/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: source file for SDO/Asnd-Protocolabstractionlayer module
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-------------------------------------------------------------------------
$RCSfile: EplSdoAsndu.c,v $
$Author: D.Krueger $
$Revision: 1.7 $ $Date: 2008/10/17 15:32:32 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/07/07 k.t.: start of the implementation
****************************************************************************/
#include "user/EplSdoAsndu.h"
#include "user/EplDlluCal.h"
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
/***************************************************************************/
/* */
/* */
/* G L O B A L D E F I N I T I O N S */
/* */
/* */
/***************************************************************************/
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
#ifndef EPL_SDO_MAX_CONNECTION_ASND
#define EPL_SDO_MAX_CONNECTION_ASND 5
#endif
//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------
// instance table
typedef struct {
unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
} tEplSdoAsndInstance;
//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------
static tEplSdoAsndInstance SdoAsndInstance_g;
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p);
/***************************************************************************/
/* */
/* */
/* C L A S S <EPL SDO-Asnd Protocolabstraction layer> */
/* */
/* */
/***************************************************************************/
//
// Description: EPL SDO-Asnd Protocolabstraction layer
//
//
/***************************************************************************/
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduInit
//
// Description: init first instance of the module
//
//
//
// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
// callback-function
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
{
tEplKernel Ret;
Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduAddInstance
//
// Description: init additional instance of the module
//
//
//
// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
// callback-function
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
{
tEplKernel Ret;
Ret = kEplSuccessful;
// init control structure
EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));
// save pointer to callback-function
if (fpReceiveCb_p != NULL) {
SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
} else {
Ret = kEplSdoUdpMissCb;
}
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
EplSdoAsnduCb, kEplDllAsndFilterLocal);
#endif
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduDelInstance
//
// Description: del instance of the module
// del socket and del Listen-Thread
//
//
//
// Parameters:
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduDelInstance(void)
{
tEplKernel Ret;
Ret = kEplSuccessful;
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
// deregister callback function from DLL
Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
NULL, kEplDllAsndFilterNone);
#endif
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduInitCon
//
// Description: init a new connect
//
//
//
// Parameters: pSdoConHandle_p = pointer for the new connection handle
// uiTargetNodeId_p = NodeId of the target node
//
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduInitCon(tEplSdoConHdl *pSdoConHandle_p,
unsigned int uiTargetNodeId_p)
{
tEplKernel Ret;
unsigned int uiCount;
unsigned int uiFreeCon;
unsigned int *puiConnection;
Ret = kEplSuccessful;
if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
|| (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
Ret = kEplSdoAsndInvalidNodeId;
goto Exit;
}
// get free entry in control structure
uiCount = 0;
uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
if (*puiConnection == uiTargetNodeId_p) { // existing connection to target node found
// save handle for higher layer
*pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE);
goto Exit;
} else if (*puiConnection == 0) { // free entry-> save target nodeId
uiFreeCon = uiCount;
}
uiCount++;
puiConnection++;
}
if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) {
// no free connection
Ret = kEplSdoAsndNoFreeHandle;
} else {
puiConnection =
&SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
*puiConnection = uiTargetNodeId_p;
// save handle for higher layer
*pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE);
goto Exit;
}
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduSendData
//
// Description: send data using exisiting connection
//
//
//
// Parameters: SdoConHandle_p = connection handle
// pSrcData_p = pointer to data
// dwDataSize_p = number of databyte
// -> without asnd-header!!!
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
tEplFrame *pSrcData_p,
u32 dwDataSize_p)
{
tEplKernel Ret;
unsigned int uiArray;
tEplFrameInfo FrameInfo;
Ret = kEplSuccessful;
uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
Ret = kEplSdoAsndInvalidHandle;
goto Exit;
}
// fillout Asnd header
// own node id not needed -> filled by DLL
// set message type
AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (u8) kEplMsgTypeAsnd); // ASnd == 0x06
// target node id
AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId,
(u8) SdoAsndInstance_g.
m_auiSdoAsndConnection[uiArray]);
// set source-nodeid (filled by DLL 0)
AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
// calc size
dwDataSize_p += EPL_ASND_HEADER_SIZE;
// send function of DLL
FrameInfo.m_uiFrameSize = dwDataSize_p;
FrameInfo.m_pFrame = pSrcData_p;
EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime));
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
#endif
Exit:
return Ret;
}
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduDelCon
//
// Description: delete connection from intern structure
//
//
//
// Parameters: SdoConHandle_p = connection handle
//
// Returns: tEplKernel = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
{
tEplKernel Ret;
unsigned int uiArray;
Ret = kEplSuccessful;
uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
// check parameter
if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
Ret = kEplSdoAsndInvalidHandle;
goto Exit;
}
// set target nodeId to 0
SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;
Exit:
return Ret;
}
//=========================================================================//
// //
// P R I V A T E F U N C T I O N S //
// //
//=========================================================================//
//---------------------------------------------------------------------------
//
// Function: EplSdoAsnduCb
//
// Description: callback function for SDO ASnd frames
//
//
//
// Parameters: pFrameInfo_p = Frame with SDO payload
//
//
// Returns: tEplKernel = errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p)
{
tEplKernel Ret = kEplSuccessful;
unsigned int uiCount;
unsigned int *puiConnection;
unsigned int uiNodeId;
unsigned int uiFreeEntry = 0xFFFF;
tEplSdoConHdl SdoConHdl;
tEplFrame *pFrame;
pFrame = pFrameInfo_p->m_pFrame;
uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
// search corresponding entry in control structure
uiCount = 0;
puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
if (uiNodeId == *puiConnection) {
break;
} else if ((*puiConnection == 0)
&& (uiFreeEntry == 0xFFFF)) { // free entry
uiFreeEntry = uiCount;
}
uiCount++;
puiConnection++;
}
if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) {
if (uiFreeEntry != 0xFFFF) {
puiConnection =
&SdoAsndInstance_g.
m_auiSdoAsndConnection[uiFreeEntry];
*puiConnection = uiNodeId;
uiCount = uiFreeEntry;
} else {
EPL_DBGLVL_SDO_TRACE0
("EplSdoAsnduCb(): no free handle\n");
goto Exit;
}
}
// if (uiNodeId == *puiConnection)
{ // entry found or created
SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE);
SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl,
&pFrame->m_Data.m_Asnd.
m_Payload.m_SdoSequenceFrame,
(pFrameInfo_p->m_uiFrameSize -
18));
}
Exit:
return Ret;
}
#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
// EOF
