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: source file for kernel PDO module |
| 9 | |
| 10 | License: |
| 11 | |
| 12 | Redistribution and use in source and binary forms, with or without |
| 13 | modification, are permitted provided that the following conditions |
| 14 | are met: |
| 15 | |
| 16 | 1. Redistributions of source code must retain the above copyright |
| 17 | notice, this list of conditions and the following disclaimer. |
| 18 | |
| 19 | 2. Redistributions in binary form must reproduce the above copyright |
| 20 | notice, this list of conditions and the following disclaimer in the |
| 21 | documentation and/or other materials provided with the distribution. |
| 22 | |
| 23 | 3. Neither the name of SYSTEC electronic GmbH nor the names of its |
| 24 | contributors may be used to endorse or promote products derived |
| 25 | from this software without prior written permission. For written |
| 26 | permission, please contact info@systec-electronic.com. |
| 27 | |
| 28 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 29 | "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 30 | LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 31 | FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 32 | COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 33 | INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 34 | BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 35 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 36 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 37 | LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 38 | ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 39 | POSSIBILITY OF SUCH DAMAGE. |
| 40 | |
| 41 | Severability Clause: |
| 42 | |
| 43 | If a provision of this License is or becomes illegal, invalid or |
| 44 | unenforceable in any jurisdiction, that shall not affect: |
| 45 | 1. the validity or enforceability in that jurisdiction of any other |
| 46 | provision of this License; or |
| 47 | 2. the validity or enforceability in other jurisdictions of that or |
| 48 | any other provision of this License. |
| 49 | |
| 50 | ------------------------------------------------------------------------- |
| 51 | |
| 52 | $RCSfile: EplPdok.c,v $ |
| 53 | |
| 54 | $Author: D.Krueger $ |
| 55 | |
| 56 | $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $ |
| 57 | |
| 58 | $State: Exp $ |
| 59 | |
| 60 | Build Environment: |
| 61 | GCC V3.4 |
| 62 | |
| 63 | ------------------------------------------------------------------------- |
| 64 | |
| 65 | Revision History: |
| 66 | |
| 67 | 2006/05/22 d.k.: start of the implementation, version 1.00 |
| 68 | |
| 69 | ****************************************************************************/ |
| 70 | |
| 71 | #include "kernel/EplPdok.h" |
| 72 | #include "kernel/EplPdokCal.h" |
| 73 | #include "kernel/EplEventk.h" |
| 74 | #include "kernel/EplObdk.h" |
| 75 | |
| 76 | #if (DEV_SYSTEM == _DEV_GNU_CF548X_) |
| 77 | #include "plccore.h" |
| 78 | #define PDO_LED 0x08 |
| 79 | #endif |
| 80 | |
| 81 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
| 82 | |
| 83 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) == 0) |
| 84 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 85 | #error 'ERROR: Missing DLLk-Modul!' |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 86 | |
| 87 | #endif |
| 88 | |
| 89 | #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0) |
| 90 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 91 | #error 'ERROR: Missing OBDk-Modul!' |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 92 | |
| 93 | #endif |
| 94 | /***************************************************************************/ |
| 95 | /* */ |
| 96 | /* */ |
| 97 | /* G L O B A L D E F I N I T I O N S */ |
| 98 | /* */ |
| 99 | /* */ |
| 100 | /***************************************************************************/ |
| 101 | |
| 102 | //--------------------------------------------------------------------------- |
| 103 | // const defines |
| 104 | //--------------------------------------------------------------------------- |
| 105 | |
| 106 | #define EPL_PDOK_OBD_IDX_RX_COMM_PARAM 0x1400 |
| 107 | #define EPL_PDOK_OBD_IDX_RX_MAPP_PARAM 0x1600 |
