Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame^] | 1 | /**************************************************************************** |
| 2 | |
| 3 | (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| 4 | www.systec-electronic.com |
| 5 | |
| 6 | Project: openPOWERLINK |
| 7 | |
| 8 | Description: demoapplication for EPL MN (with SDO over UDP) |
| 9 | under Linux on X86 with RTL8139 Ethernet controller |
| 10 | |
| 11 | License: |
| 12 | |
| 13 | Redistribution and use in source and binary forms, with or without |
| 14 | modification, are permitted provided that the following conditions |
| 15 | are met: |
| 16 | |
| 17 | 1. Redistributions of source code must retain the above copyright |
| 18 | notice, this list of conditions and the following disclaimer. |
| 19 | |
| 20 | 2. Redistributions in binary form must reproduce the above copyright |
| 21 | notice, this list of conditions and the following disclaimer in the |
| 22 | documentation and/or other materials provided with the distribution. |
| 23 | |
| 24 | 3. Neither the name of SYSTEC electronic GmbH nor the names of its |
| 25 | contributors may be used to endorse or promote products derived |
| 26 | from this software without prior written permission. For written |
| 27 | permission, please contact info@systec-electronic.com. |
| 28 | |
| 29 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 30 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 31 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 32 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 33 | COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 34 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 35 | BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 36 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 37 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 38 | LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 39 | ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 40 | POSSIBILITY OF SUCH DAMAGE. |
| 41 | |
| 42 | Severability Clause: |
| 43 | |
| 44 | If a provision of this License is or becomes illegal, invalid or |
| 45 | unenforceable in any jurisdiction, that shall not affect: |
| 46 | 1. the validity or enforceability in that jurisdiction of any other |
| 47 | provision of this License; or |
| 48 | 2. the validity or enforceability in other jurisdictions of that or |
| 49 | any other provision of this License. |
| 50 | |
| 51 | ------------------------------------------------------------------------- |
| 52 | |
| 53 | $RCSfile: demo_main.c,v $ |
| 54 | |
| 55 | $Author: D.Krueger $ |
| 56 | |
| 57 | $Revision: 1.10 $ $Date: 2008/11/19 18:11:43 $ |
| 58 | |
| 59 | $State: Exp $ |
| 60 | |
| 61 | Build Environment: |
| 62 | GCC |
| 63 | |
| 64 | ------------------------------------------------------------------------- |
| 65 | |
| 66 | Revision History: |
| 67 | |
| 68 | 2006/09/01 d.k.: start of implementation |
| 69 | |
| 70 | ****************************************************************************/ |
| 71 | |
| 72 | |
| 73 | #include <linux/module.h> |
| 74 | #include <linux/kernel.h> |
| 75 | #include <linux/init.h> |
| 76 | #include <linux/errno.h> |
| 77 | #include <linux/major.h> |
| 78 | #include <linux/version.h> |
| 79 | #include <asm/io.h> |
| 80 | #include <asm/uaccess.h> |
| 81 | #include <asm/atomic.h> |
| 82 | #include <linux/sched.h> |
| 83 | #include <linux/kmod.h> |
| 84 | #include <linux/slab.h> |
| 85 | #include <linux/pci.h> |
| 86 | #include <linux/proc_fs.h> |
| 87 | |
| 88 | |
| 89 | #include "Epl.h" |
| 90 | #include "proc_fs.h" |
| 91 | |
| 92 | #if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,0) |
| 93 | // remove ("make invisible") obsolete symbols for kernel versions 2.6 |
| 94 | // and higher |
| 95 | #define MOD_INC_USE_COUNT |
| 96 | #define MOD_DEC_USE_COUNT |
| 97 | #define EXPORT_NO_SYMBOLS |
| 98 | #else |
| 99 | #error "This driver needs a 2.6.x kernel or higher" |
| 100 | #endif |
| 101 | |
| 102 | |
| 103 | /***************************************************************************/ |
| 104 | /* */ |
| 105 | /* */ |
| 106 | /* G L O B A L D E F I N I T I O N S */ |
| 107 | /* */ |
| 108 | /* */ |
