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authorDaniel Krueger <daniel.krueger@systec-electronic.com>2008-12-19 14:41:57 -0500
committerGreg Kroah-Hartman <gregkh@suse.de>2009-01-06 16:52:36 -0500
commit9d7164cfdb611c2f864d535ae5794f23db3d84f7 (patch)
tree046847f7d6432f1f3dc8236f62492503f4c9ebdc /drivers/staging/epl/EplNmtk.c
parent37bcd24b845abbfd85c838ee9ce07c2b254d3a05 (diff)
Staging: add epl stack
This is the openPOWERLINK network stack from systec electronic. It's a bit messed up as there is a driver mixed into the middle of it, lots of work needs to be done to unwind the different portions to make it sane. Cc: Daniel Krueger <daniel.krueger@systec-electronic.com> Cc: Ronald Sieber <Ronald.Sieber@systec-electronic.com> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
Diffstat (limited to 'drivers/staging/epl/EplNmtk.c')
-rw-r--r--drivers/staging/epl/EplNmtk.c1750
1 files changed, 1750 insertions, 0 deletions
diff --git a/drivers/staging/epl/EplNmtk.c b/drivers/staging/epl/EplNmtk.c
new file mode 100644
index 00000000000..8bfa59a7e32
--- /dev/null
+++ b/drivers/staging/epl/EplNmtk.c
@@ -0,0 +1,1750 @@
1/****************************************************************************
2
3 (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
4 www.systec-electronic.com
5
6 Project: openPOWERLINK
7
8 Description: source file for NMT-Kernelspace-Module
9
10 License:
11
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions
14 are met:
15
16 1. Redistributions of source code must retain the above copyright
17 notice, this list of conditions and the following disclaimer.
18
19 2. Redistributions in binary form must reproduce the above copyright
20 notice, this list of conditions and the following disclaimer in the
21 documentation and/or other materials provided with the distribution.
22
23 3. Neither the name of SYSTEC electronic GmbH nor the names of its
24 contributors may be used to endorse or promote products derived
25 from this software without prior written permission. For written
26 permission, please contact info@systec-electronic.com.
27
28 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
29 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
30 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
31 FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
32 COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
33 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
34 BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
35 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
36 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
37 LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
38 ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
39 POSSIBILITY OF SUCH DAMAGE.
40
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
47 2. the validity or enforceability in other jurisdictions of that or
48 any other provision of this License.
49
50 -------------------------------------------------------------------------
51
52 $RCSfile: EplNmtk.c,v $
53
54 $Author: D.Krueger $
55
56 $Revision: 1.12 $ $Date: 2008/11/13 17:13:09 $
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 "kernel/EplNmtk.h"
72#include "kernel/EplTimerk.h"
73
74#include "kernel/EplDllk.h" // for EplDllkProcess()
75
76#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
77/***************************************************************************/
78/* */
79/* */
80/* G L O B A L D E F I N I T I O N S */
81/* */
82/* */
83/***************************************************************************/
84
85//---------------------------------------------------------------------------
86// const defines
87//---------------------------------------------------------------------------
88
89// TracePoint support for realtime-debugging
90#ifdef _DBG_TRACE_POINTS_
91 void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p);
92 void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p);
93 #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
94 #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
95#else
96 #define TGT_DBG_SIGNAL_TRACE_POINT(p)
97 #define TGT_DBG_POST_TRACE_VALUE(v)
98#endif
99#define EPL_NMTK_DBG_POST_TRACE_VALUE(NmtEvent_p, OldNmtState_p, NewNmtState_p) \
100 TGT_DBG_POST_TRACE_VALUE((kEplEventSinkNmtk << 28) | (NmtEvent_p << 16) \
101 | ((OldNmtState_p & 0xFF) << 8) \
102 | (NewNmtState_p & 0xFF))
103
104
105//---------------------------------------------------------------------------
106// local types
107//---------------------------------------------------------------------------
108// struct for instance table
109INSTANCE_TYPE_BEGIN
110
111 EPL_MCO_DECL_INSTANCE_MEMBER ()
112
113 STATIC volatile tEplNmtState INST_FAR m_NmtState;
114 STATIC volatile BOOL INST_FAR m_fEnableReadyToOperate;
115 STATIC volatile BOOL INST_FAR m_fAppReadyToOperate;
116 STATIC volatile BOOL INST_FAR m_fTimerMsPreOp2;
117 STATIC volatile BOOL INST_FAR m_fAllMandatoryCNIdent;
118 STATIC volatile BOOL INST_FAR m_fFrozen;
119
120INSTANCE_TYPE_END
121//---------------------------------------------------------------------------
122// modul globale vars
123//---------------------------------------------------------------------------
124// This macro replace the unspecific pointer to an instance through
125// the modul specific type for the local instance table. This macro
126// must defined in each modul.
