drivers/staging/epl/EplSdoAsndu.c - kernel/windcharger - Git at Google

 /****************************************************************************

   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
       www.systec-electronic.com

   Project:      openPOWERLINK

   Description:  source file for SDO/Asnd-Protocolabstractionlayer 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: EplSdoAsndu.c,v $

                 $Author: D.Krueger $

                 $Revision: 1.7 $  $Date: 2008/10/17 15:32:32 $

                 $State: Exp $

                 Build Environment:
                     GCC V3.4

   -------------------------------------------------------------------------

   Revision History:

   2006/07/07 k.t.:   start of the implementation

 ****************************************************************************/

 #include "user/EplSdoAsndu.h"
 #include "user/EplDlluCal.h"

 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)

 /***************************************************************************/
 /*                                                                         */
 /*                                                                         */
 /*          G L O B A L   D E F I N I T I O N S                            */
 /*                                                                         */
 /*                                                                         */
 /***************************************************************************/

 //---------------------------------------------------------------------------
 // const defines
 //---------------------------------------------------------------------------

 #ifndef EPL_SDO_MAX_CONNECTION_ASND
 #define EPL_SDO_MAX_CONNECTION_ASND 5
 #endif

 //---------------------------------------------------------------------------
 // local types
 //---------------------------------------------------------------------------

 // instance table
 typedef struct {
 	unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
 	tEplSequLayerReceiveCb m_fpSdoAsySeqCb;

 } tEplSdoAsndInstance;

 //---------------------------------------------------------------------------
 // modul globale vars
 //---------------------------------------------------------------------------

 static tEplSdoAsndInstance SdoAsndInstance_g;

 //---------------------------------------------------------------------------
 // local function prototypes
 //---------------------------------------------------------------------------

 tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p);

 /***************************************************************************/
 /*                                                                         */
 /*                                                                         */
 /*          C L A S S  <EPL SDO-Asnd Protocolabstraction layer>            */
 /*                                                                         */
 /*                                                                         */
 /***************************************************************************/
 //
 // Description: EPL SDO-Asnd Protocolabstraction layer
 //
 //
 /***************************************************************************/

 //=========================================================================//
 //                                                                         //
 //          P U B L I C   F U N C T I O N S                                //
 //                                                                         //
 //=========================================================================//

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduInit
 //
 // Description: init first instance of the module
 //
 //
 //
 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 //                                  callback-function
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 {
 	tEplKernel Ret;

 	Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);

 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduAddInstance
 //
 // Description: init additional instance of the module
 //
 //
 //
 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 //                                  callback-function
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 {
 	tEplKernel Ret;

 	Ret = kEplSuccessful;

 	// init control structure
 	EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));

 	// save pointer to callback-function
 	if (fpReceiveCb_p != NULL) {
 		SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 	} else {
 		Ret = kEplSdoUdpMissCb;
 	}

 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 	Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
 				       EplSdoAsnduCb, kEplDllAsndFilterLocal);
 #endif

 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduDelInstance
 //
 // Description: del instance of the module
 //              del socket and del Listen-Thread
 //
 //
 //
 // Parameters:
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduDelInstance(void)
 {
 	tEplKernel Ret;

 	Ret = kEplSuccessful;

 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 	// deregister callback function from DLL
 	Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
 				       NULL, kEplDllAsndFilterNone);
 #endif

 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduInitCon
 //
 // Description: init a new connect
 //
 //
 //
 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 //              uiTargetNodeId_p = NodeId of the target node
 //
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduInitCon(tEplSdoConHdl *pSdoConHandle_p,
 			      unsigned int uiTargetNodeId_p)
 {
 	tEplKernel Ret;
 	unsigned int uiCount;
 	unsigned int uiFreeCon;
 	unsigned int *puiConnection;

 	Ret = kEplSuccessful;

 	if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
 	    || (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
 		Ret = kEplSdoAsndInvalidNodeId;
 		goto Exit;
 	}
 	// get free entry in control structure
 	uiCount = 0;
 	uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
 	puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
 	while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
 		if (*puiConnection == uiTargetNodeId_p) {	// existing connection to target node found
 			// save handle for higher layer
 			*pSdoConHandle_p = (uiCount | EPL_SDO_ASND_HANDLE);

 			goto Exit;
 		} else if (*puiConnection == 0) {	// free entry-> save target nodeId
 			uiFreeCon = uiCount;
 		}
 		uiCount++;
 		puiConnection++;
 	}

 	if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) {
 		// no free connection
 		Ret = kEplSdoAsndNoFreeHandle;
 	} else {
 		puiConnection =
 		    &SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
 		*puiConnection = uiTargetNodeId_p;
 		// save handle for higher layer
 		*pSdoConHandle_p = (uiFreeCon | EPL_SDO_ASND_HANDLE);

 		goto Exit;
 	}

       Exit:
 	return Ret;
 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduSendData
 //
 // Description: send data using exisiting connection
 //
 //
 //
 // Parameters:  SdoConHandle_p  = connection handle
 //              pSrcData_p      = pointer to data
 //              dwDataSize_p    = number of databyte
 //                                  -> without asnd-header!!!
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
 			       tEplFrame *pSrcData_p,
 			       u32 dwDataSize_p)
 {
 	tEplKernel Ret;
 	unsigned int uiArray;
 	tEplFrameInfo FrameInfo;

