git.oblomov.eu Git - linux-2.6/blob - drivers/staging/epl/EplSdoAsndu.c

   1 /****************************************************************************
   2
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   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for SDO/Asnd-Protocolabstractionlayer module
   9
  10   License:
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  20        notice, this list of conditions and the following disclaimer in the
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  38     ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  39     POSSIBILITY OF SUCH DAMAGE.
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  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: EplSdoAsndu.c,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.7 $  $Date: 2008/10/17 15:32:32 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/07/07 k.t.:   start of the implementation
  68
  69 ****************************************************************************/
  70
  71 #include "user/EplSdoAsndu.h"
  72 #include "user/EplDlluCal.h"
  73
  74 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
  75
  76 /***************************************************************************/
  77 /*                                                                         */
  78 /*                                                                         */
  79 /*          G L O B A L   D E F I N I T I O N S                            */
  80 /*                                                                         */
  81 /*                                                                         */
  82 /***************************************************************************/
  83
  84 //---------------------------------------------------------------------------
  85 // const defines
  86 //---------------------------------------------------------------------------
  87
  88 #ifndef EPL_SDO_MAX_CONNECTION_ASND
  89 #define EPL_SDO_MAX_CONNECTION_ASND 5
  90 #endif
  91
  92 //---------------------------------------------------------------------------
  93 // local types
  94 //---------------------------------------------------------------------------
  95
  96 // instance table
  97 typedef struct {
  98         unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
  99         tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
 100
 101 } tEplSdoAsndInstance;
 102
 103 //---------------------------------------------------------------------------
 104 // modul globale vars
 105 //---------------------------------------------------------------------------
 106
 107 static tEplSdoAsndInstance SdoAsndInstance_g;
 108
 109 //---------------------------------------------------------------------------
 110 // local function prototypes
 111 //---------------------------------------------------------------------------
 112
 113 tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p);
 114
 115 /***************************************************************************/
 116 /*                                                                         */
 117 /*                                                                         */
 118 /*          C L A S S  <EPL SDO-Asnd Protocolabstraction layer>            */
 119 /*                                                                         */
 120 /*                                                                         */
 121 /***************************************************************************/
 122 //
 123 // Description: EPL SDO-Asnd Protocolabstraction layer
 124 //
 125 //
 126 /***************************************************************************/
 127
 128 //=========================================================================//
 129 //                                                                         //
 130 //          P U B L I C   F U N C T I O N S                                //
 131 //                                                                         //
 132 //=========================================================================//
 133
 134 //---------------------------------------------------------------------------
 135 //
 136 // Function:    EplSdoAsnduInit
 137 //
 138 // Description: init first instance of the module
 139 //
 140 //
 141 //
 142 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 143 //                                  callback-function
 144 //
 145 //
 146 // Returns:     tEplKernel  = Errorcode
 147 //
 148 //
 149 // State:
 150 //
 151 //---------------------------------------------------------------------------
 152 tEplKernel PUBLIC EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 153 {
 154         tEplKernel Ret;
 155
 156         Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);
 157
 158         return Ret;
 159 }
 160
 161 //---------------------------------------------------------------------------
 162 //
 163 // Function:    EplSdoAsnduAddInstance
 164 //
 165 // Description: init additional instance of the module
 166 //
 167 //
 168 //
 169 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 170 //                                  callback-function
 171 //
 172 //
 173 // Returns:     tEplKernel  = Errorcode
 174 //
 175 //
 176 // State:
 177 //
 178 //---------------------------------------------------------------------------
 179 tEplKernel PUBLIC EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 180 {
 181         tEplKernel Ret;
 182
 183         Ret = kEplSuccessful;
 184
 185         // init control structure
