| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: source file for NMT-Userspace-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. |
| |
| 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: EplNmtu.c,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.8 $ $Date: 2008/11/10 17:17:42 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| GCC V3.4 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/06/09 k.t.: start of the implementation |
| |
| ****************************************************************************/ |
| |
| #include "EplInc.h" |
| #include "user/EplNmtu.h" |
| #include "user/EplObdu.h" |
| #include "user/EplTimeru.h" |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0) |
| #include "kernel/EplNmtk.h" |
| #endif |
| |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0) |
| /***************************************************************************/ |
| /* */ |
| /* */ |
| /* G L O B A L D E F I N I T I O N S */ |
| /* */ |
| /* */ |
| /***************************************************************************/ |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // local types |
| //--------------------------------------------------------------------------- |
| |
| typedef struct { |
| tEplNmtuStateChangeCallback m_pfnNmtChangeCb; |
| tEplTimerHdl m_TimerHdl; |
| |
| } tEplNmtuInstance; |
| |
| //--------------------------------------------------------------------------- |
| // modul globale vars |
| //--------------------------------------------------------------------------- |
| |
| static tEplNmtuInstance EplNmtuInstance_g; |
| |
| //--------------------------------------------------------------------------- |
| // local function prototypes |
| //--------------------------------------------------------------------------- |
| |
| //=========================================================================// |
| // // |
| // P U B L I C F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuInit |
| // |
| // Description: init first instance of the module |
| // |
| // |
| // |
| // Parameters: |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplNmtuInit(void) |
| { |
| tEplKernel Ret; |
| |
| Ret = EplNmtuAddInstance(); |
| |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuAddInstance |
| // |
| // Description: init other instances of the module |
| // |
| // |
| // |
| // Parameters: |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplNmtuAddInstance(void) |
| { |
| tEplKernel Ret; |
| |
| Ret = kEplSuccessful; |
| |
| EplNmtuInstance_g.m_pfnNmtChangeCb = NULL; |
| |
| return Ret; |
| |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuDelInstance |
| // |
| // Description: delete instance |
| // |
| // |
| // |
| // Parameters: |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplNmtuDelInstance(void) |
| { |
| tEplKernel Ret; |
| |
| Ret = kEplSuccessful; |
| |
| EplNmtuInstance_g.m_pfnNmtChangeCb = NULL; |
| |
| // delete timer |
| Ret = EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl); |
| |
| return Ret; |
| |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuNmtEvent |
| // |
| // Description: sends the NMT-Event to the NMT-State-Maschine |
| // |
| // |
| // |
| // Parameters: NmtEvent_p = NMT-Event to send |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplNmtuNmtEvent(tEplNmtEvent NmtEvent_p) |
| { |
| tEplKernel Ret; |
| tEplEvent Event; |
| |
| Event.m_EventSink = kEplEventSinkNmtk; |
| Event.m_NetTime.m_dwNanoSec = 0; |
| Event.m_NetTime.m_dwSec = 0; |
| Event.m_EventType = kEplEventTypeNmtEvent; |