 	Ret = kEplSuccessful;

 	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);

 	if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
 		Ret = kEplSdoAsndInvalidHandle;
 		goto Exit;
 	}
 	// fillout Asnd header
 	// own node id not needed -> filled by DLL

 	// set message type
 	AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (u8) kEplMsgTypeAsnd);	// ASnd == 0x06
 	// target node id
 	AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId,
 		       (u8) SdoAsndInstance_g.
 		       m_auiSdoAsndConnection[uiArray]);
 	// set source-nodeid (filled by DLL 0)
 	AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);

 	// calc size
 	dwDataSize_p += EPL_ASND_HEADER_SIZE;

 	// send function of DLL
 	FrameInfo.m_uiFrameSize = dwDataSize_p;
 	FrameInfo.m_pFrame = pSrcData_p;
 	EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime));
 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 	Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
 #endif

       Exit:
 	return Ret;

 }

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduDelCon
 //
 // Description: delete connection from intern structure
 //
 //
 //
 // Parameters:  SdoConHandle_p  = connection handle
 //
 // Returns:     tEplKernel  = Errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
 {
 	tEplKernel Ret;
 	unsigned int uiArray;

 	Ret = kEplSuccessful;

 	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 	// check parameter
 	if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
 		Ret = kEplSdoAsndInvalidHandle;
 		goto Exit;
 	}
 	// set target nodeId to 0
 	SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;

       Exit:
 	return Ret;
 }

 //=========================================================================//
 //                                                                         //
 //          P R I V A T E   F U N C T I O N S                              //
 //                                                                         //
 //=========================================================================//

 //---------------------------------------------------------------------------
 //
 // Function:    EplSdoAsnduCb
 //
 // Description: callback function for SDO ASnd frames
 //
 //
 //
 // Parameters:      pFrameInfo_p = Frame with SDO payload
 //
 //
 // Returns:         tEplKernel = errorcode
 //
 //
 // State:
 //
 //---------------------------------------------------------------------------
 tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p)
 {
 	tEplKernel Ret = kEplSuccessful;
 	unsigned int uiCount;
 	unsigned int *puiConnection;
 	unsigned int uiNodeId;
 	unsigned int uiFreeEntry = 0xFFFF;
 	tEplSdoConHdl SdoConHdl;
 	tEplFrame *pFrame;

 	pFrame = pFrameInfo_p->m_pFrame;

 	uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);

 	// search corresponding entry in control structure
 	uiCount = 0;
 	puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
 	while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
 		if (uiNodeId == *puiConnection) {
 			break;
 		} else if ((*puiConnection == 0)
 			   && (uiFreeEntry == 0xFFFF)) {	// free entry
 			uiFreeEntry = uiCount;
 		}
 		uiCount++;
 		puiConnection++;
 	}

 	if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) {
 		if (uiFreeEntry != 0xFFFF) {
 			puiConnection =
 			    &SdoAsndInstance_g.
 			    m_auiSdoAsndConnection[uiFreeEntry];
 			*puiConnection = uiNodeId;
 			uiCount = uiFreeEntry;
 		} else {
 			EPL_DBGLVL_SDO_TRACE0
 			    ("EplSdoAsnduCb(): no free handle\n");
 			goto Exit;
 		}
 	}
 //    if (uiNodeId == *puiConnection)
 	{			// entry found or created
 		SdoConHdl = (uiCount | EPL_SDO_ASND_HANDLE);

 		SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl,
 						  &pFrame->m_Data.m_Asnd.
 						  m_Payload.m_SdoSequenceFrame,
 						  (pFrameInfo_p->m_uiFrameSize -
 						   18));
 	}

       Exit:
 	return Ret;

 }

 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
 // EOF
	/****************************************************************************

	(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
	www.systec-electronic.com

	Project: openPOWERLINK

	Description: source file for SDO/Asnd-Protocolabstractionlayer 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: EplSdoAsndu.c,v $

	$Author: D.Krueger $

	$Revision: 1.7 $ $Date: 2008/10/17 15:32:32 $

	$State: Exp $

	Build Environment:
	GCC V3.4

	-------------------------------------------------------------------------

	Revision History:

	2006/07/07 k.t.: start of the implementation

	****************************************************************************/

	#include "user/EplSdoAsndu.h"
	#include "user/EplDlluCal.h"

