| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: source file for SDO/Asnd-Protocolabstractionlayer module |
| |
| License: |
| |
| Redistribution and use in source and binary forms, with or without |
| modification, are permitted provided that the following conditions |
| are met: |
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| 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: EplSdoAsndu.c,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.7 $ $Date: 2008/10/17 15:32:32 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| GCC V3.4 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/07/07 k.t.: start of the implementation |
| |
| ****************************************************************************/ |
| |
| #include "user/EplSdoAsndu.h" |
| #include "user/EplDlluCal.h" |
| |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) |
| |
| /***************************************************************************/ |
| /* */ |
| /* */ |
| /* G L O B A L D E F I N I T I O N S */ |
| /* */ |
| /* */ |
| /***************************************************************************/ |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| #ifndef EPL_SDO_MAX_CONNECTION_ASND |
| #define EPL_SDO_MAX_CONNECTION_ASND 5 |
| #endif |
| |
| //--------------------------------------------------------------------------- |
| // local types |
| //--------------------------------------------------------------------------- |
| |
| // instance table |
| typedef struct { |
| unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND]; |
| tEplSequLayerReceiveCb m_fpSdoAsySeqCb; |
| |
| } tEplSdoAsndInstance; |
| |
| //--------------------------------------------------------------------------- |
| // modul globale vars |
| //--------------------------------------------------------------------------- |
| |
| static tEplSdoAsndInstance SdoAsndInstance_g; |
| |
| //--------------------------------------------------------------------------- |
| // local function prototypes |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p); |
| |
| /***************************************************************************/ |
| /* */ |
| /* */ |
| /* C L A S S <EPL SDO-Asnd Protocolabstraction layer> */ |
| /* */ |
| /* */ |
| /***************************************************************************/ |
| // |
| // Description: EPL SDO-Asnd Protocolabstraction layer |
| // |
| // |
| /***************************************************************************/ |
| |
| //=========================================================================// |
| // // |
| // P U B L I C F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduInit |
| // |
| // Description: init first instance of the module |
| // |
| // |
| // |
| // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer |
| // callback-function |
| // |
| // |
| // Returns: tEplKernel = Errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p) |
| { |
| tEplKernel Ret; |
| |
| Ret = EplSdoAsnduAddInstance(fpReceiveCb_p); |
| |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduAddInstance |
| // |
| // Description: init additional instance of the module |
| // |
| // |
| // |
| // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer |
| // callback-function |
| // |
| // |
| // Returns: tEplKernel = Errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p) |
| { |
| tEplKernel Ret; |
| |
| Ret = kEplSuccessful; |
| |
| // init control structure |
| EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g)); |
| |
| // save pointer to callback-function |
| if (fpReceiveCb_p != NULL) { |
| SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p; |
| } else { |
| Ret = kEplSdoUdpMissCb; |
| } |
| |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) |
| Ret = EplDlluCalRegAsndService(kEplDllAsndSdo, |
| EplSdoAsnduCb, kEplDllAsndFilterLocal); |
| #endif |
| |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduDelInstance |
| // |
| // Description: del instance of the module |
| // del socket and del Listen-Thread |
| // |
| // |
| // |
| // Parameters: |
| // |
| // |
| // Returns: tEplKernel = Errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduDelInstance(void) |
| { |
| tEplKernel Ret; |
| |
| Ret = kEplSuccessful; |
| |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) |
| // deregister callback function from DLL |
| Ret = EplDlluCalRegAsndService(kEplDllAsndSdo, |
| NULL, kEplDllAsndFilterNone); |
| #endif |
| |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduInitCon |
| // |
| // Description: init a new connect |
| // |
| // |
| // |
| // Parameters: pSdoConHandle_p = pointer for the new connection handle |
| // uiTargetNodeId_p = NodeId of the target node |
| // |
| // |
| // Returns: tEplKernel = Errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduInitCon(tEplSdoConHdl *pSdoConHandle_p, |
| unsigned int uiTargetNodeId_p) |
| { |
| tEplKernel Ret; |
| unsigned int uiCount; |
| unsigned int uiFreeCon; |
| unsigned int *puiConnection; |
| |
| Ret = kEplSuccessful; |
| |
| if ((uiTargetNodeId_p == EPL_C_ADR_INVALID) |
| || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) { |
| Ret = kEplSdoAsndInvalidNodeId; |
| goto Exit; |
| } |
