709 lines
18 KiB
C
709 lines
18 KiB
C
/****************************************************************************
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(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
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www.systec-electronic.com
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Project: openPOWERLINK
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Description: source file for NMT-Userspace-Module
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License:
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of SYSTEC electronic GmbH nor the names of its
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contributors may be used to endorse or promote products derived
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from this software without prior written permission. For written
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permission, please contact info@systec-electronic.com.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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Severability Clause:
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If a provision of this License is or becomes illegal, invalid or
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unenforceable in any jurisdiction, that shall not affect:
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1. the validity or enforceability in that jurisdiction of any other
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provision of this License; or
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2. the validity or enforceability in other jurisdictions of that or
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any other provision of this License.
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-------------------------------------------------------------------------
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$RCSfile: EplNmtu.c,v $
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$Author: D.Krueger $
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$Revision: 1.8 $ $Date: 2008/11/10 17:17:42 $
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$State: Exp $
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Build Environment:
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GCC V3.4
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-------------------------------------------------------------------------
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Revision History:
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2006/06/09 k.t.: start of the implementation
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****************************************************************************/
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#include "EplInc.h"
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#include "user/EplNmtu.h"
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#include "user/EplObdu.h"
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#include "user/EplTimeru.h"
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
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#include "kernel/EplNmtk.h"
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#endif
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
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/***************************************************************************/
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/* */
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/* */
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/* G L O B A L D E F I N I T I O N S */
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/* */
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/* */
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/***************************************************************************/
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//---------------------------------------------------------------------------
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// const defines
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//---------------------------------------------------------------------------
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//---------------------------------------------------------------------------
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// local types
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//---------------------------------------------------------------------------
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typedef struct {
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tEplNmtuStateChangeCallback m_pfnNmtChangeCb;
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tEplTimerHdl m_TimerHdl;
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} tEplNmtuInstance;
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//---------------------------------------------------------------------------
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// modul globale vars
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//---------------------------------------------------------------------------
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static tEplNmtuInstance EplNmtuInstance_g;
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//---------------------------------------------------------------------------
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// local function prototypes
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//---------------------------------------------------------------------------
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//=========================================================================//
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// //
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// P U B L I C F U N C T I O N S //
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// //
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//=========================================================================//
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtuInit
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//
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// Description: init first instance of the module
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//
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//
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//
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// Parameters:
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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EPLDLLEXPORT tEplKernel PUBLIC EplNmtuInit()
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{
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tEplKernel Ret;
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Ret = EplNmtuAddInstance();
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtuAddInstance
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//
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// Description: init other instances of the module
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//
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//
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//
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// Parameters:
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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EPLDLLEXPORT tEplKernel PUBLIC EplNmtuAddInstance()
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{
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tEplKernel Ret;
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Ret = kEplSuccessful;
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EplNmtuInstance_g.m_pfnNmtChangeCb = NULL;
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtuDelInstance
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//
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// Description: delete instance
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//
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//
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//
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// Parameters:
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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EPLDLLEXPORT tEplKernel PUBLIC EplNmtuDelInstance()
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{
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tEplKernel Ret;
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Ret = kEplSuccessful;
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EplNmtuInstance_g.m_pfnNmtChangeCb = NULL;
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// delete timer
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Ret = EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl);
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtuNmtEvent
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//
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// Description: sends the NMT-Event to the NMT-State-Maschine
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//
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//
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//
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// Parameters: NmtEvent_p = NMT-Event to send
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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EPLDLLEXPORT tEplKernel PUBLIC EplNmtuNmtEvent(tEplNmtEvent NmtEvent_p)
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{
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tEplKernel Ret;
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tEplEvent Event;
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Event.m_EventSink = kEplEventSinkNmtk;
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Event.m_NetTime.m_dwNanoSec = 0;
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Event.m_NetTime.m_dwSec = 0;
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Event.m_EventType = kEplEventTypeNmtEvent;
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Event.m_pArg = &NmtEvent_p;
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Event.m_uiSize = sizeof(NmtEvent_p);
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Ret = EplEventuPost(&Event);
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtuGetNmtState
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//
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// Description: returns the actuell NMT-State
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//
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//
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//
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// Parameters:
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//
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//
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// Returns: tEplNmtState = NMT-State
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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EPLDLLEXPORT tEplNmtState PUBLIC EplNmtuGetNmtState()
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{
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tEplNmtState NmtState;
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// $$$ call function of communication abstraction layer
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
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NmtState = EplNmtkGetNmtState();
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#else
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NmtState = 0;
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#endif
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return NmtState;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtuProcessEvent
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//
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// Description: processes events from event queue
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//
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//
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//
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// Parameters: pEplEvent_p = pointer to event
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//
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//
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// Returns: tEplKernel = errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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EPLDLLEXPORT tEplKernel PUBLIC EplNmtuProcessEvent(tEplEvent * pEplEvent_p)
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{
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tEplKernel Ret;
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Ret = kEplSuccessful;
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// process event
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switch (pEplEvent_p->m_EventType) {
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// state change of NMT-Module
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case kEplEventTypeNmtStateChange:
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{
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tEplEventNmtStateChange *pNmtStateChange;
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// delete timer
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Ret =
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EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl);
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pNmtStateChange =
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(tEplEventNmtStateChange *) pEplEvent_p->m_pArg;
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// call cb-functions to inform higher layer
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if (EplNmtuInstance_g.m_pfnNmtChangeCb != NULL) {
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Ret =
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EplNmtuInstance_g.
