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/****************************************************************************
(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:
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modification, are permitted provided that the following conditions
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notice, this list of conditions and the following disclaimer in the
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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;
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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