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Diffstat (limited to 'drivers/staging/epl/demo_main.c')
| -rw-r--r-- | drivers/staging/epl/demo_main.c | 947 |
1 files changed, 0 insertions, 947 deletions
diff --git a/drivers/staging/epl/demo_main.c b/drivers/staging/epl/demo_main.c deleted file mode 100644 index 7ad10fc2b1d0..000000000000 --- a/drivers/staging/epl/demo_main.c +++ /dev/null @@ -1,947 +0,0 @@ -/**************************************************************************** - - (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 - www.systec-electronic.com - - Project: openPOWERLINK - - Description: demoapplication for EPL MN (with SDO over UDP) - under Linux on X86 with RTL8139 Ethernet controller - - 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: demo_main.c,v $ - - $Author: D.Krueger $ - - $Revision: 1.10 $ $Date: 2008/11/19 18:11:43 $ - - $State: Exp $ - - Build Environment: - GCC - - ------------------------------------------------------------------------- - - Revision History: - - 2006/09/01 d.k.: start of implementation - -****************************************************************************/ - -#include <linux/module.h> -#include <linux/kernel.h> -#include <linux/init.h> -#include <linux/errno.h> -#include <linux/major.h> -#include <asm/io.h> -#include <asm/uaccess.h> -#include <asm/atomic.h> -#include <linux/sched.h> -#include <linux/kmod.h> -#include <linux/slab.h> -#include <linux/pci.h> -#include <linux/proc_fs.h> - -#include "Epl.h" -#include "proc_fs.h" - -/***************************************************************************/ -/* */ -/* */ -/* G L O B A L D E F I N I T I O N S */ -/* */ -/* */ -/***************************************************************************/ - -// Metainformation -MODULE_LICENSE("Dual BSD/GPL"); -#ifdef MODULE_AUTHOR -MODULE_AUTHOR("Daniel.Krueger@SYSTEC-electronic.com"); -MODULE_DESCRIPTION("EPL MN demo"); -#endif - -//--------------------------------------------------------------------------- -// const defines -//--------------------------------------------------------------------------- - -// TracePoint support for realtime-debugging -#ifdef _DBG_TRACE_POINTS_ -void TgtDbgSignalTracePoint(u8 bTracePointNumber_p); -#define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) -#else -#define TGT_DBG_SIGNAL_TRACE_POINT(p) -#endif - -#define NODEID 0xF0 //=> MN -#define CYCLE_LEN 5000 // [us] -#define IP_ADDR 0xc0a86401 // 192.168.100.1 -#define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0 -#define HOSTNAME "SYS TEC electronic EPL Stack " -#define IF_ETH EPL_VETH_NAME - -// LIGHT EFFECT -#define DEFAULT_MAX_CYCLE_COUNT 20 // 6 is very fast -#define APP_DEFAULT_MODE 0x01 -#define APP_LED_COUNT 5 // number of LEDs in one row -#define APP_LED_MASK ((1 << APP_LED_COUNT) - 1) -#define APP_DOUBLE_LED_MASK ((1 << (APP_LED_COUNT * 2)) - 1) -#define APP_MODE_COUNT 5 -#define APP_MODE_MASK ((1 << APP_MODE_COUNT) - 1) - -//--------------------------------------------------------------------------- -// local types -//--------------------------------------------------------------------------- - -//--------------------------------------------------------------------------- -// modul globale vars -//--------------------------------------------------------------------------- - -static const u8 abMacAddr[] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }; - -static u8 bVarIn1_l; -static u8 bVarOut1_l; -static u8 bVarOut1Old_l; -static