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1 | /**************************************************************************** |
2 | ||
3 | (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 | |
4 | www.systec-electronic.com | |
5 | ||
6 | Project: openPOWERLINK | |
7 | ||
8 | Description: source file for kernel DLL module | |
9 | ||
10 | License: | |
11 | ||
12 | Redistribution and use in source and binary forms, with or without | |
13 | modification, are permitted provided that the following conditions | |
14 | are met: | |
15 | ||
16 | 1. Redistributions of source code must retain the above copyright | |
17 | notice, this list of conditions and the following disclaimer. | |
18 | ||
19 | 2. Redistributions in binary form must reproduce the above copyright | |
20 | notice, this list of conditions and the following disclaimer in the | |
21 | documentation and/or other materials provided with the distribution. | |
22 | ||
23 | 3. Neither the name of SYSTEC electronic GmbH nor the names of its | |
24 | contributors may be used to endorse or promote products derived | |
25 | from this software without prior written permission. For written | |
26 | permission, please contact info@systec-electronic.com. | |
27 | ||
28 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | |
29 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | |
30 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | |
31 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | |
32 | COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | |
33 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | |
34 | BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
35 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
36 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | |
37 | LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | |
38 | ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
39 | POSSIBILITY OF SUCH DAMAGE. | |
40 | ||
41 | Severability Clause: | |
42 | ||
43 | If a provision of this License is or becomes illegal, invalid or | |
44 | unenforceable in any jurisdiction, that shall not affect: | |
45 | 1. the validity or enforceability in that jurisdiction of any other | |
46 | provision of this License; or | |
47 | 2. the validity or enforceability in other jurisdictions of that or | |
48 | any other provision of this License. | |
49 | ||
50 | ------------------------------------------------------------------------- | |
51 | ||
52 | $RCSfile: EplDllk.c,v $ | |
53 | ||
54 | $Author: D.Krueger $ | |
55 | ||
56 | $Revision: 1.21 $ $Date: 2008/11/13 17:13:09 $ | |
57 | ||
58 | $State: Exp $ | |
59 | ||
60 | Build Environment: | |
61 | GCC V3.4 | |
62 | ||
63 | ------------------------------------------------------------------------- | |
64 | ||
65 | Revision History: | |
66 | ||
67 | 2006/06/12 d.k.: start of the implementation, version 1.00 | |
68 | ||
69 | ****************************************************************************/ | |
70 | ||
71 | #include "kernel/EplDllk.h" | |
72 | #include "kernel/EplDllkCal.h" | |
73 | #include "kernel/EplEventk.h" | |
74 | #include "kernel/EplNmtk.h" | |
75 | #include "edrv.h" | |
76 | #include "Benchmark.h" | |
77 | ||
78 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) | |
79 | #include "kernel/EplPdok.h" | |
80 | #endif | |
81 | ||
82 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0) | |
83 | #include "kernel/VirtualEthernet.h" | |
84 | #endif | |
85 | ||
86 | //#if EPL_TIMER_USE_HIGHRES != FALSE | |
87 | #include "kernel/EplTimerHighResk.h" | |
88 | //#endif | |
89 | ||
90 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0) | |
91 | ||
92 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) == 0) | |
93 | #error "EPL module DLLK needs EPL module NMTK!" | |
94 | #endif | |
95 | ||
96 | #if (EPL_DLL_PRES_READY_AFTER_SOA != FALSE) && (EPL_DLL_PRES_READY_AFTER_SOC != FALSE) | |
97 | #error "EPL module DLLK: select only one of EPL_DLL_PRES_READY_AFTER_SOA and EPL_DLL_PRES_READY_AFTER_SOC." | |
98 | #endif | |
99 | ||
100 | #if ((EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)) \ | |
101 | && (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0) | |
102 | #error "EPL module DLLK: currently, EPL_DLL_PRES_READY_AFTER_* is not supported if EPL_MODULE_NMT_MN is enabled." | |
103 | #endif | |
104 | ||
105 | #if (EDRV_FAST_TXFRAMES == FALSE) && \ | |
106 | ((EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE)) | |
107 | #error "EPL module DLLK: EPL_DLL_PRES_READY_AFTER_* is enabled, but not EDRV_FAST_TXFRAMES." | |
108 | #endif | |
109 | ||
110 | /***************************************************************************/ | |
111 | /* */ | |
112 | /* */ | |
113 | /* G L O B A L D E F I N I T I O N S */ | |
114 | /* */ | |
115 | /* */ | |
116 | /***************************************************************************/ | |
117 | ||
118 | //--------------------------------------------------------------------------- | |
119 | // const defines | |
120 | //--------------------------------------------------------------------------- | |
121 | ||
122 | // TracePoint support for realtime-debugging | |
123 | #ifdef _DBG_TRACE_POINTS_ | |
833dfbe7 GKH |
124 | void PUBLIC TgtDbgSignalTracePoint(BYTE bTracePointNumber_p); |
125 | void PUBLIC TgtDbgPostTraceValue(DWORD dwTraceValue_p); | |
126 | #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) | |
127 | #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v) | |
9d7164cf | 128 | #else |
833dfbe7 GKH |
129 | #define TGT_DBG_SIGNAL_TRACE_POINT(p) |
130 | #define TGT_DBG_POST_TRACE_VALUE(v) | |
9d7164cf DK |
131 | #endif |
132 | #define EPL_DLLK_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \ | |
133 | TGT_DBG_POST_TRACE_VALUE((kEplEventSinkDllk << 28) | (Event_p << 24) \ | |
134 | | (uiNodeId_p << 16) | wErrorCode_p) | |
135 | ||
9d7164cf DK |
136 | /***************************************************************************/ |
137 | /* */ | |
138 | /* */ | |
139 | /* C L A S S EplDllk */ | |
140 | /* */ | |
141 | /* */ | |
142 | /***************************************************************************/ | |
143 | // | |
144 | // Description: | |
145 | // | |
146 | // | |
147 | /***************************************************************************/ | |
148 | ||
9d7164cf DK |
149 | //=========================================================================// |
150 | // // | |
151 | // P R I V A T E D E F I N I T I O N S // | |
152 | // // | |
153 | //=========================================================================// | |
154 | ||
155 | //--------------------------------------------------------------------------- | |
156 | // const defines | |
157 | //--------------------------------------------------------------------------- | |
158 | ||
159 | // defines for indexes of tEplDllInstance.m_pTxFrameInfo | |
833dfbe7 GKH |
160 | #define EPL_DLLK_TXFRAME_IDENTRES 0 // IdentResponse on CN / MN |
161 | #define EPL_DLLK_TXFRAME_STATUSRES 1 // StatusResponse on CN / MN | |
162 | #define EPL_DLLK_TXFRAME_NMTREQ 2 // NMT Request from FIFO on CN / MN | |
163 | #define EPL_DLLK_TXFRAME_NONEPL 3 // non-EPL frame from FIFO on CN / MN | |
164 | #define EPL_DLLK_TXFRAME_PRES 4 // PRes on CN / MN | |
165 | #define EPL_DLLK_TXFRAME_SOC 5 // SoC on MN | |
166 | #define EPL_DLLK_TXFRAME_SOA 6 // SoA on MN | |
167 | #define EPL_DLLK_TXFRAME_PREQ 7 // PReq on MN | |
9d7164cf | 168 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
833dfbe7 | 169 | #define EPL_DLLK_TXFRAME_COUNT (7 + EPL_D_NMT_MaxCNNumber_U8 + 2) // on MN: 7 + MaxPReq of regular CNs + 1 Diag + 1 Router |
9d7164cf | 170 | #else |
833dfbe7 | 171 | #define EPL_DLLK_TXFRAME_COUNT 5 // on CN: 5 |
9d7164cf DK |
172 | #endif |
173 | ||
833dfbe7 GKH |
174 | #define EPL_DLLK_BUFLEN_EMPTY 0 // buffer is empty |
175 | #define EPL_DLLK_BUFLEN_FILLING 1 // just the buffer is being filled | |
176 | #define EPL_DLLK_BUFLEN_MIN 60 // minimum ethernet frame length | |
9d7164cf DK |
177 | |
178 | //--------------------------------------------------------------------------- | |
179 | // local types | |
180 | //--------------------------------------------------------------------------- | |
181 | ||
833dfbe7 GKH |
182 | typedef enum { |
183 | kEplDllGsInit = 0x00, // MN/CN: initialisation (< PreOp2) | |
184 | kEplDllCsWaitPreq = 0x01, // CN: wait for PReq frame | |
185 | kEplDllCsWaitSoc = 0x02, // CN: wait for SoC frame | |
186 | kEplDllCsWaitSoa = 0x03, // CN: wait for SoA frame | |
187 | kEplDllMsNonCyclic = 0x04, // MN: reduced EPL cycle (PreOp1) | |
188 | kEplDllMsWaitSocTrig = 0x05, // MN: wait for SoC trigger (cycle timer) | |
189 | kEplDllMsWaitPreqTrig = 0x06, // MN: wait for (first) PReq trigger (WaitSoCPReq_U32) | |
190 | kEplDllMsWaitPres = 0x07, // MN: wait for PRes frame from CN | |
191 | kEplDllMsWaitSoaTrig = 0x08, // MN: wait for SoA trigger (PRes transmitted) | |
192 | kEplDllMsWaitAsndTrig = 0x09, // MN: wait for ASnd trigger (SoA transmitted) | |
193 | kEplDllMsWaitAsnd = 0x0A, // MN: wait for ASnd frame if SoA contained invitation | |
9d7164cf DK |
194 | |
195 | } tEplDllState; | |
196 | ||
833dfbe7 GKH |
197 | typedef struct { |
198 | BYTE m_be_abSrcMac[6]; | |
199 | tEdrvTxBuffer *m_pTxBuffer; // Buffers for Tx-Frames | |
200 | unsigned int m_uiMaxTxFrames; | |
201 | BYTE m_bFlag1; // Flag 1 with EN, EC for PRes, StatusRes | |
202 | BYTE m_bMnFlag1; // Flag 1 with EA, ER from PReq, SoA of MN | |
203 | BYTE m_bFlag2; // Flag 2 with PR and RS for PRes, StatusRes, IdentRes | |
204 | tEplDllConfigParam m_DllConfigParam; | |
205 | tEplDllIdentParam m_DllIdentParam; | |
206 | tEplDllState m_DllState; | |
207 | tEplDllkCbAsync m_pfnCbAsync; | |
208 | tEplDllAsndFilter m_aAsndFilter[EPL_DLL_MAX_ASND_SERVICE_ID]; | |
9d7164cf DK |
209 | |
210 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
211 | tEplDllkNodeInfo *m_pFirstNodeInfo; |
212 | tEplDllkNodeInfo *m_pCurNodeInfo; | |
213 | tEplDllkNodeInfo m_aNodeInfo[EPL_NMT_MAX_NODE_ID]; | |
214 | tEplDllReqServiceId m_LastReqServiceId; | |
215 | unsigned int m_uiLastTargetNodeId; | |
9d7164cf DK |
216 | #endif |
217 | ||
218 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 | 219 | tEplTimerHdl m_TimerHdlCycle; // used for EPL cycle monitoring on CN and generation on MN |
9d7164cf | 220 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
833dfbe7 GKH |
221 | tEplTimerHdl m_TimerHdlResponse; // used for CN response monitoring |
222 | #endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
9d7164cf DK |
223 | #endif |
224 | ||
833dfbe7 GKH |
225 | unsigned int m_uiCycleCount; // cycle counter (needed for multiplexed cycle support) |
226 | unsigned long long m_ullFrameTimeout; // frame timeout (cycle length + loss of frame tolerance) | |
9d7164cf DK |
227 | |
228 | } tEplDllkInstance; | |
229 | ||
9d7164cf DK |
230 | //--------------------------------------------------------------------------- |
231 | // local vars | |
232 | //--------------------------------------------------------------------------- | |
233 | ||
234 | // if no dynamic memory allocation shall be used | |
235 | // define structures statically | |
833dfbe7 | 236 | static tEplDllkInstance EplDllkInstance_g; |
9d7164cf | 237 | |
833dfbe7 | 238 | static tEdrvTxBuffer aEplDllkTxBuffer_l[EPL_DLLK_TXFRAME_COUNT]; |
9d7164cf DK |
239 | |
240 | //--------------------------------------------------------------------------- | |
241 | // local function prototypes | |
242 | //--------------------------------------------------------------------------- | |
243 | ||
244 | // change DLL state on event | |
833dfbe7 GKH |
245 | static tEplKernel EplDllkChangeState(tEplNmtEvent NmtEvent_p, |
246 | tEplNmtState NmtState_p); | |
9d7164cf DK |
247 | |
248 | // called from EdrvInterruptHandler() | |
249 | static void EplDllkCbFrameReceived(tEdrvRxBuffer * pRxBuffer_p); | |
250 | ||
251 | // called from EdrvInterruptHandler() | |
252 | static void EplDllkCbFrameTransmitted(tEdrvTxBuffer * pTxBuffer_p); | |
253 | ||
254 | // check frame and set missing information | |
833dfbe7 GKH |
255 | static tEplKernel EplDllkCheckFrame(tEplFrame * pFrame_p, |
256 | unsigned int uiFrameSize_p); | |
9d7164cf DK |
257 | |
258 | // called by high resolution timer module to monitor EPL cycle as CN | |
259 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 | 260 | static tEplKernel PUBLIC EplDllkCbCnTimer(tEplTimerEventArg * pEventArg_p); |
9d7164cf DK |
261 | #endif |
262 | ||
263 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
264 | // MN: returns internal node info structure | |
833dfbe7 | 265 | static tEplDllkNodeInfo *EplDllkGetNodeInfo(unsigned int uiNodeId_p); |
9d7164cf DK |
266 | |
267 | // transmit SoA | |
268 | static tEplKernel EplDllkMnSendSoa(tEplNmtState NmtState_p, | |
833dfbe7 GKH |
269 | tEplDllState * pDllStateProposed_p, |
270 | BOOL fEnableInvitation_p); | |
9d7164cf DK |
271 | |
272 | static tEplKernel EplDllkMnSendSoc(void); | |
273 | ||
274 | static tEplKernel EplDllkMnSendPreq(tEplNmtState NmtState_p, | |
833dfbe7 | 275 | tEplDllState * pDllStateProposed_p); |
9d7164cf | 276 | |
833dfbe7 GKH |
277 | static tEplKernel EplDllkAsyncFrameNotReceived(tEplDllReqServiceId |
278 | ReqServiceId_p, | |
279 | unsigned int uiNodeId_p); | |
9d7164cf | 280 | |
833dfbe7 | 281 | static tEplKernel PUBLIC EplDllkCbMnTimerCycle(tEplTimerEventArg * pEventArg_p); |
9d7164cf | 282 | |
833dfbe7 GKH |
283 | static tEplKernel PUBLIC EplDllkCbMnTimerResponse(tEplTimerEventArg * |
284 | pEventArg_p); | |
9d7164cf DK |
285 | |
286 | #endif | |
287 | ||
288 | //=========================================================================// | |
289 | // // | |
290 | // P U B L I C F U N C T I O N S // | |
291 | // // | |
292 | //=========================================================================// | |
293 | ||
294 | //--------------------------------------------------------------------------- | |
295 | // | |
296 | // Function: EplDllkAddInstance() | |
297 | // | |
298 | // Description: add and initialize new instance of EPL stack | |
299 | // | |
300 | // Parameters: pInitParam_p = initialisation parameters like MAC address | |
301 | // | |
302 | // Returns: tEplKernel = error code | |
303 | // | |
304 | // | |
305 | // State: | |
306 | // | |
307 | //--------------------------------------------------------------------------- | |
308 | ||
309 | tEplKernel EplDllkAddInstance(tEplDllkInitParam * pInitParam_p) | |
310 | { | |
833dfbe7 GKH |
311 | tEplKernel Ret = kEplSuccessful; |
312 | unsigned int uiIndex; | |
313 | tEdrvInitParam EdrvInitParam; | |
9d7164cf | 314 | |
833dfbe7 GKH |
315 | // reset instance structure |
316 | EPL_MEMSET(&EplDllkInstance_g, 0, sizeof(EplDllkInstance_g)); | |
9d7164cf DK |
317 | |
318 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 GKH |
319 | Ret = EplTimerHighReskInit(); |
320 | if (Ret != kEplSuccessful) { // error occured while initializing high resolution timer module | |
321 | goto Exit; | |
322 | } | |
9d7164cf DK |
323 | #endif |
324 | ||
833dfbe7 GKH |
325 | // if dynamic memory allocation available |
326 | // allocate instance structure | |
327 | // allocate TPDO and RPDO table with default size | |
9d7164cf | 328 | |
833dfbe7 GKH |
329 | // initialize and link pointers in instance structure to frame tables |
330 | EplDllkInstance_g.m_pTxBuffer = aEplDllkTxBuffer_l; | |
331 | EplDllkInstance_g.m_uiMaxTxFrames = | |
332 | sizeof(aEplDllkTxBuffer_l) / sizeof(tEdrvTxBuffer); | |
9d7164cf | 333 | |
833dfbe7 GKH |
334 | // initialize state |
335 | EplDllkInstance_g.m_DllState = kEplDllGsInit; | |
9d7164cf DK |
336 | |
337 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
338 | // set up node info structure |
339 | for (uiIndex = 0; uiIndex < tabentries(EplDllkInstance_g.m_aNodeInfo); | |
340 | uiIndex++) { | |
341 | EplDllkInstance_g.m_aNodeInfo[uiIndex].m_uiNodeId = uiIndex + 1; | |
342 | EplDllkInstance_g.m_aNodeInfo[uiIndex].m_wPresPayloadLimit = | |
343 | 0xFFFF; | |
344 | } | |
9d7164cf DK |
345 | #endif |
346 | ||
833dfbe7 GKH |
347 | // initialize Edrv |
348 | EPL_MEMCPY(EdrvInitParam.m_abMyMacAddr, pInitParam_p->m_be_abSrcMac, 6); | |
349 | EdrvInitParam.m_pfnRxHandler = EplDllkCbFrameReceived; | |
350 | EdrvInitParam.m_pfnTxHandler = EplDllkCbFrameTransmitted; | |
351 | Ret = EdrvInit(&EdrvInitParam); | |
352 | if (Ret != kEplSuccessful) { // error occured while initializing ethernet driver | |
353 | goto Exit; | |
354 | } | |
355 | // copy local MAC address from Ethernet driver back to local instance structure | |
356 | // because Ethernet driver may have read it from controller EEPROM | |
357 | EPL_MEMCPY(EplDllkInstance_g.m_be_abSrcMac, EdrvInitParam.m_abMyMacAddr, | |
358 | 6); | |
359 | EPL_MEMCPY(pInitParam_p->m_be_abSrcMac, EdrvInitParam.m_abMyMacAddr, 6); | |
360 | ||
361 | // initialize TxBuffer array | |
362 | for (uiIndex = 0; uiIndex < EplDllkInstance_g.m_uiMaxTxFrames; | |
363 | uiIndex++) { | |
364 | EplDllkInstance_g.m_pTxBuffer[uiIndex].m_pbBuffer = NULL; | |
365 | } | |
9d7164cf DK |
366 | |
367 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0) | |
833dfbe7 | 368 | Ret = VEthAddInstance(pInitParam_p); |
9d7164cf DK |
369 | #endif |
370 | ||
833dfbe7 GKH |
371 | Exit: |
372 | return Ret; | |
9d7164cf DK |
373 | } |
374 | ||
375 | //--------------------------------------------------------------------------- | |
376 | // | |
377 | // Function: EplDllkDelInstance() | |
378 | // | |
379 | // Description: deletes an instance of EPL stack | |
380 | // | |
381 | // Parameters: (none) | |
382 | // | |
383 | // Returns: tEplKernel = error code | |
384 | // | |
385 | // | |
386 | // State: | |
387 | // | |
388 | //--------------------------------------------------------------------------- | |
389 | ||
390 | tEplKernel EplDllkDelInstance(void) | |
391 | { | |
833dfbe7 | 392 | tEplKernel Ret = kEplSuccessful; |
9d7164cf | 393 | |
833dfbe7 GKH |
394 | // reset state |
395 | EplDllkInstance_g.m_DllState = kEplDllGsInit; | |
9d7164cf DK |
396 | |
397 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 | 398 | Ret = EplTimerHighReskDelInstance(); |
9d7164cf DK |
399 | #endif |
400 | ||
401 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_VETH)) != 0) | |
833dfbe7 | 402 | Ret = VEthDelInstance(); |
9d7164cf DK |
403 | #endif |
404 | ||
833dfbe7 GKH |
405 | Ret = EdrvShutdown(); |
406 | return Ret; | |
9d7164cf DK |
407 | } |
408 | ||
409 | //--------------------------------------------------------------------------- | |
410 | // | |
411 | // Function: EplDllkCreateTxFrame | |
412 | // | |
413 | // Description: creates the buffer for a Tx frame and registers it to the | |
414 | // ethernet driver | |
415 | // | |
416 | // Parameters: puiHandle_p = OUT: handle to frame buffer | |
417 | // ppFrame_p = OUT: pointer to pointer of EPL frame | |
418 | // puiFrameSize_p = IN/OUT: pointer to size of frame | |
419 | // returned size is always equal or larger than | |
420 | // requested size, if that is not possible | |
421 | // an error will be returned | |
422 | // MsgType_p = EPL message type | |
423 | // ServiceId_p = Service ID in case of ASnd frame, otherwise | |
424 | // kEplDllAsndNotDefined | |
425 | // | |
