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 SDO/Asnd-Protocolabstractionlayer 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. |
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| 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 |
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| 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: EplSdoAsndu.c,v $ |
| 53 | |
| 54 | $Author: D.Krueger $ |
| 55 | |
| 56 | $Revision: 1.7 $ $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 | 2006/07/07 k.t.: start of the implementation |
| 68 | |
| 69 | ****************************************************************************/ |
| 70 | |
| 71 | #include "user/EplSdoAsndu.h" |
| 72 | #include "user/EplDlluCal.h" |
| 73 | |
| 74 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) |
| 75 | |
| 76 | /***************************************************************************/ |
| 77 | /* */ |
| 78 | /* */ |
| 79 | /* G L O B A L D E F I N I T I O N S */ |
| 80 | /* */ |
| 81 | /* */ |
| 82 | /***************************************************************************/ |
| 83 | |
| 84 | //--------------------------------------------------------------------------- |
| 85 | // const defines |
| 86 | //--------------------------------------------------------------------------- |
| 87 | |
| 88 | #ifndef EPL_SDO_MAX_CONNECTION_ASND |
| 89 | #define EPL_SDO_MAX_CONNECTION_ASND 5 |
| 90 | #endif |
| 91 | |
| 92 | //--------------------------------------------------------------------------- |
| 93 | // local types |
| 94 | //--------------------------------------------------------------------------- |
| 95 | |
| 96 | // instance table |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 97 | typedef struct { |
| 98 | unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND]; |
| 99 | tEplSequLayerReceiveCb m_fpSdoAsySeqCb; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 100 | |
| 101 | } tEplSdoAsndInstance; |
| 102 | |
| 103 | //--------------------------------------------------------------------------- |
| 104 | // modul globale vars |
| 105 | //--------------------------------------------------------------------------- |
| 106 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 107 | static tEplSdoAsndInstance SdoAsndInstance_g; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 108 | |
| 109 | //--------------------------------------------------------------------------- |
| 110 | // local function prototypes |
| 111 | //--------------------------------------------------------------------------- |
| 112 | |
| 113 | tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p); |
| 114 | |
| 115 | /***************************************************************************/ |
| 116 | /* */ |
| 117 | /* */ |
| 118 | /* C L A S S <EPL SDO-Asnd Protocolabstraction layer> */ |
| 119 | /* */ |
| 120 | /* */ |
| 121 | /***************************************************************************/ |
| 122 | // |
| 123 | // Description: EPL SDO-Asnd Protocolabstraction layer |
| 124 | // |
| 125 | // |
| 126 | /***************************************************************************/ |
| 127 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 128 | //=========================================================================// |
| 129 | // // |
| 130 | // P U B L I C F U N C T I O N S // |
| 131 | // // |
| 132 | //=========================================================================// |
| 133 | |
| 134 | //--------------------------------------------------------------------------- |
| 135 | // |
| 136 | // Function: EplSdoAsnduInit |
| 137 | // |
| 138 | // Description: init first instance of the module |
| 139 | // |
| 140 | // |
| 141 | // |
| 142 | // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer |
| 143 | // callback-function |
| 144 | // |
| 145 | // |
| 146 | // Returns: tEplKernel = Errorcode |
| 147 | // |
| 148 | // |
| 149 | // State: |
| 150 | // |
| 151 | //--------------------------------------------------------------------------- |
| 152 | tEplKernel PUBLIC EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p) |
| 153 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 154 | tEplKernel Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 155 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 156 | Ret = EplSdoAsnduAddInstance(fpReceiveCb_p); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 157 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 158 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 159 | } |
| 160 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 161 | //--------------------------------------------------------------------------- |
| 162 | // |
| 163 | // Function: EplSdoAsnduAddInstance |
| 164 | // |
| 165 | // Description: init additional instance of the module |
| 166 | // |
| 167 | // |
| 168 | // |
| 169 | // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer |
| 170 | // callback-function |
| 171 | // |
| 172 | // |
| 173 | // Returns: tEplKernel = Errorcode |
| 174 | // |
| 175 | // |
| 176 | // State: |
| 177 | // |
| 178 | //--------------------------------------------------------------------------- |
| 179 | tEplKernel PUBLIC EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p) |
| 180 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 181 | tEplKernel Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 182 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 183 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 184 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 185 | // init control structure |
| 186 | EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g)); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 187 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 188 | // save pointer to callback-function |
| 189 | if (fpReceiveCb_p != NULL) { |
| 190 | SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p; |
| 191 | } else { |
| 192 | Ret = kEplSdoUdpMissCb; |
| 193 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 194 | |
| 195 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 196 | Ret = EplDlluCalRegAsndService(kEplDllAsndSdo, |
