1 /****************************************************************************
2
3 (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
4 www.systec-electronic.com
5
6 Project: openPOWERLINK
7
8 Description: source file for SDO/Asnd-Protocolabstractionlayer module
9
10 License:
11
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions
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15
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27
28 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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34 BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
35 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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39 POSSIBILITY OF SUCH DAMAGE.
40
41 Severability Clause:
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
47 2. the validity or enforceability in other jurisdictions of that or
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 unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
99 tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
100
101 } tEplSdoAsndInstance;
102
103 //---------------------------------------------------------------------------
104 // modul globale vars
105 //---------------------------------------------------------------------------
106
107 static tEplSdoAsndInstance SdoAsndInstance_g;
108
109 //---------------------------------------------------------------------------
110 // local function prototypes
111 //---------------------------------------------------------------------------
112
113 tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p);
114
115 /***************************************************************************/
116 /* */
117 /* */
118 /* C L A S S <EPL SDO-Asnd Protocolabstraction layer> */
119 /* */
120 /* */
121 /***************************************************************************/
122 //
123 // Description: EPL SDO-Asnd Protocolabstraction layer
124 //
125 //
126 /***************************************************************************/
127
128 //=========================================================================//
129 // //
130 // P U B L I C F U N C T I O N S //
131 // //
132 //=========================================================================//
133
134 //---------------------------------------------------------------------------
135 //
136 // Function: EplSdoAsnduInit
137 //
138 // Description: init first instance of the module
139 //
140 //
141 //
142 // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
143 // callback-function
144 //
145 //
146 // Returns: tEplKernel = Errorcode
147 //
148 //
149 // State:
150 //
151 //---------------------------------------------------------------------------
EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)152 tEplKernel PUBLIC EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
153 {
154 tEplKernel Ret;
155
156 Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);
157
158 return Ret;
159 }
160
161 //---------------------------------------------------------------------------
162 //
163 // Function: EplSdoAsnduAddInstance
164 //
165 // Description: init additional instance of the module
166 //
167 //
168 //
169 // Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
170 // callback-function
171 //
172 //
173 // Returns: tEplKernel = Errorcode
174 //
175 //
176 // State:
177 //
178 //---------------------------------------------------------------------------
EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)179 tEplKernel PUBLIC EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
180 {
181 tEplKernel Ret;
182
183 Ret = kEplSuccessful;
184
185 // init control structure
186 EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));
187
188 // save pointer to callback-function
189 if (fpReceiveCb_p != NULL) {
190 SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
191 } else {
192 Ret = kEplSdoUdpMissCb;
193 }
194
195 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
196 Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
197 EplSdoAsnduCb, kEplDllAsndFilterLocal);
198 #endif
199
200 return Ret;
201 }
202
203 //---------------------------------------------------------------------------
204 //
205 // Function: EplSdoAsnduDelInstance
206 //
207 // Description: del instance of the module
208 // del socket and del Listen-Thread
209 //
210 //
211 //
212 // Parameters:
213 //
214 //
215 // Returns: tEplKernel = Errorcode
216 //
217 //
218 // State:
219 //
220 //---------------------------------------------------------------------------
EplSdoAsnduDelInstance()221 tEplKernel PUBLIC EplSdoAsnduDelInstance()
222 {
223 tEplKernel Ret;
224
225 Ret = kEplSuccessful;
226
227 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
228 // deregister callback function from DLL
229 Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
230 NULL, kEplDllAsndFilterNone);
231 #endif
232
233 return Ret;
234 }
235
236 //---------------------------------------------------------------------------
237 //
238 // Function: EplSdoAsnduInitCon
239 //
240 // Description: init a new connect
241 //
242 //
243 //
244 // Parameters: pSdoConHandle_p = pointer for the new connection handle
245 // uiTargetNodeId_p = NodeId of the target node
246 //
247 //
248 // Returns: tEplKernel = Errorcode
249 //
250 //
251 // State:
252 //
253 //---------------------------------------------------------------------------
EplSdoAsnduInitCon(tEplSdoConHdl * pSdoConHandle_p,unsigned int uiTargetNodeId_p)254 tEplKernel PUBLIC EplSdoAsnduInitCon(tEplSdoConHdl * pSdoConHandle_p,
255 unsigned int uiTargetNodeId_p)
256 {
257 tEplKernel Ret;
258 unsigned int uiCount;
259 unsigned int uiFreeCon;
260 unsigned int *puiConnection;
261
262 Ret = kEplSuccessful;
263
264 if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
265 || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
266 Ret = kEplSdoAsndInvalidNodeId;
267 goto Exit;
268 }
269 // get free entry in control structure
270 uiCount = 0;
271 uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
272 puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
273 while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
274 if (*puiConnection == uiTargetNodeId_p) { // existing connection to target node found
275 // save handle for higher layer
276 *pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE);
277
278 goto Exit;
279 } else if (*puiConnection == 0) { // free entry-> save target nodeId
280 uiFreeCon = uiCount;
281 }
282 uiCount++;
283 puiConnection++;
284 }
285
286 if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) {
287 // no free connection
288 Ret = kEplSdoAsndNoFreeHandle;
289 } else {
290 puiConnection =
291 &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
292 *puiConnection = uiTargetNodeId_p;
293 // save handle for higher layer
294 *pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE);
295
296 goto Exit;
297 }
298
299 Exit:
300 return Ret;
301 }
302
303 //---------------------------------------------------------------------------
304 //
305 // Function: EplSdoAsnduSendData
306 //
307 // Description: send data using exisiting connection
308 //
309 //
310 //
311 // Parameters: SdoConHandle_p = connection handle
312 // pSrcData_p = pointer to data
313 // dwDataSize_p = number of databyte
314 // -> without asnd-header!!!