426 | // Returns: tEplKernel = error code | |
427 | // | |
428 | // | |
429 | // State: | |
430 | // | |
431 | //--------------------------------------------------------------------------- | |
432 | ||
833dfbe7 GKH |
433 | tEplKernel EplDllkCreateTxFrame(unsigned int *puiHandle_p, |
434 | tEplFrame ** ppFrame_p, | |
435 | unsigned int *puiFrameSize_p, | |
436 | tEplMsgType MsgType_p, | |
437 | tEplDllAsndServiceId ServiceId_p) | |
9d7164cf | 438 | { |
833dfbe7 GKH |
439 | tEplKernel Ret = kEplSuccessful; |
440 | tEplFrame *pTxFrame; | |
441 | unsigned int uiHandle = EplDllkInstance_g.m_uiMaxTxFrames; | |
442 | tEdrvTxBuffer *pTxBuffer = NULL; | |
443 | ||
444 | if (MsgType_p == kEplMsgTypeAsnd) { | |
445 | // search for fixed Tx buffers | |
446 | if (ServiceId_p == kEplDllAsndIdentResponse) { | |
447 | uiHandle = EPL_DLLK_TXFRAME_IDENTRES; | |
448 | } else if (ServiceId_p == kEplDllAsndStatusResponse) { | |
449 | uiHandle = EPL_DLLK_TXFRAME_STATUSRES; | |
450 | } else if ((ServiceId_p == kEplDllAsndNmtRequest) | |
451 | || (ServiceId_p == kEplDllAsndNmtCommand)) { | |
452 | uiHandle = EPL_DLLK_TXFRAME_NMTREQ; | |
453 | } | |
454 | ||
455 | if (uiHandle >= EplDllkInstance_g.m_uiMaxTxFrames) { // look for free entry | |
456 | uiHandle = EPL_DLLK_TXFRAME_PREQ; | |
457 | pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle]; | |
458 | for (; uiHandle < EplDllkInstance_g.m_uiMaxTxFrames; | |
459 | uiHandle++, pTxBuffer++) { | |
460 | if (pTxBuffer->m_pbBuffer == NULL) { // free entry found | |
461 | break; | |
462 | } | |
463 | } | |
464 | } | |
465 | } else if (MsgType_p == kEplMsgTypeNonEpl) { | |
466 | uiHandle = EPL_DLLK_TXFRAME_NONEPL; | |
467 | } else if (MsgType_p == kEplMsgTypePres) { | |
468 | uiHandle = EPL_DLLK_TXFRAME_PRES; | |
469 | } else if (MsgType_p == kEplMsgTypeSoc) { | |
470 | uiHandle = EPL_DLLK_TXFRAME_SOC; | |
471 | } else if (MsgType_p == kEplMsgTypeSoa) { | |
472 | uiHandle = EPL_DLLK_TXFRAME_SOA; | |
473 | } else { // look for free entry | |
474 | uiHandle = EPL_DLLK_TXFRAME_PREQ; | |
475 | pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle]; | |
476 | for (; uiHandle < EplDllkInstance_g.m_uiMaxTxFrames; | |
477 | uiHandle++, pTxBuffer++) { | |
478 | if (pTxBuffer->m_pbBuffer == NULL) { // free entry found | |
479 | break; | |
480 | } | |
481 | } | |
482 | if (pTxBuffer->m_pbBuffer != NULL) { | |
483 | Ret = kEplEdrvNoFreeBufEntry; | |
484 | goto Exit; | |
485 | } | |
486 | } | |
487 | ||
488 | // test if requested entry is free | |
489 | pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle]; | |
490 | if (pTxBuffer->m_pbBuffer != NULL) { // entry is not free | |
491 | Ret = kEplEdrvNoFreeBufEntry; | |
492 | goto Exit; | |
493 | } | |
494 | // setup Tx buffer | |
495 | pTxBuffer->m_EplMsgType = MsgType_p; | |
496 | pTxBuffer->m_uiMaxBufferLen = *puiFrameSize_p; | |
497 | ||
498 | Ret = EdrvAllocTxMsgBuffer(pTxBuffer); | |
499 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
500 | goto Exit; | |
501 | } | |
502 | // because buffer size may be larger than requested | |
503 | // memorize real length of frame | |
504 | pTxBuffer->m_uiTxMsgLen = *puiFrameSize_p; | |
505 | ||
506 | // fill whole frame with 0 | |
507 | EPL_MEMSET(pTxBuffer->m_pbBuffer, 0, pTxBuffer->m_uiMaxBufferLen); | |
508 | ||
509 | pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer; | |
510 | ||
511 | if (MsgType_p != kEplMsgTypeNonEpl) { // fill out Frame only if it is an EPL frame | |
512 | // ethertype | |
513 | AmiSetWordToBe(&pTxFrame->m_be_wEtherType, | |
514 | EPL_C_DLL_ETHERTYPE_EPL); | |
515 | // source node ID | |
516 | AmiSetByteToLe(&pTxFrame->m_le_bSrcNodeId, | |
517 | (BYTE) EplDllkInstance_g.m_DllConfigParam. | |
518 | m_uiNodeId); | |
519 | // source MAC address | |
520 | EPL_MEMCPY(&pTxFrame->m_be_abSrcMac[0], | |
521 | &EplDllkInstance_g.m_be_abSrcMac[0], 6); | |
522 | switch (MsgType_p) { | |
523 | case kEplMsgTypeAsnd: | |
524 | // destination MAC address | |
525 | AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], | |
526 | EPL_C_DLL_MULTICAST_ASND); | |
527 | // destination node ID | |
528 | switch (ServiceId_p) { | |
529 | case kEplDllAsndIdentResponse: | |
530 | case kEplDllAsndStatusResponse: | |
531 | { // IdentResponses and StatusResponses are Broadcast | |
532 | AmiSetByteToLe(&pTxFrame-> | |
533 | m_le_bDstNodeId, | |
534 | (BYTE) | |
535 | EPL_C_ADR_BROADCAST); | |
536 | break; | |
537 | } | |
538 | ||
539 | default: | |
540 | break; | |
541 | } | |
542 | // ASnd Service ID | |
543 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_le_bServiceId, | |
544 | ServiceId_p); | |
545 | break; | |
546 | ||
547 | case kEplMsgTypeSoc: | |
548 | // destination MAC address | |
549 | AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], | |
550 | EPL_C_DLL_MULTICAST_SOC); | |
551 | // destination node ID | |
552 | AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, | |
553 | (BYTE) EPL_C_ADR_BROADCAST); | |
554 | // reset Flags | |
555 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Soc.m_le_bFlag1, (BYTE) 0); | |
556 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Soc.m_le_bFlag2, (BYTE) 0); | |
557 | break; | |
558 | ||
559 | case kEplMsgTypeSoa: | |
560 | // destination MAC address | |
561 | AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], | |
562 | EPL_C_DLL_MULTICAST_SOA); | |
563 | // destination node ID | |
564 | AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, | |
565 | (BYTE) EPL_C_ADR_BROADCAST); | |
566 | // reset Flags | |
567 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bFlag1, (BYTE) 0); | |
568 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bFlag2, (BYTE) 0); | |
569 | // EPL profile version | |
570 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bEplVersion, | |
571 | (BYTE) EPL_SPEC_VERSION); | |
572 | break; | |
573 | ||
574 | case kEplMsgTypePres: | |
575 | // destination MAC address | |
576 | AmiSetQword48ToBe(&pTxFrame->m_be_abDstMac[0], | |
577 | EPL_C_DLL_MULTICAST_PRES); | |
578 | // destination node ID | |
579 | AmiSetByteToLe(&pTxFrame->m_le_bDstNodeId, | |
580 | (BYTE) EPL_C_ADR_BROADCAST); | |
581 | // reset Flags | |
582 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag1, (BYTE) 0); | |
583 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bFlag2, (BYTE) 0); | |
584 | // PDO size | |
585 | //AmiSetWordToLe(&pTxFrame->m_Data.m_Pres.m_le_wSize, 0); | |
586 | break; | |
587 | ||
588 | case kEplMsgTypePreq: | |
589 | // reset Flags | |
590 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag1, (BYTE) 0); | |
591 | //AmiSetByteToLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag2, (BYTE) 0); | |
592 | // PDO size | |
593 | //AmiSetWordToLe(&pTxFrame->m_Data.m_Preq.m_le_wSize, 0); | |
594 | break; | |
595 | ||
596 | default: | |
597 | break; | |
598 | } | |
599 | // EPL message type | |
600 | AmiSetByteToLe(&pTxFrame->m_le_bMessageType, (BYTE) MsgType_p); | |
601 | } | |
602 | ||
603 | *ppFrame_p = pTxFrame; | |
604 | *puiFrameSize_p = pTxBuffer->m_uiMaxBufferLen; | |
605 | *puiHandle_p = uiHandle; | |
606 | ||
607 | Exit: | |
608 | return Ret; | |
9d7164cf DK |
609 | } |
610 | ||
611 | //--------------------------------------------------------------------------- | |
612 | // | |
613 | // Function: EplDllkDeleteTxFrame | |
614 | // | |
615 | // Description: deletes the buffer for a Tx frame and frees it in the | |
616 | // ethernet driver | |
617 | // | |
618 | // Parameters: uiHandle_p = IN: handle to frame buffer | |
619 | // | |
620 | // Returns: tEplKernel = error code | |
621 | // | |
622 | // | |
623 | // State: | |
624 | // | |
625 | //--------------------------------------------------------------------------- | |
626 | ||
833dfbe7 | 627 | tEplKernel EplDllkDeleteTxFrame(unsigned int uiHandle_p) |
9d7164cf | 628 | { |
833dfbe7 GKH |
629 | tEplKernel Ret = kEplSuccessful; |
630 | tEdrvTxBuffer *pTxBuffer = NULL; | |
9d7164cf | 631 | |
833dfbe7 GKH |
632 | if (uiHandle_p >= EplDllkInstance_g.m_uiMaxTxFrames) { // handle is not valid |
633 | Ret = kEplDllIllegalHdl; | |
634 | goto Exit; | |
635 | } | |
9d7164cf | 636 | |
833dfbe7 | 637 | pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[uiHandle_p]; |
9d7164cf | 638 | |
833dfbe7 GKH |
639 | // mark buffer as free so that frame will not be send in future anymore |
640 | // $$$ d.k. What's up with running transmissions? | |
641 | pTxBuffer->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY; | |
642 | pTxBuffer->m_pbBuffer = NULL; | |
9d7164cf | 643 | |
833dfbe7 GKH |
644 | // delete Tx buffer |
645 | Ret = EdrvReleaseTxMsgBuffer(pTxBuffer); | |
646 | if (Ret != kEplSuccessful) { // error occured while releasing Tx frame | |
647 | goto Exit; | |
648 | } | |
9d7164cf | 649 | |
833dfbe7 GKH |
650 | Exit: |
651 | return Ret; | |
9d7164cf DK |
652 | } |
653 | ||
654 | //--------------------------------------------------------------------------- | |
655 | // | |
656 | // Function: EplDllkProcess | |
657 | // | |
658 | // Description: process the passed event | |
659 | // | |
660 | // Parameters: pEvent_p = event to be processed | |
661 | // | |
662 | // Returns: tEplKernel = error code | |
663 | // | |
664 | // | |
665 | // State: | |
666 | // | |
667 | //--------------------------------------------------------------------------- | |
668 | ||
669 | tEplKernel EplDllkProcess(tEplEvent * pEvent_p) | |
670 | { | |
833dfbe7 GKH |
671 | tEplKernel Ret = kEplSuccessful; |
672 | tEplFrame *pTxFrame; | |
673 | tEdrvTxBuffer *pTxBuffer; | |
674 | unsigned int uiHandle; | |
675 | unsigned int uiFrameSize; | |
676 | BYTE abMulticastMac[6]; | |
677 | tEplDllAsyncReqPriority AsyncReqPriority; | |
678 | unsigned int uiFrameCount; | |
679 | tEplNmtState NmtState; | |
9d7164cf | 680 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
833dfbe7 | 681 | tEplFrameInfo FrameInfo; |
9d7164cf DK |
682 | #endif |
683 | ||
833dfbe7 GKH |
684 | switch (pEvent_p->m_EventType) { |
685 | case kEplEventTypeDllkCreate: | |
686 | { | |
687 | // $$$ reset ethernet driver | |
9d7164cf | 688 | |
833dfbe7 | 689 | NmtState = *((tEplNmtState *) pEvent_p->m_pArg); |
9d7164cf | 690 | |
833dfbe7 GKH |
691 | // initialize flags for PRes and StatusRes |
692 | EplDllkInstance_g.m_bFlag1 = EPL_FRAME_FLAG1_EC; | |
693 | EplDllkInstance_g.m_bMnFlag1 = 0; | |
694 | EplDllkInstance_g.m_bFlag2 = 0; | |
9d7164cf DK |
695 | |
696 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
697 | // initialize linked node list |
698 | EplDllkInstance_g.m_pFirstNodeInfo = NULL; | |
9d7164cf DK |
699 | #endif |
700 | ||
833dfbe7 GKH |
701 | // register TxFrames in Edrv |
702 | ||
703 | // IdentResponse | |
704 | uiFrameSize = EPL_C_DLL_MINSIZE_IDENTRES; | |
705 | Ret = | |
706 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
707 | &uiFrameSize, kEplMsgTypeAsnd, | |
708 | kEplDllAsndIdentResponse); | |
709 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
710 | goto Exit; | |
711 | } | |
712 | // EPL profile version | |
713 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
714 | m_IdentResponse.m_le_bEplProfileVersion, | |
715 | (BYTE) EPL_SPEC_VERSION); | |
716 | // FeatureFlags | |
717 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
718 | m_IdentResponse.m_le_dwFeatureFlags, | |
719 | EplDllkInstance_g.m_DllConfigParam. | |
720 | m_dwFeatureFlags); | |
721 | // MTU | |
722 | AmiSetWordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
723 | m_IdentResponse.m_le_wMtu, | |
724 | (WORD) EplDllkInstance_g. | |
725 | m_DllConfigParam.m_uiAsyncMtu); | |
726 | // PollInSize | |
727 | AmiSetWordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
728 | m_IdentResponse.m_le_wPollInSize, | |
729 | (WORD) EplDllkInstance_g. | |
730 | m_DllConfigParam. | |
731 | m_uiPreqActPayloadLimit); | |
732 | // PollOutSize | |
733 | AmiSetWordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
734 | m_IdentResponse.m_le_wPollOutSize, | |
735 | (WORD) EplDllkInstance_g. | |
736 | m_DllConfigParam. | |
737 | m_uiPresActPayloadLimit); | |
738 | // ResponseTime / PresMaxLatency | |
739 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
740 | m_IdentResponse.m_le_dwResponseTime, | |
741 | EplDllkInstance_g.m_DllConfigParam. | |
742 | m_dwPresMaxLatency); | |
743 | // DeviceType | |
744 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
745 | m_IdentResponse.m_le_dwDeviceType, | |
746 | EplDllkInstance_g.m_DllIdentParam. | |
747 | m_dwDeviceType); | |
748 | // VendorId | |
749 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
750 | m_IdentResponse.m_le_dwVendorId, | |
751 | EplDllkInstance_g.m_DllIdentParam. | |
752 | m_dwVendorId); | |
753 | // ProductCode | |
754 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
755 | m_IdentResponse.m_le_dwProductCode, | |
756 | EplDllkInstance_g.m_DllIdentParam. | |
757 | m_dwProductCode); | |
758 | // RevisionNumber | |
759 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
760 | m_IdentResponse.m_le_dwRevisionNumber, | |
761 | EplDllkInstance_g.m_DllIdentParam. | |
762 | m_dwRevisionNumber); | |
763 | // SerialNumber | |
764 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
765 | m_IdentResponse.m_le_dwSerialNumber, | |
766 | EplDllkInstance_g.m_DllIdentParam. | |
767 | m_dwSerialNumber); | |
768 | // VendorSpecificExt1 | |
769 | AmiSetQword64ToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
770 | m_IdentResponse. | |
771 | m_le_qwVendorSpecificExt1, | |
772 | EplDllkInstance_g.m_DllIdentParam. | |
773 | m_qwVendorSpecificExt1); | |
774 | // VerifyConfigurationDate | |
775 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
776 | m_IdentResponse. | |
777 | m_le_dwVerifyConfigurationDate, | |
778 | EplDllkInstance_g.m_DllIdentParam. | |
779 | m_dwVerifyConfigurationDate); | |
780 | // VerifyConfigurationTime | |
781 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
782 | m_IdentResponse. | |
783 | m_le_dwVerifyConfigurationTime, | |
784 | EplDllkInstance_g.m_DllIdentParam. | |
785 | m_dwVerifyConfigurationTime); | |
786 | // ApplicationSwDate | |
787 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
788 | m_IdentResponse. | |
789 | m_le_dwApplicationSwDate, | |
790 | EplDllkInstance_g.m_DllIdentParam. | |
791 | m_dwApplicationSwDate); | |
792 | // ApplicationSwTime | |
793 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
794 | m_IdentResponse. | |
795 | m_le_dwApplicationSwTime, | |
796 | EplDllkInstance_g.m_DllIdentParam. | |
797 | m_dwApplicationSwTime); | |
798 | // IPAddress | |
799 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
800 | m_IdentResponse.m_le_dwIpAddress, | |
801 | EplDllkInstance_g.m_DllIdentParam. | |
802 | m_dwIpAddress); | |
803 | // SubnetMask | |
804 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
805 | m_IdentResponse.m_le_dwSubnetMask, | |
806 | EplDllkInstance_g.m_DllIdentParam. | |
807 | m_dwSubnetMask); | |
808 | // DefaultGateway | |
809 | AmiSetDwordToLe(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
810 | m_IdentResponse.m_le_dwDefaultGateway, | |
811 | EplDllkInstance_g.m_DllIdentParam. | |
812 | m_dwDefaultGateway); | |
813 | // HostName | |
814 | EPL_MEMCPY(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
815 | m_IdentResponse.m_le_sHostname[0], | |
816 | &EplDllkInstance_g.m_DllIdentParam. | |
817 | m_sHostname[0], | |
818 | sizeof(EplDllkInstance_g.m_DllIdentParam. | |
819 | m_sHostname)); | |
820 | // VendorSpecificExt2 | |
821 | EPL_MEMCPY(&pTxFrame->m_Data.m_Asnd.m_Payload. | |
822 | m_IdentResponse.m_le_abVendorSpecificExt2[0], | |
823 | &EplDllkInstance_g.m_DllIdentParam. | |
824 | m_abVendorSpecificExt2[0], | |
825 | sizeof(EplDllkInstance_g.m_DllIdentParam. | |
826 | m_abVendorSpecificExt2)); | |
827 | ||
828 | // StatusResponse | |
829 | uiFrameSize = EPL_C_DLL_MINSIZE_STATUSRES; | |
830 | Ret = | |
831 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
832 | &uiFrameSize, kEplMsgTypeAsnd, | |
833 | kEplDllAsndStatusResponse); | |
834 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
835 | goto Exit; | |
836 | } | |
837 | // PRes $$$ maybe move this to PDO module | |
838 | if ((EplDllkInstance_g.m_DllConfigParam.m_fAsyncOnly == | |
839 | FALSE) | |
840 | && (EplDllkInstance_g.m_DllConfigParam.m_uiPresActPayloadLimit >= 36)) { // it is not configured as async-only CN, | |
841 | // so take part in isochronous phase and register PRes frame | |
842 | uiFrameSize = | |
843 | EplDllkInstance_g.m_DllConfigParam. | |
844 | m_uiPresActPayloadLimit + 24; | |
845 | Ret = | |
846 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
847 | &uiFrameSize, | |
848 | kEplMsgTypePres, | |
849 | kEplDllAsndNotDefined); | |
850 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
851 | goto Exit; | |
852 | } | |
9d7164cf | 853 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
833dfbe7 GKH |
854 | // initially encode TPDO -> inform PDO module |
855 | FrameInfo.m_pFrame = pTxFrame; | |
856 | FrameInfo.m_uiFrameSize = uiFrameSize; | |
857 | Ret = EplPdokCbPdoTransmitted(&FrameInfo); | |
9d7164cf | 858 | #endif |
833dfbe7 GKH |
859 | // reset cycle counter |
860 | EplDllkInstance_g.m_uiCycleCount = 0; | |
861 | } else { // it is an async-only CN | |
862 | // fool EplDllkChangeState() to think that PRes was not expected | |
863 | EplDllkInstance_g.m_uiCycleCount = 1; | |
864 | } | |
865 | ||
866 | // NMT request | |
867 | uiFrameSize = EPL_C_IP_MAX_MTU; | |
868 | Ret = | |
869 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
870 | &uiFrameSize, kEplMsgTypeAsnd, | |
871 | kEplDllAsndNmtRequest); | |
872 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
873 | goto Exit; | |
874 | } | |
875 | // mark Tx buffer as empty | |
876 | EplDllkInstance_g.m_pTxBuffer[uiHandle].m_uiTxMsgLen = | |
877 | EPL_DLLK_BUFLEN_EMPTY; | |
878 | ||
879 | // non-EPL frame | |
880 | uiFrameSize = EPL_C_IP_MAX_MTU; | |
881 | Ret = | |
882 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
883 | &uiFrameSize, | |
884 | kEplMsgTypeNonEpl, | |
885 | kEplDllAsndNotDefined); | |
886 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
887 | goto Exit; | |
888 | } | |
889 | // mark Tx buffer as empty | |
890 | EplDllkInstance_g.m_pTxBuffer[uiHandle].m_uiTxMsgLen = | |
891 | EPL_DLLK_BUFLEN_EMPTY; | |
892 | ||
893 | // register multicast MACs in ethernet driver | |
894 | AmiSetQword48ToBe(&abMulticastMac[0], | |
895 | EPL_C_DLL_MULTICAST_SOC); | |
896 | Ret = EdrvDefineRxMacAddrEntry(abMulticastMac); | |
897 | AmiSetQword48ToBe(&abMulticastMac[0], | |
898 | EPL_C_DLL_MULTICAST_SOA); | |
899 | Ret = EdrvDefineRxMacAddrEntry(abMulticastMac); | |
900 | AmiSetQword48ToBe(&abMulticastMac[0], | |
901 | EPL_C_DLL_MULTICAST_PRES); | |
902 | Ret = EdrvDefineRxMacAddrEntry(abMulticastMac); | |
903 | AmiSetQword48ToBe(&abMulticastMac[0], | |
904 | EPL_C_DLL_MULTICAST_ASND); | |
905 | Ret = EdrvDefineRxMacAddrEntry(abMulticastMac); | |
9d7164cf DK |
906 | |
907 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
908 | if (NmtState >= kEplNmtMsNotActive) { // local node is MN |
909 | unsigned int uiIndex; | |
910 | ||
911 | // SoC | |
912 | uiFrameSize = EPL_C_DLL_MINSIZE_SOC; | |
913 | Ret = | |
914 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
915 | &uiFrameSize, | |
916 | kEplMsgTypeSoc, | |
917 | kEplDllAsndNotDefined); | |
