diff options
Diffstat (limited to 'drivers/staging/epl/EplNmtMnu.c')
| -rw-r--r-- | drivers/staging/epl/EplNmtMnu.c | 2828 |
1 files changed, 0 insertions, 2828 deletions
diff --git a/drivers/staging/epl/EplNmtMnu.c b/drivers/staging/epl/EplNmtMnu.c deleted file mode 100644 index d19434f5f6f8..000000000000 --- a/drivers/staging/epl/EplNmtMnu.c +++ /dev/null @@ -1,2828 +0,0 @@ -/**************************************************************************** - - (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 - www.systec-electronic.com - - Project: openPOWERLINK - - Description: source file for NMT-MN-Module - - License: - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - 3. Neither the name of SYSTEC electronic GmbH nor the names of its - contributors may be used to endorse or promote products derived - from this software without prior written permission. For written - permission, please contact info@systec-electronic.com. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - - Severability Clause: - - If a provision of this License is or becomes illegal, invalid or - unenforceable in any jurisdiction, that shall not affect: - 1. the validity or enforceability in that jurisdiction of any other - provision of this License; or - 2. the validity or enforceability in other jurisdictions of that or - any other provision of this License. - - ------------------------------------------------------------------------- - - $RCSfile: EplNmtMnu.c,v $ - - $Author: D.Krueger $ - - $Revision: 1.18 $ $Date: 2008/11/19 09:52:24 $ - - $State: Exp $ - - Build Environment: - GCC V3.4 - - ------------------------------------------------------------------------- - - Revision History: - - 2006/06/09 k.t.: start of the implementation - -****************************************************************************/ - -#include "user/EplNmtMnu.h" -#include "user/EplTimeru.h" -#include "user/EplIdentu.h" -#include "user/EplStatusu.h" -#include "user/EplObdu.h" -#include "user/EplDlluCal.h" -#include "Benchmark.h" - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) == 0) && (EPL_OBD_USE_KERNEL == FALSE) -#error "EPL NmtMnu module needs EPL module OBDU or OBDK!" -#endif - -//=========================================================================// -// // -// P R I V A T E D E F I N I T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// const defines -//--------------------------------------------------------------------------- - -// TracePoint support for realtime-debugging -#ifdef _DBG_TRACE_POINTS_ -void TgtDbgSignalTracePoint(u8 bTracePointNumber_p); -void TgtDbgPostTraceValue(u32 dwTraceValue_p); -#define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) -#define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v) -#else -#define TGT_DBG_SIGNAL_TRACE_POINT(p) -#define TGT_DBG_POST_TRACE_VALUE(v) -#endif -#define EPL_NMTMNU_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \ - TGT_DBG_POST_TRACE_VALUE((kEplEventSinkNmtMnu << 28) | (Event_p << 24) \ - | (uiNodeId_p << 16) | wErrorCode_p) - -// defines for flags in node info structure -#define EPL_NMTMNU_NODE_FLAG_ISOCHRON 0x0001 // CN is being accessed isochronously -#define EPL_NMTMNU_NODE_FLAG_NOT_SCANNED 0x0002 // CN was not scanned once -> decrement SignalCounter and reset flag -#define EPL_NMTMNU_NODE_FLAG_HALTED 0x0004 // boot process for this CN is halted -#define EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED 0x0008 // NMT command was just issued, wrong NMT states will be tolerated -#define EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ 0x0300 // counter for StatusRequest timer handle -#define EPL_NMTMNU_NODE_FLAG_COUNT_LONGER 0x0C00 // counter for longer timeouts timer handle -#define EPL_NMTMNU_NODE_FLAG_INC_STATREQ 0x0100 // increment for StatusRequest timer handle -#define EPL_NMTMNU_NODE_FLAG_INC_LONGER 0x0400 // increment for longer timeouts timer handle - // These counters will be incremented at every timer start - // and copied to timerarg. When the timer event occures - // both will be compared and if unequal the timer event - // will be discarded, because it is an old one. - -// defines for timer arguments to draw a distinction between serveral events -#define EPL_NMTMNU_TIMERARG_NODE_MASK 0x000000FFL // mask that contains the node-ID -#define EPL_NMTMNU_TIMERARG_IDENTREQ 0x00010000L // timer event is for IdentRequest -#define EPL_NMTMNU_TIMERARG_STATREQ 0x00020000L // timer event is for StatusRequest -#define EPL_NMTMNU_TIMERARG_LONGER 0x00040000L // timer event is for longer timeouts -#define EPL_NMTMNU_TIMERARG_STATE_MON 0x00080000L // timer event for StatusRequest to monitor execution of NMT state changes -#define EPL_NMTMNU_TIMERARG_COUNT_SR 0x00000300L // counter for StatusRequest -#define EPL_NMTMNU_TIMERARG_COUNT_LO 0x00000C00L // counter for longer timeouts - // The counters must have the same position as in the node flags above. - -#define EPL_NMTMNU_SET_FLAGS_TIMERARG_STATREQ(pNodeInfo_p, uiNodeId_p, TimerArg_p) \ - pNodeInfo_p->m_wFlags = \ - ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_STATREQ) \ - & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) \ - | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ - TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_STATREQ | uiNodeId_p | \ - (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ - TimerArg_p.m_EventSink = kEplEventSinkNmtMnu; - -#define EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ(pNodeInfo_p, uiNodeId_p, TimerArg_p) \ - pNodeInfo_p->m_wFlags = \ - ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_STATREQ) \ - & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) \ - | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ - TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_IDENTREQ | uiNodeId_p | \ - (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ - TimerArg_p.m_EventSink = kEplEventSinkNmtMnu; - -#define EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER(pNodeInfo_p, uiNodeId_p, TimerArg_p) \ - pNodeInfo_p->m_wFlags = \ - ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_LONGER) \ - & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER) \ - | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_LONGER); \ - TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_LONGER | uiNodeId_p | \ - (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER); \ - TimerArg_p.m_EventSink = kEplEventSinkNmtMnu; - -#define EPL_NMTMNU_SET_FLAGS_TIMERARG_STATE_MON(pNodeInfo_p, uiNodeId_p, TimerArg_p) \ - pNodeInfo_p->m_wFlags = \ - ((pNodeInfo_p->m_wFlags + EPL_NMTMNU_NODE_FLAG_INC_STATREQ) \ - & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) \ - | (pNodeInfo_p->m_wFlags & ~EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ - TimerArg_p.m_ulArg = EPL_NMTMNU_TIMERARG_STATE_MON | uiNodeId_p | \ - (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ - TimerArg_p.m_EventSink = kEplEventSinkNmtMnu; - -// defines for global flags -#define EPL_NMTMNU_FLAG_HALTED 0x0001 // boot process is halted -#define EPL_NMTMNU_FLAG_APP_INFORMED 0x0002 // application was informed about possible NMT state change - -// return pointer to node info