315 //
316 // Returns: tEplKernel = Errorcode
317 //
318 //
319 // State:
320 //
321 //---------------------------------------------------------------------------
EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,tEplFrame * pSrcData_p,DWORD dwDataSize_p)322 tEplKernel PUBLIC EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
323 tEplFrame * pSrcData_p,
324 DWORD dwDataSize_p)
325 {
326 tEplKernel Ret;
327 unsigned int uiArray;
328 tEplFrameInfo FrameInfo;
329
330 Ret = kEplSuccessful;
331
332 uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
333
334 if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
335 Ret = kEplSdoAsndInvalidHandle;
336 goto Exit;
337 }
338 // fillout Asnd header
339 // own node id not needed -> filled by DLL
340
341 // set message type
342 AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (BYTE) kEplMsgTypeAsnd); // ASnd == 0x06
343 // target node id
344 AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId,
345 (BYTE) SdoAsndInstance_g.
346 m_auiSdoAsndConnection[uiArray]);
347 // set source-nodeid (filled by DLL 0)
348 AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
349
350 // calc size
351 dwDataSize_p += EPL_ASND_HEADER_SIZE;
352
353 // send function of DLL
354 FrameInfo.m_uiFrameSize = dwDataSize_p;
355 FrameInfo.m_pFrame = pSrcData_p;
356 EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime));
357 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
358 Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
359 #endif
360
361 Exit:
362 return Ret;
363
364 }
365
366 //---------------------------------------------------------------------------
367 //
368 // Function: EplSdoAsnduDelCon
369 //
370 // Description: delete connection from intern structure
371 //
372 //
373 //
374 // Parameters: SdoConHandle_p = connection handle
375 //
376 // Returns: tEplKernel = Errorcode
377 //
378 //
379 // State:
380 //
381 //---------------------------------------------------------------------------
EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)382 tEplKernel PUBLIC EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
383 {
384 tEplKernel Ret;
385 unsigned int uiArray;
386
387 Ret = kEplSuccessful;
388
389 uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
390 // check parameter
391 if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
392 Ret = kEplSdoAsndInvalidHandle;
393 goto Exit;
394 }
395 // set target nodeId to 0
396 SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;
397
398 Exit:
399 return Ret;
400 }
401
402 //=========================================================================//
403 // //
404 // P R I V A T E F U N C T I O N S //
405 // //
406 //=========================================================================//
407
408 //---------------------------------------------------------------------------
409 //
410 // Function: EplSdoAsnduCb
411 //
412 // Description: callback function for SDO ASnd frames
413 //
414 //
415 //
416 // Parameters: pFrameInfo_p = Frame with SDO payload
417 //
418 //
419 // Returns: tEplKernel = errorcode
420 //
421 //
422 // State:
423 //
424 //---------------------------------------------------------------------------
EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p)425 tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p)
426 {
427 tEplKernel Ret = kEplSuccessful;
428 unsigned int uiCount;
429 unsigned int *puiConnection;
430 unsigned int uiNodeId;
431 unsigned int uiFreeEntry = 0xFFFF;
432 tEplSdoConHdl SdoConHdl;
433 tEplFrame *pFrame;
434
435 pFrame = pFrameInfo_p->m_pFrame;
436
437 uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
438
439 // search corresponding entry in control structure
440 uiCount = 0;
441 puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
442 while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
443 if (uiNodeId == *puiConnection) {
444 break;
445 } else if ((*puiConnection == 0)
446 && (uiFreeEntry == 0xFFFF)) { // free entry
447 uiFreeEntry = uiCount;
448 }
449 uiCount++;
450 puiConnection++;
451 }
452
453 if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) {
454 if (uiFreeEntry != 0xFFFF) {
455 puiConnection =
456 &SdoAsndInstance_g.
457 m_auiSdoAsndConnection[uiFreeEntry];
458 *puiConnection = uiNodeId;
459 uiCount = uiFreeEntry;
460 } else {
461 EPL_DBGLVL_SDO_TRACE0
462 ("EplSdoAsnduCb(): no free handle\n");
463 goto Exit;
464 }
465 }
466 // if (uiNodeId == *puiConnection)
467 { // entry found or created
468 SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE);
469
470 SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl,
471 &pFrame->m_Data.m_Asnd.
472 m_Payload.m_SdoSequenceFrame,
473 (pFrameInfo_p->m_uiFrameSize -
474 18));
475 }
476
477 Exit:
478 return Ret;
479
480 }
481
482 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
483 // EOF
484