918 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
919 | goto Exit; | |
920 | } | |
921 | // SoA | |
922 | uiFrameSize = EPL_C_DLL_MINSIZE_SOA; | |
923 | Ret = | |
924 | EplDllkCreateTxFrame(&uiHandle, &pTxFrame, | |
925 | &uiFrameSize, | |
926 | kEplMsgTypeSoa, | |
927 | kEplDllAsndNotDefined); | |
928 | if (Ret != kEplSuccessful) { // error occured while registering Tx frame | |
929 | goto Exit; | |
930 | } | |
931 | ||
932 | for (uiIndex = 0; | |
933 | uiIndex < | |
934 | tabentries(EplDllkInstance_g.m_aNodeInfo); | |
935 | uiIndex++) { | |
9d7164cf | 936 | // EplDllkInstance_g.m_aNodeInfo[uiIndex].m_uiNodeId = uiIndex + 1; |
833dfbe7 GKH |
937 | EplDllkInstance_g.m_aNodeInfo[uiIndex]. |
938 | m_wPresPayloadLimit = | |
939 | (WORD) EplDllkInstance_g. | |
940 | m_DllConfigParam. | |
941 | m_uiIsochrRxMaxPayload; | |
942 | } | |
943 | ||
944 | // calculate cycle length | |
945 | EplDllkInstance_g.m_ullFrameTimeout = 1000LL | |
946 | * | |
947 | ((unsigned long long)EplDllkInstance_g. | |
948 | m_DllConfigParam.m_dwCycleLen); | |
949 | } | |
9d7164cf DK |
950 | #endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
951 | ||
833dfbe7 | 952 | Ret = EplDllkCalAsyncClearBuffer(); |
9d7164cf | 953 | |
833dfbe7 GKH |
954 | break; |
955 | } | |
9d7164cf | 956 | |
833dfbe7 GKH |
957 | case kEplEventTypeDllkDestroy: |
958 | { | |
959 | // destroy all data structures | |
960 | ||
961 | NmtState = *((tEplNmtState *) pEvent_p->m_pArg); | |
962 | ||
963 | // delete Tx frames | |
964 | Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_IDENTRES); | |
965 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
966 | goto Exit; | |
967 | } | |
9d7164cf | 968 | |
833dfbe7 GKH |
969 | Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_STATUSRES); |
970 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
971 | goto Exit; | |
972 | } | |
973 | ||
974 | Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_PRES); | |
975 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
976 | goto Exit; | |
977 | } | |
978 | ||
979 | Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_NMTREQ); | |
980 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
981 | goto Exit; | |
982 | } | |
983 | ||
984 | Ret = EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_NONEPL); | |
985 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
986 | goto Exit; | |
987 | } | |
9d7164cf | 988 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
833dfbe7 GKH |
989 | if (NmtState >= kEplNmtMsNotActive) { // local node was MN |
990 | unsigned int uiIndex; | |
991 | ||
992 | Ret = | |
993 | EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_SOC); | |
994 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
995 | goto Exit; | |
996 | } | |
997 | ||
998 | Ret = | |
999 | EplDllkDeleteTxFrame(EPL_DLLK_TXFRAME_SOA); | |
1000 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
1001 | goto Exit; | |
1002 | } | |
1003 | ||
1004 | for (uiIndex = 0; | |
1005 | uiIndex < | |
1006 | tabentries(EplDllkInstance_g.m_aNodeInfo); | |
1007 | uiIndex++) { | |
1008 | if (EplDllkInstance_g. | |
1009 | m_aNodeInfo[uiIndex]. | |
1010 | m_pPreqTxBuffer != NULL) { | |
1011 | uiHandle = | |
1012 | EplDllkInstance_g. | |
1013 | m_aNodeInfo[uiIndex]. | |
1014 | m_pPreqTxBuffer - | |
1015 | EplDllkInstance_g. | |
1016 | m_pTxBuffer; | |
1017 | EplDllkInstance_g. | |
1018 | m_aNodeInfo[uiIndex]. | |
1019 | m_pPreqTxBuffer = NULL; | |
1020 | Ret = | |
1021 | EplDllkDeleteTxFrame | |
1022 | (uiHandle); | |
1023 | if (Ret != kEplSuccessful) { // error occured while deregistering Tx frame | |
1024 | goto Exit; | |
1025 | } | |
1026 | ||
1027 | } | |
1028 | EplDllkInstance_g.m_aNodeInfo[uiIndex]. | |
1029 | m_wPresPayloadLimit = 0xFFFF; | |
1030 | } | |
1031 | } | |
9d7164cf DK |
1032 | #endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
1033 | ||
833dfbe7 GKH |
1034 | // deregister multicast MACs in ethernet driver |
1035 | AmiSetQword48ToBe(&abMulticastMac[0], | |
1036 | EPL_C_DLL_MULTICAST_SOC); | |
1037 | Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac); | |
1038 | AmiSetQword48ToBe(&abMulticastMac[0], | |
1039 | EPL_C_DLL_MULTICAST_SOA); | |
1040 | Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac); | |
1041 | AmiSetQword48ToBe(&abMulticastMac[0], | |
1042 | EPL_C_DLL_MULTICAST_PRES); | |
1043 | Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac); | |
1044 | AmiSetQword48ToBe(&abMulticastMac[0], | |
1045 | EPL_C_DLL_MULTICAST_ASND); | |
1046 | Ret = EdrvUndefineRxMacAddrEntry(abMulticastMac); | |
1047 | ||
1048 | // delete timer | |
9d7164cf | 1049 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
1050 | Ret = |
1051 | EplTimerHighReskDeleteTimer(&EplDllkInstance_g. | |
1052 | m_TimerHdlCycle); | |
9d7164cf DK |
1053 | #endif |
1054 | ||
833dfbe7 GKH |
1055 | break; |
1056 | } | |
1057 | ||
1058 | case kEplEventTypeDllkFillTx: | |
1059 | { | |
1060 | // fill TxBuffer of specified priority with new frame if empty | |
1061 | ||
1062 | pTxFrame = NULL; | |
1063 | AsyncReqPriority = | |
1064 | *((tEplDllAsyncReqPriority *) pEvent_p->m_pArg); | |
1065 | switch (AsyncReqPriority) { | |
1066 | case kEplDllAsyncReqPrioNmt: // NMT request priority | |
1067 | { | |
1068 | pTxBuffer = | |
1069 | &EplDllkInstance_g. | |
1070 | m_pTxBuffer | |
1071 | [EPL_DLLK_TXFRAME_NMTREQ]; | |
1072 | if (pTxBuffer->m_pbBuffer != NULL) { // NmtRequest does exist | |
1073 | // check if frame is empty and not being filled | |
1074 | if (pTxBuffer->m_uiTxMsgLen == | |
1075 | EPL_DLLK_BUFLEN_EMPTY) { | |
1076 | // mark Tx buffer as filling is in process | |
1077 | pTxBuffer-> | |
1078 | m_uiTxMsgLen = | |
1079 | EPL_DLLK_BUFLEN_FILLING; | |
1080 | // set max buffer size as input parameter | |
1081 | uiFrameSize = | |
1082 | pTxBuffer-> | |
1083 | m_uiMaxBufferLen; | |
1084 | // copy frame from shared loop buffer to Tx buffer | |
1085 | Ret = | |
1086 | EplDllkCalAsyncGetTxFrame | |
1087 | (pTxBuffer-> | |
1088 | m_pbBuffer, | |
1089 | &uiFrameSize, | |
1090 | AsyncReqPriority); | |
1091 | if (Ret == | |
1092 | kEplSuccessful) { | |
1093 | pTxFrame = | |
1094 | (tEplFrame | |
1095 | *) | |
1096 | pTxBuffer-> | |
1097 | m_pbBuffer; | |
1098 | Ret = | |
1099 | EplDllkCheckFrame | |
1100 | (pTxFrame, | |
1101 | uiFrameSize); | |
1102 | ||
1103 | // set buffer valid | |
1104 | pTxBuffer-> | |
1105 | m_uiTxMsgLen | |
1106 | = | |
1107 | uiFrameSize; | |
1108 | } else if (Ret == kEplDllAsyncTxBufferEmpty) { // empty Tx buffer is not a real problem | |
1109 | // so just ignore it | |
1110 | Ret = | |
1111 | kEplSuccessful; | |
1112 | // mark Tx buffer as empty | |
1113 | pTxBuffer-> | |
1114 | m_uiTxMsgLen | |
1115 | = | |
1116 | EPL_DLLK_BUFLEN_EMPTY; | |
1117 | } | |
1118 | } | |
1119 | } | |
1120 | break; | |
1121 | } | |
1122 | ||
1123 | default: // generic priority | |
1124 | { | |
1125 | pTxBuffer = | |
1126 | &EplDllkInstance_g. | |
1127 | m_pTxBuffer | |
1128 | [EPL_DLLK_TXFRAME_NONEPL]; | |
1129 | if (pTxBuffer->m_pbBuffer != NULL) { // non-EPL frame does exist | |
1130 | // check if frame is empty and not being filled | |
1131 | if (pTxBuffer->m_uiTxMsgLen == | |
1132 | EPL_DLLK_BUFLEN_EMPTY) { | |
1133 | // mark Tx buffer as filling is in process | |
1134 | pTxBuffer-> | |
1135 | m_uiTxMsgLen = | |
1136 | EPL_DLLK_BUFLEN_FILLING; | |
1137 | // set max buffer size as input parameter | |
1138 | uiFrameSize = | |
1139 | pTxBuffer-> | |
1140 | m_uiMaxBufferLen; | |
1141 | // copy frame from shared loop buffer to Tx buffer | |
1142 | Ret = | |
1143 | EplDllkCalAsyncGetTxFrame | |
1144 | (pTxBuffer-> | |
1145 | m_pbBuffer, | |
1146 | &uiFrameSize, | |
1147 | AsyncReqPriority); | |
1148 | if (Ret == | |
1149 | kEplSuccessful) { | |
1150 | pTxFrame = | |
1151 | (tEplFrame | |
1152 | *) | |
1153 | pTxBuffer-> | |
1154 | m_pbBuffer; | |
1155 | Ret = | |
1156 | EplDllkCheckFrame | |
1157 | (pTxFrame, | |
1158 | uiFrameSize); | |
1159 | ||
1160 | // set buffer valid | |
1161 | pTxBuffer-> | |
1162 | m_uiTxMsgLen | |
1163 | = | |
1164 | uiFrameSize; | |
1165 | } else if (Ret == kEplDllAsyncTxBufferEmpty) { // empty Tx buffer is not a real problem | |
1166 | // so just ignore it | |
1167 | Ret = | |
1168 | kEplSuccessful; | |
1169 | // mark Tx buffer as empty | |
1170 | pTxBuffer-> | |
1171 | m_uiTxMsgLen | |
1172 | = | |
1173 | EPL_DLLK_BUFLEN_EMPTY; | |
1174 | } | |
1175 | } | |
1176 | } | |
1177 | break; | |
1178 | } | |
1179 | } | |
1180 | ||
1181 | NmtState = EplNmtkGetNmtState(); | |
1182 | ||
1183 | if ((NmtState == kEplNmtCsBasicEthernet) || (NmtState == kEplNmtMsBasicEthernet)) { // send frame immediately | |
1184 | if (pTxFrame != NULL) { // frame is present | |
1185 | // padding is done by Edrv or ethernet controller | |
1186 | Ret = EdrvSendTxMsg(pTxBuffer); | |
1187 | } else { // no frame moved to TxBuffer | |
1188 | // check if TxBuffers contain unsent frames | |
1189 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY) { // NMT request Tx buffer contains a frame | |
1190 | Ret = | |
1191 | EdrvSendTxMsg | |
1192 | (&EplDllkInstance_g. | |
1193 | m_pTxBuffer | |
1194 | [EPL_DLLK_TXFRAME_NMTREQ]); | |
1195 | } else if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY) { // non-EPL Tx buffer contains a frame | |
1196 | Ret = | |
1197 | EdrvSendTxMsg | |
1198 | (&EplDllkInstance_g. | |
1199 | m_pTxBuffer | |
1200 | [EPL_DLLK_TXFRAME_NONEPL]); | |
1201 | } | |
1202 | if (Ret == kEplInvalidOperation) { // ignore error if caused by already active transmission | |
1203 | Ret = kEplSuccessful; | |
1204 | } | |
1205 | } | |
1206 | // reset PRes flag 2 | |
1207 | EplDllkInstance_g.m_bFlag2 = 0; | |
1208 | } else { | |
1209 | // update Flag 2 (PR, RS) | |
1210 | Ret = | |
1211 | EplDllkCalAsyncGetTxCount(&AsyncReqPriority, | |
1212 | &uiFrameCount); | |
1213 | if (AsyncReqPriority == kEplDllAsyncReqPrioNmt) { // non-empty FIFO with hightest priority is for NMT requests | |
1214 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY) { // NMT request Tx buffer contains a frame | |
1215 | // add one more frame | |
1216 | uiFrameCount++; | |
1217 | } | |
1218 | } else { // non-empty FIFO with highest priority is for generic frames | |
1219 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY) { // NMT request Tx buffer contains a frame | |
1220 | // use NMT request FIFO, because of higher priority | |
1221 | uiFrameCount = 1; | |
1222 | AsyncReqPriority = | |
1223 | kEplDllAsyncReqPrioNmt; | |
1224 | } else if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_uiTxMsgLen > EPL_DLLK_BUFLEN_EMPTY) { // non-EPL Tx buffer contains a frame | |
1225 | // use NMT request FIFO, because of higher priority | |
1226 | // add one more frame | |
1227 | uiFrameCount++; | |
1228 | } | |
1229 | } | |
1230 | ||
1231 | if (uiFrameCount > 7) { // limit frame request to send counter to 7 | |
1232 | uiFrameCount = 7; | |
1233 | } | |
1234 | if (uiFrameCount > 0) { | |
1235 | EplDllkInstance_g.m_bFlag2 = | |
1236 | (BYTE) (((AsyncReqPriority << | |
1237 | EPL_FRAME_FLAG2_PR_SHIFT) | |
1238 | & EPL_FRAME_FLAG2_PR) | |
1239 | | (uiFrameCount & | |
1240 | EPL_FRAME_FLAG2_RS)); | |
1241 | } else { | |
1242 | EplDllkInstance_g.m_bFlag2 = 0; | |
1243 | } | |
1244 | } | |
1245 | ||
1246 | break; | |
1247 | } | |
9d7164cf DK |
1248 | |
1249 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
1250 | case kEplEventTypeDllkStartReducedCycle: |
1251 | { | |
1252 | // start the reduced cycle by programming the cycle timer | |
1253 | // it is issued by NMT MN module, when PreOp1 is entered | |
9d7164cf | 1254 | |
833dfbe7 GKH |
1255 | // clear the asynchronous queues |
1256 | Ret = EplDllkCalAsyncClearQueues(); | |
9d7164cf | 1257 | |
833dfbe7 GKH |
1258 | // reset cycle counter (everytime a SoA is triggerd in PreOp1 the counter is incremented |
1259 | // and when it reaches EPL_C_DLL_PREOP1_START_CYCLES the SoA may contain invitations) | |
1260 | EplDllkInstance_g.m_uiCycleCount = 0; | |
9d7164cf | 1261 | |
833dfbe7 GKH |
1262 | // remove any CN from isochronous phase |
1263 | while (EplDllkInstance_g.m_pFirstNodeInfo != NULL) { | |
1264 | EplDllkDeleteNode(EplDllkInstance_g. | |
1265 | m_pFirstNodeInfo->m_uiNodeId); | |
1266 | } | |
9d7164cf | 1267 | |
833dfbe7 GKH |
1268 | // change state to NonCyclic, |
1269 | // hence EplDllkChangeState() will not ignore the next call | |
1270 | EplDllkInstance_g.m_DllState = kEplDllMsNonCyclic; | |
9d7164cf DK |
1271 | |
1272 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 GKH |
1273 | if (EplDllkInstance_g.m_DllConfigParam. |
1274 | m_dwAsyncSlotTimeout != 0) { | |
1275 | Ret = | |
1276 | EplTimerHighReskModifyTimerNs | |
1277 | (&EplDllkInstance_g.m_TimerHdlCycle, | |
1278 | EplDllkInstance_g.m_DllConfigParam. | |
1279 | m_dwAsyncSlotTimeout, | |
1280 | EplDllkCbMnTimerCycle, 0L, FALSE); | |
1281 | } | |
9d7164cf DK |
1282 | #endif |
1283 | ||
833dfbe7 GKH |
1284 | break; |
1285 | } | |
9d7164cf DK |
1286 | #endif |
1287 | ||
1288 | #if EPL_DLL_PRES_READY_AFTER_SOA != FALSE | |
833dfbe7 GKH |
1289 | case kEplEventTypeDllkPresReady: |
1290 | { | |
1291 | // post PRes to transmit FIFO | |
1292 | ||
1293 | NmtState = EplNmtkGetNmtState(); | |
1294 | ||
1295 | if (NmtState != kEplNmtCsBasicEthernet) { | |
1296 | // Does PRes exist? | |
1297 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES].m_pbBuffer != NULL) { // PRes does exist | |
1298 | pTxFrame = | |
1299 | (tEplFrame *) EplDllkInstance_g. | |
1300 | m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]. | |
1301 | m_pbBuffer; | |
1302 | // update frame (NMT state, RD, RS, PR, MS, EN flags) | |
1303 | if (NmtState < kEplNmtCsPreOperational2) { // NMT state is not PreOp2, ReadyToOp or Op | |
1304 | // fake NMT state PreOp2, because PRes will be sent only in PreOp2 or greater | |
1305 | NmtState = | |
1306 | kEplNmtCsPreOperational2; | |
1307 | } | |
1308 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
1309 | m_le_bNmtStatus, | |
1310 | (BYTE) NmtState); | |
1311 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
1312 | m_le_bFlag2, | |
1313 | EplDllkInstance_g. | |
1314 | m_bFlag2); | |
1315 | if (NmtState != kEplNmtCsOperational) { // mark PDO as invalid in NMT state Op | |
1316 | // $$$ reset only RD flag; set other flags appropriately | |
1317 | AmiSetByteToLe(&pTxFrame-> | |
1318 | m_Data.m_Pres. | |
1319 | m_le_bFlag1, 0); | |
1320 | } | |
1321 | // $$$ make function that updates Pres, StatusRes | |
1322 | // mark PRes frame as ready for transmission | |
1323 | Ret = | |
1324 | EdrvTxMsgReady(&EplDllkInstance_g. | |
1325 | m_pTxBuffer | |
1326 | [EPL_DLLK_TXFRAME_PRES]); | |
1327 | } | |
1328 | } | |
1329 | ||
1330 | break; | |
1331 | } | |
9d7164cf | 1332 | #endif |
833dfbe7 GKH |
1333 | default: |
1334 | { | |
1335 | ASSERTMSG(FALSE, | |
1336 | "EplDllkProcess(): unhandled event type!\n"); | |
1337 | } | |
1338 | } | |
1339 | ||
1340 | Exit: | |
1341 | return Ret; | |
9d7164cf DK |
1342 | } |
1343 | ||
1344 | //--------------------------------------------------------------------------- | |
1345 | // | |
1346 | // Function: EplDllkConfig | |
1347 | // | |
1348 | // Description: configure parameters of DLL | |
1349 | // | |
1350 | // Parameters: pDllConfigParam_p = configuration parameters | |
1351 | // | |
1352 | // Returns: tEplKernel = error code | |
1353 | // | |
1354 | // | |
1355 | // State: | |
1356 | // | |
1357 | //--------------------------------------------------------------------------- | |
1358 | ||
1359 | tEplKernel EplDllkConfig(tEplDllConfigParam * pDllConfigParam_p) | |
1360 | { | |
833dfbe7 | 1361 | tEplKernel Ret = kEplSuccessful; |
9d7164cf DK |
1362 | |
1363 | // d.k. check of NMT state disabled, because CycleLen is programmed at run time by MN without reset of CN | |
1364 | /*tEplNmtState NmtState; | |
1365 | ||
1366 | NmtState = EplNmtkGetNmtState(); | |
1367 | ||
1368 | if (NmtState > kEplNmtGsResetConfiguration) | |
1369 | { // only allowed in state DLL_GS_INIT | |
1370 | Ret = kEplInvalidOperation; | |
1371 | goto Exit; | |
1372 | } | |
1373 | */ | |
833dfbe7 GKH |
1374 | EPL_MEMCPY(&EplDllkInstance_g.m_DllConfigParam, pDllConfigParam_p, |
1375 | (pDllConfigParam_p->m_uiSizeOfStruct < | |
1376 | sizeof(tEplDllConfigParam) ? pDllConfigParam_p-> | |
1377 | m_uiSizeOfStruct : sizeof(tEplDllConfigParam))); | |
1378 | ||
1379 | if ((EplDllkInstance_g.m_DllConfigParam.m_dwCycleLen != 0) | |
1380 | && (EplDllkInstance_g.m_DllConfigParam.m_dwLossOfFrameTolerance != 0)) { // monitor EPL cycle, calculate frame timeout | |
1381 | EplDllkInstance_g.m_ullFrameTimeout = (1000LL | |
1382 | * | |
1383 | ((unsigned long long) | |
1384 | EplDllkInstance_g. | |
1385 | m_DllConfigParam. | |
1386 | m_dwCycleLen)) | |
1387 | + | |
1388 | ((unsigned long long)EplDllkInstance_g.m_DllConfigParam. | |
1389 | m_dwLossOfFrameTolerance); | |
1390 | } else { | |
1391 | EplDllkInstance_g.m_ullFrameTimeout = 0LL; | |
1392 | } | |
1393 | ||
1394 | if (EplDllkInstance_g.m_DllConfigParam.m_fAsyncOnly != FALSE) { // it is configured as async-only CN | |
1395 | // disable multiplexed cycle, that m_uiCycleCount will not be incremented spuriously on SoC | |
1396 | EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt = 0; | |
1397 | } | |
9d7164cf | 1398 | //Exit: |
833dfbe7 | 1399 | return Ret; |
9d7164cf DK |
1400 | } |
1401 | ||
1402 | //--------------------------------------------------------------------------- | |
1403 | // | |
1404 | // Function: EplDllkSetIdentity | |
1405 | // | |
1406 | // Description: configure identity of local node for IdentResponse | |
1407 | // | |
1408 | // Parameters: pDllIdentParam_p = identity | |
1409 | // | |
1410 | // Returns: tEplKernel = error code | |
1411 | // | |
1412 | // | |
1413 | // State: | |
1414 | // | |
1415 | //--------------------------------------------------------------------------- | |
1416 | ||
1417 | tEplKernel EplDllkSetIdentity(tEplDllIdentParam * pDllIdentParam_p) | |
1418 | { | |
833dfbe7 | 1419 | tEplKernel Ret = kEplSuccessful; |
9d7164cf | 1420 | |
833dfbe7 GKH |
1421 | EPL_MEMCPY(&EplDllkInstance_g.m_DllIdentParam, pDllIdentParam_p, |
1422 | (pDllIdentParam_p->m_uiSizeOfStruct < | |
1423 | sizeof(tEplDllIdentParam) ? pDllIdentParam_p-> | |
1424 | m_uiSizeOfStruct : sizeof(tEplDllIdentParam))); | |
9d7164cf | 1425 | |
833dfbe7 | 1426 | // $$$ if IdentResponse frame exists update it |
9d7164cf | 1427 | |
833dfbe7 | 1428 | return Ret; |
9d7164cf DK |
1429 | } |
1430 | ||
9d7164cf DK |
1431 | //--------------------------------------------------------------------------- |
1432 | // | |
1433 | // Function: EplDllkRegAsyncHandler | |
1434 | // | |
1435 | // Description: registers handler for non-EPL frames | |
1436 | // | |
1437 | // Parameters: pfnDllkCbAsync_p = pointer to callback function | |
1438 | // | |
1439 | // Returns: tEplKernel = error code | |
1440 | // | |
1441 | // | |
1442 | // State: | |
1443 | // | |
1444 | //--------------------------------------------------------------------------- | |
1445 | ||
1446 | tEplKernel EplDllkRegAsyncHandler(tEplDllkCbAsync pfnDllkCbAsync_p) | |
1447 | { | |
833dfbe7 | 1448 | tEplKernel Ret = kEplSuccessful; |
9d7164cf | 1449 | |
833dfbe7 GKH |
1450 | if (EplDllkInstance_g.m_pfnCbAsync == NULL) { // no handler registered yet |
