drivers/staging/epl/EplSdoAsndu.c

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   2
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   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for SDO/Asnd-Protocolabstractionlayer module
   9
  10   License:
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  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
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  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
  97 typedef struct
  98 {
  99     unsigned int            m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
 100     tEplSequLayerReceiveCb  m_fpSdoAsySeqCb;
 101
 102
 103 } tEplSdoAsndInstance;
 104
 105 //---------------------------------------------------------------------------
 106 // modul globale vars
 107 //---------------------------------------------------------------------------
 108
 109 static tEplSdoAsndInstance  SdoAsndInstance_g;
 110
 111 //---------------------------------------------------------------------------
 112 // local function prototypes
 113 //---------------------------------------------------------------------------
 114
 115 tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p);
 116
 117 /***************************************************************************/
 118 /*                                                                         */
 119 /*                                                                         */
 120 /*          C L A S S  <EPL SDO-Asnd Protocolabstraction layer>            */
 121 /*                                                                         */
 122 /*                                                                         */
 123 /***************************************************************************/
 124 //
 125 // Description: EPL SDO-Asnd Protocolabstraction layer
 126 //
 127 //
 128 /***************************************************************************/
 129
 130
 131
 132 //=========================================================================//
 133 //                                                                         //
 134 //          P U B L I C   F U N C T I O N S                                //
 135 //                                                                         //
 136 //=========================================================================//
 137
 138 //---------------------------------------------------------------------------
 139 //
 140 // Function:    EplSdoAsnduInit
 141 //
 142 // Description: init first instance of the module
 143 //
 144 //
 145 //
 146 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 147 //                                  callback-function
 148 //
 149 //
 150 // Returns:     tEplKernel  = Errorcode
 151 //
 152 //
 153 // State:
 154 //
 155 //---------------------------------------------------------------------------
 156 tEplKernel PUBLIC EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 157 {
 158 tEplKernel  Ret;
 159
 160
 161     Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);
 162
 163 return Ret;
 164 }
 165
 166
 167 //---------------------------------------------------------------------------
 168 //
 169 // Function:    EplSdoAsnduAddInstance
 170 //
 171 // Description: init additional instance of the module
 172 //
 173 //
 174 //
 175 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 176 //                                  callback-function
 177 //
 178 //
 179 // Returns:     tEplKernel  = Errorcode
 180 //
 181 //
 182 // State:
 183 //
 184 //---------------------------------------------------------------------------
 185 tEplKernel PUBLIC EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 186 {
 187 tEplKernel  Ret;
 188
 189     Ret = kEplSuccessful;
 190
 191     // init control structure
 192     EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));
 193
 194     // save pointer to callback-function
 195     if (fpReceiveCb_p != NULL)
 196     {
 197         SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 198     }
 199     else
 200     {
 201         Ret = kEplSdoUdpMissCb;
 202     }
 203
 204 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 205     Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
 206                                    EplSdoAsnduCb,
 207                                    kEplDllAsndFilterLocal);
 208 #endif
 209
 210     return Ret;
 211 }
 212
 213 //---------------------------------------------------------------------------
 214 //
 215 // Function:    EplSdoAsnduDelInstance