| 109 | /***************************************************************************/ |
| 110 | |
| 111 | // Metainformation |
| 112 | MODULE_LICENSE("Dual BSD/GPL"); |
| 113 | #ifdef MODULE_AUTHOR |
| 114 | MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com"); |
| 115 | MODULE_DESCRIPTION("EPL MN demo"); |
| 116 | #endif |
| 117 | |
| 118 | //--------------------------------------------------------------------------- |
| 119 | // const defines |
| 120 | //--------------------------------------------------------------------------- |
| 121 | |
| 122 | |
| 123 | |
| 124 | // TracePoint support for realtime-debugging |
| 125 | #ifdef _DBG_TRACE_POINTS_ |
| 126 | void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p); |
| 127 | #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) |
| 128 | #else |
| 129 | #define TGT_DBG_SIGNAL_TRACE_POINT(p) |
| 130 | #endif |
| 131 | |
| 132 | #define NODEID 0xF0 //=> MN |
| 133 | #define CYCLE_LEN 5000 // [us] |
| 134 | #define IP_ADDR 0xc0a86401 // 192.168.100.1 |
| 135 | #define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0 |
| 136 | #define HOSTNAME "SYS TEC electronic EPL Stack " |
| 137 | #define IF_ETH EPL_VETH_NAME |
| 138 | |
| 139 | |
| 140 | // LIGHT EFFECT |
| 141 | #define DEFAULT_MAX_CYCLE_COUNT 20 // 6 is very fast |
| 142 | #define APP_DEFAULT_MODE 0x01 |
| 143 | #define APP_LED_COUNT 5 // number of LEDs in one row |
| 144 | #define APP_LED_MASK ((1 << APP_LED_COUNT) - 1) |
| 145 | #define APP_DOUBLE_LED_MASK ((1 << (APP_LED_COUNT * 2)) - 1) |
| 146 | #define APP_MODE_COUNT 5 |
| 147 | #define APP_MODE_MASK ((1 << APP_MODE_COUNT) - 1) |
| 148 | |
| 149 | |
| 150 | //--------------------------------------------------------------------------- |
| 151 | // local types |
| 152 | //--------------------------------------------------------------------------- |
| 153 | |
| 154 | |
| 155 | |
| 156 | //--------------------------------------------------------------------------- |
| 157 | // modul globale vars |
| 158 | //--------------------------------------------------------------------------- |
| 159 | |
| 160 | CONST BYTE abMacAddr[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; |
| 161 | |
| 162 | BYTE bVarIn1_l; |
| 163 | BYTE bVarOut1_l; |
| 164 | BYTE bVarOut1Old_l; |
| 165 | BYTE bModeSelect_l; // state of the pushbuttons to select the mode |
| 166 | BYTE bSpeedSelect_l; // state of the pushbuttons to increase/decrease the speed |
| 167 | BYTE bSpeedSelectOld_l; // old state of the pushbuttons |
| 168 | DWORD dwLeds_l; // current state of all LEDs |
| 169 | BYTE bLedsRow1_l; // current state of the LEDs in row 1 |
| 170 | BYTE bLedsRow2_l; // current state of the LEDs in row 2 |
| 171 | BYTE abSelect_l[3]; // pushbuttons from CNs |
| 172 | |
| 173 | DWORD dwMode_l; // current mode |
| 174 | int iCurCycleCount_l; // current cycle count |
| 175 | int iMaxCycleCount_l; // maximum cycle count (i.e. number of cycles until next light movement step) |
| 176 | int iToggle; // indicates the light movement direction |
| 177 | |
| 178 | BYTE abDomain_l[3000]; |
| 179 | |
| 180 | static wait_queue_head_t WaitQueueShutdown_g; // wait queue for tEplNmtEventSwitchOff |
| 181 | static atomic_t AtomicShutdown_g = ATOMIC_INIT(FALSE); |
| 182 | |
| 183 | static DWORD dw_le_CycleLen_g; |
| 184 | |
| 185 | static uint uiNodeId_g = EPL_C_ADR_INVALID; |
| 186 | module_param_named(nodeid, uiNodeId_g, uint, 0); |
| 187 | |
| 188 | static uint uiCycleLen_g = CYCLE_LEN; |
| 189 | module_param_named(cyclelen, uiCycleLen_g, uint, 0); |
| 190 | |
| 191 | |
| 192 | //--------------------------------------------------------------------------- |
| 193 | // local function prototypes |
| 194 | //--------------------------------------------------------------------------- |
| 195 | |
| 196 | // This function is the entry point for your object dictionary. It is defined |
| 197 | // in OBJDICT.C by define EPL_OBD_INIT_RAM_NAME. Use this function name to define |
| 198 | // this function prototype here. If you want to use more than one Epl |
| 199 | // instances then the function name of each object dictionary has to differ. |
| 200 | |
| 201 | tEplKernel PUBLIC EplObdInitRam (tEplObdInitParam MEM* pInitParam_p); |
| 202 | |
| 203 | tEplKernel PUBLIC AppCbEvent( |
