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Diffstat (limited to 'drivers/staging/epl/EplNmtu.c')
| -rw-r--r-- | drivers/staging/epl/EplNmtu.c | 708 |
1 files changed, 708 insertions, 0 deletions
diff --git a/drivers/staging/epl/EplNmtu.c b/drivers/staging/epl/EplNmtu.c new file mode 100644 index 000000000000..3de16a1eff5e --- /dev/null +++ b/drivers/staging/epl/EplNmtu.c @@ -0,0 +1,708 @@ +/**************************************************************************** + + (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 |