structure for specified node ID -// d.k. may be replaced by special (hash) function if node ID array is smaller than 254 -#define EPL_NMTMNU_GET_NODEINFO(uiNodeId_p) (&EplNmtMnuInstance_g.m_aNodeInfo[uiNodeId_p - 1]) - -//--------------------------------------------------------------------------- -// local types -//--------------------------------------------------------------------------- - -typedef enum { - kEplNmtMnuIntNodeEventNoIdentResponse = 0x00, - kEplNmtMnuIntNodeEventIdentResponse = 0x01, - kEplNmtMnuIntNodeEventBoot = 0x02, - kEplNmtMnuIntNodeEventExecReset = 0x03, - kEplNmtMnuIntNodeEventConfigured = 0x04, - kEplNmtMnuIntNodeEventNoStatusResponse = 0x05, - kEplNmtMnuIntNodeEventStatusResponse = 0x06, - kEplNmtMnuIntNodeEventHeartbeat = 0x07, - kEplNmtMnuIntNodeEventNmtCmdSent = 0x08, - kEplNmtMnuIntNodeEventTimerIdentReq = 0x09, - kEplNmtMnuIntNodeEventTimerStatReq = 0x0A, - kEplNmtMnuIntNodeEventTimerStateMon = 0x0B, - kEplNmtMnuIntNodeEventTimerLonger = 0x0C, - kEplNmtMnuIntNodeEventError = 0x0D, - -} tEplNmtMnuIntNodeEvent; - -typedef enum { - kEplNmtMnuNodeStateUnknown = 0x00, - kEplNmtMnuNodeStateIdentified = 0x01, - kEplNmtMnuNodeStateResetConf = 0x02, // CN reset after configuration update - kEplNmtMnuNodeStateConfigured = 0x03, // BootStep1 completed - kEplNmtMnuNodeStateReadyToOp = 0x04, // BootStep2 completed - kEplNmtMnuNodeStateComChecked = 0x05, // Communication checked successfully - kEplNmtMnuNodeStateOperational = 0x06, // CN is in NMT state OPERATIONAL - -} tEplNmtMnuNodeState; - -typedef struct { - tEplTimerHdl m_TimerHdlStatReq; // timer to delay StatusRequests and IdentRequests - tEplTimerHdl m_TimerHdlLonger; // 2nd timer for NMT command EnableReadyToOp and CheckCommunication - tEplNmtMnuNodeState m_NodeState; // internal node state (kind of sub state of NMT state) - u32 m_dwNodeCfg; // subindex from 0x1F81 - u16 m_wFlags; // flags: CN is being accessed isochronously - -} tEplNmtMnuNodeInfo; - -typedef struct { - tEplNmtMnuNodeInfo m_aNodeInfo[EPL_NMT_MAX_NODE_ID]; - tEplTimerHdl m_TimerHdlNmtState; // timeout for stay in NMT state - unsigned int m_uiMandatorySlaveCount; - unsigned int m_uiSignalSlaveCount; - unsigned long m_ulStatusRequestDelay; // in [ms] (object 0x1006 * EPL_C_NMT_STATREQ_CYCLE) - unsigned long m_ulTimeoutReadyToOp; // in [ms] (object 0x1F89/5) - unsigned long m_ulTimeoutCheckCom; // in [ms] (object 0x1006 * MultiplexedCycleCount) - u16 m_wFlags; // global flags - u32 m_dwNmtStartup; // object 0x1F80 NMT_StartUp_U32 - tEplNmtMnuCbNodeEvent m_pfnCbNodeEvent; - tEplNmtMnuCbBootEvent m_pfnCbBootEvent; - -} tEplNmtMnuInstance; - -//--------------------------------------------------------------------------- -// local vars -//--------------------------------------------------------------------------- - -static tEplNmtMnuInstance EplNmtMnuInstance_g; - -//--------------------------------------------------------------------------- -// local function prototypes -//--------------------------------------------------------------------------- - -static tEplKernel EplNmtMnuCbNmtRequest(tEplFrameInfo *pFrameInfo_p); - -static tEplKernel EplNmtMnuCbIdentResponse(unsigned int uiNodeId_p, - tEplIdentResponse *pIdentResponse_p); - -static tEplKernel EplNmtMnuCbStatusResponse(unsigned int uiNodeId_p, - tEplStatusResponse *pStatusResponse_p); - -static tEplKernel EplNmtMnuCheckNmtState(unsigned int uiNodeId_p, - tEplNmtMnuNodeInfo * pNodeInfo_p, - tEplNmtState NodeNmtState_p, - u16 wErrorCode_p, - tEplNmtState LocalNmtState_p); - -static tEplKernel EplNmtMnuStartBootStep1(void); - -static