x1006, 0, &dwTimeout, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+ if (dwTimeout != 0L)
+ {
+ EplNmtMnuInstance_g.m_ulStatusRequestDelay = dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L;
+ if (EplNmtMnuInstance_g.m_ulStatusRequestDelay == 0L)
+ {
+ EplNmtMnuInstance_g.m_ulStatusRequestDelay = 1L; // at least 1 ms
+ }
+
+ // $$$ fetch and use MultiplexedCycleCount from OD
+ EplNmtMnuInstance_g.m_ulTimeoutCheckCom = dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L;
+ if (EplNmtMnuInstance_g.m_ulTimeoutCheckCom == 0L)
+ {
+ EplNmtMnuInstance_g.m_ulTimeoutCheckCom = 1L; // at least 1 ms
+ }
+ }
+
+ // fetch ReadyToOp Timeout from OD
+ ObdSize = sizeof (dwTimeout);
+ Ret = EplObduReadEntry(0x1F89, 5, &dwTimeout, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+ if (dwTimeout != 0L)
+ {
+ // convert [us] to [ms]
+ dwTimeout /= 1000L;
+ if (dwTimeout == 0L)
+ {
+ dwTimeout = 1L; // at least 1 ms
+ }
+ EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = dwTimeout;
+ }
+ else
+ {
+ EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = 0L;
+ }
+ break;
+ }
+/*
+ //-----------------------------------------------------------
+ // CN part of the state machine
+
+ // node liste for EPL-Frames and check timeout
+ case kEplNmtCsNotActive:
+ {
+ break;
+ }
+
+ // node process only async frames
+ case kEplNmtCsPreOperational1:
+ {
+ break;
+ }
+
+ // node process isochronus and asynchronus frames
+ case kEplNmtCsPreOperational2:
+ {
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtCsReadyToOperate:
+ {
+ break;
+ }
+
+ // normal work state
+ case kEplNmtCsOperational:
+ {
+ break;
+ }
+
+ // node stopped by MN
+ // -> only process asynchronus frames
+ case kEplNmtCsStopped:
+ {
+ break;
+ }
+
+ // no EPL cycle
+ // -> normal ethernet communication
+ case kEplNmtCsBasicEthernet:
+ {
+ break;
+ }
+*/
+ //-----------------------------------------------------------
+ // MN part of the state machine
+
+ // node listens for EPL-Frames and check timeout
+ case kEplNmtMsNotActive:
+ {
+ break;
+ }
+
+ // node processes only async frames
+ case kEplNmtMsPreOperational1:
+ {
+ DWORD dwTimeout;
+ tEplTimerArg TimerArg;
+ tEplObdSize ObdSize;
+ tEplEvent Event;
+
+ // clear global flags, e.g. reenable boot process
+ EplNmtMnuInstance_g.m_wFlags = 0;
+
+ // reset IdentResponses and running IdentRequests and StatusRequests
+ Ret = EplIdentuReset();
+ Ret = EplStatusuReset();
+
+ // reset timers
+ Ret = EplNmtMnuReset();
+
+ // 2008/11/18 d.k. reset internal node info is not necessary,
+ // because timer flags are important and other
+ // things are reset by EplNmtMnuStartBootStep1().
+/*
+ EPL_MEMSET(EplNmtMnuInstance_g.m_aNodeInfo,
+ 0,
+ sizeof (EplNmtMnuInstance_g.m_aNodeInfo));
+*/
+
+ // inform DLL about NMT state change,
+ // so that it can clear the asynchonous queues and start the reduced cycle
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkStartReducedCycle;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = NULL;
+ Event.m_uiSize = 0;
+ Ret = EplEventuPost(&Event);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+
+ // reset all nodes
+ // d.k.: skip this step if was just done before, e.g. because of a ResetNode command from a diagnostic node
+ if (NmtStateChange_p.m_NmtEvent == kEplNmtEventTimerMsPreOp1)
+ {
+ BENCHMARK_MOD_07_TOGGLE(9);
+
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(0,
+ EPL_C_ADR_BROADCAST,
+ kEplNmtCmdResetNode);
+
+ Ret = EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, kEplNmtCmdResetNode);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+ }
+ // start network scan
+ Ret = EplNmtMnuStartBootStep1();
+
+ // start timer for 0x1F89/2 MNTimeoutPreOp1_U32
+ ObdSize = sizeof (dwTimeout);
+ Ret = EplObduReadEntry(0x1F89, 2, &dwTimeout, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+ if (dwTimeout != 0L)
+ {
+ dwTimeout /= 1000L;
+ if (dwTimeout == 0L)
+ {
+ dwTimeout = 1L; // at least 1 ms
+ }
+ TimerArg.m_EventSink = kEplEventSinkNmtMnu;
+ TimerArg.m_ulArg = 0;
+ Ret = EplTimeruModifyTimerMs(&EplNmtMnuInstance_g.m_TimerHdlNmtState, dwTimeout, TimerArg);
+ }
+ break;
+ }
+
+ // node processes isochronous and asynchronous frames
+ case kEplNmtMsPreOperational2:
+ {
+ // add identified CNs to isochronous phase
+ // send EnableReadyToOp to all identified CNs
+ Ret = EplNmtMnuStartBootStep2();
+
+ // wait for NMT state change of CNs
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtMsReadyToOperate:
+ {
+ // check if PRes of CNs are OK
+ // d.k. that means wait CycleLength * MultiplexCycleCount (i.e. start timer)
+ // because Dllk checks PRes of CNs automatically in ReadyToOp
+ Ret = EplNmtMnuStartCheckCom();
+ break;
+ }
+
+ // normal work state
+ case kEplNmtMsOperational:
+ {
+ // send StartNode to CNs
+ // wait for NMT state change of CNs
+ Ret = EplNmtMnuStartNodes();
+ break;
+ }
+
+ // no EPL cycle
+ // -> normal ethernet communication
+ case kEplNmtMsBasicEthernet:
+ {
+ break;
+ }
+
+ default:
+ {
+// TRACE0("EplNmtMnuCbNmtStateChange(): unhandled NMT state\n");
+ }
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuCbCheckEvent
+//
+// Description: callback funktion for NMT events before they are actually executed.
+// The EPL API layer must forward NMT events from NmtCnu module.
+// This module will reject some NMT commands while MN.
+//
+// Parameters: NmtEvent_p = outstanding NMT event for approval
+//
+// Returns: tEplKernel = error code
+// kEplReject = reject the NMT event
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplNmtMnuCbCheckEvent(tEplNmtEvent NmtEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuProcessEvent
+//
+// Description: processes events from event queue
+//
+// Parameters: pEvent_p = pointer to event
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtMnuProcessEvent(
+ tEplEvent* pEvent_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // process event
+ switch(pEvent_p->m_EventType)
+ {
+ // timer event
+ case kEplEventTypeTimer:
+ {
+ tEplTimerEventArg* pTimerEventArg = (tEplTimerEventArg*)pEvent_p->m_pArg;
+ unsigned int uiNodeId;
+
+ uiNodeId = (unsigned int) (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_NODE_MASK);
+ if (uiNodeId != 0)
+ {
+ tEplObdSize ObdSize;
+ BYTE bNmtState;
+ tEplNmtMnuNodeInfo* pNodeInfo;
+
+ pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId);
+
+ ObdSize = 1;
+ Ret = EplObduReadEntry(0x1F8E, uiNodeId, &bNmtState, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ break;
+ }
+
+ if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_IDENTREQ) != 0L)
+ {
+ if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ)
+ != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR))
+ { // this is an old (already deleted or modified) timer
+ // but not the current timer
+ // so discard it
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerIdentReq,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0xFF));
+
+ break;
+ }
+/*
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerIdentReq,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0x80
+ | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6)
+ | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8)));
+*/
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ EPL_E_NO_ERROR,
+ kEplNmtMnuIntNodeEventTimerIdentReq);
+ }
+
+ else if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_STATREQ) != 0L)
+ {
+ if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ)
+ != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR))
+ { // this is an old (already deleted or modified) timer
+ // but not the current timer
+ // so discard it
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0xFF));
+
+ break;
+ }
+/*
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0x80
+ | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6)
+ | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8)));
+*/
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ EPL_E_NO_ERROR,
+ kEplNmtMnuIntNodeEventTimerStatReq);
+ }
+
+ else if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_STATE_MON) != 0L)
+ {
+ if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ)
+ != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR))
+ { // this is an old (already deleted or modified) timer
+ // but not the current timer
+ // so discard it
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStateMon,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0xFF));
+
+ break;
+ }
+/*
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0x80
+ | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6)
+ | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8)));
+*/
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ EPL_E_NO_ERROR,
+ kEplNmtMnuIntNodeEventTimerStateMon);
+ }
+
+ else if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_LONGER) != 0L)
+ {
+ if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER)
+ != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_LO))
+ { // this is an old (already deleted or modified) timer
+ // but not the current timer
+ // so discard it
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerLonger,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0xFF));
+
+ break;
+ }
+/*
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerLonger,
+ uiNodeId,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0x80
+ | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER) >> 6)
+ | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_LO) >> 8)));
+*/
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ EPL_E_NO_ERROR,
+ kEplNmtMnuIntNodeEventTimerLonger);
+ }
+
+ }
+ else
+ { // global timer event
+ }
+ break;
+ }
+
+ case kEplEventTypeHeartbeat:
+ {
+ tEplHeartbeatEvent* pHeartbeatEvent = (tEplHeartbeatEvent*)pEvent_p->m_pArg;
+
+ Ret = EplNmtMnuProcessInternalEvent(pHeartbeatEvent->m_uiNodeId,
+ pHeartbeatEvent->m_NmtState,
+ pHeartbeatEvent->m_wErrorCode,
+ kEplNmtMnuIntNodeEventHeartbeat);
+ break;
+ }
+
+ case kEplEventTypeNmtMnuNmtCmdSent:
+ {
+ tEplFrame* pFrame = (tEplFrame*)pEvent_p->m_pArg;
+ unsigned int uiNodeId;
+ tEplNmtCommand NmtCommand;
+ BYTE bNmtState;
+
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId);
+ NmtCommand = (tEplNmtCommand) AmiGetByteFromLe(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_bNmtCommandId);
+
+ switch (NmtCommand)
+ {
+ case kEplNmtCmdStartNode:
+ bNmtState = (BYTE) (kEplNmtCsOperational & 0xFF);
+ break;
+
+ case kEplNmtCmdStopNode:
+ bNmtState = (BYTE) (kEplNmtCsStopped & 0xFF);
+ break;
+
+ case kEplNmtCmdEnterPreOperational2:
+ bNmtState = (BYTE) (kEplNmtCsPreOperational2 & 0xFF);
+ break;
+
+ case kEplNmtCmdEnableReadyToOperate:
+ // d.k. do not change expected node state, because of DS 1.0.0 7.3.1.2.1 Plain NMT State Command
+ // and because node may not change NMT state within EPL_C_NMT_STATE_TOLERANCE
+ bNmtState = (BYTE) (kEplNmtCsPreOperational2 & 0xFF);
+ break;
+
+ case kEplNmtCmdResetNode:
+ case kEplNmtCmdResetCommunication:
+ case kEplNmtCmdResetConfiguration:
+ case kEplNmtCmdSwReset:
+ bNmtState = (BYTE) (kEplNmtCsNotActive & 0xFF);
+ // EplNmtMnuProcessInternalEvent() sets internal node state to kEplNmtMnuNodeStateUnknown
+ // after next unresponded IdentRequest/StatusRequest
+ break;
+
+ default:
+ goto Exit;
+ }
+
+ // process as internal event which update expected NMT state in OD
+ if (uiNodeId != EPL_C_ADR_BROADCAST)
+ {
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ 0,
+ kEplNmtMnuIntNodeEventNmtCmdSent);
+
+ }
+ else
+ { // process internal event for all active nodes (except myself)
+
+ for (uiNodeId = 1; uiNodeId <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiNodeId++)
+ {
+ if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId)->m_dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0)
+ {
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId,
+ (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS),
+ 0,
+ kEplNmtMnuIntNodeEventNmtCmdSent);
+
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ }
+ }
+
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplNmtInvalidEvent;
+ }
+
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuGetRunningTimerStatReq
+//
+// Description: returns a bit field with running StatReq timers
+// just for debugging purposes
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplNmtMnuGetDiagnosticInfo(unsigned int* puiMandatorySlaveCount_p,
+ unsigned int* puiSignalSlaveCount_p,
+ WORD* pwFlags_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if ((puiMandatorySlaveCount_p == NULL)
+ || (puiSignalSlaveCount_p == NULL)
+ || (pwFlags_p == NULL))
+ {
+ Ret = kEplNmtInvalidParam;
+ goto Exit;
+ }
+
+ *puiMandatorySlaveCount_p = EplNmtMnuInstance_g.m_uiMandatorySlaveCount;
+ *puiSignalSlaveCount_p = EplNmtMnuInstance_g.m_uiSignalSlaveCount;
+ *pwFlags_p = EplNmtMnuInstance_g.m_wFlags;
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuGetRunningTimerStatReq
+//
+// Description: returns a bit field with running StatReq timers
+// just for debugging purposes
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+/*
+DWORD EplNmtMnuGetRunningTimerStatReq(void)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+tEplNmtMnuNodeInfo* pNodeInfo;
+
+ pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo;
+ for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++)
+ {
+ if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateConfigured)
+ {
+ // reset flag "scanned once"
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_SCANNED;
+
+ Ret = EplNmtMnuNodeBootStep2(uiIndex, pNodeInfo);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount++;
+ // signal slave counter shall be decremented if StatusRequest was sent once to a CN
+ // mandatory slave counter shall be decremented if mandatory CN is ReadyToOp
+ }
+ }
+
+Exit:
+ return Ret;
+}
+*/
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuCbNmtRequest
+//
+// Description: callback funktion for NmtRequest
+//
+// Parameters: pFrameInfo_p = Frame with the NmtRequest
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplNmtMnuCbNmtRequest(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // $$$ perform NMTRequest
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuCbIdentResponse
+//
+// Description: callback funktion for IdentResponse
+//
+// Parameters: uiNodeId_p = node ID for which IdentReponse was received
+// pIdentResponse_p = pointer to IdentResponse
+// is NULL if node did not answer
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplNmtMnuCbIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentResponse* pIdentResponse_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (pIdentResponse_p == NULL)
+ { // node did not answer
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p,
+ kEplNmtCsNotActive,
+ EPL_E_NMT_NO_IDENT_RES, // was EPL_E_NO_ERROR
+ kEplNmtMnuIntNodeEventNoIdentResponse);
+ }
+ else
+ { // node answered IdentRequest
+ tEplObdSize ObdSize;
+ DWORD dwDevType;
+ WORD wErrorCode = EPL_E_NO_ERROR;
+ tEplNmtState NmtState = (tEplNmtState) (AmiGetByteFromLe(&pIdentResponse_p->m_le_bNmtStatus) | EPL_NMT_TYPE_CS);
+
+ // check IdentResponse $$$ move to ProcessIntern, because this function may be called also if CN
+
+ // check DeviceType (0x1F84)
+ ObdSize = 4;
+ Ret = EplObduReadEntry(0x1F84, uiNodeId_p, &dwDevType, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ if (dwDevType != 0L)
+ { // actually compare it with DeviceType from IdentResponse
+ if (AmiGetDwordFromLe(&pIdentResponse_p->m_le_dwDeviceType) != dwDevType)
+ { // wrong DeviceType
+ NmtState = kEplNmtCsNotActive;
+ wErrorCode = EPL_E_NMT_BPO1_DEVICE_TYPE;
+ }
+ }
+
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p,
+ NmtState,
+ wErrorCode,
+ kEplNmtMnuIntNodeEventIdentResponse);
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuCbStatusResponse
+//
+// Description: callback funktion for StatusResponse
+//
+// Parameters: uiNodeId_p = node ID for which IdentReponse was received
+// pIdentResponse_p = pointer to IdentResponse
+// is NULL if node did not answer
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplNmtMnuCbStatusResponse(
+ unsigned int uiNodeId_p,
+ tEplStatusResponse* pStatusResponse_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (pStatusResponse_p == NULL)
+ { // node did not answer
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p,
+ kEplNmtCsNotActive,
+ EPL_E_NMT_NO_STATUS_RES, // was EPL_E_NO_ERROR
+ kEplNmtMnuIntNodeEventNoStatusResponse);
+ }
+ else
+ { // node answered StatusRequest
+ Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p,
+ (tEplNmtState) (AmiGetByteFromLe(&pStatusResponse_p->m_le_bNmtStatus) | EPL_NMT_TYPE_CS),
+ EPL_E_NO_ERROR,
+ kEplNmtMnuIntNodeEventStatusResponse);
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuStartBootStep1
+//
+// Description: starts BootStep1
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuStartBootStep1(void)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiSubIndex;
+unsigned int uiLocalNodeId;
+DWORD dwNodeCfg;
+tEplObdSize ObdSize;
+
+ // $$$ d.k.: save current time for 0x1F89/2 MNTimeoutPreOp1_U32
+
+ // start network scan
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0;
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0;
+ // check 0x1F81
+ uiLocalNodeId = EplObduGetNodeId();
+ for (uiSubIndex = 1; uiSubIndex <= 254; uiSubIndex++)
+ {
+ ObdSize = 4;
+ Ret = EplObduReadEntry(0x1F81, uiSubIndex, &dwNodeCfg, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ if (uiSubIndex != uiLocalNodeId)
+ {
+ // reset flags "not scanned" and "isochronous"
+ EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_wFlags &= ~(EPL_NMTMNU_NODE_FLAG_ISOCHRON | EPL_NMTMNU_NODE_FLAG_NOT_SCANNED);
+
+ if (uiSubIndex == EPL_C_ADR_DIAG_DEF_NODE_ID)
+ { // diagnostic node must be scanned by MN in any case
+ dwNodeCfg |= (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS);
+ // and it must be isochronously accessed
+ dwNodeCfg &= ~EPL_NODEASSIGN_ASYNCONLY_NODE;
+ }
+
+ // save node config in local node info structure
+ EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_dwNodeCfg = dwNodeCfg;
+ EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_NodeState = kEplNmtMnuNodeStateUnknown;
+
+ if ((dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0)
+ { // node is configured as CN
+ // identify the node
+ Ret = EplIdentuRequestIdentResponse(uiSubIndex, EplNmtMnuCbIdentResponse);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // set flag "not scanned"
+ EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount++;
+ // signal slave counter shall be decremented if IdentRequest was sent once to a CN
+
+ if ((dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // node is a mandatory CN
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount++;
+ // mandatory slave counter shall be decremented if mandatory CN was configured successfully
+ }
+ }
+ }
+ else
+ { // subindex of MN
+ if ((dwNodeCfg & (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS)) != 0)
+ { // MN shall send PRes
+ tEplDllNodeInfo DllNodeInfo;
+
+ EPL_MEMSET(&DllNodeInfo, 0, sizeof (DllNodeInfo));
+ DllNodeInfo.m_uiNodeId = uiLocalNodeId;
+
+ Ret = EplDlluCalAddNode(&DllNodeInfo);
+ }
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuStartBootStep2
+//
+// Description: starts BootStep2.
+// That means add nodes to isochronous phase and send
+// NMT EnableReadyToOp.
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuStartBootStep2(void)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+tEplNmtMnuNodeInfo* pNodeInfo;
+
+
+ if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0)
+ { // boot process is not halted
+ // add nodes to isochronous phase and send NMT EnableReadyToOp
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0;
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0;
+ // reset flag that application was informed about possible state change
+ EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED;
+
+ pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo;
+ for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++)
+ {
+ if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateConfigured)
+ {
+ Ret = EplNmtMnuNodeBootStep2(uiIndex, pNodeInfo);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // set flag "not scanned"
+ pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount++;
+ // signal slave counter shall be decremented if StatusRequest was sent once to a CN
+
+ if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // node is a mandatory CN
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount++;
+ }
+
+ // mandatory slave counter shall be decremented if mandatory CN is ReadyToOp
+ }
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuNodeBootStep2
+//
+// Description: starts BootStep2 for the specified node.
+// This means the CN is added to isochronous phase if not
+// async-only and it gets the NMT command EnableReadyToOp.
+// The CN must be in node state Configured, when it enters
+// BootStep2. When BootStep2 finishes, the CN is in node state
+// ReadyToOp.
+// If TimeoutReadyToOp in object 0x1F89/5 is configured,
+// TimerHdlLonger will be started with this timeout.
+//
+// Parameters: uiNodeId_p = node ID
+// pNodeInfo_p = pointer to internal node info structure
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplDllNodeInfo DllNodeInfo;
+DWORD dwNodeCfg;
+tEplObdSize ObdSize;
+tEplTimerArg TimerArg;
+
+ dwNodeCfg = pNodeInfo_p->m_dwNodeCfg;
+ if ((dwNodeCfg & EPL_NODEASSIGN_ASYNCONLY_NODE) == 0)
+ { // add node to isochronous phase
+ DllNodeInfo.m_uiNodeId = uiNodeId_p;
+ ObdSize = 4;
+ Ret = EplObduReadEntry(0x1F92, uiNodeId_p, &DllNodeInfo.m_dwPresTimeout, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = 2;
+ Ret = EplObduReadEntry(0x1F8B, uiNodeId_p, &DllNodeInfo.m_wPreqPayloadLimit, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = 2;
+ Ret = EplObduReadEntry(0x1F8D, uiNodeId_p, &DllNodeInfo.m_wPresPayloadLimit, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ pNodeInfo_p->m_wFlags |= EPL_NMTMNU_NODE_FLAG_ISOCHRON;
+
+ Ret = EplDlluCalAddNode(&DllNodeInfo);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ }
+
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(0,
+ uiNodeId_p,
+ kEplNmtCmdEnableReadyToOperate);
+
+ Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdEnableReadyToOperate);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if (EplNmtMnuInstance_g.m_ulTimeoutReadyToOp != 0L)
+ { // start timer
+ // when the timer expires the CN must be ReadyToOp
+ EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER(
+ pNodeInfo_p, uiNodeId_p, TimerArg);
+// TimerArg.m_EventSink = kEplEventSinkNmtMnu;
+// TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_LONGER | uiNodeId_p;
+ Ret = EplTimeruModifyTimerMs(&pNodeInfo_p->m_TimerHdlLonger, EplNmtMnuInstance_g.m_ulTimeoutReadyToOp, TimerArg);
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuStartCheckCom
+//
+// Description: starts CheckCommunication
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuStartCheckCom(void)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+tEplNmtMnuNodeInfo* pNodeInfo;
+
+
+ if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0)
+ { // boot process is not halted
+ // wait some time and check that no communication error occurs
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0;
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0;
+ // reset flag that application was informed about possible state change
+ EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED;
+
+ pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo;
+ for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++)
+ {
+ if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateReadyToOp)
+ {
+ Ret = EplNmtMnuNodeCheckCom(uiIndex, pNodeInfo);
+ if (Ret == kEplReject)
+ { // timer was started
+ // wait until it expires
+ if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // node is a mandatory CN
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount++;
+ }
+ }
+ else if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // set flag "not scanned"
+ pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount++;
+ // signal slave counter shall be decremented if timeout elapsed and regardless of an error
+ // mandatory slave counter shall be decremented if timeout elapsed and no error occured
+ }
+ }
+ }
+
+ Ret = kEplSuccessful;
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuNodeCheckCom
+//
+// Description: checks communication of the specified node.
+// That means wait some time and if no error occured everything
+// is OK.
+//
+// Parameters: uiNodeId_p = node ID
+// pNodeInfo_p = pointer to internal node info structure
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+DWORD dwNodeCfg;
+tEplTimerArg TimerArg;
+
+ dwNodeCfg = pNodeInfo_p->m_dwNodeCfg;
+ if (((dwNodeCfg & EPL_NODEASSIGN_ASYNCONLY_NODE) == 0)
+ && (EplNmtMnuInstance_g.m_ulTimeoutCheckCom != 0L))
+ { // CN is not async-only and timeout for CheckCom was set
+
+ // check communication,
+ // that means wait some time and if no error occured everything is OK;
+
+ // start timer (when the timer expires the CN must be still ReadyToOp)
+ EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER(
+ pNodeInfo_p, uiNodeId_p, TimerArg);
+// TimerArg.m_EventSink = kEplEventSinkNmtMnu;
+// TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_LONGER | uiNodeId_p;
+ Ret = EplTimeruModifyTimerMs(&pNodeInfo_p->m_TimerHdlLonger, EplNmtMnuInstance_g.m_ulTimeoutCheckCom, TimerArg);
+
+ // update mandatory slave counter, because timer was started
+ if (Ret == kEplSuccessful)
+ {
+ Ret = kEplReject;
+ }
+ }
+ else
+ { // timer was not started
+ // assume everything is OK
+ pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateComChecked;
+ }
+
+//Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuStartNodes
+//
+// Description: really starts all nodes which are ReadyToOp and CheckCom did not fail
+//
+// Parameters: (none)
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuStartNodes(void)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+tEplNmtMnuNodeInfo* pNodeInfo;
+
+
+ if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0)
+ { // boot process is not halted
+ // send NMT command Start Node
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0;
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0;
+ // reset flag that application was informed about possible state change
+ EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED;
+
+ pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo;
+ for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++)
+ {
+ if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateComChecked)
+ {
+ if ((EplNmtMnuInstance_g.m_dwNmtStartup & EPL_NMTST_STARTALLNODES) == 0)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(0,
+ uiIndex,
+ kEplNmtCmdStartNode);
+
+ Ret = EplNmtMnuSendNmtCommand(uiIndex, kEplNmtCmdStartNode);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // node is a mandatory CN
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount++;
+ }
+
+ // set flag "not scanned"
+ pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount++;
+ // signal slave counter shall be decremented if StatusRequest was sent once to a CN
+ // mandatory slave counter shall be decremented if mandatory CN is OPERATIONAL
+ }
+ }
+
+ // $$$ inform application if EPL_NMTST_NO_STARTNODE is set
+
+ if ((EplNmtMnuInstance_g.m_dwNmtStartup & EPL_NMTST_STARTALLNODES) != 0)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(0,
+ EPL_C_ADR_BROADCAST,
+ kEplNmtCmdStartNode);
+
+ Ret = EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, kEplNmtCmdStartNode);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuProcessInternalEvent
+//
+// Description: processes internal node events
+//
+// Parameters: uiNodeId_p = node ID
+// NodeNmtState_p = NMT state of CN
+// NodeEvent_p = occured events
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuProcessInternalEvent(
+ unsigned int uiNodeId_p,
+ tEplNmtState NodeNmtState_p,
+ WORD wErrorCode_p,
+ tEplNmtMnuIntNodeEvent NodeEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplNmtState NmtState;
+tEplNmtMnuNodeInfo* pNodeInfo;
+tEplTimerArg TimerArg;
+
+ pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId_p);
+ NmtState = EplNmtuGetNmtState();
+ if (NmtState <= kEplNmtMsNotActive)
+ { // MN is not active
+ goto Exit;
+ }
+
+ switch (NodeEvent_p)
+ {
+ case kEplNmtMnuIntNodeEventIdentResponse:
+ {
+ BYTE bNmtState;
+
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ pNodeInfo->m_NodeState);
+
+ if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf)
+ {
+ pNodeInfo->m_NodeState = kEplNmtMnuNodeStateIdentified;
+ }
+
+ // reset flags ISOCHRON and NMT_CMD_ISSUED
+ pNodeInfo->m_wFlags &= ~(EPL_NMTMNU_NODE_FLAG_ISOCHRON
+ | EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED);
+
+ if ((NmtState == kEplNmtMsPreOperational1)
+ && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0))
+ {
+ // decrement only signal slave count
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+
+ // update object 0x1F8F NMT_MNNodeExpState_AU8 to PreOp1 (even if local state >= PreOp2)
+ bNmtState = (BYTE) (kEplNmtCsPreOperational1 & 0xFF);
+ Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1);
+
+ // check NMT state of CN
+ Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ // request StatusResponse immediately,
+ // because we want a fast boot-up of CNs
+ Ret = EplStatusuRequestStatusResponse(uiNodeId_p, EplNmtMnuCbStatusResponse);
+ if (Ret != kEplSuccessful)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ Ret);
+
+ if (Ret == kEplInvalidOperation)
+ { // the only situation when this should happen is, when
+ // StatusResponse was already requested from within
+ // the StatReq timer event.
+ // so ignore this error.
+ Ret = kEplSuccessful;
+ }
+ else
+ {
+ break;
+ }
+ }
+
+ if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf)
+ {
+ // inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p,
+ kEplNmtNodeEventFound,
+ NodeNmtState_p,
+ EPL_E_NO_ERROR,
+ (pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0);
+ if (Ret == kEplReject)
+ { // interrupt boot process on user request
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ ((pNodeInfo->m_NodeState << 8)
+ | Ret));
+
+ Ret = kEplSuccessful;
+ break;
+ }
+ else if (Ret != kEplSuccessful)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ ((pNodeInfo->m_NodeState << 8)
+ | Ret));
+
+ break;
+ }
+ }
+
+ // continue BootStep1
+ }
+
+ case kEplNmtMnuIntNodeEventBoot:
+ {
+
+ // $$$ check identification (vendor ID, product code, revision no, serial no)
+
+ if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateIdentified)
+ {
+ // $$$ check software
+
+ // check/start configuration
+ // inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p,
+ kEplNmtNodeEventCheckConf,
+ NodeNmtState_p,
+ EPL_E_NO_ERROR,
+ (pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0);
+ if (Ret == kEplReject)
+ { // interrupt boot process on user request
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventBoot,
+ uiNodeId_p,
+ ((pNodeInfo->m_NodeState << 8)
+ | Ret));
+
+ Ret = kEplSuccessful;
+ break;
+ }
+ else if (Ret != kEplSuccessful)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventBoot,
+ uiNodeId_p,
+ ((pNodeInfo->m_NodeState << 8)
+ | Ret));
+
+ break;
+ }
+ }
+ else if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf)
+ { // wrong CN state
+ // ignore event
+ break;
+ }
+
+ // $$$ d.k.: currently we assume configuration is OK
+
+ // continue BootStep1
+ }
+
+ case kEplNmtMnuIntNodeEventConfigured:
+ {
+ if ((pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified)
+ && (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf))
+ { // wrong CN state
+ // ignore event
+ break;
+ }
+
+ pNodeInfo->m_NodeState = kEplNmtMnuNodeStateConfigured;
+
+ if (NmtState == kEplNmtMsPreOperational1)
+ {
+ if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // decrement mandatory CN counter
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount--;
+ }
+ }
+ else
+ {
+ // put optional node to next step (BootStep2)
+ Ret = EplNmtMnuNodeBootStep2(uiNodeId_p, pNodeInfo);
+ }
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventNoIdentResponse:
+ {
+ if ((NmtState == kEplNmtMsPreOperational1)
+ && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0))
+ {
+ // decrement only signal slave count
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+
+ if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf)
+ {
+ pNodeInfo->m_NodeState = kEplNmtMnuNodeStateUnknown;
+ }
+
+ // $$$ d.k. check start time for 0x1F89/2 MNTimeoutPreOp1_U32
+ // $$$ d.k. check individual timeout 0x1F89/6 MNIdentificationTimeout_U32
+ // if mandatory node and timeout elapsed -> halt boot procedure
+ // trigger IdentRequest again (if >= PreOp2, after delay)
+ if (NmtState >= kEplNmtMsPreOperational2)
+ { // start timer
+ EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ(
+ pNodeInfo, uiNodeId_p, TimerArg);
+// TimerArg.m_EventSink = kEplEventSinkNmtMnu;
+// TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_IDENTREQ | uiNodeId_p;
+/*
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventNoIdentResponse,
+ uiNodeId_p,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0x80
+ | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6)
+ | ((TimerArg.m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8)));
+*/
+ Ret = EplTimeruModifyTimerMs(&pNodeInfo->m_TimerHdlStatReq, EplNmtMnuInstance_g.m_ulStatusRequestDelay, TimerArg);
+ }
+ else
+ { // trigger IdentRequest immediately
+ Ret = EplIdentuRequestIdentResponse(uiNodeId_p, EplNmtMnuCbIdentResponse);
+ }
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventStatusResponse:
+ {
+ if ((NmtState >= kEplNmtMsPreOperational2)
+ && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0))
+ {
+ // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+
+ // check NMT state of CN
+ Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ if (NmtState == kEplNmtMsPreOperational1)
+ {
+ // request next StatusResponse immediately
+ Ret = EplStatusuRequestStatusResponse(uiNodeId_p, EplNmtMnuCbStatusResponse);
+ if (Ret != kEplSuccessful)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ Ret);
+ }
+
+ }
+ else if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_ISOCHRON) == 0)
+ { // start timer
+ // not isochronously accessed CN (e.g. async-only or stopped CN)
+ EPL_NMTMNU_SET_FLAGS_TIMERARG_STATREQ(
+ pNodeInfo, uiNodeId_p, TimerArg);
+// TimerArg.m_EventSink = kEplEventSinkNmtMnu;
+// TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_STATREQ | uiNodeId_p;
+/*
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventStatusResponse,
+ uiNodeId_p,
+ ((pNodeInfo->m_NodeState << 8)
+ | 0x80
+ | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6)
+ | ((TimerArg.m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8)));
+*/
+ Ret = EplTimeruModifyTimerMs(&pNodeInfo->m_TimerHdlStatReq, EplNmtMnuInstance_g.m_ulStatusRequestDelay, TimerArg);
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventNoStatusResponse:
+ {
+ // function CheckNmtState sets node state to unknown if necessary
+/*
+ if ((NmtState >= kEplNmtMsPreOperational2)
+ && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0))
+ {
+ // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+*/
+ // check NMT state of CN
+ Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventError:
+ { // currently only issued on kEplNmtNodeCommandConfErr
+
+ if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified)
+ { // wrong CN state
+ // ignore event
+ break;
+ }
+
+ // check NMT state of CN
+ Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, kEplNmtCsNotActive, wErrorCode_p, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventExecReset:
+ {
+ if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified)
+ { // wrong CN state
+ // ignore event
+ break;
+ }
+
+ pNodeInfo->m_NodeState = kEplNmtMnuNodeStateResetConf;
+
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ (((NodeNmtState_p & 0xFF) << 8)
+ | kEplNmtCmdResetConfiguration));
+
+ // send NMT reset configuration to CN for activation of configuration
+ Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdResetConfiguration);
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventHeartbeat:
+ {
+/*
+ if ((NmtState >= kEplNmtMsPreOperational2)
+ && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0))
+ {
+ // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+*/
+ // check NMT state of CN
+ Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventTimerIdentReq:
+ {
+ EPL_DBGLVL_NMTMN_TRACE1("TimerStatReq->IdentReq(%02X)\n", uiNodeId_p);
+ // trigger IdentRequest again
+ Ret = EplIdentuRequestIdentResponse(uiNodeId_p, EplNmtMnuCbIdentResponse);
+ if (Ret != kEplSuccessful)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ (((NodeNmtState_p & 0xFF) << 8)
+ | Ret));
+ if (Ret == kEplInvalidOperation)
+ { // this can happen because of a bug in EplTimeruLinuxKernel.c
+ // so ignore this error.
+ Ret = kEplSuccessful;
+ }
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventTimerStateMon:
+ {
+ // reset NMT state change flag
+ // because from now on the CN must have the correct NMT state
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED;
+
+ // continue with normal StatReq processing
+ }
+
+ case kEplNmtMnuIntNodeEventTimerStatReq:
+ {
+ EPL_DBGLVL_NMTMN_TRACE1("TimerStatReq->StatReq(%02X)\n", uiNodeId_p);
+ // request next StatusResponse
+ Ret = EplStatusuRequestStatusResponse(uiNodeId_p, EplNmtMnuCbStatusResponse);
+ if (Ret != kEplSuccessful)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ (((NodeNmtState_p & 0xFF) << 8)
+ | Ret));
+ if (Ret == kEplInvalidOperation)
+ { // the only situation when this should happen is, when
+ // StatusResponse was already requested while processing
+ // event IdentResponse.
+ // so ignore this error.
+ Ret = kEplSuccessful;
+ }
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventTimerLonger:
+ {
+ switch (pNodeInfo->m_NodeState)
+ {
+ case kEplNmtMnuNodeStateConfigured:
+ { // node should be ReadyToOp but it is not
+
+ // check NMT state which shall be intentionally wrong, so that ERROR_TREATMENT will be started
+ Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, kEplNmtCsNotActive, EPL_E_NMT_BPO2, NmtState);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+
+ break;
+ }
+
+ case kEplNmtMnuNodeStateReadyToOp:
+ { // CheckCom finished successfully
+
+ pNodeInfo->m_NodeState = kEplNmtMnuNodeStateComChecked;
+
+ if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)
+ {
+ // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+
+ if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ {
+ // decrement mandatory slave counter
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount--;
+ }
+ if (NmtState != kEplNmtMsReadyToOperate)
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p,
+ uiNodeId_p,
+ (((NodeNmtState_p & 0xFF) << 8)
+ | kEplNmtCmdStartNode));
+
+ // start optional CN
+ Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdStartNode);
+ }
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ case kEplNmtMnuIntNodeEventNmtCmdSent:
+ {
+ BYTE bNmtState;
+
+ // update expected NMT state with the one that results
+ // from the sent NMT command
+ bNmtState = (BYTE) (NodeNmtState_p & 0xFF);
+
+ // write object 0x1F8F NMT_MNNodeExpState_AU8
+ Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if (NodeNmtState_p == kEplNmtCsNotActive)
+ { // restart processing with IdentRequest
+ EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ(
+ pNodeInfo, uiNodeId_p, TimerArg);
+ }
+ else
+ { // monitor NMT state change with StatusRequest after
+ // the corresponding delay;
+ // until then wrong NMT states will be ignored
+ EPL_NMTMNU_SET_FLAGS_TIMERARG_STATE_MON(
+ pNodeInfo, uiNodeId_p, TimerArg);
+
+ // set NMT state change flag
+ pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED;
+ }
+
+ Ret = EplTimeruModifyTimerMs(&pNodeInfo->m_TimerHdlStatReq, EplNmtMnuInstance_g.m_ulStatusRequestDelay, TimerArg);
+
+ // finish processing, because NmtState_p is the expected and not the current state
+ goto Exit;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+
+ // check if network is ready to change local NMT state and this was not done before
+ if ((EplNmtMnuInstance_g.m_wFlags & (EPL_NMTMNU_FLAG_HALTED | EPL_NMTMNU_FLAG_APP_INFORMED)) == 0)
+ { // boot process is not halted
+ switch (NmtState)
+ {
+ case kEplNmtMsPreOperational1:
+ {
+ if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0)
+ && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0))
+ { // all optional CNs scanned once and all mandatory CNs configured successfully
+ EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED;
+ // inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventBootStep1Finish,
+ NmtState,
+ EPL_E_NO_ERROR);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ // wait for application
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+ // enter PreOp2
+ Ret = EplNmtuNmtEvent(kEplNmtEventAllMandatoryCNIdent);
+ }
+ break;
+ }
+
+ case kEplNmtMsPreOperational2:
+ {
+ if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0)
+ && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0))
+ { // all optional CNs checked once for ReadyToOp and all mandatory CNs are ReadyToOp
+ EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED;
+ // inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventBootStep2Finish,
+ NmtState,
+ EPL_E_NO_ERROR);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ // wait for application
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+ // enter ReadyToOp
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterReadyToOperate);
+ }
+ break;
+ }
+
+ case kEplNmtMsReadyToOperate:
+ {
+ if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0)
+ && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0))
+ { // all CNs checked for errorless communication
+ EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED;
+ // inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventCheckComFinish,
+ NmtState,
+ EPL_E_NO_ERROR);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ // wait for application
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+ // enter Operational
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterMsOperational);
+ }
+ break;
+ }
+
+ case kEplNmtMsOperational:
+ {
+ if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0)
+ && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0))
+ { // all optional CNs scanned once and all mandatory CNs are OPERATIONAL
+ EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED;
+ // inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventOperational,
+ NmtState,
+ EPL_E_NO_ERROR);
+ if (Ret != kEplSuccessful)
+ {
+ if (Ret == kEplReject)
+ {
+ // ignore error code
+ Ret = kEplSuccessful;
+ }
+ break;
+ }
+ }
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuCheckNmtState
+//
+// Description: checks the NMT state, i.e. evaluates it with object 0x1F8F
+// NMT_MNNodeExpState_AU8 and updates object 0x1F8E
+// NMT_MNNodeCurrState_AU8.
+// It manipulates m_NodeState in internal node info structure.
+//
+// Parameters: uiNodeId_p = node ID
+// NodeNmtState_p = NMT state of CN
+//
+// Returns: tEplKernel = error code
+// kEplReject = CN was in wrong state and has been reset
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuCheckNmtState(
+ unsigned int uiNodeId_p,
+ tEplNmtMnuNodeInfo* pNodeInfo_p,
+ tEplNmtState NodeNmtState_p,
+ WORD wErrorCode_p,
+ tEplNmtState LocalNmtState_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplObdSize ObdSize;
+BYTE bNmtState;
+BYTE bNmtStatePrev;
+tEplNmtState ExpNmtState;
+
+ ObdSize = 1;
+ // read object 0x1F8F NMT_MNNodeExpState_AU8
+ Ret = EplObduReadEntry(0x1F8F, uiNodeId_p, &bNmtState, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // compute expected NMT state
+ ExpNmtState = (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS);
+ // compute BYTE of current NMT state
+ bNmtState = ((BYTE) NodeNmtState_p & 0xFF);
+
+ if (ExpNmtState == kEplNmtCsNotActive)
+ { // ignore the current state, because the CN shall be not active
+ Ret = kEplReject;
+ goto Exit;
+ }
+ else if ((ExpNmtState == kEplNmtCsPreOperational2)
+ && (NodeNmtState_p == kEplNmtCsReadyToOperate))
+ { // CN switched to ReadyToOp
+ // delete timer for timeout handling
+ Ret = EplTimeruDeleteTimer(&pNodeInfo_p->m_TimerHdlLonger);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateReadyToOp;
+
+ // update object 0x1F8F NMT_MNNodeExpState_AU8 to ReadyToOp
+ Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if ((pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // node is a mandatory CN -> decrement counter
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount--;
+ }
+ if (LocalNmtState_p >= kEplNmtMsReadyToOperate)
+ { // start procedure CheckCommunication for this node
+ Ret = EplNmtMnuNodeCheckCom(uiNodeId_p, pNodeInfo_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if ((LocalNmtState_p == kEplNmtMsOperational)
+ && (pNodeInfo_p->m_NodeState == kEplNmtMnuNodeStateComChecked))
+ {
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(0,
+ uiNodeId_p,
+ (((NodeNmtState_p & 0xFF) << 8)
+ | kEplNmtCmdStartNode));
+
+ // immediately start optional CN, because communication is always OK (e.g. async-only CN)
+ Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdStartNode);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ }
+
+ }
+ else if ((ExpNmtState == kEplNmtCsReadyToOperate)
+ && (NodeNmtState_p == kEplNmtCsOperational))
+ { // CN switched to OPERATIONAL
+ pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateOperational;
+
+ if ((pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0)
+ { // node is a mandatory CN -> decrement counter
+ EplNmtMnuInstance_g.m_uiMandatorySlaveCount--;
+ }
+
+ }
+ else if ((ExpNmtState != NodeNmtState_p)
+ && !((ExpNmtState == kEplNmtCsPreOperational1)
+ && (NodeNmtState_p == kEplNmtCsPreOperational2)))
+ { // CN is not in expected NMT state (without the exceptions above)
+ WORD wbeErrorCode;
+
+ if ((pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)
+ {
+ // decrement only signal slave count if checked once
+ EplNmtMnuInstance_g.m_uiSignalSlaveCount--;
+ pNodeInfo_p->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED;
+ }
+
+ if (pNodeInfo_p->m_NodeState == kEplNmtMnuNodeStateUnknown)
+ { // CN is already in state unknown, which means that it got
+ // NMT reset command earlier
+ goto Exit;
+ }
+
+ // -> CN is in wrong NMT state
+ pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateUnknown;
+
+ if (wErrorCode_p == 0)
+ { // assume wrong NMT state error
+ if ((pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED) != 0)
+ { // NMT command has been just issued;
+ // ignore wrong NMT state until timer expires;
+ // other errors like LOSS_PRES_TH are still processed
+ goto Exit;
+ }
+
+ wErrorCode_p = EPL_E_NMT_WRONG_STATE;
+ }
+
+ BENCHMARK_MOD_07_TOGGLE(9);
+
+ // $$$ start ERROR_TREATMENT and inform application
+ Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p,
+ kEplNmtNodeEventError,
+ NodeNmtState_p,
+ wErrorCode_p,
+ (pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ EPL_NMTMNU_DBG_POST_TRACE_VALUE(0,
+ uiNodeId_p,
+ (((NodeNmtState_p & 0xFF) << 8)
+ | kEplNmtCmdResetNode));
+
+ // reset CN
+ // store error code in NMT command data for diagnostic purpose
+ AmiSetWordToLe(&wbeErrorCode, wErrorCode_p);
+ Ret = EplNmtMnuSendNmtCommandEx(uiNodeId_p, kEplNmtCmdResetNode, &wbeErrorCode, sizeof (wbeErrorCode));
+ if (Ret == kEplSuccessful)
+ {
+ Ret = kEplReject;
+ }
+
+ goto Exit;
+ }
+
+ // check if NMT_MNNodeCurrState_AU8 has to be changed
+ ObdSize = 1;
+ Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtStatePrev, &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ if (bNmtState != bNmtStatePrev)
+ {
+ // update object 0x1F8E NMT_MNNodeCurrState_AU8
+ Ret = EplObduWriteEntry(0x1F8E, uiNodeId_p, &bNmtState, 1);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p,
+ kEplNmtNodeEventNmtState,
+ NodeNmtState_p,
+ wErrorCode_p,
+ (pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtMnuReset
+//
+// Description: reset internal structures, e.g. timers
+//
+// Parameters: void
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplNmtMnuReset(void)
+{
+tEplKernel Ret;
+int iIndex;
+
+ Ret = EplTimeruDeleteTimer(&EplNmtMnuInstance_g.m_TimerHdlNmtState);
+
+ for (iIndex = 1; iIndex <= tabentries (EplNmtMnuInstance_g.m_aNodeInfo); iIndex++)
+ {
+ // delete timer handles
+ Ret = EplTimeruDeleteTimer(&EPL_NMTMNU_GET_NODEINFO(iIndex)->m_TimerHdlStatReq);
+ Ret = EplTimeruDeleteTimer(&EPL_NMTMNU_GET_NODEINFO(iIndex)->m_TimerHdlLonger);
+ }
+
+ return Ret;
+}
+
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for NMT-Kernelspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtk.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.12 $ $Date: 2008/11/13 17:13:09 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "kernel/EplNmtk.h"
+#include "kernel/EplTimerk.h"
+
+#include "kernel/EplDllk.h" // for EplDllkProcess()
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+#define EPL_NMTK_DBG_POST_TRACE_VALUE(NmtEvent_p, OldNmtState_p, NewNmtState_p) \
+ TGT_DBG_POST_TRACE_VALUE((kEplEventSinkNmtk << 28) | (NmtEvent_p << 16) \
+ | ((OldNmtState_p & 0xFF) << 8) \
+ | (NewNmtState_p & 0xFF))
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+// struct for instance table
+INSTANCE_TYPE_BEGIN
+
+ EPL_MCO_DECL_INSTANCE_MEMBER ()
+
+ STATIC volatile tEplNmtState INST_FAR m_NmtState;
+ STATIC volatile BOOL INST_FAR m_fEnableReadyToOperate;
+ STATIC volatile BOOL INST_FAR m_fAppReadyToOperate;
+ STATIC volatile BOOL INST_FAR m_fTimerMsPreOp2;
+ STATIC volatile BOOL INST_FAR m_fAllMandatoryCNIdent;
+ STATIC volatile BOOL INST_FAR m_fFrozen;
+
+INSTANCE_TYPE_END
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+// This macro replace the unspecific pointer to an instance through
+// the modul specific type for the local instance table. This macro
+// must defined in each modul.
+//#define tEplPtrInstance tEplInstanceInfo MEM*
+
+EPL_MCO_DECL_INSTANCE_VAR ()
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+EPL_MCO_DEFINE_INSTANCE_FCT ()
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <NMT_Kernel-Module> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: This module realize the NMT-State-Machine of the EPL-Stack
+//
+//
+/***************************************************************************/
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtkInit
+//
+// Description: initializes the first instance
+//
+//
+//
+// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
+// uiNodeId_p = Node Id of the lokal node
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkInit(EPL_MCO_DECL_PTR_INSTANCE_PTR)
+{
+tEplKernel Ret;
+
+ Ret = EplNmtkAddInstance (EPL_MCO_PTR_INSTANCE_PTR);
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtkAddInstance
+//
+// Description: adds a new instance
+//
+//
+//
+// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkAddInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR)
+{
+EPL_MCO_DECL_INSTANCE_PTR_LOCAL
+tEplKernel Ret;
+//tEplEvent Event;
+//tEplEventNmtStateChange NmtStateChange;
+
+ // check if pointer to instance pointer valid
+ // get free instance and set the globale instance pointer
+ // set also the instance addr to parameterlist
+ EPL_MCO_CHECK_PTR_INSTANCE_PTR ();
+ EPL_MCO_GET_FREE_INSTANCE_PTR ();
+ EPL_MCO_SET_PTR_INSTANCE_PTR ();
+
+ // sign instance as used
+ EPL_MCO_WRITE_INSTANCE_STATE (kStateUsed);
+
+
+ Ret = kEplSuccessful;
+
+ // initialize intern vaiables
+ // 2006/07/31 d.k.: set NMT-State to kEplNmtGsOff
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ // set NMT-State to kEplNmtGsInitialising
+ //EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+
+ // set flags to FALSE
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = FALSE;
+ EPL_MCO_GLB_VAR(m_fFrozen) = FALSE;
+
+// EPL_MCO_GLB_VAR(m_TimerHdl) = 0;
+
+ // inform higher layer about state change
+ // 2006/07/31 d.k.: The EPL API layer/application has to start NMT state
+ // machine via NmtEventSwReset after initialisation of
+ // all modules has been completed. DLL has to be initialised
+ // after NMTk because NMT state shall not be uninitialised
+ // at that time.
+/* NmtStateChange.m_NewNmtState = EPL_MCO_GLB_VAR(m_NmtState);
+ NmtStateChange.m_NmtEvent = kEplNmtEventNoEvent;
+ Event.m_EventSink = kEplEventSinkNmtu;
+ Event.m_EventType = kEplEventTypeNmtStateChange;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &NmtStateChange;
+ Event.m_uiSize = sizeof(NmtStateChange);
+ Ret = EplEventkPost(&Event);
+*/
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtkDelInstance
+//
+// Description: delete instance
+//
+//
+//
+// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if (EPL_USE_DELETEINST_FUNC != FALSE)
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkDelInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR)
+{
+tEplKernel Ret = kEplSuccessful;
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ // set NMT-State to kEplNmtGsOff
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+
+ // sign instance as unused
+ EPL_MCO_WRITE_INSTANCE_STATE (kStateUnused);
+
+ // delete timer
+// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
+
+ return Ret;
+}
+#endif // (EPL_USE_DELETEINST_FUNC != FALSE)
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtkProcess
+//
+// Description: main process function
+// -> process NMT-State-Maschine und read NMT-Events from Queue
+//
+//
+//
+// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR_ = Instance pointer
+// pEvent_p = Epl-Event with NMT-event to process
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkProcess(EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ tEplEvent* pEvent_p)
+{
+tEplKernel Ret;
+tEplNmtState OldNmtState;
+tEplNmtEvent NmtEvent;
+tEplEvent Event;
+tEplEventNmtStateChange NmtStateChange;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ Ret = kEplSuccessful;
+
+ switch(pEvent_p->m_EventType)
+ {
+ case kEplEventTypeNmtEvent:
+ {
+ NmtEvent = *((tEplNmtEvent*)pEvent_p->m_pArg);
+ break;
+ }
+
+ case kEplEventTypeTimer:
+ {
+ NmtEvent = (tEplNmtEvent)((tEplTimerEventArg*)pEvent_p->m_pArg)->m_ulArg;
+ break;
+ }
+ default:
+ {
+ Ret = kEplNmtInvalidEvent;
+ goto Exit;
+ }
+ }
+
+ // save NMT-State
+ // needed for later comparison to
+ // inform hgher layer about state change
+ OldNmtState = EPL_MCO_GLB_VAR(m_NmtState);
+
+ // NMT-State-Maschine
+ switch(EPL_MCO_GLB_VAR(m_NmtState))
+ {
+ //-----------------------------------------------------------
+ // general part of the statemaschine
+
+ // first init of the hardware
+ case kEplNmtGsOff:
+ {
+ // leave this state only if higher layer says so
+ if(NmtEvent == kEplNmtEventSwReset)
+ { // new state kEplNmtGsInitialising
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ }
+ break;
+ }
+
+ // first init of the hardware
+ case kEplNmtGsInitialising:
+ {
+ // leave this state only if higher layer says so
+
+ // check events
+ switch(NmtEvent)
+ {
+ // 2006/07/31 d.k.: react also on NMT reset commands in ResetApp state
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // new state kEplNmtGsResetApplication
+ case kEplNmtEventEnterResetApp:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ // init of the manufacturer-specific profile area and the
+ // standardised device profile area
+ case kEplNmtGsResetApplication:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // 2006/07/31 d.k.: react also on NMT reset commands in ResetApp state
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // leave this state only if higher layer
+ // say so
+ case kEplNmtEventEnterResetCom:
+ {
+ // new state kEplNmtGsResetCommunication
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ // init of the communication profile area
+ case kEplNmtGsResetCommunication:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // 2006/07/31 d.k.: react also on NMT reset commands in ResetComm state
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // leave this state only if higher layer
+ // say so
+ case kEplNmtEventEnterResetConfig:
+ {
+ // new state kEplNmtGsResetCommunication
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ // build the configuration with infos from OD
+ case kEplNmtGsResetConfiguration:
+ {
+ // reset flags
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fFrozen) = FALSE;
+
+ // check events
+ switch(NmtEvent)
+ {
+ // 2006/07/31 d.k.: react also on NMT reset commands in ResetConf state
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ case kEplNmtEventResetCom:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // leave this state only if higher layer says so
+ case kEplNmtEventEnterCsNotActive:
+ { // Node should be CN
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsNotActive;
+ break;
+
+ }
+
+ case kEplNmtEventEnterMsNotActive:
+ { // Node should be CN
+ #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
+ // no MN functionality
+ // TODO: -create error E_NMT_BA1_NO_MN_SUPPORT
+ EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
+ #else
+
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsNotActive;
+ #endif
+ break;
+
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ //-----------------------------------------------------------
+ // CN part of the statemaschine
+
+ // node liste for EPL-Frames and check timeout
+ case kEplNmtCsNotActive:
+ {
+
+ // check events
+ switch(NmtEvent)
+ {
+ // 2006/07/31 d.k.: react also on NMT reset commands in NotActive state
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
+ break;
+ }
+
+ // NMT Command Reset Configuration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
+ break;
+ }
+
+ // see if SoA or SoC received
+ // k.t. 20.07.2006: only SoA forces change of state
+ // see EPL V2 DS 1.0.0 p.267
+ // case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // new state PRE_OPERATIONAL1
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
+ break;
+ }
+ // timeout for SoA and Soc
+ case kEplNmtEventTimerBasicEthernet:
+ {
+ // new state BASIC_ETHERNET
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsBasicEthernet;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }// end of switch(NmtEvent)
+
+ break;
+ }
+
+ // node processes only async frames
+ case kEplNmtCsPreOperational1:
+ {
+
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command Reset Configuration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // NMT Command StopNode
+ case kEplNmtEventStopNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
+ break;
+ }
+
+ // check if SoC received
+ case kEplNmtEventDllCeSoc:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational2;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+
+ break;
+ }
+
+ // node processes isochronous and asynchronous frames
+ case kEplNmtCsPreOperational2:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command Reset Configuration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // NMT Command StopNode
+ case kEplNmtEventStopNode:
+ {
+ // reset flags
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ // reset flags
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+
+ // check if application is ready to operate
+ case kEplNmtEventEnterReadyToOperate:
+ {
+ // check if command NMTEnableReadyToOperate from MN was received
+ if(EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) == TRUE)
+ { // reset flags
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
+ // change state
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsReadyToOperate;
+ }
+ else
+ { // set Flag
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = TRUE;
+ }
+ break;
+ }
+
+ // NMT Commando EnableReadyToOperate
+ case kEplNmtEventEnableReadyToOperate:
+ {
+ // check if application is ready
+ if(EPL_MCO_GLB_VAR(m_fAppReadyToOperate) == TRUE)
+ { // reset flags
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
+ // change state
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsReadyToOperate;
+ }
+ else
+ { // set Flag
+ EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = TRUE;
+ }
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtCsReadyToOperate:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // NMT Command StopNode
+ case kEplNmtEventStopNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+
+ // NMT Command StartNode
+ case kEplNmtEventStartNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsOperational;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+
+ // normal work state
+ case kEplNmtCsOperational:
+ {
+
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // NMT Command StopNode
+ case kEplNmtEventStopNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
+ break;
+ }
+
+ // NMT Command EnterPreOperational2
+ case kEplNmtEventEnterPreOperational2:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational2;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+
+ // node stopped by MN
+ // -> only process asynchronous frames
+ case kEplNmtCsStopped:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // NMT Command EnterPreOperational2
+ case kEplNmtEventEnterPreOperational2:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational2;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+
+ // no epl cycle
+ // -> normal ethernet communication
+ case kEplNmtCsBasicEthernet:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // error occured
+ // d.k.: how does this error occur? on CRC errors
+/* case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+*/
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCePreq:
+ case kEplNmtEventDllCePres:
+ case kEplNmtEventDllCeSoa:
+ { // Epl-Frame on net -> stop any communication
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+
+ break;
+ }
+
+ //-----------------------------------------------------------
+ // MN part of the statemaschine
+
+ // MN listen to network
+ // -> if no EPL traffic go to next state
+ case kEplNmtMsNotActive:
+ {
+ #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
+ // no MN functionality
+ // TODO: -create error E_NMT_BA1_NO_MN_SUPPORT
+ EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
+ #else
+
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // EPL frames received
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // other MN in network
+ // $$$ d.k.: generate error history entry
+ EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
+ break;
+ }
+
+ // timeout event
+ case kEplNmtEventTimerBasicEthernet:
+ {
+ if (EPL_MCO_GLB_VAR(m_fFrozen) == FALSE)
+ { // new state BasicEthernet
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsBasicEthernet;
+ }
+ break;
+ }
+
+ // timeout event
+ case kEplNmtEventTimerMsPreOp1:
+ {
+ if (EPL_MCO_GLB_VAR(m_fFrozen) == FALSE)
+ { // new state PreOp1
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
+ EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = FALSE;
+ EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = FALSE;
+
+ }
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+
+ #endif // ((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
+
+ break;
+ }
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // MN process reduces epl cycle
+ case kEplNmtMsPreOperational1:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // EPL frames received
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // other MN in network
+ // $$$ d.k.: generate error history entry
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // error occured
+ // d.k. MSPreOp1->CSPreOp1: nonsense -> keep state
+ /*
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+ */
+
+ case kEplNmtEventAllMandatoryCNIdent:
+ { // all mandatory CN identified
+ if (EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) != FALSE)
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational2;
+ }
+ else
+ {
+ EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = TRUE;
+ }
+ break;
+ }
+
+ case kEplNmtEventTimerMsPreOp2:
+ { // residence time for PreOp1 is elapsed
+ if (EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) != FALSE)
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational2;
+ }
+ else
+ {
+ EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = TRUE;
+ }
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+
+ // MN process full epl cycle
+ case kEplNmtMsPreOperational2:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // EPL frames received
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // other MN in network
+ // $$$ d.k.: generate error history entry
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
+ break;
+ }
+
+ case kEplNmtEventEnterReadyToOperate:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsReadyToOperate;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+
+ break;
+ }
+
+ // all madatory nodes ready to operate
+ // -> MN process full epl cycle
+ case kEplNmtMsReadyToOperate:
+ {
+
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // EPL frames received
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // other MN in network
+ // $$$ d.k.: generate error history entry
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
+ break;
+ }
+
+ case kEplNmtEventEnterMsOperational:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsOperational;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+
+ break;
+ }
+
+ // normal eplcycle processing
+ case kEplNmtMsOperational:
+ {
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // EPL frames received
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // other MN in network
+ // $$$ d.k.: generate error history entry
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // error occured
+ case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+
+ // normal ethernet traffic
+ case kEplNmtMsBasicEthernet:
+ {
+
+ // check events
+ switch(NmtEvent)
+ {
+ // NMT Command SwitchOff
+ case kEplNmtEventCriticalError:
+ case kEplNmtEventSwitchOff:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
+ break;
+ }
+
+ // NMT Command SwReset
+ case kEplNmtEventSwReset:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
+ break;
+ }
+
+ // NMT Command ResetNode
+ case kEplNmtEventResetNode:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ break;
+ }
+
+ // NMT Command ResetCommunication
+ // or internal Communication error
+ case kEplNmtEventResetCom:
+ case kEplNmtEventInternComError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // NMT Command ResetConfiguration
+ case kEplNmtEventResetConfig:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
+ break;
+ }
+
+ // EPL frames received
+ case kEplNmtEventDllCeSoc:
+ case kEplNmtEventDllCeSoa:
+ { // other MN in network
+ // $$$ d.k.: generate error history entry
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
+ break;
+ }
+
+ // error occured
+ // d.k. BE->PreOp1 on cycle error? No
+/* case kEplNmtEventNmtCycleError:
+ {
+ EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
+ break;
+ }
+*/
+ default:
+ {
+ break;
+ }
+
+ }// end of switch(NmtEvent)
+ break;
+ }
+#endif //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+ default:
+ {
+ //DEBUG_EPL_DBGLVL_NMTK_TRACE0(EPL_DBGLVL_NMT ,"Error in EplNmtProcess: Unknown NMT-State");
+ //EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
+ Ret = kEplNmtInvalidState;
+ goto Exit;
+ }
+
+ }// end of switch(NmtEvent)
+
+ // inform higher layer about State-Change if needed
+ if(OldNmtState != EPL_MCO_GLB_VAR(m_NmtState))
+ {
+ EPL_NMTK_DBG_POST_TRACE_VALUE(NmtEvent, OldNmtState, EPL_MCO_GLB_VAR(m_NmtState));
+
+ // d.k.: memorize NMT state before posting any events
+ NmtStateChange.m_NewNmtState = EPL_MCO_GLB_VAR(m_NmtState);
+
+ // inform DLL
+ if ((OldNmtState > kEplNmtGsResetConfiguration)
+ && (EPL_MCO_GLB_VAR(m_NmtState) <= kEplNmtGsResetConfiguration))
+ {
+ // send DLL DEINIT
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkDestroy;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &OldNmtState;
+ Event.m_uiSize = sizeof (OldNmtState);
+ // d.k.: directly call DLLk process function, because
+ // 1. execution of process function is still synchonized and serialized,
+ // 2. it is the same as without event queues (i.e. well tested),
+ // 3. DLLk will get those necessary events even if event queue is full,
+ // 4. event queue is very inefficient
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplDllkProcess(&Event);
+#else
+ Ret = EplEventkPost(&Event);
+#endif
+ }
+ else if ((OldNmtState <= kEplNmtGsResetConfiguration)
+ && (EPL_MCO_GLB_VAR(m_NmtState) > kEplNmtGsResetConfiguration))
+ {
+ // send DLL INIT
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkCreate;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &NmtStateChange.m_NewNmtState;
+ Event.m_uiSize = sizeof (NmtStateChange.m_NewNmtState);
+ // d.k.: directly call DLLk process function, because
+ // 1. execution of process function is still synchonized and serialized,
+ // 2. it is the same as without event queues (i.e. well tested),
+ // 3. DLLk will get those necessary events even if event queue is full
+ // 4. event queue is very inefficient
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplDllkProcess(&Event);
+#else
+ Ret = EplEventkPost(&Event);
+#endif
+ }
+ else if ((EPL_MCO_GLB_VAR(m_NmtState) == kEplNmtCsBasicEthernet)
+ || (EPL_MCO_GLB_VAR(m_NmtState) == kEplNmtMsBasicEthernet))
+ {
+ tEplDllAsyncReqPriority AsyncReqPriority;
+
+ // send DLL Fill Async Tx Buffer, because state BasicEthernet was entered
+ Event.m_EventSink = kEplEventSinkDllk;
+ Event.m_EventType = kEplEventTypeDllkFillTx;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ AsyncReqPriority = kEplDllAsyncReqPrioGeneric;
+ Event.m_pArg = &AsyncReqPriority;
+ Event.m_uiSize = sizeof (AsyncReqPriority);
+ // d.k.: directly call DLLk process function, because
+ // 1. execution of process function is still synchonized and serialized,
+ // 2. it is the same as without event queues (i.e. well tested),
+ // 3. DLLk will get those necessary events even if event queue is full
+ // 4. event queue is very inefficient
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+ Ret = EplDllkProcess(&Event);
+#else
+ Ret = EplEventkPost(&Event);
+#endif
+ }
+
+ // inform higher layer about state change
+ NmtStateChange.m_NmtEvent = NmtEvent;
+ Event.m_EventSink = kEplEventSinkNmtu;
+ Event.m_EventType = kEplEventTypeNmtStateChange;
+ EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
+ Event.m_pArg = &NmtStateChange;
+ Event.m_uiSize = sizeof(NmtStateChange);
+ Ret = EplEventkPost(&Event);
+ EPL_DBGLVL_NMTK_TRACE2("EplNmtkProcess(NMT-Event = 0x%04X): New NMT-State = 0x%03X\n", NmtEvent, NmtStateChange.m_NewNmtState);
+
+
+ }
+
+Exit:
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtkGetNmtState
+//
+// Description: return the actuell NMT-State and the bits
+// to for MN- or CN-mode
+//
+//
+//
+// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR_ = Instancepointer
+//
+//
+// Returns: tEplNmtState = NMT-State
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplNmtState PUBLIC EplNmtkGetNmtState(EPL_MCO_DECL_PTR_INSTANCE_PTR)
+{
+tEplNmtState NmtState;
+
+ NmtState = EPL_MCO_GLB_VAR(m_NmtState);
+
+ return NmtState;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+EPL_MCO_DECL_INSTANCE_FCT ()
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for communication abstraction layer of the
+ NMT-Kernel-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtkCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/16 -k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "kernel/EplNmtkCal.h"
+
+
+// TODO: init function needed to prepare EplNmtkGetNmtState for
+// io-controll-call from EplNmtuCal-Modul
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for NMT-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/10 17:17:42 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+****************************************************************************/
+
+
+#include "EplInc.h"
+#include "user/EplNmtu.h"
+#include "user/EplObdu.h"
+#include "user/EplTimeru.h"
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+#include "kernel/EplNmtk.h"
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplNmtuStateChangeCallback m_pfnNmtChangeCb;
+ tEplTimerHdl m_TimerHdl;
+
+} tEplNmtuInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static tEplNmtuInstance EplNmtuInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuInit
+//
+// Description: init first instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuInit()
+{
+tEplKernel Ret;
+
+ Ret = EplNmtuAddInstance();
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuAddInstance
+//
+// Description: init other instances of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuAddInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ EplNmtuInstance_g.m_pfnNmtChangeCb = NULL;
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuDelInstance
+//
+// Description: delete instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ EplNmtuInstance_g.m_pfnNmtChangeCb = NULL;
+
+ // delete timer
+ Ret = EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl);
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuNmtEvent
+//
+// Description: sends the NMT-Event to the NMT-State-Maschine
+//
+//
+//
+// Parameters: NmtEvent_p = NMT-Event to send
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuNmtEvent(tEplNmtEvent NmtEvent_p)
+{
+tEplKernel Ret;
+tEplEvent Event;
+
+ Event.m_EventSink = kEplEventSinkNmtk;
+ Event.m_NetTime.m_dwNanoSec = 0;
+ Event.m_NetTime.m_dwSec = 0;
+ Event.m_EventType = kEplEventTypeNmtEvent;
+ Event.m_pArg = &NmtEvent_p;
+ Event.m_uiSize = sizeof(NmtEvent_p);
+
+ Ret = EplEventuPost(&Event);
+
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuGetNmtState
+//
+// Description: returns the actuell NMT-State
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplNmtState = NMT-State
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplNmtState PUBLIC EplNmtuGetNmtState()
+{
+tEplNmtState NmtState;
+
+ // $$$ call function of communication abstraction layer
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ NmtState = EplNmtkGetNmtState();
+#else
+ NmtState = 0;
+#endif
+
+ return NmtState;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuProcessEvent
+//
+// Description: processes events from event queue
+//
+//
+//
+// Parameters: pEplEvent_p = pointer to event
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuProcessEvent(
+ tEplEvent* pEplEvent_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // process event
+ switch(pEplEvent_p->m_EventType)
+ {
+ // state change of NMT-Module
+ case kEplEventTypeNmtStateChange:
+ {
+ tEplEventNmtStateChange* pNmtStateChange;
+
+ // delete timer
+ Ret = EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl);
+
+ pNmtStateChange = (tEplEventNmtStateChange*)pEplEvent_p->m_pArg;
+
+ // call cb-functions to inform higher layer
+ if(EplNmtuInstance_g.m_pfnNmtChangeCb != NULL)
+ {
+ Ret = EplNmtuInstance_g.m_pfnNmtChangeCb(*pNmtStateChange);
+ }
+
+ if (Ret == kEplSuccessful)
+ { // everything is OK, so switch to next state if necessary
+ switch (pNmtStateChange->m_NewNmtState)
+ {
+ // EPL stack is not running
+ case kEplNmtGsOff:
+ break;
+
+ // first init of the hardware
+ case kEplNmtGsInitialising:
+ {
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterResetApp);
+ break;
+ }
+
+ // init of the manufacturer-specific profile area and the
+ // standardised device profile area
+ case kEplNmtGsResetApplication:
+ {
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterResetCom);
+ break;
+ }
+
+ // init of the communication profile area
+ case kEplNmtGsResetCommunication:
+ {
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterResetConfig);
+ break;
+ }
+
+ // build the configuration with infos from OD
+ case kEplNmtGsResetConfiguration:
+ {
+ unsigned int uiNodeId;
+
+ // get node ID from OD
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
+ uiNodeId = EplObduGetNodeId(EPL_MCO_PTR_INSTANCE_PTR);
+#else
+ uiNodeId = 0;
+#endif
+ //check node ID if not should be master or slave
+ if (uiNodeId == EPL_C_ADR_MN_DEF_NODE_ID)
+ { // node shall be MN
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterMsNotActive);
+#else
+ TRACE0("EplNmtuProcess(): no MN functionality implemented\n");
+#endif
+ }
+ else
+ { // node shall be CN
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterCsNotActive);
+ }
+ break;
+ }
+
+ //-----------------------------------------------------------
+ // CN part of the state machine
+
+ // node listens for EPL-Frames and check timeout
+ case kEplNmtCsNotActive:
+ {
+ DWORD dwBuffer;
+ tEplObdSize ObdSize;
+ tEplTimerArg TimerArg;
+
+ // create timer to switch automatically to BasicEthernet if no MN available in network
+
+ // read NMT_CNBasicEthernetTimerout_U32 from OD
+ ObdSize = sizeof(dwBuffer);
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
+ Ret = EplObduReadEntry(EPL_MCO_PTR_INSTANCE_PTR_
+ 0x1F99,
+ 0x00,
+ &dwBuffer,
+ &ObdSize);
+#else
+ Ret = kEplObdIndexNotExist;
+#endif
+ if(Ret != kEplSuccessful)
+ {
+ break;
+ }
+ if (dwBuffer != 0)
+ { // BasicEthernet is enabled
+ // convert us into ms
+ dwBuffer = dwBuffer / 1000;
+ if (dwBuffer == 0)
+ { // timer was below one ms
+ // set one ms
+ dwBuffer = 1;
+ }
+ TimerArg.m_EventSink = kEplEventSinkNmtk;
+ TimerArg.m_ulArg = (unsigned long) kEplNmtEventTimerBasicEthernet;
+ Ret = EplTimeruModifyTimerMs(&EplNmtuInstance_g.m_TimerHdl, (unsigned long) dwBuffer, TimerArg);
+ // potential error is forwarded to event queue which generates error event
+ }
+ break;
+ }
+
+ // node processes only async frames
+ case kEplNmtCsPreOperational1:
+ {
+ break;
+ }
+
+ // node processes isochronous and asynchronous frames
+ case kEplNmtCsPreOperational2:
+ {
+ Ret = EplNmtuNmtEvent(kEplNmtEventEnterReadyToOperate);
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtCsReadyToOperate:
+ {
+ break;
+ }
+
+ // normal work state
+ case kEplNmtCsOperational:
+ {
+ break;
+ }
+
+ // node stopped by MN
+ // -> only process asynchronous frames
+ case kEplNmtCsStopped:
+ {
+ break;
+ }
+
+ // no EPL cycle
+ // -> normal ethernet communication
+ case kEplNmtCsBasicEthernet:
+ {
+ break;
+ }
+
+ //-----------------------------------------------------------
+ // MN part of the state machine
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // node listens for EPL-Frames and check timeout
+ case kEplNmtMsNotActive:
+ {
+ DWORD dwBuffer;
+ tEplObdSize ObdSize;
+ tEplTimerArg TimerArg;
+
+ // create timer to switch automatically to BasicEthernet/PreOp1 if no other MN active in network
+
+ // check NMT_StartUp_U32.Bit13
+ // read NMT_StartUp_U32 from OD
+ ObdSize = sizeof(dwBuffer);
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
+ Ret = EplObduReadEntry(EPL_MCO_PTR_INSTANCE_PTR_
+ 0x1F80,
+ 0x00,
+ &dwBuffer,
+ &ObdSize);
+#else
+ Ret = kEplObdIndexNotExist;
+#endif
+ if(Ret != kEplSuccessful)
+ {
+ break;
+ }
+
+ if((dwBuffer & EPL_NMTST_BASICETHERNET) == 0)
+ { // NMT_StartUp_U32.Bit13 == 0
+ // new state PreOperational1
+ TimerArg.m_ulArg = (unsigned long) kEplNmtEventTimerMsPreOp1;
+ }
+ else
+ { // NMT_StartUp_U32.Bit13 == 1
+ // new state BasicEthernet
+ TimerArg.m_ulArg = (unsigned long) kEplNmtEventTimerBasicEthernet;
+ }
+
+ // read NMT_BootTime_REC.MNWaitNotAct_U32 from OD
+ ObdSize = sizeof(dwBuffer);
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
+ Ret = EplObduReadEntry(EPL_MCO_PTR_INSTANCE_PTR_
+ 0x1F89,
+ 0x01,
+ &dwBuffer,
+ &ObdSize);
+#else
+ Ret = kEplObdIndexNotExist;
+#endif
+ if(Ret != kEplSuccessful)
+ {
+ break;
+ }
+ // convert us into ms
+ dwBuffer = dwBuffer / 1000;
+ if (dwBuffer == 0)
+ { // timer was below one ms
+ // set one ms
+ dwBuffer = 1;
+ }
+ TimerArg.m_EventSink = kEplEventSinkNmtk;
+ Ret = EplTimeruModifyTimerMs(&EplNmtuInstance_g.m_TimerHdl, (unsigned long) dwBuffer, TimerArg);
+ // potential error is forwarded to event queue which generates error event
+ break;
+ }
+
+ // node processes only async frames
+ case kEplNmtMsPreOperational1:
+ {
+ DWORD dwBuffer = 0;
+ tEplObdSize ObdSize;
+ tEplTimerArg TimerArg;
+
+ // create timer to switch automatically to PreOp2 if MN identified all mandatory CNs
+
+ // read NMT_BootTime_REC.MNWaitPreOp1_U32 from OD
+ ObdSize = sizeof(dwBuffer);
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
+ Ret = EplObduReadEntry(EPL_MCO_PTR_INSTANCE_PTR_
+ 0x1F89,
+ 0x03,
+ &dwBuffer,
+ &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ // ignore error, because this timeout is optional
+ dwBuffer = 0;
+ }
+#endif
+ if (dwBuffer == 0)
+ { // delay is deactivated
+ // immediately post timer event
+ Ret = EplNmtuNmtEvent(kEplNmtEventTimerMsPreOp2);
+ break;
+ }
+ // convert us into ms
+ dwBuffer = dwBuffer / 1000;
+ if (dwBuffer == 0)
+ { // timer was below one ms
+ // set one ms
+ dwBuffer = 1;
+ }
+ TimerArg.m_EventSink = kEplEventSinkNmtk;
+ TimerArg.m_ulArg = (unsigned long) kEplNmtEventTimerMsPreOp2;
+ Ret = EplTimeruModifyTimerMs(&EplNmtuInstance_g.m_TimerHdl, (unsigned long) dwBuffer, TimerArg);
+ // potential error is forwarded to event queue which generates error event
+ break;
+ }
+
+ // node processes isochronous and asynchronous frames
+ case kEplNmtMsPreOperational2:
+ {
+ break;
+ }
+
+ // node should be configured und application is ready
+ case kEplNmtMsReadyToOperate:
+ {
+ break;
+ }
+
+ // normal work state
+ case kEplNmtMsOperational:
+ {
+ break;
+ }
+
+ // no EPL cycle
+ // -> normal ethernet communication
+ case kEplNmtMsBasicEthernet:
+ {
+ break;
+ }
+#endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+ default:
+ {
+ TRACE1("EplNmtuProcess(): unhandled NMT state 0x%X\n", pNmtStateChange->m_NewNmtState);
+ }
+ }
+ }
+ else if (Ret == kEplReject)
+ { // application wants to change NMT state itself
+ // it's OK
+ Ret = kEplSuccessful;
+ }
+
+ EPL_DBGLVL_NMTU_TRACE0("EplNmtuProcessEvent(): NMT-State-Maschine announce change of NMT State\n");
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplNmtInvalidEvent;
+ }
+
+ }
+
+//Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtuRegisterStateChangeCb
+//
+// Description: register Callback-function go get informed about a
+// NMT-Change-State-Event
+//
+//
+//
+// Parameters: pfnEplNmtStateChangeCb_p = functionpointer
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuRegisterStateChangeCb(
+ tEplNmtuStateChangeCallback pfnEplNmtStateChangeCb_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // save callback-function in modul global var
+ EplNmtuInstance_g.m_pfnNmtChangeCb = pfnEplNmtStateChangeCb_p;
+
+ return Ret;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for communication abstraction layer of the
+ NMT-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtuCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/16 -k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplNmtuCal.h"
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplNmtkCalGetNmtState
+//
+// Description: return current NMT-State
+// -> encapsulate access to kernelspace
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplNmtState = current NMT-State
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplNmtState PUBLIC EplNmtkCalGetNmtState()
+{
+tEplNmtState NmtState;
+ // for test direkt call for EplNmtkGetNmtState()
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+ NmtState = EplNmtkGetNmtState();
+#else
+ NmtState = 0;
+#endif
+return NmtState;
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for api function of EplOBD-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObd.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.12 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Microsoft VC7
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/02 k.t.: start of the implementation, version 1.00
+ ->based on CANopen OBD-Modul
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "kernel/EplObdk.h" // function prototyps of the EplOBD-Modul
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// float definitions and macros
+#define _SHIFTED_EXPONENT_MASK_SP 0xff
+#define _BIAS_SP 126
+#define T_SP 23
+#define EXPONENT_DENORM_SP (-_BIAS_SP)
+#define BASE_TO_THE_T_SP ((float) 8388608.0)
+#define GET_EXPONENT_SP(x) ((((x) >> T_SP) & _SHIFTED_EXPONENT_MASK_SP) - _BIAS_SP)
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+// struct for instance table
+INSTANCE_TYPE_BEGIN
+
+ EPL_MCO_DECL_INSTANCE_MEMBER ()
+
+ STATIC tEplObdInitParam INST_FAR m_ObdInitParam;
+ STATIC tEplObdStoreLoadObjCallback INST_NEAR m_fpStoreLoadObjCallback;
+
+INSTANCE_TYPE_END
+
+// decomposition of float
+typedef union
+{
+ tEplObdReal32 m_flRealPart;
+ int m_nIntegerPart;
+
+} tEplObdRealParts;
+
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+// This macro replace the unspecific pointer to an instance through
+// the modul specific type for the local instance table. This macro
+// must defined in each modul.
+//#define tEplPtrInstance tEplInstanceInfo MEM*
+
+EPL_MCO_DECL_INSTANCE_VAR ()
+
+BYTE MEM abEplObdTrashObject_g[8];
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+EPL_MCO_DEFINE_INSTANCE_FCT ()
+
+static tEplKernel EplObdCallObjectCallback (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdCallback fpCallback_p,
+ tEplObdCbParam MEM* pCbParam_p);
+
+static tEplObdSize EplObdGetDataSizeIntern (tEplObdSubEntryPtr pSubIndexEntry_p);
+
+static tEplObdSize EplObdGetStrLen (void* pObjData_p,
+ tEplObdSize ObjLen_p,
+ tEplObdType ObjType_p);
+
+#if (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
+static tEplKernel EplObdCheckObjectRange (
+ tEplObdSubEntryPtr pSubindexEntry_p,
+ void * pData_p);
+#endif
+
+static tEplKernel EplObdGetVarEntry (
+ tEplObdSubEntryPtr pSubindexEntry_p,
+ tEplObdVarEntry MEM** ppVarEntry_p);
+
+static tEplKernel EplObdGetEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdEntryPtr* ppObdEntry_p,
+ tEplObdSubEntryPtr* ppObdSubEntry_p);
+
+static tEplObdSize EplObdGetObjectSize (tEplObdSubEntryPtr pSubIndexEntry_p);
+
+static tEplKernel EplObdGetIndexIntern (
+ tEplObdInitParam MEM* pInitParam_p,
+ unsigned int uiIndex_p,
+ tEplObdEntryPtr* ppObdEntry_p);
+
+static tEplKernel EplObdGetSubindexIntern (
+ tEplObdEntryPtr pObdEntry_p,
+ unsigned int uiSubIndex_p,
+ tEplObdSubEntryPtr* ppObdSubEntry_p);
+
+static tEplKernel EplObdAccessOdPartIntern (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdPart CurrentOdPart_p,
+ tEplObdEntryPtr pObdEnty_p,
+ tEplObdDir Direction_p);
+
+static void * EplObdGetObjectDefaultPtr (tEplObdSubEntryPtr pSubIndexEntry_p);
+static void MEM* EplObdGetObjectCurrentPtr (tEplObdSubEntryPtr pSubIndexEntry_p);
+
+#if (EPL_OBD_USE_STORE_RESTORE != FALSE)
+
+ static tEplKernel EplObdCallStoreCallback (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdCbStoreParam MEM* pCbStoreParam_p);
+
+#endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
+
+static void EplObdCopyObjectData (
+ void MEM* pDstData_p,
+ void * pSrcData_p,
+ tEplObdSize ObjSize_p,
+ tEplObdType ObjType_p);
+
+void * EplObdGetObjectDataPtrIntern (tEplObdSubEntryPtr pSubindexEntry_p);
+
+static tEplKernel EplObdIsNumericalIntern(tEplObdSubEntryPtr pObdSubEntry_p,
+ BOOL* pfEntryNumerical_p);
+
+static tEplKernel PUBLIC EplObdWriteEntryPre (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ void** ppDstData_p,
+ tEplObdSize Size_p,
+ tEplObdEntryPtr* ppObdEntry_p,
+ tEplObdSubEntryPtr* ppSubEntry_p,
+ tEplObdCbParam MEM* pCbParam_p,
+ tEplObdSize* pObdSize_p);
+
+static tEplKernel PUBLIC EplObdWriteEntryPost (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdEntryPtr pObdEntry_p,
+ tEplObdSubEntryPtr pSubEntry_p,
+ tEplObdCbParam MEM* pCbParam_p,
+ void * pSrcData_p,
+ void * pDstData_p,
+ tEplObdSize ObdSize_p);
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdInit()
+//
+// Description: initializes the first instance
+//
+// Parameters: pInitParam_p = init parameter
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObdInit (EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ tEplObdInitParam MEM* pInitParam_p)
+{
+
+tEplKernel Ret;
+EPL_MCO_DELETE_INSTANCE_TABLE ();
+
+ if (pInitParam_p == NULL)
+ {
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+
+ Ret = EplObdAddInstance (EPL_MCO_PTR_INSTANCE_PTR_
+ pInitParam_p);
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdAddInstance()
+//
+// Description: adds a new instance
+//
+// Parameters: pInitParam_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObdAddInstance (EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ tEplObdInitParam MEM* pInitParam_p)
+{
+
+EPL_MCO_DECL_INSTANCE_PTR_LOCAL
+tEplKernel Ret;
+
+ // check if pointer to instance pointer valid
+ // get free instance and set the globale instance pointer
+ // set also the instance addr to parameterlist
+ EPL_MCO_CHECK_PTR_INSTANCE_PTR ();
+ EPL_MCO_GET_FREE_INSTANCE_PTR ();
+ EPL_MCO_SET_PTR_INSTANCE_PTR ();
+
+ // save init parameters
+ EPL_MEMCPY (&EPL_MCO_GLB_VAR (m_ObdInitParam), pInitParam_p, sizeof (tEplObdInitParam));
+
+ // clear callback function for command LOAD and STORE
+ EPL_MCO_GLB_VAR (m_fpStoreLoadObjCallback) = NULL;
+
+ // sign instance as used
+ EPL_MCO_WRITE_INSTANCE_STATE (kStateUsed);
+
+ // initialize object dictionary
+ // so all all VarEntries will be initialized to trash object and default values will be set to current data
+ Ret = EplObdAccessOdPart (EPL_MCO_INSTANCE_PTR_
+ kEplObdPartAll, kEplObdDirInit);
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdDeleteInstance()
+//
+// Description: delete instance
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if (EPL_USE_DELETEINST_FUNC != FALSE)
+EPLDLLEXPORT tEplKernel PUBLIC EplObdDeleteInstance (EPL_MCO_DECL_INSTANCE_PTR)
+{
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ // sign instance as unused
+ EPL_MCO_WRITE_INSTANCE_STATE (kStateUnused);
+
+ return kEplSuccessful;
+
+}
+#endif // (EPL_USE_DELETEINST_FUNC != FALSE)
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdWriteEntry()
+//
+// Description: Function writes data to an OBD entry. Strings
+// are stored with added '\0' character.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObdWriteEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p)
+{
+
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pSubEntry;
+tEplObdCbParam MEM CbParam;
+void MEM* pDstData;
+tEplObdSize ObdSize;
+
+
+ Ret = EplObdWriteEntryPre (EPL_MCO_INSTANCE_PTR_
+ uiIndex_p,
+ uiSubIndex_p,
+ pSrcData_p,
+ &pDstData,
+ Size_p,
+ &pObdEntry,
+ &pSubEntry,
+ &CbParam,
+ &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplObdWriteEntryPost (EPL_MCO_INSTANCE_PTR_
+ pObdEntry,
+ pSubEntry,
+ &CbParam,
+ pSrcData_p,
+ pDstData,
+ ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdReadEntry()
+//
+// Description: The function reads an object entry. The application
+// can always read the data even if attrib kEplObdAccRead
+// is not set. The attrib is only checked up for SDO transfer.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index oof the OD entry to read
+// uiSubIndex_p = Subindex to read
+// pDstData_p = pointer to the buffer for data
+// Offset_p = offset in data for read access
+// pSize_p = IN: Size of the buffer
+// OUT: number of readed Bytes
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObdReadEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize * pSize_p)
+{
+
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pSubEntry;
+tEplObdCbParam MEM CbParam;
+void * pSrcData;
+tEplObdSize ObdSize;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ ASSERT (pDstData_p != NULL);
+ ASSERT (pSize_p != NULL);
+
+ // get address of index and subindex entry
+ Ret = EplObdGetEntry (EPL_MCO_INSTANCE_PTR_
+ uiIndex_p, uiSubIndex_p, &pObdEntry, &pSubEntry);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get pointer to object data
+ pSrcData = EplObdGetObjectDataPtrIntern (pSubEntry);
+
+ // check source pointer
+ if (pSrcData == NULL)
+ {
+ Ret = kEplObdReadViolation;
+ goto Exit;
+ }
+
+ //------------------------------------------------------------------------
+ // address of source data to structure of callback parameters
+ // so callback function can change this data before reading
+ CbParam.m_uiIndex = uiIndex_p;
+ CbParam.m_uiSubIndex= uiSubIndex_p;
+ CbParam.m_pArg = pSrcData;
+ CbParam.m_ObdEvent = kEplObdEvPreRead;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, &CbParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get size of data and check if application has reserved enough memory
+ ObdSize = EplObdGetDataSizeIntern (pSubEntry);
+ // check if offset given and calc correct number of bytes to read
+ if (*pSize_p < ObdSize)
+ {
+ Ret = kEplObdValueLengthError;
+ goto Exit;
+ }
+
+ // read value from object
+ EPL_MEMCPY (pDstData_p, pSrcData, ObdSize);
+ *pSize_p = ObdSize;
+
+ // write address of destination data to structure of callback parameters
+ // so callback function can change this data after reading
+ CbParam.m_pArg = pDstData_p;
+ CbParam.m_ObdEvent = kEplObdEvPostRead;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, &CbParam);
+
+Exit:
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdAccessOdPart()
+//
+// Description: restores default values of one part of OD
+//
+// Parameters: ObdPart_p
+// Direction_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObdAccessOdPart (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdPart ObdPart_p,
+ tEplObdDir Direction_p)
+{
+
+tEplKernel Ret = kEplSuccessful;
+BOOL fPartFount;
+tEplObdEntryPtr pObdEntry;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ // part always has to be unequal to NULL
+ pObdEntry = EPL_MCO_GLB_VAR (m_ObdInitParam.m_pPart);
+ ASSERTMSG (pObdEntry != NULL, "EplObdAccessOdPart(): no OD part is defined!\n");
+
+ // if ObdPart_p is not valid fPartFound keeps FALSE and function returns kEplObdIllegalPart
+ fPartFount = FALSE;
+
+ // access to part
+ if ((ObdPart_p & kEplObdPartGen) != 0)
+ {
+ fPartFount = TRUE;
+
+ Ret = EplObdAccessOdPartIntern (EPL_MCO_INSTANCE_PTR_
+ kEplObdPartGen, pObdEntry, Direction_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ // access to manufacturer part
+ pObdEntry = EPL_MCO_GLB_VAR (m_ObdInitParam.m_pManufacturerPart);
+
+ if ( ((ObdPart_p & kEplObdPartMan) != 0) &&
+ (pObdEntry != NULL) )
+ {
+ fPartFount = TRUE;
+
+ Ret = EplObdAccessOdPartIntern (EPL_MCO_INSTANCE_PTR_
+ kEplObdPartMan, pObdEntry, Direction_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ // access to device part
+ pObdEntry = EPL_MCO_GLB_VAR (m_ObdInitParam.m_pDevicePart);
+
+ if ( ((ObdPart_p & kEplObdPartDev) != 0) &&
+ (pObdEntry != NULL) )
+ {
+ fPartFount = TRUE;
+
+ Ret = EplObdAccessOdPartIntern (EPL_MCO_INSTANCE_PTR_
+ kEplObdPartDev, pObdEntry, Direction_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+ {
+ // access to user part
+ pObdEntry = EPL_MCO_GLB_VAR (m_ObdInitParam.m_pUserPart);
+
+ if ( ((ObdPart_p & kEplObdPartUsr) != 0) &&
+ (pObdEntry != NULL) )
+ {
+ fPartFount = TRUE;
+
+ Ret = EplObdAccessOdPartIntern (EPL_MCO_INSTANCE_PTR_
+ kEplObdPartUsr, pObdEntry, Direction_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ }
+ #endif
+
+ // no access to an OD part was done? illegal OD part was specified!
