/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: include file for EPL API layer
License:
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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Severability Clause:
If a provision of this License is or becomes illegal, invalid or
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-------------------------------------------------------------------------
$RCSfile: Epl.h,v $
$Author: D.Krueger $
$Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/05/22 d.k.: start of the implementation, version 1.00
****************************************************************************/
#ifndef _EPL_API_H_
#define _EPL_API_H_
#include "EplInc.h"
#include "EplSdo.h"
#include "EplObd.h"
#include "EplLed.h"
#include "EplEvent.h"
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// typedef
//---------------------------------------------------------------------------
typedef struct {
unsigned int m_uiNodeId;
tEplNmtState m_NmtState;
tEplNmtNodeEvent m_NodeEvent;
u16 m_wErrorCode; // EPL error code if m_NodeEvent == kEplNmtNodeEventError
BOOL m_fMandatory;
} tEplApiEventNode;
typedef struct {
tEplNmtState m_NmtState; // local NMT state
tEplNmtBootEvent m_BootEvent;
u16 m_wErrorCode; // EPL error code if m_BootEvent == kEplNmtBootEventError
} tEplApiEventBoot;
typedef struct {
tEplLedType m_LedType; // type of the LED (e.g. Status or Error)
BOOL m_fOn; // state of the LED (e.g. on or off)
} tEplApiEventLed;
typedef enum {
kEplApiEventNmtStateChange = 0x10, // m_NmtStateChange
// kEplApiEventRequestNmt = 0x11, // m_bNmtCmd
kEplApiEventCriticalError = 0x12, // m_InternalError, Stack halted
kEplApiEventWarning = 0x13, // m_InternalError, Stack running
kEplApiEventNode = 0x20, // m_Node
kEplApiEventBoot = 0x21, // m_Boot
kEplApiEventSdo = 0x62, // m_Sdo
kEplApiEventObdAccess = 0x69, // m_ObdCbParam
kEplApiEventLed = 0x70, // m_Led
} tEplApiEventType;
typedef union {
tEplEventNmtStateChange m_NmtStateChange;
tEplEventError m_InternalError;
tEplSdoComFinished m_Sdo;
tEplObdCbParam m_ObdCbParam;
tEplApiEventNode m_Node;
tEplApiEventBoot m_Boot;
tEplApiEventLed m_Led;
} tEplApiEventArg;
typedef tEplKernel(*tEplApiCbEvent) (tEplApiEventType EventType_p, // IN: event type (enum)
tEplApiEventArg *pEventArg_p, // IN: event argument (union)
void *pUserArg_p);
typedef struct {
unsigned int m_uiSizeOfStruct;
BOOL m_fAsyncOnly; // do not need to register PRes
unsigned int m_uiNodeId; // local node ID
u8 m_abMacAddress[6]; // local MAC address
// 0x1F82: NMT_FeatureFlags_U32
u32 m_dwFeatureFlags;
// Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
u32 m_dwCycleLen; // required for error detection
// 0x1F98: NMT_CycleTiming_REC
// 0x1F98.1: IsochrTxMaxPayload_U16
unsigned int m_uiIsochrTxMaxPayload; // const
// 0x1F98.2: IsochrRxMaxPayload_U16
unsigned int m_uiIsochrRxMaxPayload; // const
// 0x1F98.3: PResMaxLatency_U32
u32 m_dwPresMaxLatency; // const in [ns], only required for IdentRes
// 0x1F98.4: PReqActPayloadLimit_U16
unsigned int m_uiPreqActPayloadLimit; // required for initialisation (+28 bytes)
// 0x1F98.5: PResActPayloadLimit_U16
unsigned int m_uiPresActPayloadLimit; // required for initialisation of Pres frame (+28 bytes)
// 0x1F98.6: ASndMaxLatency_U32
u32 m_dwAsndMaxLatency; // const in [ns], only required for IdentRes
// 0x1F98.7: MultiplCycleCnt_U8
unsigned int m_uiMultiplCycleCnt; // required for error detection