| 108 | #define EPL_PDOK_OBD_IDX_TX_COMM_PARAM 0x1800 |
| 109 | #define EPL_PDOK_OBD_IDX_TX_MAPP_PARAM 0x1A00 |
| 110 | |
| 111 | //--------------------------------------------------------------------------- |
| 112 | // local types |
| 113 | //--------------------------------------------------------------------------- |
| 114 | |
| 115 | //--------------------------------------------------------------------------- |
| 116 | // modul globale vars |
| 117 | //--------------------------------------------------------------------------- |
| 118 | |
| 119 | //--------------------------------------------------------------------------- |
| 120 | // local function prototypes |
| 121 | //--------------------------------------------------------------------------- |
| 122 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 123 | /***************************************************************************/ |
| 124 | /* */ |
| 125 | /* */ |
| 126 | /* C L A S S EplPdok */ |
| 127 | /* */ |
| 128 | /* */ |
| 129 | /***************************************************************************/ |
| 130 | // |
| 131 | // Description: |
| 132 | // |
| 133 | // |
| 134 | /***************************************************************************/ |
| 135 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 136 | //=========================================================================// |
| 137 | // // |
| 138 | // P R I V A T E D E F I N I T I O N S // |
| 139 | // // |
| 140 | //=========================================================================// |
| 141 | |
| 142 | //--------------------------------------------------------------------------- |
| 143 | // const defines |
| 144 | //--------------------------------------------------------------------------- |
| 145 | |
| 146 | //--------------------------------------------------------------------------- |
| 147 | // local types |
| 148 | //--------------------------------------------------------------------------- |
| 149 | |
| 150 | //--------------------------------------------------------------------------- |
| 151 | // local vars |
| 152 | //--------------------------------------------------------------------------- |
| 153 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 154 | //--------------------------------------------------------------------------- |
| 155 | // local function prototypes |
| 156 | //--------------------------------------------------------------------------- |
| 157 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 158 | //=========================================================================// |
| 159 | // // |
| 160 | // P U B L I C F U N C T I O N S // |
| 161 | // // |
| 162 | //=========================================================================// |
| 163 | |
| 164 | //--------------------------------------------------------------------------- |
| 165 | // |
| 166 | // Function: EplPdokAddInstance() |
| 167 | // |
| 168 | // Description: add and initialize new instance of EPL stack |
| 169 | // |
| 170 | // Parameters: none |
| 171 | // |
| 172 | // Returns: tEplKernel = error code |
| 173 | // |
| 174 | // |
| 175 | // State: |
| 176 | // |
| 177 | //--------------------------------------------------------------------------- |
| 178 | |
| 179 | tEplKernel EplPdokAddInstance(void) |
| 180 | { |
| 181 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 182 | return kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 183 | } |
| 184 | |
| 185 | //--------------------------------------------------------------------------- |
| 186 | // |
| 187 | // Function: EplPdokDelInstance() |
| 188 | // |
| 189 | // Description: deletes an instance of EPL stack |
| 190 | // |
| 191 | // Parameters: none |
| 192 | // |
| 193 | // Returns: tEplKernel = error code |
| 194 | // |
| 195 | // |
| 196 | // State: |
| 197 | // |
| 198 | //--------------------------------------------------------------------------- |
| 199 | |
| 200 | tEplKernel EplPdokDelInstance(void) |
| 201 | { |
| 202 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 203 | return kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 204 | } |