127//#define tEplPtrInstance tEplInstanceInfo MEM*
128
129EPL_MCO_DECL_INSTANCE_VAR ()
130
131//---------------------------------------------------------------------------
132// local function prototypes
133//---------------------------------------------------------------------------
134EPL_MCO_DEFINE_INSTANCE_FCT ()
135
136
137/***************************************************************************/
138/* */
139/* */
140/* C L A S S <NMT_Kernel-Module> */
141/* */
142/* */
143/***************************************************************************/
144//
145// Description: This module realize the NMT-State-Machine of the EPL-Stack
146//
147//
148/***************************************************************************/
149//=========================================================================//
150// //
151// P U B L I C F U N C T I O N S //
152// //
153//=========================================================================//
154//---------------------------------------------------------------------------
155//
156// Function: EplNmtkInit
157//
158// Description: initializes the first instance
159//
160//
161//
162// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
163// uiNodeId_p = Node Id of the lokal node
164//
165//
166// Returns: tEplKernel = Errorcode
167//
168//
169// State:
170//
171//---------------------------------------------------------------------------
172EPLDLLEXPORT tEplKernel PUBLIC EplNmtkInit(EPL_MCO_DECL_PTR_INSTANCE_PTR)
173{
174tEplKernel Ret;
175
176 Ret = EplNmtkAddInstance (EPL_MCO_PTR_INSTANCE_PTR);
177
178 return Ret;
179}
180
181
182//---------------------------------------------------------------------------
183//
184// Function: EplNmtkAddInstance
185//
186// Description: adds a new instance
187//
188//
189//
190// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
191//
192//
193// Returns: tEplKernel = Errorcode
194//
195//
196// State:
197//
198//---------------------------------------------------------------------------
199EPLDLLEXPORT tEplKernel PUBLIC EplNmtkAddInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR)
200{
201EPL_MCO_DECL_INSTANCE_PTR_LOCAL
202tEplKernel Ret;
203//tEplEvent Event;
204//tEplEventNmtStateChange NmtStateChange;
205
206 // check if pointer to instance pointer valid
207 // get free instance and set the globale instance pointer
208 // set also the instance addr to parameterlist
209 EPL_MCO_CHECK_PTR_INSTANCE_PTR ();
210 EPL_MCO_GET_FREE_INSTANCE_PTR ();
211 EPL_MCO_SET_PTR_INSTANCE_PTR ();
212
213 // sign instance as used
214 EPL_MCO_WRITE_INSTANCE_STATE (kStateUsed);
215
216
217 Ret = kEplSuccessful;
218
219 // initialize intern vaiables
220 // 2006/07/31 d.k.: set NMT-State to kEplNmtGsOff
221 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
222 // set NMT-State to kEplNmtGsInitialising
223 //EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
224
225 // set flags to FALSE
226 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
227 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
228 EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = FALSE;
229 EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = FALSE;
230 EPL_MCO_GLB_VAR(m_fFrozen) = FALSE;
231
232// EPL_MCO_GLB_VAR(m_TimerHdl) = 0;
233
234 // inform higher layer about state change
235 // 2006/07/31 d.k.: The EPL API layer/application has to start NMT state
236 // machine via NmtEventSwReset after initialisation of
237 // all modules has been completed. DLL has to be initialised
238 // after NMTk because NMT state shall not be uninitialised
239 // at that time.
