drivers/staging/epl/EplNmtu.c

   1 /****************************************************************************
   2
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   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for NMT-Userspace-Module
   9
  10   License:
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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
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  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplNmtu.c,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.8 $  $Date: 2008/11/10 17:17:42 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/06/09 k.t.:   start of the implementation
  68
  69 ****************************************************************************/
  70
  71 #include "EplInc.h"
  72 #include "user/EplNmtu.h"
  73 #include "user/EplObdu.h"
  74 #include "user/EplTimeru.h"
  75 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
  76 #include "kernel/EplNmtk.h"
  77 #endif
  78
  79 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
  80 /***************************************************************************/
  81 /*                                                                         */
  82 /*                                                                         */
  83 /*          G L O B A L   D E F I N I T I O N S                            */
  84 /*                                                                         */
  85 /*                                                                         */
  86 /***************************************************************************/
  87
  88 //---------------------------------------------------------------------------
  89 // const defines
  90 //---------------------------------------------------------------------------
  91
  92 //---------------------------------------------------------------------------
  93 // local types
  94 //---------------------------------------------------------------------------
  95
  96 typedef struct {
  97         tEplNmtuStateChangeCallback m_pfnNmtChangeCb;
  98         tEplTimerHdl m_TimerHdl;
  99
 100 } tEplNmtuInstance;
 101
 102 //---------------------------------------------------------------------------
 103 // modul globale vars
 104 //---------------------------------------------------------------------------
 105
 106 static tEplNmtuInstance EplNmtuInstance_g;
 107
 108 //---------------------------------------------------------------------------
 109 // local function prototypes
 110 //---------------------------------------------------------------------------
 111
 112 //=========================================================================//
 113 //                                                                         //
 114 //          P U B L I C   F U N C T I O N S                                //
 115 //                                                                         //
 116 //=========================================================================//
 117
 118 //---------------------------------------------------------------------------
 119 //
 120 // Function:    EplNmtuInit
 121 //
 122 // Description: init first instance of the module
 123 //
 124 //
 125 //
 126 // Parameters:
 127 //
 128 //
 129 // Returns:     tEplKernel  = errorcode
 130 //
 131 //
 132 // State:
 133 //
 134 //---------------------------------------------------------------------------
 135 tEplKernel EplNmtuInit(void)
 136 {
 137         tEplKernel Ret;
 138
 139         Ret = EplNmtuAddInstance();
 140
 141         return Ret;
 142 }
 143
 144 //---------------------------------------------------------------------------
 145 //
 146 // Function:    EplNmtuAddInstance
 147 //
 148 // Description: init other instances of the module
 149 //
 150 //
 151 //
 152 // Parameters:
 153 //
 154 //
 155 // Returns:     tEplKernel  = errorcode
 156 //
 157 //
 158 // State:
 159 //
 160 //---------------------------------------------------------------------------
 161 tEplKernel EplNmtuAddInstance(void)
 162 {
 163         tEplKernel Ret;
 164
 165         Ret = kEplSuccessful;
 166
 167         EplNmtuInstance_g.m_pfnNmtChangeCb = NULL;
 168
 169         return Ret;
 170
 171 }
 172
 173 //---------------------------------------------------------------------------
 174 //
 175 // Function:    EplNmtuDelInstance
 176 //
 177 // Description: delete instance
 178 //
 179 //
 180 //
 181 // Parameters:
 182 //
 183 //
 184 // Returns:     tEplKernel  = errorcode
 185 //
 186 //
 187 // State:
 188 //
 189 //---------------------------------------------------------------------------
 190 tEplKernel EplNmtuDelInstance(void)
 191 {
 192         tEplKernel Ret;
 193
 194         Ret = kEplSuccessful;
 195
 196         EplNmtuInstance_g.m_pfnNmtChangeCb = NULL;
 197
 198         // delete timer
 199         Ret = EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl);
 200
 201         return Ret;
 202
 203 }
 204
 205 //---------------------------------------------------------------------------
 206 //
 207 // Function:    EplNmtuNmtEvent
 208 //
 209 // Description: sends the NMT-Event to the NMT-State-Maschine
 210 //
 211 //
 212 //
 213 // Parameters:  NmtEvent_p  = NMT-Event to send
 214 //
 215 //
 216 // Returns:     tEplKernel  = errorcode
 217 //
 218 //
 219 // State:
 220 //
 221 //---------------------------------------------------------------------------
 222 tEplKernel EplNmtuNmtEvent(tEplNmtEvent NmtEvent_p)
 223 {
 224         tEplKernel Ret;
 225         tEplEvent Event;
 226
 227         Event.m_EventSink = kEplEventSinkNmtk;
 228         Event.m_NetTime.m_dwNanoSec = 0;
 229         Event.m_NetTime.m_dwSec = 0;
 230         Event.m_EventType = kEplEventTypeNmtEvent;
 231         Event.m_pArg = &NmtEvent_p;
 232         Event.m_uiSize = sizeof(NmtEvent_p);
 233
 234         Ret = EplEventuPost(&Event);
 235
 236         return Ret;
 237 }
 238
 239 //---------------------------------------------------------------------------
 240 //
 241 // Function:    EplNmtuGetNmtState
 242 //
 243 // Description: returns the actuell NMT-State
 244 //
 245 //
 246 //
 247 // Parameters:
 248 //
 249 //
 250 // Returns:     tEplNmtState  = NMT-State
 251 //
 252 //
 253 // State:
 254 //
 255 //---------------------------------------------------------------------------
 256 tEplNmtState EplNmtuGetNmtState(void)
 257 {
 258         tEplNmtState NmtState;
 259
 260         // $$$ call function of communication abstraction layer
 261 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
