#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) == 0)
- #error 'ERROR: Missing DLLk-Modul!'
+#error 'ERROR: Missing DLLk-Modul!'
#endif
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0)
- #error 'ERROR: Missing OBDk-Modul!'
+#error 'ERROR: Missing OBDk-Modul!'
#endif
/***************************************************************************/
// local function prototypes
//---------------------------------------------------------------------------
-
/***************************************************************************/
/* */
/* */
//
/***************************************************************************/
-
//=========================================================================//
// //
// P R I V A T E D E F I N I T I O N S //
// local vars
//---------------------------------------------------------------------------
-
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
-
//=========================================================================//
// //
// P U B L I C F U N C T I O N S //
tEplKernel EplPdokAddInstance(void)
{
- return kEplSuccessful;
+ return kEplSuccessful;
}
//---------------------------------------------------------------------------
tEplKernel EplPdokDelInstance(void)
{
- return kEplSuccessful;
+ return kEplSuccessful;
}
-
//---------------------------------------------------------------------------
//
// Function: EplPdokCbPdoReceived
tEplKernel EplPdokCbPdoReceived(tEplFrameInfo * pFrameInfo_p)
{
-tEplKernel Ret = kEplSuccessful;
-tEplEvent Event;
+ tEplKernel Ret = kEplSuccessful;
+ tEplEvent Event;
#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
- // reset LED
+ // reset LED
// MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level
#endif
- 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);
+ 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);
#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
- // set LED
+ // set LED
// MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level
#endif
- return Ret;
+ return Ret;
}
//---------------------------------------------------------------------------
tEplKernel EplPdokCbPdoTransmitted(tEplFrameInfo * pFrameInfo_p)
{
-tEplKernel Ret = kEplSuccessful;
-tEplEvent Event;
+ tEplKernel Ret = kEplSuccessful;
+ tEplEvent Event;
#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
- // reset LED
- MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level
+ // reset LED
+ MCF_GPIO_PODR_PCIBG &= ~PDO_LED; // Level
#endif
- Event.m_EventSink = kEplEventSinkPdok;
- Event.m_EventType = kEplEventTypePdoTx;
- Event.m_uiSize = sizeof (tEplFrameInfo);
- Event.m_pArg = pFrameInfo_p;
- Ret = EplEventkPost(&Event);
+ Event.m_EventSink = kEplEventSinkPdok;
+ Event.m_EventType = kEplEventTypePdoTx;
+ Event.m_uiSize = sizeof(tEplFrameInfo);
+ Event.m_pArg = pFrameInfo_p;
+ Ret = EplEventkPost(&Event);
#if (DEV_SYSTEM == _DEV_GNU_CF548X_)
- // set LED
- MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level
+ // set LED
+ MCF_GPIO_PODR_PCIBG |= PDO_LED; // Level
#endif
- return Ret;
+ return Ret;
}
//---------------------------------------------------------------------------
tEplKernel EplPdokCbSoa(tEplFrameInfo * pFrameInfo_p)
{
-tEplKernel Ret = kEplSuccessful;
-tEplEvent Event;
+ tEplKernel Ret = kEplSuccessful;
+ tEplEvent Event;
- Event.m_EventSink = kEplEventSinkPdok;
- Event.m_EventType = kEplEventTypePdoSoa;
- Event.m_uiSize = 0;
- Event.m_pArg = NULL;
- Ret = EplEventkPost(&Event);
+ Event.m_EventSink = kEplEventSinkPdok;
+ Event.m_EventType = kEplEventTypePdoSoa;
+ Event.m_uiSize = 0;