u8 bModeSelect_l; // state of the pushbuttons to select the mode -static u8 bSpeedSelect_l; // state of the pushbuttons to increase/decrease the speed -static u8 bSpeedSelectOld_l; // old state of the pushbuttons -static u32 dwLeds_l; // current state of all LEDs -static u8 bLedsRow1_l; // current state of the LEDs in row 1 -static u8 bLedsRow2_l; // current state of the LEDs in row 2 -static u8 abSelect_l[3]; // pushbuttons from CNs - -static u32 dwMode_l; // current mode -static int iCurCycleCount_l; // current cycle count -static int iMaxCycleCount_l; // maximum cycle count (i.e. number of cycles until next light movement step) -static int iToggle; // indicates the light movement direction - -//static u8 abDomain_l[3000]; - -static wait_queue_head_t WaitQueueShutdown_g; // wait queue for tEplNmtEventSwitchOff -static atomic_t AtomicShutdown_g = ATOMIC_INIT(FALSE); - -static u32 dw_le_CycleLen_g; - -static uint uiNodeId_g = EPL_C_ADR_INVALID; -module_param_named(nodeid, uiNodeId_g, uint, 0); - -static uint uiCycleLen_g = CYCLE_LEN; -module_param_named(cyclelen, uiCycleLen_g, uint, 0); - -//--------------------------------------------------------------------------- -// local function prototypes -//--------------------------------------------------------------------------- - -// This function is the entry point for your object dictionary. It is defined -// in OBJDICT.C by define EPL_OBD_INIT_RAM_NAME. Use this function name to define -// this function prototype here. If you want to use more than one Epl -// instances then the function name of each object dictionary has to differ. - -tEplKernel EplObdInitRam(tEplObdInitParam *pInitParam_p); - -tEplKernel AppCbEvent(tEplApiEventType EventType_p, // IN: event type (enum) - tEplApiEventArg *pEventArg_p, // IN: event argument (union) - void *pUserArg_p); - -tEplKernel AppCbSync(void); - - -//--------------------------------------------------------------------------- -// Kernel Module specific Data Structures -//--------------------------------------------------------------------------- - -//module_init(EplLinInit); -//module_exit(EplLinExit); - -//=========================================================================// -// // -// P U B L I C F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: -// -// Description: -// -// -// -// Parameters: -// -// -// Returns: -// -// -// State: -// -//--------------------------------------------------------------------------- -#if 0 -static int __init EplLinInit(void) -{ - tEplKernel EplRet; - int iRet; - static tEplApiInitParam EplApiInitParam = { 0 }; - char *sHostname = HOSTNAME; - char *argv[4], *envp[3]; - char sBuffer[16]; - unsigned int uiVarEntries; - tEplObdSize ObdSize; - - atomic_set(&AtomicShutdown_g, TRUE); - - // get node ID from insmod command line - EplApiInitParam.m_uiNodeId = uiNodeId_g; - - if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID) { // invalid node ID set - // set default node ID - EplApiInitParam.m_uiNodeId = NODEID; - } - - uiNodeId_g = EplApiInitParam.m_uiNodeId; - - // calculate IP address - EplApiInitParam.m_dwIpAddress = - (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId; - - EplApiInitParam.m_fAsyncOnly = FALSE; - - EplApiInitParam.m_uiSizeOfStruct = sizeof(EplApiInitParam); - EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, - sizeof(EplApiInitParam.m_abMacAddress)); -// EplApiInitParam.m_abMacAddress[5] = (u8) EplApiInitParam.m_uiNodeId; - EplApiInitParam.m_dwFeatureFlags = -1; - EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection - EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const - EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const - EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes - EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes) - EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes) - EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes - EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection - EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size - EplApiInitParam.m_uiPrescaler = 2; // required for sync - EplApiInitParam.m_dwLossOfFrameTolerance = 500000; - EplApiInitParam.m_dwAsyncSlotTimeout = 3000000; - EplApiInitParam.m_dwWaitSocPreq = 150000; - EplApiInitParam.m_dwDeviceType = -1; // NMT_DeviceType_U32 - EplApiInitParam.m_dwVendorId = -1; // NMT_IdentityObject_REC.VendorId_U32 - EplApiInitParam.m_dwProductCode = -1; // NMT_IdentityObject_REC.ProductCode_U32 - EplApiInitParam.m_dwRevisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32 - EplApiInitParam.m_dwSerialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32 - EplApiInitParam.m_dwSubnetMask = SUBNET_MASK; - EplApiInitParam.m_dwDefaultGateway = 0; - EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, - sizeof(EplApiInitParam.m_sHostname)); - - // currently unset parameters left at default value 0 - //EplApiInitParam.m_qwVendorSpecificExt1; - //EplApiInitParam.m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32 - //EplApiInitParam.m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32 - //EplApiInitParam.m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device - //EplApiInitParam.m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device - //EplApiInitParam.m_abVendorSpecificExt2[48]; - - // set callback functions - EplApiInitParam.m_pfnCbEvent = AppCbEvent; - EplApiInitParam.m_pfnCbSync = AppCbSync; - - printk - ("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n", - (uiNodeId_g == - EPL_C_ADR_MN_DEF_NODE_ID ? "Managing Node" : "Controlled Node"), - __DATE__, __TIME__); - - // initialize the Linux a wait queue for shutdown of this module - init_waitqueue_head(&WaitQueueShutdown_g); - - // initialize the procfs device - EplRet = EplLinProcInit(); - if (EplRet != kEplSuccessful) { - goto Exit; - } - // initialize POWERLINK stack - EplRet = EplApiInitialize(&EplApiInitParam); - if (EplRet != kEplSuccessful) { - goto Exit; - } - // link process variables used by CN to object dictionary - ObdSize = sizeof(bVarIn1_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x6000, &bVarIn1_l, &uiVarEntries, &ObdSize, 0x01); - if (EplRet != kEplSuccessful) { - goto Exit; - } - - ObdSize = sizeof(bVarOut1_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x6200, &bVarOut1_l, &uiVarEntries, &ObdSize, - 0x01); - if (EplRet != kEplSuccessful) { - goto Exit; - } - // link process variables used by MN to object dictionary -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) - ObdSize = sizeof(bLedsRow1_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x2000, &bLedsRow1_l, &uiVarEntries, &ObdSize, - 0x01); - if (EplRet != kEplSuccessful) { - goto Exit; - } - - ObdSize = sizeof(bLedsRow2_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x2000, &bLedsRow2_l, &uiVarEntries, &ObdSize, - 0x02); - if (EplRet != kEplSuccessful) { - goto Exit; - } - - ObdSize = sizeof(bSpeedSelect_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x2000, &bSpeedSelect_l, &uiVarEntries, &ObdSize, - 0x03); - if (EplRet != kEplSuccessful) { - goto Exit; - } - - ObdSize = sizeof(bSpeedSelectOld_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x2000, &bSpeedSelectOld_l, &uiVarEntries, - &ObdSize, 0x04); - if (EplRet != kEplSuccessful) { - goto Exit; - } - - ObdSize = sizeof(abSelect_l[0]); - uiVarEntries = sizeof(abSelect_l); - EplRet = - EplApiLinkObject(0x2200, &abSelect_l[0], &uiVarEntries, &ObdSize, - 0x01); - if (EplRet != kEplSuccessful) { - goto Exit; - } -#endif - - // link a DOMAIN to object 0x6100, but do not exit, if it is missing - ObdSize = sizeof(abDomain_l); - uiVarEntries = 1; - EplRet = - EplApiLinkObject(0x6100, &abDomain_l, &uiVarEntries, &ObdSize, - 0x00); - if (EplRet != kEplSuccessful) { - printk("EplApiLinkObject(0x6100): returns 0x%X\n", EplRet); - } - // reset old process variables - bVarOut1Old_l = 0; - bSpeedSelectOld_l = 0; - dwMode_l = APP_DEFAULT_MODE; - iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT; - - // configure IP address of virtual network interface - // for TCP/IP communication over the POWERLINK network - sprintf(sBuffer, "%u.%u.%u.%u", - (EplApiInitParam.m_dwIpAddress >> 24), - ((EplApiInitParam.m_dwIpAddress >> 16) & 0xFF), - ((EplApiInitParam.m_dwIpAddress >> 8) & 0xFF), - (EplApiInitParam.m_dwIpAddress & 0xFF)); - /* set up a minimal environment */ - iRet = 0; - envp[iRet++] = "HOME=/"; - envp[iRet++] = "PATH=/sbin:/bin:/usr/sbin:/usr/bin"; - envp[iRet] = NULL; - - /* set up the argument list */ - iRet = 0; - argv[iRet++] = "/sbin/ifconfig"; - argv[iRet++] = IF_ETH; - argv[iRet++] = sBuffer; - argv[iRet] = NULL; - - /* call ifconfig to configure the virtual network interface */ - iRet = call_usermodehelper(argv[0], argv, envp, 1); - printk("ifconfig %s %s returned %d\n", argv[1], argv[2], iRet); - - // start the NMT state machine - EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset); - atomic_set(&AtomicShutdown_g, FALSE); - - Exit: - printk("EplLinInit(): returns 0x%X\n", EplRet); - return EplRet; -} - -static void __exit EplLinExit(void) -{ - tEplKernel EplRet; - - // halt the NMT state machine - // so the processing of POWERLINK frames stops - EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff); - - // wait until NMT state machine is shut down - wait_event_interruptible(WaitQueueShutdown_g, - (atomic_read(&AtomicShutdown_g) == TRUE)); -/* if ((iErr != 0) || (atomic_read(&AtomicShutdown_g) == EVENT_STATE_IOCTL)) - { // waiting was interrupted by signal or application called wrong function - EplRet = kEplShutdown; - }*/ - // delete instance for all modules - EplRet = EplApiShutdown(); - printk("EplApiShutdown(): 0x%X\n", EplRet); - - // deinitialize proc fs - EplRet = EplLinProcFree(); - printk("EplLinProcFree(): 0x%X\n", EplRet); - -} -#endif -//=========================================================================// -// // -// P R I V A T E F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: AppCbEvent -// -// Description: event callback function called by EPL API layer within -// user part (low priority). -// -// Parameters: EventType_p = event type -// pEventArg_p = pointer to union, which describes -// the event in detail -// pUserArg_p = user specific argument -// -// Returns: tEplKernel = error code, -// kEplSuccessful = no error -// kEplReject = reject further processing -// otherwise = post error event to API layer -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel AppCbEvent(tEplApiEventType EventType_p, // IN: event type (enum) - tEplApiEventArg *pEventArg_p, // IN: event argument (union) - void *pUserArg_p) -{ - tEplKernel EplRet = kEplSuccessful; - - // check if NMT_GS_OFF is reached - switch (EventType_p) { - case kEplApiEventNmtStateChange: - { - switch (pEventArg_p->m_NmtStateChange.m_NewNmtState) { - case kEplNmtGsOff: - { // NMT state machine was shut down, - // because of user signal (CTRL-C) or critical EPL stack error - // -> also shut down EplApiProcess() and main() - EplRet = kEplShutdown; - - printk - ("AppCbEvent(kEplNmtGsOff) originating event = 0x%X\n", - pEventArg_p->m_NmtStateChange. - m_NmtEvent); - - // wake up EplLinExit() - atomic_set(&AtomicShutdown_g, TRUE); - wake_up_interruptible - (&WaitQueueShutdown_g); - break; - } - - case kEplNmtGsResetCommunication: - { - u32 dwBuffer; - - // configure OD for MN in state ResetComm after reseting the OD - // TODO: setup your own network configuration here - dwBuffer = (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS); // 0x00000003L - EplRet = - EplApiWriteLocalObject(0x1F81, 0x01, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x02, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x03, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x04, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x05, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x06, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x07, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x08, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x20, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0xFE, - &dwBuffer, - 4); - EplRet = - EplApiWriteLocalObject(0x1F81, 0x6E, - &dwBuffer, - 4); - -// dwBuffer |= EPL_NODEASSIGN_MANDATORY_CN; // 0x0000000BL -// EplRet = EplApiWriteLocalObject(0x1F81, 0x6E, &dwBuffer, 4); - dwBuffer = (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS); // 0x00010001L - EplRet = - EplApiWriteLocalObject(0x1F81, 0xF0, - &dwBuffer, - 4); - - // continue - } - - case kEplNmtGsResetConfiguration: - { - unsigned int uiSize; - - // fetch object 0x1006 NMT_CycleLen_U32 from local OD (in little endian byte order) - // for configuration of remote CN - uiSize = 4; - EplRet = - EplApiReadObject(NULL, 0, 0x1006, - 0x00, - &dw_le_CycleLen_g, - &uiSize, - kEplSdoTypeAsnd, - NULL); - if (EplRet != kEplSuccessful) { // local OD access failed - break; - } - // continue - } - - case kEplNmtMsPreOperational1: - { - printk - ("AppCbEvent(0x%X) originating event = 0x%X\n", - pEventArg_p->m_NmtStateChange. - m_NewNmtState, - pEventArg_p->m_NmtStateChange. - m_NmtEvent); - - // continue - } - - case kEplNmtGsInitialising: - case kEplNmtGsResetApplication: - case kEplNmtMsNotActive: - case kEplNmtCsNotActive: - case kEplNmtCsPreOperational1: - { - break; - } - - case kEplNmtCsOperational: - case kEplNmtMsOperational: - { - break; - } - - default: - { - break; - } - } - -/* - switch (pEventArg_p->m_NmtStateChange.m_NmtEvent) - { - case kEplNmtEventSwReset: - case kEplNmtEventResetNode: - case kEplNmtEventResetCom: - case kEplNmtEventResetConfig: - case kEplNmtEventInternComError: - case kEplNmtEventNmtCycleError: - { - printk("AppCbEvent(0x%X) originating event = 0x%X\n", - pEventArg_p->m_NmtStateChange.m_NewNmtState, - pEventArg_p->m_NmtStateChange.m_NmtEvent); - break; - } - - default: - { - break; - } - } -*/ - break; - } - - case kEplApiEventCriticalError: - case kEplApiEventWarning: - { // error