| 204 | tEplApiEventType EventType_p, // IN: event type (enum) |
| 205 | tEplApiEventArg* pEventArg_p, // IN: event argument (union) |
| 206 | void GENERIC* pUserArg_p); |
| 207 | |
| 208 | tEplKernel PUBLIC AppCbSync(void); |
| 209 | |
| 210 | static int __init EplLinInit (void); |
| 211 | static void __exit EplLinExit (void); |
| 212 | |
| 213 | //--------------------------------------------------------------------------- |
| 214 | // Kernel Module specific Data Structures |
| 215 | //--------------------------------------------------------------------------- |
| 216 | |
| 217 | EXPORT_NO_SYMBOLS; |
| 218 | |
| 219 | |
| 220 | //module_init(EplLinInit); |
| 221 | //module_exit(EplLinExit); |
| 222 | |
| 223 | |
| 224 | //=========================================================================// |
| 225 | // // |
| 226 | // P U B L I C F U N C T I O N S // |
| 227 | // // |
| 228 | //=========================================================================// |
| 229 | |
| 230 | //--------------------------------------------------------------------------- |
| 231 | // |
| 232 | // Function: |
| 233 | // |
| 234 | // Description: |
| 235 | // |
| 236 | // |
| 237 | // |
| 238 | // Parameters: |
| 239 | // |
| 240 | // |
| 241 | // Returns: |
| 242 | // |
| 243 | // |
| 244 | // State: |
| 245 | // |
| 246 | //--------------------------------------------------------------------------- |
| 247 | static int __init EplLinInit (void) |
| 248 | { |
| 249 | tEplKernel EplRet; |
| 250 | int iRet; |
| 251 | static tEplApiInitParam EplApiInitParam = {0}; |
| 252 | char* sHostname = HOSTNAME; |
| 253 | char* argv[4], *envp[3]; |
| 254 | char sBuffer[16]; |
| 255 | unsigned int uiVarEntries; |
| 256 | tEplObdSize ObdSize; |
| 257 | |
| 258 | atomic_set(&AtomicShutdown_g, TRUE); |
| 259 | |
| 260 | // get node ID from insmod command line |
| 261 | EplApiInitParam.m_uiNodeId = uiNodeId_g; |
| 262 | |
| 263 | if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID) |
| 264 | { // invalid node ID set |
| 265 | // set default node ID |
| 266 | EplApiInitParam.m_uiNodeId = NODEID; |
| 267 | } |
| 268 | |
| 269 | uiNodeId_g = EplApiInitParam.m_uiNodeId; |
| 270 | |
| 271 | // calculate IP address |
| 272 | EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId; |
| 273 | |
| 274 | EplApiInitParam.m_fAsyncOnly = FALSE; |
| 275 | |
| 276 | EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam); |
| 277 | EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress)); |
| 278 | // EplApiInitParam.m_abMacAddress[5] = (BYTE) EplApiInitParam.m_uiNodeId; |
| 279 | EplApiInitParam.m_dwFeatureFlags = -1; |
| 280 | EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection |
| 281 | EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const |
| 282 | EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const |
| 283 | EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes |
| 284 | EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes) |
| 285 | EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes) |
| 286 | EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes |
| 287 | EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection |
| 288 | EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size |
| 289 | EplApiInitParam.m_uiPrescaler = 2; // required for sync |
| 290 | EplApiInitParam.m_dwLossOfFrameTolerance = 500000; |
| 291 | EplApiInitParam.m_dwAsyncSlotTimeout = 3000000; |
| 292 | EplApiInitParam.m_dwWaitSocPreq = 150000; |
| 293 | EplApiInitParam.m_dwDeviceType = -1; // NMT_DeviceType_U32 |
| 294 | EplApiInitParam.m_dwVendorId = -1; // NMT_IdentityObject_REC.VendorId_U32 |
| 295 | EplApiInitParam.m_dwProductCode = -1; // NMT_IdentityObject_REC.ProductCode_U32 |
| 296 | EplApiInitParam.m_dwRevisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32 |
| 297 | EplApiInitParam.m_dwSerialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32 |
| 298 | EplApiInitParam.m_dwSubnetMask = SUBNET_MASK; |
| 299 | EplApiInitParam.m_dwDefaultGateway = 0; |
| 300 | EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname)); |
| 301 | |
| 302 | // currently unset parameters left at default value 0 |
| 303 | //EplApiInitParam.m_qwVendorSpecificExt1; |
