| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: source file for user PDO module |
| Currently, this module just implements a OD callback function |
| to check if the PDO configuration is valid. |
| |
| License: |
| |
| Redistribution and use in source and binary forms, with or without |
| modification, are permitted provided that the following conditions |
| are met: |
| |
| 1. Redistributions of source code must retain the above copyright |
| notice, this list of conditions and the following disclaimer. |
| |
| 2. Redistributions in binary form must reproduce the above copyright |
| notice, this list of conditions and the following disclaimer in the |
| documentation and/or other materials provided with the distribution. |
| |
| 3. Neither the name of SYSTEC electronic GmbH nor the names of its |
| contributors may be used to endorse or promote products derived |
| from this software without prior written permission. For written |
| permission, please contact info@systec-electronic.com. |
| |
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| POSSIBILITY OF SUCH DAMAGE. |
| |
| Severability Clause: |
| |
| If a provision of this License is or becomes illegal, invalid or |
| unenforceable in any jurisdiction, that shall not affect: |
| 1. the validity or enforceability in that jurisdiction of any other |
| provision of this License; or |
| 2. the validity or enforceability in other jurisdictions of that or |
| any other provision of this License. |
| |
| ------------------------------------------------------------------------- |
| |
| $RCSfile: EplPdou.c,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.5 $ $Date: 2008/10/17 15:32:32 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| GCC V3.4 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/05/22 d.k.: start of the implementation, version 1.00 |
| |
| ****************************************************************************/ |
| |
| #include "EplInc.h" |
| //#include "user/EplPdouCal.h" |
| #include "user/EplObdu.h" |
| #include "user/EplPdou.h" |
| #include "EplSdoAc.h" |
| |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0) |
| |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE) |
| #error "EPL PDOu module needs EPL module OBDU or OBDK!" |
| #endif |
| |
| /***************************************************************************/ |
| /* */ |
| /* */ |
| /* G L O B A L D E F I N I T I O N S */ |
| /* */ |
| /* */ |
| /***************************************************************************/ |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| #define EPL_PDOU_OBD_IDX_RX_COMM_PARAM 0x1400 |
| #define EPL_PDOU_OBD_IDX_RX_MAPP_PARAM 0x1600 |
| #define EPL_PDOU_OBD_IDX_TX_COMM_PARAM 0x1800 |
| #define EPL_PDOU_OBD_IDX_TX_MAPP_PARAM 0x1A00 |
| #define EPL_PDOU_OBD_IDX_MAPP_PARAM 0x0200 |
| #define EPL_PDOU_OBD_IDX_MASK 0xFF00 |
| #define EPL_PDOU_PDO_ID_MASK 0x00FF |
| |
| //--------------------------------------------------------------------------- |
| // local types |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // modul globale vars |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // local function prototypes |
| //--------------------------------------------------------------------------- |
| |
| /***************************************************************************/ |
| /* */ |
| /* */ |
| /* C L A S S EplPdou */ |
| /* */ |
| /* */ |
| /***************************************************************************/ |
| // |
| // Description: |
| // |
| // |
| /***************************************************************************/ |
| |
| //=========================================================================// |
| // // |