 262         NmtState = EplNmtkGetNmtState();
 263 #else
 264         NmtState = 0;
 265 #endif
 266
 267         return NmtState;
 268 }
 269
 270 //---------------------------------------------------------------------------
 271 //
 272 // Function:    EplNmtuProcessEvent
 273 //
 274 // Description: processes events from event queue
 275 //
 276 //
 277 //
 278 // Parameters:  pEplEvent_p =   pointer to event
 279 //
 280 //
 281 // Returns:     tEplKernel  = errorcode
 282 //
 283 //
 284 // State:
 285 //
 286 //---------------------------------------------------------------------------
 287 tEplKernel EplNmtuProcessEvent(tEplEvent *pEplEvent_p)
 288 {
 289         tEplKernel Ret;
 290
 291         Ret = kEplSuccessful;
 292
 293         // process event
 294         switch (pEplEvent_p->m_EventType) {
 295                 // state change of NMT-Module
 296         case kEplEventTypeNmtStateChange:
 297                 {
 298                         tEplEventNmtStateChange *pNmtStateChange;
 299
 300                         // delete timer
 301                         Ret =
 302                             EplTimeruDeleteTimer(&EplNmtuInstance_g.m_TimerHdl);
 303
 304                         pNmtStateChange =
 305                             (tEplEventNmtStateChange *) pEplEvent_p->m_pArg;
 306
 307                         // call cb-functions to inform higher layer
 308                         if (EplNmtuInstance_g.m_pfnNmtChangeCb != NULL) {
 309                                 Ret =
 310                                     EplNmtuInstance_g.
 311                                     m_pfnNmtChangeCb(*pNmtStateChange);
 312                         }
 313
 314                         if (Ret == kEplSuccessful) {    // everything is OK, so switch to next state if necessary
 315                                 switch (pNmtStateChange->m_NewNmtState) {
 316                                         // EPL stack is not running
 317                                 case kEplNmtGsOff:
 318                                         break;
 319
 320                                         // first init of the hardware
 321                                 case kEplNmtGsInitialising:
 322                                         {
 323                                                 Ret =
 324                                                     EplNmtuNmtEvent
 325                                                     (kEplNmtEventEnterResetApp);
 326                                                 break;
 327                                         }
 328
 329                                         // init of the manufacturer-specific profile area and the
 330                                         // standardised device profile area
 331                                 case kEplNmtGsResetApplication:
 332                                         {
 333                                                 Ret =
 334                                                     EplNmtuNmtEvent
 335                                                     (kEplNmtEventEnterResetCom);
 336                                                 break;
 337                                         }
 338
 339                                         // init of the communication profile area
 340                                 case kEplNmtGsResetCommunication:
 341                                         {
 342                                                 Ret =
 343                                                     EplNmtuNmtEvent
 344                                                     (kEplNmtEventEnterResetConfig);
 345                                                 break;
 346                                         }
 347
 348                                         // build the configuration with infos from OD
 349                                 case kEplNmtGsResetConfiguration:
 350                                         {
 351                                                 unsigned int uiNodeId;
 352
 353                                                 // get node ID from OD
 354 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
 355                                                 uiNodeId =
 356                                                     EplObduGetNodeId
 357                                                     (EPL_MCO_PTR_INSTANCE_PTR);
 358 #else
 359                                                 uiNodeId = 0;
 360 #endif
 361                                                 //check node ID if not should be master or slave
 362                                                 if (uiNodeId == EPL_C_ADR_MN_DEF_NODE_ID) {     // node shall be MN
 363 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 364                                                         Ret =
 365                                                             EplNmtuNmtEvent
 366                                                             (kEplNmtEventEnterMsNotActive);
 367 #else
 368                                                         TRACE0
 369                                                             ("EplNmtuProcess(): no MN functionality implemented\n");
 370 #endif
 371                                                 } else {        // node shall be CN
 372                                                         Ret =
 373                                                             EplNmtuNmtEvent
 374                                                             (kEplNmtEventEnterCsNotActive);
 375                                                 }
 376                                                 break;
 377                                         }
 378
 379                                         //-----------------------------------------------------------
 380                                         // CN part of the state machine
 381
 382                                         // node listens for EPL-Frames and check timeout
 383                                 case kEplNmtCsNotActive:
 384                                         {
 385                                                 u32 dwBuffer;
 386                                                 tEplObdSize ObdSize;
 387                                                 tEplTimerArg TimerArg;
 388
 389                                                 // create timer to switch automatically to BasicEthernet if no MN available in network
 390
 391                                                 // read NMT_CNBasicEthernetTimerout_U32 from OD