+ if (fPartFount == FALSE)
+ {
+ Ret = kEplObdIllegalPart;
+ }
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdDefineVar()
+//
+// Description: defines a variable in OD
+//
+// Parameters: pEplVarParam_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObdDefineVar (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplVarParam MEM* pVarParam_p)
+{
+
+tEplKernel Ret;
+tEplObdVarEntry MEM* pVarEntry;
+tEplVarParamValid VarValid;
+tEplObdSubEntryPtr pSubindexEntry;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ ASSERT (pVarParam_p != NULL); // is not allowed to be NULL
+
+ // get address of subindex entry
+ Ret = EplObdGetEntry (EPL_MCO_INSTANCE_PTR_
+ pVarParam_p->m_uiIndex,
+ pVarParam_p->m_uiSubindex,
+ NULL, &pSubindexEntry);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get var entry
+ Ret = EplObdGetVarEntry (pSubindexEntry, &pVarEntry);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ VarValid = pVarParam_p->m_ValidFlag;
+
+ // copy only this values, which valid flag is set
+ if ((VarValid & kVarValidSize) != 0)
+ {
+ if (pSubindexEntry->m_Type != kEplObdTypDomain)
+ {
+ tEplObdSize DataSize;
+
+ // check passed size parameter
+ DataSize = EplObdGetObjectSize(pSubindexEntry);
+ if (DataSize != pVarParam_p->m_Size)
+ { // size of variable does not match
+ Ret = kEplObdValueLengthError;
+ goto Exit;
+ }
+ }
+ else
+ { // size can be set only for objects of type DOMAIN
+ pVarEntry->m_Size = pVarParam_p->m_Size;
+ }
+ }
+
+ if ((VarValid & kVarValidData) != 0)
+ {
+ pVarEntry->m_pData = pVarParam_p->m_pData;
+ }
+/*
+ #if (EPL_PDO_USE_STATIC_MAPPING == FALSE)
+ {
+ if ((VarValid & kVarValidCallback) != 0)
+ {
+ pVarEntry->m_fpCallback = pVarParam_p->m_fpCallback;
+ }
+
+ if ((VarValid & kVarValidArg) != 0)
+ {
+ pVarEntry->m_pArg = pVarParam_p->m_pArg;
+ }
+ }
+ #endif
+*/
+ // Ret is already set to kEplSuccessful from ObdGetVarIntern()
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetObjectDataPtr()
+//
+// Description: It returnes the current data pointer. But if object is an
+// constant object it returnes the default pointer.
+//
+// Parameters: uiIndex_p = Index of the entry
+// uiSubindex_p = Subindex of the entry
+//
+// Return: void * = pointer to object data
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT void * PUBLIC EplObdGetObjectDataPtr (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p)
+ {
+tEplKernel Ret;
+void * pData;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pObdSubEntry;
+
+
+ // get pointer to index structure
+ Ret = EplObdGetIndexIntern (&EPL_MCO_GLB_VAR (m_ObdInitParam),
+ uiIndex_p,
+ &pObdEntry);
+ if(Ret != kEplSuccessful)
+ {
+ pData = NULL;
+ goto Exit;
+ }
+
+ // get pointer to subindex structure
+ Ret = EplObdGetSubindexIntern (pObdEntry,
+ uiSubIndex_p,
+ &pObdSubEntry);
+ if(Ret != kEplSuccessful)
+ {
+ pData = NULL;
+ goto Exit;
+ }
+ // get Datapointer
+ pData = EplObdGetObjectDataPtrIntern(pObdSubEntry);
+
+Exit:
+ return pData;
+
+}
+
+
+#if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdRegisterUserOd()
+//
+// Description: function registers the user OD
+//
+// Parameters: pUserOd_p =pointer to user ODd
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdRegisterUserOd (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdEntryPtr pUserOd_p)
+{
+
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ EPL_MCO_GLB_VAR (m_ObdInitParam.m_pUserPart) = pUserOd_p;
+
+ return kEplSuccessful;
+
+}
+
+#endif
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdInitVarEntry()
+//
+// Description: function to initialize VarEntry dependened on object type
+//
+// Parameters: pVarEntry_p = pointer to var entry structure
+// Type_p = object type
+// ObdSize_p = size of object data
+//
+// Returns: none
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT void PUBLIC EplObdInitVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdVarEntry MEM* pVarEntry_p,
+ tEplObdType Type_p, tEplObdSize ObdSize_p)
+{
+/*
+ #if (EPL_PDO_USE_STATIC_MAPPING == FALSE)
+ {
+ // reset pointer to VAR callback and argument
+ pVarEntry_p->m_fpCallback = NULL;
+ pVarEntry_p->m_pArg = NULL;
+ }
+ #endif
+*/
+
+// 10-dec-2004 r.d.: this function will not be used for strings
+ if ((Type_p == kEplObdTypDomain))
+// (bType_p == kEplObdTypVString) /* ||
+// (bType_p == kEplObdTypOString) ||
+// (bType_p == kEplObdTypUString) */ )
+ {
+ // variables which are defined as DOMAIN or VSTRING should not point to
+ // trash object, because this trash object contains only 8 bytes. DOMAINS or
+ // STRINGS can be longer.
+ pVarEntry_p->m_pData = NULL;
+ pVarEntry_p->m_Size = 0;
+ }
+ else
+ {
+ // set address to variable data to trash object
+ // This prevents an access violation if user forgets to call EplObdDefineVar()
+ // for this variable but mappes it in a PDO.
+ pVarEntry_p->m_pData = &abEplObdTrashObject_g[0];
+ pVarEntry_p->m_Size = ObdSize_p;
+ }
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetDataSize()
+//
+// Description: function to initialize VarEntry dependened on object type
+//
+// gets the data size of an object
+// for string objects it returnes the string length
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
+// uiIndex_p = Index
+// uiSubIndex_p= Subindex
+//
+// Return: tEplObdSize
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplObdSize PUBLIC EplObdGetDataSize(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p)
+{
+tEplKernel Ret;
+tEplObdSize ObdSize;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pObdSubEntry;
+
+
+ // get pointer to index structure
+ Ret = EplObdGetIndexIntern (&EPL_MCO_GLB_VAR (m_ObdInitParam),
+ uiIndex_p,
+ &pObdEntry);
+ if(Ret != kEplSuccessful)
+ {
+ ObdSize = 0;
+ goto Exit;
+ }
+
+ // get pointer to subindex structure
+ Ret = EplObdGetSubindexIntern (pObdEntry,
+ uiSubIndex_p,
+ &pObdSubEntry);
+ if(Ret != kEplSuccessful)
+ {
+ ObdSize = 0;
+ goto Exit;
+ }
+
+ // get size
+ ObdSize = EplObdGetDataSizeIntern (pObdSubEntry);
+Exit:
+ return ObdSize;
+}
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetNodeId()
+//
+// Description: function returns nodeid from entry 0x1F93
+//
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR = Instancepointer
+//
+// Return: unsigned int = Node Id
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT unsigned int PUBLIC EplObdGetNodeId(EPL_MCO_DECL_INSTANCE_PTR)
+{
+tEplKernel Ret;
+tEplObdSize ObdSize;
+BYTE bNodeId;
+
+ bNodeId = 0;
+ ObdSize = sizeof(bNodeId);
+ Ret = EplObdReadEntry(EPL_MCO_PTR_INSTANCE_PTR_
+ EPL_OBD_NODE_ID_INDEX,
+ EPL_OBD_NODE_ID_SUBINDEX,
+ &bNodeId,
+ &ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ bNodeId = EPL_C_ADR_INVALID;
+ goto Exit;
+ }
+
+Exit:
+ return (unsigned int) bNodeId;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdSetNodeId()
+//
+// Description: function sets nodeid in entry 0x1F93
+//
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
+// uiNodeId_p = Node Id to set
+// NodeIdType_p= Type on which way the Node Id was set
+//
+// Return: tEplKernel = Errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdSetNodeId(EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ unsigned int uiNodeId_p,
+ tEplObdNodeIdType NodeIdType_p)
+{
+tEplKernel Ret;
+tEplObdSize ObdSize;
+BYTE fHwBool;
+BYTE bNodeId;
+
+ // check Node Id
+ if(uiNodeId_p == EPL_C_ADR_INVALID)
+ {
+ Ret = kEplInvalidNodeId;
+ goto Exit;
+ }
+ bNodeId = (BYTE)uiNodeId_p;
+ ObdSize = sizeof(BYTE);
+ // write NodeId to OD entry
+ Ret = EplObdWriteEntry(EPL_MCO_PTR_INSTANCE_PTR_
+ EPL_OBD_NODE_ID_INDEX,
+ EPL_OBD_NODE_ID_SUBINDEX,
+ &bNodeId,
+ ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // set HWBOOL-Flag in Subindex EPL_OBD_NODE_ID_HWBOOL_SUBINDEX
+ switch (NodeIdType_p)
+ {
+ // type unknown
+ case kEplObdNodeIdUnknown:
+ {
+ fHwBool = OBD_FALSE;
+ break;
+ }
+
+ case kEplObdNodeIdSoftware:
+ {
+ fHwBool = OBD_FALSE;
+ break;
+ }
+
+ case kEplObdNodeIdHardware:
+ {
+ fHwBool = OBD_TRUE;
+ break;
+ }
+
+ default:
+ {
+ fHwBool = OBD_FALSE;
+ }
+
+ } // end of switch (NodeIdType_p)
+
+ // write flag
+ ObdSize = sizeof(fHwBool);
+ Ret = EplObdWriteEntry(EPL_MCO_PTR_INSTANCE_PTR
+ EPL_OBD_NODE_ID_INDEX,
+ EPL_OBD_NODE_ID_HWBOOL_SUBINDEX,
+ &fHwBool,
+ ObdSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdIsNumerical()
+//
+// Description: function checks if a entry is numerical or not
+//
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
+// uiIndex_p = Index
+// uiSubIndex_p = Subindex
+// pfEntryNumerical_p = pointer to BOOL for returnvalue
+// -> TRUE if entry a numerical value
+// -> FALSE if entry not a numerical value
+//
+// Return: tEplKernel = Errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdIsNumerical(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ BOOL* pfEntryNumerical_p)
+{
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pObdSubEntry;
+
+
+ // get pointer to index structure
+ Ret = EplObdGetIndexIntern (&EPL_MCO_GLB_VAR (m_ObdInitParam),
+ uiIndex_p,
+ &pObdEntry);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get pointer to subindex structure
+ Ret = EplObdGetSubindexIntern (pObdEntry,
+ uiSubIndex_p,
+ &pObdSubEntry);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ Ret = EplObdIsNumericalIntern(pObdSubEntry, pfEntryNumerical_p);
+
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdReadEntryToLe()
+//
+// Description: The function reads an object entry from the byteoder
+// of the system to the little endian byteorder for numerical values.
+// For other types a normal read will be processed. This is usefull for
+// the PDO and SDO module. The application
+// can always read the data even if attrib kEplObdAccRead
+// is not set. The attrib is only checked up for SDO transfer.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry to read
+// uiSubIndex_p = Subindex to read
+// pDstData_p = pointer to the buffer for data
+// Offset_p = offset in data for read access
+// pSize_p = IN: Size of the buffer
+// OUT: number of readed Bytes
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdReadEntryToLe (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize * pSize_p)
+{
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pSubEntry;
+tEplObdCbParam MEM CbParam;
+void * pSrcData;
+tEplObdSize ObdSize;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ ASSERT (pDstData_p != NULL);
+ ASSERT (pSize_p != NULL);
+
+ // get address of index and subindex entry
+ Ret = EplObdGetEntry (EPL_MCO_INSTANCE_PTR_
+ uiIndex_p, uiSubIndex_p, &pObdEntry, &pSubEntry);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get pointer to object data
+ pSrcData = EplObdGetObjectDataPtrIntern (pSubEntry);
+
+ // check source pointer
+ if (pSrcData == NULL)
+ {
+ Ret = kEplObdReadViolation;
+ goto Exit;
+ }
+
+ //------------------------------------------------------------------------
+ // address of source data to structure of callback parameters
+ // so callback function can change this data before reading
+ CbParam.m_uiIndex = uiIndex_p;
+ CbParam.m_uiSubIndex= uiSubIndex_p;
+ CbParam.m_pArg = pSrcData;
+ CbParam.m_ObdEvent = kEplObdEvPreRead;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, &CbParam);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get size of data and check if application has reserved enough memory
+ ObdSize = EplObdGetDataSizeIntern (pSubEntry);
+ // check if offset given and calc correct number of bytes to read
+ if (*pSize_p < ObdSize)
+ {
+ Ret = kEplObdValueLengthError;
+ goto Exit;
+ }
+
+ // check if numerical type
+ switch(pSubEntry->m_Type)
+ {
+ //-----------------------------------------------
+ // types without ami
+ case kEplObdTypVString:
+ case kEplObdTypOString:
+ case kEplObdTypDomain:
+ default:
+ {
+ // read value from object
+ EPL_MEMCPY (pDstData_p, pSrcData, ObdSize);
+ break;
+ }
+
+ //-----------------------------------------------
+ // numerical type which needs ami-write
+ // 8 bit or smaller values
+ case kEplObdTypBool:
+ case kEplObdTypInt8:
+ case kEplObdTypUInt8:
+ {
+ AmiSetByteToLe(pDstData_p, *((BYTE*)pSrcData));
+ break;
+ }
+
+ // 16 bit values
+ case kEplObdTypInt16:
+ case kEplObdTypUInt16:
+ {
+ AmiSetWordToLe(pDstData_p, *((WORD*)pSrcData));
+ break;
+ }
+
+ // 24 bit values
+ case kEplObdTypInt24:
+ case kEplObdTypUInt24:
+ {
+ AmiSetDword24ToLe(pDstData_p, *((DWORD*)pSrcData));
+ break;
+ }
+
+ // 32 bit values
+ case kEplObdTypInt32:
+ case kEplObdTypUInt32:
+ case kEplObdTypReal32:
+ {
+ AmiSetDwordToLe(pDstData_p, *((DWORD*)pSrcData));
+ break;
+ }
+
+ // 40 bit values
+ case kEplObdTypInt40:
+ case kEplObdTypUInt40:
+ {
+ AmiSetQword40ToLe(pDstData_p, *((QWORD*)pSrcData));
+ break;
+ }
+
+ // 48 bit values
+ case kEplObdTypInt48:
+ case kEplObdTypUInt48:
+ {
+ AmiSetQword48ToLe(pDstData_p, *((QWORD*)pSrcData));
+ break;
+ }
+
+ // 56 bit values
+ case kEplObdTypInt56:
+ case kEplObdTypUInt56:
+ {
+ AmiSetQword56ToLe(pDstData_p, *((QWORD*)pSrcData));
+ break;
+ }
+
+ // 64 bit values
+ case kEplObdTypInt64:
+ case kEplObdTypUInt64:
+ case kEplObdTypReal64:
+ {
+ AmiSetQword64ToLe(pDstData_p, *((QWORD*)pSrcData));
+ break;
+ }
+
+ // time of day
+ case kEplObdTypTimeOfDay:
+ case kEplObdTypTimeDiff:
+ {
+ AmiSetTimeOfDay(pDstData_p, ((tTimeOfDay*)pSrcData));
+ break;
+ }
+
+ }// end of switch(pSubEntry->m_Type)
+
+ *pSize_p = ObdSize;
+
+
+ // write address of destination data to structure of callback parameters
+ // so callback function can change this data after reading
+ CbParam.m_pArg = pDstData_p;
+ CbParam.m_ObdEvent = kEplObdEvPostRead;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, &CbParam);
+
+Exit:
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdWriteEntryFromLe()
+//
+// Description: Function writes data to an OBD entry from a source with
+// little endian byteorder to the od with system specuific
+// byteorder. Not numerical values will only by copied. Strings
+// are stored with added '\0' character.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdWriteEntryFromLe (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p)
+{
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pSubEntry;
+tEplObdCbParam MEM CbParam;
+void MEM* pDstData;
+tEplObdSize ObdSize;
+QWORD qwBuffer;
+void* pBuffer = &qwBuffer;
+
+
+ Ret = EplObdWriteEntryPre (EPL_MCO_INSTANCE_PTR_
+ uiIndex_p,
+ uiSubIndex_p,
+ pSrcData_p,
+ &pDstData,
+ Size_p,
+ &pObdEntry,
+ &pSubEntry,
+ &CbParam,
+ &ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+
+ // check if numerical type
+ switch(pSubEntry->m_Type)
+ {
+ //-----------------------------------------------
+ // types without ami
+ default:
+ { // do nothing, i.e. use the given source pointer
+ pBuffer = pSrcData_p;
+ break;
+ }
+
+ //-----------------------------------------------
+ // numerical type which needs ami-write
+ // 8 bit or smaller values
+ case kEplObdTypBool:
+ case kEplObdTypInt8:
+ case kEplObdTypUInt8:
+ {
+ *((BYTE*)pBuffer) = AmiGetByteFromLe(pSrcData_p);
+ break;
+ }
+
+ // 16 bit values
+ case kEplObdTypInt16:
+ case kEplObdTypUInt16:
+ {
+ *((WORD*)pBuffer) = AmiGetWordFromLe(pSrcData_p);
+ break;
+ }
+
+ // 24 bit values
+ case kEplObdTypInt24:
+ case kEplObdTypUInt24:
+ {
+ *((DWORD*)pBuffer) = AmiGetDword24FromLe(pSrcData_p);
+ break;
+ }
+
+ // 32 bit values
+ case kEplObdTypInt32:
+ case kEplObdTypUInt32:
+ case kEplObdTypReal32:
+ {
+ *((DWORD*)pBuffer) = AmiGetDwordFromLe(pSrcData_p);
+ break;
+ }
+
+ // 40 bit values
+ case kEplObdTypInt40:
+ case kEplObdTypUInt40:
+ {
+ *((QWORD*)pBuffer) = AmiGetQword40FromLe(pSrcData_p);
+ break;
+ }
+
+ // 48 bit values
+ case kEplObdTypInt48:
+ case kEplObdTypUInt48:
+ {
+ *((QWORD*)pBuffer) = AmiGetQword48FromLe(pSrcData_p);
+ break;
+ }
+
+ // 56 bit values
+ case kEplObdTypInt56:
+ case kEplObdTypUInt56:
+ {
+ *((QWORD*)pBuffer) = AmiGetQword56FromLe(pSrcData_p);
+ break;
+ }
+
+ // 64 bit values
+ case kEplObdTypInt64:
+ case kEplObdTypUInt64:
+ case kEplObdTypReal64:
+ {
+ *((QWORD*)pBuffer) = AmiGetQword64FromLe(pSrcData_p);
+ break;
+ }
+
+ // time of day
+ case kEplObdTypTimeOfDay:
+ case kEplObdTypTimeDiff:
+ {
+ AmiGetTimeOfDay(pBuffer, ((tTimeOfDay*)pSrcData_p));
+ break;
+ }
+
+ }// end of switch(pSubEntry->m_Type)
+
+
+ Ret = EplObdWriteEntryPost (EPL_MCO_INSTANCE_PTR_
+ pObdEntry,
+ pSubEntry,
+ &CbParam,
+ pBuffer,
+ pDstData,
+ ObdSize);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+Exit:
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetAccessType()
+//
+// Description: Function returns accesstype of the entry
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pAccessTyp_p = pointer to buffer to store accesstype
+//
+// Return: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdGetAccessType(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplObdAccess* pAccessTyp_p)
+
+{
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pObdSubEntry;
+
+
+ // get pointer to index structure
+ Ret = EplObdGetIndexIntern (&EPL_MCO_GLB_VAR (m_ObdInitParam),
+ uiIndex_p,
+ &pObdEntry);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get pointer to subindex structure
+ Ret = EplObdGetSubindexIntern (pObdEntry,
+ uiSubIndex_p,
+ &pObdSubEntry);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get accessType
+ *pAccessTyp_p = pObdSubEntry->m_Access;
+
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdSearchVarEntry()
+//
+// Description: gets variable from OD
+//
+// Parameters: uiIndex_p = index of the var entry to search
+// uiSubindex_p = subindex of var entry to search
+// ppVarEntry_p = pointer to the pointer to the varentry
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplObdSearchVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdVarEntry MEM** ppVarEntry_p)
+{
+
+tEplKernel Ret;
+tEplObdSubEntryPtr pSubindexEntry;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ // get address of subindex entry
+ Ret = EplObdGetEntry (EPL_MCO_INSTANCE_PTR_
+ uiIndex_p, uiSubindex_p, NULL, &pSubindexEntry);
+ if (Ret == kEplSuccessful)
+ {
+ // get var entry
+ Ret = EplObdGetVarEntry (pSubindexEntry, ppVarEntry_p);
+ }
+
+ return Ret;
+
+}
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+EPL_MCO_DECL_INSTANCE_FCT ()
+//---------------------------------------------------------------------------
+//
+// Function: EplObdCallObjectCallback()
+//
+// Description: calls callback function of an object or of a variable
+//
+// Parameters: fpCallback_p
+// pCbParam_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdCallObjectCallback (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdCallback fpCallback_p,
+ tEplObdCbParam MEM* pCbParam_p)
+{
+
+tEplKernel Ret;
+tEplObdCallback MEM fpCallback;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ ASSERT (pCbParam_p != NULL);
+
+ Ret = kEplSuccessful;
+
+ // check address of callback function before calling it
+ if (fpCallback_p != NULL)
+ {
+ // KEIL C51 V6.01 has a bug.
+ // Therefore the parameter fpCallback_p has to be copied in local variable fpCallback.
+ fpCallback = fpCallback_p;
+
+ // call callback function for this object
+ Ret = fpCallback (EPL_MCO_INSTANCE_PARAM_IDX_()
+ pCbParam_p);
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetDataSizeIntern()
+//
+// Description: gets the data size of an object
+// for string objects it returnes the string length
+//
+// Parameters: pSubIndexEntry_p
+//
+// Return: tEplObdSize
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplObdSize EplObdGetDataSizeIntern (tEplObdSubEntryPtr pSubIndexEntry_p)
+{
+
+tEplObdSize DataSize;
+void MEM* pData;
+
+ // If OD entry is defined by macro EPL_OBD_SUBINDEX_ROM_VSTRING
+ // then the current pointer is always NULL. The function
+ // returns the length of default string.
+ DataSize = EplObdGetObjectSize (pSubIndexEntry_p);
+
+ if (pSubIndexEntry_p->m_Type == kEplObdTypVString)
+ {
+ // The pointer to current value can be received from EplObdGetObjectCurrentPtr()
+ pData = ((void MEM*) EplObdGetObjectCurrentPtr (pSubIndexEntry_p));
+ if (pData != NULL)
+ {
+ DataSize = EplObdGetStrLen ((void *) pData, DataSize, pSubIndexEntry_p->m_Type);
+ }
+
+ }
+
+ return DataSize;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetStrLen()
+//
+// Description: The function calculates the length of string. The '\0'
+// character is included!!
+//
+// Parameters: pObjData_p = pointer to string
+// ObjLen_p = max. length of objectr entry
+// bObjType_p = object type (VSTRING, ...)
+//
+// Returns: string length + 1
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplObdSize EplObdGetStrLen (void * pObjData_p,
+ tEplObdSize ObjLen_p,
+ tEplObdType ObjType_p)
+{
+
+tEplObdSize StrLen = 0;
+BYTE * pbString;
+
+ if (pObjData_p == NULL)
+ {
+ goto Exit;
+ }
+
+ //----------------------------------------
+ // Visible String: data format byte
+ if (ObjType_p == kEplObdTypVString)
+ {
+ pbString = pObjData_p;
+
+ for (StrLen = 0; StrLen < ObjLen_p; StrLen++)
+ {
+ if (*pbString == '\0')
+ {
+ StrLen++;
+ break;
+ }
+
+ pbString++;
+ }
+ }
+
+ //----------------------------------------
+ // other string types ...
+
+Exit:
+ return (StrLen);
+
+}
+
+
+
+#if (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdCheckObjectRange()
+//
+// Description: function to check value range of object data
+//
+// NOTICE: The pointer of data (pData_p) must point out to an even address,
+// if ObjType is unequal to kEplObdTypInt8 or kEplObdTypUInt8! But it is
+// always realiced because pointer m_pDefault points always to an
+// array of the SPECIFIED type.
+//
+// Parameters: pSubindexEntry_p
+// pData_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdCheckObjectRange (
+ tEplObdSubEntryPtr pSubindexEntry_p,
+ void * pData_p)
+{
+
+tEplKernel Ret;
+void * pRangeData;
+
+ ASSERTMSG (pSubindexEntry_p != NULL,
+ "EplObdCheckObjectRange(): no address to subindex struct!\n");
+
+ Ret = kEplSuccessful;
+
+ // check if data range has to be checked
+ if ((pSubindexEntry_p->m_Access & kEplObdAccRange) == 0)
+ {
+ goto Exit;
+ }
+
+ // get address of default data
+ pRangeData = pSubindexEntry_p->m_pDefault;
+
+ // jump to called object type
+ switch ((tEplObdType) pSubindexEntry_p->m_Type)
+ {
+ // -----------------------------------------------------------------
+ // ObdType kEplObdTypBool will not be checked because there are only
+ // two possible values 0 or 1.
+
+ // -----------------------------------------------------------------
+ // ObdTypes which has to be check up because numerical values
+ case kEplObdTypInt8:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdInteger8 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdInteger8 *) pData_p) < *((tEplObdInteger8 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdInteger8 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdInteger8 *) pData_p) > *((tEplObdInteger8 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ case kEplObdTypUInt8:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdUnsigned8 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdUnsigned8 *) pData_p) < *((tEplObdUnsigned8 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdUnsigned8*) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdUnsigned8 *) pData_p) > *((tEplObdUnsigned8 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ case kEplObdTypInt16:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdInteger16 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdInteger16 *) pData_p) < *((tEplObdInteger16 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdInteger16 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdInteger16 *) pData_p) > *((tEplObdInteger16 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ case kEplObdTypUInt16:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdUnsigned16 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdUnsigned16 *) pData_p) < *((tEplObdUnsigned16 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdUnsigned16 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdUnsigned16 *) pData_p) > *((tEplObdUnsigned16 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ case kEplObdTypInt32:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdInteger32 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdInteger32 *) pData_p) < *((tEplObdInteger32 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdInteger32 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdInteger32 *) pData_p) > *((tEplObdInteger32 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ case kEplObdTypUInt32:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdUnsigned32 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdUnsigned32 *) pData_p) < *((tEplObdUnsigned32 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdUnsigned32 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdUnsigned32 *) pData_p) > *((tEplObdUnsigned32 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ case kEplObdTypReal32:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdReal32 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdReal32 *) pData_p) < *((tEplObdReal32 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdReal32 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdReal32 *) pData_p) > *((tEplObdReal32 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt40:
+ case kEplObdTypInt48:
+ case kEplObdTypInt56:
+ case kEplObdTypInt64:
+
+ // switch to lower limit
+ pRangeData = ((signed QWORD *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((signed QWORD *) pData_p) < *((signed QWORD *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((signed QWORD *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((signed QWORD *) pData_p) > *((signed QWORD *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypUInt40:
+ case kEplObdTypUInt48:
+ case kEplObdTypUInt56:
+ case kEplObdTypUInt64:
+
+ // switch to lower limit
+ pRangeData = ((unsigned QWORD *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((unsigned QWORD *) pData_p) < *((unsigned QWORD *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((unsigned QWORD *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((unsigned QWORD *) pData_p) > *((unsigned QWORD *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypReal64:
+
+ // switch to lower limit
+ pRangeData = ((tEplObdReal64 *) pRangeData) + 1;
+
+ // check if value is to low
+ if (*((tEplObdReal64 *) pData_p) < *((tEplObdReal64 *) pRangeData))
+ {
+ Ret = kEplObdValueTooLow;
+ break;
+ }
+
+ // switch to higher limit
+ pRangeData = ((tEplObdReal64 *) pRangeData) + 1;
+
+ // check if value is to high
+ if (*((tEplObdReal64 *) pData_p) > *((tEplObdReal64 *) pRangeData))
+ {
+ Ret = kEplObdValueTooHigh;
+ }
+
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypTimeOfDay:
+ case kEplObdTypTimeDiff:
+ break;
+
+ // -----------------------------------------------------------------
+ // ObdTypes kEplObdTypXString and kEplObdTypDomain can not be checkt because
+ // they have no numerical value.
+ default:
+
+ Ret = kEplObdUnknownObjectType;
+ break;
+ }
+
+Exit:
+
+ return Ret;
+
+}
+#endif // (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdWriteEntryPre()
+//
+// Description: Function prepares write of data to an OBD entry. Strings
+// are stored with added '\0' character.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplObdWriteEntryPre (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ void** ppDstData_p,
+ tEplObdSize Size_p,
+ tEplObdEntryPtr* ppObdEntry_p,
+ tEplObdSubEntryPtr* ppSubEntry_p,
+ tEplObdCbParam MEM* pCbParam_p,
+ tEplObdSize* pObdSize_p)
+{
+
+tEplKernel Ret;
+tEplObdEntryPtr pObdEntry;
+tEplObdSubEntryPtr pSubEntry;
+tEplObdAccess Access;
+void MEM* pDstData;
+tEplObdSize ObdSize;
+BOOL fEntryNumerical;
+
+#if (EPL_OBD_USE_STRING_DOMAIN_IN_RAM != FALSE)
+ tEplObdVStringDomain MEM MemVStringDomain;
+ void MEM* pCurrData;
+#endif
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ ASSERT (pSrcData_p != NULL); // should never be NULL
+
+ //------------------------------------------------------------------------
+ // get address of index and subindex entry
+ Ret = EplObdGetEntry (EPL_MCO_INSTANCE_PTR_
+ uiIndex_p, uiSubIndex_p, &pObdEntry, &pSubEntry);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // get pointer to object data
+ pDstData = (void MEM*) EplObdGetObjectDataPtrIntern (pSubEntry);
+
+ Access = (tEplObdAccess) pSubEntry->m_Access;
+
+ // check access for write
+ // access violation if adress to current value is NULL
+ if ( ((Access & kEplObdAccConst) != 0) ||
+ (pDstData == NULL) )
+ {
+ Ret = kEplObdAccessViolation;
+ goto Exit;
+ }
+
+ //------------------------------------------------------------------------
+ // get size of object
+ // -as ObdSize = ObdGetObjectSize (pSubEntry);
+
+ //------------------------------------------------------------------------
+ // To use the same callback function for ObdWriteEntry as well as for
+ // an SDO download call at first (kEplObdEvPre...) the callback function
+ // with the argument pointer to object size.
+ pCbParam_p->m_uiIndex = uiIndex_p;
+ pCbParam_p->m_uiSubIndex = uiSubIndex_p;
+
+ // Because object size and object pointer are
+ // adapted by user callback function, re-read
+ // this values.
+ ObdSize = EplObdGetObjectSize (pSubEntry);
+ pDstData = (void MEM*) EplObdGetObjectDataPtrIntern (pSubEntry);
+
+ // 09-dec-2004 r.d.:
+ // Function EplObdWriteEntry() calls new event kEplObdEvWrStringDomain
+ // for String or Domain which lets called module directly change
+ // the data pointer or size. This prevents a recursive call to
+ // the callback function if it calls EplObdGetEntry().
+ #if (EPL_OBD_USE_STRING_DOMAIN_IN_RAM != FALSE)
+ if ( (pSubEntry->m_Type == kEplObdTypVString) ||
+ (pSubEntry->m_Type == kEplObdTypDomain) ||
+ (pSubEntry->m_Type == kEplObdTypOString))
+ {
+ if (pSubEntry->m_Type == kEplObdTypVString)
+ {
+ // reserve one byte for 0-termination
+ // -as ObdSize -= 1;
+ Size_p += 1;
+ }
+
+ // fill out new arg-struct
+ MemVStringDomain.m_DownloadSize = Size_p;
+ MemVStringDomain.m_ObjSize = ObdSize;
+ MemVStringDomain.m_pData = pDstData;
+
+ pCbParam_p->m_ObdEvent = kEplObdEvWrStringDomain;
+ pCbParam_p->m_pArg = &MemVStringDomain;
+ // call user callback
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, pCbParam_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // write back new settings
+ pCurrData = pSubEntry->m_pCurrent;
+ if ((pSubEntry->m_Type == kEplObdTypVString)
+ ||(pSubEntry->m_Type == kEplObdTypOString))
+ {
+ ((tEplObdVString MEM*) pCurrData)->m_Size = MemVStringDomain.m_ObjSize;
+ ((tEplObdVString MEM*) pCurrData)->m_pString = MemVStringDomain.m_pData;
+ }
+ else // if (pSdosTableEntry_p->m_bObjType == kEplObdTypDomain)
+ {
+ ((tEplObdVarEntry MEM*) pCurrData)->m_Size = MemVStringDomain.m_ObjSize;
+ ((tEplObdVarEntry MEM*) pCurrData)->m_pData = (void MEM*) MemVStringDomain.m_pData;
+ }
+
+ // Because object size and object pointer are
+ // adapted by user callback function, re-read
+ // this values.
+ ObdSize = MemVStringDomain.m_ObjSize;
+ pDstData = (void MEM*) MemVStringDomain.m_pData;
+ }
+ #endif //#if (OBD_USE_STRING_DOMAIN_IN_RAM != FALSE)
+
+ // 07-dec-2004 r.d.: size from application is needed because callback function can change the object size
+ // -as 16.11.04 CbParam.m_pArg = &ObdSize;
+ // 09-dec-2004 r.d.: CbParam.m_pArg = &Size_p;
+ pCbParam_p->m_pArg = &ObdSize;
+ pCbParam_p->m_ObdEvent = kEplObdEvInitWrite;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, pCbParam_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if (Size_p > ObdSize)
+ {
+ Ret = kEplObdValueLengthError;
+ goto Exit;
+ }
+
+ if (pSubEntry->m_Type == kEplObdTypVString)
+ {
+ if (((char MEM*) pSrcData_p)[Size_p - 1] == '\0')
+ { // last byte of source string contains null character
+
+ // reserve one byte in destination for 0-termination
+ Size_p -= 1;
+ }
+ else if (Size_p >= ObdSize)
+ { // source string is not 0-terminated
+ // and destination buffer is too short
+ Ret = kEplObdValueLengthError;
+ goto Exit;
+ }
+ }
+
+ Ret = EplObdIsNumericalIntern(pSubEntry, &fEntryNumerical);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if ((fEntryNumerical != FALSE)
+ && (Size_p != ObdSize))
+ {
+ // type is numerical, therefor size has to fit, but it does not.
+ Ret = kEplObdValueLengthError;
+ goto Exit;
+ }
+
+ // use given size, because non-numerical objects can be written with shorter values
+ ObdSize = Size_p;
+
+ // set output parameters
+ *pObdSize_p = ObdSize;
+ *ppObdEntry_p = pObdEntry;
+ *ppSubEntry_p = pSubEntry;
+ *ppDstData_p = pDstData;
+
+ // all checks are done
+ // the caller may now convert the numerial source value to platform byte order in a temporary buffer
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdWriteEntryPost()
+//
+// Description: Function finishes write of data to an OBD entry. Strings
+// are stored with added '\0' character.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplObdWriteEntryPost (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdEntryPtr pObdEntry_p,
+ tEplObdSubEntryPtr pSubEntry_p,
+ tEplObdCbParam MEM* pCbParam_p,
+ void * pSrcData_p,
+ void * pDstData_p,
+ tEplObdSize ObdSize_p)
+{
+
+tEplKernel Ret;
+
+
+ // caller converted the source value to platform byte order
+ // now the range of the value may be checked
+
+ #if (EPL_OBD_CHECK_OBJECT_RANGE != FALSE)
+ {
+ // check data range
+ Ret = EplObdCheckObjectRange (pSubEntry_p, pSrcData_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ #endif
+
+ // now call user callback function to check value
+ // write address of source data to structure of callback parameters
+ // so callback function can check this data
+ pCbParam_p->m_pArg = pSrcData_p;
+ pCbParam_p->m_ObdEvent = kEplObdEvPreWrite;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry_p->m_fpCallback, pCbParam_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // copy object data to OBD
+ EPL_MEMCPY (pDstData_p, pSrcData_p, ObdSize_p);
+
+ // terminate string with 0
+ if (pSubEntry_p->m_Type == kEplObdTypVString)
+ {
+ ((char MEM*) pDstData_p)[ObdSize_p] = '\0';
+ }
+
+ // write address of destination to structure of callback parameters
+ // so callback function can change data subsequently
+ pCbParam_p->m_pArg = pDstData_p;
+ pCbParam_p->m_ObdEvent = kEplObdEvPostWrite;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry_p->m_fpCallback, pCbParam_p);
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetObjectSize()
+//
+// Description: function to get size of object
+// The function determines if an object type an fixed data type (BYTE, WORD, ...)
+// or non fixed object (string, domain). This information is used to decide
+// if download data are stored temporary or not. For objects with fixed data length
+// and types a value range checking can process.
+// For strings the function returns the whole object size not the
+// length of string.
+//
+// Parameters: pSubIndexEntry_p
+//
+// Return: tEplObdSize
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplObdSize EplObdGetObjectSize (tEplObdSubEntryPtr pSubIndexEntry_p)
+{
+
+tEplObdSize DataSize = 0;
+void * pData;
+
+ switch (pSubIndexEntry_p->m_Type)
+ {
+ // -----------------------------------------------------------------
+ case kEplObdTypBool:
+
+ DataSize = 1;
+ break;
+
+ // -----------------------------------------------------------------
+ // ObdTypes which has to be check because numerical values
+ case kEplObdTypInt8:
+ DataSize = sizeof (tEplObdInteger8);
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypUInt8:
+ DataSize = sizeof (tEplObdUnsigned8);
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt16:
+ DataSize = sizeof (tEplObdInteger16);
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypUInt16:
+ DataSize = sizeof (tEplObdUnsigned16);
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt32:
+ DataSize = sizeof (tEplObdInteger32);
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypUInt32:
+ DataSize = sizeof (tEplObdUnsigned32);
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypReal32:
+ DataSize = sizeof (tEplObdReal32);
+ break;
+
+ // -----------------------------------------------------------------
+ // ObdTypes which has to be not checked because not NUM values
+ case kEplObdTypDomain:
+
+ pData = (void *) pSubIndexEntry_p->m_pCurrent;
+ if ((void MEM*) pData != (void MEM*) NULL)
+ {
+ DataSize = ((tEplObdVarEntry MEM*) pData)->m_Size;
+ }
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypVString:
+ //case kEplObdTypUString:
+
+ // If OD entry is defined by macro EPL_OBD_SUBINDEX_ROM_VSTRING
+ // then the current pointer is always NULL. The function
+ // returns the length of default string.
+ pData = (void *) pSubIndexEntry_p->m_pCurrent;
+ if ((void MEM*) pData != (void MEM*) NULL)
+ {
+ // The max. size of strings defined by STRING-Macro is stored in
+ // tEplObdVString of current value.
+ // (types tEplObdVString, tEplObdOString and tEplObdUString has the same members)
+ DataSize = ((tEplObdVString MEM*) pData)->m_Size;
+ }
+ else
+ {
+ // The current position is not decleared. The string
+ // is located in ROM, therefor use default pointer.
+ pData = (void *) pSubIndexEntry_p->m_pDefault;
+ if ((CONST void ROM*) pData != (CONST void ROM*) NULL)
+ {
+ // The max. size of strings defined by STRING-Macro is stored in
+ // tEplObdVString of default value.
+ DataSize = ((CONST tEplObdVString ROM*) pData)->m_Size;
+ }
+ }
+
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypOString:
+
+ pData = (void *) pSubIndexEntry_p->m_pCurrent;
+ if ((void MEM*) pData != (void MEM*) NULL)
+ {
+ // The max. size of strings defined by STRING-Macro is stored in
+ // tEplObdVString of current value.
+ // (types tEplObdVString, tEplObdOString and tEplObdUString has the same members)
+ DataSize = ((tEplObdOString MEM*) pData)->m_Size;
+ }
+ else
+ {
+ // The current position is not decleared. The string
+ // is located in ROM, therefor use default pointer.
+ pData = (void *) pSubIndexEntry_p->m_pDefault;
+ if ((CONST void ROM*) pData != (CONST void ROM*) NULL)
+ {
+ // The max. size of strings defined by STRING-Macro is stored in
+ // tEplObdVString of default value.
+ DataSize = ((CONST tEplObdOString ROM*) pData)->m_Size;
+ }
+ }
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt24:
+ case kEplObdTypUInt24:
+
+ DataSize = 3;
+ break;
+
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt40:
+ case kEplObdTypUInt40:
+
+ DataSize = 5;
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt48:
+ case kEplObdTypUInt48:
+
+ DataSize = 6;
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt56:
+ case kEplObdTypUInt56:
+
+ DataSize = 7;
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypInt64:
+ case kEplObdTypUInt64:
+ case kEplObdTypReal64:
+
+ DataSize = 8;
+ break;
+
+ // -----------------------------------------------------------------
+ case kEplObdTypTimeOfDay:
+ case kEplObdTypTimeDiff:
+
+ DataSize = 6;
+ break;
+
+ // -----------------------------------------------------------------
+ default:
+ break;
+ }
+
+ return DataSize;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetObjectDefaultPtr()
+//
+// Description: function to get the default pointer (type specific)
+//
+// Parameters: pSubIndexEntry_p = pointer to subindex structure
+//
+// Returns: (void *) = pointer to default value
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static void * EplObdGetObjectDefaultPtr (tEplObdSubEntryPtr pSubIndexEntry_p)
+{
+
+void * pDefault;
+tEplObdType Type;
+
+ ASSERTMSG (pSubIndexEntry_p != NULL, "EplObdGetObjectDefaultPtr(): pointer to SubEntry not valid!\n");
+
+ // get address to default data from default pointer
+ pDefault = pSubIndexEntry_p->m_pDefault;
+ if (pDefault != NULL)
+ {
+ // there are some special types, whose default pointer always is NULL or has to get from other structure
+ // get type from subindex structure
+ Type = pSubIndexEntry_p->m_Type;
+
+ // check if object type is a string value
+ if ((Type == kEplObdTypVString) /* ||
+ (Type == kEplObdTypUString) */ )
+ {
+
+ // EPL_OBD_SUBINDEX_RAM_VSTRING
+ // tEplObdSize m_Size; --> size of default string
+ // char * m_pDefString; --> pointer to default string
+ // char * m_pString; --> pointer to string in RAM
+ //
+ pDefault = (void *) ((tEplObdVString *) pDefault)->m_pString;
+ }
+ else if(Type == kEplObdTypOString)
+ {
+ pDefault = (void *) ((tEplObdOString *) pDefault)->m_pString;
+ }
+ }
+
+ return pDefault;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetVarEntry()
+//
+// Description: gets a variable entry of an object
+//
+// Parameters: pSubindexEntry_p
+// ppVarEntry_p
+//
+// Return: tCopKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdGetVarEntry (
+ tEplObdSubEntryPtr pSubindexEntry_p,
+ tEplObdVarEntry MEM** ppVarEntry_p)
+{
+
+tEplKernel Ret = kEplObdVarEntryNotExist;
+
+ ASSERT (ppVarEntry_p != NULL); // is not allowed to be NULL
+ ASSERT (pSubindexEntry_p != NULL);
+
+ // check VAR-Flag - only this object points to variables
+ if ((pSubindexEntry_p->m_Access & kEplObdAccVar) != 0)
+ {
+ // check if object is an array
+ if ((pSubindexEntry_p->m_Access & kEplObdAccArray) != 0)
+ {
+ *ppVarEntry_p = &((tEplObdVarEntry MEM*) pSubindexEntry_p->m_pCurrent)[pSubindexEntry_p->m_uiSubIndex - 1];
+ }
+ else
+ {
+ *ppVarEntry_p = (tEplObdVarEntry MEM*) pSubindexEntry_p->m_pCurrent;
+ }
+
+ Ret = kEplSuccessful;
+ }
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetEntry()
+//
+// Description: gets a index entry from OD
+//
+// Parameters: uiIndex_p = Index number
+// uiSubindex_p = Subindex number
+// ppObdEntry_p = pointer to the pointer to the entry
+// ppObdSubEntry_p = pointer to the pointer to the subentry
+//
+// Return: tEplKernel
+
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdGetEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdEntryPtr* ppObdEntry_p,
+ tEplObdSubEntryPtr* ppObdSubEntry_p)
+{
+
+tEplObdEntryPtr pObdEntry;
+tEplObdCbParam MEM CbParam;
+tEplKernel Ret;
+
+ // check for all API function if instance is valid
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ //------------------------------------------------------------------------
+ // get address of entry of index
+ Ret = EplObdGetIndexIntern (&EPL_MCO_GLB_VAR (m_ObdInitParam), uiIndex_p, &pObdEntry);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ //------------------------------------------------------------------------
+ // get address of entry of subindex
+ Ret = EplObdGetSubindexIntern (pObdEntry, uiSubindex_p, ppObdSubEntry_p);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ //------------------------------------------------------------------------
+ // call callback function to inform user/stack that an object will be searched
+ // if the called module returnes an error then we abort the searching with kEplObdIndexNotExist
+ CbParam.m_uiIndex = uiIndex_p;
+ CbParam.m_uiSubIndex = uiSubindex_p;
+ CbParam.m_pArg = NULL;
+ CbParam.m_ObdEvent = kEplObdEvCheckExist;
+ Ret = EplObdCallObjectCallback (EPL_MCO_INSTANCE_PTR_
+ pObdEntry->m_fpCallback, &CbParam);
+ if (Ret != kEplSuccessful)
+ {
+ Ret = kEplObdIndexNotExist;
+ goto Exit;
+ }
+
+ //------------------------------------------------------------------------
+ // it is allowed to set ppObdEntry_p to NULL
+ // if so, no address will be written to calling function
+ if (ppObdEntry_p != NULL)
+ {
+ *ppObdEntry_p = pObdEntry;
+ }
+
+Exit:
+
+ return Ret;
+
+}
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetObjectCurrentPtr()
+//
+// Description: function to get Current pointer (type specific)
+//
+// Parameters: pSubIndexEntry_p
+//
+// Return: void MEM*
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static void MEM* EplObdGetObjectCurrentPtr (tEplObdSubEntryPtr pSubIndexEntry_p)
+{
+
+void MEM* pData;
+unsigned int uiArrayIndex;
+tEplObdSize Size;
+
+ pData = pSubIndexEntry_p->m_pCurrent;
+
+ // check if constant object
+ if (pData != NULL)
+ {
+ // check if object is an array
+ if ((pSubIndexEntry_p->m_Access & kEplObdAccArray) != 0)
+ {
+ // calculate correct data pointer
+ uiArrayIndex = pSubIndexEntry_p->m_uiSubIndex - 1;
+ if ((pSubIndexEntry_p->m_Access & kEplObdAccVar) != 0)
+ {
+ Size = sizeof (tEplObdVarEntry);
+ }
+ else
+ {
+ Size = EplObdGetObjectSize (pSubIndexEntry_p);
+ }
+ pData = ((BYTE MEM*) pData) + (Size * uiArrayIndex);
+ }
+
+ // check if VarEntry
+ if ((pSubIndexEntry_p->m_Access & kEplObdAccVar) != 0)
+ {
+ // The data pointer is stored in VarEntry->pData
+ pData = ((tEplObdVarEntry MEM*) pData)->m_pData;
+ }
+
+ // the default pointer is stored for strings in tEplObdVString
+ else if ((pSubIndexEntry_p->m_Type == kEplObdTypVString) /* ||
+ (pSubIndexEntry_p->m_Type == kEplObdTypUString) */ )
+ {
+ pData = (void MEM*) ((tEplObdVString MEM*) pData)->m_pString;
+ }
+ else if (pSubIndexEntry_p->m_Type == kEplObdTypOString)
+ {
+ pData = (void MEM*) ((tEplObdOString MEM*) pData)->m_pString;
+ }
+ }
+
+ return pData;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetIndexIntern()
+//
+// Description: gets a index entry from OD
+//
+// Parameters: pInitParam_p
+// uiIndex_p
+// ppObdEntry_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdGetIndexIntern (
+ tEplObdInitParam MEM* pInitParam_p,
+ unsigned int uiIndex_p,
+ tEplObdEntryPtr* ppObdEntry_p)
+{
+
+tEplObdEntryPtr pObdEntry;
+tEplKernel Ret;
+unsigned int uiIndex;
+
+#if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+
+unsigned int nLoop;
+
+ // if user OD is used then objekts also has to be searched in user OD
+ // there is less code need if we do this in a loop
+ nLoop = 2;
+
+#endif
+
+ ASSERTMSG (ppObdEntry_p != NULL, "EplObdGetIndexIntern(): pointer to index entry is NULL!\n");
+
+ Ret = kEplObdIndexNotExist;
+
+ // get start address of OD part
+ // start address depends on object index because
+ // object dictionary is divided in 3 parts
+ if ((uiIndex_p >= 0x1000) && (uiIndex_p < 0x2000))
+ {
+ pObdEntry = pInitParam_p->m_pPart;
+ }
+ else if ((uiIndex_p >= 0x2000) && (uiIndex_p < 0x6000))
+ {
+ pObdEntry = pInitParam_p->m_pManufacturerPart;
+ }
+
+ // index range 0xA000 to 0xFFFF is reserved for DSP-405
+ // DS-301 defines that range 0x6000 to 0x9FFF (!!!) is stored if "store" was written to 0x1010/3.
+ // Therefore default configuration is OBD_INCLUDE_A000_TO_DEVICE_PART = FALSE.
+ // But a CANopen Application which does not implement dynamic OD or user-OD but wants to use static objets 0xA000...
+ // should set OBD_INCLUDE_A000_TO_DEVICE_PART to TRUE.
+
+#if (EPL_OBD_INCLUDE_A000_TO_DEVICE_PART == FALSE)
+ else if ((uiIndex_p >= 0x6000) && (uiIndex_p < 0x9FFF))
+#else
+ else if ((uiIndex_p >= 0x6000) && (uiIndex_p < 0xFFFF))
+#endif
+ {
+ pObdEntry = pInitParam_p->m_pDevicePart;
+ }
+
+
+#if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+
+ // if index does not match in static OD then index only has to be searched in user OD
+ else
+ {
+ // begin from first entry of user OD part
+ pObdEntry = pInitParam_p->m_pUserPart;
+
+ // no user OD is available
+ if (pObdEntry == NULL)
+ {
+ goto Exit;
+ }
+
+ // loop must only run once
+ nLoop = 1;
+ }
+
+ do
+ {
+
+#else
+
+ // no user OD is available
+ // so other object can be found in OD
+ else
+ {
+ Ret = kEplObdIllegalPart;
+ goto Exit;
+ }
+
+#endif
+
+ // note:
+ // The end of Index table is marked with m_uiIndex = 0xFFFF.
+ // If this function will be called with wIndex_p = 0xFFFF, entry
+ // should not be found. Therefor it is important to use
+ // while{} instead of do{}while !!!
+
+ // get first index of index table
+ uiIndex = pObdEntry->m_uiIndex;
+
+ // search Index in OD part
+ while (uiIndex != EPL_OBD_TABLE_INDEX_END)
+ {
+ // go to the end of this function if index is found
+ if (uiIndex_p == uiIndex)
+ {
+ // write address of OD entry to calling function
+ *ppObdEntry_p = pObdEntry;
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+
+ // objects are sorted in OD
+ // if the current index in OD is greater than the index which is to search then break loop
+ // in this case user OD has to be search too
+ if (uiIndex_p < uiIndex)
+ {
+ break;
+ }
+
+ // next entry in index table
+ pObdEntry++;
+
+ // get next index of index table
+ uiIndex = pObdEntry->m_uiIndex;
+ }
+
+#if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+
+ // begin from first entry of user OD part
+ pObdEntry = pInitParam_p->m_pUserPart;
+
+ // no user OD is available
+ if (pObdEntry == NULL)
+ {
+ goto Exit;
+ }
+
+ // switch next loop for user OD
+ nLoop--;
+
+ } while (nLoop > 0);
+
+#endif
+
+ // in this line Index was not found
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetSubindexIntern()
+//
+// Description: gets a subindex entry from a index entry
+//
+// Parameters: pObdEntry_p
+// bSubIndex_p
+// ppObdSubEntry_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdGetSubindexIntern (
+ tEplObdEntryPtr pObdEntry_p,
+ unsigned int uiSubIndex_p,
+ tEplObdSubEntryPtr* ppObdSubEntry_p)
+{
+
+tEplObdSubEntryPtr pSubEntry;
+unsigned int nSubIndexCount;
+tEplKernel Ret;
+
+ ASSERTMSG (pObdEntry_p != NULL, "EplObdGetSubindexIntern(): pointer to index is NULL!\n");
+ ASSERTMSG (ppObdSubEntry_p != NULL, "EplObdGetSubindexIntern(): pointer to subindex is NULL!\n");
+
+ Ret = kEplObdSubindexNotExist;
+
+ // get start address of subindex table and count of subindices
+ pSubEntry = pObdEntry_p->m_pSubIndex;
+ nSubIndexCount = pObdEntry_p->m_uiCount;
+ ASSERTMSG ((pSubEntry != NULL) && (nSubIndexCount > 0),
+ "ObdGetSubindexIntern(): invalid subindex table within index table!\n"); // should never be NULL
+
+ // search subindex in subindex table
+ while (nSubIndexCount > 0)
+ {
+ // check if array is found
+ if ((pSubEntry->m_Access & kEplObdAccArray) != 0)
+ {
+ // check if subindex is in range
+ if (uiSubIndex_p < pObdEntry_p->m_uiCount)
+ {
+ // update subindex number (subindex entry of an array is always in RAM !!!)
+ pSubEntry->m_uiSubIndex = uiSubIndex_p;
+ *ppObdSubEntry_p = pSubEntry;
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ }
+
+ // go to the end of this function if subindex is found
+ else if (uiSubIndex_p == pSubEntry->m_uiSubIndex)
+ {
+ *ppObdSubEntry_p = pSubEntry;
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+
+ // objects are sorted in OD
+ // if the current subindex in OD is greater than the subindex which is to search then break loop
+ // in this case user OD has to be search too
+ if (uiSubIndex_p < pSubEntry->m_uiSubIndex)
+ {
+ break;
+ }
+
+ pSubEntry++;
+ nSubIndexCount--;
+ }
+
+ // in this line SubIndex was not fount
+
+Exit:
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdSetStoreLoadObjCallback()
+//
+// Description: function set address to callbackfunction for command Store and Load
+//
+// Parameters: fpCallback_p
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if (EPL_OBD_USE_STORE_RESTORE != FALSE)
+EPLDLLEXPORT tEplKernel PUBLIC EplObdSetStoreLoadObjCallback (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdStoreLoadObjCallback fpCallback_p)
+{
+
+ EPL_MCO_CHECK_INSTANCE_STATE ();
+
+ // set new address of callback function
+ EPL_MCO_GLB_VAR (m_fpStoreLoadObjCallback) = fpCallback_p;
+
+ return kEplSuccessful;
+
+}
+#endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdAccessOdPartIntern()
+//
+// Description: runs through OD and executes a job
+//
+// Parameters: CurrentOdPart_p
+// pObdEnty_p
+// Direction_p = what is to do (load values from flash or EEPROM, store, ...)
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplObdAccessOdPartIntern (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdPart CurrentOdPart_p,
+ tEplObdEntryPtr pObdEnty_p,
+ tEplObdDir Direction_p)
+{
+
+tEplObdSubEntryPtr pSubIndex;
+unsigned int nSubIndexCount;
+tEplObdAccess Access;
+void MEM* pDstData;
+void * pDefault;
+tEplObdSize ObjSize;
+tEplKernel Ret;
+tEplObdCbStoreParam MEM CbStore;
+tEplObdVarEntry MEM* pVarEntry;
+
+ ASSERT (pObdEnty_p != NULL);
+
+ Ret = kEplSuccessful;
+
+ // prepare structure for STORE RESTORE callback function
+ CbStore.m_bCurrentOdPart = (BYTE) CurrentOdPart_p;
+ CbStore.m_pData = NULL;
+ CbStore.m_ObjSize = 0;
+
+ // command of first action depends on direction to access
+ #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
+ if (Direction_p == kEplObdDirLoad)
+ {
+ CbStore.m_bCommand = (BYTE) kEplObdCommOpenRead;
+
+ // call callback function for previous command
+ Ret = EplObdCallStoreCallback (EPL_MCO_INSTANCE_PTR_
+ &CbStore);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // set command for index and subindex loop
+ CbStore.m_bCommand = (BYTE) kEplObdCommReadObj;
+ }
+ else if (Direction_p == kEplObdDirStore)
+ {
+ CbStore.m_bCommand = (BYTE) kEplObdCommOpenWrite;
+
+ // call callback function for previous command
+ Ret = EplObdCallStoreCallback (EPL_MCO_INSTANCE_PTR_
+ &CbStore);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // set command for index and subindex loop
+ CbStore.m_bCommand = (BYTE) kEplObdCommWriteObj;
+ }
+ #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
+
+ // we should not restore the OD values here
+ // the next NMT command "Reset Node" or "Reset Communication" resets the OD data
+ if (Direction_p != kEplObdDirRestore)
+ {
+ // walk through OD part till end is found
+ while (pObdEnty_p->m_uiIndex != EPL_OBD_TABLE_INDEX_END)
+ {
+ // get address to subindex table and count of subindices
+ pSubIndex = pObdEnty_p->m_pSubIndex;
+ nSubIndexCount = pObdEnty_p->m_uiCount;
+ ASSERT ((pSubIndex != NULL) && (nSubIndexCount > 0)); // should never be NULL
+
+ // walk through subindex table till all subinices were restored
+ while (nSubIndexCount != 0)
+ {
+ Access = (tEplObdAccess) pSubIndex->m_Access;
+
+ // get pointer to current and default data
+ pDefault = EplObdGetObjectDefaultPtr (pSubIndex);
+ pDstData = EplObdGetObjectCurrentPtr (pSubIndex);
+
+ // NOTE (for kEplObdTypVString):
+ // The function returnes the max. number of bytes for a
+ // current string.
+ // r.d.: For stings the default-size will be read in other lines following (kEplObdDirInit).
+ ObjSize = EplObdGetObjectSize (pSubIndex);
+
+ // switch direction of OD access
+ switch (Direction_p)
+ {
+ // --------------------------------------------------------------------------
+ // VarEntry structures has to be initialized
+ case kEplObdDirInit:
+
+ // If VAR-Flag is set, m_pCurrent means not address of data
+ // but address of tEplObdVarEntry. Address of data has to be get from
+ // this structure.
+ if ((Access & kEplObdAccVar) != 0)
+ {
+ EplObdGetVarEntry (pSubIndex, &pVarEntry);
+ EplObdInitVarEntry (pVarEntry, pSubIndex->m_Type, ObjSize);
+/*
+ if ((Access & kEplObdAccArray) == 0)
+ {
+ EplObdInitVarEntry (pSubIndex->m_pCurrent, pSubIndex->m_Type, ObjSize);
+ }
+ else
+ {
+ EplObdInitVarEntry ((tEplObdVarEntry MEM*) (((BYTE MEM*) pSubIndex->m_pCurrent) + (sizeof (tEplObdVarEntry) * pSubIndex->m_uiSubIndex)),
+ pSubIndex->m_Type, ObjSize);
+ }
+*/
+ // at this time no application variable is defined !!!
+ // therefore data can not be copied.
+ break;
+ }
+ else if (pSubIndex->m_Type == kEplObdTypVString)
+ {
+ // If pointer m_pCurrent is not equal to NULL then the
+ // string was defined with EPL_OBD_SUBINDEX_RAM_VSTRING. The current
+ // pointer points to struct tEplObdVString located in MEM.
+ // The element size includes the max. number of
+ // bytes. The element m_pString includes the pointer
+ // to string in MEM. The memory location of default string
+ // must be copied to memory location of current string.
+
+ pDstData = pSubIndex->m_pCurrent;
+ if (pDstData != NULL)
+ {
+ // 08-dec-2004: code optimization !!!
+ // entries ((tEplObdVStringDef ROM*) pSubIndex->m_pDefault)->m_pString
+ // and ((tEplObdVStringDef ROM*) pSubIndex->m_pDefault)->m_Size were read
+ // twice. thats not necessary!
+
+ // For copying data we have to set the destination pointer to the real RAM string. This
+ // pointer to RAM string is located in default string info structure. (translated r.d.)
+ pDstData = (void MEM*) ((tEplObdVStringDef ROM*) pSubIndex->m_pDefault)->m_pString;
+ ObjSize = ((tEplObdVStringDef ROM*) pSubIndex->m_pDefault)->m_Size;
+
+
+ ((tEplObdVString MEM*) pSubIndex->m_pCurrent)->m_pString = pDstData;
+ ((tEplObdVString MEM*) pSubIndex->m_pCurrent)->m_Size = ObjSize;
+ }
+
+ }
+ else if(pSubIndex->m_Type == kEplObdTypOString)
+ {
+ pDstData = pSubIndex->m_pCurrent;
+ if (pDstData != NULL)
+ {
+ // 08-dec-2004: code optimization !!!
+ // entries ((tEplObdOStringDef ROM*) pSubIndex->m_pDefault)->m_pString
+ // and ((tEplObdOStringDef ROM*) pSubIndex->m_pDefault)->m_Size were read
+ // twice. thats not necessary!
+
+ // For copying data we have to set the destination pointer to the real RAM string. This
+ // pointer to RAM string is located in default string info structure. (translated r.d.)
+ pDstData = (void MEM*) ((tEplObdOStringDef ROM*) pSubIndex->m_pDefault)->m_pString;
+ ObjSize = ((tEplObdOStringDef ROM*) pSubIndex->m_pDefault)->m_Size;
+
+
+ ((tEplObdOString MEM*) pSubIndex->m_pCurrent)->m_pString = pDstData;
+ ((tEplObdOString MEM*) pSubIndex->m_pCurrent)->m_Size = ObjSize;
+ }
+
+ }
+
+
+ // no break !! because copy of data has to done too.
+
+ // --------------------------------------------------------------------------
+ // all objects has to be restored with default values
+ case kEplObdDirRestore:
+
+ // 09-dec-2004 r.d.: optimization! the same code for kEplObdDirRestore and kEplObdDirLoad
+ // is replaced to function ObdCopyObjectData() with a new parameter.
+
+
+ // restore object data for init phase
+ EplObdCopyObjectData (pDstData, pDefault, ObjSize, pSubIndex->m_Type);
+ break;
+
+ // --------------------------------------------------------------------------
+ // objects with attribute kEplObdAccStore has to be load from EEPROM or from a file
+ case kEplObdDirLoad:
+
+ // restore object data for init phase
+ EplObdCopyObjectData (pDstData, pDefault, ObjSize, pSubIndex->m_Type);
+
+ // no break !! because callback function has to be called too.
+
+ // --------------------------------------------------------------------------
+ // objects with attribute kEplObdAccStore has to be stored in EEPROM or in a file
+ case kEplObdDirStore:
+
+ // when attribute kEplObdAccStore is set, then call callback function
+ #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
+ if ((Access & kEplObdAccStore) != 0)
+ {
+ // fill out data pointer and size of data
+ CbStore.m_pData = pDstData;
+ CbStore.m_ObjSize = ObjSize;
+
+ // call callback function for read or write object
+ Ret = ObdCallStoreCallback (EPL_MCO_INSTANCE_PTR_
+ &CbStore);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
+ break;
+
+
+ // --------------------------------------------------------------------------
+ // if OD Builder key has to be checked no access to subindex and data should be made
+ case kEplObdDirOBKCheck:
+
+ // no break !! because we want to break the second loop too.
+
+
+ // --------------------------------------------------------------------------
+ // unknown Direction
+ default:
+
+ // so we can break the second loop earler
+ nSubIndexCount = 1;
+ break;
+ }
+
+ nSubIndexCount--;
+
+ // next subindex entry
+ if ((Access & kEplObdAccArray) == 0)
+ {
+ pSubIndex++;
+ if ((nSubIndexCount > 0)
+ && ((pSubIndex->m_Access & kEplObdAccArray) != 0))
+ {
+ // next subindex points to an array
+ // reset subindex number
+ pSubIndex->m_uiSubIndex = 1;
+ }
+ }
+ else
+ {
+ if (nSubIndexCount > 0)
+ {
+ // next subindex points to an array
+ // increment subindex number
+ pSubIndex->m_uiSubIndex++;
+ }
+ }
+ }
+
+ // next index entry
+ pObdEnty_p++;
+ }
+ }
+
+ // -----------------------------------------------------------------------------------------
+ // command of last action depends on direction to access
+ if (Direction_p == kEplObdDirOBKCheck)
+ {
+
+ goto Exit;
+ }
+ #if (EPL_OBD_USE_STORE_RESTORE != FALSE)
+ else
+ {
+ if (Direction_p == kEplObdDirLoad)
+ {
+ CbStore.m_bCommand = (BYTE) kEplObdCommCloseRead;
+ }
+ else if (Direction_p == kEplObdDirStore)
+ {
+ CbStore.m_bCommand = (BYTE) kEplObdCommCloseWrite;
+ }
+ else if (Direction_p == kEplObdDirRestore)
+ {
+ CbStore.m_bCommand = (BYTE) kEplObdCommClear;
+ }
+ else
+ {
+ goto Exit;
+ }
+
+ // call callback function for last command
+ Ret = EplObdCallStoreCallback (EPL_MCO_INSTANCE_PTR_
+ &CbStore);
+ }
+ #endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
+
+// goto Exit;
+
+Exit:
+
+ return Ret;
+
+}
+
+
+// ----------------------------------------------------------------------------
+// Function: EplObdCopyObjectData()
+//
+// Description: checks pointers to object data and copy them from source to destination
+//
+// Parameters: pDstData_p = destination pointer
+// pSrcData_p = source pointer
+// ObjSize_p = size of object
+// ObjType_p =
+//
+// Returns: tEplKernel = error code
+// ----------------------------------------------------------------------------
+
+static void EplObdCopyObjectData (
+ void MEM* pDstData_p,
+ void * pSrcData_p,
+ tEplObdSize ObjSize_p,
+ tEplObdType ObjType_p)
+{
+
+
+tEplObdSize StrSize = 0;
+
+
+ // it is allowed to set default and current address to NULL (nothing to copy)
+ if (pDstData_p != NULL)
+ {
+
+ if (ObjType_p == kEplObdTypVString)
+ {
+ // The function calculates the really number of characters of string. The
+ // object entry size can be bigger as string size of default string.
+ // The '\0'-termination is included. A string with no characters has a
+ // size of 1.
+ StrSize = EplObdGetStrLen ((void *) pSrcData_p, ObjSize_p, kEplObdTypVString);
+
+ // If the string length is greater than or equal to the entry size in OD then only copy
+ // entry size - 1 and always set the '\0'-termination.
+ if (StrSize >= ObjSize_p)
+ {
+ StrSize = ObjSize_p - 1;
+ }
+ }
+
+ if (pSrcData_p != NULL)
+ {
+ // copy data
+ EPL_MEMCPY (pDstData_p, pSrcData_p, ObjSize_p);
+
+ if (ObjType_p == kEplObdTypVString)
+ {
+ ((char MEM*) pDstData_p)[StrSize] = '\0';
+ }
+ }
+ }
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdIsNumericalIntern()
+//
+// Description: function checks if a entry is numerical or not
+//
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = Instancepointer
+// uiIndex_p = Index
+// uiSubIndex_p = Subindex
+// pfEntryNumerical_p = pointer to BOOL for returnvalue
+// -> TRUE if entry a numerical value
+// -> FALSE if entry not a numerical value
+//
+// Return: tEplKernel = Errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplObdIsNumericalIntern(tEplObdSubEntryPtr pObdSubEntry_p,
+ BOOL* pfEntryNumerical_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+
+ // get Type
+ if((pObdSubEntry_p->m_Type == kEplObdTypVString)
+ || (pObdSubEntry_p->m_Type == kEplObdTypOString)
+ || (pObdSubEntry_p->m_Type == kEplObdTypDomain))
+ { // not numerical types
+ *pfEntryNumerical_p = FALSE;
+ }
+ else
+ { // numerical types
+ *pfEntryNumerical_p = TRUE;
+ }
+
+ return Ret;
+
+}
+
+
+// -------------------------------------------------------------------------
+// function to classify object type (fixed/non fixed)
+// -------------------------------------------------------------------------
+
+// ----------------------------------------------------------------------------
+// Function: EplObdCallStoreCallback()
+//
+// Description: checks address to callback function and calles it when unequal
+// to NULL
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_ = (instance pointer)
+// pCbStoreParam_p = address to callback parameters
+//
+// Returns: tEplKernel = error code
+// ----------------------------------------------------------------------------
+#if (EPL_OBD_USE_STORE_RESTORE != FALSE)
+static tEplKernel EplObdCallStoreCallback (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdCbStoreParam MEM* pCbStoreParam_p)
+{
+
+tEplKernel Ret = kEplSuccessful;
+
+ ASSERT (pCbStoreParam_p != NULL);
+
+ // check if function pointer is NULL - if so, no callback should be called
+ if (EPL_MCO_GLB_VAR (m_fpStoreLoadObjCallback) != NULL)
+ {
+ Ret = EPL_MCO_GLB_VAR (m_fpStoreLoadObjCallback) (EPL_MCO_INSTANCE_PARAM_IDX_()
+ pCbStoreParam_p);
+ }
+
+ return Ret;
+
+}
+#endif // (EPL_OBD_USE_STORE_RESTORE != FALSE)
+//---------------------------------------------------------------------------
+//
+// Function: EplObdGetObjectDataPtrIntern()
+//
+// Description: Function gets the data pointer of an object.
+// It returnes the current data pointer. But if object is an
+// constant object it returnes the default pointer.
+//
+// Parameters: pSubindexEntry_p = pointer to subindex entry
+//
+// Return: void * = pointer to object data
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+void * EplObdGetObjectDataPtrIntern (tEplObdSubEntryPtr pSubindexEntry_p)
+{
+
+void * pData;
+tEplObdAccess Access;
+
+ ASSERTMSG (pSubindexEntry_p != NULL, "EplObdGetObjectDataPtrIntern(): pointer to SubEntry not valid!\n");
+
+ // there are are some objects whose data pointer has to get from other structure
+ // get access type for this object
+ Access = pSubindexEntry_p->m_Access;
+
+ // If object has access type = const,
+ // for data only exists default values.
+ if ((Access & kEplObdAccConst) != 0)
+ {
+ // The pointer to defualt value can be received from ObdGetObjectDefaultPtr()
+ pData = ((void *) EplObdGetObjectDefaultPtr (pSubindexEntry_p));
+ }
+ else
+ {
+ // The pointer to current value can be received from ObdGetObjectCurrentPtr()
+ pData = ((void *) EplObdGetObjectCurrentPtr (pSubindexEntry_p));
+ }
+
+ return pData;
+
+}
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for api function of EplOBD-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObd.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Microsoft VC7
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/02 k.t.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#include "EplInc.h"
+
+#ifndef _EPLOBD_H_
+#define _EPLOBD_H_
+
+
+// ============================================================================
+// defines
+// ============================================================================
+
+#define EPL_OBD_TABLE_INDEX_END 0xFFFF
+
+// for the usage of BOOLEAN in OD
+#define OBD_TRUE 0x01
+#define OBD_FALSE 0x00
+
+// default OD index for Node id
+#define EPL_OBD_NODE_ID_INDEX 0x1F93
+// default subindex for NodeId in OD
+#define EPL_OBD_NODE_ID_SUBINDEX 0x01
+// default subindex for NodeIDByHW_BOOL
+#define EPL_OBD_NODE_ID_HWBOOL_SUBINDEX 0x02
+
+// ============================================================================
+// enums
+// ============================================================================
+
+// directions for access to object dictionary
+typedef enum
+{
+ kEplObdDirInit = 0x00, // initialising after power on
+ kEplObdDirStore = 0x01, // store all object values to non volatile memory
+ kEplObdDirLoad = 0x02, // load all object values from non volatile memory
+ kEplObdDirRestore = 0x03, // deletes non volatile memory (restore)
+ kEplObdDirOBKCheck = 0xFF // reserved
+
+}tEplObdDir;
+
+// commands for store
+typedef enum
+{
+ kEplObdCommNothing = 0x00,
+ kEplObdCommOpenWrite = 0x01,
+ kEplObdCommWriteObj = 0x02,
+ kEplObdCommCloseWrite = 0x03,
+ kEplObdCommOpenRead = 0x04,
+ kEplObdCommReadObj = 0x05,
+ kEplObdCommCloseRead = 0x06,
+ kEplObdCommClear = 0x07,
+ kEplObdCommUnknown = 0xFF
+}tEplObdCommand;
+
+//-----------------------------------------------------------------------------------------------------------
+// events of object callback function
+typedef enum
+{
+// m_pArg points to
+// ---------------------
+ kEplObdEvCheckExist = 0x06, // checking if object does exist (reading and writing) NULL
+ kEplObdEvPreRead = 0x00, // before reading an object source data buffer in OD
+ kEplObdEvPostRead = 0x01, // after reading an object destination data buffer from caller
+ kEplObdEvWrStringDomain = 0x07, // event for changing string/domain data pointer or size struct tEplObdVStringDomain in RAM
+ kEplObdEvInitWrite = 0x04, // initializes writing an object (checking object size) size of object in OD (tEplObdSize)
+ kEplObdEvPreWrite = 0x02, // before writing an object source data buffer from caller
+ kEplObdEvPostWrite = 0x03, // after writing an object destination data buffer in OD
+// kEplObdEvAbortSdo = 0x05 // after an abort of an SDO transfer
+
+} tEplObdEvent;
+
+// part of OD (bit oriented)
+typedef unsigned int tEplObdPart;
+
+#define kEplObdPartNo 0x00 // nothing
+#define kEplObdPartGen 0x01 // part (0x1000 - 0x1FFF)
+#define kEplObdPartMan 0x02 // manufacturer part (0x2000 - 0x5FFF)
+#define kEplObdPartDev 0x04 // device part (0x6000 - 0x9FFF)
+#define kEplObdPartUsr 0x08 // dynamic part e.g. for ICE61131-3
+
+// combinations
+#define kEplObdPartApp ( kEplObdPartMan | kEplObdPartDev | kEplObdPartUsr) // manufacturer and device part (0x2000 - 0x9FFF) and user OD
+#define kEplObdPartAll (kEplObdPartGen | kEplObdPartMan | kEplObdPartDev | kEplObdPartUsr) // whole OD
+
+//-----------------------------------------------------------------------------------------------------------
+// access types for objects
+// must be a difine because bit-flags
+typedef unsigned int tEplObdAccess;
+
+#define kEplObdAccRead 0x01 // object can be read
+#define kEplObdAccWrite 0x02 // object can be written
+#define kEplObdAccConst 0x04 // object contains a constant value
+#define kEplObdAccPdo 0x08 // object can be mapped in a PDO
+#define kEplObdAccArray 0x10 // object contains an array of numerical values
+#define kEplObdAccRange 0x20 // object contains lower and upper limit
+#define kEplObdAccVar 0x40 // object data is placed in application
+#define kEplObdAccStore 0x80 // object data can be stored to non volatile memory
+
+// combinations (not all combinations are required)
+#define kEplObdAccR (0 | 0 | 0 | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccW (0 | 0 | 0 | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccRW (0 | 0 | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccCR (0 | 0 | 0 | 0 | kEplObdAccConst | 0 | kEplObdAccRead)
+#define kEplObdAccGR (0 | 0 | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccGW (0 | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccGRW (0 | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccVR (0 | kEplObdAccVar | 0 | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccVW (0 | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccVRW (0 | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccVPR (0 | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccVPW (0 | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccVPRW (0 | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccVGR (0 | kEplObdAccVar | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccVGW (0 | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccVGRW (0 | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccVGPR (0 | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccVGPW (0 | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccVGPRW (0 | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccSR (kEplObdAccStore | 0 | 0 | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccSW (kEplObdAccStore | 0 | 0 | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccSRW (kEplObdAccStore | 0 | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccSCR (kEplObdAccStore | 0 | 0 | 0 | kEplObdAccConst | 0 | kEplObdAccRead)
+#define kEplObdAccSGR (kEplObdAccStore | 0 | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccSGW (kEplObdAccStore | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccSGRW (kEplObdAccStore | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccSVR (kEplObdAccStore | kEplObdAccVar | 0 | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccSVW (kEplObdAccStore | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccSVRW (kEplObdAccStore | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccSVPR (kEplObdAccStore | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccSVPW (kEplObdAccStore | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccSVPRW (kEplObdAccStore | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccSVGR (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccSVGW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccSVGRW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead)
+#define kEplObdAccSVGPR (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | 0 | kEplObdAccRead)
+#define kEplObdAccSVGPW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 )
+#define kEplObdAccSVGPRW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead)
+
+
+
+typedef unsigned int tEplObdSize; // For all objects as objects size are used an unsigned int.
+
+
+// -------------------------------------------------------------------------
+// types for data types defined in DS301
+// -------------------------------------------------------------------------
+
+// types of objects in object dictionary
+// DS-301 defines these types as WORD
+typedef enum
+{
+// types which are always supported
+ kEplObdTypBool = 0x0001,
+
+ kEplObdTypInt8 = 0x0002,
+ kEplObdTypInt16 = 0x0003,
+ kEplObdTypInt32 = 0x0004,
+ kEplObdTypUInt8 = 0x0005,
+ kEplObdTypUInt16 = 0x0006,
+ kEplObdTypUInt32 = 0x0007,
+ kEplObdTypReal32 = 0x0008,
+ kEplObdTypVString = 0x0009,
+ kEplObdTypOString = 0x000A,
+ kEplObdTypDomain = 0x000F,
+
+ kEplObdTypInt24 = 0x0010,
+ kEplObdTypUInt24 = 0x0016,
+
+ kEplObdTypReal64 = 0x0011,
+ kEplObdTypInt40 = 0x0012,
+ kEplObdTypInt48 = 0x0013,
+ kEplObdTypInt56 = 0x0014,
+ kEplObdTypInt64 = 0x0015,
+ kEplObdTypUInt40 = 0x0018,
+ kEplObdTypUInt48 = 0x0019,
+ kEplObdTypUInt56 = 0x001A,
+ kEplObdTypUInt64 = 0x001B,
+ kEplObdTypTimeOfDay = 0x000C,
+ kEplObdTypTimeDiff = 0x000D
+
+}tEplObdType;
+// other types are not supported in this version
+
+
+// -------------------------------------------------------------------------
+// types for data types defined in DS301
+// -------------------------------------------------------------------------
+
+typedef unsigned char tEplObdBoolean; // 0001
+typedef signed char tEplObdInteger8; // 0002
+typedef signed short int tEplObdInteger16; // 0003
+typedef signed long tEplObdInteger32; // 0004
+typedef unsigned char tEplObdUnsigned8; // 0005
+typedef unsigned short int tEplObdUnsigned16; // 0006
+typedef unsigned long tEplObdUnsigned32; // 0007
+typedef float tEplObdReal32; // 0008
+typedef unsigned char tEplObdDomain; // 000F
+typedef signed long tEplObdInteger24; // 0010
+typedef unsigned long tEplObdUnsigned24; // 0016
+
+typedef signed QWORD tEplObdInteger40; // 0012
+typedef signed QWORD tEplObdInteger48; // 0013
+typedef signed QWORD tEplObdInteger56; // 0014
+typedef signed QWORD tEplObdInteger64; // 0015
+
+typedef unsigned QWORD tEplObdUnsigned40; // 0018
+typedef unsigned QWORD tEplObdUnsigned48; // 0019
+typedef unsigned QWORD tEplObdUnsigned56; // 001A
+typedef unsigned QWORD tEplObdUnsigned64; // 001B
+
+typedef double tEplObdReal64; // 0011
+
+typedef tTimeOfDay tEplObdTimeOfDay; // 000C
+typedef tTimeOfDay tEplObdTimeDifference; // 000D
+
+
+// -------------------------------------------------------------------------
+// structur for defining a variable
+// -------------------------------------------------------------------------
+// -------------------------------------------------------------------------
+typedef enum
+{
+ kVarValidSize = 0x01,
+ kVarValidData = 0x02,
+// kVarValidCallback = 0x04,
+// kVarValidArg = 0x08,
+
+ kVarValidAll = 0x03 // currently only size and data are implemented and used
+
+}tEplVarParamValid;
+
+
+typedef tEplKernel (PUBLIC ROM* tEplVarCallback) (CCM_DECL_INSTANCE_HDL_
+ void * pParam_p);
+
+typedef struct
+{
+ tEplVarParamValid m_ValidFlag;
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubindex;
+ tEplObdSize m_Size;
+ void MEM* m_pData;
+// tEplVarCallback m_fpCallback;
+// void * m_pArg;
+
+} tEplVarParam;
+
+typedef struct
+{
+ void MEM* m_pData;
+ tEplObdSize m_Size;
+/*
+ #if (EPL_PDO_USE_STATIC_MAPPING == FALSE)
+ tEplVarCallback m_fpCallback;
+ void * m_pArg;
+ #endif
+*/
+} tEplObdVarEntry;
+
+typedef struct
+{
+ tEplObdSize m_Size;
+ BYTE * m_pString;
+
+} tEplObdOString; // 000C
+
+typedef struct
+{
+ tEplObdSize m_Size;
+ char * m_pString;
+} tEplObdVString; // 000D
+
+
+typedef struct
+{
+ tEplObdSize m_Size;
+ char * m_pDefString; // $$$ d.k. it is unused, so we could delete it
+ char * m_pString;
+
+} tEplObdVStringDef;
+
+typedef struct
+{
+ tEplObdSize m_Size;
+ BYTE * m_pDefString; // $$$ d.k. it is unused, so we could delete it
+ BYTE * m_pString;
+
+} tEplObdOStringDef;
+
+//r.d. parameter struct for changing object size and/or pointer to data of Strings or Domains
+typedef struct
+{
+ tEplObdSize m_DownloadSize; // download size from SDO or APP
+ tEplObdSize m_ObjSize; // current object size from OD - should be changed from callback function
+ void * m_pData; // current object ptr from OD - should be changed from callback function
+
+} tEplObdVStringDomain; // 000D
+
+
+// ============================================================================
+// types
+// ============================================================================
+// -------------------------------------------------------------------------
+// subindexstruct
+// -------------------------------------------------------------------------
+
+// Change not the order for this struct!!!
+typedef struct
+{
+ unsigned int m_uiSubIndex;
+ tEplObdType m_Type;
+ tEplObdAccess m_Access;
+ void * m_pDefault;
+ void MEM* m_pCurrent; // points always to RAM
+
+} tEplObdSubEntry;
+
+// r.d.: has always to be because new OBD-Macros for arrays
+typedef tEplObdSubEntry * tEplObdSubEntryPtr;
+
+// -------------------------------------------------------------------------
+// callback function for objdictionary modul
+// -------------------------------------------------------------------------
+
+// parameters for callback function
+typedef struct
+{
+ tEplObdEvent m_ObdEvent;
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubIndex;
+ void * m_pArg;
+ DWORD m_dwAbortCode;
+
+} tEplObdCbParam;
+
+// define type for callback function: pParam_p points to tEplObdCbParam
+typedef tEplKernel (PUBLIC ROM* tEplObdCallback) (CCM_DECL_INSTANCE_HDL_
+ tEplObdCbParam MEM* pParam_p);
+
+// do not change the order for this struct!!!