 216 //
 217 // Description: del instance of the module
 218 //              del socket and del Listen-Thread
 219 //
 220 //
 221 //
 222 // Parameters:
 223 //
 224 //
 225 // Returns:     tEplKernel  = Errorcode
 226 //
 227 //
 228 // State:
 229 //
 230 //---------------------------------------------------------------------------
 231 tEplKernel PUBLIC EplSdoAsnduDelInstance()
 232 {
 233 tEplKernel  Ret;
 234
 235     Ret = kEplSuccessful;
 236
 237 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 238     // deregister callback function from DLL
 239     Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
 240                                    NULL,
 241                                    kEplDllAsndFilterNone);
 242 #endif
 243
 244 return Ret;
 245 }
 246
 247
 248 //---------------------------------------------------------------------------
 249 //
 250 // Function:    EplSdoAsnduInitCon
 251 //
 252 // Description: init a new connect
 253 //
 254 //
 255 //
 256 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 257 //              uiTargetNodeId_p = NodeId of the target node
 258 //
 259 //
 260 // Returns:     tEplKernel  = Errorcode
 261 //
 262 //
 263 // State:
 264 //
 265 //---------------------------------------------------------------------------
 266 tEplKernel PUBLIC EplSdoAsnduInitCon(tEplSdoConHdl*  pSdoConHandle_p,
 267                                unsigned int    uiTargetNodeId_p)
 268 {
 269 tEplKernel      Ret;
 270 unsigned int    uiCount;
 271 unsigned int    uiFreeCon;
 272 unsigned int*   puiConnection;
 273
 274     Ret = kEplSuccessful;
 275
 276     if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
 277         || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST))
 278     {
 279         Ret = kEplSdoAsndInvalidNodeId;
 280         goto Exit;
 281     }
 282
 283     // get free entry in control structure
 284     uiCount = 0;
 285     uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
 286     puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
 287     while(uiCount < EPL_SDO_MAX_CONNECTION_ASND)
 288     {
 289         if (*puiConnection == uiTargetNodeId_p)
 290         {   // existing connection to target node found
 291             // save handle for higher layer
 292             *pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE );
 293
 294             goto Exit;
 295         }
 296         else if (*puiConnection == 0)
 297         {   // free entry-> save target nodeId
 298             uiFreeCon = uiCount;
 299         }
 300         uiCount++;
 301         puiConnection++;
 302     }
 303
 304     if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND)
 305     {
 306         // no free connection
 307         Ret = kEplSdoAsndNoFreeHandle;
 308     }
 309     else
 310     {
 311         puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
 312         *puiConnection = uiTargetNodeId_p;
 313         // save handle for higher layer
 314         *pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE );
 315
 316         goto Exit;
 317     }
 318
 319 Exit:
 320     return Ret;
 321 }
 322
 323 //---------------------------------------------------------------------------
 324 //
 325 // Function:    EplSdoAsnduSendData
 326 //
 327 // Description: send data using exisiting connection
 328 //
 329 //
 330 //
 331 // Parameters:  SdoConHandle_p  = connection handle
 332 //              pSrcData_p      = pointer to data
 333 //              dwDataSize_p    = number of databyte
 334 //                                  -> without asnd-header!!!
 335 //
 336 // Returns:     tEplKernel  = Errorcode
 337 //
 338 //
 339 // State:
 340 //
 341 //---------------------------------------------------------------------------
 342 tEplKernel PUBLIC EplSdoAsnduSendData(tEplSdoConHdl       SdoConHandle_p,
 343                                     tEplFrame *          pSrcData_p,
 344                                     DWORD                dwDataSize_p)
 345 {
 346 tEplKernel      Ret;
 347 unsigned int    uiArray;
 348 tEplFrameInfo   FrameInfo;
 349
 350     Ret = kEplSuccessful;
 351
 352     uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 353
 354     if(uiArray > EPL_SDO_MAX_CONNECTION_ASND)
 355     {
 356         Ret = kEplSdoAsndInvalidHandle;
 357         goto Exit;
 358     }
 359
 360     // fillout Asnd header
 361     // own node id not needed -> filled by DLL
 362
 363     // set message type
 364     AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (BYTE)kEplMsgTypeAsnd); // ASnd == 0x06