 392                                                 ObdSize = sizeof(dwBuffer);
 393 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
 394                                                 Ret =
 395                                                     EplObduReadEntry
 396                                                     (EPL_MCO_PTR_INSTANCE_PTR_
 397                                                      0x1F99, 0x00, &dwBuffer,
 398                                                      &ObdSize);
 399 #else
 400                                                 Ret = kEplObdIndexNotExist;
 401 #endif
 402                                                 if (Ret != kEplSuccessful) {
 403                                                         break;
 404                                                 }
 405                                                 if (dwBuffer != 0) {    // BasicEthernet is enabled
 406                                                         // convert us into ms
 407                                                         dwBuffer =
 408                                                             dwBuffer / 1000;
 409                                                         if (dwBuffer == 0) {    // timer was below one ms
 410                                                                 // set one ms
 411                                                                 dwBuffer = 1;
 412                                                         }
 413                                                         TimerArg.m_EventSink =
 414                                                             kEplEventSinkNmtk;
 415                                                         TimerArg.m_ulArg =
 416                                                             (unsigned long)
 417                                                             kEplNmtEventTimerBasicEthernet;
 418                                                         Ret =
 419                                                             EplTimeruModifyTimerMs
 420                                                             (&EplNmtuInstance_g.
 421                                                              m_TimerHdl,
 422                                                              (unsigned long)
 423                                                              dwBuffer,
 424                                                              TimerArg);
 425                                                         // potential error is forwarded to event queue which generates error event
 426                                                 }
 427                                                 break;
 428                                         }
 429
 430                                         // node processes only async frames
 431                                 case kEplNmtCsPreOperational1:
 432                                         {
 433                                                 break;
 434                                         }
 435
 436                                         // node processes isochronous and asynchronous frames
 437                                 case kEplNmtCsPreOperational2:
 438                                         {
 439                                                 Ret =
 440                                                     EplNmtuNmtEvent
 441                                                     (kEplNmtEventEnterReadyToOperate);
 442                                                 break;
 443                                         }
 444
 445                                         // node should be configured und application is ready
 446                                 case kEplNmtCsReadyToOperate:
 447                                         {
 448                                                 break;
 449                                         }
 450
 451                                         // normal work state
 452                                 case kEplNmtCsOperational:
 453                                         {
 454                                                 break;
 455                                         }
 456
 457                                         // node stopped by MN
 458                                         // -> only process asynchronous frames
 459                                 case kEplNmtCsStopped:
 460                                         {
 461                                                 break;
 462                                         }
 463
 464                                         // no EPL cycle
 465                                         // -> normal ethernet communication
 466                                 case kEplNmtCsBasicEthernet:
 467                                         {
 468                                                 break;
 469                                         }
 470
 471                                         //-----------------------------------------------------------
 472                                         // MN part of the state machine
 473
 474 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 475                                         // node listens for EPL-Frames and check timeout
 476                                 case kEplNmtMsNotActive:
 477                                         {
 478                                                 u32 dwBuffer;
 479                                                 tEplObdSize ObdSize;
 480                                                 tEplTimerArg TimerArg;
 481
 482                                                 // create timer to switch automatically to BasicEthernet/PreOp1 if no other MN active in network
 483
 484                                                 // check NMT_StartUp_U32.Bit13
 485                                                 // read NMT_StartUp_U32 from OD
 486                                                 ObdSize = sizeof(dwBuffer);
 487 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
 488                                                 Ret =
 489                                                     EplObduReadEntry
 490                                                     (EPL_MCO_PTR_INSTANCE_PTR_
 491                                                      0x1F80, 0x00, &dwBuffer,
 492                                                      &ObdSize);
 493 #else
 494                                                 Ret = kEplObdIndexNotExist;