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m_pfnNmtChangeCb(*pNmtStateChange);
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}
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if (Ret == kEplSuccessful) { // everything is OK, so switch to next state if necessary
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switch (pNmtStateChange->m_NewNmtState) {
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// EPL stack is not running
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case kEplNmtGsOff:
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break;
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// first init of the hardware
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case kEplNmtGsInitialising:
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{
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventEnterResetApp);
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break;
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}
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// init of the manufacturer-specific profile area and the
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// standardised device profile area
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case kEplNmtGsResetApplication:
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{
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventEnterResetCom);
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break;
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}
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// init of the communication profile area
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case kEplNmtGsResetCommunication:
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{
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventEnterResetConfig);
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break;
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}
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// build the configuration with infos from OD
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case kEplNmtGsResetConfiguration:
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{
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unsigned int uiNodeId;
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// get node ID from OD
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
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uiNodeId =
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EplObduGetNodeId
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(EPL_MCO_PTR_INSTANCE_PTR);
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#else
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uiNodeId = 0;
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#endif
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//check node ID if not should be master or slave
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if (uiNodeId == EPL_C_ADR_MN_DEF_NODE_ID) { // node shall be MN
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventEnterMsNotActive);
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#else
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TRACE0
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("EplNmtuProcess(): no MN functionality implemented\n");
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#endif
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} else { // node shall be CN
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventEnterCsNotActive);
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}
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break;
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}
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//-----------------------------------------------------------
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// CN part of the state machine
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// node listens for EPL-Frames and check timeout
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case kEplNmtCsNotActive:
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{
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DWORD dwBuffer;
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tEplObdSize ObdSize;
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tEplTimerArg TimerArg;
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// create timer to switch automatically to BasicEthernet if no MN available in network
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// read NMT_CNBasicEthernetTimerout_U32 from OD
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ObdSize = sizeof(dwBuffer);
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
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Ret =
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EplObduReadEntry
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(EPL_MCO_PTR_INSTANCE_PTR_
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0x1F99, 0x00, &dwBuffer,
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&ObdSize);
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#else
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Ret = kEplObdIndexNotExist;
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#endif
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if (Ret != kEplSuccessful) {
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break;
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}
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if (dwBuffer != 0) { // BasicEthernet is enabled
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// convert us into ms
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dwBuffer =
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dwBuffer / 1000;
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if (dwBuffer == 0) { // timer was below one ms
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// set one ms
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dwBuffer = 1;
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}
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TimerArg.m_EventSink =
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kEplEventSinkNmtk;
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TimerArg.m_ulArg =
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(unsigned long)
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kEplNmtEventTimerBasicEthernet;
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Ret =
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EplTimeruModifyTimerMs
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(&EplNmtuInstance_g.