| 205 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 206 | //--------------------------------------------------------------------------- |
| 207 | // |
| 208 | // Function: EplPdokCbPdoReceived |
| 209 | // |
| 210 | // Description: This function is called by DLL if PRes or PReq frame was |
| 211 | // received. It posts the frame to the event queue. |
| 212 | // It is called in states NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL. |
| 213 | // The passed PDO needs not to be valid. |
| 214 | // |
| 215 | // Parameters: pFrameInfo_p = pointer to frame info structure |
| 216 | // |
| 217 | // Returns: tEplKernel = error code |
| 218 | // |
| 219 | // |
| 220 | // State: |
| 221 | // |
| 222 | //--------------------------------------------------------------------------- |
| 223 | |
| 224 | tEplKernel EplPdokCbPdoReceived(tEplFrameInfo * pFrameInfo_p) |
| 225 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 226 | tEplKernel Ret = kEplSuccessful; |
| 227 | tEplEvent Event; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 228 | |
| 229 | #if (DEV_SYSTEM == _DEV_GNU_CF548X_) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 230 | // reset LED |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 231 | // MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level |
| 232 | #endif |
| 233 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 234 | Event.m_EventSink = kEplEventSinkPdok; |
| 235 | Event.m_EventType = kEplEventTypePdoRx; |
| 236 | // limit copied data to size of PDO (because from some CNs the frame is larger than necessary) |
| 237 | Event.m_uiSize = AmiGetWordFromLe(&pFrameInfo_p->m_pFrame->m_Data.m_Pres.m_le_wSize) + 24; // pFrameInfo_p->m_uiFrameSize; |
| 238 | Event.m_pArg = pFrameInfo_p->m_pFrame; |
| 239 | Ret = EplEventkPost(&Event); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 240 | |
| 241 | #if (DEV_SYSTEM == _DEV_GNU_CF548X_) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 242 | // set LED |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 243 | // MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level |
| 244 | #endif |
| 245 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 246 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 247 | } |
| 248 | |
| 249 | //--------------------------------------------------------------------------- |
| 250 | // |
| 251 | // Function: EplPdokCbPdoTransmitted |
| 252 | // |
| 253 | // Description: This function is called by DLL if PRes or PReq frame was |
| 254 | // sent. It posts the pointer to the frame to the event queue. |
| 255 | // It is called in NMT_CS_PRE_OPERATIONAL_2, |
| 256 | // NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL. |
| 257 | // |
| 258 | // Parameters: pFrameInfo_p = pointer to frame info structure |
| 259 | // |
| 260 | // Returns: tEplKernel = error code |
| 261 | // |
| 262 | // |
| 263 | // State: |
| 264 | // |
| 265 | //--------------------------------------------------------------------------- |
| 266 | |
| 267 | tEplKernel EplPdokCbPdoTransmitted(tEplFrameInfo * pFrameInfo_p) |
| 268 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 269 | tEplKernel Ret = kEplSuccessful; |
| 270 | tEplEvent Event; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 271 | |
| 272 | #if (DEV_SYSTEM == _DEV_GNU_CF548X_) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 273 | // reset LED |
| 274 | MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 275 | #endif |
| 276 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 277 | Event.m_EventSink = kEplEventSinkPdok; |
| 278 | Event.m_EventType = kEplEventTypePdoTx; |
| 279 | Event.m_uiSize = sizeof(tEplFrameInfo); |
| 280 | Event.m_pArg = pFrameInfo_p; |
| 281 | Ret = EplEventkPost(&Event); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 282 | |
| 283 | #if (DEV_SYSTEM == _DEV_GNU_CF548X_) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 284 | // set LED |
| 285 | MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 286 | #endif |
| 287 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 288 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 289 | } |
| 290 | |
| 291 | //--------------------------------------------------------------------------- |
| 292 | // |