or warning occured within the stack or the application - // on error the API layer stops the NMT state machine - - printk - ("AppCbEvent(Err/Warn): Source=%02X EplError=0x%03X", - pEventArg_p->m_InternalError.m_EventSource, - pEventArg_p->m_InternalError.m_EplError); - // check additional argument - switch (pEventArg_p->m_InternalError.m_EventSource) { - case kEplEventSourceEventk: - case kEplEventSourceEventu: - { // error occured within event processing - // either in kernel or in user part - printk(" OrgSource=%02X\n", - pEventArg_p->m_InternalError. - m_Arg.m_EventSource); - break; - } - - case kEplEventSourceDllk: - { // error occured within the data link layer (e.g. interrupt processing) - // the u32 argument contains the DLL state and the NMT event - printk(" val=%X\n", - pEventArg_p->m_InternalError. - m_Arg.m_dwArg); - break; - } - - default: - { - printk("\n"); - break; - } - } - break; - } - - case kEplApiEventNode: - { -// printk("AppCbEvent(Node): Source=%02X EplError=0x%03X", pEventArg_p->m_InternalError.m_EventSource, pEventArg_p->m_InternalError.m_EplError); - // check additional argument - switch (pEventArg_p->m_Node.m_NodeEvent) { - case kEplNmtNodeEventCheckConf: - { - tEplSdoComConHdl SdoComConHdl; - // update object 0x1006 on CN - EplRet = - EplApiWriteObject(&SdoComConHdl, - pEventArg_p-> - m_Node.m_uiNodeId, - 0x1006, 0x00, - &dw_le_CycleLen_g, - 4, - kEplSdoTypeAsnd, - NULL); - if (EplRet == kEplApiTaskDeferred) { // SDO transfer started - EplRet = kEplReject; - } else if (EplRet == kEplSuccessful) { // local OD access (should not occur) - printk - ("AppCbEvent(Node) write to local OD\n"); - } else { // error occured - TGT_DBG_SIGNAL_TRACE_POINT(1); - - EplRet = - EplApiFreeSdoChannel - (SdoComConHdl); - SdoComConHdl = 0; - - EplRet = - EplApiWriteObject - (&SdoComConHdl, - pEventArg_p->m_Node. - m_uiNodeId, 0x1006, 0x00, - &dw_le_CycleLen_g, 4, - kEplSdoTypeAsnd, NULL); - if (EplRet == kEplApiTaskDeferred) { // SDO transfer started - EplRet = kEplReject; - } else { - printk - ("AppCbEvent(Node): EplApiWriteObject() returned 0x%02X\n", - EplRet); - } - } - - break; - } - - default: - { - break; - } - } - break; - } - - case kEplApiEventSdo: - { // SDO transfer finished - EplRet = - EplApiFreeSdoChannel(pEventArg_p->m_Sdo. - m_SdoComConHdl); - if (EplRet != kEplSuccessful) { - break; - } -#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) - if (pEventArg_p->m_Sdo.m_SdoComConState == kEplSdoComTransferFinished) { // continue boot-up of CN with NMT command Reset Configuration - EplRet = - EplApiMnTriggerStateChange(pEventArg_p-> - m_Sdo.m_uiNodeId, - kEplNmtNodeCommandConfReset); - } else { // indicate configuration error CN - EplRet = - EplApiMnTriggerStateChange(pEventArg_p-> - m_Sdo.m_uiNodeId, - kEplNmtNodeCommandConfErr); - } -#endif - - break; - } - - default: - break; - } - - return EplRet; -} - -//--------------------------------------------------------------------------- -// -// Function: AppCbSync -// -// Description: sync event callback function called by event module within -// kernel part (high priority). -// This function sets the outputs, reads the inputs and runs -// the control loop. -// -// Parameters: void -// -// Returns: tEplKernel = error code, -// kEplSuccessful = no error -// otherwise = post error event to API layer -// -// State: -// -//--------------------------------------------------------------------------- - -tEplKernel AppCbSync(void) -{ - tEplKernel