+
+typedef struct
+{
+ unsigned int m_uiIndex;
+ tEplObdSubEntryPtr m_pSubIndex;
+ unsigned int m_uiCount;
+ tEplObdCallback m_fpCallback; // function is called back if object access
+
+} tEplObdEntry;
+
+
+// allways pointer
+typedef tEplObdEntry * tEplObdEntryPtr;
+
+
+
+// -------------------------------------------------------------------------
+// structur to initialize OBD module
+// -------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplObdEntryPtr m_pPart;
+ tEplObdEntryPtr m_pManufacturerPart;
+ tEplObdEntryPtr m_pDevicePart;
+
+ #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+
+ tEplObdEntryPtr m_pUserPart;
+
+ #endif
+
+} tEplObdInitParam;
+
+
+// -------------------------------------------------------------------------
+// structur for parameters of STORE RESTORE command
+// -------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplObdCommand m_bCommand;
+ tEplObdPart m_bCurrentOdPart;
+ void MEM* m_pData;
+ tEplObdSize m_ObjSize;
+
+} tEplObdCbStoreParam;
+
+
+typedef tEplKernel (PUBLIC ROM* tInitTabEntryCallback) (
+ void MEM* pTabEntry_p,
+ unsigned int uiObjIndex_p);
+
+typedef tEplKernel (PUBLIC ROM* tEplObdStoreLoadObjCallback) (CCM_DECL_INSTANCE_HDL_
+ tEplObdCbStoreParam MEM* pCbStoreParam_p);
+
+// -------------------------------------------------------------------------
+// this stucture is used for parameters for function ObdInitModuleTab()
+// -------------------------------------------------------------------------
+typedef struct
+{
+ unsigned int m_uiLowerObjIndex; // lower limit of ObjIndex
+ unsigned int m_uiUpperObjIndex; // upper limit of ObjIndex
+ tInitTabEntryCallback m_fpInitTabEntry; // will be called if ObjIndex was found
+ void MEM* m_pTabBase; // base address of table
+ unsigned int m_uiEntrySize; // size of table entry // 25-feb-2005 r.d.: expansion from BYTE to WORD necessary for PDO bit mapping
+ unsigned int m_uiMaxEntries; // max. tabel entries
+
+} tEplObdModulTabParam;
+
+//-------------------------------------------------------------------
+// enum for function EplObdSetNodeId
+//-------------------------------------------------------------------
+typedef enum
+{
+ kEplObdNodeIdUnknown = 0x00, // unknown how the node id was set
+ kEplObdNodeIdSoftware = 0x01, // node id set by software
+ kEplObdNodeIdHardware = 0x02 // node id set by hardware
+
+}tEplObdNodeIdType;
+
+// ============================================================================
+// global variables
+// ============================================================================
+
+
+
+// ============================================================================
+// public functions
+// ============================================================================
+
+
+#endif // #ifndef _EPLOBD_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for macros of EplOBD-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObdMacro.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/05 k.t.: start of the implementation
+ -> based on CANopen ObdMacro.h
+
+
+
+****************************************************************************/
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#if defined (EPL_OBD_DEFINE_MACRO)
+
+ //-------------------------------------------------------------------------------------------
+ #if defined (EPL_OBD_CREATE_ROM_DATA)
+
+// #pragma message ("EPL_OBD_CREATE_ROM_DATA")
+
+ #define EPL_OBD_BEGIN() static DWORD dwObd_OBK_g = 0x0000;
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC()
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER()
+ #define EPL_OBD_BEGIN_PART_DEVICE()
+ #define EPL_OBD_END_PART()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call)
+ #define EPL_OBD_END_INDEX(ind)
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def) static tEplObdUnsigned8 xDef##ind##_0x00_g = (cnt); \
+ static dtyp xDef##ind##_0x01_g = (def);
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def) static tEplObdUnsigned8 xDef##ind##_0x00_g = (cnt); \
+ static dtyp xDef##ind##_0x01_g = (def);
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name) static tEplObdUnsigned8 xDef##ind##_0x00_g = (cnt);
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val) static dtyp xDef##ind##_##sub##_g = val;
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high) static dtyp xDef##ind##_##sub##_g[3] = {val,low,high};
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name)
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,size,val) static char MEM szCur##ind##_##sub##_g[size+1]; \
+ static tEplObdVStringDef xDef##ind##_##sub##_g = {size, val, szCur##ind##_##sub##_g};
+
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size) static BYTE MEM bCur##ind##_##sub##_g[size]; \
+ static tEplObdOStringDef xDef##ind##_##sub##_g = {size, ((BYTE*)""), bCur##ind##_##sub##_g};
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val) static dtyp xDef##ind##_##sub##_g = val;
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high) static dtyp xDef##ind##_##sub##_g[3] = {val,low,high};
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name)
+
+//-------------------------------------------------------------------------------------------
+ #elif defined (EPL_OBD_CREATE_RAM_DATA)
+
+// #pragma message ("EPL_OBD_CREATE_RAM_DATA")
+
+ #define EPL_OBD_BEGIN()
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC()
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER()
+ #define EPL_OBD_BEGIN_PART_DEVICE()
+ #define EPL_OBD_END_PART()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call)
+ #define EPL_OBD_END_INDEX(ind)
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def) static dtyp MEM axCur##ind##_g[cnt];
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def) static tEplObdVarEntry MEM aVarEntry##ind##_g[cnt];
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name) static tEplObdVarEntry MEM aVarEntry##ind##_g[cnt];
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val) static dtyp MEM xCur##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high) static dtyp MEM xCur##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,size,val) static tEplObdVString MEM xCur##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size) static tEplObdOString MEM xCur##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name) static dtyp MEM xCur##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name) static tEplObdVarEntry MEM VarEntry##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val) static tEplObdVarEntry MEM VarEntry##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high) static tEplObdVarEntry MEM VarEntry##ind##_##sub##_g;
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name) static tEplObdVarEntry MEM VarEntry##ind##_##sub##_g;
+
+ //-------------------------------------------------------------------------------------------
+ #elif defined (EPL_OBD_CREATE_SUBINDEX_TAB)
+
+// #pragma message ("EPL_OBD_CREATE_SUBINDEX_TAB")
+
+ #define EPL_OBD_BEGIN()
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC()
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER()
+ #define EPL_OBD_BEGIN_PART_DEVICE()
+ #define EPL_OBD_END_PART()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call) static tEplObdSubEntry MEM aObdSubEntry##ind##Ram_g[cnt]= {
+ #define EPL_OBD_END_INDEX(ind) EPL_OBD_END_SUBINDEX()};
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def) static tEplObdSubEntry MEM aObdSubEntry##ind##Ram_g[]= { \
+ {0, kEplObdTypUInt8, kEplObdAccCR, &xDef##ind##_0x00_g, NULL}, \
+ {1, typ, (acc)|kEplObdAccArray, &xDef##ind##_0x01_g, &axCur##ind##_g[0]}, \
+ EPL_OBD_END_SUBINDEX()};
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def) static tEplObdSubEntry MEM aObdSubEntry##ind##Ram_g[]= { \
+ {0, kEplObdTypUInt8, kEplObdAccCR, &xDef##ind##_0x00_g, NULL}, \
+ {1, typ, (acc)|kEplObdAccArray|kEplObdAccVar, &xDef##ind##_0x01_g, &aVarEntry##ind##_g[0]}, \
+ EPL_OBD_END_SUBINDEX()};
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name) static tEplObdSubEntry MEM aObdSubEntry##ind##Ram_g[]= { \
+ {0, kEplObdTypUInt8, kEplObdAccCR, &xDef##ind##_0x00_g, NULL}, \
+ {1, typ, (acc)|kEplObdAccArray|kEplObdAccVar, NULL, &aVarEntry##ind##_g[0]}, \
+ EPL_OBD_END_SUBINDEX()};
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val) {sub,typ, (acc), &xDef##ind##_##sub##_g, &xCur##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high) {sub,typ, (acc)|kEplObdAccRange, &xDef##ind##_##sub##_g[0],&xCur##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name) {sub,typ, (acc), NULL, &xCur##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,size,val) {sub,kEplObdTypVString,(acc)/*|kEplObdAccVar*/, &xDef##ind##_##sub##_g, &xCur##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size) {sub,kEplObdTypOString,(acc)/*|kEplObdAccVar*/, &xDef##ind##_##sub##_g, &xCur##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name) {sub,kEplObdTypDomain, (acc)|kEplObdAccVar, NULL, &VarEntry##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val) {sub,typ, (acc)|kEplObdAccVar, &xDef##ind##_##sub##_g, &VarEntry##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high) {sub,typ, (acc)|kEplObdAccVar|kEplObdAccRange,&xDef##ind##_##sub##_g[0],&VarEntry##ind##_##sub##_g},
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name) {sub,typ, (acc)|kEplObdAccVar, NULL, &VarEntry##ind##_##sub##_g},
+
+
+ //-------------------------------------------------------------------------------------------
+ #elif defined (EPL_OBD_CREATE_INDEX_TAB)
+
+// #pragma message ("EPL_OBD_CREATE_INDEX_TAB")
+
+ #define EPL_OBD_BEGIN()
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC() static tEplObdEntry aObdTab_g[] = {
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER() static tEplObdEntry aObdTabManufacturer_g[] = {
+ #define EPL_OBD_BEGIN_PART_DEVICE() static tEplObdEntry aObdTabDevice_g[] = {
+ #define EPL_OBD_END_PART() {EPL_OBD_TABLE_INDEX_END,(tEplObdSubEntryPtr)&dwObd_OBK_g,0,NULL}};
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call) {ind,(tEplObdSubEntryPtr)&aObdSubEntry##ind##Ram_g[0],cnt,(tEplObdCallback)call},
+ #define EPL_OBD_END_INDEX(ind)
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def) {ind,(tEplObdSubEntryPtr)&aObdSubEntry##ind##Ram_g[0],(cnt)+1,(tEplObdCallback)call},
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def) {ind,(tEplObdSubEntryPtr)&aObdSubEntry##ind##Ram_g[0],(cnt)+1,(tEplObdCallback)call},
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name) {ind,(tEplObdSubEntryPtr)&aObdSubEntry##ind##Ram_g[0],(cnt)+1,(tEplObdCallback)call},
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,size,val)
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name)
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name)
+
+ //-------------------------------------------------------------------------------------------
+ #elif defined (EPL_OBD_CREATE_INIT_FUNCTION)
+
+// #pragma message ("EPL_OBD_CREATE_INIT_FUNCTION")
+
+ #define EPL_OBD_BEGIN()
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC() pInitParam->m_pPart = (tEplObdEntryPtr) &aObdTab_g[0];
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER() pInitParam->m_pManufacturerPart = (tEplObdEntryPtr) &aObdTabManufacturer_g[0];
+ #define EPL_OBD_BEGIN_PART_DEVICE() pInitParam->m_pDevicePart = (tEplObdEntryPtr) &aObdTabDevice_g[0];
+ #define EPL_OBD_END_PART()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call)
+ #define EPL_OBD_END_INDEX(ind)
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def)
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def)
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name)
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,size,val)
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name)
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name)
+
+
+ //-------------------------------------------------------------------------------------------
+ #elif defined (EPL_OBD_CREATE_INIT_SUBINDEX)
+
+// #pragma message ("EPL_OBD_CREATE_INIT_SUBINDEX")
+
+ #define EPL_OBD_BEGIN()
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC()
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER()
+ #define EPL_OBD_BEGIN_PART_DEVICE()
+ #define EPL_OBD_END_PART()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call) //CCM_SUBINDEX_RAM_ONLY (EPL_MEMCPY (&aObdSubEntry##ind##Ram_g[0],&aObdSubEntry##ind##Rom_g[0],sizeof(aObdSubEntry##ind##Ram_g)));
+ #define EPL_OBD_END_INDEX(ind)
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def) //EPL_MEMCPY (&aObdSubEntry##ind##Ram_g[0],&aObdSubEntry##ind##Rom_g[0],sizeof(aObdSubEntry##ind##Ram_g));
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def) //EPL_MEMCPY (&aObdSubEntry##ind##Ram_g[0],&aObdSubEntry##ind##Rom_g[0],sizeof(aObdSubEntry##ind##Ram_g));
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name) //EPL_MEMCPY (&aObdSubEntry##ind##Ram_g[0],&aObdSubEntry##ind##Rom_g[0],sizeof(aObdSubEntry##ind##Ram_g));
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,size,val)
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name)
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name)
+
+ //-------------------------------------------------------------------------------------------
+ #else
+
+// #pragma message ("ELSE OF DEFINE")
+
+ #define EPL_OBD_BEGIN()
+ #define EPL_OBD_END()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_PART_GENERIC()
+ #define EPL_OBD_BEGIN_PART_MANUFACTURER()
+ #define EPL_OBD_BEGIN_PART_DEVICE()
+ #define EPL_OBD_END_PART()
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_BEGIN_INDEX_RAM(ind,cnt,call)
+ #define EPL_OBD_END_INDEX(ind)
+ #define EPL_OBD_RAM_INDEX_RAM_ARRAY(ind,cnt,call,typ,acc,dtyp,name,def)
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY(ind,cnt,call,typ,acc,dtyp,name,def)
+ #define EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT(ind,cnt,call,typ,acc,dtyp,name)
+
+ //---------------------------------------------------------------------------------------
+ #define EPL_OBD_SUBINDEX_RAM_VAR(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_VSTRING(ind,sub,acc,name,sizes,val)
+ #define EPL_OBD_SUBINDEX_RAM_OSTRING(ind,sub,acc,name,size)
+ #define EPL_OBD_SUBINDEX_RAM_VAR_NOINIT(ind,sub,typ,acc,dtyp,name)
+ #define EPL_OBD_SUBINDEX_RAM_DOMAIN(ind,sub,acc,name)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF(ind,sub,typ,acc,dtyp,name,val)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_RG(ind,sub,typ,acc,dtyp,name,val,low,high)
+ #define EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT(ind,sub,typ,acc,dtyp,name)
+
+ #endif
+
+ //-------------------------------------------------------------------------------------------
+#elif defined (EPL_OBD_UNDEFINE_MACRO)
+
+// #pragma message ("EPL_OBD_UNDEFINE_MACRO")
+
+ #undef EPL_OBD_BEGIN
+ #undef EPL_OBD_END
+
+ //---------------------------------------------------------------------------------------
+ #undef EPL_OBD_BEGIN_PART_GENERIC
+ #undef EPL_OBD_BEGIN_PART_MANUFACTURER
+ #undef EPL_OBD_BEGIN_PART_DEVICE
+ #undef EPL_OBD_END_PART
+
+ //---------------------------------------------------------------------------------------
+ #undef EPL_OBD_BEGIN_INDEX_RAM
+ #undef EPL_OBD_END_INDEX
+ #undef EPL_OBD_RAM_INDEX_RAM_ARRAY
+ #undef EPL_OBD_RAM_INDEX_RAM_VARARRAY
+ #undef EPL_OBD_RAM_INDEX_RAM_VARARRAY_NOINIT
+
+ //---------------------------------------------------------------------------------------
+ #undef EPL_OBD_SUBINDEX_RAM_VAR
+ #undef EPL_OBD_SUBINDEX_RAM_VAR_RG
+ #undef EPL_OBD_SUBINDEX_RAM_VSTRING
+ #undef EPL_OBD_SUBINDEX_RAM_OSTRING
+ #undef EPL_OBD_SUBINDEX_RAM_VAR_NOINIT
+ #undef EPL_OBD_SUBINDEX_RAM_DOMAIN
+ #undef EPL_OBD_SUBINDEX_RAM_USERDEF
+ #undef EPL_OBD_SUBINDEX_RAM_USERDEF_RG
+ #undef EPL_OBD_SUBINDEX_RAM_USERDEF_NOINIT
+
+#else
+
+ #error "nothing defined"
+
+
+#endif
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for communication abstraction layer
+ for the Epl-Obd-Kernelspace-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObdkCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "kernel/EplObdkCal.h"
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Epl-Obd-Userspace-module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObdu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "user/EplObdu.h"
+#include "user/EplObduCal.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduWriteEntry()
+//
+// Description: Function writes data to an OBD entry. Strings
+// are stored with added '\0' character.
+//
+// Parameters: uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduWriteEntry (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalWriteEntry(uiIndex_p, uiSubIndex_p, pSrcData_p, Size_p);
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduReadEntry()
+//
+// Description: The function reads an object entry. The application
+// can always read the data even if attrib kEplObdAccRead
+// is not set. The attrib is only checked up for SDO transfer.
+//
+// Parameters: uiIndex_p = Index oof the OD entry to read
+// uiSubIndex_p = Subindex to read
+// pDstData_p = pointer to the buffer for data
+// Offset_p = offset in data for read access
+// pSize_p = IN: Size of the buffer
+// OUT: number of readed Bytes
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduReadEntry (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize* pSize_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalReadEntry(uiIndex_p, uiSubIndex_p, pDstData_p, pSize_p);
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdAccessOdPart()
+//
+// Description: restores default values of one part of OD
+//
+// Parameters: ObdPart_p = od-part to reset
+// Direction_p = directory flag for
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduAccessOdPart (tEplObdPart ObdPart_p,
+ tEplObdDir Direction_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalAccessOdPart(ObdPart_p, Direction_p);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduDefineVar()
+//
+// Description: defines a variable in OD
+//
+// Parameters: pEplVarParam_p = varentry
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduDefineVar (tEplVarParam MEM* pVarParam_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalDefineVar(pVarParam_p);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduGetObjectDataPtr()
+//
+// Description: It returnes the current data pointer. But if object is an
+// constant object it returnes the default pointer.
+//
+// Parameters: uiIndex_p = Index of the entry
+// uiSubindex_p = Subindex of the entry
+//
+// Return: void * = pointer to object data
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT void* PUBLIC EplObduGetObjectDataPtr (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p)
+{
+void* pData;
+
+ pData = EplObduCalGetObjectDataPtr(uiIndex_p, uiSubIndex_p);
+
+ return pData;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduRegisterUserOd()
+//
+// Description: function registers the user OD
+//
+// Parameters: pUserOd_p =pointer to user ODd
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+EPLDLLEXPORT tEplKernel PUBLIC EplObduRegisterUserOd (tEplObdEntryPtr pUserOd_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalRegisterUserOd(pUserOd_p);
+
+ return Ret;
+
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplObduInitVarEntry()
+//
+// Description: function to initialize VarEntry dependened on object type
+//
+// Parameters: pVarEntry_p = pointer to var entry structure
+// bType_p = object type
+// ObdSize_p = size of object data
+//
+// Returns: none
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT void PUBLIC EplObduInitVarEntry (tEplObdVarEntry MEM* pVarEntry_p,
+ BYTE bType_p, tEplObdSize ObdSize_p)
+{
+ EplObduCalInitVarEntry(pVarEntry_p, bType_p, ObdSize_p);
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduGetDataSize()
+//
+// Description: function to initialize VarEntry dependened on object type
+//
+// gets the data size of an object
+// for string objects it returnes the string length
+//
+// Parameters: uiIndex_p = Index
+// uiSubIndex_p= Subindex
+//
+// Return: tEplObdSize
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplObdSize PUBLIC EplObduGetDataSize(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p)
+{
+tEplObdSize Size;
+
+ Size = EplObduCalGetDataSize(uiIndex_p, uiSubIndex_p);
+
+ return Size;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduGetNodeId()
+//
+// Description: function returns nodeid from entry 0x1F93
+//
+//
+// Parameters:
+//
+// Return: unsigned int = Node Id
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT unsigned int PUBLIC EplObduGetNodeId()
+{
+unsigned int uiNodeId;
+
+ uiNodeId = EplObduCalGetNodeId();
+
+ return uiNodeId;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduSetNodeId()
+//
+// Description: function sets nodeid in entry 0x1F93
+//
+//
+// Parameters: uiNodeId_p = Node Id to set
+// NodeIdType_p= Type on which way the Node Id was set
+//
+// Return: tEplKernel = Errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduSetNodeId(unsigned int uiNodeId_p,
+ tEplObdNodeIdType NodeIdType_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalSetNodeId(uiNodeId_p, NodeIdType_p);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduGetAccessType()
+//
+// Description: Function returns accesstype of the entry
+//
+// Parameters: uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pAccessTyp_p = pointer to buffer to store accesstyp
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduGetAccessType(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplObdAccess* pAccessTyp_p)
+{
+tEplObdAccess AccessType;
+
+ AccessType = EplObduCalGetAccessType(uiIndex_p, uiSubIndex_p, pAccessTyp_p);
+
+ return AccessType;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObdReaduEntryToLe()
+//
+// Description: The function reads an object entry from the byteoder
+// of the system to the little endian byteorder for numeric values.
+// For other types a normal read will be processed. This is usefull for
+// the PDO and SDO module. The application
+// can always read the data even if attrib kEplObdAccRead
+// is not set. The attrib is only checked up for SDO transfer.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry to read
+// uiSubIndex_p = Subindex to read
+// pDstData_p = pointer to the buffer for data
+// Offset_p = offset in data for read access
+// pSize_p = IN: Size of the buffer
+// OUT: number of readed Bytes
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduReadEntryToLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize * pSize_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalReadEntryToLe(uiIndex_p, uiSubIndex_p, pDstData_p, pSize_p);
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduWriteEntryFromLe()
+//
+// Description: Function writes data to an OBD entry from a source with
+// little endian byteorder to the od with system specuific
+// byteorder. Not numeric values will only by copied. Strings
+// are stored with added '\0' character.
+//
+// Parameters: EPL_MCO_DECL_INSTANCE_PTR_
+// uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduWriteEntryFromLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalWriteEntryFromLe(uiIndex_p, uiSubIndex_p, pSrcData_p, Size_p);
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduSearchVarEntry()
+//
+// Description: gets variable from OD
+//
+// Parameters: uiIndex_p = index of the var entry to search
+// uiSubindex_p = subindex of var entry to search
+// ppVarEntry_p = pointer to the pointer to the varentry
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduSearchVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdVarEntry MEM** ppVarEntry_p)
+{
+tEplKernel Ret;
+
+ Ret = EplObduCalSearchVarEntry(uiIndex_p, uiSubindex_p, ppVarEntry_p);
+
+return Ret;
+}
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for communication abstraction layer
+ for the Epl-Obd-Userspace-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObduCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+****************************************************************************/
+#include "EplInc.h"
+#include "user/EplObduCal.h"
+#include "kernel/EplObdk.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) && (EPL_OBD_USE_KERNEL != FALSE)
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalWriteEntry()
+//
+// Description: Function encapsulate access of function EplObdWriteEntry
+//
+// Parameters: uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalWriteEntry (
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdWriteEntry(uiIndex_p,uiSubIndex_p,pSrcData_p,Size_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalReadEntry()
+//
+// Description: Function encapsulate access of function EplObdReadEntry
+//
+// Parameters: uiIndex_p = Index oof the OD entry to read
+// uiSubIndex_p = Subindex to read
+// pDstData_p = pointer to the buffer for data
+// Offset_p = offset in data for read access
+// pSize_p = IN: Size of the buffer
+// OUT: number of readed Bytes
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalReadEntry (
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize *pSize_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdReadEntry(uiIndex_p, uiSubIndex_p, pDstData_p, pSize_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalAccessOdPart()
+//
+// Description: Function encapsulate access of function EplObdAccessOdPart
+//
+// Parameters: ObdPart_p = od-part to reset
+// Direction_p = directory flag for
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalAccessOdPart (
+ tEplObdPart ObdPart_p,
+ tEplObdDir Direction_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdAccessOdPart(ObdPart_p, Direction_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalDefineVar()
+//
+// Description: Function encapsulate access of function EplObdDefineVar
+//
+// Parameters: pEplVarParam_p = varentry
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalDefineVar (tEplVarParam MEM* pVarParam_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdDefineVar(pVarParam_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalGetObjectDataPtr()
+//
+// Description: Function encapsulate access of function EplObdGetObjectDataPtr
+//
+// Parameters: uiIndex_p = Index of the entry
+// uiSubindex_p = Subindex of the entry
+//
+// Return: void * = pointer to object data
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT void* PUBLIC EplObduCalGetObjectDataPtr ( unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p)
+{
+void* pData;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ pData = EplObdGetObjectDataPtr(uiIndex_p, uiSubIndex_p);
+#else
+ pData = NULL;
+#endif
+
+ return pData;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalRegisterUserOd()
+//
+// Description: Function encapsulate access of function EplObdRegisterUserOd
+//
+// Parameters: pUserOd_p = pointer to user OD
+//
+// Return: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalRegisterUserOd (tEplObdEntryPtr pUserOd_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdRegisterUserOd(pUserOd_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalInitVarEntry()
+//
+// Description: Function encapsulate access of function EplObdInitVarEntry
+//
+// Parameters: pVarEntry_p = pointer to var entry structure
+// bType_p = object type
+// ObdSize_p = size of object data
+//
+// Returns: none
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT void PUBLIC EplObduCalInitVarEntry (tEplObdVarEntry MEM* pVarEntry_p,
+ BYTE bType_p, tEplObdSize ObdSize_p)
+{
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ EplObdInitVarEntry(pVarEntry_p, bType_p, ObdSize_p);
+#endif
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalGetDataSize()
+//
+// Description: Function encapsulate access of function EplObdGetDataSize
+//
+// gets the data size of an object
+// for string objects it returnes the string length
+//
+// Parameters: uiIndex_p = Index
+// uiSubIndex_p= Subindex
+//
+// Return: tEplObdSize
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplObdSize PUBLIC EplObduCalGetDataSize(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p)
+{
+tEplObdSize Size;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Size = EplObdGetDataSize(uiIndex_p, uiSubIndex_p);
+#else
+ Size = 0;
+#endif
+
+ return Size;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalGetNodeId()
+//
+// Description: Function encapsulate access of function EplObdGetNodeId
+//
+//
+// Parameters:
+//
+// Return: unsigned int = Node Id
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT unsigned int PUBLIC EplObduCalGetNodeId()
+{
+unsigned int uiNodeId;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ uiNodeId = EplObdGetNodeId();
+#else
+ uiNodeId = 0;
+#endif
+
+ return uiNodeId;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalSetNodeId()
+//
+// Description: Function encapsulate access of function EplObdSetNodeId
+//
+//
+// Parameters: uiNodeId_p = Node Id to set
+// NodeIdType_p= Type on which way the Node Id was set
+//
+// Return: tEplKernel = Errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalSetNodeId(unsigned int uiNodeId_p,
+ tEplObdNodeIdType NodeIdType_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdSetNodeId(uiNodeId_p, NodeIdType_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalGetAccessType()
+//
+// Description: Function encapsulate access of function EplObdGetAccessType
+//
+// Parameters: uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pAccessTyp_p = pointer to buffer to store accesstype
+//
+// Return: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalGetAccessType(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplObdAccess* pAccessTyp_p)
+
+{
+tEplObdAccess AccesType;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ AccesType = EplObdGetAccessType(uiIndex_p, uiSubIndex_p, pAccessTyp_p);
+#else
+ AccesType = 0;
+#endif
+
+return AccesType;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalReadEntryToLe()
+//
+// Description: Function encapsulate access of function EplObdReadEntryToLe
+//
+// Parameters: uiIndex_p = Index of the OD entry to read
+// uiSubIndex_p = Subindex to read
+// pDstData_p = pointer to the buffer for data
+// Offset_p = offset in data for read access
+// pSize_p = IN: Size of the buffer
+// OUT: number of readed Bytes
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalReadEntryToLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize * pSize_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdReadEntryToLe(uiIndex_p, uiSubIndex_p, pDstData_p, pSize_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalWriteEntryFromLe()
+//
+// Description: Function encapsulate access of function EplObdWriteEntryFromLe
+//
+// Parameters: uiIndex_p = Index of the OD entry
+// uiSubIndex_p = Subindex of the OD Entry
+// pSrcData_p = Pointer to the data to write
+// Size_p = Size of the data in Byte
+//
+// Return: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalWriteEntryFromLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdWriteEntryFromLe(uiIndex_p, uiSubIndex_p, pSrcData_p, Size_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplObduCalSearchVarEntry()
+//
+// Description: gets variable from OD
+//
+// Parameters: uiIndex_p = index of the var entry to search
+// uiSubindex_p = subindex of var entry to search
+// ppVarEntry_p = pointer to the pointer to the varentry
+//
+// Return: tEplKernel
+//
+// State:
+//
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalSearchVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdVarEntry MEM** ppVarEntry_p)
+{
+tEplKernel Ret;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+ Ret = EplObdSearchVarEntry(uiIndex_p, uiSubindex_p, ppVarEntry_p);
+#else
+ Ret = kEplSuccessful;
+#endif
+ return Ret;
+}
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: defines objdict dictionary
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObjDef.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/06 k.t.: take ObjDef.h from CANopen and modify for EPL
+
+****************************************************************************/
+
+#ifndef _EPLOBJDEF_H_
+#define _EPLOBJDEF_H_
+
+
+//---------------------------------------------------------------------------
+// security checks
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// macros to help building OD
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+#if (defined (EPL_OBD_USE_VARIABLE_SUBINDEX_TAB) && (EPL_OBD_USE_VARIABLE_SUBINDEX_TAB != FALSE))
+
+ #define CCM_SUBINDEX_RAM_ONLY(a) a;
+ #define CCM_SUBINDEX_RAM_ONEOF(a,b) a
+
+#else
+
+ #define CCM_SUBINDEX_RAM_ONLY(a)
+ #define CCM_SUBINDEX_RAM_ONEOF(a,b) b
+
+#endif
+
+
+//---------------------------------------------------------------------------
+// To prevent unused memory in subindex tables we need this macro.
+// But not all compilers support to preset the last struct value followed by a comma.
+// Compilers which does not support a comma after last struct value has to place in a dummy subindex.
+#if ((DEV_SYSTEM & _DEV_COMMA_EXT_) != 0)
+
+ #define EPL_OBD_END_SUBINDEX()
+ #define EPL_OBD_MAX_ARRAY_SUBENTRIES 2
+
+#else
+
+ #define EPL_OBD_END_SUBINDEX() {0,0,0,NULL,NULL}
+ #define EPL_OBD_MAX_ARRAY_SUBENTRIES 3
+
+#endif
+
+
+//---------------------------------------------------------------------------
+//---------------------------------------------------------------------------
+// globale vars
+//---------------------------------------------------------------------------
+//---------------------------------------------------------------------------
+
+// -------------------------------------------------------------------------
+// creation of data in ROM memory
+// -------------------------------------------------------------------------
+#define EPL_OBD_CREATE_ROM_DATA
+ #include "objdict.h"
+#undef EPL_OBD_CREATE_ROM_DATA
+
+
+// -------------------------------------------------------------------------
+// creation of data in RAM memory
+// -------------------------------------------------------------------------
+
+#define EPL_OBD_CREATE_RAM_DATA
+ #include "objdict.h"
+#undef EPL_OBD_CREATE_RAM_DATA
+
+
+// -------------------------------------------------------------------------
+// creation of subindex tables in ROM and RAM
+// -------------------------------------------------------------------------
+
+#define EPL_OBD_CREATE_SUBINDEX_TAB
+ #include "objdict.h"
+#undef EPL_OBD_CREATE_SUBINDEX_TAB
+
+
+// -------------------------------------------------------------------------
+// creation of index tables for generic, manufacturer and device part
+// -------------------------------------------------------------------------
+
+#define EPL_OBD_CREATE_INDEX_TAB
+ #include "objdict.h"
+#undef EPL_OBD_CREATE_INDEX_TAB
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+// ----------------------------------------------------------------------------
+//
+// Function: EPL_OBD_INIT_RAM_NAME()
+//
+// Description: function to initialize object dictionary
+//
+// Parameters: pInitParam_p = pointer to init param struct of Epl
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+// ----------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EPL_OBD_INIT_RAM_NAME (tEplObdInitParam MEM* pInitParam_p)
+{
+
+tEplObdInitParam MEM* pInitParam = pInitParam_p;
+
+ // check if pointer to parameter structure is valid
+ // if not then only copy subindex tables below
+ if (pInitParam != NULL)
+ {
+ // at first delete all parameters (all pointers will be set zu NULL)
+ EPL_MEMSET (pInitParam, 0, sizeof (tEplObdInitParam));
+
+ #define EPL_OBD_CREATE_INIT_FUNCTION
+ {
+ // inserts code to init pointer to index tables
+ #include "objdict.h"
+ }
+ #undef EPL_OBD_CREATE_INIT_FUNCTION
+
+ #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE))
+ {
+ // to begin no user OD is defined
+ pInitParam_p->m_pUserPart = NULL;
+ }
+ #endif
+ }
+
+ #define EPL_OBD_CREATE_INIT_SUBINDEX
+ {
+ // inserts code to copy subindex tables
+ #include "objdict.h"
+ }
+ #undef EPL_OBD_CREATE_INIT_SUBINDEX
+
+ return kEplSuccessful;
+
+}
+
+
+#endif // _EPLOBJDEF_H_
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for PDO module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdo.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_PDO_H_
+#define _EPL_PDO_H_
+
+#include "EplInc.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+// invalid PDO-NodeId
+#define EPL_PDO_INVALID_NODE_ID 0xFF
+// NodeId for PReq RPDO
+#define EPL_PDO_PREQ_NODE_ID 0x00
+// NodeId for PRes TPDO
+#define EPL_PDO_PRES_NODE_ID 0x00
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ void* m_pVar;
+ WORD m_wOffset; // in Bits
+ WORD m_wSize; // in Bits
+ BOOL m_fNumeric; // numeric value -> use AMI functions
+
+} tEplPdoMapping;
+
+typedef struct
+{
+ unsigned int m_uiSizeOfStruct;
+ unsigned int m_uiPdoId;
+ unsigned int m_uiNodeId;
+ // 0xFF=invalid, RPDO: 0x00=PReq, localNodeId=PRes, remoteNodeId=PRes
+ // TPDO: 0x00=PRes, MN: CnNodeId=PReq
+
+ BOOL m_fTxRx;
+ BYTE m_bMappingVersion;
+ unsigned int m_uiMaxMappingEntries; // maximum number of mapping entries, i.e. size of m_aPdoMapping
+ tEplPdoMapping m_aPdoMapping[1];
+
+} tEplPdoParam;
+
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPL_PDO_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for kernel PDO module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdok.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "kernel/EplPdok.h"
+#include "kernel/EplPdokCal.h"
+#include "kernel/EplEventk.h"
+#include "kernel/EplObdk.h"
+
+#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
+#include "plccore.h"
+#define PDO_LED 0x08
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) == 0)
+
+ #error 'ERROR: Missing DLLk-Modul!'
+
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0)
+
+ #error 'ERROR: Missing OBDk-Modul!'
+
+#endif
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define EPL_PDOK_OBD_IDX_RX_COMM_PARAM 0x1400
+#define EPL_PDOK_OBD_IDX_RX_MAPP_PARAM 0x1600
+#define EPL_PDOK_OBD_IDX_TX_COMM_PARAM 0x1800
+#define EPL_PDOK_OBD_IDX_TX_MAPP_PARAM 0x1A00
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplPdok */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokAddInstance()
+//
+// Description: add and initialize new instance of EPL stack
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokAddInstance(void)
+{
+
+ return kEplSuccessful;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokDelInstance()
+//
+// Description: deletes an instance of EPL stack
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokDelInstance(void)
+{
+
+ return kEplSuccessful;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCbPdoReceived
+//
+// Description: This function is called by DLL if PRes or PReq frame was
+// received. It posts the frame to the event queue.
+// It is called in states NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL.
+// The passed PDO needs not to be valid.
+//
+// Parameters: pFrameInfo_p = pointer to frame info structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCbPdoReceived(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
+ // reset LED
+// MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level
+#endif
+
+ Event.m_EventSink = kEplEventSinkPdok;
+ Event.m_EventType = kEplEventTypePdoRx;
+ // limit copied data to size of PDO (because from some CNs the frame is larger than necessary)
+ Event.m_uiSize = AmiGetWordFromLe(&pFrameInfo_p->m_pFrame->m_Data.m_Pres.m_le_wSize) + 24; // pFrameInfo_p->m_uiFrameSize;
+ Event.m_pArg = pFrameInfo_p->m_pFrame;
+ Ret = EplEventkPost(&Event);
+
+#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
+ // set LED
+// MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCbPdoTransmitted
+//
+// Description: This function is called by DLL if PRes or PReq frame was
+// sent. It posts the pointer to the frame to the event queue.
+// It is called in NMT_CS_PRE_OPERATIONAL_2,
+// NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL.
+//
+// Parameters: pFrameInfo_p = pointer to frame info structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCbPdoTransmitted(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
+ // reset LED
+ MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level
+#endif
+
+ Event.m_EventSink = kEplEventSinkPdok;
+ Event.m_EventType = kEplEventTypePdoTx;
+ Event.m_uiSize = sizeof (tEplFrameInfo);
+ Event.m_pArg = pFrameInfo_p;
+ Ret = EplEventkPost(&Event);
+
+#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
+ // set LED
+ MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCbSoa
+//
+// Description: This function is called by DLL if SoA frame was
+// received resp. sent. It posts this event to the event queue.
+//
+// Parameters: pFrameInfo_p = pointer to frame info structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCbSoa(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplEvent Event;
+
+ Event.m_EventSink = kEplEventSinkPdok;
+ Event.m_EventType = kEplEventTypePdoSoa;
+ Event.m_uiSize = 0;
+ Event.m_pArg = NULL;
+ Ret = EplEventkPost(&Event);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokProcess
+//
+// Description: This function processes all received and transmitted PDOs.
+// This function must not be interrupted by any other task
+// except ISRs (like the ethernet driver ISR, which may call
+// EplPdokCbFrameReceived() or EplPdokCbFrameTransmitted()).
+//
+// Parameters: pEvent_p = pointer to event structure
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokProcess(tEplEvent * pEvent_p)
+{
+tEplKernel Ret = kEplSuccessful;
+WORD wPdoSize;
+WORD wBitOffset;
+WORD wBitSize;
+WORD wVarSize;
+QWORD qwObjectMapping;
+BYTE bMappSubindex;
+BYTE bObdSubindex;
+WORD wObdMappIndex;
+WORD wObdCommIndex;
+WORD wPdoId;
+BYTE bObdData;
+BYTE bObjectCount;
+BYTE bFrameData;
+BOOL fValid;
+tEplObdSize ObdSize;
+tEplFrame *pFrame;
+tEplFrameInfo *pFrameInfo;
+unsigned int uiNodeId;
+tEplMsgType MsgType;
+
+ // 0xFF=invalid, RPDO: 0x00=PReq, localNodeId=PRes, remoteNodeId=PRes
+ // TPDO: 0x00=PRes, MN: CnNodeId=PReq
+
+ switch (pEvent_p->m_EventType)
+ {
+ case kEplEventTypePdoRx: // RPDO received
+ pFrame = (tEplFrame *) pEvent_p->m_pArg;
+
+ // check if received RPDO is valid
+ bFrameData = AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1);
+ if ((bFrameData & EPL_FRAME_FLAG1_RD) == 0)
+ { // RPDO invalid
+ goto Exit;
+ }
+
+ // retrieve EPL message type
+ MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType);
+ if (MsgType == kEplMsgTypePreq)
+ { // RPDO is PReq frame
+ uiNodeId = EPL_PDO_PREQ_NODE_ID; // 0x00
+ }
+ else
+ { // RPDO is PRes frame
+ // retrieve node ID
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
+ }
+
+ // search for appropriate valid RPDO in OD
+ wObdMappIndex = EPL_PDOK_OBD_IDX_RX_MAPP_PARAM;
+ for (wObdCommIndex = EPL_PDOK_OBD_IDX_RX_COMM_PARAM;
+ wObdCommIndex < (EPL_PDOK_OBD_IDX_RX_COMM_PARAM + 0x00FF);
+ wObdCommIndex++, wObdMappIndex++)
+ {
+ ObdSize = 1;
+ // read node ID from OD
+ Ret = EplObdReadEntry(wObdCommIndex, 0x01, &bObdData, &ObdSize);
+ if ((Ret == kEplObdIndexNotExist)
+ || (Ret == kEplObdSubindexNotExist)
+ || (Ret == kEplObdIllegalPart))
+ { // PDO does not exist; last PDO reached
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ else if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+ // entry read successfully
+ if (bObdData != uiNodeId)
+ { // node ID does not equal - wrong PDO, try next PDO in OD
+ continue;
+ }
+ ObdSize = 1;
+ // read number of mapped objects from OD; this indicates if the PDO is valid
+ Ret = EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount, &ObdSize);
+ if ((Ret == kEplObdIndexNotExist)
+ || (Ret == kEplObdSubindexNotExist)
+ || (Ret == kEplObdIllegalPart))
+ { // PDO does not exist; last PDO reached
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ else if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+ // entry read successfully
+ if (bObjectCount == 0)
+ { // PDO in OD not valid, try next PDO in OD
+ continue;
+ }
+
+ ObdSize = 1;
+ // check PDO mapping version
+ Ret = EplObdReadEntry(wObdCommIndex, 0x02, &bObdData, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+ // entry read successfully
+ // retrieve PDO version from frame
+ bFrameData = AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bPdoVersion);
+ if ((bObdData & EPL_VERSION_MAIN) != (bFrameData & EPL_VERSION_MAIN))
+ { // PDO versions do not match
+ // $$$ raise PDO error
+ // termiate processing of this RPDO
+ goto Exit;
+ }
+
+ // valid RPDO found
+
+ // retrieve PDO size
+ wPdoSize = AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize);
+
+ // process mapping
+ for (bMappSubindex = 1; bMappSubindex <= bObjectCount; bMappSubindex++)
+ {
+ ObdSize = 8; // QWORD
+ // read object mapping from OD
+ Ret = EplObdReadEntry(wObdMappIndex, bMappSubindex, &qwObjectMapping, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+
+ // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed
+ if (qwObjectMapping == 0)
+ { // invalid entry, continue with next entry
+ continue;
+ }
+
+ // decode object mapping
+ wObdCommIndex = (WORD) (qwObjectMapping & 0x000000000000FFFFLL);
+ bObdSubindex = (BYTE) ((qwObjectMapping & 0x0000000000FF0000LL) >> 16);
+ wBitOffset = (WORD) ((qwObjectMapping & 0x0000FFFF00000000LL) >> 32);
+ wBitSize = (WORD) ((qwObjectMapping & 0xFFFF000000000000LL) >> 48);
+
+ // check if object exceeds PDO size
+ if (((wBitOffset + wBitSize) >> 3) > wPdoSize)
+ { // wrong object mapping; PDO size is too low
+ // $$$ raise PDO error
+ // terminate processing of this RPDO
+ goto Exit;
+ }
+
+ // copy object from RPDO to process/OD variable
+ ObdSize = wBitSize >> 3;
+ Ret = EplObdWriteEntryFromLe(wObdCommIndex, bObdSubindex, &pFrame->m_Data.m_Pres.m_le_abPayload[(wBitOffset >> 3)], ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+
+ }
+
+ // processing finished successfully
+ goto Exit;
+ }
+ break;
+
+ case kEplEventTypePdoTx: // TPDO transmitted
+ pFrameInfo = (tEplFrameInfo *) pEvent_p->m_pArg;
+ pFrame = pFrameInfo->m_pFrame;
+
+ // set TPDO invalid, so that only fully processed TPDOs are sent as valid
+ bFrameData = AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1);
+ AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bFlag1, (bFrameData & ~EPL_FRAME_FLAG1_RD));
+
+ // retrieve EPL message type
+ MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType);
+ if (MsgType == kEplMsgTypePres)
+ { // TPDO is PRes frame
+ uiNodeId = EPL_PDO_PRES_NODE_ID; // 0x00
+ }
+ else
+ { // TPDO is PReq frame
+ // retrieve node ID
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId);
+ }
+
+ // search for appropriate valid TPDO in OD
+ wObdMappIndex = EPL_PDOK_OBD_IDX_TX_MAPP_PARAM;
+ wObdCommIndex = EPL_PDOK_OBD_IDX_TX_COMM_PARAM;
+ for (wPdoId = 0; ; wPdoId++, wObdCommIndex++, wObdMappIndex++)
+ {
+ ObdSize = 1;
+ // read node ID from OD
+ Ret = EplObdReadEntry(wObdCommIndex, 0x01, &bObdData, &ObdSize);
+ if ((Ret == kEplObdIndexNotExist)
+ || (Ret == kEplObdSubindexNotExist)
+ || (Ret == kEplObdIllegalPart))
+ { // PDO does not exist; last PDO reached
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ else if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+ // entry read successfully
+ if (bObdData != uiNodeId)
+ { // node ID does not equal - wrong PDO, try next PDO in OD
+ continue;
+ }
+ ObdSize = 1;
+ // read number of mapped objects from OD; this indicates if the PDO is valid
+ Ret = EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount, &ObdSize);
+ if ((Ret == kEplObdIndexNotExist)
+ || (Ret == kEplObdSubindexNotExist)
+ || (Ret == kEplObdIllegalPart))
+ { // PDO does not exist; last PDO reached
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ else if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+ // entry read successfully
+ if (bObjectCount == 0)
+ { // PDO in OD not valid, try next PDO in OD
+ continue;
+ }
+
+ // valid TPDO found
+
+ ObdSize = 1;
+ // get PDO mapping version from OD
+ Ret = EplObdReadEntry(wObdCommIndex, 0x02, &bObdData, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+ // entry read successfully
+ // set PDO version in frame
+ AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bPdoVersion, bObdData);
+
+ // calculate PDO size
+ wPdoSize = 0;
+
+ // process mapping
+ for (bMappSubindex = 1; bMappSubindex <= bObjectCount; bMappSubindex++)
+ {
+ ObdSize = 8; // QWORD
+ // read object mapping from OD
+ Ret = EplObdReadEntry(wObdMappIndex, bMappSubindex, &qwObjectMapping, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+
+ // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed
+ if (qwObjectMapping == 0)
+ { // invalid entry, continue with next entry
+ continue;
+ }
+
+ // decode object mapping
+ wObdCommIndex = (WORD) (qwObjectMapping & 0x000000000000FFFFLL);
+ bObdSubindex = (BYTE) ((qwObjectMapping & 0x0000000000FF0000LL) >> 16);
+ wBitOffset = (WORD) ((qwObjectMapping & 0x0000FFFF00000000LL) >> 32);
+ wBitSize = (WORD) ((qwObjectMapping & 0xFFFF000000000000LL) >> 48);
+
+ // calculate max PDO size
+ ObdSize = wBitSize >> 3;
+ wVarSize = (wBitOffset >> 3) + (WORD) ObdSize;
+ if ((unsigned int)(wVarSize + 24) > pFrameInfo->m_uiFrameSize)
+ { // TPDO is too short
+ // $$$ raise PDO error, set Ret
+ goto Exit;
+ }
+ if (wVarSize > wPdoSize)
+ { // memorize new PDO size
+ wPdoSize = wVarSize;
+ }
+
+ // copy object from process/OD variable to TPDO
+ Ret = EplObdReadEntryToLe(wObdCommIndex, bObdSubindex, &pFrame->m_Data.m_Pres.m_le_abPayload[(wBitOffset >> 3)], &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ goto Exit;
+ }
+
+ }
+
+ // set PDO size in frame
+ AmiSetWordToLe(&pFrame->m_Data.m_Pres.m_le_wSize, wPdoSize);
+
+ Ret = EplPdokCalAreTpdosValid(&fValid);
+ if (fValid != FALSE)
+ {
+ // set TPDO valid
+ bFrameData = AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1);
+ AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bFlag1, (bFrameData | EPL_FRAME_FLAG1_RD));
+ }
+
+ // processing finished successfully
+
+ goto Exit;
+ }
+ break;
+
+ case kEplEventTypePdoSoa: // SoA received
+
+ // invalidate TPDOs
+ Ret = EplPdokCalSetTpdosValid(FALSE);
+ break;
+
+ default:
+ {
+ ASSERTMSG(FALSE, "EplPdokProcess(): unhandled event type!\n");
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for kernel PDO Communication Abstraction Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdokCal.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/27 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "kernel/EplPdokCal.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplPdokCal */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ BOOL m_fTpdosValid;
+
+} tEplPdokCalInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplPdokCalInstance EplPdokCalInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCalAddInstance()
+//
+// Description: add and initialize new instance of EPL stack
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCalAddInstance(void)
+{
+
+ EPL_MEMSET(&EplPdokCalInstance_g, 0, sizeof(EplPdokCalInstance_g));
+
+ return kEplSuccessful;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCalDelInstance()
+//
+// Description: deletes an instance of EPL stack
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCalDelInstance(void)
+{
+
+ return kEplSuccessful;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCalSetTpdosValid()
+//
+// Description: This function sets the validity flag for TPDOs to the
+// specified value.
+//
+// Parameters: fValid_p = validity flag
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCalSetTpdosValid(BOOL fValid_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ EplPdokCalInstance_g.m_fTpdosValid = fValid_p;
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdokCalAreTpdosValid()
+//
+// Description: This function returns the validity flag for TPDOs.
+//
+// Parameters: pfValid_p = OUT: validity flag
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCalAreTpdosValid(BOOL * pfValid_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ *pfValid_p = EplPdokCalInstance_g.m_fTpdosValid;
+
+ return Ret;
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+#endif
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for user PDO module
+ Currently, this module just implements a OD callback function
+ to check if the PDO configuration is valid.
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdou.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+****************************************************************************/
+
+#include "EplInc.h"
+//#include "user/EplPdouCal.h"
+#include "user/EplObdu.h"
+#include "user/EplPdou.h"
+#include "EplSdoAc.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0)
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE)
+#error "EPL PDOu module needs EPL module OBDU or OBDK!"
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define EPL_PDOU_OBD_IDX_RX_COMM_PARAM 0x1400
+#define EPL_PDOU_OBD_IDX_RX_MAPP_PARAM 0x1600
+#define EPL_PDOU_OBD_IDX_TX_COMM_PARAM 0x1800
+#define EPL_PDOU_OBD_IDX_TX_MAPP_PARAM 0x1A00
+#define EPL_PDOU_OBD_IDX_MAPP_PARAM 0x0200
+#define EPL_PDOU_OBD_IDX_MASK 0xFF00
+#define EPL_PDOU_PDO_ID_MASK 0x00FF
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S EplPdou */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel EplPdouCheckPdoValidity(tEplObdCbParam MEM* pParam_p, unsigned int uiIndex_p);
+
+static void EplPdouDecodeObjectMapping(QWORD qwObjectMapping_p,
+ unsigned int* puiIndex_p,
+ unsigned int* puiSubIndex_p,
+ unsigned int* puiBitOffset_p,
+ unsigned int* puiBitSize_p);
+
+static tEplKernel EplPdouCheckObjectMapping(QWORD qwObjectMapping_p,
+ tEplObdAccess AccessType_p,
+ DWORD* pdwAbortCode_p,
+ unsigned int* puiPdoSize_p);
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdouAddInstance()
+//
+// Description: add and initialize new instance of EPL stack
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdouAddInstance(void)
+{
+
+ return kEplSuccessful;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdouDelInstance()
+//
+// Description: deletes an instance of EPL stack
+//
+// Parameters: none
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdouDelInstance(void)
+{
+
+ return kEplSuccessful;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdouCbObdAccess
+//
+// Description: callback function for OD accesses
+//
+// Parameters: pParam_p = OBD parameter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplPdouCbObdAccess(tEplObdCbParam MEM* pParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiPdoId;
+unsigned int uiIndexType;
+tEplObdSize ObdSize;
+BYTE bObjectCount;
+QWORD qwObjectMapping;
+tEplObdAccess AccessType;
+BYTE bMappSubindex;
+unsigned int uiCurPdoSize;
+WORD wMaxPdoSize;
+unsigned int uiSubIndex;
+
+ // fetch PDO ID
+ uiPdoId = pParam_p->m_uiIndex & EPL_PDOU_PDO_ID_MASK;
+
+ // fetch object index type
+ uiIndexType = pParam_p->m_uiIndex & EPL_PDOU_OBD_IDX_MASK;
+
+ if (pParam_p->m_ObdEvent != kEplObdEvPreWrite)
+ { // read accesses, post write events etc. are OK
+ pParam_p->m_dwAbortCode = 0;
+ goto Exit;
+ }
+
+ // check index type
+ switch (uiIndexType)
+ {
+ case EPL_PDOU_OBD_IDX_RX_COMM_PARAM:
+ // RPDO communication parameter accessed
+ case EPL_PDOU_OBD_IDX_TX_COMM_PARAM:
+ { // TPDO communication parameter accessed
+ Ret = EplPdouCheckPdoValidity(pParam_p,
+ (EPL_PDOU_OBD_IDX_MAPP_PARAM | pParam_p->m_uiIndex));
+ if (Ret != kEplSuccessful)
+ { // PDO is valid or does not exist
+ goto Exit;
+ }
+
+ goto Exit;
+ }
+
+ case EPL_PDOU_OBD_IDX_RX_MAPP_PARAM:
+ { // RPDO mapping parameter accessed
+
+ AccessType = kEplObdAccWrite;
+ break;
+ }
+
+ case EPL_PDOU_OBD_IDX_TX_MAPP_PARAM:
+ { // TPDO mapping parameter accessed
+
+ AccessType = kEplObdAccRead;
+ break;
+ }
+
+ default:
+ { // this callback function is only for
+ // PDO mapping and communication parameters
+ pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ goto Exit;
+ }
+ }
+
+ // RPDO and TPDO mapping parameter accessed
+
+ if (pParam_p->m_uiSubIndex == 0)
+ { // object mapping count accessed
+
+ // PDO is enabled or disabled
+ bObjectCount = *((BYTE*) pParam_p->m_pArg);
+
+ if (bObjectCount == 0)
+ { // PDO shall be disabled
+
+ // that is always possible
+ goto Exit;
+ }
+
+ // PDO shall be enabled
+ // it should have been disabled for this operation
+ Ret = EplPdouCheckPdoValidity(pParam_p, pParam_p->m_uiIndex);
+ if (Ret != kEplSuccessful)
+ { // PDO is valid or does not exist
+ goto Exit;
+ }
+
+ if (AccessType == kEplObdAccWrite)
+ {
+ uiSubIndex = 0x04; // PReqActPayloadLimit_U16
+ }
+ else
+ {
+ uiSubIndex = 0x05; // PResActPayloadLimit_U16
+ }
+
+ // fetch maximum PDO size from Object 1F98h: NMT_CycleTiming_REC
+ ObdSize = sizeof (wMaxPdoSize);
+ Ret = EplObduReadEntry(0x1F98, uiSubIndex, &wMaxPdoSize, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ goto Exit;
+ }
+
+ // check all objectmappings
+ for (bMappSubindex = 1; bMappSubindex <= bObjectCount; bMappSubindex++)
+ {
+ // read object mapping from OD
+ ObdSize = sizeof (qwObjectMapping); // QWORD
+ Ret = EplObduReadEntry(pParam_p->m_uiIndex,
+ bMappSubindex, &qwObjectMapping, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ goto Exit;
+ }
+
+ // check object mapping
+ Ret = EplPdouCheckObjectMapping(qwObjectMapping,
+ AccessType,
+ &pParam_p->m_dwAbortCode,
+ &uiCurPdoSize);
+ if (Ret != kEplSuccessful)
+ { // illegal object mapping
+ goto Exit;
+ }
+
+ if (uiCurPdoSize > wMaxPdoSize)
+ { // mapping exceeds object size
+ pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ Ret = kEplPdoVarNotFound;
+ }
+
+
+ }
+
+ }
+ else
+ { // ObjectMapping
+ Ret = EplPdouCheckPdoValidity(pParam_p, pParam_p->m_uiIndex);
+ if (Ret != kEplSuccessful)
+ { // PDO is valid or does not exist
+ goto Exit;
+ }
+
+ // check existence of object and validity of object length
+
+ qwObjectMapping = *((QWORD*) pParam_p->m_pArg);
+
+ Ret = EplPdouCheckObjectMapping(qwObjectMapping,
+ AccessType,
+ &pParam_p->m_dwAbortCode,
+ &uiCurPdoSize);
+
+ }
+
+Exit:
+ return Ret;
+}
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdouCheckPdoValidity
+//
+// Description: check if PDO is valid
+//
+// Parameters: pParam_p = OBD parameter
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplPdouCheckPdoValidity(tEplObdCbParam MEM* pParam_p, unsigned int uiIndex_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplObdSize ObdSize;
+BYTE bObjectCount;
+
+ ObdSize = 1;
+ // read number of mapped objects from OD; this indicates if the PDO is valid
+ Ret = EplObduReadEntry(uiIndex_p, 0x00, &bObjectCount, &ObdSize);
+ if (Ret != kEplSuccessful)
+ { // other fatal error occured
+ pParam_p->m_dwAbortCode = EPL_SDOAC_GEN_INTERNAL_INCOMPATIBILITY;
+ goto Exit;
+ }
+ // entry read successfully
+ if (bObjectCount != 0)
+ { // PDO in OD is still valid
+ pParam_p->m_dwAbortCode = EPL_SDOAC_GEN_PARAM_INCOMPATIBILITY;
+ Ret = kEplPdoNotExist;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdouDecodeObjectMapping
+//
+// Description: decodes the given object mapping entry into index, subindex,
+// bit offset and bit size.
+//
+// Parameters: qwObjectMapping_p = object mapping entry
+// puiIndex_p = [OUT] pointer to object index
+// puiSubIndex_p = [OUT] pointer to subindex
+// puiBitOffset_p = [OUT] pointer to bit offset
+// puiBitSize_p = [OUT] pointer to bit size
+//
+// Returns: (void)
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static void EplPdouDecodeObjectMapping(QWORD qwObjectMapping_p,
+ unsigned int* puiIndex_p,
+ unsigned int* puiSubIndex_p,
+ unsigned int* puiBitOffset_p,
+ unsigned int* puiBitSize_p)
+{
+ *puiIndex_p = (unsigned int)
+ (qwObjectMapping_p & 0x000000000000FFFFLL);
+
+ *puiSubIndex_p = (unsigned int)
+ ((qwObjectMapping_p & 0x0000000000FF0000LL) >> 16);
+
+ *puiBitOffset_p = (unsigned int)
+ ((qwObjectMapping_p & 0x0000FFFF00000000LL) >> 32);
+
+ *puiBitSize_p = (unsigned int)
+ ((qwObjectMapping_p & 0xFFFF000000000000LL) >> 48);
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplPdouCheckObjectMapping
+//
+// Description: checks the given object mapping entry.
+//
+// Parameters: qwObjectMapping_p = object mapping entry
+// AccessType_p = access type to mapped object:
+// write = RPDO and read = TPDO
+// puiPdoSize_p = [OUT] pointer to covered PDO size
+// (offset + size) in byte;
+// 0 if mapping failed
+// pdwAbortCode_p = [OUT] pointer to SDO abort code;
+// 0 if mapping is possible
+//
+// Returns: tEplKernel = error code
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static tEplKernel EplPdouCheckObjectMapping(QWORD qwObjectMapping_p,
+ tEplObdAccess AccessType_p,
+ DWORD* pdwAbortCode_p,
+ unsigned int* puiPdoSize_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplObdSize ObdSize;
+unsigned int uiIndex;
+unsigned int uiSubIndex;
+unsigned int uiBitOffset;
+unsigned int uiBitSize;
+tEplObdAccess AccessType;
+BOOL fNumerical;
+
+ if (qwObjectMapping_p == 0)
+ { // discard zero value
+ *puiPdoSize_p = 0;
+ goto Exit;
+ }
+
+ // decode object mapping
+ EplPdouDecodeObjectMapping(qwObjectMapping_p,
+ &uiIndex,
+ &uiSubIndex,
+ &uiBitOffset,
+ &uiBitSize);
+
+ if ((uiBitOffset & 0x7) != 0x0)
+ { // bit mapping is not supported
+ *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
+ Ret = kEplPdoGranularityMismatch;
+ goto Exit;
+ }
+
+ if ((uiBitSize & 0x7) != 0x0)
+ { // bit mapping is not supported
+ *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
+ Ret = kEplPdoGranularityMismatch;
+ goto Exit;
+ }
+
+ // check access type
+ Ret = EplObduGetAccessType(uiIndex, uiSubIndex, &AccessType);
+ if (Ret != kEplSuccessful)
+ { // entry doesn't exist
+ *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_EXIST;
+ goto Exit;
+ }
+
+ if ((AccessType & kEplObdAccPdo) == 0)
+ { // object is not mappable
+ *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_MAPPABLE;
+ Ret = kEplPdoVarNotFound;
+ goto Exit;
+ }
+
+ if ((AccessType & AccessType_p) == 0)
+ { // object is not writeable (RPDO) or readable (TPDO) respectively
+ *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_MAPPABLE;
+ Ret = kEplPdoVarNotFound;
+ goto Exit;
+ }
+
+ ObdSize = EplObduGetDataSize(uiIndex, uiSubIndex);
+ if (ObdSize < (uiBitSize >> 3))
+ { // object does not exist or has smaller size
+ *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
+ Ret = kEplPdoVarNotFound;
+ }
+
+ Ret = EplObduIsNumerical(uiIndex, uiSubIndex, &fNumerical);
+ if (Ret != kEplSuccessful)
+ { // entry doesn't exist
+ *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_EXIST;
+ goto Exit;
+ }
+
+ if ((fNumerical != FALSE)
+ && ((uiBitSize >> 3) != ObdSize))
+ {
+ // object is numerical,
+ // therefor size has to fit, but it does not.
+ *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
+ Ret = kEplPdoVarNotFound;
+ goto Exit;
+ }
+
+ // calucaled needed PDO size
+ *puiPdoSize_p = (uiBitOffset >> 3) + (uiBitSize >> 3);
+
+Exit:
+ return Ret;
+}
+
+
+#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for api function of the sdo module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdo.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "EplFrame.h"
+#include "EplSdoAc.h"
+
+#ifndef _EPLSDO_H_
+#define _EPLSDO_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+// global defines
+#ifndef EPL_SDO_MAX_PAYLOAD
+#define EPL_SDO_MAX_PAYLOAD 256
+#endif
+
+// handle between Protocol Abstraction Layer and asynchronous SDO Sequence Layer
+#define EPL_SDO_UDP_HANDLE 0x8000
+#define EPL_SDO_ASND_HANDLE 0x4000
+#define EPL_SDO_ASY_HANDLE_MASK 0xC000
+#define EPL_SDO_ASY_INVALID_HDL 0x3FFF
+
+// handle between SDO Sequence Layer and sdo command layer
+#define EPL_SDO_ASY_HANDLE 0x8000
+#define EPL_SDO_PDO_HANDLE 0x4000
+#define EPL_SDO_SEQ_HANDLE_MASK 0xC000
+#define EPL_SDO_SEQ_INVALID_HDL 0x3FFF
+
+#define EPL_ASND_HEADER_SIZE 4
+//#define EPL_SEQ_HEADER_SIZE 4
+#define EPL_ETHERNET_HEADER_SIZE 14
+
+#define EPL_SEQ_NUM_MASK 0xFC
+
+// size for send buffer and history
+#define EPL_MAX_SDO_FRAME_SIZE EPL_C_IP_MIN_MTU
+// size for receive frame
+// -> needed because SND-Kit sends up to 1518 Byte
+// without Sdo-Command: Maximum Segment Size
+#define EPL_MAX_SDO_REC_FRAME_SIZE EPL_C_IP_MAX_MTU
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+// handle between Protocol Abstraction Layer and asynchronuus SDO Sequence Layer
+typedef unsigned int tEplSdoConHdl;
+
+// callback function pointer for Protocol Abstraction Layer to call
+// asynchronuus SDO Sequence Layer
+typedef tEplKernel (PUBLIC* tEplSequLayerReceiveCb ) (
+ tEplSdoConHdl ConHdl_p,
+ tEplAsySdoSeq* pSdoSeqData_p,
+ unsigned int uiDataSize_p);
+
+// handle between asynchronuus SDO Sequence Layer and SDO Command layer
+typedef unsigned int tEplSdoSeqConHdl;
+
+// callback function pointer for asynchronuus SDO Sequence Layer to call
+// SDO Command layer for received data
+typedef tEplKernel (PUBLIC* tEplSdoComReceiveCb) (
+ tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoCom* pAsySdoCom_p,
+ unsigned int uiDataSize_p);
+
+// status of connection
+typedef enum
+{
+ kAsySdoConStateConnected = 0x00,
+ kAsySdoConStateInitError = 0x01,
+ kAsySdoConStateConClosed = 0x02,
+ kAsySdoConStateAckReceived = 0x03,
+ kAsySdoConStateFrameSended = 0x04,
+ kAsySdoConStateTimeout = 0x05
+
+}tEplAsySdoConState;
+
+// callback function pointer for asynchronuus SDO Sequence Layer to call
+// SDO Command layer for connection status
+typedef tEplKernel (PUBLIC* tEplSdoComConCb) (
+ tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoConState AsySdoConState_p);
+
+// handle between SDO Command layer and application
+typedef unsigned int tEplSdoComConHdl;
+
+// status of connection
+typedef enum
+{
+ kEplSdoComTransferNotActive = 0x00,
+ kEplSdoComTransferRunning = 0x01,
+ kEplSdoComTransferTxAborted = 0x02,
+ kEplSdoComTransferRxAborted = 0x03,
+ kEplSdoComTransferFinished = 0x04,
+ kEplSdoComTransferLowerLayerAbort = 0x05
+
+} tEplSdoComConState;
+
+// SDO Services and Command-Ids from DS 1.0.0 p.152
+typedef enum
+{
+ kEplSdoServiceNIL = 0x00,
+ kEplSdoServiceWriteByIndex = 0x01,
+ kEplSdoServiceReadByIndex = 0x02
+
+ //--------------------------------
+ // the following services are optional and
+ // not supported now
+/*
+ kEplSdoServiceWriteAllByIndex = 0x03,
+ kEplSdoServiceReadAllByIndex = 0x04,
+ kEplSdoServiceWriteByName = 0x05,
+ kEplSdoServiceReadByName = 0x06,
+
+ kEplSdoServiceFileWrite = 0x20,
+ kEplSdoServiceFileRead = 0x21,
+
+ kEplSdoServiceWriteMultiByIndex = 0x31,
+ kEplSdoServiceReadMultiByIndex = 0x32,
+
+ kEplSdoServiceMaxSegSize = 0x70
+
+ // 0x80 - 0xFF manufacturer specific
+
+ */
+} tEplSdoServiceType;
+
+// describes if read or write access
+typedef enum
+{
+ kEplSdoAccessTypeRead = 0x00,
+ kEplSdoAccessTypeWrite = 0x01
+
+} tEplSdoAccessType;
+
+typedef enum
+{
+ kEplSdoTypeAuto = 0x00,
+ kEplSdoTypeUdp = 0x01,
+ kEplSdoTypeAsnd = 0x02,
+ kEplSdoTypePdo = 0x03
+
+}tEplSdoType;
+
+typedef enum
+{
+ kEplSdoTransAuto = 0x00,
+ kEplSdoTransExpedited = 0x01,
+ kEplSdoTransSegmented = 0x02
+
+
+} tEplSdoTransType;
+
+
+// structure to inform application about finish of SDO transfer
+typedef struct
+{
+ tEplSdoComConHdl m_SdoComConHdl;
+ tEplSdoComConState m_SdoComConState;
+ DWORD m_dwAbortCode;
+ tEplSdoAccessType m_SdoAccessType;
+ unsigned int m_uiNodeId; // NodeId of the target
+ unsigned int m_uiTargetIndex; // index which was accessed
+ unsigned int m_uiTargetSubIndex; // subindex which was accessed
+ unsigned int m_uiTransferredByte; // number of bytes transferred
+ void* m_pUserArg; // user definable argument pointer
+
+} tEplSdoComFinished;
+
+
+// callback function pointer to inform application about connection
+typedef tEplKernel (PUBLIC* tEplSdoFinishedCb) (
+ tEplSdoComFinished* pSdoComFinished_p);
+
+
+// structure to init SDO transfer to Read or Write by Index
+typedef struct
+{
+ tEplSdoComConHdl m_SdoComConHdl;
+ unsigned int m_uiIndex;
+ unsigned int m_uiSubindex;
+ void* m_pData;
+ unsigned int m_uiDataSize;
+ unsigned int m_uiTimeout; // not used in this version
+ tEplSdoAccessType m_SdoAccessType;
+ tEplSdoFinishedCb m_pfnSdoFinishedCb;
+ void* m_pUserArg; // user definable argument pointer
+
+} tEplSdoComTransParamByIndex;
+
+
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPLSDO_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: definitions for SDO Abort codes
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoAc.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ ...
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/30 k.t.: first implementation
+
+****************************************************************************/
+
+#ifndef _EPLSDOAC_H_
+#define _EPLSDOAC_H_
+
+
+// =========================================================================
+// SDO abort codes
+// =========================================================================
+
+#define EPL_SDOAC_TIME_OUT 0x05040000L
+#define EPL_SDOAC_UNKNOWN_COMMAND_SPECIFIER 0x05040001L
+#define EPL_SDOAC_INVALID_BLOCK_SIZE 0x05040002L
+#define EPL_SDOAC_INVALID_SEQUENCE_NUMBER 0x05040003L
+#define EPL_SDOAC_OUT_OF_MEMORY 0x05040005L
+#define EPL_SDOAC_UNSUPPORTED_ACCESS 0x06010000L
+#define EPL_SDOAC_READ_TO_WRITE_ONLY_OBJ 0x06010001L
+#define EPL_SDOAC_WRITE_TO_READ_ONLY_OBJ 0x06010002L
+#define EPL_SDOAC_OBJECT_NOT_EXIST 0x06020000L
+#define EPL_SDOAC_OBJECT_NOT_MAPPABLE 0x06040041L
+#define EPL_SDOAC_PDO_LENGTH_EXCEEDED 0x06040042L
+#define EPL_SDOAC_GEN_PARAM_INCOMPATIBILITY 0x06040043L
+#define EPL_SDOAC_INVALID_HEARTBEAT_DEC 0x06040044L
+#define EPL_SDOAC_GEN_INTERNAL_INCOMPATIBILITY 0x06040047L
+#define EPL_SDOAC_ACCESS_FAILED_DUE_HW_ERROR 0x06060000L
+#define EPL_SDOAC_DATA_TYPE_LENGTH_NOT_MATCH 0x06070010L
+#define EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH 0x06070012L
+#define EPL_SDOAC_DATA_TYPE_LENGTH_TOO_LOW 0x06070013L
+#define EPL_SDOAC_SUB_INDEX_NOT_EXIST 0x06090011L
+#define EPL_SDOAC_VALUE_RANGE_EXCEEDED 0x06090030L
+#define EPL_SDOAC_VALUE_RANGE_TOO_HIGH 0x06090031L
+#define EPL_SDOAC_VALUE_RANGE_TOO_LOW 0x06090032L
+#define EPL_SDOAC_MAX_VALUE_LESS_MIN_VALUE 0x06090036L
+#define EPL_SDOAC_GENERAL_ERROR 0x08000000L
+#define EPL_SDOAC_DATA_NOT_TRANSF_OR_STORED 0x08000020L
+#define EPL_SDOAC_DATA_NOT_TRANSF_DUE_LOCAL_CONTROL 0x08000021L
+#define EPL_SDOAC_DATA_NOT_TRANSF_DUE_DEVICE_STATE 0x08000022L
+#define EPL_SDOAC_OBJECT_DICTIONARY_NOT_EXIST 0x08000023L
+#define EPL_SDOAC_CONFIG_DATA_EMPTY 0x08000024L
+
+
+#endif // _EPLSDOAC_H_
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for SDO/Asnd-Protocolabstractionlayer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoAsndu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.7 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/07 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplSdoAsndu.h"
+#include "user/EplDlluCal.h"
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef EPL_SDO_MAX_CONNECTION_ASND
+#define EPL_SDO_MAX_CONNECTION_ASND 5
+#endif
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+// instance table
+typedef struct
+{
+ unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
+ tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
+
+
+} tEplSdoAsndInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static tEplSdoAsndInstance SdoAsndInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p);
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <EPL SDO-Asnd Protocolabstraction layer> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: EPL SDO-Asnd Protocolabstraction layer
+//
+//
+/***************************************************************************/
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduInit
+//
+// Description: init first instance of the module
+//
+//
+//
+// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
+// callback-function
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
+{
+tEplKernel Ret;
+
+
+ Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);
+
+return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduAddInstance
+//
+// Description: init additional instance of the module
+//
+//
+//
+// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
+// callback-function
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // init control structure
+ EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));
+
+ // save pointer to callback-function
+ if (fpReceiveCb_p != NULL)
+ {
+ SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
+ }
+ else
+ {
+ Ret = kEplSdoUdpMissCb;
+ }
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
+ EplSdoAsnduCb,
+ kEplDllAsndFilterLocal);
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduDelInstance
+//
+// Description: del instance of the module
+// del socket and del Listen-Thread
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ // deregister callback function from DLL
+ Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
+ NULL,
+ kEplDllAsndFilterNone);
+#endif
+
+return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduInitCon
+//
+// Description: init a new connect
+//
+//
+//
+// Parameters: pSdoConHandle_p = pointer for the new connection handle
+// uiTargetNodeId_p = NodeId of the target node
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduInitCon(tEplSdoConHdl* pSdoConHandle_p,
+ unsigned int uiTargetNodeId_p)
+{
+tEplKernel Ret;
+unsigned int uiCount;
+unsigned int uiFreeCon;
+unsigned int* puiConnection;
+
+ Ret = kEplSuccessful;
+
+ if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
+ || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST))
+ {
+ Ret = kEplSdoAsndInvalidNodeId;
+ goto Exit;
+ }
+
+ // get free entry in control structure
+ uiCount = 0;
+ uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
+ puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
+ while(uiCount < EPL_SDO_MAX_CONNECTION_ASND)
+ {
+ if (*puiConnection == uiTargetNodeId_p)
+ { // existing connection to target node found
+ // save handle for higher layer
+ *pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE );
+
+ goto Exit;
+ }
+ else if (*puiConnection == 0)
+ { // free entry-> save target nodeId
+ uiFreeCon = uiCount;
+ }
+ uiCount++;
+ puiConnection++;
+ }
+
+ if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND)
+ {
+ // no free connection
+ Ret = kEplSdoAsndNoFreeHandle;
+ }
+ else
+ {
+ puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
+ *puiConnection = uiTargetNodeId_p;
+ // save handle for higher layer
+ *pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE );
+
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduSendData
+//
+// Description: send data using exisiting connection
+//
+//
+//
+// Parameters: SdoConHandle_p = connection handle
+// pSrcData_p = pointer to data
+// dwDataSize_p = number of databyte
+// -> without asnd-header!!!
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
+ tEplFrame * pSrcData_p,
+ DWORD dwDataSize_p)
+{
+tEplKernel Ret;
+unsigned int uiArray;
+tEplFrameInfo FrameInfo;
+
+ Ret = kEplSuccessful;
+
+ uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
+
+ if(uiArray > EPL_SDO_MAX_CONNECTION_ASND)
+ {
+ Ret = kEplSdoAsndInvalidHandle;
+ goto Exit;
+ }
+
+ // fillout Asnd header
+ // own node id not needed -> filled by DLL
+
+ // set message type
+ AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (BYTE)kEplMsgTypeAsnd); // ASnd == 0x06
+ // target node id
+ AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, (BYTE) SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray]);
+ // set source-nodeid (filled by DLL 0)
+ AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
+
+ // calc size
+ dwDataSize_p += EPL_ASND_HEADER_SIZE;
+
+ // send function of DLL
+ FrameInfo.m_uiFrameSize = dwDataSize_p;
+ FrameInfo.m_pFrame = pSrcData_p;
+ EPL_MEMSET(&FrameInfo.m_NetTime , 0x00, sizeof(tEplNetTime));
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+ Ret = EplDlluCalAsyncSend(&FrameInfo,kEplDllAsyncReqPrioGeneric);
+#endif
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduDelCon
+//
+// Description: delete connection from intern structure
+//
+//
+//
+// Parameters: SdoConHandle_p = connection handle
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
+{
+tEplKernel Ret;
+unsigned int uiArray;
+
+ Ret = kEplSuccessful;
+
+
+ uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
+ // check parameter
+ if(uiArray > EPL_SDO_MAX_CONNECTION_ASND)
+ {
+ Ret = kEplSdoAsndInvalidHandle;
+ goto Exit;
+ }
+
+ // set target nodeId to 0
+ SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;
+
+Exit:
+ return Ret;
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsnduCb
+//
+// Description: callback function for SDO ASnd frames
+//
+//
+//
+// Parameters: pFrameInfo_p = Frame with SDO payload
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiCount;
+unsigned int* puiConnection;
+unsigned int uiNodeId;
+unsigned int uiFreeEntry = 0xFFFF;
+tEplSdoConHdl SdoConHdl;
+tEplFrame* pFrame;
+
+ pFrame = pFrameInfo_p->m_pFrame;
+
+ uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
+
+ // search corresponding entry in control structure
+ uiCount = 0;
+ puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
+ while (uiCount < EPL_SDO_MAX_CONNECTION_ASND)
+ {
+ if (uiNodeId == *puiConnection)
+ {
+ break;
+ }
+ else if ((*puiConnection == 0)
+ && (uiFreeEntry == 0xFFFF))
+ { // free entry
+ uiFreeEntry = uiCount;
+ }
+ uiCount++;
+ puiConnection++;
+ }
+
+ if (uiCount == EPL_SDO_MAX_CONNECTION_ASND)
+ {
+ if (uiFreeEntry != 0xFFFF)
+ {
+ puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeEntry];
+ *puiConnection = uiNodeId;
+ uiCount = uiFreeEntry;
+ }
+ else
+ {
+ EPL_DBGLVL_SDO_TRACE0("EplSdoAsnduCb(): no free handle\n");
+ goto Exit;
+ }
+ }
+// if (uiNodeId == *puiConnection)
+ { // entry found or created
+ SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE );
+
+ SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl, &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame, (pFrameInfo_p->m_uiFrameSize - 18));
+ }
+
+Exit:
+ return Ret;
+
+}
+
+
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for asychronous SDO Sequence Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoAsySequ.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.10 $ $Date: 2008/11/13 17:13:09 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplSdoAsySequ.h"
+
+
+#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) == 0) &&\
+ (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) == 0) )
+
+ #error 'ERROR: At least UDP or Asnd module needed!'
+
+#endif
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define EPL_SDO_HISTORY_SIZE 5
+
+#ifndef EPL_MAX_SDO_SEQ_CON
+#define EPL_MAX_SDO_SEQ_CON 10
+#endif
+
+#define EPL_SEQ_DEFAULT_TIMEOUT 5000 // in [ms] => 5 sec
+
+#define EPL_SEQ_RETRY_COUNT 5 // => max. Timeout 30 sec
+
+#define EPL_SEQ_NUM_THRESHOLD 100 // threshold which distinguishes between old and new sequence numbers
+
+// define frame with size of Asnd-Header-, SDO Sequenze Header size, SDO Command header
+// and Ethernet-Header size
+#define EPL_SEQ_FRAME_SIZE 24
+// size of the header of the asynchronus SDO Sequence layer
+#define EPL_SEQ_HEADER_SIZE 4
+
+// buffersize for one frame in history
+#define EPL_SEQ_HISTROY_FRAME_SIZE EPL_MAX_SDO_FRAME_SIZE
+
+// mask to get scon and rcon
+#define EPL_ASY_SDO_CON_MASK 0x03
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+// events for processfunction
+typedef enum
+{
+ kAsySdoSeqEventNoEvent = 0x00, // no Event
+ kAsySdoSeqEventInitCon = 0x01, // init connection
+ kAsySdoSeqEventFrameRec = 0x02, // frame received
+ kAsySdoSeqEventFrameSend= 0x03, // frame to send
+ kAsySdoSeqEventTimeout = 0x04, // Timeout for connection
+ kAsySdoSeqEventCloseCon = 0x05 // higher layer close connection
+
+}tEplAsySdoSeqEvent;
+
+// structure for History-Buffer
+typedef struct
+{
+ BYTE m_bFreeEntries;
+ BYTE m_bWrite; // index of the next free buffer entry
+ BYTE m_bAck; // index of the next message which should become acknowledged
+ BYTE m_bRead; // index between m_bAck and m_bWrite to the next message for retransmission
+ BYTE m_aabHistoryFrame[EPL_SDO_HISTORY_SIZE][EPL_SEQ_HISTROY_FRAME_SIZE];
+ unsigned int m_auiFrameSize[EPL_SDO_HISTORY_SIZE];
+
+}tEplAsySdoConHistory;
+
+// state of the statemaschine
+typedef enum
+{
+ kEplAsySdoStateIdle = 0x00,
+ kEplAsySdoStateInit1 = 0x01,
+ kEplAsySdoStateInit2 = 0x02,
+ kEplAsySdoStateInit3 = 0x03,
+ kEplAsySdoStateConnected = 0x04,
+ kEplAsySdoStateWaitAck = 0x05
+
+}tEplAsySdoState;
+
+// connection control structure
+typedef struct
+{
+ tEplSdoConHdl m_ConHandle;
+ tEplAsySdoState m_SdoState;
+ BYTE m_bRecSeqNum; // name from view of the communication partner
+ BYTE m_bSendSeqNum; // name from view of the communication partner
+ tEplAsySdoConHistory m_SdoConHistory;
+ tEplTimerHdl m_EplTimerHdl;
+ unsigned int m_uiRetryCount; // retry counter
+ unsigned int m_uiUseCount; // one sequence layer connection may be used by
+ // multiple command layer connections
+
+}tEplAsySdoSeqCon;
+
+// instance structure
+typedef struct
+{
+ tEplAsySdoSeqCon m_AsySdoConnection[EPL_MAX_SDO_SEQ_CON];
+ tEplSdoComReceiveCb m_fpSdoComReceiveCb;
+ tEplSdoComConCb m_fpSdoComConCb;
+
+#if defined(WIN32) || defined(_WIN32)
+ LPCRITICAL_SECTION m_pCriticalSection;
+ CRITICAL_SECTION m_CriticalSection;
+
+ LPCRITICAL_SECTION m_pCriticalSectionReceive;
+ CRITICAL_SECTION m_CriticalSectionReceive;
+#endif
+
+}tEplAsySdoSequInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static tEplAsySdoSequInstance AsySdoSequInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pData_p,
+ tEplAsySdoSeq* pRecFrame_p,
+ tEplAsySdoSeqEvent Event_p);
+
+static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pData_p,
+ BOOL fFrameInHistory);
+
+static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pEplFrame_p);
+
+tEplKernel PUBLIC EplSdoAsyReceiveCb (tEplSdoConHdl ConHdl_p,
+ tEplAsySdoSeq* pSdoSeqData_p,
+ unsigned int uiDataSize_p);
+
+static tEplKernel EplSdoAsyInitHistory(void);
+
+static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ tEplFrame* pFrame_p,
+ unsigned int uiSize_p);
+
+static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ BYTE bRecSeqNumber_p);
+
+static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ tEplFrame** ppFrame_p,
+ unsigned int* puiSize_p,
+ BOOL fInitRead);
+
+static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p);
+
+static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ unsigned long ulTimeout);
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <EPL asychronus SDO Sequence layer> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: this module contains the asynchronus SDO Sequence Layer for
+// the EPL SDO service
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqInit
+//
+// Description: init first instance
+//
+//
+//
+// Parameters: fpSdoComCb_p = callback function to inform Command layer
+// about new frames
+// fpSdoComConCb_p = callback function to inform command layer
+// about connection state
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqInit(tEplSdoComReceiveCb fpSdoComCb_p,
+ tEplSdoComConCb fpSdoComConCb_p)
+{
+tEplKernel Ret;
+
+
+ Ret = EplSdoAsySeqAddInstance(fpSdoComCb_p, fpSdoComConCb_p);
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqAddInstance
+//
+// Description: init following instances
+//
+//
+//
+// Parameters: fpSdoComCb_p = callback function to inform Command layer
+// about new frames
+// fpSdoComConCb_p = callback function to inform command layer
+// about connection state
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqAddInstance (tEplSdoComReceiveCb fpSdoComCb_p,
+ tEplSdoComConCb fpSdoComConCb_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // check functionpointer
+ if(fpSdoComCb_p == NULL)
+ {
+ Ret = kEplSdoSeqMissCb;
+ goto Exit;
+ }
+ else
+ {
+ AsySdoSequInstance_g.m_fpSdoComReceiveCb = fpSdoComCb_p;
+ }
+
+ // check functionpointer
+ if(fpSdoComConCb_p == NULL)
+ {
+ Ret = kEplSdoSeqMissCb;
+ goto Exit;
+ }
+ else
+ {
+ AsySdoSequInstance_g.m_fpSdoComConCb = fpSdoComConCb_p;
+ }
+
+ // set controllstructure to 0
+ EPL_MEMSET(&AsySdoSequInstance_g.m_AsySdoConnection[0], 0x00, sizeof(AsySdoSequInstance_g.m_AsySdoConnection));
+
+ // init History
+ Ret = EplSdoAsyInitHistory();
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#if defined(WIN32) || defined(_WIN32)
+ // create critical section for process function
+ AsySdoSequInstance_g.m_pCriticalSection = &AsySdoSequInstance_g.m_CriticalSection;
+ InitializeCriticalSection(AsySdoSequInstance_g.m_pCriticalSection);
+
+ // init critical section for receive cb function
+ AsySdoSequInstance_g.m_pCriticalSectionReceive = &AsySdoSequInstance_g.m_CriticalSectionReceive;
+ InitializeCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive);
+#endif
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ // init lower layer
+ Ret = EplSdoUdpuAddInstance(EplSdoAsyReceiveCb);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ // init lower layer
+ Ret = EplSdoAsnduAddInstance(EplSdoAsyReceiveCb);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqDelInstance
+//
+// Description: delete instances
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqDelInstance()
+{
+tEplKernel Ret;
+unsigned int uiCount;
+tEplAsySdoSeqCon* pAsySdoSeqCon;
+
+ Ret = kEplSuccessful;
+
+ // delete timer of open connections
+ uiCount = 0;
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0];
+ while(uiCount < EPL_MAX_SDO_SEQ_CON)
+ {
+ if (pAsySdoSeqCon->m_ConHandle != 0)
+ {
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ }
+ uiCount++;
+ pAsySdoSeqCon++;
+ }
+
+
+#if defined(WIN32) || defined(_WIN32)
+ // delete critical section for process function
+ DeleteCriticalSection(AsySdoSequInstance_g.m_pCriticalSection);
+#endif
+
+ // set instance-table to 0
+ EPL_MEMSET(&AsySdoSequInstance_g, 0x00, sizeof(AsySdoSequInstance_g));
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ // delete lower layer
+ Ret = EplSdoUdpuDelInstance();
+#endif
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ // delete lower layer
+ Ret = EplSdoAsnduDelInstance();
+#endif
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqInitCon
+//
+// Description: start initialization of a sequence layer connection.
+// It tries to reuse an existing connection to the same node.
+//
+//
+// Parameters: pSdoSeqConHdl_p = pointer to the variable for the connection handle
+// uiNodeId_p = Node Id of the target
+// SdoType = Type of the SDO connection
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqInitCon(tEplSdoSeqConHdl* pSdoSeqConHdl_p,
+ unsigned int uiNodeId_p,
+ tEplSdoType SdoType)
+{
+tEplKernel Ret;
+unsigned int uiCount;
+unsigned int uiFreeCon;
+tEplSdoConHdl ConHandle;
+tEplAsySdoSeqCon* pAsySdoSeqCon;
+ Ret = kEplSuccessful;
+
+ // check SdoType
+ // call init function of the protcol abstraction layer
+ // which tries to find an existing connection to the same node
+ switch (SdoType)
+ {
+ // SDO over UDP
+ case kEplSdoTypeUdp:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ Ret = EplSdoUdpuInitCon(&ConHandle,
+ uiNodeId_p);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#else
+ Ret = kEplSdoSeqUnsupportedProt;
+#endif
+ break;
+ }
+
+ // SDO over Asnd
+ case kEplSdoTypeAsnd:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ Ret = EplSdoAsnduInitCon(&ConHandle,
+ uiNodeId_p);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#else
+ Ret = kEplSdoSeqUnsupportedProt;
+#endif
+ break;
+ }
+
+ // unsupported protocols
+ // -> auto should be replaced by command layer
+ case kEplSdoTypeAuto:
+ case kEplSdoTypePdo:
+ default:
+ {
+ Ret = kEplSdoSeqUnsupportedProt;
+ goto Exit;
+ }
+
+ }// end of switch(SdoType)
+
+
+ // find existing connection to the same node or find empty entry for connection
+ uiCount = 0;
+ uiFreeCon = EPL_MAX_SDO_SEQ_CON;
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0];
+
+ while (uiCount < EPL_MAX_SDO_SEQ_CON)
+ {
+ if (pAsySdoSeqCon->m_ConHandle == ConHandle)
+ { // existing connection found
+ break;
+ }
+ if (pAsySdoSeqCon->m_ConHandle == 0)
+ {
+ uiFreeCon = uiCount;
+ }
+ uiCount++;
+ pAsySdoSeqCon++;
+ }
+
+ if (uiCount == EPL_MAX_SDO_SEQ_CON)
+ {
+ if (uiFreeCon == EPL_MAX_SDO_SEQ_CON)
+ { // no free entry found
+ switch (SdoType)
+ {
+ // SDO over UDP
+ case kEplSdoTypeUdp:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ Ret = EplSdoUdpuDelCon(ConHandle);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+ break;
+ }
+
+ // SDO over Asnd
+ case kEplSdoTypeAsnd:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ Ret = EplSdoAsnduDelCon(ConHandle);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+ break;
+ }
+
+ // unsupported protocols
+ // -> auto should be replaced by command layer
+ case kEplSdoTypeAuto:
+ case kEplSdoTypePdo:
+ default:
+ {
+ Ret = kEplSdoSeqUnsupportedProt;
+ goto Exit;
+ }
+
+ }// end of switch(SdoType)
+
+ Ret = kEplSdoSeqNoFreeHandle;
+ goto Exit;
+ }
+ else
+ { // free entry found
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiFreeCon];
+ pAsySdoSeqCon->m_ConHandle = ConHandle;
+ uiCount = uiFreeCon;
+ }
+ }
+
+ // set handle
+ *pSdoSeqConHdl_p = (uiCount | EPL_SDO_ASY_HANDLE);
+
+ // increment use counter
+ pAsySdoSeqCon->m_uiUseCount++;
+
+ // call intern process function
+ Ret = EplSdoAsySeqProcess(uiCount,
+ 0,
+ NULL,
+ NULL,
+ kAsySdoSeqEventInitCon);
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqSendData
+//
+// Description: send sata unsing a established connection
+//
+//
+//
+// Parameters: pSdoSeqConHdl_p = connection handle
+// uiDataSize_p = Size of Frame to send
+// -> wihtout SDO sequence layer header, Asnd header
+// and ethernetnet
+// ==> SDO Sequence layer payload
+// SdoType = Type of the SDO connection
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqSendData(tEplSdoSeqConHdl SdoSeqConHdl_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pabData_p )
+{
+tEplKernel Ret;
+unsigned int uiHandle;
+
+
+
+ uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK);
+
+ // check if connection ready
+ if(AsySdoSequInstance_g.m_AsySdoConnection[uiHandle].m_SdoState == kEplAsySdoStateIdle )
+ {
+ // no connection with this handle
+ Ret = kEplSdoSeqInvalidHdl;
+ goto Exit;
+ }
+ else if(AsySdoSequInstance_g.m_AsySdoConnection[uiHandle].m_SdoState != kEplAsySdoStateConnected)
+ {
+ Ret = kEplSdoSeqConnectionBusy;
+ goto Exit;
+ }
+
+ Ret = EplSdoAsySeqProcess(uiHandle,
+ uiDataSize_p,
+ pabData_p,
+ NULL,
+ kAsySdoSeqEventFrameSend);
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqProcessEvent
+//
+// Description: function processes extern events
+// -> later needed for timeout controll with timer-module
+//
+//
+//
+// Parameters: pEvent_p = pointer to event
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqProcessEvent(tEplEvent* pEvent_p)
+{
+tEplKernel Ret;
+tEplTimerEventArg* pTimerEventArg;
+tEplAsySdoSeqCon* pAsySdoSeqCon;
+tEplTimerHdl EplTimerHdl;
+unsigned int uiCount;
+
+ Ret = kEplSuccessful;
+ // check parameter
+ if(pEvent_p == NULL)
+ {
+ Ret = kEplSdoSeqInvalidEvent;
+ goto Exit;
+ }
+
+ if(pEvent_p->m_EventType != kEplEventTypeTimer)
+ {
+ Ret = kEplSdoSeqInvalidEvent;
+ goto Exit;
+ }
+
+ // get timerhdl
+ pTimerEventArg = (tEplTimerEventArg*)pEvent_p->m_pArg;
+ EplTimerHdl = pTimerEventArg->m_TimerHdl;
+
+ // get pointer to intern control structure of connection
+ if(pTimerEventArg->m_ulArg == 0)
+ {
+ goto Exit;
+ }
+ pAsySdoSeqCon = (tEplAsySdoSeqCon*)pTimerEventArg->m_ulArg;
+
+ // check if time is current
+ if(EplTimerHdl != pAsySdoSeqCon->m_EplTimerHdl)
+ {
+ // delete timer
+ EplTimeruDeleteTimer(&EplTimerHdl);
+ goto Exit;
+ }
+
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+
+ // get indexnumber of control structure
+ uiCount = 0;
+ while((&AsySdoSequInstance_g.m_AsySdoConnection[uiCount]) != pAsySdoSeqCon)
+ {
+ uiCount++;
+ if(uiCount > EPL_MAX_SDO_SEQ_CON)
+ {
+ goto Exit;
+ }
+ }
+
+
+ // process event and call processfunction if needed
+ Ret = EplSdoAsySeqProcess(uiCount,
+ 0,
+ NULL,
+ NULL,
+ kAsySdoSeqEventTimeout);
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqDelCon
+//
+// Description: del and close one connection
+//
+//
+//
+// Parameters: SdoSeqConHdl_p = handle of connection
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqDelCon(tEplSdoSeqConHdl SdoSeqConHdl_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiHandle;
+tEplAsySdoSeqCon* pAsySdoSeqCon;
+
+ uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK);
+
+ // check if handle invalid
+ if(uiHandle >= EPL_MAX_SDO_SEQ_CON)
+ {
+ Ret = kEplSdoSeqInvalidHdl;
+ goto Exit;
+ }
+
+ // get pointer to connection
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle];
+
+ // decrement use counter
+ pAsySdoSeqCon->m_uiUseCount--;
+
+ if (pAsySdoSeqCon->m_uiUseCount == 0)
+ {
+ // process close in processfunction
+ Ret = EplSdoAsySeqProcess(uiHandle,
+ 0,
+ NULL,
+ NULL,
+ kAsySdoSeqEventCloseCon);
+
+ //check protocol
+ if((pAsySdoSeqCon->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_UDP_HANDLE)
+ {
+ #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ // call close function of lower layer
+ EplSdoUdpuDelCon(pAsySdoSeqCon->m_ConHandle);
+ #endif// end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ }
+ else
+ {
+ #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ // call close function of lower layer
+ EplSdoAsnduDelCon(pAsySdoSeqCon->m_ConHandle);
+ #endif// end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ }
+
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+
+ // clean controllstructure
+ EPL_MEMSET(pAsySdoSeqCon, 0x00, sizeof(tEplAsySdoSeqCon));
+ pAsySdoSeqCon->m_SdoConHistory.m_bFreeEntries = EPL_SDO_HISTORY_SIZE;
+ }
+
+Exit:
+ return Ret;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplEplSdoAsySeqProcess
+//
+// Description: intern function to process the asynchronus SDO Sequence Layer
+// state maschine
+//
+//
+//
+// Parameters: uiHandle_p = index of the control structure of the connection
+// uiDataSize_p = size of data frame to process (can be 0)
+// -> without size of sequence header and Asnd header!!!