| 293 | // Function: EplPdokCbSoa |
| 294 | // |
| 295 | // Description: This function is called by DLL if SoA frame was |
| 296 | // received resp. sent. It posts this event to the event queue. |
| 297 | // |
| 298 | // Parameters: pFrameInfo_p = pointer to frame info structure |
| 299 | // |
| 300 | // Returns: tEplKernel = error code |
| 301 | // |
| 302 | // |
| 303 | // State: |
| 304 | // |
| 305 | //--------------------------------------------------------------------------- |
| 306 | |
| 307 | tEplKernel EplPdokCbSoa(tEplFrameInfo * pFrameInfo_p) |
| 308 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 309 | tEplKernel Ret = kEplSuccessful; |
| 310 | tEplEvent Event; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 311 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 312 | Event.m_EventSink = kEplEventSinkPdok; |
| 313 | Event.m_EventType = kEplEventTypePdoSoa; |
| 314 | Event.m_uiSize = 0; |
| 315 | Event.m_pArg = NULL; |
| 316 | Ret = EplEventkPost(&Event); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 317 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 318 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 319 | } |
| 320 | |
| 321 | //--------------------------------------------------------------------------- |
| 322 | // |
| 323 | // Function: EplPdokProcess |
| 324 | // |
| 325 | // Description: This function processes all received and transmitted PDOs. |
| 326 | // This function must not be interrupted by any other task |
| 327 | // except ISRs (like the ethernet driver ISR, which may call |
| 328 | // EplPdokCbFrameReceived() or EplPdokCbFrameTransmitted()). |
| 329 | // |
| 330 | // Parameters: pEvent_p = pointer to event structure |
| 331 | // |
| 332 | // Returns: tEplKernel = error code |
| 333 | // |
| 334 | // |
| 335 | // State: |
| 336 | // |
| 337 | //--------------------------------------------------------------------------- |
| 338 | |
| 339 | tEplKernel EplPdokProcess(tEplEvent * pEvent_p) |
| 340 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 341 | tEplKernel Ret = kEplSuccessful; |
| 342 | WORD wPdoSize; |
| 343 | WORD wBitOffset; |
| 344 | WORD wBitSize; |
| 345 | WORD wVarSize; |
| 346 | QWORD qwObjectMapping; |
| 347 | BYTE bMappSubindex; |
| 348 | BYTE bObdSubindex; |
| 349 | WORD wObdMappIndex; |
| 350 | WORD wObdCommIndex; |
| 351 | WORD wPdoId; |
| 352 | BYTE bObdData; |
| 353 | BYTE bObjectCount; |
| 354 | BYTE bFrameData; |
| 355 | BOOL fValid; |
| 356 | tEplObdSize ObdSize; |
| 357 | tEplFrame *pFrame; |
| 358 | tEplFrameInfo *pFrameInfo; |
| 359 | unsigned int uiNodeId; |
| 360 | tEplMsgType MsgType; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 361 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 362 | // 0xFF=invalid, RPDO: 0x00=PReq, localNodeId=PRes, remoteNodeId=PRes |
| 363 | // TPDO: 0x00=PRes, MN: CnNodeId=PReq |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 364 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 365 | switch (pEvent_p->m_EventType) { |
| 366 | case kEplEventTypePdoRx: // RPDO received |
| 367 | pFrame = (tEplFrame *) pEvent_p->m_pArg; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 368 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 369 | // check if received RPDO is valid |
| 370 | bFrameData = |
| 371 | AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1); |
| 372 | if ((bFrameData & EPL_FRAME_FLAG1_RD) == 0) { // RPDO invalid |
| 373 | goto Exit; |
| 374 | } |
| 375 | // retrieve EPL message type |
| 376 | MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType); |
| 377 | if (MsgType == kEplMsgTypePreq) { // RPDO is PReq frame |
| 378 | uiNodeId = EPL_PDO_PREQ_NODE_ID; // 0x00 |
| 379 | } else { // RPDO is PRes frame |
| 380 | // retrieve node ID |
| 381 | uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId); |
| 382 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 383 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 384 | // search for appropriate valid RPDO in OD |
| 385 | wObdMappIndex = EPL_PDOK_OBD_IDX_RX_MAPP_PARAM; |
| 386 | for (wObdCommIndex = EPL_PDOK_OBD_IDX_RX_COMM_PARAM; |
| 387 | wObdCommIndex < (EPL_PDOK_OBD_IDX_RX_COMM_PARAM + 0x00FF); |
| 388 | wObdCommIndex++, wObdMappIndex++) { |
