| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: include file for Epl Configuration Manager Module |
| |
| License: |
| |
| Redistribution and use in source and binary forms, with or without |
| modification, are permitted provided that the following conditions |
| are met: |
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| 1. Redistributions of source code must retain the above copyright |
| notice, this list of conditions and the following disclaimer. |
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| 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. |
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| 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 |
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| INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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| Severability Clause: |
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| 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: EplCfgMau.h,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.4 $ $Date: 2008/10/17 15:32:32 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| VC7 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/07/14 k.t.: start of the implementation |
| -> based on CANopen CfgMa-Modul (CANopen version 5.34) |
| |
| ****************************************************************************/ |
| |
| #ifndef _EPLCFGMA_H_ |
| #define _EPLCFGMA_H_ |
| |
| #include "../EplInc.h" |
| |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0) |
| |
| #include "EplObdu.h" |
| #include "EplSdoComu.h" |
| |
| //define max number of timeouts for configuration of 1 device |
| #define EPL_CFGMA_MAX_TIMEOUT 3 |
| |
| //callbackfunction, called if configuration is finished |
| typedef void (* tfpEplCfgMaCb)(unsigned int uiNodeId_p, |
| tEplKernel Errorstate_p); |
| |
| //State for configuartion manager Statemachine |
| typedef enum { |
| // general states |
| kEplCfgMaIdle = 0x0000, // Configurationsprocess |
| // is idle |
| kEplCfgMaWaitForSdocEvent = 0x0001, // wait until the last |
| // SDOC is finisched |
| kEplCfgMaSkipMappingSub0 = 0x0002, // write Sub0 of mapping |
| // parameter with 0 |
| |
| kEplCfgMaFinished = 0x0004 // configuartion is finished |
| } tEplCfgState; |
| |
| typedef enum { |
| kEplCfgMaDcfTypSystecSeg = 0x00, |
| kEplCfgMaDcfTypConDcf = 0x01, |
| kEplCfgMaDcfTypDcf = 0x02, // not supported |
| kEplCfgMaDcfTypXdc = 0x03 // not supported |
| } tEplCfgMaDcfTyp; |
| |
| typedef enum { |
| kEplCfgMaCommon = 0, // all other index |
| kEplCfgMaPdoComm = 1, // communication index |
| kEplCfgMaPdoMapp = 2, // mapping index |
| kEplCfgMaPdoCommAfterMapp = 3, // write PDO Cob-Id after mapping subindex 0(set PDO valid) |
| |
| } tEplCfgMaIndexType; |
| |
| //bitcoded answer about the last sdo transfer saved in m_SdocState |
| // also used to singal start of the State Maschine |
| typedef enum { |
| kEplCfgMaSdocBusy = 0x00, // SDOC activ |
| kEplCfgMaSdocReady = 0x01, // SDOC finished |
| kEplCfgMaSdocTimeout = 0x02, // SDOC Timeout |
| kEplCfgMaSdocAbortReceived = 0x04, // SDOC Abort, see Abortcode |
| kEplCfgMaSdocStart = 0x08 // start State Mschine |
| } tEplSdocState; |
| |
| //internal structure (instancetable for modul configuration manager) |
| typedef struct { |
| tEplCfgState m_CfgState; // state of the configuration state maschine |
| tEplSdoComConHdl m_SdoComConHdl; // handle for sdo connection |
| u32 m_dwLastAbortCode; |
| unsigned int m_uiLastIndex; // last index of configuration, to compair with actual index |
| u8 *m_pbConcise; // Ptr to concise DCF |
| u8 *m_pbActualIndex; // Ptr to actual index in the DCF segment |
| tfpEplCfgMaCb m_pfnCfgMaCb; // Ptr to CfgMa Callback, is call if configuration finished |
| tEplKernel m_EplKernelError; // errorcode |
| u32 m_dwNumValueCopy; // numeric values are copied in this variable |
| unsigned int m_uiPdoNodeId; // buffer for PDO node id |
| u8 m_bNrOfMappedObject; // number of mapped objects |
| unsigned int m_uiNodeId; // Epl node addresse |
| tEplSdocState m_SdocState; // bitcoded state of the SDO transfer |
| unsigned int m_uiLastSubIndex; // last subindex of configuration |
| BOOL m_fOneTranferOk; // atleased one transfer was successful |
| u8 m_bEventFlag; // for Eventsignaling to the State Maschine |
| u32 m_dwCntObjectInDcf; // number of Objects in DCF |