1451 | EplDllkInstance_g.m_pfnCbAsync = pfnDllkCbAsync_p; | |
1452 | } else { // handler already registered | |
1453 | Ret = kEplDllCbAsyncRegistered; | |
1454 | } | |
9d7164cf | 1455 | |
833dfbe7 | 1456 | return Ret; |
9d7164cf DK |
1457 | } |
1458 | ||
1459 | //--------------------------------------------------------------------------- | |
1460 | // | |
1461 | // Function: EplDllkDeregAsyncHandler | |
1462 | // | |
1463 | // Description: deregisters handler for non-EPL frames | |
1464 | // | |
1465 | // Parameters: pfnDllkCbAsync_p = pointer to callback function | |
1466 | // | |
1467 | // Returns: tEplKernel = error code | |
1468 | // | |
1469 | // | |
1470 | // State: | |
1471 | // | |
1472 | //--------------------------------------------------------------------------- | |
1473 | ||
1474 | tEplKernel EplDllkDeregAsyncHandler(tEplDllkCbAsync pfnDllkCbAsync_p) | |
1475 | { | |
833dfbe7 | 1476 | tEplKernel Ret = kEplSuccessful; |
9d7164cf | 1477 | |
833dfbe7 GKH |
1478 | if (EplDllkInstance_g.m_pfnCbAsync == pfnDllkCbAsync_p) { // same handler is registered |
1479 | // deregister it | |
1480 | EplDllkInstance_g.m_pfnCbAsync = NULL; | |
1481 | } else { // wrong handler or no handler registered | |
1482 | Ret = kEplDllCbAsyncRegistered; | |
1483 | } | |
9d7164cf | 1484 | |
833dfbe7 | 1485 | return Ret; |
9d7164cf DK |
1486 | } |
1487 | ||
1488 | //--------------------------------------------------------------------------- | |
1489 | // | |
1490 | // Function: EplDllkSetAsndServiceIdFilter() | |
1491 | // | |
1492 | // Description: sets the specified node ID filter for the specified | |
1493 | // AsndServiceId. It registers C_DLL_MULTICAST_ASND in ethernet | |
1494 | // driver if any AsndServiceId is open. | |
1495 | // | |
1496 | // Parameters: ServiceId_p = ASnd Service ID | |
1497 | // Filter_p = node ID filter | |
1498 | // | |
1499 | // Returns: tEplKernel = error code | |
1500 | // | |
1501 | // | |
1502 | // State: | |
1503 | // | |
1504 | //--------------------------------------------------------------------------- | |
1505 | ||
833dfbe7 GKH |
1506 | tEplKernel EplDllkSetAsndServiceIdFilter(tEplDllAsndServiceId ServiceId_p, |
1507 | tEplDllAsndFilter Filter_p) | |
9d7164cf | 1508 | { |
833dfbe7 | 1509 | tEplKernel Ret = kEplSuccessful; |
9d7164cf | 1510 | |
833dfbe7 GKH |
1511 | if (ServiceId_p < tabentries(EplDllkInstance_g.m_aAsndFilter)) { |
1512 | EplDllkInstance_g.m_aAsndFilter[ServiceId_p] = Filter_p; | |
1513 | } | |
9d7164cf | 1514 | |
833dfbe7 | 1515 | return Ret; |
9d7164cf DK |
1516 | } |
1517 | ||
9d7164cf DK |
1518 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
1519 | ||
1520 | //--------------------------------------------------------------------------- | |
1521 | // | |
1522 | // Function: EplDllkSetFlag1OfNode() | |
1523 | // | |
1524 | // Description: sets Flag1 (for PReq and SoA) of the specified node ID. | |
1525 | // | |
1526 | // Parameters: uiNodeId_p = node ID | |
1527 | // bSoaFlag1_p = flag1 | |
1528 | // | |
1529 | // Returns: tEplKernel = error code | |
1530 | // | |
1531 | // | |
1532 | // State: | |
1533 | // | |
1534 | //--------------------------------------------------------------------------- | |
1535 | ||
1536 | tEplKernel EplDllkSetFlag1OfNode(unsigned int uiNodeId_p, BYTE bSoaFlag1_p) | |
1537 | { | |
833dfbe7 GKH |
1538 | tEplKernel Ret = kEplSuccessful; |
1539 | tEplDllkNodeInfo *pNodeInfo; | |
1540 | ||
1541 | pNodeInfo = EplDllkGetNodeInfo(uiNodeId_p); | |
1542 | if (pNodeInfo == NULL) { // no node info structure available | |
1543 | Ret = kEplDllNoNodeInfo; | |
1544 | goto Exit; | |
1545 | } | |
1546 | // store flag1 in internal node info structure | |
1547 | pNodeInfo->m_bSoaFlag1 = bSoaFlag1_p; | |
1548 | ||
1549 | Exit: | |
1550 | return Ret; | |
9d7164cf DK |
1551 | } |
1552 | ||
1553 | //--------------------------------------------------------------------------- | |
1554 | // | |
1555 | // Function: EplDllkGetFirstNodeInfo() | |
1556 | // | |
1557 | // Description: returns first info structure of first node in isochronous phase. | |
1558 | // It is only useful for ErrorHandlerk module. | |
1559 | // | |
1560 | // Parameters: ppNodeInfo_p = pointer to pointer of internal node info structure | |
1561 | // | |
1562 | // Returns: tEplKernel = error code | |
1563 | // | |
1564 | // | |
1565 | // State: | |
1566 | // | |
1567 | //--------------------------------------------------------------------------- | |
1568 | ||
833dfbe7 | 1569 | tEplKernel EplDllkGetFirstNodeInfo(tEplDllkNodeInfo ** ppNodeInfo_p) |
9d7164cf | 1570 | { |
833dfbe7 | 1571 | tEplKernel Ret = kEplSuccessful; |
9d7164cf | 1572 | |
833dfbe7 | 1573 | *ppNodeInfo_p = EplDllkInstance_g.m_pFirstNodeInfo; |
9d7164cf | 1574 | |
833dfbe7 | 1575 | return Ret; |
9d7164cf DK |
1576 | } |
1577 | ||
9d7164cf DK |
1578 | //--------------------------------------------------------------------------- |
1579 | // | |
1580 | // Function: EplDllkAddNode() | |
1581 | // | |
1582 | // Description: adds the specified node to the isochronous phase. | |
1583 | // | |
1584 | // Parameters: pNodeInfo_p = pointer of node info structure | |
1585 | // | |
1586 | // Returns: tEplKernel = error code | |
1587 | // | |
1588 | // | |
1589 | // State: | |
1590 | // | |
1591 | //--------------------------------------------------------------------------- | |
1592 | ||
1593 | tEplKernel EplDllkAddNode(tEplDllNodeInfo * pNodeInfo_p) | |
1594 | { | |
833dfbe7 GKH |
1595 | tEplKernel Ret = kEplSuccessful; |
1596 | tEplDllkNodeInfo *pIntNodeInfo; | |
1597 | tEplDllkNodeInfo **ppIntNodeInfo; | |
1598 | unsigned int uiHandle; | |
1599 | tEplFrame *pFrame; | |
1600 | unsigned int uiFrameSize; | |
1601 | ||
1602 | pIntNodeInfo = EplDllkGetNodeInfo(pNodeInfo_p->m_uiNodeId); | |
1603 | if (pIntNodeInfo == NULL) { // no node info structure available | |
1604 | Ret = kEplDllNoNodeInfo; | |
1605 | goto Exit; | |
1606 | } | |
1607 | ||
1608 | EPL_DLLK_DBG_POST_TRACE_VALUE(kEplEventTypeDllkAddNode, | |
1609 | pNodeInfo_p->m_uiNodeId, 0); | |
1610 | ||
1611 | // copy node configuration | |
1612 | pIntNodeInfo->m_dwPresTimeout = pNodeInfo_p->m_dwPresTimeout; | |
1613 | pIntNodeInfo->m_wPresPayloadLimit = pNodeInfo_p->m_wPresPayloadLimit; | |
1614 | ||
1615 | // $$$ d.k.: actually add node only if MN. On CN it is sufficient to update the node configuration | |
1616 | if (pNodeInfo_p->m_uiNodeId == EplDllkInstance_g.m_DllConfigParam.m_uiNodeId) { // we shall send PRes ourself | |
1617 | // insert our node at the end of the list | |
1618 | ppIntNodeInfo = &EplDllkInstance_g.m_pFirstNodeInfo; | |
1619 | while ((*ppIntNodeInfo != NULL) | |
1620 | && ((*ppIntNodeInfo)->m_pNextNodeInfo != NULL)) { | |
1621 | ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo; | |
1622 | } | |
1623 | if (*ppIntNodeInfo != NULL) { | |
1624 | if ((*ppIntNodeInfo)->m_uiNodeId == pNodeInfo_p->m_uiNodeId) { // node was already added to list | |
1625 | // $$$ d.k. maybe this should be an error | |
1626 | goto Exit; | |
1627 | } else { // add our node at the end of the list | |
1628 | ppIntNodeInfo = | |
1629 | &(*ppIntNodeInfo)->m_pNextNodeInfo; | |
1630 | } | |
1631 | } | |
1632 | // set "PReq"-TxBuffer to PRes-TxBuffer | |
1633 | pIntNodeInfo->m_pPreqTxBuffer = | |
1634 | &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]; | |
1635 | } else { // normal CN shall be added to isochronous phase | |
1636 | // insert node into list in ascending order | |
1637 | ppIntNodeInfo = &EplDllkInstance_g.m_pFirstNodeInfo; | |
1638 | while ((*ppIntNodeInfo != NULL) | |
1639 | && ((*ppIntNodeInfo)->m_uiNodeId < | |
1640 | pNodeInfo_p->m_uiNodeId) | |
1641 | && ((*ppIntNodeInfo)->m_uiNodeId != | |
1642 | EplDllkInstance_g.m_DllConfigParam.m_uiNodeId)) { | |
1643 | ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo; | |
1644 | } | |
1645 | if ((*ppIntNodeInfo != NULL) && ((*ppIntNodeInfo)->m_uiNodeId == pNodeInfo_p->m_uiNodeId)) { // node was already added to list | |
1646 | // $$$ d.k. maybe this should be an error | |
1647 | goto Exit; | |
1648 | } | |
1649 | } | |
1650 | ||
1651 | // initialize elements of internal node info structure | |
1652 | pIntNodeInfo->m_bSoaFlag1 = 0; | |
1653 | pIntNodeInfo->m_fSoftDelete = FALSE; | |
1654 | pIntNodeInfo->m_NmtState = kEplNmtCsNotActive; | |
1655 | if (pIntNodeInfo->m_pPreqTxBuffer == NULL) { // create TxBuffer entry | |
1656 | uiFrameSize = pNodeInfo_p->m_wPreqPayloadLimit + 24; | |
1657 | Ret = | |
1658 | EplDllkCreateTxFrame(&uiHandle, &pFrame, &uiFrameSize, | |
1659 | kEplMsgTypePreq, | |
1660 | kEplDllAsndNotDefined); | |
1661 | if (Ret != kEplSuccessful) { | |
1662 | goto Exit; | |
1663 | } | |
1664 | pIntNodeInfo->m_pPreqTxBuffer = | |
1665 | &EplDllkInstance_g.m_pTxBuffer[uiHandle]; | |
1666 | AmiSetByteToLe(&pFrame->m_le_bDstNodeId, | |
1667 | (BYTE) pNodeInfo_p->m_uiNodeId); | |
1668 | ||
1669 | // set up destination MAC address | |
1670 | EPL_MEMCPY(pFrame->m_be_abDstMac, pIntNodeInfo->m_be_abMacAddr, | |
1671 | 6); | |
9d7164cf | 1672 | |
833dfbe7 GKH |
1673 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
1674 | { | |
1675 | tEplFrameInfo FrameInfo; | |
1676 | ||
1677 | // initially encode TPDO -> inform PDO module | |
1678 | FrameInfo.m_pFrame = pFrame; | |
1679 | FrameInfo.m_uiFrameSize = uiFrameSize; | |
1680 | Ret = EplPdokCbPdoTransmitted(&FrameInfo); | |
1681 | } | |
1682 | #endif | |
1683 | } | |
1684 | pIntNodeInfo->m_ulDllErrorEvents = 0L; | |
1685 | // add node to list | |
1686 | pIntNodeInfo->m_pNextNodeInfo = *ppIntNodeInfo; | |
1687 | *ppIntNodeInfo = pIntNodeInfo; | |
1688 | ||
1689 | Exit: | |
1690 | return Ret; | |
9d7164cf DK |
1691 | } |
1692 | ||
9d7164cf DK |
1693 | //--------------------------------------------------------------------------- |
1694 | // | |
1695 | // Function: EplDllkDeleteNode() | |
1696 | // | |
1697 | // Description: removes the specified node from the isochronous phase. | |
1698 | // | |
1699 | // Parameters: uiNodeId_p = node ID | |
1700 | // | |
1701 | // Returns: tEplKernel = error code | |
1702 | // | |
1703 | // | |
1704 | // State: | |
1705 | // | |
1706 | //--------------------------------------------------------------------------- | |
1707 | ||
1708 | tEplKernel EplDllkDeleteNode(unsigned int uiNodeId_p) | |
1709 | { | |
833dfbe7 GKH |
1710 | tEplKernel Ret = kEplSuccessful; |
1711 | tEplDllkNodeInfo *pIntNodeInfo; | |
1712 | tEplDllkNodeInfo **ppIntNodeInfo; | |
1713 | unsigned int uiHandle; | |
1714 | ||
1715 | pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId_p); | |
1716 | if (pIntNodeInfo == NULL) { // no node info structure available | |
1717 | Ret = kEplDllNoNodeInfo; | |
1718 | goto Exit; | |
1719 | } | |
1720 | ||
1721 | EPL_DLLK_DBG_POST_TRACE_VALUE(kEplEventTypeDllkDelNode, uiNodeId_p, 0); | |
1722 | ||
1723 | // search node in whole list | |
1724 | ppIntNodeInfo = &EplDllkInstance_g.m_pFirstNodeInfo; | |
1725 | while ((*ppIntNodeInfo != NULL) | |
1726 | && ((*ppIntNodeInfo)->m_uiNodeId != uiNodeId_p)) { | |
1727 | ppIntNodeInfo = &(*ppIntNodeInfo)->m_pNextNodeInfo; | |
1728 | } | |
1729 | if ((*ppIntNodeInfo == NULL) || ((*ppIntNodeInfo)->m_uiNodeId != uiNodeId_p)) { // node was not found in list | |
1730 | // $$$ d.k. maybe this should be an error | |
1731 | goto Exit; | |
1732 | } | |
1733 | // remove node from list | |
1734 | *ppIntNodeInfo = pIntNodeInfo->m_pNextNodeInfo; | |
1735 | ||
1736 | if ((pIntNodeInfo->m_pPreqTxBuffer != NULL) | |
1737 | && (pIntNodeInfo->m_pPreqTxBuffer != &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES])) { // delete TxBuffer entry | |
1738 | uiHandle = | |
1739 | pIntNodeInfo->m_pPreqTxBuffer - | |
1740 | EplDllkInstance_g.m_pTxBuffer; | |
1741 | pIntNodeInfo->m_pPreqTxBuffer = NULL; | |
1742 | Ret = EplDllkDeleteTxFrame(uiHandle); | |
9d7164cf DK |
1743 | /* if (Ret != kEplSuccessful) |
1744 | { | |
1745 | goto Exit; | |
1746 | }*/ | |
833dfbe7 | 1747 | } |
9d7164cf | 1748 | |
833dfbe7 GKH |
1749 | Exit: |
1750 | return Ret; | |
9d7164cf DK |
1751 | } |
1752 | ||
9d7164cf DK |
1753 | //--------------------------------------------------------------------------- |
1754 | // | |
1755 | // Function: EplDllkSoftDeleteNode() | |
1756 | // | |
1757 | // Description: removes the specified node not immediately from the isochronous phase. | |
1758 | // Instead the will be removed after error (late/loss PRes) without | |
1759 | // charging the error. | |
1760 | // | |
1761 | // Parameters: uiNodeId_p = node ID | |
1762 | // | |
1763 | // Returns: tEplKernel = error code | |
1764 | // | |
1765 | // | |
1766 | // State: | |
1767 | // | |
1768 | //--------------------------------------------------------------------------- | |
1769 | ||
1770 | tEplKernel EplDllkSoftDeleteNode(unsigned int uiNodeId_p) | |
1771 | { | |
833dfbe7 GKH |
1772 | tEplKernel Ret = kEplSuccessful; |
1773 | tEplDllkNodeInfo *pIntNodeInfo; | |
9d7164cf | 1774 | |
833dfbe7 GKH |
1775 | pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId_p); |
1776 | if (pIntNodeInfo == NULL) { // no node info structure available | |
1777 | Ret = kEplDllNoNodeInfo; | |
1778 | goto Exit; | |
1779 | } | |
9d7164cf | 1780 | |
833dfbe7 GKH |
1781 | EPL_DLLK_DBG_POST_TRACE_VALUE(kEplEventTypeDllkSoftDelNode, |
1782 | uiNodeId_p, 0); | |
9d7164cf | 1783 | |
833dfbe7 | 1784 | pIntNodeInfo->m_fSoftDelete = TRUE; |
9d7164cf | 1785 | |
833dfbe7 GKH |
1786 | Exit: |
1787 | return Ret; | |
9d7164cf DK |
1788 | } |
1789 | ||
9d7164cf DK |
1790 | #endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
1791 | ||
9d7164cf DK |
1792 | //=========================================================================// |
1793 | // // | |
1794 | // P R I V A T E F U N C T I O N S // | |
1795 | // // | |
1796 | //=========================================================================// | |
1797 | ||
9d7164cf DK |
1798 | //--------------------------------------------------------------------------- |
1799 | // | |
1800 | // Function: EplDllkChangeState | |
1801 | // | |
1802 | // Description: change DLL state on event and diagnose some communication errors | |
1803 | // | |
1804 | // Parameters: NmtEvent_p = DLL event (wrapped in NMT event) | |
1805 | // | |
1806 | // Returns: tEplKernel = error code | |
1807 | // | |
1808 | // | |
1809 | // State: | |
1810 | // | |
1811 | //--------------------------------------------------------------------------- | |
1812 | ||
833dfbe7 GKH |
1813 | static tEplKernel EplDllkChangeState(tEplNmtEvent NmtEvent_p, |
1814 | tEplNmtState NmtState_p) | |
9d7164cf | 1815 | { |
833dfbe7 GKH |
1816 | tEplKernel Ret = kEplSuccessful; |
1817 | tEplEvent Event; | |
1818 | tEplErrorHandlerkEvent DllEvent; | |
1819 | ||
1820 | DllEvent.m_ulDllErrorEvents = 0; | |
1821 | DllEvent.m_uiNodeId = 0; | |
1822 | DllEvent.m_NmtState = NmtState_p; | |
1823 | ||
1824 | switch (NmtState_p) { | |
1825 | case kEplNmtGsOff: | |
1826 | case kEplNmtGsInitialising: | |
1827 | case kEplNmtGsResetApplication: | |
1828 | case kEplNmtGsResetCommunication: | |
1829 | case kEplNmtGsResetConfiguration: | |
1830 | case kEplNmtCsBasicEthernet: | |
1831 | // enter DLL_GS_INIT | |
1832 | EplDllkInstance_g.m_DllState = kEplDllGsInit; | |
1833 | break; | |
1834 | ||
1835 | case kEplNmtCsNotActive: | |
1836 | case kEplNmtCsPreOperational1: | |
1837 | // reduced EPL cycle is active | |
1838 | if (NmtEvent_p == kEplNmtEventDllCeSoc) { // SoC received | |
1839 | // enter DLL_CS_WAIT_PREQ | |
1840 | EplDllkInstance_g.m_DllState = kEplDllCsWaitPreq; | |
1841 | } else { | |
1842 | // enter DLL_GS_INIT | |
1843 | EplDllkInstance_g.m_DllState = kEplDllGsInit; | |
1844 | } | |
1845 | break; | |
1846 | ||
1847 | case kEplNmtCsPreOperational2: | |
1848 | case kEplNmtCsReadyToOperate: | |
1849 | case kEplNmtCsOperational: | |
1850 | // full EPL cycle is active | |
1851 | ||
1852 | switch (EplDllkInstance_g.m_DllState) { | |
1853 | case kEplDllCsWaitPreq: | |
1854 | switch (NmtEvent_p) { | |
1855 | // DLL_CT2 | |
1856 | case kEplNmtEventDllCePreq: | |
1857 | // enter DLL_CS_WAIT_SOA | |
1858 | DllEvent.m_ulDllErrorEvents |= | |
1859 | EPL_DLL_ERR_CN_RECVD_PREQ; | |
1860 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa; | |
1861 | break; | |
1862 | ||
1863 | // DLL_CT8 | |
1864 | case kEplNmtEventDllCeFrameTimeout: | |
1865 | if (NmtState_p == kEplNmtCsPreOperational2) { // ignore frame timeout in PreOp2, | |
1866 | // because the previously configured cycle len | |
1867 | // may be wrong. | |
1868 | // 2008/10/15 d.k. If it would not be ignored, | |
1869 | // we would go cyclically to PreOp1 and on next | |
1870 | // SoC back to PreOp2. | |
1871 | break; | |
1872 | } | |
1873 | // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA | |
1874 | DllEvent.m_ulDllErrorEvents |= | |
1875 | EPL_DLL_ERR_CN_LOSS_SOA | | |
1876 | EPL_DLL_ERR_CN_LOSS_SOC; | |
1877 | ||
1878 | // enter DLL_CS_WAIT_SOC | |
1879 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc; | |
1880 | break; | |
1881 | ||
1882 | case kEplNmtEventDllCeSoa: | |
1883 | // check if multiplexed and PReq should have been received in this cycle | |
1884 | // and if >= NMT_CS_READY_TO_OPERATE | |
1885 | if ((EplDllkInstance_g.m_uiCycleCount == 0) | |
1886 | && (NmtState_p >= kEplNmtCsReadyToOperate)) { // report DLL_CEV_LOSS_OF_PREQ | |
1887 | DllEvent.m_ulDllErrorEvents |= | |
1888 | EPL_DLL_ERR_CN_LOSS_PREQ; | |
1889 | } | |
1890 | // enter DLL_CS_WAIT_SOC | |
1891 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc; | |
1892 | break; | |
1893 | ||
1894 | // DLL_CT7 | |
1895 | case kEplNmtEventDllCeSoc: | |
1896 | case kEplNmtEventDllCeAsnd: | |
1897 | // report DLL_CEV_LOSS_SOA | |
1898 | DllEvent.m_ulDllErrorEvents |= | |
1899 | EPL_DLL_ERR_CN_LOSS_SOA; | |
1900 | ||
1901 | case kEplNmtEventDllCePres: | |
1902 | default: | |
1903 | // remain in this state | |
1904 | break; | |
1905 | } | |
1906 | break; | |
1907 | ||
1908 | case kEplDllCsWaitSoc: | |
1909 | switch (NmtEvent_p) { | |
1910 | // DLL_CT1 | |
1911 | case kEplNmtEventDllCeSoc: | |
1912 | // start of cycle and isochronous phase | |
1913 | // enter DLL_CS_WAIT_PREQ | |
1914 | EplDllkInstance_g.m_DllState = | |
1915 | kEplDllCsWaitPreq; | |
1916 | break; | |
1917 | ||
1918 | // DLL_CT4 | |
9d7164cf | 1919 | // case kEplNmtEventDllCePres: |
833dfbe7 GKH |
1920 | case kEplNmtEventDllCeFrameTimeout: |
1921 | if (NmtState_p == kEplNmtCsPreOperational2) { // ignore frame timeout in PreOp2, | |
1922 | // because the previously configured cycle len | |
1923 | // may be wrong. | |
1924 | // 2008/10/15 d.k. If it would not be ignored, | |
1925 | // we would go cyclically to PreOp1 and on next | |
1926 | // SoC back to PreOp2. | |
1927 | break; | |
1928 | } | |
1929 | // fall through | |
1930 | ||
1931 | case kEplNmtEventDllCePreq: | |
1932 | case kEplNmtEventDllCeSoa: | |
1933 | // report DLL_CEV_LOSS_SOC | |
1934 | DllEvent.m_ulDllErrorEvents |= | |
1935 | EPL_DLL_ERR_CN_LOSS_SOC; | |
1936 | ||
1937 | case kEplNmtEventDllCeAsnd: | |
1938 | default: | |
1939 | // remain in this state | |
1940 | break; | |
1941 | } | |
1942 | break; | |
1943 | ||
1944 | case kEplDllCsWaitSoa: | |
1945 | switch (NmtEvent_p) { | |
1946 | case kEplNmtEventDllCeFrameTimeout: | |
1947 | // DLL_CT3 | |