+//
+// pData_p = pointer to frame to send (can be NULL)
+// pRecFrame_p = pointer to received frame (can be NULL)
+// Event_p = Event to process
+//
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pData_p,
+ tEplAsySdoSeq* pRecFrame_p,
+ tEplAsySdoSeqEvent Event_p)
+
+{
+tEplKernel Ret;
+unsigned int uiFrameSize;
+tEplFrame* pEplFrame;
+tEplAsySdoSeqCon* pAsySdoSeqCon;
+tEplSdoSeqConHdl SdoSeqConHdl;
+unsigned int uiFreeEntries;
+
+#if defined(WIN32) || defined(_WIN32)
+ // enter critical section for process function
+ EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSection);
+#endif
+
+ Ret = kEplSuccessful;
+
+ // get handle for hinger layer
+ SdoSeqConHdl = uiHandle_p | EPL_SDO_ASY_HANDLE;
+
+ // check if handle invalid
+ if((SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == EPL_SDO_SEQ_INVALID_HDL)
+ {
+ Ret = kEplSdoSeqInvalidHdl;
+ goto Exit;
+ }
+
+ // get pointer to connection
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle_p];
+
+ // check size
+ if((pData_p == NULL)&& (pRecFrame_p == NULL) && (uiDataSize_p != 0))
+ {
+ Ret = kEplSdoSeqInvalidFrame;
+ goto Exit;
+ }
+
+ // check state
+ switch(pAsySdoSeqCon->m_SdoState)
+ {
+ // idle state
+ case kEplAsySdoStateIdle:
+ {
+ // check event
+ switch(Event_p)
+ {
+ // new connection
+ // -> send init frame and change to
+ // kEplAsySdoStateInit1
+ case kAsySdoSeqEventInitCon:
+ {
+ // set sending scon to 1
+ pAsySdoSeqCon->m_bRecSeqNum = 0x01;
+ // set set send rcon to 0
+ pAsySdoSeqCon->m_bSendSeqNum = 0x00;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // change state
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit1;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+
+ break;
+ }
+
+ // init con from extern
+ // check rcon and scon
+ // -> send answer
+ case kAsySdoSeqEventFrameRec:
+ {
+/*
+ PRINTF3("%s scon=%u rcon=%u\n",
+ __FUNCTION__,
+ pRecFrame_p->m_le_bSendSeqNumCon,
+ pRecFrame_p->m_le_bRecSeqNumCon);
+*/
+ // check if scon == 1 and rcon == 0
+ if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x00)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01))
+ {
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // create answer and send answer
+ // set rcon to 1 (in send direction own scon)
+ pAsySdoSeqCon->m_bRecSeqNum++;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // change state to kEplAsySdoStateInit2
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit2;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+ }
+ else
+ { // error -> close
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)
+ || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00))
+ { // d.k. only answer with close message if the message sent was not a close message
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ }
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ }
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ }// end of switch(Event_p)
+ break;
+ }
+
+ // init connection step 1
+ // wait for frame with scon = 1
+ // and rcon = 1
+ case kEplAsySdoStateInit1:
+ {
+// PRINTF0("EplSdoAsySequ: StateInit1\n");
+
+ // check event
+ switch(Event_p)
+ {
+ // frame received
+ case kAsySdoSeqEventFrameRec:
+ {
+ // check scon == 1 and rcon == 1
+ if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01))
+ { // create answer own scon = 2
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+
+ pAsySdoSeqCon->m_bRecSeqNum++;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // change state to kEplAsySdoStateInit3
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit3;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+
+ }
+ // check if scon == 1 and rcon == 0, i.e. other side wants me to be server
+ else if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x00)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01))
+ {
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // create answer and send answer
+ // set rcon to 1 (in send direction own scon)
+ pAsySdoSeqCon->m_bRecSeqNum++;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // change state to kEplAsySdoStateInit2
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit2;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+ }
+ else
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)
+ || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00))
+ { // d.k. only answer with close message if the message sent was not a close message
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ }
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ }
+ break;
+ }
+
+ // timeout
+ case kAsySdoSeqEventTimeout:
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ }// end of switch(Event_p)
+ break;
+ }
+
+ // init connection step 2
+ case kEplAsySdoStateInit2:
+ {
+// PRINTF0("EplSdoAsySequ: StateInit2\n");
+
+ // check event
+ switch(Event_p)
+ {
+ // frame received
+ case kAsySdoSeqEventFrameRec:
+ {
+ // check scon == 2 and rcon == 1
+ if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02))
+ { // create answer own rcon = 2
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+
+ pAsySdoSeqCon->m_bRecSeqNum++;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // change state to kEplAsySdoStateConnected
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateConnected);
+
+ }
+ // check scon == 1 and rcon == 1, i.e. other side wants me to initiate the connection
+ else if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01))
+ {
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // create answer and send answer
+ // set rcon to 1 (in send direction own scon)
+ pAsySdoSeqCon->m_bRecSeqNum++;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+ // change state to kEplAsySdoStateInit3
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit3;
+
+ }
+ else
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)
+ || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00))
+ { // d.k. only answer with close message if the message sent was not a close message
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ }
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ }
+ break;
+ }
+
+ // timeout
+ case kAsySdoSeqEventTimeout:
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ }// end of switch(Event_p)
+ break;
+ }
+
+ // init connection step 3
+ case kEplAsySdoStateInit3:
+ {
+ // check event
+ switch(Event_p)
+ {
+ // frame received
+ case kAsySdoSeqEventFrameRec:
+ {
+ // check scon == 2 and rcon == 2
+ if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02))
+ {
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // change state to kEplAsySdoStateConnected
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateConnected);
+
+ }
+ // check scon == 2 and rcon == 1
+ else if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)
+ &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02))
+ { // create answer own rcon = 2
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+
+ pAsySdoSeqCon->m_bRecSeqNum++;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // change state to kEplAsySdoStateConnected
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateConnected);
+
+ }
+ else
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)
+ || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00))
+ { // d.k. only answer with close message if the message sent was not a close message
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ }
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ }
+ break;
+ }
+
+ // timeout
+ case kAsySdoSeqEventTimeout:
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateInitError);
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ }// end of switch(Event_p)
+ break;
+ }
+
+ // connection established
+ case kEplAsySdoStateConnected:
+ {
+ // check event
+ switch(Event_p)
+ {
+
+ // frame to send
+ case kAsySdoSeqEventFrameSend:
+ {
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+ // check if data frame or ack
+ if(pData_p == NULL)
+ { // send ack
+ // inc scon
+ //pAsySdoSeqCon->m_bRecSeqNum += 4;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+ else
+ { // send dataframe
+ // increment send sequence number
+ pAsySdoSeqCon->m_bRecSeqNum += 4;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ uiDataSize_p,
+ pData_p,
+ TRUE);
+ if(Ret == kEplSdoSeqRequestAckNeeded)
+ { // request ack
+ // change state to wait ack
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateWaitAck;
+ // set Ret to kEplSuccessful, because no error
+ // for higher layer
+ Ret = kEplSuccessful;
+
+ }
+ else if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ else
+ {
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateFrameSended);
+ }
+ }
+ break;
+ }// end of case kAsySdoSeqEventFrameSend
+
+ // frame received
+ case kAsySdoSeqEventFrameRec:
+ {
+ BYTE bSendSeqNumCon = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+ // check scon
+ switch (bSendSeqNumCon & EPL_ASY_SDO_CON_MASK)
+ {
+ // close from other node
+ case 0:
+ case 1:
+ {
+ // return to idle
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateConClosed);
+
+ break;
+ }
+
+ // Request Ack or Error Ack
+ // possible contain data
+ case 3:
+ // normal frame
+ case 2:
+ {
+ if ((AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon) & EPL_ASY_SDO_CON_MASK) == 3)
+ {
+// PRINTF0("EplSdoAsySequ: error response received\n");
+
+ // error response (retransmission request)
+ // resend frames from history
+
+ // read frame from history
+ Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon,
+ &pEplFrame,
+ &uiFrameSize,
+ TRUE);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ while ((pEplFrame != NULL)
+ && (uiFrameSize != 0))
+ {
+ // send frame
+ Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon,
+ uiFrameSize,
+ pEplFrame);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // read next frame from history
+ Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon,
+ &pEplFrame,
+ &uiFrameSize,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ } // end of while((pabFrame != NULL)
+ } // end of if (error response)
+
+ if (((pAsySdoSeqCon->m_bSendSeqNum + 4) & EPL_SEQ_NUM_MASK) == (bSendSeqNumCon & EPL_SEQ_NUM_MASK))
+ { // next frame of sequence received
+ // save send sequence number (without ack request)
+ pAsySdoSeqCon->m_bSendSeqNum = bSendSeqNumCon & ~0x01;
+
+ // check if ack or data-frame
+ //ignore ack -> already processed
+ if(uiDataSize_p > EPL_SEQ_HEADER_SIZE)
+ {
+ AsySdoSequInstance_g.m_fpSdoComReceiveCb(
+ SdoSeqConHdl,
+ ((tEplAsySdoCom*) &pRecFrame_p->m_le_abSdoSeqPayload),
+ (uiDataSize_p - EPL_SEQ_HEADER_SIZE));
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateFrameSended);
+
+
+ }
+ else
+ {
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateAckReceived);
+ }
+ }
+ else if (((bSendSeqNumCon - pAsySdoSeqCon->m_bSendSeqNum - 4) & EPL_SEQ_NUM_MASK) < EPL_SEQ_NUM_THRESHOLD)
+ { // frame of sequence was lost,
+ // because difference of received and old value
+ // is less then halve of the values range.
+
+ // send error frame with own rcon = 3
+ pAsySdoSeqCon->m_bSendSeqNum |= 0x03;
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ // restore send sequence number
+ pAsySdoSeqCon->m_bSendSeqNum = (pAsySdoSeqCon->m_bSendSeqNum & EPL_SEQ_NUM_MASK) | 0x02;
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // break here, because a requested acknowledge
+ // was sent implicitly above
+ break;
+ }
+ // else, ignore repeated frame
+
+ if ((bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 3)
+ { // ack request received
+
+ // create ack with own scon = 2
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ break;
+ }
+
+ } // switch(pAsySdoSeqCon->m_bSendSeqNum & EPL_ASY_SDO_CON_MASK)
+ break;
+ } // end of case kAsySdoSeqEventFrameRec:
+
+
+ //close event from higher layer
+ case kAsySdoSeqEventCloseCon:
+ {
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ // call Command Layer Cb is not necessary, because the event came from there
+// AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+// kAsySdoConStateInitError);
+ break;
+ }
+
+ // timeout
+ case kAsySdoSeqEventTimeout:
+ {
+
+ uiFreeEntries = EplSdoAsyGetFreeEntriesFromHistory(pAsySdoSeqCon);
+ if ((uiFreeEntries < EPL_SDO_HISTORY_SIZE)
+ && (pAsySdoSeqCon->m_uiRetryCount < EPL_SEQ_RETRY_COUNT))
+ { // unacknowlegded frames in history
+ // and retry counter not exceeded
+
+ // resend data with acknowledge request
+
+ // increment retry counter
+ pAsySdoSeqCon->m_uiRetryCount++;
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+
+ // read first frame from history
+ Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon,
+ &pEplFrame,
+ &uiFrameSize,
+ TRUE);
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ if ((pEplFrame != NULL)
+ && (uiFrameSize != 0))
+ {
+
+ // set ack request in scon
+ AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon,
+ AmiGetByteFromLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon) | 0x03);
+
+ // send frame
+ Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon,
+ uiFrameSize,
+ pEplFrame);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ }
+ }
+ else
+ {
+ // timeout, because of no traffic -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateTimeout);
+ }
+
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ }// end of switch(Event_p)
+ break;
+ }
+
+ // wait for Acknowledge (history buffer full)
+ case kEplAsySdoStateWaitAck:
+ {
+ PRINTF0("EplSdoAsySequ: StateWaitAck\n");
+
+ // set timer
+ Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon,
+ EPL_SEQ_DEFAULT_TIMEOUT);
+
+ //TODO: retry of acknowledge
+ if(Event_p == kAsySdoSeqEventFrameRec)
+ {
+ // check rcon
+ switch(pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK)
+ {
+ // close-frome other node
+ case 0:
+ {
+ // return to idle
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // delete timer
+ EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl);
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateConClosed);
+
+ break;
+ }
+
+ // normal frame
+ case 2:
+ {
+ // should be ack
+ // -> change to state kEplAsySdoStateConnected
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected;
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateAckReceived);
+ // send data to higher layer if needed
+ if(uiDataSize_p > EPL_SEQ_HEADER_SIZE)
+ {
+ AsySdoSequInstance_g.m_fpSdoComReceiveCb(
+ SdoSeqConHdl,
+ ((tEplAsySdoCom*) &pRecFrame_p->m_le_abSdoSeqPayload),
+ (uiDataSize_p - EPL_SEQ_HEADER_SIZE));
+ }
+ break;
+ }
+
+ // Request Ack or Error Ack
+ case 3:
+ {
+ // -> change to state kEplAsySdoStateConnected
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected;
+
+ if(pRecFrame_p->m_le_bRecSeqNumCon == pAsySdoSeqCon->m_bRecSeqNum )
+ { // ack request
+ // -> send ack
+ // save sequence numbers
+ pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon);
+ pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon);
+
+ // create answer own rcon = 2
+ pAsySdoSeqCon->m_bRecSeqNum--;
+
+ // check if ack or data-frame
+ if(uiDataSize_p > EPL_SEQ_HEADER_SIZE)
+ {
+ AsySdoSequInstance_g.m_fpSdoComReceiveCb(
+ SdoSeqConHdl,
+ ((tEplAsySdoCom*) &pRecFrame_p->m_le_abSdoSeqPayload),
+ (uiDataSize_p - EPL_SEQ_HEADER_SIZE));
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateFrameSended);
+
+
+ }
+ else
+ {
+ Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ }
+
+ }
+ else
+ {
+ // error ack
+ // resend frames from history
+
+ // read frame from history
+ Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon,
+ &pEplFrame,
+ &uiFrameSize,
+ TRUE);
+ while ((pEplFrame != NULL)
+ && (uiFrameSize != 0))
+ {
+ // send frame
+ Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon,
+ uiFrameSize,
+ pEplFrame);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ // read next frame
+
+ // read frame from history
+ Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon,
+ &pEplFrame,
+ &uiFrameSize,
+ FALSE);
+ } // end of while((pabFrame != NULL)
+ }
+ break;
+ }
+ }// end of switch(pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK)
+
+ }
+ else if(Event_p == kAsySdoSeqEventTimeout)
+ { // error -> Close
+ pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle;
+ // set rcon and scon to 0
+ pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK;
+ pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK;
+ // send frame
+ EplSdoAsySeqSendIntern(pAsySdoSeqCon,
+ 0,
+ NULL,
+ FALSE);
+
+ // call Command Layer Cb
+ AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl,
+ kAsySdoConStateTimeout);
+ }
+
+ break;
+ }
+
+ // unknown state
+ default:
+ {
+ EPL_DBGLVL_SDO_TRACE0("Error: Unknown State in EplSdoAsySeqProcess\n");
+
+ }
+ }// end of switch(pAsySdoSeqCon->m_SdoState)
+
+
+
+Exit:
+
+#if defined(WIN32) || defined(_WIN32)
+ // leave critical section for process function
+ LeaveCriticalSection(AsySdoSequInstance_g.m_pCriticalSection);
+#endif
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqSendIntern
+//
+// Description: intern function to create and send a frame
+// -> if uiDataSize_p == 0 create a frame with infos from
+// pAsySdoSeqCon_p
+//
+//
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of the connection
+// uiDataSize_p = size of data frame to process (can be 0)
+// -> without size of sequence header and Asnd header!!!
+// pData_p = pointer to frame to process (can be NULL)
+// fFrameInHistory = if TRUE frame is saved to history else not
+//
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pData_p,
+ BOOL fFrameInHistory_p)
+{
+tEplKernel Ret;
+BYTE abFrame[EPL_SEQ_FRAME_SIZE];
+tEplFrame* pEplFrame;
+unsigned int uiFreeEntries;
+
+ if(pData_p == NULL)
+ { // set pointer to own frame
+ EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
+ pEplFrame = (tEplFrame*)&abFrame[0];
+ }
+ else
+ { // set pointer to frame from calling function
+ pEplFrame = pData_p;
+ }
+
+ if(fFrameInHistory_p != FALSE)
+ {
+ // check if only one free entry in history buffer
+ uiFreeEntries = EplSdoAsyGetFreeEntriesFromHistory(pAsySdoSeqCon_p);
+ if(uiFreeEntries == 1)
+ { // request an acknowledge in dataframe
+ // own scon = 3
+ pAsySdoSeqCon_p->m_bRecSeqNum |= 0x03;
+ }
+ }
+
+ // fillin header informations
+ // set service id sdo
+ AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_le_bServiceId, 0x05);
+ AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_abReserved,0x00);
+ // set receive sequence number and rcon
+ AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bRecSeqNumCon, pAsySdoSeqCon_p->m_bSendSeqNum);
+ // set send sequence number and scon
+ AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon, pAsySdoSeqCon_p->m_bRecSeqNum);
+
+ // add size
+ uiDataSize_p += EPL_SEQ_HEADER_SIZE;
+
+
+ // forward frame to appropriate lower layer
+ Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon_p,
+ uiDataSize_p,
+ pEplFrame); // pointer to frame
+
+ // check if all allright
+ if ((Ret == kEplSuccessful)
+ && (fFrameInHistory_p != FALSE))
+ {
+ // set own scon to 2 if needed
+ if((pAsySdoSeqCon_p->m_bRecSeqNum & 0x03) == 0x03)
+ {
+ pAsySdoSeqCon_p->m_bRecSeqNum--;
+ }
+
+ // save frame to history
+ Ret = EplSdoAsyAddFrameToHistory(pAsySdoSeqCon_p,
+ pEplFrame,
+ uiDataSize_p);
+ if (Ret == kEplSdoSeqNoFreeHistory)
+ { // request Ack needed
+ Ret = kEplSdoSeqRequestAckNeeded;
+ }
+
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqSendLowerLayer
+//
+// Description: intern function to send a previously created frame to lower layer
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of the connection
+// uiDataSize_p = size of data frame to process (can be 0)
+// -> without size of Asnd header!!!
+// pData_p = pointer to frame to process (can be NULL)
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pEplFrame_p)
+{
+tEplKernel Ret;
+
+ // call send-function
+ // check handle for UDP or Asnd
+ if ((pAsySdoSeqCon_p->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_UDP_HANDLE)
+ { // send over UDP
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+ Ret = EplSdoUdpuSendData(pAsySdoSeqCon_p->m_ConHandle,
+ pEplFrame_p, // pointer to frame
+ uiDataSize_p);
+#else
+ Ret = kEplSdoSeqUnsupportedProt;
+#endif
+
+ }
+ else if ((pAsySdoSeqCon_p->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_ASND_HANDLE)
+ { // ASND
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+ Ret = EplSdoAsnduSendData(pAsySdoSeqCon_p->m_ConHandle,
+ pEplFrame_p, // pointer to frame
+ uiDataSize_p);
+#else
+ Ret = kEplSdoSeqUnsupportedProt;
+#endif
+ }
+ else
+ { // error
+ Ret = kEplSdoSeqInvalidHdl;
+ }
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsyReceiveCb
+//
+// Description: callback-function for received frames from lower layer
+//
+//
+//
+// Parameters: ConHdl_p = handle of the connection
+// pSdoSeqData_p = pointer to frame
+// uiDataSize_p = size of frame
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsyReceiveCb (
+ tEplSdoConHdl ConHdl_p,
+ tEplAsySdoSeq* pSdoSeqData_p,
+ unsigned int uiDataSize_p)
+{
+tEplKernel Ret;
+unsigned int uiCount = 0;
+unsigned int uiFreeEntry = EPL_MAX_SDO_SEQ_CON;
+tEplAsySdoSeqCon* pAsySdoSeqCon;
+
+#if defined(WIN32) || defined(_WIN32)
+ // enter critical section
+ EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive);
+#endif
+
+ EPL_DBGLVL_SDO_TRACE2("Handle: 0x%x , First Databyte 0x%x\n", ConHdl_p,((BYTE*)pSdoSeqData_p)[0]);
+
+ // search controll structure for this connection
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiCount];
+ while (uiCount < EPL_MAX_SDO_SEQ_CON)
+ {
+ if (pAsySdoSeqCon->m_ConHandle == ConHdl_p)
+ {
+ break;
+ }
+ else if ((pAsySdoSeqCon->m_ConHandle == 0)
+ && (uiFreeEntry == EPL_MAX_SDO_SEQ_CON))
+ {
+ // free entry
+ uiFreeEntry = uiCount;
+ }
+ uiCount++;
+ pAsySdoSeqCon++;
+ }
+
+ if (uiCount == EPL_MAX_SDO_SEQ_CON)
+ { // new connection
+ if (uiFreeEntry == EPL_MAX_SDO_SEQ_CON)
+ {
+ Ret = kEplSdoSeqNoFreeHandle;
+ goto Exit;
+ }
+ else
+ {
+ pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiFreeEntry];
+ // save handle from lower layer
+ pAsySdoSeqCon->m_ConHandle = ConHdl_p;
+ // increment use counter
+ pAsySdoSeqCon->m_uiUseCount++;
+ uiCount = uiFreeEntry ;
+ }
+ }
+
+ // call history ack function
+ Ret = EplSdoAsyAckFrameToHistory(pAsySdoSeqCon,
+ (AmiGetByteFromLe(&pSdoSeqData_p->m_le_bRecSeqNumCon)& EPL_SEQ_NUM_MASK));
+ if (Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#if defined(WIN32) || defined(_WIN32)
+ // leave critical section
+ LeaveCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive);
+#endif
+
+ // call process function with pointer of frame and event kAsySdoSeqEventFrameRec
+ Ret = EplSdoAsySeqProcess(uiCount,
+ uiDataSize_p,
+ NULL,
+ pSdoSeqData_p,
+ kAsySdoSeqEventFrameRec);
+
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsyInitHistory
+//
+// Description: inti function for history buffer
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsyInitHistory(void)
+{
+tEplKernel Ret;
+unsigned int uiCount;
+
+ Ret = kEplSuccessful;
+ // init m_bFreeEntries in history-buffer
+ for(uiCount = 0; uiCount < EPL_MAX_SDO_SEQ_CON; uiCount++)
+ {
+ AsySdoSequInstance_g.m_AsySdoConnection[uiCount].m_SdoConHistory.m_bFreeEntries = EPL_SDO_HISTORY_SIZE;
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsyAddFrameToHistory
+//
+// Description: function to add a frame to the history buffer
+//
+//
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of this connection
+// pFrame_p = pointer to frame
+// uiSize_p = size of the frame
+// -> without size of the ethernet header
+// and the asnd header
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ tEplFrame* pFrame_p,
+ unsigned int uiSize_p)
+{
+tEplKernel Ret;
+tEplAsySdoConHistory* pHistory;
+
+ Ret = kEplSuccessful;
+
+ // add frame to history buffer
+
+ // check size
+ // $$$ d.k. EPL_SEQ_HISTORY_FRAME_SIZE includes the header size, but uiSize_p does not!!!
+ if(uiSize_p > EPL_SEQ_HISTROY_FRAME_SIZE)
+ {
+ Ret = kEplSdoSeqFrameSizeError;
+ goto Exit;
+ }
+
+ // save pointer to history
+ pHistory = &pAsySdoSeqCon_p->m_SdoConHistory;
+
+
+ // check if a free entry is available
+ if(pHistory->m_bFreeEntries > 0)
+ { // write message in free entry
+ EPL_MEMCPY(&((tEplFrame*)pHistory->m_aabHistoryFrame[pHistory->m_bWrite])->m_le_bMessageType,
+ &pFrame_p->m_le_bMessageType,
+ uiSize_p + EPL_ASND_HEADER_SIZE);
+ // store size
+ pHistory->m_auiFrameSize[pHistory->m_bWrite] = uiSize_p;
+
+ // decremend number of free bufferentries
+ pHistory->m_bFreeEntries--;
+
+ // increment writeindex
+ pHistory->m_bWrite++;
+
+ // check if write-index run over array-boarder
+ if(pHistory->m_bWrite == EPL_SDO_HISTORY_SIZE)
+ {
+ pHistory->m_bWrite = 0;
+ }
+
+ }
+ else
+ { // no free entry
+ Ret = kEplSdoSeqNoFreeHistory;
+ }
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsyAckFrameToHistory
+//
+// Description: function to delete acknowledged frames fron history buffer
+//
+//
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of this connection
+// bRecSeqNumber_p = receive sequence number of the received frame
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ BYTE bRecSeqNumber_p)
+{
+tEplKernel Ret;
+tEplAsySdoConHistory* pHistory;
+BYTE bAckIndex;
+BYTE bCurrentSeqNum;
+
+ Ret = kEplSuccessful;
+
+ // get pointer to history buffer
+ pHistory = &pAsySdoSeqCon_p->m_SdoConHistory;
+
+ // release all acknowledged frames from history buffer
+
+ // check if there are entries in history
+ if (pHistory->m_bFreeEntries < EPL_SDO_HISTORY_SIZE)
+ {
+ bAckIndex = pHistory->m_bAck;
+ do
+ {
+ bCurrentSeqNum = (((tEplFrame*)pHistory->m_aabHistoryFrame[bAckIndex])->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon & EPL_SEQ_NUM_MASK);
+ if (((bRecSeqNumber_p - bCurrentSeqNum) & EPL_SEQ_NUM_MASK)
+ < EPL_SEQ_NUM_THRESHOLD)
+ {
+ pHistory->m_auiFrameSize[bAckIndex] = 0;
+ bAckIndex++;
+ pHistory->m_bFreeEntries++;
+ if (bAckIndex == EPL_SDO_HISTORY_SIZE)
+ { // read index run over array-boarder
+ bAckIndex = 0;
+ }
+ }
+ else
+ { // nothing to do anymore,
+ // because any further frame in history has larger sequence
+ // number than the acknowledge
+ goto Exit;
+ }
+ }
+ while ((((bRecSeqNumber_p - 1 - bCurrentSeqNum) & EPL_SEQ_NUM_MASK)
+ < EPL_SEQ_NUM_THRESHOLD)
+ && (pHistory->m_bWrite != bAckIndex));
+
+ // store local read-index to global var
+ pHistory->m_bAck = bAckIndex;
+ }
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsyReadFromHistory
+//
+// Description: function to one frame from history
+//
+//
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of this connection
+// ppFrame_p = pointer to pointer to the buffer of the stored frame
+// puiSize_p = OUT: size of the frame
+// fInitRead = bool which indicate a start of retransmission
+// -> return last not acknowledged message if TRUE
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ tEplFrame** ppFrame_p,
+ unsigned int* puiSize_p,
+ BOOL fInitRead_p)
+{
+tEplKernel Ret;
+tEplAsySdoConHistory* pHistory;
+
+ Ret = kEplSuccessful;
+
+ // read one message from History
+
+ // get pointer to history buffer
+ pHistory = &pAsySdoSeqCon_p->m_SdoConHistory;
+
+ // check if init
+ if (fInitRead_p != FALSE)
+ { // initialize read index to the index which shall be acknowledged next
+ pHistory->m_bRead = pHistory->m_bAck;
+ }
+
+ // check if entries are available for reading
+ if ((pHistory->m_bFreeEntries < EPL_SDO_HISTORY_SIZE)
+ && (pHistory->m_bWrite != pHistory->m_bRead))
+ {
+// PRINTF4("EplSdoAsyReadFromHistory(): init = %d, read = %u, write = %u, ack = %u", (int) fInitRead_p, (WORD)pHistory->m_bRead, (WORD)pHistory->m_bWrite, (WORD)pHistory->m_bAck);
+// PRINTF2(", free entries = %u, next frame size = %u\n", (WORD)pHistory->m_bFreeEntries, pHistory->m_auiFrameSize[pHistory->m_bRead]);
+
+ // return pointer to stored frame
+ *ppFrame_p = (tEplFrame*)pHistory->m_aabHistoryFrame[pHistory->m_bRead];
+
+ // save size
+ *puiSize_p = pHistory->m_auiFrameSize[pHistory->m_bRead];
+
+ pHistory->m_bRead++;
+ if(pHistory->m_bRead == EPL_SDO_HISTORY_SIZE)
+ {
+ pHistory->m_bRead = 0;
+ }
+
+ }
+ else
+ {
+// PRINTF3("EplSdoAsyReadFromHistory(): read = %u, ack = %u, free entries = %u, no frame\n", (WORD)pHistory->m_bRead, (WORD)pHistory->m_bAck, (WORD)pHistory->m_bFreeEntries);
+
+ // no more frames to send
+ // return null pointer
+ *ppFrame_p = NULL;
+
+ *puiSize_p = 0;
+ }
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsyGetFreeEntriesFromHistory
+//
+// Description: function returns the number of free histroy entries
+//
+//
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of this connection
+//
+//
+// Returns: unsigned int = number of free entries
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p)
+{
+unsigned int uiFreeEntries;
+
+ uiFreeEntries = (unsigned int)pAsySdoSeqCon_p->m_SdoConHistory.m_bFreeEntries;
+
+ return uiFreeEntries;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoAsySeqSetTimer
+//
+// Description: function sets or modify timer in timermosule
+//
+//
+//
+// Parameters: pAsySdoSeqCon_p = pointer to control structure of this connection
+// ulTimeout = timeout in ms
+//
+//
+// Returns: unsigned int = number of free entries
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon* pAsySdoSeqCon_p,
+ unsigned long ulTimeout)
+{
+tEplKernel Ret;
+tEplTimerArg TimerArg;
+
+ TimerArg.m_EventSink = kEplEventSinkSdoAsySeq;
+ TimerArg.m_ulArg = (unsigned long)pAsySdoSeqCon_p;
+
+ if(pAsySdoSeqCon_p->m_EplTimerHdl == 0)
+ { // create new timer
+ Ret = EplTimeruSetTimerMs(&pAsySdoSeqCon_p->m_EplTimerHdl,
+ ulTimeout,
+ TimerArg);
+ }
+ else
+ { // modify exisiting timer
+ Ret = EplTimeruModifyTimerMs(&pAsySdoSeqCon_p->m_EplTimerHdl,
+ ulTimeout,
+ TimerArg);
+
+ }
+
+
+ return Ret;
+}
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for SDO Command Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoComu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.14 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplSdoComu.h"
+
+#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) == 0) &&\
+ (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) == 0) )
+
+ #error 'ERROR: At least SDO Server or SDO Client should be activate!'
+
+#endif
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+ #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE)
+
+ #error 'ERROR: SDO Server needs OBDu module!'
+
+ #endif
+
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef EPL_MAX_SDO_COM_CON
+#define EPL_MAX_SDO_COM_CON 5
+#endif
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+// intern events
+typedef enum
+{
+ kEplSdoComConEventSendFirst = 0x00, // first frame to send
+ kEplSdoComConEventRec = 0x01, // frame received
+ kEplSdoComConEventConEstablished= 0x02, // connection established
+ kEplSdoComConEventConClosed = 0x03, // connection closed
+ kEplSdoComConEventAckReceived = 0x04, // acknowledge received by lower layer
+ // -> continue sending
+ kEplSdoComConEventFrameSended = 0x05, // lower has send a frame
+ kEplSdoComConEventInitError = 0x06, // error duringinitialisiation
+ // of the connection
+ kEplSdoComConEventTimeout = 0x07 // timeout in lower layer
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+
+ ,
+
+ kEplSdoComConEventInitCon = 0x08, // init connection (only client)
+ kEplSdoComConEventAbort = 0x09 // abort sdo transfer (only client)
+#endif
+
+
+}tEplSdoComConEvent;
+
+typedef enum
+{
+ kEplSdoComSendTypeReq = 0x00, // send a request
+ kEplSdoComSendTypeAckRes = 0x01, // send a resonse without data
+ kEplSdoComSendTypeRes = 0x02, // send response with data
+ kEplSdoComSendTypeAbort = 0x03 // send abort
+
+}tEplSdoComSendType;
+
+// state of the state maschine
+typedef enum
+{
+ // General State
+ kEplSdoComStateIdle = 0x00, // idle state
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+ // Server States
+ kEplSdoComStateServerSegmTrans = 0x01, // send following frames
+#endif
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+ // Client States
+ kEplSdoComStateClientWaitInit = 0x10, // wait for init connection
+ // on lower layer
+ kEplSdoComStateClientConnected = 0x11, // connection established
+ kEplSdoComStateClientSegmTrans = 0x12 // send following frames
+#endif
+
+
+
+} tEplSdoComState;
+
+
+// control structure for transaction
+typedef struct
+{
+ tEplSdoSeqConHdl m_SdoSeqConHdl; // if != 0 -> entry used
+ tEplSdoComState m_SdoComState;
+ BYTE m_bTransactionId;
+ unsigned int m_uiNodeId; // NodeId of the target
+ // -> needed to reinit connection
+ // after timeout
+ tEplSdoTransType m_SdoTransType; // Auto, Expedited, Segmented
+ tEplSdoServiceType m_SdoServiceType; // WriteByIndex, ReadByIndex
+ tEplSdoType m_SdoProtType; // protocol layer: Auto, Udp, Asnd, Pdo
+ BYTE* m_pData; // pointer to data
+ unsigned int m_uiTransSize; // number of bytes
+ // to transfer
+ unsigned int m_uiTransferredByte;// number of bytes
+ // already transferred
+ tEplSdoFinishedCb m_pfnTransferFinished;// callback function of the
+ // application
+ // -> called in the end of
+ // the SDO transfer
+ void* m_pUserArg; // user definable argument pointer
+
+ DWORD m_dwLastAbortCode; // save the last abort code
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+ // only for client
+ unsigned int m_uiTargetIndex; // index to access
+ unsigned int m_uiTargetSubIndex; // subiondex to access
+
+ // for future use
+ unsigned int m_uiTimeout; // timeout for this connection
+
+#endif
+
+} tEplSdoComCon;
+
+// instance table
+typedef struct
+{
+ tEplSdoComCon m_SdoComCon[EPL_MAX_SDO_COM_CON];
+
+#if defined(WIN32) || defined(_WIN32)
+ LPCRITICAL_SECTION m_pCriticalSection;
+ CRITICAL_SECTION m_CriticalSection;
+#endif
+
+}tEplSdoComInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+static tEplSdoComInstance SdoComInstance_g;
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComReceiveCb (tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoCom* pAsySdoCom_p,
+ unsigned int uiDataSize_p);
+
+
+tEplKernel PUBLIC EplSdoComConCb (tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoConState AsySdoConState_p);
+
+static tEplKernel EplSdoComSearchConIntern(tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplSdoComConEvent SdoComConEvent_p,
+ tEplAsySdoCom* pAsySdoCom_p);
+
+static tEplKernel EplSdoComProcessIntern(tEplSdoComConHdl SdoComCon_p,
+ tEplSdoComConEvent SdoComConEvent_p,
+ tEplAsySdoCom* pAsySdoCom_p);
+
+static tEplKernel EplSdoComTransferFinished(tEplSdoComConHdl SdoComCon_p,
+ tEplSdoComCon* pSdoComCon_p,
+ tEplSdoComConState SdoComConState_p);
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+static tEplKernel EplSdoComServerInitReadByIndex(tEplSdoComCon* pSdoComCon_p,
+ tEplAsySdoCom* pAsySdoCom_p);
+
+static tEplKernel EplSdoComServerSendFrameIntern(tEplSdoComCon* pSdoComCon_p,
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplSdoComSendType SendType_p);
+
+static tEplKernel EplSdoComServerInitWriteByIndex(tEplSdoComCon* pSdoComCon_p,
+ tEplAsySdoCom* pAsySdoCom_p);
+#endif
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+
+static tEplKernel EplSdoComClientSend(tEplSdoComCon* pSdoComCon_p);
+
+static tEplKernel EplSdoComClientProcessFrame(tEplSdoComConHdl SdoComCon_p,
+ tEplAsySdoCom* pAsySdoCom_p);
+
+static tEplKernel EplSdoComClientSendAbort(tEplSdoComCon* pSdoComCon_p,
+ DWORD dwAbortCode_p);
+#endif
+
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <SDO Command Layer> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: SDO Command layer Modul
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComInit
+//
+// Description: Init first instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComInit(void)
+{
+tEplKernel Ret;
+
+
+ Ret = EplSdoComAddInstance();
+
+return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComAddInstance
+//
+// Description: Init additional instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComAddInstance(void)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // init controll structure
+ EPL_MEMSET(&SdoComInstance_g, 0x00, sizeof(SdoComInstance_g));
+
+ // init instance of lower layer
+ Ret = EplSdoAsySeqAddInstance(EplSdoComReceiveCb, EplSdoComConCb);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+#if defined(WIN32) || defined(_WIN32)
+ // create critical section for process function
+ SdoComInstance_g.m_pCriticalSection = &SdoComInstance_g.m_CriticalSection;
+ InitializeCriticalSection(SdoComInstance_g.m_pCriticalSection);
+#endif
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComDelInstance
+//
+// Description: delete instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComDelInstance(void)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+
+#if defined(WIN32) || defined(_WIN32)
+ // delete critical section for process function
+ DeleteCriticalSection(SdoComInstance_g.m_pCriticalSection);
+#endif
+
+ Ret = EplSdoAsySeqDelInstance();
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+
+Exit:
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComDefineCon
+//
+// Description: function defines a SDO connection to another node
+// -> init lower layer and returns a handle for the connection.
+// Two client connections to the same node via the same protocol
+// are not allowed. If this function detects such a situation
+// it will return kEplSdoComHandleExists and the handle of
+// the existing connection in pSdoComConHdl_p.
+// Using of existing server connections is possible.
+//
+// Parameters: pSdoComConHdl_p = pointer to the buffer of the handle
+// uiTargetNodeId_p = NodeId of the targetnode
+// ProtType_p = type of protocol to use for connection
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+tEplKernel PUBLIC EplSdoComDefineCon(tEplSdoComConHdl* pSdoComConHdl_p,
+ unsigned int uiTargetNodeId_p,
+ tEplSdoType ProtType_p)
+{
+tEplKernel Ret;
+unsigned int uiCount;
+unsigned int uiFreeHdl;
+tEplSdoComCon* pSdoComCon;
+
+ // check Parameter
+ ASSERT(pSdoComConHdl_p != NULL);
+
+ // check NodeId
+ if((uiTargetNodeId_p == EPL_C_ADR_INVALID)
+ ||(uiTargetNodeId_p >= EPL_C_ADR_BROADCAST))
+ {
+ Ret = kEplInvalidNodeId;
+
+ }
+
+ // search free control structure
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[0];
+ uiCount = 0;
+ uiFreeHdl = EPL_MAX_SDO_COM_CON;
+ while (uiCount < EPL_MAX_SDO_COM_CON)
+ {
+ if (pSdoComCon->m_SdoSeqConHdl == 0)
+ { // free entry
+ uiFreeHdl = uiCount;
+ }
+ else if ((pSdoComCon->m_uiNodeId == uiTargetNodeId_p)
+ && (pSdoComCon->m_SdoProtType == ProtType_p))
+ { // existing client connection with same node ID and same protocol type
+ *pSdoComConHdl_p = uiCount;
+ Ret = kEplSdoComHandleExists;
+ goto Exit;
+ }
+ uiCount++;
+ pSdoComCon++;
+ }
+
+ if (uiFreeHdl == EPL_MAX_SDO_COM_CON)
+ {
+ Ret = kEplSdoComNoFreeHandle;
+ goto Exit;
+ }
+
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[uiFreeHdl];
+ // save handle for application
+ *pSdoComConHdl_p = uiFreeHdl;
+ // save parameters
+ pSdoComCon->m_SdoProtType = ProtType_p;
+ pSdoComCon->m_uiNodeId = uiTargetNodeId_p;
+
+ // set Transaction Id
+ pSdoComCon->m_bTransactionId = 0;
+
+ // check protocol
+ switch(ProtType_p)
+ {
+ // udp
+ case kEplSdoTypeUdp:
+ {
+ // call connection int function of lower layer
+ Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl,
+ pSdoComCon->m_uiNodeId,
+ kEplSdoTypeUdp);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ break;
+ }
+
+ // Asend
+ case kEplSdoTypeAsnd:
+ {
+ // call connection int function of lower layer
+ Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl,
+ pSdoComCon->m_uiNodeId,
+ kEplSdoTypeAsnd);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ break;
+ }
+
+ // Pdo -> not supported
+ case kEplSdoTypePdo:
+ default:
+ {
+ Ret = kEplSdoComUnsupportedProt;
+ goto Exit;
+ }
+ }// end of switch(m_ProtType_p)
+
+ // call process function
+ Ret = EplSdoComProcessIntern(uiFreeHdl,
+ kEplSdoComConEventInitCon,
+ NULL);
+
+Exit:
+ return Ret;
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComInitTransferByIndex
+//
+// Description: function init SDO Transfer for a defined connection
+//
+//
+//
+// Parameters: SdoComTransParam_p = Structure with parameters for connection
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+tEplKernel PUBLIC EplSdoComInitTransferByIndex(tEplSdoComTransParamByIndex* pSdoComTransParam_p)
+{
+tEplKernel Ret;
+tEplSdoComCon* pSdoComCon;
+
+ // check parameter
+ if ((pSdoComTransParam_p->m_uiSubindex >= 0xFF)
+ || (pSdoComTransParam_p->m_uiIndex == 0)
+ || (pSdoComTransParam_p->m_uiIndex > 0xFFFF)
+ || (pSdoComTransParam_p->m_pData == NULL)
+ || (pSdoComTransParam_p->m_uiDataSize == 0))
+ {
+ Ret = kEplSdoComInvalidParam;
+ goto Exit;
+ }
+
+ if(pSdoComTransParam_p->m_SdoComConHdl >= EPL_MAX_SDO_COM_CON)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ // get pointer to control structure of connection
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[pSdoComTransParam_p->m_SdoComConHdl];
+
+ // check if handle ok
+ if(pSdoComCon->m_SdoSeqConHdl == 0)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ // check if command layer is idle
+ if ((pSdoComCon->m_uiTransferredByte + pSdoComCon->m_uiTransSize) > 0)
+ { // handle is not idle
+ Ret = kEplSdoComHandleBusy;
+ goto Exit;
+ }
+
+ // save parameter
+ // callback function for end of transfer
+ pSdoComCon->m_pfnTransferFinished = pSdoComTransParam_p->m_pfnSdoFinishedCb;
+ pSdoComCon->m_pUserArg = pSdoComTransParam_p->m_pUserArg;
+
+ // set type of SDO command
+ if (pSdoComTransParam_p->m_SdoAccessType == kEplSdoAccessTypeRead)
+ {
+ pSdoComCon->m_SdoServiceType = kEplSdoServiceReadByIndex;
+ }
+ else
+ {
+ pSdoComCon->m_SdoServiceType = kEplSdoServiceWriteByIndex;
+
+ }
+ // save pointer to data
+ pSdoComCon->m_pData = pSdoComTransParam_p->m_pData;
+ // maximal bytes to transfer
+ pSdoComCon->m_uiTransSize = pSdoComTransParam_p->m_uiDataSize;
+ // bytes already transfered
+ pSdoComCon->m_uiTransferredByte = 0;
+
+ // reset parts of control structure
+ pSdoComCon->m_dwLastAbortCode = 0;
+ pSdoComCon->m_SdoTransType = kEplSdoTransAuto;
+ // save timeout
+ //pSdoComCon->m_uiTimeout = SdoComTransParam_p.m_uiTimeout;
+
+ // save index and subindex
+ pSdoComCon->m_uiTargetIndex = pSdoComTransParam_p->m_uiIndex;
+ pSdoComCon->m_uiTargetSubIndex = pSdoComTransParam_p->m_uiSubindex;
+
+ // call process function
+ Ret = EplSdoComProcessIntern(pSdoComTransParam_p->m_SdoComConHdl,
+ kEplSdoComConEventSendFirst, // event to start transfer
+ NULL);
+
+Exit:
+ return Ret;
+
+}
+#endif
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComUndefineCon
+//
+// Description: function undefine a SDO connection
+//
+//
+//
+// Parameters: SdoComConHdl_p = handle for the connection
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+tEplKernel PUBLIC EplSdoComUndefineCon(tEplSdoComConHdl SdoComConHdl_p)
+{
+tEplKernel Ret;
+tEplSdoComCon* pSdoComCon;
+
+ Ret = kEplSuccessful;
+
+ if(SdoComConHdl_p >= EPL_MAX_SDO_COM_CON)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ // get pointer to control structure
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p];
+
+ // $$$ d.k. abort a running transfer before closing the sequence layer
+
+ if(((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) != EPL_SDO_SEQ_INVALID_HDL)
+ && (pSdoComCon->m_SdoSeqConHdl != 0))
+ {
+ // close connection in lower layer
+ switch(pSdoComCon->m_SdoProtType)
+ {
+ case kEplSdoTypeAsnd:
+ case kEplSdoTypeUdp:
+ {
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ break;
+ }
+
+ case kEplSdoTypePdo:
+ case kEplSdoTypeAuto:
+ default:
+ {
+ Ret = kEplSdoComUnsupportedProt;
+ goto Exit;
+ }
+
+ }// end of switch(pSdoComCon->m_SdoProtType)
+ }
+
+
+ // clean controll structure
+ EPL_MEMSET(pSdoComCon, 0x00, sizeof(tEplSdoComCon));
+Exit:
+ return Ret;
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComGetState
+//
+// Description: function returns the state fo the connection
+//
+//
+//
+// Parameters: SdoComConHdl_p = handle for the connection
+// pSdoComFinished_p = pointer to structur for sdo state
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+tEplKernel PUBLIC EplSdoComGetState(tEplSdoComConHdl SdoComConHdl_p,
+ tEplSdoComFinished* pSdoComFinished_p)
+{
+tEplKernel Ret;
+tEplSdoComCon* pSdoComCon;
+
+ Ret = kEplSuccessful;
+
+ if(SdoComConHdl_p >= EPL_MAX_SDO_COM_CON)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ // get pointer to control structure
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p];
+
+ // check if handle ok
+ if(pSdoComCon->m_SdoSeqConHdl == 0)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ pSdoComFinished_p->m_pUserArg = pSdoComCon->m_pUserArg;
+ pSdoComFinished_p->m_uiNodeId = pSdoComCon->m_uiNodeId;
+ pSdoComFinished_p->m_uiTargetIndex = pSdoComCon->m_uiTargetIndex;
+ pSdoComFinished_p->m_uiTargetSubIndex = pSdoComCon->m_uiTargetSubIndex;
+ pSdoComFinished_p->m_uiTransferredByte = pSdoComCon->m_uiTransferredByte;
+ pSdoComFinished_p->m_dwAbortCode = pSdoComCon->m_dwLastAbortCode;
+ pSdoComFinished_p->m_SdoComConHdl = SdoComConHdl_p;
+ if (pSdoComCon->m_SdoServiceType == kEplSdoServiceWriteByIndex)
+ {
+ pSdoComFinished_p->m_SdoAccessType = kEplSdoAccessTypeWrite;
+ }
+ else
+ {
+ pSdoComFinished_p->m_SdoAccessType = kEplSdoAccessTypeRead;
+ }
+
+ if(pSdoComCon->m_dwLastAbortCode != 0)
+ { // sdo abort
+ pSdoComFinished_p->m_SdoComConState = kEplSdoComTransferRxAborted;
+
+ // delete abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+
+ }
+ else if((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK)== EPL_SDO_SEQ_INVALID_HDL)
+ { // check state
+ pSdoComFinished_p->m_SdoComConState = kEplSdoComTransferLowerLayerAbort;
+ }
+ else if(pSdoComCon->m_SdoComState == kEplSdoComStateClientWaitInit)
+ {
+ // finished
+ pSdoComFinished_p->m_SdoComConState = kEplSdoComTransferNotActive;
+ }
+ else if(pSdoComCon->m_uiTransSize == 0)
+ { // finished
+ pSdoComFinished_p->m_SdoComConState = kEplSdoComTransferFinished;
+ }
+
+Exit:
+ return Ret;
+
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComSdoAbort
+//
+// Description: function abort a sdo transfer
+//
+//
+//
+// Parameters: SdoComConHdl_p = handle for the connection
+// dwAbortCode_p = abort code
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+tEplKernel PUBLIC EplSdoComSdoAbort(tEplSdoComConHdl SdoComConHdl_p,
+ DWORD dwAbortCode_p)
+{
+tEplKernel Ret;
+tEplSdoComCon* pSdoComCon;
+
+
+ if(SdoComConHdl_p >= EPL_MAX_SDO_COM_CON)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ // get pointer to control structure of connection
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComConHdl_p];
+
+ // check if handle ok
+ if(pSdoComCon->m_SdoSeqConHdl == 0)
+ {
+ Ret = kEplSdoComInvalidHandle;
+ goto Exit;
+ }
+
+ // save pointer to abort code
+ pSdoComCon->m_pData = (BYTE*)&dwAbortCode_p;
+
+ Ret = EplSdoComProcessIntern(SdoComConHdl_p,
+ kEplSdoComConEventAbort,
+ (tEplAsySdoCom*)NULL);
+
+Exit:
+ return Ret;
+}
+#endif
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComReceiveCb
+//
+// Description: callback function for SDO Sequence Layer
+// -> indicates new data
+//
+//
+//
+// Parameters: SdoSeqConHdl_p = Handle for connection
+// pAsySdoCom_p = pointer to data
+// uiDataSize_p = size of data ($$$ not used yet, but it should)
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComReceiveCb (tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoCom* pAsySdoCom_p,
+ unsigned int uiDataSize_p)
+{
+tEplKernel Ret;
+
+
+ // search connection internally
+ Ret = EplSdoComSearchConIntern(SdoSeqConHdl_p,
+ kEplSdoComConEventRec,
+ pAsySdoCom_p);
+
+ EPL_DBGLVL_SDO_TRACE3("EplSdoComReceiveCb SdoSeqConHdl: 0x%X, First Byte of pAsySdoCom_p: 0x%02X, uiDataSize_p: 0x%04X\n", SdoSeqConHdl_p, (WORD)pAsySdoCom_p->m_le_abCommandData[0], uiDataSize_p);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComConCb
+//
+// Description: callback function called by SDO Sequence Layer to inform
+// command layer about state change of connection
+//
+//
+//
+// Parameters: SdoSeqConHdl_p = Handle of the connection
+// AsySdoConState_p = Event of the connection
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComConCb (tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplAsySdoConState AsySdoConState_p)
+{
+tEplKernel Ret;
+tEplSdoComConEvent SdoComConEvent = kEplSdoComConEventSendFirst;
+
+ Ret = kEplSuccessful;
+
+ // check state
+ switch(AsySdoConState_p)
+ {
+ case kAsySdoConStateConnected:
+ {
+ EPL_DBGLVL_SDO_TRACE0("Connection established\n");
+ SdoComConEvent = kEplSdoComConEventConEstablished;
+ // start transmission if needed
+ break;
+ }
+
+ case kAsySdoConStateInitError:
+ {
+ EPL_DBGLVL_SDO_TRACE0("Error during initialisation\n");
+ SdoComConEvent = kEplSdoComConEventInitError;
+ // inform app about error and close sequence layer handle
+ break;
+ }
+
+ case kAsySdoConStateConClosed:
+ {
+ EPL_DBGLVL_SDO_TRACE0("Connection closed\n");
+ SdoComConEvent = kEplSdoComConEventConClosed;
+ // close sequence layer handle
+ break;
+ }
+
+ case kAsySdoConStateAckReceived:
+ {
+ EPL_DBGLVL_SDO_TRACE0("Acknowlage received\n");
+ SdoComConEvent = kEplSdoComConEventAckReceived;
+ // continue transmission
+ break;
+ }
+
+ case kAsySdoConStateFrameSended:
+ {
+ EPL_DBGLVL_SDO_TRACE0("One Frame sent\n");
+ SdoComConEvent = kEplSdoComConEventFrameSended;
+ // to continue transmission
+ break;
+
+ }
+
+ case kAsySdoConStateTimeout:
+ {
+ EPL_DBGLVL_SDO_TRACE0("Timeout\n");
+ SdoComConEvent = kEplSdoComConEventTimeout;
+ // close sequence layer handle
+ break;
+
+ }
+ }// end of switch(AsySdoConState_p)
+
+ Ret = EplSdoComSearchConIntern(SdoSeqConHdl_p,
+ SdoComConEvent,
+ (tEplAsySdoCom*)NULL);
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComSearchConIntern
+//
+// Description: search a Sdo Sequence Layer connection handle in the
+// control structure of the Command Layer
+//
+// Parameters: SdoSeqConHdl_p = Handle to search
+// SdoComConEvent_p = event to process
+// pAsySdoCom_p = pointer to received frame
+//
+// Returns: tEplKernel
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoComSearchConIntern(tEplSdoSeqConHdl SdoSeqConHdl_p,
+ tEplSdoComConEvent SdoComConEvent_p,
+ tEplAsySdoCom* pAsySdoCom_p)
+{
+tEplKernel Ret;
+tEplSdoComCon* pSdoComCon;
+tEplSdoComConHdl HdlCount;
+tEplSdoComConHdl HdlFree;
+
+ Ret = kEplSdoComNotResponsible;
+
+ // get pointer to first element of the array
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[0];
+ HdlCount = 0;
+ HdlFree = 0xFFFF;
+ while (HdlCount < EPL_MAX_SDO_COM_CON)
+ {
+ if (pSdoComCon->m_SdoSeqConHdl == SdoSeqConHdl_p)
+ { // matching command layer handle found
+ Ret = EplSdoComProcessIntern(HdlCount,
+ SdoComConEvent_p,
+ pAsySdoCom_p);
+ }
+ else if ((pSdoComCon->m_SdoSeqConHdl == 0)
+ &&(HdlFree == 0xFFFF))
+ {
+ HdlFree = HdlCount;
+ }
+
+ pSdoComCon++;
+ HdlCount++;
+ }
+
+ if (Ret == kEplSdoComNotResponsible)
+ { // no responsible command layer handle found
+ if (HdlFree == 0xFFFF)
+ { // no free handle
+ // delete connection immediately
+ // 2008/04/14 m.u./d.k. This connection actually does not exist.
+ // pSdoComCon is invalid.
+ // Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ Ret = kEplSdoComNoFreeHandle;
+ }
+ else
+ { // create new handle
+ HdlCount = HdlFree;
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[HdlCount];
+ pSdoComCon->m_SdoSeqConHdl = SdoSeqConHdl_p;
+ Ret = EplSdoComProcessIntern(HdlCount,
+ SdoComConEvent_p,
+ pAsySdoCom_p);
+ }
+ }
+
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComProcessIntern
+//
+// Description: search a Sdo Sequence Layer connection handle in the
+// control structer of the Command Layer
+//
+//
+//
+// Parameters: SdoComCon_p = index of control structure of connection
+// SdoComConEvent_p = event to process
+// pAsySdoCom_p = pointer to received frame
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoComProcessIntern(tEplSdoComConHdl SdoComCon_p,
+ tEplSdoComConEvent SdoComConEvent_p,
+ tEplAsySdoCom* pAsySdoCom_p)
+{
+tEplKernel Ret;
+tEplSdoComCon* pSdoComCon;
+BYTE bFlag;
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+DWORD dwAbortCode;
+unsigned int uiSize;
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+ // enter critical section for process function
+ EnterCriticalSection(SdoComInstance_g.m_pCriticalSection);
+ EPL_DBGLVL_SDO_TRACE0("\n\tEnterCiticalSection EplSdoComProcessIntern\n\n");
+#endif
+
+ Ret = kEplSuccessful;
+
+ // get pointer to control structure
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComCon_p];
+
+ // process state maschine
+ switch(pSdoComCon->m_SdoComState)
+ {
+ // idle state
+ case kEplSdoComStateIdle:
+ {
+ // check events
+ switch(SdoComConEvent_p)
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+ // init con for client
+ case kEplSdoComConEventInitCon:
+ {
+
+ // call of the init function already
+ // processed in EplSdoComDefineCon()
+ // only change state to kEplSdoComStateClientWaitInit
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientWaitInit;
+ break;
+ }
+#endif
+
+
+ // int con for server
+ case kEplSdoComConEventRec:
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+ // check if init of an transfer and no SDO abort
+ if ((pAsySdoCom_p->m_le_bFlags & 0x80) == 0)
+ { // SDO request
+ if ((pAsySdoCom_p->m_le_bFlags & 0x40) == 0)
+ { // no SDO abort
+ // save tansaction id
+ pSdoComCon->m_bTransactionId = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId);
+ // check command
+ switch(pAsySdoCom_p->m_le_bCommandId)
+ {
+ case kEplSdoServiceNIL:
+ { // simply acknowlegde NIL command on sequence layer
+
+ Ret = EplSdoAsySeqSendData(pSdoComCon->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+
+ break;
+ }
+
+ case kEplSdoServiceReadByIndex:
+ { // read by index
+
+ // search entry an start transfer
+ EplSdoComServerInitReadByIndex(pSdoComCon,
+ pAsySdoCom_p);
+ // check next state
+ if(pSdoComCon->m_uiTransSize == 0)
+ { // ready -> stay idle
+ pSdoComCon->m_SdoComState = kEplSdoComStateIdle;
+ // reset abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+ }
+ else
+ { // segmented transfer
+ pSdoComCon->m_SdoComState = kEplSdoComStateServerSegmTrans;
+ }
+
+ break;
+ }
+
+ case kEplSdoServiceWriteByIndex:
+ {
+
+ // search entry an start write
+ EplSdoComServerInitWriteByIndex(pSdoComCon,
+ pAsySdoCom_p);
+ // check next state
+ if(pSdoComCon->m_uiTransSize == 0)
+ { // already -> stay idle
+ pSdoComCon->m_SdoComState = kEplSdoComStateIdle;
+ // reset abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+ }
+ else
+ { // segmented transfer
+ pSdoComCon->m_SdoComState = kEplSdoComStateServerSegmTrans;
+ }
+
+ break;
+ }
+
+ default:
+ {
+ // unsupported command
+ // -> abort senden
+ dwAbortCode = EPL_SDOAC_UNKNOWN_COMMAND_SPECIFIER;
+ // send abort
+ pSdoComCon->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon,
+ 0,
+ 0,
+ kEplSdoComSendTypeAbort);
+
+ }
+
+
+ }// end of switch(pAsySdoCom_p->m_le_bCommandId)
+ }
+ }
+ else
+ { // this command layer handle is not responsible
+ // (wrong direction or wrong transaction ID)
+ Ret = kEplSdoComNotResponsible;
+ goto Exit;
+ }
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+
+ break;
+ }
+
+ // connection closed
+ case kEplSdoComConEventInitError:
+ case kEplSdoComConEventTimeout:
+ case kEplSdoComConEventConClosed:
+ {
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ // clean control structure
+ EPL_MEMSET(pSdoComCon, 0x00, sizeof(tEplSdoComCon));
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+ }// end of switch(SdoComConEvent_p)
+ break;
+ }
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+ //-------------------------------------------------------------------------
+ // SDO Server part
+ // segmented transfer
+ case kEplSdoComStateServerSegmTrans:
+ {
+ // check events
+ switch(SdoComConEvent_p)
+ {
+ // send next frame
+ case kEplSdoComConEventAckReceived:
+ case kEplSdoComConEventFrameSended:
+ {
+ // check if it is a read
+ if(pSdoComCon->m_SdoServiceType == kEplSdoServiceReadByIndex)
+ {
+ // send next frame
+ EplSdoComServerSendFrameIntern(pSdoComCon,
+ 0,
+ 0,
+ kEplSdoComSendTypeRes);
+ // if all send -> back to idle
+ if(pSdoComCon->m_uiTransSize == 0)
+ { // back to idle
+ pSdoComCon->m_SdoComState = kEplSdoComStateIdle;
+ // reset abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+ }
+
+ }
+ break;
+ }
+
+ // process next frame
+ case kEplSdoComConEventRec:
+ {
+ // check if the frame is a SDO response and has the right transaction ID
+ bFlag = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bFlags);
+ if (((bFlag & 0x80) != 0) && (AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId) == pSdoComCon->m_bTransactionId))
+ {
+ // check if it is a abort
+ if((bFlag & 0x40) != 0)
+ { // SDO abort
+ // clear control structure
+ pSdoComCon->m_uiTransSize = 0;
+ pSdoComCon->m_uiTransferredByte = 0;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateIdle;
+ // reset abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+ // d.k.: do not execute anything further on this command
+ break;
+ }
+
+ // check if it is a write
+ if(pSdoComCon->m_SdoServiceType == kEplSdoServiceWriteByIndex)
+ {
+ // write data to OD
+ uiSize = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ if(pSdoComCon->m_dwLastAbortCode == 0)
+ {
+ EPL_MEMCPY(pSdoComCon->m_pData, &pAsySdoCom_p->m_le_abCommandData[0],uiSize);
+ }
+ // update counter
+ pSdoComCon->m_uiTransferredByte += uiSize;
+ pSdoComCon->m_uiTransSize -= uiSize;
+
+ // update pointer
+ if(pSdoComCon->m_dwLastAbortCode == 0)
+ {
+ (/*(BYTE*)*/pSdoComCon->m_pData) += uiSize;
+ }
+
+ // check end of transfer
+ if((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x30)
+ { // transfer ready
+ pSdoComCon->m_uiTransSize = 0;
+
+ if(pSdoComCon->m_dwLastAbortCode == 0)
+ {
+ // send response
+ // send next frame
+ EplSdoComServerSendFrameIntern(pSdoComCon,
+ 0,
+ 0,
+ kEplSdoComSendTypeRes);
+ // if all send -> back to idle
+ if(pSdoComCon->m_uiTransSize == 0)
+ { // back to idle
+ pSdoComCon->m_SdoComState = kEplSdoComStateIdle;
+ // reset abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+ }
+ }
+ else
+ { // send dabort code
+ // send abort
+ pSdoComCon->m_pData = (BYTE*)&pSdoComCon->m_dwLastAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon,
+ 0,
+ 0,
+ kEplSdoComSendTypeAbort);
+
+ // reset abort code
+ pSdoComCon->m_dwLastAbortCode = 0;
+
+ }
+ }
+ else
+ {
+ // send acknowledge without any Command layer data
+ Ret = EplSdoAsySeqSendData(pSdoComCon->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+ }
+ }
+ }
+ else
+ { // this command layer handle is not responsible
+ // (wrong direction or wrong transaction ID)
+ Ret = kEplSdoComNotResponsible;
+ goto Exit;
+ }
+ break;
+ }
+
+ // connection closed
+ case kEplSdoComConEventInitError:
+ case kEplSdoComConEventTimeout:
+ case kEplSdoComConEventConClosed:
+ {
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ // clean control structure
+ EPL_MEMSET(pSdoComCon, 0x00, sizeof(tEplSdoComCon));
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+ }// end of switch(SdoComConEvent_p)
+
+ break;
+ }
+#endif // endif of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+ //-------------------------------------------------------------------------
+ // SDO Client part
+ // wait for finish of establishing connection
+ case kEplSdoComStateClientWaitInit:
+ {
+
+ // if connection handle is invalid reinit connection
+ // d.k.: this will be done only on new events (i.e. InitTransfer)
+ if((pSdoComCon->m_SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == EPL_SDO_SEQ_INVALID_HDL)
+ {
+ // check kind of connection to reinit
+ // check protocol
+ switch(pSdoComCon->m_SdoProtType)
+ {
+ // udp
+ case kEplSdoTypeUdp:
+ {
+ // call connection int function of lower layer
+ Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl,
+ pSdoComCon->m_uiNodeId,
+ kEplSdoTypeUdp);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ break;
+ }
+
+ // Asend -> not supported
+ case kEplSdoTypeAsnd:
+ {
+ // call connection int function of lower layer
+ Ret = EplSdoAsySeqInitCon(&pSdoComCon->m_SdoSeqConHdl,
+ pSdoComCon->m_uiNodeId,
+ kEplSdoTypeAsnd);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+ break;
+ }
+
+ // Pdo -> not supported
+ case kEplSdoTypePdo:
+ default:
+ {
+ Ret = kEplSdoComUnsupportedProt;
+ goto Exit;
+ }
+ }// end of switch(m_ProtType_p)
+ // d.k.: reset transaction ID, because new sequence layer connection was initialized
+ // $$$ d.k. is this really necessary?
+ //pSdoComCon->m_bTransactionId = 0;
+ }
+
+ // check events
+ switch(SdoComConEvent_p)
+ {
+ // connection established
+ case kEplSdoComConEventConEstablished:
+ {
+ //send first frame if needed
+ if((pSdoComCon->m_uiTransSize > 0)
+ &&(pSdoComCon->m_uiTargetIndex != 0))
+ { // start SDO transfer
+ Ret = EplSdoComClientSend(pSdoComCon);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // check if segemted transfer
+ if(pSdoComCon->m_SdoTransType == kEplSdoTransSegmented)
+ {
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientSegmTrans;
+ goto Exit;
+ }
+ }
+ // goto state kEplSdoComStateClientConnected
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientConnected;
+ goto Exit;
+ }
+
+ case kEplSdoComConEventSendFirst:
+ {
+ // infos for transfer already saved by function EplSdoComInitTransferByIndex
+ break;
+ }
+
+ case kEplSdoComConEventConClosed:
+ case kEplSdoComConEventInitError:
+ case kEplSdoComConEventTimeout:
+ {
+ // close sequence layer handle
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ pSdoComCon->m_SdoSeqConHdl |= EPL_SDO_SEQ_INVALID_HDL;
+ // call callback function
+ if (SdoComConEvent_p == kEplSdoComConEventTimeout)
+ {
+ pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_TIME_OUT;
+ }
+ else
+ {
+ pSdoComCon->m_dwLastAbortCode = 0;
+ }
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferLowerLayerAbort);
+ // d.k.: do not clean control structure
+ break;
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ } // end of switch(SdoComConEvent_p)
+ break;
+ }
+
+ // connected
+ case kEplSdoComStateClientConnected:
+ {
+ // check events
+ switch(SdoComConEvent_p)
+ {
+ // send a frame
+ case kEplSdoComConEventSendFirst:
+ case kEplSdoComConEventAckReceived:
+ case kEplSdoComConEventFrameSended:
+ {
+ Ret = EplSdoComClientSend(pSdoComCon);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // check if read transfer finished
+ if((pSdoComCon->m_uiTransSize == 0)
+ && (pSdoComCon->m_uiTransferredByte != 0)
+ && (pSdoComCon->m_SdoServiceType == kEplSdoServiceReadByIndex))
+ {
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = 0;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferFinished);
+
+ goto Exit;
+ }
+
+ // check if segemted transfer
+ if(pSdoComCon->m_SdoTransType == kEplSdoTransSegmented)
+ {
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientSegmTrans;
+ goto Exit;
+ }
+ break;
+ }
+
+ // frame received
+ case kEplSdoComConEventRec:
+ {
+ // check if the frame is a SDO response and has the right transaction ID
+ bFlag = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bFlags);
+ if (((bFlag & 0x80) != 0) && (AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId) == pSdoComCon->m_bTransactionId))
+ {
+ // check if abort or not
+ if((bFlag & 0x40) != 0)
+ {
+ // send acknowledge without any Command layer data
+ Ret = EplSdoAsySeqSendData(pSdoComCon->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // save abort code
+ pSdoComCon->m_dwLastAbortCode = AmiGetDwordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
+ // call callback of application
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferRxAborted);
+
+ goto Exit;
+ }
+ else
+ { // normal frame received
+ // check frame
+ Ret = EplSdoComClientProcessFrame(SdoComCon_p, pAsySdoCom_p);
+
+ // check if transfer ready
+ if(pSdoComCon->m_uiTransSize == 0)
+ {
+ // send acknowledge without any Command layer data
+ Ret = EplSdoAsySeqSendData(pSdoComCon->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = 0;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferFinished);
+
+ goto Exit;
+ }
+
+ }
+ }
+ else
+ { // this command layer handle is not responsible
+ // (wrong direction or wrong transaction ID)
+ Ret = kEplSdoComNotResponsible;
+ goto Exit;
+ }
+ break;
+ }
+
+ // connection closed event go back to kEplSdoComStateClientWaitInit
+ case kEplSdoComConEventConClosed:
+ { // connection closed by communication partner
+ // close sequence layer handle
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ // set handle to invalid and enter kEplSdoComStateClientWaitInit
+ pSdoComCon->m_SdoSeqConHdl |= EPL_SDO_SEQ_INVALID_HDL;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientWaitInit;
+
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = 0;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferLowerLayerAbort);
+
+ goto Exit;
+
+ break;
+ }
+
+ // abort to send from higher layer
+ case kEplSdoComConEventAbort:
+ {
+ EplSdoComClientSendAbort(pSdoComCon,*((DWORD*)pSdoComCon->m_pData));
+
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = *((DWORD*)pSdoComCon->m_pData);
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferTxAborted);
+
+ break;
+ }
+
+ case kEplSdoComConEventInitError:
+ case kEplSdoComConEventTimeout:
+ {
+ // close sequence layer handle
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ pSdoComCon->m_SdoSeqConHdl |= EPL_SDO_SEQ_INVALID_HDL;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientWaitInit;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_TIME_OUT;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferLowerLayerAbort);
+
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ } // end of switch(SdoComConEvent_p)
+
+ break;
+ }
+
+ // process segmented transfer
+ case kEplSdoComStateClientSegmTrans:
+ {
+ // check events
+ switch(SdoComConEvent_p)
+ {
+ // sned a frame
+ case kEplSdoComConEventSendFirst:
+ case kEplSdoComConEventAckReceived:
+ case kEplSdoComConEventFrameSended:
+ {
+ Ret = EplSdoComClientSend(pSdoComCon);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // check if read transfer finished
+ if((pSdoComCon->m_uiTransSize == 0)
+ && (pSdoComCon->m_SdoServiceType == kEplSdoServiceReadByIndex))
+ {
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientConnected;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = 0;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferFinished);
+
+ goto Exit;
+ }
+
+ break;
+ }
+
+ // frame received
+ case kEplSdoComConEventRec:
+ {
+ // check if the frame is a response
+ bFlag = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bFlags);
+ if (((bFlag & 0x80) != 0) && (AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId) == pSdoComCon->m_bTransactionId))
+ {
+ // check if abort or not
+ if((bFlag & 0x40) != 0)
+ {
+ // send acknowledge without any Command layer data
+ Ret = EplSdoAsySeqSendData(pSdoComCon->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientConnected;
+ // save abort code
+ pSdoComCon->m_dwLastAbortCode = AmiGetDwordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
+ // call callback of application
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferRxAborted);
+
+ goto Exit;
+ }
+ else
+ { // normal frame received
+ // check frame
+ Ret = EplSdoComClientProcessFrame(SdoComCon_p, pAsySdoCom_p);
+
+ // check if transfer ready
+ if(pSdoComCon->m_uiTransSize == 0)
+ {
+ // send acknowledge without any Command layer data
+ Ret = EplSdoAsySeqSendData(pSdoComCon->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientConnected;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = 0;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferFinished);
+
+ }
+
+ }
+ }
+ break;
+ }
+
+ // connection closed event go back to kEplSdoComStateClientWaitInit
+ case kEplSdoComConEventConClosed:
+ { // connection closed by communication partner
+ // close sequence layer handle
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ // set handle to invalid and enter kEplSdoComStateClientWaitInit
+ pSdoComCon->m_SdoSeqConHdl |= EPL_SDO_SEQ_INVALID_HDL;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientWaitInit;
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = 0;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferFinished);
+
+ break;
+ }
+
+ // abort to send from higher layer
+ case kEplSdoComConEventAbort:
+ {
+ EplSdoComClientSendAbort(pSdoComCon,*((DWORD*)pSdoComCon->m_pData));
+
+ // inc transaction id
+ pSdoComCon->m_bTransactionId++;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientConnected;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = *((DWORD*)pSdoComCon->m_pData);
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferTxAborted);
+
+ break;
+ }
+
+ case kEplSdoComConEventInitError:
+ case kEplSdoComConEventTimeout:
+ {
+ // close sequence layer handle
+ Ret = EplSdoAsySeqDelCon(pSdoComCon->m_SdoSeqConHdl);
+ pSdoComCon->m_SdoSeqConHdl |= EPL_SDO_SEQ_INVALID_HDL;
+ // change state
+ pSdoComCon->m_SdoComState = kEplSdoComStateClientWaitInit;
+ // call callback of application
+ pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_TIME_OUT;
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferLowerLayerAbort);
+
+ }
+
+ default:
+ // d.k. do nothing
+ break;
+
+ } // end of switch(SdoComConEvent_p)
+
+ break;
+ }
+#endif // endo of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+
+ }// end of switch(pSdoComCon->m_SdoComState)
+
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+Exit:
+#endif
+
+#if defined(WIN32) || defined(_WIN32)
+ // leave critical section for process function
+ EPL_DBGLVL_SDO_TRACE0("\n\tLeaveCriticalSection EplSdoComProcessIntern\n\n");
+ LeaveCriticalSection(SdoComInstance_g.m_pCriticalSection);
+
+#endif
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComServerInitReadByIndex
+//
+// Description: function start the processing of an read by index command
+//
+//
+//
+// Parameters: pSdoComCon_p = pointer to control structure of connection
+// pAsySdoCom_p = pointer to received frame
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+static tEplKernel EplSdoComServerInitReadByIndex(tEplSdoComCon* pSdoComCon_p,
+ tEplAsySdoCom* pAsySdoCom_p)
+{
+tEplKernel Ret;
+unsigned int uiIndex;
+unsigned int uiSubindex;
+tEplObdSize EntrySize;
+tEplObdAccess AccessType;
+DWORD dwAbortCode;
+
+ dwAbortCode = 0;
+
+ // a init of a read could not be a segmented transfer
+ // -> no variable part of header
+
+ // get index and subindex
+ uiIndex = AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
+ uiSubindex = AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[2]);
+
+ // check accesstype of entry
+ // existens of entry
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ Ret = EplObduGetAccessType(uiIndex, uiSubindex, &AccessType);
+/*#else
+ Ret = kEplObdSubindexNotExist;
+ AccessType = 0;
+#endif*/
+ if(Ret == kEplObdSubindexNotExist)
+ { // subentry doesn't exist
+ dwAbortCode = EPL_SDOAC_SUB_INDEX_NOT_EXIST;
+ // send abort
+ pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);
+ goto Exit;
+ }
+ else if(Ret != kEplSuccessful)
+ { // entry doesn't exist
+ dwAbortCode = EPL_SDOAC_OBJECT_NOT_EXIST;
+ // send abort
+ pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);
+ goto Exit;
+ }
+
+ // compare accesstype must be read or const
+ if(((AccessType & kEplObdAccRead) == 0)
+ && ((AccessType & kEplObdAccConst) == 0))
+ {
+
+ if((AccessType & kEplObdAccWrite) != 0)
+ {
+ // entry read a write only object
+ dwAbortCode = EPL_SDOAC_READ_TO_WRITE_ONLY_OBJ;
+ }
+ else
+ {
+ dwAbortCode = EPL_SDOAC_UNSUPPORTED_ACCESS;
+ }
+ // send abort
+ pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);
+ goto Exit;
+ }
+
+ // save service
+ pSdoComCon_p->m_SdoServiceType = kEplSdoServiceReadByIndex;
+
+ // get size of object to see iof segmented or expedited transfer
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ EntrySize = EplObduGetDataSize(uiIndex, uiSubindex);
+/*#else
+ EntrySize = 0;
+#endif*/
+ if(EntrySize > EPL_SDO_MAX_PAYLOAD)
+ { // segmented transfer
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented;
+ // get pointer to object-entry data
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ pSdoComCon_p->m_pData = EplObduGetObjectDataPtr(uiIndex, uiSubindex);
+//#endif
+ }
+ else
+ { // expedited transfer
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited;
+ }
+
+ pSdoComCon_p->m_uiTransSize = EntrySize;
+ pSdoComCon_p->m_uiTransferredByte = 0;
+
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeRes);
+ if(Ret != kEplSuccessful)
+ {
+ // error -> abort
+ dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ // send abort
+ pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+#endif
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComServerSendFrameIntern();
+//
+// Description: function creats and send a frame for server
+//
+//
+//
+// Parameters: pSdoComCon_p = pointer to control structure of connection
+// uiIndex_p = index to send if expedited transfer else 0
+// uiSubIndex_p = subindex to send if expedited transfer else 0
+// SendType_p = to of frame to send
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+static tEplKernel EplSdoComServerSendFrameIntern(tEplSdoComCon* pSdoComCon_p,
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplSdoComSendType SendType_p)
+{
+tEplKernel Ret;
+BYTE abFrame[EPL_MAX_SDO_FRAME_SIZE];
+tEplFrame* pFrame;
+tEplAsySdoCom* pCommandFrame;
+unsigned int uiSizeOfFrame;
+BYTE bFlag;
+
+ Ret = kEplSuccessful;
+
+ pFrame = (tEplFrame*)&abFrame[0];
+
+ EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
+
+ // build generic part of frame
+ // get pointer to command layerpart of frame
+ pCommandFrame = &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_abSdoSeqPayload;
+ AmiSetByteToLe(&pCommandFrame->m_le_bCommandId, pSdoComCon_p->m_SdoServiceType);
+ AmiSetByteToLe(&pCommandFrame->m_le_bTransactionId, pSdoComCon_p->m_bTransactionId);
+
+ // set size to header size
+ uiSizeOfFrame = 8;
+
+ // check SendType
+ switch(SendType_p)
+ {
+ // requestframe to send
+ case kEplSdoComSendTypeReq:
+ {
+ // nothing to do for server
+ //-> error
+ Ret = kEplSdoComInvalidSendType;
+ break;
+ }
+
+ // response without data to send
+ case kEplSdoComSendTypeAckRes:
+ {
+ // set response flag
+ AmiSetByteToLe(&pCommandFrame->m_le_bFlags, 0x80);
+
+ // send frame
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+
+ break;
+ }
+
+ // responsframe to send
+ case kEplSdoComSendTypeRes:
+ {
+ // set response flag
+ bFlag = AmiGetByteFromLe( &pCommandFrame->m_le_bFlags);
+ bFlag |= 0x80;
+ AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
+
+ // check type of resonse
+ if(pSdoComCon_p->m_SdoTransType == kEplSdoTransExpedited)
+ { // Expedited transfer
+ // copy data in frame
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ Ret = EplObduReadEntryToLe(uiIndex_p,
+ uiSubIndex_p,
+ &pCommandFrame->m_le_abCommandData[0],
+ (tEplObdSize*)&pSdoComCon_p->m_uiTransSize);
+ if(Ret != kEplSuccessful)
+ {
+ goto Exit;
+ }
+//#endif
+
+ // set size of frame
+ AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, (WORD) pSdoComCon_p->m_uiTransSize);
+
+ // correct byte-counter
+ uiSizeOfFrame += pSdoComCon_p->m_uiTransSize;
+ pSdoComCon_p->m_uiTransferredByte += pSdoComCon_p->m_uiTransSize;
+ pSdoComCon_p->m_uiTransSize = 0;
+
+
+ // send frame
+ uiSizeOfFrame += pSdoComCon_p->m_uiTransSize;
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+ }
+ else if(pSdoComCon_p->m_SdoTransType == kEplSdoTransSegmented)
+ { // segmented transfer
+ // distinguish between init, segment and complete
+ if(pSdoComCon_p->m_uiTransferredByte == 0)
+ { // init
+ // set init flag
+ bFlag = AmiGetByteFromLe( &pCommandFrame->m_le_bFlags);
+ bFlag |= 0x10;
+ AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
+ // init variable header
+ AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0],pSdoComCon_p->m_uiTransSize);
+ // copy data in frame
+ EPL_MEMCPY(&pCommandFrame->m_le_abCommandData[4],pSdoComCon_p->m_pData, (EPL_SDO_MAX_PAYLOAD-4));
+
+ // correct byte-counter
+ pSdoComCon_p->m_uiTransSize -= (EPL_SDO_MAX_PAYLOAD-4);
+ pSdoComCon_p->m_uiTransferredByte += (EPL_SDO_MAX_PAYLOAD-4);
+ // move data pointer
+ pSdoComCon_p->m_pData +=(EPL_SDO_MAX_PAYLOAD-4);
+
+ // set segment size
+ AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize,(EPL_SDO_MAX_PAYLOAD-4));
+
+ // send frame
+ uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD;
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+
+ }
+ else if((pSdoComCon_p->m_uiTransferredByte > 0)
+ &&(pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD))
+ { // segment
+ // set segment flag
+ bFlag = AmiGetByteFromLe( &pCommandFrame->m_le_bFlags);
+ bFlag |= 0x20;
+ AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
+
+ // copy data in frame
+ EPL_MEMCPY(&pCommandFrame->m_le_abCommandData[0],pSdoComCon_p->m_pData, EPL_SDO_MAX_PAYLOAD);
+
+ // correct byte-counter
+ pSdoComCon_p->m_uiTransSize -= EPL_SDO_MAX_PAYLOAD;
+ pSdoComCon_p->m_uiTransferredByte += EPL_SDO_MAX_PAYLOAD;
+ // move data pointer
+ pSdoComCon_p->m_pData +=EPL_SDO_MAX_PAYLOAD;
+
+ // set segment size
+ AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize,EPL_SDO_MAX_PAYLOAD);
+
+ // send frame
+ uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD;
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+ }
+ else
+ {
+ if((pSdoComCon_p->m_uiTransSize == 0)
+ && (pSdoComCon_p->m_SdoServiceType != kEplSdoServiceWriteByIndex))
+ {
+ goto Exit;
+ }
+ // complete
+ // set segment complete flag
+ bFlag = AmiGetByteFromLe( &pCommandFrame->m_le_bFlags);
+ bFlag |= 0x30;
+ AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
+
+ // copy data in frame
+ EPL_MEMCPY(&pCommandFrame->m_le_abCommandData[0],pSdoComCon_p->m_pData, pSdoComCon_p->m_uiTransSize);
+
+ // correct byte-counter
+ pSdoComCon_p->m_uiTransferredByte += pSdoComCon_p->m_uiTransSize;
+
+
+ // move data pointer
+ pSdoComCon_p->m_pData +=pSdoComCon_p->m_uiTransSize;
+
+ // set segment size
+ AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, (WORD) pSdoComCon_p->m_uiTransSize);
+
+ // send frame
+ uiSizeOfFrame += pSdoComCon_p->m_uiTransSize;
+ pSdoComCon_p->m_uiTransSize = 0;
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+ }
+
+ }
+ break;
+ }
+ // abort to send
+ case kEplSdoComSendTypeAbort:
+ {
+ // set response and abort flag
+ bFlag = AmiGetByteFromLe( &pCommandFrame->m_le_bFlags);
+ bFlag |= 0xC0;
+ AmiSetByteToLe(&pCommandFrame->m_le_bFlags, bFlag);
+
+ // copy abortcode to frame
+ AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0], *((DWORD*)pSdoComCon_p->m_pData));
+
+ // set size of segment
+ AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, sizeof(DWORD));
+
+ // update counter
+ pSdoComCon_p->m_uiTransferredByte = sizeof(DWORD);
+ pSdoComCon_p->m_uiTransSize = 0;
+
+ // calc framesize
+ uiSizeOfFrame += sizeof(DWORD);
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+ break;
+ }
+ } // end of switch(SendType_p)
+
+Exit:
+ return Ret;
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComServerInitWriteByIndex
+//
+// Description: function start the processing of an write by index command
+//
+//
+//
+// Parameters: pSdoComCon_p = pointer to control structure of connection
+// pAsySdoCom_p = pointer to received frame
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0)
+static tEplKernel EplSdoComServerInitWriteByIndex(tEplSdoComCon* pSdoComCon_p,
+ tEplAsySdoCom* pAsySdoCom_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+unsigned int uiSubindex;
+unsigned int uiBytesToTransfer;
+tEplObdSize EntrySize;
+tEplObdAccess AccessType;
+DWORD dwAbortCode;
+BYTE* pbSrcData;
+
+ dwAbortCode = 0;
+
+ // a init of a write
+ // -> variable part of header possible
+
+ // check if expedited or segmented transfer
+ if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x10)
+ { // initiate segmented transfer
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented;
+ // get index and subindex
+ uiIndex = AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[4]);
+ uiSubindex = AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[6]);
+ // get source-pointer for copy
+ pbSrcData = &pAsySdoCom_p->m_le_abCommandData[8];
+ // save size
+ pSdoComCon_p->m_uiTransSize = AmiGetDwordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
+
+ }
+ else if ((pAsySdoCom_p->m_le_bFlags & 0x30) == 0x00)
+ { // expedited transfer
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited;
+ // get index and subindex
+ uiIndex = AmiGetWordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
+ uiSubindex = AmiGetByteFromLe(&pAsySdoCom_p->m_le_abCommandData[2]);
+ // get source-pointer for copy
+ pbSrcData = &pAsySdoCom_p->m_le_abCommandData[4];
+ // save size
+ pSdoComCon_p->m_uiTransSize = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ // subtract header
+ pSdoComCon_p->m_uiTransSize -= 4;
+
+ }
+ else
+ {
+ // just ignore any other transfer type
+ goto Exit;
+ }
+
+ // check accesstype of entry
+ // existens of entry
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ Ret = EplObduGetAccessType(uiIndex, uiSubindex, &AccessType);
+/*#else
+ Ret = kEplObdSubindexNotExist;
+ AccessType = 0;
+#endif*/
+ if (Ret == kEplObdSubindexNotExist)
+ { // subentry doesn't exist
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_SUB_INDEX_NOT_EXIST;
+ // send abort
+ // d.k. This is wrong: k.t. not needed send abort on end of write
+ /*pSdoComCon_p->m_pData = (BYTE*)pSdoComCon_p->m_dwLastAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);*/
+ goto Abort;
+ }
+ else if(Ret != kEplSuccessful)
+ { // entry doesn't exist
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_OBJECT_NOT_EXIST;
+ // send abort
+ // d.k. This is wrong: k.t. not needed send abort on end of write
+ /*
+ pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);*/
+ goto Abort;
+ }
+
+ // compare accesstype must be read
+ if((AccessType & kEplObdAccWrite) == 0)
+ {
+
+ if((AccessType & kEplObdAccRead) != 0)
+ {
+ // entry write a read only object
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_WRITE_TO_READ_ONLY_OBJ;
+ }
+ else
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_UNSUPPORTED_ACCESS;
+ }
+ // send abort
+ // d.k. This is wrong: k.t. not needed send abort on end of write
+ /*pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);*/
+ goto Abort;
+ }
+
+ // save service
+ pSdoComCon_p->m_SdoServiceType = kEplSdoServiceWriteByIndex;
+
+ pSdoComCon_p->m_uiTransferredByte = 0;
+
+ // write data to OD
+ if(pSdoComCon_p->m_SdoTransType == kEplSdoTransExpedited)
+ { // expedited transfer
+ // size checking is done by EplObduWriteEntryFromLe()
+
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ Ret = EplObduWriteEntryFromLe(uiIndex,
+ uiSubindex,
+ pbSrcData,
+ pSdoComCon_p->m_uiTransSize);
+ switch (Ret)
+ {
+ case kEplSuccessful:
+ {
+ break;
+ }
+
+ case kEplObdAccessViolation:
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_UNSUPPORTED_ACCESS;
+ // send abort
+ goto Abort;
+ }
+
+ case kEplObdValueLengthError:
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_DATA_TYPE_LENGTH_NOT_MATCH;
+ // send abort
+ goto Abort;
+ }
+
+ case kEplObdValueTooHigh:
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_VALUE_RANGE_TOO_HIGH;
+ // send abort
+ goto Abort;
+ }
+
+ case kEplObdValueTooLow:
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_VALUE_RANGE_TOO_LOW;
+ // send abort
+ goto Abort;
+ }
+
+ default:
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ // send abort
+ goto Abort;
+ }
+ }
+//#endif
+ // send command acknowledge
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ 0,
+ 0,
+ kEplSdoComSendTypeAckRes);
+
+ pSdoComCon_p->m_uiTransSize = 0;
+ goto Exit;
+ }
+ else
+ {
+ // get size of the object to check if it fits
+ // because we directly write to the destination memory
+ // d.k. no one calls the user OD callback function
+
+ //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ EntrySize = EplObduGetDataSize(uiIndex, uiSubindex);
+ /*#else
+ EntrySize = 0;
+ #endif*/
+ if(EntrySize < pSdoComCon_p->m_uiTransSize)
+ { // parameter too big
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH;
+ // send abort
+ // d.k. This is wrong: k.t. not needed send abort on end of write
+ /*pSdoComCon_p->m_pData = (BYTE*)&dwAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);*/
+ goto Abort;
+ }
+
+ uiBytesToTransfer = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ // eleminate header (Command header (8) + variable part (4) + Command header (4))
+ uiBytesToTransfer -= 16;
+ // get pointer to object entry
+//#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+ pSdoComCon_p->m_pData = EplObduGetObjectDataPtr(uiIndex,
+ uiSubindex);
+//#endif
+ if(pSdoComCon_p->m_pData == NULL)
+ {
+ pSdoComCon_p->m_dwLastAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ // send abort
+ // d.k. This is wrong: k.t. not needed send abort on end of write
+/* pSdoComCon_p->m_pData = (BYTE*)&pSdoComCon_p->m_dwLastAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);*/
+ goto Abort;
+ }
+
+ // copy data
+ EPL_MEMCPY(pSdoComCon_p->m_pData, pbSrcData, uiBytesToTransfer);
+
+ // update internal counter
+ pSdoComCon_p->m_uiTransferredByte = uiBytesToTransfer;
+ pSdoComCon_p->m_uiTransSize -= uiBytesToTransfer;
+
+ // update target pointer
+ (/*(BYTE*)*/pSdoComCon_p->m_pData) += uiBytesToTransfer;
+
+ // send acknowledge without any Command layer data
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ 0,
+ (tEplFrame*)NULL);
+ goto Exit;
+ }
+
+Abort:
+ if(pSdoComCon_p->m_dwLastAbortCode != 0)
+ {
+ // send abort
+ pSdoComCon_p->m_pData = (BYTE*)&pSdoComCon_p->m_dwLastAbortCode;
+ Ret = EplSdoComServerSendFrameIntern(pSdoComCon_p,
+ uiIndex,
+ uiSubindex,
+ kEplSdoComSendTypeAbort);
+
+ // reset abort code
+ pSdoComCon_p->m_dwLastAbortCode = 0;
+ pSdoComCon_p->m_uiTransSize = 0;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+#endif
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComClientSend
+//
+// Description: function starts an sdo transfer an send all further frames
+//
+//
+//
+// Parameters: pSdoComCon_p = pointer to control structure of connection
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+static tEplKernel EplSdoComClientSend(tEplSdoComCon* pSdoComCon_p)
+{
+tEplKernel Ret;
+BYTE abFrame[EPL_MAX_SDO_FRAME_SIZE];
+tEplFrame* pFrame;
+tEplAsySdoCom* pCommandFrame;
+unsigned int uiSizeOfFrame;
+BYTE bFlags;
+BYTE* pbPayload;
+
+ Ret = kEplSuccessful;
+
+ pFrame = (tEplFrame*)&abFrame[0];
+
+ EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
+
+ // build generic part of frame
+ // get pointer to command layerpart of frame
+ pCommandFrame = &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_abSdoSeqPayload;
+ AmiSetByteToLe( &pCommandFrame->m_le_bCommandId, pSdoComCon_p->m_SdoServiceType);
+ AmiSetByteToLe( &pCommandFrame->m_le_bTransactionId, pSdoComCon_p->m_bTransactionId);
+
+ // set size constant part of header
+ uiSizeOfFrame = 8;
+
+ // check if first frame to send -> command header needed
+ if (pSdoComCon_p->m_uiTransSize > 0)
+ {
+ if (pSdoComCon_p->m_uiTransferredByte == 0)
+ { // start SDO transfer
+ // check if segmented or expedited transfer
+ // only for write commands
+ switch(pSdoComCon_p->m_SdoServiceType)
+ {
+ case kEplSdoServiceReadByIndex:
+ { // first frame of read access always expedited
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited;
+ pbPayload = &pCommandFrame->m_le_abCommandData[0];
+ // fill rest of header
+ AmiSetWordToLe( &pCommandFrame->m_le_wSegmentSize, 4);
+
+ // create command header
+ AmiSetWordToLe(pbPayload, (WORD)pSdoComCon_p->m_uiTargetIndex);
+ pbPayload += 2;
+ AmiSetByteToLe(pbPayload, (BYTE)pSdoComCon_p->m_uiTargetSubIndex);
+ // calc size
+ uiSizeOfFrame += 4;
+
+ // set pSdoComCon_p->m_uiTransferredByte to one
+ pSdoComCon_p->m_uiTransferredByte = 1;
+ break;
+ }
+
+ case kEplSdoServiceWriteByIndex:
+ {
+ if(pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD )
+ { // segmented transfer
+ // -> variable part of header needed
+ // save that transfer is segmented
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransSegmented;
+ // fill variable part of header
+ AmiSetDwordToLe( &pCommandFrame->m_le_abCommandData[0], pSdoComCon_p->m_uiTransSize);
+ // set pointer to real payload
+ pbPayload = &pCommandFrame->m_le_abCommandData[4];
+ // fill rest of header
+ AmiSetWordToLe( &pCommandFrame->m_le_wSegmentSize, EPL_SDO_MAX_PAYLOAD);
+ bFlags = 0x10;
+ AmiSetByteToLe( &pCommandFrame->m_le_bFlags, bFlags);
+ // create command header
+ AmiSetWordToLe(pbPayload, (WORD) pSdoComCon_p->m_uiTargetIndex);
+ pbPayload += 2;
+ AmiSetByteToLe(pbPayload, (BYTE)pSdoComCon_p->m_uiTargetSubIndex);
+ // on byte for reserved
+ pbPayload += 2;
+ // calc size
+ uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD;
+
+ // copy payload
+ EPL_MEMCPY( pbPayload,pSdoComCon_p->m_pData, (EPL_SDO_MAX_PAYLOAD - 8));
+ pSdoComCon_p->m_pData += (EPL_SDO_MAX_PAYLOAD - 8);
+ // correct intern counter
+ pSdoComCon_p->m_uiTransSize -= (EPL_SDO_MAX_PAYLOAD - 8);
+ pSdoComCon_p->m_uiTransferredByte = (EPL_SDO_MAX_PAYLOAD - 8);
+
+ }
+ else
+ { // expedited trandsfer
+ // save that transfer is expedited
+ pSdoComCon_p->m_SdoTransType = kEplSdoTransExpedited;
+ pbPayload = &pCommandFrame->m_le_abCommandData[0];
+
+ // create command header
+ AmiSetWordToLe(pbPayload, (WORD) pSdoComCon_p->m_uiTargetIndex);
+ pbPayload += 2;
+ AmiSetByteToLe(pbPayload, (BYTE)pSdoComCon_p->m_uiTargetSubIndex);
+ // + 2 -> one byte for subindex and one byte reserved
+ pbPayload += 2;
+ // copy data
+ EPL_MEMCPY( pbPayload,pSdoComCon_p->m_pData, pSdoComCon_p->m_uiTransSize);
+ // calc size
+ uiSizeOfFrame += (4 + pSdoComCon_p->m_uiTransSize);
+ // fill rest of header
+ AmiSetWordToLe( &pCommandFrame->m_le_wSegmentSize, (WORD) (4 + pSdoComCon_p->m_uiTransSize));
+
+ pSdoComCon_p->m_uiTransferredByte = pSdoComCon_p->m_uiTransSize;
+ pSdoComCon_p->m_uiTransSize = 0;
+ }
+ break;
+ }
+
+ case kEplSdoServiceNIL:
+ default:
+ // invalid service requested
+ Ret = kEplSdoComInvalidServiceType;
+ goto Exit;
+ } // end of switch(pSdoComCon_p->m_SdoServiceType)
+ }
+ else // (pSdoComCon_p->m_uiTransferredByte > 0)
+ { // continue SDO transfer
+ switch(pSdoComCon_p->m_SdoServiceType)
+ {
+ // for expedited read is nothing to do
+ // -> server sends data
+
+ case kEplSdoServiceWriteByIndex:
+ { // send next frame
+ if(pSdoComCon_p->m_SdoTransType == kEplSdoTransSegmented)
+ {
+ if(pSdoComCon_p->m_uiTransSize > EPL_SDO_MAX_PAYLOAD)
+ { // next segment
+ pbPayload = &pCommandFrame->m_le_abCommandData[0];
+ // fill rest of header
+ AmiSetWordToLe( &pCommandFrame->m_le_wSegmentSize, EPL_SDO_MAX_PAYLOAD);
+ bFlags = 0x20;
+ AmiSetByteToLe( &pCommandFrame->m_le_bFlags, bFlags);
+ // copy data
+ EPL_MEMCPY( pbPayload,pSdoComCon_p->m_pData, EPL_SDO_MAX_PAYLOAD);
+ pSdoComCon_p->m_pData += EPL_SDO_MAX_PAYLOAD;
+ // correct intern counter
+ pSdoComCon_p->m_uiTransSize -= EPL_SDO_MAX_PAYLOAD;
+ pSdoComCon_p->m_uiTransferredByte = EPL_SDO_MAX_PAYLOAD;
+ // calc size
+ uiSizeOfFrame += EPL_SDO_MAX_PAYLOAD;
+
+
+ }
+ else
+ { // end of transfer
+ pbPayload = &pCommandFrame->m_le_abCommandData[0];
+ // fill rest of header
+ AmiSetWordToLe( &pCommandFrame->m_le_wSegmentSize, (WORD) pSdoComCon_p->m_uiTransSize);
+ bFlags = 0x30;
+ AmiSetByteToLe( &pCommandFrame->m_le_bFlags, bFlags);
+ // copy data
+ EPL_MEMCPY( pbPayload,pSdoComCon_p->m_pData, pSdoComCon_p->m_uiTransSize);
+ pSdoComCon_p->m_pData += pSdoComCon_p->m_uiTransSize;
+ // calc size
+ uiSizeOfFrame += pSdoComCon_p->m_uiTransSize;
+ // correct intern counter
+ pSdoComCon_p->m_uiTransSize = 0;
+ pSdoComCon_p->m_uiTransferredByte = pSdoComCon_p->m_uiTransSize;
+
+ }
+ }
+ else
+ {
+ goto Exit;
+ }
+ break;
+ }
+ default:
+ {
+ goto Exit;
+ }
+ } // end of switch(pSdoComCon_p->m_SdoServiceType)
+ }
+ }
+ else
+ {
+ goto Exit;
+ }
+
+
+ // call send function of lower layer
+ switch(pSdoComCon_p->m_SdoProtType)
+ {
+ case kEplSdoTypeAsnd:
+ case kEplSdoTypeUdp:
+ {
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplSdoComUnsupportedProt;
+ }
+ } // end of switch(pSdoComCon_p->m_SdoProtType)
+
+
+Exit:
+ return Ret;
+
+}
+#endif
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComClientProcessFrame
+//
+// Description: function process a received frame
+//
+//
+//
+// Parameters: SdoComCon_p = connection handle
+// pAsySdoCom_p = pointer to frame to process
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+static tEplKernel EplSdoComClientProcessFrame(tEplSdoComConHdl SdoComCon_p,
+ tEplAsySdoCom* pAsySdoCom_p)
+{
+tEplKernel Ret;
+BYTE bBuffer;
+unsigned int uiBuffer;
+unsigned int uiDataSize;
+unsigned long ulBuffer;
+tEplSdoComCon* pSdoComCon;
+
+
+ Ret = kEplSuccessful;
+
+ // get pointer to control structure
+ pSdoComCon = &SdoComInstance_g.m_SdoComCon[SdoComCon_p];
+
+ // check if transaction Id fit
+ bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bTransactionId);
+ if(pSdoComCon->m_bTransactionId != bBuffer)
+ {
+ // incorrect transaction id
+
+ // if running transfer
+ if((pSdoComCon->m_uiTransferredByte != 0)
+ && (pSdoComCon->m_uiTransSize !=0))
+ {
+ pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ // -> send abort
+ EplSdoComClientSendAbort(pSdoComCon, pSdoComCon->m_dwLastAbortCode);
+ // call callback of application
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferTxAborted);
+ }
+
+ }
+ else
+ { // check if correct command
+ bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bCommandId);
+ if(pSdoComCon->m_SdoServiceType != bBuffer)
+ {
+ // incorrect command
+ // if running transfer
+ if((pSdoComCon->m_uiTransferredByte != 0)
+ && (pSdoComCon->m_uiTransSize !=0))
+ {
+ pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_GENERAL_ERROR;
+ // -> send abort
+ EplSdoComClientSendAbort(pSdoComCon, pSdoComCon->m_dwLastAbortCode);
+ // call callback of application
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferTxAborted);
+ }
+
+ }
+ else
+ { // switch on command
+ switch(pSdoComCon->m_SdoServiceType)
+ {
+ case kEplSdoServiceWriteByIndex:
+ { // check if confirmation from server
+ // nothing more to do
+ break;
+ }
+
+ case kEplSdoServiceReadByIndex:
+ { // check if it is an segmented or an expedited transfer
+ bBuffer = AmiGetByteFromLe(&pAsySdoCom_p->m_le_bFlags);
+ // mask uninteressting bits
+ bBuffer &= 0x30;
+ switch(bBuffer)
+ {
+ // expedited transfer
+ case 0x00:
+ {
+ // check size of buffer
+ uiBuffer = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ if(uiBuffer > pSdoComCon->m_uiTransSize)
+ { // buffer provided by the application is to small
+ // copy only a part
+ uiDataSize = pSdoComCon->m_uiTransSize;
+ }
+ else
+ { // buffer fits
+ uiDataSize = uiBuffer;
+ }
+
+ // copy data
+ EPL_MEMCPY(pSdoComCon->m_pData, &pAsySdoCom_p->m_le_abCommandData[0], uiDataSize);
+
+ // correct counter
+ pSdoComCon->m_uiTransSize = 0;
+ pSdoComCon->m_uiTransferredByte = uiDataSize;
+ break;
+ }
+
+ // start of a segmented transfer
+ case 0x10:
+ { // get total size of transfer
+ ulBuffer = AmiGetDwordFromLe(&pAsySdoCom_p->m_le_abCommandData[0]);
+ if(ulBuffer <= pSdoComCon->m_uiTransSize)
+ { // buffer fit
+ pSdoComCon->m_uiTransSize = (unsigned int)ulBuffer;
+ }
+ else
+ { // buffer to small
+ // send abort
+ pSdoComCon->m_dwLastAbortCode = EPL_SDOAC_DATA_TYPE_LENGTH_TOO_HIGH;
+ // -> send abort
+ EplSdoComClientSendAbort(pSdoComCon, pSdoComCon->m_dwLastAbortCode);
+ // call callback of application
+ Ret = EplSdoComTransferFinished(SdoComCon_p, pSdoComCon, kEplSdoComTransferRxAborted);
+ goto Exit;
+ }
+
+ // get segment size
+ // check size of buffer
+ uiBuffer = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ // subtract size of vaiable header from datasize
+ uiBuffer -= 4;
+ // copy data
+ EPL_MEMCPY(pSdoComCon->m_pData, &pAsySdoCom_p->m_le_abCommandData[4], uiBuffer);
+
+ // correct counter an pointer
+ pSdoComCon->m_pData += uiBuffer;
+ pSdoComCon->m_uiTransferredByte += uiBuffer;
+ pSdoComCon->m_uiTransSize -= uiBuffer;
+
+ break;
+ }
+
+ // segment
+ case 0x20:
+ {
+ // get segment size
+ // check size of buffer
+ uiBuffer = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ // check if data to copy fit to buffer
+ if(uiBuffer >= pSdoComCon->m_uiTransSize)
+ { // to much data
+ uiBuffer = (pSdoComCon->m_uiTransSize - 1);
+ }
+ // copy data
+ EPL_MEMCPY(pSdoComCon->m_pData, &pAsySdoCom_p->m_le_abCommandData[0], uiBuffer);
+
+ // correct counter an pointer
+ pSdoComCon->m_pData += uiBuffer;
+ pSdoComCon->m_uiTransferredByte += uiBuffer;
+ pSdoComCon->m_uiTransSize -= uiBuffer;
+ break;
+ }
+
+ // last segment
+ case 0x30:
+ {
+ // get segment size
+ // check size of buffer
+ uiBuffer = AmiGetWordFromLe(&pAsySdoCom_p->m_le_wSegmentSize);
+ // check if data to copy fit to buffer
+ if(uiBuffer > pSdoComCon->m_uiTransSize)
+ { // to much data
+ uiBuffer = (pSdoComCon->m_uiTransSize - 1);
+ }
+ // copy data
+ EPL_MEMCPY(pSdoComCon->m_pData, &pAsySdoCom_p->m_le_abCommandData[0], uiBuffer);
+
+ // correct counter an pointer
+ pSdoComCon->m_pData += uiBuffer;
+ pSdoComCon->m_uiTransferredByte += uiBuffer;
+ pSdoComCon->m_uiTransSize = 0;
+
+ break;
+ }
+ }// end of switch(bBuffer & 0x30)
+
+ break;
+ }
+
+ case kEplSdoServiceNIL:
+ default:
+ // invalid service requested
+ // $$$ d.k. What should we do?
