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/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: include file for EPL API layer
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: Epl.h,v $
$Author: D.Krueger $
$Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/05/22 d.k.: start of the implementation, version 1.00
****************************************************************************/
#ifndef _EPL_API_H_
#define _EPL_API_H_
#include "EplInc.h"
#include "EplSdo.h"
#include "EplObd.h"
#include "EplLed.h"
#include "EplEvent.h"
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
//---------------------------------------------------------------------------
// typedef
//---------------------------------------------------------------------------
typedef struct {
unsigned int m_uiNodeId;
tEplNmtState m_NmtState;
tEplNmtNodeEvent m_NodeEvent;
WORD m_wErrorCode; // EPL error code if m_NodeEvent == kEplNmtNodeEventError
BOOL m_fMandatory;
} tEplApiEventNode;
typedef struct {
tEplNmtState m_NmtState; // local NMT state
tEplNmtBootEvent m_BootEvent;
WORD m_wErrorCode; // EPL error code if m_BootEvent == kEplNmtBootEventError
} tEplApiEventBoot;
typedef struct {
tEplLedType m_LedType; // type of the LED (e.g. Status or Error)
BOOL m_fOn; // state of the LED (e.g. on or off)
} tEplApiEventLed;
typedef enum {
kEplApiEventNmtStateChange = 0x10, // m_NmtStateChange
// kEplApiEventRequestNmt = 0x11, // m_bNmtCmd
kEplApiEventCriticalError = 0x12, // m_InternalError, Stack halted
kEplApiEventWarning = 0x13, // m_InternalError, Stack running
kEplApiEventNode = 0x20, // m_Node
kEplApiEventBoot = 0x21, // m_Boot
kEplApiEventSdo = 0x62, // m_Sdo
kEplApiEventObdAccess = 0x69, // m_ObdCbParam
kEplApiEventLed = 0x70, // m_Led
} tEplApiEventType;
typedef union {
tEplEventNmtStateChange m_NmtStateChange;
tEplEventError m_InternalError;
tEplSdoComFinished m_Sdo;
tEplObdCbParam m_ObdCbParam;
tEplApiEventNode m_Node;
tEplApiEventBoot m_Boot;
tEplApiEventLed m_Led;
} tEplApiEventArg;
typedef tEplKernel(PUBLIC ROM * tEplApiCbEvent) (tEplApiEventType EventType_p, // IN: event type (enum)
tEplApiEventArg * pEventArg_p, // IN: event argument (union)
void GENERIC * pUserArg_p);
typedef struct {
unsigned int m_uiSizeOfStruct;
BOOL m_fAsyncOnly; // do not need to register PRes
unsigned int m_uiNodeId; // local node ID
BYTE m_abMacAddress[6]; // local MAC address
// 0x1F82: NMT_FeatureFlags_U32
DWORD m_dwFeatureFlags;
// Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
DWORD m_dwCycleLen; // required for error detection
// 0x1F98: NMT_CycleTiming_REC
// 0x1F98.1: IsochrTxMaxPayload_U16
unsigned int m_uiIsochrTxMaxPayload; // const
// 0x1F98.2: IsochrRxMaxPayload_U16
unsigned int m_uiIsochrRxMaxPayload; // const
// 0x1F98.3: PResMaxLatency_U32
DWORD m_dwPresMaxLatency; // const in [ns], only required for IdentRes
// 0x1F98.4: PReqActPayloadLimit_U16
unsigned int m_uiPreqActPayloadLimit; // required for initialisation (+28 bytes)
// 0x1F98.5: PResActPayloadLimit_U16
unsigned int m_uiPresActPayloadLimit; // required for initialisation of Pres frame (+28 bytes)
// 0x1F98.6: ASndMaxLatency_U32
DWORD m_dwAsndMaxLatency; // const in [ns], only required for IdentRes
// 0x1F98.7: MultiplCycleCnt_U8
unsigned int m_uiMultiplCycleCnt; // required for error detection
// 0x1F98.8: AsyncMTU_U16
unsigned int m_uiAsyncMtu; // required to set up max frame size
// 0x1F98.9: Prescaler_U16
unsigned int m_uiPrescaler; // required for sync
