| /**************************************************************************** |
| |
| (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 |
| www.systec-electronic.com |
| |
| Project: openPOWERLINK |
| |
| Description: include file for EPL API layer |
| |
| 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: Epl.h,v $ |
| |
| $Author: D.Krueger $ |
| |
| $Revision: 1.8 $ $Date: 2008/11/17 16:40:39 $ |
| |
| $State: Exp $ |
| |
| Build Environment: |
| GCC V3.4 |
| |
| ------------------------------------------------------------------------- |
| |
| Revision History: |
| |
| 2006/05/22 d.k.: start of the implementation, version 1.00 |
| |
| ****************************************************************************/ |
| |
| #ifndef _EPL_API_H_ |
| #define _EPL_API_H_ |
| |
| #include "EplInc.h" |
| #include "EplSdo.h" |
| #include "EplObd.h" |
| #include "EplLed.h" |
| #include "EplEvent.h" |
| |
| //--------------------------------------------------------------------------- |
| // const defines |
| //--------------------------------------------------------------------------- |
| |
| //--------------------------------------------------------------------------- |
| // typedef |
| //--------------------------------------------------------------------------- |
| |
| typedef struct { |
| unsigned int m_uiNodeId; |
| tEplNmtState m_NmtState; |
| tEplNmtNodeEvent m_NodeEvent; |
| u16 m_wErrorCode; // EPL error code if m_NodeEvent == kEplNmtNodeEventError |
| BOOL m_fMandatory; |
| |
| } tEplApiEventNode; |
| |
| typedef struct { |
| tEplNmtState m_NmtState; // local NMT state |
| tEplNmtBootEvent m_BootEvent; |
| u16 m_wErrorCode; // EPL error code if m_BootEvent == kEplNmtBootEventError |
| |
| } tEplApiEventBoot; |
| |
| typedef struct { |
| tEplLedType m_LedType; // type of the LED (e.g. Status or Error) |
| BOOL m_fOn; // state of the LED (e.g. on or off) |
| |
| } tEplApiEventLed; |
| |
| typedef enum { |
| kEplApiEventNmtStateChange = 0x10, // m_NmtStateChange |
| // kEplApiEventRequestNmt = 0x11, // m_bNmtCmd |
| kEplApiEventCriticalError = 0x12, // m_InternalError, Stack halted |
| kEplApiEventWarning = 0x13, // m_InternalError, Stack running |
| kEplApiEventNode = 0x20, // m_Node |
| kEplApiEventBoot = 0x21, // m_Boot |
| kEplApiEventSdo = 0x62, // m_Sdo |
| kEplApiEventObdAccess = 0x69, // m_ObdCbParam |
| kEplApiEventLed = 0x70, // m_Led |
| |
| } tEplApiEventType; |
| |
| typedef union { |
| tEplEventNmtStateChange m_NmtStateChange; |
| tEplEventError m_InternalError; |
| tEplSdoComFinished m_Sdo; |
| tEplObdCbParam m_ObdCbParam; |
| tEplApiEventNode m_Node; |
| tEplApiEventBoot m_Boot; |
| tEplApiEventLed m_Led; |
| |
| } tEplApiEventArg; |
| |
| typedef tEplKernel(*tEplApiCbEvent) (tEplApiEventType EventType_p, // IN: event type (enum) |
| tEplApiEventArg *pEventArg_p, // IN: event argument (union) |
| void *pUserArg_p); |
| |
| typedef struct { |
| unsigned int m_uiSizeOfStruct; |
| BOOL m_fAsyncOnly; // do not need to register PRes |
| unsigned int m_uiNodeId; // local node ID |
| u8 m_abMacAddress[6]; // local MAC address |
| |
| // 0x1F82: NMT_FeatureFlags_U32 |
| u32 m_dwFeatureFlags; |
| // Cycle Length (0x1006: NMT_CycleLen_U32) in [us] |
| u32 m_dwCycleLen; // required for error detection |
| // 0x1F98: NMT_CycleTiming_REC |
| // 0x1F98.1: IsochrTxMaxPayload_U16 |
| unsigned int m_uiIsochrTxMaxPayload; // const |
| // 0x1F98.2: IsochrRxMaxPayload_U16 |
| unsigned int m_uiIsochrRxMaxPayload; // const |
| // 0x1F98.3: PResMaxLatency_U32 |
| u32 m_dwPresMaxLatency; // const in [ns], only required for IdentRes |
| // 0x1F98.4: PReqActPayloadLimit_U16 |
| unsigned int m_uiPreqActPayloadLimit; // required for initialisation (+28 bytes) |
| // 0x1F98.5: PResActPayloadLimit_U16 |
| unsigned int m_uiPresActPayloadLimit; // required for initialisation of Pres frame (+28 bytes) |
| // 0x1F98.6: ASndMaxLatency_U32 |
| u32 m_dwAsndMaxLatency; // const in [ns], only required for IdentRes |
| // 0x1F98.7: MultiplCycleCnt_U8 |
