/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: source file for user PDO module
Currently, this module just implements a OD callback function
to check if the PDO configuration is valid.
License:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of SYSTEC electronic GmbH nor the names of its
contributors may be used to endorse or promote products derived
from this software without prior written permission. For written
permission, please contact info@systec-electronic.com.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
Severability Clause:
If a provision of this License is or becomes illegal, invalid or
unenforceable in any jurisdiction, that shall not affect:
1. the validity or enforceability in that jurisdiction of any other
provision of this License; or
2. the validity or enforceability in other jurisdictions of that or
any other provision of this License.
-------------------------------------------------------------------------
$RCSfile: EplPdou.c,v $
$Author: D.Krueger $
$Revision: 1.5 $ $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 "EplInc.h"
//#include "user/EplPdouCal.h"
#include "user/EplObdu.h"
#include "user/EplPdou.h"
#include "EplSdoAc.h"
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0)
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE)
#error "EPL PDOu module needs EPL module OBDU or OBDK!"
#endif
/***************************************************************************/
/* */
/* */
/* G L O B A L D E F I N I T I O N S */
/* */
/* */
/***************************************************************************/
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
#define EPL_PDOU_OBD_IDX_RX_COMM_PARAM 0x1400
#define EPL_PDOU_OBD_IDX_RX_MAPP_PARAM 0x1600
#define EPL_PDOU_OBD_IDX_TX_COMM_PARAM 0x1800
#define EPL_PDOU_OBD_IDX_TX_MAPP_PARAM 0x1A00
#define EPL_PDOU_OBD_IDX_MAPP_PARAM 0x0200
#define EPL_PDOU_OBD_IDX_MASK 0xFF00
#define EPL_PDOU_PDO_ID_MASK 0x00FF
//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
/***************************************************************************/
/* */
/* */
/* C L A S S EplPdou */
/* */
/* */
/***************************************************************************/
//
// 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
//---------------------------------------------------------------------------
static tEplKernel EplPdouCheckPdoValidity(tEplObdCbParam *pParam_p,
unsigned int uiIndex_p);
static void EplPdouDecodeObjectMapping(u64 qwObjectMapping_p,
unsigned int *puiIndex_p,
unsigned int *puiSubIndex_p,
unsigned int *puiBitOffset_p,
unsigned int *puiBitSize_p);
static tEplKernel EplPdouCheckObjectMapping(u64 qwObjectMapping_p,
tEplObdAccess AccessType_p,
u32 * pdwAbortCode_p,
unsigned int *puiPdoSize_p);
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplPdouAddInstance()
//
// Description: add and initialize new instance of EPL stack
//
// Parameters: none
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdouAddInstance(void)
{
return kEplSuccessful;
}
//---------------------------------------------------------------------------
//
// Function: EplPdouDelInstance()
//
// Description: deletes an instance of EPL stack
//
// Parameters: none
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdouDelInstance(void)
{
return kEplSuccessful;
}
//---------------------------------------------------------------------------
//
// Function: EplPdouCbObdAccess
//
// Description: callback function for OD accesses
//
// Parameters: pParam_p = OBD parameter
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplPdouCbObdAccess(tEplObdCbParam *pParam_p)
{
tEplKernel Ret = kEplSuccessful;
unsigned int uiPdoId;
unsigned int uiIndexType;
tEplObdSize ObdSize;
u8 bObjectCount;
u64 qwObjectMapping;
tEplObdAccess AccessType;
u8 bMappSubindex;
unsigned int uiCurPdoSize;
u16 wMaxPdoSize;
unsigned int uiSubIndex;
// fetch PDO ID
uiPdoId = pParam_p->m_uiIndex & EPL_PDOU_PDO_ID_MASK;
// fetch object index type
uiIndexType = pParam_p->m_uiIndex & EPL_PDOU_OBD_IDX_MASK;
if (pParam_p->m_ObdEvent != kEplObdEvPreWrite) { // read accesses, post write events etc. are OK
