****************************************************************************/
-
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/init.h>
#include <linux/pci.h>
#include <linux/proc_fs.h>
-
#include "Epl.h"
#include "proc_fs.h"
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0)
// remove ("make invisible") obsolete symbols for kernel versions 2.6
// and higher
- #define MOD_INC_USE_COUNT
- #define MOD_DEC_USE_COUNT
- #define EXPORT_NO_SYMBOLS
+#define MOD_INC_USE_COUNT
+#define MOD_DEC_USE_COUNT
+#define EXPORT_NO_SYMBOLS
#else
- #error "This driver needs a 2.6.x kernel or higher"
+#error "This driver needs a 2.6.x kernel or higher"
#endif
-
/***************************************************************************/
/* */
/* */
// Metainformation
MODULE_LICENSE("Dual BSD/GPL");
#ifdef MODULE_AUTHOR
- MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com");
- MODULE_DESCRIPTION("EPL MN demo");
+MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com");
+MODULE_DESCRIPTION("EPL MN demo");
#endif
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
-
-
// TracePoint support for realtime-debugging
#ifdef _DBG_TRACE_POINTS_
- void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
- #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
+void PUBLIC TgtDbgSignalTracePoint(BYTE bTracePointNumber_p);
+#define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
#else
- #define TGT_DBG_SIGNAL_TRACE_POINT(p)
+#define TGT_DBG_SIGNAL_TRACE_POINT(p)
#endif
-#define NODEID 0xF0 //=> MN
-#define CYCLE_LEN 5000 // [us]
-#define IP_ADDR 0xc0a86401 // 192.168.100.1
-#define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0
+#define NODEID 0xF0 //=> MN
+#define CYCLE_LEN 5000 // [us]
+#define IP_ADDR 0xc0a86401 // 192.168.100.1
+#define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0
#define HOSTNAME "SYS TEC electronic EPL Stack "
#define IF_ETH EPL_VETH_NAME
-
// LIGHT EFFECT
-#define DEFAULT_MAX_CYCLE_COUNT 20 // 6 is very fast
+#define DEFAULT_MAX_CYCLE_COUNT 20 // 6 is very fast
#define APP_DEFAULT_MODE 0x01
-#define APP_LED_COUNT 5 // number of LEDs in one row
+#define APP_LED_COUNT 5 // number of LEDs in one row
#define APP_LED_MASK ((1 << APP_LED_COUNT) - 1)
#define APP_DOUBLE_LED_MASK ((1 << (APP_LED_COUNT * 2)) - 1)
#define APP_MODE_COUNT 5
#define APP_MODE_MASK ((1 << APP_MODE_COUNT) - 1)
-
//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------
-
-
//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------
-CONST BYTE abMacAddr[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
+CONST BYTE abMacAddr[] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
-BYTE bVarIn1_l;
-BYTE bVarOut1_l;
-BYTE bVarOut1Old_l;
-BYTE bModeSelect_l; // state of the pushbuttons to select the mode
-BYTE bSpeedSelect_l; // state of the pushbuttons to increase/decrease the speed
-BYTE bSpeedSelectOld_l; // old state of the pushbuttons
-DWORD dwLeds_l; // current state of all LEDs
-BYTE bLedsRow1_l; // current state of the LEDs in row 1
-BYTE bLedsRow2_l; // current state of the LEDs in row 2
-BYTE abSelect_l[3]; // pushbuttons from CNs
+BYTE bVarIn1_l;
+BYTE bVarOut1_l;
+BYTE bVarOut1Old_l;
+BYTE bModeSelect_l; // state of the pushbuttons to select the mode
+BYTE bSpeedSelect_l; // state of the pushbuttons to increase/decrease the speed
+BYTE bSpeedSelectOld_l; // old state of the pushbuttons
+DWORD dwLeds_l; // current state of all LEDs
+BYTE bLedsRow1_l; // current state of the LEDs in row 1
+BYTE bLedsRow2_l; // current state of the LEDs in row 2
+BYTE abSelect_l[3]; // pushbuttons from CNs
-DWORD dwMode_l; // current mode
-int iCurCycleCount_l; // current cycle count
-int iMaxCycleCount_l; // maximum cycle count (i.e. number of cycles until next light movement step)
-int iToggle; // indicates the light movement direction
+DWORD dwMode_l; // current mode
+int iCurCycleCount_l; // current cycle count
+int iMaxCycleCount_l; // maximum cycle count (i.e. number of cycles until next light movement step)
+int iToggle; // indicates the light movement direction
-BYTE abDomain_l[3000];
+BYTE abDomain_l[3000];
-static wait_queue_head_t WaitQueueShutdown_g; // wait queue for tEplNmtEventSwitchOff
-static atomic_t AtomicShutdown_g = ATOMIC_INIT(FALSE);
+static wait_queue_head_t WaitQueueShutdown_g; // wait queue for tEplNmtEventSwitchOff
+static atomic_t AtomicShutdown_g = ATOMIC_INIT(FALSE);
-static DWORD dw_le_CycleLen_g;
+static DWORD dw_le_CycleLen_g;
static uint uiNodeId_g = EPL_C_ADR_INVALID;
module_param_named(nodeid, uiNodeId_g, uint, 0);
static uint uiCycleLen_g = CYCLE_LEN;
module_param_named(cyclelen, uiCycleLen_g, uint, 0);
-
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
// this function prototype here. If you want to use more than one Epl
// instances then the function name of each object dictionary has to differ.