| // get free entry in control structure |
| uiCount = 0; |
| uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND; |
| puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0]; |
| while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) { |
| if (*puiConnection == uiTargetNodeId_p) { // existing connection to target node found |
| // save handle for higher layer |
| *pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE); |
| |
| goto Exit; |
| } else if (*puiConnection == 0) { // free entry-> save target nodeId |
| uiFreeCon = uiCount; |
| } |
| uiCount++; |
| puiConnection++; |
| } |
| |
| if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) { |
| // no free connection |
| Ret = kEplSdoAsndNoFreeHandle; |
| } else { |
| puiConnection = |
| &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon]; |
| *puiConnection = uiTargetNodeId_p; |
| // save handle for higher layer |
| *pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE); |
| |
| goto Exit; |
| } |
| |
| Exit: |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduSendData |
| // |
| // Description: send data using exisiting connection |
| // |
| // |
| // |
| // Parameters: SdoConHandle_p = connection handle |
| // pSrcData_p = pointer to data |
| // dwDataSize_p = number of databyte |
| // -> without asnd-header!!! |
| // |
| // Returns: tEplKernel = Errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p, |
| tEplFrame *pSrcData_p, |
| u32 dwDataSize_p) |
| { |
| tEplKernel Ret; |
| unsigned int uiArray; |
| tEplFrameInfo FrameInfo; |
| |
| Ret = kEplSuccessful; |
| |
| uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); |
| |
| if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) { |
| Ret = kEplSdoAsndInvalidHandle; |
| goto Exit; |
| } |
| // fillout Asnd header |
| // own node id not needed -> filled by DLL |
| |
| // set message type |
| AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (u8) kEplMsgTypeAsnd); // ASnd == 0x06 |
| // target node id |
| AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, |
| (u8) SdoAsndInstance_g. |
| m_auiSdoAsndConnection[uiArray]); |
| // set source-nodeid (filled by DLL 0) |
| AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00); |
| |
| // calc size |
| dwDataSize_p += EPL_ASND_HEADER_SIZE; |
| |
| // send function of DLL |
| FrameInfo.m_uiFrameSize = dwDataSize_p; |
| FrameInfo.m_pFrame = pSrcData_p; |
| EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime)); |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) |
| Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric); |
| #endif |
| |
| Exit: |
| return Ret; |
| |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduDelCon |
| // |
| // Description: delete connection from intern structure |
| // |
| // |
| // |
| // Parameters: SdoConHandle_p = connection handle |
| // |
| // Returns: tEplKernel = Errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p) |
| { |
| tEplKernel Ret; |
| unsigned int uiArray; |
| |
| Ret = kEplSuccessful; |
| |
| uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); |
| // check parameter |
| if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) { |
| Ret = kEplSdoAsndInvalidHandle; |
| goto Exit; |
| } |
| // set target nodeId to 0 |
| SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0; |
| |
| Exit: |
| return Ret; |
| } |
| |
| //=========================================================================// |
| // // |
| // P R I V A T E F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplSdoAsnduCb |
| // |
| // Description: callback function for SDO ASnd frames |
| // |
| // |
| // |
| // Parameters: pFrameInfo_p = Frame with SDO payload |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p) |
| { |
| tEplKernel Ret = kEplSuccessful; |
| unsigned int uiCount; |
| unsigned int *puiConnection; |
| unsigned int uiNodeId; |
| unsigned int uiFreeEntry = 0xFFFF; |
| tEplSdoConHdl SdoConHdl; |
| tEplFrame *pFrame; |
| |
| pFrame = pFrameInfo_p->m_pFrame; |
| |
| uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId); |
| |
| // search corresponding entry in control structure |
| uiCount = 0; |
| puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0]; |
| while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) { |
| if (uiNodeId == *puiConnection) { |
| break; |
| } else if ((*puiConnection == 0) |
| && (uiFreeEntry == 0xFFFF)) { // free entry |
| uiFreeEntry = uiCount; |
| } |
| uiCount++; |
| puiConnection++; |
| } |
| |
| if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) { |
| if (uiFreeEntry != 0xFFFF) { |
| puiConnection = |
| &SdoAsndInstance_g. |
| m_auiSdoAsndConnection[uiFreeEntry]; |
| *puiConnection = uiNodeId; |
| uiCount = uiFreeEntry; |
| } else { |
| EPL_DBGLVL_SDO_TRACE0 |
| ("EplSdoAsnduCb(): no free handle\n"); |
| goto Exit; |
| } |
| } |
| // if (uiNodeId == *puiConnection) |
| { // entry found or created |
| SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE); |
| |
| SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl, |
| &pFrame->m_Data.m_Asnd. |
| m_Payload.m_SdoSequenceFrame, |
| (pFrameInfo_p->m_uiFrameSize - |
| 18)); |
| } |
| |
| Exit: |
| return Ret; |
| |
| } |
| |
| #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) |
| // EOF |