 495 #endif
 496                                                 if (Ret != kEplSuccessful) {
 497                                                         break;
 498                                                 }
 499
 500                                                 if ((dwBuffer & EPL_NMTST_BASICETHERNET) == 0) {        // NMT_StartUp_U32.Bit13 == 0
 501                                                         // new state PreOperational1
 502                                                         TimerArg.m_ulArg =
 503                                                             (unsigned long)
 504                                                             kEplNmtEventTimerMsPreOp1;
 505                                                 } else {        // NMT_StartUp_U32.Bit13 == 1
 506                                                         // new state BasicEthernet
 507                                                         TimerArg.m_ulArg =
 508                                                             (unsigned long)
 509                                                             kEplNmtEventTimerBasicEthernet;
 510                                                 }
 511
 512                                                 // read NMT_BootTime_REC.MNWaitNotAct_U32 from OD
 513                                                 ObdSize = sizeof(dwBuffer);
 514 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
 515                                                 Ret =
 516                                                     EplObduReadEntry
 517                                                     (EPL_MCO_PTR_INSTANCE_PTR_
 518                                                      0x1F89, 0x01, &dwBuffer,
 519                                                      &ObdSize);
 520 #else
 521                                                 Ret = kEplObdIndexNotExist;
 522 #endif
 523                                                 if (Ret != kEplSuccessful) {
 524                                                         break;
 525                                                 }
 526                                                 // convert us into ms
 527                                                 dwBuffer = dwBuffer / 1000;
 528                                                 if (dwBuffer == 0) {    // timer was below one ms
 529                                                         // set one ms
 530                                                         dwBuffer = 1;
 531                                                 }
 532                                                 TimerArg.m_EventSink =
 533                                                     kEplEventSinkNmtk;
 534                                                 Ret =
 535                                                     EplTimeruModifyTimerMs
 536                                                     (&EplNmtuInstance_g.
 537                                                      m_TimerHdl,
 538                                                      (unsigned long)dwBuffer,
 539                                                      TimerArg);
 540                                                 // potential error is forwarded to event queue which generates error event
 541                                                 break;
 542                                         }
 543
 544                                         // node processes only async frames
 545                                 case kEplNmtMsPreOperational1:
 546                                         {
 547                                                 u32 dwBuffer = 0;
 548                                                 tEplObdSize ObdSize;
 549                                                 tEplTimerArg TimerArg;
 550
 551                                                 // create timer to switch automatically to PreOp2 if MN identified all mandatory CNs
 552
 553                                                 // read NMT_BootTime_REC.MNWaitPreOp1_U32 from OD
 554                                                 ObdSize = sizeof(dwBuffer);
 555 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDU)) != 0) || (EPL_OBD_USE_KERNEL != FALSE)
 556                                                 Ret =
 557                                                     EplObduReadEntry
 558                                                     (EPL_MCO_PTR_INSTANCE_PTR_
 559                                                      0x1F89, 0x03, &dwBuffer,
 560                                                      &ObdSize);
 561                                                 if (Ret != kEplSuccessful) {
 562                                                         // ignore error, because this timeout is optional
 563                                                         dwBuffer = 0;
 564                                                 }
 565 #endif
 566                                                 if (dwBuffer == 0) {    // delay is deactivated
 567                                                         // immediately post timer event
 568                                                         Ret =
 569                                                             EplNmtuNmtEvent
 570                                                             (kEplNmtEventTimerMsPreOp2);
 571                                                         break;
 572                                                 }
 573                                                 // convert us into ms
 574                                                 dwBuffer = dwBuffer / 1000;
 575                                                 if (dwBuffer == 0) {    // timer was below one ms
 576                                                         // set one ms
 577                                                         dwBuffer = 1;
 578                                                 }
 579                                                 TimerArg.m_EventSink =
 580                                                     kEplEventSinkNmtk;
 581                                                 TimerArg.m_ulArg =
 582                                                     (unsigned long)
 583                                                     kEplNmtEventTimerMsPreOp2;
 584                                                 Ret =
 585                                                     EplTimeruModifyTimerMs
 586                                                     (&EplNmtuInstance_g.
