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: include file for Epl Configuration Manager 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 14 are met: 15 16 1. Redistributions of source code must retain the above copyright 17 notice, this list of conditions and the following disclaimer. 18 19 2. Redistributions in binary form must reproduce the above copyright 20 notice, this list of conditions and the following disclaimer in the 21 documentation and/or other materials provided with the distribution. 22 23 3. Neither the name of SYSTEC electronic GmbH nor the names of its 24 contributors may be used to endorse or promote products derived 25 from this software without prior written permission. For written 26 permission, please contact info@systec-electronic.com. 27 28 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 29 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 30 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 31 FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 32 COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 33 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 34 BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 35 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 36 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 37 LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 38 ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 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: EplCfgMau.h,v $ 53 54 $Author: D.Krueger $ 55 56 $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $ 57 58 $State: Exp $ 59 60 Build Environment: 61 VC7 62 63 ------------------------------------------------------------------------- 64 65 Revision History: 66 67 2006/07/14 k.t.: start of the implementation 68 -> based on CANopen CfgMa-Modul (CANopen version 5.34) 69 70 ****************************************************************************/ 71 72 #include "../EplInc.h" 73 74 #ifndef _EPLCFGMA_H_ 75 #define _EPLCFGMA_H_ 76 77 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0) 78 79 #include "EplObdu.h" 80 #include "EplSdoComu.h" 81 82 //--------------------------------------------------------------------------- 83 // typedef 84 //--------------------------------------------------------------------------- 85 //define max number of timeouts for configuration of 1 device 86 #define EPL_CFGMA_MAX_TIMEOUT 3 87 88 //callbackfunction, called if configuration is finished 89 typedef void (PUBLIC * tfpEplCfgMaCb) (unsigned int uiNodeId_p, 90 tEplKernel Errorstate_p); 91 92 //State for configuartion manager Statemachine 93 typedef enum { 94 // general states 95 kEplCfgMaIdle = 0x0000, // Configurationsprocess 96 // is idle 97 kEplCfgMaWaitForSdocEvent = 0x0001, // wait until the last 98 // SDOC is finisched 99 kEplCfgMaSkipMappingSub0 = 0x0002, // write Sub0 of mapping 100 // parameter with 0 101 102 kEplCfgMaFinished = 0x0004 // configuartion is finished 103 } tEplCfgState; 104 105 typedef enum { 106 kEplCfgMaDcfTypSystecSeg = 0x00, 107 kEplCfgMaDcfTypConDcf = 0x01, 108 kEplCfgMaDcfTypDcf = 0x02, // not supported 109 kEplCfgMaDcfTypXdc = 0x03 // not supported 110 } tEplCfgMaDcfTyp; 111 112 typedef enum { 113 kEplCfgMaCommon = 0, // all other index 114 kEplCfgMaPdoComm = 1, // communication index 115 kEplCfgMaPdoMapp = 2, // mapping index 116 kEplCfgMaPdoCommAfterMapp = 3, // write PDO Cob-Id after mapping subindex 0(set PDO valid) 117 118 } tEplCfgMaIndexType; 119 120 //bitcoded answer about the last sdo transfer saved in m_SdocState 121 // also used to singal start of the State Maschine 122 typedef enum { 123 kEplCfgMaSdocBusy = 0x00, // SDOC activ 124 kEplCfgMaSdocReady = 0x01, // SDOC finished 125 kEplCfgMaSdocTimeout = 0x02, // SDOC Timeout 126 kEplCfgMaSdocAbortReceived = 0x04, // SDOC Abort, see Abortcode 127 kEplCfgMaSdocStart = 0x08 // start State Mschine 128 } tEplSdocState; 129 130 //internal structure (instancetable for modul configuration manager) 131 typedef struct { 132 tEplCfgState m_CfgState; // state of the configuration state maschine 133 tEplSdoComConHdl m_SdoComConHdl; // handle for sdo connection 134 DWORD m_dwLastAbortCode; 135 unsigned int m_uiLastIndex; // last index of configuration, to compair with actual index 136 BYTE *m_pbConcise; // Ptr to concise DCF 137 BYTE *m_pbActualIndex; // Ptr to actual index in the DCF segment 138 tfpEplCfgMaCb m_pfnCfgMaCb; // Ptr to CfgMa Callback, is call if configuration finished 139 tEplKernel m_EplKernelError; // errorcode 140 DWORD m_dwNumValueCopy; // numeric values are copied in this variable 141 unsigned int m_uiPdoNodeId; // buffer for PDO node id 142 BYTE m_bNrOfMappedObject; // number of mapped objects 143 unsigned int m_uiNodeId; // Epl node addresse 144 tEplSdocState m_SdocState; // bitcoded state of the SDO transfer 145 unsigned int m_uiLastSubIndex; // last subindex of configuration 146 BOOL m_fOneTranferOk; // atleased one transfer was successful 147 BYTE m_bEventFlag; // for Eventsignaling to the State Maschine 148 DWORD m_dwCntObjectInDcf; // number of Objects in DCF 149 tEplCfgMaIndexType m_SkipCfg; // TRUE if a adsitional Configurationprocess 150 // have to insert e.g. PDO-mapping 151 WORD m_wTimeOutCnt; // Timeout Counter, break