-tEplKernel PUBLIC EplObdInitRam (tEplObdInitParam MEM* pInitParam_p);
+tEplKernel PUBLIC EplObdInitRam(tEplObdInitParam MEM * pInitParam_p);
-tEplKernel PUBLIC AppCbEvent(
- tEplApiEventType EventType_p, // IN: event type (enum)
- tEplApiEventArg* pEventArg_p, // IN: event argument (union)
- void GENERIC* pUserArg_p);
+tEplKernel PUBLIC AppCbEvent(tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg * pEventArg_p, // IN: event argument (union)
+ void GENERIC * pUserArg_p);
tEplKernel PUBLIC AppCbSync(void);
-static int __init EplLinInit (void);
-static void __exit EplLinExit (void);
+static int __init EplLinInit(void);
+static void __exit EplLinExit(void);
//---------------------------------------------------------------------------
// Kernel Module specific Data Structures
EXPORT_NO_SYMBOLS;
-
//module_init(EplLinInit);
//module_exit(EplLinExit);
-
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
// State:
//
//---------------------------------------------------------------------------
-static int __init EplLinInit (void)
+static int __init EplLinInit(void)
{
-tEplKernel EplRet;
-int iRet;
-static tEplApiInitParam EplApiInitParam = {0};
-char* sHostname = HOSTNAME;
-char* argv[4], *envp[3];
-char sBuffer[16];
-unsigned int uiVarEntries;
-tEplObdSize ObdSize;
+ tEplKernel EplRet;
+ int iRet;
+ static tEplApiInitParam EplApiInitParam = { 0 };
+ char *sHostname = HOSTNAME;
+ char *argv[4], *envp[3];
+ char sBuffer[16];
+ unsigned int uiVarEntries;
+ tEplObdSize ObdSize;
- atomic_set(&AtomicShutdown_g, TRUE);
+ atomic_set(&AtomicShutdown_g, TRUE);
- // get node ID from insmod command line
- EplApiInitParam.m_uiNodeId = uiNodeId_g;
+ // get node ID from insmod command line
+ EplApiInitParam.m_uiNodeId = uiNodeId_g;
- if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
- { // invalid node ID set
- // set default node ID
- EplApiInitParam.m_uiNodeId = NODEID;
- }
+ if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID) { // invalid node ID set
+ // set default node ID
+ EplApiInitParam.m_uiNodeId = NODEID;
+ }
- uiNodeId_g = EplApiInitParam.m_uiNodeId;
+ uiNodeId_g = EplApiInitParam.m_uiNodeId;
- // calculate IP address
- EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
+ // calculate IP address
+ EplApiInitParam.m_dwIpAddress =
+ (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
- EplApiInitParam.m_fAsyncOnly = FALSE;
+ EplApiInitParam.m_fAsyncOnly = FALSE;
- EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
- EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
+ EplApiInitParam.m_uiSizeOfStruct = sizeof(EplApiInitParam);
+ EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr,
+ sizeof(EplApiInitParam.m_abMacAddress));
// EplApiInitParam.m_abMacAddress[5] = (BYTE) EplApiInitParam.m_uiNodeId;
- EplApiInitParam.m_dwFeatureFlags = -1;
- EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
- EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const
- EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const
- EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
- EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
- EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
- EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
- EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
- EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
- EplApiInitParam.m_uiPrescaler = 2; // required for sync
- EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
- EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
- EplApiInitParam.m_dwWaitSocPreq = 150000;
- EplApiInitParam.m_dwDeviceType = -1; // NMT_DeviceType_U32
- EplApiInitParam.m_dwVendorId = -1; // NMT_IdentityObject_REC.VendorId_U32
- EplApiInitParam.m_dwProductCode = -1; // NMT_IdentityObject_REC.ProductCode_U32
- EplApiInitParam.m_dwRevisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32
- EplApiInitParam.m_dwSerialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32
- EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
- EplApiInitParam.m_dwDefaultGateway = 0;
- EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
-
- // currently unset parameters left at default value 0
- //EplApiInitParam.m_qwVendorSpecificExt1;
- //EplApiInitParam.m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
- //EplApiInitParam.m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
- //EplApiInitParam.m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
- //EplApiInitParam.m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
- //EplApiInitParam.m_abVendorSpecificExt2[48];
-
- // set callback functions
- EplApiInitParam.m_pfnCbEvent = AppCbEvent;
- EplApiInitParam.m_pfnCbSync = AppCbSync;
-
-
- printk("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n",
- (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
- "Managing Node" : "Controlled Node"),
- __DATE__, __TIME__);
-
- // initialize the Linux a wait queue for shutdown of this module
- init_waitqueue_head(&WaitQueueShutdown_g);
-
- // initialize the procfs device
- EplRet = EplLinProcInit();
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- // initialize POWERLINK stack
- EplRet = EplApiInitialize(&EplApiInitParam);
- if(EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- // link process variables used by CN to object dictionary
- ObdSize = sizeof(bVarIn1_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x6000, &bVarIn1_l, &uiVarEntries, &ObdSize, 0x01);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- ObdSize = sizeof(bVarOut1_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x6200, &bVarOut1_l, &uiVarEntries, &ObdSize, 0x01);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- // link process variables used by MN to object dictionary
+ EplApiInitParam.m_dwFeatureFlags = -1;
+ EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
+ EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const
+ EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const
+ EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
+ EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
+ EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
+ EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
+ EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
+ EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
+ EplApiInitParam.m_uiPrescaler = 2; // required for sync
+ EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
+ EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
+ EplApiInitParam.m_dwWaitSocPreq = 150000;
+ EplApiInitParam.m_dwDeviceType = -1; // NMT_DeviceType_U32
+ EplApiInitParam.m_dwVendorId = -1; // NMT_IdentityObject_REC.VendorId_U32
+ EplApiInitParam.m_dwProductCode = -1; // NMT_IdentityObject_REC.ProductCode_U32
+ EplApiInitParam.m_dwRevisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32
+ EplApiInitParam.m_dwSerialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32
+ EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
+ EplApiInitParam.m_dwDefaultGateway = 0;
+ EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname,
+ sizeof(EplApiInitParam.m_sHostname));
+
+ // currently unset parameters left at default value 0
+ //EplApiInitParam.m_qwVendorSpecificExt1;
+ //EplApiInitParam.m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
+ //EplApiInitParam.m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
+ //EplApiInitParam.m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
+ //EplApiInitParam.m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
+ //EplApiInitParam.m_abVendorSpecificExt2[48];
+
+ // set callback functions
+ EplApiInitParam.m_pfnCbEvent = AppCbEvent;
+ EplApiInitParam.m_pfnCbSync = AppCbSync;
+
+ printk
+ ("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n",
+ (uiNodeId_g ==
+ EPL_C_ADR_MN_DEF_NODE_ID ? "Managing Node" : "Controlled Node"),
+ __DATE__, __TIME__);
+
+ // initialize the Linux a wait queue for shutdown of this module
+ init_waitqueue_head(&WaitQueueShutdown_g);
+
+ // initialize the procfs device
+ EplRet = EplLinProcInit();
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+ // initialize POWERLINK stack
+ EplRet = EplApiInitialize(&EplApiInitParam);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+ // link process variables used by CN to object dictionary
+ ObdSize = sizeof(bVarIn1_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x6000, &bVarIn1_l, &uiVarEntries, &ObdSize, 0x01);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bVarOut1_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x6200, &bVarOut1_l, &uiVarEntries, &ObdSize,
+ 0x01);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+ // link process variables used by MN to object dictionary
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
- ObdSize = sizeof(bLedsRow1_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x2000, &bLedsRow1_l, &uiVarEntries, &ObdSize, 0x01);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- ObdSize = sizeof(bLedsRow2_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x2000, &bLedsRow2_l, &uiVarEntries, &ObdSize, 0x02);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- ObdSize = sizeof(bSpeedSelect_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x2000, &bSpeedSelect_l, &uiVarEntries, &ObdSize, 0x03);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- ObdSize = sizeof(bSpeedSelectOld_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x2000, &bSpeedSelectOld_l, &uiVarEntries, &ObdSize, 0x04);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
-
- ObdSize = sizeof(abSelect_l[0]);
- uiVarEntries = sizeof(abSelect_l);
- EplRet = EplApiLinkObject(0x2200, &abSelect_l[0], &uiVarEntries, &ObdSize, 0x01);
- if (EplRet != kEplSuccessful)
- {
- goto Exit;
- }
+ ObdSize = sizeof(bLedsRow1_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x2000, &bLedsRow1_l, &uiVarEntries, &ObdSize,
+ 0x01);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bLedsRow2_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x2000, &bLedsRow2_l, &uiVarEntries, &ObdSize,
+ 0x02);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bSpeedSelect_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x2000, &bSpeedSelect_l, &uiVarEntries, &ObdSize,
+ 0x03);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(bSpeedSelectOld_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x2000, &bSpeedSelectOld_l, &uiVarEntries,
+ &ObdSize, 0x04);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
+
+ ObdSize = sizeof(abSelect_l[0]);
+ uiVarEntries = sizeof(abSelect_l);
+ EplRet =
+ EplApiLinkObject(0x2200, &abSelect_l[0], &uiVarEntries, &ObdSize,
+ 0x01);
+ if (EplRet != kEplSuccessful) {
+ goto Exit;
+ }
#endif
- // link a DOMAIN to object 0x6100, but do not exit, if it is missing
- ObdSize = sizeof(abDomain_l);
- uiVarEntries = 1;
- EplRet = EplApiLinkObject(0x6100, &abDomain_l, &uiVarEntries, &ObdSize, 0x00);
- if (EplRet != kEplSuccessful)
- {
- printk("EplApiLinkObject(0x6100): returns 0x%X\n", EplRet);
- }
-
- // reset old process variables
- bVarOut1Old_l = 0;
- bSpeedSelectOld_l = 0;
- dwMode_l = APP_DEFAULT_MODE;
- iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT;
-
-
- // configure IP address of virtual network interface
- // for TCP/IP communication over the POWERLINK network
- sprintf(sBuffer, "%lu.%lu.%lu.%lu", (EplApiInitParam.m_dwIpAddress >> 24), ((EplApiInitParam.m_dwIpAddress >> 16) & 0xFF), ((EplApiInitParam.m_dwIpAddress >> 8) & 0xFF), (EplApiInitParam.m_dwIpAddress & 0xFF));
- /* set up a minimal environment */
- iRet = 0;
- envp[iRet++] = "HOME=/";
- envp[iRet++] = "PATH=/sbin:/bin:/usr/sbin:/usr/bin";
- envp[iRet] = NULL;
-
- /* set up the argument list */
- iRet = 0;
- argv[iRet++] = "/sbin/ifconfig";
- argv[iRet++] = IF_ETH;