| 304 | //EplApiInitParam.m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32 |
| 305 | //EplApiInitParam.m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32 |
| 306 | //EplApiInitParam.m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device |
| 307 | //EplApiInitParam.m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device |
| 308 | //EplApiInitParam.m_abVendorSpecificExt2[48]; |
| 309 | |
| 310 | // set callback functions |
| 311 | EplApiInitParam.m_pfnCbEvent = AppCbEvent; |
| 312 | EplApiInitParam.m_pfnCbSync = AppCbSync; |
| 313 | |
| 314 | |
| 315 | printk("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n", |
| 316 | (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ? |
| 317 | "Managing Node" : "Controlled Node"), |
| 318 | __DATE__, __TIME__); |
| 319 | |
| 320 | // initialize the Linux a wait queue for shutdown of this module |
| 321 | init_waitqueue_head(&WaitQueueShutdown_g); |
| 322 | |
| 323 | // initialize the procfs device |
| 324 | EplRet = EplLinProcInit(); |
| 325 | if (EplRet != kEplSuccessful) |
| 326 | { |
| 327 | goto Exit; |
| 328 | } |
| 329 | |
| 330 | // initialize POWERLINK stack |
| 331 | EplRet = EplApiInitialize(&EplApiInitParam); |
| 332 | if(EplRet != kEplSuccessful) |
| 333 | { |
| 334 | goto Exit; |
| 335 | } |
| 336 | |
| 337 | // link process variables used by CN to object dictionary |
| 338 | ObdSize = sizeof(bVarIn1_l); |
| 339 | uiVarEntries = 1; |
| 340 | EplRet = EplApiLinkObject(0x6000, &bVarIn1_l, &uiVarEntries, &ObdSize, 0x01); |
| 341 | if (EplRet != kEplSuccessful) |
| 342 | { |
| 343 | goto Exit; |
| 344 | } |
| 345 | |
| 346 | ObdSize = sizeof(bVarOut1_l); |
| 347 | uiVarEntries = 1; |
| 348 | EplRet = EplApiLinkObject(0x6200, &bVarOut1_l, &uiVarEntries, &ObdSize, 0x01); |
| 349 | if (EplRet != kEplSuccessful) |
| 350 | { |
| 351 | goto Exit; |
| 352 | } |
| 353 | |
| 354 | // link process variables used by MN to object dictionary |
| 355 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
| 356 | ObdSize = sizeof(bLedsRow1_l); |
| 357 | uiVarEntries = 1; |
| 358 | EplRet = EplApiLinkObject(0x2000, &bLedsRow1_l, &uiVarEntries, &ObdSize, 0x01); |
| 359 | if (EplRet != kEplSuccessful) |
| 360 | { |
| 361 | goto Exit; |
| 362 | } |
| 363 | |
| 364 | ObdSize = sizeof(bLedsRow2_l); |
| 365 | uiVarEntries = 1; |
| 366 | EplRet = EplApiLinkObject(0x2000, &bLedsRow2_l, &uiVarEntries, &ObdSize, 0x02); |
| 367 | if (EplRet != kEplSuccessful) |
| 368 | { |
| 369 | goto Exit; |
| 370 | } |
| 371 | |
| 372 | ObdSize = sizeof(bSpeedSelect_l); |
| 373 | uiVarEntries = 1; |
| 374 | EplRet = EplApiLinkObject(0x2000, &bSpeedSelect_l, &uiVarEntries, &ObdSize, 0x03); |
| 375 | if (EplRet != kEplSuccessful) |
| 376 | { |
| 377 | goto Exit; |
| 378 | } |
| 379 | |
| 380 | ObdSize = sizeof(bSpeedSelectOld_l); |
| 381 | uiVarEntries = 1; |
| 382 | EplRet = EplApiLinkObject(0x2000, &bSpeedSelectOld_l, &uiVarEntries, &ObdSize, 0x04); |
| 383 | if (EplRet != kEplSuccessful) |
| 384 | { |
| 385 | goto Exit; |
| 386 | } |
| 387 | |
| 388 | ObdSize = sizeof(abSelect_l[0]); |
| 389 | uiVarEntries = sizeof(abSelect_l); |
| 390 | EplRet = EplApiLinkObject(0x2200, &abSelect_l[0], &uiVarEntries, &ObdSize, 0x01); |
| 391 | if (EplRet != kEplSuccessful) |
| 392 | { |
| 393 | goto Exit; |
| 394 | } |
| 395 | #endif |
| 396 | |
| 397 | // link a DOMAIN to object 0x6100, but do not exit, if it is missing |
| 398 | ObdSize = sizeof(abDomain_l); |
| 399 | uiVarEntries = 1; |
| 400 | EplRet = EplApiLinkObject(0x6100, &abDomain_l, &uiVarEntries, &ObdSize, 0x00); |
| 401 | if (EplRet != kEplSuccessful) |
| 402 | { |
| 403 | printk("EplApiLinkObject(0x6100): returns 0x%X\n", EplRet); |
| 404 | } |
| 405 | |
| 406 | // reset old process variables |
| 407 | bVarOut1Old_l = 0; |
| 408 | bSpeedSelectOld_l = 0; |
| 409 | dwMode_l = APP_DEFAULT_MODE; |
| 410 | iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT; |
| 411 | |
| 412 | |
| 413 | // configure IP address of virtual network interface |
| 414 | // for TCP/IP communication over the POWERLINK network |
| 415 | sprintf(sBuffer, "%lu.%lu.%lu.%lu", (EplApiInitParam.m_dwIpAddress >> 24), ((EplApiInitParam.m_dwIpAddress >> 16) & 0xFF), ((EplApiInitParam.m_dwIpAddress >> 8) & 0xFF), (EplApiInitParam.m_dwIpAddress & 0xFF)); |