 186         EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));
 187
 188         // save pointer to callback-function
 189         if (fpReceiveCb_p != NULL) {
 190                 SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 191         } else {
 192                 Ret = kEplSdoUdpMissCb;
 193         }
 194
 195 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 196         Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
 197                                        EplSdoAsnduCb, kEplDllAsndFilterLocal);
 198 #endif
 199
 200         return Ret;
 201 }
 202
 203 //---------------------------------------------------------------------------
 204 //
 205 // Function:    EplSdoAsnduDelInstance
 206 //
 207 // Description: del instance of the module
 208 //              del socket and del Listen-Thread
 209 //
 210 //
 211 //
 212 // Parameters:
 213 //
 214 //
 215 // Returns:     tEplKernel  = Errorcode
 216 //
 217 //
 218 // State:
 219 //
 220 //---------------------------------------------------------------------------
 221 tEplKernel PUBLIC EplSdoAsnduDelInstance()
 222 {
 223         tEplKernel Ret;
 224
 225         Ret = kEplSuccessful;
 226
 227 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 228         // deregister callback function from DLL
 229         Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
 230                                        NULL, kEplDllAsndFilterNone);
 231 #endif
 232
 233         return Ret;
 234 }
 235
 236 //---------------------------------------------------------------------------
 237 //
 238 // Function:    EplSdoAsnduInitCon
 239 //
 240 // Description: init a new connect
 241 //
 242 //
 243 //
 244 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 245 //              uiTargetNodeId_p = NodeId of the target node
 246 //
 247 //
 248 // Returns:     tEplKernel  = Errorcode
 249 //
 250 //
 251 // State:
 252 //
 253 //---------------------------------------------------------------------------
 254 tEplKernel PUBLIC EplSdoAsnduInitCon(tEplSdoConHdl * pSdoConHandle_p,
 255                                      unsigned int uiTargetNodeId_p)
 256 {
 257         tEplKernel Ret;
 258         unsigned int uiCount;
 259         unsigned int uiFreeCon;
 260         unsigned int *puiConnection;
 261
 262         Ret = kEplSuccessful;
 263
 264         if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
 265             || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
 266                 Ret = kEplSdoAsndInvalidNodeId;
 267                 goto Exit;
 268         }
 269         // get free entry in control structure
 270         uiCount = 0;
 271         uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
 272         puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
 273         while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
 274                 if (*puiConnection == uiTargetNodeId_p) {       // existing connection to target node found
 275                         // save handle for higher layer
 276                         *pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE);
 277
 278                         goto Exit;
 279                 } else if (*puiConnection == 0) {       // free entry-> save target nodeId
 280                         uiFreeCon = uiCount;
 281                 }
 282                 uiCount++;
 283                 puiConnection++;
 284         }
 285
 286         if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) {
 287                 // no free connection
 288                 Ret = kEplSdoAsndNoFreeHandle;
 289         } else {
 290                 puiConnection =
 291                     &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
 292                 *puiConnection = uiTargetNodeId_p;
 293                 // save handle for higher layer
 294                 *pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE);
 295
 296                 goto Exit;
 297         }
 298
 299       Exit:
 300         return Ret;
 301 }
 302
 303 //---------------------------------------------------------------------------
 304 //
 305 // Function:    EplSdoAsnduSendData
 306 //
 307 // Description: send data using exisiting connection
 308 //
 309 //
 310 //
 311 // Parameters:  SdoConHandle_p  = connection handle
 312 //              pSrcData_p      = pointer to data
 313 //              dwDataSize_p    = number of databyte
 314 //                                  -> without asnd-header!!!
 315 //
 316 // Returns:     tEplKernel  = Errorcode
 317 //
 318 //
 319 // State:
 320 //
 321 //---------------------------------------------------------------------------
 322 tEplKernel PUBLIC EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
 323                                       tEplFrame * pSrcData_p,
 324                                       DWORD dwDataSize_p)
 325 {
 326         tEplKernel Ret;
 327         unsigned int uiArray;
 328         tEplFrameInfo FrameInfo;
 329
 330         Ret = kEplSuccessful;
 331
 332         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 333
 334         if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
 335                 Ret = kEplSdoAsndInvalidHandle;
 336                 goto Exit;
 337         }
 338         // fillout Asnd header
 339         // own node id not needed -> filled by DLL
 340
 341         // set message type
 342         AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (BYTE) kEplMsgTypeAsnd); // ASnd == 0x06
 343         // target node id
 344         AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId,
 345                        (BYTE) SdoAsndInstance_g.