 587                                                      m_TimerHdl,
 588                                                      (unsigned long)dwBuffer,
 589                                                      TimerArg);
 590                                                 // potential error is forwarded to event queue which generates error event
 591                                                 break;
 592                                         }
 593
 594                                         // node processes isochronous and asynchronous frames
 595                                 case kEplNmtMsPreOperational2:
 596                                         {
 597                                                 break;
 598                                         }
 599
 600                                         // node should be configured und application is ready
 601                                 case kEplNmtMsReadyToOperate:
 602                                         {
 603                                                 break;
 604                                         }
 605
 606                                         // normal work state
 607                                 case kEplNmtMsOperational:
 608                                         {
 609                                                 break;
 610                                         }
 611
 612                                         // no EPL cycle
 613                                         // -> normal ethernet communication
 614                                 case kEplNmtMsBasicEthernet:
 615                                         {
 616                                                 break;
 617                                         }
 618 #endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 619
 620                                 default:
 621                                         {
 622                                                 TRACE1
 623                                                     ("EplNmtuProcess(): unhandled NMT state 0x%X\n",
 624                                                      pNmtStateChange->
 625                                                      m_NewNmtState);
 626                                         }
 627                                 }
 628                         } else if (Ret == kEplReject) { // application wants to change NMT state itself
 629                                 // it's OK
 630                                 Ret = kEplSuccessful;
 631                         }
 632
 633                         EPL_DBGLVL_NMTU_TRACE0
 634                             ("EplNmtuProcessEvent(): NMT-State-Maschine announce change of NMT State\n");
 635                         break;
 636                 }
 637
 638         default:
 639                 {
 640                         Ret = kEplNmtInvalidEvent;
 641                 }
 642
 643         }
 644
 645 //Exit:
 646         return Ret;
 647 }
 648
 649 //---------------------------------------------------------------------------
 650 //
 651 // Function:    EplNmtuRegisterStateChangeCb
 652 //
 653 // Description: register Callback-function go get informed about a
 654 //              NMT-Change-State-Event
 655 //
 656 //
 657 //
 658 // Parameters:  pfnEplNmtStateChangeCb_p = functionpointer
 659 //
 660 //
 661 // Returns:     tEplKernel  = errorcode
 662 //
 663 //
 664 // State:
 665 //
 666 //---------------------------------------------------------------------------
 667 tEplKernel EplNmtuRegisterStateChangeCb(tEplNmtuStateChangeCallback pfnEplNmtStateChangeCb_p)
 668 {
 669         tEplKernel Ret;
 670
 671         Ret = kEplSuccessful;
 672
 673         // save callback-function in modul global var
 674         EplNmtuInstance_g.m_pfnNmtChangeCb = pfnEplNmtStateChangeCb_p;
 675
 676         return Ret;
 677
 678 }
 679
 680 //=========================================================================//
 681 //                                                                         //
 682 //          P R I V A T E   F U N C T I O N S                              //
 683 //                                                                         //
 684 //=========================================================================//
 685
 686 //---------------------------------------------------------------------------
 687 //
 688 // Function:
 689 //
 690 // Description:
 691 //
 692 //
 693 //
 694 // Parameters:
 695 //
 696 //
 697 // Returns:
 698 //
 699 //
 700 // State:
 701 //
 702 //---------------------------------------------------------------------------
 703
 704 #endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
 705
 706 // EOF