+ break;
+ }// end of switch(pSdoComCon->m_SdoServiceType)
+ }
+ }
+
+Exit:
+ return Ret;
+}
+#endif
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComClientSendAbort
+//
+// Description: function send a abort message
+//
+//
+//
+// Parameters: pSdoComCon_p = pointer to control structure of connection
+// dwAbortCode_p = Sdo abort code
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+static tEplKernel EplSdoComClientSendAbort(tEplSdoComCon* pSdoComCon_p,
+ DWORD dwAbortCode_p)
+{
+tEplKernel Ret;
+BYTE abFrame[EPL_MAX_SDO_FRAME_SIZE];
+tEplFrame* pFrame;
+tEplAsySdoCom* pCommandFrame;
+unsigned int uiSizeOfFrame;
+
+ Ret = kEplSuccessful;
+
+ pFrame = (tEplFrame*)&abFrame[0];
+
+ EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame));
+
+ // build generic part of frame
+ // get pointer to command layerpart of frame
+ pCommandFrame = &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_abSdoSeqPayload;
+ AmiSetByteToLe( &pCommandFrame->m_le_bCommandId, pSdoComCon_p->m_SdoServiceType);
+ AmiSetByteToLe( &pCommandFrame->m_le_bTransactionId, pSdoComCon_p->m_bTransactionId);
+
+ uiSizeOfFrame = 8;
+
+ // set response and abort flag
+ pCommandFrame->m_le_bFlags |= 0x40;
+
+ // copy abortcode to frame
+ AmiSetDwordToLe(&pCommandFrame->m_le_abCommandData[0], dwAbortCode_p);
+
+ // set size of segment
+ AmiSetWordToLe(&pCommandFrame->m_le_wSegmentSize, sizeof(DWORD));
+
+ // update counter
+ pSdoComCon_p->m_uiTransferredByte = sizeof(DWORD);
+ pSdoComCon_p->m_uiTransSize = 0;
+
+ // calc framesize
+ uiSizeOfFrame += sizeof(DWORD);
+
+ // save abort code
+ pSdoComCon_p->m_dwLastAbortCode = dwAbortCode_p;
+
+ // call send function of lower layer
+ switch(pSdoComCon_p->m_SdoProtType)
+ {
+ case kEplSdoTypeAsnd:
+ case kEplSdoTypeUdp:
+ {
+ Ret = EplSdoAsySeqSendData(pSdoComCon_p->m_SdoSeqConHdl,
+ uiSizeOfFrame,
+ pFrame);
+ break;
+ }
+
+ default:
+ {
+ Ret = kEplSdoComUnsupportedProt;
+ }
+ } // end of switch(pSdoComCon_p->m_SdoProtType)
+
+
+ return Ret;
+}
+#endif
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoComTransferFinished
+//
+// Description: calls callback function of application if available
+// and clears entry in control structure
+//
+// Parameters: pSdoComCon_p = pointer to control structure of connection
+// SdoComConState_p = state of SDO transfer
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel EplSdoComTransferFinished(tEplSdoComConHdl SdoComCon_p,
+ tEplSdoComCon* pSdoComCon_p,
+ tEplSdoComConState SdoComConState_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ if(pSdoComCon_p->m_pfnTransferFinished != NULL)
+ {
+ tEplSdoFinishedCb pfnTransferFinished;
+ tEplSdoComFinished SdoComFinished;
+
+ SdoComFinished.m_pUserArg = pSdoComCon_p->m_pUserArg;
+ SdoComFinished.m_uiNodeId = pSdoComCon_p->m_uiNodeId;
+ SdoComFinished.m_uiTargetIndex = pSdoComCon_p->m_uiTargetIndex;
+ SdoComFinished.m_uiTargetSubIndex = pSdoComCon_p->m_uiTargetSubIndex;
+ SdoComFinished.m_uiTransferredByte = pSdoComCon_p->m_uiTransferredByte;
+ SdoComFinished.m_dwAbortCode = pSdoComCon_p->m_dwLastAbortCode;
+ SdoComFinished.m_SdoComConHdl = SdoComCon_p;
+ SdoComFinished.m_SdoComConState = SdoComConState_p;
+ if (pSdoComCon_p->m_SdoServiceType == kEplSdoServiceWriteByIndex)
+ {
+ SdoComFinished.m_SdoAccessType = kEplSdoAccessTypeWrite;
+ }
+ else
+ {
+ SdoComFinished.m_SdoAccessType = kEplSdoAccessTypeRead;
+ }
+
+ // reset transfer state so this handle is not busy anymore
+ pSdoComCon_p->m_uiTransferredByte = 0;
+ pSdoComCon_p->m_uiTransSize = 0;
+
+ pfnTransferFinished = pSdoComCon_p->m_pfnTransferFinished;
+ // delete function pointer to inform application only once for each transfer
+ pSdoComCon_p->m_pfnTransferFinished = NULL;
+
+ // call application's callback function
+ pfnTransferFinished(&SdoComFinished);
+
+ }
+
+ return Ret;
+}
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for SDO/UDP-Protocolabstractionlayer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoUdpu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+****************************************************************************/
+
+
+#include "user/EplSdoUdpu.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+
+#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+#include "SocketLinuxKernel.h"
+#include <linux/completion.h>
+#include <linux/sched.h>
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef EPL_SDO_MAX_CONNECTION_UDP
+#define EPL_SDO_MAX_CONNECTION_UDP 5
+#endif
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ unsigned long m_ulIpAddr; // in network byte order
+ unsigned int m_uiPort; // in network byte order
+
+} tEplSdoUdpCon;
+
+// instance table
+typedef struct
+{
+ tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
+ tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
+ SOCKET m_UdpSocket;
+
+#if (TARGET_SYSTEM == _WIN32_)
+ HANDLE m_ThreadHandle;
+ LPCRITICAL_SECTION m_pCriticalSection;
+ CRITICAL_SECTION m_CriticalSection;
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ struct completion m_CompletionUdpThread;
+ int m_ThreadHandle;
+ int m_iTerminateThread;
+#endif
+
+} tEplSdoUdpInstance;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static tEplSdoUdpInstance SdoUdpInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+#if (TARGET_SYSTEM == _WIN32_)
+static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter);
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+static int EplSdoUdpThread(void * pArg_p);
+#endif
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <EPL-SDO-UDP-Layer> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: Protocolabstraction layer for UDP
+//
+//
+/***************************************************************************/
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuInit
+//
+// Description: init first instance of the module
+//
+//
+//
+// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
+// callback-function
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
+{
+tEplKernel Ret;
+
+
+ Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuAddInstance
+//
+// Description: init additional instance of the module
+// înit socket and start Listen-Thread
+//
+//
+//
+// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
+// callback-function
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
+{
+tEplKernel Ret;
+
+#if (TARGET_SYSTEM == _WIN32_)
+int iError;
+WSADATA Wsa;
+
+#endif
+
+ // set instance variables to 0
+ EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
+
+ Ret = kEplSuccessful;
+
+ // save pointer to callback-function
+ if (fpReceiveCb_p != NULL)
+ {
+ SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
+ }
+ else
+ {
+ Ret = kEplSdoUdpMissCb;
+ goto Exit;
+ }
+
+#if (TARGET_SYSTEM == _WIN32_)
+ // start winsock2 for win32
+ // windows specific start of socket
+ iError = WSAStartup(MAKEWORD(2,0),&Wsa);
+ if (iError != 0)
+ {
+ Ret = kEplSdoUdpNoSocket;
+ goto Exit;
+ }
+
+ // create critical section for acccess of instnace variables
+ SdoUdpInstance_g.m_pCriticalSection = &SdoUdpInstance_g.m_CriticalSection;
+ InitializeCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
+ SdoUdpInstance_g.m_iTerminateThread = 0;
+#endif
+
+ SdoUdpInstance_g.m_ThreadHandle = 0;
+ SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
+
+ Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuDelInstance
+//
+// Description: del instance of the module
+// del socket and del Listen-Thread
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuDelInstance()
+{
+tEplKernel Ret;
+
+#if (TARGET_SYSTEM == _WIN32_)
+BOOL fTermError;
+#endif
+
+ Ret = kEplSuccessful;
+
+ if (SdoUdpInstance_g.m_ThreadHandle != 0)
+ { // listen thread was started
+ // close thread
+#if (TARGET_SYSTEM == _WIN32_)
+ fTermError = TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
+ if(fTermError == FALSE)
+ {
+ Ret = kEplSdoUdpThreadError;
+ goto Exit;
+ }
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ SdoUdpInstance_g.m_iTerminateThread = 1;
+ /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
+ send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
+ wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
+#endif
+
+ SdoUdpInstance_g.m_ThreadHandle = 0;
+ }
+
+ if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET)
+ {
+ // close socket
+ closesocket(SdoUdpInstance_g.m_UdpSocket);
+ SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
+ }
+
+#if (TARGET_SYSTEM == _WIN32_)
+ // delete critical section
+ DeleteCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+
+#if (TARGET_SYSTEM == _WIN32_)
+ // for win 32
+ WSACleanup();
+#endif
+
+#if (TARGET_SYSTEM == _WIN32_)
+Exit:
+#endif
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuConfig
+//
+// Description: reconfigurate socket with new IP-Address
+// -> needed for NMT ResetConfiguration
+//
+// Parameters: ulIpAddr_p = IpAddress in platform byte order
+// uiPort_p = port number in platform byte order
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
+{
+tEplKernel Ret;
+struct sockaddr_in Addr;
+int iError;
+
+#if (TARGET_SYSTEM == _WIN32_)
+BOOL fTermError;
+unsigned long ulThreadId;
+#endif
+
+ Ret = kEplSuccessful;
+
+ if (uiPort_p == 0)
+ { // set UDP port to default port number
+ uiPort_p = EPL_C_SDO_EPL_PORT;
+ }
+ else if (uiPort_p > 65535)
+ {
+ Ret = kEplSdoUdpSocketError;
+ goto Exit;
+ }
+
+ if (SdoUdpInstance_g.m_ThreadHandle != 0)
+ { // listen thread was started
+
+ // close old thread
+#if (TARGET_SYSTEM == _WIN32_)
+ fTermError = TerminateThread(SdoUdpInstance_g.m_ThreadHandle, 0);
+ if(fTermError == FALSE)
+ {
+ Ret = kEplSdoUdpThreadError;
+ goto Exit;
+ }
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ SdoUdpInstance_g.m_iTerminateThread = 1;
+ /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
+ send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
+ wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
+ SdoUdpInstance_g.m_iTerminateThread = 0;
+#endif
+
+ SdoUdpInstance_g.m_ThreadHandle = 0;
+ }
+
+ if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET)
+ {
+ // close socket
+ iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
+ SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
+ if(iError != 0)
+ {
+ Ret = kEplSdoUdpSocketError;
+ goto Exit;
+ }
+ }
+
+ // create Socket
+ SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
+ if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET)
+ {
+ Ret = kEplSdoUdpNoSocket;
+ EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
+ goto Exit;
+ }
+
+ // bind socket
+ Addr.sin_family = AF_INET;
+ Addr.sin_port = htons((unsigned short) uiPort_p);
+ Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
+ iError = bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr*)&Addr, sizeof (Addr));
+ if (iError < 0)
+ {
+ //iError = WSAGetLastError();
+ EPL_DBGLVL_SDO_TRACE1("EplSdoUdpuConfig: bind() finished with %i\n", iError);
+ Ret = kEplSdoUdpNoSocket;
+ goto Exit;
+ }
+
+ // create Listen-Thread
+#if (TARGET_SYSTEM == _WIN32_)
+ // for win32
+
+ // create thread
+ SdoUdpInstance_g.m_ThreadHandle = CreateThread(NULL,
+ 0,
+ EplSdoUdpThread,
+ &SdoUdpInstance_g,
+ 0,
+ &ulThreadId);
+ if(SdoUdpInstance_g.m_ThreadHandle == NULL)
+ {
+ Ret = kEplSdoUdpThreadError;
+ goto Exit;
+ }
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+
+ SdoUdpInstance_g.m_ThreadHandle = kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL);
+ if(SdoUdpInstance_g.m_ThreadHandle == 0)
+ {
+ Ret = kEplSdoUdpThreadError;
+ goto Exit;
+ }
+#endif
+
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuInitCon
+//
+// Description: init a new connect
+//
+//
+//
+// Parameters: pSdoConHandle_p = pointer for the new connection handle
+// uiTargetNodeId_p = NodeId of the target node
+//
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuInitCon(tEplSdoConHdl* pSdoConHandle_p,
+ unsigned int uiTargetNodeId_p)
+{
+tEplKernel Ret;
+unsigned int uiCount;
+unsigned int uiFreeCon;
+tEplSdoUdpCon* pSdoUdpCon;
+
+ Ret = kEplSuccessful;
+
+ // get free entry in control structure
+ uiCount = 0;
+ uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
+ pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
+ while (uiCount < EPL_SDO_MAX_CONNECTION_UDP)
+ {
+ if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p))
+ { // existing connection to target node found
+ // set handle
+ *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
+
+ goto Exit;
+ }
+ else if ((pSdoUdpCon->m_ulIpAddr == 0)
+ && (pSdoUdpCon->m_uiPort == 0))
+ {
+ uiFreeCon = uiCount;
+ }
+ uiCount++;
+ pSdoUdpCon++;
+ }
+
+ if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP)
+ {
+ // error no free handle
+ Ret = kEplSdoUdpNoFreeHandle;
+ }
+ else
+ {
+ pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
+ // save infos for connection
+ pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
+ pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p
+
+ // set handle
+ *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
+
+ }
+
+Exit:
+ return Ret;
+
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuSendData
+//
+// Description: send data using exisiting connection
+//
+//
+//
+// Parameters: SdoConHandle_p = connection handle
+// pSrcData_p = pointer to data
+// dwDataSize_p = number of databyte
+// -> without asend-header!!!
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
+ tEplFrame * pSrcData_p,
+ DWORD dwDataSize_p)
+{
+tEplKernel Ret;
+int iError;
+unsigned int uiArray;
+struct sockaddr_in Addr;
+
+ Ret = kEplSuccessful;
+
+ uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
+ if(uiArray >= EPL_SDO_MAX_CONNECTION_UDP)
+ {
+ Ret = kEplSdoUdpInvalidHdl;
+ goto Exit;
+ }
+ //set message type
+ AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO
+ // target node id (for Udp = 0)
+ AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
+ // set source-nodeid (for Udp = 0)
+ AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
+
+ // calc size
+ dwDataSize_p += EPL_ASND_HEADER_SIZE;
+
+ // call sendto
+ Addr.sin_family = AF_INET;
+#if (TARGET_SYSTEM == _WIN32_)
+ // enter critical section for process function
+ EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+
+ Addr.sin_port = (unsigned short) SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort;
+ Addr.sin_addr.s_addr = SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
+
+#if (TARGET_SYSTEM == _WIN32_)
+ // leave critical section for process function
+ LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+
+ iError = sendto (SdoUdpInstance_g.m_UdpSocket, // sockethandle
+ (const char*) &pSrcData_p->m_le_bMessageType, // data to send
+ dwDataSize_p, // number of bytes to send
+ 0, // flags
+ (struct sockaddr*)&Addr, // target
+ sizeof(struct sockaddr_in)); // sizeof targetadress
+ if(iError < 0)
+ {
+ EPL_DBGLVL_SDO_TRACE1("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
+ Ret = kEplSdoUdpSendError;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpuDelCon
+//
+// Description: delete connection from intern structure
+//
+//
+//
+// Parameters: SdoConHandle_p = connection handle
+//
+// Returns: tEplKernel = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
+{
+tEplKernel Ret;
+unsigned int uiArray;
+
+
+ uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
+
+ if(uiArray >= EPL_SDO_MAX_CONNECTION_UDP)
+ {
+ Ret = kEplSdoUdpInvalidHdl;
+ goto Exit;
+ }
+ else
+ {
+ Ret = kEplSuccessful;
+ }
+
+
+ // delete connection
+ SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
+ SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
+
+Exit:
+ return Ret;
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoUdpThread
+//
+// Description: thread check socket for new data
+//
+//
+//
+// Parameters: lpParameter = pointer to parameter type tEplSdoUdpThreadPara
+//
+//
+// Returns: DWORD = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+#if (TARGET_SYSTEM == _WIN32_)
+static DWORD PUBLIC EplSdoUdpThread(LPVOID lpParameter)
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+static int EplSdoUdpThread(void * pArg_p)
+#endif
+{
+
+tEplSdoUdpInstance* pInstance;
+struct sockaddr_in RemoteAddr;
+int iError;
+int iCount;
+int iFreeEntry;
+BYTE abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
+unsigned int uiSize;
+tEplSdoConHdl SdoConHdl;
+
+#if (TARGET_SYSTEM == _WIN32_)
+ pInstance = (tEplSdoUdpInstance*)lpParameter;
+
+ for (;;)
+
+#elif (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ pInstance = (tEplSdoUdpInstance*)pArg_p;
+ daemonize("EplSdoUdpThread");
+ allow_signal( SIGTERM );
+
+ for (;pInstance->m_iTerminateThread == 0;)
+#endif
+
+ {
+ // wait for data
+ uiSize = sizeof(struct sockaddr);
+ iError = recvfrom(pInstance->m_UdpSocket, // Socket
+ (char *)&abBuffer[0], // buffer for data
+ sizeof(abBuffer), // size of the buffer
+ 0, // flags
+ (struct sockaddr*)&RemoteAddr,
+ (int*)&uiSize);
+#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ if (iError == -ERESTARTSYS)
+ {
+ break;
+ }
+#endif
+ if (iError > 0)
+ {
+ // get handle for higher layer
+ iCount = 0;
+ iFreeEntry = 0xFFFF;
+#if (TARGET_SYSTEM == _WIN32_)
+ // enter critical section for process function
+ EnterCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+ while (iCount < EPL_SDO_MAX_CONNECTION_UDP)
+ {
+ // check if this connection is already known
+ if((pInstance->m_aSdoAbsUdpConnection[iCount].m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
+ && (pInstance->m_aSdoAbsUdpConnection[iCount].m_uiPort == RemoteAddr.sin_port))
+ {
+ break;
+ }
+
+ if((pInstance->m_aSdoAbsUdpConnection[iCount].m_ulIpAddr == 0)
+ && (pInstance->m_aSdoAbsUdpConnection[iCount].m_uiPort == 0)
+ && (iFreeEntry == 0xFFFF))
+
+ {
+ iFreeEntry = iCount;
+ }
+
+ iCount++;
+ }
+
+ if (iCount == EPL_SDO_MAX_CONNECTION_UDP)
+ {
+ // connection unknown
+ // see if there is a free handle
+ if (iFreeEntry != 0xFFFF)
+ {
+ // save adress infos
+ pInstance->m_aSdoAbsUdpConnection[iFreeEntry].m_ulIpAddr =
+ RemoteAddr.sin_addr.s_addr;
+ pInstance->m_aSdoAbsUdpConnection[iFreeEntry].m_uiPort =
+ RemoteAddr.sin_port;
+#if (TARGET_SYSTEM == _WIN32_)
+ // leave critical section for process function
+ LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+ // call callback
+ SdoConHdl = iFreeEntry;
+ SdoConHdl |= EPL_SDO_UDP_HANDLE;
+ // offset 4 -> start of SDO Sequence header
+ pInstance->m_fpSdoAsySeqCb(SdoConHdl, (tEplAsySdoSeq*)&abBuffer[4], (iError - 4));
+ }
+ else
+ {
+ EPL_DBGLVL_SDO_TRACE0("Error in EplSdoUdpThread() no free handle\n");
+#if (TARGET_SYSTEM == _WIN32_)
+ // leave critical section for process function
+ LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+ }
+
+ }
+ else
+ {
+ // known connection
+ // call callback with correct handle
+ SdoConHdl = iCount;
+ SdoConHdl |= EPL_SDO_UDP_HANDLE;
+#if (TARGET_SYSTEM == _WIN32_)
+ // leave critical section for process function
+ LeaveCriticalSection(SdoUdpInstance_g.m_pCriticalSection);
+#endif
+ // offset 4 -> start of SDO Sequence header
+ pInstance->m_fpSdoAsySeqCb(SdoConHdl, (tEplAsySdoSeq*)&abBuffer[4], (iError - 4));
+ }
+ } // end of if(iError!=SOCKET_ERROR)
+ }// end of for(;;)
+
+#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
+#endif
+
+ return 0;
+}
+
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Statusu-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplStatusu.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/11/15 d.k.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplStatusu.h"
+#include "user/EplDlluCal.h"
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <xxxxx> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description:
+//
+//
+/***************************************************************************/
+
+
+//=========================================================================//
+// //
+// P R I V A T E D E F I N I T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplStatusuCbResponse m_apfnCbResponse[254];
+
+} tEplStatusuInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplStatusuInstance EplStatusuInstance_g;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static tEplKernel PUBLIC EplStatusuCbStatusResponse(tEplFrameInfo * pFrameInfo_p);
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplStatusuInit
+//
+// Description: init first instance of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplStatusuInit()
+{
+tEplKernel Ret;
+
+ Ret = EplStatusuAddInstance();
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplStatusuAddInstance
+//
+// Description: init other instances of the module
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplStatusuAddInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplStatusuInstance_g, 0, sizeof (EplStatusuInstance_g));
+
+ // register StatusResponse callback function
+ Ret = EplDlluCalRegAsndService(kEplDllAsndStatusResponse, EplStatusuCbStatusResponse, kEplDllAsndFilterAny);
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplStatusuDelInstance
+//
+// Description: delete instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplStatusuDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // deregister StatusResponse callback function
+ Ret = EplDlluCalRegAsndService(kEplDllAsndStatusResponse, NULL, kEplDllAsndFilterNone);
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplStatusuReset
+//
+// Description: resets this instance
+//
+// Parameters:
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+EPLDLLEXPORT tEplKernel PUBLIC EplStatusuReset()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // reset instance structure
+ EPL_MEMSET(&EplStatusuInstance_g, 0, sizeof (EplStatusuInstance_g));
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplStatusuRequestStatusResponse
+//
+// Description: returns the StatusResponse for the specified node.
+//
+// Parameters: uiNodeId_p = IN: node ID
+// pfnCbResponse_p = IN: function pointer to callback function
+// which will be called if StatusResponse is received
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplStatusuRequestStatusResponse(
+ unsigned int uiNodeId_p,
+ tEplStatusuCbResponse pfnCbResponse_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // decrement node ID, because array is zero based
+ uiNodeId_p--;
+ if (uiNodeId_p < tabentries (EplStatusuInstance_g.m_apfnCbResponse))
+ {
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (EplStatusuInstance_g.m_apfnCbResponse[uiNodeId_p] != NULL)
+ { // request already issued (maybe by someone else)
+ Ret = kEplInvalidOperation;
+ }
+ else
+ {
+ EplStatusuInstance_g.m_apfnCbResponse[uiNodeId_p] = pfnCbResponse_p;
+ Ret = EplDlluCalIssueRequest(kEplDllReqServiceStatus, (uiNodeId_p + 1), 0xFF);
+ }
+#else
+ Ret = kEplInvalidOperation;
+#endif
+ }
+ else
+ { // invalid node ID specified
+ Ret = kEplInvalidNodeId;
+ }
+
+ return Ret;
+
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplStatusuCbStatusResponse
+//
+// Description: callback funktion for StatusResponse
+//
+//
+//
+// Parameters: pFrameInfo_p = Frame with the StatusResponse
+//
+//
+// Returns: tEplKernel = error code
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static tEplKernel PUBLIC EplStatusuCbStatusResponse(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiNodeId;
+unsigned int uiIndex;
+tEplStatusuCbResponse pfnCbResponse;
+
+ uiNodeId = AmiGetByteFromLe(&pFrameInfo_p->m_pFrame->m_le_bSrcNodeId);
+
+ uiIndex = uiNodeId - 1;
+
+ if (uiIndex < tabentries (EplStatusuInstance_g.m_apfnCbResponse))
+ {
+ // memorize pointer to callback function
+ pfnCbResponse = EplStatusuInstance_g.m_apfnCbResponse[uiIndex];
+ if (pfnCbResponse == NULL)
+ { // response was not requested
+ goto Exit;
+ }
+ // reset callback function pointer so that caller may issue next request
+ EplStatusuInstance_g.m_apfnCbResponse[uiIndex] = NULL;
+
+ if (pFrameInfo_p->m_uiFrameSize < EPL_C_DLL_MINSIZE_STATUSRES)
+ { // StatusResponse not received or it has invalid size
+ Ret = pfnCbResponse(uiNodeId, NULL);
+ }
+ else
+ { // StatusResponse received
+ Ret = pfnCbResponse(uiNodeId, &pFrameInfo_p->m_pFrame->m_Data.m_Asnd.m_Payload.m_StatusResponse);
+ }
+ }
+
+Exit:
+ return Ret;
+}
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for target api function
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTarget.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2005/12/05 -as: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPLTARGET_H_
+#define _EPLTARGET_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+// =========================================================================
+// macros for memory access (depends on target system)
+// =========================================================================
+
+// NOTE:
+// The following macros are used to combine standard library definitions. Some
+// applications needs to use one common library function (e.g. memcpy()). So
+// you can set (or change) it here.
+
+#if (TARGET_SYSTEM == _WIN32_)
+
+ #define _WIN32_WINDOWS 0x0401
+ #define _WIN32_WINNT 0x0400
+
+ #include <stdlib.h>
+ #include <stdio.h>
+
+ //29.11.2004 f.j. sonst ist memcpy und memset unbekannt
+ #include <string.h>
+
+ #define EPL_MEMCPY(dst,src,siz) memcpy((void*)(dst),(const void*)(src),(size_t)(siz));
+ #define EPL_MEMSET(dst,val,siz) memset((void*)(dst),(int)(val),(size_t)(siz));
+
+ // f.j.: die Funktionen für <MemAlloc> und <MemFree> sind in WinMem.c definiert
+ //definition der Prototypen
+ void FAR* MemAlloc (DWORD dwMemSize_p);
+ void MemFree (void FAR* pMem_p);
+
+ #define EPL_MALLOC(siz) malloc((size_t)(siz))
+ #define EPL_FREE(ptr) free((void *)ptr)
+
+ #ifndef PRINTF0
+ void trace (const char* fmt, ...);
+ #define PRINTF TRACE
+ #define PRINTF0(arg) TRACE0(arg)
+ #define PRINTF1(arg,p1) TRACE1(arg,p1)
+ #define PRINTF2(arg,p1,p2) TRACE2(arg,p1,p2)
+ #define PRINTF3(arg,p1,p2,p3) TRACE3(arg,p1,p2,p3)
+ #define PRINTF4(arg,p1,p2,p3,p4) TRACE4(arg,p1,p2,p3,p4)
+ //#define PRINTF printf
+ //#define PRINTF0(arg) PRINTF(arg)
+ //#define PRINTF1(arg,p1) PRINTF(arg,p1)
+ //#define PRINTF2(arg,p1,p2) PRINTF(arg,p1,p2)
+ //#define PRINTF3(arg,p1,p2,p3) PRINTF(arg,p1,p2,p3)
+ //#define PRINTF4(arg,p1,p2,p3,p4) PRINTF(arg,p1,p2,p3,p4)
+ #endif
+
+ #ifdef ASSERTMSG
+ #undef ASSERTMSG
+ #endif
+
+ #define ASSERTMSG(expr,string) if (!(expr)) { \
+ MessageBox (NULL, string, "Assertion failed", MB_OK | MB_ICONERROR); \
+ exit (-1);}
+
+
+
+#elif (TARGET_SYSTEM == _NO_OS_)
+
+ #include <stdlib.h>
+ #include <stdio.h>
+
+ //29.11.2004 f.j. sonst ist memcpy und memset unbekannt
+// #include <string.h>
+
+ #define EPL_MEMCPY(dst,src,siz) memcpy((void*)(dst),(const void*)(src),(size_t)(siz));
+ #define EPL_MEMSET(dst,val,siz) memset((void*)(dst),(int)(val),(size_t)(siz));
+
+ #define EPL_MALLOC(siz) malloc((size_t)(siz))
+ #define EPL_FREE(ptr) free((void *)ptr)
+
+ #ifndef PRINTF0
+ #define PRINTF TRACE
+ #define PRINTF0(arg) TRACE0(arg)
+ #define PRINTF1(arg,p1) TRACE1(arg,p1)
+ #define PRINTF2(arg,p1,p2) TRACE2(arg,p1,p2)
+ #define PRINTF3(arg,p1,p2,p3) TRACE3(arg,p1,p2,p3)
+ #define PRINTF4(arg,p1,p2,p3,p4) TRACE4(arg,p1,p2,p3,p4)
+ //#define PRINTF printf
+ //#define PRINTF0(arg) PRINTF(arg)
+ //#define PRINTF1(arg,p1) PRINTF(arg,p1)
+ //#define PRINTF2(arg,p1,p2) PRINTF(arg,p1,p2)
+ //#define PRINTF3(arg,p1,p2,p3) PRINTF(arg,p1,p2,p3)
+ //#define PRINTF4(arg,p1,p2,p3,p4) PRINTF(arg,p1,p2,p3,p4)
+ #endif
+
+
+#elif (TARGET_SYSTEM == _LINUX_)
+
+ #ifndef __KERNEL__
+ #include <stdlib.h>
+ #include <stdio.h>
+ #else
+// #include <linux/config.h>
+ #include <linux/module.h>
+ #include <linux/kernel.h>
+ #include <linux/init.h>
+ #include <linux/errno.h>
+ #include <linux/major.h>
+ #include <linux/version.h>
+ #endif
+
+ //29.11.2004 f.j. sonst ist memcpy und memset unbekannt
+// #include <string.h>
+
+ #define EPL_MEMCPY(dst,src,siz) memcpy((void*)(dst),(const void*)(src),(size_t)(siz));
+ #define EPL_MEMSET(dst,val,siz) memset((void*)(dst),(int)(val),(size_t)(siz));
+
+ #ifndef __KERNEL__
+ #define EPL_MALLOC(siz) malloc((size_t)(siz))
+ #define EPL_FREE(ptr) free((void *)ptr)
+ #else
+ #define EPL_MALLOC(siz) kmalloc((size_t)(siz), GFP_KERNEL)
+ #define EPL_FREE(ptr) kfree((void *)ptr)
+ #endif
+
+ #ifndef PRINTF0
+ #define PRINTF TRACE
+ #define PRINTF0(arg) TRACE0(arg)
+ #define PRINTF1(arg,p1) TRACE1(arg,p1)
+ #define PRINTF2(arg,p1,p2) TRACE2(arg,p1,p2)
+ #define PRINTF3(arg,p1,p2,p3) TRACE3(arg,p1,p2,p3)
+ #define PRINTF4(arg,p1,p2,p3,p4) TRACE4(arg,p1,p2,p3,p4)
+ //#define PRINTF printf
+ //#define PRINTF0(arg) PRINTF(arg)
+ //#define PRINTF1(arg,p1) PRINTF(arg,p1)
+ //#define PRINTF2(arg,p1,p2) PRINTF(arg,p1,p2)
+ //#define PRINTF3(arg,p1,p2,p3) PRINTF(arg,p1,p2,p3)
+ //#define PRINTF4(arg,p1,p2,p3,p4) PRINTF(arg,p1,p2,p3,p4)
+ #endif
+
+
+#endif
+
+#define EPL_TGT_INTMASK_ETH 0x0001 // ethernet interrupt
+#define EPL_TGT_INTMASK_DMA 0x0002 // DMA interrupt
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+// currently no Timer functions are needed by EPL stack
+// so they are not implemented yet
+//void PUBLIC TgtTimerInit(void);
+//DWORD PUBLIC TgtGetTickCount(void);
+//void PUBLIC TgtGetNetTime(tEplNetTime * pNetTime_p);
+
+// functions for ethernet driver
+tEplKernel PUBLIC TgtInitEthIsr(void);
+void PUBLIC TgtFreeEthIsr(void);
+void PUBLIC TgtEnableGlobalInterrupt(BYTE fEnable_p);
+void PUBLIC TgtEnableEthInterrupt0(BYTE fEnable_p, unsigned int uiInterruptMask_p);
+void PUBLIC TgtEnableEthInterrupt1(BYTE fEnable_p, unsigned int uiInterruptMask_p);
+
+#endif // #ifndef _EPLTARGET_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Epl Timer-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimer.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/06 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "EplEvent.h"
+
+#ifndef _EPLTIMER_H_
+#define _EPLTIMER_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+// type for timer handle
+typedef unsigned long tEplTimerHdl;
+
+typedef struct
+{
+ tEplEventSink m_EventSink;
+ unsigned long m_ulArg; // d.k.: converted to unsigned long because
+ // it is never accessed as a pointer by the
+ // timer module and the data the
+ // pointer points to is not saved in any way.
+ // It is just a value. The user is responsible
+ // to store the data statically and convert
+ // the pointer between address spaces.
+
+} tEplTimerArg;
+
+typedef struct
+{
+ tEplTimerHdl m_TimerHdl;
+ unsigned long m_ulArg; // d.k.: converted to unsigned long because
+ // it is never accessed as a pointer by the
+ // timer module and the data the
+ // pointer points to is not saved in any way.
+ // It is just a value.
+
+} tEplTimerEventArg;
+
+typedef tEplKernel (PUBLIC * tEplTimerkCallback) (
+ tEplTimerEventArg* pEventArg_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPLTIMER_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for EPL User Timermodule for Linux kernel module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimeruLinuxKernel.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/09/12 d.k.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplTimeru.h"
+#include <linux/timer.h>
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+typedef struct
+{
+ struct timer_list m_Timer;
+ tEplTimerArg TimerArgument;
+
+} tEplTimeruData;
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+static void PUBLIC EplTimeruCbMs(unsigned long ulParameter_p);
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <Epl Userspace-Timermodule for Linux Kernel> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: Epl Userspace-Timermodule for Linux Kernel
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruInit
+//
+// Description: function inits first instance
+//
+// Parameters: void
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruInit()
+{
+tEplKernel Ret;
+
+ Ret = EplTimeruAddInstance();
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruAddInstance
+//
+// Description: function inits additional instance
+//
+// Parameters: void
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruAddInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruDelInstance
+//
+// Description: function deletes instance
+// -> under Linux nothing to do
+// -> no instance table needed
+//
+// Parameters: void
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruSetTimerMs
+//
+// Description: function creates a timer and returns the corresponding handle
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+// ulTime_p = time for timer in ms
+// Argument_p = argument for timer
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruSetTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplTimeruData* pData;
+
+ // check pointer to handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ pData = (tEplTimeruData*) EPL_MALLOC(sizeof (tEplTimeruData));
+ if (pData == NULL)
+ {
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ init_timer(&pData->m_Timer);
+ pData->m_Timer.function = EplTimeruCbMs;
+ pData->m_Timer.data = (unsigned long) pData;
+ pData->m_Timer.expires = jiffies + ulTime_p * HZ / 1000;
+
+ EPL_MEMCPY(&pData->TimerArgument, &Argument_p, sizeof(tEplTimerArg));
+
+ add_timer(&pData->m_Timer);
+
+ *pTimerHdl_p = (tEplTimerHdl) pData;
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruModifyTimerMs
+//
+// Description: function changes a timer and returns the corresponding handle
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+// ulTime_p = time for timer in ms
+// Argument_p = argument for timer
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruModifyTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplTimeruData* pData;
+
+ // check pointer to handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ // check handle itself, i.e. was the handle initialized before
+ if (*pTimerHdl_p == 0)
+ {
+ Ret = EplTimeruSetTimerMs(pTimerHdl_p, ulTime_p, Argument_p);
+ goto Exit;
+ }
+ pData = (tEplTimeruData*) *pTimerHdl_p;
+ if ((tEplTimeruData*)pData->m_Timer.data != pData)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ mod_timer(&pData->m_Timer, (jiffies + ulTime_p * HZ / 1000));
+
+ // copy the TimerArg after the timer is restarted,
+ // so that a timer occured immediately before mod_timer
+ // won't use the new TimerArg and
+ // therefore the old timer cannot be distinguished from the new one.
+ // But if the new timer is too fast, it may get lost.
+ EPL_MEMCPY(&pData->TimerArgument, &Argument_p, sizeof(tEplTimerArg));
+
+ // check if timer is really running
+ if (timer_pending(&pData->m_Timer) == 0)
+ { // timer is not running
+ // retry starting it
+ add_timer(&pData->m_Timer);
+ }
+
+ // set handle to pointer of tEplTimeruData
+// *pTimerHdl_p = (tEplTimerHdl) pData;
+
+Exit:
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruDeleteTimer
+//
+// Description: function deletes a timer
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+//
+// Returns: tEplKernel = errorcode
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruDeleteTimer(tEplTimerHdl* pTimerHdl_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplTimeruData* pData;
+
+ // check pointer to handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ // check handle itself, i.e. was the handle initialized before
+ if (*pTimerHdl_p == 0)
+ {
+ Ret = kEplSuccessful;
+ goto Exit;
+ }
+ pData = (tEplTimeruData*) *pTimerHdl_p;
+ if ((tEplTimeruData*)pData->m_Timer.data != pData)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+/* if (del_timer(&pData->m_Timer) == 1)
+ {
+ kfree(pData);
+ }
+*/
+ // try to delete the timer
+ del_timer(&pData->m_Timer);
+ // free memory in any case
+ kfree(pData);
+
+ // uninitialize handle
+ *pTimerHdl_p = 0;
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruIsTimerActive
+//
+// Description: checks if the timer referenced by the handle is currently
+// active.
+//
+// Parameters: TimerHdl_p = handle of the timer to check
+//
+// Returns: BOOL = TRUE, if active;
+// FALSE, otherwise
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+BOOL PUBLIC EplTimeruIsTimerActive(tEplTimerHdl TimerHdl_p)
+{
+BOOL fActive = FALSE;
+tEplTimeruData* pData;
+
+ // check handle itself, i.e. was the handle initialized before
+ if (TimerHdl_p == 0)
+ { // timer was not created yet, so it is not active
+ goto Exit;
+ }
+ pData = (tEplTimeruData*) TimerHdl_p;
+ if ((tEplTimeruData*)pData->m_Timer.data != pData)
+ { // invalid timer
+ goto Exit;
+ }
+
+ // check if timer is running
+ if (timer_pending(&pData->m_Timer) == 0)
+ { // timer is not running
+ goto Exit;
+ }
+
+ fActive = TRUE;
+
+Exit:
+ return fActive;
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruCbMs
+//
+// Description: function to process timer
+//
+//
+//
+// Parameters: lpParameter = pointer to structur of type tEplTimeruData
+//
+//
+// Returns: (none)
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static void PUBLIC EplTimeruCbMs(unsigned long ulParameter_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplTimeruData* pData;
+tEplEvent EplEvent;
+tEplTimerEventArg TimerEventArg;
+
+ pData = (tEplTimeruData*) ulParameter_p;
+
+ // call event function
+ TimerEventArg.m_TimerHdl = (tEplTimerHdl)pData;
+ TimerEventArg.m_ulArg = pData->TimerArgument.m_ulArg;
+
+ EplEvent.m_EventSink = pData->TimerArgument.m_EventSink;
+ EplEvent.m_EventType = kEplEventTypeTimer;
+ EPL_MEMSET(&EplEvent.m_NetTime, 0x00, sizeof(tEplNetTime));
+ EplEvent.m_pArg = &TimerEventArg;
+ EplEvent.m_uiSize = sizeof(TimerEventArg);
+
+ Ret = EplEventuPost(&EplEvent);
+
+ // d.k. do not free memory, user has to call EplTimeruDeleteTimer()
+ //kfree(pData);
+
+}
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Epl Userspace-Timermodule NULL-Implementation
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimeruNull.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/06 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplTimeru.h"
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <Epl Userspace-Timermodule NULL-Implementation> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: Epl Userspace-Timermodule NULL-Implementation
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruInit
+//
+// Description: function init first instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruInit()
+{
+tEplKernel Ret;
+
+ Ret = EplTimeruAddInstance();
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruAddInstance
+//
+// Description: function init additional instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruAddInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruDelInstance
+//
+// Description: function delte instance
+// -> under Win32 nothing to do
+// -> no instnace table needed
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruSetTimerMs
+//
+// Description: function create a timer and return a handle to the pointer
+//
+//
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+// ulTime_p = time for timer in ms
+// Argument_p = argument for timer
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruSetTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p)
+{
+tEplKernel Ret;
+
+
+ Ret = kEplSuccessful;
+
+ // check handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+
+ //---------------------------------------------------------------------------
+//
+// Function: EplTimeruModifyTimerMs
+//
+// Description: function change a timer and return a handle to the pointer
+//
+//
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+// ulTime_p = time for timer in ms
+// Argument_p = argument for timer
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruModifyTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // check parameter
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+
+Exit:
+ return Ret;
+}
+
+ //---------------------------------------------------------------------------
+//
+// Function: EplTimeruDeleteTimer
+//
+// Description: function delte a timer
+//
+//
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruDeleteTimer(tEplTimerHdl* pTimerHdl_p)
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ // check parameter
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ // set handle invalide
+ *pTimerHdl_p = 0;
+
+
+Exit:
+ return Ret;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: source file for Epl Userspace-Timermodule for Win32
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimeruWin32.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/06 k.t.: start of the implementation
+
+****************************************************************************/
+
+#include "user/EplTimeru.h"
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+typedef struct
+{
+ tEplTimerArg TimerArgument;
+ HANDLE DelteHandle;
+ unsigned long ulTimeout;
+
+}tEplTimeruThread;
+
+typedef struct
+{
+ LPCRITICAL_SECTION m_pCriticalSection;
+ CRITICAL_SECTION m_CriticalSection;
+}tEplTimeruInstance;
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+static tEplTimeruInstance EplTimeruInstance_g;
+static tEplTimeruThread ThreadData_l;
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+DWORD PUBLIC EplSdoTimeruThreadms(LPVOID lpParameter);
+
+/***************************************************************************/
+/* */
+/* */
+/* C L A S S <Epl Userspace-Timermodule for Win32> */
+/* */
+/* */
+/***************************************************************************/
+//
+// Description: Epl Userspace-Timermodule for Win32
+//
+//
+/***************************************************************************/
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruInit
+//
+// Description: function init first instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruInit()
+{
+tEplKernel Ret;
+
+ Ret = EplTimeruAddInstance();
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruAddInstance
+//
+// Description: function init additional instance
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruAddInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+
+ // create critical section
+ EplTimeruInstance_g.m_pCriticalSection = &EplTimeruInstance_g.m_CriticalSection;
+ InitializeCriticalSection(EplTimeruInstance_g.m_pCriticalSection);
+
+
+
+return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruDelInstance
+//
+// Description: function delte instance
+// -> under Win32 nothing to do
+// -> no instnace table needed
+//
+//
+//
+// Parameters:
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruDelInstance()
+{
+tEplKernel Ret;
+
+ Ret = kEplSuccessful;
+
+ return Ret;
+}
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimeruSetTimerMs
+//
+// Description: function create a timer and return a handle to the pointer
+//
+//
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+// ulTime_p = time for timer in ms
+// Argument_p = argument for timer
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruSetTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p)
+{
+tEplKernel Ret;
+HANDLE DeleteHandle;
+HANDLE ThreadHandle;
+DWORD ThreadId;
+
+
+ Ret = kEplSuccessful;
+
+ // check handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ // enter critical section
+ EnterCriticalSection(EplTimeruInstance_g.m_pCriticalSection);
+
+ // first create event to delete timer
+ DeleteHandle = CreateEvent(NULL,FALSE,FALSE, NULL);
+ if(DeleteHandle == NULL)
+ {
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+ // set handle for caller
+ *pTimerHdl_p = (tEplTimerHdl)DeleteHandle;
+
+
+
+
+ // fill data for thread
+ ThreadData_l.DelteHandle = DeleteHandle;
+ EPL_MEMCPY(&ThreadData_l.TimerArgument, &Argument_p, sizeof(tEplTimerArg));
+ ThreadData_l.ulTimeout = ulTime_p;
+
+ // create thread to create waitable timer and wait for timer
+ ThreadHandle = CreateThread(NULL,
+ 0,
+ EplSdoTimeruThreadms,
+ &ThreadData_l,
+ 0,
+ &ThreadId);
+ if(ThreadHandle == NULL)
+ {
+ // leave critical section
+ LeaveCriticalSection(EplTimeruInstance_g.m_pCriticalSection);
+
+ // delte handle
+ CloseHandle(DeleteHandle);
+
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+
+ //---------------------------------------------------------------------------
+//
+// Function: EplTimeruModifyTimerMs
+//
+// Description: function change a timer and return a handle to the pointer
+//
+//
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+// ulTime_p = time for timer in ms
+// Argument_p = argument for timer
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruModifyTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p)
+{
+tEplKernel Ret;
+HANDLE DeleteHandle;
+HANDLE ThreadHandle;
+DWORD ThreadId;
+
+ Ret = kEplSuccessful;
+
+ // check parameter
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ DeleteHandle = (HANDLE)(*pTimerHdl_p);
+
+ // set event to end timer task for this timer
+ SetEvent(DeleteHandle);
+
+ // create new timer
+ // first create event to delete timer
+ DeleteHandle = CreateEvent(NULL,FALSE,FALSE, NULL);
+ if(DeleteHandle == NULL)
+ {
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+ // set handle for caller
+ *pTimerHdl_p = (tEplTimerHdl)DeleteHandle;
+
+ // enter critical section
+ EnterCriticalSection(EplTimeruInstance_g.m_pCriticalSection);
+
+ // fill data for thread
+ ThreadData_l.DelteHandle = DeleteHandle;
+ EPL_MEMCPY(&ThreadData_l.TimerArgument, &Argument_p, sizeof(tEplTimerArg));
+ ThreadData_l.ulTimeout = ulTime_p;
+
+ // create thread to create waitable timer and wait for timer
+ ThreadHandle = CreateThread(NULL,
+ 0,
+ EplSdoTimeruThreadms,
+ &ThreadData_l,
+ 0,
+ &ThreadId);
+ if(ThreadHandle == NULL)
+ {
+ // leave critical section
+ LeaveCriticalSection(EplTimeruInstance_g.m_pCriticalSection);
+
+ // delte handle
+
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+ //---------------------------------------------------------------------------
+//
+// Function: EplTimeruDeleteTimer
+//
+// Description: function delte a timer
+//
+//
+//
+// Parameters: pTimerHdl_p = pointer to a buffer to fill in the handle
+//
+//
+// Returns: tEplKernel = errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplTimeruDeleteTimer(tEplTimerHdl* pTimerHdl_p)
+{
+tEplKernel Ret;
+HANDLE DeleteHandle;
+
+ Ret = kEplSuccessful;
+
+ // check parameter
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ DeleteHandle = (HANDLE)(*pTimerHdl_p);
+
+ // set event to end timer task for this timer
+ SetEvent(DeleteHandle);
+
+ // set handle invalide
+ *pTimerHdl_p = 0;
+
+
+Exit:
+ return Ret;
+
+}
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: EplSdoTimeruThreadms
+//
+// Description: function to process timer as thread
+//
+//
+//
+// Parameters: lpParameter = pointer to structur of type tEplTimeruThread
+//
+//
+// Returns: DWORD = Errorcode
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+DWORD PUBLIC EplSdoTimeruThreadms(LPVOID lpParameter)
+{
+tEplKernel Ret;
+tEplTimeruThread* pThreadData;
+HANDLE aHandles[2];
+BOOL fReturn;
+LARGE_INTEGER TimeoutTime;
+unsigned long ulEvent;
+tEplEvent EplEvent;
+tEplTimeruThread ThreadData;
+tEplTimerEventArg TimerEventArg;
+
+ Ret = kEplSuccessful;
+
+ // get pointer to data
+ pThreadData = (tEplTimeruThread*)lpParameter;
+ // copy thread data
+ EPL_MEMCPY(&ThreadData, pThreadData, sizeof(ThreadData));
+ pThreadData = &ThreadData;
+
+ // leave critical section
+ LeaveCriticalSection(EplTimeruInstance_g.m_pCriticalSection);
+
+ // create waitable timer
+ aHandles[1] = CreateWaitableTimer(NULL,FALSE,NULL);
+ if(aHandles[1] == NULL)
+ {
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+ // set timer
+ // set timeout interval -> needed to be negativ
+ // -> because relative timeout
+ // -> multiply by 10000 for 100 ns timebase of function
+ TimeoutTime.QuadPart = (((long long)pThreadData->ulTimeout) * -10000);
+ fReturn = SetWaitableTimer(aHandles[1],
+ &TimeoutTime,
+ 0,
+ NULL,
+ NULL,
+ FALSE);
+ if(fReturn == 0)
+ {
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+ // save delte event handle in handle array
+ aHandles[0] = pThreadData->DelteHandle;
+
+ // wait for one of the events
+ ulEvent = WaitForMultipleObjects( 2,
+ &aHandles[0],
+ FALSE,
+ INFINITE);
+ if(ulEvent == WAIT_OBJECT_0)
+ { // delte event
+
+ // close handels
+ CloseHandle(aHandles[1]);
+ // terminate thread
+ goto Exit;
+ }
+ else if(ulEvent == (WAIT_OBJECT_0 + 1))
+ { // timer event
+ // call event function
+ TimerEventArg.m_TimerHdl = (tEplTimerHdl)pThreadData->DelteHandle;
+ TimerEventArg.m_ulArg = pThreadData->TimerArgument.m_ulArg;
+
+ EplEvent.m_EventSink = pThreadData->TimerArgument.m_EventSink;
+ EplEvent.m_EventType = kEplEventTypeTimer;
+ EPL_MEMSET(&EplEvent.m_NetTime, 0x00, sizeof(tEplNetTime));
+ EplEvent.m_pArg = &TimerEventArg;
+ EplEvent.m_uiSize = sizeof(TimerEventArg);
+
+ Ret = EplEventuPost(&EplEvent);
+
+ // close handels
+ CloseHandle(aHandles[1]);
+ // terminate thread
+ goto Exit;
+
+ }
+ else
+ { // error
+ ulEvent = GetLastError();
+ TRACE1("Error in WaitForMultipleObjects Errorcode: 0x%x\n",ulEvent);
+ // terminate thread
+ goto Exit;
+ }
+
+Exit:
+ return Ret;
+}
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: This file defines the EPL version for the stack, as string
+ and for object 0x1018 within object dictionary.
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplVersion.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ all
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+****************************************************************************/
+
+#ifndef _EPL_VERSION_H_
+#define _EPL_VERSION_H_
+
+
+// NOTE:
+// All version macros should contain the same version number. But do not use
+// defines instead of the numbers. Because the macro EPL_STRING_VERSION() can not
+// convert a define to a string.
+//
+// Format: maj.min.build
+// maj = major version
+// min = minor version (will be set to 0 if major version will be incremented)
+// build = current build (will be set to 0 if minor version will be incremented)
+//
+#define DEFINED_STACK_VERSION EPL_STACK_VERSION (1, 3, 0)
+#define DEFINED_OBJ1018_VERSION EPL_OBJ1018_VERSION (1, 3, 0)
+#define DEFINED_STRING_VERSION EPL_STRING_VERSION (1, 3, 0)
+
+
+// -----------------------------------------------------------------------------
+#define EPL_PRODUCT_NAME "EPL V2"
+#define EPL_PRODUCT_VERSION DEFINED_STRING_VERSION
+#define EPL_PRODUCT_MANUFACTURER "SYS TEC electronic GmbH"
+
+ #define EPL_PRODUCT_KEY "SO-1083"
+ #define EPL_PRODUCT_DESCRIPTION "openPOWERLINK Protocol Stack Source"
+
+#endif // _EPL_VERSION_H_
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
--- /dev/null
+config EPL
+ tristate "openPOWERLINK protocol stack"
+ depends on NET && HIGH_RES_TIMERS && X86
+ default N
+ ---help---
+ Enable support for the openPOWERLINK network protocol stack.
--- /dev/null
+obj-$(CONFIG_EPL) += epl.o
+
+epl-objs := \
+ EplApiGeneric.o \
+ EplApiLinuxKernel.o \
+ EplApiProcessImage.o \
+ EplDllk.o \
+ EplDllkCal.o \
+ EplDlluCal.o \
+ EplErrorHandlerk.o \
+ EplEventk.o \
+ EplEventu.o \
+ EplIdentu.o \
+ EplNmtCnu.o \
+ EplNmtk.o \
+ EplNmtkCal.o \
+ EplNmtMnu.o \
+ EplNmtu.o \
+ EplNmtuCal.o \
+ EplObd.o \
+ EplObdkCal.o \
+ EplObdu.o \
+ EplObduCal.o \
+ EplPdok.o \
+ EplPdokCal.o \
+ EplPdou.o \
+ EplSdoAsndu.o \
+ EplSdoAsySequ.o \
+ EplSdoComu.o \
+ EplSdoUdpu.o \
+ EplStatusu.o \
+ EplTimeruLinuxKernel.o \
+ amix86.o \
+ SharedBuff.o \
+ ShbIpc-LinuxKernel.o \
+ TimerHighReskX86.o \
+ VirtualEthernetLinux.o \
+ SocketLinuxKernel.o \
+ proc_fs.o \
+ demo_main.o \
+ Edrv8139.o \
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: Project independend shared buffer (linear + circular)
+
+ Description: Implementation of platform independend part for the
+ shared buffer
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ 2006/06/27 -rs: V 1.00 (initial version)
+
+****************************************************************************/
+
+#if defined(WIN32) || defined(_WIN32)
+
+ #ifdef UNDER_RTSS
+ // RTX header
+ #include <windows.h>
+ #include <process.h>
+ #include <rtapi.h>
+
+ #elif __BORLANDC__
+ // borland C header
+ #include <windows.h>
+ #include <process.h>
+
+ #elif WINCE
+ #include <windows.h>
+
+ #else
+ // MSVC needs to include windows.h at first
+ // the following defines ar necessary for function prototypes for waitable timers
+ #define _WIN32_WINDOWS 0x0401
+ #define _WIN32_WINNT 0x0400
+ #include <windows.h>
+ #include <process.h>
+ #endif
+
+#endif
+
+#include "global.h"
+#include "SharedBuff.h"
+#include "ShbIpc.h"
+
+// d.k. Linux kernel modules needs other header files for memcpy()
+#if (TARGET_SYSTEM == _LINUX_) && defined(__KERNEL__)
+ #include <linux/string.h>
+#else
+ #include <stdio.h>
+ #include <stdlib.h>
+ #include <string.h>
+#endif
+
+
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+#if (!defined(SHAREDBUFF_INLINED)) || defined(INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Configuration
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Constant definitions
+//---------------------------------------------------------------------------
+
+#define SBC_MAGIC_ID 0x53424323 // magic ID ("SBC#")
+#define SBL_MAGIC_ID 0x53424C23 // magic ID ("SBL#")
+
+
+
+//---------------------------------------------------------------------------
+// Local types
+//---------------------------------------------------------------------------
+
+// structure to administrate circular shared buffer head
+typedef struct
+{
+ unsigned long m_ShbCirMagicID; // magic ID ("SBC#")
+ unsigned long m_ulBufferTotalSize; // over-all size of complete buffer
+ unsigned long m_ulBufferDataSize; // size of complete data area
+ unsigned long m_ulWrIndex; // current write index (set bevore write)
+ unsigned long m_ulRdIndex; // current read index (set after read)
+ unsigned long m_ulNumOfWriteJobs; // number of currently (parallel running) write operations
+ unsigned long m_ulDataInUse; // currently used buffer size (incl. uncompleted write operations)
+ unsigned long m_ulDataApended; // buffer size of complete new written but not yet readable data (in case of m_ulNumOfWriteJobs>1)
+ unsigned long m_ulBlocksApended; // number of complete new written but not yet readable data blocks (in case of m_ulNumOfWriteJobs>1)
+ unsigned long m_ulDataReadable; // buffer size with readable (complete written) data
+ unsigned long m_ulBlocksReadable; // number of readable (complete written) data blocks
+ tShbCirSigHndlrNewData m_pfnSigHndlrNewData;// application handler to signal new data
+ unsigned int m_fBufferLocked; // TRUE if buffer is locked (because of pending reset request)
+ tShbCirSigHndlrReset m_pfnSigHndlrReset; // application handler to signal buffer reset is done
+ unsigned char m_Data; // start of data area (the real data size is unknown at this time)
+
+} tShbCirBuff;
+
+
+// structure to administrate linear shared buffer head
+typedef struct
+{
+ unsigned int m_ShbLinMagicID; // magic ID ("SBL#")
+ unsigned long m_ulBufferTotalSize; // over-all size of complete buffer
+ unsigned long m_ulBufferDataSize; // size of complete data area
+ unsigned char m_Data; // start of data area (the real data size is unknown at this time)
+
+} tShbLinBuff;
+
+
+// type to save size of a single data block inside the circular shared buffer
+typedef struct
+{
+ unsigned int m_uiFullBlockSize : 28; // a single block must not exceed a length of 256MByte :-)
+ unsigned int m_uiAlignFillBytes : 4;
+
+} tShbCirBlockSize;
+
+#define SBC_BLOCK_ALIGNMENT 4 // alignment must *not* be lower than sizeof(tShbCirBlockSize)!
