diff options
Diffstat (limited to 'drivers/staging/epl/EplSdoAsySequ.c')
| -rw-r--r-- | drivers/staging/epl/EplSdoAsySequ.c | 2522 |
1 files changed, 0 insertions, 2522 deletions
diff --git a/drivers/staging/epl/EplSdoAsySequ.c b/drivers/staging/epl/EplSdoAsySequ.c deleted file mode 100644 index 256d70866343..000000000000 --- a/drivers/staging/epl/EplSdoAsySequ.c +++ /dev/null @@ -1,2522 +0,0 @@ -/**************************************************************************** - - (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 - www.systec-electronic.com - - Project: openPOWERLINK - - Description: source file for asychronous SDO Sequence Layer 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: EplSdoAsySequ.c,v $ - - $Author: D.Krueger $ - - $Revision: 1.10 $ $Date: 2008/11/13 17:13:09 $ - - $State: Exp $ - - Build Environment: - GCC V3.4 - - ------------------------------------------------------------------------- - - Revision History: - - 2006/06/26 k.t.: start of the implementation - -****************************************************************************/ - -#include "user/EplSdoAsySequ.h" - -#if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) == 0) &&\ - (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) == 0) ) - -#error 'ERROR: At least UDP or Asnd module needed!' - -#endif -/***************************************************************************/ -/* */ -/* */ -/* G L O B A L D E F I N I T I O N S */ -/* */ -/* */ -/***************************************************************************/ - -//--------------------------------------------------------------------------- -// const defines -//--------------------------------------------------------------------------- - -#define EPL_SDO_HISTORY_SIZE 5 - -#ifndef EPL_MAX_SDO_SEQ_CON -#define EPL_MAX_SDO_SEQ_CON 10 -#endif - -#define EPL_SEQ_DEFAULT_TIMEOUT 5000 // in [ms] => 5 sec - -#define EPL_SEQ_RETRY_COUNT 5 // => max. Timeout 30 sec - -#define EPL_SEQ_NUM_THRESHOLD 100 // threshold which distinguishes between old and new sequence numbers - -// define frame with size of Asnd-Header-, SDO Sequenze Header size, SDO Command header -// and Ethernet-Header size -#define EPL_SEQ_FRAME_SIZE 24 -// size of the header of the asynchronus SDO Sequence layer -#define EPL_SEQ_HEADER_SIZE 4 - -// buffersize for one frame in history -#define EPL_SEQ_HISTROY_FRAME_SIZE EPL_MAX_SDO_FRAME_SIZE - -// mask to get scon and rcon -#define EPL_ASY_SDO_CON_MASK 0x03 - -//--------------------------------------------------------------------------- -// local types -//--------------------------------------------------------------------------- - -// events for processfunction -typedef enum { - kAsySdoSeqEventNoEvent = 0x00, // no Event - kAsySdoSeqEventInitCon = 0x01, // init connection - kAsySdoSeqEventFrameRec = 0x02, // frame received - kAsySdoSeqEventFrameSend = 0x03, // frame to send - kAsySdoSeqEventTimeout = 0x04, // Timeout for connection - kAsySdoSeqEventCloseCon = 0x05 // higher layer close connection -} tEplAsySdoSeqEvent; - -// structure for History-Buffer -typedef struct { - u8 m_bFreeEntries; - u8 m_bWrite; // index of the next free buffer entry - u8 m_bAck; // index of the next message which should become acknowledged - u8 m_bRead; // index between m_bAck and m_bWrite to the next message for retransmission - u8 m_aabHistoryFrame[EPL_SDO_HISTORY_SIZE] - [EPL_SEQ_HISTROY_FRAME_SIZE]; - unsigned int m_auiFrameSize[EPL_SDO_HISTORY_SIZE]; - -} tEplAsySdoConHistory; - -// state of the statemaschine -typedef enum { - kEplAsySdoStateIdle = 0x00, - kEplAsySdoStateInit1 = 0x01, - kEplAsySdoStateInit2 = 0x02, - kEplAsySdoStateInit3 = 0x03, - kEplAsySdoStateConnected = 0x04, - kEplAsySdoStateWaitAck = 0x05 -} tEplAsySdoState; - -// connection control structure -typedef struct { - tEplSdoConHdl m_ConHandle; - tEplAsySdoState m_SdoState; - u8 m_bRecSeqNum; // name from view of the communication partner - u8 m_bSendSeqNum; // name from view of the communication partner - tEplAsySdoConHistory m_SdoConHistory; - tEplTimerHdl m_EplTimerHdl; - unsigned int m_uiRetryCount; // retry counter - unsigned int m_uiUseCount; // one sequence layer connection may be used by - // multiple command layer connections - -} tEplAsySdoSeqCon; - -// instance structure -typedef struct { - tEplAsySdoSeqCon m_AsySdoConnection[EPL_MAX_SDO_SEQ_CON]; - tEplSdoComReceiveCb m_fpSdoComReceiveCb; - tEplSdoComConCb m_fpSdoComConCb; - -#if defined(WIN32) || defined(_WIN32) - LPCRITICAL_SECTION m_pCriticalSection; - CRITICAL_SECTION m_CriticalSection; - - LPCRITICAL_SECTION m_pCriticalSectionReceive; - CRITICAL_SECTION m_CriticalSectionReceive; -#endif - -} tEplAsySdoSequInstance; - -//--------------------------------------------------------------------------- -// modul globale vars -//--------------------------------------------------------------------------- - -static tEplAsySdoSequInstance AsySdoSequInstance_g; - -//--------------------------------------------------------------------------- -// local function prototypes -//--------------------------------------------------------------------------- - -static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p, - unsigned int uiDataSize_p, - tEplFrame * pData_p, - tEplAsySdoSeq * pRecFrame_p, - tEplAsySdoSeqEvent Event_p); - -static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon * pAsySdoSeqCon_p, - unsigned int uiDataSize_p, - tEplFrame * pData_p, - BOOL fFrameInHistory); - -static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon * pAsySdoSeqCon_p, - unsigned int uiDataSize_p, - tEplFrame * pEplFrame_p); - -tEplKernel EplSdoAsyReceiveCb(tEplSdoConHdl ConHdl_p, - tEplAsySdoSeq *pSdoSeqData_p, - unsigned int uiDataSize_p); - -static tEplKernel EplSdoAsyInitHistory(void); - -static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, - tEplFrame * pFrame_p, - unsigned int uiSize_p); - -static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, - u8 bRecSeqNumber_p); - -static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, - tEplFrame ** ppFrame_p, - unsigned int *puiSize_p, - BOOL fInitRead); - -static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon * - pAsySdoSeqCon_p); - -static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon * pAsySdoSeqCon_p, - unsigned long ulTimeout); - -/***************************************************************************/ -/* */ -/* */ -/* C L A S S <EPL asychronus SDO Sequence layer> */ -/* */ -/* */ -/***************************************************************************/ -// -// Description: this module contains the asynchronus SDO Sequence Layer for -// the EPL SDO service -// -// -/***************************************************************************/ - -//=========================================================================// -// // -// P U B L I C F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqInit -// -// Description: init first instance -// -// -// -// Parameters: fpSdoComCb_p = callback function to inform Command layer -// about new frames -// fpSdoComConCb_p = callback function to inform command layer -// about connection state -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqInit(tEplSdoComReceiveCb fpSdoComCb_p, - tEplSdoComConCb fpSdoComConCb_p) -{ - tEplKernel Ret; - - Ret = EplSdoAsySeqAddInstance(fpSdoComCb_p, fpSdoComConCb_p); - - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqAddInstance -// -// Description: init following instances -// -// -// -// Parameters: fpSdoComCb_p = callback function to inform Command layer -// about new frames -// fpSdoComConCb_p = callback function to inform command layer -// about connection state -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqAddInstance(tEplSdoComReceiveCb fpSdoComCb_p, - tEplSdoComConCb fpSdoComConCb_p) -{ - tEplKernel Ret; - - Ret = kEplSuccessful; - - // check functionpointer - if (fpSdoComCb_p == NULL) { - Ret = kEplSdoSeqMissCb; - goto Exit; - } else { - AsySdoSequInstance_g.m_fpSdoComReceiveCb = fpSdoComCb_p; - } - - // check functionpointer - if (fpSdoComConCb_p == NULL) { - Ret = kEplSdoSeqMissCb; - goto Exit; - } else { - AsySdoSequInstance_g.m_fpSdoComConCb = fpSdoComConCb_p; - } - - // set controllstructure to 0 - EPL_MEMSET(&AsySdoSequInstance_g.m_AsySdoConnection[0], 0x00, - sizeof(AsySdoSequInstance_g.m_AsySdoConnection)); - - // init History - Ret = EplSdoAsyInitHistory(); - if (Ret != kEplSuccessful) { - goto Exit; - } -#if defined(WIN32) || defined(_WIN32) - // create critical section for process function - AsySdoSequInstance_g.m_pCriticalSection = - &AsySdoSequInstance_g.m_CriticalSection; - InitializeCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); - - // init critical section for receive cb function - AsySdoSequInstance_g.m_pCriticalSectionReceive = - &AsySdoSequInstance_g.m_CriticalSectionReceive; - InitializeCriticalSection(AsySdoSequInstance_g. - m_pCriticalSectionReceive); -#endif - -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - // init lower layer - Ret = EplSdoUdpuAddInstance(EplSdoAsyReceiveCb); - if (Ret != kEplSuccessful) { - goto Exit; - } -#endif - -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - // init lower layer - Ret = EplSdoAsnduAddInstance(EplSdoAsyReceiveCb); - if (Ret != kEplSuccessful) { - goto Exit; - } -#endif - - Exit: - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqDelInstance -// -// Description: delete instances -// -// -// -// Parameters: -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqDelInstance(void) -{ - tEplKernel Ret; - unsigned int uiCount; - tEplAsySdoSeqCon *pAsySdoSeqCon; - - Ret = kEplSuccessful; - - // delete timer of open connections - uiCount = 0; - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0]; - while (uiCount < EPL_MAX_SDO_SEQ_CON) { - if (pAsySdoSeqCon->m_ConHandle != 0) { - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - } - uiCount++; - pAsySdoSeqCon++; - } - -#if defined(WIN32) || defined(_WIN32) - // delete critical section for process function - DeleteCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); -#endif - - // set instance-table to 0 - EPL_MEMSET(&AsySdoSequInstance_g, 0x00, sizeof(AsySdoSequInstance_g)); - -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - // delete lower layer - Ret = EplSdoUdpuDelInstance(); -#endif - -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - // delete lower layer - Ret = EplSdoAsnduDelInstance(); -#endif - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqInitCon -// -// Description: start initialization of a sequence layer connection. -// It tries to reuse an existing connection to the same node. -// -// -// Parameters: pSdoSeqConHdl_p = pointer to the variable for the connection handle -// uiNodeId_p = Node Id of the target -// SdoType = Type of the SDO connection -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqInitCon(tEplSdoSeqConHdl *pSdoSeqConHdl_p, - unsigned int uiNodeId_p, - tEplSdoType SdoType) -{ - tEplKernel Ret; - unsigned int uiCount; - unsigned int uiFreeCon; - tEplSdoConHdl ConHandle; - tEplAsySdoSeqCon *pAsySdoSeqCon; - Ret = kEplSuccessful; - - // check SdoType - // call init function of the protcol abstraction layer - // which tries to find an existing connection to the same node - switch (SdoType) { - // SDO over UDP - case kEplSdoTypeUdp: - { -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - Ret = EplSdoUdpuInitCon(&ConHandle, uiNodeId_p); - if (Ret != kEplSuccessful) { - goto Exit; - } -#else - Ret = kEplSdoSeqUnsupportedProt; -#endif - break; - } - - // SDO over Asnd - case kEplSdoTypeAsnd: - { -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - Ret = EplSdoAsnduInitCon(&ConHandle, uiNodeId_p); - if (Ret != kEplSuccessful) { - goto Exit; - } -#else - Ret = kEplSdoSeqUnsupportedProt; -#endif - break; - } - - // unsupported protocols - // -> auto should be replaced by command layer - case kEplSdoTypeAuto: - case kEplSdoTypePdo: - default: - { - Ret = kEplSdoSeqUnsupportedProt; - goto Exit; - } - - } // end of switch(SdoType) - - // find existing connection to the same node or find empty entry for connection - uiCount = 0; - uiFreeCon = EPL_MAX_SDO_SEQ_CON; - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0]; - - while (uiCount < EPL_MAX_SDO_SEQ_CON) { - if (pAsySdoSeqCon->m_ConHandle == ConHandle) { // existing connection found - break; - } - if (pAsySdoSeqCon->m_ConHandle == 0) { - uiFreeCon = uiCount; - } - uiCount++; - pAsySdoSeqCon++; - } - - if (uiCount == EPL_MAX_SDO_SEQ_CON) { - if (uiFreeCon == EPL_MAX_SDO_SEQ_CON) { // no free entry found - switch (SdoType) { - // SDO over UDP - case kEplSdoTypeUdp: - { -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - Ret = EplSdoUdpuDelCon(ConHandle); - if (Ret != kEplSuccessful) { - goto Exit; - } -#endif - break; - } - - // SDO over Asnd - case kEplSdoTypeAsnd: - { -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - Ret = EplSdoAsnduDelCon(ConHandle); - if (Ret != kEplSuccessful) { - goto Exit; - } -#endif - break; - } - - // unsupported protocols - // -> auto should be replaced by command layer - case kEplSdoTypeAuto: - case kEplSdoTypePdo: - default: - { - Ret = kEplSdoSeqUnsupportedProt; - goto Exit; - } - - } // end of switch(SdoType) - - Ret = kEplSdoSeqNoFreeHandle; - goto Exit; - } else { // free entry found - pAsySdoSeqCon = - &AsySdoSequInstance_g.m_AsySdoConnection[uiFreeCon]; - pAsySdoSeqCon->m_ConHandle = ConHandle; - uiCount = uiFreeCon; - } - } - // set handle - *pSdoSeqConHdl_p = (uiCount | EPL_SDO_ASY_HANDLE); - - // increment use counter - pAsySdoSeqCon->m_uiUseCount++; - - // call intern process function - Ret = EplSdoAsySeqProcess(uiCount, - 0, NULL, NULL, kAsySdoSeqEventInitCon); - - Exit: - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqSendData -// -// Description: send sata unsing a established connection -// -// -// -// Parameters: pSdoSeqConHdl_p = connection handle -// uiDataSize_p = Size of Frame to send -// -> wihtout SDO sequence layer header, Asnd header -// and ethernetnet -// ==> SDO Sequence layer payload -// SdoType = Type of the SDO connection -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqSendData(tEplSdoSeqConHdl SdoSeqConHdl_p, - unsigned int uiDataSize_p, - tEplFrame *pabData_p) -{ - tEplKernel Ret; - unsigned int uiHandle; - - uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK); - - // check if connection ready - if (AsySdoSequInstance_g.m_AsySdoConnection[uiHandle].m_SdoState == - kEplAsySdoStateIdle) { - // no connection with this handle - Ret = kEplSdoSeqInvalidHdl; - goto Exit; - } else if (AsySdoSequInstance_g.m_AsySdoConnection[uiHandle]. - m_SdoState != kEplAsySdoStateConnected) { - Ret = kEplSdoSeqConnectionBusy; - goto Exit; - } - - Ret = EplSdoAsySeqProcess(uiHandle, - uiDataSize_p, - pabData_p, NULL, kAsySdoSeqEventFrameSend); - Exit: - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqProcessEvent -// -// Description: function processes extern events -// -> later needed for timeout controll with timer-module -// -// -// -// Parameters: pEvent_p = pointer to event -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqProcessEvent(tEplEvent *pEvent_p) -{ - tEplKernel Ret; - tEplTimerEventArg *pTimerEventArg; - tEplAsySdoSeqCon *pAsySdoSeqCon; - tEplTimerHdl EplTimerHdl; - unsigned int uiCount; - - Ret = kEplSuccessful; - // check parameter - if (pEvent_p == NULL) { - Ret = kEplSdoSeqInvalidEvent; - goto Exit; - } - - if (pEvent_p->m_EventType != kEplEventTypeTimer) { - Ret = kEplSdoSeqInvalidEvent; - goto Exit; - } - // get timerhdl - pTimerEventArg = (tEplTimerEventArg *) pEvent_p->m_pArg; - EplTimerHdl = pTimerEventArg->m_TimerHdl; - - // get pointer to intern control structure of connection - if (pTimerEventArg->m_ulArg == 0) { - goto Exit; - } - pAsySdoSeqCon = (tEplAsySdoSeqCon *) pTimerEventArg->m_ulArg; - - // check if time is current - if (EplTimerHdl != pAsySdoSeqCon->m_EplTimerHdl) { - // delete timer - EplTimeruDeleteTimer(&EplTimerHdl); - goto Exit; - } - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - - // get indexnumber of control structure - uiCount = 0; - while ((&AsySdoSequInstance_g.m_AsySdoConnection[uiCount]) != - pAsySdoSeqCon) { - uiCount++; - if (uiCount > EPL_MAX_SDO_SEQ_CON) { - goto Exit; - } - } - - // process event and call processfunction if needed - Ret = EplSdoAsySeqProcess(uiCount, - 0, NULL, NULL, kAsySdoSeqEventTimeout); - - Exit: - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoAsySeqDelCon -// -// Description: del and close one connection -// -// -// -// Parameters: SdoSeqConHdl_p = handle of connection -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoAsySeqDelCon(tEplSdoSeqConHdl SdoSeqConHdl_p) -{ - tEplKernel Ret = kEplSuccessful; - unsigned int uiHandle; - tEplAsySdoSeqCon *pAsySdoSeqCon; - - uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK); - - // check if handle invalid - if (uiHandle >= EPL_MAX_SDO_SEQ_CON) { - Ret = kEplSdoSeqInvalidHdl; - goto Exit; - } - // get pointer to connection - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle]; - - // decrement use counter - pAsySdoSeqCon->m_uiUseCount--; - - if (pAsySdoSeqCon->m_uiUseCount == 0) { - // process close in processfunction - Ret = EplSdoAsySeqProcess(uiHandle, - 0, - NULL, NULL, kAsySdoSeqEventCloseCon); - - //check protocol - if ((pAsySdoSeqCon->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == - EPL_SDO_UDP_HANDLE) { -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - // call close function of lower layer - EplSdoUdpuDelCon(pAsySdoSeqCon->m_ConHandle); -#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - } else { -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - // call close function of lower layer - EplSdoAsnduDelCon(pAsySdoSeqCon->m_ConHandle); -#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - } - - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - - // clean controllstructure - EPL_MEMSET(pAsySdoSeqCon, 0x00, sizeof(tEplAsySdoSeqCon)); - pAsySdoSeqCon->m_SdoConHistory.m_bFreeEntries = - EPL_SDO_HISTORY_SIZE; - } - - Exit: - return Ret; - -} - -//=========================================================================// -// // -// P R I V A T E F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: EplEplSdoAsySeqProcess -// -// Description: intern function to process the asynchronus SDO Sequence Layer -// state maschine -// -// -// -// Parameters: uiHandle_p = index of the control structure of the connection -// uiDataSize_p = size