pParam_p->m_dwAbortCode = 0;
goto Exit;
}
// check index type
switch (uiIndexType) {
case EPL_PDOU_OBD_IDX_RX_COMM_PARAM:
// RPDO communication parameter accessed
case EPL_PDOU_OBD_IDX_TX_COMM_PARAM:
{ // TPDO communication parameter accessed
Ret = EplPdouCheckPdoValidity(pParam_p,
(EPL_PDOU_OBD_IDX_MAPP_PARAM
| pParam_p->m_uiIndex));
if (Ret != kEplSuccessful) { // PDO is valid or does not exist
goto Exit;
}
goto Exit;
}
case EPL_PDOU_OBD_IDX_RX_MAPP_PARAM:
{ // RPDO mapping parameter accessed
AccessType = kEplObdAccWrite;
break;
}
case EPL_PDOU_OBD_IDX_TX_MAPP_PARAM:
{ // TPDO mapping parameter accessed
AccessType = kEplObdAccRead;
break;
}
default:
{ // this callback function is only for
// PDO mapping and communication parameters
pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
goto Exit;
}
}
// RPDO and TPDO mapping parameter accessed
if (pParam_p->m_uiSubIndex == 0) { // object mapping count accessed
// PDO is enabled or disabled
bObjectCount = *((u8 *) pParam_p->m_pArg);
if (bObjectCount == 0) { // PDO shall be disabled
// that is always possible
goto Exit;
}
// PDO shall be enabled
// it should have been disabled for this operation
Ret = EplPdouCheckPdoValidity(pParam_p, pParam_p->m_uiIndex);
if (Ret != kEplSuccessful) { // PDO is valid or does not exist
goto Exit;
}
if (AccessType == kEplObdAccWrite) {
uiSubIndex = 0x04; // PReqActPayloadLimit_U16
} else {
uiSubIndex = 0x05; // PResActPayloadLimit_U16
}
// fetch maximum PDO size from Object 1F98h: NMT_CycleTiming_REC
ObdSize = sizeof(wMaxPdoSize);
Ret =
EplObduReadEntry(0x1F98, uiSubIndex, &wMaxPdoSize,
&ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
pParam_p->m_dwAbortCode = EPL_SDOAC_GENERAL_ERROR;
goto Exit;
}
// check all objectmappings
for (bMappSubindex = 1; bMappSubindex <= bObjectCount;
bMappSubindex++) {
// read object mapping from OD
ObdSize = sizeof(qwObjectMapping); // u64
Ret = EplObduReadEntry(pParam_p->m_uiIndex,
bMappSubindex, &qwObjectMapping,
&ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
pParam_p->m_dwAbortCode =
EPL_SDOAC_GENERAL_ERROR;
goto Exit;
}
// check object mapping
Ret = EplPdouCheckObjectMapping(qwObjectMapping,
AccessType,
&pParam_p->
m_dwAbortCode,
&uiCurPdoSize);
if (Ret != kEplSuccessful) { // illegal object mapping
goto Exit;
}
if (uiCurPdoSize > wMaxPdoSize) { // mapping exceeds object size
pParam_p->m_dwAbortCode =
EPL_SDOAC_GENERAL_ERROR;
Ret = kEplPdoVarNotFound;
}
}
} else { // ObjectMapping
Ret = EplPdouCheckPdoValidity(pParam_p, pParam_p->m_uiIndex);
if (Ret != kEplSuccessful) { // PDO is valid or does not exist
goto Exit;
}
// check existence of object and validity of object length
qwObjectMapping = *((u64 *) pParam_p->m_pArg);
Ret = EplPdouCheckObjectMapping(qwObjectMapping,
AccessType,
&pParam_p->m_dwAbortCode,
&uiCurPdoSize);
}
Exit:
return Ret;
}
//=========================================================================//
// //
// P R I V A T E F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplPdouCheckPdoValidity
//
// Description: check if PDO is valid
//
// Parameters: pParam_p = OBD parameter
//
// Returns: tEplKernel = error code
//
//
// State:
//
//---------------------------------------------------------------------------
static tEplKernel EplPdouCheckPdoValidity(tEplObdCbParam *pParam_p,
unsigned int uiIndex_p)
{
tEplKernel Ret = kEplSuccessful;
tEplObdSize ObdSize;
u8 bObjectCount;
ObdSize = 1;
// read number of mapped objects from OD; this indicates if the PDO is valid
Ret = EplObduReadEntry(uiIndex_p, 0x00, &bObjectCount, &ObdSize);
if (Ret != kEplSuccessful) { // other fatal error occured
pParam_p->m_dwAbortCode =
EPL_SDOAC_GEN_INTERNAL_INCOMPATIBILITY;
goto Exit;
}
// entry read successfully
if (bObjectCount != 0) { // PDO in OD is still valid
pParam_p->m_dwAbortCode = EPL_SDOAC_GEN_PARAM_INCOMPATIBILITY;
Ret = kEplPdoNotExist;
goto Exit;
}
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplPdouDecodeObjectMapping
//
// Description: decodes the given object mapping entry into index, subindex,
// bit offset and bit size.