- argv[iRet++] = sBuffer;
- argv[iRet] = NULL;
-
- /* call ifconfig to configure the virtual network interface */
- iRet = call_usermodehelper(argv[0], argv, envp, 1);
- printk("ifconfig %s %s returned %d\n", argv[1], argv[2], iRet);
-
- // start the NMT state machine
- EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
- atomic_set(&AtomicShutdown_g, FALSE);
-
-Exit:
- printk("EplLinInit(): returns 0x%X\n", EplRet);
- return EplRet;
+ // link a DOMAIN to object 0x6100, but do not exit, if it is missing
+ ObdSize = sizeof(abDomain_l);
+ uiVarEntries = 1;
+ EplRet =
+ EplApiLinkObject(0x6100, &abDomain_l, &uiVarEntries, &ObdSize,
+ 0x00);
+ if (EplRet != kEplSuccessful) {
+ printk("EplApiLinkObject(0x6100): returns 0x%X\n", EplRet);
+ }
+ // reset old process variables
+ bVarOut1Old_l = 0;
+ bSpeedSelectOld_l = 0;
+ dwMode_l = APP_DEFAULT_MODE;
+ iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT;
+
+ // configure IP address of virtual network interface
+ // for TCP/IP communication over the POWERLINK network
+ sprintf(sBuffer, "%lu.%lu.%lu.%lu",
+ (EplApiInitParam.m_dwIpAddress >> 24),
+ ((EplApiInitParam.m_dwIpAddress >> 16) & 0xFF),
+ ((EplApiInitParam.m_dwIpAddress >> 8) & 0xFF),
+ (EplApiInitParam.m_dwIpAddress & 0xFF));
+ /* set up a minimal environment */
+ iRet = 0;
+ envp[iRet++] = "HOME=/";
+ envp[iRet++] = "PATH=/sbin:/bin:/usr/sbin:/usr/bin";
+ envp[iRet] = NULL;
+
+ /* set up the argument list */
+ iRet = 0;
+ argv[iRet++] = "/sbin/ifconfig";
+ argv[iRet++] = IF_ETH;
+ argv[iRet++] = sBuffer;
+ argv[iRet] = NULL;
+
+ /* call ifconfig to configure the virtual network interface */
+ iRet = call_usermodehelper(argv[0], argv, envp, 1);
+ printk("ifconfig %s %s returned %d\n", argv[1], argv[2], iRet);
+
+ // start the NMT state machine
+ EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
+ atomic_set(&AtomicShutdown_g, FALSE);
+
+ Exit:
+ printk("EplLinInit(): returns 0x%X\n", EplRet);
+ return EplRet;
}
-static void __exit EplLinExit (void)
+static void __exit EplLinExit(void)
{
-tEplKernel EplRet;
+ tEplKernel EplRet;
- // halt the NMT state machine
- // so the processing of POWERLINK frames stops
- EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
+ // halt the NMT state machine
+ // so the processing of POWERLINK frames stops
+ EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
- // wait until NMT state machine is shut down
- wait_event_interruptible(WaitQueueShutdown_g,
- (atomic_read(&AtomicShutdown_g) == TRUE));
+ // wait until NMT state machine is shut down
+ wait_event_interruptible(WaitQueueShutdown_g,
+ (atomic_read(&AtomicShutdown_g) == TRUE));
/* if ((iErr != 0) || (atomic_read(&AtomicShutdown_g) == EVENT_STATE_IOCTL))
{ // waiting was interrupted by signal or application called wrong function
EplRet = kEplShutdown;
}*/
- // delete instance for all modules
- EplRet = EplApiShutdown();
- printk("EplApiShutdown(): 0x%X\n", EplRet);
+ // delete instance for all modules
+ EplRet = EplApiShutdown();
+ printk("EplApiShutdown(): 0x%X\n", EplRet);
- // deinitialize proc fs
- EplRet = EplLinProcFree();
- printk("EplLinProcFree(): 0x%X\n", EplRet);
+ // deinitialize proc fs
+ EplRet = EplLinProcFree();
+ printk("EplLinProcFree(): 0x%X\n", EplRet);
}
-
//=========================================================================//
// //
// P R I V A T E F U N C T I O N S //
//
//---------------------------------------------------------------------------
-tEplKernel PUBLIC AppCbEvent(
- tEplApiEventType EventType_p, // IN: event type (enum)
- tEplApiEventArg* pEventArg_p, // IN: event argument (union)
- void GENERIC* pUserArg_p)
+tEplKernel PUBLIC AppCbEvent(tEplApiEventType EventType_p, // IN: event type (enum)
+ tEplApiEventArg * pEventArg_p, // IN: event argument (union)
+ void GENERIC * pUserArg_p)
{
-tEplKernel EplRet = kEplSuccessful;
-
- // check if NMT_GS_OFF is reached
- switch (EventType_p)
- {
- case kEplApiEventNmtStateChange:
- {
- switch (pEventArg_p->m_NmtStateChange.m_NewNmtState)
- {
- case kEplNmtGsOff:
- { // NMT state machine was shut down,
- // because of user signal (CTRL-C) or critical EPL stack error
- // -> also shut down EplApiProcess() and main()
- EplRet = kEplShutdown;
-
- printk("AppCbEvent(kEplNmtGsOff) originating event = 0x%X\n", pEventArg_p->m_NmtStateChange.m_NmtEvent);
-
- // wake up EplLinExit()
- atomic_set(&AtomicShutdown_g, TRUE);
- wake_up_interruptible(&WaitQueueShutdown_g);
- break;
- }
-
- case kEplNmtGsResetCommunication:
- {
- DWORD dwBuffer;
-
- // configure OD for MN in state ResetComm after reseting the OD
- // TODO: setup your own network configuration here
- dwBuffer = (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS); // 0x00000003L
- EplRet = EplApiWriteLocalObject(0x1F81, 0x01, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x02, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x03, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x04, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x05, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x06, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x07, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x08, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x20, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0xFE, &dwBuffer, 4);
- EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4);
+ tEplKernel EplRet = kEplSuccessful;
+
+ // check if NMT_GS_OFF is reached
+ switch (EventType_p) {
+ case kEplApiEventNmtStateChange:
+ {
+ switch (pEventArg_p->m_NmtStateChange.m_NewNmtState) {
+ case kEplNmtGsOff:
+ { // NMT state machine was shut down,
+ // because of user signal (CTRL-C) or critical EPL stack error
+ // -> also shut down EplApiProcess() and main()
+ EplRet = kEplShutdown;
+
+ printk
+ ("AppCbEvent(kEplNmtGsOff) originating event = 0x%X\n",
+ pEventArg_p->m_NmtStateChange.