1948 | if (NmtState_p == kEplNmtCsPreOperational2) { // ignore frame timeout in PreOp2, | |
1949 | // because the previously configured cycle len | |
1950 | // may be wrong. | |
1951 | // 2008/10/15 d.k. If it would not be ignored, | |
1952 | // we would go cyclically to PreOp1 and on next | |
1953 | // SoC back to PreOp2. | |
1954 | break; | |
1955 | } | |
1956 | // fall through | |
1957 | ||
1958 | case kEplNmtEventDllCePreq: | |
1959 | // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA | |
1960 | DllEvent.m_ulDllErrorEvents |= | |
1961 | EPL_DLL_ERR_CN_LOSS_SOA | | |
1962 | EPL_DLL_ERR_CN_LOSS_SOC; | |
1963 | ||
1964 | case kEplNmtEventDllCeSoa: | |
1965 | // enter DLL_CS_WAIT_SOC | |
1966 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc; | |
1967 | break; | |
1968 | ||
1969 | // DLL_CT9 | |
1970 | case kEplNmtEventDllCeSoc: | |
1971 | // report DLL_CEV_LOSS_SOA | |
1972 | DllEvent.m_ulDllErrorEvents |= | |
1973 | EPL_DLL_ERR_CN_LOSS_SOA; | |
1974 | ||
1975 | // enter DLL_CS_WAIT_PREQ | |
1976 | EplDllkInstance_g.m_DllState = | |
1977 | kEplDllCsWaitPreq; | |
1978 | break; | |
1979 | ||
1980 | // DLL_CT10 | |
1981 | case kEplNmtEventDllCeAsnd: | |
1982 | // report DLL_CEV_LOSS_SOA | |
1983 | DllEvent.m_ulDllErrorEvents |= | |
1984 | EPL_DLL_ERR_CN_LOSS_SOA; | |
1985 | ||
1986 | case kEplNmtEventDllCePres: | |
1987 | default: | |
1988 | // remain in this state | |
1989 | break; | |
1990 | } | |
1991 | break; | |
1992 | ||
1993 | case kEplDllGsInit: | |
1994 | // enter DLL_CS_WAIT_PREQ | |
1995 | EplDllkInstance_g.m_DllState = kEplDllCsWaitPreq; | |
1996 | break; | |
1997 | ||
1998 | default: | |
1999 | break; | |
2000 | } | |
2001 | break; | |
2002 | ||
2003 | case kEplNmtCsStopped: | |
2004 | // full EPL cycle is active, but without PReq/PRes | |
2005 | ||
2006 | switch (EplDllkInstance_g.m_DllState) { | |
2007 | case kEplDllCsWaitPreq: | |
2008 | switch (NmtEvent_p) { | |
2009 | // DLL_CT2 | |
2010 | case kEplNmtEventDllCePreq: | |
2011 | // enter DLL_CS_WAIT_SOA | |
2012 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa; | |
2013 | break; | |
2014 | ||
2015 | // DLL_CT8 | |
2016 | case kEplNmtEventDllCeFrameTimeout: | |
2017 | // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA | |
2018 | DllEvent.m_ulDllErrorEvents |= | |
2019 | EPL_DLL_ERR_CN_LOSS_SOA | | |
2020 | EPL_DLL_ERR_CN_LOSS_SOC; | |
2021 | ||
2022 | case kEplNmtEventDllCeSoa: | |
2023 | // NMT_CS_STOPPED active | |
2024 | // it is Ok if no PReq was received | |
2025 | ||
2026 | // enter DLL_CS_WAIT_SOC | |
2027 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc; | |
2028 | break; | |
2029 | ||
2030 | // DLL_CT7 | |
2031 | case kEplNmtEventDllCeSoc: | |
2032 | case kEplNmtEventDllCeAsnd: | |
2033 | // report DLL_CEV_LOSS_SOA | |
2034 | DllEvent.m_ulDllErrorEvents |= | |
2035 | EPL_DLL_ERR_CN_LOSS_SOA; | |
2036 | ||
2037 | case kEplNmtEventDllCePres: | |
2038 | default: | |
2039 | // remain in this state | |
2040 | break; | |
2041 | } | |
2042 | break; | |
2043 | ||
2044 | case kEplDllCsWaitSoc: | |
2045 | switch (NmtEvent_p) { | |
2046 | // DLL_CT1 | |
2047 | case kEplNmtEventDllCeSoc: | |
2048 | // start of cycle and isochronous phase | |
2049 | // enter DLL_CS_WAIT_SOA | |
2050 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa; | |
2051 | break; | |
2052 | ||
2053 | // DLL_CT4 | |
9d7164cf | 2054 | // case kEplNmtEventDllCePres: |
833dfbe7 GKH |
2055 | case kEplNmtEventDllCePreq: |
2056 | case kEplNmtEventDllCeSoa: | |
2057 | case kEplNmtEventDllCeFrameTimeout: | |
2058 | // report DLL_CEV_LOSS_SOC | |
2059 | DllEvent.m_ulDllErrorEvents |= | |
2060 | EPL_DLL_ERR_CN_LOSS_SOC; | |
2061 | ||
2062 | case kEplNmtEventDllCeAsnd: | |
2063 | default: | |
2064 | // remain in this state | |
2065 | break; | |
2066 | } | |
2067 | break; | |
2068 | ||
2069 | case kEplDllCsWaitSoa: | |
2070 | switch (NmtEvent_p) { | |
2071 | // DLL_CT3 | |
2072 | case kEplNmtEventDllCeFrameTimeout: | |
2073 | // report DLL_CEV_LOSS_SOC and DLL_CEV_LOSS_SOA | |
2074 | DllEvent.m_ulDllErrorEvents |= | |
2075 | EPL_DLL_ERR_CN_LOSS_SOA | | |
2076 | EPL_DLL_ERR_CN_LOSS_SOC; | |
2077 | ||
2078 | case kEplNmtEventDllCeSoa: | |
2079 | // enter DLL_CS_WAIT_SOC | |
2080 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoc; | |
2081 | break; | |
2082 | ||
2083 | // DLL_CT9 | |
2084 | case kEplNmtEventDllCeSoc: | |
2085 | // report DLL_CEV_LOSS_SOA | |
2086 | DllEvent.m_ulDllErrorEvents |= | |
2087 | EPL_DLL_ERR_CN_LOSS_SOA; | |
2088 | // remain in DLL_CS_WAIT_SOA | |
2089 | break; | |
2090 | ||
2091 | // DLL_CT10 | |
2092 | case kEplNmtEventDllCeAsnd: | |
2093 | // report DLL_CEV_LOSS_SOA | |
2094 | DllEvent.m_ulDllErrorEvents |= | |
2095 | EPL_DLL_ERR_CN_LOSS_SOA; | |
2096 | ||
2097 | case kEplNmtEventDllCePreq: | |
2098 | // NMT_CS_STOPPED active and we do not expect any PReq | |
2099 | // so just ignore it | |
2100 | case kEplNmtEventDllCePres: | |
2101 | default: | |
2102 | // remain in this state | |
2103 | break; | |
2104 | } | |
2105 | break; | |
2106 | ||
2107 | case kEplDllGsInit: | |
2108 | default: | |
2109 | // enter DLL_CS_WAIT_PREQ | |
2110 | EplDllkInstance_g.m_DllState = kEplDllCsWaitSoa; | |
2111 | break; | |
2112 | } | |
2113 | break; | |
9d7164cf DK |
2114 | |
2115 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
2116 | case kEplNmtMsNotActive: |
2117 | case kEplNmtMsBasicEthernet: | |
2118 | break; | |
2119 | ||
2120 | case kEplNmtMsPreOperational1: | |
2121 | // reduced EPL cycle is active | |
2122 | if (EplDllkInstance_g.m_DllState != kEplDllMsNonCyclic) { // stop cycle timer | |
9d7164cf | 2123 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
2124 | Ret = |
2125 | EplTimerHighReskDeleteTimer(&EplDllkInstance_g. | |
2126 | m_TimerHdlCycle); | |
9d7164cf | 2127 | #endif |
833dfbe7 GKH |
2128 | EplDllkInstance_g.m_DllState = kEplDllMsNonCyclic; |
2129 | ||
2130 | // stop further processing, | |
2131 | // because it will be restarted by NMT MN module | |
2132 | break; | |
2133 | } | |
2134 | ||
2135 | switch (NmtEvent_p) { | |
2136 | case kEplNmtEventDllMeSocTrig: | |
2137 | case kEplNmtEventDllCeAsnd: | |
2138 | { // because of reduced EPL cycle SoA shall be triggered, not SoC | |
2139 | tEplDllState DummyDllState; | |
2140 | ||
2141 | Ret = | |
2142 | EplDllkAsyncFrameNotReceived | |
2143 | (EplDllkInstance_g.m_LastReqServiceId, | |
2144 | EplDllkInstance_g.m_uiLastTargetNodeId); | |
2145 | ||
2146 | // go ahead and send SoA | |
2147 | Ret = EplDllkMnSendSoa(NmtState_p, | |
2148 | &DummyDllState, | |
2149 | (EplDllkInstance_g. | |
2150 | m_uiCycleCount >= | |
2151 | EPL_C_DLL_PREOP1_START_CYCLES)); | |
2152 | // increment cycle counter to detect if EPL_C_DLL_PREOP1_START_CYCLES empty cycles are elapsed | |
2153 | EplDllkInstance_g.m_uiCycleCount++; | |
2154 | ||
2155 | // reprogram timer | |
9d7164cf | 2156 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
2157 | if (EplDllkInstance_g.m_DllConfigParam. |
2158 | m_dwAsyncSlotTimeout != 0) { | |
2159 | Ret = | |
2160 | EplTimerHighReskModifyTimerNs | |
2161 | (&EplDllkInstance_g.m_TimerHdlCycle, | |
2162 | EplDllkInstance_g.m_DllConfigParam. | |
2163 | m_dwAsyncSlotTimeout, | |
2164 | EplDllkCbMnTimerCycle, 0L, FALSE); | |
2165 | } | |
9d7164cf | 2166 | #endif |
833dfbe7 GKH |
2167 | break; |
2168 | } | |
2169 | ||
2170 | default: | |
2171 | break; | |
2172 | } | |
2173 | break; | |
2174 | ||
2175 | case kEplNmtMsPreOperational2: | |
2176 | case kEplNmtMsReadyToOperate: | |
2177 | case kEplNmtMsOperational: | |
2178 | // full EPL cycle is active | |
2179 | switch (NmtEvent_p) { | |
2180 | case kEplNmtEventDllMeSocTrig: | |
2181 | { | |
2182 | // update cycle counter | |
2183 | if (EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt > 0) { // multiplexed cycle active | |
2184 | EplDllkInstance_g.m_uiCycleCount = | |
2185 | (EplDllkInstance_g.m_uiCycleCount + | |
2186 | 1) % | |
2187 | EplDllkInstance_g.m_DllConfigParam. | |
2188 | m_uiMultiplCycleCnt; | |
2189 | // $$$ check multiplexed cycle restart | |
2190 | // -> toggle MC flag | |
2191 | // -> change node linked list | |
2192 | } else { // non-multiplexed cycle active | |
2193 | // start with first node in isochronous phase | |
2194 | EplDllkInstance_g.m_pCurNodeInfo = NULL; | |
2195 | } | |
2196 | ||
2197 | switch (EplDllkInstance_g.m_DllState) { | |
2198 | case kEplDllMsNonCyclic: | |
2199 | { // start continuous cycle timer | |
9d7164cf | 2200 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
2201 | Ret = |
2202 | EplTimerHighReskModifyTimerNs | |
2203 | (&EplDllkInstance_g. | |
2204 | m_TimerHdlCycle, | |
2205 | EplDllkInstance_g. | |
2206 | m_ullFrameTimeout, | |
2207 | EplDllkCbMnTimerCycle, 0L, | |
2208 | TRUE); | |
9d7164cf | 2209 | #endif |
833dfbe7 GKH |
2210 | // continue with sending SoC |
2211 | } | |
2212 | ||
2213 | case kEplDllMsWaitAsnd: | |
2214 | case kEplDllMsWaitSocTrig: | |
2215 | { // if m_LastReqServiceId is still valid, | |
2216 | // SoA was not correctly answered | |
2217 | // and user part has to be informed | |
2218 | Ret = | |
2219 | EplDllkAsyncFrameNotReceived | |
2220 | (EplDllkInstance_g. | |
2221 | m_LastReqServiceId, | |
2222 | EplDllkInstance_g. | |
2223 | m_uiLastTargetNodeId); | |
2224 | ||
2225 | // send SoC | |
2226 | Ret = EplDllkMnSendSoc(); | |
2227 | ||
2228 | // new DLL state | |
2229 | EplDllkInstance_g.m_DllState = | |
2230 | kEplDllMsWaitPreqTrig; | |
2231 | ||
2232 | // start WaitSoCPReq Timer | |
9d7164cf | 2233 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
2234 | Ret = |
2235 | EplTimerHighReskModifyTimerNs | |
2236 | (&EplDllkInstance_g. | |
2237 | m_TimerHdlResponse, | |
2238 | EplDllkInstance_g. | |
2239 | m_DllConfigParam. | |
2240 | m_dwWaitSocPreq, | |
2241 | EplDllkCbMnTimerResponse, | |
2242 | 0L, FALSE); | |
9d7164cf | 2243 | #endif |
833dfbe7 GKH |
2244 | break; |
2245 | } | |
2246 | ||
2247 | default: | |
2248 | { // wrong DLL state / cycle time exceeded | |
2249 | DllEvent.m_ulDllErrorEvents |= | |
2250 | EPL_DLL_ERR_MN_CYCTIMEEXCEED; | |
2251 | EplDllkInstance_g.m_DllState = | |
2252 | kEplDllMsWaitSocTrig; | |
2253 | break; | |
2254 | } | |
2255 | } | |
2256 | ||
2257 | break; | |
2258 | } | |
2259 | ||
2260 | case kEplNmtEventDllMePresTimeout: | |
2261 | { | |
2262 | ||
2263 | switch (EplDllkInstance_g.m_DllState) { | |
2264 | case kEplDllMsWaitPres: | |
2265 | { // PRes not received | |
2266 | ||
2267 | if (EplDllkInstance_g.m_pCurNodeInfo->m_fSoftDelete == FALSE) { // normal isochronous CN | |
2268 | DllEvent. | |
2269 | m_ulDllErrorEvents | |
2270 | |= | |
2271 | EPL_DLL_ERR_MN_CN_LOSS_PRES; | |
2272 | DllEvent.m_uiNodeId = | |
2273 | EplDllkInstance_g. | |
2274 | m_pCurNodeInfo-> | |
2275 | m_uiNodeId; | |
2276 | } else { // CN shall be deleted softly | |
2277 | Event.m_EventSink = | |
2278 | kEplEventSinkDllkCal; | |
2279 | Event.m_EventType = | |
2280 | kEplEventTypeDllkSoftDelNode; | |
2281 | // $$$ d.k. set Event.m_NetTime to current time | |
2282 | Event.m_uiSize = | |
2283 | sizeof(unsigned | |
2284 | int); | |
2285 | Event.m_pArg = | |
2286 | &EplDllkInstance_g. | |
2287 | m_pCurNodeInfo-> | |
2288 | m_uiNodeId; | |
2289 | Ret = | |
2290 | EplEventkPost | |
2291 | (&Event); | |
2292 | } | |
2293 | ||
2294 | // continue with sending next PReq | |
2295 | } | |
2296 | ||
2297 | case kEplDllMsWaitPreqTrig: | |
2298 | { | |
2299 | // send next PReq | |
2300 | Ret = | |
2301 | EplDllkMnSendPreq | |
2302 | (NmtState_p, | |
2303 | &EplDllkInstance_g. | |
2304 | m_DllState); | |
2305 | ||
2306 | break; | |
2307 | } | |
2308 | ||
2309 | default: | |
2310 | { // wrong DLL state | |
2311 | break; | |
2312 | } | |
2313 | } | |
2314 | ||
2315 | break; | |
2316 | } | |
2317 | ||
2318 | case kEplNmtEventDllCePres: | |
2319 | { | |
2320 | ||
2321 | switch (EplDllkInstance_g.m_DllState) { | |
2322 | case kEplDllMsWaitPres: | |
2323 | { // PRes received | |
2324 | // send next PReq | |
2325 | Ret = | |
2326 | EplDllkMnSendPreq | |
2327 | (NmtState_p, | |
2328 | &EplDllkInstance_g. | |
2329 | m_DllState); | |
2330 | ||
2331 | break; | |
2332 | } | |
2333 | ||
2334 | default: | |
2335 | { // wrong DLL state | |
2336 | break; | |
2337 | } | |
2338 | } | |
2339 | ||
2340 | break; | |
2341 | } | |
2342 | ||
2343 | case kEplNmtEventDllMeSoaTrig: | |
2344 | { | |
2345 | ||
2346 | switch (EplDllkInstance_g.m_DllState) { | |
2347 | case kEplDllMsWaitSoaTrig: | |
2348 | { // MN PRes sent | |
2349 | // send SoA | |
2350 | Ret = | |
2351 | EplDllkMnSendSoa(NmtState_p, | |
2352 | &EplDllkInstance_g. | |
2353 | m_DllState, | |
2354 | TRUE); | |
2355 | ||
2356 | break; | |
2357 | } | |
2358 | ||
2359 | default: | |
2360 | { // wrong DLL state | |
2361 | break; | |
2362 | } | |
2363 | } | |
2364 | ||
2365 | break; | |
2366 | } | |
2367 | ||
2368 | case kEplNmtEventDllCeAsnd: | |
2369 | { // ASnd has been received, but it may be not the requested one | |
9d7164cf DK |
2370 | /* |
2371 | // report if SoA was correctly answered | |
2372 | Ret = EplDllkAsyncFrameNotReceived(EplDllkInstance_g.m_LastReqServiceId, | |
2373 | EplDllkInstance_g.m_uiLastTargetNodeId); | |
2374 | */ | |
833dfbe7 GKH |
2375 | if (EplDllkInstance_g.m_DllState == |
2376 | kEplDllMsWaitAsnd) { | |
2377 | EplDllkInstance_g.m_DllState = | |
2378 | kEplDllMsWaitSocTrig; | |
2379 | } | |
2380 | break; | |
2381 | } | |
2382 | ||
2383 | default: | |
2384 | break; | |
2385 | } | |
2386 | break; | |
9d7164cf DK |
2387 | #endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
2388 | ||
833dfbe7 GKH |
2389 | default: |
2390 | break; | |
2391 | } | |
9d7164cf | 2392 | |
833dfbe7 GKH |
2393 | if (DllEvent.m_ulDllErrorEvents != 0) { // error event set -> post it to error handler |
2394 | Event.m_EventSink = kEplEventSinkErrk; | |
2395 | Event.m_EventType = kEplEventTypeDllError; | |
2396 | // $$$ d.k. set Event.m_NetTime to current time | |
2397 | Event.m_uiSize = sizeof(DllEvent); | |
2398 | Event.m_pArg = &DllEvent; | |
2399 | Ret = EplEventkPost(&Event); | |
2400 | } | |
9d7164cf | 2401 | |
833dfbe7 | 2402 | return Ret; |
9d7164cf DK |
2403 | } |
2404 | ||
2405 | //--------------------------------------------------------------------------- | |
2406 | // | |
2407 | // Function: EplDllkCbFrameReceived() | |
2408 | // | |
2409 | // Description: called from EdrvInterruptHandler() | |
2410 | // | |
2411 | // Parameters: pRxBuffer_p = receive buffer structure | |
2412 | // | |
2413 | // Returns: (none) | |
2414 | // | |
2415 | // | |
2416 | // State: | |
2417 | // | |
2418 | //--------------------------------------------------------------------------- | |
2419 | ||
2420 | static void EplDllkCbFrameReceived(tEdrvRxBuffer * pRxBuffer_p) | |
2421 | { | |
833dfbe7 GKH |
2422 | tEplKernel Ret = kEplSuccessful; |
2423 | tEplNmtState NmtState; | |
2424 | tEplNmtEvent NmtEvent = kEplNmtEventNoEvent; | |
2425 | tEplEvent Event; | |
2426 | tEplFrame *pFrame; | |
2427 | tEplFrame *pTxFrame; | |
2428 | tEdrvTxBuffer *pTxBuffer = NULL; | |
2429 | tEplFrameInfo FrameInfo; | |
2430 | tEplMsgType MsgType; | |
2431 | tEplDllReqServiceId ReqServiceId; | |
2432 | unsigned int uiAsndServiceId; | |
2433 | unsigned int uiNodeId; | |
2434 | BYTE bFlag1; | |
2435 | ||
2436 | BENCHMARK_MOD_02_SET(3); | |
2437 | NmtState = EplNmtkGetNmtState(); | |
2438 | ||
2439 | if (NmtState <= kEplNmtGsResetConfiguration) { | |
2440 | goto Exit; | |
2441 | } | |
2442 | ||
2443 | pFrame = (tEplFrame *) pRxBuffer_p->m_pbBuffer; | |
9d7164cf DK |
2444 | |
2445 | #if EDRV_EARLY_RX_INT != FALSE | |
833dfbe7 GKH |
2446 | switch (pRxBuffer_p->m_BufferInFrame) { |
2447 | case kEdrvBufferFirstInFrame: | |
2448 | { | |
2449 | MsgType = | |
2450 | (tEplMsgType) AmiGetByteFromLe(&pFrame-> | |
2451 | m_le_bMessageType); | |
2452 | if (MsgType == kEplMsgTypePreq) { | |
2453 | if (EplDllkInstance_g.m_DllState == kEplDllCsWaitPreq) { // PReq expected and actually received | |
2454 | // d.k.: The condition above is sufficent, because EPL cycle is active | |
2455 | // and no non-EPL frame shall be received in isochronous phase. | |
2456 | // start transmission PRes | |
2457 | // $$$ What if Tx buffer is invalid? | |
2458 | pTxBuffer = | |
2459 | &EplDllkInstance_g. | |
2460 | m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]; | |
9d7164cf | 2461 | #if (EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE) |
833dfbe7 | 2462 | Ret = EdrvTxMsgStart(pTxBuffer); |
9d7164cf | 2463 | #else |
833dfbe7 GKH |
2464 | pTxFrame = |
2465 | (tEplFrame *) pTxBuffer->m_pbBuffer; | |
2466 | // update frame (NMT state, RD, RS, PR, MS, EN flags) | |
2467 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2468 | m_le_bNmtStatus, | |
2469 | (BYTE) NmtState); | |
2470 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2471 | m_le_bFlag2, | |
2472 | EplDllkInstance_g. | |
2473 | m_bFlag2); | |
2474 | if (NmtState != kEplNmtCsOperational) { // mark PDO as invalid in NMT state Op | |
2475 | // $$$ reset only RD flag; set other flags appropriately | |
2476 | AmiSetByteToLe(&pTxFrame-> | |
2477 | m_Data.m_Pres. | |
2478 | m_le_bFlag1, 0); | |
2479 | } | |
2480 | // $$$ make function that updates Pres, StatusRes | |
2481 | // send PRes frame | |
2482 | Ret = EdrvSendTxMsg(pTxBuffer); | |
9d7164cf | 2483 | #endif |
833dfbe7 GKH |
2484 | } |
2485 | } | |
2486 | goto Exit; | |
2487 | } | |
2488 | ||
2489 | case kEdrvBufferMiddleInFrame: | |
2490 | { | |
2491 | goto Exit; | |
2492 | } | |
2493 | ||
2494 | case kEdrvBufferLastInFrame: | |
2495 | { | |
2496 | break; | |
2497 | } | |
2498 | } | |
9d7164cf DK |
2499 | #endif |
2500 | ||
833dfbe7 GKH |
2501 | FrameInfo.m_pFrame = pFrame; |
2502 | FrameInfo.m_uiFrameSize = pRxBuffer_p->m_uiRxMsgLen; | |
2503 | FrameInfo.m_NetTime.m_dwNanoSec = pRxBuffer_p->m_NetTime.m_dwNanoSec; | |
2504 | FrameInfo.m_NetTime.m_dwSec = pRxBuffer_p->m_NetTime.m_dwSec; | |
2505 | ||
2506 | if (AmiGetWordFromBe(&pFrame->m_be_wEtherType) != EPL_C_DLL_ETHERTYPE_EPL) { // non-EPL frame | |
2507 | //TRACE2("EplDllkCbFrameReceived: pfnCbAsync=0x%p SrcMAC=0x%llx\n", EplDllkInstance_g.m_pfnCbAsync, AmiGetQword48FromBe(pFrame->m_be_abSrcMac)); | |
2508 | if (EplDllkInstance_g.m_pfnCbAsync != NULL) { // handler for async frames is registered | |
2509 | EplDllkInstance_g.m_pfnCbAsync(&FrameInfo); | |
2510 | } | |
2511 | ||
2512 | goto Exit; | |
2513 | } | |
2514 | ||
2515 | MsgType = (tEplMsgType) AmiGetByteFromLe(&pFrame->m_le_bMessageType); | |
2516 | switch (MsgType) { | |
2517 | case kEplMsgTypePreq: | |
2518 | { | |
2519 | // PReq frame | |
2520 | // d.k.: (we assume that this PReq frame is intended for us and don't check DstNodeId) | |
2521 | if (AmiGetByteFromLe(&pFrame->m_le_bDstNodeId) != EplDllkInstance_g.m_DllConfigParam.m_uiNodeId) { // this PReq is not intended for us | |
2522 | goto Exit; | |
2523 | } | |
2524 | NmtEvent = kEplNmtEventDllCePreq; | |
2525 | ||
2526 | if (NmtState >= kEplNmtMsNotActive) { // MN is active -> wrong msg type | |
2527 | break; | |
2528 | } | |
9d7164cf | 2529 | #if EDRV_EARLY_RX_INT == FALSE |
833dfbe7 GKH |
2530 | if (NmtState >= kEplNmtCsPreOperational2) { // respond to and process PReq frames only in PreOp2, ReadyToOp and Op |
2531 | // Does PRes exist? | |
2532 | pTxBuffer = | |
2533 | &EplDllkInstance_g. | |
2534 | m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]; | |