| unsigned int m_uiMultiplCycleCnt; // required for error detection |
| // 0x1F98.8: AsyncMTU_U16 |
| unsigned int m_uiAsyncMtu; // required to set up max frame size |
| // 0x1F98.9: Prescaler_U16 |
| unsigned int m_uiPrescaler; // required for sync |
| // $$$ Multiplexed Slot |
| |
| // 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns] |
| u32 m_dwLossOfFrameTolerance; |
| |
| // 0x1F8A: NMT_MNCycleTiming_REC |
| // 0x1F8A.1: WaitSoCPReq_U32 in [ns] |
| u32 m_dwWaitSocPreq; |
| |
| // 0x1F8A.2: AsyncSlotTimeout_U32 in [ns] |
| u32 m_dwAsyncSlotTimeout; |
| |
| u32 m_dwDeviceType; // NMT_DeviceType_U32 |
| u32 m_dwVendorId; // NMT_IdentityObject_REC.VendorId_U32 |
| u32 m_dwProductCode; // NMT_IdentityObject_REC.ProductCode_U32 |
| u32 m_dwRevisionNumber; // NMT_IdentityObject_REC.RevisionNo_U32 |
| u32 m_dwSerialNumber; // NMT_IdentityObject_REC.SerialNo_U32 |
| u64 m_qwVendorSpecificExt1; |
| u32 m_dwVerifyConfigurationDate; // CFM_VerifyConfiguration_REC.ConfDate_U32 |
| u32 m_dwVerifyConfigurationTime; // CFM_VerifyConfiguration_REC.ConfTime_U32 |
| u32 m_dwApplicationSwDate; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device |
| u32 m_dwApplicationSwTime; // PDL_LocVerApplSw_REC.ApplSwTime_U32 on programmable device or time portion of NMT_ManufactSwVers_VS on non-programmable device |
| u32 m_dwIpAddress; |
| u32 m_dwSubnetMask; |
| u32 m_dwDefaultGateway; |
| u8 m_sHostname[32]; |
| u8 m_abVendorSpecificExt2[48]; |
| |
| char *m_pszDevName; // NMT_ManufactDevName_VS (0x1008/0 local OD) |
| char *m_pszHwVersion; // NMT_ManufactHwVers_VS (0x1009/0 local OD) |
| char *m_pszSwVersion; // NMT_ManufactSwVers_VS (0x100A/0 local OD) |
| |
| tEplApiCbEvent m_pfnCbEvent; |
| void *m_pEventUserArg; |
| tEplSyncCb m_pfnCbSync; |
| |
| } tEplApiInitParam; |
| |
| typedef struct { |
| void *m_pImage; |
| unsigned int m_uiSize; |
| |
| } tEplApiProcessImage; |
| |
| //--------------------------------------------------------------------------- |
| // function prototypes |
| //--------------------------------------------------------------------------- |
| |
| tEplKernel EplApiInitialize(tEplApiInitParam *pInitParam_p); |
| |
| tEplKernel EplApiShutdown(void); |
| |
| tEplKernel EplApiReadObject(tEplSdoComConHdl *pSdoComConHdl_p, |
| unsigned int uiNodeId_p, |
| unsigned int uiIndex_p, |
| unsigned int uiSubindex_p, |
| void *pDstData_le_p, |
| unsigned int *puiSize_p, |
| tEplSdoType SdoType_p, void *pUserArg_p); |
| |
| tEplKernel EplApiWriteObject(tEplSdoComConHdl *pSdoComConHdl_p, |
| unsigned int uiNodeId_p, |
| unsigned int uiIndex_p, |
| unsigned int uiSubindex_p, |
| void *pSrcData_le_p, |
| unsigned int uiSize_p, |
| tEplSdoType SdoType_p, void *pUserArg_p); |
| |
| tEplKernel EplApiFreeSdoChannel(tEplSdoComConHdl SdoComConHdl_p); |
| |
| tEplKernel EplApiReadLocalObject(unsigned int uiIndex_p, |
| unsigned int uiSubindex_p, |
| void *pDstData_p, |
| unsigned int *puiSize_p); |
| |
| tEplKernel EplApiWriteLocalObject(unsigned int uiIndex_p, |
| unsigned int uiSubindex_p, |
| void *pSrcData_p, |
| unsigned int uiSize_p); |
| |
| tEplKernel EplApiCbObdAccess(tEplObdCbParam *pParam_p); |
| |
| tEplKernel EplApiLinkObject(unsigned int uiObjIndex_p, |
| void *pVar_p, |
| unsigned int *puiVarEntries_p, |
| tEplObdSize *pEntrySize_p, |
| unsigned int uiFirstSubindex_p); |
| |
| tEplKernel EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p); |
| |
| tEplKernel EplApiProcess(void); |
| |
| #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) |
| tEplKernel EplApiMnTriggerStateChange(unsigned int uiNodeId_p, |
| tEplNmtNodeCommand NodeCommand_p); |
| #endif |
| |
| tEplKernel EplApiGetIdentResponse(unsigned int uiNodeId_p, |
| tEplIdentResponse **ppIdentResponse_p); |
| |
| // functions for process image will be implemented in separate file |
| tEplKernel EplApiProcessImageSetup(void); |
| tEplKernel EplApiProcessImageExchangeIn(tEplApiProcessImage *pPI_p); |
| tEplKernel EplApiProcessImageExchangeOut(tEplApiProcessImage *pPI_p); |
| |
| #endif // #ifndef _EPL_API_H_ |