| 389 | ObdSize = 1; |
| 390 | // read node ID from OD |
| 391 | Ret = |
| 392 | EplObdReadEntry(wObdCommIndex, 0x01, &bObdData, |
| 393 | &ObdSize); |
| 394 | if ((Ret == kEplObdIndexNotExist) |
| 395 | || (Ret == kEplObdSubindexNotExist) |
| 396 | || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached |
| 397 | Ret = kEplSuccessful; |
| 398 | goto Exit; |
| 399 | } else if (Ret != kEplSuccessful) { // other fatal error occured |
| 400 | goto Exit; |
| 401 | } |
| 402 | // entry read successfully |
| 403 | if (bObdData != uiNodeId) { // node ID does not equal - wrong PDO, try next PDO in OD |
| 404 | continue; |
| 405 | } |
| 406 | ObdSize = 1; |
| 407 | // read number of mapped objects from OD; this indicates if the PDO is valid |
| 408 | Ret = |
| 409 | EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount, |
| 410 | &ObdSize); |
| 411 | if ((Ret == kEplObdIndexNotExist) |
| 412 | || (Ret == kEplObdSubindexNotExist) |
| 413 | || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached |
| 414 | Ret = kEplSuccessful; |
| 415 | goto Exit; |
| 416 | } else if (Ret != kEplSuccessful) { // other fatal error occured |
| 417 | goto Exit; |
| 418 | } |
| 419 | // entry read successfully |
| 420 | if (bObjectCount == 0) { // PDO in OD not valid, try next PDO in OD |
| 421 | continue; |
| 422 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 423 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 424 | ObdSize = 1; |
| 425 | // check PDO mapping version |
| 426 | Ret = |
| 427 | EplObdReadEntry(wObdCommIndex, 0x02, &bObdData, |
| 428 | &ObdSize); |
| 429 | if (Ret != kEplSuccessful) { // other fatal error occured |
| 430 | goto Exit; |
| 431 | } |
| 432 | // entry read successfully |
| 433 | // retrieve PDO version from frame |
| 434 | bFrameData = |
| 435 | AmiGetByteFromLe(&pFrame->m_Data.m_Pres. |
| 436 | m_le_bPdoVersion); |
| 437 | if ((bObdData & EPL_VERSION_MAIN) != (bFrameData & EPL_VERSION_MAIN)) { // PDO versions do not match |
| 438 | // $$$ raise PDO error |
| 439 | // termiate processing of this RPDO |
| 440 | goto Exit; |
| 441 | } |
| 442 | // valid RPDO found |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 443 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 444 | // retrieve PDO size |
| 445 | wPdoSize = |
| 446 | AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 447 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 448 | // process mapping |
| 449 | for (bMappSubindex = 1; bMappSubindex <= bObjectCount; |
| 450 | bMappSubindex++) { |
| 451 | ObdSize = 8; // QWORD |
| 452 | // read object mapping from OD |
| 453 | Ret = |
| 454 | EplObdReadEntry(wObdMappIndex, |
| 455 | bMappSubindex, |
| 456 | &qwObjectMapping, &ObdSize); |
| 457 | if (Ret != kEplSuccessful) { // other fatal error occured |
| 458 | goto Exit; |
| 459 | } |
| 460 | // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed |
| 461 | if (qwObjectMapping == 0) { // invalid entry, continue with next entry |
| 462 | continue; |
| 463 | } |
| 464 | // decode object mapping |
| 465 | wObdCommIndex = |
| 466 | (WORD) (qwObjectMapping & |
| 467 | 0x000000000000FFFFLL); |
| 468 | bObdSubindex = |
| 469 | (BYTE) ((qwObjectMapping & |
| 470 | 0x0000000000FF0000LL) >> 16); |
| 471 | wBitOffset = |
| 472 | (WORD) ((qwObjectMapping & |
| 473 | 0x0000FFFF00000000LL) >> 32); |
| 474 | wBitSize = |
| 475 | (WORD) ((qwObjectMapping & |
| 476 | 0xFFFF000000000000LL) >> 48); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 477 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 478 | // check if object exceeds PDO size |
| 479 | if (((wBitOffset + wBitSize) >> 3) > wPdoSize) { // wrong object mapping; PDO size is too low |
| 480 | // $$$ raise PDO error |
| 481 | // terminate processing of this RPDO |
| 482 | goto Exit; |
| 483 | } |
| 484 | // copy object from RPDO to process/OD variable |
| 485 | ObdSize = wBitSize >> 3; |
| 486 | Ret = |
| 487 | EplObdWriteEntryFromLe(wObdCommIndex, |
| 488 | bObdSubindex, |
| 489 | &pFrame->m_Data. |
| 490 | m_Pres. |
| 491 | m_le_abPayload[(wBitOffset >> 3)], ObdSize); |
| 492 | if (Ret != kEplSuccessful) { // other fatal error occured |
| 493 | goto Exit; |
