| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: include file for api function of EplOBD-Module |
| |
| 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. |
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| 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. |
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| 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: EplObd.h,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.5 $ $Date: 2008/04/17 21:36:32 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| Microsoft VC7 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/06/02 k.t.: start of the implementation, version 1.00 |
| |
| ****************************************************************************/ |
| |
| #ifndef _EPLOBD_H_ |
| #define _EPLOBD_H_ |
| |
| #include "EplInc.h" |
| |
| // ============================================================================ |
| // defines |
| // ============================================================================ |
| |
| #define EPL_OBD_TABLE_INDEX_END 0xFFFF |
| |
| // for the usage of BOOLEAN in OD |
| #define OBD_TRUE 0x01 |
| #define OBD_FALSE 0x00 |
| |
| // default OD index for Node id |
| #define EPL_OBD_NODE_ID_INDEX 0x1F93 |
| // default subindex for NodeId in OD |
| #define EPL_OBD_NODE_ID_SUBINDEX 0x01 |
| // default subindex for NodeIDByHW_BOOL |
| #define EPL_OBD_NODE_ID_HWBOOL_SUBINDEX 0x02 |
| |
| // ============================================================================ |
| // enums |
| // ============================================================================ |
| |
| // directions for access to object dictionary |
| typedef enum { |
| kEplObdDirInit = 0x00, // initialising after power on |
| kEplObdDirStore = 0x01, // store all object values to non volatile memory |
| kEplObdDirLoad = 0x02, // load all object values from non volatile memory |
| kEplObdDirRestore = 0x03, // deletes non volatile memory (restore) |
| kEplObdDirOBKCheck = 0xFF // reserved |
| } tEplObdDir; |
| |
| // commands for store |
| typedef enum { |
| kEplObdCommNothing = 0x00, |
| kEplObdCommOpenWrite = 0x01, |
| kEplObdCommWriteObj = 0x02, |
| kEplObdCommCloseWrite = 0x03, |
| kEplObdCommOpenRead = 0x04, |
| kEplObdCommReadObj = 0x05, |
| kEplObdCommCloseRead = 0x06, |
| kEplObdCommClear = 0x07, |
| kEplObdCommUnknown = 0xFF |
| } tEplObdCommand; |
| |
| //----------------------------------------------------------------------------------------------------------- |
| // events of object callback function |
| typedef enum { |
| // m_pArg points to |
| // --------------------- |
| kEplObdEvCheckExist = 0x06, // checking if object does exist (reading and writing) NULL |
| kEplObdEvPreRead = 0x00, // before reading an object source data buffer in OD |
| kEplObdEvPostRead = 0x01, // after reading an object destination data buffer from caller |
| kEplObdEvWrStringDomain = 0x07, // event for changing string/domain data pointer or size struct tEplObdVStringDomain in RAM |
| kEplObdEvInitWrite = 0x04, // initializes writing an object (checking object size) size of object in OD (tEplObdSize) |
| kEplObdEvPreWrite = 0x02, // before writing an object source data buffer from caller |
| kEplObdEvPostWrite = 0x03, // after writing an object destination data buffer in OD |
| // kEplObdEvAbortSdo = 0x05 // after an abort of an SDO transfer |
| |
| } tEplObdEvent; |
| |
| // part of OD (bit oriented) |
| typedef unsigned int tEplObdPart; |
| |
| #define kEplObdPartNo 0x00 // nothing |
| #define kEplObdPartGen 0x01 // part (0x1000 - 0x1FFF) |
| #define kEplObdPartMan 0x02 // manufacturer part (0x2000 - 0x5FFF) |
| #define kEplObdPartDev 0x04 // device part (0x6000 - 0x9FFF) |
| #define kEplObdPartUsr 0x08 // dynamic part e.g. for ICE61131-3 |
| |
| // combinations |
| #define kEplObdPartApp ( kEplObdPartMan | kEplObdPartDev | kEplObdPartUsr) // manufacturer and device part (0x2000 - 0x9FFF) and user OD |
| #define kEplObdPartAll (kEplObdPartGen | kEplObdPartMan | kEplObdPartDev | kEplObdPartUsr) // whole OD |
| |
| //----------------------------------------------------------------------------------------------------------- |
| // access types for objects |
| // must be a difine because bit-flags |