| Event.m_pArg = &NmtEvent_p; |
| Event.m_uiSize = sizeof(NmtEvent_p); |
| |
| Ret = EplEventuPost(&Event); |
| |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuGetNmtState |
| // |
| // Description: returns the actuell NMT-State |
| // |
| // |
| // |
| // Parameters: |
| // |
| // |
| // Returns: tEplNmtState = NMT-State |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplNmtState EplNmtuGetNmtState(void) |
| { |
| tEplNmtState NmtState; |
| |
| // $$$ call function of communication abstraction layer |
| #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0) |
| NmtState = EplNmtkGetNmtState(); |
| #else |
| NmtState = 0; |
| #endif |
| |
| return NmtState; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuProcessEvent |
| // |
| // Description: processes events from event queue |
| // |
| // |
| // |
| // Parameters: pEplEvent_p = pointer to event |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplNmtuProcessEvent(tEplEvent *pEplEvent_p) |
| { |
| tEplKernel Ret; |
| |
| Ret = kEplSuccessful; |
| |
| // process event |
| switch (pEplEvent_p->m_EventType) { |
| // state change of NMT-Module |
| case kEplEventTypeNmtStateChange: |
| { |
| tEplEventNmtStateChange *pNmtStateChange; |
| |
| // delete timer |
| Ret = |
| EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl); |
| |
| pNmtStateChange = |
| (tEplEventNmtStateChange *) pEplEvent_p->m_pArg; |
| |
| // call cb-functions to inform higher layer |
| if (EplNmtuInstance_g.m_pfnNmtChangeCb != NULL) { |
| Ret = |
| EplNmtuInstance_g. |
| m_pfnNmtChangeCb(*pNmtStateChange); |
| } |
| |
| if (Ret == kEplSuccessful) { // everything is OK, so switch to next state if necessary |
| switch (pNmtStateChange->m_NewNmtState) { |
| // EPL stack is not running |
| case kEplNmtGsOff: |
| break; |
| |
| // first init of the hardware |
| case kEplNmtGsInitialising: |
| { |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventEnterResetApp); |
| break; |
| } |
| |
| // init of the manufacturer-specific profile area and the |
| // standardised device profile area |
| case kEplNmtGsResetApplication: |
| { |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventEnterResetCom); |
| break; |
| } |
| |
| // init of the communication profile area |
| case kEplNmtGsResetCommunication: |
| { |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventEnterResetConfig); |
| break; |
| } |
| |
| // build the configuration with infos from OD |
| case kEplNmtGsResetConfiguration: |
| { |
| unsigned int uiNodeId; |
| |
| // get node ID from OD |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE) |
| uiNodeId = |
| EplObduGetNodeId |
| (EPL_MCO_PTR_INSTANCE_PTR); |
| #else |
| uiNodeId = 0; |
| #endif |
| //check node ID if not should be master or slave |
| if (uiNodeId == EPL_C_ADR_MN_DEF_NODE_ID) { // node shall be MN |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventEnterMsNotActive); |
| #else |
| TRACE0 |
| ("EplNmtuProcess(): no MN functionality implemented\n"); |
| #endif |
| } else { // node shall be CN |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventEnterCsNotActive); |
| } |
| break; |
| } |
| |
| //----------------------------------------------------------- |
| // CN part of the state machine |
| |
| // node listens for EPL-Frames and check timeout |
| case kEplNmtCsNotActive: |
| { |
| u32 dwBuffer; |
| tEplObdSize ObdSize; |
| tEplTimerArg TimerArg; |
| |
| // create timer to switch automatically to BasicEthernet if no MN available in network |
| |
| // read NMT_CNBasicEthernetTimerout_U32 from OD |
