diff options
Diffstat (limited to 'drivers/staging/epl/EplApiGeneric.c')
| -rw-r--r-- | drivers/staging/epl/EplApiGeneric.c | 2054 |
1 files changed, 0 insertions, 2054 deletions
diff --git a/drivers/staging/epl/EplApiGeneric.c b/drivers/staging/epl/EplApiGeneric.c deleted file mode 100644 index c4419569183f..000000000000 --- a/drivers/staging/epl/EplApiGeneric.c +++ /dev/null @@ -1,2054 +0,0 @@ -/**************************************************************************** - - (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 EplApiCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p); - -// update DLL configuration from OD -static tEplKernel EplApiUpdateDllConfig(BOOL fUpdateIdentity_p); - -// update OD from init param -static tEplKernel EplApiUpdateObd(void); - -// process events from user event queue -static tEplKernel EplApiProcessEvent(tEplEvent *pEplEvent_p); - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0) -// callback function of SDO module -static tEplKernel EplApiCbSdoCon(tEplSdoComFinished *pSdoComFinished_p); -#endif - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) -// callback functions of NmtMnu module -static tEplKernel EplApiCbNodeEvent(unsigned int uiNodeId_p, - tEplNmtNodeEvent NodeEvent_p, - tEplNmtState NmtState_p, - u16 wErrorCode_p, BOOL fMandatory_p); - -static tEplKernel EplApiCbBootEvent(tEplNmtBootEvent BootEvent_p, - tEplNmtState NmtState_p, - u16 wErrorCode_p); -#endif - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0) -// callback function of Ledu module -static tEplKernel EplApiCbLedStateChange(tEplLedType LedType_p, BOOL fOn_p); -#endif - -// OD initialization function (implemented in Objdict.c) -tEplKernel EplObdInitRam(tEplObdInitParam *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 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 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 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 EplApiLinkObject(unsigned int uiObjIndex_p, - void *pVar_p, - unsigned int *puiVarEntries_p, - tEplObdSize *pEntrySize_p, - unsigned int uiFirstSubindex_p) -{ - u8 bVarEntries; - u8 bIndexEntries; - u8 *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 = (u8 *)pVar_p; - bVarEntries = (u8) * 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 *)&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 = (u8) (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 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 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 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 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 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 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 EplApiCbObdAccess(tEplObdCbParam *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) - && (*((u32 *) pParam_p->m_pArg) != 0)) { - u32 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) { - u8 bNmtCommand; - - bNmtCommand = *((u8 *) 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) { - u8 bNmtCommand; - - bNmtCommand = *((u8 *) 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 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 EplApiCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p) -{ - tEplKernel Ret = kEplSuccessful; - u8 bNmtState; - tEplApiEventArg EventArg; - - // save NMT state in OD - bNmtState = (u8) 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 = (u8) 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 EplApiUpdateDllConfig(BOOL fUpdateIdentity_p) -{ - tEplKernel Ret = kEplSuccessful; - tEplDllConfigParam DllConfigParam; - tEplDllIdentParam DllIdentParam; - tEplObdSize ObdSize; - u16 wTemp; - u8 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 EplApiUpdateObd(void) -{ - tEplKernel Ret = kEplSuccessful; - u16 wTemp; - u8 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 = (u16) EplApiInstance_g.m_InitParam.m_uiIsochrTxMaxPayload; - Ret = EplObdWriteEntry(0x1F98, 1, &wTemp, 2); -/* if(Ret != kEplSuccessful) - { - goto Exit; - }*/ - - wTemp = (u16) 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 = - (u16) 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 = - (u16) 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 = (u8) 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 = (u16) 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 = (u16) 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 *)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 *)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 *)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 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 EplApiCbNodeEvent(unsigned int uiNodeId_p, - tEplNmtNodeEvent NodeEvent_p, - tEplNmtState NmtState_p, - u16 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 EplApiCbBootEvent(tEplNmtBootEvent BootEvent_p, - tEplNmtState NmtState_p, - u16 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 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 |