| 416 | /* set up a minimal environment */ |
| 417 | iRet = 0; |
| 418 | envp[iRet++] = "HOME=/"; |
| 419 | envp[iRet++] = "PATH=/sbin:/bin:/usr/sbin:/usr/bin"; |
| 420 | envp[iRet] = NULL; |
| 421 | |
| 422 | /* set up the argument list */ |
| 423 | iRet = 0; |
| 424 | argv[iRet++] = "/sbin/ifconfig"; |
| 425 | argv[iRet++] = IF_ETH; |
| 426 | argv[iRet++] = sBuffer; |
| 427 | argv[iRet] = NULL; |
| 428 | |
| 429 | /* call ifconfig to configure the virtual network interface */ |
| 430 | iRet = call_usermodehelper(argv[0], argv, envp, 1); |
| 431 | printk("ifconfig %s %s returned %d\n", argv[1], argv[2], iRet); |
| 432 | |
| 433 | // start the NMT state machine |
| 434 | EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset); |
| 435 | atomic_set(&AtomicShutdown_g, FALSE); |
| 436 | |
| 437 | Exit: |
| 438 | printk("EplLinInit(): returns 0x%X\n", EplRet); |
| 439 | return EplRet; |
| 440 | } |
| 441 | |
| 442 | static void __exit EplLinExit (void) |
| 443 | { |
| 444 | tEplKernel EplRet; |
| 445 | |
| 446 | // halt the NMT state machine |
| 447 | // so the processing of POWERLINK frames stops |
| 448 | EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff); |
| 449 | |
| 450 | // wait until NMT state machine is shut down |
| 451 | wait_event_interruptible(WaitQueueShutdown_g, |
| 452 | (atomic_read(&AtomicShutdown_g) == TRUE)); |
| 453 | /* if ((iErr != 0) || (atomic_read(&AtomicShutdown_g) == EVENT_STATE_IOCTL)) |
| 454 | { // waiting was interrupted by signal or application called wrong function |
| 455 | EplRet = kEplShutdown; |
| 456 | }*/ |
| 457 | // delete instance for all modules |
| 458 | EplRet = EplApiShutdown(); |
| 459 | printk("EplApiShutdown(): 0x%X\n", EplRet); |
| 460 | |
| 461 | // deinitialize proc fs |
| 462 | EplRet = EplLinProcFree(); |
| 463 | printk("EplLinProcFree(): 0x%X\n", EplRet); |
| 464 | |
| 465 | } |
| 466 | |
| 467 | |
| 468 | //=========================================================================// |
| 469 | // // |
| 470 | // P R I V A T E F U N C T I O N S // |
| 471 | // // |
| 472 | //=========================================================================// |
| 473 | |
| 474 | //--------------------------------------------------------------------------- |
| 475 | // |
| 476 | // Function: AppCbEvent |
| 477 | // |
| 478 | // Description: event callback function called by EPL API layer within |
| 479 | // user part (low priority). |
| 480 | // |
| 481 | // Parameters: EventType_p = event type |
| 482 | // pEventArg_p = pointer to union, which describes |
| 483 | // the event in detail |
| 484 | // pUserArg_p = user specific argument |
| 485 | // |
| 486 | // Returns: tEplKernel = error code, |
| 487 | // kEplSuccessful = no error |
| 488 | // kEplReject = reject further processing |
| 489 | // otherwise = post error event to API layer |
| 490 | // |
| 491 | // State: |
| 492 | // |
| 493 | //--------------------------------------------------------------------------- |
| 494 | |
| 495 | tEplKernel PUBLIC AppCbEvent( |
| 496 | tEplApiEventType EventType_p, // IN: event type (enum) |
| 497 | tEplApiEventArg* pEventArg_p, // IN: event argument (union) |
| 498 | void GENERIC* pUserArg_p) |
| 499 | { |
| 500 | tEplKernel EplRet = kEplSuccessful; |
| 501 | |
| 502 | // check if NMT_GS_OFF is reached |
| 503 | switch (EventType_p) |
| 504 | { |
| 505 | case kEplApiEventNmtStateChange: |
| 506 | { |
| 507 | switch (pEventArg_p->m_NmtStateChange.m_NewNmtState) |
| 508 | { |
| 509 | case kEplNmtGsOff: |
| 510 | { // NMT state machine was shut down, |
| 511 | // because of user signal (CTRL-C) or critical EPL stack error |
| 512 | // -> also shut down EplApiProcess() and main() |
| 513 | EplRet = kEplShutdown; |
| 514 | |
| 515 | printk("AppCbEvent(kEplNmtGsOff) originating event = 0x%X\n", pEventArg_p->m_NmtStateChange.m_NmtEvent); |
| 516 | |
| 517 | // wake up EplLinExit() |
| 518 | atomic_set(&AtomicShutdown_g, TRUE); |
| 519 | wake_up_interruptible(&WaitQueueShutdown_g); |
| 520 | break; |
| 521 | } |
| 522 | |
| 523 | case kEplNmtGsResetCommunication: |
| 524 | { |
| 525 | DWORD dwBuffer; |
| 526 | |
| 527 | // configure OD for MN in state ResetComm after reseting the OD |