+ m_NmtEvent);
+
+ // wake up EplLinExit()
+ atomic_set(&AtomicShutdown_g, TRUE);
+ wake_up_interruptible
+ (&WaitQueueShutdown_g);
+ break;
+ }
+
+ case kEplNmtGsResetCommunication:
+ {
+ DWORD dwBuffer;
+
+ // configure OD for MN in state ResetComm after reseting the OD
+ // TODO: setup your own network configuration here
+ dwBuffer = (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS); // 0x00000003L
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x01,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x02,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x03,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x04,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x05,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x06,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x07,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x08,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x20,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0xFE,
+ &dwBuffer,
+ 4);
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0x6E,
+ &dwBuffer,
+ 4);
// dwBuffer |= EPL_NODEASSIGN_MANDATORY_CN; // 0x0000000BL
// EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4);
- dwBuffer = (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS); // 0x00010001L
- EplRet = EplApiWriteLocalObject(0x1F81, 0xF0, &dwBuffer, 4);
-
- // continue
- }
-
- case kEplNmtGsResetConfiguration:
- {
- unsigned int uiSize;
-
- // fetch object 0x1006 NMT_CycleLen_U32 from local OD (in little endian byte order)
- // for configuration of remote CN
- uiSize = 4;
- EplRet = EplApiReadObject(NULL, 0, 0x1006, 0x00, &dw_le_CycleLen_g, &uiSize, kEplSdoTypeAsnd, NULL);
- if (EplRet != kEplSuccessful)
- { // local OD access failed
- break;
- }
-
- // continue
- }
-
- case kEplNmtMsPreOperational1:
- {
- printk("AppCbEvent(0x%X) originating event = 0x%X\n",
- pEventArg_p->m_NmtStateChange.m_NewNmtState,
- pEventArg_p->m_NmtStateChange.m_NmtEvent);
-
- // continue
- }
-
- case kEplNmtGsInitialising:
- case kEplNmtGsResetApplication:
- case kEplNmtMsNotActive:
- case kEplNmtCsNotActive:
- case kEplNmtCsPreOperational1:
- {
- break;
- }
-
- case kEplNmtCsOperational:
- case kEplNmtMsOperational:
- {
- break;
- }
-
- default:
- {
- break;
- }
- }
+ dwBuffer = (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS); // 0x00010001L
+ EplRet =
+ EplApiWriteLocalObject(0x1F81, 0xF0,
+ &dwBuffer,
+ 4);
+
+ // continue
+ }
+
+ case kEplNmtGsResetConfiguration:
+ {
+ unsigned int uiSize;
+
+ // fetch object 0x1006 NMT_CycleLen_U32 from local OD (in little endian byte order)
+ // for configuration of remote CN
+ uiSize = 4;
+ EplRet =
+ EplApiReadObject(NULL, 0, 0x1006,
+ 0x00,
+ &dw_le_CycleLen_g,
+ &uiSize,
+ kEplSdoTypeAsnd,
+ NULL);
+ if (EplRet != kEplSuccessful) { // local OD access failed
+ break;
+ }
+ // continue
+ }
+
+ case kEplNmtMsPreOperational1:
+ {
+ printk
+ ("AppCbEvent(0x%X) originating event = 0x%X\n",
+ pEventArg_p->m_NmtStateChange.
+ m_NewNmtState,
+ pEventArg_p->m_NmtStateChange.
+ m_NmtEvent);
+
+ // continue
+ }
+
+ case kEplNmtGsInitialising:
+ case kEplNmtGsResetApplication:
+ case kEplNmtMsNotActive:
+ case kEplNmtCsNotActive:
+ case kEplNmtCsPreOperational1:
+ {
+ break;
+ }
+
+ case kEplNmtCsOperational:
+ case kEplNmtMsOperational:
+ {
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
/*
switch (pEventArg_p->m_NmtStateChange.m_NmtEvent)
}
}
*/
- break;
- }
-
- case kEplApiEventCriticalError:
- case kEplApiEventWarning:
- { // error or warning occured within the stack or the application
- // on error the API layer stops the NMT state machine
-
- printk("AppCbEvent(Err/Warn): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError);
- // check additional argument
- switch (pEventArg_p->m_InternalError.m_EventSource)
- {
- case kEplEventSourceEventk:
- case kEplEventSourceEventu:
- { // error occured within event processing
- // either in kernel or in user part
- printk(" OrgSource=%02X\n", pEventArg_p->m_InternalError.m_Arg.m_EventSource);
- break;
- }
-
- case kEplEventSourceDllk:
- { // error occured within the data link layer (e.g. interrupt processing)
- // the DWORD argument contains the DLL state and the NMT event
- printk(" val=%lX\n", pEventArg_p->m_InternalError.m_Arg.m_dwArg);
- break;
- }
-
- default:
- {
- printk("\n");
- break;
- }
- }
- break;
- }
-
- case kEplApiEventNode:
- {
+ break;
+ }
+
+ case kEplApiEventCriticalError:
+ case kEplApiEventWarning:
+ { // error or warning occured within the stack or the application
+ // on error the API layer stops the NMT state machine
+
+ printk
+ ("AppCbEvent(Err/Warn): Source=%02X EplError=0x%03X",
+ pEventArg_p->m_InternalError.m_EventSource,
+ pEventArg_p->m_InternalError.m_EplError);
+ // check additional argument
+ switch (pEventArg_p->m_InternalError.m_EventSource) {
+ case kEplEventSourceEventk:
+ case kEplEventSourceEventu:
+ { // error occured within event processing
+ // either in kernel or in user part
+ printk(" OrgSource=%02X\n",
+ pEventArg_p->m_InternalError.