| 494 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 495 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 496 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 497 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 498 | // processing finished successfully |
| 499 | goto Exit; |
| 500 | } |
| 501 | break; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 502 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 503 | case kEplEventTypePdoTx: // TPDO transmitted |
| 504 | pFrameInfo = (tEplFrameInfo *) pEvent_p->m_pArg; |
| 505 | pFrame = pFrameInfo->m_pFrame; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 506 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 507 | // set TPDO invalid, so that only fully processed TPDOs are sent as valid |
| 508 | bFrameData = |
| 509 | AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1); |
| 510 | AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bFlag1, |
| 511 | (bFrameData & ~EPL_FRAME_FLAG1_RD)); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 512 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 513 | // retrieve EPL message type |
| 514 | MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType); |
| 515 | if (MsgType == kEplMsgTypePres) { // TPDO is PRes frame |
| 516 | uiNodeId = EPL_PDO_PRES_NODE_ID; // 0x00 |
| 517 | } else { // TPDO is PReq frame |
| 518 | // retrieve node ID |
| 519 | uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId); |
| 520 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 521 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 522 | // search for appropriate valid TPDO in OD |
| 523 | wObdMappIndex = EPL_PDOK_OBD_IDX_TX_MAPP_PARAM; |
| 524 | wObdCommIndex = EPL_PDOK_OBD_IDX_TX_COMM_PARAM; |
| 525 | for (wPdoId = 0;; wPdoId++, wObdCommIndex++, wObdMappIndex++) { |
| 526 | ObdSize = 1; |
| 527 | // read node ID from OD |
| 528 | Ret = |
| 529 | EplObdReadEntry(wObdCommIndex, 0x01, &bObdData, |
| 530 | &ObdSize); |
| 531 | if ((Ret == kEplObdIndexNotExist) |
| 532 | || (Ret == kEplObdSubindexNotExist) |
| 533 | || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached |
| 534 | Ret = kEplSuccessful; |
| 535 | goto Exit; |
| 536 | } else if (Ret != kEplSuccessful) { // other fatal error occured |
| 537 | goto Exit; |
| 538 | } |
| 539 | // entry read successfully |
| 540 | if (bObdData != uiNodeId) { // node ID does not equal - wrong PDO, try next PDO in OD |
| 541 | continue; |
| 542 | } |
| 543 | ObdSize = 1; |
| 544 | // read number of mapped objects from OD; this indicates if the PDO is valid |
| 545 | Ret = |
| 546 | EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount, |
| 547 | &ObdSize); |
| 548 | if ((Ret == kEplObdIndexNotExist) |
| 549 | || (Ret == kEplObdSubindexNotExist) |
| 550 | || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached |
| 551 | Ret = kEplSuccessful; |
| 552 | goto Exit; |
| 553 | } else if (Ret != kEplSuccessful) { // other fatal error occured |
| 554 | goto Exit; |
| 555 | } |
| 556 | // entry read successfully |
| 557 | if (bObjectCount == 0) { // PDO in OD not valid, try next PDO in OD |
| 558 | continue; |
| 559 | } |
| 560 | // valid TPDO found |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 561 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 562 | ObdSize = 1; |
| 563 | // get PDO mapping version from OD |
| 564 | Ret = |
| 565 | EplObdReadEntry(wObdCommIndex, 0x02, &bObdData, |
| 566 | &ObdSize); |
| 567 | if (Ret != kEplSuccessful) { // other fatal error occured |
| 568 | goto Exit; |
| 569 | } |
| 570 | // entry read successfully |
| 571 | // set PDO version in frame |
| 572 | AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bPdoVersion, |
| 573 | bObdData); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 574 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 575 | // calculate PDO size |
| 576 | wPdoSize = 0; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 577 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 578 | // process mapping |
| 579 | for (bMappSubindex = 1; bMappSubindex <= bObjectCount; |
| 580 | bMappSubindex++) { |
| 581 | ObdSize = 8; // QWORD |
| 582 | // read object mapping from OD |
| 583 | Ret = |
| 584 | EplObdReadEntry(wObdMappIndex, |