of data frame to process (can be 0) -// -> without size of sequence header and Asnd header!!! -// -// pData_p = pointer to frame to send (can be NULL) -// pRecFrame_p = pointer to received frame (can be NULL) -// Event_p = Event to process -// -// -// -// Returns: tEplKernel = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p, - unsigned int uiDataSize_p, - tEplFrame * pData_p, - tEplAsySdoSeq * pRecFrame_p, - tEplAsySdoSeqEvent Event_p) -{ - tEplKernel Ret; - unsigned int uiFrameSize; - tEplFrame *pEplFrame; - tEplAsySdoSeqCon *pAsySdoSeqCon; - tEplSdoSeqConHdl SdoSeqConHdl; - unsigned int uiFreeEntries; - -#if defined(WIN32) || defined(_WIN32) - // enter critical section for process function - EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); -#endif - - Ret = kEplSuccessful; - - // get handle for hinger layer - SdoSeqConHdl = uiHandle_p | EPL_SDO_ASY_HANDLE; - - // check if handle invalid - if ((SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == - EPL_SDO_SEQ_INVALID_HDL) { - Ret = kEplSdoSeqInvalidHdl; - goto Exit; - } - // get pointer to connection - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle_p]; - - // check size - if ((pData_p == NULL) && (pRecFrame_p == NULL) && (uiDataSize_p != 0)) { - Ret = kEplSdoSeqInvalidFrame; - goto Exit; - } - // check state - switch (pAsySdoSeqCon->m_SdoState) { - // idle state - case kEplAsySdoStateIdle: - { - // check event - switch (Event_p) { - // new connection - // -> send init frame and change to - // kEplAsySdoStateInit1 - case kAsySdoSeqEventInitCon: - { - // set sending scon to 1 - pAsySdoSeqCon->m_bRecSeqNum = 0x01; - // set set send rcon to 0 - pAsySdoSeqCon->m_bSendSeqNum = 0x00; - Ret = - EplSdoAsySeqSendIntern - (pAsySdoSeqCon, 0, NULL, FALSE); - if (Ret != kEplSuccessful) { - goto Exit; - } - // change state - pAsySdoSeqCon->m_SdoState = - kEplAsySdoStateInit1; - - // set timer - Ret = - EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - break; - } - - // init con from extern - // check rcon and scon - // -> send answer - case kAsySdoSeqEventFrameRec: - { -/* - PRINTF3("%s scon=%u rcon=%u\n", - __func__, - pRecFrame_p->m_le_bSendSeqNumCon, - pRecFrame_p->m_le_bRecSeqNumCon); -*/ - // check if scon == 1 and rcon == 0 - if (((pRecFrame_p-> - m_le_bRecSeqNumCon & - EPL_ASY_SDO_CON_MASK) == 0x00) - && - ((pRecFrame_p-> - m_le_bSendSeqNumCon & - EPL_ASY_SDO_CON_MASK) == 0x01)) { - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bSendSeqNumCon); - // create answer and send answer - // set rcon to 1 (in send direction own scon) - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = - EplSdoAsySeqSendIntern - (pAsySdoSeqCon, 0, NULL, - FALSE); - if (Ret != kEplSuccessful) { - goto Exit; - } - // change state to kEplAsySdoStateInit2 - pAsySdoSeqCon->m_SdoState = - kEplAsySdoStateInit2; - - // set timer - Ret = - EplSdoAsySeqSetTimer - (pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - } else { // error -> close - // delete timer - EplTimeruDeleteTimer - (&pAsySdoSeqCon-> - m_EplTimerHdl); - if (((pRecFrame_p-> - m_le_bRecSeqNumCon & - EPL_ASY_SDO_CON_MASK) != - 0x00) - || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) { // d.k. only answer with close message if the message sent was not a close message - // save sequence numbers - pAsySdoSeqCon-> - m_bRecSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bRecSeqNumCon); - pAsySdoSeqCon-> - m_bSendSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bSendSeqNumCon); - // set rcon and scon to 0 - pAsySdoSeqCon-> - m_bSendSeqNum &= - EPL_SEQ_NUM_MASK; - pAsySdoSeqCon-> - m_bRecSeqNum &= - EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern - (pAsySdoSeqCon, 0, - NULL, FALSE); - } - // call