240/* NmtStateChange.m_NewNmtState = EPL_MCO_GLB_VAR(m_NmtState);
241 NmtStateChange.m_NmtEvent = kEplNmtEventNoEvent;
242 Event.m_EventSink = kEplEventSinkNmtu;
243 Event.m_EventType = kEplEventTypeNmtStateChange;
244 EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
245 Event.m_pArg = &NmtStateChange;
246 Event.m_uiSize = sizeof(NmtStateChange);
247 Ret = EplEventkPost(&Event);
248*/
249 return Ret;
250}
251
252
253//---------------------------------------------------------------------------
254//
255// Function: EplNmtkDelInstance
256//
257// Description: delete instance
258//
259//
260//
261// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
262//
263//
264// Returns: tEplKernel = Errorcode
265//
266//
267// State:
268//
269//---------------------------------------------------------------------------
270#if (EPL_USE_DELETEINST_FUNC != FALSE)
271EPLDLLEXPORT tEplKernel PUBLIC EplNmtkDelInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR)
272{
273tEplKernel Ret = kEplSuccessful;
274 // check for all API function if instance is valid
275 EPL_MCO_CHECK_INSTANCE_STATE ();
276
277 // set NMT-State to kEplNmtGsOff
278 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
279
280 // sign instance as unused
281 EPL_MCO_WRITE_INSTANCE_STATE (kStateUnused);
282
283 // delete timer
284// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
285
286 return Ret;
287}
288#endif // (EPL_USE_DELETEINST_FUNC != FALSE)
289
290
291//---------------------------------------------------------------------------
292//
293// Function: EplNmtkProcess
294//
295// Description: main process function
296// -> process NMT-State-Maschine und read NMT-Events from Queue
297//
298//
299//
300// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR_ = Instance pointer
301// pEvent_p = Epl-Event with NMT-event to process
302//
303//
304// Returns: tEplKernel = Errorcode
305//
306//
307// State:
308//
309//---------------------------------------------------------------------------
310EPLDLLEXPORT tEplKernel PUBLIC EplNmtkProcess(EPL_MCO_DECL_PTR_INSTANCE_PTR_
311 tEplEvent* pEvent_p)
312{
313tEplKernel Ret;
314tEplNmtState OldNmtState;
315tEplNmtEvent NmtEvent;
316tEplEvent Event;
317tEplEventNmtStateChange NmtStateChange;
318
319 // check for all API function if instance is valid
320 EPL_MCO_CHECK_INSTANCE_STATE ();
321
322 Ret = kEplSuccessful;
323
324 switch(pEvent_p->m_EventType)
325 {
326 case kEplEventTypeNmtEvent:
327 {
328 NmtEvent = *((tEplNmtEvent*)pEvent_p->m_pArg);
329 break;
330 }
331
332 case kEplEventTypeTimer:
333 {
334 NmtEvent = (tEplNmtEvent)((tEplTimerEventArg*)pEvent_p->m_pArg)->m_ulArg;
335 break;
336 }
337 default:
338 {
339 Ret = kEplNmtInvalidEvent;
340 goto Exit;
341 }
342 }
343
344 // save NMT-State
345 // needed for later comparison to
346 // inform hgher layer about state change
347 OldNmtState = EPL_MCO_GLB_VAR(m_NmtState);
348
349 // NMT-State-Maschine
350 switch(EPL_MCO_GLB_VAR(m_NmtState))
351 {
352 //-----------------------------------------------------------
353 // general part of the statemaschine
354
355 // first init of the hardware
356 case kEplNmtGsOff:
357 {
358 // leave this state only if higher layer says so
359 if(NmtEvent == kEplNmtEventSwReset)
360 { // new state kEplNmtGsInitialising
361 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
362 }
363 break;
364 }
365
366 // first init of the hardware
367 case kEplNmtGsInitialising:
368 {
369 // leave this state only if higher layer says so
370
371 // check events
372 switch(NmtEvent)
373 {
374 // 2006/07/31 d.k.: react also on NMT reset commands in ResetApp state
375 // NMT Command SwitchOff
376 case kEplNmtEventCriticalError:
377 case kEplNmtEventSwitchOff:
378 {
379 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
380 break;
381 }
382
383 // new state kEplNmtGsResetApplication
384 case kEplNmtEventEnterResetApp:
385 {
386 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
387 break;
388 }
389
390 default:
391 {
392 break;
393 }
394 }
395 break;
396 }
397
398 // init of the manufacturer-specific profile area and the
399 // standardised device profile area
400 case kEplNmtGsResetApplication:
401 {
402 // check events
403 switch(NmtEvent)
404 {
405 // 2006/07/31 d.k.: react also on NMT reset commands in ResetApp state
406 // NMT Command SwitchOff
407 case kEplNmtEventCriticalError:
408 case kEplNmtEventSwitchOff:
409 {