| typedef unsigned int tEplObdAccess; |
| |
| #define kEplObdAccRead 0x01 // object can be read |
| #define kEplObdAccWrite 0x02 // object can be written |
| #define kEplObdAccConst 0x04 // object contains a constant value |
| #define kEplObdAccPdo 0x08 // object can be mapped in a PDO |
| #define kEplObdAccArray 0x10 // object contains an array of numerical values |
| #define kEplObdAccRange 0x20 // object contains lower and upper limit |
| #define kEplObdAccVar 0x40 // object data is placed in application |
| #define kEplObdAccStore 0x80 // object data can be stored to non volatile memory |
| |
| // combinations (not all combinations are required) |
| #define kEplObdAccR (0 | 0 | 0 | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccW (0 | 0 | 0 | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccRW (0 | 0 | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccCR (0 | 0 | 0 | 0 | kEplObdAccConst | 0 | kEplObdAccRead) |
| #define kEplObdAccGR (0 | 0 | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccGW (0 | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccGRW (0 | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccVR (0 | kEplObdAccVar | 0 | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccVW (0 | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccVRW (0 | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccVPR (0 | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccVPW (0 | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccVPRW (0 | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccVGR (0 | kEplObdAccVar | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccVGW (0 | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccVGRW (0 | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccVGPR (0 | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccVGPW (0 | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccVGPRW (0 | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccSR (kEplObdAccStore | 0 | 0 | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccSW (kEplObdAccStore | 0 | 0 | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccSRW (kEplObdAccStore | 0 | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccSCR (kEplObdAccStore | 0 | 0 | 0 | kEplObdAccConst | 0 | kEplObdAccRead) |
| #define kEplObdAccSGR (kEplObdAccStore | 0 | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccSGW (kEplObdAccStore | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccSGRW (kEplObdAccStore | 0 | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccSVR (kEplObdAccStore | kEplObdAccVar | 0 | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccSVW (kEplObdAccStore | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccSVRW (kEplObdAccStore | kEplObdAccVar | 0 | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccSVPR (kEplObdAccStore | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccSVPW (kEplObdAccStore | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccSVPRW (kEplObdAccStore | kEplObdAccVar | 0 | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccSVGR (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | 0 | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccSVGW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccSVGRW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | 0 | 0 | kEplObdAccWrite | kEplObdAccRead) |
| #define kEplObdAccSVGPR (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | 0 | kEplObdAccRead) |
| #define kEplObdAccSVGPW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | 0 ) |
| #define kEplObdAccSVGPRW (kEplObdAccStore | kEplObdAccVar | kEplObdAccRange | kEplObdAccPdo | 0 | kEplObdAccWrite | kEplObdAccRead) |
| |
| typedef unsigned int tEplObdSize; // For all objects as objects size are used an unsigned int. |
| |
| // ------------------------------------------------------------------------- |
| // types for data types defined in DS301 |
| // ------------------------------------------------------------------------- |
| |
| // types of objects in object dictionary |
| // DS-301 defines these types as u16 |
| typedef enum { |
| // types which are always supported |
| kEplObdTypBool = 0x0001, |
| |
| kEplObdTypInt8 = 0x0002, |