tEplKernel EplNmtMnuStartBootStep2(void); - -static tEplKernel EplNmtMnuStartCheckCom(void); - -static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, - tEplNmtMnuNodeInfo * pNodeInfo_p); - -static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, - tEplNmtMnuNodeInfo * pNodeInfo_p); - -static tEplKernel EplNmtMnuStartNodes(void); - -static tEplKernel EplNmtMnuProcessInternalEvent(unsigned int uiNodeId_p, - tEplNmtState NodeNmtState_p, - u16 wErrorCode_p, - tEplNmtMnuIntNodeEvent - NodeEvent_p); - -static tEplKernel EplNmtMnuReset(void); - -//=========================================================================// -// // -// P U B L I C F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuInit -// -// Description: init first instance of the module -// -// -// -// Parameters: -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuInit(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p, - tEplNmtMnuCbBootEvent pfnCbBootEvent_p) -{ - tEplKernel Ret; - - Ret = EplNmtMnuAddInstance(pfnCbNodeEvent_p, pfnCbBootEvent_p); - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuAddInstance -// -// Description: init other instances of the module -// -// -// -// Parameters: -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuAddInstance(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p, - tEplNmtMnuCbBootEvent pfnCbBootEvent_p) -{ - tEplKernel Ret; - - Ret = kEplSuccessful; - - // reset instance structure - EPL_MEMSET(&EplNmtMnuInstance_g, 0, sizeof(EplNmtMnuInstance_g)); - - if ((pfnCbNodeEvent_p == NULL) || (pfnCbBootEvent_p == NULL)) { - Ret = kEplNmtInvalidParam; - goto Exit; - } - EplNmtMnuInstance_g.m_pfnCbNodeEvent = pfnCbNodeEvent_p; - EplNmtMnuInstance_g.m_pfnCbBootEvent = pfnCbBootEvent_p; - - // initialize StatusRequest delay - EplNmtMnuInstance_g.m_ulStatusRequestDelay = 5000L; - - // register NmtMnResponse callback function - Ret = - EplDlluCalRegAsndService(kEplDllAsndNmtRequest, - EplNmtMnuCbNmtRequest, - kEplDllAsndFilterLocal); - - Exit: - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuDelInstance -// -// Description: delete instance -// -// -// -// Parameters: -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuDelInstance(void) -{ - tEplKernel Ret; - - Ret = kEplSuccessful; - - // deregister NmtMnResponse callback function - Ret = - EplDlluCalRegAsndService(kEplDllAsndNmtRequest, NULL, - kEplDllAsndFilterNone); - - Ret = EplNmtMnuReset(); - - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuSendNmtCommandEx -// -// Description: sends the specified NMT command to the specified node. -// -// Parameters: uiNodeId_p = node ID to which the NMT command will be sent -// NmtCommand_p = NMT command -// -// Returns: tEplKernel = error code -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuSendNmtCommandEx(unsigned int uiNodeId_p, - tEplNmtCommand NmtCommand_p, - void *pNmtCommandData_p, - unsigned int uiDataSize_p) -{ - tEplKernel Ret = kEplSuccessful; - tEplFrameInfo FrameInfo; - u8 abBuffer[EPL_C_DLL_MINSIZE_NMTCMDEXT]; - tEplFrame *pFrame = (tEplFrame *) abBuffer; - BOOL fSoftDeleteNode = FALSE; - - if ((uiNodeId_p == 0) || (uiNodeId_p > EPL_C_ADR_BROADCAST)) { // invalid node ID specified - Ret = kEplInvalidNodeId; - goto Exit; - } - - if ((pNmtCommandData_p != NULL) - && (uiDataSize_p > - (EPL_C_DLL_MINSIZE_NMTCMDEXT - EPL_C_DLL_MINSIZE_NMTCMD))) { - Ret = kEplNmtInvalidParam; - goto Exit; - } - // $$$ d.k. may be check in future versions if the caller wants to perform prohibited state transitions - // the CN should not perform these transitions, but the expected NMT