410 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
411 break;
412 }
413
414 // NMT Command SwReset
415 case kEplNmtEventSwReset:
416 {
417 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
418 break;
419 }
420
421 // leave this state only if higher layer
422 // say so
423 case kEplNmtEventEnterResetCom:
424 {
425 // new state kEplNmtGsResetCommunication
426 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
427 break;
428 }
429
430 default:
431 {
432 break;
433 }
434 }
435 break;
436 }
437
438 // init of the communication profile area
439 case kEplNmtGsResetCommunication:
440 {
441 // check events
442 switch(NmtEvent)
443 {
444 // 2006/07/31 d.k.: react also on NMT reset commands in ResetComm state
445 // NMT Command SwitchOff
446 case kEplNmtEventCriticalError:
447 case kEplNmtEventSwitchOff:
448 {
449 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
450 break;
451 }
452
453 // NMT Command SwReset
454 case kEplNmtEventSwReset:
455 {
456 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
457 break;
458 }
459
460 // NMT Command ResetNode
461 case kEplNmtEventResetNode:
462 {
463 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
464 break;
465 }
466
467 // leave this state only if higher layer
468 // say so
469 case kEplNmtEventEnterResetConfig:
470 {
471 // new state kEplNmtGsResetCommunication
472 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
473 break;
474 }
475
476 default:
477 {
478 break;
479 }
480 }
481 break;
482 }
483
484 // build the configuration with infos from OD
485 case kEplNmtGsResetConfiguration:
486 {
487 // reset flags
488 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
489 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
490 EPL_MCO_GLB_VAR(m_fFrozen) = FALSE;
491
492 // check events
493 switch(NmtEvent)
494 {
495 // 2006/07/31 d.k.: react also on NMT reset commands in ResetConf state
496 // NMT Command SwitchOff
497 case kEplNmtEventCriticalError:
498 case kEplNmtEventSwitchOff:
499 {
500 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
501 break;
502 }
503
504 // NMT Command SwReset
505 case kEplNmtEventSwReset:
506 {
507 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
508 break;
509 }
510
511 // NMT Command ResetNode
512 case kEplNmtEventResetNode:
513 {
514 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
515 break;
516 }
517
518 // NMT Command ResetCommunication
519 case kEplNmtEventResetCom:
520 {
521 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
522 break;
523 }
524
525 // leave this state only if higher layer says so
526 case kEplNmtEventEnterCsNotActive:
527 { // Node should be CN
528 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsNotActive;
529 break;
530
531 }
532
533 case kEplNmtEventEnterMsNotActive:
534 { // Node should be CN
535 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
536 // no MN functionality
537 // TODO: -create error E_NMT_BA1_NO_MN_SUPPORT
538 EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
539 #else
540
541 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsNotActive;
542 #endif
543 break;
544
545 }
546
547 default:
548 {
549 break;
550 }
551 }
552 break;
553 }
554
555 //-----------------------------------------------------------
556 // CN part of the statemaschine
557
558 // node liste for EPL-Frames and check timeout
559 case kEplNmtCsNotActive:
560 {
561
562 // check events
563 switch(NmtEvent)
564 {
565 // 2006/07/31 d.k.: react also on NMT reset commands in NotActive state
566 // NMT Command SwitchOff
567 case kEplNmtEventCriticalError:
568 case kEplNmtEventSwitchOff:
569 {
570 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
571 break;
572 }
573
574 // NMT Command SwReset
575 case kEplNmtEventSwReset:
576 {
577 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
578// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
579 break;
580 }
581
582 // NMT Command ResetNode
583 case kEplNmtEventResetNode:
584 {
585 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
586// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
587 break;
588 }
589
590 // NMT Command ResetCommunication
591 // or internal Communication error
592 case kEplNmtEventResetCom:
593 case kEplNmtEventInternComError:
594 {
595 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
596// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
597 break;
598 }
599
600 // NMT Command Reset Configuration
