aboutsummaryrefslogtreecommitdiff
path: root/drivers/staging/epl/EplSdoAsndu.c
blob: aa8bdef317cf36cd15a8dc9cdec8790e819c29eb (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
/****************************************************************************

  (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
      www.systec-electronic.com

  Project:      openPOWERLINK

  Description:  source file for SDO/Asnd-Protocolabstractionlayer 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: EplSdoAsndu.c,v $

                $Author: D.Krueger $

                $Revision: 1.7 $  $Date: 2008/10/17 15:32:32 $

                $State: Exp $

                Build Environment:
                    GCC V3.4

  -------------------------------------------------------------------------

  Revision History:

  2006/07/07 k.t.:   start of the implementation

****************************************************************************/

#include "user/EplSdoAsndu.h"
#include "user/EplDlluCal.h"

#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)

/***************************************************************************/
/*                                                                         */
/*                                                                         */
/*          G L O B A L   D E F I N I T I O N S                            */
/*                                                                         */
/*                                                                         */
/***************************************************************************/

//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------

#ifndef EPL_SDO_MAX_CONNECTION_ASND
#define EPL_SDO_MAX_CONNECTION_ASND 5
#endif

//---------------------------------------------------------------------------
// local types
//---------------------------------------------------------------------------

// instance table
typedef struct {
	unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
	tEplSequLayerReceiveCb m_fpSdoAsySeqCb;

} tEplSdoAsndInstance;

//---------------------------------------------------------------------------
// modul globale vars
//---------------------------------------------------------------------------

static tEplSdoAsndInstance SdoAsndInstance_g;

//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------

tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p);

/***************************************************************************/
/*                                                                         */
/*                                                                         */
/*          C L A S S  <EPL SDO-Asnd Protocolabstraction layer>            */
/*                                                                         */
/*                                                                         */
/***************************************************************************/
//
// Description: EPL SDO-Asnd Protocolabstraction layer
//
//
/***************************************************************************/

//=========================================================================//
//                                                                         //
//          P U B L I C   F U N C T I O N S                                //
//                                                                         //
//=========================================================================//

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduInit
//
// Description: init first instance of the module
//
//
//
// Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
//                                  callback-function
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
{
	tEplKernel Ret;

	Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);

	return Ret;
}

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduAddInstance
//
// Description: init additional instance of the module
//
//
//
// Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
//                                  callback-function
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
{
	tEplKernel Ret;

	Ret = kEplSuccessful;

	// init control structure
	EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));

	// save pointer to callback-function
	if (fpReceiveCb_p != NULL) {
		SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
	} else {
		Ret = kEplSdoUdpMissCb;
	}

#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
	Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
				       EplSdoAsnduCb, kEplDllAsndFilterLocal);
#endif

	return Ret;
}

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduDelInstance
//
// Description: del instance of the module
//              del socket and del Listen-Thread
//
//
//
// Parameters:
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduDelInstance(void)
{
	tEplKernel Ret;

	Ret = kEplSuccessful;

#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
	// deregister callback function from DLL
	Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
				       NULL, kEplDllAsndFilterNone);
#endif

	return Ret;
}

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduInitCon
//
// Description: init a new connect
//
//
//
// Parameters:  pSdoConHandle_p = pointer for the new connection handle
//              uiTargetNodeId_p = NodeId of the target node
//
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduInitCon(tEplSdoConHdl *pSdoConHandle_p,
			      unsigned int uiTargetNodeId_p)
{
	tEplKernel Ret;
	unsigned int uiCount;
	unsigned int uiFreeCon;
	unsigned int *puiConnection;