| ObdSize = sizeof(dwBuffer); |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE) |
| Ret = |
| EplObduReadEntry |
| (EPL_MCO_PTR_INSTANCE_PTR_ |
| 0x1F99, 0x00, &dwBuffer, |
| &ObdSize); |
| #else |
| Ret = kEplObdIndexNotExist; |
| #endif |
| if (Ret != kEplSuccessful) { |
| break; |
| } |
| if (dwBuffer != 0) { // BasicEthernet is enabled |
| // convert us into ms |
| dwBuffer = |
| dwBuffer / 1000; |
| if (dwBuffer == 0) { // timer was below one ms |
| // set one ms |
| dwBuffer = 1; |
| } |
| TimerArg.m_EventSink = |
| kEplEventSinkNmtk; |
| TimerArg.m_ulArg = |
| (unsigned long) |
| kEplNmtEventTimerBasicEthernet; |
| Ret = |
| EplTimeruModifyTimerMs |
| (&EplNmtuInstance_g. |
| m_TimerHdl, |
| (unsigned long) |
| dwBuffer, |
| TimerArg); |
| // potential error is forwarded to event queue which generates error event |
| } |
| break; |
| } |
| |
| // node processes only async frames |
| case kEplNmtCsPreOperational1: |
| { |
| break; |
| } |
| |
| // node processes isochronous and asynchronous frames |
| case kEplNmtCsPreOperational2: |
| { |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventEnterReadyToOperate); |
| break; |
| } |
| |
| // node should be configured und application is ready |
| case kEplNmtCsReadyToOperate: |
| { |
| break; |
| } |
| |
| // normal work state |
| case kEplNmtCsOperational: |
| { |
| break; |
| } |
| |
| // node stopped by MN |
| // -> only process asynchronous frames |
| case kEplNmtCsStopped: |
| { |
| break; |
| } |
| |
| // no EPL cycle |
| // -> normal ethernet communication |
| case kEplNmtCsBasicEthernet: |
| { |
| break; |
| } |
| |
| //----------------------------------------------------------- |
| // MN part of the state machine |
| |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
| // node listens for EPL-Frames and check timeout |
| case kEplNmtMsNotActive: |
| { |
| u32 dwBuffer; |
| tEplObdSize ObdSize; |
| tEplTimerArg TimerArg; |
| |
| // create timer to switch automatically to BasicEthernet/PreOp1 if no other MN active in network |
| |
| // check NMT_StartUp_U32.Bit13 |
| // read NMT_StartUp_U32 from OD |
| ObdSize = sizeof(dwBuffer); |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE) |
| Ret = |
| EplObduReadEntry |
| (EPL_MCO_PTR_INSTANCE_PTR_ |
| 0x1F80, 0x00, &dwBuffer, |
| &ObdSize); |
| #else |
| Ret = kEplObdIndexNotExist; |
| #endif |
| if (Ret != kEplSuccessful) { |
| break; |
| } |
| |
| if ((dwBuffer & EPL_NMTST_BASICETHERNET) == 0) { // NMT_StartUp_U32.Bit13 == 0 |
| // new state PreOperational1 |
| TimerArg.m_ulArg = |
| (unsigned long) |
| kEplNmtEventTimerMsPreOp1; |
| } else { // NMT_StartUp_U32.Bit13 == 1 |
| // new state BasicEthernet |
| TimerArg.m_ulArg = |
| (unsigned long) |
| kEplNmtEventTimerBasicEthernet; |
| } |
| |
| // read NMT_BootTime_REC.MNWaitNotAct_U32 from OD |
| ObdSize = sizeof(dwBuffer); |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE) |
| Ret = |
| EplObduReadEntry |
| (EPL_MCO_PTR_INSTANCE_PTR_ |
| 0x1F89, 0x01, &dwBuffer, |
| &ObdSize); |
| #else |
| Ret = kEplObdIndexNotExist; |
| #endif |
| if (Ret != kEplSuccessful) { |
| break; |
| } |
| // convert us into ms |
| dwBuffer = dwBuffer / 1000; |
| if (dwBuffer == 0) { // timer was below one ms |
| // set one ms |
| dwBuffer = 1; |
| } |
| TimerArg.m_EventSink = |
| kEplEventSinkNmtk; |
| Ret = |
| EplTimeruModifyTimerMs |
| (&EplNmtuInstance_g. |
| m_TimerHdl, |
| (unsigned long)dwBuffer, |
| TimerArg); |
| // potential error is forwarded to event queue which generates error event |
| break; |
| } |
| |
| // node processes only async frames |