601 case kEplNmtEventResetConfig:
602 {
603 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
604// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
605 break;
606 }
607
608 // see if SoA or SoC received
609 // k.t. 20.07.2006: only SoA forces change of state
610 // see EPL V2 DS 1.0.0 p.267
611 // case kEplNmtEventDllCeSoc:
612 case kEplNmtEventDllCeSoa:
613 { // new state PRE_OPERATIONAL1
614 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
615// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
616 break;
617 }
618 // timeout for SoA and Soc
619 case kEplNmtEventTimerBasicEthernet:
620 {
621 // new state BASIC_ETHERNET
622 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsBasicEthernet;
623 break;
624 }
625
626 default:
627 {
628 break;
629 }
630 }// end of switch(NmtEvent)
631
632 break;
633 }
634
635 // node processes only async frames
636 case kEplNmtCsPreOperational1:
637 {
638
639 // check events
640 switch(NmtEvent)
641 {
642 // NMT Command SwitchOff
643 case kEplNmtEventCriticalError:
644 case kEplNmtEventSwitchOff:
645 {
646 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
647 break;
648 }
649
650 // NMT Command SwReset
651 case kEplNmtEventSwReset:
652 {
653 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
654 break;
655 }
656
657 // NMT Command ResetNode
658 case kEplNmtEventResetNode:
659 {
660 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
661 break;
662 }
663
664 // NMT Command ResetCommunication
665 // or internal Communication error
666 case kEplNmtEventResetCom:
667 case kEplNmtEventInternComError:
668 {
669 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
670 break;
671 }
672
673 // NMT Command Reset Configuration
674 case kEplNmtEventResetConfig:
675 {
676 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
677 break;
678 }
679
680 // NMT Command StopNode
681 case kEplNmtEventStopNode:
682 {
683 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
684 break;
685 }
686
687 // check if SoC received
688 case kEplNmtEventDllCeSoc:
689 {
690 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational2;
691 break;
692 }
693
694 default:
695 {
696 break;
697 }
698
699 }// end of switch(NmtEvent)
700
701 break;
702 }
703
704 // node processes isochronous and asynchronous frames
705 case kEplNmtCsPreOperational2:
706 {
707 // check events
708 switch(NmtEvent)
709 {
710 // NMT Command SwitchOff
711 case kEplNmtEventCriticalError:
712 case kEplNmtEventSwitchOff:
713 {
714 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
715 break;
716 }
717
718 // NMT Command SwReset
719 case kEplNmtEventSwReset:
720 {
721 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
722 break;
723 }
724
725 // NMT Command ResetNode
726 case kEplNmtEventResetNode:
727 {
728 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
729 break;
730 }
731
732 // NMT Command ResetCommunication
733 // or internal Communication error
734 case kEplNmtEventResetCom:
735 case kEplNmtEventInternComError:
736 {
737 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
738 break;
739 }
740
741 // NMT Command Reset Configuration
742 case kEplNmtEventResetConfig:
743 {
744 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
745 break;
746 }
747
748 // NMT Command StopNode
749 case kEplNmtEventStopNode:
750 {
751 // reset flags
752 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
753 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
754 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
755 break;
756 }
757
758 // error occured
759 case kEplNmtEventNmtCycleError:
760 {
761 // reset flags
762 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
763 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
764 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
765 break;
766 }
767
768 // check if application is ready to operate
769 case kEplNmtEventEnterReadyToOperate:
770 {
771 // check if command NMTEnableReadyToOperate from MN was received
772 if(EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) == TRUE)
773 { // reset flags
774 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
775 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
776 // change state
777 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsReadyToOperate;
778 }
779 else
780 { // set Flag
781 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = TRUE;
782 }
783 break;
784 }
785