| 197 | EplSdoAsnduCb, kEplDllAsndFilterLocal); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 198 | #endif |
| 199 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 200 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 201 | } |
| 202 | |
| 203 | //--------------------------------------------------------------------------- |
| 204 | // |
| 205 | // Function: EplSdoAsnduDelInstance |
| 206 | // |
| 207 | // Description: del instance of the module |
| 208 | // del socket and del Listen-Thread |
| 209 | // |
| 210 | // |
| 211 | // |
| 212 | // Parameters: |
| 213 | // |
| 214 | // |
| 215 | // Returns: tEplKernel = Errorcode |
| 216 | // |
| 217 | // |
| 218 | // State: |
| 219 | // |
| 220 | //--------------------------------------------------------------------------- |
| 221 | tEplKernel PUBLIC EplSdoAsnduDelInstance() |
| 222 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 223 | tEplKernel Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 224 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 225 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 226 | |
| 227 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 228 | // deregister callback function from DLL |
| 229 | Ret = EplDlluCalRegAsndService(kEplDllAsndSdo, |
| 230 | NULL, kEplDllAsndFilterNone); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 231 | #endif |
| 232 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 233 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 234 | } |
| 235 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 236 | //--------------------------------------------------------------------------- |
| 237 | // |
| 238 | // Function: EplSdoAsnduInitCon |
| 239 | // |
| 240 | // Description: init a new connect |
| 241 | // |
| 242 | // |
| 243 | // |
| 244 | // Parameters: pSdoConHandle_p = pointer for the new connection handle |
| 245 | // uiTargetNodeId_p = NodeId of the target node |
| 246 | // |
| 247 | // |
| 248 | // Returns: tEplKernel = Errorcode |
| 249 | // |
| 250 | // |
| 251 | // State: |
| 252 | // |
| 253 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 254 | tEplKernel PUBLIC EplSdoAsnduInitCon(tEplSdoConHdl * pSdoConHandle_p, |
| 255 | unsigned int uiTargetNodeId_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 256 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 257 | tEplKernel Ret; |
| 258 | unsigned int uiCount; |
| 259 | unsigned int uiFreeCon; |
| 260 | unsigned int *puiConnection; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 261 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 262 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 263 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 264 | if ((uiTargetNodeId_p == EPL_C_ADR_INVALID) |
| 265 | || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) { |
| 266 | Ret = kEplSdoAsndInvalidNodeId; |
| 267 | goto Exit; |
| 268 | } |
| 269 | // get free entry in control structure |
| 270 | uiCount = 0; |
| 271 | uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND; |
| 272 | puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0]; |
| 273 | while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) { |
| 274 | if (*puiConnection == uiTargetNodeId_p) { // existing connection to target node found |
| 275 | // save handle for higher layer |
| 276 | *pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 277 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 278 | goto Exit; |
| 279 | } else if (*puiConnection == 0) { // free entry-> save target nodeId |
| 280 | uiFreeCon = uiCount; |
| 281 | } |
| 282 | uiCount++; |
| 283 | puiConnection++; |
| 284 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 285 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 286 | if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) { |
| 287 | // no free connection |
| 288 | Ret = kEplSdoAsndNoFreeHandle; |
| 289 | } else { |
| 290 | puiConnection = |
| 291 | &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon]; |
| 292 | *puiConnection = uiTargetNodeId_p; |
| 293 | // save handle for higher layer |
| 294 | *pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 295 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 296 | goto Exit; |
| 297 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 298 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 299 | Exit: |
| 300 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 301 | } |
| 302 | |
| 303 | //--------------------------------------------------------------------------- |
| 304 | // |
| 305 | // Function: EplSdoAsnduSendData |
| 306 | // |
| 307 | // Description: send data using exisiting connection |
| 308 | // |
| 309 | // |
| 310 | // |
| 311 | // Parameters: SdoConHandle_p = connection handle |
| 312 | // pSrcData_p = pointer to data |
| 313 | // dwDataSize_p = number of databyte |
| 314 | // -> without asnd-header!!! |
| 315 | // |
| 316 | // Returns: tEplKernel = Errorcode |
| 317 | // |
| 318 | // |
| 319 | // State: |
| 320 | // |
| 321 | //--------------------------------------------------------------------------- |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 322 | tEplKernel PUBLIC EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p, |
| 323 | tEplFrame * pSrcData_p, |
| 324 | DWORD dwDataSize_p) |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 325 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 326 | tEplKernel Ret; |
| 327 | unsigned int uiArray; |
| 328 | tEplFrameInfo FrameInfo; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 329 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 330 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 331 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 332 | uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 333 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 334 | if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) { |
| 335 | Ret = kEplSdoAsndInvalidHandle; |
| 336 | goto Exit; |
| 337 | } |
| 338 | // fillout Asnd header |
| 339 | // own node id not needed -> filled by DLL |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 340 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 341 | // set message type |
