/****************************************************************************
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www.systec-electronic.com
Project: openPOWERLINK
Description: source file for kernel PDO module
License:
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BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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Severability Clause:
If a provision of this License is or becomes illegal, invalid or
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1. the validity or enforceability in that jurisdiction of any other
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-------------------------------------------------------------------------
$RCSfile: EplPdok.c,v $
$Author: D.Krueger $
$Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/05/22 d.k.: start of the implementation, version 1.00
****************************************************************************/
#include "kernel/EplPdok.h"
#include "kernel/EplPdokCal.h"
#include "kernel/EplEventk.h"
#include "kernel/EplObdk.h"
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) == 0)
#error 'ERROR: Missing DLLk-Modul!'
#endif
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0)
#error 'ERROR: Missing OBDk-Modul!'
#endif
/***************************************************************************/
/* */
/* */
/* G L O B A L D E F I N I T I O N S */
/* */
/* */
/***************************************************************************/
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
#define EPL_PDOK_OBD_IDX_RX_COMM_PARAM 0x1400
#define EPL_PDOK_OBD_IDX_RX_MAPP_PARAM 0x1600
#define EPL_PDOK_OBD_IDX_TX_COMM_PARAM 0x1800
#define EPL_PDOK_OBD_IDX_TX_MAPP_PARAM 0x1A00
//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
/***************************************************************************/
/* */
/* */
/* C L A S S EplPdok */
/* */
/* */
/***************************************************************************/
//
// Description:
//
//
/***************************************************************************/
//=========================================================================//
// //
// P R I V A T E D E F I N I T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// local vars
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplPdokAddInstance()
//
// Description: add and initialize new instance of EPL stack
//
// Parameters: none
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdokAddInstance(void)
{
return kEplSuccessful;
}
//---------------------------------------------------------------------------
//
// Function: EplPdokDelInstance()
//
// Description: deletes an instance of EPL stack
//
// Parameters: none
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdokDelInstance(void)
{
return kEplSuccessful;
}
//---------------------------------------------------------------------------
//
// Function: EplPdokCbPdoReceived
//
// Description: This function is called by DLL if PRes or PReq frame was
// received. It posts the frame to the event queue.
// It is called in states NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL.
// The passed PDO needs not to be valid.
//
// Parameters: pFrameInfo_p = pointer to frame info structure
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdokCbPdoReceived(tEplFrameInfo * pFrameInfo_p)
{
tEplKernel Ret = kEplSuccessful;
tEplEvent Event;
Event.m_EventSink = kEplEventSinkPdok;
Event.m_EventType = kEplEventTypePdoRx;
// limit copied data to size of PDO (because from some CNs the frame is larger than necessary)
Event.m_uiSize = AmiGetWordFromLe(&pFrameInfo_p->m_pFrame->m_Data.m_Pres.m_le_wSize) + 24; // pFrameInfo_p->m_uiFrameSize;
Event.m_pArg = pFrameInfo_p->m_pFrame;
Ret = EplEventkPost(&Event);
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplPdokCbPdoTransmitted
//
// Description: This function is called by DLL if PRes or PReq frame was
// sent. It posts the pointer to the frame to the event queue.
// It is called in NMT_CS_PRE_OPERATIONAL_2,
// NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL.
//
// Parameters: pFrameInfo_p = pointer to frame info structure
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdokCbPdoTransmitted(tEplFrameInfo * pFrameInfo_p)
{
tEplKernel Ret = kEplSuccessful;
tEplEvent Event;
Event.m_EventSink = kEplEventSinkPdok;
Event.m_EventType = kEplEventTypePdoTx;
Event.m_uiSize = sizeof(tEplFrameInfo);
Event.m_pArg = pFrameInfo_p;
Ret = EplEventkPost(&Event);
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplPdokCbSoa
//
// Description: This function is called by DLL if SoA frame was
// received resp. sent. It posts this event to the event queue.
//
// Parameters: pFrameInfo_p = pointer to frame info structure
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdokCbSoa(tEplFrameInfo * pFrameInfo_p)
{
tEplKernel Ret = kEplSuccessful;
tEplEvent Event;
Event.m_EventSink = kEplEventSinkPdok;
Event.m_EventType = kEplEventTypePdoSoa;
Event.m_uiSize = 0;
Event.m_pArg = NULL;
Ret = EplEventkPost(&Event);
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplPdokProcess
//
// Description: This function processes all received and transmitted PDOs.
// This function must not be interrupted by any other task
// except ISRs (like the ethernet driver ISR, which may call
// EplPdokCbFrameReceived() or EplPdokCbFrameTransmitted()).
