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/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: global include file for EPL-NMT-Modules
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-------------------------------------------------------------------------
$RCSfile: EplNmt.h,v $
$Author: D.Krueger $
$Revision: 1.6 $ $Date: 2008/11/17 16:40:39 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/06/09 k.t.: start of the implementation
****************************************************************************/
#ifndef _EPLNMT_H_
#define _EPLNMT_H_
#include "EplInc.h"
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
// define super-states and masks to identify a super-state
#define EPL_NMT_GS_POWERED 0x0008 // super state
#define EPL_NMT_GS_INITIALISATION 0x0009 // super state
#define EPL_NMT_GS_COMMUNICATING 0x000C // super state
#define EPL_NMT_CS_EPLMODE 0x000D // super state
#define EPL_NMT_MS_EPLMODE 0x000D // super state
#define EPL_NMT_SUPERSTATE_MASK 0x000F // mask to select state
#define EPL_NMT_TYPE_UNDEFINED 0x0000 // type of NMT state is still undefined
#define EPL_NMT_TYPE_CS 0x0100 // CS type of NMT state
#define EPL_NMT_TYPE_MS 0x0200 // MS type of NMT state
#define EPL_NMT_TYPE_MASK 0x0300 // mask to select type of NMT state (i.e. CS or MS)
//---------------------------------------------------------------------------
// typedef
//---------------------------------------------------------------------------
// the lower Byte of the NMT-State is encoded
// like the values in the EPL-Standard
// the higher byte is used to encode MN
// (Bit 1 of the higher byte = 1) or CN (Bit 0 of the
// higher byte = 1)
// the super-states are not mentioned in this
// enum because they are no real states
// --> there are masks defined to indentify the
// super-states
typedef enum {
kEplNmtGsOff = 0x0000,
kEplNmtGsInitialising = 0x0019,
kEplNmtGsResetApplication = 0x0029,
kEplNmtGsResetCommunication = 0x0039,
kEplNmtGsResetConfiguration = 0x0079,
kEplNmtCsNotActive = 0x011C,
kEplNmtCsPreOperational1 = 0x011D,
kEplNmtCsStopped = 0x014D,
kEplNmtCsPreOperational2 = 0x015D,
kEplNmtCsReadyToOperate = 0x016D,
kEplNmtCsOperational = 0x01FD,
kEplNmtCsBasicEthernet = 0x011E,
kEplNmtMsNotActive = 0x021C,
kEplNmtMsPreOperational1 = 0x021D,
kEplNmtMsPreOperational2 = 0x025D,
kEplNmtMsReadyToOperate = 0x026D,
kEplNmtMsOperational = 0x02FD,
kEplNmtMsBasicEthernet = 0x021E
} tEplNmtState;
// NMT-events
typedef enum {
// Events from DLL
// Events defined by EPL V2 specification
kEplNmtEventNoEvent = 0x00,
// kEplNmtEventDllMePres = 0x01,
kEplNmtEventDllMePresTimeout = 0x02,
// kEplNmtEventDllMeAsnd = 0x03,
// kEplNmtEventDllMeAsndTimeout = 0x04,
kEplNmtEventDllMeSoaSent = 0x04,
kEplNmtEventDllMeSocTrig = 0x05,
kEplNmtEventDllMeSoaTrig = 0x06,
kEplNmtEventDllCeSoc = 0x07,
kEplNmtEventDllCePreq = 0x08,
kEplNmtEventDllCePres = 0x09,
kEplNmtEventDllCeSoa = 0x0A,
kEplNmtEventDllCeAsnd = 0x0B,
kEplNmtEventDllCeFrameTimeout = 0x0C,
// Events triggered by NMT-Commands
kEplNmtEventSwReset = 0x10, // NMT_GT1, NMT_GT2, NMT_GT8
kEplNmtEventResetNode = 0x11,
kEplNmtEventResetCom = 0x12,
kEplNmtEventResetConfig = 0x13,
kEplNmtEventEnterPreOperational2 = 0x14,
kEplNmtEventEnableReadyToOperate = 0x15,
kEplNmtEventStartNode = 0x16, // NMT_CT7
kEplNmtEventStopNode = 0x17,
// Events triggered by higher layer
kEplNmtEventEnterResetApp = 0x20,
kEplNmtEventEnterResetCom = 0x21,
kEplNmtEventInternComError = 0x22, // NMT_GT6, internal communication error -> enter ResetCommunication