+#define SBC_MAX_BLOCK_SIZE ((1<<28)-1) // = (2^28 - 1) = (256MByte - 1) -> should be enought for real life :-)
+
+#define SBL_BLOCK_ALIGNMENT 4
+#define SBL_MAX_BLOCK_SIZE ((1<<28)-1) // = (2^28 - 1) = (256MByte - 1) -> should be enought for real life :-)
+
+
+
+//---------------------------------------------------------------------------
+// Global variables
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Local variables
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Prototypes of internal functions
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// Get pointer to Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbCirBuff* ShbCirGetBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+
+
+ pShbCirBuff = (tShbCirBuff*) ShbIpcGetShMemPtr (pShbInstance_p);
+ ASSERT(pShbCirBuff->m_ShbCirMagicID == SBC_MAGIC_ID);
+
+ return (pShbCirBuff);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get pointer to Linear Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbLinBuff* ShbLinGetBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbLinBuff* pShbLinBuff;
+
+
+ pShbLinBuff = (tShbLinBuff*) ShbIpcGetShMemPtr (pShbInstance_p);
+ ASSERT(pShbLinBuff->m_ShbLinMagicID == SBL_MAGIC_ID);
+
+ return (pShbLinBuff);
+
+}
+
+
+
+// not inlined internal functions
+int ShbCirSignalHandlerNewData (tShbInstance pShbInstance_p);
+void ShbCirSignalHandlerReset (tShbInstance pShbInstance_p, unsigned int fTimeOut_p);
+
+#endif
+
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+#if !defined(INLINE_ENABLED)
+// not inlined external functions
+
+//---------------------------------------------------------------------------
+// Initialize Shared Buffer Module
+//---------------------------------------------------------------------------
+
+tShbError ShbInit (void)
+{
+
+tShbError ShbError;
+
+
+ ShbError = ShbIpcInit();
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Deinitialize Shared Buffer Module
+//---------------------------------------------------------------------------
+
+tShbError ShbExit (void)
+{
+
+tShbError ShbError;
+
+
+ ShbError = ShbIpcExit();
+
+ return (ShbError);
+
+}
+
+
+
+
+
+//-------------------------------------------------------------------------//
+// //
+// C i r c u l a r S h a r e d B u f f e r //
+// //
+//-------------------------------------------------------------------------//
+
+//---------------------------------------------------------------------------
+// Allocate Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbCirAllocBuffer (
+ unsigned long ulBufferSize_p,
+ const char* pszBufferID_p,
+ tShbInstance* ppShbInstance_p,
+ unsigned int* pfShbNewCreated_p)
+{
+
+tShbInstance pShbInstance;
+tShbCirBuff* pShbCirBuff;
+unsigned int fShbNewCreated;
+unsigned long ulBufferDataSize;
+unsigned long ulBufferTotalSize;
+tShbError ShbError;
+
+
+ // check arguments
+ if ((ulBufferSize_p == 0) || (ppShbInstance_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ // calculate length of memory to allocate
+ ulBufferDataSize = (ulBufferSize_p + (SBC_BLOCK_ALIGNMENT-1)) & ~(SBC_BLOCK_ALIGNMENT-1);
+ ulBufferTotalSize = ulBufferDataSize + sizeof(tShbCirBuff);
+
+ // allocate a new or open an existing shared buffer
+ ShbError = ShbIpcAllocBuffer (ulBufferTotalSize, pszBufferID_p,
+ &pShbInstance, &fShbNewCreated);
+ if (ShbError != kShbOk)
+ {
+ goto Exit;
+ }
+
+ if (pShbInstance == NULL)
+ {
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+
+
+ // get pointer to shared buffer
+ pShbCirBuff = (tShbCirBuff*) ShbIpcGetShMemPtr (pShbInstance);
+
+ // if the shared buffer was new created, than this process has
+ // to initialize it, otherwise the buffer is already in use
+ // and *must not* be reseted
+ if ( fShbNewCreated )
+ {
+ #ifndef NDEBUG
+ {
+ memset (pShbCirBuff, 0xCC, ulBufferTotalSize);
+ }
+ #endif
+
+
+ pShbCirBuff->m_ShbCirMagicID = SBC_MAGIC_ID;
+ pShbCirBuff->m_ulBufferTotalSize = ulBufferTotalSize;
+ pShbCirBuff->m_ulBufferDataSize = ulBufferDataSize;
+ pShbCirBuff->m_ulWrIndex = 0;
+ pShbCirBuff->m_ulRdIndex = 0;
+ pShbCirBuff->m_ulNumOfWriteJobs = 0;
+ pShbCirBuff->m_ulDataInUse = 0;
+ pShbCirBuff->m_ulDataApended = 0;
+ pShbCirBuff->m_ulBlocksApended = 0;
+ pShbCirBuff->m_ulDataReadable = 0;
+ pShbCirBuff->m_ulBlocksReadable = 0;
+ pShbCirBuff->m_pfnSigHndlrNewData = NULL;
+ pShbCirBuff->m_fBufferLocked = FALSE;
+ pShbCirBuff->m_pfnSigHndlrReset = NULL;
+ }
+ else
+ {
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+ }
+
+
+Exit:
+
+ *ppShbInstance_p = pShbInstance;
+ *pfShbNewCreated_p = fShbNewCreated;
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Release Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbCirReleaseBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+
+ ShbError = ShbIpcReleaseBuffer (pShbInstance_p);
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+#endif // !defined(INLINE_ENABLED)
+
+#if (!defined(SHAREDBUFF_INLINED)) || defined(INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Reset Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirResetBuffer (
+ tShbInstance pShbInstance_p,
+ unsigned long ulTimeOut_p,
+ tShbCirSigHndlrReset pfnSignalHandlerReset_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+unsigned long ulNumOfWriteJobs = 0; // d.k. GCC complains about uninitialized variable otherwise
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // start reset job by setting request request in buffer header
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ if ( !pShbCirBuff->m_fBufferLocked )
+ {
+ ulNumOfWriteJobs = pShbCirBuff->m_ulNumOfWriteJobs;
+
+ pShbCirBuff->m_fBufferLocked = TRUE;
+ pShbCirBuff->m_pfnSigHndlrReset = pfnSignalHandlerReset_p;
+ }
+ else
+ {
+ ShbError = kShbAlreadyReseting;
+ }
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+ if (ShbError != kShbOk)
+ {
+ goto Exit;
+ }
+
+
+ // if there is currently no running write operation then reset buffer
+ // immediately, otherwise wait until the last write job is ready by
+ // starting a signal process
+ if (ulNumOfWriteJobs == 0)
+ {
+ // there is currently no running write operation
+ // -> reset buffer immediately
+ ShbCirSignalHandlerReset (pShbInstance_p, FALSE);
+ ShbError = kShbOk;
+ }
+ else
+ {
+ // there is currently at least one running write operation
+ // -> starting signal process to wait until the last write job is ready
+ ShbError = ShbIpcStartSignalingJobReady (pShbInstance_p, ulTimeOut_p, ShbCirSignalHandlerReset);
+ }
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Write data block to Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirWriteDataBlock (
+ tShbInstance pShbInstance_p,
+ const void* pSrcDataBlock_p,
+ unsigned long ulDataBlockSize_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+tShbCirBlockSize ShbCirBlockSize;
+unsigned int uiFullBlockSize;
+unsigned int uiAlignFillBytes;
+unsigned char* pShbCirDataPtr;
+unsigned char* pScrDataPtr;
+unsigned long ulDataSize;
+unsigned long ulChunkSize;
+unsigned long ulWrIndex = 0; // d.k. GCC complains about uninitialized variable otherwise
+unsigned int fSignalNewData;
+unsigned int fSignalReset;
+tShbError ShbError;
+tShbError ShbError2;
+int fRes;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+ if ((pSrcDataBlock_p == NULL) || (ulDataBlockSize_p == 0))
+ {
+ // nothing to do here
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+ if (ulDataBlockSize_p > SBC_MAX_BLOCK_SIZE)
+ {
+ ShbError = kShbExceedDataSizeLimit;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ pScrDataPtr = (unsigned char*)pSrcDataBlock_p;
+ fSignalNewData = FALSE;
+ fSignalReset = FALSE;
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // calculate data block size in circular buffer
+ ulDataSize = (ulDataBlockSize_p + (SBC_BLOCK_ALIGNMENT-1)) & ~(SBC_BLOCK_ALIGNMENT-1);
+ uiFullBlockSize = ulDataSize + sizeof(tShbCirBlockSize); // data size + header
+ uiAlignFillBytes = ulDataSize - ulDataBlockSize_p;
+
+ ShbCirBlockSize.m_uiFullBlockSize = uiFullBlockSize;
+ ShbCirBlockSize.m_uiAlignFillBytes = uiAlignFillBytes;
+
+
+ // reserve the needed memory for the write operation to do now
+ // and make necessary adjustments in the circular buffer header
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ // check if there is sufficient memory available to store
+ // the new data
+ fRes = uiFullBlockSize <= (pShbCirBuff->m_ulBufferDataSize - pShbCirBuff->m_ulDataInUse);
+ if ( fRes )
+ {
+ // set write pointer for the write operation to do now
+ // to the current write pointer of the circular buffer
+ ulWrIndex = pShbCirBuff->m_ulWrIndex;
+
+ // reserve the needed memory for the write operation to do now
+ pShbCirBuff->m_ulDataInUse += uiFullBlockSize;
+
+ // set new write pointer behind the reserved memory
+ // for the write operation to do now
+ pShbCirBuff->m_ulWrIndex += uiFullBlockSize;
+ pShbCirBuff->m_ulWrIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ // increment number of currently (parallel running)
+ // write operations
+ pShbCirBuff->m_ulNumOfWriteJobs++;
+ }
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ if ( !fRes )
+ {
+ ShbError = kShbBufferFull;
+ goto Exit;
+ }
+
+
+ // copy the data to the circular buffer
+ // (the copy process itself will be done outside of any
+ // critical/locked section)
+ pShbCirDataPtr = &pShbCirBuff->m_Data; // ptr to start of data area
+
+ // write real size of current block (incl. alignment fill bytes)
+ *(tShbCirBlockSize*)(pShbCirDataPtr + ulWrIndex) = ShbCirBlockSize;
+ ulWrIndex += sizeof(tShbCirBlockSize);
+ ulWrIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ if (ulWrIndex + ulDataBlockSize_p <= pShbCirBuff->m_ulBufferDataSize)
+ {
+ // linear write operation
+ memcpy (pShbCirDataPtr + ulWrIndex, pScrDataPtr, ulDataBlockSize_p);
+ }
+ else
+ {
+ // wrap-around write operation
+ ulChunkSize = pShbCirBuff->m_ulBufferDataSize - ulWrIndex;
+ memcpy (pShbCirDataPtr + ulWrIndex, pScrDataPtr, ulChunkSize);
+ memcpy (pShbCirDataPtr, pScrDataPtr + ulChunkSize, ulDataBlockSize_p - ulChunkSize);
+ }
+
+
+ // adjust header information for circular buffer with properties
+ // of the wiritten data block
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ pShbCirBuff->m_ulDataApended += uiFullBlockSize;
+ pShbCirBuff->m_ulBlocksApended ++;
+
+ // decrement number of currently (parallel running) write operations
+ if ( !--pShbCirBuff->m_ulNumOfWriteJobs )
+ {
+ // if there is no other write process running then
+ // set new size of readable (complete written) data and
+ // adjust number of readable blocks
+ pShbCirBuff->m_ulDataReadable += pShbCirBuff->m_ulDataApended;
+ pShbCirBuff->m_ulBlocksReadable += pShbCirBuff->m_ulBlocksApended;
+
+ pShbCirBuff->m_ulDataApended = 0;
+ pShbCirBuff->m_ulBlocksApended = 0;
+
+ fSignalNewData = TRUE;
+ fSignalReset = pShbCirBuff->m_fBufferLocked;
+ }
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ // signal new data event to a potentially reading application
+ if ( fSignalNewData )
+ {
+ ShbError2 = ShbIpcSignalNewData (pShbInstance_p);
+ if (ShbError == kShbOk)
+ {
+ ShbError = ShbError2;
+ }
+ }
+
+ // signal that the last write job has been finished to allow
+ // a waiting application to reset the buffer now
+ if ( fSignalReset )
+ {
+ ShbError2 = ShbIpcSignalJobReady (pShbInstance_p);
+ if (ShbError == kShbOk)
+ {
+ ShbError = ShbError2;
+ }
+ }
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Allocate block within the Circular Shared Buffer for chunk writing
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirAllocDataBlock (
+ tShbInstance pShbInstance_p,
+ tShbCirChunk* pShbCirChunk_p,
+ unsigned long ulDataBufferSize_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+tShbCirBlockSize ShbCirBlockSize;
+unsigned int uiFullBlockSize;
+unsigned int uiAlignFillBytes;
+unsigned char* pShbCirDataPtr;
+unsigned long ulDataSize;
+unsigned long ulWrIndex = 0; // d.k. GCC complains about uninitialized variable otherwise
+tShbError ShbError;
+int fRes;
+
+
+ // check arguments
+ if ((pShbInstance_p == NULL) || (pShbCirChunk_p == NULL))
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+ if (ulDataBufferSize_p == 0)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+ if (ulDataBufferSize_p > SBC_MAX_BLOCK_SIZE)
+ {
+ ShbError = kShbExceedDataSizeLimit;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // calculate data block size in circular buffer
+ ulDataSize = (ulDataBufferSize_p + (SBC_BLOCK_ALIGNMENT-1)) & ~(SBC_BLOCK_ALIGNMENT-1);
+ uiFullBlockSize = ulDataSize + sizeof(tShbCirBlockSize); // data size + header
+ uiAlignFillBytes = ulDataSize - ulDataBufferSize_p;
+
+ ShbCirBlockSize.m_uiFullBlockSize = uiFullBlockSize;
+ ShbCirBlockSize.m_uiAlignFillBytes = uiAlignFillBytes;
+
+
+ // reserve the needed memory for the write operation to do now
+ // and make necessary adjustments in the circular buffer header
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ // check if there is sufficient memory available to store
+ // the new data
+ fRes = (uiFullBlockSize <= (pShbCirBuff->m_ulBufferDataSize - pShbCirBuff->m_ulDataInUse));
+ if ( fRes )
+ {
+ // set write pointer for the write operation to do now
+ // to the current write pointer of the circular buffer
+ ulWrIndex = pShbCirBuff->m_ulWrIndex;
+
+ // reserve the needed memory for the write operation to do now
+ pShbCirBuff->m_ulDataInUse += uiFullBlockSize;
+
+ // set new write pointer behind the reserved memory
+ // for the write operation to do now
+ pShbCirBuff->m_ulWrIndex += uiFullBlockSize;
+ pShbCirBuff->m_ulWrIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ // increment number of currently (parallel running)
+ // write operations
+ pShbCirBuff->m_ulNumOfWriteJobs++;
+ }
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ if ( !fRes )
+ {
+ ShbError = kShbBufferFull;
+ goto Exit;
+ }
+
+
+ // setup header information for allocated buffer
+ pShbCirDataPtr = &pShbCirBuff->m_Data; // ptr to start of data area
+
+ // write real size of current block (incl. alignment fill bytes)
+ *(tShbCirBlockSize*)(pShbCirDataPtr + ulWrIndex) = ShbCirBlockSize;
+ ulWrIndex += sizeof(tShbCirBlockSize);
+ ulWrIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ // setup chunk descriptor
+ pShbCirChunk_p->m_uiFullBlockSize = uiFullBlockSize;
+ pShbCirChunk_p->m_ulAvailableSize = ulDataBufferSize_p;
+ pShbCirChunk_p->m_ulWrIndex = ulWrIndex;
+ pShbCirChunk_p->m_fBufferCompleted = FALSE;
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Write data chunk into an allocated buffer of the Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirWriteDataChunk (
+ tShbInstance pShbInstance_p,
+ tShbCirChunk* pShbCirChunk_p,
+ const void* pSrcDataChunk_p,
+ unsigned long ulDataChunkSize_p,
+ unsigned int* pfBufferCompleted_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+unsigned char* pShbCirDataPtr;
+unsigned char* pScrDataPtr;
+unsigned long ulSubChunkSize;
+unsigned long ulWrIndex;
+unsigned int fBufferCompleted;
+unsigned int fSignalNewData;
+unsigned int fSignalReset;
+tShbError ShbError;
+tShbError ShbError2;
+
+
+ // check arguments
+ if ((pShbInstance_p == NULL) || (pShbCirChunk_p == NULL) || (pfBufferCompleted_p == NULL))
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+ if ((pSrcDataChunk_p == NULL) || (ulDataChunkSize_p == 0))
+ {
+ // nothing to do here
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+ if ( pShbCirChunk_p->m_fBufferCompleted )
+ {
+ ShbError = kShbBufferAlreadyCompleted;
+ goto Exit;
+ }
+
+ if (ulDataChunkSize_p > pShbCirChunk_p->m_ulAvailableSize)
+ {
+ ShbError = kShbExceedDataSizeLimit;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ pScrDataPtr = (unsigned char*)pSrcDataChunk_p;
+ fSignalNewData = FALSE;
+ fSignalReset = FALSE;
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ ulWrIndex = pShbCirChunk_p->m_ulWrIndex;
+
+
+ // copy the data to the circular buffer
+ // (the copy process itself will be done outside of any
+ // critical/locked section)
+ pShbCirDataPtr = &pShbCirBuff->m_Data; // ptr to start of data area
+
+
+ if (ulWrIndex + ulDataChunkSize_p <= pShbCirBuff->m_ulBufferDataSize)
+ {
+ // linear write operation
+ memcpy (pShbCirDataPtr + ulWrIndex, pScrDataPtr, ulDataChunkSize_p);
+ }
+ else
+ {
+ // wrap-around write operation
+ ulSubChunkSize = pShbCirBuff->m_ulBufferDataSize - ulWrIndex;
+ memcpy (pShbCirDataPtr + ulWrIndex, pScrDataPtr, ulSubChunkSize);
+ memcpy (pShbCirDataPtr, pScrDataPtr + ulSubChunkSize, ulDataChunkSize_p - ulSubChunkSize);
+ }
+
+
+ // adjust chunk descriptor
+ ulWrIndex += ulDataChunkSize_p;
+ ulWrIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ pShbCirChunk_p->m_ulAvailableSize -= ulDataChunkSize_p;
+ pShbCirChunk_p->m_ulWrIndex = ulWrIndex;
+
+ fBufferCompleted = (pShbCirChunk_p->m_ulAvailableSize == 0);
+ pShbCirChunk_p->m_fBufferCompleted = fBufferCompleted;
+
+
+ // if the complete allocated buffer is filled with data then
+ // adjust header information for circular buffer with properties
+ // of the wiritten data block
+ if ( fBufferCompleted )
+ {
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ pShbCirBuff->m_ulDataApended += pShbCirChunk_p->m_uiFullBlockSize;
+ pShbCirBuff->m_ulBlocksApended ++;
+
+ // decrement number of currently (parallel running) write operations
+ if ( !--pShbCirBuff->m_ulNumOfWriteJobs )
+ {
+ // if there is no other write process running then
+ // set new size of readable (complete written) data and
+ // adjust number of readable blocks
+ pShbCirBuff->m_ulDataReadable += pShbCirBuff->m_ulDataApended;
+ pShbCirBuff->m_ulBlocksReadable += pShbCirBuff->m_ulBlocksApended;
+
+ pShbCirBuff->m_ulDataApended = 0;
+ pShbCirBuff->m_ulBlocksApended = 0;
+
+ fSignalNewData = TRUE;
+ fSignalReset = pShbCirBuff->m_fBufferLocked;
+ }
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+ }
+
+
+ // signal new data event to a potentially reading application
+ if ( fSignalNewData )
+ {
+ ShbError2 = ShbIpcSignalNewData (pShbInstance_p);
+ if (ShbError == kShbOk)
+ {
+ ShbError = ShbError2;
+ }
+ }
+
+ // signal that the last write job has been finished to allow
+ // a waiting application to reset the buffer now
+ if ( fSignalReset )
+ {
+ ShbError2 = ShbIpcSignalJobReady (pShbInstance_p);
+ if (ShbError == kShbOk)
+ {
+ ShbError = ShbError2;
+ }
+ }
+
+
+ *pfBufferCompleted_p = fBufferCompleted;
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Read data block from Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirReadDataBlock (
+ tShbInstance pShbInstance_p,
+ void* pDstDataBlock_p,
+ unsigned long ulRdBuffSize_p,
+ unsigned long* pulDataBlockSize_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+tShbCirBlockSize ShbCirBlockSize;
+unsigned long ulDataReadable;
+unsigned char* pShbCirDataPtr;
+unsigned char* pDstDataPtr;
+unsigned long ulDataSize = 0; // d.k. GCC complains about uninitialized variable otherwise
+unsigned long ulChunkSize;
+unsigned long ulRdIndex;
+tShbError ShbError;
+
+
+ // check arguments
+ if ((pShbInstance_p == NULL) || (pulDataBlockSize_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+ if ((pDstDataBlock_p == NULL) || (ulRdBuffSize_p == 0))
+ {
+ // nothing to do here
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+
+ ShbError = kShbOk;
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ pDstDataPtr = (unsigned char*)pDstDataBlock_p;
+ ulDataSize = 0;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // get total number of readable bytes for the whole circular buffer
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ ulDataReadable = pShbCirBuff->m_ulDataReadable;
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ // if there are readable data available, then there must be at least
+ // one complete readable data block
+ if (ulDataReadable > 0)
+ {
+ // get pointer to start of data area and current read index
+ pShbCirDataPtr = &pShbCirBuff->m_Data; // ptr to start of data area
+ ulRdIndex = pShbCirBuff->m_ulRdIndex;
+
+ // get real size of current block (incl. alignment fill bytes)
+ ShbCirBlockSize = *(tShbCirBlockSize*)(pShbCirDataPtr + ulRdIndex);
+ ulRdIndex += sizeof(tShbCirBlockSize);
+ ulRdIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ // get size of user data inside the current block
+ ulDataSize = ShbCirBlockSize.m_uiFullBlockSize - ShbCirBlockSize.m_uiAlignFillBytes;
+ ulDataSize -= sizeof(tShbCirBlockSize);
+ }
+
+
+ // ulDataSize = MIN(ulDataSize, ulRdBuffSize_p);
+ if (ulDataSize > ulRdBuffSize_p)
+ {
+ ulDataSize = ulRdBuffSize_p;
+ ShbError = kShbDataTruncated;
+ }
+
+ if (ulDataSize == 0)
+ {
+ // nothing to do here
+ ShbError = kShbNoReadableData;
+ goto Exit;
+ }
+
+
+ // copy the data from the circular buffer
+ // (the copy process itself will be done outside of any
+ // critical/locked section)
+ if (ulRdIndex + ulDataSize <= pShbCirBuff->m_ulBufferDataSize)
+ {
+ // linear read operation
+ memcpy (pDstDataPtr, pShbCirDataPtr + ulRdIndex, ulDataSize);
+ }
+ else
+ {
+ // wrap-around read operation
+ ulChunkSize = pShbCirBuff->m_ulBufferDataSize - ulRdIndex;
+ memcpy (pDstDataPtr, pShbCirDataPtr + ulRdIndex, ulChunkSize);
+ memcpy (pDstDataPtr + ulChunkSize, pShbCirDataPtr, ulDataSize - ulChunkSize);
+ }
+
+
+ #ifndef NDEBUG
+ {
+ tShbCirBlockSize ClrShbCirBlockSize;
+
+ if (ulRdIndex + ulDataSize <= pShbCirBuff->m_ulBufferDataSize)
+ {
+ // linear buffer
+ memset (pShbCirDataPtr + ulRdIndex, 0xDD, ulDataSize);
+ }
+ else
+ {
+ // wrap-around read operation
+ ulChunkSize = pShbCirBuff->m_ulBufferDataSize - ulRdIndex;
+ memset (pShbCirDataPtr + ulRdIndex, 0xDD, ulChunkSize);
+ memset (pShbCirDataPtr, 0xDD, ulDataSize - ulChunkSize);
+ }
+
+ ClrShbCirBlockSize.m_uiFullBlockSize = /*(unsigned int)*/ -1; // -1 = xFFFFFFF
+ ClrShbCirBlockSize.m_uiAlignFillBytes = /*(unsigned int)*/ -1; // -1 = Fxxxxxxx
+ *(tShbCirBlockSize*)(pShbCirDataPtr + pShbCirBuff->m_ulRdIndex) = ClrShbCirBlockSize;
+ }
+ #endif // #ifndef NDEBUG
+
+
+ // set new size of readable data, data in use, new read index
+ // and adjust number of readable blocks
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ pShbCirBuff->m_ulDataInUse -= ShbCirBlockSize.m_uiFullBlockSize;
+ pShbCirBuff->m_ulDataReadable -= ShbCirBlockSize.m_uiFullBlockSize;
+ pShbCirBuff->m_ulBlocksReadable --;
+
+ //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+ if ((pShbCirBuff->m_ulDataInUse == 0) && (pShbCirBuff->m_ulDataReadable == 0))
+ {
+ ASSERT(pShbCirBuff->m_ulBlocksReadable == 0);
+
+ pShbCirBuff->m_ulWrIndex = 0;
+ pShbCirBuff->m_ulRdIndex = 0;
+ }
+ else
+ //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+ {
+ pShbCirBuff->m_ulRdIndex += ShbCirBlockSize.m_uiFullBlockSize;
+ pShbCirBuff->m_ulRdIndex %= pShbCirBuff->m_ulBufferDataSize;
+ }
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+Exit:
+
+ *pulDataBlockSize_p = ulDataSize;
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get data size of next readable block from Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirGetReadDataSize (
+ tShbInstance pShbInstance_p,
+ unsigned long* pulDataBlockSize_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+unsigned long ulDataReadable;
+unsigned char* pShbCirDataPtr;
+tShbCirBlockSize ShbCirBlockSize;
+unsigned long ulDataSize;
+tShbError ShbError;
+
+
+ // check arguments
+ if ((pShbInstance_p == NULL) || (pulDataBlockSize_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ulDataSize = 0;
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // get total number of readable bytes for the whole circular buffer
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ ulDataReadable = pShbCirBuff->m_ulDataReadable;
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ // if there are readable data available, then there must be at least
+ // one complete readable data block
+ if (ulDataReadable > 0)
+ {
+ pShbCirDataPtr = &pShbCirBuff->m_Data + pShbCirBuff->m_ulRdIndex;
+
+ // get real size of current block (incl. alignment fill bytes)
+ ShbCirBlockSize = *(tShbCirBlockSize*)pShbCirDataPtr;
+
+ // get size of user data inside the current block
+ ulDataSize = ShbCirBlockSize.m_uiFullBlockSize - ShbCirBlockSize.m_uiAlignFillBytes;
+ ulDataSize -= sizeof(tShbCirBlockSize);
+ }
+
+
+Exit:
+
+ *pulDataBlockSize_p = ulDataSize;
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get number of readable blocks from Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirGetReadBlockCount (
+ tShbInstance pShbInstance_p,
+ unsigned long* pulDataBlockCount_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+unsigned long ulBlockCount;
+tShbError ShbError;
+
+
+ // check arguments
+ if ((pShbInstance_p == NULL) || (pulDataBlockCount_p == NULL))
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ulBlockCount = 0;
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ ulBlockCount = pShbCirBuff->m_ulBlocksReadable;
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ *pulDataBlockCount_p = ulBlockCount;
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Set application handler to signal new data for Circular Shared Buffer
+// d.k.: new parameter priority as enum
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbCirSetSignalHandlerNewData (
+ tShbInstance pShbInstance_p,
+ tShbCirSigHndlrNewData pfnSignalHandlerNewData_p,
+ tShbPriority ShbPriority_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ if (pfnSignalHandlerNewData_p != NULL)
+ {
+ // set a new signal handler
+ if (pShbCirBuff->m_pfnSigHndlrNewData != NULL)
+ {
+ ShbError = kShbAlreadySignaling;
+ goto Exit;
+ }
+
+ pShbCirBuff->m_pfnSigHndlrNewData = pfnSignalHandlerNewData_p;
+ ShbError = ShbIpcStartSignalingNewData (pShbInstance_p, ShbCirSignalHandlerNewData, ShbPriority_p);
+ }
+ else
+ {
+ // remove existing signal handler
+ ShbError = ShbIpcStopSignalingNewData (pShbInstance_p);
+ if (pShbCirBuff->m_pfnSigHndlrNewData != NULL)
+ {
+ pShbCirBuff->m_pfnSigHndlrNewData (pShbInstance_p, 0);
+ }
+ pShbCirBuff->m_pfnSigHndlrNewData = NULL;
+ }
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+#endif
+
+#if !defined(INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// DEBUG: Trace Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+#ifndef NDEBUG
+tShbError ShbCirTraceBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+char szMagigID[sizeof(SBC_MAGIC_ID)+1];
+tShbCirBlockSize ShbCirBlockSize;
+unsigned long ulDataReadable;
+unsigned char* pShbCirDataPtr;
+unsigned long ulBlockIndex;
+unsigned int nBlockCount;
+unsigned long ulDataSize;
+unsigned long ulChunkSize;
+unsigned long ulRdIndex;
+tShbError ShbError;
+
+
+ TRACE0("\n\n##### Circular Shared Buffer #####\n");
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ TRACE1("\nERROR: invalid buffer address (0x%08lX)\n", (unsigned long)pShbInstance_p);
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ *(unsigned long*) &szMagigID[0] = pShbCirBuff->m_ShbCirMagicID;
+ szMagigID[sizeof(SBC_MAGIC_ID)] = '\0';
+
+
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ TRACE1("\nBuffer Address: 0x%08lX\n", (unsigned long)pShbCirBuff);
+
+ TRACE0("\nHeader Info:");
+ TRACE2("\nMagigID: '%s' (%08lX)", szMagigID, pShbCirBuff->m_ShbCirMagicID);
+ TRACE1("\nBufferTotalSize: %4lu [Bytes]", pShbCirBuff->m_ulBufferTotalSize);
+ TRACE1("\nBufferDataSize: %4lu [Bytes]", pShbCirBuff->m_ulBufferDataSize);
+ TRACE1("\nWrIndex: %4lu", pShbCirBuff->m_ulWrIndex);
+ TRACE1("\nRdIndex: %4lu", pShbCirBuff->m_ulRdIndex);
+ TRACE1("\nNumOfWriteJobs: %4lu", pShbCirBuff->m_ulNumOfWriteJobs);
+ TRACE1("\nDataInUse: %4lu [Bytes]", pShbCirBuff->m_ulDataInUse);
+ TRACE1("\nDataApended: %4lu [Bytes]", pShbCirBuff->m_ulDataApended);
+ TRACE1("\nBlocksApended: %4lu", pShbCirBuff->m_ulBlocksApended);
+ TRACE1("\nDataReadable: %4lu [Bytes]", pShbCirBuff->m_ulDataReadable);
+ TRACE1("\nBlocksReadable: %4lu", pShbCirBuff->m_ulBlocksReadable);
+ TRACE1("\nSigHndlrNewData: %08lX", (unsigned long)pShbCirBuff->m_pfnSigHndlrNewData);
+ TRACE1("\nBufferLocked: %d", pShbCirBuff->m_fBufferLocked);
+ TRACE1("\nSigHndlrReset: %08lX", (unsigned long)pShbCirBuff->m_pfnSigHndlrReset);
+
+ ShbTraceDump (&pShbCirBuff->m_Data, pShbCirBuff->m_ulBufferDataSize,
+ 0x00000000L, "\nData Area:");
+
+
+ ulDataReadable = pShbCirBuff->m_ulDataReadable;
+ nBlockCount = 1;
+ ulBlockIndex = pShbCirBuff->m_ulRdIndex;
+
+ while (ulDataReadable > 0)
+ {
+ TRACE1("\n\n--- Block #%u ---", nBlockCount);
+
+ // get pointer to start of data area and current read index
+ pShbCirDataPtr = &pShbCirBuff->m_Data; // ptr to start of data area
+ ulRdIndex = ulBlockIndex;
+
+ // get real size of current block (incl. alignment fill bytes)
+ ShbCirBlockSize = *(tShbCirBlockSize*)(pShbCirDataPtr + ulRdIndex);
+ ulRdIndex += sizeof(tShbCirBlockSize);
+ ulRdIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ // get size of user data inside the current block
+ ulDataSize = ShbCirBlockSize.m_uiFullBlockSize - ShbCirBlockSize.m_uiAlignFillBytes;
+ ulDataSize -= sizeof(tShbCirBlockSize);
+
+ TRACE1("\nFull Data Size: %4u [Bytes] (incl. header and alignment fill bytes)", ShbCirBlockSize.m_uiFullBlockSize);
+ TRACE1("\nUser Data Size: %4lu [Bytes]", ulDataSize);
+ TRACE1("\nAlignment Fill Bytes: %4u [Bytes]", ShbCirBlockSize.m_uiAlignFillBytes);
+
+
+ if (ulRdIndex + ulDataSize <= pShbCirBuff->m_ulBufferDataSize)
+ {
+ // linear data buffer
+ ShbTraceDump (pShbCirDataPtr + ulRdIndex, ulDataSize, 0x00000000L, NULL);
+ }
+ else
+ {
+ // wrap-around data buffer
+ ulChunkSize = pShbCirBuff->m_ulBufferDataSize - ulRdIndex;
+ ShbTraceDump (pShbCirDataPtr + ulRdIndex, ulChunkSize, 0x00000000L, NULL);
+ ShbTraceDump (pShbCirDataPtr, ulDataSize - ulChunkSize, ulChunkSize, NULL);
+ }
+
+ nBlockCount++;
+
+ ulBlockIndex += ShbCirBlockSize.m_uiFullBlockSize;
+ ulBlockIndex %= pShbCirBuff->m_ulBufferDataSize;
+
+ ulDataReadable -= ShbCirBlockSize.m_uiFullBlockSize;
+ }
+
+ ASSERT(pShbCirBuff->m_ulBlocksReadable == nBlockCount-1);
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+
+Exit:
+
+ return (ShbError);
+
+}
+#endif
+
+
+
+
+
+//-------------------------------------------------------------------------//
+// //
+// L i n e a r S h a r e d B u f f e r //
+// //
+//-------------------------------------------------------------------------//
+
+//---------------------------------------------------------------------------
+// Allocate Linear Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbLinAllocBuffer (
+ unsigned long ulBufferSize_p,
+ const char* pszBufferID_p,
+ tShbInstance* ppShbInstance_p,
+ unsigned int* pfShbNewCreated_p)
+{
+
+tShbInstance pShbInstance;
+tShbLinBuff* pShbLinBuff;
+unsigned int fShbNewCreated;
+unsigned long ulBufferDataSize;
+unsigned long ulBufferTotalSize;
+tShbError ShbError;
+
+
+ // check arguments
+ if ((ulBufferSize_p == 0) || (ppShbInstance_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ // calculate length of memory to allocate
+ ulBufferDataSize = (ulBufferSize_p + (SBL_BLOCK_ALIGNMENT-1)) & ~(SBL_BLOCK_ALIGNMENT-1);
+ ulBufferTotalSize = ulBufferDataSize + sizeof(tShbLinBuff);
+
+ // allocate a new or open an existing shared buffer
+ ShbError = ShbIpcAllocBuffer (ulBufferTotalSize, pszBufferID_p,
+ &pShbInstance, &fShbNewCreated);
+ if (ShbError != kShbOk)
+ {
+ goto Exit;
+ }
+
+ if (pShbInstance == NULL)
+ {
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+
+
+ // get pointer to shared buffer
+ pShbLinBuff = (tShbLinBuff*) ShbIpcGetShMemPtr (pShbInstance);
+
+ // if the shared buffer was new created, than this process has
+ // to initialize it, otherwise the buffer is already in use
+ // and *must not* be reseted
+ if ( fShbNewCreated )
+ {
+ #ifndef NDEBUG
+ {
+ memset (pShbLinBuff, 0xCC, ulBufferTotalSize);
+ }
+ #endif
+
+
+ pShbLinBuff->m_ShbLinMagicID = SBL_MAGIC_ID;
+ pShbLinBuff->m_ulBufferTotalSize = ulBufferTotalSize;
+ pShbLinBuff->m_ulBufferDataSize = ulBufferDataSize;
+ }
+ else
+ {
+ if (pShbLinBuff->m_ShbLinMagicID != SBL_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+ }
+
+
+Exit:
+
+ *ppShbInstance_p = pShbInstance;
+ *pfShbNewCreated_p = fShbNewCreated;
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Release Linear Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbLinReleaseBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+
+ ShbError = ShbIpcReleaseBuffer (pShbInstance_p);
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+#endif // !defined(INLINE_ENABLED)
+
+#if (!defined(SHAREDBUFF_INLINED)) || defined(INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Write data block to Linear Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbLinWriteDataBlock (
+ tShbInstance pShbInstance_p,
+ unsigned long ulDstBufferOffs_p,
+ const void* pSrcDataBlock_p,
+ unsigned long ulDataBlockSize_p)
+{
+
+tShbLinBuff* pShbLinBuff;
+unsigned char* pShbLinDataPtr;
+unsigned char* pScrDataPtr;
+unsigned long ulBufferDataSize;
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+ if ((pSrcDataBlock_p == NULL) || (ulDataBlockSize_p == 0))
+ {
+ // nothing to do here
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+ if (ulDataBlockSize_p > SBL_MAX_BLOCK_SIZE)
+ {
+ ShbError = kShbExceedDataSizeLimit;
+ goto Exit;
+ }
+
+
+ pShbLinBuff = ShbLinGetBuffer (pShbInstance_p);
+ pScrDataPtr = (unsigned char*)pSrcDataBlock_p;
+ ShbError = kShbOk;
+
+ if (pShbLinBuff->m_ShbLinMagicID != SBL_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // check if offeset and size for the write operation matches with
+ // the size of the shared buffer
+ ulBufferDataSize = pShbLinBuff->m_ulBufferDataSize;
+ if ( (ulDstBufferOffs_p > ulBufferDataSize) ||
+ (ulDataBlockSize_p > ulBufferDataSize) ||
+ ((ulDstBufferOffs_p + ulDataBlockSize_p) > ulBufferDataSize) )
+ {
+ ShbError = kShbDataOutsideBufferArea;
+ goto Exit;
+ }
+
+
+ // copy the data to the linear buffer
+ // (the copy process will be done inside of any critical/locked section)
+ pShbLinDataPtr = &pShbLinBuff->m_Data; // ptr to start of data area
+ pShbLinDataPtr += ulDstBufferOffs_p;
+
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ memcpy (pShbLinDataPtr, pScrDataPtr, ulDataBlockSize_p);
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Read data block from Linear Shared Buffer
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbLinReadDataBlock (
+ tShbInstance pShbInstance_p,
+ void* pDstDataBlock_p,
+ unsigned long ulSrcBufferOffs_p,
+ unsigned long ulDataBlockSize_p)
+{
+
+tShbLinBuff* pShbLinBuff;
+unsigned char* pShbLinDataPtr;
+unsigned char* pDstDataPtr;
+unsigned long ulBufferDataSize;
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+ if ((pDstDataBlock_p == NULL) || (ulDataBlockSize_p == 0))
+ {
+ // nothing to do here
+ ShbError = kShbOk;
+ goto Exit;
+ }
+
+ if (ulDataBlockSize_p > SBL_MAX_BLOCK_SIZE)
+ {
+ ShbError = kShbExceedDataSizeLimit;
+ goto Exit;
+ }
+
+
+ pShbLinBuff = ShbLinGetBuffer (pShbInstance_p);
+ pDstDataPtr = (unsigned char*)pDstDataBlock_p;
+ ShbError = kShbOk;
+
+ if (pShbLinBuff->m_ShbLinMagicID != SBL_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ // check if offeset and size for the read operation matches with
+ // the size of the shared buffer
+ ulBufferDataSize = pShbLinBuff->m_ulBufferDataSize;
+ if ( (ulSrcBufferOffs_p > ulBufferDataSize) ||
+ (ulDataBlockSize_p > ulBufferDataSize) ||
+ ((ulSrcBufferOffs_p + ulDataBlockSize_p) > ulBufferDataSize) )
+ {
+ ShbError = kShbDataOutsideBufferArea;
+ goto Exit;
+ }
+
+
+ // copy the data to the linear buffer
+ // (the copy process will be done inside of any critical/locked section)
+ pShbLinDataPtr = &pShbLinBuff->m_Data; // ptr to start of data area
+ pShbLinDataPtr += ulSrcBufferOffs_p;
+
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ memcpy (pDstDataPtr, pShbLinDataPtr, ulDataBlockSize_p);
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+#endif
+
+
+#if !defined(INLINE_ENABLED)
+
+
+//---------------------------------------------------------------------------
+// DEBUG: Trace Linear Shared Buffer
+//---------------------------------------------------------------------------
+
+#ifndef NDEBUG
+tShbError ShbLinTraceBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbLinBuff* pShbLinBuff;
+char szMagigID[sizeof(SBL_MAGIC_ID)+1];
+tShbError ShbError;
+
+
+ TRACE0("\n\n##### Linear Shared Buffer #####\n");
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ TRACE1("\nERROR: invalid buffer address (0x%08lX)\n", (unsigned long)pShbInstance_p);
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+
+
+ pShbLinBuff = ShbLinGetBuffer (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if (pShbLinBuff->m_ShbLinMagicID != SBL_MAGIC_ID)
+ {
+ ShbError = kShbInvalidBufferType;
+ goto Exit;
+ }
+
+
+ *(unsigned int*) &szMagigID[0] = pShbLinBuff->m_ShbLinMagicID;
+ szMagigID[sizeof(SBL_MAGIC_ID)] = '\0';
+
+
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ TRACE1("\nBuffer Address: 0x%08lX\n", (unsigned long)pShbLinBuff);
+
+ TRACE0("\nHeader Info:");
+ TRACE2("\nMagigID: '%s' (%08X)", szMagigID, pShbLinBuff->m_ShbLinMagicID);
+ TRACE1("\nBufferTotalSize: %4lu [Bytes]", pShbLinBuff->m_ulBufferTotalSize);
+ TRACE1("\nBufferDataSize: %4lu [Bytes]", pShbLinBuff->m_ulBufferDataSize);
+
+ ShbTraceDump (&pShbLinBuff->m_Data, pShbLinBuff->m_ulBufferDataSize,
+ 0x00000000L, "\nData Area:");
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+
+Exit:
+
+ return (ShbError);
+
+}
+#endif
+
+
+
+
+
+//---------------------------------------------------------------------------
+// Dump buffer contents
+//---------------------------------------------------------------------------
+
+#ifndef NDEBUG
+tShbError ShbTraceDump (
+ const unsigned char* pabStartAddr_p,
+ unsigned long ulDataSize_p,
+ unsigned long ulAddrOffset_p,
+ const char* pszInfoText_p)
+{
+
+const unsigned char* pabBuffData;
+unsigned long ulBuffSize;
+unsigned char bData;
+int nRow;
+int nCol;
+
+
+ // get pointer to buffer and length of buffer
+ pabBuffData = pabStartAddr_p;
+ ulBuffSize = ulDataSize_p;
+
+
+ if (pszInfoText_p != NULL)
+ {
+ TRACE0(pszInfoText_p);
+ }
+
+ // dump buffer contents
+ for (nRow=0; ; nRow++)
+ {
+ TRACE1("\n%08lX: ", (unsigned long)(nRow*0x10) + ulAddrOffset_p);
+
+ for (nCol=0; nCol<16; nCol++)
+ {
+ if ((unsigned long)nCol < ulBuffSize)
+ {
+ TRACE1("%02X ", (unsigned int)*(pabBuffData+nCol));
+ }
+ else
+ {
+ TRACE0(" ");
+ }
+ }
+
+ TRACE0(" ");
+
+ for (nCol=0; nCol<16; nCol++)
+ {
+ bData = *pabBuffData++;
+ if ((unsigned long)nCol < ulBuffSize)
+ {
+ if ((bData >= 0x20) && (bData < 0x7F))
+ {
+ TRACE1("%c", bData);
+ }
+ else
+ {
+ TRACE0(".");
+ }
+ }
+ else
+ {
+ TRACE0(" ");
+ }
+ }
+
+ if (ulBuffSize > 16)
+ {
+ ulBuffSize -= 16;
+ }
+ else
+ {
+ break;
+ }
+ }
+
+
+ return (kShbOk);
+
+}
+#endif // #ifndef NDEBUG
+
+
+
+
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+// Handler to signal new data event for Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+int ShbCirSignalHandlerNewData (
+ tShbInstance pShbInstance_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+unsigned long ulDataSize;
+unsigned long ulBlockCount;
+tShbError ShbError;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ return FALSE;
+ }
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ return FALSE;
+ }
+
+
+ // call application handler
+ if (pShbCirBuff->m_pfnSigHndlrNewData != NULL)
+ {
+/* do
+ {*/
+ ShbError = ShbCirGetReadDataSize (pShbInstance_p, &ulDataSize);
+ if ((ulDataSize > 0) && (ShbError == kShbOk))
+ {
+ pShbCirBuff->m_pfnSigHndlrNewData (pShbInstance_p, ulDataSize);
+ }
+
+ ShbError = ShbCirGetReadBlockCount (pShbInstance_p, &ulBlockCount);
+/* }
+ while ((ulBlockCount > 0) && (ShbError == kShbOk));*/
+ }
+
+ // Return TRUE if there are pending blocks.
+ // In that case ShbIpc tries to call this function again immediately if there
+ // is no other filled shared buffer with higher priority.
+ return ((ulBlockCount > 0) && (ShbError == kShbOk));
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Handler to reset Circular Shared Buffer
+//---------------------------------------------------------------------------
+
+void ShbCirSignalHandlerReset (
+ tShbInstance pShbInstance_p,
+ unsigned int fTimeOut_p)
+{
+
+tShbCirBuff* pShbCirBuff;
+
+
+ // check arguments
+ if (pShbInstance_p == NULL)
+ {
+ return;
+ }
+
+ pShbCirBuff = ShbCirGetBuffer (pShbInstance_p);
+ if (pShbCirBuff->m_ShbCirMagicID != SBC_MAGIC_ID)
+ {
+ return;
+ }
+
+
+ // reset buffer header
+ if ( !fTimeOut_p )
+ {
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ pShbCirBuff->m_ulWrIndex = 0;
+ pShbCirBuff->m_ulRdIndex = 0;
+ pShbCirBuff->m_ulNumOfWriteJobs = 0;
+ pShbCirBuff->m_ulDataInUse = 0;
+ pShbCirBuff->m_ulDataApended = 0;
+ pShbCirBuff->m_ulBlocksApended = 0;
+ pShbCirBuff->m_ulDataReadable = 0;
+ pShbCirBuff->m_ulBlocksReadable = 0;
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ #ifndef NDEBUG
+ {
+ memset (&pShbCirBuff->m_Data, 0xCC, pShbCirBuff->m_ulBufferDataSize);
+ }
+ #endif
+ }
+
+
+ // call application handler
+ if (pShbCirBuff->m_pfnSigHndlrReset != NULL)
+ {
+ pShbCirBuff->m_pfnSigHndlrReset (pShbInstance_p, fTimeOut_p);
+ }
+
+
+ // unlock buffer
+ ShbIpcEnterAtomicSection (pShbInstance_p);
+ {
+ pShbCirBuff->m_fBufferLocked = FALSE;
+ pShbCirBuff->m_pfnSigHndlrReset = NULL;
+ }
+ ShbIpcLeaveAtomicSection (pShbInstance_p);
+
+
+ return;
+
+}
+
+#endif
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: Project independend shared buffer (linear + circular)
+
+ Description: Declaration of platform independend part for the
+ shared buffer
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ 2006/06/27 -rs: V 1.00 (initial version)
+
+****************************************************************************/
+
+#ifndef _SHAREDBUFF_H_
+#define _SHAREDBUFF_H_
+
+
+
+//---------------------------------------------------------------------------
+// Type definitions
+//---------------------------------------------------------------------------
+
+typedef enum
+{
+ kShbOk = 0,
+ kShbNoReadableData = 1,
+ kShbDataTruncated = 2,
+ kShbBufferFull = 3,
+ kShbDataOutsideBufferArea = 4,
+ kShbBufferAlreadyCompleted = 5,
+ kShbMemUsedByOtherProcs = 6,
+ kShbOpenMismatch = 7,
+ kShbInvalidBufferType = 8,
+ kShbInvalidArg = 9,
+ kShbBufferInvalid = 10,
+ kShbOutOfMem = 11,
+ kShbAlreadyReseting = 12,
+ kShbAlreadySignaling = 13,
+ kShbExceedDataSizeLimit = 14,
+
+} tShbError;
+
+
+// 2006/08/24 d.k.: Priority for threads (new data, job signaling)
+typedef enum
+{
+ kShbPriorityLow = 0,
+ kShbPriorityNormal = 1,
+ kshbPriorityHigh = 2
+
+} tShbPriority;
+
+
+typedef struct
+{
+ unsigned int m_uiFullBlockSize; // real size of allocated block (incl. alignment fill bytes)
+ unsigned long m_ulAvailableSize; // still available size for data
+ unsigned long m_ulWrIndex; // current write index
+ unsigned int m_fBufferCompleted; // TRUE if allocated block is complete filled with data
+
+} tShbCirChunk;
+
+
+typedef void* tShbInstance;
+
+
+typedef void (*tShbCirSigHndlrNewData) (tShbInstance pShbInstance_p, unsigned long ulDataBlockSize_p);
+typedef void (*tShbCirSigHndlrReset) (tShbInstance pShbInstance_p, unsigned int fTimeOut_p);
+
+
+
+//---------------------------------------------------------------------------
+// Prototypes
+//---------------------------------------------------------------------------
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*#if defined(INLINE_FUNCTION_DEF)
+ #undef INLINE_FUNCTION
+ #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ #define INLINE_ENABLED TRUE
+ #define SHAREDBUFF_INLINED
+ #include "SharedBuff.c"
+#endif
+*/
+
+tShbError ShbInit (void);
+tShbError ShbExit (void);
+
+// Circular Shared Buffer
+tShbError ShbCirAllocBuffer (unsigned long ulBufferSize_p, const char* pszBufferID_p, tShbInstance* ppShbInstance_p, unsigned int* pfShbNewCreated_p);
+tShbError ShbCirReleaseBuffer (tShbInstance pShbInstance_p);
+
+#if !defined(INLINE_ENABLED)
+
+tShbError ShbCirResetBuffer (tShbInstance pShbInstance_p, unsigned long ulTimeOut_p, tShbCirSigHndlrReset pfnSignalHandlerReset_p);
+tShbError ShbCirWriteDataBlock (tShbInstance pShbInstance_p, const void* pSrcDataBlock_p, unsigned long ulDataBlockSize_p);
+tShbError ShbCirAllocDataBlock (tShbInstance pShbInstance_p, tShbCirChunk* pShbCirChunk_p, unsigned long ulDataBufferSize_p);
+tShbError ShbCirWriteDataChunk (tShbInstance pShbInstance_p, tShbCirChunk* pShbCirChunk_p, const void* pSrcDataChunk_p, unsigned long ulDataChunkSize_p, unsigned int* pfBufferCompleted_p);
+tShbError ShbCirReadDataBlock (tShbInstance pShbInstance_p, void* pDstDataBlock_p, unsigned long ulRdBuffSize_p, unsigned long* pulDataBlockSize_p);
+tShbError ShbCirGetReadDataSize (tShbInstance pShbInstance_p, unsigned long* pulDataBlockSize_p);
+tShbError ShbCirGetReadBlockCount (tShbInstance pShbInstance_p, unsigned long* pulDataBlockCount_p);
+tShbError ShbCirSetSignalHandlerNewData (tShbInstance pShbInstance_p, tShbCirSigHndlrNewData pfnShbSignalHandlerNewData_p, tShbPriority ShbPriority_p);
+
+#endif
+
+// Linear Shared Buffer
+tShbError ShbLinAllocBuffer (unsigned long ulBufferSize_p, const char* pszBufferID_p, tShbInstance* ppShbInstance_p, unsigned int* pfShbNewCreated_p);
+tShbError ShbLinReleaseBuffer (tShbInstance pShbInstance_p);
+
+#if !defined(INLINE_ENABLED)
+
+tShbError ShbLinWriteDataBlock (tShbInstance pShbInstance_p, unsigned long ulDstBufferOffs_p, const void* pSrcDataBlock_p, unsigned long ulDataBlockSize_p);
+tShbError ShbLinReadDataBlock (tShbInstance pShbInstance_p, void* pDstDataBlock_p, unsigned long ulSrcBufferOffs_p, unsigned long ulDataBlockSize_p);
+
+#endif
+
+#ifndef NDEBUG
+ tShbError ShbCirTraceBuffer (tShbInstance pShbInstance_p);
+ tShbError ShbLinTraceBuffer (tShbInstance pShbInstance_p);
+ tShbError ShbTraceDump (const unsigned char* pabStartAddr_p, unsigned long ulDataSize_p, unsigned long ulAddrOffset_p, const char* pszInfoText_p);
+#else
+ #define ShbCirTraceBuffer(p0)
+ #define ShbLinTraceBuffer(p0)
+ #define ShbTraceDump(p0, p1, p2, p3)
+#endif
+
+#undef INLINE_ENABLED // disable actual inlining of functions
+#undef INLINE_FUNCTION
+#define INLINE_FUNCTION // define INLINE_FUNCTION to nothing
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // #ifndef _SHAREDBUFF_H_
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: Project independend shared buffer (linear + circular)
+
+ Description: Implementation of platform specific part for the
+ shared buffer
+ (Implementation for Linux KernelSpace)
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ 2006/06/28 -rs: V 1.00 (initial version)
+
+****************************************************************************/
+
+
+#include "global.h"
+#include "SharedBuff.h"
+#include "ShbIpc.h"
+#include "ShbLinuxKernel.h"
+#include "Debug.h"
+
+#include <linux/string.h>
+#include <linux/module.h>
+#include <asm/processor.h>
+//#include <linux/vmalloc.h>
+#include <linux/sched.h>
+#include <linux/param.h>
+#include <linux/spinlock.h>
+#include <linux/wait.h>
+#include <linux/completion.h>
+
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+#if (!defined(SHBIPC_INLINED)) || defined(SHBIPC_INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Configuration
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Constant definitions
+//---------------------------------------------------------------------------
+
+#define MAX_LEN_BUFFER_ID 256
+
+#define TIMEOUT_ENTER_ATOMIC 1000 // (ms) for debgging: INFINITE
+#define TIMEOUT_TERM_THREAD 1000
+#define INFINITE 3600
+
+#define SBI_MAGIC_ID 0x5342492B // magic ID ("SBI+")
+#define SBH_MAGIC_ID 0x5342482A // magic ID ("SBH*")
+
+#define INVALID_ID -1
+
+#define TABLE_SIZE 10
+
+
+//---------------------------------------------------------------------------
+// Local types
+//---------------------------------------------------------------------------
+
+// This structure is the common header for the shared memory region used
+// by all processes attached this shared memory. It includes common
+// information to administrate/manage the shared buffer from a couple of
+// separated processes (e.g. the refernce counter). This structure is
+// located at the start of the shared memory region itself and exists
+// consequently only one times per shared memory instance.
+typedef struct
+{
+
+ unsigned long m_ulShMemSize;
+ unsigned long m_ulRefCount;
+ int m_iBufferId;
+// int m_iUserSpaceMem; //0 for userspace mem !=0 kernelspace mem
+ spinlock_t m_SpinlockBuffAccess;
+ BOOL m_fNewData;
+ BOOL m_fJobReady;
+ wait_queue_head_t m_WaitQueueNewData;
+ wait_queue_head_t m_WaitQueueJobReady;
+
+ #ifndef NDEBUG
+ unsigned long m_ulOwnerProcID;
+ #endif
+
+} tShbMemHeader;
+
+
+
+// This structure is the "external entry point" from a separate process
+// to get access to a shared buffer. This structure includes all platform
+// resp. target specific information to administrate/manage the shared
+// buffer from a separate process. Every process attached to the shared
+// buffer has its own runtime instance of this structure with its individual
+// runtime data (e.g. the scope of an event handle is limitted to the
+// owner process only). The structure member <m_pShbMemHeader> points
+// to the (process specific) start address of the shared memory region
+// itself.
+typedef struct
+{
+ unsigned long m_SbiMagicID; // magic ID ("SBI+")
+// void* m_pSharedMem;
+ int m_tThreadNewDataId;
+ long m_lThreadNewDataNice; // nice value of the new data thread
+ int m_tThreadJobReadyId;
+ unsigned long m_ulFlagsBuffAccess; // d.k. moved from tShbMemHeader, because each
+ // process needs to store the interrupt flags separately
+ tSigHndlrNewData m_pfnSigHndlrNewData;
+ unsigned long m_ulTimeOutJobReady;
+ tSigHndlrJobReady m_pfnSigHndlrJobReady;
+ tShbMemHeader* m_pShbMemHeader;
+ int m_iThreadTermFlag;
+ struct completion m_CompletionNewData;
+/*
+ struct semaphore *m_pSemBuffAccess;
+ struct semaphore *m_pSemNewData;
+ struct semaphore *m_pSemStopSignalingNewData;
+ struct semaphore *m_pSemJobReady;
+*/
+ #ifndef NDEBUG
+ unsigned long m_ulThreadIDNewData;
+ unsigned long m_ulThreadIDJobReady;
+ #endif
+} tShbMemInst;
+
+
+//---------------------------------------------------------------------------
+// Prototypes of internal functions
+//---------------------------------------------------------------------------
+
+//tShbMemInst* ShbIpcGetShbMemInst (tShbInstance pShbInstance_p);
+//tShbMemHeader* ShbIpcGetShbMemHeader (tShbMemInst* pShbMemInst_p);
+
+//---------------------------------------------------------------------------
+// Get pointer to process local information structure
+//---------------------------------------------------------------------------
+
+static inline tShbMemInst* ShbIpcGetShbMemInst (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+
+
+ pShbMemInst = (tShbMemInst*)pShbInstance_p;
+
+
+ return (pShbMemInst);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get pointer to shared memory header
+//---------------------------------------------------------------------------
+
+static inline tShbMemHeader* ShbIpcGetShbMemHeader (
+ tShbMemInst* pShbMemInst_p)
+{
+
+tShbMemHeader* pShbMemHeader;
+
+
+ pShbMemHeader = pShbMemInst_p->m_pShbMemHeader;
+
+ return (pShbMemHeader);
+
+}
+
+// Get pointer to process local information structure
+//#define ShbIpcGetShbMemInst(pShbInstance_p) ((tShbMemInst*)pShbInstance_p)
+
+// Get pointer to shared memory header
+//#define ShbIpcGetShbMemHeader(pShbMemInst_p) (pShbMemInst_p->m_pShbMemHeader)
+
+// not inlined internal functions
+int ShbIpcThreadSignalNewData (void* pvThreadParam_p);
+int ShbIpcThreadSignalJobReady (void* pvThreadParam_p);
+#endif
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+struct sShbMemTable *psMemTableElementFirst_g;
+
+static void* ShbIpcAllocPrivateMem (unsigned long ulMemSize_p);
+static int ShbIpcFindListElement (int iBufferId, struct sShbMemTable **ppsReturnMemTableElement);
+static void ShbIpcAppendListElement (struct sShbMemTable *sNewMemTableElement);
+static void ShbIpcDeleteListElement (int iBufferId);
+static void ShbIpcCrc32GenTable (unsigned long aulCrcTable[256]);
+static unsigned long ShbIpcCrc32GetCrc (const char *pcString, unsigned long aulCrcTable[256]);
+
+#endif
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+// not inlined external functions
+
+//---------------------------------------------------------------------------
+// Initialize IPC for Shared Buffer Module
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcInit (void)
+{
+ psMemTableElementFirst_g = NULL;
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Deinitialize IPC for Shared Buffer Module
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcExit (void)
+{
+
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Allocate Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcAllocBuffer (
+ unsigned long ulBufferSize_p,
+ const char* pszBufferID_p,
+ tShbInstance* ppShbInstance_p,
+ unsigned int* pfShbNewCreated_p)
+{
+tShbError ShbError;
+int iBufferId=0;
+unsigned long ulCrc32=0;
+unsigned int uiFirstProcess=0;
+unsigned long ulShMemSize;
+tShbMemHeader* pShbMemHeader;
+tShbMemInst* pShbMemInst=NULL;
+tShbInstance pShbInstance;
+unsigned int fShMemNewCreated=FALSE;
+void *pSharedMem=NULL;
+unsigned long aulCrcTable[256];
+struct sShbMemTable *psMemTableElement;
+
+
+ DEBUG_LVL_29_TRACE0("ShbIpcAllocBuffer \n");
+ ulShMemSize = ulBufferSize_p + sizeof(tShbMemHeader);
+
+ //create Buffer ID
+ ShbIpcCrc32GenTable(aulCrcTable);
+ ulCrc32=ShbIpcCrc32GetCrc(pszBufferID_p,aulCrcTable);
+ iBufferId=ulCrc32;
+ DEBUG_LVL_29_TRACE2("ShbIpcAllocBuffer BufferSize:%d sizeof(tShb..):%d\n",ulBufferSize_p,sizeof(tShbMemHeader));
+ DEBUG_LVL_29_TRACE2("ShbIpcAllocBuffer BufferId:%d MemSize:%d\n",iBufferId,ulShMemSize);
+ //---------------------------------------------------------------
+ // (1) open an existing or create a new shared memory
+ //---------------------------------------------------------------
+ //test if buffer already exists
+ if (ShbIpcFindListElement(iBufferId, &psMemTableElement) == 0)
+ {
+ //Buffer already exists
+ fShMemNewCreated=FALSE;
+ pSharedMem = psMemTableElement->m_pBuffer;
+ DEBUG_LVL_29_TRACE1("ShbIpcAllocBuffer attach Buffer at:%p Id:%d\n",pSharedMem);
+ uiFirstProcess=1;
+ }
+ else
+ {
+ //create new Buffer
+ fShMemNewCreated = TRUE;
+ uiFirstProcess=0;
+ pSharedMem = kmalloc(ulShMemSize,GFP_KERNEL);
+ DEBUG_LVL_29_TRACE2("ShbIpcAllocBuffer Create New Buffer at:%p Id:%d\n",pSharedMem,iBufferId);
+ if (pSharedMem == NULL)
+ {
+ //unable to create mem
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+ DEBUG_LVL_29_TRACE0("ShbIpcAllocBuffer create semas\n");
+ // append Element to Mem Table
+ psMemTableElement = kmalloc(sizeof(struct sShbMemTable),GFP_KERNEL);
+ psMemTableElement->m_iBufferId = iBufferId;
+ psMemTableElement->m_pBuffer = pSharedMem;
+ psMemTableElement->m_psNextMemTableElement = NULL;
+ ShbIpcAppendListElement (psMemTableElement);
+ }
+
+ DEBUG_LVL_29_TRACE0("ShbIpcAllocBuffer update header\n");
+ //update header
+ pShbMemHeader = (tShbMemHeader*)pSharedMem;
+ DEBUG_LVL_29_TRACE1("ShbIpcAllocBuffer 0 pShbMemHeader->m_ulShMemSize: %d\n",pShbMemHeader->m_ulShMemSize);
+ // allocate a memory block from process specific mempool to save
+ // process local information to administrate/manage the shared buffer
+ DEBUG_LVL_29_TRACE0("ShbIpcAllocBuffer alloc private mem\n");
+ pShbMemInst = (tShbMemInst*) ShbIpcAllocPrivateMem (sizeof(tShbMemInst));
+ if (pShbMemInst == NULL)
+ {
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+
+ // reset complete header to default values
+ //pShbMemInst->m_SbiMagicID = SBI_MAGIC_ID;
+// pShbMemInst->m_pSharedMem = pSharedMem;
+ pShbMemInst->m_tThreadNewDataId = INVALID_ID;
+ pShbMemInst->m_tThreadJobReadyId = INVALID_ID;
+ pShbMemInst->m_pfnSigHndlrNewData = NULL;
+ pShbMemInst->m_ulTimeOutJobReady = 0;
+ pShbMemInst->m_pfnSigHndlrJobReady = NULL;
+ pShbMemInst->m_pShbMemHeader = pShbMemHeader;
+ pShbMemInst->m_iThreadTermFlag = 0;
+
+ // initialize completion etc.
+ init_completion(&pShbMemInst->m_CompletionNewData);
+
+ ShbError = kShbOk;
+ if ( fShMemNewCreated )
+ {
+ // this process was the first who wanted to use the shared memory,
+ // so a new shared memory was created
+ // -> setup new header information inside the shared memory region
+ // itself
+ pShbMemHeader->m_ulShMemSize = ulShMemSize;
+ pShbMemHeader->m_ulRefCount = 1;
+ pShbMemHeader->m_iBufferId=iBufferId;
+ // initialize spinlock
+ spin_lock_init(&pShbMemHeader->m_SpinlockBuffAccess);
+ // initialize wait queues
+ init_waitqueue_head(&pShbMemHeader->m_WaitQueueNewData);
+ init_waitqueue_head(&pShbMemHeader->m_WaitQueueJobReady);
+ }
+ else
+ {
+ // any other process has created the shared memory and this
+ // process only has to attach to it
+ // -> check and update existing header information inside the
+ // shared memory region itself
+ if (pShbMemHeader->m_ulShMemSize != ulShMemSize)
+ {
+ ShbError = kShbOpenMismatch;
+ goto Exit;
+ }
+ pShbMemHeader->m_ulRefCount++;
+ }
+
+ Exit:
+ pShbInstance = (tShbInstance*)pShbMemInst;
+ *pfShbNewCreated_p = fShMemNewCreated;
+ *ppShbInstance_p = pShbInstance;
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Release Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcReleaseBuffer (tShbInstance pShbInstance_p)
+{
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbError ShbError;
+tShbError ShbError2;
+
+ DEBUG_LVL_26_TRACE1("ShbIpcReleaseBuffer(%p)\n", pShbInstance_p);
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbOk);
+ }
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+
+ // stop threads in any case, because they are bound to that specific instance
+ ShbError2 = ShbIpcStopSignalingNewData (pShbInstance_p);
+ // d.k.: Whats up with JobReady thread?
+ // Just wake it up, but without setting the semaphore variable
+ wake_up_interruptible(&pShbMemHeader->m_WaitQueueJobReady);
+
+ if ( !--pShbMemHeader->m_ulRefCount )
+ {
+ ShbError = kShbOk;
+ // delete mem table element
+ ShbIpcDeleteListElement(pShbMemHeader->m_iBufferId);
+ // delete shared mem
+ kfree(pShbMemInst->m_pShbMemHeader);
+ }
+ else
+ {
+ ShbError = kShbMemUsedByOtherProcs;
+ }
+ //delete privat mem
+ kfree(pShbMemInst);
+ return (ShbError);
+}
+
+
+#endif // !defined(SHBIPC_INLINE_ENABLED)
+
+#if (!defined(SHBIPC_INLINED)) || defined(SHBIPC_INLINE_ENABLED)
+
+
+//---------------------------------------------------------------------------
+// Enter atomic section for Shared Buffer access
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcEnterAtomicSection (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbError ShbError = kShbOk;
+
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+ DEBUG_LVL_29_TRACE0("enter atomic\n");
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+
+ // lock interrupts
+ spin_lock_irqsave(&pShbMemHeader->m_SpinlockBuffAccess, pShbMemInst->m_ulFlagsBuffAccess);
+
+Exit:
+ return ShbError;
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Leave atomic section for Shared Buffer access
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcLeaveAtomicSection (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbError ShbError = kShbOk;
+
+ if (pShbInstance_p == NULL)
+ {
+ ShbError = kShbInvalidArg;
+ goto Exit;
+ }
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+ // unlock interrupts
+ spin_unlock_irqrestore(&pShbMemHeader->m_SpinlockBuffAccess, pShbMemInst->m_ulFlagsBuffAccess);
+
+Exit:
+ DEBUG_LVL_29_TRACE0("Leave Atomic \n");
+ return ShbError;
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Start signaling of new data (called from reading process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcStartSignalingNewData (
+ tShbInstance pShbInstance_p,
+ tSigHndlrNewData pfnSignalHandlerNewData_p,
+ tShbPriority ShbPriority_p)
+{
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbError ShbError;
+
+ DEBUG_LVL_29_TRACE0("------->ShbIpcStartSignalingNewData\n");
+ if ((pShbInstance_p == NULL) || (pfnSignalHandlerNewData_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+ ShbError = kShbOk;
+
+ if ((pShbMemInst->m_tThreadNewDataId != INVALID_ID)
+ || (pShbMemInst->m_pfnSigHndlrNewData != NULL))
+ {
+ ShbError = kShbAlreadySignaling;
+ goto Exit;
+ }
+ DEBUG_LVL_26_TRACE2("ShbIpcStartSignalingNewData(%p) m_pfnSigHndlrNewData = %p\n", pShbInstance_p, pfnSignalHandlerNewData_p);
+ pShbMemInst->m_pfnSigHndlrNewData = pfnSignalHandlerNewData_p;
+ pShbMemHeader->m_fNewData = FALSE;
+ pShbMemInst->m_iThreadTermFlag = 0;
+
+ switch (ShbPriority_p)
+ {
+ case kShbPriorityLow:
+ pShbMemInst->m_lThreadNewDataNice = -2;
+ break;
+
+ case kShbPriorityNormal:
+ pShbMemInst->m_lThreadNewDataNice = -9;
+ break;
+
+ case kshbPriorityHigh:
+ pShbMemInst->m_lThreadNewDataNice = -20;
+ break;
+
+ }
+
+ //create thread for signalling new data
+ pShbMemInst->m_tThreadNewDataId = kernel_thread(ShbIpcThreadSignalNewData,pShbInstance_p,CLONE_KERNEL);
+
+Exit:
+ return ShbError;
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Stop signaling of new data (called from reading process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcStopSignalingNewData (
+ tShbInstance pShbInstance_p)
+{
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbError ShbError;
+
+ DEBUG_LVL_29_TRACE0("------->ShbIpcStopSignalingNewData\n");
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+ ShbError = kShbOk;
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+
+ DEBUG_LVL_26_TRACE2("ShbIpcStopSignalingNewData(%p) pfnSignHndlrNewData=%p\n", pShbInstance_p, pShbMemInst->m_pfnSigHndlrNewData);
+ if (pShbMemInst->m_pfnSigHndlrNewData != NULL)
+ { // signal handler was set before
+ int iErr;
+ //set termination flag in mem header
+ pShbMemInst->m_iThreadTermFlag = 1;
+
+ // check if thread is still running at all by sending the null-signal to this thread
+ /* iErr = kill_proc(pShbMemInst->m_tThreadNewDataId, 0, 1); */
+ iErr = send_sig(0, pShbMemInst->m_tThreadNewDataId, 1);
+ if (iErr == 0)
+ {
+ // wake up thread, because it is still running
+ wake_up_interruptible(&pShbMemHeader->m_WaitQueueNewData);
+
+ //wait for termination of thread
+ wait_for_completion(&pShbMemInst->m_CompletionNewData);
+ }
+
+ pShbMemInst->m_pfnSigHndlrNewData = NULL;
+ pShbMemInst->m_tThreadNewDataId = INVALID_ID;
+ }
+
+ return ShbError;
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Signal new data (called from writing process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcSignalNewData (
+ tShbInstance pShbInstance_p)
+{
+tShbMemHeader* pShbMemHeader;
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+ pShbMemHeader = ShbIpcGetShbMemHeader (ShbIpcGetShbMemInst (pShbInstance_p));
+ //set semaphore
+ pShbMemHeader->m_fNewData = TRUE;
+ DEBUG_LVL_29_TRACE0("ShbIpcSignalNewData set Sem -> New Data\n");
+
+ wake_up_interruptible(&pShbMemHeader->m_WaitQueueNewData);
+ return (kShbOk);
+}
+
+
+
+//---------------------------------------------------------------------------
+// Start signaling for job ready (called from waiting process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcStartSignalingJobReady (
+ tShbInstance pShbInstance_p,
+ unsigned long ulTimeOut_p,
+ tSigHndlrJobReady pfnSignalHandlerJobReady_p)
+{
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbError ShbError;
+
+ if ((pShbInstance_p == NULL) || (pfnSignalHandlerJobReady_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+
+ ShbError = kShbOk;
+ if ((pShbMemInst->m_tThreadJobReadyId != INVALID_ID)||(pShbMemInst->m_pfnSigHndlrJobReady!= NULL))
+ {
+ ShbError = kShbAlreadySignaling;
+ goto Exit;
+ }
+ pShbMemInst->m_ulTimeOutJobReady = ulTimeOut_p;
+ pShbMemInst->m_pfnSigHndlrJobReady = pfnSignalHandlerJobReady_p;
+ pShbMemHeader->m_fJobReady = FALSE;
+ //create thread for signalling new data
+ pShbMemInst->m_tThreadJobReadyId=kernel_thread(ShbIpcThreadSignalJobReady,pShbInstance_p,CLONE_KERNEL);
+ Exit:
+ return ShbError;
+}
+
+
+
+//---------------------------------------------------------------------------
+// Signal job ready (called from executing process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcSignalJobReady (
+ tShbInstance pShbInstance_p)
+{
+tShbMemHeader* pShbMemHeader;
+
+
+ DEBUG_LVL_29_TRACE0("ShbIpcSignalJobReady\n");
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+ pShbMemHeader = ShbIpcGetShbMemHeader (ShbIpcGetShbMemInst (pShbInstance_p));
+ //set semaphore
+ pShbMemHeader->m_fJobReady = TRUE;
+ DEBUG_LVL_29_TRACE0("ShbIpcSignalJobReady set Sem -> Job Ready \n");
+
+ wake_up_interruptible(&pShbMemHeader->m_WaitQueueJobReady);
+ return (kShbOk);
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get pointer to common used share memory area
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void* ShbIpcGetShMemPtr (tShbInstance pShbInstance_p)
+{
+
+tShbMemHeader* pShbMemHeader;
+void* pShbShMemPtr;
+
+
+ pShbMemHeader = ShbIpcGetShbMemHeader (ShbIpcGetShbMemInst (pShbInstance_p));
+ if (pShbMemHeader != NULL)
+ {
+ pShbShMemPtr = (BYTE*)pShbMemHeader + sizeof(tShbMemHeader);
+ }
+ else
+ {
+ pShbShMemPtr = NULL;
+ }
+
+ return (pShbShMemPtr);
+
+}
+
+#endif
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Get pointer to process local information structure
+//---------------------------------------------------------------------------
+
+/*tShbMemInst* ShbIpcGetShbMemInst (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+
+
+ pShbMemInst = (tShbMemInst*)pShbInstance_p;
+
+
+ return (pShbMemInst);
+
+}
+*/
+
+
+//---------------------------------------------------------------------------
+// Get pointer to shared memory header
+//---------------------------------------------------------------------------
+
+/*tShbMemHeader* ShbIpcGetShbMemHeader (
+ tShbMemInst* pShbMemInst_p)
+{
+
+tShbMemHeader* pShbMemHeader;
+
+
+ pShbMemHeader = pShbMemInst_p->m_pShbMemHeader;
+
+ return (pShbMemHeader);
+
+}
+*/
+
+
+//---------------------------------------------------------------------------
+// Allocate a memory block from process specific mempool
+//---------------------------------------------------------------------------
+
+static void* ShbIpcAllocPrivateMem (unsigned long ulMemSize_p)
+{
+tShbError ShbError;
+void* pMem;
+
+ DEBUG_LVL_29_TRACE0("ShbIpcAllocPrivateMem \n");
+ //get private mem
+ pMem = kmalloc(ulMemSize_p, GFP_KERNEL);
+ if (pMem == NULL)
+ {
+ //unable to create mem
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+Exit:
+ return (pMem);
+
+}
+
+
+//---------------------------------------------------------------------------
+// Thread for new data signaling
+//---------------------------------------------------------------------------
+
+int ShbIpcThreadSignalNewData (void *pvThreadParam_p)
+{
+tShbInstance pShbInstance;
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+int iRetVal=-1;
+int fCallAgain;
+
+ daemonize("ShbND%p", pvThreadParam_p);
+ allow_signal(SIGTERM);
+ pShbInstance = (tShbMemInst*)pvThreadParam_p;
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+
+ DEBUG_LVL_26_TRACE1("ShbIpcThreadSignalNewData(%p)\n",pvThreadParam_p);
+
+ set_user_nice(current, pShbMemInst->m_lThreadNewDataNice);
+
+// DEBUG_LVL_29_TRACE1("ShbIpcThreadSignalNewData wait for New Data Sem %p\n",pShbMemInst->m_pSemNewData);
+ do
+ {
+ iRetVal = wait_event_interruptible(pShbMemHeader->m_WaitQueueNewData,
+ (pShbMemInst->m_iThreadTermFlag != 0) || (pShbMemHeader->m_fNewData != FALSE));
+
+ if (iRetVal != 0)
+ { // signal pending
+ break;
+ }
+
+ if (pShbMemHeader->m_fNewData != FALSE)
+ {
+ pShbMemHeader->m_fNewData = FALSE;
+ do
+ {
+ fCallAgain = pShbMemInst->m_pfnSigHndlrNewData(pShbInstance);
+ // call scheduler, which will execute any task with higher priority
+ schedule();
+ } while (fCallAgain != FALSE);
+ }
+ } while (pShbMemInst->m_iThreadTermFlag==0);
+ DEBUG_LVL_29_TRACE0("ShbIpcThreadSignalNewData terminated \n");
+ //set thread completed
+ complete_and_exit(&pShbMemInst->m_CompletionNewData, 0);
+ return 0;
+}
+
+
+
+//---------------------------------------------------------------------------
+// Thread for new data Job Ready signaling
+//---------------------------------------------------------------------------
+
+int ShbIpcThreadSignalJobReady (void *pvThreadParam_p)
+{
+tShbInstance pShbInstance;
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+long lTimeOut;
+int iRetVal=-1;
+
+ daemonize("ShbJR%p", pvThreadParam_p);
+ allow_signal(SIGTERM);
+ pShbInstance = (tShbMemInst*)pvThreadParam_p;
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbMemInst);
+
+ DEBUG_LVL_29_TRACE0("ShbIpcThreadSignalJobReady wait for job ready Sem\n");
+ if (pShbMemInst->m_ulTimeOutJobReady != 0)
+ {
+ lTimeOut = (long) pShbMemInst->m_ulTimeOutJobReady;
+ //wait for job ready semaphore
+ iRetVal = wait_event_interruptible_timeout(pShbMemHeader->m_WaitQueueJobReady,
+ (pShbMemHeader->m_fJobReady != FALSE), lTimeOut);
+ }
+ else
+ {
+ //wait for job ready semaphore
+ iRetVal = wait_event_interruptible(pShbMemHeader->m_WaitQueueJobReady,
+ (pShbMemHeader->m_fJobReady != FALSE));
+ }
+
+ if (pShbMemInst->m_pfnSigHndlrJobReady != NULL)
+ {
+ //call Handler
+ pShbMemInst->m_pfnSigHndlrJobReady(pShbInstance, !pShbMemHeader->m_fJobReady);
+ }
+
+ pShbMemInst->m_pfnSigHndlrJobReady=NULL;
+ return 0;
+}
+
+
+
+//Build the crc table
+static void ShbIpcCrc32GenTable(unsigned long aulCrcTable[256])
+{
+ unsigned long ulCrc,ulPoly;
+ int iIndexI,iIndexJ;
+
+ ulPoly = 0xEDB88320L;
+ for (iIndexI = 0; iIndexI < 256; iIndexI++)
+ {
+ ulCrc = iIndexI;
+ for (iIndexJ = 8; iIndexJ > 0; iIndexJ--)
+ {
+ if (ulCrc & 1)
+ {
+ ulCrc = (ulCrc >> 1) ^ ulPoly;
+ }
+ else
+ {
+ ulCrc >>= 1;
+ }
+ }
+ aulCrcTable[iIndexI] = ulCrc;
+ }
+}
+
+//Calculate the crc value
+static unsigned long ShbIpcCrc32GetCrc(const char *pcString,unsigned long aulCrcTable[256])
+{
+ unsigned long ulCrc;
+ int iIndex;
+
+ ulCrc = 0xFFFFFFFF;
+ for (iIndex=0;iIndex<strlen(pcString);iIndex++)
+ {
+ ulCrc = ((ulCrc>>8) & 0x00FFFFFF) ^ aulCrcTable[ (ulCrc^pcString[iIndex]) & 0xFF ];
+ }
+ return( ulCrc^0xFFFFFFFF );
+
+}
+
+static void ShbIpcAppendListElement (struct sShbMemTable *psNewMemTableElement)
+{
+ struct sShbMemTable *psMemTableElement=psMemTableElementFirst_g;
+ psNewMemTableElement->m_psNextMemTableElement=NULL;
+
+ if (psMemTableElementFirst_g!= NULL )
+ { /* sind Elemente vorhanden */
+ while (psMemTableElement->m_psNextMemTableElement != NULL )
+ { /* suche das letzte Element */
+ psMemTableElement=psMemTableElement->m_psNextMemTableElement;
+ }
+ psMemTableElement->m_psNextMemTableElement=psNewMemTableElement; /* Haenge das Element hinten an */
+ }
+ else
+ { /* wenn die liste leer ist, bin ich das erste Element */
+ psMemTableElementFirst_g=psNewMemTableElement;
+ }
+}
+
+
+
+
+static int ShbIpcFindListElement (int iBufferId, struct sShbMemTable **ppsReturnMemTableElement)
+{
+ struct sShbMemTable *psMemTableElement=psMemTableElementFirst_g;
+ while (psMemTableElement!=NULL)
+ {
+ if(psMemTableElement->m_iBufferId==iBufferId)
+ {
+//printk("ShbIpcFindListElement Buffer at:%p Id:%d\n",psMemTableElement->m_pBuffer,psMemTableElement->m_iBufferId);
+ *ppsReturnMemTableElement=psMemTableElement;
+//printk("ShbIpcFindListElement Buffer at:%p Id:%d\n",(*ppsReturnMemTableElement)->m_pBuffer,(*ppsReturnMemTableElement)->m_iBufferId);
+ return 0;
+ }
+ psMemTableElement=psMemTableElement->m_psNextMemTableElement;
+ }
+ return -1;
+}
+
+static void ShbIpcDeleteListElement(int iBufferId)
+{
+ struct sShbMemTable *psMemTableElement=psMemTableElementFirst_g;
+ struct sShbMemTable *psMemTableElementOld=psMemTableElementFirst_g;
+ if (psMemTableElement!=NULL)
+ {
+ while((psMemTableElement!=NULL)&&(psMemTableElement->m_iBufferId!=iBufferId))
+ {
+ psMemTableElementOld=psMemTableElement;
+ psMemTableElement=psMemTableElement->m_psNextMemTableElement;
+ }
+ if (psMemTableElement!=NULL)
+ {
+ if (psMemTableElement!=psMemTableElementFirst_g)
+ {
+ psMemTableElementOld->m_psNextMemTableElement=psMemTableElement->m_psNextMemTableElement;
+ kfree(psMemTableElement);
+ }
+ else
+ {
+ kfree(psMemTableElement);
+ psMemTableElementFirst_g=NULL;
+ }
+
+ }
+ }
+
+}
+
+#endif
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: Project independend shared buffer (linear + circular)
+
+ Description: Implementation of platform specific part for the
+ shared buffer
+ (Implementation for Win32)
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ 2006/06/27 -rs: V 1.00 (initial version)
+
+****************************************************************************/
+
+#define WINVER 0x0400 // #defines necessary for usage of
+#define _WIN32_WINNT 0x0400 // function <SignalObjectAndWait>
+
+#include <windows.h>
+#include <stdio.h>
+#include "global.h"
+#include "sharedbuff.h"
+#include "shbipc.h"
+
+
+
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+#if (!defined(SHBIPC_INLINED)) || defined(SHBIPC_INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Configuration
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Constant definitions
+//---------------------------------------------------------------------------
+
+#define MAX_LEN_BUFFER_ID MAX_PATH
+
+#define IDX_EVENT_NEW_DATA 0
+#define IDX_EVENT_TERM_REQU 1
+#define IDX_EVENT_TERM_RESP 2
+
+#define NAME_MUTEX_BUFF_ACCESS "BuffAccess"
+#define NAME_EVENT_NEW_DATA "NewData"
+#define NAME_EVENT_TERM_REQU "TermRequ"
+#define NAME_EVENT_TERM_RESP "TermResp"
+#define NAME_EVENT_JOB_READY "JobReady"
+
+#define TIMEOUT_ENTER_ATOMIC 1000 // for debgging: INFINITE
+#define TIMEOUT_TERM_THREAD 2000
+
+#define SBI_MAGIC_ID 0x5342492B // magic ID ("SBI+")
+#define SBH_MAGIC_ID 0x5342482A // magic ID ("SBH*")
+
+
+
+//---------------------------------------------------------------------------
+// Local types
+//---------------------------------------------------------------------------
+
+// This structure is the common header for the shared memory region used
+// by all processes attached this shared memory. It includes common
+// information to administrate/manage the shared buffer from a couple of
+// separated processes (e.g. the refernce counter). This structure is
+// located at the start of the shared memory region itself and exists
+// consequently only one times per shared memory instance.
+typedef struct
+{
+ unsigned long m_SbhMagicID; // magic ID ("SBH*")
+ unsigned long m_ulShMemSize;
+ unsigned long m_ulRefCount;
+ char m_szBufferID[MAX_LEN_BUFFER_ID];
+
+ #ifndef NDEBUG
+ unsigned long m_ulOwnerProcID;
+ #endif
+
+} tShbMemHeader;
+
+
+// This structure is the "external entry point" from a separate process
+// to get access to a shared buffer. This structure includes all platform
+// resp. target specific information to administrate/manage the shared
+// buffer from a separate process. Every process attached to the shared
+// buffer has its own runtime instance of this structure with its individual
+// runtime data (e.g. the scope of an event handle is limitted to the
+// owner process only). The structure member <m_pShbMemHeader> points
+// to the (process specific) start address of the shared memory region
+// itself.
+typedef struct
+{
+ unsigned long m_SbiMagicID; // magic ID ("SBI+")
+ HANDLE m_hSharedMem;
+ HANDLE m_hMutexBuffAccess;
+ HANDLE m_hThreadNewData; // thraed to signal that new data are available
+ HANDLE m_ahEventNewData[3]; // IDX_EVENT_NEW_DATA + IDX_EVENT_TERM_REQU + ID_EVENT_TERM_RESP
+ tSigHndlrNewData m_pfnSigHndlrNewData;
+ HANDLE m_hThreadJobReady; // thread to signal that a job/operation is ready now (e.g. reset buffer)
+ HANDLE m_hEventJobReady;
+ unsigned long m_ulTimeOutJobReady;
+ tSigHndlrJobReady m_pfnSigHndlrJobReady;
+ tShbMemHeader* m_pShbMemHeader;
+
+ #ifndef NDEBUG
+ unsigned long m_ulThreadIDNewData;
+ unsigned long m_ulThreadIDJobReady;
+ #endif
+
+} tShbMemInst;
+
+
+
+//---------------------------------------------------------------------------
+// Global variables
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Local variables
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// Prototypes of internal functions
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// Get pointer to process local information structure
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbMemInst* ShbIpcGetShbMemInst (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+
+
+ pShbMemInst = (tShbMemInst*)pShbInstance_p;
+ ASSERT (pShbMemInst->m_SbiMagicID == SBI_MAGIC_ID);
+
+ return (pShbMemInst);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get pointer to shared memory header
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbMemHeader* ShbIpcGetShbMemHeader (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = pShbMemInst->m_pShbMemHeader;
+ ASSERT(pShbMemHeader->m_SbhMagicID == SBH_MAGIC_ID);
+
+ return (pShbMemHeader);
+
+}
+
+
+// not inlined internal functions
+DWORD WINAPI ShbIpcThreadSignalNewData (LPVOID pvThreadParam_p);
+DWORD WINAPI ShbIpcThreadSignalJobReady (LPVOID pvThreadParam_p);
+const char* ShbIpcGetUniformObjectName (const char* pszEventJobName_p, const char* pszBufferID_p, BOOL fGlobalObject_p);
+
+#endif
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+// true internal functions (not inlined)
+static void* ShbIpcAllocPrivateMem (unsigned long ulMemSize_p);
+static void ShbIpcReleasePrivateMem (void* pMem_p);
+#endif
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+// not inlined external functions
+
+//---------------------------------------------------------------------------
+// Initialize IPC for Shared Buffer Module
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcInit (void)
+{
+
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Deinitialize IPC for Shared Buffer Module
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcExit (void)
+{
+
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Allocate Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcAllocBuffer (
+ unsigned long ulBufferSize_p,
+ const char* pszBufferID_p,
+ tShbInstance* ppShbInstance_p,
+ unsigned int* pfShbNewCreated_p)
+{
+
+HANDLE hSharedMem;
+LPVOID pSharedMem;
+unsigned long ulShMemSize;
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+tShbInstance pShbInstance;
+unsigned int fShMemNewCreated;
+const char* pszObjectName;
+HANDLE hMutexBuffAccess;
+HANDLE hEventNewData;
+HANDLE hEventJobReady;
+tShbError ShbError;
+
+
+ ulShMemSize = ulBufferSize_p + sizeof(tShbMemHeader);
+ pSharedMem = NULL;
+ pShbInstance = NULL;
+ fShMemNewCreated = FALSE;
+ ShbError = kShbOk;
+
+
+ //---------------------------------------------------------------
+ // (1) open an existing or create a new shared memory
+ //---------------------------------------------------------------
+ // try to open an already existing shared memory
+ // (created by an another process)
+ hSharedMem = OpenFileMapping (FILE_MAP_ALL_ACCESS, // DWORD dwDesiredAccess
+ FALSE, // BOOL bInheritHandle
+ pszBufferID_p); // LPCTSTR lpName
+ if (hSharedMem != NULL)
+ {
+ // a shared memory already exists
+ fShMemNewCreated = FALSE;
+ }
+ else
+ {
+ // it seams that this process is the first who wants to use the
+ // shared memory, so it has to create a new shared memory
+ hSharedMem = CreateFileMapping(INVALID_HANDLE_VALUE,// HANDLE hFile
+ NULL, // LPSECURITY_ATTRIBUTES lpAttributes
+ PAGE_READWRITE, // DWORD flProtect
+ 0, // DWORD dwMaximumSizeHigh
+ ulShMemSize, // DWORD dwMaximumSizeLow
+ pszBufferID_p); // LPCTSTR lpName
+
+ fShMemNewCreated = TRUE;
+ }
+
+ if (hSharedMem == NULL)
+ {
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+
+
+ //---------------------------------------------------------------
+ // (2) get the pointer to the shared memory
+ //---------------------------------------------------------------
+ pSharedMem = MapViewOfFile (hSharedMem, // HANDLE hFileMappingObject
+ FILE_MAP_ALL_ACCESS, // DWORD dwDesiredAccess,
+ 0, // DWORD dwFileOffsetHigh,
+ 0, // DWORD dwFileOffsetLow,
+ ulShMemSize); // SIZE_T dwNumberOfBytesToMap
+
+ if (pSharedMem == NULL)
+ {
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+
+
+ //---------------------------------------------------------------
+ // (3) setup or update header and management information
+ //---------------------------------------------------------------
+ pShbMemHeader = (tShbMemHeader*)pSharedMem;
+
+ // allocate a memory block from process specific mempool to save
+ // process local information to administrate/manage the shared buffer
+ pShbMemInst = (tShbMemInst*) ShbIpcAllocPrivateMem (sizeof(tShbMemInst));
+ if (pShbMemInst == NULL)
+ {
+ ShbError = kShbOutOfMem;
+ goto Exit;
+ }
+
+ // reset complete header to default values
+ pShbMemInst->m_SbiMagicID = SBI_MAGIC_ID;
+ pShbMemInst->m_hSharedMem = hSharedMem;
+ pShbMemInst->m_hMutexBuffAccess = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_hThreadNewData = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA] = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU] = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_pfnSigHndlrNewData = NULL;
+ pShbMemInst->m_hThreadJobReady = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_hEventJobReady = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_ulTimeOutJobReady = 0;
+ pShbMemInst->m_pfnSigHndlrJobReady = NULL;
+ pShbMemInst->m_pShbMemHeader = pShbMemHeader;
+
+ #ifndef NDEBUG
+ {
+ pShbMemInst->m_ulThreadIDNewData = 0;
+ pShbMemInst->m_ulThreadIDJobReady = 0;
+ }
+ #endif
+
+ // create mutex for buffer access
+ pszObjectName = ShbIpcGetUniformObjectName (NAME_MUTEX_BUFF_ACCESS, pszBufferID_p, TRUE);
+ hMutexBuffAccess = CreateMutex (NULL, // LPSECURITY_ATTRIBUTES lpMutexAttributes
+ FALSE, // BOOL bInitialOwner
+ pszObjectName); // LPCTSTR lpName
+ pShbMemInst->m_hMutexBuffAccess = hMutexBuffAccess;
+ ASSERT(pShbMemInst->m_hMutexBuffAccess != NULL);
+
+ // The EventNewData is used for signaling of new data after a write
+ // operation (SetEvent) as well as for waiting for new data on the
+ // reader side (WaitForMultipleObjects). Because it's not known if
+ // this process will be read or write data, the event will be
+ // always created here.
+ pszObjectName = ShbIpcGetUniformObjectName (NAME_EVENT_NEW_DATA, pszBufferID_p, TRUE);
+ hEventNewData = CreateEvent (NULL, // LPSECURITY_ATTRIBUTES lpEventAttributes
+ FALSE, // BOOL bManualReset
+ FALSE, // BOOL bInitialState
+ pszObjectName); // LPCTSTR lpName
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA] = hEventNewData;
+ ASSERT(pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA] != NULL);
+
+ // The EventJobReady is used for signaling that a job is done (SetEvent)
+ // as well as for waiting for finishing of a job (WaitForMultipleObjects).
+ // Because it's not known if this process will signal or wait, the event
+ // will be always created here.
+ pszObjectName = ShbIpcGetUniformObjectName (NAME_EVENT_JOB_READY, pszBufferID_p, TRUE);
+ hEventJobReady = CreateEvent (NULL, // LPSECURITY_ATTRIBUTES lpEventAttributes
+ FALSE, // BOOL bManualReset
+ FALSE, // BOOL bInitialState
+ pszObjectName); // LPCTSTR lpName
+ pShbMemInst->m_hEventJobReady = hEventJobReady;
+ ASSERT(pShbMemInst->m_hEventJobReady != NULL);
+
+ if ( fShMemNewCreated )
+ {
+ // this process was the first who wanted to use the shared memory,
+ // so a new shared memory was created
+ // -> setup new header information inside the shared memory region
+ // itself
+ pShbMemHeader->m_SbhMagicID = SBH_MAGIC_ID;
+ pShbMemHeader->m_ulShMemSize = ulShMemSize;
+ pShbMemHeader->m_ulRefCount = 1;
+ strncpy (pShbMemHeader->m_szBufferID, pszBufferID_p, sizeof(pShbMemHeader->m_szBufferID)-1);
+
+ #ifndef NDEBUG
+ {
+ pShbMemHeader->m_ulOwnerProcID = GetCurrentProcessId();
+ }
+ #endif
+ }
+ else
+ {
+ // any other process has created the shared memory and this
+ // process has only attached to it
+ // -> check and update existing header information inside the
+ // shared memory region itself
+ if (pShbMemHeader->m_ulShMemSize != ulShMemSize)
+ {
+ ShbError = kShbOpenMismatch;
+ goto Exit;
+ }
+
+ #ifndef NDEBUG
+ {
+ if ( strncmp(pShbMemHeader->m_szBufferID, pszBufferID_p, sizeof(pShbMemHeader->m_szBufferID)-1) )
+ {
+ ShbError = kShbOpenMismatch;
+ goto Exit;
+ }
+ }
+ #endif
+
+ pShbMemHeader->m_ulRefCount++;
+ }
+
+
+ // set abstarct "handle" for returning to application
+ pShbInstance = (tShbInstance*)pShbMemInst;
+
+
+Exit:
+
+ if (ShbError != kShbOk)
+ {
+ if (pShbMemInst != NULL)
+ {
+ ShbIpcReleasePrivateMem (pShbMemInst);
+ }
+ if (pSharedMem != NULL)
+ {
+ UnmapViewOfFile (pSharedMem);
+ }
+ if (hSharedMem != NULL)
+ {
+ CloseHandle (hSharedMem);
+ }
+ }
+
+ *pfShbNewCreated_p = fShMemNewCreated;
+ *ppShbInstance_p = pShbInstance;
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Release Shared Buffer
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcReleaseBuffer (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+HANDLE hEventNewData;
+HANDLE hMutexBuffAccess;
+tShbError ShbError;
+tShbError ShbError2;
+
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbOk);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbInstance_p);
+
+
+ if ( !--pShbMemHeader->m_ulRefCount )
+ {
+ ShbError = kShbOk;
+ }
+ else
+ {
+ ShbError = kShbMemUsedByOtherProcs;
+ }
+
+
+ ShbError2 = ShbIpcStopSignalingNewData (pShbInstance_p);
+ hEventNewData = pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA];
+ if (hEventNewData != INVALID_HANDLE_VALUE)
+ {
+ CloseHandle (hEventNewData);
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA] = INVALID_HANDLE_VALUE;
+ }
+
+ hMutexBuffAccess = pShbMemInst->m_hMutexBuffAccess;
+ if (hMutexBuffAccess != INVALID_HANDLE_VALUE)
+ {
+ CloseHandle (hMutexBuffAccess);
+ pShbMemInst->m_hMutexBuffAccess = INVALID_HANDLE_VALUE;
+ }
+
+ UnmapViewOfFile (pShbMemHeader);
+ if (pShbMemInst->m_hSharedMem != INVALID_HANDLE_VALUE)
+ {
+ CloseHandle (pShbMemInst->m_hSharedMem);
+ pShbMemInst->m_hSharedMem = INVALID_HANDLE_VALUE;
+ }
+
+ ShbIpcReleasePrivateMem (pShbMemInst);
+
+
+ if (ShbError == kShbOk)
+ {
+ ShbError = ShbError2;
+ }
+
+ return (ShbError);
+
+}
+
+#endif // !defined(SHBIPC_INLINE_ENABLED)
+
+#if (!defined(SHBIPC_INLINED)) || defined(SHBIPC_INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Enter atomic section for Shared Buffer access
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcEnterAtomicSection (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+HANDLE hMutexBuffAccess;
+DWORD dwWaitResult;
+tShbError ShbError;
+
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ ShbError = kShbOk;
+
+ hMutexBuffAccess = pShbMemInst->m_hMutexBuffAccess;
+ if (hMutexBuffAccess != INVALID_HANDLE_VALUE)
+ {
+ dwWaitResult = WaitForSingleObject (hMutexBuffAccess, TIMEOUT_ENTER_ATOMIC);
+ switch (dwWaitResult)
+ {
+ case WAIT_OBJECT_0 + 0:
+ {
+ break;
+ }
+
+ case WAIT_TIMEOUT:
+ {
+ TRACE0("\nShbIpcEnterAtomicSection(): WAIT_TIMEOUT");
+ ASSERT(0);
+ ShbError = kShbBufferInvalid;
+ break;
+ }
+
+ case WAIT_ABANDONED:
+ {
+ TRACE0("\nShbIpcEnterAtomicSection(): WAIT_ABANDONED");
+ ASSERT(0);
+ ShbError = kShbBufferInvalid;
+ break;
+ }
+
+ case WAIT_FAILED:
+ {
+ TRACE1("\nShbIpcEnterAtomicSection(): WAIT_FAILED -> LastError=%ld", GetLastError());
+ ASSERT(0);
+ ShbError = kShbBufferInvalid;
+ break;
+ }
+
+ default:
+ {
+ TRACE1("\nShbIpcEnterAtomicSection(): unknown error -> LastError=%ld", GetLastError());
+ ASSERT(0);
+ ShbError = kShbBufferInvalid;
+ break;
+ }
+ }
+ }
+ else
+ {
+ ShbError = kShbBufferInvalid;
+ }
+
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Leave atomic section for Shared Buffer access
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcLeaveAtomicSection (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+HANDLE hMutexBuffAccess;
+BOOL fRes;
+tShbError ShbError;
+
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ ShbError = kShbOk;
+
+ hMutexBuffAccess = pShbMemInst->m_hMutexBuffAccess;
+ if (hMutexBuffAccess != INVALID_HANDLE_VALUE)
+ {
+ fRes = ReleaseMutex (hMutexBuffAccess);
+ ASSERT( fRes );
+ }
+ else
+ {
+ ShbError = kShbBufferInvalid;
+ }
+
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Start signaling of new data (called from reading process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcStartSignalingNewData (
+ tShbInstance pShbInstance_p,
+ tSigHndlrNewData pfnSignalHandlerNewData_p,
+ tShbPriority ShbPriority_p)
+{
+
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+const char* pszObjectName;
+HANDLE hEventTermRequ;
+HANDLE hEventTermResp;
+HANDLE hThreadNewData;
+unsigned long ulThreadIDNewData;
+tShbError ShbError;
+int iPriority;
+
+ if ((pShbInstance_p == NULL) || (pfnSignalHandlerNewData_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if ( (pShbMemInst->m_hThreadNewData != INVALID_HANDLE_VALUE) ||
+ (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU] != INVALID_HANDLE_VALUE) ||
+ (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] != INVALID_HANDLE_VALUE) ||
+ (pShbMemInst->m_pfnSigHndlrNewData != NULL) )
+ {
+ ShbError = kShbAlreadySignaling;
+ goto Exit;
+ }
+
+
+ pShbMemInst->m_pfnSigHndlrNewData = pfnSignalHandlerNewData_p;
+
+
+ // Because the event <pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA]>
+ // is used for signaling of new data after a write operation too (using
+ // SetEvent), it is always created here (see <ShbIpcAllocBuffer>).
+
+ pszObjectName = ShbIpcGetUniformObjectName (NAME_EVENT_TERM_REQU, pShbMemHeader->m_szBufferID, FALSE);
+ hEventTermRequ = CreateEvent (NULL, // LPSECURITY_ATTRIBUTES lpEventAttributes
+ FALSE, // BOOL bManualReset
+ FALSE, // BOOL bInitialState
+ pszObjectName); // LPCTSTR lpName
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU] = hEventTermRequ;
+ ASSERT(pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU] != NULL);
+
+ pszObjectName = ShbIpcGetUniformObjectName (NAME_EVENT_TERM_RESP, pShbMemHeader->m_szBufferID, FALSE);
+ hEventTermResp = CreateEvent (NULL, // LPSECURITY_ATTRIBUTES lpEventAttributes
+ FALSE, // BOOL bManualReset
+ FALSE, // BOOL bInitialState
+ pszObjectName); // LPCTSTR lpName
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] = hEventTermResp;
+ ASSERT(pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] != NULL);
+
+ hThreadNewData = CreateThread (NULL, // LPSECURITY_ATTRIBUTES lpThreadAttributes
+ 0, // SIZE_T dwStackSize
+ ShbIpcThreadSignalNewData, // LPTHREAD_START_ROUTINE lpStartAddress
+ pShbInstance_p, // LPVOID lpParameter
+ 0, // DWORD dwCreationFlags
+ &ulThreadIDNewData); // LPDWORD lpThreadId
+
+ switch (ShbPriority_p)
+ {
+ case kShbPriorityLow:
+ iPriority = THREAD_PRIORITY_BELOW_NORMAL;
+ break;
+
+ case kShbPriorityNormal:
+ iPriority = THREAD_PRIORITY_NORMAL;
+ break;
+
+ case kshbPriorityHigh:
+ iPriority = THREAD_PRIORITY_ABOVE_NORMAL;
+ break;
+
+ }
+
+ ASSERT(pShbMemInst->m_hThreadNewData != NULL);
+
+ SetThreadPriority(hThreadNewData, iPriority);
+
+ pShbMemInst->m_hThreadNewData = hThreadNewData;
+
+ #ifndef NDEBUG
+ {
+ pShbMemInst->m_ulThreadIDNewData = ulThreadIDNewData;
+ }
+ #endif
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Stop signaling of new data (called from reading process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcStopSignalingNewData (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+HANDLE hEventTermRequ;
+HANDLE hEventTermResp;
+DWORD dwWaitResult;
+
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+
+
+ // terminate new data signaling thread
+ // (set event <hEventTermRequ> to wakeup the thread and dispose it
+ // to exit, then wait for confirmation using event <hEventTermResp>)
+ hEventTermRequ = pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU];
+ hEventTermResp = pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP];
+ if ( (hEventTermRequ != INVALID_HANDLE_VALUE) &&
+ (hEventTermResp != INVALID_HANDLE_VALUE) )
+ {
+ TRACE0("\nShbIpcStopSignalingNewData(): enter wait state");
+ dwWaitResult = SignalObjectAndWait (hEventTermRequ, // HANDLE hObjectToSignal
+ hEventTermResp, // HANDLE hObjectToWaitOn
+ TIMEOUT_TERM_THREAD, // DWORD dwMilliseconds
+ FALSE); // BOOL bAlertable
+ TRACE0("\nShbIpcStopSignalingNewData(): wait state leaved: ---> ");
+ switch (dwWaitResult)
+ {
+ case WAIT_OBJECT_0 + 0: // event "new data signaling thread terminated"
+ {
+ TRACE0("Event = WAIT_OBJECT_0+0");
+ break;
+ }
+
+ default:
+ {
+ TRACE0("Unhandled Event");
+ ASSERT(0);
+ break;
+ }
+ }
+ }
+
+
+ if (pShbMemInst->m_hThreadNewData != INVALID_HANDLE_VALUE)
+ {
+ CloseHandle (pShbMemInst->m_hThreadNewData);
+ pShbMemInst->m_hThreadNewData = INVALID_HANDLE_VALUE;
+ }
+
+ if (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU] != INVALID_HANDLE_VALUE)
+ {
+ CloseHandle (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU]);
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_REQU] = INVALID_HANDLE_VALUE;
+ }
+
+ if (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] != INVALID_HANDLE_VALUE)
+ {
+ CloseHandle (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP]);
+ pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] = INVALID_HANDLE_VALUE;
+ }
+
+ pShbMemInst->m_pfnSigHndlrNewData = NULL;
+
+
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Signal new data (called from writing process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcSignalNewData (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+HANDLE hEventNewData;
+BOOL fRes;
+
+
+ // TRACE0("\nShbIpcSignalNewData(): enter\n");
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+
+ ASSERT(pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA] != INVALID_HANDLE_VALUE);
+ hEventNewData = pShbMemInst->m_ahEventNewData[IDX_EVENT_NEW_DATA];
+ if (hEventNewData != INVALID_HANDLE_VALUE)
+ {
+ fRes = SetEvent (hEventNewData);
+ // TRACE1("\nShbIpcSignalNewData(): EventNewData set (Result=%d)\n", (int)fRes);
+ ASSERT( fRes );
+ }
+
+ // TRACE0("\nShbIpcSignalNewData(): leave\n");
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Start signaling for job ready (called from waiting process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcStartSignalingJobReady (
+ tShbInstance pShbInstance_p,
+ unsigned long ulTimeOut_p,
+ tSigHndlrJobReady pfnSignalHandlerJobReady_p)
+{
+
+tShbMemInst* pShbMemInst;
+tShbMemHeader* pShbMemHeader;
+HANDLE hThreadJobReady;
+unsigned long ulThreadIDJobReady;
+tShbError ShbError;
+
+
+ if ((pShbInstance_p == NULL) || (pfnSignalHandlerJobReady_p == NULL))
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbInstance_p);
+ ShbError = kShbOk;
+
+ if ( (pShbMemInst->m_hThreadJobReady != INVALID_HANDLE_VALUE) ||
+ (pShbMemInst->m_pfnSigHndlrJobReady != NULL) )
+ {
+ ShbError = kShbAlreadySignaling;
+ goto Exit;
+ }
+
+
+ pShbMemInst->m_ulTimeOutJobReady = ulTimeOut_p;
+ pShbMemInst->m_pfnSigHndlrJobReady = pfnSignalHandlerJobReady_p;
+
+
+ // Because the event <pShbMemInst->m_ahEventJobReady> is used for
+ // signaling of a finished job too (using SetEvent), it is always
+ // created here (see <ShbIpcAllocBuffer>).
