diff options
Diffstat (limited to 'drivers/staging/epl/EplPdok.c')
| -rw-r--r-- | drivers/staging/epl/EplPdok.c | 669 |
1 files changed, 0 insertions, 669 deletions
diff --git a/drivers/staging/epl/EplPdok.c b/drivers/staging/epl/EplPdok.c deleted file mode 100644 index db9b3f083841..000000000000 --- a/drivers/staging/epl/EplPdok.c +++ /dev/null @@ -1,669 +0,0 @@ -/**************************************************************************** - - (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 - www.systec-electronic.com - - Project: openPOWERLINK - - Description: source file for kernel PDO 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: EplPdok.c,v $ - - $Author: D.Krueger $ - - $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $ - - $State: Exp $ - - Build Environment: - GCC V3.4 - - ------------------------------------------------------------------------- - - Revision History: - - 2006/05/22 d.k.: start of the implementation, version 1.00 - -****************************************************************************/ - -#include "kernel/EplPdok.h" -#include "kernel/EplPdokCal.h" -#include "kernel/EplEventk.h" -#include "kernel/EplObdk.h" - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) == 0) - -#error 'ERROR: Missing DLLk-Modul!' - -#endif - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0) - -#error 'ERROR: Missing OBDk-Modul!' - -#endif -/***************************************************************************/ -/* */ -/* */ -/* G L O B A L D E F I N I T I O N S */ -/* */ -/* */ -/***************************************************************************/ - -//--------------------------------------------------------------------------- -// const defines -//--------------------------------------------------------------------------- - -#define EPL_PDOK_OBD_IDX_RX_COMM_PARAM 0x1400 -#define EPL_PDOK_OBD_IDX_RX_MAPP_PARAM 0x1600 -#define EPL_PDOK_OBD_IDX_TX_COMM_PARAM 0x1800 -#define EPL_PDOK_OBD_IDX_TX_MAPP_PARAM 0x1A00 - -//--------------------------------------------------------------------------- -// local types -//--------------------------------------------------------------------------- - -//--------------------------------------------------------------------------- -// modul globale vars -//--------------------------------------------------------------------------- - -//--------------------------------------------------------------------------- -// local function prototypes -//--------------------------------------------------------------------------- - -/***************************************************************************/ -/* */ -/* */ -/* C L A S S EplPdok */ -/* */ -/* */ -/***************************************************************************/ -// -// Description: -// -// -/***************************************************************************/ - -//=========================================================================// -// // -// P R I V A T E D E F I N I T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// const defines -//--------------------------------------------------------------------------- - -//--------------------------------------------------------------------------- -// local types -//--------------------------------------------------------------------------- - -//--------------------------------------------------------------------------- -// local vars -//--------------------------------------------------------------------------- - -//--------------------------------------------------------------------------- -// local function prototypes -//--------------------------------------------------------------------------- - -//=========================================================================// -// // -// P U B L I C F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: EplPdokAddInstance() -// -// Description: add and initialize new instance of EPL stack -// -// Parameters: none -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplPdokAddInstance(void) -{ - - return