| 528 | // TODO: setup your own network configuration here |
| 529 | dwBuffer = (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS); // 0x00000003L |
| 530 | EplRet = EplApiWriteLocalObject(0x1F81, 0x01, &dwBuffer, 4); |
| 531 | EplRet = EplApiWriteLocalObject(0x1F81, 0x02, &dwBuffer, 4); |
| 532 | EplRet = EplApiWriteLocalObject(0x1F81, 0x03, &dwBuffer, 4); |
| 533 | EplRet = EplApiWriteLocalObject(0x1F81, 0x04, &dwBuffer, 4); |
| 534 | EplRet = EplApiWriteLocalObject(0x1F81, 0x05, &dwBuffer, 4); |
| 535 | EplRet = EplApiWriteLocalObject(0x1F81, 0x06, &dwBuffer, 4); |
| 536 | EplRet = EplApiWriteLocalObject(0x1F81, 0x07, &dwBuffer, 4); |
| 537 | EplRet = EplApiWriteLocalObject(0x1F81, 0x08, &dwBuffer, 4); |
| 538 | EplRet = EplApiWriteLocalObject(0x1F81, 0x20, &dwBuffer, 4); |
| 539 | EplRet = EplApiWriteLocalObject(0x1F81, 0xFE, &dwBuffer, 4); |
| 540 | EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4); |
| 541 | |
| 542 | // dwBuffer |= EPL_NODEASSIGN_MANDATORY_CN; // 0x0000000BL |
| 543 | // EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4); |
| 544 | dwBuffer = (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS); // 0x00010001L |
| 545 | EplRet = EplApiWriteLocalObject(0x1F81, 0xF0, &dwBuffer, 4); |
| 546 | |
| 547 | // continue |
| 548 | } |
| 549 | |
| 550 | case kEplNmtGsResetConfiguration: |
| 551 | { |
| 552 | unsigned int uiSize; |
| 553 | |
| 554 | // fetch object 0x1006 NMT_CycleLen_U32 from local OD (in little endian byte order) |
| 555 | // for configuration of remote CN |
| 556 | uiSize = 4; |
| 557 | EplRet = EplApiReadObject(NULL, 0, 0x1006, 0x00, &dw_le_CycleLen_g, &uiSize, kEplSdoTypeAsnd, NULL); |
| 558 | if (EplRet != kEplSuccessful) |
| 559 | { // local OD access failed |
| 560 | break; |
| 561 | } |
| 562 | |
| 563 | // continue |
| 564 | } |
| 565 | |
| 566 | case kEplNmtMsPreOperational1: |
| 567 | { |
| 568 | printk("AppCbEvent(0x%X) originating event = 0x%X\n", |
| 569 | pEventArg_p->m_NmtStateChange.m_NewNmtState, |
| 570 | pEventArg_p->m_NmtStateChange.m_NmtEvent); |
| 571 | |
| 572 | // continue |
| 573 | } |
| 574 | |
| 575 | case kEplNmtGsInitialising: |
| 576 | case kEplNmtGsResetApplication: |
| 577 | case kEplNmtMsNotActive: |
| 578 | case kEplNmtCsNotActive: |
| 579 | case kEplNmtCsPreOperational1: |
| 580 | { |
| 581 | break; |
| 582 | } |
| 583 | |
| 584 | case kEplNmtCsOperational: |
| 585 | case kEplNmtMsOperational: |
| 586 | { |
| 587 | break; |
| 588 | } |
| 589 | |
| 590 | default: |
| 591 | { |
| 592 | break; |
| 593 | } |
| 594 | } |
| 595 | |
| 596 | /* |
| 597 | switch (pEventArg_p->m_NmtStateChange.m_NmtEvent) |
| 598 | { |
| 599 | case kEplNmtEventSwReset: |
| 600 | case kEplNmtEventResetNode: |
| 601 | case kEplNmtEventResetCom: |
| 602 | case kEplNmtEventResetConfig: |
| 603 | case kEplNmtEventInternComError: |
| 604 | case kEplNmtEventNmtCycleError: |
| 605 | { |
| 606 | printk("AppCbEvent(0x%X) originating event = 0x%X\n", |
| 607 | pEventArg_p->m_NmtStateChange.m_NewNmtState, |
| 608 | pEventArg_p->m_NmtStateChange.m_NmtEvent); |
| 609 | break; |
| 610 | } |
| 611 | |
| 612 | default: |
| 613 | { |
| 614 | break; |
| 615 | } |
| 616 | } |
| 617 | */ |
| 618 | break; |
| 619 | } |
| 620 | |
| 621 | case kEplApiEventCriticalError: |
| 622 | case kEplApiEventWarning: |
| 623 | { // error or warning occured within the stack or the application |
| 624 | // on error the API layer stops the NMT state machine |
| 625 | |
| 626 | printk("AppCbEvent(Err/Warn): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError); |
| 627 | // check additional argument |
| 628 | switch (pEventArg_p->m_InternalError.m_EventSource) |
| 629 | { |
| 630 | case kEplEventSourceEventk: |
| 631 | case kEplEventSourceEventu: |
| 632 | { // error occured within event processing |
| 633 | // either in kernel or in user part |
| 634 | printk(" OrgSource=%02X\n", pEventArg_p->m_InternalError.m_Arg.m_EventSource); |
| 635 | break; |
| 636 | } |
| 637 | |
| 638 | case kEplEventSourceDllk: |
| 639 | { // error occured within the data link layer (e.g. interrupt processing) |
| 640 | // the DWORD argument contains the DLL state and the NMT event |
| 641 | printk(" val=%lX\n", pEventArg_p->m_InternalError.m_Arg.m_dwArg); |