Command Layer Cb - AsySdoSequInstance_g. - m_fpSdoComConCb - (SdoSeqConHdl, - kAsySdoConStateInitError); - } - break; - } - - default: - // d.k. do nothing - break; - - } // end of switch(Event_p) - break; - } - - // init connection step 1 - // wait for frame with scon = 1 - // and rcon = 1 - case kEplAsySdoStateInit1: - { -// PRINTF0("EplSdoAsySequ: StateInit1\n"); - - // check event - switch (Event_p) { - // frame received - case kAsySdoSeqEventFrameRec: - { - // check scon == 1 and rcon == 1 - if (((pRecFrame_p-> - m_le_bRecSeqNumCon & - EPL_ASY_SDO_CON_MASK) == 0x01) - && ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)) { // create answer own scon = 2 - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bSendSeqNumCon); - - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = - EplSdoAsySeqSendIntern - (pAsySdoSeqCon, 0, NULL, - FALSE); - if (Ret != kEplSuccessful) { - goto Exit; - } - // change state to kEplAsySdoStateInit3 - pAsySdoSeqCon->m_SdoState = - kEplAsySdoStateInit3; - - // set timer - Ret = - EplSdoAsySeqSetTimer - (pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - } - // check if scon == 1 and rcon == 0, i.e. other side wants me to be server - else if (((pRecFrame_p-> - m_le_bRecSeqNumCon & - EPL_ASY_SDO_CON_MASK) == - 0x00) - && - ((pRecFrame_p-> - m_le_bSendSeqNumCon & - EPL_ASY_SDO_CON_MASK) == - 0x01)) { - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bSendSeqNumCon); - // create answer and send answer - // set rcon to 1 (in send direction own scon) - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = - EplSdoAsySeqSendIntern - (pAsySdoSeqCon, 0, NULL, - FALSE); - if (Ret != kEplSuccessful) { - goto Exit; - } - // change state to kEplAsySdoStateInit2 - pAsySdoSeqCon->m_SdoState = - kEplAsySdoStateInit2; - - // set timer - Ret = - EplSdoAsySeqSetTimer - (pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - } else { // error -> Close - pAsySdoSeqCon->m_SdoState = - kEplAsySdoStateIdle; - // delete timer - EplTimeruDeleteTimer - (&pAsySdoSeqCon-> - m_EplTimerHdl); - if (((pRecFrame_p-> - m_le_bRecSeqNumCon & - EPL_ASY_SDO_CON_MASK) != - 0x00) - || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) { // d.k. only answer with close message if the message sent was not a close message - // save sequence numbers - pAsySdoSeqCon-> - m_bRecSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bRecSeqNumCon); - pAsySdoSeqCon-> - m_bSendSeqNum = - AmiGetByteFromLe - (&pRecFrame_p-> - m_le_bSendSeqNumCon); - - // set rcon and scon to 0 - pAsySdoSeqCon-> - m_bSendSeqNum &= - EPL_SEQ_NUM_MASK; - pAsySdoSeqCon-> - m_bRecSeqNum &= - EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern - (pAsySdoSeqCon, 0, - NULL, FALSE); - } - // call Command Layer Cb - AsySdoSequInstance_g. - m_fpSdoComConCb - (SdoSeqConHdl, - kAsySdoConStateInitError); - } - break; - } - - // timeout - case kAsySdoSeqEventTimeout: - { // error -> Close - pAsySdoSeqCon->m_SdoState = - kEplAsySdoStateIdle; - - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= - EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= - EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, NULL, FALSE); - // call Command Layer Cb - AsySdoSequInstance_g. - m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - break; - } - - default: - // d.k. do nothing - break; - - } // end of switch(Event_p) - break; - } - - // init connection step 2 - case kEplAsySdoStateInit2: - { -// PRINTF0("EplSdoAsySequ: StateInit2\n"); - - // check event - switch (Event_p) { - // frame received - case kAsySdoSeqEventFrameRec: - { - // check scon == 2 and rcon == 1 - if (((pRecFrame_p-> - m_le_bRecSeqNumCon & - EPL_ASY_SDO_CON_MASK) == 0x01) |