+ Event.m_pArg = NULL;
+ Ret = EplEventkPost(&Event);
- return Ret;
+ return Ret;
}
//---------------------------------------------------------------------------
tEplKernel EplPdokProcess(tEplEvent * pEvent_p)
{
-tEplKernel Ret = kEplSuccessful;
-WORD wPdoSize;
-WORD wBitOffset;
-WORD wBitSize;
-WORD wVarSize;
-QWORD qwObjectMapping;
-BYTE bMappSubindex;
-BYTE bObdSubindex;
-WORD wObdMappIndex;
-WORD wObdCommIndex;
-WORD wPdoId;
-BYTE bObdData;
-BYTE bObjectCount;
-BYTE 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
- // $$$ raise PDO error
- // termiate processing of this RPDO
- goto Exit;
- }
-
- // valid RPDO found
-
- // retrieve PDO size
- wPdoSize = AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize);
-
- // process mapping
- for (bMappSubindex = 1; bMappSubindex <= bObjectCount; bMappSubindex++)
- {
- ObdSize = 8; // QWORD
- // read object mapping from OD
- Ret = EplObdReadEntry(wObdMappIndex, bMappSubindex, &qwObjectMapping, &ObdSize);
- if (Ret != kEplSuccessful)
- { // other fatal error occured
- goto Exit;
- }
-
- // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed
- if (qwObjectMapping == 0)
- { // invalid entry, continue with next entry
- continue;
- }
-
- // decode object mapping
- wObdCommIndex = (WORD) (qwObjectMapping & 0x000000000000FFFFLL);
- bObdSubindex = (BYTE) ((qwObjectMapping & 0x0000000000FF0000LL) >> 16);
- wBitOffset = (WORD) ((qwObjectMapping & 0x0000FFFF00000000LL) >> 32);
- wBitSize = (WORD) ((qwObjectMapping & 0xFFFF000000000000LL) >> 48);
-
- // check if object exceeds PDO size
- if (((wBitOffset + wBitSize) >> 3) > wPdoSize)
- { // wrong object mapping; PDO size is too low
- // $$$ 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; // QWORD
- // 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 = (WORD) (qwObjectMapping & 0x000000000000FFFFLL);
- bObdSubindex = (BYTE) ((qwObjectMapping & 0x0000000000FF0000LL) >> 16);
- wBitOffset = (WORD) ((qwObjectMapping & 0x0000FFFF00000000LL) >> 32);
- wBitSize = (WORD) ((qwObjectMapping & 0xFFFF000000000000LL) >> 48);
-
- // calculate max PDO size
- ObdSize = wBitSize >> 3;
- wVarSize = (wBitOffset >> 3) + (WORD) 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;
+ tEplKernel Ret = kEplSuccessful;
+ WORD wPdoSize;
+ WORD wBitOffset;
+ WORD wBitSize;
+ WORD wVarSize;
+ QWORD qwObjectMapping;
+ BYTE bMappSubindex;
+ BYTE bObdSubindex;
+ WORD wObdMappIndex;
+ WORD wObdCommIndex;
+ WORD wPdoId;
+ BYTE bObdData;
+ BYTE bObjectCount;
+ BYTE 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; // QWORD
+ // 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 =
+ (WORD) (qwObjectMapping &
+ 0x000000000000FFFFLL);
+ bObdSubindex =
+ (BYTE) ((qwObjectMapping &
+ 0x0000000000FF0000LL) >> 16);
+ wBitOffset =
+ (WORD) ((qwObjectMapping &
+ 0x0000FFFF00000000LL) >> 32);
+ wBitSize =
+ (WORD) ((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; // QWORD
+ // 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 =
+ (WORD) (qwObjectMapping &
+ 0x000000000000FFFFLL);
+ bObdSubindex =
+ (BYTE) ((qwObjectMapping &
+ 0x0000000000FF0000LL) >> 16);
+ wBitOffset =
+ (WORD) ((qwObjectMapping &
+ 0x0000FFFF00000000LL) >> 32);
+ wBitSize =
+ (WORD) ((qwObjectMapping &
+ 0xFFFF000000000000LL) >> 48);
+
+ // calculate max PDO size
+ ObdSize = wBitSize >> 3;
+ wVarSize = (wBitOffset >> 3) + (WORD) 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;
}
//=========================================================================//
#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
// EOF
-
projects / linux-2.6-omap-h63xx.git / blobdiff