//
// Parameters: pEvent_p = pointer to event structure
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdokProcess(tEplEvent * pEvent_p)
{
tEplKernel Ret = kEplSuccessful;
u16 wPdoSize;
u16 wBitOffset;
u16 wBitSize;
u16 wVarSize;
u64 qwObjectMapping;
u8 bMappSubindex;
u8 bObdSubindex;
u16 wObdMappIndex;
u16 wObdCommIndex;
u16 wPdoId;
u8 bObdData;
u8 bObjectCount;
u8 bFrameData;
BOOL fValid;
tEplObdSize ObdSize;
tEplFrame *pFrame;
tEplFrameInfo *pFrameInfo;
unsigned int uiNodeId;
tEplMsgType MsgType;
// 0xFF=invalid, RPDO: 0x00=PReq, localNodeId=PRes, remoteNodeId=PRes
// TPDO: 0x00=PRes, MN: CnNodeId=PReq
switch (pEvent_p->m_EventType) {
case kEplEventTypePdoRx: // RPDO received
pFrame = (tEplFrame *) pEvent_p->m_pArg;
// check if received RPDO is valid
bFrameData =
AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1);
if ((bFrameData & EPL_FRAME_FLAG1_RD) == 0) { // RPDO invalid
goto Exit;
}
// retrieve EPL message type
MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType);
if (MsgType == kEplMsgTypePreq) { // RPDO is PReq frame
uiNodeId = EPL_PDO_PREQ_NODE_ID; // 0x00
} else { // RPDO is PRes frame
// retrieve node ID
uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
}
// search for appropriate valid RPDO in OD
wObdMappIndex = EPL_PDOK_OBD_IDX_RX_MAPP_PARAM;
for (wObdCommIndex = EPL_PDOK_OBD_IDX_RX_COMM_PARAM;
wObdCommIndex < (EPL_PDOK_OBD_IDX_RX_COMM_PARAM + 0x00FF);
wObdCommIndex++, wObdMappIndex++) {
ObdSize = 1;
// read node ID from OD
Ret =
EplObdReadEntry(wObdCommIndex, 0x01, &bObdData,
&ObdSize);
if ((Ret == kEplObdIndexNotExist)
|| (Ret == kEplObdSubindexNotExist)
|| (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached
Ret = kEplSuccessful;
goto Exit;
} else if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// entry read successfully
if (bObdData != uiNodeId) { // node ID does not equal - wrong PDO, try next PDO in OD
continue;
}
ObdSize = 1;
// read number of mapped objects from OD; this indicates if the PDO is valid
Ret =
EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount,
&ObdSize);
if ((Ret == kEplObdIndexNotExist)
|| (Ret == kEplObdSubindexNotExist)
|| (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached
Ret = kEplSuccessful;
goto Exit;
} else if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// entry read successfully
if (bObjectCount == 0) { // PDO in OD not valid, try next PDO in OD
continue;
}
ObdSize = 1;
// check PDO mapping version
Ret =
EplObdReadEntry(wObdCommIndex, 0x02, &bObdData,
&ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// entry read successfully
// retrieve PDO version from frame
bFrameData =
AmiGetByteFromLe(&pFrame->m_Data.m_Pres.
m_le_bPdoVersion);
if ((bObdData & EPL_VERSION_MAIN) != (bFrameData & EPL_VERSION_MAIN)) { // PDO versions do not match
// $$$ raise PDO error
// termiate processing of this RPDO
goto Exit;
}
// valid RPDO found
// retrieve PDO size
wPdoSize =
AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize);
// process mapping
for (bMappSubindex = 1; bMappSubindex <= bObjectCount;
bMappSubindex++) {
ObdSize = 8; // u64
// read object mapping from OD
Ret =
EplObdReadEntry(wObdMappIndex,
bMappSubindex,
&qwObjectMapping, &ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed
if (qwObjectMapping == 0) { // invalid entry, continue with next entry
continue;
}
// decode object mapping
wObdCommIndex =
(u16) (qwObjectMapping &
0x000000000000FFFFLL);
bObdSubindex =
(u8) ((qwObjectMapping &
0x0000000000FF0000LL) >> 16);
wBitOffset =
(u16) ((qwObjectMapping &
0x0000FFFF00000000LL) >> 32);
wBitSize =
(u16) ((qwObjectMapping &
0xFFFF000000000000LL) >> 48);
// check if object exceeds PDO size
if (((wBitOffset + wBitSize) >> 3) > wPdoSize) { // wrong object mapping; PDO size is too low
// $$$ raise PDO error
// terminate processing of this RPDO
goto Exit;
}
// copy object from RPDO to process/OD variable
ObdSize = wBitSize >> 3;
Ret =
EplObdWriteEntryFromLe(wObdCommIndex,
bObdSubindex,
&pFrame->m_Data.
m_Pres.