786 // NMT Commando EnableReadyToOperate
787 case kEplNmtEventEnableReadyToOperate:
788 {
789 // check if application is ready
790 if(EPL_MCO_GLB_VAR(m_fAppReadyToOperate) == TRUE)
791 { // reset flags
792 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
793 EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
794 // change state
795 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsReadyToOperate;
796 }
797 else
798 { // set Flag
799 EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = TRUE;
800 }
801 break;
802 }
803
804 default:
805 {
806 break;
807 }
808
809 }// end of switch(NmtEvent)
810 break;
811 }
812
813 // node should be configured und application is ready
814 case kEplNmtCsReadyToOperate:
815 {
816 // check events
817 switch(NmtEvent)
818 {
819 // NMT Command SwitchOff
820 case kEplNmtEventCriticalError:
821 case kEplNmtEventSwitchOff:
822 {
823 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
824 break;
825 }
826
827 // NMT Command SwReset
828 case kEplNmtEventSwReset:
829 {
830 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
831 break;
832 }
833
834 // NMT Command ResetNode
835 case kEplNmtEventResetNode:
836 {
837 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
838 break;
839 }
840
841 // NMT Command ResetCommunication
842 // or internal Communication error
843 case kEplNmtEventResetCom:
844 case kEplNmtEventInternComError:
845 {
846 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
847 break;
848 }
849
850 // NMT Command ResetConfiguration
851 case kEplNmtEventResetConfig:
852 {
853 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
854 break;
855 }
856
857 // NMT Command StopNode
858 case kEplNmtEventStopNode:
859 {
860 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
861 break;
862 }
863
864 // error occured
865 case kEplNmtEventNmtCycleError:
866 {
867 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
868 break;
869 }
870
871 // NMT Command StartNode
872 case kEplNmtEventStartNode:
873 {
874 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsOperational;
875 break;
876 }
877
878 default:
879 {
880 break;
881 }
882
883 }// end of switch(NmtEvent)
884 break;
885 }
886
887 // normal work state
888 case kEplNmtCsOperational:
889 {
890
891 // check events
892 switch(NmtEvent)
893 {
894 // NMT Command SwitchOff
895 case kEplNmtEventCriticalError:
896 case kEplNmtEventSwitchOff:
897 {
898 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
899 break;
900 }
901
902 // NMT Command SwReset
903 case kEplNmtEventSwReset:
904 {
905 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
906 break;
907 }
908
909 // NMT Command ResetNode
910 case kEplNmtEventResetNode:
911 {
912 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
913 break;
914 }
915
916 // NMT Command ResetCommunication
917 // or internal Communication error
918 case kEplNmtEventResetCom:
919 case kEplNmtEventInternComError:
920 {
921 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
922 break;
923 }
924
925 // NMT Command ResetConfiguration
926 case kEplNmtEventResetConfig:
927 {
928 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
929 break;
930 }
931
932 // NMT Command StopNode
933 case kEplNmtEventStopNode:
934 {
935 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsStopped;
936 break;
937 }
938
939 // NMT Command EnterPreOperational2
940 case kEplNmtEventEnterPreOperational2:
941 {
942 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational2;
943 break;
944 }
945
946 // error occured
947 case kEplNmtEventNmtCycleError:
948 {
949 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
950 break;
951 }
952
953 default:
954 {
955 break;
956 }
957
958 }// end of switch(NmtEvent)
959 break;
960 }
961
962 // node stopped by MN
963 // -> only process asynchronous frames
964 case kEplNmtCsStopped:
965 {
966 // check events
967 switch(NmtEvent)
968 {
969 // NMT Command SwitchOff
970 case kEplNmtEventCriticalError:
971 case kEplNmtEventSwitchOff:
972 {
973 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
974 break;
975 }
976
977 // NMT Command SwReset
978 case kEplNmtEventSwReset:
979 {
980 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
981 break;
982 }
983
984 // NMT Command ResetNode
985 case kEplNmtEventResetNode:
986 {
987 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
988 break;
989 }
990
991 // NMT Command ResetCommunication
992 // or internal Communication error