| // P R I V A T E D E F I N I T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // local types |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // local vars |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // local function prototypes |
| //--------------------------------------------------------------------------- |
| |
| static tEplKernel EplPdouCheckPdoValidity(tEplObdCbParam *pParam_p, |
| unsigned int uiIndex_p); |
| |
| static void EplPdouDecodeObjectMapping(u64 qwObjectMapping_p, |
| unsigned int *puiIndex_p, |
| unsigned int *puiSubIndex_p, |
| unsigned int *puiBitOffset_p, |
| unsigned int *puiBitSize_p); |
| |
| static tEplKernel EplPdouCheckObjectMapping(u64 qwObjectMapping_p, |
| tEplObdAccess AccessType_p, |
| u32 * pdwAbortCode_p, |
| unsigned int *puiPdoSize_p); |
| |
| //=========================================================================// |
| // // |
| // P U B L I C F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplPdouAddInstance() |
| // |
| // Description: add and initialize new instance of EPL stack |
| // |
| // Parameters: none |
| // |
| // Returns: tEplKernel = error code |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel EplPdouAddInstance(void) |
| { |
| |
| return kEplSuccessful; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplPdouDelInstance() |
| // |
| // Description: deletes an instance of EPL stack |
| // |
| // Parameters: none |
| // |
| // Returns: tEplKernel = error code |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel EplPdouDelInstance(void) |
| { |
| |
| return kEplSuccessful; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplPdouCbObdAccess |
| // |
| // Description: callback function for OD accesses |
| // |
| // Parameters: pParam_p = OBD parameter |
| // |
| // Returns: tEplKernel = error code |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel EplPdouCbObdAccess(tEplObdCbParam *pParam_p) |
| { |
| tEplKernel Ret = kEplSuccessful; |
| unsigned int uiPdoId; |
| unsigned int uiIndexType; |
| tEplObdSize ObdSize; |
| u8 bObjectCount; |
| u64 qwObjectMapping; |
| tEplObdAccess AccessType; |
| u8 bMappSubindex; |
| unsigned int uiCurPdoSize; |
| u16 wMaxPdoSize; |
| unsigned int uiSubIndex; |
| |
| // fetch PDO ID |
| uiPdoId = pParam_p->m_uiIndex & EPL_PDOU_PDO_ID_MASK; |
| |
| // fetch object index type |
| uiIndexType = pParam_p->m_uiIndex & EPL_PDOU_OBD_IDX_MASK; |
| |
| if (pParam_p->m_ObdEvent != kEplObdEvPreWrite) { // read accesses, post write events etc. are OK |
| pParam_p->m_dwAbortCode = 0; |
| goto Exit; |
| } |
| // check index type |
| switch (uiIndexType) { |
| case EPL_PDOU_OBD_IDX_RX_COMM_PARAM: |
| // RPDO communication parameter accessed |
| case EPL_PDOU_OBD_IDX_TX_COMM_PARAM: |
| { // TPDO communication parameter accessed |
| Ret = EplPdouCheckPdoValidity(pParam_p, |
| (EPL_PDOU_OBD_IDX_MAPP_PARAM |
| | pParam_p->m_uiIndex)); |
| if (Ret != kEplSuccessful) { // PDO is valid or does not exist |
| goto Exit; |
| } |
| |
| goto Exit; |
| } |
| |
| case EPL_PDOU_OBD_IDX_RX_MAPP_PARAM: |
| { // RPDO mapping parameter accessed |
| |
| AccessType = kEplObdAccWrite; |
| break; |
| } |
| |
| case EPL_PDOU_OBD_IDX_TX_MAPP_PARAM: |
| { // TPDO mapping parameter accessed |
| |
| AccessType = kEplObdAccRead; |
| break; |
| } |
| |
| default: |
| { // this callback function is only for |
| // PDO mapping and communication parameters |
| pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR; |
| goto Exit; |
| } |
| } |
| |
| // RPDO and TPDO mapping parameter accessed |
| |
| if (pParam_p->m_uiSubIndex == 0) { // object mapping count accessed |
| |
| // PDO is enabled or disabled |
| bObjectCount = *((u8 *) pParam_p->m_pArg); |
| |
| if (bObjectCount == 0) { // PDO shall be disabled |
| |
| // that is always possible |
| goto Exit; |