| kEplObdTypInt16 = 0x0003, |
| kEplObdTypInt32 = 0x0004, |
| kEplObdTypUInt8 = 0x0005, |
| kEplObdTypUInt16 = 0x0006, |
| kEplObdTypUInt32 = 0x0007, |
| kEplObdTypReal32 = 0x0008, |
| kEplObdTypVString = 0x0009, |
| kEplObdTypOString = 0x000A, |
| kEplObdTypDomain = 0x000F, |
| |
| kEplObdTypInt24 = 0x0010, |
| kEplObdTypUInt24 = 0x0016, |
| |
| kEplObdTypReal64 = 0x0011, |
| kEplObdTypInt40 = 0x0012, |
| kEplObdTypInt48 = 0x0013, |
| kEplObdTypInt56 = 0x0014, |
| kEplObdTypInt64 = 0x0015, |
| kEplObdTypUInt40 = 0x0018, |
| kEplObdTypUInt48 = 0x0019, |
| kEplObdTypUInt56 = 0x001A, |
| kEplObdTypUInt64 = 0x001B, |
| kEplObdTypTimeOfDay = 0x000C, |
| kEplObdTypTimeDiff = 0x000D |
| } tEplObdType; |
| // other types are not supported in this version |
| |
| // ------------------------------------------------------------------------- |
| // types for data types defined in DS301 |
| // ------------------------------------------------------------------------- |
| |
| typedef unsigned char tEplObdBoolean; // 0001 |
| typedef signed char tEplObdInteger8; // 0002 |
| typedef signed short int tEplObdInteger16; // 0003 |
| typedef signed long tEplObdInteger32; // 0004 |
| typedef unsigned char tEplObdUnsigned8; // 0005 |
| typedef unsigned short int tEplObdUnsigned16; // 0006 |
| typedef unsigned long tEplObdUnsigned32; // 0007 |
| typedef float tEplObdReal32; // 0008 |
| typedef unsigned char tEplObdDomain; // 000F |
| typedef signed long tEplObdInteger24; // 0010 |
| typedef unsigned long tEplObdUnsigned24; // 0016 |
| |
| typedef s64 tEplObdInteger40; // 0012 |
| typedef s64 tEplObdInteger48; // 0013 |
| typedef s64 tEplObdInteger56; // 0014 |
| typedef s64 tEplObdInteger64; // 0015 |
| |
| typedef u64 tEplObdUnsigned40; // 0018 |
| typedef u64 tEplObdUnsigned48; // 0019 |
| typedef u64 tEplObdUnsigned56; // 001A |
| typedef u64 tEplObdUnsigned64; // 001B |
| |
| typedef double tEplObdReal64; // 0011 |
| |
| typedef tTimeOfDay tEplObdTimeOfDay; // 000C |
| typedef tTimeOfDay tEplObdTimeDifference; // 000D |
| |
| // ------------------------------------------------------------------------- |
| // structur for defining a variable |
| // ------------------------------------------------------------------------- |
| // ------------------------------------------------------------------------- |
| typedef enum { |
| kVarValidSize = 0x01, |
| kVarValidData = 0x02, |
| // kVarValidCallback = 0x04, |
| // kVarValidArg = 0x08, |
| |
| kVarValidAll = 0x03 // currently only size and data are implemented and used |
| } tEplVarParamValid; |
| |
| typedef tEplKernel(*tEplVarCallback) (CCM_DECL_INSTANCE_HDL_ void *pParam_p); |
| |
| typedef struct { |
| tEplVarParamValid m_ValidFlag; |
| unsigned int m_uiIndex; |
| unsigned int m_uiSubindex; |
| tEplObdSize m_Size; |
| void *m_pData; |
| // tEplVarCallback m_fpCallback; |
| // void * m_pArg; |
| |
| } tEplVarParam; |
| |
| typedef struct { |
| void *m_pData; |
| tEplObdSize m_Size; |
| /* |
| #if (EPL_PDO_USE_STATIC_MAPPING == FALSE) |
| tEplVarCallback m_fpCallback; |
| void * m_pArg; |
| #endif |
| */ |
| } tEplObdVarEntry; |
| |
| typedef struct { |
| tEplObdSize m_Size; |
| u8 *m_pString; |
| |
| } tEplObdOString; // 000C |
| |
| typedef struct { |
| tEplObdSize m_Size; |
| char *m_pString; |
| } tEplObdVString; // 000D |
| |
| typedef struct { |
| tEplObdSize m_Size; |
| char *m_pDefString; // $$$ d.k. it is unused, so we could delete it |
| char *m_pString; |
| |
| } tEplObdVStringDef; |
| |
| typedef struct { |
| tEplObdSize m_Size; |
| u8 *m_pDefString; // $$$ d.k. it is unused, so we could delete it |
| u8 *m_pString; |
| |
| } tEplObdOStringDef; |
| |
| //r.d. parameter struct for changing object size and/or pointer to data of Strings or Domains |
| typedef struct { |
| tEplObdSize m_DownloadSize; // download size from SDO or APP |
| tEplObdSize m_ObjSize; // current object size from OD - should be changed from callback function |
| void *m_pData; // current object ptr from OD - should be changed from callback function |
| |
| } tEplObdVStringDomain; // 000D |
| |
| // ============================================================================ |
| // types |
| // ============================================================================ |