state will be changed and never fullfilled. - - // build frame - EPL_MEMSET(pFrame, 0x00, sizeof(abBuffer)); - AmiSetByteToLe(&pFrame->m_le_bDstNodeId, (u8) uiNodeId_p); - AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId, - (u8) kEplDllAsndNmtCommand); - AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService. - m_le_bNmtCommandId, (u8) NmtCommand_p); - if ((pNmtCommandData_p != NULL) && (uiDataSize_p > 0)) { // copy command data to frame - EPL_MEMCPY(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService. - m_le_abNmtCommandData[0], pNmtCommandData_p, - uiDataSize_p); - } - // build info structure - FrameInfo.m_NetTime.m_dwNanoSec = 0; - FrameInfo.m_NetTime.m_dwSec = 0; - FrameInfo.m_pFrame = pFrame; - FrameInfo.m_uiFrameSize = sizeof(abBuffer); - - // send NMT-Request -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) - Ret = EplDlluCalAsyncSend(&FrameInfo, // pointer to frameinfo - kEplDllAsyncReqPrioNmt); // priority -#endif - if (Ret != kEplSuccessful) { - goto Exit; - } - - EPL_DBGLVL_NMTMN_TRACE2("NMTCmd(%02X->%02X)\n", NmtCommand_p, - uiNodeId_p); - - switch (NmtCommand_p) { - case kEplNmtCmdStartNode: - case kEplNmtCmdEnterPreOperational2: - case kEplNmtCmdEnableReadyToOperate: - { - // nothing left to do, - // because any further processing is done - // when the NMT command is actually sent - goto Exit; - } - - case kEplNmtCmdStopNode: - { - fSoftDeleteNode = TRUE; - break; - } - - case kEplNmtCmdResetNode: - case kEplNmtCmdResetCommunication: - case kEplNmtCmdResetConfiguration: - case kEplNmtCmdSwReset: - { - break; - } - - default: - goto Exit; - } - - // remove CN from isochronous phase; - // This must be done here and not when NMT command is actually sent - // because it will be too late and may cause unwanted errors - if (uiNodeId_p != EPL_C_ADR_BROADCAST) { - if (fSoftDeleteNode == FALSE) { // remove CN immediately from isochronous phase - Ret = EplDlluCalDeleteNode(uiNodeId_p); - } else { // remove CN from isochronous phase softly - Ret = EplDlluCalSoftDeleteNode(uiNodeId_p); - } - } else { // do it for all active CNs - for (uiNodeId_p = 1; - uiNodeId_p <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); - uiNodeId_p++) { - if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId_p)-> - m_dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | - EPL_NODEASSIGN_NODE_EXISTS)) != 0) { - if (fSoftDeleteNode == FALSE) { // remove CN immediately from isochronous phase - Ret = EplDlluCalDeleteNode(uiNodeId_p); - } else { // remove CN from isochronous phase softly - Ret = - EplDlluCalSoftDeleteNode - (uiNodeId_p); - } - } - } - } - - Exit: - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuSendNmtCommand -// -// Description: sends the specified NMT command to the specified node. -// -// Parameters: uiNodeId_p = node ID to which the NMT command will be sent -// NmtCommand_p = NMT command -// -// Returns: tEplKernel = error code -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuSendNmtCommand(unsigned int uiNodeId_p, - tEplNmtCommand NmtCommand_p) -{ - tEplKernel Ret = kEplSuccessful; - - Ret = EplNmtMnuSendNmtCommandEx(uiNodeId_p, NmtCommand_p, NULL, 0); - -//Exit: - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuTriggerStateChange -// -// Description: triggers the specified node command for the specified node. -// -// Parameters: uiNodeId_p = node ID for which the node command will be executed -// NodeCommand_p = node command -// -// Returns: tEplKernel = error code -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuTriggerStateChange(unsigned int