| } |
| // PDO shall be enabled |
| // it should have been disabled for this operation |
| Ret = EplPdouCheckPdoValidity(pParam_p, pParam_p->m_uiIndex); |
| if (Ret != kEplSuccessful) { // PDO is valid or does not exist |
| goto Exit; |
| } |
| |
| if (AccessType == kEplObdAccWrite) { |
| uiSubIndex = 0x04; // PReqActPayloadLimit_U16 |
| } else { |
| uiSubIndex = 0x05; // PResActPayloadLimit_U16 |
| } |
| |
| // fetch maximum PDO size from Object 1F98h: NMT_CycleTiming_REC |
| ObdSize = sizeof(wMaxPdoSize); |
| Ret = |
| EplObduReadEntry(0x1F98, uiSubIndex, &wMaxPdoSize, |
| &ObdSize); |
| if (Ret != kEplSuccessful) { // other fatal error occured |
| pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR; |
| goto Exit; |
| } |
| // check all objectmappings |
| for (bMappSubindex = 1; bMappSubindex <= bObjectCount; |
| bMappSubindex++) { |
| // read object mapping from OD |
| ObdSize = sizeof(qwObjectMapping); // u64 |
| Ret = EplObduReadEntry(pParam_p->m_uiIndex, |
| bMappSubindex, &qwObjectMapping, |
| &ObdSize); |
| if (Ret != kEplSuccessful) { // other fatal error occured |
| pParam_p->m_dwAbortCode = |
| EPL_SDOAC_GENERAL_ERROR; |
| goto Exit; |
| } |
| // check object mapping |
| Ret = EplPdouCheckObjectMapping(qwObjectMapping, |
| AccessType, |
| &pParam_p-> |
| m_dwAbortCode, |
| &uiCurPdoSize); |
| if (Ret != kEplSuccessful) { // illegal object mapping |
| goto Exit; |
| } |
| |
| if (uiCurPdoSize > wMaxPdoSize) { // mapping exceeds object size |
| pParam_p->m_dwAbortCode = |
| EPL_SDOAC_GENERAL_ERROR; |
| Ret = kEplPdoVarNotFound; |
| } |
| |
| } |
| |
| } else { // ObjectMapping |
| Ret = EplPdouCheckPdoValidity(pParam_p, pParam_p->m_uiIndex); |
| if (Ret != kEplSuccessful) { // PDO is valid or does not exist |
| goto Exit; |
| } |
| // check existence of object and validity of object length |
| |
| qwObjectMapping = *((u64 *) pParam_p->m_pArg); |
| |
| Ret = EplPdouCheckObjectMapping(qwObjectMapping, |
| AccessType, |
| &pParam_p->m_dwAbortCode, |
| &uiCurPdoSize); |
| |
| } |
| |
| Exit: |
| return Ret; |
| } |
| |
| //=========================================================================// |
| // // |
| // P R I V A T E F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplPdouCheckPdoValidity |
| // |
| // Description: check if PDO is valid |
| // |
| // Parameters: pParam_p = OBD parameter |
| // |
| // Returns: tEplKernel = error code |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| static tEplKernel EplPdouCheckPdoValidity(tEplObdCbParam *pParam_p, |
| unsigned int uiIndex_p) |
| { |
| tEplKernel Ret = kEplSuccessful; |
| tEplObdSize ObdSize; |
| u8 bObjectCount; |
| |
| ObdSize = 1; |
| // read number of mapped objects from OD; this indicates if the PDO is valid |
| Ret = EplObduReadEntry(uiIndex_p, 0x00, &bObjectCount, &ObdSize); |
| if (Ret != kEplSuccessful) { // other fatal error occured |
| pParam_p->m_dwAbortCode = |
| EPL_SDOAC_GEN_INTERNAL_INCOMPATIBILITY; |
| goto Exit; |
| } |
| // entry read successfully |
| if (bObjectCount != 0) { // PDO in OD is still valid |
| pParam_p->m_dwAbortCode = EPL_SDOAC_GEN_PARAM_INCOMPATIBILITY; |
| Ret = kEplPdoNotExist; |
| goto Exit; |
| } |
| |
| Exit: |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplPdouDecodeObjectMapping |
| // |
| // Description: decodes the given object mapping entry into index, subindex, |
| // bit offset and bit size. |
| // |
| // Parameters: qwObjectMapping_p = object mapping entry |
| // puiIndex_p = [OUT] pointer to object index |
| // puiSubIndex_p = [OUT] pointer to subindex |
| // puiBitOffset_p = [OUT] pointer to bit offset |
| // puiBitSize_p = [OUT] pointer to bit size |
| // |
| // Returns: (void) |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| static void EplPdouDecodeObjectMapping(u64 qwObjectMapping_p, |