 365     // target node id
 366     AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, (BYTE) SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray]);
 367     // set source-nodeid (filled by DLL 0)
 368     AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
 369
 370     // calc size
 371     dwDataSize_p += EPL_ASND_HEADER_SIZE;
 372
 373     // send function of DLL
 374     FrameInfo.m_uiFrameSize = dwDataSize_p;
 375     FrameInfo.m_pFrame = pSrcData_p;
 376     EPL_MEMSET(&FrameInfo.m_NetTime , 0x00, sizeof(tEplNetTime));
 377 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 378     Ret = EplDlluCalAsyncSend(&FrameInfo,kEplDllAsyncReqPrioGeneric);
 379 #endif
 380
 381 Exit:
 382     return Ret;
 383
 384 }
 385
 386 //---------------------------------------------------------------------------
 387 //
 388 // Function:    EplSdoAsnduDelCon
 389 //
 390 // Description: delete connection from intern structure
 391 //
 392 //
 393 //
 394 // Parameters:  SdoConHandle_p  = connection handle
 395 //
 396 // Returns:     tEplKernel  = Errorcode
 397 //
 398 //
 399 // State:
 400 //
 401 //---------------------------------------------------------------------------
 402 tEplKernel PUBLIC EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
 403 {
 404 tEplKernel  Ret;
 405 unsigned int    uiArray;
 406
 407     Ret = kEplSuccessful;
 408
 409
 410     uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 411     // check parameter
 412     if(uiArray > EPL_SDO_MAX_CONNECTION_ASND)
 413     {
 414         Ret = kEplSdoAsndInvalidHandle;
 415         goto Exit;
 416     }
 417
 418     // set target nodeId to 0
 419     SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;
 420
 421 Exit:
 422     return Ret;
 423 }
 424
 425 //=========================================================================//
 426 //                                                                         //
 427 //          P R I V A T E   F U N C T I O N S                              //
 428 //                                                                         //
 429 //=========================================================================//
 430
 431 //---------------------------------------------------------------------------
 432 //
 433 // Function:    EplSdoAsnduCb
 434 //
 435 // Description: callback function for SDO ASnd frames
 436 //
 437 //
 438 //
 439 // Parameters:      pFrameInfo_p = Frame with SDO payload
 440 //
 441 //
 442 // Returns:         tEplKernel = errorcode
 443 //
 444 //
 445 // State:
 446 //
 447 //---------------------------------------------------------------------------
 448 tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p)
 449 {
 450 tEplKernel      Ret = kEplSuccessful;
 451 unsigned int    uiCount;
 452 unsigned int*   puiConnection;
 453 unsigned int    uiNodeId;
 454 unsigned int    uiFreeEntry = 0xFFFF;
 455 tEplSdoConHdl   SdoConHdl;
 456 tEplFrame*      pFrame;
 457
 458     pFrame = pFrameInfo_p->m_pFrame;
 459
 460     uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
 461
 462     // search corresponding entry in control structure
 463     uiCount = 0;
 464     puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
 465     while (uiCount < EPL_SDO_MAX_CONNECTION_ASND)
 466     {
 467         if (uiNodeId == *puiConnection)
 468         {
 469             break;
 470         }
 471         else if ((*puiConnection == 0)
 472             && (uiFreeEntry == 0xFFFF))
 473         {   // free entry
 474             uiFreeEntry = uiCount;
 475         }
 476         uiCount++;
 477         puiConnection++;
 478     }
 479
 480     if (uiCount == EPL_SDO_MAX_CONNECTION_ASND)
 481     {
 482         if (uiFreeEntry != 0xFFFF)
 483         {
 484             puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeEntry];
 485             *puiConnection = uiNodeId;
 486             uiCount = uiFreeEntry;
 487         }
 488         else
 489         {
 490             EPL_DBGLVL_SDO_TRACE0("EplSdoAsnduCb(): no free handle\n");
 491             goto Exit;
 492         }
 493     }
 494 //    if (uiNodeId == *puiConnection)
 495     {   // entry found or created
 496         SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE );
 497
 498         SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl, &pFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame, (pFrameInfo_p->m_uiFrameSize - 18));
 499     }
 500
 501 Exit:
 502     return Ret;
 503
 504 }
 505
 506
 507 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
 508 // EOF
 509