m_le_abPayload[(wBitOffset >> 3)], ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
}
// processing finished successfully
goto Exit;
}
break;
case kEplEventTypePdoTx: // TPDO transmitted
pFrameInfo = (tEplFrameInfo *) pEvent_p->m_pArg;
pFrame = pFrameInfo->m_pFrame;
// set TPDO invalid, so that only fully processed TPDOs are sent as valid
bFrameData =
AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1);
AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bFlag1,
(bFrameData & ~EPL_FRAME_FLAG1_RD));
// retrieve EPL message type
MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType);
if (MsgType == kEplMsgTypePres) { // TPDO is PRes frame
uiNodeId = EPL_PDO_PRES_NODE_ID; // 0x00
} else { // TPDO is PReq frame
// retrieve node ID
uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId);
}
// search for appropriate valid TPDO in OD
wObdMappIndex = EPL_PDOK_OBD_IDX_TX_MAPP_PARAM;
wObdCommIndex = EPL_PDOK_OBD_IDX_TX_COMM_PARAM;
for (wPdoId = 0;; wPdoId++, wObdCommIndex++, wObdMappIndex++) {
ObdSize = 1;
// read node ID from OD
Ret =
EplObdReadEntry(wObdCommIndex, 0x01, &bObdData,
&ObdSize);
if ((Ret == kEplObdIndexNotExist)
|| (Ret == kEplObdSubindexNotExist)
|| (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached
Ret = kEplSuccessful;
goto Exit;
} else if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// entry read successfully
if (bObdData != uiNodeId) { // node ID does not equal - wrong PDO, try next PDO in OD
continue;
}
ObdSize = 1;
// read number of mapped objects from OD; this indicates if the PDO is valid
Ret =
EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount,
&ObdSize);
if ((Ret == kEplObdIndexNotExist)
|| (Ret == kEplObdSubindexNotExist)
|| (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached
Ret = kEplSuccessful;
goto Exit;
} else if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// entry read successfully
if (bObjectCount == 0) { // PDO in OD not valid, try next PDO in OD
continue;
}
// valid TPDO found
ObdSize = 1;
// get PDO mapping version from OD
Ret =
EplObdReadEntry(wObdCommIndex, 0x02, &bObdData,
&ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// entry read successfully
// set PDO version in frame
AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bPdoVersion,
bObdData);
// calculate PDO size
wPdoSize = 0;
// process mapping
for (bMappSubindex = 1; bMappSubindex <= bObjectCount;
bMappSubindex++) {
ObdSize = 8; // u64
// read object mapping from OD
Ret =
EplObdReadEntry(wObdMappIndex,
bMappSubindex,
&qwObjectMapping, &ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
// check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed
if (qwObjectMapping == 0) { // invalid entry, continue with next entry
continue;
}
// decode object mapping
wObdCommIndex =
(u16) (qwObjectMapping &
0x000000000000FFFFLL);
bObdSubindex =
(u8) ((qwObjectMapping &
0x0000000000FF0000LL) >> 16);
wBitOffset =
(u16) ((qwObjectMapping &
0x0000FFFF00000000LL) >> 32);
wBitSize =
(u16) ((qwObjectMapping &
0xFFFF000000000000LL) >> 48);
// calculate max PDO size
ObdSize = wBitSize >> 3;
wVarSize = (wBitOffset >> 3) + (u16) ObdSize;
if ((unsigned int)(wVarSize + 24) > pFrameInfo->m_uiFrameSize) { // TPDO is too short
// $$$ raise PDO error, set Ret
goto Exit;
}
if (wVarSize > wPdoSize) { // memorize new PDO size
wPdoSize = wVarSize;
}
// copy object from process/OD variable to TPDO
Ret =
EplObdReadEntryToLe(wObdCommIndex,
bObdSubindex,
&pFrame->m_Data.m_Pres.
m_le_abPayload[(wBitOffset >> 3)], &ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
goto Exit;
}
}
// set PDO size in frame
AmiSetWordToLe(&pFrame->m_Data.m_Pres.m_le_wSize,
wPdoSize);
Ret = EplPdokCalAreTpdosValid(&fValid);
if (fValid != FALSE) {
// set TPDO valid
bFrameData =
AmiGetByteFromLe(&pFrame->m_Data.m_Pres.
m_le_bFlag1);
AmiSetByteToLe(&pFrame->m_Data.m_Pres.
m_le_bFlag1,
(bFrameData |
EPL_FRAME_FLAG1_RD));
}
// processing finished successfully
goto Exit;
}
break;
case kEplEventTypePdoSoa: // SoA received
// invalidate TPDOs
Ret = EplPdokCalSetTpdosValid(FALSE);
break;
default:
{
ASSERTMSG(FALSE,
"EplPdokProcess(): unhandled event type!\n");
}
}
Exit:
return Ret;
}
//=========================================================================//
// //
// P R I V A T E F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function:
//
// Description:
//
//
//
// Parameters:
//
//
// Returns:
//
//
// State:
//
//---------------------------------------------------------------------------
#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
// EOF
