diff options
Diffstat (limited to 'drivers/staging/epl/EplSdoAsndu.c')
| -rw-r--r-- | drivers/staging/epl/EplSdoAsndu.c | 483 |
1 files changed, 483 insertions, 0 deletions
diff --git a/drivers/staging/epl/EplSdoAsndu.c b/drivers/staging/epl/EplSdoAsndu.c new file mode 100644 index 000000000000..05a00c9a731e --- /dev/null +++ b/drivers/staging/epl/EplSdoAsndu.c @@ -0,0 +1,483 @@ +/**************************************************************************** + + (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 |