| case kEplNmtMsPreOperational1: |
| { |
| u32 dwBuffer = 0; |
| tEplObdSize ObdSize; |
| tEplTimerArg TimerArg; |
| |
| // create timer to switch automatically to PreOp2 if MN identified all mandatory CNs |
| |
| // read NMT_BootTime_REC.MNWaitPreOp1_U32 from OD |
| ObdSize = sizeof(dwBuffer); |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE) |
| Ret = |
| EplObduReadEntry |
| (EPL_MCO_PTR_INSTANCE_PTR_ |
| 0x1F89, 0x03, &dwBuffer, |
| &ObdSize); |
| if (Ret != kEplSuccessful) { |
| // ignore error, because this timeout is optional |
| dwBuffer = 0; |
| } |
| #endif |
| if (dwBuffer == 0) { // delay is deactivated |
| // immediately post timer event |
| Ret = |
| EplNmtuNmtEvent |
| (kEplNmtEventTimerMsPreOp2); |
| break; |
| } |
| // convert us into ms |
| dwBuffer = dwBuffer / 1000; |
| if (dwBuffer == 0) { // timer was below one ms |
| // set one ms |
| dwBuffer = 1; |
| } |
| TimerArg.m_EventSink = |
| kEplEventSinkNmtk; |
| TimerArg.m_ulArg = |
| (unsigned long) |
| kEplNmtEventTimerMsPreOp2; |
| Ret = |
| EplTimeruModifyTimerMs |
| (&EplNmtuInstance_g. |
| m_TimerHdl, |
| (unsigned long)dwBuffer, |
| TimerArg); |
| // potential error is forwarded to event queue which generates error event |
| break; |
| } |
| |
| // node processes isochronous and asynchronous frames |
| case kEplNmtMsPreOperational2: |
| { |
| break; |
| } |
| |
| // node should be configured und application is ready |
| case kEplNmtMsReadyToOperate: |
| { |
| break; |
| } |
| |
| // normal work state |
| case kEplNmtMsOperational: |
| { |
| break; |
| } |
| |
| // no EPL cycle |
| // -> normal ethernet communication |
| case kEplNmtMsBasicEthernet: |
| { |
| break; |
| } |
| #endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
| |
| default: |
| { |
| TRACE1 |
| ("EplNmtuProcess(): unhandled NMT state 0x%X\n", |
| pNmtStateChange-> |
| m_NewNmtState); |
| } |
| } |
| } else if (Ret == kEplReject) { // application wants to change NMT state itself |
| // it's OK |
| Ret = kEplSuccessful; |
| } |
| |
| EPL_DBGLVL_NMTU_TRACE0 |
| ("EplNmtuProcessEvent(): NMT-State-Maschine announce change of NMT State\n"); |
| break; |
| } |
| |
| default: |
| { |
| Ret = kEplNmtInvalidEvent; |
| } |
| |
| } |
| |
| //Exit: |
| return Ret; |
| } |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: EplNmtuRegisterStateChangeCb |
| // |
| // Description: register Callback-function go get informed about a |
| // NMT-Change-State-Event |
| // |
| // |
| // |
| // Parameters: pfnEplNmtStateChangeCb_p = functionpointer |
| // |
| // |
| // Returns: tEplKernel = errorcode |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| tEplKernel EplNmtuRegisterStateChangeCb(tEplNmtuStateChangeCallback pfnEplNmtStateChangeCb_p) |
| { |
| tEplKernel Ret; |
| |
| Ret = kEplSuccessful; |
| |
| // save callback-function in modul global var |
| EplNmtuInstance_g.m_pfnNmtChangeCb = pfnEplNmtStateChangeCb_p; |
| |
| return Ret; |
| |
| } |
| |
| //=========================================================================// |
| // // |
| // P R I V A T E F U N C T I O N S // |
| // // |
| //=========================================================================// |
| |
| //--------------------------------------------------------------------------- |
| // |
| // Function: |
| // |
| // Description: |
| // |
| // |
| // |
| // Parameters: |
| // |
| // |
| // Returns: |
| // |
| // |
| // State: |
| // |
| //--------------------------------------------------------------------------- |
| |
| #endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0) |
| |
| // EOF |