	#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)

	/***************************************************************************/
	/* */
	/* */
	/* G L O B A L D E F I N I T I O N S */
	/* */
	/* */
	/***************************************************************************/

	//---------------------------------------------------------------------------
	// const defines
	//---------------------------------------------------------------------------

	#ifndef EPL_SDO_MAX_CONNECTION_ASND
	#define EPL_SDO_MAX_CONNECTION_ASND 5
	#endif

	//---------------------------------------------------------------------------
	// local types
	//---------------------------------------------------------------------------

	// instance table
	typedef struct {
	unsigned int m_auiSdoAsndConnection[EPL_SDO_MAX_CONNECTION_ASND];
	tEplSequLayerReceiveCb m_fpSdoAsySeqCb;

	} tEplSdoAsndInstance;

	//---------------------------------------------------------------------------
	// modul globale vars
	//---------------------------------------------------------------------------

	static tEplSdoAsndInstance SdoAsndInstance_g;

	//---------------------------------------------------------------------------
	// local function prototypes
	//---------------------------------------------------------------------------

	tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p);

	/***************************************************************************/
	/* */
	/* */
	/* C L A S S <EPL SDO-Asnd Protocolabstraction layer> */
	/* */
	/* */
	/***************************************************************************/
	//
	// Description: EPL SDO-Asnd Protocolabstraction layer
	//
	//
	/***************************************************************************/

	//=========================================================================//
	// //
	// P U B L I C F U N C T I O N S //
	// //
	//=========================================================================//

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduInit
	//
	// Description: init first instance of the module
	//
	//
	//
	// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
	// callback-function
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduInit(tEplSequLayerReceiveCb fpReceiveCb_p)
	{
	tEplKernel Ret;

	Ret = EplSdoAsnduAddInstance(fpReceiveCb_p);

	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduAddInstance
	//
	// Description: init additional instance of the module
	//
	//
	//
	// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer
	// callback-function
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
	{
	tEplKernel Ret;

	Ret = kEplSuccessful;

	// init control structure
	EPL_MEMSET(&SdoAsndInstance_g, 0x00, sizeof(SdoAsndInstance_g));

	// save pointer to callback-function
	if (fpReceiveCb_p != NULL) {
	SdoAsndInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
	} else {
	Ret = kEplSdoUdpMissCb;
	}

	#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
	Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
	EplSdoAsnduCb, kEplDllAsndFilterLocal);
	#endif

	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduDelInstance
	//
	// Description: del instance of the module
	// del socket and del Listen-Thread
	//
	//
	//
	// Parameters:
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduDelInstance(void)
	{
	tEplKernel Ret;

	Ret = kEplSuccessful;

	#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
	// deregister callback function from DLL
	Ret = EplDlluCalRegAsndService(kEplDllAsndSdo,
	NULL, kEplDllAsndFilterNone);
	#endif

	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduInitCon
	//
	// Description: init a new connect
	//
	//
	//
	// Parameters: pSdoConHandle_p = pointer for the new connection handle
	// uiTargetNodeId_p = NodeId of the target node
	//
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduInitCon(tEplSdoConHdl *pSdoConHandle_p,
	unsigned int uiTargetNodeId_p)
	{
	tEplKernel Ret;
	unsigned int uiCount;
	unsigned int uiFreeCon;
	unsigned int *puiConnection;

	Ret = kEplSuccessful;

	if ((uiTargetNodeId_p == EPL_C_ADR_INVALID)
	\|\| (uiTargetNodeId_p >= EPL_C_ADR_BROADCAST)) {
	Ret = kEplSdoAsndInvalidNodeId;
	goto Exit;
	}
	// get free entry in control structure
	uiCount = 0;
	uiFreeCon = EPL_SDO_MAX_CONNECTION_ASND;
	puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
	while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
	if (*puiConnection == uiTargetNodeId_p) { // existing connection to target node found
	// save handle for higher layer
	*pSdoConHandle_p = (uiCount \| EPL_SDO_ASND_HANDLE);

	goto Exit;
	} else if (*puiConnection == 0) { // free entry-> save target nodeId
	uiFreeCon = uiCount;
	}
	uiCount++;
	puiConnection++;
	}

	if (uiFreeCon == EPL_SDO_MAX_CONNECTION_ASND) {
	// no free connection
	Ret = kEplSdoAsndNoFreeHandle;
	} else {
	puiConnection =
	&SdoAsndInstance_g.m_auiSdoAsndConnection[uiFreeCon];
	*puiConnection = uiTargetNodeId_p;
	// save handle for higher layer
	*pSdoConHandle_p = (uiFreeCon \| EPL_SDO_ASND_HANDLE);

	goto Exit;
	}

	Exit:
	return Ret;
	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduSendData
	//
	// Description: send data using exisiting connection
	//
	//
	//
	// Parameters: SdoConHandle_p = connection handle
	// pSrcData_p = pointer to data
	// dwDataSize_p = number of databyte
	// -> without asnd-header!!!
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduSendData(tEplSdoConHdl SdoConHandle_p,
	tEplFrame *pSrcData_p,
	u32 dwDataSize_p)
	{
	tEplKernel Ret;
	unsigned int uiArray;
	tEplFrameInfo FrameInfo;