2535 | if (pTxBuffer->m_pbBuffer != NULL) { // PRes does exist | |
9d7164cf | 2536 | #if (EPL_DLL_PRES_READY_AFTER_SOA != FALSE) || (EPL_DLL_PRES_READY_AFTER_SOC != FALSE) |
833dfbe7 | 2537 | EdrvTxMsgStart(pTxBuffer); |
9d7164cf | 2538 | #else |
833dfbe7 GKH |
2539 | pTxFrame = |
2540 | (tEplFrame *) pTxBuffer->m_pbBuffer; | |
2541 | // update frame (NMT state, RD, RS, PR, MS, EN flags) | |
2542 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2543 | m_le_bNmtStatus, | |
2544 | (BYTE) NmtState); | |
2545 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2546 | m_le_bFlag2, | |
2547 | EplDllkInstance_g. | |
2548 | m_bFlag2); | |
2549 | bFlag1 = | |
2550 | AmiGetByteFromLe(&pFrame->m_Data. | |
2551 | m_Preq. | |
2552 | m_le_bFlag1); | |
2553 | // save EA flag | |
2554 | EplDllkInstance_g.m_bMnFlag1 = | |
2555 | (EplDllkInstance_g. | |
2556 | m_bMnFlag1 & ~EPL_FRAME_FLAG1_EA) | |
2557 | | (bFlag1 & EPL_FRAME_FLAG1_EA); | |
2558 | // preserve MS flag | |
2559 | bFlag1 &= EPL_FRAME_FLAG1_MS; | |
2560 | // add EN flag from Error signaling module | |
2561 | bFlag1 |= | |
2562 | EplDllkInstance_g. | |
2563 | m_bFlag1 & EPL_FRAME_FLAG1_EN; | |
2564 | if (NmtState != kEplNmtCsOperational) { // mark PDO as invalid in NMT state Op | |
2565 | // reset only RD flag | |
2566 | AmiSetByteToLe(&pTxFrame-> | |
2567 | m_Data.m_Pres. | |
2568 | m_le_bFlag1, | |
2569 | bFlag1); | |
2570 | } else { // leave RD flag untouched | |
2571 | AmiSetByteToLe(&pTxFrame-> | |
2572 | m_Data.m_Pres. | |
2573 | m_le_bFlag1, | |
2574 | (AmiGetByteFromLe | |
2575 | (&pTxFrame-> | |
2576 | m_Data.m_Pres. | |
2577 | m_le_bFlag1) & | |
2578 | EPL_FRAME_FLAG1_RD) | |
2579 | | bFlag1); | |
2580 | } | |
2581 | // $$$ update EPL_DLL_PRES_READY_AFTER_* code | |
2582 | // send PRes frame | |
2583 | Ret = EdrvSendTxMsg(pTxBuffer); | |
2584 | if (Ret != kEplSuccessful) { | |
2585 | goto Exit; | |
2586 | } | |
9d7164cf | 2587 | #endif |
833dfbe7 | 2588 | } |
9d7164cf | 2589 | #endif |
833dfbe7 | 2590 | // inform PDO module |
9d7164cf | 2591 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
833dfbe7 GKH |
2592 | if (NmtState >= kEplNmtCsReadyToOperate) { // inform PDO module only in ReadyToOp and Op |
2593 | if (NmtState != kEplNmtCsOperational) { | |
2594 | // reset RD flag and all other flags, but that does not matter, because they were processed above | |
2595 | AmiSetByteToLe(&pFrame->m_Data. | |
2596 | m_Preq. | |
2597 | m_le_bFlag1, 0); | |
2598 | } | |
2599 | // compares real frame size and PDO size | |
2600 | if ((unsigned | |
2601 | int)(AmiGetWordFromLe(&pFrame-> | |
2602 | m_Data. | |
2603 | m_Preq. | |
2604 | m_le_wSize) + | |
2605 | 24) | |
2606 | > FrameInfo.m_uiFrameSize) { // format error | |
2607 | tEplErrorHandlerkEvent DllEvent; | |
2608 | ||
2609 | DllEvent.m_ulDllErrorEvents = | |
2610 | EPL_DLL_ERR_INVALID_FORMAT; | |
2611 | DllEvent.m_uiNodeId = | |
2612 | AmiGetByteFromLe(&pFrame-> | |
2613 | m_le_bSrcNodeId); | |
2614 | DllEvent.m_NmtState = NmtState; | |
2615 | Event.m_EventSink = | |
2616 | kEplEventSinkErrk; | |
2617 | Event.m_EventType = | |
2618 | kEplEventTypeDllError; | |
2619 | Event.m_NetTime = | |
2620 | FrameInfo.m_NetTime; | |
2621 | Event.m_uiSize = | |
2622 | sizeof(DllEvent); | |
2623 | Event.m_pArg = &DllEvent; | |
2624 | Ret = EplEventkPost(&Event); | |
2625 | break; | |
2626 | } | |
2627 | // forward PReq frame as RPDO to PDO module | |
2628 | Ret = EplPdokCbPdoReceived(&FrameInfo); | |
2629 | ||
2630 | } | |
9d7164cf | 2631 | #if (EPL_DLL_PRES_READY_AFTER_SOC != FALSE) |
833dfbe7 GKH |
2632 | if (pTxBuffer->m_pbBuffer != NULL) { // PRes does exist |
2633 | // inform PDO module about PRes after PReq | |
2634 | FrameInfo.m_pFrame = | |
2635 | (tEplFrame *) pTxBuffer->m_pbBuffer; | |
2636 | FrameInfo.m_uiFrameSize = | |
2637 | pTxBuffer->m_uiMaxBufferLen; | |
2638 | Ret = | |
2639 | EplPdokCbPdoTransmitted(&FrameInfo); | |
2640 | } | |
9d7164cf DK |
2641 | #endif |
2642 | #endif | |
2643 | ||
2644 | #if EDRV_EARLY_RX_INT == FALSE | |
833dfbe7 GKH |
2645 | // $$$ inform emergency protocol handling (error signaling module) about flags |
2646 | } | |
9d7164cf DK |
2647 | #endif |
2648 | ||
833dfbe7 GKH |
2649 | // reset cycle counter |
2650 | EplDllkInstance_g.m_uiCycleCount = 0; | |
9d7164cf | 2651 | |
833dfbe7 GKH |
2652 | break; |
2653 | } | |
9d7164cf | 2654 | |
833dfbe7 GKH |
2655 | case kEplMsgTypePres: |
2656 | { | |
9d7164cf | 2657 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
833dfbe7 GKH |
2658 | tEplDllkNodeInfo *pIntNodeInfo; |
2659 | tEplHeartbeatEvent HeartbeatEvent; | |
9d7164cf DK |
2660 | #endif |
2661 | ||
833dfbe7 GKH |
2662 | // PRes frame |
2663 | NmtEvent = kEplNmtEventDllCePres; | |
9d7164cf | 2664 | |
833dfbe7 | 2665 | uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId); |
9d7164cf | 2666 | |
833dfbe7 GKH |
2667 | if ((NmtState >= kEplNmtCsPreOperational2) |
2668 | && (NmtState <= kEplNmtCsOperational)) { // process PRes frames only in PreOp2, ReadyToOp and Op of CN | |
9d7164cf DK |
2669 | |
2670 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
2671 | pIntNodeInfo = EplDllkGetNodeInfo(uiNodeId); |
2672 | if (pIntNodeInfo == NULL) { // no node info structure available | |
2673 | Ret = kEplDllNoNodeInfo; | |
2674 | goto Exit; | |
2675 | } | |
2676 | } else if (EplDllkInstance_g.m_DllState == kEplDllMsWaitPres) { // or process PRes frames in MsWaitPres | |
2677 | ||
2678 | pIntNodeInfo = EplDllkInstance_g.m_pCurNodeInfo; | |
2679 | if ((pIntNodeInfo == NULL) || (pIntNodeInfo->m_uiNodeId != uiNodeId)) { // ignore PRes, because it is from wrong CN | |
2680 | // $$$ maybe post event to NmtMn module | |
2681 | goto Exit; | |
2682 | } | |
2683 | // forward Flag2 to asynchronous scheduler | |
2684 | bFlag1 = | |
2685 | AmiGetByteFromLe(&pFrame->m_Data.m_Asnd. | |
2686 | m_Payload.m_StatusResponse. | |
2687 | m_le_bFlag2); | |
2688 | Ret = | |
2689 | EplDllkCalAsyncSetPendingRequests(uiNodeId, | |
2690 | ((tEplDllAsyncReqPriority) ((bFlag1 & EPL_FRAME_FLAG2_PR) >> EPL_FRAME_FLAG2_PR_SHIFT)), (bFlag1 & EPL_FRAME_FLAG2_RS)); | |
9d7164cf DK |
2691 | |
2692 | #endif | |
833dfbe7 GKH |
2693 | } else { // ignore PRes, because it was received in wrong NMT state |
2694 | // but execute EplDllkChangeState() and post event to NMT module | |
2695 | break; | |
2696 | } | |
9d7164cf DK |
2697 | |
2698 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
2699 | { // check NMT state of CN |
2700 | HeartbeatEvent.m_wErrorCode = EPL_E_NO_ERROR; | |
2701 | HeartbeatEvent.m_NmtState = | |
2702 | (tEplNmtState) (AmiGetByteFromLe | |
2703 | (&pFrame->m_Data.m_Pres. | |
2704 | m_le_bNmtStatus) | | |
2705 | EPL_NMT_TYPE_CS); | |
2706 | if (pIntNodeInfo->m_NmtState != HeartbeatEvent.m_NmtState) { // NMT state of CN has changed -> post event to NmtMnu module | |
2707 | if (pIntNodeInfo->m_fSoftDelete == FALSE) { // normal isochronous CN | |
2708 | HeartbeatEvent.m_uiNodeId = | |
2709 | uiNodeId; | |
2710 | Event.m_EventSink = | |
2711 | kEplEventSinkNmtMnu; | |
2712 | Event.m_EventType = | |
2713 | kEplEventTypeHeartbeat; | |
2714 | Event.m_uiSize = | |
2715 | sizeof(HeartbeatEvent); | |
2716 | Event.m_pArg = &HeartbeatEvent; | |
2717 | } else { // CN shall be deleted softly | |
2718 | Event.m_EventSink = | |
2719 | kEplEventSinkDllkCal; | |
2720 | Event.m_EventType = | |
2721 | kEplEventTypeDllkSoftDelNode; | |
2722 | Event.m_uiSize = | |
2723 | sizeof(unsigned int); | |
2724 | Event.m_pArg = | |
2725 | &pIntNodeInfo->m_uiNodeId; | |
2726 | } | |
2727 | Event.m_NetTime = FrameInfo.m_NetTime; | |
2728 | Ret = EplEventkPost(&Event); | |
2729 | ||
2730 | // save current NMT state of CN in internal node structure | |
2731 | pIntNodeInfo->m_NmtState = | |
2732 | HeartbeatEvent.m_NmtState; | |
2733 | } | |
2734 | } | |
9d7164cf DK |
2735 | #endif |
2736 | ||
833dfbe7 | 2737 | // inform PDO module |
9d7164cf | 2738 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
833dfbe7 GKH |
2739 | if ((NmtState != kEplNmtCsPreOperational2) |
2740 | && (NmtState != kEplNmtMsPreOperational2)) { // inform PDO module only in ReadyToOp and Op | |
2741 | // compare real frame size and PDO size? | |
2742 | if (((unsigned | |
2743 | int)(AmiGetWordFromLe(&pFrame->m_Data. | |
2744 | m_Pres.m_le_wSize) + | |
2745 | 24) | |
2746 | > FrameInfo.m_uiFrameSize) | |
9d7164cf | 2747 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
833dfbe7 GKH |
2748 | || |
2749 | (AmiGetWordFromLe | |
2750 | (&pFrame->m_Data.m_Pres.m_le_wSize) > | |
2751 | pIntNodeInfo->m_wPresPayloadLimit) | |
9d7164cf | 2752 | #endif |
833dfbe7 GKH |
2753 | ) { // format error |
2754 | tEplErrorHandlerkEvent DllEvent; | |
2755 | ||
2756 | DllEvent.m_ulDllErrorEvents = | |
2757 | EPL_DLL_ERR_INVALID_FORMAT; | |
2758 | DllEvent.m_uiNodeId = uiNodeId; | |
2759 | DllEvent.m_NmtState = NmtState; | |
2760 | Event.m_EventSink = kEplEventSinkErrk; | |
2761 | Event.m_EventType = | |
2762 | kEplEventTypeDllError; | |
2763 | Event.m_NetTime = FrameInfo.m_NetTime; | |
2764 | Event.m_uiSize = sizeof(DllEvent); | |
2765 | Event.m_pArg = &DllEvent; | |
2766 | Ret = EplEventkPost(&Event); | |
2767 | break; | |
2768 | } | |
2769 | if ((NmtState != kEplNmtCsOperational) | |
2770 | && (NmtState != kEplNmtMsOperational)) { | |
2771 | // reset RD flag and all other flags, but that does not matter, because they were processed above | |
2772 | AmiSetByteToLe(&pFrame->m_Data.m_Pres. | |
2773 | m_le_bFlag1, 0); | |
2774 | } | |
2775 | Ret = EplPdokCbPdoReceived(&FrameInfo); | |
2776 | } | |
9d7164cf DK |
2777 | #endif |
2778 | ||
833dfbe7 GKH |
2779 | break; |
2780 | } | |
9d7164cf | 2781 | |
833dfbe7 GKH |
2782 | case kEplMsgTypeSoc: |
2783 | { | |
2784 | // SoC frame | |
2785 | NmtEvent = kEplNmtEventDllCeSoc; | |
9d7164cf | 2786 | |
833dfbe7 GKH |
2787 | if (NmtState >= kEplNmtMsNotActive) { // MN is active -> wrong msg type |
2788 | break; | |
2789 | } | |
9d7164cf | 2790 | #if EPL_DLL_PRES_READY_AFTER_SOC != FALSE |
833dfbe7 GKH |
2791 | // post PRes to transmit FIFO of the ethernet controller, but don't start |
2792 | // transmission over bus | |
2793 | pTxBuffer = | |
2794 | &EplDllkInstance_g. | |
2795 | m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]; | |
2796 | // Does PRes exist? | |
2797 | if (pTxBuffer->m_pbBuffer != NULL) { // PRes does exist | |
2798 | pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer; | |
2799 | // update frame (NMT state, RD, RS, PR, MS, EN flags) | |
2800 | if (NmtState < kEplNmtCsPreOperational2) { // NMT state is not PreOp2, ReadyToOp or Op | |
2801 | // fake NMT state PreOp2, because PRes will be sent only in PreOp2 or greater | |
2802 | NmtState = kEplNmtCsPreOperational2; | |
2803 | } | |
2804 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2805 | m_le_bNmtStatus, | |
2806 | (BYTE) NmtState); | |
2807 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2808 | m_le_bFlag2, | |
2809 | EplDllkInstance_g.m_bFlag2); | |
2810 | if (NmtState != kEplNmtCsOperational) { // mark PDO as invalid in NMT state Op | |
2811 | // $$$ reset only RD flag; set other flags appropriately | |
2812 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres. | |
2813 | m_le_bFlag1, 0); | |
2814 | } | |
2815 | // $$$ make function that updates Pres, StatusRes | |
2816 | // mark PRes frame as ready for transmission | |
2817 | Ret = EdrvTxMsgReady(pTxBuffer); | |
2818 | } | |
9d7164cf DK |
2819 | #endif |
2820 | ||
833dfbe7 GKH |
2821 | if (NmtState >= kEplNmtCsPreOperational2) { // SoC frames only in PreOp2, ReadyToOp and Op |
2822 | // trigger synchronous task | |
2823 | Event.m_EventSink = kEplEventSinkSync; | |
2824 | Event.m_EventType = kEplEventTypeSync; | |
2825 | Event.m_uiSize = 0; | |
2826 | Ret = EplEventkPost(&Event); | |
2827 | ||
2828 | // update cycle counter | |
2829 | if (EplDllkInstance_g.m_DllConfigParam.m_uiMultiplCycleCnt > 0) { // multiplexed cycle active | |
2830 | EplDllkInstance_g.m_uiCycleCount = | |
2831 | (EplDllkInstance_g.m_uiCycleCount + | |
2832 | 1) % | |
2833 | EplDllkInstance_g.m_DllConfigParam. | |
2834 | m_uiMultiplCycleCnt; | |
2835 | } | |
2836 | } | |
2837 | // reprogram timer | |
9d7164cf | 2838 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
2839 | if (EplDllkInstance_g.m_ullFrameTimeout != 0) { |
2840 | Ret = | |
2841 | EplTimerHighReskModifyTimerNs | |
2842 | (&EplDllkInstance_g.m_TimerHdlCycle, | |
2843 | EplDllkInstance_g.m_ullFrameTimeout, | |
2844 | EplDllkCbCnTimer, 0L, FALSE); | |
2845 | } | |
9d7164cf DK |
2846 | #endif |
2847 | ||
833dfbe7 GKH |
2848 | break; |
2849 | } | |
2850 | ||
2851 | case kEplMsgTypeSoa: | |
2852 | { | |
2853 | // SoA frame | |
2854 | NmtEvent = kEplNmtEventDllCeSoa; | |
2855 | ||
2856 | if (NmtState >= kEplNmtMsNotActive) { // MN is active -> wrong msg type | |
2857 | break; | |
2858 | } | |
2859 | ||
2860 | pTxFrame = NULL; | |
2861 | ||
2862 | if ((NmtState & EPL_NMT_SUPERSTATE_MASK) != EPL_NMT_CS_EPLMODE) { // do not respond, if NMT state is < PreOp1 (i.e. not EPL_MODE) | |
2863 | break; | |
2864 | } | |
2865 | // check TargetNodeId | |
2866 | uiNodeId = | |
2867 | AmiGetByteFromLe(&pFrame->m_Data.m_Soa. | |
2868 | m_le_bReqServiceTarget); | |
2869 | if (uiNodeId == EplDllkInstance_g.m_DllConfigParam.m_uiNodeId) { // local node is the target of the current request | |
2870 | ||
2871 | // check ServiceId | |
2872 | ReqServiceId = | |
2873 | (tEplDllReqServiceId) | |
2874 | AmiGetByteFromLe(&pFrame->m_Data.m_Soa. | |
2875 | m_le_bReqServiceId); | |
2876 | if (ReqServiceId == kEplDllReqServiceStatus) { // StatusRequest | |
2877 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES].m_pbBuffer != NULL) { // StatusRes does exist | |
2878 | ||
2879 | pTxFrame = | |
2880 | (tEplFrame *) | |
2881 | EplDllkInstance_g. | |
2882 | m_pTxBuffer | |
2883 | [EPL_DLLK_TXFRAME_STATUSRES]. | |
2884 | m_pbBuffer; | |
2885 | // update StatusRes frame (NMT state, EN, EC, RS, PR flags) | |
2886 | AmiSetByteToLe(&pTxFrame-> | |
2887 | m_Data.m_Asnd. | |
2888 | m_Payload. | |
2889 | m_StatusResponse. | |
2890 | m_le_bNmtStatus, | |
2891 | (BYTE) NmtState); | |
2892 | AmiSetByteToLe(&pTxFrame-> | |
2893 | m_Data.m_Asnd. | |
2894 | m_Payload. | |
2895 | m_StatusResponse. | |
2896 | m_le_bFlag1, | |
2897 | EplDllkInstance_g. | |
2898 | m_bFlag1); | |
2899 | AmiSetByteToLe(&pTxFrame-> | |
2900 | m_Data.m_Asnd. | |
2901 | m_Payload. | |
2902 | m_StatusResponse. | |
2903 | m_le_bFlag2, | |
2904 | EplDllkInstance_g. | |
2905 | m_bFlag2); | |
2906 | // send StatusRes | |
2907 | Ret = | |
2908 | EdrvSendTxMsg | |
2909 | (&EplDllkInstance_g. | |
2910 | m_pTxBuffer | |
2911 | [EPL_DLLK_TXFRAME_STATUSRES]); | |
2912 | if (Ret != kEplSuccessful) { | |
2913 | goto Exit; | |
2914 | } | |
2915 | TGT_DBG_SIGNAL_TRACE_POINT(8); | |
2916 | ||
2917 | // update error signaling | |
2918 | bFlag1 = | |
2919 | AmiGetByteFromLe(&pFrame-> | |
2920 | m_Data. | |
2921 | m_Soa. | |
2922 | m_le_bFlag1); | |
2923 | if (((bFlag1 ^ EplDllkInstance_g.m_bMnFlag1) & EPL_FRAME_FLAG1_ER) != 0) { // exception reset flag was changed by MN | |
2924 | // assume same state for EC in next cycle (clear all other bits) | |
2925 | if ((bFlag1 & | |
2926 | EPL_FRAME_FLAG1_ER) | |
2927 | != 0) { | |
2928 | // set EC and reset rest | |
2929 | EplDllkInstance_g. | |
2930 | m_bFlag1 = | |
2931 | EPL_FRAME_FLAG1_EC; | |
2932 | } else { | |
2933 | // reset complete flag 1 (including EC and EN) | |
2934 | EplDllkInstance_g. | |
2935 | m_bFlag1 = | |
2936 | 0; | |
2937 | } | |
2938 | } | |
2939 | // save flag 1 from MN for Status request response cycle | |
2940 | EplDllkInstance_g.m_bMnFlag1 = | |
2941 | bFlag1; | |
2942 | } | |
2943 | } else if (ReqServiceId == kEplDllReqServiceIdent) { // IdentRequest | |
2944 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES].m_pbBuffer != NULL) { // IdentRes does exist | |
2945 | pTxFrame = | |
2946 | (tEplFrame *) | |
2947 | EplDllkInstance_g. | |
2948 | m_pTxBuffer | |
2949 | [EPL_DLLK_TXFRAME_IDENTRES]. | |
2950 | m_pbBuffer; | |
2951 | // update IdentRes frame (NMT state, RS, PR flags) | |
2952 | AmiSetByteToLe(&pTxFrame-> | |
2953 | m_Data.m_Asnd. | |
2954 | m_Payload. | |
2955 | m_IdentResponse. | |
2956 | m_le_bNmtStatus, | |
2957 | (BYTE) NmtState); | |
2958 | AmiSetByteToLe(&pTxFrame-> | |
2959 | m_Data.m_Asnd. | |
2960 | m_Payload. | |
2961 | m_IdentResponse. | |
2962 | m_le_bFlag2, | |
2963 | EplDllkInstance_g. | |
2964 | m_bFlag2); | |
2965 | // send IdentRes | |
2966 | Ret = | |
2967 | EdrvSendTxMsg | |
2968 | (&EplDllkInstance_g. | |
2969 | m_pTxBuffer | |
2970 | [EPL_DLLK_TXFRAME_IDENTRES]); | |
2971 | if (Ret != kEplSuccessful) { | |
2972 | goto Exit; | |
2973 | } | |
2974 | TGT_DBG_SIGNAL_TRACE_POINT(7); | |
2975 | } | |
2976 | } else if (ReqServiceId == kEplDllReqServiceNmtRequest) { // NmtRequest | |
2977 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_pbBuffer != NULL) { // NmtRequest does exist | |
2978 | // check if frame is not empty and not being filled | |
2979 | if (EplDllkInstance_g. | |
2980 | m_pTxBuffer | |
2981 | [EPL_DLLK_TXFRAME_NMTREQ]. | |
2982 | m_uiTxMsgLen > | |
2983 | EPL_DLLK_BUFLEN_FILLING) { | |
2984 | /*if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen < EPL_DLLK_BUFLEN_MIN) | |
2985 | { // pad frame | |
2986 | EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen = EPL_DLLK_BUFLEN_MIN; | |
2987 | } */ | |
2988 | // memorize transmission | |
2989 | pTxFrame = | |
2990 | (tEplFrame *) 1; | |
2991 | // send NmtRequest | |
2992 | Ret = | |
2993 | EdrvSendTxMsg | |
2994 | (&EplDllkInstance_g. | |
2995 | m_pTxBuffer | |
2996 | [EPL_DLLK_TXFRAME_NMTREQ]); | |
2997 | if (Ret != | |
2998 | kEplSuccessful) { | |
2999 | goto Exit; | |
3000 | } | |
3001 | ||
3002 | } | |
3003 | } | |
3004 | ||
3005 | } else if (ReqServiceId == kEplDllReqServiceUnspecified) { // unspecified invite | |
3006 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_pbBuffer != NULL) { // non-EPL frame does exist | |
3007 | // check if frame is not empty and not being filled | |
3008 | if (EplDllkInstance_g. | |
3009 | m_pTxBuffer | |
3010 | [EPL_DLLK_TXFRAME_NONEPL]. | |
3011 | m_uiTxMsgLen > | |
3012 | EPL_DLLK_BUFLEN_FILLING) { | |
3013 | /*if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen < EPL_DLLK_BUFLEN_MIN) | |
3014 | { // pad frame | |
3015 | EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_uiTxMsgLen = EPL_DLLK_BUFLEN_MIN; | |
3016 | } */ | |
3017 | // memorize transmission | |
3018 | pTxFrame = | |
3019 | (tEplFrame *) 1; | |
3020 | // send non-EPL frame | |
3021 | Ret = | |
3022 | EdrvSendTxMsg | |
3023 | (&EplDllkInstance_g. | |
3024 | m_pTxBuffer | |
3025 | [EPL_DLLK_TXFRAME_NONEPL]); | |
3026 | if (Ret != | |
3027 | kEplSuccessful) { | |
3028 | goto Exit; | |
3029 | } | |
3030 | ||
3031 | } | |
3032 | } | |
3033 | ||
3034 | } else if (ReqServiceId == kEplDllReqServiceNo) { // no async service requested -> do nothing | |
3035 | } | |
3036 | } | |
9d7164cf | 3037 | #if EPL_DLL_PRES_READY_AFTER_SOA != FALSE |
833dfbe7 GKH |
3038 | if (pTxFrame == NULL) { // signal process function readiness of PRes frame |
3039 | Event.m_EventSink = kEplEventSinkDllk; | |
3040 | Event.m_EventType = kEplEventTypeDllkPresReady; | |
3041 | Event.m_uiSize = 0; | |