| tEplCfgMaIndexType m_SkipCfg; // TRUE if a adsitional Configurationprocess |
| // have to insert e.g. PDO-mapping |
| u16 m_wTimeOutCnt; // Timeout Counter, break configuration is |
| // m_wTimeOutCnt == CFGMA_MAX_TIMEOUT |
| |
| } tEplCfgMaNode; |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaInit() |
| // |
| // Description: Function creates first instance of Configuration Manager |
| // |
| // Parameters: |
| // |
| // Returns: tEplKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaInit(void); |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaAddInstance() |
| // |
| // Description: Function creates additional instance of Configuration Manager |
| // |
| // Parameters: |
| // |
| // Returns: tEplKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaAddInstance(void); |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaDelInstance() |
| // |
| // Description: Function delete instance of Configuration Manager |
| // |
| // Parameters: |
| // |
| // Returns: tEplKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel plCfgMaDelInstance(void); |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaStartConfig() |
| // |
| // Description: Function starts the configuration process |
| // initialization the statemachine for CfgMa- process |
| // |
| // Parameters: uiNodeId_p = NodeId of the node to configure |
| // pbConcise_p = pointer to DCF |
| // fpCfgMaCb_p = pointer to callback function (should not be NULL) |
| // SizeOfConcise_p = size of DCF in u8 -> for future use |
| // DcfType_p = type of the DCF |
| // |
| // Returns: tCopKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaStartConfig(unsigned int uiNodeId_p, |
| u8 * pbConcise_p, |
| tfpEplCfgMaCb fpCfgMaCb_p, |
| tEplObdSize SizeOfConcise_p, |
| tEplCfgMaDcfTyp DcfType_p); |
| |
| //--------------------------------------------------------------------------- |
| // Function: CfgMaStartConfigurationNode() |
| // |
| // Description: Function started the configuration process |
| // with the DCF from according OD-entry Subindex == bNodeId_p |
| // |
| // Parameters: uiNodeId_p = NodeId of the node to configure |
| // fpCfgMaCb_p = pointer to callback function (should not be NULL) |
| // DcfType_p = type of the DCF |
| // |
| // Returns: tCopKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaStartConfigNode(unsigned int uiNodeId_p, |
| tfpEplCfgMaCb fpCfgMaCb_p, |
| tEplCfgMaDcfTyp DcfType_p); |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaStartConfigNodeDcf() |
| // |
| // Description: Function starts the configuration process |
| // and links the configuration data to the OD |
| // |
| // Parameters: uiNodeId_p = NodeId of the node to configure |
| // pbConcise_p = pointer to DCF |
| // fpCfgMaCb_p = pointer to callback function (should not be NULL) |
| // SizeOfConcise_p = size of DCF in u8 -> for future use |
| // DcfType_p = type of the DCF |
| // |
| // Returns: tCopKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaStartConfigNodeDcf(unsigned int uiNodeId_p, |
| u8 * pbConcise_p, |
| tfpEplCfgMaCb fpCfgMaCb_p, |
| tEplObdSize SizeOfConcise_p, |
| tEplCfgMaDcfTyp DcfType_p); |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaLinkDcf() |
| // |
| // Description: Function links the configuration data to the OD |
| // |
| // Parameters: uiNodeId_p = NodeId of the node to configure |
| // pbConcise_p = pointer to DCF |
| // SizeOfConcise_p = size of DCF in u8 -> for future use |
| // DcfType_p = type of the DCF |
| // |
| // Returns: tCopKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaLinkDcf(unsigned int uiNodeId_p, |
| u8 * pbConcise_p, |
| tEplObdSize SizeOfConcise_p, |
| tEplCfgMaDcfTyp DcfType_p); |
| |
| //--------------------------------------------------------------------------- |
| // Function: EplCfgMaCheckDcf() |
| // |
| // Description: Function check if there is allready a configuration file linked |
| // to the OD (type is given by DcfType_p) |
| // |
| // Parameters: uiNodeId_p = NodeId |
| // DcfType_p = type of the DCF |
| // |
| // Returns: tCopKernel = error code |
| //--------------------------------------------------------------------------- |
| tEplKernel EplCfgMaCheckDcf(unsigned int uiNodeId_p, tEplCfgMaDcfTyp DcfType_p); |
| |
| #endif // #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_CFGMA)) != 0) |
| |
| #endif // _EPLCFGMA_H_ |
| |
| // EOF |