	Ret = kEplSuccessful;

	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);

	if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
	Ret = kEplSdoAsndInvalidHandle;
	goto Exit;
	}
	// fillout Asnd header
	// own node id not needed -> filled by DLL

	// set message type
	AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, (u8) kEplMsgTypeAsnd); // ASnd == 0x06
	// target node id
	AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId,
	(u8) SdoAsndInstance_g.
	m_auiSdoAsndConnection[uiArray]);
	// set source-nodeid (filled by DLL 0)
	AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);

	// calc size
	dwDataSize_p += EPL_ASND_HEADER_SIZE;

	// send function of DLL
	FrameInfo.m_uiFrameSize = dwDataSize_p;
	FrameInfo.m_pFrame = pSrcData_p;
	EPL_MEMSET(&FrameInfo.m_NetTime, 0x00, sizeof(tEplNetTime));
	#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
	Ret = EplDlluCalAsyncSend(&FrameInfo, kEplDllAsyncReqPrioGeneric);
	#endif

	Exit:
	return Ret;

	}

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduDelCon
	//
	// Description: delete connection from intern structure
	//
	//
	//
	// Parameters: SdoConHandle_p = connection handle
	//
	// Returns: tEplKernel = Errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduDelCon(tEplSdoConHdl SdoConHandle_p)
	{
	tEplKernel Ret;
	unsigned int uiArray;

	Ret = kEplSuccessful;

	uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
	// check parameter
	if (uiArray > EPL_SDO_MAX_CONNECTION_ASND) {
	Ret = kEplSdoAsndInvalidHandle;
	goto Exit;
	}
	// set target nodeId to 0
	SdoAsndInstance_g.m_auiSdoAsndConnection[uiArray] = 0;

	Exit:
	return Ret;
	}

	//=========================================================================//
	// //
	// P R I V A T E F U N C T I O N S //
	// //
	//=========================================================================//

	//---------------------------------------------------------------------------
	//
	// Function: EplSdoAsnduCb
	//
	// Description: callback function for SDO ASnd frames
	//
	//
	//
	// Parameters: pFrameInfo_p = Frame with SDO payload
	//
	//
	// Returns: tEplKernel = errorcode
	//
	//
	// State:
	//
	//---------------------------------------------------------------------------
	tEplKernel EplSdoAsnduCb(tEplFrameInfo *pFrameInfo_p)
	{
	tEplKernel Ret = kEplSuccessful;
	unsigned int uiCount;
	unsigned int *puiConnection;
	unsigned int uiNodeId;
	unsigned int uiFreeEntry = 0xFFFF;
	tEplSdoConHdl SdoConHdl;
	tEplFrame *pFrame;

	pFrame = pFrameInfo_p->m_pFrame;

	uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bSrcNodeId);

	// search corresponding entry in control structure
	uiCount = 0;
	puiConnection = &SdoAsndInstance_g.m_auiSdoAsndConnection[0];
	while (uiCount < EPL_SDO_MAX_CONNECTION_ASND) {
	if (uiNodeId == *puiConnection) {
	break;
	} else if ((*puiConnection == 0)
	&& (uiFreeEntry == 0xFFFF)) { // free entry
	uiFreeEntry = uiCount;
	}
	uiCount++;
	puiConnection++;
	}

	if (uiCount == EPL_SDO_MAX_CONNECTION_ASND) {
	if (uiFreeEntry != 0xFFFF) {
	puiConnection =
	&SdoAsndInstance_g.
	m_auiSdoAsndConnection[uiFreeEntry];
	*puiConnection = uiNodeId;
	uiCount = uiFreeEntry;
	} else {
	EPL_DBGLVL_SDO_TRACE0
	("EplSdoAsnduCb(): no free handle\n");
	goto Exit;
	}
	}
	// if (uiNodeId == *puiConnection)
	{ // entry found or created
	SdoConHdl = (uiCount \| EPL_SDO_ASND_HANDLE);

	SdoAsndInstance_g.m_fpSdoAsySeqCb(SdoConHdl,
	&pFrame->m_Data.m_Asnd.
	m_Payload.m_SdoSequenceFrame,
	(pFrameInfo_p->m_uiFrameSize -
	18));
	}

	Exit:
	return Ret;

	}

	#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0)
	// EOF