kEplSuccessful; -} - -//--------------------------------------------------------------------------- -// -// Function: EplPdokDelInstance() -// -// Description: deletes an instance of EPL stack -// -// Parameters: none -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplPdokDelInstance(void) -{ - - return kEplSuccessful; -} - -//--------------------------------------------------------------------------- -// -// Function: EplPdokCbPdoReceived -// -// Description: This function is called by DLL if PRes or PReq frame was -// received. It posts the frame to the event queue. -// It is called in states NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL. -// The passed PDO needs not to be valid. -// -// Parameters: pFrameInfo_p = pointer to frame info structure -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplPdokCbPdoReceived(tEplFrameInfo * pFrameInfo_p) -{ - tEplKernel Ret = kEplSuccessful; - tEplEvent Event; - - Event.m_EventSink = kEplEventSinkPdok; - Event.m_EventType = kEplEventTypePdoRx; - // limit copied data to size of PDO (because from some CNs the frame is larger than necessary) - Event.m_uiSize = AmiGetWordFromLe(&pFrameInfo_p->m_pFrame->m_Data.m_Pres.m_le_wSize) + 24; // pFrameInfo_p->m_uiFrameSize; - Event.m_pArg = pFrameInfo_p->m_pFrame; - Ret = EplEventkPost(&Event); - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplPdokCbPdoTransmitted -// -// Description: This function is called by DLL if PRes or PReq frame was -// sent. It posts the pointer to the frame to the event queue. -// It is called in NMT_CS_PRE_OPERATIONAL_2, -// NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL. -// -// Parameters: pFrameInfo_p = pointer to frame info structure -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplPdokCbPdoTransmitted(tEplFrameInfo * pFrameInfo_p) -{ - tEplKernel Ret = kEplSuccessful; - tEplEvent Event; - - Event.m_EventSink = kEplEventSinkPdok; - Event.m_EventType = kEplEventTypePdoTx; - Event.m_uiSize = sizeof(tEplFrameInfo); - Event.m_pArg = pFrameInfo_p; - Ret = EplEventkPost(&Event); - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplPdokCbSoa -// -// Description: This function is called by DLL if SoA frame was -// received resp. sent. It posts this event to the event queue. -// -// Parameters: pFrameInfo_p = pointer to frame info structure -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplPdokCbSoa(tEplFrameInfo * pFrameInfo_p) -{ - tEplKernel Ret = kEplSuccessful; - tEplEvent Event; - - Event.m_EventSink = kEplEventSinkPdok; - Event.m_EventType = kEplEventTypePdoSoa; - Event.m_uiSize = 0; - Event.m_pArg = NULL; - Ret = EplEventkPost(&Event); - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplPdokProcess -// -// Description: This function processes all received and transmitted PDOs. -// This function must not be interrupted by any other task -// except ISRs (like the ethernet driver ISR, which may call -// EplPdokCbFrameReceived() or EplPdokCbFrameTransmitted()). -// -// Parameters: pEvent_p = pointer to event structure -// -// Returns: tEplKernel = error code -// -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel EplPdokProcess(tEplEvent * pEvent_p) -{ - tEplKernel Ret = kEplSuccessful; - u16 wPdoSize; - u16 wBitOffset; - u16 wBitSize; - u16 wVarSize; - u64 qwObjectMapping; - u8 bMappSubindex; - u8 bObdSubindex; - u16 wObdMappIndex; - u16 wObdCommIndex; - u16 wPdoId; - u8 bObdData; - u8 bObjectCount; - u8 bFrameData; - BOOL fValid; - tEplObdSize ObdSize; - tEplFrame *pFrame; - tEplFrameInfo *pFrameInfo; - unsigned int uiNodeId; - tEplMsgType MsgType; - - // 0xFF=invalid, RPDO: 0x00=PReq, localNodeId=PRes, remoteNodeId=PRes - // TPDO: 0x00=PRes, MN: CnNodeId=PReq - - switch (pEvent_p->m_EventType) { - case kEplEventTypePdoRx: // RPDO received - pFrame = (tEplFrame *) pEvent_p->m_pArg; - - // check if received RPDO is valid - bFrameData = - AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1); - if ((bFrameData & EPL_FRAME_FLAG1_RD) == 0) { // RPDO invalid - goto Exit; - } - // retrieve EPL message type - MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType); - if (MsgType == kEplMsgTypePreq) { // RPDO is PReq frame - uiNodeId = EPL_PDO_PREQ_NODE_ID; // 0x00 - } else { // RPDO is PRes frame - // retrieve node ID - uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId); - } - - // search for appropriate valid RPDO in OD - wObdMappIndex = EPL_PDOK_OBD_IDX_RX_MAPP_PARAM; - for (wObdCommIndex = EPL_PDOK_OBD_IDX_RX_COMM_PARAM; - wObdCommIndex < (EPL_PDOK_OBD_IDX_RX_COMM_PARAM + 0x00FF); - wObdCommIndex++, wObdMappIndex++) { - ObdSize = 1; - // read node ID from OD - Ret = - EplObdReadEntry(wObdCommIndex, 0x01, &bObdData, - &ObdSize); - if ((Ret == kEplObdIndexNotExist) - || (Ret == kEplObdSubindexNotExist) - || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached - Ret = kEplSuccessful; - goto Exit; - } else if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // entry read successfully - if (bObdData != uiNodeId) { // node ID does not equal - wrong PDO, try next PDO in OD - continue; - } - ObdSize = 1; - // read number of mapped objects from OD; this indicates if the PDO is valid - Ret = - EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount, - &ObdSize); - if ((Ret == kEplObdIndexNotExist) - || (Ret == kEplObdSubindexNotExist) - || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached - Ret = kEplSuccessful; - goto Exit; - } else if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // entry read successfully - if (bObjectCount == 0) { // PDO in OD not valid, try next PDO in OD - continue; - } - - ObdSize = 1; - // check PDO mapping version - Ret = - EplObdReadEntry(wObdCommIndex, 0x02, &bObdData, - &ObdSize); - if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // entry read successfully - // retrieve PDO version from frame - bFrameData = - AmiGetByteFromLe(&pFrame->m_Data.m_Pres. - m_le_bPdoVersion); - if ((bObdData & EPL_VERSION_MAIN) != (bFrameData & EPL_VERSION_MAIN)) { // PDO versions do not match - // $$$ raise PDO error - // termiate processing of this RPDO - goto Exit; - } - // valid RPDO found - - // retrieve PDO size - wPdoSize = - AmiGetWordFromLe(&pFrame->m_Data.m_Pres.m_le_wSize); - - // process mapping - for (bMappSubindex = 1; bMappSubindex <= bObjectCount; - bMappSubindex++) { - ObdSize = 8; // u64 - // read object mapping from OD - Ret = - EplObdReadEntry(wObdMappIndex, - bMappSubindex, - &qwObjectMapping, &ObdSize); - if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed - if (qwObjectMapping == 0) { // invalid entry, continue with next entry - continue; - } - // decode object mapping - wObdCommIndex = - (u16) (qwObjectMapping & - 0x000000000000FFFFLL); - bObdSubindex = - (u8) ((qwObjectMapping & - 0x0000000000FF0000LL) >> 16); - wBitOffset = - (u16) ((qwObjectMapping & - 0x0000FFFF00000000LL) >> 32); - wBitSize = - (u16) ((qwObjectMapping & - 0xFFFF000000000000LL) >> 48); - - // check if object exceeds PDO size - if (((wBitOffset + wBitSize) >> 3) > wPdoSize) { // wrong object mapping; PDO size is too low - // $$$ raise PDO error - // terminate processing of this RPDO - goto Exit; - } - // copy object from RPDO to process/OD variable - ObdSize = wBitSize >> 3; - Ret = - EplObdWriteEntryFromLe(wObdCommIndex, - bObdSubindex, - &pFrame->m_Data. - m_Pres. - m_le_abPayload[(wBitOffset >> 3)], ObdSize); - if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - - } - - // processing finished successfully - goto Exit; - } - break; - - case kEplEventTypePdoTx: // TPDO transmitted - pFrameInfo = (tEplFrameInfo *) pEvent_p->m_pArg; - pFrame = pFrameInfo->m_pFrame; - - // set TPDO invalid, so that only fully processed TPDOs are sent as valid - bFrameData = - AmiGetByteFromLe(&pFrame->m_Data.m_Pres.m_le_bFlag1); - AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bFlag1, - (bFrameData & ~EPL_FRAME_FLAG1_RD)); - - // retrieve EPL message type - MsgType = AmiGetByteFromLe(&pFrame->m_le_bMessageType); - if (MsgType == kEplMsgTypePres) { // TPDO is PRes frame - uiNodeId = EPL_PDO_PRES_NODE_ID; // 0x00 - } else { // TPDO is PReq frame - // retrieve node ID - uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId); - } - - // search