| 642 | break; |
| 643 | } |
| 644 | |
| 645 | default: |
| 646 | { |
| 647 | printk("\n"); |
| 648 | break; |
| 649 | } |
| 650 | } |
| 651 | break; |
| 652 | } |
| 653 | |
| 654 | case kEplApiEventNode: |
| 655 | { |
| 656 | // printk("AppCbEvent(Node): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError); |
| 657 | // check additional argument |
| 658 | switch (pEventArg_p->m_Node.m_NodeEvent) |
| 659 | { |
| 660 | case kEplNmtNodeEventCheckConf: |
| 661 | { |
| 662 | tEplSdoComConHdl SdoComConHdl; |
| 663 | // update object 0x1006 on CN |
| 664 | EplRet = EplApiWriteObject(&SdoComConHdl, pEventArg_p->m_Node.m_uiNodeId, 0x1006, 0x00, &dw_le_CycleLen_g, 4, kEplSdoTypeAsnd, NULL); |
| 665 | if (EplRet == kEplApiTaskDeferred) |
| 666 | { // SDO transfer started |
| 667 | EplRet = kEplReject; |
| 668 | } |
| 669 | else if (EplRet == kEplSuccessful) |
| 670 | { // local OD access (should not occur) |
| 671 | printk("AppCbEvent(Node) write to local OD\n"); |
| 672 | } |
| 673 | else |
| 674 | { // error occured |
| 675 | TGT_DBG_SIGNAL_TRACE_POINT(1); |
| 676 | |
| 677 | EplRet = EplApiFreeSdoChannel(SdoComConHdl); |
| 678 | SdoComConHdl = 0; |
| 679 | |
| 680 | EplRet = EplApiWriteObject(&SdoComConHdl, pEventArg_p->m_Node.m_uiNodeId, 0x1006, 0x00, &dw_le_CycleLen_g, 4, kEplSdoTypeAsnd, NULL); |
| 681 | if (EplRet == kEplApiTaskDeferred) |
| 682 | { // SDO transfer started |
| 683 | EplRet = kEplReject; |
| 684 | } |
| 685 | else |
| 686 | { |
| 687 | printk("AppCbEvent(Node): EplApiWriteObject() returned 0x%02X\n", EplRet); |
| 688 | } |
| 689 | } |
| 690 | |
| 691 | break; |
| 692 | } |
| 693 | |
| 694 | default: |
| 695 | { |
| 696 | break; |
| 697 | } |
| 698 | } |
| 699 | break; |
| 700 | } |
| 701 | |
| 702 | case kEplApiEventSdo: |
| 703 | { // SDO transfer finished |
| 704 | EplRet = EplApiFreeSdoChannel(pEventArg_p->m_Sdo.m_SdoComConHdl); |
| 705 | if (EplRet != kEplSuccessful) |
| 706 | { |
| 707 | break; |
| 708 | } |
| 709 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
| 710 | if (pEventArg_p->m_Sdo.m_SdoComConState == kEplSdoComTransferFinished) |
| 711 | { // continue boot-up of CN with NMT command Reset Configuration |
| 712 | EplRet = EplApiMnTriggerStateChange(pEventArg_p->m_Sdo.m_uiNodeId, kEplNmtNodeCommandConfReset); |
| 713 | } |
| 714 | else |
| 715 | { // indicate configuration error CN |
| 716 | EplRet = EplApiMnTriggerStateChange(pEventArg_p->m_Sdo.m_uiNodeId, kEplNmtNodeCommandConfErr); |
| 717 | } |
| 718 | #endif |
| 719 | |
| 720 | break; |
| 721 | } |
| 722 | |
| 723 | default: |
| 724 | break; |
| 725 | } |
| 726 | |
| 727 | return EplRet; |
| 728 | } |
| 729 | |
| 730 | |
| 731 | //--------------------------------------------------------------------------- |
| 732 | // |
| 733 | // Function: AppCbSync |
| 734 | // |
| 735 | // Description: sync event callback function called by event module within |
| 736 | // kernel part (high priority). |
| 737 | // This function sets the outputs, reads the inputs and runs |
| 738 | // the control loop. |
| 739 | // |
| 740 | // Parameters: void |
| 741 | // |
| 742 | // Returns: tEplKernel = error code, |
| 743 | // kEplSuccessful = no error |
| 744 | // otherwise = post error event to API layer |
| 745 | // |
| 746 | // State: |
| 747 | // |
| 748 | //--------------------------------------------------------------------------- |
| 749 | |
| 750 | tEplKernel PUBLIC AppCbSync(void) |
| 751 | { |
| 752 | tEplKernel EplRet = kEplSuccessful; |
| 753 | |
| 754 | if (bVarOut1Old_l != bVarOut1_l) |
| 755 | { // output variable has changed |
| 756 | bVarOut1Old_l = bVarOut1_l; |
| 757 | // set LEDs |
| 758 | |
| 759 | // printk("bVarIn = 0x%02X bVarOut = 0x%02X\n", (WORD) bVarIn_l, (WORD) bVarOut_l); |
| 760 | } |
| 761 | if (uiNodeId_g != EPL_C_ADR_MN_DEF_NODE_ID) |
| 762 | { |
| 763 | bVarIn1_l++; |
| 764 | } |
| 765 | |
| 766 | if (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID) |
| 767 | { // we are the master and must run the control loop |
| 768 | |
| 769 | // collect inputs from CNs and own input |
| 770 | bSpeedSelect_l = (bVarIn1_l | abSelect_l[0]) & 0x07; |
| 771 | |
| 772 | bModeSelect_l = abSelect_l[1] | abSelect_l[2]; |
| 773 | |
| 774 | if ((bModeSelect_l & APP_MODE_MASK) != 0) |