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m_TimerHdl,
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(unsigned long)
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dwBuffer,
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TimerArg);
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// potential error is forwarded to event queue which generates error event
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}
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break;
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}
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// node processes only async frames
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case kEplNmtCsPreOperational1:
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{
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break;
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}
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// node processes isochronous and asynchronous frames
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case kEplNmtCsPreOperational2:
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{
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventEnterReadyToOperate);
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break;
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}
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// node should be configured und application is ready
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case kEplNmtCsReadyToOperate:
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{
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break;
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}
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// normal work state
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case kEplNmtCsOperational:
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{
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break;
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}
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// node stopped by MN
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// -> only process asynchronous frames
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case kEplNmtCsStopped:
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{
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break;
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}
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// no EPL cycle
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// -> normal ethernet communication
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case kEplNmtCsBasicEthernet:
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{
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break;
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}
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//-----------------------------------------------------------
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// MN part of the state machine
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
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// node listens for EPL-Frames and check timeout
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case kEplNmtMsNotActive:
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{
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DWORD dwBuffer;
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tEplObdSize ObdSize;
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tEplTimerArg TimerArg;
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// create timer to switch automatically to BasicEthernet/PreOp1 if no other MN active in network
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// check NMT_StartUp_U32.Bit13
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// read NMT_StartUp_U32 from OD
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ObdSize = sizeof(dwBuffer);
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
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Ret =
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EplObduReadEntry
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(EPL_MCO_PTR_INSTANCE_PTR_
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0x1F80, 0x00, &dwBuffer,
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&ObdSize);
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#else
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Ret = kEplObdIndexNotExist;
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#endif
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if (Ret != kEplSuccessful) {
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break;
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}
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if ((dwBuffer & EPL_NMTST_BASICETHERNET) == 0) { // NMT_StartUp_U32.Bit13 == 0
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// new state PreOperational1
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TimerArg.m_ulArg =
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(unsigned long)
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kEplNmtEventTimerMsPreOp1;
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} else { // NMT_StartUp_U32.Bit13 == 1
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// new state BasicEthernet
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TimerArg.m_ulArg =
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(unsigned long)
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kEplNmtEventTimerBasicEthernet;
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}
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// read NMT_BootTime_REC.MNWaitNotAct_U32 from OD
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ObdSize = sizeof(dwBuffer);
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
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Ret =
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EplObduReadEntry
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(EPL_MCO_PTR_INSTANCE_PTR_
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0x1F89, 0x01, &dwBuffer,
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&ObdSize);
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#else
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Ret = kEplObdIndexNotExist;
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#endif
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if (Ret != kEplSuccessful) {
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break;
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}
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// convert us into ms
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dwBuffer = dwBuffer / 1000;
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if (dwBuffer == 0) { // timer was below one ms
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// set one ms
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dwBuffer = 1;
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}
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TimerArg.m_EventSink =
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kEplEventSinkNmtk;
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Ret =
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EplTimeruModifyTimerMs
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(&EplNmtuInstance_g.
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m_TimerHdl,
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(unsigned long)dwBuffer,
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TimerArg);
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// potential error is forwarded to event queue which generates error event
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break;
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}
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// node processes only async frames
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case kEplNmtMsPreOperational1:
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{
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DWORD dwBuffer = 0;
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tEplObdSize ObdSize;
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tEplTimerArg TimerArg;
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// create timer to switch automatically to PreOp2 if MN identified all mandatory CNs
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// read NMT_BootTime_REC.MNWaitPreOp1_U32 from OD
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ObdSize = sizeof(dwBuffer);
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#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
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Ret =
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EplObduReadEntry
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(EPL_MCO_PTR_INSTANCE_PTR_
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0x1F89, 0x03, &dwBuffer,
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&ObdSize);
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if (Ret != kEplSuccessful) {
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// ignore error, because this timeout is optional
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dwBuffer = 0;
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}
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#endif
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if (dwBuffer == 0) { // delay is deactivated
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// immediately post timer event
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Ret =
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EplNmtuNmtEvent
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(kEplNmtEventTimerMsPreOp2);
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break;
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}
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// convert us into ms
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dwBuffer = dwBuffer / 1000;
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if (dwBuffer == 0) { // timer was below one ms
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// set one ms
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dwBuffer = 1;
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}
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TimerArg.m_EventSink =
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kEplEventSinkNmtk;
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TimerArg.m_ulArg =
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(unsigned long)
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kEplNmtEventTimerMsPreOp2;
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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
|