| unsigned int *puiIndex_p, |
| unsigned int *puiSubIndex_p, |
| unsigned int *puiBitOffset_p, |
| unsigned int *puiBitSize_p) |
| { |
| *puiIndex_p = (unsigned int) |
| (qwObjectMapping_p & 0x000000000000FFFFLL); |
| |
| *puiSubIndex_p = (unsigned int) |
| ((qwObjectMapping_p & 0x0000000000FF0000LL) >> 16); |
| |
| *puiBitOffset_p = (unsigned int) |
| ((qwObjectMapping_p & 0x0000FFFF00000000LL) >> 32); |
| |
| *puiBitSize_p = (unsigned int) |
| ((qwObjectMapping_p & 0xFFFF000000000000LL) >> 48); |
| |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplPdouCheckObjectMapping |
| // |
| // Description: checks the given object mapping entry. |
| // |
| // Parameters: qwObjectMapping_p = object mapping entry |
| // AccessType_p = access type to mapped object: |
| // write = RPDO and read = TPDO |
| // puiPdoSize_p = [OUT] pointer to covered PDO size |
| // (offset + size) in byte; |
| // 0 if mapping failed |
| // pdwAbortCode_p = [OUT] pointer to SDO abort code; |
| // 0 if mapping is possible |
| // |
| // Returns: tEplKernel = error code |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| static tEplKernel EplPdouCheckObjectMapping(u64 qwObjectMapping_p, |
| tEplObdAccess AccessType_p, |
| u32 * pdwAbortCode_p, |
| unsigned int *puiPdoSize_p) |
| { |
| tEplKernel Ret = kEplSuccessful; |
| tEplObdSize ObdSize; |
| unsigned int uiIndex; |
| unsigned int uiSubIndex; |
| unsigned int uiBitOffset; |
| unsigned int uiBitSize; |
| tEplObdAccess AccessType; |
| BOOL fNumerical; |
| |
| if (qwObjectMapping_p == 0) { // discard zero value |
| *puiPdoSize_p = 0; |
| goto Exit; |
| } |
| // decode object mapping |
| EplPdouDecodeObjectMapping(qwObjectMapping_p, |
| &uiIndex, |
| &uiSubIndex, &uiBitOffset, &uiBitSize); |
| |
| if ((uiBitOffset & 0x7) != 0x0) { // bit mapping is not supported |
| *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR; |
| Ret = kEplPdoGranularityMismatch; |
| goto Exit; |
| } |
| |
| if ((uiBitSize & 0x7) != 0x0) { // bit mapping is not supported |
| *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR; |
| Ret = kEplPdoGranularityMismatch; |
| goto Exit; |
| } |
| // check access type |
| Ret = EplObduGetAccessType(uiIndex, uiSubIndex, &AccessType); |
| if (Ret != kEplSuccessful) { // entry doesn't exist |
| *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_EXIST; |
| goto Exit; |
| } |
| |
| if ((AccessType & kEplObdAccPdo) == 0) { // object is not mappable |
| *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_MAPPABLE; |
| Ret = kEplPdoVarNotFound; |
| goto Exit; |
| } |
| |
| if ((AccessType & AccessType_p) == 0) { // object is not writeable (RPDO) or readable (TPDO) respectively |
| *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_MAPPABLE; |
| Ret = kEplPdoVarNotFound; |
| goto Exit; |
| } |
| |
| ObdSize = EplObduGetDataSize(uiIndex, uiSubIndex); |
| if (ObdSize < (uiBitSize >> 3)) { // object does not exist or has smaller size |
| *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR; |
| Ret = kEplPdoVarNotFound; |
| } |
| |
| Ret = EplObduIsNumerical(uiIndex, uiSubIndex, &fNumerical); |
| if (Ret != kEplSuccessful) { // entry doesn't exist |
| *pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_EXIST; |
| goto Exit; |
| } |
| |
| if ((fNumerical != FALSE) |
| && ((uiBitSize >> 3) != ObdSize)) { |
| // object is numerical, |
| // therefor size has to fit, but it does not. |
| *pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR; |
| Ret = kEplPdoVarNotFound; |
| goto Exit; |
| } |
| // calucaled needed PDO size |
| *puiPdoSize_p = (uiBitOffset >> 3) + (uiBitSize >> 3); |
| |
| Exit: |
| return Ret; |
| } |
| |
| #endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0) |
| |
| // EOF |