+ m_Arg.m_EventSource);
+ break;
+ }
+
+ case kEplEventSourceDllk:
+ { // error occured within the data link layer (e.g. interrupt processing)
+ // the DWORD argument contains the DLL state and the NMT event
+ printk(" val=%lX\n",
+ pEventArg_p->m_InternalError.
+ m_Arg.m_dwArg);
+ break;
+ }
+
+ default:
+ {
+ printk("\n");
+ break;
+ }
+ }
+ break;
+ }
+
+ case kEplApiEventNode:
+ {
// printk("AppCbEvent(Node): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError);
- // check additional argument
- switch (pEventArg_p->m_Node.m_NodeEvent)
- {
- case kEplNmtNodeEventCheckConf:
- {
- tEplSdoComConHdl SdoComConHdl;
- // update object 0x1006 on CN
- EplRet = EplApiWriteObject(&SdoComConHdl, pEventArg_p->m_Node.m_uiNodeId, 0x1006, 0x00, &dw_le_CycleLen_g, 4, kEplSdoTypeAsnd, NULL);
- if (EplRet == kEplApiTaskDeferred)
- { // SDO transfer started
- EplRet = kEplReject;
- }
- else if (EplRet == kEplSuccessful)
- { // local OD access (should not occur)
- printk("AppCbEvent(Node) write to local OD\n");
- }
- else
- { // error occured
- TGT_DBG_SIGNAL_TRACE_POINT(1);
-
- EplRet = EplApiFreeSdoChannel(SdoComConHdl);
- SdoComConHdl = 0;
-
- EplRet = EplApiWriteObject(&SdoComConHdl, pEventArg_p->m_Node.m_uiNodeId, 0x1006, 0x00, &dw_le_CycleLen_g, 4, kEplSdoTypeAsnd, NULL);
- if (EplRet == kEplApiTaskDeferred)
- { // SDO transfer started
- EplRet = kEplReject;
- }
- else
- {
- printk("AppCbEvent(Node): EplApiWriteObject() returned 0x%02X\n", EplRet);
- }
- }
-
- break;
- }
-
- default:
- {
- break;
- }
- }
- break;
- }
-
- case kEplApiEventSdo:
- { // SDO transfer finished
- EplRet = EplApiFreeSdoChannel(pEventArg_p->m_Sdo.m_SdoComConHdl);
- if (EplRet != kEplSuccessful)
- {
- break;
- }
+ // check additional argument
+ switch (pEventArg_p->m_Node.m_NodeEvent) {
+ case kEplNmtNodeEventCheckConf:
+ {
+ tEplSdoComConHdl SdoComConHdl;
+ // update object 0x1006 on CN
+ EplRet =
+ EplApiWriteObject(&SdoComConHdl,
+ pEventArg_p->
+ m_Node.m_uiNodeId,
+ 0x1006, 0x00,
+ &dw_le_CycleLen_g,
+ 4,
+ kEplSdoTypeAsnd,
+ NULL);
+ if (EplRet == kEplApiTaskDeferred) { // SDO transfer started
+ EplRet = kEplReject;
+ } else if (EplRet == kEplSuccessful) { // local OD access (should not occur)
+ printk
+ ("AppCbEvent(Node) write to local OD\n");
+ } else { // error occured
+ TGT_DBG_SIGNAL_TRACE_POINT(1);
+
+ EplRet =
+ EplApiFreeSdoChannel
+ (SdoComConHdl);
+ SdoComConHdl = 0;
+
+ EplRet =
+ EplApiWriteObject
+ (&SdoComConHdl,
+ pEventArg_p->m_Node.
+ m_uiNodeId, 0x1006, 0x00,
+ &dw_le_CycleLen_g, 4,
+ kEplSdoTypeAsnd, NULL);
+ if (EplRet == kEplApiTaskDeferred) { // SDO transfer started
+ EplRet = kEplReject;
+ } else {
+ printk
+ ("AppCbEvent(Node): EplApiWriteObject() returned 0x%02X\n",
+ EplRet);
+ }
+ }
+
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ break;
+ }
+
+ case kEplApiEventSdo:
+ { // SDO transfer finished
+ EplRet =
+ EplApiFreeSdoChannel(pEventArg_p->m_Sdo.