kEplNmtEventEnterResetConfig = 0x23,
kEplNmtEventEnterCsNotActive = 0x24,
kEplNmtEventEnterMsNotActive = 0x25,
kEplNmtEventTimerBasicEthernet = 0x26, // NMT_CT3; timer triggered state change (NotActive -> BasicEth)
kEplNmtEventTimerMsPreOp1 = 0x27, // enter PreOp1 on MN (NotActive -> MsPreOp1)
kEplNmtEventNmtCycleError = 0x28, // NMT_CT11, NMT_MT6; error during cycle -> enter PreOp1
kEplNmtEventTimerMsPreOp2 = 0x29, // enter PreOp2 on MN (MsPreOp1 -> MsPreOp2 if kEplNmtEventAllMandatoryCNIdent)
kEplNmtEventAllMandatoryCNIdent = 0x2A, // enter PreOp2 on MN if kEplNmtEventTimerMsPreOp2
kEplNmtEventEnterReadyToOperate = 0x2B, // application ready for the state ReadyToOp
kEplNmtEventEnterMsOperational = 0x2C, // enter Operational on MN
kEplNmtEventSwitchOff = 0x2D, // enter state Off
kEplNmtEventCriticalError = 0x2E, // enter state Off because of critical error
} tEplNmtEvent;
// type for argument of event kEplEventTypeNmtStateChange
typedef struct {
tEplNmtState m_NewNmtState;
tEplNmtEvent m_NmtEvent;
} tEplEventNmtStateChange;
// structure for kEplEventTypeHeartbeat
typedef struct {
unsigned int m_uiNodeId; // NodeId
tEplNmtState m_NmtState; // NMT state (remember distinguish between MN / CN)
WORD m_wErrorCode; // EPL error code in case of NMT state NotActive
} tEplHeartbeatEvent;
typedef enum {
kEplNmtNodeEventFound = 0x00,
kEplNmtNodeEventUpdateSw = 0x01, // application shall update software on CN
kEplNmtNodeEventCheckConf = 0x02, // application / Configuration Manager shall check and update configuration on CN
kEplNmtNodeEventUpdateConf = 0x03, // application / Configuration Manager shall update configuration on CN (check was done by NmtMn module)
kEplNmtNodeEventVerifyConf = 0x04, // application / Configuration Manager shall verify configuration of CN
kEplNmtNodeEventReadyToStart = 0x05, // issued if EPL_NMTST_NO_STARTNODE set
// application must call EplNmtMnuSendNmtCommand(kEplNmtCmdStartNode) manually
kEplNmtNodeEventNmtState = 0x06,
kEplNmtNodeEventError = 0x07, // NMT error of CN
} tEplNmtNodeEvent;
typedef enum {
kEplNmtNodeCommandBoot = 0x01, // if EPL_NODEASSIGN_START_CN not set it must be issued after kEplNmtNodeEventFound
kEplNmtNodeCommandSwOk = 0x02, // application updated software on CN successfully
kEplNmtNodeCommandSwUpdated = 0x03, // application updated software on CN successfully
kEplNmtNodeCommandConfOk = 0x04, // application / Configuration Manager has updated configuration on CN successfully
kEplNmtNodeCommandConfReset = 0x05, // application / Configuration Manager has updated configuration on CN successfully
// and CN needs ResetConf so that the configuration gets actived
kEplNmtNodeCommandConfErr = 0x06, // application / Configuration Manager failed on updating configuration on CN
kEplNmtNodeCommandStart = 0x07, // if EPL_NMTST_NO_STARTNODE set it must be issued after kEplNmtNodeEventReadyToStart
} tEplNmtNodeCommand;
typedef enum {
kEplNmtBootEventBootStep1Finish = 0x00, // PreOp2 is possible
kEplNmtBootEventBootStep2Finish = 0x01, // ReadyToOp is possible
kEplNmtBootEventCheckComFinish = 0x02, // Operational is possible
kEplNmtBootEventOperational = 0x03, // all mandatory CNs are Operational
kEplNmtBootEventError = 0x04, // boot process halted because of an error
} tEplNmtBootEvent;
//---------------------------------------------------------------------------
// function prototypes
//---------------------------------------------------------------------------
#endif // #ifndef _EPLNMT_H_