//
// Parameters: qwObjectMapping_p = object mapping entry
// puiIndex_p = [OUT] pointer to object index
// puiSubIndex_p = [OUT] pointer to subindex
// puiBitOffset_p = [OUT] pointer to bit offset
// puiBitSize_p = [OUT] pointer to bit size
//
// Returns: (void)
//
// State:
//
//---------------------------------------------------------------------------
static void EplPdouDecodeObjectMapping(u64 qwObjectMapping_p,
unsigned int *puiIndex_p,
unsigned int *puiSubIndex_p,
unsigned int *puiBitOffset_p,
unsigned int *puiBitSize_p)
{
*puiIndex_p = (unsigned int)
(qwObjectMapping_p & 0x000000000000FFFFLL);
*puiSubIndex_p = (unsigned int)
((qwObjectMapping_p & 0x0000000000FF0000LL) >> 16);
*puiBitOffset_p = (unsigned int)
((qwObjectMapping_p & 0x0000FFFF00000000LL) >> 32);
*puiBitSize_p = (unsigned int)
((qwObjectMapping_p & 0xFFFF000000000000LL) >> 48);
}
//---------------------------------------------------------------------------
//
// Function: EplPdouCheckObjectMapping
//
// Description: checks the given object mapping entry.
//
// Parameters: qwObjectMapping_p = object mapping entry
// AccessType_p = access type to mapped object:
// write = RPDO and read = TPDO
// puiPdoSize_p = [OUT] pointer to covered PDO size
// (offset + size) in byte;
// 0 if mapping failed
// pdwAbortCode_p = [OUT] pointer to SDO abort code;
// 0 if mapping is possible
//
// Returns: tEplKernel = error code
//
// State:
//
//---------------------------------------------------------------------------
static tEplKernel EplPdouCheckObjectMapping(u64 qwObjectMapping_p,
tEplObdAccess AccessType_p,
u32 * pdwAbortCode_p,
unsigned int *puiPdoSize_p)
{
tEplKernel Ret = kEplSuccessful;
tEplObdSize ObdSize;
unsigned int uiIndex;
unsigned int uiSubIndex;
unsigned int uiBitOffset;
unsigned int uiBitSize;
tEplObdAccess AccessType;
BOOL fNumerical;
if (qwObjectMapping_p == 0) { // discard zero value
*puiPdoSize_p = 0;
goto Exit;
}
// decode object mapping
EplPdouDecodeObjectMapping(qwObjectMapping_p,
&uiIndex,
&uiSubIndex, &uiBitOffset, &uiBitSize);
if ((uiBitOffset & 0x7) != 0x0) { // bit mapping is not supported
*pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
Ret = kEplPdoGranularityMismatch;
goto Exit;
}
if ((uiBitSize & 0x7) != 0x0) { // bit mapping is not supported
*pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
Ret = kEplPdoGranularityMismatch;
goto Exit;
}
// check access type
Ret = EplObduGetAccessType(uiIndex, uiSubIndex, &AccessType);
if (Ret != kEplSuccessful) { // entry doesn't exist
*pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_EXIST;
goto Exit;
}
if ((AccessType & kEplObdAccPdo) == 0) { // object is not mappable
*pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_MAPPABLE;
Ret = kEplPdoVarNotFound;
goto Exit;
}
if ((AccessType & AccessType_p) == 0) { // object is not writeable (RPDO) or readable (TPDO) respectively
*pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_MAPPABLE;
Ret = kEplPdoVarNotFound;
goto Exit;
}
ObdSize = EplObduGetDataSize(uiIndex, uiSubIndex);
if (ObdSize < (uiBitSize >> 3)) { // object does not exist or has smaller size
*pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
Ret = kEplPdoVarNotFound;
}
Ret = EplObduIsNumerical(uiIndex, uiSubIndex, &fNumerical);
if (Ret != kEplSuccessful) { // entry doesn't exist
*pdwAbortCode_p = EPL_SDOAC_OBJECT_NOT_EXIST;
goto Exit;
}
if ((fNumerical != FALSE)
&& ((uiBitSize >> 3) != ObdSize)) {
// object is numerical,
// therefor size has to fit, but it does not.
*pdwAbortCode_p = EPL_SDOAC_GENERAL_ERROR;
Ret = kEplPdoVarNotFound;
goto Exit;
}
// calucaled needed PDO size
*puiPdoSize_p = (uiBitOffset >> 3) + (uiBitSize >> 3);
Exit:
return Ret;
}
#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOU)) != 0)
// EOF