// $$$ Multiplexed Slot
// 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
DWORD m_dwLossOfFrameTolerance;
// 0x1F8A: NMT_MNCycleTiming_REC
// 0x1F8A.1: WaitSoCPReq_U32 in [ns]
DWORD m_dwWaitSocPreq;
// 0x1F8A.2: AsyncSlotTimeout_U32 in [ns]
DWORD m_dwAsyncSlotTimeout;
DWORD m_dwDeviceType; // NMT_DeviceType_U32
DWORD m_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32
DWORD m_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32
DWORD m_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32
DWORD m_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32
QWORD m_qwVendorSpecificExt1;
DWORD m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32
DWORD m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32
DWORD m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
DWORD m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device
DWORD m_dwIpAddress;
DWORD m_dwSubnetMask;
DWORD m_dwDefaultGateway;
BYTE m_sHostname[32];
BYTE m_abVendorSpecificExt2[48];
char *m_pszDevName; // NMT_ManufactDevName_VS (0x1008/0 local OD)
char *m_pszHwVersion; // NMT_ManufactHwVers_VS (0x1009/0 local OD)
char *m_pszSwVersion; // NMT_ManufactSwVers_VS (0x100A/0 local OD)
tEplApiCbEvent m_pfnCbEvent;
void *m_pEventUserArg;
tEplSyncCb m_pfnCbSync;
} tEplApiInitParam;
typedef struct {
void *m_pImage;
unsigned int m_uiSize;
} tEplApiProcessImage;
//---------------------------------------------------------------------------
// function prototypes
//---------------------------------------------------------------------------
tEplKernel PUBLIC EplApiInitialize(tEplApiInitParam * pInitParam_p);
tEplKernel PUBLIC EplApiShutdown(void);
tEplKernel PUBLIC EplApiReadObject(tEplSdoComConHdl * pSdoComConHdl_p,
unsigned int uiNodeId_p,
unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pDstData_le_p,
unsigned int *puiSize_p,
tEplSdoType SdoType_p, void *pUserArg_p);
tEplKernel PUBLIC EplApiWriteObject(tEplSdoComConHdl * pSdoComConHdl_p,
unsigned int uiNodeId_p,
unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pSrcData_le_p,
unsigned int uiSize_p,
tEplSdoType SdoType_p, void *pUserArg_p);
tEplKernel PUBLIC EplApiFreeSdoChannel(tEplSdoComConHdl SdoComConHdl_p);
tEplKernel PUBLIC EplApiReadLocalObject(unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pDstData_p,
unsigned int *puiSize_p);
tEplKernel PUBLIC EplApiWriteLocalObject(unsigned int uiIndex_p,
unsigned int uiSubindex_p,
void *pSrcData_p,
unsigned int uiSize_p);
tEplKernel PUBLIC EplApiCbObdAccess(tEplObdCbParam MEM * pParam_p);
tEplKernel PUBLIC EplApiLinkObject(unsigned int uiObjIndex_p,
void *pVar_p,
unsigned int *puiVarEntries_p,
tEplObdSize * pEntrySize_p,
unsigned int uiFirstSubindex_p);
tEplKernel PUBLIC EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p);
tEplKernel PUBLIC EplApiProcess(void);
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
tEplKernel PUBLIC EplApiMnTriggerStateChange(unsigned int uiNodeId_p,
tEplNmtNodeCommand NodeCommand_p);
#endif
tEplKernel PUBLIC EplApiGetIdentResponse(unsigned int uiNodeId_p,
tEplIdentResponse **
ppIdentResponse_p);
// functions for process image will be implemented in separate file
tEplKernel PUBLIC EplApiProcessImageSetup(void);
tEplKernel PUBLIC EplApiProcessImageExchangeIn(tEplApiProcessImage * pPI_p);
tEplKernel PUBLIC EplApiProcessImageExchangeOut(tEplApiProcessImage * pPI_p);
#endif // #ifndef _EPL_API_H_
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