uiNodeId_p, - tEplNmtNodeCommand NodeCommand_p) -{ - tEplKernel Ret = kEplSuccessful; - tEplNmtMnuIntNodeEvent NodeEvent; - tEplObdSize ObdSize; - u8 bNmtState; - u16 wErrorCode = EPL_E_NO_ERROR; - - if ((uiNodeId_p == 0) || (uiNodeId_p >= EPL_C_ADR_BROADCAST)) { - Ret = kEplInvalidNodeId; - goto Exit; - } - - switch (NodeCommand_p) { - case kEplNmtNodeCommandBoot: - { - NodeEvent = kEplNmtMnuIntNodeEventBoot; - break; - } - - case kEplNmtNodeCommandConfOk: - { - NodeEvent = kEplNmtMnuIntNodeEventConfigured; - break; - } - - case kEplNmtNodeCommandConfErr: - { - NodeEvent = kEplNmtMnuIntNodeEventError; - wErrorCode = EPL_E_NMT_BPO1_CF_VERIFY; - break; - } - - case kEplNmtNodeCommandConfReset: - { - NodeEvent = kEplNmtMnuIntNodeEventExecReset; - break; - } - - default: - { // invalid node command - goto Exit; - } - } - - // fetch current NMT state - ObdSize = 1; - Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtState, &ObdSize); - if (Ret != kEplSuccessful) { - goto Exit; - } - - Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, - (tEplNmtState) (bNmtState | - EPL_NMT_TYPE_CS), - wErrorCode, NodeEvent); - - Exit: - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuCbNmtStateChange -// -// Description: callback function for NMT state changes -// -// Parameters: NmtStateChange_p = NMT state change event -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p) -{ - tEplKernel Ret = kEplSuccessful; - - // do work which must be done in that state - switch (NmtStateChange_p.m_NewNmtState) { - // EPL stack is not running -/* case kEplNmtGsOff: - break; - - // first init of the hardware - case kEplNmtGsInitialising: - break; - - // init of the manufacturer-specific profile area and the - // standardised device profile area - case kEplNmtGsResetApplication: - { - break; - } - - // init of the communication profile area - case kEplNmtGsResetCommunication: - { - break; - } -*/ - // build the configuration with infos from OD - case kEplNmtGsResetConfiguration: - { - u32 dwTimeout; - tEplObdSize ObdSize; - - // read object 0x1F80 NMT_StartUp_U32 - ObdSize = 4; - Ret = - EplObduReadEntry(0x1F80, 0, - &EplNmtMnuInstance_g. - m_dwNmtStartup, &ObdSize); - if (Ret != kEplSuccessful) { - break; - } - // compute StatusReqDelay = object 0x1006 * EPL_C_NMT_STATREQ_CYCLE - ObdSize = sizeof(dwTimeout); - Ret = EplObduReadEntry(0x1006, 0, &dwTimeout, &ObdSize); - if (Ret != kEplSuccessful) { - break; - } - if (dwTimeout != 0L) { - EplNmtMnuInstance_g.m_ulStatusRequestDelay = - dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L; - if (EplNmtMnuInstance_g. - m_ulStatusRequestDelay == 0L) { - EplNmtMnuInstance_g.m_ulStatusRequestDelay = 1L; // at least 1 ms - } - // $$$ fetch and use MultiplexedCycleCount from OD - EplNmtMnuInstance_g.m_ulTimeoutCheckCom = - dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L; - if (EplNmtMnuInstance_g.m_ulTimeoutCheckCom == - 0L) { - EplNmtMnuInstance_g.m_ulTimeoutCheckCom = 1L; // at least 1 ms - } - } - // fetch ReadyToOp Timeout from OD - ObdSize = sizeof(dwTimeout); - Ret = EplObduReadEntry(0x1F89, 5, &dwTimeout, &ObdSize); - if (Ret != kEplSuccessful) { - break; - } - if (dwTimeout != 0L) { - // convert [us] to [ms] - dwTimeout /= 1000L; - if (dwTimeout == 0L) { - dwTimeout = 1L; // at least 1 ms - } - EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = - dwTimeout; - } else { - EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = 0L; - } - break; - } -/* - //----------------------------------------------------------- - // CN part of the state machine - - // node liste for EPL-Frames and