 346                        m_auiSdoAsndConnection[uiArray]);
 347         // set source-nodeid (filled by DLL 0)
 348         AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
 349
 350         // calc size
 351         dwDataSize_p += EPL_ASND_HEADER_SIZE;
 352
 353         // send function of DLL
 354         FrameInfo.m_uiFrameSize = dwDataSize_p;
 355         FrameInfo.m_pFrame = pSrcData_p;
 356         EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime));
 357 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 358         Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
 359 #endif
 360
 361       Exit:
 362         return Ret;
 363
 364 }
 365
 366 //---------------------------------------------------------------------------
 367 //
 368 // Function:    EplSdoAsnduDelCon
 369 //
 370 // Description: delete connection from intern structure
 371 //
 372 //
 373 //
 374 // Parameters:  SdoConHandle_p  = connection handle
 375 //
 376 // Returns:     tEplKernel  = Errorcode
 377 //
 378 //
 379 // State:
 380 //
 381 //---------------------------------------------------------------------------
 382 tEplKernel PUBLIC EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
 383 {
 384         tEplKernel Ret;
 385         unsigned int uiArray;
 386
 387         Ret = kEplSuccessful;
 388
 389         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 390         // check parameter
 391         if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
 392                 Ret = kEplSdoAsndInvalidHandle;
 393                 goto Exit;
 394         }
 395         // set target nodeId to 0
 396         SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;
 397
 398       Exit:
 399         return Ret;
 400 }
 401
 402 //=========================================================================//
 403 //                                                                         //
 404 //          P R I V A T E   F U N C T I O N S                              //
 405 //                                                                         //
 406 //=========================================================================//
 407
 408 //---------------------------------------------------------------------------
 409 //
 410 // Function:    EplSdoAsnduCb
 411 //
 412 // Description: callback function for SDO ASnd frames
 413 //
 414 //
 415 //
 416 // Parameters:      pFrameInfo_p = Frame with SDO payload
 417 //
 418 //
 419 // Returns:         tEplKernel = errorcode
 420 //
 421 //
 422 // State:
 423 //
 424 //---------------------------------------------------------------------------
 425 tEplKernel PUBLIC EplSdoAsnduCb(tEplFrameInfo * pFrameInfo_p)
 426 {
 427         tEplKernel Ret = kEplSuccessful;
 428         unsigned int uiCount;
 429         unsigned int *puiConnection;
 430         unsigned int uiNodeId;
 431         unsigned int uiFreeEntry = 0xFFFF;
 432         tEplSdoConHdl SdoConHdl;
 433         tEplFrame *pFrame;
 434
 435         pFrame = pFrameInfo_p->m_pFrame;
 436
 437         uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);
 438
 439         // search corresponding entry in control structure
 440         uiCount = 0;
 441         puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
 442         while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
 443                 if (uiNodeId == *puiConnection) {
 444                         break;
 445                 } else if ((*puiConnection == 0)
 446                            && (uiFreeEntry == 0xFFFF)) {        // free entry
 447                         uiFreeEntry = uiCount;
 448                 }
 449                 uiCount++;
 450                 puiConnection++;
 451         }
 452
 453         if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) {
 454                 if (uiFreeEntry != 0xFFFF) {
 455                         puiConnection =
 456                             &SdoAsndInstance_g.
 457                             m_auiSdoAsndConnection[uiFreeEntry];
 458                         *puiConnection = uiNodeId;
 459                         uiCount = uiFreeEntry;
 460                 } else {
 461                         EPL_DBGLVL_SDO_TRACE0
 462                             ("EplSdoAsnduCb(): no free handle\n");
 463                         goto Exit;
 464                 }
 465         }
 466 //    if (uiNodeId == *puiConnection)
 467         {                       // entry found or created
 468                 SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE);
 469
 470                 SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl,
 471                                                   &pFrame->m_Data.m_Asnd.
 472                                                   m_Payload.m_SdoSequenceFrame,
 473                                                   (pFrameInfo_p->m_uiFrameSize -
 474                                                    18));
 475         }
 476
 477       Exit:
 478         return Ret;
 479
 480 }
 481
 482 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
 483 // EOF