3042 | Event.m_pArg = NULL; | |
3043 | Ret = EplEventkPost(&Event); | |
3044 | } | |
9d7164cf DK |
3045 | #endif |
3046 | ||
833dfbe7 | 3047 | // inform PDO module |
9d7164cf DK |
3048 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
3049 | // Ret = EplPdokCbSoa(&FrameInfo); | |
3050 | #endif | |
3051 | ||
833dfbe7 | 3052 | // $$$ put SrcNodeId, NMT state and NetTime as HeartbeatEvent into eventqueue |
9d7164cf | 3053 | |
833dfbe7 GKH |
3054 | // $$$ inform emergency protocol handling about flags |
3055 | break; | |
3056 | } | |
9d7164cf | 3057 | |
833dfbe7 GKH |
3058 | case kEplMsgTypeAsnd: |
3059 | { | |
3060 | // ASnd frame | |
3061 | NmtEvent = kEplNmtEventDllCeAsnd; | |
9d7164cf | 3062 | |
833dfbe7 GKH |
3063 | // ASnd service registered? |
3064 | uiAsndServiceId = | |
3065 | (unsigned int)AmiGetByteFromLe(&pFrame->m_Data. | |
3066 | m_Asnd. | |
3067 | m_le_bServiceId); | |
9d7164cf DK |
3068 | |
3069 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
3070 | if ((EplDllkInstance_g.m_DllState >= kEplDllMsNonCyclic) |
3071 | && | |
3072 | ((((tEplDllAsndServiceId) uiAsndServiceId) == | |
3073 | kEplDllAsndStatusResponse) | |
3074 | || (((tEplDllAsndServiceId) uiAsndServiceId) == kEplDllAsndIdentResponse))) { // StatusRes or IdentRes received | |
3075 | uiNodeId = | |
3076 | AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId); | |
3077 | if ((EplDllkInstance_g.m_LastReqServiceId == | |
3078 | ((tEplDllReqServiceId) uiAsndServiceId)) | |
3079 | && (uiNodeId == EplDllkInstance_g.m_uiLastTargetNodeId)) { // mark request as responded | |
3080 | EplDllkInstance_g.m_LastReqServiceId = | |
3081 | kEplDllReqServiceNo; | |
3082 | } | |
3083 | if (((tEplDllAsndServiceId) uiAsndServiceId) == kEplDllAsndIdentResponse) { // memorize MAC address of CN for PReq | |
3084 | tEplDllkNodeInfo *pIntNodeInfo; | |
3085 | ||
3086 | pIntNodeInfo = | |
3087 | EplDllkGetNodeInfo(uiNodeId); | |
3088 | if (pIntNodeInfo == NULL) { // no node info structure available | |
3089 | Ret = kEplDllNoNodeInfo; | |
3090 | } else { | |
3091 | EPL_MEMCPY(pIntNodeInfo-> | |
3092 | m_be_abMacAddr, | |
3093 | pFrame-> | |
3094 | m_be_abSrcMac, 6); | |
3095 | } | |
3096 | } | |
3097 | // forward Flag2 to asynchronous scheduler | |
3098 | bFlag1 = | |
3099 | AmiGetByteFromLe(&pFrame->m_Data.m_Asnd. | |
3100 | m_Payload.m_StatusResponse. | |
3101 | m_le_bFlag2); | |
3102 | Ret = | |
3103 | EplDllkCalAsyncSetPendingRequests(uiNodeId, | |
3104 | ((tEplDllAsyncReqPriority) ((bFlag1 & EPL_FRAME_FLAG2_PR) >> EPL_FRAME_FLAG2_PR_SHIFT)), (bFlag1 & EPL_FRAME_FLAG2_RS)); | |
3105 | } | |
9d7164cf DK |
3106 | #endif |
3107 | ||
833dfbe7 GKH |
3108 | if (uiAsndServiceId < EPL_DLL_MAX_ASND_SERVICE_ID) { // ASnd service ID is valid |
3109 | if (EplDllkInstance_g.m_aAsndFilter[uiAsndServiceId] == kEplDllAsndFilterAny) { // ASnd service ID is registered | |
3110 | // forward frame via async receive FIFO to userspace | |
3111 | Ret = | |
3112 | EplDllkCalAsyncFrameReceived | |
3113 | (&FrameInfo); | |
3114 | } else if (EplDllkInstance_g.m_aAsndFilter[uiAsndServiceId] == kEplDllAsndFilterLocal) { // ASnd service ID is registered, but only local node ID or broadcasts | |
3115 | // shall be forwarded | |
3116 | uiNodeId = | |
3117 | AmiGetByteFromLe(&pFrame-> | |
3118 | m_le_bDstNodeId); | |
3119 | if ((uiNodeId == | |
3120 | EplDllkInstance_g.m_DllConfigParam. | |
3121 | m_uiNodeId) | |
3122 | || (uiNodeId == EPL_C_ADR_BROADCAST)) { // ASnd frame is intended for us | |
3123 | // forward frame via async receive FIFO to userspace | |
3124 | Ret = | |
3125 | EplDllkCalAsyncFrameReceived | |
3126 | (&FrameInfo); | |
3127 | } | |
3128 | } | |
3129 | } | |
3130 | break; | |
3131 | } | |
3132 | ||
3133 | default: | |
3134 | { | |
3135 | break; | |
3136 | } | |
3137 | } | |
3138 | ||
3139 | if (NmtEvent != kEplNmtEventNoEvent) { // event for DLL and NMT state machine generated | |
3140 | Ret = EplDllkChangeState(NmtEvent, NmtState); | |
3141 | if (Ret != kEplSuccessful) { | |
3142 | goto Exit; | |
3143 | } | |
3144 | ||
3145 | if ((NmtEvent != kEplNmtEventDllCeAsnd) | |
3146 | && ((NmtState <= kEplNmtCsPreOperational1) || (NmtEvent != kEplNmtEventDllCePres))) { // NMT state machine is not interested in ASnd frames and PRes frames when not CsNotActive or CsPreOp1 | |
3147 | // inform NMT module | |
3148 | Event.m_EventSink = kEplEventSinkNmtk; | |
3149 | Event.m_EventType = kEplEventTypeNmtEvent; | |
3150 | Event.m_uiSize = sizeof(NmtEvent); | |
3151 | Event.m_pArg = &NmtEvent; | |
3152 | Ret = EplEventkPost(&Event); | |
3153 | } | |
3154 | } | |
3155 | ||
3156 | Exit: | |
3157 | if (Ret != kEplSuccessful) { | |
3158 | DWORD dwArg; | |
3159 | ||
3160 | BENCHMARK_MOD_02_TOGGLE(9); | |
3161 | ||
3162 | dwArg = EplDllkInstance_g.m_DllState | (NmtEvent << 8); | |
3163 | ||
3164 | // Error event for API layer | |
3165 | Ret = EplEventkPostError(kEplEventSourceDllk, | |
3166 | Ret, sizeof(dwArg), &dwArg); | |
3167 | } | |
3168 | BENCHMARK_MOD_02_RESET(3); | |
3169 | return; | |
9d7164cf DK |
3170 | } |
3171 | ||
3172 | //--------------------------------------------------------------------------- | |
3173 | // | |
3174 | // Function: EplDllkCbFrameTransmitted() | |
3175 | // | |
3176 | // Description: called from EdrvInterruptHandler(). | |
3177 | // It signals | |
3178 | // | |
3179 | // Parameters: pRxBuffer_p = receive buffer structure | |
3180 | // | |
3181 | // Returns: (none) | |
3182 | // | |
3183 | // | |
3184 | // State: | |
3185 | // | |
3186 | //--------------------------------------------------------------------------- | |
3187 | ||
3188 | static void EplDllkCbFrameTransmitted(tEdrvTxBuffer * pTxBuffer_p) | |
3189 | { | |
833dfbe7 GKH |
3190 | tEplKernel Ret = kEplSuccessful; |
3191 | tEplEvent Event; | |
3192 | tEplDllAsyncReqPriority Priority; | |
3193 | tEplNmtState NmtState; | |
9d7164cf DK |
3194 | |
3195 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) \ | |
3196 | && (EPL_DLL_PRES_READY_AFTER_SOC == FALSE) | |
833dfbe7 | 3197 | tEplFrameInfo FrameInfo; |
9d7164cf DK |
3198 | #endif |
3199 | ||
833dfbe7 GKH |
3200 | NmtState = EplNmtkGetNmtState(); |
3201 | ||
3202 | if (NmtState <= kEplNmtGsResetConfiguration) { | |
3203 | goto Exit; | |
3204 | } | |
3205 | ||
3206 | if ((pTxBuffer_p - EplDllkInstance_g.m_pTxBuffer) == EPL_DLLK_TXFRAME_NMTREQ) { // frame from NMT request FIFO sent | |
3207 | // mark Tx-buffer as empty | |
3208 | pTxBuffer_p->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY; | |
3209 | ||
3210 | // post event to DLL | |
3211 | Priority = kEplDllAsyncReqPrioNmt; | |
3212 | Event.m_EventSink = kEplEventSinkDllk; | |
3213 | Event.m_EventType = kEplEventTypeDllkFillTx; | |
3214 | EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime)); | |
3215 | Event.m_pArg = &Priority; | |
3216 | Event.m_uiSize = sizeof(Priority); | |
3217 | Ret = EplEventkPost(&Event); | |
3218 | } else if ((pTxBuffer_p - EplDllkInstance_g.m_pTxBuffer) == EPL_DLLK_TXFRAME_NONEPL) { // frame from generic priority FIFO sent | |
3219 | // mark Tx-buffer as empty | |
3220 | pTxBuffer_p->m_uiTxMsgLen = EPL_DLLK_BUFLEN_EMPTY; | |
3221 | ||
3222 | // post event to DLL | |
3223 | Priority = kEplDllAsyncReqPrioGeneric; | |
3224 | Event.m_EventSink = kEplEventSinkDllk; | |
3225 | Event.m_EventType = kEplEventTypeDllkFillTx; | |
3226 | EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime)); | |
3227 | Event.m_pArg = &Priority; | |
3228 | Event.m_uiSize = sizeof(Priority); | |
3229 | Ret = EplEventkPost(&Event); | |
3230 | } | |
9d7164cf DK |
3231 | #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) \ |
3232 | && (EPL_DLL_PRES_READY_AFTER_SOC == FALSE)) \ | |
3233 | || (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
833dfbe7 GKH |
3234 | else if ((pTxBuffer_p->m_EplMsgType == kEplMsgTypePreq) |
3235 | || (pTxBuffer_p->m_EplMsgType == kEplMsgTypePres)) { // PRes resp. PReq frame sent | |
9d7164cf | 3236 | |
833dfbe7 | 3237 | #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) \ |
9d7164cf | 3238 | && (EPL_DLL_PRES_READY_AFTER_SOC == FALSE)) |
833dfbe7 GKH |
3239 | { |
3240 | // inform PDO module | |
3241 | FrameInfo.m_pFrame = | |
3242 | (tEplFrame *) pTxBuffer_p->m_pbBuffer; | |
3243 | FrameInfo.m_uiFrameSize = pTxBuffer_p->m_uiMaxBufferLen; | |
3244 | Ret = EplPdokCbPdoTransmitted(&FrameInfo); | |
3245 | } | |
9d7164cf | 3246 | #endif |
833dfbe7 | 3247 | |
9d7164cf | 3248 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
833dfbe7 GKH |
3249 | { |
3250 | // if own Pres on MN, trigger SoA | |
3251 | if ((NmtState >= kEplNmtMsPreOperational2) | |
3252 | && (pTxBuffer_p == | |
3253 | &EplDllkInstance_g. | |
3254 | m_pTxBuffer[EPL_DLLK_TXFRAME_PRES])) { | |
3255 | Ret = | |
3256 | EplDllkChangeState(kEplNmtEventDllMeSoaTrig, | |
3257 | NmtState); | |
3258 | } | |
3259 | } | |
3260 | #endif | |
9d7164cf | 3261 | |
833dfbe7 GKH |
3262 | #if EPL_DLL_PRES_READY_AFTER_SOA != FALSE |
3263 | goto Exit; | |
3264 | #endif | |
3265 | } | |
3266 | #endif | |
3267 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
3268 | else if (pTxBuffer_p->m_EplMsgType == kEplMsgTypeSoa) { // SoA frame sent | |
3269 | tEplNmtEvent NmtEvent = kEplNmtEventDllMeSoaSent; | |
3270 | ||
3271 | // check if we are invited | |
3272 | if (EplDllkInstance_g.m_uiLastTargetNodeId == | |
3273 | EplDllkInstance_g.m_DllConfigParam.m_uiNodeId) { | |
3274 | tEplFrame *pTxFrame; | |
3275 | ||
3276 | if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceStatus) { // StatusRequest | |
3277 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_STATUSRES].m_pbBuffer != NULL) { // StatusRes does exist | |
3278 | ||
3279 | pTxFrame = | |
3280 | (tEplFrame *) EplDllkInstance_g. | |
3281 | m_pTxBuffer | |
3282 | [EPL_DLLK_TXFRAME_STATUSRES]. | |
3283 | m_pbBuffer; | |
3284 | // update StatusRes frame (NMT state, EN, EC, RS, PR flags) | |
3285 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd. | |
3286 | m_Payload. | |
3287 | m_StatusResponse. | |
3288 | m_le_bNmtStatus, | |
3289 | (BYTE) NmtState); | |
3290 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd. | |
3291 | m_Payload. | |
3292 | m_StatusResponse. | |
3293 | m_le_bFlag1, | |
3294 | EplDllkInstance_g. | |
3295 | m_bFlag1); | |
3296 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd. | |
3297 | m_Payload. | |
3298 | m_StatusResponse. | |
3299 | m_le_bFlag2, | |
3300 | EplDllkInstance_g. | |
3301 | m_bFlag2); | |
3302 | // send StatusRes | |
3303 | Ret = | |
3304 | EdrvSendTxMsg(&EplDllkInstance_g. | |
3305 | m_pTxBuffer | |
3306 | [EPL_DLLK_TXFRAME_STATUSRES]); | |
3307 | if (Ret != kEplSuccessful) { | |
3308 | goto Exit; | |
3309 | } | |
3310 | TGT_DBG_SIGNAL_TRACE_POINT(8); | |
3311 | ||
3312 | } | |
3313 | } else if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceIdent) { // IdentRequest | |
3314 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_IDENTRES].m_pbBuffer != NULL) { // IdentRes does exist | |
3315 | pTxFrame = | |
3316 | (tEplFrame *) EplDllkInstance_g. | |
3317 | m_pTxBuffer | |
3318 | [EPL_DLLK_TXFRAME_IDENTRES]. | |
3319 | m_pbBuffer; | |
3320 | // update IdentRes frame (NMT state, RS, PR flags) | |
3321 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd. | |
3322 | m_Payload. | |
3323 | m_IdentResponse. | |
3324 | m_le_bNmtStatus, | |
3325 | (BYTE) NmtState); | |
3326 | AmiSetByteToLe(&pTxFrame->m_Data.m_Asnd. | |
3327 | m_Payload. | |
3328 | m_IdentResponse. | |
3329 | m_le_bFlag2, | |
3330 | EplDllkInstance_g. | |
3331 | m_bFlag2); | |
3332 | // send IdentRes | |
3333 | Ret = | |
3334 | EdrvSendTxMsg(&EplDllkInstance_g. | |
3335 | m_pTxBuffer | |
3336 | [EPL_DLLK_TXFRAME_IDENTRES]); | |
3337 | if (Ret != kEplSuccessful) { | |
3338 | goto Exit; | |
3339 | } | |
3340 | TGT_DBG_SIGNAL_TRACE_POINT(7); | |
3341 | } | |
3342 | } else if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceNmtRequest) { // NmtRequest | |
3343 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NMTREQ].m_pbBuffer != NULL) { // NmtRequest does exist | |
3344 | // check if frame is not empty and not being filled | |
3345 | if (EplDllkInstance_g. | |
3346 | m_pTxBuffer | |
3347 | [EPL_DLLK_TXFRAME_NMTREQ]. | |
3348 | m_uiTxMsgLen > | |
3349 | EPL_DLLK_BUFLEN_FILLING) { | |
3350 | // check if this frame is a NMT command, | |
3351 | // then forward this frame back to NmtMnu module, | |
3352 | // because it needs the time, when this frame is | |
3353 | // actually sent, to start the timer for monitoring | |
3354 | // the NMT state change. | |
3355 | ||
3356 | pTxFrame = | |
3357 | (tEplFrame *) | |
3358 | EplDllkInstance_g. | |
3359 | m_pTxBuffer | |
3360 | [EPL_DLLK_TXFRAME_NMTREQ]. | |
3361 | m_pbBuffer; | |
3362 | if ((AmiGetByteFromLe | |
3363 | (&pTxFrame-> | |
3364 | m_le_bMessageType) | |
3365 | == (BYTE) kEplMsgTypeAsnd) | |
3366 | && | |
3367 | (AmiGetByteFromLe | |
3368 | (&pTxFrame->m_Data.m_Asnd. | |
3369 | m_le_bServiceId) | |
3370 | == (BYTE) kEplDllAsndNmtCommand)) { // post event directly to NmtMnu module | |
3371 | Event.m_EventSink = | |
3372 | kEplEventSinkNmtMnu; | |
3373 | Event.m_EventType = | |
3374 | kEplEventTypeNmtMnuNmtCmdSent; | |
3375 | Event.m_uiSize = | |
3376 | EplDllkInstance_g. | |
3377 | m_pTxBuffer | |
3378 | [EPL_DLLK_TXFRAME_NMTREQ]. | |
3379 | m_uiTxMsgLen; | |
3380 | Event.m_pArg = pTxFrame; | |
3381 | Ret = | |
3382 | EplEventkPost | |
3383 | (&Event); | |
3384 | ||
3385 | } | |
3386 | // send NmtRequest | |
3387 | Ret = | |
3388 | EdrvSendTxMsg | |
3389 | (&EplDllkInstance_g. | |
3390 | m_pTxBuffer | |
3391 | [EPL_DLLK_TXFRAME_NMTREQ]); | |
3392 | if (Ret != kEplSuccessful) { | |
3393 | goto Exit; | |
3394 | } | |
3395 | ||
3396 | } | |
3397 | } | |
3398 | ||
3399 | } else if (EplDllkInstance_g.m_LastReqServiceId == kEplDllReqServiceUnspecified) { // unspecified invite | |
3400 | if (EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_NONEPL].m_pbBuffer != NULL) { // non-EPL frame does exist | |
3401 | // check if frame is not empty and not being filled | |
3402 | if (EplDllkInstance_g. | |
3403 | m_pTxBuffer | |
3404 | [EPL_DLLK_TXFRAME_NONEPL]. | |
3405 | m_uiTxMsgLen > | |
3406 | EPL_DLLK_BUFLEN_FILLING) { | |
3407 | // send non-EPL frame | |
3408 | Ret = | |
3409 | EdrvSendTxMsg | |
3410 | (&EplDllkInstance_g. | |
3411 | m_pTxBuffer | |
3412 | [EPL_DLLK_TXFRAME_NONEPL]); | |
3413 | if (Ret != kEplSuccessful) { | |
3414 | goto Exit; | |
3415 | } | |
3416 | ||
3417 | } | |
3418 | } | |
3419 | } | |
3420 | // ASnd frame was sent, remove the request | |
3421 | EplDllkInstance_g.m_LastReqServiceId = | |
3422 | kEplDllReqServiceNo; | |
3423 | } | |
3424 | // forward event to ErrorHandler and PDO module | |
3425 | Event.m_EventSink = kEplEventSinkNmtk; | |
3426 | Event.m_EventType = kEplEventTypeNmtEvent; | |
3427 | Event.m_uiSize = sizeof(NmtEvent); | |
3428 | Event.m_pArg = &NmtEvent; | |
3429 | Ret = EplEventkPost(&Event); | |
3430 | if (Ret != kEplSuccessful) { | |
3431 | goto Exit; | |
3432 | } | |
3433 | } | |
9d7164cf DK |
3434 | #endif |
3435 | ||
3436 | #if EPL_DLL_PRES_READY_AFTER_SOA != FALSE | |
833dfbe7 GKH |
3437 | else { // d.k.: Why that else? on CN it is entered on IdentRes and StatusRes |
3438 | goto Exit; | |
3439 | } | |
9d7164cf | 3440 | |
833dfbe7 GKH |
3441 | // signal process function readiness of PRes frame |
3442 | Event.m_EventSink = kEplEventSinkDllk; | |
3443 | Event.m_EventType = kEplEventTypeDllkPresReady; | |
3444 | Event.m_uiSize = 0; | |
3445 | Event.m_pArg = NULL; | |
3446 | Ret = EplEventkPost(&Event); | |
9d7164cf DK |
3447 | |
3448 | #endif | |
3449 | ||
833dfbe7 GKH |
3450 | Exit: |
3451 | if (Ret != kEplSuccessful) { | |
3452 | DWORD dwArg; | |
9d7164cf | 3453 | |
833dfbe7 | 3454 | BENCHMARK_MOD_02_TOGGLE(9); |
9d7164cf | 3455 | |
833dfbe7 GKH |
3456 | dwArg = |
3457 | EplDllkInstance_g.m_DllState | (pTxBuffer_p-> | |
3458 | m_EplMsgType << 16); | |
9d7164cf | 3459 | |
833dfbe7 GKH |
3460 | // Error event for API layer |
3461 | Ret = EplEventkPostError(kEplEventSourceDllk, | |
3462 | Ret, sizeof(dwArg), &dwArg); | |
3463 | } | |
9d7164cf | 3464 | |
833dfbe7 | 3465 | return; |
9d7164cf DK |
3466 | } |
3467 | ||
3468 | //--------------------------------------------------------------------------- | |
3469 | // | |
3470 | // Function: EplDllkCheckFrame() | |
3471 | // | |
3472 | // Description: check frame and set missing information | |
3473 | // | |
3474 | // Parameters: pFrame_p = ethernet frame | |
3475 | // uiFrameSize_p = size of frame | |
3476 | // | |
3477 | // Returns: tEplKernel = error code | |
3478 | // | |
3479 | // | |
3480 | // State: | |
3481 | // | |
3482 | //--------------------------------------------------------------------------- | |
3483 | ||
833dfbe7 GKH |
3484 | static tEplKernel EplDllkCheckFrame(tEplFrame * pFrame_p, |
3485 | unsigned int uiFrameSize_p) | |
9d7164cf | 3486 | { |
833dfbe7 GKH |
3487 | tEplMsgType MsgType; |
3488 | WORD wEtherType; | |
3489 | ||
3490 | // check frame | |
3491 | if (pFrame_p != NULL) { | |
3492 | // check SrcMAC | |
3493 | if (AmiGetQword48FromBe(pFrame_p->m_be_abSrcMac) == 0) { | |
3494 | // source MAC address | |
3495 | EPL_MEMCPY(&pFrame_p->m_be_abSrcMac[0], | |
3496 | &EplDllkInstance_g.m_be_abSrcMac[0], 6); | |
3497 | } | |
3498 | // check ethertype | |
3499 | wEtherType = AmiGetWordFromBe(&pFrame_p->m_be_wEtherType); | |
3500 | if (wEtherType == 0) { | |
3501 | // assume EPL frame | |
3502 | wEtherType = EPL_C_DLL_ETHERTYPE_EPL; | |
3503 | AmiSetWordToBe(&pFrame_p->m_be_wEtherType, wEtherType); | |
3504 | } | |
3505 | ||
3506 | if (wEtherType == EPL_C_DLL_ETHERTYPE_EPL) { | |
3507 | // source node ID | |
3508 | AmiSetByteToLe(&pFrame_p->m_le_bSrcNodeId, | |
3509 | (BYTE) EplDllkInstance_g. | |
3510 | m_DllConfigParam.m_uiNodeId); | |
3511 | ||
3512 | // check message type | |
3513 | MsgType = | |
3514 | AmiGetByteFromLe(&pFrame_p->m_le_bMessageType); | |
3515 | if (MsgType == 0) { | |
3516 | MsgType = kEplMsgTypeAsnd; | |
3517 | AmiSetByteToLe(&pFrame_p->m_le_bMessageType, | |
3518 | (BYTE) MsgType); | |
3519 | } | |
3520 | ||
3521 | if (MsgType == kEplMsgTypeAsnd) { | |
3522 | // destination MAC address | |
3523 | AmiSetQword48ToBe(&pFrame_p->m_be_abDstMac[0], | |
3524 | EPL_C_DLL_MULTICAST_ASND); | |
3525 | } | |
3526 | ||
3527 | } | |
3528 | } | |
3529 | ||
3530 | return kEplSuccessful; | |
9d7164cf DK |
3531 | } |
3532 | ||
3533 | //--------------------------------------------------------------------------- | |
3534 | // | |
3535 | // Function: EplDllkCbCnTimer() | |
3536 | // | |
3537 | // Description: called by timer module. It monitors the EPL cycle when it is a CN. | |
3538 | // | |
3539 | // Parameters: pEventArg_p = timer event argument | |
3540 | // | |
3541 | // Returns: tEplKernel = error code | |
3542 | // | |
3543 | // | |
3544 | // State: | |
3545 | // | |
3546 | //--------------------------------------------------------------------------- | |
3547 | ||
3548 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 | 3549 | static tEplKernel PUBLIC EplDllkCbCnTimer(tEplTimerEventArg * pEventArg_p) |
9d7164cf | 3550 | { |
833dfbe7 GKH |
3551 | tEplKernel Ret = kEplSuccessful; |
3552 | tEplNmtState NmtState; | |
9d7164cf DK |
3553 | |
3554 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 GKH |