check timeout - case kEplNmtCsNotActive: - { - break; - } - - // node process only async frames - case kEplNmtCsPreOperational1: - { - break; - } - - // node process isochronus and asynchronus frames - case kEplNmtCsPreOperational2: - { - break; - } - - // node should be configured und application is ready - case kEplNmtCsReadyToOperate: - { - break; - } - - // normal work state - case kEplNmtCsOperational: - { - break; - } - - // node stopped by MN - // -> only process asynchronus frames - case kEplNmtCsStopped: - { - break; - } - - // no EPL cycle - // -> normal ethernet communication - case kEplNmtCsBasicEthernet: - { - break; - } -*/ - //----------------------------------------------------------- - // MN part of the state machine - - // node listens for EPL-Frames and check timeout - case kEplNmtMsNotActive: - { - break; - } - - // node processes only async frames - case kEplNmtMsPreOperational1: - { - u32 dwTimeout; - tEplTimerArg TimerArg; - tEplObdSize ObdSize; - tEplEvent Event; - - // clear global flags, e.g. reenable boot process - EplNmtMnuInstance_g.m_wFlags = 0; - - // reset IdentResponses and running IdentRequests and StatusRequests - Ret = EplIdentuReset(); - Ret = EplStatusuReset(); - - // reset timers - Ret = EplNmtMnuReset(); - - // 2008/11/18 d.k. reset internal node info is not necessary, - // because timer flags are important and other - // things are reset by EplNmtMnuStartBootStep1(). -/* - EPL_MEMSET(EplNmtMnuInstance_g.m_aNodeInfo, - 0, - sizeof (EplNmtMnuInstance_g.m_aNodeInfo)); -*/ - - // inform DLL about NMT state change, - // so that it can clear the asynchonous queues and start the reduced cycle - Event.m_EventSink = kEplEventSinkDllk; - Event.m_EventType = kEplEventTypeDllkStartReducedCycle; - EPL_MEMSET(&Event.m_NetTime, 0x00, - sizeof(Event.m_NetTime)); - Event.m_pArg = NULL; - Event.m_uiSize = 0; - Ret = EplEventuPost(&Event); - if (Ret != kEplSuccessful) { - break; - } - // reset all nodes - // d.k.: skip this step if was just done before, e.g. because of a ResetNode command from a diagnostic node - if (NmtStateChange_p.m_NmtEvent == - kEplNmtEventTimerMsPreOp1) { - BENCHMARK_MOD_07_TOGGLE(9); - - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - EPL_C_ADR_BROADCAST, - kEplNmtCmdResetNode); - - Ret = - EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, - kEplNmtCmdResetNode); - if (Ret != kEplSuccessful) { - break; - } - } - // start network scan - Ret = EplNmtMnuStartBootStep1(); - - // start timer for 0x1F89/2 MNTimeoutPreOp1_U32 - ObdSize = sizeof(dwTimeout); - Ret = EplObduReadEntry(0x1F89, 2, &dwTimeout, &ObdSize); - if (Ret != kEplSuccessful) { - break; - } - if (dwTimeout != 0L) { - dwTimeout /= 1000L; - if (dwTimeout == 0L) { - dwTimeout = 1L; // at least 1 ms - } - TimerArg.m_EventSink = kEplEventSinkNmtMnu; - TimerArg.m_ulArg = 0; - Ret = - EplTimeruModifyTimerMs(&EplNmtMnuInstance_g. - m_TimerHdlNmtState, - dwTimeout, TimerArg); - } - break; - } - - // node processes isochronous and asynchronous frames - case kEplNmtMsPreOperational2: - { - // add identified CNs to isochronous phase - // send EnableReadyToOp to all identified CNs - Ret = EplNmtMnuStartBootStep2(); - - // wait for NMT state change of CNs - break; - } - - // node should be configured und application is ready - case kEplNmtMsReadyToOperate: - { - // check if PRes of CNs are OK - // d.k. that means wait CycleLength * MultiplexCycleCount (i.e. start timer) - // because Dllk checks PRes of CNs automatically in ReadyToOp - Ret = EplNmtMnuStartCheckCom(); - break; - } - - // normal work state - case