configuration is 152 // m_wTimeOutCnt == CFGMA_MAX_TIMEOUT 153 154 } tEplCfgMaNode; 155 156 //--------------------------------------------------------------------------- 157 // function prototypes 158 //--------------------------------------------------------------------------- 159 160 //--------------------------------------------------------------------------- 161 // Function: EplCfgMaInit() 162 // 163 // Description: Function creates first instance of Configuration Manager 164 // 165 // Parameters: 166 // 167 // Returns: tEplKernel = error code 168 //--------------------------------------------------------------------------- 169 tEplKernel PUBLIC EplCfgMaInit(); 170 171 //--------------------------------------------------------------------------- 172 // Function: EplCfgMaAddInstance() 173 // 174 // Description: Function creates additional instance of Configuration Manager 175 // 176 // Parameters: 177 // 178 // Returns: tEplKernel = error code 179 //--------------------------------------------------------------------------- 180 tEplKernel PUBLIC EplCfgMaAddInstance(); 181 182 //--------------------------------------------------------------------------- 183 // Function: EplCfgMaDelInstance() 184 // 185 // Description: Function delete instance of Configuration Manager 186 // 187 // Parameters: 188 // 189 // Returns: tEplKernel = error code 190 //--------------------------------------------------------------------------- 191 tEplKernel PUBLIC EplCfgMaDelInstance(); 192 193 //--------------------------------------------------------------------------- 194 // Function: EplCfgMaStartConfig() 195 // 196 // Description: Function starts the configuration process 197 // initialization the statemachine for CfgMa- process 198 // 199 // Parameters: uiNodeId_p = NodeId of the node to configure 200 // pbConcise_p = pointer to DCF 201 // fpCfgMaCb_p = pointer to callback function (should not be NULL) 202 // SizeOfConcise_p = size of DCF in BYTE -> for future use 203 // DcfType_p = type of the DCF 204 // 205 // Returns: tCopKernel = error code 206 //--------------------------------------------------------------------------- 207 tEplKernel PUBLIC EplCfgMaStartConfig(unsigned int uiNodeId_p, 208 BYTE * pbConcise_p, 209 tfpEplCfgMaCb fpCfgMaCb_p, 210 tEplObdSize SizeOfConcise_p, 211 tEplCfgMaDcfTyp DcfType_p); 212 213 //--------------------------------------------------------------------------- 214 // Function: CfgMaStartConfigurationNode() 215 // 216 // Description: Function started the configuration process 217 // with the DCF from according OD-entry Subindex == bNodeId_p 218 // 219 // Parameters: uiNodeId_p = NodeId of the node to configure 220 // fpCfgMaCb_p = pointer to callback function (should not be NULL) 221 // DcfType_p = type of the DCF 222 // 223 // Returns: tCopKernel = error code 224 //--------------------------------------------------------------------------- 225 tEplKernel PUBLIC EplCfgMaStartConfigNode(unsigned int uiNodeId_p, 226 tfpEplCfgMaCb fpCfgMaCb_p, 227 tEplCfgMaDcfTyp DcfType_p); 228 229 //--------------------------------------------------------------------------- 230 // Function: EplCfgMaStartConfigNodeDcf() 231 // 232 // Description: Function starts the configuration process 233 // and links the configuration data to the OD 234 // 235 // Parameters: uiNodeId_p = NodeId of the node to configure 236 // pbConcise_p = pointer to DCF 237 // fpCfgMaCb_p = pointer to callback function (should not be NULL) 238 // SizeOfConcise_p = size of DCF in BYTE -> for future use 239 // DcfType_p = type of the DCF 240 // 241 // Returns: tCopKernel = error code 242 //--------------------------------------------------------------------------- 243 tEplKernel PUBLIC EplCfgMaStartConfigNodeDcf(unsigned int uiNodeId_p, 244 BYTE * pbConcise_p, 245 tfpEplCfgMaCb fpCfgMaCb_p, 246 tEplObdSize SizeOfConcise_p, 247 tEplCfgMaDcfTyp DcfType_p); 248 249 //--------------------------------------------------------------------------- 250 // Function: EplCfgMaLinkDcf() 251 // 252 // Description: Function links the configuration data to the OD 253 // 254 // Parameters: uiNodeId_p = NodeId of the node to configure 255 // pbConcise_p = pointer to DCF 256 // SizeOfConcise_p = size of DCF in BYTE -> for future use 257 // DcfType_p = type of the DCF 258 // 259 // Returns: tCopKernel = error code 260 //--------------------------------------------------------------------------- 261 tEplKernel PUBLIC EplCfgMaLinkDcf(unsigned int uiNodeId_p, 262 BYTE * pbConcise_p, 263 tEplObdSize SizeOfConcise_p, 264 tEplCfgMaDcfTyp DcfType_p); 265 266 //--------------------------------------------------------------------------- 267 // Function: EplCfgMaCheckDcf() 268 // 269 // Description: Function check if there is allready a configuration file linked 270 // to the OD (type is given by DcfType_p) 271 // 272 // Parameters: uiNodeId_p = NodeId 273 // DcfType_p = type of the DCF 274 // 275 // Returns: tCopKernel = error code 276 //--------------------------------------------------------------------------- 277 tEplKernel PUBLIC EplCfgMaCheckDcf(unsigned int uiNodeId_p, 278 tEplCfgMaDcfTyp DcfType_p); 279 280 #endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0) 281 282 #endif // _EPLCFGMA_H_ 283 284 // EOF 285