| 775 | { |
| 776 | dwMode_l = bModeSelect_l & APP_MODE_MASK; |
| 777 | } |
| 778 | |
| 779 | iCurCycleCount_l--; |
| 780 | |
| 781 | if (iCurCycleCount_l <= 0) |
| 782 | { |
| 783 | if ((dwMode_l & 0x01) != 0) |
| 784 | { // fill-up |
| 785 | if (iToggle) |
| 786 | { |
| 787 | if ((dwLeds_l & APP_DOUBLE_LED_MASK) == 0x00) |
| 788 | { |
| 789 | dwLeds_l = 0x01; |
| 790 | } |
| 791 | else |
| 792 | { |
| 793 | dwLeds_l <<= 1; |
| 794 | dwLeds_l++; |
| 795 | if (dwLeds_l >= APP_DOUBLE_LED_MASK) |
| 796 | { |
| 797 | iToggle = 0; |
| 798 | } |
| 799 | } |
| 800 | } |
| 801 | else |
| 802 | { |
| 803 | dwLeds_l <<= 1; |
| 804 | if ((dwLeds_l & APP_DOUBLE_LED_MASK) == 0x00) |
| 805 | { |
| 806 | iToggle = 1; |
| 807 | } |
| 808 | } |
| 809 | bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK); |
| 810 | bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK); |
| 811 | } |
| 812 | |
| 813 | else if ((dwMode_l & 0x02) != 0) |
| 814 | { // running light forward |
| 815 | dwLeds_l <<= 1; |
| 816 | if ((dwLeds_l > APP_DOUBLE_LED_MASK) || (dwLeds_l == 0x00000000L)) |
| 817 | { |
| 818 | dwLeds_l = 0x01; |
| 819 | } |
| 820 | bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK); |
| 821 | bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK); |
| 822 | } |
| 823 | |
| 824 | else if ((dwMode_l & 0x04) != 0) |
| 825 | { // running light backward |
| 826 | dwLeds_l >>= 1; |
| 827 | if ((dwLeds_l > APP_DOUBLE_LED_MASK) || (dwLeds_l == 0x00000000L)) |
| 828 | { |
| 829 | dwLeds_l = 1 << (APP_LED_COUNT * 2); |
| 830 | } |
| 831 | bLedsRow1_l = (unsigned char) (dwLeds_l & APP_LED_MASK); |
| 832 | bLedsRow2_l = (unsigned char) ((dwLeds_l >> APP_LED_COUNT) & APP_LED_MASK); |
| 833 | } |
| 834 | |
| 835 | else if ((dwMode_l & 0x08) != 0) |
| 836 | { // Knightrider |
| 837 | if (bLedsRow1_l == 0x00) |
| 838 | { |
| 839 | bLedsRow1_l = 0x01; |
| 840 | iToggle = 1; |
| 841 | } |
| 842 | else if (iToggle) |
| 843 | { |
| 844 | bLedsRow1_l <<= 1; |
| 845 | if ( bLedsRow1_l >= (1 << (APP_LED_COUNT - 1)) ) |
| 846 | { |
| 847 | iToggle = 0; |
| 848 | } |
| 849 | } |
| 850 | else |
| 851 | { |
| 852 | bLedsRow1_l >>= 1; |
| 853 | if( bLedsRow1_l <= 0x01 ) |
| 854 | { |
| 855 | iToggle = 1; |
| 856 | } |
| 857 | } |
| 858 | bLedsRow2_l = bLedsRow1_l; |
| 859 | } |
| 860 | |
| 861 | else if ((dwMode_l & 0x10) != 0) |
| 862 | { // Knightrider |
| 863 | if ((bLedsRow1_l == 0x00) |
| 864 | || (bLedsRow2_l == 0x00) |
| 865 | || ((bLedsRow2_l & ~APP_LED_MASK) != 0)) |
| 866 | { |
| 867 | bLedsRow1_l = 0x01; |
| 868 | bLedsRow2_l = (1 << (APP_LED_COUNT - 1)); |
| 869 | iToggle = 1; |
| 870 | } |
| 871 | else if (iToggle) |
| 872 | { |
| 873 | bLedsRow1_l <<= 1; |
| 874 | bLedsRow2_l >>= 1; |
| 875 | if ( bLedsRow1_l >= (1 << (APP_LED_COUNT - 1)) ) |
| 876 | { |
| 877 | iToggle = 0; |
| 878 | } |
| 879 | } |
| 880 | else |
| 881 | { |
| 882 | bLedsRow1_l >>= 1; |
| 883 | bLedsRow2_l <<= 1; |
| 884 | if ( bLedsRow1_l <= 0x01 ) |
| 885 | { |
| 886 | iToggle = 1; |
| 887 | } |
| 888 | } |
| 889 | } |
| 890 | |
| 891 | // set own output |
| 892 | bVarOut1_l = bLedsRow1_l; |
| 893 | // bVarOut1_l = (bLedsRow1_l & 0x03) | (bLedsRow2_l << 2); |
| 894 | |
| 895 | // restart cycle counter |
| 896 | iCurCycleCount_l = iMaxCycleCount_l; |
| 897 | } |
| 898 | |
| 899 | if (bSpeedSelectOld_l == 0) |
| 900 | { |
| 901 | if ((bSpeedSelect_l & 0x01) != 0) |
| 902 | { |
| 903 | if (iMaxCycleCount_l < 200) |
| 904 | { |
| 905 | iMaxCycleCount_l++; |
| 906 | } |
| 907 | bSpeedSelectOld_l = bSpeedSelect_l; |
| 908 | } |
| 909 | else if ((bSpeedSelect_l & 0x02) != 0) |
| 910 | { |
| 911 | if (iMaxCycleCount_l > 1) |
| 912 | { |
| 913 | iMaxCycleCount_l--; |
| 914 | } |
| 915 | bSpeedSelectOld_l = bSpeedSelect_l; |
| 916 | } |
| 917 | else if ((bSpeedSelect_l & 0x04) != 0) |
| 918 | { |
| 919 | iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT; |
| 920 | bSpeedSelectOld_l = bSpeedSelect_l; |
| 921 | } |
| 922 | } |
| 923 | else if (bSpeedSelect_l == 0) |
| 924 | { |
| 925 | bSpeedSelectOld_l = 0; |
| 926 | } |
| 927 | } |
| 928 | |
| 929 | TGT_DBG_SIGNAL_TRACE_POINT(1); |
| 930 | |
| 931 | return EplRet; |
| 932 | } |
| 933 | |
| 934 | |
| 935 | |
| 936 | // EOF |
| 937 | |