// 0x1F98.8: AsyncMTU_U16
unsigned int m_uiAsyncMtu; // required to set up max frame size
// 0x1F98.9: Prescaler_U16
unsigned int m_uiPrescaler; // required for sync
// $$$ Multiplexed Slot
// 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
u32 m_dwLossOfFrameTolerance;
// 0x1F8A: NMT_MNCycleTiming_REC
// 0x1F8A.1: WaitSoCPReq_U32 in [ns]
u32 m_dwWaitSocPreq;
// 0x1F8A.2: AsyncSlotTimeout_U32 in [ns]
u32 m_dwAsyncSlotTimeout;
u32 m_dwDeviceType; // NMT_DeviceType_U32
u32 m_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32
u32 m_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32
u32 m_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32
u32 m_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
u64 m_qwVendorSpecificExt1;
u32 m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
u32 m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
u32 m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
u32 m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
u32 m_dwIpAddress;
u32 m_dwSubnetMask;
u32 m_dwDefaultGateway;
u8 m_sHostname[32];
u8 m_abVendorSpecificExt2[48];
char *m_pszDevName; // NMT_ManufactDevName_VS (0x1008/0 local OD)
char *m_pszHwVersion; // NMT_ManufactHwVers_VS (0x1009/0 local OD)
char *m_pszSwVersion; // NMT_ManufactSwVers_VS (0x100A/0 local OD)
tEplApiCbEvent m_pfnCbEvent;
void *m_pEventUserArg;
tEplSyncCb m_pfnCbSync;
} tEplApiInitParam;
typedef struct {
void *m_pImage;
unsigned int m_uiSize;
} tEplApiProcessImage;
//---------------------------------------------------------------------------
// function prototypes
//---------------------------------------------------------------------------
tEplKernel EplApiInitialize(tEplApiInitParam *pInitParam_p);
tEplKernel EplApiShutdown(void);
tEplKernel EplApiReadObject(tEplSdoComConHdl *pSdoComConHdl_p,
unsigned int uiNodeId_p,
unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pDstData_le_p,
unsigned int *puiSize_p,
tEplSdoType SdoType_p, void *pUserArg_p);
tEplKernel EplApiWriteObject(tEplSdoComConHdl *pSdoComConHdl_p,
unsigned int uiNodeId_p,
unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pSrcData_le_p,
unsigned int uiSize_p,
tEplSdoType SdoType_p, void *pUserArg_p);
tEplKernel EplApiFreeSdoChannel(tEplSdoComConHdl SdoComConHdl_p);
tEplKernel EplApiReadLocalObject(unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pDstData_p,
unsigned int *puiSize_p);
tEplKernel EplApiWriteLocalObject(unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pSrcData_p,
unsigned int uiSize_p);
tEplKernel EplApiCbObdAccess(tEplObdCbParam *pParam_p);
tEplKernel EplApiLinkObject(unsigned int uiObjIndex_p,
void *pVar_p,
unsigned int *puiVarEntries_p,
tEplObdSize *pEntrySize_p,
unsigned int uiFirstSubindex_p);
tEplKernel EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p);
tEplKernel EplApiProcess(void);
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
tEplKernel EplApiMnTriggerStateChange(unsigned int uiNodeId_p,
tEplNmtNodeCommand NodeCommand_p);
#endif
tEplKernel EplApiGetIdentResponse(unsigned int uiNodeId_p,
tEplIdentResponse **ppIdentResponse_p);
// functions for process image will be implemented in separate file
tEplKernel EplApiProcessImageSetup(void);
tEplKernel EplApiProcessImageExchangeIn(tEplApiProcessImage *pPI_p);
tEplKernel EplApiProcessImageExchangeOut(tEplApiProcessImage *pPI_p);
#endif // #ifndef _EPL_API_H_