for appropriate valid TPDO in OD - wObdMappIndex = EPL_PDOK_OBD_IDX_TX_MAPP_PARAM; - wObdCommIndex = EPL_PDOK_OBD_IDX_TX_COMM_PARAM; - for (wPdoId = 0;; wPdoId++, wObdCommIndex++, wObdMappIndex++) { - ObdSize = 1; - // read node ID from OD - Ret = - EplObdReadEntry(wObdCommIndex, 0x01, &bObdData, - &ObdSize); - if ((Ret == kEplObdIndexNotExist) - || (Ret == kEplObdSubindexNotExist) - || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached - Ret = kEplSuccessful; - goto Exit; - } else if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // entry read successfully - if (bObdData != uiNodeId) { // node ID does not equal - wrong PDO, try next PDO in OD - continue; - } - ObdSize = 1; - // read number of mapped objects from OD; this indicates if the PDO is valid - Ret = - EplObdReadEntry(wObdMappIndex, 0x00, &bObjectCount, - &ObdSize); - if ((Ret == kEplObdIndexNotExist) - || (Ret == kEplObdSubindexNotExist) - || (Ret == kEplObdIllegalPart)) { // PDO does not exist; last PDO reached - Ret = kEplSuccessful; - goto Exit; - } else if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // entry read successfully - if (bObjectCount == 0) { // PDO in OD not valid, try next PDO in OD - continue; - } - // valid TPDO found - - ObdSize = 1; - // get PDO mapping version from OD - Ret = - EplObdReadEntry(wObdCommIndex, 0x02, &bObdData, - &ObdSize); - if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // entry read successfully - // set PDO version in frame - AmiSetByteToLe(&pFrame->m_Data.m_Pres.m_le_bPdoVersion, - bObdData); - - // calculate PDO size - wPdoSize = 0; - - // process mapping - for (bMappSubindex = 1; bMappSubindex <= bObjectCount; - bMappSubindex++) { - ObdSize = 8; // u64 - // read object mapping from OD - Ret = - EplObdReadEntry(wObdMappIndex, - bMappSubindex, - &qwObjectMapping, &ObdSize); - if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - // check if object mapping entry is valid, i.e. unequal zero, because "empty" entries are allowed - if (qwObjectMapping == 0) { // invalid entry, continue with next entry - continue; - } - // decode object mapping - wObdCommIndex = - (u16) (qwObjectMapping & - 0x000000000000FFFFLL); - bObdSubindex = - (u8) ((qwObjectMapping & - 0x0000000000FF0000LL) >> 16); - wBitOffset = - (u16) ((qwObjectMapping & - 0x0000FFFF00000000LL) >> 32); - wBitSize = - (u16) ((qwObjectMapping & - 0xFFFF000000000000LL) >> 48); - - // calculate max PDO size - ObdSize = wBitSize >> 3; - wVarSize = (wBitOffset >> 3) + (u16) ObdSize; - if ((unsigned int)(wVarSize + 24) > pFrameInfo->m_uiFrameSize) { // TPDO is too short - // $$$ raise PDO error, set Ret - goto Exit; - } - if (wVarSize > wPdoSize) { // memorize new PDO size - wPdoSize = wVarSize; - } - // copy object from process/OD variable to TPDO - Ret = - EplObdReadEntryToLe(wObdCommIndex, - bObdSubindex, - &pFrame->m_Data.m_Pres. - m_le_abPayload[(wBitOffset >> 3)], &ObdSize); - if (Ret != kEplSuccessful) { // other fatal error occured - goto Exit; - } - - } - - // set PDO size in frame - AmiSetWordToLe(&pFrame->m_Data.m_Pres.m_le_wSize, - wPdoSize); - - Ret = EplPdokCalAreTpdosValid(&fValid); - if (fValid != FALSE) { - // set TPDO valid - bFrameData = - AmiGetByteFromLe(&pFrame->m_Data.m_Pres. - m_le_bFlag1); - AmiSetByteToLe(&pFrame->m_Data.m_Pres. - m_le_bFlag1, - (bFrameData | - EPL_FRAME_FLAG1_RD)); - } - // processing finished successfully - - goto Exit; - } - break; - - case kEplEventTypePdoSoa: // SoA received - - // invalidate TPDOs - Ret = EplPdokCalSetTpdosValid(FALSE); - break; - - default: - { - ASSERTMSG(FALSE, - "EplPdokProcess(): unhandled event type!\n"); - } - } - - Exit: - return Ret; -} - -//=========================================================================// -// // -// P R I V A T E F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: -// -// Description: -// -// -// -// Parameters: -// -// -// Returns: -// -// -// State: -// -//--------------------------------------------------------------------------- - -#endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0) - -// EOF |