kEplNmtMsOperational: - { - // send StartNode to CNs - // wait for NMT state change of CNs - Ret = EplNmtMnuStartNodes(); - break; - } - - // no EPL cycle - // -> normal ethernet communication - case kEplNmtMsBasicEthernet: - { - break; - } - - default: - { -// TRACE0("EplNmtMnuCbNmtStateChange(): unhandled NMT state\n"); - } - } - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtMnuCbCheckEvent -// -// Description: callback funktion for NMT events before they are actually executed. -// The EPL API layer must forward NMT events from NmtCnu module. -// This module will reject some NMT commands while MN. -// -// Parameters: NmtEvent_p = outstanding NMT event for approval -// -// Returns: tEplKernel = error code -// kEplReject = reject the NMT event -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuCbCheckEvent(tEplNmtEvent NmtEvent_p) -{ - tEplKernel Ret = kEplSuccessful; - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplNmtuProcessEvent -// -// Description: processes events from event queue -// -// Parameters: pEvent_p = pointer to event -// -// Returns: tEplKernel = errorcode -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplNmtMnuProcessEvent(tEplEvent *pEvent_p) -{ - tEplKernel Ret; - - Ret = kEplSuccessful; - - // process event - switch (pEvent_p->m_EventType) { - // timer event - case kEplEventTypeTimer: - { - tEplTimerEventArg *pTimerEventArg = - (tEplTimerEventArg *) pEvent_p->m_pArg; - unsigned int uiNodeId; - - uiNodeId = - (unsigned int)(pTimerEventArg-> - m_ulArg & - EPL_NMTMNU_TIMERARG_NODE_MASK); - if (uiNodeId != 0) { - tEplObdSize ObdSize; - u8 bNmtState; - tEplNmtMnuNodeInfo *pNodeInfo; - - pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId); - - ObdSize = 1; - Ret = - EplObduReadEntry(0x1F8E, uiNodeId, - &bNmtState, &ObdSize); - if (Ret != kEplSuccessful) { - break; - } - - if ((pTimerEventArg-> - m_ulArg & EPL_NMTMNU_TIMERARG_IDENTREQ) != - 0L) { - if ((pNodeInfo-> - m_wFlags & - EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE - (kEplNmtMnuIntNodeEventTimerIdentReq, - uiNodeId, - ((pNodeInfo-> - m_NodeState << 8) - | 0xFF)); - - break; - } -/* - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerIdentReq, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0x80 - | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) - | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); -*/ - Ret = - EplNmtMnuProcessInternalEvent - (uiNodeId, - (tEplNmtState) (bNmtState | - EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventTimerIdentReq); - } - - else if ((pTimerEventArg-> - m_ulArg & EPL_NMTMNU_TIMERARG_STATREQ) - != 0L) { - if ((pNodeInfo-> - m_wFlags & - EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE - (kEplNmtMnuIntNodeEventTimerStatReq, - uiNodeId, - ((pNodeInfo-> - m_NodeState << 8) - | 0xFF)); - - break; - } -/* - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0x80 - | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) - | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); -*/ - Ret = - EplNmtMnuProcessInternalEvent - (uiNodeId, - (tEplNmtState) (bNmtState | - EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventTimerStatReq); - } - - else if ((pTimerEventArg-> - m_ulArg & - EPL_NMTMNU_TIMERARG_STATE_MON) != - 0L) { - if ((pNodeInfo-> - m_wFlags & - EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE - (kEplNmtMnuIntNodeEventTimerStateMon, - uiNodeId, - ((pNodeInfo-> - m_NodeState << 8) - | 0xFF)); - - break; - } -/* - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0x80 - | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) - |