	Ret = kEplSuccessful;

	if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
	    || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
		Ret = kEplSdoAsndInvalidNodeId;
		goto Exit;
	}
	// get free entry in control structure
	uiCount = 0;
	uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
	puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
	while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
		if (*puiConnection == uiTargetNodeId_p) {	// existing connection to target node found
			// save handle for higher layer
			*pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE);

			goto Exit;
		} else if (*puiConnection == 0) {	// free entry-> save target nodeId
			uiFreeCon = uiCount;
		}
		uiCount++;
		puiConnection++;
	}

	if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) {
		// no free connection
		Ret = kEplSdoAsndNoFreeHandle;
	} else {
		puiConnection =
		    &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
		*puiConnection = uiTargetNodeId_p;
		// save handle for higher layer
		*pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE);

		goto Exit;
	}

      Exit:
	return Ret;
}

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduSendData
//
// Description: send data using exisiting connection
//
//
//
// Parameters:  SdoConHandle_p  = connection handle
//              pSrcData_p      = pointer to data
//              dwDataSize_p    = number of databyte
//                                  -> without asnd-header!!!
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
			       tEplFrame *pSrcData_p,
			       u32 dwDataSize_p)
{
	tEplKernel Ret;
	unsigned int uiArray;
	tEplFrameInfo FrameInfo;

	Ret = kEplSuccessful;

	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);

	if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
		Ret = kEplSdoAsndInvalidHandle;
		goto Exit;
	}
	// fillout Asnd header
	// own node id not needed -> filled by DLL

	// set message type
	AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (u8) kEplMsgTypeAsnd);	// ASnd == 0x06
	// target node id
	AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId,
		       (u8) SdoAsndInstance_g.
		       m_auiSdoAsndConnection[uiArray]);
	// set source-nodeid (filled by DLL 0)
	AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);

	// calc size
	dwDataSize_p += EPL_ASND_HEADER_SIZE;

	// send function of DLL
	FrameInfo.m_uiFrameSize = dwDataSize_p;
	FrameInfo.m_pFrame = pSrcData_p;
	EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime));
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
	Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
#endif

      Exit:
	return Ret;

}

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduDelCon
//
// Description: delete connection from intern structure
//
//
//
// Parameters:  SdoConHandle_p  = connection handle
//
// Returns:     tEplKernel  = Errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
{
	tEplKernel Ret;
	unsigned int uiArray;

	Ret = kEplSuccessful;

	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
	// check parameter
	if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
		Ret = kEplSdoAsndInvalidHandle;
		goto Exit;
	}
	// set target nodeId to 0
	SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;

      Exit:
	return Ret;
}

//=========================================================================//
//                                                                         //
//          P R I V A T E   F U N C T I O N S                              //
//                                                                         //
//=========================================================================//

//---------------------------------------------------------------------------
//
// Function:    EplSdoAsnduCb
//
// Description: callback function for SDO ASnd frames
//
//
//
// Parameters:      pFrameInfo_p = Frame with SDO payload
//
//
// Returns:         tEplKernel = errorcode
//
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p)
{
	tEplKernel Ret = kEplSuccessful;
	unsigned int uiCount;
	unsigned int *puiConnection;
	unsigned int uiNodeId;
	unsigned int uiFreeEntry = 0xFFFF;
	tEplSdoConHdl SdoConHdl;
	tEplFrame *pFrame;

	pFrame = pFrameInfo_p->m_pFrame;

	uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);

	// search corresponding entry in control structure
	uiCount = 0;
	puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
	while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
		if (uiNodeId == *puiConnection) {
			break;
		} else if ((*puiConnection == 0)
			   && (uiFreeEntry == 0xFFFF)) {	// free entry
			uiFreeEntry = uiCount;
		}
		uiCount++;
		puiConnection++;
	}

	if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) {
		if (uiFreeEntry != 0xFFFF) {
			puiConnection =
			    &SdoAsndInstance_g.
			    m_auiSdoAsndConnection[uiFreeEntry];
			*puiConnection = uiNodeId;
			uiCount = uiFreeEntry;
		} else {
			EPL_DBGLVL_SDO_TRACE0
			    ("EplSdoAsnduCb(): no free handle\n");
			goto Exit;
		}
	}
//    if (uiNodeId == *puiConnection)
	{			// entry found or created
		SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE);

		SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl,
						  &pFrame->m_Data.m_Asnd.
						  m_Payload.m_SdoSequenceFrame,
						  (pFrameInfo_p->m_uiFrameSize -
						   18));
	}

      Exit:
	return Ret;

}

#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
// EOF