| 342 | AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (BYTE) kEplMsgTypeAsnd); // ASnd == 0x06 |
| 343 | // target node id |
| 344 | AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, |
| 345 | (BYTE) SdoAsndInstance_g. |
| 346 | m_auiSdoAsndConnection[uiArray]); |
| 347 | // set source-nodeid (filled by DLL 0) |
| 348 | AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 349 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 350 | // calc size |
| 351 | dwDataSize_p += EPL_ASND_HEADER_SIZE; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 352 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 353 | // send function of DLL |
| 354 | FrameInfo.m_uiFrameSize = dwDataSize_p; |
| 355 | FrameInfo.m_pFrame = pSrcData_p; |
| 356 | EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime)); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 357 | #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 358 | Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 359 | #endif |
| 360 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 361 | Exit: |
| 362 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 363 | |
| 364 | } |
| 365 | |
| 366 | //--------------------------------------------------------------------------- |
| 367 | // |
| 368 | // Function: EplSdoAsnduDelCon |
| 369 | // |
| 370 | // Description: delete connection from intern structure |
| 371 | // |
| 372 | // |
| 373 | // |
| 374 | // Parameters: SdoConHandle_p = connection handle |
| 375 | // |
| 376 | // Returns: tEplKernel = Errorcode |
| 377 | // |
| 378 | // |
| 379 | // State: |
| 380 | // |
| 381 | //--------------------------------------------------------------------------- |
| 382 | tEplKernel PUBLIC EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p) |
| 383 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 384 | tEplKernel Ret; |
| 385 | unsigned int uiArray; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 386 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 387 | Ret = kEplSuccessful; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 388 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 389 | uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); |
| 390 | // check parameter |
| 391 | if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) { |
| 392 | Ret = kEplSdoAsndInvalidHandle; |
| 393 | goto Exit; |
| 394 | } |
| 395 | // set target nodeId to 0 |
| 396 | SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 397 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 398 | Exit: |
| 399 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 400 | } |
| 401 | |
| 402 | //=========================================================================// |
| 403 | // // |
| 404 | // P R I V A T E F U N C T I O N S // |
| 405 | // // |
| 406 | //=========================================================================// |
| 407 | |
| 408 | //--------------------------------------------------------------------------- |
| 409 | // |
| 410 | // Function: EplSdoAsnduCb |
| 411 | // |
| 412 | // Description: callback function for SDO ASnd frames |
| 413 | // |
| 414 | // |
| 415 | // |
| 416 | // Parameters: pFrameInfo_p = Frame with SDO payload |
| 417 | // |
| 418 | // |
| 419 | // Returns: tEplKernel = errorcode |
| 420 | // |
| 421 | // |
| 422 | // State: |
| 423 | // |
| 424 | //--------------------------------------------------------------------------- |
| 425 | tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p) |
| 426 | { |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 427 | tEplKernel Ret = kEplSuccessful; |
| 428 | unsigned int uiCount; |
| 429 | unsigned int *puiConnection; |
| 430 | unsigned int uiNodeId; |
| 431 | unsigned int uiFreeEntry = 0xFFFF; |
| 432 | tEplSdoConHdl SdoConHdl; |
| 433 | tEplFrame *pFrame; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 434 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 435 | pFrame = pFrameInfo_p->m_pFrame; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 436 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 437 | uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 438 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 439 | // search corresponding entry in control structure |
| 440 | uiCount = 0; |
| 441 | puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0]; |
| 442 | while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) { |
| 443 | if (uiNodeId == *puiConnection) { |
| 444 | break; |
| 445 | } else if ((*puiConnection == 0) |
| 446 | && (uiFreeEntry == 0xFFFF)) { // free entry |
| 447 | uiFreeEntry = uiCount; |
| 448 | } |
| 449 | uiCount++; |
| 450 | puiConnection++; |
| 451 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 452 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 453 | if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) { |
| 454 | if (uiFreeEntry != 0xFFFF) { |
| 455 | puiConnection = |
| 456 | &SdoAsndInstance_g. |
| 457 | m_auiSdoAsndConnection[uiFreeEntry]; |
| 458 | *puiConnection = uiNodeId; |
| 459 | uiCount = uiFreeEntry; |
| 460 | } else { |
| 461 | EPL_DBGLVL_SDO_TRACE0 |
| 462 | ("EplSdoAsnduCb(): no free handle\n"); |
| 463 | goto Exit; |
| 464 | } |
| 465 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 466 | // if (uiNodeId == *puiConnection) |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 467 | { // entry found or created |
| 468 | SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE); |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 469 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 470 | SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl, |
| 471 | &pFrame->m_Data.m_Asnd. |
| 472 | m_Payload.m_SdoSequenceFrame, |
| 473 | (pFrameInfo_p->m_uiFrameSize - |
| 474 | 18)); |
| 475 | } |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 476 | |
Greg Kroah-Hartman | 833dfbe | 2008-12-19 17:11:52 -0800 | [diff] [blame] | 477 | Exit: |
| 478 | return Ret; |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 479 | |
| 480 | } |
| 481 | |
Daniel Krueger | 9d7164c | 2008-12-19 11:41:57 -0800 | [diff] [blame] | 482 | #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) |
| 483 | // EOF |