| // ------------------------------------------------------------------------- |
| // subindexstruct |
| // ------------------------------------------------------------------------- |
| |
| // Change not the order for this struct!!! |
| typedef struct { |
| unsigned int m_uiSubIndex; |
| tEplObdType m_Type; |
| tEplObdAccess m_Access; |
| void *m_pDefault; |
| void *m_pCurrent; // points always to RAM |
| |
| } tEplObdSubEntry; |
| |
| // r.d.: has always to be because new OBD-Macros for arrays |
| typedef tEplObdSubEntry *tEplObdSubEntryPtr; |
| |
| // ------------------------------------------------------------------------- |
| // callback function for objdictionary modul |
| // ------------------------------------------------------------------------- |
| |
| // parameters for callback function |
| typedef struct { |
| tEplObdEvent m_ObdEvent; |
| unsigned int m_uiIndex; |
| unsigned int m_uiSubIndex; |
| void *m_pArg; |
| u32 m_dwAbortCode; |
| |
| } tEplObdCbParam; |
| |
| // define type for callback function: pParam_p points to tEplObdCbParam |
| typedef tEplKernel(*tEplObdCallback) (CCM_DECL_INSTANCE_HDL_ tEplObdCbParam *pParam_p); |
| |
| // do not change the order for this struct!!! |
| |
| typedef struct { |
| unsigned int m_uiIndex; |
| tEplObdSubEntryPtr m_pSubIndex; |
| unsigned int m_uiCount; |
| tEplObdCallback m_fpCallback; // function is called back if object access |
| |
| } tEplObdEntry; |
| |
| // allways pointer |
| typedef tEplObdEntry *tEplObdEntryPtr; |
| |
| // ------------------------------------------------------------------------- |
| // structur to initialize OBD module |
| // ------------------------------------------------------------------------- |
| |
| typedef struct { |
| tEplObdEntryPtr m_pPart; |
| tEplObdEntryPtr m_pManufacturerPart; |
| tEplObdEntryPtr m_pDevicePart; |
| |
| #if (defined (EPL_OBD_USER_OD) && (EPL_OBD_USER_OD != FALSE)) |
| |
| tEplObdEntryPtr m_pUserPart; |
| |
| #endif |
| |
| } tEplObdInitParam; |
| |
| // ------------------------------------------------------------------------- |
| // structur for parameters of STORE RESTORE command |
| // ------------------------------------------------------------------------- |
| |
| typedef struct { |
| tEplObdCommand m_bCommand; |
| tEplObdPart m_bCurrentOdPart; |
| void *m_pData; |
| tEplObdSize m_ObjSize; |
| |
| } tEplObdCbStoreParam; |
| |
| typedef tEplKernel(*tInitTabEntryCallback) (void *pTabEntry_p, unsigned int uiObjIndex_p); |
| |
| typedef tEplKernel(*tEplObdStoreLoadObjCallback) (CCM_DECL_INSTANCE_HDL_ tEplObdCbStoreParam *pCbStoreParam_p); |
| |
| // ------------------------------------------------------------------------- |
| // this stucture is used for parameters for function ObdInitModuleTab() |
| // ------------------------------------------------------------------------- |
| typedef struct { |
| unsigned int m_uiLowerObjIndex; // lower limit of ObjIndex |
| unsigned int m_uiUpperObjIndex; // upper limit of ObjIndex |
| tInitTabEntryCallback m_fpInitTabEntry; // will be called if ObjIndex was found |
| void *m_pTabBase; // base address of table |
| unsigned int m_uiEntrySize; // size of table entry // 25-feb-2005 r.d.: expansion from u8 to u16 necessary for PDO bit mapping |
| unsigned int m_uiMaxEntries; // max. tabel entries |
| |
| } tEplObdModulTabParam; |
| |
| //------------------------------------------------------------------- |
| // enum for function EplObdSetNodeId |
| //------------------------------------------------------------------- |
| typedef enum { |
| kEplObdNodeIdUnknown = 0x00, // unknown how the node id was set |
| kEplObdNodeIdSoftware = 0x01, // node id set by software |
| kEplObdNodeIdHardware = 0x02 // node id set by hardware |
| } tEplObdNodeIdType; |
| |
| // ============================================================================ |
| // global variables |
| // ============================================================================ |
| |
| // ============================================================================ |
| // public functions |
| // ============================================================================ |
| |
| #endif // #ifndef _EPLOBD_H_ |