+ m_SdoComConHdl);
+ if (EplRet != kEplSuccessful) {
+ break;
+ }
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
- if (pEventArg_p->m_Sdo.m_SdoComConState == kEplSdoComTransferFinished)
- { // continue boot-up of CN with NMT command Reset Configuration
- EplRet = EplApiMnTriggerStateChange(pEventArg_p->m_Sdo.m_uiNodeId, kEplNmtNodeCommandConfReset);
- }
- else
- { // indicate configuration error CN
- EplRet = EplApiMnTriggerStateChange(pEventArg_p->m_Sdo.m_uiNodeId, kEplNmtNodeCommandConfErr);
- }
+ if (pEventArg_p->m_Sdo.m_SdoComConState == kEplSdoComTransferFinished) { // continue boot-up of CN with NMT command Reset Configuration
+ EplRet =
+ EplApiMnTriggerStateChange(pEventArg_p->
+ m_Sdo.m_uiNodeId,
+ kEplNmtNodeCommandConfReset);
+ } else { // indicate configuration error CN
+ EplRet =
+ EplApiMnTriggerStateChange(pEventArg_p->
+ m_Sdo.m_uiNodeId,
+ kEplNmtNodeCommandConfErr);
+ }
#endif
- break;
- }
+ break;
+ }
- default:
- break;
- }
+ default:
+ break;
+ }
- return EplRet;
+ return EplRet;
}
-
//---------------------------------------------------------------------------
//
// Function: AppCbSync
tEplKernel PUBLIC AppCbSync(void)
{
-tEplKernel EplRet = kEplSuccessful;
+ tEplKernel EplRet = kEplSuccessful;
- if (bVarOut1Old_l != bVarOut1_l)
- { // output variable has changed
- bVarOut1Old_l = bVarOut1_l;
- // set LEDs
+ if (bVarOut1Old_l != bVarOut1_l) { // output variable has changed
+ bVarOut1Old_l = bVarOut1_l;
+ // set LEDs
// printk("bVarIn = 0x%02X bVarOut = 0x%02X\n", (WORD) bVarIn_l, (WORD) bVarOut_l);
- }
- if (uiNodeId_g != EPL_C_ADR_MN_DEF_NODE_ID)
- {
- bVarIn1_l++;
- }
-
- if (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID)
- { // we are the master and must run the control loop
-
- // collect inputs from CNs and own input
- bSpeedSelect_l = (bVarIn1_l | abSelect_l[0]) & 0x07;
-
- bModeSelect_l = abSelect_l[1] | abSelect_l[2];
-
- if ((bModeSelect_l & APP_MODE_MASK) != 0)
- {
- dwMode_l = bModeSelect_l & APP_MODE_MASK;
- }
-
- iCurCycleCount_l--;
-
- if (iCurCycleCount_l <= 0)
- {
- if ((dwMode_l & 0x01) != 0)
- { // fill-up
- if (iToggle)
- {
- if ((dwLeds_l & APP_DOUBLE_LED_MASK) == 0x00)
- {
- dwLeds_l = 0x01;
- }
- else
- {
- dwLeds_l <<= 1;
- dwLeds_l++;
- if (dwLeds_l >= APP_DOUBLE_LED_MASK)
- {
- iToggle = 0;
- }
- }
- }
- else
- {
- dwLeds_l <<= 1;
- if ((dwLeds_l & APP_DOUBLE_LED_MASK) == 0x00)
- {
- iToggle = 1;
- }
- }
- bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK);
- bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK);
- }
-
- else if ((dwMode_l & 0x02) != 0)
- { // running light forward
- dwLeds_l <<= 1;
- if ((dwLeds_l > APP_DOUBLE_LED_MASK) || (dwLeds_l == 0x00000000L))
- {
- dwLeds_l = 0x01;
- }
- bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK);
- bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK);
- }
-
- else if ((dwMode_l & 0x04) != 0)
- { // running light backward
- dwLeds_l >>= 1;
- if ((dwLeds_l > APP_DOUBLE_LED_MASK) || (dwLeds_l == 0x00000000L))
- {
- dwLeds_l = 1 << (APP_LED_COUNT * 2);
- }
- bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK);
- bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK);
- }
-
- else if ((dwMode_l & 0x08) != 0)
- { // Knightrider
- if (bLedsRow1_l == 0x00)
- {
- bLedsRow1_l = 0x01;
- iToggle = 1;
- }
- else if (iToggle)
- {
- bLedsRow1_l <<= 1;
- if ( bLedsRow1_l >= (1 << (APP_LED_COUNT - 1)) )
- {
- iToggle = 0;
- }
- }
- else
- {
- bLedsRow1_l >>= 1;
- if( bLedsRow1_l <= 0x01 )
- {
- iToggle = 1;
- }
- }
- bLedsRow2_l = bLedsRow1_l;
- }
-
- else if ((dwMode_l & 0x10) != 0)
- { // Knightrider
- if ((bLedsRow1_l == 0x00)
- || (bLedsRow2_l == 0x00)
- || ((bLedsRow2_l & ~APP_LED_MASK) != 0))
- {
- bLedsRow1_l = 0x01;
- bLedsRow2_l = (1 << (APP_LED_COUNT - 1));
- iToggle = 1;
- }
- else if (iToggle)
- {
- bLedsRow1_l <<= 1;
- bLedsRow2_l >>= 1;
- if ( bLedsRow1_l >= (1 << (APP_LED_COUNT - 1)) )
- {
- iToggle = 0;
- }
- }
- else
- {
- bLedsRow1_l >>= 1;
- bLedsRow2_l <<= 1;
- if ( bLedsRow1_l <= 0x01 )
- {
- iToggle = 1;
- }