3555 | if (pEventArg_p->m_TimerHdl != EplDllkInstance_g.m_TimerHdlCycle) { // zombie callback |
3556 | // just exit | |
3557 | goto Exit; | |
3558 | } | |
9d7164cf DK |
3559 | #endif |
3560 | ||
833dfbe7 | 3561 | NmtState = EplNmtkGetNmtState(); |
9d7164cf | 3562 | |
833dfbe7 GKH |
3563 | if (NmtState <= kEplNmtGsResetConfiguration) { |
3564 | goto Exit; | |
3565 | } | |
9d7164cf | 3566 | |
833dfbe7 GKH |
3567 | Ret = EplDllkChangeState(kEplNmtEventDllCeFrameTimeout, NmtState); |
3568 | if (Ret != kEplSuccessful) { | |
3569 | goto Exit; | |
3570 | } | |
3571 | // 2008/10/15 d.k. reprogramming of timer not necessary, | |
3572 | // because it will be programmed, when SoC is received. | |
9d7164cf DK |
3573 | /* |
3574 | // reprogram timer | |
3575 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
3576 | if ((NmtState > kEplNmtCsPreOperational1) | |
3577 | && (EplDllkInstance_g.m_ullFrameTimeout != 0)) | |
3578 | { | |
3579 | Ret = EplTimerHighReskModifyTimerNs(&EplDllkInstance_g.m_TimerHdlCycle, EplDllkInstance_g.m_ullFrameTimeout, EplDllkCbCnTimer, 0L, FALSE); | |
3580 | } | |
3581 | #endif | |
3582 | */ | |
3583 | ||
833dfbe7 GKH |
3584 | Exit: |
3585 | if (Ret != kEplSuccessful) { | |
3586 | DWORD dwArg; | |
9d7164cf | 3587 | |
833dfbe7 | 3588 | BENCHMARK_MOD_02_TOGGLE(9); |
9d7164cf | 3589 | |
833dfbe7 GKH |
3590 | dwArg = |
3591 | EplDllkInstance_g. | |
3592 | m_DllState | (kEplNmtEventDllCeFrameTimeout << 8); | |
9d7164cf | 3593 | |
833dfbe7 GKH |
3594 | // Error event for API layer |
3595 | Ret = EplEventkPostError(kEplEventSourceDllk, | |
3596 | Ret, sizeof(dwArg), &dwArg); | |
3597 | } | |
9d7164cf | 3598 | |
833dfbe7 | 3599 | return Ret; |
9d7164cf DK |
3600 | } |
3601 | #endif | |
3602 | ||
3603 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) | |
3604 | ||
3605 | //--------------------------------------------------------------------------- | |
3606 | // | |
3607 | // Function: EplDllkCbMnTimerCycle() | |
3608 | // | |
3609 | // Description: called by timer module. It triggers the SoC when it is a MN. | |
3610 | // | |
3611 | // Parameters: pEventArg_p = timer event argument | |
3612 | // | |
3613 | // Returns: tEplKernel = error code | |
3614 | // | |
3615 | // | |
3616 | // State: | |
3617 | // | |
3618 | //--------------------------------------------------------------------------- | |
3619 | ||
833dfbe7 | 3620 | static tEplKernel PUBLIC EplDllkCbMnTimerCycle(tEplTimerEventArg * pEventArg_p) |
9d7164cf | 3621 | { |
833dfbe7 GKH |
3622 | tEplKernel Ret = kEplSuccessful; |
3623 | tEplNmtState NmtState; | |
9d7164cf DK |
3624 | |
3625 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 GKH |
3626 | if (pEventArg_p->m_TimerHdl != EplDllkInstance_g.m_TimerHdlCycle) { // zombie callback |
3627 | // just exit | |
3628 | goto Exit; | |
3629 | } | |
9d7164cf DK |
3630 | #endif |
3631 | ||
833dfbe7 | 3632 | NmtState = EplNmtkGetNmtState(); |
9d7164cf | 3633 | |
833dfbe7 GKH |
3634 | if (NmtState <= kEplNmtGsResetConfiguration) { |
3635 | goto Exit; | |
3636 | } | |
9d7164cf | 3637 | |
833dfbe7 | 3638 | Ret = EplDllkChangeState(kEplNmtEventDllMeSocTrig, NmtState); |
9d7164cf | 3639 | |
833dfbe7 GKH |
3640 | Exit: |
3641 | if (Ret != kEplSuccessful) { | |
3642 | DWORD dwArg; | |
9d7164cf | 3643 | |
833dfbe7 | 3644 | BENCHMARK_MOD_02_TOGGLE(9); |
9d7164cf | 3645 | |
833dfbe7 GKH |
3646 | dwArg = |
3647 | EplDllkInstance_g. | |
3648 | m_DllState | (kEplNmtEventDllMeSocTrig << 8); | |
9d7164cf | 3649 | |
833dfbe7 GKH |
3650 | // Error event for API layer |
3651 | Ret = EplEventkPostError(kEplEventSourceDllk, | |
3652 | Ret, sizeof(dwArg), &dwArg); | |
3653 | } | |
9d7164cf | 3654 | |
833dfbe7 | 3655 | return Ret; |
9d7164cf DK |
3656 | } |
3657 | ||
9d7164cf DK |
3658 | //--------------------------------------------------------------------------- |
3659 | // | |
3660 | // Function: EplDllkCbMnTimerResponse() | |
3661 | // | |
3662 | // Description: called by timer module. It monitors the PRes timeout. | |
3663 | // | |
3664 | // Parameters: pEventArg_p = timer event argument | |
3665 | // | |
3666 | // Returns: tEplKernel = error code | |
3667 | // | |
3668 | // | |
3669 | // State: | |
3670 | // | |
3671 | //--------------------------------------------------------------------------- | |
3672 | ||
833dfbe7 GKH |
3673 | static tEplKernel PUBLIC EplDllkCbMnTimerResponse(tEplTimerEventArg * |
3674 | pEventArg_p) | |
9d7164cf | 3675 | { |
833dfbe7 GKH |
3676 | tEplKernel Ret = kEplSuccessful; |
3677 | tEplNmtState NmtState; | |
9d7164cf DK |
3678 | |
3679 | #if EPL_TIMER_USE_HIGHRES != FALSE | |
833dfbe7 GKH |
3680 | if (pEventArg_p->m_TimerHdl != EplDllkInstance_g.m_TimerHdlResponse) { // zombie callback |
3681 | // just exit | |
3682 | goto Exit; | |
3683 | } | |
9d7164cf DK |
3684 | #endif |
3685 | ||
833dfbe7 | 3686 | NmtState = EplNmtkGetNmtState(); |
9d7164cf | 3687 | |
833dfbe7 GKH |
3688 | if (NmtState <= kEplNmtGsResetConfiguration) { |
3689 | goto Exit; | |
3690 | } | |
9d7164cf | 3691 | |
833dfbe7 | 3692 | Ret = EplDllkChangeState(kEplNmtEventDllMePresTimeout, NmtState); |
9d7164cf | 3693 | |
833dfbe7 GKH |
3694 | Exit: |
3695 | if (Ret != kEplSuccessful) { | |
3696 | DWORD dwArg; | |
9d7164cf | 3697 | |
833dfbe7 | 3698 | BENCHMARK_MOD_02_TOGGLE(9); |
9d7164cf | 3699 | |
833dfbe7 GKH |
3700 | dwArg = |
3701 | EplDllkInstance_g. | |
3702 | m_DllState | (kEplNmtEventDllMePresTimeout << 8); | |
9d7164cf | 3703 | |
833dfbe7 GKH |
3704 | // Error event for API layer |
3705 | Ret = EplEventkPostError(kEplEventSourceDllk, | |
3706 | Ret, sizeof(dwArg), &dwArg); | |
3707 | } | |
9d7164cf | 3708 | |
833dfbe7 | 3709 | return Ret; |
9d7164cf DK |
3710 | } |
3711 | ||
9d7164cf DK |
3712 | //--------------------------------------------------------------------------- |
3713 | // | |
3714 | // Function: EplDllkGetNodeInfo() | |
3715 | // | |
3716 | // Description: returns node info structure of the specified node. | |
3717 | // | |
3718 | // Parameters: uiNodeId_p = node ID | |
3719 | // | |
3720 | // Returns: tEplDllkNodeInfo* = pointer to internal node info structure | |
3721 | // | |
3722 | // | |
3723 | // State: | |
3724 | // | |
3725 | //--------------------------------------------------------------------------- | |
3726 | ||
833dfbe7 | 3727 | static tEplDllkNodeInfo *EplDllkGetNodeInfo(unsigned int uiNodeId_p) |
9d7164cf | 3728 | { |
833dfbe7 GKH |
3729 | // $$$ d.k.: use hash algorithm to retrieve the appropriate node info structure |
3730 | // if size of array is less than 254. | |
3731 | uiNodeId_p--; // node ID starts at 1 but array at 0 | |
3732 | if (uiNodeId_p >= tabentries(EplDllkInstance_g.m_aNodeInfo)) { | |
3733 | return NULL; | |
3734 | } else { | |
3735 | return &EplDllkInstance_g.m_aNodeInfo[uiNodeId_p]; | |
3736 | } | |
9d7164cf DK |
3737 | } |
3738 | ||
9d7164cf DK |
3739 | //--------------------------------------------------------------------------- |
3740 | // | |
3741 | // Function: EplDllkMnSendSoa() | |
3742 | // | |
3743 | // Description: it updates and transmits the SoA. | |
3744 | // | |
3745 | // Parameters: NmtState_p = current NMT state | |
3746 | // pDllStateProposed_p = proposed DLL state | |
3747 | // fEnableInvitation_p = enable invitation for asynchronous phase | |
3748 | // it will be disabled for EPL_C_DLL_PREOP1_START_CYCLES SoAs | |
3749 | // | |
3750 | // Returns: tEplKernel = error code | |
3751 | // | |
3752 | // | |
3753 | // State: | |
3754 | // | |
3755 | //--------------------------------------------------------------------------- | |
3756 | ||
3757 | static tEplKernel EplDllkMnSendSoa(tEplNmtState NmtState_p, | |
833dfbe7 GKH |
3758 | tEplDllState * pDllStateProposed_p, |
3759 | BOOL fEnableInvitation_p) | |
9d7164cf | 3760 | { |
833dfbe7 GKH |
3761 | tEplKernel Ret = kEplSuccessful; |
3762 | tEdrvTxBuffer *pTxBuffer = NULL; | |
3763 | tEplFrame *pTxFrame; | |
3764 | tEplDllkNodeInfo *pNodeInfo; | |
3765 | ||
3766 | *pDllStateProposed_p = kEplDllMsNonCyclic; | |
3767 | ||
3768 | pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_SOA]; | |
3769 | if (pTxBuffer->m_pbBuffer != NULL) { // SoA does exist | |
3770 | pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer; | |
3771 | ||
3772 | if (fEnableInvitation_p != FALSE) { // fetch target of asynchronous phase | |
3773 | if (EplDllkInstance_g.m_bFlag2 == 0) { // own queues are empty | |
3774 | EplDllkInstance_g.m_LastReqServiceId = | |
3775 | kEplDllReqServiceNo; | |
3776 | } else if (((tEplDllAsyncReqPriority) (EplDllkInstance_g.m_bFlag2 >> EPL_FRAME_FLAG2_PR_SHIFT)) == kEplDllAsyncReqPrioNmt) { // frames in own NMT request queue available | |
3777 | EplDllkInstance_g.m_LastReqServiceId = | |
3778 | kEplDllReqServiceNmtRequest; | |
3779 | } else { | |
3780 | EplDllkInstance_g.m_LastReqServiceId = | |
3781 | kEplDllReqServiceUnspecified; | |
3782 | } | |
3783 | Ret = | |
3784 | EplDllkCalAsyncGetSoaRequest(&EplDllkInstance_g. | |
3785 | m_LastReqServiceId, | |
3786 | &EplDllkInstance_g. | |
3787 | m_uiLastTargetNodeId); | |
3788 | if (Ret != kEplSuccessful) { | |
3789 | goto Exit; | |
3790 | } | |
3791 | if (EplDllkInstance_g.m_LastReqServiceId != kEplDllReqServiceNo) { // asynchronous phase will be assigned to one node | |
3792 | if (EplDllkInstance_g.m_uiLastTargetNodeId == EPL_C_ADR_INVALID) { // exchange invalid node ID with local node ID | |
3793 | EplDllkInstance_g.m_uiLastTargetNodeId = | |
3794 | EplDllkInstance_g.m_DllConfigParam. | |
3795 | m_uiNodeId; | |
3796 | // d.k. DLL state WaitAsndTrig is not helpful; | |
3797 | // so just step over to WaitSocTrig, | |
3798 | // because own ASnd is sent automatically in CbFrameTransmitted() after SoA. | |
3799 | //*pDllStateProposed_p = kEplDllMsWaitAsndTrig; | |
3800 | *pDllStateProposed_p = | |
3801 | kEplDllMsWaitSocTrig; | |
3802 | } else { // assignment to CN | |
3803 | *pDllStateProposed_p = | |
3804 | kEplDllMsWaitAsnd; | |
3805 | } | |
3806 | ||
3807 | pNodeInfo = | |
3808 | EplDllkGetNodeInfo(EplDllkInstance_g. | |
3809 | m_uiLastTargetNodeId); | |
3810 | if (pNodeInfo == NULL) { // no node info structure available | |
3811 | Ret = kEplDllNoNodeInfo; | |
3812 | goto Exit; | |
3813 | } | |
3814 | // update frame (EA, ER flags) | |
3815 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa. | |
3816 | m_le_bFlag1, | |
3817 | pNodeInfo-> | |
3818 | m_bSoaFlag1 & (EPL_FRAME_FLAG1_EA | |
3819 | | | |
3820 | EPL_FRAME_FLAG1_ER)); | |
3821 | } else { // no assignment of asynchronous phase | |
3822 | *pDllStateProposed_p = kEplDllMsWaitSocTrig; | |
3823 | EplDllkInstance_g.m_uiLastTargetNodeId = | |
3824 | EPL_C_ADR_INVALID; | |
3825 | } | |
3826 | ||
3827 | // update frame (target) | |
3828 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa. | |
3829 | m_le_bReqServiceId, | |
3830 | (BYTE) EplDllkInstance_g. | |
3831 | m_LastReqServiceId); | |
3832 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa. | |
3833 | m_le_bReqServiceTarget, | |
3834 | (BYTE) EplDllkInstance_g. | |
3835 | m_uiLastTargetNodeId); | |
3836 | ||
3837 | } else { // invite nobody | |
3838 | // update frame (target) | |
3839 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa. | |
3840 | m_le_bReqServiceId, (BYTE) 0); | |
3841 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa. | |
3842 | m_le_bReqServiceTarget, (BYTE) 0); | |
3843 | } | |
3844 | ||
3845 | // update frame (NMT state) | |
3846 | AmiSetByteToLe(&pTxFrame->m_Data.m_Soa.m_le_bNmtStatus, | |
3847 | (BYTE) NmtState_p); | |
3848 | ||
3849 | // send SoA frame | |
3850 | Ret = EdrvSendTxMsg(pTxBuffer); | |
3851 | } | |
3852 | ||
3853 | Exit: | |
3854 | return Ret; | |
9d7164cf DK |
3855 | } |
3856 | ||
9d7164cf DK |
3857 | //--------------------------------------------------------------------------- |
3858 | // | |
3859 | // Function: EplDllkMnSendSoc() | |
3860 | // | |
3861 | // Description: it updates and transmits the SoA. | |
3862 | // | |
3863 | // Parameters: (none) | |
3864 | // | |
3865 | // Returns: tEplKernel = error code | |
3866 | // | |
3867 | // | |
3868 | // State: | |
3869 | // | |
3870 | //--------------------------------------------------------------------------- | |
3871 | ||
3872 | static tEplKernel EplDllkMnSendSoc(void) | |
3873 | { | |
833dfbe7 GKH |
3874 | tEplKernel Ret = kEplSuccessful; |
3875 | tEdrvTxBuffer *pTxBuffer = NULL; | |
3876 | tEplFrame *pTxFrame; | |
3877 | tEplEvent Event; | |
3878 | ||
3879 | pTxBuffer = &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_SOC]; | |
3880 | if (pTxBuffer->m_pbBuffer != NULL) { // SoC does exist | |
3881 | pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer; | |
3882 | ||
3883 | // $$$ update NetTime | |
3884 | ||
3885 | // send SoC frame | |
3886 | Ret = EdrvSendTxMsg(pTxBuffer); | |
3887 | if (Ret != kEplSuccessful) { | |
3888 | goto Exit; | |
3889 | } | |
3890 | // trigger synchronous task | |
3891 | Event.m_EventSink = kEplEventSinkSync; | |
3892 | Event.m_EventType = kEplEventTypeSync; | |
3893 | Event.m_uiSize = 0; | |
3894 | Ret = EplEventkPost(&Event); | |
3895 | } | |
3896 | ||
3897 | Exit: | |
3898 | return Ret; | |
9d7164cf DK |
3899 | } |
3900 | ||
9d7164cf DK |
3901 | //--------------------------------------------------------------------------- |
3902 | // | |
3903 | // Function: EplDllkMnSendPreq() | |
3904 | // | |
3905 | // Description: it updates and transmits the PReq for the next isochronous CN | |
3906 | // or own PRes if enabled. | |
3907 | // | |
3908 | // Parameters: NmtState_p = current NMT state | |
3909 | // pDllStateProposed_p = proposed DLL state | |
3910 | // | |
3911 | // Returns: tEplKernel = error code | |
3912 | // | |
3913 | // | |
3914 | // State: | |
3915 | // | |
3916 | //--------------------------------------------------------------------------- | |
3917 | ||
3918 | static tEplKernel EplDllkMnSendPreq(tEplNmtState NmtState_p, | |
833dfbe7 | 3919 | tEplDllState * pDllStateProposed_p) |
9d7164cf | 3920 | { |
833dfbe7 GKH |
3921 | tEplKernel Ret = kEplSuccessful; |
3922 | tEdrvTxBuffer *pTxBuffer = NULL; | |
3923 | tEplFrame *pTxFrame; | |
3924 | BYTE bFlag1 = 0; | |
3925 | ||
3926 | if (EplDllkInstance_g.m_pCurNodeInfo == NULL) { // start with first isochronous CN | |
3927 | EplDllkInstance_g.m_pCurNodeInfo = | |
3928 | EplDllkInstance_g.m_pFirstNodeInfo; | |
3929 | } else { // iterate to next isochronous CN | |
3930 | EplDllkInstance_g.m_pCurNodeInfo = | |
3931 | EplDllkInstance_g.m_pCurNodeInfo->m_pNextNodeInfo; | |
3932 | } | |
3933 | ||
3934 | if (EplDllkInstance_g.m_pCurNodeInfo == NULL) { // last isochronous CN reached | |
3935 | Ret = EplDllkMnSendSoa(NmtState_p, pDllStateProposed_p, TRUE); | |
3936 | goto Exit; | |
3937 | } else { | |
3938 | pTxBuffer = EplDllkInstance_g.m_pCurNodeInfo->m_pPreqTxBuffer; | |
3939 | bFlag1 = | |
3940 | EplDllkInstance_g.m_pCurNodeInfo-> | |
3941 | m_bSoaFlag1 & EPL_FRAME_FLAG1_EA; | |
3942 | *pDllStateProposed_p = kEplDllMsWaitPres; | |
3943 | ||
3944 | // start PRes Timer | |
3945 | // $$$ d.k.: maybe move this call to CbFrameTransmitted(), because the time should run from there | |
9d7164cf | 3946 | #if EPL_TIMER_USE_HIGHRES != FALSE |
833dfbe7 GKH |
3947 | Ret = |
3948 | EplTimerHighReskModifyTimerNs(&EplDllkInstance_g. | |
3949 | m_TimerHdlResponse, | |
3950 | EplDllkInstance_g. | |
3951 | m_pCurNodeInfo-> | |
3952 | m_dwPresTimeout, | |
3953 | EplDllkCbMnTimerResponse, 0L, | |
3954 | FALSE); | |
9d7164cf | 3955 | #endif |
833dfbe7 GKH |
3956 | } |
3957 | ||
3958 | if (pTxBuffer == NULL) { // PReq does not exist | |
3959 | Ret = kEplDllTxBufNotReady; | |
3960 | goto Exit; | |
3961 | } | |
3962 | ||
3963 | pTxFrame = (tEplFrame *) pTxBuffer->m_pbBuffer; | |
3964 | ||
3965 | if (pTxFrame != NULL) { // PReq does exist | |
3966 | if (NmtState_p == kEplNmtMsOperational) { // leave RD flag untouched | |
3967 | bFlag1 |= | |
3968 | AmiGetByteFromLe(&pTxFrame->m_Data.m_Preq. | |
3969 | m_le_bFlag1) & EPL_FRAME_FLAG1_RD; | |
3970 | } | |
3971 | ||
3972 | if (pTxBuffer == &EplDllkInstance_g.m_pTxBuffer[EPL_DLLK_TXFRAME_PRES]) { // PRes of MN will be sent | |
3973 | // update NMT state | |
3974 | AmiSetByteToLe(&pTxFrame->m_Data.m_Pres.m_le_bNmtStatus, | |
3975 | (BYTE) NmtState_p); | |
3976 | *pDllStateProposed_p = kEplDllMsWaitSoaTrig; | |
3977 | } | |
3978 | // $$$ d.k. set EPL_FRAME_FLAG1_MS if necessary | |
3979 | // update frame (Flag1) | |
3980 | AmiSetByteToLe(&pTxFrame->m_Data.m_Preq.m_le_bFlag1, bFlag1); | |
3981 | ||
3982 | // calculate frame size from payload size | |
3983 | pTxBuffer->m_uiTxMsgLen = | |
3984 | AmiGetWordFromLe(&pTxFrame->m_Data.m_Preq.m_le_wSize) + 24; | |
3985 | ||
3986 | // send PReq frame | |
3987 | Ret = EdrvSendTxMsg(pTxBuffer); | |
3988 | } else { | |
3989 | Ret = kEplDllTxFrameInvalid; | |
3990 | } | |
3991 | ||
3992 | Exit: | |
3993 | return Ret; | |
9d7164cf DK |
3994 | } |
3995 | ||
9d7164cf DK |
3996 | //--------------------------------------------------------------------------- |
3997 | // | |
3998 | // Function: EplDllkAsyncFrameNotReceived() | |
3999 | // | |
4000 | // Description: passes empty ASnd frame to receive FIFO. | |
4001 | // It will be called only for frames with registered AsndServiceIds | |
4002 | // (only kEplDllAsndFilterAny). | |
4003 | // | |
4004 | // Parameters: none | |
4005 | // | |
4006 | // Returns: tEplKernel = error code | |
4007 | // | |
4008 | // | |
4009 | // State: | |
4010 | // | |
4011 | //--------------------------------------------------------------------------- | |
4012 | ||
833dfbe7 GKH |
4013 | static tEplKernel EplDllkAsyncFrameNotReceived(tEplDllReqServiceId |
4014 | ReqServiceId_p, | |
4015 | unsigned int uiNodeId_p) | |
9d7164cf | 4016 | { |
833dfbe7 GKH |
4017 | tEplKernel Ret = kEplSuccessful; |
4018 | BYTE abBuffer[18]; | |
4019 | tEplFrame *pFrame = (tEplFrame *) abBuffer; | |
4020 | tEplFrameInfo FrameInfo; | |
4021 | ||
4022 | // check if previous SoA invitation was not answered | |
4023 | switch (ReqServiceId_p) { | |
4024 | case kEplDllReqServiceIdent: | |
4025 | case kEplDllReqServiceStatus: | |
4026 | // ASnd service registered? | |
4027 | if (EplDllkInstance_g.m_aAsndFilter[ReqServiceId_p] == kEplDllAsndFilterAny) { // ASnd service ID is registered | |
4028 | AmiSetByteToLe(&pFrame->m_le_bSrcNodeId, | |
4029 | (BYTE) uiNodeId_p); | |
4030 | // EPL MsgType ASnd | |
4031 | AmiSetByteToLe(&pFrame->m_le_bMessageType, | |
4032 | (BYTE) kEplMsgTypeAsnd); | |
4033 | // ASnd Service ID | |
4034 | AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId, | |
4035 | (BYTE) ReqServiceId_p); | |
4036 | // create frame info structure | |
4037 | FrameInfo.m_pFrame = pFrame; | |
4038 | FrameInfo.m_uiFrameSize = 18; // empty non existing ASnd frame | |
4039 | // forward frame via async receive FIFO to userspace | |
4040 | Ret = EplDllkCalAsyncFrameReceived(&FrameInfo); | |
4041 | } | |
4042 | break; | |
4043 | default: | |
4044 | // no invitation issued or it was successfully answered or it is uninteresting | |
4045 | break; | |
4046 | } | |
4047 | ||
4048 | return Ret; | |
9d7164cf DK |
4049 | } |
4050 | ||
9d7164cf DK |
4051 | #endif //(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
4052 | ||
9d7164cf DK |
4053 | #endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0) |
4054 | // EOF |