+
+ hThreadJobReady = CreateThread (NULL, // LPSECURITY_ATTRIBUTES lpThreadAttributes
+ 0, // SIZE_T dwStackSize
+ ShbIpcThreadSignalJobReady, // LPTHREAD_START_ROUTINE lpStartAddress
+ pShbInstance_p, // LPVOID lpParameter
+ 0, // DWORD dwCreationFlags
+ &ulThreadIDJobReady); // LPDWORD lpThreadId
+
+ pShbMemInst->m_hThreadJobReady = hThreadJobReady;
+ ASSERT(pShbMemInst->m_hThreadJobReady != NULL);
+
+ #ifndef NDEBUG
+ {
+ pShbMemInst->m_ulThreadIDJobReady = ulThreadIDJobReady;
+ }
+ #endif
+
+
+Exit:
+
+ return (ShbError);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Signal job ready (called from executing process)
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION tShbError ShbIpcSignalJobReady (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemInst* pShbMemInst;
+HANDLE hEventJobReady;
+BOOL fRes;
+
+
+ // TRACE0("\nShbIpcSignalJobReady(): enter\n");
+
+ if (pShbInstance_p == NULL)
+ {
+ return (kShbInvalidArg);
+ }
+
+
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance_p);
+
+ ASSERT(pShbMemInst->m_hEventJobReady != INVALID_HANDLE_VALUE);
+ hEventJobReady = pShbMemInst->m_hEventJobReady;
+ if (hEventJobReady != INVALID_HANDLE_VALUE)
+ {
+ fRes = SetEvent (hEventJobReady);
+ // TRACE1("\nShbIpcSignalJobReady(): EventJobReady set (Result=%d)\n", (int)fRes);
+ ASSERT( fRes );
+ }
+
+ // TRACE0("\nShbIpcSignalJobReady(): leave\n");
+ return (kShbOk);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Get pointer to common used share memory area
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void* ShbIpcGetShMemPtr (
+ tShbInstance pShbInstance_p)
+{
+
+tShbMemHeader* pShbMemHeader;
+void* pShbShMemPtr;
+
+
+ pShbMemHeader = ShbIpcGetShbMemHeader (pShbInstance_p);
+ if (pShbMemHeader != NULL)
+ {
+ pShbShMemPtr = (BYTE*)pShbMemHeader + sizeof(tShbMemHeader);
+ }
+ else
+ {
+ pShbShMemPtr = NULL;
+ }
+
+ return (pShbShMemPtr);
+
+}
+
+#endif
+
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// Allocate a memory block from process specific mempool
+//---------------------------------------------------------------------------
+
+static void* ShbIpcAllocPrivateMem (
+ unsigned long ulMemSize_p)
+{
+
+HGLOBAL hMem;
+void* pMem;
+
+
+ hMem = GlobalAlloc (GMEM_FIXED, ulMemSize_p+sizeof(HGLOBAL));
+ pMem = GlobalLock (hMem);
+ if (pMem != NULL)
+ {
+ *(HGLOBAL*)pMem = hMem;
+ (BYTE*)pMem += sizeof(HGLOBAL);
+ }
+
+
+ #ifndef NDEBUG
+ {
+ memset (pMem, 0xaa, ulMemSize_p);
+ }
+ #endif
+
+
+ return (pMem);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Release a memory block from process specific mempool
+//---------------------------------------------------------------------------
+
+static void ShbIpcReleasePrivateMem (
+ void* pMem_p)
+{
+
+HGLOBAL hMem;
+
+
+ if (pMem_p == NULL)
+ {
+ return;
+ }
+
+
+ (BYTE*)pMem_p -= sizeof(HGLOBAL);
+ hMem = *(HGLOBAL*)pMem_p;
+
+ GlobalUnlock (hMem);
+ GlobalFree (hMem);
+
+ return;
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Create uniform object name (needed for inter-process communication)
+//---------------------------------------------------------------------------
+
+const char* ShbIpcGetUniformObjectName (
+ const char* pszObjectJobName_p,
+ const char* pszBufferID_p,
+ BOOL fGlobalObject_p)
+{
+
+static char szObjectName[MAX_PATH];
+char szObjectPrefix[MAX_PATH];
+
+
+ if ( fGlobalObject_p )
+ {
+ strncpy (szObjectPrefix, "Global\\", sizeof(szObjectPrefix));
+ }
+ else
+ {
+ _snprintf (szObjectPrefix, sizeof(szObjectPrefix), "PID%08lX_",
+ (unsigned long)GetCurrentProcessId());
+ }
+
+
+ _snprintf (szObjectName, sizeof(szObjectName), "%s%s#%s",
+ szObjectPrefix, pszBufferID_p, pszObjectJobName_p);
+
+
+ return (szObjectName);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Thread for new data signaling
+//---------------------------------------------------------------------------
+
+DWORD WINAPI ShbIpcThreadSignalNewData (
+ LPVOID pvThreadParam_p)
+{
+
+tShbInstance pShbInstance;
+tShbMemInst* pShbMemInst;
+DWORD dwWaitResult;
+BOOL fTermRequ;
+int fCallAgain;
+
+
+ TRACE1("\nShbIpcThreadSignalNewData(): SignalThread started (pShbInstance=0x%08lX)\n", (DWORD)pvThreadParam_p);
+
+ pShbInstance = (tShbMemInst*)pvThreadParam_p;
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance);
+ fTermRequ = FALSE;
+
+ do
+ {
+ ASSERT((pShbMemInst->m_ahEventNewData[0] != INVALID_HANDLE_VALUE) && (pShbMemInst->m_ahEventNewData[0] != NULL));
+ ASSERT((pShbMemInst->m_ahEventNewData[1] != INVALID_HANDLE_VALUE) && (pShbMemInst->m_ahEventNewData[1] != NULL));
+
+ TRACE0("\nShbIpcThreadSignalNewData(): enter wait state");
+ dwWaitResult = WaitForMultipleObjects (2, // DWORD nCount
+ pShbMemInst->m_ahEventNewData, // const HANDLE* lpHandles
+ FALSE, // BOOL bWaitAll
+ INFINITE); // DWORD dwMilliseconds
+ TRACE0("\nShbIpcThreadSignalNewData(): wait state leaved: ---> ");
+ switch (dwWaitResult)
+ {
+ case WAIT_OBJECT_0 + 0: // event "new data"
+ {
+ TRACE0("Event = WAIT_OBJECT_0+0");
+ if (pShbMemInst->m_pfnSigHndlrNewData != NULL)
+ {
+ TRACE0("\nShbIpcThreadSignalNewData(): calling SignalHandlerNewData");
+ do
+ {
+ fCallAgain = pShbMemInst->m_pfnSigHndlrNewData (pShbInstance);
+ // d.k.: try to run any shared buffer which has higher priority.
+ // under Windows this is not really necessary because the Windows scheduler
+ // already preempts tasks with lower priority.
+ } while (fCallAgain != FALSE);
+ }
+ break;
+ }
+
+ case WAIT_OBJECT_0 + 1: // event "terminate"
+ {
+ TRACE0("Event = WAIT_OBJECT_0+1");
+ fTermRequ = TRUE;
+ break;
+ }
+
+ default:
+ {
+ TRACE0("Unhandled Event");
+ ASSERT(0);
+ fTermRequ = TRUE;
+ break;
+ }
+ }
+ }
+ while ( !fTermRequ );
+
+
+ if (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP] != INVALID_HANDLE_VALUE)
+ {
+ SetEvent (pShbMemInst->m_ahEventNewData[IDX_EVENT_TERM_RESP]);
+ }
+
+ TRACE1("\nShbIpcThreadSignalNewData(): SignalThread terminated (pShbInstance=0x%08lX)\n", (DWORD)pShbInstance);
+
+ ExitThread (0);
+
+}
+
+
+
+//---------------------------------------------------------------------------
+// Thread for new data signaling
+//---------------------------------------------------------------------------
+
+DWORD WINAPI ShbIpcThreadSignalJobReady (
+ LPVOID pvThreadParam_p)
+{
+
+tShbInstance* pShbInstance;
+tShbMemInst* pShbMemInst;
+DWORD ulTimeOut;
+DWORD dwWaitResult;
+unsigned int fTimeOut;
+
+
+ TRACE1("\nShbIpcThreadSignalJobReady(): SignalThread started (pShbInstance=0x%08lX)\n", (DWORD)pvThreadParam_p);
+
+
+ pShbInstance = (tShbInstance*)pvThreadParam_p;
+ pShbMemInst = ShbIpcGetShbMemInst (pShbInstance);
+ fTimeOut = FALSE;
+
+ if (pShbMemInst->m_ulTimeOutJobReady != 0)
+ {
+ ulTimeOut = pShbMemInst->m_ulTimeOutJobReady;
+ }
+ else
+ {
+ ulTimeOut = INFINITE;
+ }
+
+ ASSERT((pShbMemInst->m_hEventJobReady != INVALID_HANDLE_VALUE) && (pShbMemInst->m_hEventJobReady != NULL));
+
+ TRACE0("\nShbIpcThreadSignalJobReady(): enter wait state");
+ dwWaitResult = WaitForSingleObject (pShbMemInst->m_hEventJobReady, // HANDLE hHandle
+ ulTimeOut); // DWORD dwMilliseconds
+ TRACE0("\nShbIpcThreadSignalJobReady(): wait state leaved: ---> ");
+ switch (dwWaitResult)
+ {
+ case WAIT_OBJECT_0 + 0: // event "new data"
+ {
+ TRACE0("Event = WAIT_OBJECT_0+0");
+ fTimeOut = FALSE;
+ break;
+ }
+
+ case WAIT_TIMEOUT:
+ {
+ TRACE0("\nEvent = WAIT_TIMEOUT");
+ fTimeOut = TRUE;
+ // ASSERT(0);
+ break;
+ }
+
+ default:
+ {
+ TRACE0("Unhandled Event");
+ fTimeOut = TRUE;
+ ASSERT(0);
+ break;
+ }
+ }
+
+
+ if (pShbMemInst->m_pfnSigHndlrJobReady != NULL)
+ {
+ TRACE0("\nShbIpcThreadSignalJobReady(): calling SignalHandlerJobReady");
+ pShbMemInst->m_pfnSigHndlrJobReady (pShbInstance, fTimeOut);
+ }
+
+
+ pShbMemInst->m_hThreadJobReady = INVALID_HANDLE_VALUE;
+ pShbMemInst->m_pfnSigHndlrJobReady = NULL;
+
+
+ TRACE1("\nShbIpcThreadSignalJobReady(): SignalThread terminated (pShbInstance=0x%08lX)\n", (DWORD)pShbInstance);
+
+ ExitThread (0);
+
+}
+
+#endif
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: Project independend shared buffer (linear + circular)
+
+ Description: Declaration of platform specific part for the
+ shared buffer
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ 2006/06/27 -rs: V 1.00 (initial version)
+
+****************************************************************************/
+
+#ifndef _SHBIPC_H_
+#define _SHBIPC_H_
+
+
+
+//---------------------------------------------------------------------------
+// Type definitions
+//---------------------------------------------------------------------------
+
+typedef int (*tSigHndlrNewData) (tShbInstance pShbInstance_p);
+typedef void (*tSigHndlrJobReady) (tShbInstance pShbInstance_p, unsigned int fTimeOut_p);
+
+
+#if (TARGET_SYSTEM == _WIN32_)
+ #if defined(INLINE_FUNCTION_DEF)
+ #undef INLINE_FUNCTION
+ #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ #define SHBIPC_INLINE_ENABLED TRUE
+ #define SHBIPC_INLINED
+ #include "ShbIpc-Win32.c"
+ #endif
+
+#elif (TARGET_SYSTEM == _LINUX_)
+ #if defined(INLINE_FUNCTION_DEF)
+ #undef INLINE_FUNCTION
+ #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ #define SHBIPC_INLINE_ENABLED TRUE
+ #define SHBIPC_INLINED
+ #include "ShbIpc-LinuxKernel.c"
+ #endif
+#endif
+
+
+//---------------------------------------------------------------------------
+// Prototypes
+//---------------------------------------------------------------------------
+
+tShbError ShbIpcInit (void);
+tShbError ShbIpcExit (void);
+
+tShbError ShbIpcAllocBuffer (unsigned long ulBufferSize_p, const char* pszBufferID_p, tShbInstance* ppShbInstance_p, unsigned int* pfShbNewCreated_p);
+tShbError ShbIpcReleaseBuffer (tShbInstance pShbInstance_p);
+
+#if !defined(SHBIPC_INLINE_ENABLED)
+
+tShbError ShbIpcEnterAtomicSection (tShbInstance pShbInstance_p);
+tShbError ShbIpcLeaveAtomicSection (tShbInstance pShbInstance_p);
+
+tShbError ShbIpcStartSignalingNewData (tShbInstance pShbInstance_p, tSigHndlrNewData pfnSignalHandlerNewData_p, tShbPriority ShbPriority_p);
+tShbError ShbIpcStopSignalingNewData (tShbInstance pShbInstance_p);
+tShbError ShbIpcSignalNewData (tShbInstance pShbInstance_p);
+
+tShbError ShbIpcStartSignalingJobReady (tShbInstance pShbInstance_p, unsigned long ulTimeOut_p, tSigHndlrJobReady pfnSignalHandlerJobReady_p);
+tShbError ShbIpcSignalJobReady (tShbInstance pShbInstance_p);
+
+void* ShbIpcGetShMemPtr (tShbInstance pShbInstance_p);
+#endif
+
+#undef SHBIPC_INLINE_ENABLED // disable actual inlining of functions
+#undef INLINE_FUNCTION
+#define INLINE_FUNCTION // define INLINE_FUNCTION to nothing
+
+#endif // #ifndef _SHBIPC_H_
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: Project independend shared buffer (linear + circular)
+
+ Description: Declaration of platform specific part for the
+ shared buffer
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ 2006/07/20 -rs: V 1.00 (initial version)
+
+****************************************************************************/
+
+#ifndef _SHBLINUXKERNEL_H_
+#define _SHBLINUXKERNEL_H_
+
+struct sShbMemTable{
+ int m_iBufferId;
+ void* m_pBuffer;
+ struct sShbMemTable *m_psNextMemTableElement;
+};
+
+extern struct sShbMemTable *psMemTableElementFirst_g;
+
+#endif // _SHBLINUXKERNEL_H_
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Wrapper for BSD socket API for Linux kernel
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: SocketLinuxKernel.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Dev C++ and GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/08/25 d.k.: start of implementation
+
+****************************************************************************/
+
+
+#include <linux/net.h>
+#include <linux/in.h>
+#include "SocketLinuxKernel.h"
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// Kernel Module specific Data Structures
+//---------------------------------------------------------------------------
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+SOCKET socket(int af, int type, int protocol)
+{
+int rc;
+SOCKET socket;
+
+ rc = sock_create_kern(af, type, protocol, &socket);
+ if (rc < 0)
+ {
+ socket = NULL;
+ goto Exit;
+ }
+
+Exit:
+ return socket;
+}
+
+int bind(SOCKET socket_p, const struct sockaddr *addr, int addrlen)
+{
+int rc;
+
+ rc = socket_p->ops->bind(socket_p,
+ (struct sockaddr *)addr,
+ addrlen);
+
+ return rc;
+}
+
+int closesocket(SOCKET socket_p)
+{
+ sock_release(socket_p);
+
+ return 0;
+}
+
+int recvfrom(SOCKET socket_p, char* buf, int len, int flags, struct sockaddr *from, int * fromlen)
+{
+int rc;
+struct msghdr msg;
+struct kvec iov;
+
+ msg.msg_control = NULL;
+ msg.msg_controllen = 0;
+ msg.msg_name = from; // will be struct sock_addr
+ msg.msg_namelen = *fromlen;
+ iov.iov_len = len;
+ iov.iov_base = buf;
+
+ rc = kernel_recvmsg(socket_p, &msg, &iov, 1, iov.iov_len, 0);
+
+ return rc;
+}
+
+int sendto(SOCKET socket_p, const char* buf, int len, int flags, const struct sockaddr *to, int tolen)
+{
+int rc;
+struct msghdr msg;
+struct kvec iov;
+
+ msg.msg_control = NULL;
+ msg.msg_controllen = 0;
+ msg.msg_name = (struct sockaddr *)to; // will be struct sock_addr
+ msg.msg_namelen = tolen;
+ msg.msg_flags = 0;
+ iov.iov_len = len;
+ iov.iov_base = (char *)buf;
+
+ rc = kernel_sendmsg(socket_p, &msg, &iov, 1, len);
+
+ return rc;
+}
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for BSD socket API for Linux kernel
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: SocketLinuxKernel.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/08/25 d.k.: start of the implementation
+
+
+****************************************************************************/
+
+
+#ifndef _SOCKETLINUXKERNEL_H_
+#define _SOCKETLINUXKERNEL_H_
+
+#include <linux/net.h>
+#include <linux/in.h>
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define INVALID_SOCKET 0
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef struct socket* SOCKET;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+int bind(SOCKET s, const struct sockaddr *addr, int addrlen);
+
+int closesocket(SOCKET s);
+
+int recvfrom(SOCKET s, char* buf, int len, int flags, struct sockaddr *from, int * fromlen);
+
+int sendto(SOCKET s, const char* buf, int len, int flags, const struct sockaddr *to, int tolen);
+
+SOCKET socket(int af, int type, int protocol);
+
+#endif // #ifndef _SOCKETLINUXKERNEL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: target specific implementation of
+ high resolution timer module for X86 under Linux
+ The Linux kernel has to be compiled with high resolution
+ timers enabled. This is done by configuring the kernel
+ with CONFIG_HIGH_RES_TIMERS enabled.
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: TimerHighReskX86.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:38:01 $
+
+ $State: Exp $
+
+ Build Environment:
+ GNU
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+****************************************************************************/
+
+#include "EplInc.h"
+#include "kernel/EplTimerHighResk.h"
+#include "Benchmark.h"
+
+//#include <linux/config.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/hrtimer.h>
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#define TIMER_COUNT 2 /* max 15 timers selectable */
+#define TIMER_MIN_VAL_SINGLE 5000 /* min 5us */
+#define TIMER_MIN_VAL_CYCLE 100000 /* min 100us */
+
+#define PROVE_OVERRUN
+
+
+#ifndef CONFIG_HIGH_RES_TIMERS
+ #error "Kernel symbol CONFIG_HIGH_RES_TIMERS is required."
+#endif
+
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+ #define TGT_DBG_POST_TRACE_VALUE(v)
+#endif
+#define HRT_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \
+ TGT_DBG_POST_TRACE_VALUE((0xE << 28) | (Event_p << 24) \
+ | (uiNodeId_p << 16) | wErrorCode_p)
+
+#define TIMERHDL_MASK 0x0FFFFFFF
+#define TIMERHDL_SHIFT 28
+#define HDL_TO_IDX(Hdl) ((Hdl >> TIMERHDL_SHIFT) - 1)
+#define HDL_INIT(Idx) ((Idx + 1) << TIMERHDL_SHIFT)
+#define HDL_INC(Hdl) (((Hdl + 1) & TIMERHDL_MASK) \
+ | (Hdl & ~TIMERHDL_MASK))
+
+//---------------------------------------------------------------------------
+// modul global types
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ tEplTimerEventArg m_EventArg;
+ tEplTimerkCallback m_pfnCallback;
+ struct hrtimer m_Timer;
+ BOOL m_fContinuously;
+ unsigned long long m_ullPeriod;
+
+} tEplTimerHighReskTimerInfo;
+
+typedef struct
+{
+ tEplTimerHighReskTimerInfo m_aTimerInfo[TIMER_COUNT];
+
+} tEplTimerHighReskInstance;
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+static tEplTimerHighReskInstance EplTimerHighReskInstance_l;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+enum hrtimer_restart EplTimerHighReskCallback (struct hrtimer* pTimer_p);
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimerHighReskInit()
+//
+// Description: initializes the high resolution timer module.
+//
+// Parameters: void
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimerHighReskInit(void)
+{
+tEplKernel Ret;
+
+ Ret = EplTimerHighReskAddInstance();
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimerHighReskAddInstance()
+//
+// Description: initializes the high resolution timer module.
+//
+// Parameters: void
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimerHighReskAddInstance(void)
+{
+tEplKernel Ret;
+unsigned int uiIndex;
+
+ Ret = kEplSuccessful;
+
+ EPL_MEMSET(&EplTimerHighReskInstance_l, 0, sizeof (EplTimerHighReskInstance_l));
+
+#ifndef CONFIG_HIGH_RES_TIMERS
+ printk("EplTimerHighResk: Kernel symbol CONFIG_HIGH_RES_TIMERS is required.\n");
+ Ret = kEplNoResource;
+ return Ret;
+#endif
+
+ /*
+ * Initialize hrtimer structures for all usable timers.
+ */
+ for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++)
+ {
+ tEplTimerHighReskTimerInfo* pTimerInfo;
+ struct hrtimer* pTimer;
+
+ pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex];
+ pTimer = &pTimerInfo->m_Timer;
+ hrtimer_init(pTimer, CLOCK_MONOTONIC, HRTIMER_MODE_ABS);
+
+ pTimer->function = EplTimerHighReskCallback;
+
+ /*
+ * We use HRTIMER_CB_SOFTIRQ here.
+ * HRTIMER_CB_IRQSAFE is critical as the callback function
+ * would be called with IRQs disabled.
+ */
+ pTimer->cb_mode = HRTIMER_CB_SOFTIRQ;
+ }
+
+ return Ret;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimerHighReskDelInstance()
+//
+// Description: shuts down the high resolution timer module.
+//
+// Parameters: void
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimerHighReskDelInstance(void)
+{
+tEplTimerHighReskTimerInfo* pTimerInfo;
+tEplKernel Ret;
+unsigned int uiIndex;
+
+ Ret = kEplSuccessful;
+
+ for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++)
+ {
+ pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[0];
+ pTimerInfo->m_pfnCallback = NULL;
+ pTimerInfo->m_EventArg.m_TimerHdl = 0;
+ /*
+ * In this case we can not just try to cancel the timer.
+ * We actually have to wait until its callback function
+ * has returned.
+ */
+ hrtimer_cancel(&pTimerInfo->m_Timer);
+ }
+
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimerHighReskModifyTimerNs()
+//
+// Description: modifies the timeout of the timer with the specified handle.
+// If the handle the pointer points to is zero, the timer must
+// be created first.
+// If it is not possible to stop the old timer,
+// this function always assures that the old timer does not
+// trigger the callback function with the same handle as the new
+// timer. That means the callback function must check the passed
+// handle with the one returned by this function. If these are
+// unequal, the call can be discarded.
+//
+// Parameters: pTimerHdl_p = pointer to timer handle
+// ullTimeNs_p = relative timeout in [ns]
+// pfnCallback_p = callback function, which is called mutual
+// exclusive with the Edrv callback functions
+// (Rx and Tx).
+// ulArgument_p = user-specific argument
+// fContinuously_p = if TRUE, callback function will be called
+// continuously;
+// otherwise, it is a oneshot timer.
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimerHighReskModifyTimerNs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long long ullTimeNs_p,
+ tEplTimerkCallback pfnCallback_p,
+ unsigned long ulArgument_p,
+ BOOL fContinuously_p)
+{
+tEplKernel Ret;
+unsigned int uiIndex;
+tEplTimerHighReskTimerInfo* pTimerInfo;
+ktime_t RelTime;
+
+ Ret = kEplSuccessful;
+
+ // check pointer to handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ if (*pTimerHdl_p == 0)
+ { // no timer created yet
+
+ // search free timer info structure
+ pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[0];
+ for (uiIndex = 0; uiIndex < TIMER_COUNT; uiIndex++, pTimerInfo++)
+ {
+ if (pTimerInfo->m_EventArg.m_TimerHdl == 0)
+ { // free structure found
+ break;
+ }
+ }
+ if (uiIndex >= TIMER_COUNT)
+ { // no free structure found
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+ pTimerInfo->m_EventArg.m_TimerHdl = HDL_INIT(uiIndex);
+ }
+ else
+ {
+ uiIndex = HDL_TO_IDX(*pTimerHdl_p);
+ if (uiIndex >= TIMER_COUNT)
+ { // invalid handle
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex];
+ }
+
+ /*
+ * increment timer handle
+ * (if timer expires right after this statement, the user
+ * would detect an unknown timer handle and discard it)
+ */
+ pTimerInfo->m_EventArg.m_TimerHdl = HDL_INC(pTimerInfo->m_EventArg.m_TimerHdl);
+ *pTimerHdl_p = pTimerInfo->m_EventArg.m_TimerHdl;
+
+ // reject too small time values
+ if ( (fContinuously_p && (ullTimeNs_p < TIMER_MIN_VAL_CYCLE))
+ || (!fContinuously_p && (ullTimeNs_p < TIMER_MIN_VAL_SINGLE)) )
+ {
+ Ret = kEplTimerNoTimerCreated;
+ goto Exit;
+ }
+
+ pTimerInfo->m_EventArg.m_ulArg = ulArgument_p;
+ pTimerInfo->m_pfnCallback = pfnCallback_p;
+ pTimerInfo->m_fContinuously = fContinuously_p;
+ pTimerInfo->m_ullPeriod = ullTimeNs_p;
+
+ /*
+ * HRTIMER_MODE_REL does not influence general handling of this timer.
+ * It only sets relative mode for this start operation.
+ * -> Expire time is calculated by: Now + RelTime
+ * hrtimer_start also skips pending timer events.
+ * The state HRTIMER_STATE_CALLBACK is ignored.
+ * We have to cope with that in our callback function.
+ */
+ RelTime = ktime_add_ns(ktime_set(0,0), ullTimeNs_p);
+ hrtimer_start(&pTimerInfo->m_Timer, RelTime, HRTIMER_MODE_REL);
+
+Exit:
+ return Ret;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimerHighReskDeleteTimer()
+//
+// Description: deletes the timer with the specified handle. Afterward the
+// handle is set to zero.
+//
+// Parameters: pTimerHdl_p = pointer to timer handle
+//
+// Return: tEplKernel = error code
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimerHighReskDeleteTimer(tEplTimerHdl* pTimerHdl_p)
+{
+tEplKernel Ret = kEplSuccessful;
+unsigned int uiIndex;
+tEplTimerHighReskTimerInfo* pTimerInfo;
+
+ // check pointer to handle
+ if(pTimerHdl_p == NULL)
+ {
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+
+ if (*pTimerHdl_p == 0)
+ { // no timer created yet
+ goto Exit;
+ }
+ else
+ {
+ uiIndex = HDL_TO_IDX(*pTimerHdl_p);
+ if (uiIndex >= TIMER_COUNT)
+ { // invalid handle
+ Ret = kEplTimerInvalidHandle;
+ goto Exit;
+ }
+ pTimerInfo = &EplTimerHighReskInstance_l.m_aTimerInfo[uiIndex];
+ if (pTimerInfo->m_EventArg.m_TimerHdl != *pTimerHdl_p)
+ { // invalid handle
+ goto Exit;
+ }
+ }
+
+ *pTimerHdl_p = 0;
+ pTimerInfo->m_EventArg.m_TimerHdl = 0;
+ pTimerInfo->m_pfnCallback = NULL;
+
+ /*
+ * Three return cases of hrtimer_try_to_cancel have to be tracked:
+ * 1 - timer has been removed
+ * 0 - timer was not active
+ * We need not do anything. hrtimer timers just consist of
+ * a hrtimer struct, which we might enqueue in the hrtimers
+ * event list by calling hrtimer_start().
+ * If a timer is not enqueued, it is not present in hrtimers.
+ * -1 - callback function is running
+ * In this case we have to ensure that the timer is not
+ * continuously restarted. This has been done by clearing
+ * its handle.
+ */
+ hrtimer_try_to_cancel(&pTimerInfo->m_Timer);
+
+Exit:
+ return Ret;
+
+}
+
+
+
+//---------------------------------------------------------------------------
+//
+// Function: EplTimerHighReskCallback()
+//
+// Description: Callback function commonly used for all timers.
+//
+// Parameters: pTimer_p = pointer to hrtimer
+//
+// Return:
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+enum hrtimer_restart EplTimerHighReskCallback (struct hrtimer* pTimer_p)
+{
+unsigned int uiIndex;
+tEplTimerHighReskTimerInfo* pTimerInfo;
+tEplTimerHdl OrgTimerHdl;
+enum hrtimer_restart Ret;
+
+ BENCHMARK_MOD_24_SET(4);
+
+ Ret = HRTIMER_NORESTART;
+ pTimerInfo = container_of(pTimer_p, tEplTimerHighReskTimerInfo, m_Timer);
+ uiIndex = HDL_TO_IDX(pTimerInfo->m_EventArg.m_TimerHdl);
+ if (uiIndex >= TIMER_COUNT)
+ { // invalid handle
+ goto Exit;
+ }
+
+ /*
+ * We store the timer handle before calling the callback function
+ * as the timer can be modified inside it.
+ */
+ OrgTimerHdl = pTimerInfo->m_EventArg.m_TimerHdl;
+
+ if (pTimerInfo->m_pfnCallback != NULL)
+ {
+ pTimerInfo->m_pfnCallback(&pTimerInfo->m_EventArg);
+ }
+
+ if (pTimerInfo->m_fContinuously)
+ {
+ ktime_t Interval;
+#ifdef PROVE_OVERRUN
+ ktime_t Now;
+ unsigned long Overruns;
+#endif
+
+ if (OrgTimerHdl != pTimerInfo->m_EventArg.m_TimerHdl)
+ {
+ /* modified timer has already been restarted */
+ goto Exit;
+ }
+
+#ifdef PROVE_OVERRUN
+ Now = ktime_get();
+ Interval = ktime_add_ns(ktime_set(0,0), pTimerInfo->m_ullPeriod);
+ Overruns = hrtimer_forward(pTimer_p, Now, Interval);
+ if (Overruns > 1)
+ {
+ printk("EplTimerHighResk: Continuous timer (handle 0x%lX) had to skip %lu interval(s)!\n", pTimerInfo->m_EventArg.m_TimerHdl, Overruns-1);
+ }
+#else
+ pTimer_p->expires = ktime_add_ns(pTimer_p->expires,
+ pTimerInfo->m_ullPeriod);
+#endif
+
+ Ret = HRTIMER_RESTART;
+ }
+
+Exit:
+ BENCHMARK_MOD_24_RESET(4);
+ return Ret;
+}
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Virtual Ethernet Driver for Linux
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: VirtualEthernetLinux.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/11/20 17:06:51 $
+
+ $State: Exp $
+
+ Build Environment:
+
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/12 -ar: start of the implementation, version 1.00
+
+ 2006/09/18 d.k.: integration into EPL DLLk module
+
+ ToDo:
+
+ void netif_carrier_off(struct net_device *dev);
+ void netif_carrier_on(struct net_device *dev);
+
+****************************************************************************/
+
+
+#include <linux/version.h>
+#include <linux/module.h>
+#include <linux/netdevice.h>
+#include <linux/etherdevice.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/if_arp.h>
+#include <net/arp.h>
+
+#include <net/protocol.h>
+#include <net/pkt_sched.h>
+#include <linux/if_ether.h>
+#include <linux/in.h>
+#include <linux/ip.h>
+#include <linux/udp.h>
+#include <linux/mm.h>
+#include <linux/types.h>
+#include <linux/skbuff.h> /* for struct sk_buff */
+
+#include "kernel/VirtualEthernet.h"
+#include "kernel/EplDllkCal.h"
+#include "kernel/EplDllk.h"
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef EPL_VETH_TX_TIMEOUT
+//#define EPL_VETH_TX_TIMEOUT (2*HZ)
+#define EPL_VETH_TX_TIMEOUT 0 // d.k.: we use no timeout
+#endif
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+static struct net_device * pVEthNetDevice_g = NULL;
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static int VEthOpen(struct net_device *pNetDevice_p);
+static int VEthClose(struct net_device *pNetDevice_p);
+static int VEthXmit(struct sk_buff *pSkb_p, struct net_device *pNetDevice_p);
+static struct net_device_stats* VEthGetStats(struct net_device *pNetDevice_p);
+static void VEthTimeout(struct net_device *pNetDevice_p);
+static tEplKernel VEthRecvFrame(tEplFrameInfo * pFrameInfo_p);
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+static int VEthOpen(struct net_device *pNetDevice_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ //open the device
+// struct net_device_stats* pStats = (struct net_device_stats*)pNetDevice_p->priv;
+
+ //start the interface queue for the network subsystem
+ netif_start_queue(pNetDevice_p);
+
+ // register callback function in DLL
+ Ret = EplDllkRegAsyncHandler(VEthRecvFrame);
+
+ EPL_DBGLVL_VETH_TRACE1("VEthOpen: EplDllkRegAsyncHandler returned 0x%02X\n", Ret);
+
+ return 0;
+}
+
+static int VEthClose(struct net_device *pNetDevice_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ EPL_DBGLVL_VETH_TRACE0("VEthClose\n");
+
+ Ret = EplDllkDeregAsyncHandler(VEthRecvFrame);
+
+ //stop the interface queue for the network subsystem
+ netif_stop_queue(pNetDevice_p);
+ return 0;
+}
+
+
+static int VEthXmit(struct sk_buff *pSkb_p, struct net_device *pNetDevice_p)
+{
+tEplKernel Ret = kEplSuccessful;
+tEplFrameInfo FrameInfo;
+
+ //transmit function
+ struct net_device_stats* pStats = (struct net_device_stats*)pNetDevice_p->priv;
+
+ //save timestemp
+ pNetDevice_p->trans_start = jiffies;
+
+ FrameInfo.m_pFrame = (tEplFrame *)pSkb_p->data;
+ FrameInfo.m_uiFrameSize = pSkb_p->len;
+
+ //call send fkt on DLL
+ Ret = EplDllkCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
+ if (Ret != kEplSuccessful)
+ {
+ EPL_DBGLVL_VETH_TRACE1("VEthXmit: EplDllkCalAsyncSend returned 0x%02X\n", Ret);
+ netif_stop_queue(pNetDevice_p);
+ goto Exit;
+ }
+ else
+ {
+ EPL_DBGLVL_VETH_TRACE0("VEthXmit: frame passed to DLL\n");
+ dev_kfree_skb(pSkb_p);
+
+ //set stats for the device
+ pStats->tx_packets++;
+ pStats->tx_bytes += FrameInfo.m_uiFrameSize;
+ }
+
+Exit:
+ return 0;
+
+}
+
+
+static struct net_device_stats* VEthGetStats(struct net_device *pNetDevice_p)
+{
+ EPL_DBGLVL_VETH_TRACE0("VEthGetStats\n");
+
+ return (struct net_device_stats *)pNetDevice_p->priv;
+}
+
+
+
+static void VEthTimeout(struct net_device *pNetDevice_p)
+{
+ EPL_DBGLVL_VETH_TRACE0("VEthTimeout(\n");
+
+ // $$$ d.k.: move to extra function, which is called by DLL when new space is available in TxFifo
+ if (netif_queue_stopped (pNetDevice_p))
+ {
+ netif_wake_queue (pNetDevice_p);
+ }
+}
+
+
+
+static tEplKernel VEthRecvFrame(tEplFrameInfo * pFrameInfo_p)
+{
+tEplKernel Ret = kEplSuccessful;
+ struct net_device* pNetDevice = pVEthNetDevice_g;
+ struct net_device_stats* pStats = (struct net_device_stats*)pNetDevice->priv;
+ struct sk_buff *pSkb;
+
+ EPL_DBGLVL_VETH_TRACE1("VEthRecvFrame: FrameSize=%u\n", pFrameInfo_p->m_uiFrameSize);
+
+ pSkb = dev_alloc_skb(pFrameInfo_p->m_uiFrameSize + 2);
+ if (pSkb == NULL)
+ {
+ pStats->rx_dropped++;
+ goto Exit;
+ }
+ pSkb->dev = pNetDevice;
+
+ skb_reserve(pSkb, 2);
+
+ memcpy((void *)skb_put(pSkb, pFrameInfo_p->m_uiFrameSize), pFrameInfo_p->m_pFrame, pFrameInfo_p->m_uiFrameSize);
+
+ pSkb->protocol = eth_type_trans(pSkb, pNetDevice);
+ pSkb->ip_summed = CHECKSUM_UNNECESSARY;
+
+ // call netif_rx with skb
+ netif_rx(pSkb);
+
+ EPL_DBGLVL_VETH_TRACE1("VEthRecvFrame: SrcMAC=0x%llx\n", AmiGetQword48FromBe(pFrameInfo_p->m_pFrame->m_be_abSrcMac));
+
+ // update receive statistics
+ pStats->rx_packets++;
+ pStats->rx_bytes += pFrameInfo_p->m_uiFrameSize;
+
+Exit:
+ return Ret;
+}
+
+
+tEplKernel PUBLIC VEthAddInstance(tEplDllkInitParam * pInitParam_p)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ // allocate net device structure with priv pointing to stats structure
+ pVEthNetDevice_g = alloc_netdev(sizeof (struct net_device_stats), EPL_VETH_NAME, ether_setup);
+// pVEthNetDevice_g = alloc_etherdev(sizeof (struct net_device_stats));
+
+ if (pVEthNetDevice_g == NULL)
+ {
+ Ret = kEplNoResource;
+ goto Exit;
+ }
+
+ pVEthNetDevice_g->open = VEthOpen;
+ pVEthNetDevice_g->stop = VEthClose;
+ pVEthNetDevice_g->get_stats = VEthGetStats;
+ pVEthNetDevice_g->hard_start_xmit = VEthXmit;
+ pVEthNetDevice_g->tx_timeout = VEthTimeout;
+ pVEthNetDevice_g->watchdog_timeo = EPL_VETH_TX_TIMEOUT;
+ pVEthNetDevice_g->destructor = free_netdev;
+
+ // copy own MAC address to net device structure
+ memcpy(pVEthNetDevice_g->dev_addr, pInitParam_p->m_be_abSrcMac, 6);
+
+ //register VEth to the network subsystem
+ if (register_netdev(pVEthNetDevice_g))
+ {
+ EPL_DBGLVL_VETH_TRACE0("VEthAddInstance: Could not register VEth...\n");
+ }
+ else
+ {
+ EPL_DBGLVL_VETH_TRACE0("VEthAddInstance: Register VEth successfull...\n");
+ }
+
+Exit:
+ return Ret;
+}
+
+
+tEplKernel PUBLIC VEthDelInstance(void)
+{
+tEplKernel Ret = kEplSuccessful;
+
+ if (pVEthNetDevice_g != NULL)
+ {
+ //unregister VEth from the network subsystem
+ unregister_netdev(pVEthNetDevice_g);
+ // destructor was set to free_netdev,
+ // so we do not need to call free_netdev here
+ pVEthNetDevice_g = NULL;
+ }
+
+ return Ret;
+}
+
+#endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: Abstract Memory Interface for x86 compatible
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: amix86.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ ...
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ r.s.: first implemetation
+
+ 2006-06-13 d.k.: duplicate functions for little endian and big endian
+
+****************************************************************************/
+
+//#include "global.h"
+//#include "EplAmi.h"
+#include "EplInc.h"
+
+#if (!defined(EPL_AMI_INLINED)) || defined(INLINE_ENABLED)
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ WORD m_wWord;
+
+} twStruct;
+
+typedef struct
+{
+ DWORD m_dwDword;
+
+} tdwStruct;
+
+typedef struct
+{
+ QWORD m_qwQword;
+
+} tqwStruct;
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetXXXToBe()
+//
+// Description: writes the specified value to the absolute address in
+// big endian
+//
+// Parameters: pAddr_p = absolute address
+// xXXXVal_p = value
+//
+// Returns: (none)
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+//------------< write BYTE in big endian >--------------------------
+/*
+void PUBLIC AmiSetByteToBe (void FAR* pAddr_p, BYTE bByteVal_p)
+{
+
+ *(BYTE FAR*)pAddr_p = bByteVal_p;
+
+}
+*/
+
+
+
+//------------< write WORD in big endian >--------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetWordToBe (void FAR* pAddr_p, WORD wWordVal_p)
+{
+twStruct FAR* pwStruct;
+twStruct wValue;
+
+ wValue.m_wWord = (WORD)((wWordVal_p & 0x00FF) << 8); //LSB to MSB
+ wValue.m_wWord |= (WORD)((wWordVal_p & 0xFF00) >> 8); //MSB to LSB
+
+ pwStruct = (twStruct FAR*)pAddr_p;
+ pwStruct->m_wWord = wValue.m_wWord;
+
+}
+
+
+
+//------------< write DWORD in big endian >-------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetDwordToBe (void FAR* pAddr_p, DWORD dwDwordVal_p)
+{
+tdwStruct FAR* pdwStruct;
+tdwStruct dwValue;
+
+
+ dwValue.m_dwDword = ((dwDwordVal_p & 0x000000FF)<<24); //LSB to MSB
+ dwValue.m_dwDword|= ((dwDwordVal_p & 0x0000FF00)<<8);
+ dwValue.m_dwDword|= ((dwDwordVal_p & 0x00FF0000)>>8 );
+ dwValue.m_dwDword|= ((dwDwordVal_p & 0xFF000000)>>24); //MSB to LSB
+
+ pdwStruct = (tdwStruct FAR*)pAddr_p;
+ pdwStruct->m_dwDword = dwValue.m_dwDword;
+
+}
+
+
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetXXXToLe()
+//
+// Description: writes the specified value to the absolute address in
+// little endian
+//
+// Parameters: pAddr_p = absolute address
+// xXXXVal_p = value
+//
+// Returns: (none)
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+//------------< write BYTE in little endian >--------------------------
+/*
+void PUBLIC AmiSetByteToLe (void FAR* pAddr_p, BYTE bByteVal_p)
+{
+
+ *(BYTE FAR*)pAddr_p = bByteVal_p;
+
+}
+*/
+
+
+
+//------------< write WORD in little endian >--------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetWordToLe (void FAR* pAddr_p, WORD wWordVal_p)
+{
+twStruct FAR* pwStruct;
+
+ pwStruct = (twStruct FAR*)pAddr_p;
+ pwStruct->m_wWord = wWordVal_p;
+
+}
+
+
+
+//------------< write DWORD in little endian >-------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetDwordToLe (void FAR* pAddr_p, DWORD dwDwordVal_p)
+{
+tdwStruct FAR* pdwStruct;
+
+ pdwStruct = (tdwStruct FAR*)pAddr_p;
+ pdwStruct->m_dwDword = dwDwordVal_p;
+
+}
+
+
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetXXXFromBe()
+//
+// Description: reads the specified value from the absolute address in
+// big endian
+//
+// Parameters: pAddr_p = absolute address
+//
+// Returns: XXX = value
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+//------------< read BYTE in big endian >---------------------------
+/*
+BYTE PUBLIC AmiGetByteFromBe (void FAR* pAddr_p)
+{
+
+ return ( *(BYTE FAR*)pAddr_p );
+
+}
+*/
+
+
+
+//------------< read WORD in big endian >---------------------------
+
+INLINE_FUNCTION WORD PUBLIC AmiGetWordFromBe (void FAR* pAddr_p)
+{
+twStruct FAR* pwStruct;
+twStruct wValue;
+
+ pwStruct = (twStruct FAR*)pAddr_p;
+
+ wValue.m_wWord = (WORD)((pwStruct->m_wWord & 0x00FF) << 8); //LSB to MSB
+ wValue.m_wWord |= (WORD)((pwStruct->m_wWord & 0xFF00) >> 8); //MSB to LSB
+
+ return ( wValue.m_wWord );
+
+}
+
+
+
+
+//------------< read DWORD in big endian >--------------------------
+
+INLINE_FUNCTION DWORD PUBLIC AmiGetDwordFromBe (void FAR* pAddr_p)
+{
+tdwStruct FAR* pdwStruct;
+tdwStruct dwValue;
+
+ pdwStruct = (tdwStruct FAR*)pAddr_p;
+
+ dwValue.m_dwDword = ((pdwStruct->m_dwDword & 0x000000FF)<<24); //LSB to MSB
+ dwValue.m_dwDword|= ((pdwStruct->m_dwDword & 0x0000FF00)<<8);
+ dwValue.m_dwDword|= ((pdwStruct->m_dwDword & 0x00FF0000)>>8 );
+ dwValue.m_dwDword|= ((pdwStruct->m_dwDword & 0xFF000000)>>24); //MSB to LSB
+
+ return ( dwValue.m_dwDword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetXXXFromLe()
+//
+// Description: reads the specified value from the absolute address in
+// little endian
+//
+// Parameters: pAddr_p = absolute address
+//
+// Returns: XXX = value
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+//------------< read BYTE in little endian >---------------------------
+/*
+BYTE PUBLIC AmiGetByteFromLe (void FAR* pAddr_p)
+{
+
+ return ( *(BYTE FAR*)pAddr_p );
+
+}
+*/
+
+
+
+//------------< read WORD in little endian >---------------------------
+
+INLINE_FUNCTION WORD PUBLIC AmiGetWordFromLe (void FAR* pAddr_p)
+{
+twStruct FAR* pwStruct;
+
+ pwStruct = (twStruct FAR*)pAddr_p;
+ return ( pwStruct->m_wWord );
+
+}
+
+
+
+
+//------------< read DWORD in little endian >--------------------------
+
+INLINE_FUNCTION DWORD PUBLIC AmiGetDwordFromLe (void FAR* pAddr_p)
+{
+tdwStruct FAR* pdwStruct;
+
+ pdwStruct = (tdwStruct FAR*)pAddr_p;
+ return ( pdwStruct->m_dwDword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetDword24ToBe()
+//
+// Description: sets a 24 bit value to a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// dwDwordVal_p = value to set
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetDword24ToBe (void FAR* pAddr_p, DWORD dwDwordVal_p)
+{
+
+ ((BYTE FAR*) pAddr_p)[0] = ((BYTE FAR*) &dwDwordVal_p)[2];
+ ((BYTE FAR*) pAddr_p)[1] = ((BYTE FAR*) &dwDwordVal_p)[1];
+ ((BYTE FAR*) pAddr_p)[2] = ((BYTE FAR*) &dwDwordVal_p)[0];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetDword24ToLe()
+//
+// Description: sets a 24 bit value to a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// dwDwordVal_p = value to set
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetDword24ToLe (void FAR* pAddr_p, DWORD dwDwordVal_p)
+{
+
+ ((BYTE FAR*) pAddr_p)[0] = ((BYTE FAR*) &dwDwordVal_p)[0];
+ ((BYTE FAR*) pAddr_p)[1] = ((BYTE FAR*) &dwDwordVal_p)[1];
+ ((BYTE FAR*) pAddr_p)[2] = ((BYTE FAR*) &dwDwordVal_p)[2];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetDword24FromBe()
+//
+// Description: reads a 24 bit value from a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: DWORD = read value
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION DWORD PUBLIC AmiGetDword24FromBe (void FAR* pAddr_p)
+{
+
+tdwStruct dwStruct;
+
+ dwStruct.m_dwDword = AmiGetDwordFromBe (pAddr_p);
+ dwStruct.m_dwDword >>= 8;
+
+ return ( dwStruct.m_dwDword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetDword24FromLe()
+//
+// Description: reads a 24 bit value from a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: DWORD = read value
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION DWORD PUBLIC AmiGetDword24FromLe (void FAR* pAddr_p)
+{
+
+tdwStruct dwStruct;
+
+ dwStruct.m_dwDword = AmiGetDwordFromLe (pAddr_p);
+ dwStruct.m_dwDword &= 0x00FFFFFF;
+
+ return ( dwStruct.m_dwDword );
+
+}
+
+
+//#ifdef USE_VAR64
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword64ToBe()
+//
+// Description: sets a 64 bit value to a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword64ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((BYTE FAR*) pAddr_p)[0] = ((BYTE FAR*) &qwQwordVal_p)[7];
+ ((BYTE FAR*) pAddr_p)[1] = ((BYTE FAR*) &qwQwordVal_p)[6];
+ ((BYTE FAR*) pAddr_p)[2] = ((BYTE FAR*) &qwQwordVal_p)[5];
+ ((BYTE FAR*) pAddr_p)[3] = ((BYTE FAR*) &qwQwordVal_p)[4];
+ ((BYTE FAR*) pAddr_p)[4] = ((BYTE FAR*) &qwQwordVal_p)[3];
+ ((BYTE FAR*) pAddr_p)[5] = ((BYTE FAR*) &qwQwordVal_p)[2];
+ ((BYTE FAR*) pAddr_p)[6] = ((BYTE FAR*) &qwQwordVal_p)[1];
+ ((BYTE FAR*) pAddr_p)[7] = ((BYTE FAR*) &qwQwordVal_p)[0];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword64ToLe()
+//
+// Description: sets a 64 bit value to a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword64ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+QWORD FAR* pqwDst;
+
+ pqwDst = (QWORD FAR*) pAddr_p;
+ *pqwDst = qwQwordVal_p;
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword64FromBe()
+//
+// Description: reads a 64 bit value from a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword64FromBe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ ((BYTE FAR*) &qwStruct.m_qwQword)[0] = ((BYTE FAR*) pAddr_p)[7];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[1] = ((BYTE FAR*) pAddr_p)[6];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[2] = ((BYTE FAR*) pAddr_p)[5];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[3] = ((BYTE FAR*) pAddr_p)[4];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[4] = ((BYTE FAR*) pAddr_p)[3];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[5] = ((BYTE FAR*) pAddr_p)[2];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[6] = ((BYTE FAR*) pAddr_p)[1];
+ ((BYTE FAR*) &qwStruct.m_qwQword)[7] = ((BYTE FAR*) pAddr_p)[0];
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword64FromLe()
+//
+// Description: reads a 64 bit value from a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword64FromLe (void FAR* pAddr_p)
+{
+
+tqwStruct FAR* pqwStruct;
+tqwStruct qwStruct;
+
+ pqwStruct = (tqwStruct FAR*) pAddr_p;
+ qwStruct.m_qwQword = pqwStruct->m_qwQword;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword40ToBe()
+//
+// Description: sets a 40 bit value to a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword40ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((BYTE FAR*) pAddr_p)[0] = ((BYTE FAR*) &qwQwordVal_p)[4];
+ ((BYTE FAR*) pAddr_p)[1] = ((BYTE FAR*) &qwQwordVal_p)[3];
+ ((BYTE FAR*) pAddr_p)[2] = ((BYTE FAR*) &qwQwordVal_p)[2];
+ ((BYTE FAR*) pAddr_p)[3] = ((BYTE FAR*) &qwQwordVal_p)[1];
+ ((BYTE FAR*) pAddr_p)[4] = ((BYTE FAR*) &qwQwordVal_p)[0];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword40ToLe()
+//
+// Description: sets a 40 bit value to a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword40ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((DWORD FAR*) pAddr_p)[0] = ((DWORD FAR*) &qwQwordVal_p)[0];
+ ((BYTE FAR*) pAddr_p)[4] = ((BYTE FAR*) &qwQwordVal_p)[4];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword40FromBe()
+//
+// Description: reads a 40 bit value from a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword40FromBe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ qwStruct.m_qwQword = AmiGetQword64FromBe (pAddr_p);
+ qwStruct.m_qwQword >>= 24;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword40FromLe()
+//
+// Description: reads a 40 bit value from a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword40FromLe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ qwStruct.m_qwQword = AmiGetQword64FromLe (pAddr_p);
+ qwStruct.m_qwQword &= 0x000000FFFFFFFFFFLL;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword48ToBe()
+//
+// Description: sets a 48 bit value to a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword48ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((BYTE FAR*) pAddr_p)[0] = ((BYTE FAR*) &qwQwordVal_p)[5];
+ ((BYTE FAR*) pAddr_p)[1] = ((BYTE FAR*) &qwQwordVal_p)[4];
+ ((BYTE FAR*) pAddr_p)[2] = ((BYTE FAR*) &qwQwordVal_p)[3];
+ ((BYTE FAR*) pAddr_p)[3] = ((BYTE FAR*) &qwQwordVal_p)[2];
+ ((BYTE FAR*) pAddr_p)[4] = ((BYTE FAR*) &qwQwordVal_p)[1];
+ ((BYTE FAR*) pAddr_p)[5] = ((BYTE FAR*) &qwQwordVal_p)[0];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword48ToLe()
+//
+// Description: sets a 48 bit value to a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword48ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((DWORD FAR*) pAddr_p)[0] = ((DWORD FAR*) &qwQwordVal_p)[0];
+ ((WORD FAR*) pAddr_p)[2] = ((WORD FAR*) &qwQwordVal_p)[2];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword48FromBe()
+//
+// Description: reads a 48 bit value from a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword48FromBe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ qwStruct.m_qwQword = AmiGetQword64FromBe (pAddr_p);
+ qwStruct.m_qwQword >>= 16;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword48FromLe()
+//
+// Description: reads a 48 bit value from a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword48FromLe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ qwStruct.m_qwQword = AmiGetQword64FromLe (pAddr_p);
+ qwStruct.m_qwQword &= 0x0000FFFFFFFFFFFFLL;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword56ToBe()
+//
+// Description: sets a 56 bit value to a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword56ToBe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((BYTE FAR*) pAddr_p)[0] = ((BYTE FAR*) &qwQwordVal_p)[6];
+ ((BYTE FAR*) pAddr_p)[1] = ((BYTE FAR*) &qwQwordVal_p)[5];
+ ((BYTE FAR*) pAddr_p)[2] = ((BYTE FAR*) &qwQwordVal_p)[4];
+ ((BYTE FAR*) pAddr_p)[3] = ((BYTE FAR*) &qwQwordVal_p)[3];
+ ((BYTE FAR*) pAddr_p)[4] = ((BYTE FAR*) &qwQwordVal_p)[2];
+ ((BYTE FAR*) pAddr_p)[5] = ((BYTE FAR*) &qwQwordVal_p)[1];
+ ((BYTE FAR*) pAddr_p)[6] = ((BYTE FAR*) &qwQwordVal_p)[0];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetQword56ToLe()
+//
+// Description: sets a 56 bit value to a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// qwQwordVal_p = quadruple word value
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetQword56ToLe (void FAR* pAddr_p, QWORD qwQwordVal_p)
+{
+
+ ((DWORD FAR*) pAddr_p)[0] = ((DWORD FAR*) &qwQwordVal_p)[0];
+ ((WORD FAR*) pAddr_p)[2] = ((WORD FAR*) &qwQwordVal_p)[2];
+ ((BYTE FAR*) pAddr_p)[6] = ((BYTE FAR*) &qwQwordVal_p)[6];
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword56FromBe()
+//
+// Description: reads a 56 bit value from a buffer in big endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword56FromBe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ qwStruct.m_qwQword = AmiGetQword64FromBe (pAddr_p);
+ qwStruct.m_qwQword >>= 8;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetQword56FromLe()
+//
+// Description: reads a 56 bit value from a buffer in little endian
+//
+// Parameters: pAddr_p = pointer to source buffer
+//
+// Return: QWORD
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION QWORD PUBLIC AmiGetQword56FromLe (void FAR* pAddr_p)
+{
+
+tqwStruct qwStruct;
+
+ qwStruct.m_qwQword = AmiGetQword64FromLe (pAddr_p);
+ qwStruct.m_qwQword &= 0x00FFFFFFFFFFFFFFLL;
+
+ return ( qwStruct.m_qwQword );
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiSetTimeOfDay()
+//
+// Description: sets a TIME_OF_DAY (CANopen) value to a buffer
+//
+// Parameters: pAddr_p = pointer to destination buffer
+// pTimeOfDay_p = pointer to struct TIME_OF_DAY
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiSetTimeOfDay (void FAR* pAddr_p, tTimeOfDay FAR* pTimeOfDay_p)
+{
+
+ AmiSetDwordToLe (((BYTE FAR*) pAddr_p), pTimeOfDay_p->m_dwMs & 0x0FFFFFFF);
+ AmiSetWordToLe (((BYTE FAR*) pAddr_p) + 4, pTimeOfDay_p->m_wDays);
+
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AmiGetTimeOfDay()
+//
+// Description: reads a TIME_OF_DAY (CANopen) value from a buffer
+//
+// Parameters: pAddr_p = pointer to source buffer
+// pTimeOfDay_p = pointer to struct TIME_OF_DAY
+//
+// Return: void
+//
+// State: not tested
+//
+//---------------------------------------------------------------------------
+
+INLINE_FUNCTION void PUBLIC AmiGetTimeOfDay (void FAR* pAddr_p, tTimeOfDay FAR* pTimeOfDay_p)
+{
+
+ pTimeOfDay_p->m_dwMs = AmiGetDwordFromLe (((BYTE FAR*) pAddr_p)) & 0x0FFFFFFF;
+ pTimeOfDay_p->m_wDays = AmiGetWordFromLe (((BYTE FAR*) pAddr_p) + 4);
+
+}
+
+
+#endif
+
+
+
+// EOF
+
+// Die letzte Zeile muß unbedingt eine leere Zeile sein, weil manche Compiler
+// damit ein Problem haben, wenn das nicht so ist (z.B. GNU oder Borland C++ Builder).
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: demoapplication for EPL MN (with SDO over UDP)
+ under Linux on X86 with RTL8139 Ethernet controller
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: demo_main.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.10 $ $Date: 2008/11/19 18:11:43 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/09/01 d.k.: start of implementation
+
+****************************************************************************/
+
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/errno.h>
+#include <linux/major.h>
+#include <linux/version.h>
+#include <asm/io.h>
+#include <asm/uaccess.h>
+#include <asm/atomic.h>
+#include <linux/sched.h>
+#include <linux/kmod.h>
+#include <linux/slab.h>
+#include <linux/pci.h>
+#include <linux/proc_fs.h>
+
+
+#include "Epl.h"
+#include "proc_fs.h"
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
+ // remove ("make invisible") obsolete symbols for kernel versions 2.6
+ // and higher
+ #define MOD_INC_USE_COUNT
+ #define MOD_DEC_USE_COUNT
+ #define EXPORT_NO_SYMBOLS
+#else
+ #error "This driver needs a 2.6.x kernel or higher"
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+// Metainformation
+MODULE_LICENSE("Dual BSD/GPL");
+#ifdef MODULE_AUTHOR
+ MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com");
+ MODULE_DESCRIPTION("EPL MN demo");
+#endif
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+
+// TracePoint support for realtime-debugging
+#ifdef _DBG_TRACE_POINTS_
+ void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+#else
+ #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+#endif
+
+#define NODEID 0xF0 //=> MN
+#define CYCLE_LEN 5000 // [us]
+#define IP_ADDR 0xc0a86401 // 192.168.100.1
+#define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0
+#define HOSTNAME "SYS TEC electronic EPL Stack "
+#define IF_ETH EPL_VETH_NAME
+
+
+// LIGHT EFFECT
+#define DEFAULT_MAX_CYCLE_COUNT 20 // 6 is very fast
+#define APP_DEFAULT_MODE 0x01
+#define APP_LED_COUNT 5 // number of LEDs in one row
+#define APP_LED_MASK ((1 << APP_LED_COUNT) - 1)
+#define APP_DOUBLE_LED_MASK ((1 << (APP_LED_COUNT * 2)) - 1)
+#define APP_MODE_COUNT 5
+#define APP_MODE_MASK ((1 << APP_MODE_COUNT) - 1)
+
+
+//---------------------------------------------------------------------------
+// local types
+//---------------------------------------------------------------------------
+
+
+
+//---------------------------------------------------------------------------
+// modul globale vars
+//---------------------------------------------------------------------------
+
+CONST BYTE abMacAddr[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+
+BYTE bVarIn1_l;
+BYTE bVarOut1_l;
+BYTE bVarOut1Old_l;
+BYTE bModeSelect_l; // state of the pushbuttons to select the mode
+BYTE bSpeedSelect_l; // state of the pushbuttons to increase/decrease the speed
+BYTE bSpeedSelectOld_l; // old state of the pushbuttons
+DWORD dwLeds_l; // current state of all LEDs
+BYTE bLedsRow1_l; // current state of the LEDs in row 1
+BYTE bLedsRow2_l; // current state of the LEDs in row 2
+BYTE abSelect_l[3]; // pushbuttons from CNs
+
+DWORD dwMode_l; // current mode
+int iCurCycleCount_l; // current cycle count
+int iMaxCycleCount_l; // maximum cycle count (i.e. number of cycles until next light movement step)
+int iToggle; // indicates the light movement direction
+
+BYTE abDomain_l[3000];
+
+static wait_queue_head_t WaitQueueShutdown_g; // wait queue for tEplNmtEventSwitchOff
+static atomic_t AtomicShutdown_g = ATOMIC_INIT(FALSE);
+
+static DWORD dw_le_CycleLen_g;
+
+static uint uiNodeId_g = EPL_C_ADR_INVALID;
+module_param_named(nodeid, uiNodeId_g, uint, 0);
+
+static uint uiCycleLen_g = CYCLE_LEN;
+module_param_named(cyclelen, uiCycleLen_g, uint, 0);
+
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+// This function is the entry point for your object dictionary. It is defined
+// in OBJDICT.C by define EPL_OBD_INIT_RAM_NAME. Use this function name to define
+// this function prototype here. If you want to use more than one Epl
+// instances then the function name of each object dictionary has to differ.
+
+tEplKernel PUBLIC EplObdInitRam (tEplObdInitParam MEM* pInitParam_p);
+
+tEplKernel PUBLIC AppCbEvent(
+ tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg* pEventArg_p, // IN: event argument (union)
+ void GENERIC* pUserArg_p);
+
+tEplKernel PUBLIC AppCbSync(void);
+
+static int __init EplLinInit (void);
+static void __exit EplLinExit (void);
+
+//---------------------------------------------------------------------------
+// Kernel Module specific Data Structures
+//---------------------------------------------------------------------------
+
+EXPORT_NO_SYMBOLS;
+
+
+//module_init(EplLinInit);
+//module_exit(EplLinExit);
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function:
+//
+// Description:
+//
+//
+//
+// Parameters:
+//
+//
+// Returns:
+//
+//
+// State:
+//
+//---------------------------------------------------------------------------
+static int __init EplLinInit (void)
+{
+tEplKernel EplRet;
+int iRet;
+static tEplApiInitParam EplApiInitParam = {0};
+char* sHostname = HOSTNAME;
+char* argv[4], *envp[3];
+char sBuffer[16];
+unsigned int uiVarEntries;
+tEplObdSize ObdSize;
+
+ atomic_set(&AtomicShutdown_g, TRUE);
+
+ // get node ID from insmod command line
+ EplApiInitParam.m_uiNodeId = uiNodeId_g;
+
+ if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
+ { // invalid node ID set
+ // set default node ID
+ EplApiInitParam.m_uiNodeId = NODEID;
+ }
+
+ uiNodeId_g = EplApiInitParam.m_uiNodeId;
+
+ // calculate IP address
+ EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
+
+ EplApiInitParam.m_fAsyncOnly = FALSE;
+
+ EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
+ EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
+// EplApiInitParam.m_abMacAddress[5] = (BYTE) EplApiInitParam.m_uiNodeId;
+ EplApiInitParam.m_dwFeatureFlags = -1;
+ EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
+ EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const
+ EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const
+ EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
+ EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
+ EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
+ EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
+ EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
+ EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
+ EplApiInitParam.m_uiPrescaler = 2; // required for sync
+ EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
+ EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
+ EplApiInitParam.m_dwWaitSocPreq = 150000;
+ EplApiInitParam.m_dwDeviceType = -1; // NMT_DeviceType_U32
+ EplApiInitParam.m_dwVendorId = -1; // NMT_IdentityObject_REC.VendorId_U32
+ EplApiInitParam.m_dwProductCode = -1; // NMT_IdentityObject_REC.ProductCode_U32
+ EplApiInitParam.m_dwRevisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32
+ EplApiInitParam.m_dwSerialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32
+ EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
+ EplApiInitParam.m_dwDefaultGateway = 0;
+ EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
+
+ // currently unset parameters left at default value 0
+ //EplApiInitParam.m_qwVendorSpecificExt1;
+ //EplApiInitParam.m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
+ //EplApiInitParam.m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
+ //EplApiInitParam.m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
+ //EplApiInitParam.m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
+ //EplApiInitParam.m_abVendorSpecificExt2[48];
+
+ // set callback functions
+ EplApiInitParam.m_pfnCbEvent = AppCbEvent;
+ EplApiInitParam.m_pfnCbSync = AppCbSync;
+
+
+ printk("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n",
+ (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
+ "Managing Node" : "Controlled Node"),
+ __DATE__, __TIME__);
+
+ // initialize the Linux a wait queue for shutdown of this module
+ init_waitqueue_head(&WaitQueueShutdown_g);
+
+ // initialize the procfs device
+ EplRet = EplLinProcInit();
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // initialize POWERLINK stack
+ EplRet = EplApiInitialize(&EplApiInitParam);
+ if(EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // link process variables used by CN to object dictionary
+ ObdSize = sizeof(bVarIn1_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x6000, &bVarIn1_l, &uiVarEntries, &ObdSize, 0x01);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bVarOut1_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x6200, &bVarOut1_l, &uiVarEntries, &ObdSize, 0x01);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ // link process variables used by MN to object dictionary
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ ObdSize = sizeof(bLedsRow1_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x2000, &bLedsRow1_l, &uiVarEntries, &ObdSize, 0x01);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bLedsRow2_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x2000, &bLedsRow2_l, &uiVarEntries, &ObdSize, 0x02);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bSpeedSelect_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x2000, &bSpeedSelect_l, &uiVarEntries, &ObdSize, 0x03);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bSpeedSelectOld_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x2000, &bSpeedSelectOld_l, &uiVarEntries, &ObdSize, 0x04);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(abSelect_l[0]);
+ uiVarEntries = sizeof(abSelect_l);
+ EplRet = EplApiLinkObject(0x2200, &abSelect_l[0], &uiVarEntries, &ObdSize, 0x01);
+ if (EplRet != kEplSuccessful)
+ {
+ goto Exit;
+ }
+#endif
+
+ // link a DOMAIN to object 0x6100, but do not exit, if it is missing
+ ObdSize = sizeof(abDomain_l);
+ uiVarEntries = 1;
+ EplRet = EplApiLinkObject(0x6100, &abDomain_l, &uiVarEntries, &ObdSize, 0x00);
+ if (EplRet != kEplSuccessful)
+ {
+ printk("EplApiLinkObject(0x6100): returns 0x%X\n", EplRet);
+ }
+
+ // reset old process variables
+ bVarOut1Old_l = 0;
+ bSpeedSelectOld_l = 0;
+ dwMode_l = APP_DEFAULT_MODE;
+ iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT;
+
+
+ // configure IP address of virtual network interface
+ // for TCP/IP communication over the POWERLINK network
+ sprintf(sBuffer, "%lu.%lu.%lu.%lu", (EplApiInitParam.m_dwIpAddress >> 24), ((EplApiInitParam.m_dwIpAddress >> 16) & 0xFF), ((EplApiInitParam.m_dwIpAddress >> 8) & 0xFF), (EplApiInitParam.m_dwIpAddress & 0xFF));
+ /* set up a minimal environment */
+ iRet = 0;
+ envp[iRet++] = "HOME=/";
+ envp[iRet++] = "PATH=/sbin:/bin:/usr/sbin:/usr/bin";
+ envp[iRet] = NULL;
+
+ /* set up the argument list */
+ iRet = 0;
+ argv[iRet++] = "/sbin/ifconfig";
+ argv[iRet++] = IF_ETH;
+ argv[iRet++] = sBuffer;
+ argv[iRet] = NULL;
+
+ /* call ifconfig to configure the virtual network interface */
+ iRet = call_usermodehelper(argv[0], argv, envp, 1);
+ printk("ifconfig %s %s returned %d\n", argv[1], argv[2], iRet);
+
+ // start the NMT state machine
+ EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
+ atomic_set(&AtomicShutdown_g, FALSE);
+
+Exit:
+ printk("EplLinInit(): returns 0x%X\n", EplRet);
+ return EplRet;
+}
+
+static void __exit EplLinExit (void)
+{
+tEplKernel EplRet;
+
+ // halt the NMT state machine
+ // so the processing of POWERLINK frames stops
+ EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
+
+ // wait until NMT state machine is shut down
+ wait_event_interruptible(WaitQueueShutdown_g,
+ (atomic_read(&AtomicShutdown_g) == TRUE));
+/* if ((iErr != 0) || (atomic_read(&AtomicShutdown_g) == EVENT_STATE_IOCTL))
+ { // waiting was interrupted by signal or application called wrong function
+ EplRet = kEplShutdown;
+ }*/
+ // delete instance for all modules
+ EplRet = EplApiShutdown();
+ printk("EplApiShutdown(): 0x%X\n", EplRet);
+
+ // deinitialize proc fs
+ EplRet = EplLinProcFree();
+ printk("EplLinProcFree(): 0x%X\n", EplRet);
+
+}
+
+
+//=========================================================================//
+// //
+// P R I V A T E F U N C T I O N S //
+// //
+//=========================================================================//
+
+//---------------------------------------------------------------------------
+//
+// Function: AppCbEvent
+//
+// Description: event callback function called by EPL API layer within
+// user part (low priority).
+//
+// Parameters: EventType_p = event type
+// pEventArg_p = pointer to union, which describes
+// the event in detail
+// pUserArg_p = user specific argument
+//
+// Returns: tEplKernel = error code,
+// kEplSuccessful = no error
+// kEplReject = reject further processing
+// otherwise = post error event to API layer
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC AppCbEvent(
+ tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg* pEventArg_p, // IN: event argument (union)
+ void GENERIC* pUserArg_p)
+{
+tEplKernel EplRet = kEplSuccessful;
+
+ // check if NMT_GS_OFF is reached
+ switch (EventType_p)
+ {
+ case kEplApiEventNmtStateChange:
+ {
+ switch (pEventArg_p->m_NmtStateChange.m_NewNmtState)
+ {
+ case kEplNmtGsOff:
+ { // NMT state machine was shut down,
+ // because of user signal (CTRL-C) or critical EPL stack error
+ // -> also shut down EplApiProcess() and main()
+ EplRet = kEplShutdown;
+
+ printk("AppCbEvent(kEplNmtGsOff) originating event = 0x%X\n", pEventArg_p->m_NmtStateChange.m_NmtEvent);
+
+ // wake up EplLinExit()
+ atomic_set(&AtomicShutdown_g, TRUE);
+ wake_up_interruptible(&WaitQueueShutdown_g);
+ break;
+ }
+
+ case kEplNmtGsResetCommunication:
+ {
+ DWORD dwBuffer;
+
+ // configure OD for MN in state ResetComm after reseting the OD
+ // TODO: setup your own network configuration here
+ dwBuffer = (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS); // 0x00000003L
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x01, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x02, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x03, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x04, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x05, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x06, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x07, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x08, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x20, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0xFE, &dwBuffer, 4);
+ EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4);
+
+// dwBuffer |= EPL_NODEASSIGN_MANDATORY_CN; // 0x0000000BL
+// EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4);
+ dwBuffer = (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS); // 0x00010001L
+ EplRet = EplApiWriteLocalObject(0x1F81, 0xF0, &dwBuffer, 4);
+
+ // continue
+ }
+
+ case kEplNmtGsResetConfiguration:
+ {
+ unsigned int uiSize;
+
+ // fetch object 0x1006 NMT_CycleLen_U32 from local OD (in little endian byte order)
+ // for configuration of remote CN
+ uiSize = 4;
+ EplRet = EplApiReadObject(NULL, 0, 0x1006, 0x00, &dw_le_CycleLen_g, &uiSize, kEplSdoTypeAsnd, NULL);
+ if (EplRet != kEplSuccessful)
+ { // local OD access failed
+ break;
+ }
+
+ // continue
+ }
+
+ case kEplNmtMsPreOperational1:
+ {
+ printk("AppCbEvent(0x%X) originating event = 0x%X\n",
+ pEventArg_p->m_NmtStateChange.m_NewNmtState,
+ pEventArg_p->m_NmtStateChange.m_NmtEvent);
+
+ // continue
+ }
+
+ case kEplNmtGsInitialising:
+ case kEplNmtGsResetApplication:
+ case kEplNmtMsNotActive:
+ case kEplNmtCsNotActive:
+ case kEplNmtCsPreOperational1:
+ {
+ break;
+ }
+
+ case kEplNmtCsOperational:
+ case kEplNmtMsOperational:
+ {
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+
+/*
+ switch (pEventArg_p->m_NmtStateChange.m_NmtEvent)
+ {
+ case kEplNmtEventSwReset:
+ case kEplNmtEventResetNode:
+ case kEplNmtEventResetCom:
+ case kEplNmtEventResetConfig:
+ case kEplNmtEventInternComError:
+ case kEplNmtEventNmtCycleError:
+ {
+ printk("AppCbEvent(0x%X) originating event = 0x%X\n",
+ pEventArg_p->m_NmtStateChange.m_NewNmtState,
+ pEventArg_p->m_NmtStateChange.m_NmtEvent);
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+*/
+ break;
+ }
+
+ case kEplApiEventCriticalError:
+ case kEplApiEventWarning:
+ { // error or warning occured within the stack or the application
+ // on error the API layer stops the NMT state machine
+
+ printk("AppCbEvent(Err/Warn): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError);
+ // check additional argument
+ switch (pEventArg_p->m_InternalError.m_EventSource)
+ {
+ case kEplEventSourceEventk:
+ case kEplEventSourceEventu:
+ { // error occured within event processing
+ // either in kernel or in user part
+ printk(" OrgSource=%02X\n", pEventArg_p->m_InternalError.m_Arg.m_EventSource);
+ break;
+ }
+
+ case kEplEventSourceDllk:
+ { // error occured within the data link layer (e.g. interrupt processing)
+ // the DWORD argument contains the DLL state and the NMT event
+ printk(" val=%lX\n", pEventArg_p->m_InternalError.m_Arg.m_dwArg);
+ break;
+ }
+
+ default:
+ {
+ printk("\n");
+ break;
+ }
+ }
+ break;
+ }
+
+ case kEplApiEventNode:
+ {
+// printk("AppCbEvent(Node): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError);
+ // check additional argument
+ switch (pEventArg_p->m_Node.m_NodeEvent)
+ {
+ case kEplNmtNodeEventCheckConf:
+ {
+ tEplSdoComConHdl SdoComConHdl;
+ // update object 0x1006 on CN
+ EplRet = EplApiWriteObject(&SdoComConHdl, pEventArg_p->m_Node.m_uiNodeId, 0x1006, 0x00, &dw_le_CycleLen_g, 4, kEplSdoTypeAsnd, NULL);
+ if (EplRet == kEplApiTaskDeferred)
+ { // SDO transfer started
+ EplRet = kEplReject;
+ }
+ else if (EplRet == kEplSuccessful)
+ { // local OD access (should not occur)
+ printk("AppCbEvent(Node) write to local OD\n");
+ }
+ else
+ { // error occured
+ TGT_DBG_SIGNAL_TRACE_POINT(1);
+
+ EplRet = EplApiFreeSdoChannel(SdoComConHdl);
+ SdoComConHdl = 0;
+
+ EplRet = EplApiWriteObject(&SdoComConHdl, pEventArg_p->m_Node.m_uiNodeId, 0x1006, 0x00, &dw_le_CycleLen_g, 4, kEplSdoTypeAsnd, NULL);
+ if (EplRet == kEplApiTaskDeferred)
+ { // SDO transfer started
+ EplRet = kEplReject;
+ }
+ else
+ {
+ printk("AppCbEvent(Node): EplApiWriteObject() returned 0x%02X\n", EplRet);
+ }
+ }
+
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ case kEplApiEventSdo:
+ { // SDO transfer finished
+ EplRet = EplApiFreeSdoChannel(pEventArg_p->m_Sdo.m_SdoComConHdl);
+ if (EplRet != kEplSuccessful)
+ {
+ break;
+ }
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ if (pEventArg_p->m_Sdo.m_SdoComConState == kEplSdoComTransferFinished)
+ { // continue boot-up of CN with NMT command Reset Configuration
+ EplRet = EplApiMnTriggerStateChange(pEventArg_p->m_Sdo.m_uiNodeId, kEplNmtNodeCommandConfReset);
+ }
+ else
+ { // indicate configuration error CN
+ EplRet = EplApiMnTriggerStateChange(pEventArg_p->m_Sdo.m_uiNodeId, kEplNmtNodeCommandConfErr);
+ }
+#endif
+
+ break;
+ }
+
+ default:
+ break;
+ }
+
+ return EplRet;
+}
+
+
+//---------------------------------------------------------------------------
+//
+// Function: AppCbSync
+//
+// Description: sync event callback function called by event module within
+// kernel part (high priority).
+// This function sets the outputs, reads the inputs and runs
+// the control loop.
+//
+// Parameters: void
+//
+// Returns: tEplKernel = error code,
+// kEplSuccessful = no error
+// otherwise = post error event to API layer
+//
+// State:
+//
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC AppCbSync(void)
+{
+tEplKernel EplRet = kEplSuccessful;
+
+ if (bVarOut1Old_l != bVarOut1_l)
+ { // output variable has changed
+ bVarOut1Old_l = bVarOut1_l;
+ // set LEDs
+
+// printk("bVarIn = 0x%02X bVarOut = 0x%02X\n", (WORD) bVarIn_l, (WORD) bVarOut_l);
+ }
+ if (uiNodeId_g != EPL_C_ADR_MN_DEF_NODE_ID)
+ {
+ bVarIn1_l++;
+ }
+
+ if (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID)
+ { // we are the master and must run the control loop
+
+ // collect inputs from CNs and own input
+ bSpeedSelect_l = (bVarIn1_l | abSelect_l[0]) & 0x07;
+
+ bModeSelect_l = abSelect_l[1] | abSelect_l[2];
+
+ if ((bModeSelect_l & APP_MODE_MASK) != 0)
+ {
+ dwMode_l = bModeSelect_l & APP_MODE_MASK;
+ }
+
+ iCurCycleCount_l--;
+
+ if (iCurCycleCount_l <= 0)
+ {
+ if ((dwMode_l & 0x01) != 0)
+ { // fill-up
+ if (iToggle)
+ {
+ if ((dwLeds_l & APP_DOUBLE_LED_MASK) == 0x00)
+ {
+ dwLeds_l = 0x01;
+ }
+ else
+ {
+ dwLeds_l <<= 1;
+ dwLeds_l++;
+ if (dwLeds_l >= APP_DOUBLE_LED_MASK)
+ {
+ iToggle = 0;
+ }
+ }
+ }
+ else
+ {
+ dwLeds_l <<= 1;
+ if ((dwLeds_l & APP_DOUBLE_LED_MASK) == 0x00)
+ {
+ iToggle = 1;
+ }
+ }
+ bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK);
+ bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK);
+ }
+
+ else if ((dwMode_l & 0x02) != 0)
+ { // running light forward
+ dwLeds_l <<= 1;
+ if ((dwLeds_l > APP_DOUBLE_LED_MASK) || (dwLeds_l == 0x00000000L))
+ {
+ dwLeds_l = 0x01;
+ }
+ bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK);
+ bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK);
+ }
+
+ else if ((dwMode_l & 0x04) != 0)
+ { // running light backward
+ dwLeds_l >>= 1;
+ if ((dwLeds_l > APP_DOUBLE_LED_MASK) || (dwLeds_l == 0x00000000L))
+ {
+ dwLeds_l = 1 << (APP_LED_COUNT * 2);
+ }
+ bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK);
+ bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK);
+ }
+
+ else if ((dwMode_l & 0x08) != 0)
+ { // Knightrider
+ if (bLedsRow1_l == 0x00)
+ {
+ bLedsRow1_l = 0x01;
+ iToggle = 1;
+ }
+ else if (iToggle)
+ {
+ bLedsRow1_l <<= 1;
+ if ( bLedsRow1_l >= (1 << (APP_LED_COUNT - 1)) )
+ {
+ iToggle = 0;
+ }
+ }
+ else
+ {
+ bLedsRow1_l >>= 1;
+ if( bLedsRow1_l <= 0x01 )
+ {
+ iToggle = 1;
+ }
+ }
+ bLedsRow2_l = bLedsRow1_l;
+ }
+
+ else if ((dwMode_l & 0x10) != 0)
+ { // Knightrider
+ if ((bLedsRow1_l == 0x00)
+ || (bLedsRow2_l == 0x00)
+ || ((bLedsRow2_l & ~APP_LED_MASK) != 0))
+ {
+ bLedsRow1_l = 0x01;
+ bLedsRow2_l = (1 << (APP_LED_COUNT - 1));
+ iToggle = 1;
+ }
+ else if (iToggle)
+ {
+ bLedsRow1_l <<= 1;
+ bLedsRow2_l >>= 1;
+ if ( bLedsRow1_l >= (1 << (APP_LED_COUNT - 1)) )
+ {
+ iToggle = 0;
+ }
+ }
+ else
+ {
+ bLedsRow1_l >>= 1;
+ bLedsRow2_l <<= 1;
+ if ( bLedsRow1_l <= 0x01 )
+ {
+ iToggle = 1;
+ }
+ }
+ }
+
+ // set own output
+ bVarOut1_l = bLedsRow1_l;
+// bVarOut1_l = (bLedsRow1_l & 0x03) | (bLedsRow2_l << 2);
+
+ // restart cycle counter
+ iCurCycleCount_l = iMaxCycleCount_l;
+ }
+
+ if (bSpeedSelectOld_l == 0)
+ {
+ if ((bSpeedSelect_l & 0x01) != 0)
+ {
+ if (iMaxCycleCount_l < 200)
+ {
+ iMaxCycleCount_l++;
+ }
+ bSpeedSelectOld_l = bSpeedSelect_l;
+ }
+ else if ((bSpeedSelect_l & 0x02) != 0)
+ {
+ if (iMaxCycleCount_l > 1)
+ {
+ iMaxCycleCount_l--;
+ }
+ bSpeedSelectOld_l = bSpeedSelect_l;
+ }
+ else if ((bSpeedSelect_l & 0x04) != 0)
+ {
+ iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT;
+ bSpeedSelectOld_l = bSpeedSelect_l;
+ }
+ }
+ else if (bSpeedSelect_l == 0)
+ {
+ bSpeedSelectOld_l = 0;
+ }
+ }
+
+ TGT_DBG_SIGNAL_TRACE_POINT(1);
+
+ return EplRet;
+}
+
+
+
+// EOF
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: interface for ethernetdriver
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: edrv.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ Dev C++ and GNU-Compiler for m68k
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2005/08/01 m.b.: start of implementation
+
+****************************************************************************/
+
+#ifndef _EDRV_H_
+#define _EDRV_H_
+
+#include "EplInc.h"
+#include "EplFrame.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+// --------------------------------------------------------------------------
+#define MAX_ETH_DATA_SIZE 1500
+#define MIN_ETH_DATA_SIZE 46
+
+#define ETH_HDR_OFFSET 0 // Ethernet header at the top of the frame
+#define ETH_HDR_SIZE 14 // size of Ethernet header
+#define MIN_ETH_SIZE (MIN_ETH_DATA_SIZE + ETH_HDR_SIZE) // without CRC
+
+#define ETH_CRC_SIZE 4 // size of Ethernet CRC, i.e. FCS
+
+
+
+//---------------------------------------------------------------------------
+// types
+//---------------------------------------------------------------------------
+
+// position of a buffer in an ethernet-frame
+typedef enum
+{
+ kEdrvBufferFirstInFrame = 0x01, // first data buffer in an ethernet frame
+ kEdrvBufferMiddleInFrame = 0x02, // a middle data buffer in an ethernet frame
+ kEdrvBufferLastInFrame = 0x04 // last data buffer in an ethernet frame
+} tEdrvBufferInFrame;
+
+
+// format of a tx-buffer
+typedef struct _tEdrvTxBuffer
+{
+ tEplMsgType m_EplMsgType; // IN: type of EPL message, set by calling function
+ unsigned int m_uiTxMsgLen; // IN: length of message to be send (set for each transmit call)
+ // ----------------------
+ unsigned int m_uiBufferNumber; // OUT: number of the buffer, set by ethernetdriver
+ BYTE * m_pbBuffer; // OUT: pointer to the buffer, set by ethernetdriver
+ tEplNetTime m_NetTime; // OUT: Timestamp of end of transmission, set by ethernetdriver
+ // ----------------------
+ unsigned int m_uiMaxBufferLen; // IN/OUT: maximum length of the buffer
+} tEdrvTxBuffer;
+
+// format of a rx-buffer
+typedef struct _tEdrvRxBuffer
+{
+ tEdrvBufferInFrame m_BufferInFrame; // OUT position of received buffer in an ethernet-frame
+ unsigned int m_uiRxMsgLen; // OUT: length of received buffer (without CRC)
+ BYTE * m_pbBuffer; // OUT: pointer to the buffer, set by ethernetdriver
+ tEplNetTime m_NetTime; // OUT: Timestamp of end of receiption
+
+} tEdrvRxBuffer;
+
+
+
+//typedef void (*tEdrvRxHandler) (BYTE bBufferInFrame_p, tBufferDescr * pbBuffer_p);
+//typedef void (*tEdrvRxHandler) (BYTE bBufferInFrame_p, BYTE * pbEthernetData_p, WORD wDataLen_p);
+typedef void (*tEdrvRxHandler) (tEdrvRxBuffer * pRxBuffer_p);
+typedef void (*tEdrvTxHandler) (tEdrvTxBuffer * pTxBuffer_p);
+
+
+// format of init structure
+typedef struct
+{
+ BYTE m_abMyMacAddr[6]; // the own MAC address
+
+// BYTE m_bNoOfRxBuffDescr; // number of entries in rx bufferdescriptor table
+// tBufferDescr * m_pRxBuffDescrTable; // rx bufferdescriptor table
+// WORD m_wRxBufferSize; // size of the whole rx buffer
+
+ tEdrvRxHandler m_pfnRxHandler;
+ tEdrvTxHandler m_pfnTxHandler;
+
+} tEdrvInitParam;
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+tEplKernel EdrvInit (tEdrvInitParam* pEdrvInitParam_p);
+
+tEplKernel EdrvShutdown (void);
+
+tEplKernel EdrvDefineRxMacAddrEntry (BYTE * pbMacAddr_p);
+tEplKernel EdrvUndefineRxMacAddrEntry (BYTE * pbMacAddr_p);
+
+//tEplKernel EdrvDefineUnicastEntry (BYTE * pbUCEntry_p);
+//tEplKernel EdrvUndfineUnicastEntry (BYTE * pbUCEntry_p);
+
+tEplKernel EdrvAllocTxMsgBuffer (tEdrvTxBuffer * pBuffer_p);
+tEplKernel EdrvReleaseTxMsgBuffer (tEdrvTxBuffer * pBuffer_p);
+
+//tEplKernel EdrvWriteMsg (tBufferDescr * pbBuffer_p);
+tEplKernel EdrvSendTxMsg (tEdrvTxBuffer * pBuffer_p);
+tEplKernel EdrvTxMsgReady (tEdrvTxBuffer * pBuffer_p);
+tEplKernel EdrvTxMsgStart (tEdrvTxBuffer * pBuffer_p);
+
+//tEplKernel EdrvReadMsg (void);
+
+// interrupt handler called by target specific interrupt handler
+void EdrvInterruptHandler (void);
+
+
+
+#endif // #ifndef _EDRV_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ global project definition file
+
+ 12.06.1998 -rs
+ 11.02.2002 r.d. Erweiterungen, Ergaenzungen
+ 20.08.2002 SYS TEC electronic -as
+ Definition Schluesselwort 'GENERIC'
+ fuer das Erzeugen von Generic Pointer
+ 28.08.2002 r.d. erweiterter SYS TEC Debug Code
+ 16.09.2002 r.d. komplette Uebersetzung in Englisch
+ 11.04.2003 f.j. Ergaenzung fuer Mitsubishi NC30 Compiler
+ 17.06.2003 -rs Definition von Basistypen in <#ifndef _WINDEF_> gesetzt
+ 16.04.2004 r.d. Ergaenzung fuer Borland C++ Builder
+ 30.08.2004 -rs TRACE5 eingefügt
+ 23.12.2005 d.k. Definitions for IAR compiler
+
+ $Id: global.h,v 1.6 2008/11/07 13:55:56 D.Krueger Exp $
+
+****************************************************************************/
+
+#ifndef _GLOBAL_H_
+#define _GLOBAL_H_
+
+
+//---------------------------------------------------------------------------
+// elements of defines for development system
+//---------------------------------------------------------------------------
+
+// these defines are necessary to check some of characteristics of the development system
+#define _DEV_BIGEND_ 0x80000000L // big endian (motorolla format)
+#define _DEV_ALIGNMENT_4_ 0x00400000L // the CPU needs alignment of 4 bytes
+#define _DEV_ONLY_INT_MAIN_ 0x00004000L // the compiler needs "int main(int)" instead of "void main(void)"
+#define _DEV_COMMA_EXT_ 0x00002000L // support of last comma in struct predefinition
+#define _DEV_64BIT_SUPPORT_ 0x00001000L // support of 64 bit operations
+#define _DEV_BIT64_ 0x00000400L // count of bits: 64 bit
+#define _DEV_BIT32_ 0x00000300L // 32 bit
+#define _DEV_BIT16_ 0x00000200L // 16 bit
+#define _DEV_BIT8_ 0x00000100L // 8 bit
+#define _DEV_RVCT_ARM_ 0x0000001CL // RealView ARM
+#define _DEV_RENESASM32C 0x0000001BL // compiler from: Renesas
+#define _DEV_GNUC_MIPS2_ 0x0000001AL // GNU for MIPS2
+#define _DEV_MPLAB_C30_ 0x00000019L // MPLAB C30 for Microchip dsPIC33F series
+#define _DEV_GNUC_TC_ 0x00000018L // GNU for Infineon TriCore
+#define _DEV_GNUC_X86_ 0x00000017L // GNU for I386
+#define _DEV_IAR_ARM_ 0x00000016L // ARM IAR C/C++ Compiler
+#define _DEV_PARADGM_X86 0x00000015L // Paradigm C/C++ for Beck 1x3
+#define _DEV_GNUC_CF_ 0x00000014L // GNU for Coldfire
+#define _DEV_KEIL_ARM_ 0x00000013L // Keil ARM
+#define _DEV_MSEVC_ 0x00000012L // Microsoft embedded Visual C/C++
+#define _DEV_HIGHTEC_GNUC_X86_ 0x00000011L // Hightec elf386 gcc
+#define _DEV_MSVC_RTX_ 0x00000010L // VC600 + RTX
+#define _DEV_MSVC_V1_5_ 0x0000000FL // Microsoft Visual C/C++ V1.5
+#define _DEV_GNUC_ARM7_ 0x0000000EL // GNU Compiler gcc for ARM7
+#define _DEV_METROWERKS_CW_ 0x0000000DL // Metrowerks Code Warrior
+#define _DEV_MITSUBISHIM16C_ 0x0000000CL //compiler from: Mitsubishi
+#define _DEV_GNUC_C16X_ 0x0000000BL // GNU Compiler gcc166 for Infineon C16x
+#define _DEV_LINUX_GCC_ 0x0000000AL // Linux GNU Compiler gcc
+#define _DEV_GNUC_MPC5X5 0x00000009L // GNU for Motorola PPC5x5
+#define _DEV_TASKINGM16C_ 0x00000008L // Tasking for Mitsubishi M16C
+#define _DEV_FUJITSU_ 0x00000007L // Fujitsu
+#define _DEV_TASKING8_ 0x00000006L // Tasking 8051
+#define _DEV_TASKING16_ 0x00000005L // Tasking 166
+#define _DEV_KEIL8_ 0x00000004L // Keil C51
+#define _DEV_KEIL16_ 0x00000003L // Keil C166
+#define _DEV_BORLANDC_ 0x00000002L // Borland C/C++
+#define _DEV_MSVC16_ 0x00000001L // Microsoft Visual C/C++
+#define _DEV_MSVC32_ 0x00000000L // Microsoft Visual C/C++
+
+// these defines can be used to mask previous elements
+#define _DEV_MASK_COMPILER 0x000000FFL
+#define _DEV_MASK_BITCOUNT 0x00000F00L
+#define _DEV_MASK_ADDSUPPORT 0x0000F000L
+#define _DEV_MASK_ALIGNMENT 0x00F00000L
+
+
+//---------------------------------------------------------------------------
+// defines for development system (DEV_SYSTEM) including previous elements
+//---------------------------------------------------------------------------
+
+#define _DEV_WIN16_ (_DEV_BIT16_ | _DEV_MSVC16_ )
+#define _DEV_WIN32_ (_DEV_BIT32_ | _DEV_MSVC32_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_MSVC_DOS_ (_DEV_BIT32_ | _DEV_MSVC_V1_5_ )
+#define _DEV_BORLAND_DOS_ (_DEV_BIT32_ | _DEV_BORLANDC_ ) //| _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_KEIL_C51X_ (_DEV_BIT8_ | _DEV_KEIL8_ | _DEV_BIGEND_ | _DEV_COMMA_EXT_) // at least C51 version 7.05 supports comma extension
+#define _DEV_KEIL_C16X_ (_DEV_BIT16_ | _DEV_KEIL16_ | _DEV_COMMA_EXT_) // at least C166 version 5.03 supports comma extension
+#define _DEV_TASKING_C51X_ (_DEV_BIT8_ | _DEV_TASKING8_ | _DEV_BIGEND_)
+#define _DEV_TASKING_C16X_ (_DEV_BIT16_ | _DEV_TASKING16_ )
+#define _DEV_FUJITSU_F590_ (_DEV_BIT8_ | _DEV_FUJITSU_ | _DEV_COMMA_EXT_) // softune is not able to support 64 bit variables QWORD !!!