| 585 | bMappSubindex, |
| 586 | &qwObjectMapping, &ObdSize); |
| 587 | if (Ret != kEplSuccessful) { // other fatal error occured |
| 588 | goto Exit; |
| 589 | } |
| 590 | // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed |
| 591 | if (qwObjectMapping == 0) { // invalid entry, continue with next entry |
| 592 | continue; |
| 593 | } |
| 594 | // decode object mapping |
| 595 | wObdCommIndex = |
| 596 | (WORD) (qwObjectMapping & |
| 597 | 0x000000000000FFFFLL); |
| 598 | bObdSubindex = |
| 599 | (BYTE) ((qwObjectMapping & |
| 600 | 0x0000000000FF0000LL) >> 16); |
| 601 | wBitOffset = |
| 602 | (WORD) ((qwObjectMapping & |
| 603 | 0x0000FFFF00000000LL) >> 32); |
| 604 | wBitSize = |
| 605 | (WORD) ((qwObjectMapping & |
| 606 | 0xFFFF000000000000LL) >> 48); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 607 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 608 | // calculate max PDO size |
| 609 | ObdSize = wBitSize >> 3; |
| 610 | wVarSize = (wBitOffset >> 3) + (WORD) ObdSize; |
| 611 | if ((unsigned int)(wVarSize + 24) > pFrameInfo->m_uiFrameSize) { // TPDO is too short |
| 612 | // $$$ raise PDO error, set Ret |
| 613 | goto Exit; |
| 614 | } |
| 615 | if (wVarSize > wPdoSize) { // memorize new PDO size |
| 616 | wPdoSize = wVarSize; |
| 617 | } |
| 618 | // copy object from process/OD variable to TPDO |
| 619 | Ret = |
| 620 | EplObdReadEntryToLe(wObdCommIndex, |
| 621 | bObdSubindex, |
| 622 | &pFrame->m_Data.m_Pres. |
| 623 | m_le_abPayload[(wBitOffset >> 3)], &ObdSize); |
| 624 | if (Ret != kEplSuccessful) { // other fatal error occured |
| 625 | goto Exit; |
| 626 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 627 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 628 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 629 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 630 | // set PDO size in frame |
| 631 | AmiSetWordToLe(&pFrame->m_Data.m_Pres.m_le_wSize, |
| 632 | wPdoSize); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 633 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 634 | Ret = EplPdokCalAreTpdosValid(&fValid); |
| 635 | if (fValid != FALSE) { |
| 636 | // set TPDO valid |
| 637 | bFrameData = |
| 638 | AmiGetByteFromLe(&pFrame->m_Data.m_Pres. |
| 639 | m_le_bFlag1); |
| 640 | AmiSetByteToLe(&pFrame->m_Data.m_Pres. |
| 641 | m_le_bFlag1, |
| 642 | (bFrameData | |
| 643 | EPL_FRAME_FLAG1_RD)); |
| 644 | } |
| 645 | // processing finished successfully |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 646 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 647 | goto Exit; |
| 648 | } |
| 649 | break; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 650 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 651 | case kEplEventTypePdoSoa: // SoA received |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 652 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 653 | // invalidate TPDOs |
| 654 | Ret = EplPdokCalSetTpdosValid(FALSE); |
| 655 | break; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 656 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 657 | default: |
| 658 | { |
| 659 | ASSERTMSG(FALSE, |
| 660 | "EplPdokProcess(): unhandled event type!\n"); |
| 661 | } |
| 662 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 663 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 664 | Exit: |
| 665 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 666 | } |
| 667 | |
| 668 | //=========================================================================// |
| 669 | // // |
| 670 | // P R I V A T E F U N C T I O N S // |
| 671 | // // |
| 672 | //=========================================================================// |
| 673 | |
| 674 | //--------------------------------------------------------------------------- |
| 675 | // |
| 676 | // Function: |
| 677 | // |
| 678 | // Description: |
| 679 | // |
| 680 | // |
| 681 | // |
| 682 | // Parameters: |
| 683 | // |
| 684 | // |
| 685 | // Returns: |
| 686 | // |
| 687 | // |
| 688 | // State: |
| 689 | // |
| 690 | //--------------------------------------------------------------------------- |
| 691 | |
| 692 | #endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) |
| 693 | |
| 694 | // EOF |