EplRet = kEplSuccessful; - - if (bVarOut1Old_l != bVarOut1_l) { // output variable has changed - bVarOut1Old_l = bVarOut1_l; - // set LEDs - -// printk("bVarIn = 0x%02X bVarOut = 0x%02X\n", (u16) bVarIn_l, (u16) bVarOut_l); - } - if (uiNodeId_g != EPL_C_ADR_MN_DEF_NODE_ID) { - bVarIn1_l++; - } - - if (uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID) { // we are the master and must run the control loop - - // collect inputs from CNs and own input - bSpeedSelect_l = (bVarIn1_l | abSelect_l[0]) & 0x07; - - bModeSelect_l = abSelect_l[1] | abSelect_l[2]; - - if ((bModeSelect_l & APP_MODE_MASK) != 0) { - dwMode_l = bModeSelect_l & APP_MODE_MASK; - } - - iCurCycleCount_l--; - - if (iCurCycleCount_l <= 0) { - if ((dwMode_l & 0x01) != 0) { // fill-up - if (iToggle) { - if ((dwLeds_l & APP_DOUBLE_LED_MASK) == - 0x00) { - dwLeds_l = 0x01; - } else { - dwLeds_l <<= 1; - dwLeds_l++; - if (dwLeds_l >= - APP_DOUBLE_LED_MASK) { - iToggle = 0; - } - } - } else { - dwLeds_l <<= 1; - if ((dwLeds_l & APP_DOUBLE_LED_MASK) == - 0x00) { - iToggle = 1; - } - } - bLedsRow1_l = - (unsigned char)(dwLeds_l & APP_LED_MASK); - bLedsRow2_l = - (unsigned char)((dwLeds_l >> APP_LED_COUNT) - & APP_LED_MASK); - } - - else if ((dwMode_l & 0x02) != 0) { // running light forward - dwLeds_l <<= 1; - if ((dwLeds_l > APP_DOUBLE_LED_MASK) - || (dwLeds_l == 0x00000000L)) { - dwLeds_l = 0x01; - } - bLedsRow1_l = - (unsigned char)(dwLeds_l & APP_LED_MASK); - bLedsRow2_l = - (unsigned char)((dwLeds_l >> APP_LED_COUNT) - & APP_LED_MASK); - } - - else if ((dwMode_l & 0x04) != 0) { // running light backward - dwLeds_l >>= 1; - if ((dwLeds_l > APP_DOUBLE_LED_MASK) - || (dwLeds_l == 0x00000000L)) { - dwLeds_l = 1 << (APP_LED_COUNT * 2); - } - bLedsRow1_l = - (unsigned char)(dwLeds_l & APP_LED_MASK); - bLedsRow2_l = - (unsigned char)((dwLeds_l >> APP_LED_COUNT) - & APP_LED_MASK); - } - - else if ((dwMode_l & 0x08) != 0) { // Knightrider - if (bLedsRow1_l == 0x00) { - bLedsRow1_l = 0x01; - iToggle = 1; - } else if (iToggle) { - bLedsRow1_l <<= 1; - if (bLedsRow1_l >= - (1 << (APP_LED_COUNT - 1))) { - iToggle = 0; - } - } else { - bLedsRow1_l >>= 1; - if (bLedsRow1_l <= 0x01) { - iToggle = 1; - } - } - bLedsRow2_l = bLedsRow1_l; - } - - else if ((dwMode_l & 0x10) != 0) { // Knightrider - if ((bLedsRow1_l == 0x00) - || (bLedsRow2_l == 0x00) - || ((bLedsRow2_l & ~APP_LED_MASK) != 0)) { - bLedsRow1_l = 0x01; - bLedsRow2_l = - (1 << (APP_LED_COUNT - 1)); - iToggle = 1; - } else if (iToggle) { - bLedsRow1_l <<= 1; - bLedsRow2_l >>= 1; - if (bLedsRow1_l >= - (1 << (APP_LED_COUNT - 1))) { - iToggle = 0; - } - } else { - bLedsRow1_l >>= 1; - bLedsRow2_l <<= 1; - if (bLedsRow1_l <= 0x01) { - iToggle = 1; - } - } - } - // set own output - bVarOut1_l = bLedsRow1_l; -// bVarOut1_l = (bLedsRow1_l & 0x03) | (bLedsRow2_l << 2); - - // restart cycle counter - iCurCycleCount_l = iMaxCycleCount_l; - } - - if (bSpeedSelectOld_l == 0) { - if ((bSpeedSelect_l & 0x01) != 0) { - if (iMaxCycleCount_l < 200) { - iMaxCycleCount_l++; - } - bSpeedSelectOld_l = bSpeedSelect_l; - } else if ((bSpeedSelect_l & 0x02) != 0) { - if (iMaxCycleCount_l > 1) { - iMaxCycleCount_l--; - } - bSpeedSelectOld_l = bSpeedSelect_l; - } else if ((bSpeedSelect_l & 0x04) != 0) { - iMaxCycleCount_l = DEFAULT_MAX_CYCLE_COUNT; - bSpeedSelectOld_l = bSpeedSelect_l; - } - } else if (bSpeedSelect_l == 0) { - bSpeedSelectOld_l = 0; - } - } - - TGT_DBG_SIGNAL_TRACE_POINT(1); - - return EplRet; -} - -// EOF |