+//f.j.29.04.03 M16C kann effektiv mit Bytes umgehen
+//#define _DEV_TASKING_M16C_ (_DEV_BIT16_ | _DEV_TASKINGM16C_ )
+#define _DEV_TASKING_M16C_ (_DEV_BIT8_ | _DEV_TASKINGM16C_ )
+#define _DEV_MITSUBISHI_M16C_ (_DEV_BIT8_ | _DEV_MITSUBISHIM16C_ )
+#define _DEV_GNU_MPC5X5_ (_DEV_BIT32_ | _DEV_GNUC_MPC5X5| _DEV_BIGEND_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_LINUX_ (_DEV_BIT32_ | _DEV_LINUX_GCC_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_GNU_C16X_ (_DEV_BIT16_ | _DEV_GNUC_C16X_ ) //| _DEV_COMMA_EXT_)
+#define _DEV_MCW_MPC5X5_ (_DEV_BIT32_ | _DEV_METROWERKS_CW_ ) //| _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_GNU_ARM7_ (_DEV_BIT32_ | _DEV_GNUC_ARM7_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_ | _DEV_ONLY_INT_MAIN_)
+#define _DEV_WIN32_RTX_ (_DEV_BIT32_ | _DEV_MSVC_RTX_ ) //| _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_HIGHTEC_X86_ (_DEV_BIT32_ | _DEV_HIGHTEC_GNUC_X86_ ) //| _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_WIN_CE_ (_DEV_BIT32_ | _DEV_MSEVC_ ) //| _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_KEIL_CARM_ (_DEV_BIT32_ | _DEV_KEIL_ARM_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_IAR_CARM_ (_DEV_BIT32_ | _DEV_IAR_ARM_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_RVCT_CARM_ (_DEV_BIT32_ | _DEV_RVCT_ARM_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_ | _DEV_ONLY_INT_MAIN_)
+#define _DEV_MCW_MCF5XXX_ (_DEV_BIT32_ | _DEV_METROWERKS_CW_ ) //| _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_GNU_CF5282_ (_DEV_BIT32_ | _DEV_GNUC_CF_ | _DEV_BIGEND_)
+#define _DEV_PAR_BECK1X3_ (_DEV_BIT16_ | _DEV_PARADGM_X86)
+#define _DEV_GNU_CF548X_ (_DEV_BIT32_ | _DEV_GNUC_CF_ | _DEV_BIGEND_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_)
+#define _DEV_GNU_I386_ (_DEV_BIT32_ | _DEV_GNUC_X86_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_ | _DEV_ONLY_INT_MAIN_)
+#define _DEV_GNU_TRICORE_ (_DEV_BIT32_ | _DEV_GNUC_TC_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_ | _DEV_ONLY_INT_MAIN_ | _DEV_ALIGNMENT_4_)
+#define _DEV_MPLAB_DSPIC33F_ (_DEV_BIT16_ | _DEV_MPLAB_C30_ ) //| _DEV_COMMA_EXT_)
+#define _DEV_GNU_MIPSEL_ (_DEV_BIT32_ | _DEV_GNUC_MIPS2_ | _DEV_BIGEND_ | _DEV_64BIT_SUPPORT_ | _DEV_COMMA_EXT_ | _DEV_ONLY_INT_MAIN_)
+
+#define _DEV_RENESAS_M32C_ (_DEV_BIT32_ | _DEV_RENESASM32C)
+
+//---------------------------------------------------------------------------
+// usefull macros
+//---------------------------------------------------------------------------
+
+#define CHECK_IF_ONLY_INT_MAIN() (DEV_SYSTEM & _DEV_ONLY_INT_MAIN_)
+#define CHECK_MEMORY_ALINMENT() (DEV_SYSTEM & _DEV_MASK_ALIGNMENT)
+
+
+//---------------------------------------------------------------------------
+// defines for target system (TARGET_SYSTEM)
+//---------------------------------------------------------------------------
+
+#define _DOS_ (16 + 0x10000)
+#define _WIN16_ 16
+#define _WIN32_ 32
+#define _WINCE_ (32 + 0x20000)
+#define _NO_OS_ 0
+#define _LINUX_ 1
+#define _PXROS_ 2
+#define _ECOSPRO_ 3
+
+
+//---------------------------------------------------------------------------
+// definitions for function inlining
+//---------------------------------------------------------------------------
+
+#define INLINE_FUNCTION // empty define
+#undef INLINE_ENABLED // disable actual inlining of functions
+#undef INLINE_FUNCTION_DEF // disable inlining for all compilers per default
+
+//---------------------------------------------------------------------------
+// definitions for Keil C51
+//---------------------------------------------------------------------------
+
+#ifdef __C51__
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_KEIL_C51X_
+
+ #pragma DEBUG OBJECTEXTEND
+ #pragma WARNINGLEVEL(2) // maximum warning level
+
+ #define NEAR idata // variables mapped to internal data storage location
+ #define FAR xdata // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM code // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC xdata // hardware access through external memory (i.e. CAN)
+ #define LARGE large // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM xdata // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT reentrant
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for GNU Compiler for Infineon C16x
+// - it have to be befor Keil (it has __C166__ too)
+//---------------------------------------------------------------------------
+#elif defined (__GNUC__) && defined (__C166__)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_GNU_C16X_
+
+// #define NEAR idata // variables mapped to internal data storage location
+ #define NEAR near // variables mapped to internal data storage location
+// #define FAR xhuge // variables mapped to external data storage location
+ #define FAR huge // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+// #define HWACC sdata // hardware access through external memory (i.e. CAN)
+ #define HWACC huge // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+// #define GENERIC xhuge // generic pointer to point to application data
+ #define GENERIC huge // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+
+ #define ASSERT(p) \
+ if (p) \
+ { \
+ ; \
+ } \
+ else \
+ { \
+ PRINTF0("Assert failed: " #p " (file %s line %d)\n", __FILE__, (int) __LINE__ ); \
+ while (1); \
+ }
+ #else
+ #define ASSERT(p)
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for Keil C166
+//---------------------------------------------------------------------------
+#elif defined (__C166__) // 24.01.2005 r.d.: Keil ARM7 needs directive 'defined'
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_KEIL_C16X_
+
+ #pragma CODE
+ #pragma MOD167
+ #pragma NOINIT
+ #pragma DEBUG
+ #pragma WARNINGLEVEL(3) // maximum warning level
+ #pragma WARNING DISABLE = 47 // warning <unreferenced parameter> = OFF
+ #pragma WARNING DISABLE = 38 // warning <empty translation unit> = OFF
+// #pragma WARNING DISABLE = 102 // warning <different const/volatile qualifiers> = OFF
+ #pragma WARNING DISABLE = 174 // warning <unreferenced 'static' function> = OFF
+ #pragma WARNING DISABLE = 183 // warning <dead assignement eliminated> = OFF
+
+ #define NEAR idata // variables mapped to internal data storage location
+ #define FAR xhuge // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+// #define HWACC sdata // hardware access through external memory (i.e. CAN)
+ #define HWACC huge // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC xhuge // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for MPLAB C30 for dsPIC33F series
+//---------------------------------------------------------------------------
+#elif defined (__C30__)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_MPLAB_DSPIC33F_
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+// #ifndef QWORD
+// #define QWORD long long
+// #endif
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for Keil ARM
+//---------------------------------------------------------------------------
+#elif defined (__CA__)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_KEIL_CARM_
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef QWORD
+ #define QWORD long long
+ #endif
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for RealView ARM compilation tools (provided by recent Keil Microcontroller Development Kits)
+//---------------------------------------------------------------------------
+#elif defined (__ARMCC_VERSION)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_RVCT_CARM_
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef QWORD
+ #define QWORD long long
+ #endif
+
+ #ifndef NDEBUG
+ #define ASSERT(expr) if (!(expr)) {\
+ TRACE0 ("Assertion failed: " #expr );\
+ while (1);}
+ #else
+ #define ASSERT(expr)
+ #endif
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for ARM IAR C Compiler
+//---------------------------------------------------------------------------
+#elif defined (__ICCARM__)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_IAR_CARM_
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef QWORD
+ #define QWORD long long
+ #endif
+
+ // Workaround:
+ // If we use IAR and want to debug but don't want to use C-Spy Debugger
+ // assert() doesn't work in debug mode because it needs support for FILE descriptors
+ // (_DLIB_FILE_DESCRIPTOR == 1).
+ #ifndef NDEBUG
+ #define ASSERT(expr) if (!(expr)) {\
+ TRACE0 ("Assertion failed: " #expr );\
+ while (1);}
+ #else
+ #define ASSERT(expr)
+ #endif
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+// #define TRACE PRINTF4
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for Tasking 8051
+//---------------------------------------------------------------------------
+
+#elif defined (_CC51)
+
+ #include <cc51.h>
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_TASKING_C51X_
+
+ #define NEAR _data // variables mapped to internal data storage location
+ #define FAR _xdat // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC _xdat // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM _xdat // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT _reentrant
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for Tasking C167CR and C164CI
+//---------------------------------------------------------------------------
+
+#elif defined (_C166)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_TASKING_C16X_
+
+ #define NEAR near // variables mapped to internal data storage location
+ #define FAR far // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC /* to be defined */ // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ // Stdio.h has to be alway included here. If printf() is used stdio.h defines NULL
+ // without checking if it is already included. So an error occurs while compiling.
+ // (r.d.)
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #ifndef NDEBUG
+ #define TRACE printf
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for FUJITSU FFMC-16LX MB90590
+//---------------------------------------------------------------------------
+
+//#elif (defined (F590) || defined (F543) || defined (F598) || defined (F495) || defined (F350))
+#elif defined(__COMPILER_FCC907__)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_FUJITSU_F590_
+
+ #define NEAR /* to be defined */ // variables mapped to internal data storage location
+ #define FAR /* to be defined */ // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM /* to be defined */ // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC /* to be defined */ // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ // softune is not able to support 64 bit variables QWORD !!!
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for Mitsubishi M16C family for TASKING Compiler CM16
+//---------------------------------------------------------------------------
+
+#elif defined (_CM16C)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_TASKING_M16C_
+
+ #define NEAR _near // variables mapped to internal data storage location
+ #define FAR _far // variables mapped to external data storage location
+ #define CONST _farrom // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC _near // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC _far // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ // do you use memory model SMALL, than you have to set _far
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ // Stdio.h has to be alway included here. If printf() is used stdio.h defines NULL
+ // without checking if it is already included. So an error occurs while compiling.
+ // (r.d.)
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #ifndef NDEBUG
+ #define TRACE printf
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for Mitsubishi M16C family for Mitsubishi Compiler NC30
+//---------------------------------------------------------------------------
+// name NC30, andere Form will der Compiler nicht !!
+#elif defined (NC30)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_MITSUBISHI_M16C_
+
+ #define NEAR near // variables mapped to internal data storage location
+ #define FAR far // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC near // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC far // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for Renesas M32C family for Renesas Compiler
+//---------------------------------------------------------------------------
+#elif defined (NC308)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_RENESAS_M32C_
+
+ #define NEAR near // variables mapped to internal data storage location
+ #define FAR far // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ #define HWACC // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM far // Memory attribute to optimize speed and code of pointer access.
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+// #error ("RENESAS o.k.")
+
+//---------------------------------------------------------------------------
+// definitions for ARM7 family with GNU compiler
+//---------------------------------------------------------------------------
+
+#elif defined(__GNUC__) && defined(__arm__) && !defined(__LINUX_ARM_ARCH__)
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_GNU_ARM7_
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef QWORD
+ #define QWORD long long // i.A. durch Herr Kuschel
+ #endif
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for Motorola PowerPC family 5x5 (555/565)
+// definitions Linux-PC
+//---------------------------------------------------------------------------
+
+#elif defined (__GNUC__)
+
+ #if defined (LINUX) || defined (linux) || defined (__linux__)
+ #define LINUX_SYSTEM // define 'LINUX_SYSTEM' uniform for all Linux based systems
+ // r.d.: We will need an other solution here! There are two sections here which do check the preproc-definitions:
+ // LINUX and __linux__ . The first one was Linux for PC, the second one is this section for embedded Linux (MCF5xxx).
+ // But Linux for PC does not need the definitions for embedded Linux.
+ #endif
+
+ // GNU C compiler supports function inlining
+ #define INLINE_FUNCTION_DEF extern inline
+
+ // to actually enable inlining just include the following three lines
+ // #undef INLINE_FUNCTION
+ // #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ // #define INLINE_ENABLED TRUE
+
+ #ifdef PXROS
+ #define TARGET_SYSTEM _PXROS_
+ #ifdef __i386__
+ #undef LINUX // this define seems to be set from compiler
+ #define DEV_SYSTEM _DEV_HIGHTEC_X86_
+ #elif defined (__tricore__)
+ #define DEV_SYSTEM _DEV_GNU_TRICORE_
+ #else // MPC5x5
+ #define DEV_SYSTEM _DEV_GNU_MPC5X5_
+ #endif
+
+ #elif defined (LINUX) || defined (__linux__)
+ #define TARGET_SYSTEM _LINUX_ // Linux definition
+ #define DEV_SYSTEM _DEV_LINUX_
+
+ #elif defined (GNU_CF5282)
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_GNU_CF5282_
+
+ #elif defined (ECOSPRO_I386_PEAK_PCI)
+ #define TARGET_SYSTEM _ECOSPRO_
+ #define DEV_SYSTEM _DEV_GNU_I386_
+
+ #elif defined (GNU_CF548X)
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_GNU_CF548X_
+ #else
+ #error 'ERROR: DEV_SYSTEM not found!'
+ #endif
+
+
+ #ifndef QWORD
+ #define QWORD long long int
+ #endif
+
+ #if (TARGET_SYSTEM == _PXROS_)
+
+ #ifndef __KERNEL__
+ #include <string.h>
+ #endif
+
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM /* to be defined */ // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef QWORD
+ #define QWORD long long int
+ #endif
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+ #endif
+
+ // ------------------ GNUC for I386 ---------------------------------------------
+
+ #if (TARGET_SYSTEM == _LINUX_) || (TARGET_SYSTEM == _ECOSPRO_)
+
+ #ifndef __KERNEL__
+ #include <string.h>
+ #endif
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #ifndef __KERNEL__
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #else
+ #define TRACE printk
+ #endif
+ #endif
+ #endif
+
+ // ------------------ GNU without OS ---------------------------------------------
+
+ #if (TARGET_SYSTEM == _NO_OS_)
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+// #include "xuartdrv.h"
+// #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+// #define TRACE mprintf
+// #ifndef TRACE
+// #define TRACE trace
+// void trace (char *fmt, ...);
+// #endif
+ #endif
+
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for MPC565
+//---------------------------------------------------------------------------
+#elif __MWERKS__
+
+
+#ifdef __MC68K__
+
+ #define TARGET_SYSTEM = _MCF548X_
+ #define DEV_SYSTEM _DEV_MCW_MCF5XXX_
+
+#else
+ #define TARGET_SYSTEM = _MPC565_
+ #define DEV_SYSTEM _DEV_MCW_MPC5X5_
+#endif
+
+ #define NEAR // variables mapped to internal data storage location
+ #define FAR // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define LARGE // functions set parameters to external data storage location
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #include <stdio.h> // prototype printf() (for TRACE)
+ #define TRACE printf
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for BECK 1x3
+//---------------------------------------------------------------------------
+#elif defined (__BORLANDC__) && defined (__PARADIGM__)
+
+
+ #define TARGET_SYSTEM _NO_OS_
+ #define DEV_SYSTEM _DEV_PAR_BECK1X3_
+
+
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+ #define NEAR __near // variables mapped to internal data storage location
+ #define FAR __far // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #include <stdio.h>
+ #define TRACE printf
+ #endif
+ #endif
+
+
+
+//---------------------------------------------------------------------------
+// definitions for PC
+//---------------------------------------------------------------------------
+
+#elif defined (__BORLANDC__)
+
+ // ------------------ definition target system --------------------------
+
+ #ifdef _WIN32
+ #define TARGET_SYSTEM _WIN32_ // WIN32 definition
+ #define DEV_SYSTEM _DEV_WIN32_
+ #else
+ #define TARGET_SYSTEM _DOS_
+ #define DEV_SYSTEM _DEV_BORLAND_DOS_
+ #endif
+
+
+ // ------------------ WIN32 ---------------------------------------------
+
+ #if (TARGET_SYSTEM == _WIN32_)
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC __stdcall
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #include <stdio.h>
+ #define TRACE printf
+ #endif
+ #endif
+
+ #elif (TARGET_SYSTEM == _DOS_)
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+ #define NEAR near // variables mapped to internal data storage location
+ #define FAR far // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #include <stdio.h>
+ #define TRACE printf
+ #endif
+ #endif
+
+ #endif
+
+#elif (_MSC_VER == 800) // PC MS Visual C/C++ for DOS applications
+
+ #define TARGET_SYSTEM _DOS_
+ #define DEV_SYSTEM _DEV_MSVC_DOS_
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC near // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+ #define NEAR near // variables mapped to internal data storage location
+ #define FAR far // variables mapped to external data storage location
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #include <stdio.h>
+ #define TRACE printf
+ #endif
+ #endif
+
+
+//---------------------------------------------------------------------------
+// definitions for RTX under WIN32
+//---------------------------------------------------------------------------
+#elif (defined (UNDER_RTSS) && defined (WIN32))
+
+ // ------------------ definition target system --------------------------
+ #define TARGET_SYSTEM _WIN32_RTX_
+ #define DEV_SYSTEM _DEV_WIN32_RTX_
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC __stdcall
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #define TRACE RtPrintf
+ #endif
+ #endif
+
+//---------------------------------------------------------------------------
+// definitions for WinCE
+//---------------------------------------------------------------------------
+#elif defined (_WIN32_WCE)
+
+ // ------------------ definition target system --------------------------
+ #define TARGET_SYSTEM _WINCE_
+ #define DEV_SYSTEM _DEV_WIN_CE_
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #ifndef QWORD
+ //#define QWORD long long int // MSVC .NET can use "long long int" too (like GNU)
+ #define QWORD __int64
+ #endif
+
+ #define REENTRANT
+ #define PUBLIC __cdecl
+
+ #ifdef ASSERTMSG
+ #undef ASSERTMSG
+ #endif
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #define TRACE printf
+// void trace (char *fmt, ...);
+ #endif
+ #endif
+
+#else // ===> PC MS Visual C/C++
+
+ // ------------------ definition target system --------------------------
+
+ #ifdef _WIN32
+ #define TARGET_SYSTEM _WIN32_ // WIN32 definition
+ #define DEV_SYSTEM _DEV_WIN32_
+ #else
+ #define TARGET_SYSTEM _WIN16_ // WIN16 definition
+ #define DEV_SYSTEM _DEV_WIN16_
+ #endif
+
+
+ // ------------------ WIN16 ---------------------------------------------
+
+ #if (TARGET_SYSTEM == _WIN16_)
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR far // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC _far _pascal _export
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #define TRACE trace
+ #ifdef __cplusplus
+ extern "C"
+ {
+ #endif
+ void trace (const char *fmt, ...);
+ #ifdef __cplusplus
+ }
+ #endif
+ #endif
+ #endif
+
+ #endif
+
+
+ // ------------------ WIN32 ---------------------------------------------
+
+ #if (TARGET_SYSTEM == _WIN32_)
+
+ #define ROM // code or variables mapped to ROM (i.e. flash)
+ // usage: CONST BYTE ROM foo = 0x00;
+ #define HWACC // hardware access through external memory (i.e. CAN)
+
+ // These types can be adjusted by users to match application requirements. The goal is to
+ // minimize code memory and maximize speed.
+ #define GENERIC // generic pointer to point to application data
+ // Variables with this attribute can be located in external
+ // or internal data memory.
+ #define MEM // Memory attribute to optimize speed and code of pointer access.
+
+ #ifndef NEAR
+ #define NEAR // variables mapped to internal data storage location
+ #endif
+
+ #ifndef FAR
+ #define FAR // variables mapped to external data storage location
+ #endif
+
+ #ifndef CONST
+ #define CONST const // variables mapped to ROM (i.e. flash)
+ #endif
+
+ #define LARGE
+
+ #define REENTRANT
+ #define PUBLIC __stdcall
+
+ #ifndef QWORD
+ //#define QWORD long long int // MSVC .NET can use "long long int" too (like GNU)
+ #define QWORD __int64
+ #endif
+
+ #ifndef NDEBUG
+ #ifndef TRACE
+ #define TRACE trace
+ #ifdef __cplusplus
+ extern "C"
+ {
+ #endif
+ void trace (const char *fmt, ...);
+ #ifdef __cplusplus
+ }
+ #endif
+ #endif
+ #endif
+
+ // MS Visual C++ compiler supports function inlining
+ #define INLINE_FUNCTION_DEF __forceinline
+
+ // to actually enable inlining just include the following two lines
+ // #define INLINE_FUNCTION INLINE_FUNCTION_DEF
+ // #define INLINE_ENABLED TRUE
+
+ #endif
+
+#endif // ===> PC
+
+
+//---------------------------------------------------------------------------
+// definitions of basic types
+//---------------------------------------------------------------------------
+
+#ifndef _WINDEF_ // defined in WINDEF.H, included by <windows.h>
+
+ // --- arithmetic types ---
+ #ifndef SHORT
+ #define SHORT short int
+ #endif
+
+ #ifndef USHORT
+ #define USHORT unsigned short int
+ #endif
+
+ #ifndef INT
+ #define INT int
+ #endif
+
+ #ifndef UINT
+ #define UINT unsigned int
+ #endif
+
+ #ifndef LONG
+ #define LONG long int
+ #endif
+
+ #ifndef ULONG
+ #define ULONG unsigned long int
+ #endif
+
+
+ // --- logic types ---
+ #ifndef BYTE
+ #define BYTE unsigned char
+ #endif
+
+ #ifndef WORD
+ #define WORD unsigned short int
+ #endif
+
+ #ifndef DWORD
+ #define DWORD unsigned long int
+ #endif
+
+ #ifndef BOOL
+ #define BOOL unsigned char
+ #endif
+
+
+ // --- alias types ---
+ #ifndef TRUE
+ #define TRUE 0xFF
+ #endif
+
+ #ifndef FALSE
+ #define FALSE 0x00
+ #endif
+
+ #ifndef NULL
+ #define NULL ((void *) 0)
+ #endif
+
+#endif
+
+
+#ifndef _TIME_OF_DAY_DEFINED_
+
+ typedef struct
+ {
+ unsigned long int m_dwMs;
+ unsigned short int m_wDays;
+
+ } tTimeOfDay;
+
+ #define _TIME_OF_DAY_DEFINED_
+
+#endif
+
+
+//---------------------------------------------------------------------------
+// Definition von TRACE
+//---------------------------------------------------------------------------
+
+#ifndef NDEBUG
+
+ #ifndef TRACE0
+ #define TRACE0(p0) TRACE(p0)
+ #endif
+
+ #ifndef TRACE1
+ #define TRACE1(p0, p1) TRACE(p0, p1)
+ #endif
+
+ #ifndef TRACE2
+ #define TRACE2(p0, p1, p2) TRACE(p0, p1, p2)
+ #endif
+
+ #ifndef TRACE3
+ #define TRACE3(p0, p1, p2, p3) TRACE(p0, p1, p2, p3)
+ #endif
+
+ #ifndef TRACE4
+ #define TRACE4(p0, p1, p2, p3, p4) TRACE(p0, p1, p2, p3, p4)
+ #endif
+
+ #ifndef TRACE5
+ #define TRACE5(p0, p1, p2, p3, p4, p5) TRACE(p0, p1, p2, p3, p4, p5)
+ #endif
+
+ #ifndef TRACE6
+ #define TRACE6(p0, p1, p2, p3, p4, p5, p6) TRACE(p0, p1, p2, p3, p4, p5, p6)
+ #endif
+
+#else
+
+ #ifndef TRACE0
+ #define TRACE0(p0)
+ #endif
+
+ #ifndef TRACE1
+ #define TRACE1(p0, p1)
+ #endif
+
+ #ifndef TRACE2
+ #define TRACE2(p0, p1, p2)
+ #endif
+
+ #ifndef TRACE3
+ #define TRACE3(p0, p1, p2, p3)
+ #endif
+
+ #ifndef TRACE4
+ #define TRACE4(p0, p1, p2, p3, p4)
+ #endif
+
+ #ifndef TRACE5
+ #define TRACE5(p0, p1, p2, p3, p4, p5)
+ #endif
+
+ #ifndef TRACE6
+ #define TRACE6(p0, p1, p2, p3, p4, p5, p6)
+ #endif
+
+#endif
+
+
+
+//---------------------------------------------------------------------------
+// definition of ASSERT
+//---------------------------------------------------------------------------
+
+#ifndef ASSERT
+ #if !defined (__linux__) && !defined (__KERNEL__)
+ #include <assert.h>
+ #ifndef ASSERT
+ #define ASSERT(p) assert(p)
+ #endif
+ #else
+ #define ASSERT(p)
+ #endif
+#endif
+
+
+//---------------------------------------------------------------------------
+// SYS TEC extensions
+//---------------------------------------------------------------------------
+
+// This macro doesn't print out C-file and line number of the failed assertion
+// but a string, which exactly names the mistake.
+#ifndef NDEBUG
+
+ #define ASSERTMSG(expr,string) if (!(expr)) {\
+ PRINTF0 ("Assertion failed: " string );\
+ while (1);}
+#else
+ #define ASSERTMSG(expr,string)
+#endif
+
+
+
+
+//---------------------------------------------------------------------------
+
+#endif // #ifndef _GLOBAL_H_
+
+// Please keep an empty line at the end of this file.
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernelspace DLL module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDllk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/08 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DLLK_H_
+#define _EPL_DLLK_H_
+
+#include "../EplDll.h"
+#include "../EplEvent.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef tEplKernel (* tEplDllkCbAsync) (tEplFrameInfo * pFrameInfo_p);
+
+typedef struct
+{
+ BYTE m_be_abSrcMac[6];
+
+} tEplDllkInitParam;
+
+// forward declaration
+struct _tEdrvTxBuffer;
+
+struct _tEplDllkNodeInfo
+{
+ struct _tEplDllkNodeInfo* m_pNextNodeInfo;
+ struct _tEdrvTxBuffer* m_pPreqTxBuffer;
+ unsigned int m_uiNodeId;
+ DWORD m_dwPresTimeout;
+ unsigned long m_ulDllErrorEvents;
+ tEplNmtState m_NmtState;
+ WORD m_wPresPayloadLimit;
+ BYTE m_be_abMacAddr[6];
+ BYTE m_bSoaFlag1;
+ BOOL m_fSoftDelete; // delete node after error and ignore error
+
+};
+
+typedef struct _tEplDllkNodeInfo tEplDllkNodeInfo;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+tEplKernel EplDllkAddInstance(tEplDllkInitParam * pInitParam_p);
+
+tEplKernel EplDllkDelInstance(void);
+
+// called before NMT_GS_COMMUNICATING will be entered to configure fixed parameters
+tEplKernel EplDllkConfig(tEplDllConfigParam * pDllConfigParam_p);
+
+// set identity of local node (may be at any time, e.g. in case of hostname change)
+tEplKernel EplDllkSetIdentity(tEplDllIdentParam * pDllIdentParam_p);
+
+// process internal events and do work that cannot be done in interrupt-context
+tEplKernel EplDllkProcess(tEplEvent * pEvent_p);
+
+// registers handler for non-EPL frames
+tEplKernel EplDllkRegAsyncHandler(tEplDllkCbAsync pfnDllkCbAsync_p);
+
+// deregisters handler for non-EPL frames
+tEplKernel EplDllkDeregAsyncHandler(tEplDllkCbAsync pfnDllkCbAsync_p);
+
+// register C_DLL_MULTICAST_ASND in ethernet driver if any AsndServiceId is registered
+tEplKernel EplDllkSetAsndServiceIdFilter(tEplDllAsndServiceId ServiceId_p, tEplDllAsndFilter Filter_p);
+
+// creates the buffer for a Tx frame and registers it to the ethernet driver
+tEplKernel EplDllkCreateTxFrame(unsigned int * puiHandle_p,
+ tEplFrame ** ppFrame_p,
+ unsigned int * puiFrameSize_p,
+ tEplMsgType MsgType_p,
+ tEplDllAsndServiceId ServiceId_p);
+
+tEplKernel EplDllkDeleteTxFrame(unsigned int uiHandle_p);
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+tEplKernel EplDllkAddNode(tEplDllNodeInfo * pNodeInfo_p);
+
+tEplKernel EplDllkDeleteNode(unsigned int uiNodeId_p);
+
+tEplKernel EplDllkSoftDeleteNode(unsigned int uiNodeId_p);
+
+tEplKernel EplDllkSetFlag1OfNode(unsigned int uiNodeId_p, BYTE bSoaFlag1_p);
+
+tEplKernel EplDllkGetFirstNodeInfo(tEplDllkNodeInfo** ppNodeInfo_p);
+
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+#endif // #ifndef _EPL_DLLK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernelspace DLL Communication Abstraction Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDllkCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/11/13 17:13:09 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/13 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DLLKCAL_H_
+#define _EPL_DLLKCAL_H_
+
+#include "../EplDll.h"
+#include "../EplEvent.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef struct
+{
+ unsigned long m_ulCurTxFrameCountGen;
+ unsigned long m_ulCurTxFrameCountNmt;
+ unsigned long m_ulCurRxFrameCount;
+ unsigned long m_ulMaxTxFrameCountGen;
+ unsigned long m_ulMaxTxFrameCountNmt;
+ unsigned long m_ulMaxRxFrameCount;
+
+} tEplDllkCalStatistics;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+tEplKernel EplDllkCalAddInstance(void);
+
+tEplKernel EplDllkCalDelInstance(void);
+
+tEplKernel EplDllkCalAsyncGetTxCount(tEplDllAsyncReqPriority * pPriority_p, unsigned int * puiCount_p);
+tEplKernel EplDllkCalAsyncGetTxFrame(void * pFrame_p, unsigned int * puiFrameSize_p, tEplDllAsyncReqPriority Priority_p);
+// only frames with registered AsndServiceIds are passed to CAL
+tEplKernel EplDllkCalAsyncFrameReceived(tEplFrameInfo * pFrameInfo_p);
+
+tEplKernel EplDllkCalAsyncSend(tEplFrameInfo * pFrameInfo_p, tEplDllAsyncReqPriority Priority_p);
+
+tEplKernel EplDllkCalAsyncClearBuffer(void);
+
+tEplKernel EplDllkCalGetStatistics(tEplDllkCalStatistics ** ppStatistics);
+
+tEplKernel EplDllkCalProcess(tEplEvent * pEvent_p);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+tEplKernel EplDllkCalAsyncClearQueues(void);
+
+tEplKernel EplDllkCalIssueRequest(tEplDllReqServiceId Service_p, unsigned int uiNodeId_p, BYTE bSoaFlag1_p);
+
+tEplKernel EplDllkCalAsyncGetSoaRequest(tEplDllReqServiceId* pReqServiceId_p, unsigned int* puiNodeId_p);
+
+tEplKernel EplDllkCalAsyncSetPendingRequests(unsigned int uiNodeId_p, tEplDllAsyncReqPriority AsyncReqPrio_p, unsigned int uiCount_p);
+
+#endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
+
+#endif // #ifndef _EPL_DLLKCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernel error handler module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplErrorHandlerk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/10/02 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_ERRORHANDLERK_H_
+#define _EPL_ERRORHANDLERK_H_
+
+#include "../EplEvent.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+// init function
+tEplKernel PUBLIC EplErrorHandlerkInit(void);
+
+// add instance
+tEplKernel PUBLIC EplErrorHandlerkAddInstance(void);
+
+// delete instance
+tEplKernel PUBLIC EplErrorHandlerkDelInstance(void);
+
+// processes error events
+tEplKernel PUBLIC EplErrorHandlerkProcess(tEplEvent * pEvent_p);
+
+
+#endif // #ifndef _EPL_ERRORHANDLERK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernel event module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplEventk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/12 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_EVENTK_H_
+#define _EPL_EVENTK_H_
+
+#include "../EplEvent.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+// init function
+tEplKernel PUBLIC EplEventkInit(tEplSyncCb fpSyncCb);
+
+// add instance
+tEplKernel PUBLIC EplEventkAddInstance(tEplSyncCb fpSyncCb);
+
+// delete instance
+tEplKernel PUBLIC EplEventkDelInstance(void);
+
+// Kernelthread that dispatches events in kernelspace
+tEplKernel PUBLIC EplEventkProcess(tEplEvent * pEvent_p);
+
+// post events from kernelspace
+tEplKernel PUBLIC EplEventkPost(tEplEvent * pEvent_p);
+
+// post errorevents from kernelspace
+tEplKernel PUBLIC EplEventkPostError(tEplEventSource EventSource_p,
+ tEplKernel EplError_p,
+ unsigned int uiArgSize_p,
+ void* pArg_p);
+
+
+
+#endif // #ifndef _EPL_EVENTK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for NMT-Kernelspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#ifndef _EPLNMTK_H_
+#define _EPLNMTK_H_
+
+#include "../EplNmt.h"
+#include "EplEventk.h"
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkInit(EPL_MCO_DECL_PTR_INSTANCE_PTR);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkAddInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkDelInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtkProcess(EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ tEplEvent * pEvent_p);
+
+EPLDLLEXPORT tEplNmtState PUBLIC EplNmtkGetNmtState(EPL_MCO_DECL_PTR_INSTANCE_PTR);
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
+
+
+
+#endif // #ifndef _EPLNMTK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for communication abstraction layer of the
+ NMT-Kernel-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtkCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/16 -k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "EplNmtk.h"
+
+#ifndef _EPLNMTKCAL_H_
+#define _EPLNMTKCAL_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPLNMTKCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Epl-Obd-Kernel-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObdk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplObd.h"
+
+#ifndef _EPLOBDK_H_
+#define _EPLOBDK_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// global variables
+//---------------------------------------------------------------------------
+
+extern BYTE MEM abEplObdTrashObject_g[8];
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdInit (EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ tEplObdInitParam MEM* pInitParam_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdAddInstance (EPL_MCO_DECL_PTR_INSTANCE_PTR_
+ tEplObdInitParam MEM* pInitParam_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdDeleteInstance (EPL_MCO_DECL_INSTANCE_PTR);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdWriteEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdReadEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize *pSize_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdSetStoreLoadObjCallback (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdStoreLoadObjCallback fpCallback_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdAccessOdPart (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdPart ObdPart_p,
+ tEplObdDir Direction_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdDefineVar (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplVarParam MEM* pVarParam_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT void* PUBLIC EplObdGetObjectDataPtr (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p);
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdRegisterUserOd (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdEntryPtr pUserOd_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT void PUBLIC EplObdInitVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ tEplObdVarEntry MEM* pVarEntry_p,
+ tEplObdType Type_p, tEplObdSize ObdSize_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplObdSize PUBLIC EplObdGetDataSize(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT unsigned int PUBLIC EplObdGetNodeId(EPL_MCO_DECL_INSTANCE_PTR);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdSetNodeId(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiNodeId_p,
+ tEplObdNodeIdType NodeIdType_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdIsNumerical(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ BOOL* pfEntryNumerical);
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdWriteEntryFromLe (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdReadEntryToLe (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize *pSize_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdGetAccessType(EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplObdAccess* pAccessTyp_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObdSearchVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdVarEntry MEM** ppVarEntry_p);
+
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
+
+#endif // #ifndef _EPLOBDK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for communication abstraction layer
+ for the Epl-Obd-Kernelspace-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObdkCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplObd.h"
+
+#ifndef _EPLOBDKCAL_H_
+#define _EPLOBDKCAL_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+
+#endif // #ifndef _EPLOBDKCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernel PDO module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdok.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/06/23 14:56:33 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_PDOK_H_
+#define _EPL_PDOK_H_
+
+#include "../EplPdo.h"
+#include "../EplEvent.h"
+#include "../EplDll.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+// process events from queue (PDOs/frames and SoA for synchronization)
+tEplKernel EplPdokProcess(tEplEvent * pEvent_p);
+
+// copies RPDO to event queue for processing
+// is called by DLL in NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL
+// PDO needs not to be valid
+tEplKernel EplPdokCbPdoReceived(tEplFrameInfo * pFrameInfo_p);
+
+// posts pointer and size of TPDO to event queue
+// is called by DLL in NMT_CS_PRE_OPERATIONAL_2,
+// NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL
+tEplKernel EplPdokCbPdoTransmitted(tEplFrameInfo * pFrameInfo_p);
+
+// posts SoA event to queue
+tEplKernel EplPdokCbSoa(tEplFrameInfo * pFrameInfo_p);
+
+tEplKernel EplPdokAddInstance(void);
+
+tEplKernel EplPdokDelInstance(void);
+
+
+#endif // #ifndef _EPL_PDOK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernel PDO Communication Abstraction Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdokCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_PDOKCAL_H_
+#define _EPL_PDOKCAL_H_
+
+#include "../EplInc.h"
+//#include "EplPdo.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdokCalAddInstance(void);
+
+tEplKernel EplPdokCalDelInstance(void);
+
+// sets flag for validity of TPDOs in shared memory
+tEplKernel EplPdokCalSetTpdosValid(BOOL fValid_p);
+
+// gets flag for validity of TPDOs from shared memory
+tEplKernel EplPdokCalAreTpdosValid(BOOL * pfValid_p);
+
+
+
+#endif // #ifndef _EPL_PDOKCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for EPL high resolution Timermodule
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimerHighResk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/09/29 d.k.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplTimer.h"
+
+#ifndef _EPLTIMERHIGHRESK_H_
+#define _EPLTIMERHIGHRESK_H_
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimerHighReskInit(void);
+
+tEplKernel PUBLIC EplTimerHighReskAddInstance(void);
+
+tEplKernel PUBLIC EplTimerHighReskDelInstance(void);
+
+tEplKernel PUBLIC EplTimerHighReskSetTimerNs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long long ullTimeNs_p,
+ tEplTimerkCallback pfnCallback_p,
+ unsigned long ulArgument_p,
+ BOOL fContinuously_p);
+
+tEplKernel PUBLIC EplTimerHighReskModifyTimerNs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long long ullTimeNs_p,
+ tEplTimerkCallback pfnCallback_p,
+ unsigned long ulArgument_p,
+ BOOL fContinuously_p);
+
+tEplKernel PUBLIC EplTimerHighReskDeleteTimer(tEplTimerHdl* pTimerHdl_p);
+
+#endif // #ifndef _EPLTIMERHIGHRESK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for EPL Kernel-Timermodule
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimerk.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/06 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplTimer.h"
+#include "../user/EplEventu.h"
+
+#ifndef _EPLTIMERK_H_
+#define _EPLTIMERK_H_
+
+#if EPL_TIMER_USE_USER != FALSE
+#include "../user/EplTimeru.h"
+#endif
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#if EPL_TIMER_USE_USER != FALSE
+#define EplTimerkInit EplTimeruInit
+#define EplTimerkAddInstance EplTimeruAddInstance
+#define EplTimerkDelInstance EplTimeruDelInstance
+#define EplTimerkSetTimerMs EplTimeruSetTimerMs
+#define EplTimerkModifyTimerMs EplTimeruModifyTimerMs
+#define EplTimerkDeleteTimer EplTimeruDeleteTimer
+#endif
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+#if EPL_TIMER_USE_USER == FALSE
+tEplKernel PUBLIC EplTimerkInit(void);
+
+tEplKernel PUBLIC EplTimerkAddInstance(void);
+
+tEplKernel PUBLIC EplTimerkDelInstance(void);
+
+tEplKernel PUBLIC EplTimerkSetTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p);
+
+tEplKernel PUBLIC EplTimerkModifyTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p);
+
+tEplKernel PUBLIC EplTimerkDeleteTimer(tEplTimerHdl* pTimerHdl_p);
+#endif
+#endif // #ifndef _EPLTIMERK_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for virtual ethernet driver module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: VirtualEthernet.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ KEIL uVision 2
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/09/19 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_VETH_H_
+#define _EPL_VETH_H_
+
+#include "EplDllk.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
+
+tEplKernel PUBLIC VEthAddInstance(tEplDllkInitParam * pInitParam_p);
+
+tEplKernel PUBLIC VEthDelInstance(void);
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0)
+
+#endif // #ifndef _EPL_VETH_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: proc fs entry with diagnostic information under Linux
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: proc_fs.c,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.13 $ $Date: 2008/11/07 13:55:56 $
+
+ $State: Exp $
+
+ Build Environment:
+ GNU
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/31 d.k.: start of implementation
+
+****************************************************************************/
+
+#include "kernel/EplNmtk.h"
+#include "user/EplNmtu.h"
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+#include "user/EplNmtMnu.h"
+#endif
+
+#include "kernel/EplDllkCal.h"
+
+//#include <linux/config.h>
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/init.h>
+#include <linux/errno.h>
+#include <linux/major.h>
+#include <linux/version.h>
+#include <asm/io.h>
+#include <asm/uaccess.h>
+#include <asm/atomic.h>
+#include <linux/proc_fs.h>
+#include <linux/spinlock.h>
+
+#ifdef CONFIG_COLDFIRE
+ #include <asm/coldfire.h>
+ #include "fec.h"
+#endif
+
+
+/***************************************************************************/
+/* */
+/* */
+/* G L O B A L D E F I N I T I O N S */
+/* */
+/* */
+/***************************************************************************/
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+#ifndef EPL_PROC_DEV_NAME
+#define EPL_PROC_DEV_NAME "epl"
+#endif
+
+#ifndef DBG_TRACE_POINTS
+#define DBG_TRACE_POINTS 23 // # of supported debug trace points
+#endif
+
+#ifndef DBG_TRACE_VALUES
+#define DBG_TRACE_VALUES 24 // # of supported debug trace values (size of circular buffer)
+#endif
+
+//---------------------------------------------------------------------------
+// modul global types
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// local vars
+//---------------------------------------------------------------------------
+
+#ifdef _DBG_TRACE_POINTS_
+ atomic_t aatmDbgTracePoint_l[DBG_TRACE_POINTS];
+ DWORD adwDbgTraceValue_l[DBG_TRACE_VALUES];
+ DWORD dwDbgTraceValueOld_l;
+ unsigned int uiDbgTraceValuePos_l;
+ spinlock_t spinlockDbgTraceValue_l;
+ unsigned long ulDbTraceValueFlags_l;
+#endif
+
+//---------------------------------------------------------------------------
+// local function prototypes
+//---------------------------------------------------------------------------
+
+static int EplLinProcRead (char* pcBuffer_p, char** ppcStart_p, off_t Offset_p, int nBufferSize_p, int* pEof_p, void* pData_p);
+static int EplLinProcWrite(struct file *file, const char __user *buffer, unsigned long count, void *data);
+
+void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
+void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
+
+
+EPLDLLEXPORT DWORD PUBLIC EplIdentuGetRunningRequests(void);
+
+
+//=========================================================================//
+// //
+// P U B L I C F U N C T I O N S //
+// //
+//=========================================================================//
+
+tEplKernel EplLinProcInit(void)
+{
+ struct proc_dir_entry* pProcDirEntry;
+ pProcDirEntry = create_proc_entry (EPL_PROC_DEV_NAME, S_IRUGO, NULL);
+ if (pProcDirEntry != NULL)
+ {
+ pProcDirEntry->read_proc = EplLinProcRead;
+ pProcDirEntry->write_proc = EplLinProcWrite;
+ pProcDirEntry->data = NULL; // device number or something else
+
+ }
+ else
+ {
+ return kEplNoResource;
+ }
+
+#ifdef _DBG_TRACE_POINTS_
+ // initialize spinlock and circular buffer position
+ spin_lock_init(&spinlockDbgTraceValue_l);
+ uiDbgTraceValuePos_l = 0;
+ dwDbgTraceValueOld_l = 0;
+#endif
+
+ return kEplSuccessful;
+}
+
+tEplKernel EplLinProcFree(void)
+{
+ remove_proc_entry (EPL_PROC_DEV_NAME, NULL);
+
+ return kEplSuccessful;
+}
+
+//---------------------------------------------------------------------------
+// Target specific event signaling (FEC Tx-/Rx-Interrupt, used by Edrv)
+//---------------------------------------------------------------------------
+
+#ifdef _DBG_TRACE_POINTS_
+void PUBLIC TgtDbgSignalTracePoint (
+ BYTE bTracePointNumber_p)
+{
+
+ if (bTracePointNumber_p >= (sizeof(aatmDbgTracePoint_l) / sizeof(aatmDbgTracePoint_l[0])))
+ {
+ goto Exit;
+ }
+
+
+ atomic_inc (&aatmDbgTracePoint_l[bTracePointNumber_p]);
+
+Exit:
+
+ return;
+
+}
+
+void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p)
+{
+
+ spin_lock_irqsave(&spinlockDbgTraceValue_l, ulDbTraceValueFlags_l);
+ if (dwDbgTraceValueOld_l != dwTraceValue_p)
+ {
+ adwDbgTraceValue_l[uiDbgTraceValuePos_l] = dwTraceValue_p;
+ uiDbgTraceValuePos_l = (uiDbgTraceValuePos_l + 1) % DBG_TRACE_VALUES;
+ dwDbgTraceValueOld_l = dwTraceValue_p;
+ }
+ spin_unlock_irqrestore(&spinlockDbgTraceValue_l, ulDbTraceValueFlags_l);
+
+ return;
+
+}
+#endif
+
+
+//---------------------------------------------------------------------------
+// Read function for PROC-FS read access
+//---------------------------------------------------------------------------
+
+static int EplLinProcRead (
+ char* pcBuffer_p,
+ char** ppcStart_p,
+ off_t Offset_p,
+ int nBufferSize_p,
+ int* pEof_p,
+ void* pData_p)
+{
+
+int nSize;
+int Eof;
+tEplDllkCalStatistics* pDllkCalStats;
+
+ nSize = 0;
+ Eof = 0;
+
+ // count calls of this function
+#ifdef _DBG_TRACE_POINTS_
+ TgtDbgSignalTracePoint(0);
+#endif
+
+ //---------------------------------------------------------------
+ // generate static information
+ //---------------------------------------------------------------
+
+ // ---- Driver information ----
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "%s %s (c) 2006 %s\n",
+ EPL_PRODUCT_NAME, EPL_PRODUCT_VERSION, EPL_PRODUCT_MANUFACTURER);
+
+
+ //---------------------------------------------------------------
+ // generate process information
+ //---------------------------------------------------------------
+
+ // ---- EPL state ----
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "NMT state: 0x%04X\n",
+ (WORD) EplNmtkGetNmtState());
+
+ EplDllkCalGetStatistics(&pDllkCalStats);
+
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "CurAsyncTxGen=%lu CurAsyncTxNmt=%lu CurAsyncRx=%lu\nMaxAsyncTxGen=%lu MaxAsyncTxNmt=%lu MaxAsyncRx=%lu\n", pDllkCalStats->m_ulCurTxFrameCountGen, pDllkCalStats->m_ulCurTxFrameCountNmt, pDllkCalStats->m_ulCurRxFrameCount, pDllkCalStats->m_ulMaxTxFrameCountGen, pDllkCalStats->m_ulMaxTxFrameCountNmt, pDllkCalStats->m_ulMaxRxFrameCount);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+ // fetch running IdentRequests
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "running IdentRequests: 0x%08lX\n",
+ EplIdentuGetRunningRequests());
+
+ // fetch state of NmtMnu module
+ {
+ unsigned int uiMandatorySlaveCount;
+ unsigned int uiSignalSlaveCount;
+ WORD wFlags;
+
+ EplNmtMnuGetDiagnosticInfo(&uiMandatorySlaveCount,
+ &uiSignalSlaveCount,
+ &wFlags);
+
+
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "MN MandSlaveCount: %u SigSlaveCount: %u Flags: 0x%X\n",
+ uiMandatorySlaveCount, uiSignalSlaveCount, wFlags);
+
+ }
+#endif
+
+ // ---- FEC state ----
+ #ifdef CONFIG_COLDFIRE
+ {
+ // Receive the base address
+ unsigned long base_addr;
+ #if (EDRV_USED_ETH_CTRL == 0)
+ // Set the base address of FEC0
+ base_addr = FEC_BASE_ADDR_FEC0;
+ #else
+ // Set the base address of FEC1
+ base_addr = FEC_BASE_ADDR_FEC1;
+ #endif
+
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "FEC_ECR = 0x%08X FEC_EIR = 0x%08X FEC_EIMR = 0x%08X\nFEC_TCR = 0x%08X FECTFSR = 0x%08X FECRFSR = 0x%08X\n",
+ FEC_ECR(base_addr), FEC_EIR(base_addr), FEC_EIMR(base_addr), FEC_TCR(base_addr), FEC_FECTFSR(base_addr), FEC_FECRFSR(base_addr));
+ }
+ #endif
+
+
+ // ---- DBG: TracePoints ----
+ #ifdef _DBG_TRACE_POINTS_
+ {
+ int nNum;
+
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "DbgTracePoints:\n");
+ for (nNum=0; nNum<(sizeof(aatmDbgTracePoint_l)/sizeof(atomic_t)); nNum++)
+ {
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ " TracePoint[%2d]: %d\n", (int)nNum,
+ atomic_read(&aatmDbgTracePoint_l[nNum]));
+ }
+
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "DbgTraceValues:\n");
+ for (nNum=0; nNum<DBG_TRACE_VALUES; nNum++)
+ {
+ if (nNum == uiDbgTraceValuePos_l)
+ { // next value will be stored at that position
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "*%08lX", adwDbgTraceValue_l[nNum]);
+ }
+ else
+ {
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ " %08lX", adwDbgTraceValue_l[nNum]);
+ }
+ if ((nNum & 0x00000007) == 0x00000007)
+ { // 8 values printed -> end of line reached
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "\n");
+ }
+ }
+ if ((nNum & 0x00000007) != 0x00000007)
+ { // number of values printed is not a multiple of 8 -> print new line
+ nSize += snprintf (pcBuffer_p + nSize, nBufferSize_p - nSize,
+ "\n");
+ }
+ }
+ #endif
+
+
+ Eof = 1;
+ goto Exit;
+
+
+Exit:
+
+ *pEof_p = Eof;
+
+ return (nSize);
+
+}
+
+
+//---------------------------------------------------------------------------
+// Write function for PROC-FS write access
+//---------------------------------------------------------------------------
+
+static int EplLinProcWrite(struct file *file, const char __user *buffer, unsigned long count, void *data)
+{
+char abBuffer[count + 1];
+int iErr;
+int iVal = 0;
+tEplNmtEvent NmtEvent;
+
+ if (count > 0)
+ {
+ iErr = copy_from_user(abBuffer, buffer, count);
+ if (iErr != 0)
+ {
+ return count;
+ }
+ abBuffer[count] = '\0';
+
+ iErr = sscanf(abBuffer, "%i", &iVal);
+ }
+ if ((iVal <= 0) || (iVal > 0x2F))
+ {
+ NmtEvent = kEplNmtEventSwReset;
+ }
+ else
+ {
+ NmtEvent = (tEplNmtEvent) iVal;
+ }
+ // execute specified NMT command on write access of /proc/epl
+ EplNmtuNmtEvent(NmtEvent);
+
+ return count;
+}
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: interface for proc fs entry under Linux
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: proc_fs.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:33 $
+
+ $State: Exp $
+
+ Build Environment:
+ GNU
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/31 d.k.: start of implementation
+
+****************************************************************************/
+
+#ifndef _EPLPROCFS_H_
+#define _EPLPROCFS_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// types
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel EplLinProcInit(void);
+tEplKernel EplLinProcFree(void);
+
+
+#endif // #ifndef _EPLPROCFS_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Epl Configuration Manager Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplCfgMau.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ VC7
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/14 k.t.: start of the implementation
+ -> based on CANopen CfgMa-Modul (CANopen version 5.34)
+
+****************************************************************************/
+
+#include "../EplInc.h"
+
+#ifndef _EPLCFGMA_H_
+#define _EPLCFGMA_H_
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0)
+
+#include "EplObdu.h"
+#include "EplSdoComu.h"
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+//define max number of timeouts for configuration of 1 device
+#define EPL_CFGMA_MAX_TIMEOUT 3
+
+//callbackfunction, called if configuration is finished
+typedef void (PUBLIC* tfpEplCfgMaCb) (unsigned int uiNodeId_p,
+ tEplKernel Errorstate_p);
+
+//State for configuartion manager Statemachine
+typedef enum
+{
+ // general states
+ kEplCfgMaIdle = 0x0000, // Configurationsprocess
+ // is idle
+ kEplCfgMaWaitForSdocEvent = 0x0001, // wait until the last
+ // SDOC is finisched
+ kEplCfgMaSkipMappingSub0 = 0x0002, // write Sub0 of mapping
+ // parameter with 0
+
+ kEplCfgMaFinished = 0x0004 // configuartion is finished
+
+} tEplCfgState;
+
+typedef enum
+{
+ kEplCfgMaDcfTypSystecSeg = 0x00,
+ kEplCfgMaDcfTypConDcf = 0x01,
+ kEplCfgMaDcfTypDcf = 0x02, // not supported
+ kEplCfgMaDcfTypXdc = 0x03 // not supported
+
+
+}tEplCfgMaDcfTyp;
+
+typedef enum
+{
+ kEplCfgMaCommon = 0, // all other index
+ kEplCfgMaPdoComm = 1, // communication index
+ kEplCfgMaPdoMapp = 2, // mapping index
+ kEplCfgMaPdoCommAfterMapp = 3, // write PDO Cob-Id after mapping subindex 0(set PDO valid)
+
+} tEplCfgMaIndexType;
+
+
+//bitcoded answer about the last sdo transfer saved in m_SdocState
+// also used to singal start of the State Maschine
+typedef enum
+{
+ kEplCfgMaSdocBusy = 0x00, // SDOC activ
+ kEplCfgMaSdocReady = 0x01, // SDOC finished
+ kEplCfgMaSdocTimeout = 0x02, // SDOC Timeout
+ kEplCfgMaSdocAbortReceived = 0x04, // SDOC Abort, see Abortcode
+ kEplCfgMaSdocStart = 0x08 // start State Mschine
+}tEplSdocState;
+
+//internal structure (instancetable for modul configuration manager)
+typedef struct
+{
+ tEplCfgState m_CfgState; // state of the configuration state maschine
+ tEplSdoComConHdl m_SdoComConHdl; // handle for sdo connection
+ DWORD m_dwLastAbortCode;
+ unsigned int m_uiLastIndex; // last index of configuration, to compair with actual index
+ BYTE* m_pbConcise; // Ptr to concise DCF
+ BYTE* m_pbActualIndex; // Ptr to actual index in the DCF segment
+ tfpEplCfgMaCb m_pfnCfgMaCb; // Ptr to CfgMa Callback, is call if configuration finished
+ tEplKernel m_EplKernelError; // errorcode
+ DWORD m_dwNumValueCopy; // numeric values are copied in this variable
+ unsigned int m_uiPdoNodeId; // buffer for PDO node id
+ BYTE m_bNrOfMappedObject; // number of mapped objects
+ unsigned int m_uiNodeId; // Epl node addresse
+ tEplSdocState m_SdocState; // bitcoded state of the SDO transfer
+ unsigned int m_uiLastSubIndex; // last subindex of configuration
+ BOOL m_fOneTranferOk; // atleased one transfer was successful
+ BYTE m_bEventFlag; // for Eventsignaling to the State Maschine
+ DWORD m_dwCntObjectInDcf; // number of Objects in DCF
+ tEplCfgMaIndexType m_SkipCfg; // TRUE if a adsitional Configurationprocess
+ // have to insert e.g. PDO-mapping
+ WORD m_wTimeOutCnt; // Timeout Counter, break configuration is
+ // m_wTimeOutCnt == CFGMA_MAX_TIMEOUT
+
+} tEplCfgMaNode;
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaInit()
+//
+// Description: Function creates first instance of Configuration Manager
+//
+// Parameters:
+//
+// Returns: tEplKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaInit();
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaAddInstance()
+//
+// Description: Function creates additional instance of Configuration Manager
+//
+// Parameters:
+//
+// Returns: tEplKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaAddInstance();
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaDelInstance()
+//
+// Description: Function delete instance of Configuration Manager
+//
+// Parameters:
+//
+// Returns: tEplKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaDelInstance();
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaStartConfig()
+//
+// Description: Function starts the configuration process
+// initialization the statemachine for CfgMa- process
+//
+// Parameters: uiNodeId_p = NodeId of the node to configure
+// pbConcise_p = pointer to DCF
+// fpCfgMaCb_p = pointer to callback function (should not be NULL)
+// SizeOfConcise_p = size of DCF in BYTE -> for future use
+// DcfType_p = type of the DCF
+//
+// Returns: tCopKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaStartConfig(unsigned int uiNodeId_p,
+ BYTE* pbConcise_p,
+ tfpEplCfgMaCb fpCfgMaCb_p,
+ tEplObdSize SizeOfConcise_p,
+ tEplCfgMaDcfTyp DcfType_p);
+
+
+//---------------------------------------------------------------------------
+// Function: CfgMaStartConfigurationNode()
+//
+// Description: Function started the configuration process
+// with the DCF from according OD-entry Subindex == bNodeId_p
+//
+// Parameters: uiNodeId_p = NodeId of the node to configure
+// fpCfgMaCb_p = pointer to callback function (should not be NULL)
+// DcfType_p = type of the DCF
+//
+// Returns: tCopKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaStartConfigNode(unsigned int uiNodeId_p,
+ tfpEplCfgMaCb fpCfgMaCb_p,
+ tEplCfgMaDcfTyp DcfType_p);
+
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaStartConfigNodeDcf()
+//
+// Description: Function starts the configuration process
+// and links the configuration data to the OD
+//
+// Parameters: uiNodeId_p = NodeId of the node to configure
+// pbConcise_p = pointer to DCF
+// fpCfgMaCb_p = pointer to callback function (should not be NULL)
+// SizeOfConcise_p = size of DCF in BYTE -> for future use
+// DcfType_p = type of the DCF
+//
+// Returns: tCopKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaStartConfigNodeDcf(unsigned int uiNodeId_p,
+ BYTE* pbConcise_p,
+ tfpEplCfgMaCb fpCfgMaCb_p,
+ tEplObdSize SizeOfConcise_p,
+ tEplCfgMaDcfTyp DcfType_p);
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaLinkDcf()
+//
+// Description: Function links the configuration data to the OD
+//
+// Parameters: uiNodeId_p = NodeId of the node to configure
+// pbConcise_p = pointer to DCF
+// SizeOfConcise_p = size of DCF in BYTE -> for future use
+// DcfType_p = type of the DCF
+//
+// Returns: tCopKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaLinkDcf(unsigned int uiNodeId_p,
+ BYTE* pbConcise_p,
+ tEplObdSize SizeOfConcise_p,
+ tEplCfgMaDcfTyp DcfType_p);
+
+//---------------------------------------------------------------------------
+// Function: EplCfgMaCheckDcf()
+//
+// Description: Function check if there is allready a configuration file linked
+// to the OD (type is given by DcfType_p)
+//
+// Parameters: uiNodeId_p = NodeId
+// DcfType_p = type of the DCF
+//
+// Returns: tCopKernel = error code
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplCfgMaCheckDcf(unsigned int uiNodeId_p,
+ tEplCfgMaDcfTyp DcfType_p);
+
+
+
+
+
+#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0)
+
+#endif // _EPLCFGMA_H_
+
+// EOF
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for userspace DLL module for asynchronous communication
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDllu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/20 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DLLU_H_
+#define _EPL_DLLU_H_
+
+#include "../EplDll.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef tEplKernel (PUBLIC * tEplDlluCbAsnd) (tEplFrameInfo * pFrameInfo_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+
+tEplKernel EplDlluAddInstance(void);
+
+tEplKernel EplDlluDelInstance(void);
+
+tEplKernel EplDlluRegAsndService(tEplDllAsndServiceId ServiceId_p, tEplDlluCbAsnd pfnDlluCbAsnd_p, tEplDllAsndFilter Filter_p);
+
+tEplKernel EplDlluAsyncSend(tEplFrameInfo * pFrameInfo_p, tEplDllAsyncReqPriority Priority_p);
+
+// processes asynch frames
+tEplKernel EplDlluProcess(tEplFrameInfo * pFrameInfo_p);
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
+
+#endif // #ifndef _EPL_DLLU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for DLL Communication Abstraction Layer module in EPL user part
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplDlluCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/20 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_DLLUCAL_H_
+#define _EPL_DLLUCAL_H_
+
+#include "../EplDll.h"
+#include "../EplEvent.h"
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef tEplKernel (PUBLIC * tEplDlluCbAsnd) (tEplFrameInfo * pFrameInfo_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel EplDlluCalAddInstance(void);
+
+tEplKernel EplDlluCalDelInstance(void);
+
+tEplKernel EplDlluCalRegAsndService(tEplDllAsndServiceId ServiceId_p,
+ tEplDlluCbAsnd pfnDlluCbAsnd_p,
+ tEplDllAsndFilter Filter_p);
+
+tEplKernel EplDlluCalAsyncSend(tEplFrameInfo * pFrameInfo, tEplDllAsyncReqPriority Priority_p);
+
+tEplKernel EplDlluCalProcess(tEplEvent * pEvent_p);
+
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+tEplKernel EplDlluCalAddNode(tEplDllNodeInfo * pNodeInfo_p);
+
+tEplKernel EplDlluCalDeleteNode(unsigned int uiNodeId_p);
+
+tEplKernel EplDlluCalSoftDeleteNode(unsigned int uiNodeId_p);
+
+tEplKernel EplDlluCalIssueRequest(tEplDllReqServiceId Service_p, unsigned int uiNodeId_p, BYTE bSoaFlag1_p);
+
+#endif
+
+
+#endif // #ifndef _EPL_DLLUCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for kernel event module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplEventu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/12 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_EVENTU_H_
+#define _EPL_EVENTU_H_
+
+#include "../EplEvent.h"
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+// init function
+tEplKernel PUBLIC EplEventuInit(tEplProcessEventCb pfnApiProcessEventCb_p);
+
+// add instance
+tEplKernel PUBLIC EplEventuAddInstance(tEplProcessEventCb pfnApiProcessEventCb_p);
+
+// delete instance
+tEplKernel PUBLIC EplEventuDelInstance(void);
+
+// Task that dispatches events in userspace
+tEplKernel PUBLIC EplEventuProcess(tEplEvent * pEvent_p);
+
+// post events from userspace
+tEplKernel PUBLIC EplEventuPost(tEplEvent * pEvent_p);
+
+// post errorevents from userspace
+tEplKernel PUBLIC EplEventuPostError(tEplEventSource EventSource_p,
+ tEplKernel EplError_p,
+ unsigned int uiArgSize_p,
+ void* pArg_p);
+
+
+
+#endif // #ifndef _EPL_EVENTU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Identu-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplIdentu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/11/15 d.k.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplDll.h"
+
+#ifndef _EPLIDENTU_H_
+#define _EPLIDENTU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef tEplKernel (PUBLIC * tEplIdentuCbResponse) (
+ unsigned int uiNodeId_p,
+ tEplIdentResponse* pIdentResponse_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplIdentuInit(void);
+
+tEplKernel PUBLIC EplIdentuAddInstance(void);
+
+tEplKernel PUBLIC EplIdentuDelInstance(void);
+
+tEplKernel PUBLIC EplIdentuReset(void);
+
+tEplKernel PUBLIC EplIdentuGetIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentResponse** ppIdentResponse_p);
+
+tEplKernel PUBLIC EplIdentuRequestIdentResponse(
+ unsigned int uiNodeId_p,
+ tEplIdentuCbResponse pfnCbResponse_p);
+
+#endif // #ifndef _EPLIDENTU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for status and error LED user part module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplLedu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.1 $ $Date: 2008/11/17 16:40:39 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2008/11/17 d.k.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplLed.h"
+#include "../EplNmt.h"
+#include "EplEventu.h"
+
+#ifndef _EPLLEDU_H_
+#define _EPLLEDU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+typedef tEplKernel (PUBLIC * tEplLeduStateChangeCallback) (
+ tEplLedType LedType_p, BOOL fOn_p);
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+
+tEplKernel PUBLIC EplLeduInit(tEplLeduStateChangeCallback pfnCbStateChange_p);
+
+tEplKernel PUBLIC EplLeduAddInstance(tEplLeduStateChangeCallback pfnCbStateChange_p);
+
+tEplKernel PUBLIC EplLeduDelInstance(void);
+
+tEplKernel PUBLIC EplLeduCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p);
+
+tEplKernel PUBLIC EplLeduProcessEvent(
+ tEplEvent* pEplEvent_p);
+
+
+#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
+
+#endif // #ifndef _EPLLEDU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for NMT-CN-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtCnu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "EplNmtu.h"
+#include "../EplDll.h"
+#include "../EplFrame.h"
+
+#ifndef _EPLNMTCNU_H_
+#define _EPLNMTCNU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuInit(unsigned int uiNodeId_p);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuAddInstance(unsigned int uiNodeId_p);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuDelInstance(void);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuSendNmtRequest (unsigned int uiNodeId_p,
+ tEplNmtCommand NmtCommand_p);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtCnuRegisterCheckEventCb(
+ tEplNmtuCheckEventCallback pfnEplNmtCheckEventCb_p);
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
+
+#endif // #ifndef _EPLNMTCNU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for NMT-MN-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtMnu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "EplNmtu.h"
+
+#ifndef _EPLNMTMNU_H_
+#define _EPLNMTMNU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef tEplKernel (PUBLIC * tEplNmtMnuCbNodeEvent) (
+ unsigned int uiNodeId_p,
+ tEplNmtNodeEvent NodeEvent_p,
+ tEplNmtState NmtState_p,
+ WORD wErrorCode_p,
+ BOOL fMandatory_p);
+
+
+typedef tEplKernel (PUBLIC * tEplNmtMnuCbBootEvent) (
+ tEplNmtBootEvent BootEvent_p,
+ tEplNmtState NmtState_p,
+ WORD wErrorCode_p);
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
+
+tEplKernel EplNmtMnuInit(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p,
+ tEplNmtMnuCbBootEvent pfnCbBootEvent_p);
+
+tEplKernel EplNmtMnuAddInstance(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p,
+ tEplNmtMnuCbBootEvent pfnCbBootEvent_p);
+
+tEplKernel EplNmtMnuDelInstance(void);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtMnuProcessEvent(
+ tEplEvent* pEvent_p);
+
+tEplKernel EplNmtMnuSendNmtCommand(unsigned int uiNodeId_p,
+ tEplNmtCommand NmtCommand_p);
+
+tEplKernel EplNmtMnuTriggerStateChange(unsigned int uiNodeId_p,
+ tEplNmtNodeCommand NodeCommand_p);
+
+tEplKernel PUBLIC EplNmtMnuCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p);
+
+tEplKernel PUBLIC EplNmtMnuCbCheckEvent(tEplNmtEvent NmtEvent_p);
+
+tEplKernel PUBLIC EplNmtMnuGetDiagnosticInfo(unsigned int* puiMandatorySlaveCount_p,
+ unsigned int* puiSignalSlaveCount_p,
+ WORD* pwFlags_p);
+
+#endif
+
+#endif // #ifndef _EPLNMTMNU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for NMT-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/09 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplNmt.h"
+#include "EplEventu.h"
+
+#ifndef _EPLNMTU_H_
+#define _EPLNMTU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+// nmt commands
+typedef enum
+{
+ // requestable ASnd ServiceIds 0x01..0x1F
+ kEplNmtCmdIdentResponse = 0x01,
+ kEplNmtCmdStatusResponse = 0x02,
+ // plain NMT state commands 0x20..0x3F
+ kEplNmtCmdStartNode = 0x21,
+ kEplNmtCmdStopNode = 0x22,
+ kEplNmtCmdEnterPreOperational2 = 0x23,
+ kEplNmtCmdEnableReadyToOperate = 0x24,
+ kEplNmtCmdResetNode = 0x28,
+ kEplNmtCmdResetCommunication = 0x29,
+ kEplNmtCmdResetConfiguration = 0x2A,
+ kEplNmtCmdSwReset = 0x2B,
+ // extended NMT state commands 0x40..0x5F
+ kEplNmtCmdStartNodeEx = 0x41,
+ kEplNmtCmdStopNodeEx = 0x42,
+ kEplNmtCmdEnterPreOperational2Ex = 0x43,
+ kEplNmtCmdEnableReadyToOperateEx = 0x44,
+ kEplNmtCmdResetNodeEx = 0x48,
+ kEplNmtCmdResetCommunicationEx = 0x49,
+ kEplNmtCmdResetConfigurationEx = 0x4A,
+ kEplNmtCmdSwResetEx = 0x4B,
+ // NMT managing commands 0x60..0x7F
+ kEplNmtCmdNetHostNameSet = 0x62,
+ kEplNmtCmdFlushArpEntry = 0x63,
+ // NMT info services 0x80..0xBF
+ kEplNmtCmdPublishConfiguredCN = 0x80,
+ kEplNmtCmdPublishActiveCN = 0x90,
+ kEplNmtCmdPublishPreOperational1 = 0x91,
+ kEplNmtCmdPublishPreOperational2 = 0x92,
+ kEplNmtCmdPublishReadyToOperate = 0x93,
+ kEplNmtCmdPublishOperational = 0x94,
+ kEplNmtCmdPublishStopped = 0x95,
+ kEplNmtCmdPublishEmergencyNew = 0xA0,
+ kEplNmtCmdPublishTime = 0xB0,
+
+ kEplNmtCmdInvalidService = 0xFF
+
+} tEplNmtCommand;
+
+typedef tEplKernel (PUBLIC * tEplNmtuStateChangeCallback) (
+ tEplEventNmtStateChange NmtStateChange_p);
+
+typedef tEplKernel (PUBLIC * tEplNmtuCheckEventCallback) (
+ tEplNmtEvent NmtEvent_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuInit(void);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuAddInstance(void);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuDelInstance(void);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuNmtEvent(tEplNmtEvent NmtEvent_p);
+
+EPLDLLEXPORT tEplNmtState PUBLIC EplNmtuGetNmtState(void);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuProcessEvent(
+ tEplEvent* pEplEvent_p);
+
+EPLDLLEXPORT tEplKernel PUBLIC EplNmtuRegisterStateChangeCb(
+ tEplNmtuStateChangeCallback pfnEplNmtStateChangeCb_p);
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
+
+#endif // #ifndef _EPLNMTU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for communication abstraction layer of the
+ NMT-Userspace-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplNmtuCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/16 -k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "EplNmtu.h"
+#include "../kernel/EplNmtk.h"
+
+#ifndef _EPLNMTUCAL_H_
+#define _EPLNMTUCAL_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplNmtState PUBLIC EplNmtkCalGetNmtState(void);
+
+#endif // #ifndef _EPLNMTUCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Epl-Obd-Userspace-module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObdu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplObd.h"
+
+#ifndef _EPLOBDU_H_
+#define _EPLOBDU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+
+#if EPL_OBD_USE_KERNEL != FALSE
+#error "EPL OBDu module enabled, but OBD_USE_KERNEL == TRUE"
+#endif
+
+EPLDLLEXPORT tEplKernel PUBLIC EplObduWriteEntry (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduReadEntry (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize *pSize_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduAccessOdPart (tEplObdPart ObdPart_p,
+ tEplObdDir Direction_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduDefineVar (tEplVarParam MEM* pVarParam_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT void* PUBLIC EplObduGetObjectDataPtr (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p);
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduRegisterUserOd (
+ tEplObdEntryPtr pUserOd_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT void PUBLIC EplObduInitVarEntry (tEplObdVarEntry MEM* pVarEntry_p,
+ BYTE bType_p,
+ tEplObdSize ObdSize_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplObdSize PUBLIC EplObduGetDataSize(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT unsigned int PUBLIC EplObduGetNodeId(void);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduSetNodeId(unsigned int uiNodeId_p,
+ tEplObdNodeIdType NodeIdType_p);
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduGetAccessType(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplObdAccess* pAccessTyp_p);
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduReadEntryToLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize * pSize_p);
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduWriteEntryFromLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p);
+
+// ---------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduSearchVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdVarEntry MEM** ppVarEntry_p);
+
+#elif EPL_OBD_USE_KERNEL != FALSE
+#include "../kernel/EplObdk.h"
+
+#define EplObduWriteEntry EplObdWriteEntry
+
+#define EplObduReadEntry EplObdReadEntry
+
+#define EplObduAccessOdPart EplObdAccessOdPart
+
+#define EplObduDefineVar EplObdDefineVar
+
+#define EplObduGetObjectDataPtr EplObdGetObjectDataPtr
+
+#define EplObduRegisterUserOd EplObdRegisterUserOd
+
+#define EplObduInitVarEntry EplObdInitVarEntry
+
+#define EplObduGetDataSize EplObdGetDataSize
+
+#define EplObduGetNodeId EplObdGetNodeId
+
+#define EplObduSetNodeId EplObdSetNodeId
+
+#define EplObduGetAccessType EplObdGetAccessType
+
+#define EplObduReadEntryToLe EplObdReadEntryToLe
+
+#define EplObduWriteEntryFromLe EplObdWriteEntryFromLe
+
+#define EplObduSearchVarEntry EplObdSearchVarEntry
+
+#define EplObduIsNumerical EplObdIsNumerical
+
+#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0)
+
+#endif // #ifndef _EPLOBDU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for communication abstraction layer
+ for the Epl-Obd-Userspace-Modul
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplObduCal.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/19 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplObd.h"
+
+#ifndef _EPLOBDUCAL_H_
+#define _EPLOBDUCAL_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalWriteEntry (
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalReadEntry (
+ unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize *pSize_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalAccessOdPart (
+ tEplObdPart ObdPart_p,
+ tEplObdDir Direction_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalDefineVar (tEplVarParam MEM* pVarParam_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT void* PUBLIC EplObduCalGetObjectDataPtr ( unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalRegisterUserOd (tEplObdEntryPtr pUserOd_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT void PUBLIC EplObduCalInitVarEntry (tEplObdVarEntry MEM* pVarEntry_p,
+ BYTE bType_p, tEplObdSize ObdSize_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplObdSize PUBLIC EplObduCalGetDataSize(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT unsigned int PUBLIC EplObduCalGetNodeId(void);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalSetNodeId(unsigned int uiNodeId_p,
+ tEplObdNodeIdType NodeIdType_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalGetAccessType(unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ tEplObdAccess* pAccessTyp_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalReadEntryToLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pDstData_p,
+ tEplObdSize * pSize_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalWriteEntryFromLe (unsigned int uiIndex_p,
+ unsigned int uiSubIndex_p,
+ void * pSrcData_p,
+ tEplObdSize Size_p);
+//---------------------------------------------------------------------------
+EPLDLLEXPORT tEplKernel PUBLIC EplObduCalSearchVarEntry (EPL_MCO_DECL_INSTANCE_PTR_
+ unsigned int uiIndex_p,
+ unsigned int uiSubindex_p,
+ tEplObdVarEntry MEM** ppVarEntry_p);
+
+
+#endif // #ifndef _EPLOBDUCAL_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for userspace PDO module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplPdou.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/11/19 17:14:38 $
+
+ $State: Exp $
+
+ Build Environment:
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/05/22 d.k.: start of the implementation, version 1.00
+
+
+****************************************************************************/
+
+#ifndef _EPL_PDOU_H_
+#define _EPL_PDOU_H_
+
+#include "../EplPdo.h"
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel EplPdouAddInstance(void);
+
+tEplKernel EplPdouDelInstance(void);
+
+#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0)
+tEplKernel PUBLIC EplPdouCbObdAccess(tEplObdCbParam MEM* pParam_p);
+#else
+#define EplPdouCbObdAccess NULL
+#endif
+
+// returns error if bPdoId_p is already valid
+/*
+tEplKernel EplPdouSetMapping(
+ BYTE bPdoId_p, BOOL fTxRx_p, BYTE bNodeId, BYTE bMappingVersion,
+ tEplPdoMapping * pMapping_p, BYTE bMaxEntries_p);
+
+tEplKernel EplPdouGetMapping(
+ BYTE bPdoId_p, BOOL fTxRx_p, BYTE * pbNodeId, BYTE * pbMappingVersion,
+ tEplPdoMapping * pMapping_p, BYTE * pbMaxEntries_p);
+*/
+
+#endif // #ifndef _EPL_PDOU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for SDO/Asnd-Protocolabstractionlayer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoAsndu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.6 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/07 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplSdo.h"
+#include "../EplDll.h"
+
+#ifndef _EPLSDOASNDU_H_
+#define _EPLSDOASNDU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+
+tEplKernel PUBLIC EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p);
+
+tEplKernel PUBLIC EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p);
+
+tEplKernel PUBLIC EplSdoAsnduDelInstance(void);
+
+tEplKernel PUBLIC EplSdoAsnduInitCon(tEplSdoConHdl* pSdoConHandle_p,
+ unsigned int uiTargetNodeId_p);
+
+tEplKernel PUBLIC EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
+ tEplFrame * pSrcData_p,
+ DWORD dwDataSize_p);
+
+tEplKernel PUBLIC EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p);
+
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
+
+#endif // #ifndef _EPLSDOASNDU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for asychrionus SDO Sequence Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoAsySequ.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.4 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplSdo.h"
+#include "EplSdoUdpu.h"
+#include "EplSdoAsndu.h"
+#include "../EplEvent.h"
+#include "EplTimeru.h"
+
+#ifndef _EPLSDOASYSEQU_H_
+#define _EPLSDOASYSEQU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoAsySeqInit(tEplSdoComReceiveCb fpSdoComCb_p,
+ tEplSdoComConCb fpSdoComConCb_p);
+
+tEplKernel PUBLIC EplSdoAsySeqAddInstance (tEplSdoComReceiveCb fpSdoComCb_p,
+ tEplSdoComConCb fpSdoComConCb_p);
+
+tEplKernel PUBLIC EplSdoAsySeqDelInstance(void);
+
+tEplKernel PUBLIC EplSdoAsySeqInitCon(tEplSdoSeqConHdl* pSdoSeqConHdl_p,
+ unsigned int uiNodeId_p,
+ tEplSdoType SdoType);
+
+tEplKernel PUBLIC EplSdoAsySeqSendData(tEplSdoSeqConHdl SdoSeqConHdl_p,
+ unsigned int uiDataSize_p,
+ tEplFrame* pData_p );
+
+tEplKernel PUBLIC EplSdoAsySeqProcessEvent(tEplEvent* pEvent_p);
+
+tEplKernel PUBLIC EplSdoAsySeqDelCon(tEplSdoSeqConHdl SdoSeqConHdl_p);
+
+
+
+
+
+
+
+#endif // #ifndef _EPLSDOASYSEQU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for SDO Command Layer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoComu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplSdo.h"
+#include "../EplObd.h"
+#include "../EplSdoAc.h"
+#include "EplObdu.h"
+#include "EplSdoAsySequ.h"
+
+#ifndef _EPLSDOCOMU_H_
+#define _EPLSDOCOMU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+tEplKernel PUBLIC EplSdoComInit(void);
+
+tEplKernel PUBLIC EplSdoComAddInstance(void);
+
+tEplKernel PUBLIC EplSdoComDelInstance(void);
+
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
+
+tEplKernel PUBLIC EplSdoComDefineCon(tEplSdoComConHdl* pSdoComConHdl_p,
+ unsigned int uiTargetNodeId_p,
+ tEplSdoType ProtType_p);
+
+tEplKernel PUBLIC EplSdoComInitTransferByIndex(tEplSdoComTransParamByIndex* pSdoComTransParam_p);
+
+tEplKernel PUBLIC EplSdoComUndefineCon(tEplSdoComConHdl SdoComConHdl_p);
+
+tEplKernel PUBLIC EplSdoComGetState(tEplSdoComConHdl SdoComConHdl_p,
+ tEplSdoComFinished* pSdoComFinished_p);
+
+tEplKernel PUBLIC EplSdoComSdoAbort(tEplSdoComConHdl SdoComConHdl_p,
+ DWORD dwAbortCode_p);
+
+#endif
+
+// for future extention
+/*
+tEplKernel PUBLIC EplSdoComInitTransferAllByIndex(tEplSdoComTransParamAllByIndex* pSdoComTransParam_p);
+
+tEplKernel PUBLIC EplSdoComInitTransferByName(tEplSdoComTransParamByName* pSdoComTransParam_p);
+
+tEplKernel PUBLIC EplSdoComInitTransferFile(tEplSdoComTransParamFile* pSdoComTransParam_p);
+
+*/
+
+
+
+
+
+#endif // #ifndef _EPLSDOCOMU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for SDO/UDP-Protocollabstractionlayer module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplSdoUdpu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/06/26 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+
+#include "../EplSdo.h"
+
+#ifndef _EPLSDOUDPU_H_
+#define _EPLSDOUDPU_H_
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+
+tEplKernel PUBLIC EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p);
+
+tEplKernel PUBLIC EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p);
+
+tEplKernel PUBLIC EplSdoUdpuDelInstance(void);
+
+tEplKernel PUBLIC EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p);
+
+tEplKernel PUBLIC EplSdoUdpuInitCon(tEplSdoConHdl* pSdoConHandle_p,
+ unsigned int uiTargetNodeId_p);
+
+tEplKernel PUBLIC EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
+ tEplFrame * pSrcData_p,
+ DWORD dwDataSize_p);
+
+tEplKernel PUBLIC EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p);
+
+#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
+
+#endif // #ifndef _EPLSDOUDPU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Statusu-Module
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplStatusu.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.3 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/11/15 d.k.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplDll.h"
+
+#ifndef _EPLSTATUSU_H_
+#define _EPLSTATUSU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+typedef tEplKernel (PUBLIC * tEplStatusuCbResponse) (
+ unsigned int uiNodeId_p,
+ tEplStatusResponse* pStatusResponse_p);
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplStatusuInit(void);
+
+tEplKernel PUBLIC EplStatusuAddInstance(void);
+
+tEplKernel PUBLIC EplStatusuDelInstance(void);
+
+tEplKernel PUBLIC EplStatusuReset(void);
+
+tEplKernel PUBLIC EplStatusuRequestStatusResponse(
+ unsigned int uiNodeId_p,
+ tEplStatusuCbResponse pfnCbResponse_p);
+
+#endif // #ifndef _EPLSTATUSU_H_
+
+
--- /dev/null
+/****************************************************************************
+
+ (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
+ www.systec-electronic.com
+
+ Project: openPOWERLINK
+
+ Description: include file for Epl Userspace-Timermodule
+
+ License:
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+
+ 1. Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ 3. Neither the name of SYSTEC electronic GmbH nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without prior written permission. For written
+ permission, please contact info@systec-electronic.com.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+ Severability Clause:
+
+ If a provision of this License is or becomes illegal, invalid or
+ unenforceable in any jurisdiction, that shall not affect:
+ 1. the validity or enforceability in that jurisdiction of any other
+ provision of this License; or
+ 2. the validity or enforceability in other jurisdictions of that or
+ any other provision of this License.
+
+ -------------------------------------------------------------------------
+
+ $RCSfile: EplTimeru.h,v $
+
+ $Author: D.Krueger $
+
+ $Revision: 1.5 $ $Date: 2008/04/17 21:36:32 $
+
+ $State: Exp $
+
+ Build Environment:
+ GCC V3.4
+
+ -------------------------------------------------------------------------
+
+ Revision History:
+
+ 2006/07/06 k.t.: start of the implementation
+
+
+****************************************************************************/
+
+#include "../EplTimer.h"
+#include "EplEventu.h"
+
+#ifndef _EPLTIMERU_H_
+#define _EPLTIMERU_H_
+
+
+//---------------------------------------------------------------------------
+// const defines
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// typedef
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+// function prototypes
+//---------------------------------------------------------------------------
+
+tEplKernel PUBLIC EplTimeruInit(void);
+
+tEplKernel PUBLIC EplTimeruAddInstance(void);
+
+tEplKernel PUBLIC EplTimeruDelInstance(void);
+
+tEplKernel PUBLIC EplTimeruSetTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p);
+
+tEplKernel PUBLIC EplTimeruModifyTimerMs(tEplTimerHdl* pTimerHdl_p,
+ unsigned long ulTime_p,
+ tEplTimerArg Argument_p);
+
+tEplKernel PUBLIC EplTimeruDeleteTimer(tEplTimerHdl* pTimerHdl_p);
+
+BOOL PUBLIC EplTimeruIsTimerActive(tEplTimerHdl TimerHdl_p);
+
+#endif // #ifndef _EPLTIMERU_H_
+
+
projects / linux-2.6-omap-h63xx.git / commitdiff