- }
- }
-
- // set own output
- bVarOut1_l = bLedsRow1_l;
+ }
+ if (uiNodeId_g != EPL_C_ADR_MN_DEF_NODE_ID) {
+ bVarIn1_l++;
+ }
+
+ if (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID) { // we are the master and must run the control loop
+
+ // collect inputs from CNs and own input
+ bSpeedSelect_l = (bVarIn1_l | abSelect_l[0]) & 0x07;
+
+ bModeSelect_l = abSelect_l[1] | abSelect_l[2];
+
+ if ((bModeSelect_l & APP_MODE_MASK) != 0) {
+ dwMode_l = bModeSelect_l & APP_MODE_MASK;
+ }
+
+ iCurCycleCount_l--;
+
+ if (iCurCycleCount_l <= 0) {
+ if ((dwMode_l & 0x01) != 0) { // fill-up
+ if (iToggle) {
+ if ((dwLeds_l & APP_DOUBLE_LED_MASK) ==
+ 0x00) {
+ dwLeds_l = 0x01;
+ } else {
+ dwLeds_l <<= 1;
+ dwLeds_l++;
+ if (dwLeds_l >=
+ APP_DOUBLE_LED_MASK) {
+ iToggle = 0;
+ }
+ }
+ } else {
+ dwLeds_l <<= 1;
+ if ((dwLeds_l & APP_DOUBLE_LED_MASK) ==
+ 0x00) {
+ iToggle = 1;
+ }
+ }
+ bLedsRow1_l =
+ (unsigned char)(dwLeds_l & APP_LED_MASK);
+ bLedsRow2_l =
+ (unsigned char)((dwLeds_l >> APP_LED_COUNT)
+ & APP_LED_MASK);
+ }
+
+ else if ((dwMode_l & 0x02) != 0) { // running light forward
+ dwLeds_l <<= 1;
+ if ((dwLeds_l > APP_DOUBLE_LED_MASK)
+ || (dwLeds_l == 0x00000000L)) {
+ dwLeds_l = 0x01;
+ }
+ bLedsRow1_l =
+ (unsigned char)(dwLeds_l & APP_LED_MASK);
+ bLedsRow2_l =
+ (unsigned char)((dwLeds_l >> APP_LED_COUNT)
+ & APP_LED_MASK);
+ }
+
+ else if ((dwMode_l & 0x04) != 0) { // running light backward
+ dwLeds_l >>= 1;
+ if ((dwLeds_l > APP_DOUBLE_LED_MASK)
+ || (dwLeds_l == 0x00000000L)) {
+ dwLeds_l = 1 << (APP_LED_COUNT * 2);
+ }
+ bLedsRow1_l =
+ (unsigned char)(dwLeds_l & APP_LED_MASK);
+ bLedsRow2_l =
+ (unsigned char)((dwLeds_l >> APP_LED_COUNT)
+ & APP_LED_MASK);
+ }
+
+ else if ((dwMode_l & 0x08) != 0) { // Knightrider
+ if (bLedsRow1_l == 0x00) {
+ bLedsRow1_l = 0x01;
+ iToggle = 1;
+ } else if (iToggle) {
+ bLedsRow1_l <<= 1;
+ if (bLedsRow1_l >=
+ (1 << (APP_LED_COUNT - 1))) {
+ iToggle = 0;
+ }
+ } else {
+ bLedsRow1_l >>= 1;
+ if (bLedsRow1_l <= 0x01) {
+ iToggle = 1;
+ }
+ }
+ bLedsRow2_l = bLedsRow1_l;
+ }
+
+ else if ((dwMode_l & 0x10) != 0) { // Knightrider
+ if ((bLedsRow1_l == 0x00)
+ || (bLedsRow2_l == 0x00)
+ || ((bLedsRow2_l & ~APP_LED_MASK) != 0)) {
+ bLedsRow1_l = 0x01;
+ bLedsRow2_l =
+ (1 << (APP_LED_COUNT - 1));
+ iToggle = 1;
+ } else if (iToggle) {
+ bLedsRow1_l <<= 1;
+ bLedsRow2_l >>= 1;
+ if (bLedsRow1_l >=
+ (1 << (APP_LED_COUNT - 1))) {
+ iToggle = 0;
+ }
+ } else {
+ bLedsRow1_l >>= 1;
+ bLedsRow2_l <<= 1;
+ if (bLedsRow1_l <= 0x01) {
+ iToggle = 1;
+ }
+ }
+ }
+ // set own output
+ bVarOut1_l = bLedsRow1_l;
// bVarOut1_l = (bLedsRow1_l & 0x03) | (bLedsRow2_l << 2);
- // restart cycle counter
- iCurCycleCount_l = iMaxCycleCount_l;
- }
-
- if (bSpeedSelectOld_l == 0)
- {
- if ((bSpeedSelect_l & 0x01) != 0)
- {
- if (iMaxCycleCount_l < 200)
- {
- iMaxCycleCount_l++;
- }
- bSpeedSelectOld_l = bSpeedSelect_l;
- }
- else if ((bSpeedSelect_l & 0x02) != 0)
- {
- if (iMaxCycleCount_l > 1)
- {
- iMaxCycleCount_l--;
- }
- bSpeedSelectOld_l = bSpeedSelect_l;
- }
- else if ((bSpeedSelect_l & 0x04) != 0)
- {
- iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT;
- bSpeedSelectOld_l = bSpeedSelect_l;
- }
- }
- else if (bSpeedSelect_l == 0)
- {
- bSpeedSelectOld_l = 0;
- }
- }
-
- TGT_DBG_SIGNAL_TRACE_POINT(1);
-
- return EplRet;
+ // restart cycle counter
+ iCurCycleCount_l = iMaxCycleCount_l;
+ }
+
+ if (bSpeedSelectOld_l == 0) {
+ if ((bSpeedSelect_l & 0x01) != 0) {
+ if (iMaxCycleCount_l < 200) {
+ iMaxCycleCount_l++;
+ }
+ bSpeedSelectOld_l = bSpeedSelect_l;
+ } else if ((bSpeedSelect_l & 0x02) != 0) {
+ if (iMaxCycleCount_l > 1) {
+ iMaxCycleCount_l--;
+ }
+ bSpeedSelectOld_l = bSpeedSelect_l;
+ } else if ((bSpeedSelect_l & 0x04) != 0) {
+ iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT;
+ bSpeedSelectOld_l = bSpeedSelect_l;
+ }
+ } else if (bSpeedSelect_l == 0) {
+ bSpeedSelectOld_l = 0;
+ }
+ }
+
+ TGT_DBG_SIGNAL_TRACE_POINT(1);
+
+ return EplRet;
}
-
-
// EOF
-
projects / deliverable / linux.git / blobdiff