993 case kEplNmtEventResetCom:
994 case kEplNmtEventInternComError:
995 {
996 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
997 break;
998 }
999
1000 // NMT Command ResetConfiguration
1001 case kEplNmtEventResetConfig:
1002 {
1003 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1004 break;
1005 }
1006
1007 // NMT Command EnterPreOperational2
1008 case kEplNmtEventEnterPreOperational2:
1009 {
1010 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational2;
1011 break;
1012 }
1013
1014 // error occured
1015 case kEplNmtEventNmtCycleError:
1016 {
1017 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
1018 break;
1019 }
1020
1021 default:
1022 {
1023 break;
1024 }
1025
1026 }// end of switch(NmtEvent)
1027 break;
1028 }
1029
1030 // no epl cycle
1031 // -> normal ethernet communication
1032 case kEplNmtCsBasicEthernet:
1033 {
1034 // check events
1035 switch(NmtEvent)
1036 {
1037 // NMT Command SwitchOff
1038 case kEplNmtEventCriticalError:
1039 case kEplNmtEventSwitchOff:
1040 {
1041 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1042 break;
1043 }
1044
1045 // NMT Command SwReset
1046 case kEplNmtEventSwReset:
1047 {
1048 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1049 break;
1050 }
1051
1052 // NMT Command ResetNode
1053 case kEplNmtEventResetNode:
1054 {
1055 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1056 break;
1057 }
1058
1059 // NMT Command ResetCommunication
1060 // or internal Communication error
1061 case kEplNmtEventResetCom:
1062 case kEplNmtEventInternComError:
1063 {
1064 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1065 break;
1066 }
1067
1068 // NMT Command ResetConfiguration
1069 case kEplNmtEventResetConfig:
1070 {
1071 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1072 break;
1073 }
1074
1075 // error occured
1076 // d.k.: how does this error occur? on CRC errors
1077/* case kEplNmtEventNmtCycleError:
1078 {
1079 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
1080 break;
1081 }
1082*/
1083 case kEplNmtEventDllCeSoc:
1084 case kEplNmtEventDllCePreq:
1085 case kEplNmtEventDllCePres:
1086 case kEplNmtEventDllCeSoa:
1087 { // Epl-Frame on net -> stop any communication
1088 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
1089 break;
1090 }
1091
1092 default:
1093 {
1094 break;
1095 }
1096
1097 }// end of switch(NmtEvent)
1098
1099 break;
1100 }
1101
1102 //-----------------------------------------------------------
1103 // MN part of the statemaschine
1104
1105 // MN listen to network
1106 // -> if no EPL traffic go to next state
1107 case kEplNmtMsNotActive:
1108 {
1109 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
1110 // no MN functionality
1111 // TODO: -create error E_NMT_BA1_NO_MN_SUPPORT
1112 EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
1113 #else
1114
1115 // check events
1116 switch(NmtEvent)
1117 {
1118 // NMT Command SwitchOff
1119 case kEplNmtEventCriticalError:
1120 case kEplNmtEventSwitchOff:
1121 {
1122 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1123 break;
1124 }
1125
1126 // NMT Command SwReset
1127 case kEplNmtEventSwReset:
1128 {
1129 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1130 break;
1131 }
1132
1133 // NMT Command ResetNode
1134 case kEplNmtEventResetNode:
1135 {
1136 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1137 break;
1138 }
1139
1140 // NMT Command ResetCommunication
1141 // or internal Communication error
1142 case kEplNmtEventResetCom:
1143 case kEplNmtEventInternComError:
1144 {
1145 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1146 break;
1147 }
1148
1149 // NMT Command ResetConfiguration
1150 case kEplNmtEventResetConfig:
1151 {
1152 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1153 break;
1154 }
1155
1156 // EPL frames received
1157 case kEplNmtEventDllCeSoc:
1158 case kEplNmtEventDllCeSoa:
1159 { // other MN in network
1160 // $$$ d.k.: generate error history entry
1161 EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
1162 break;
1163 }
1164
1165 // timeout event
1166 case kEplNmtEventTimerBasicEthernet:
1167 {
1168 if (EPL_MCO_GLB_VAR(m_fFrozen) == FALSE)
1169 { // new state BasicEthernet
1170 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsBasicEthernet;
1171 }
1172 break;
1173 }
1174
1175 // timeout event
1176 case kEplNmtEventTimerMsPreOp1:
1177 {
1178 if (EPL_MCO_GLB_VAR(m_fFrozen) == FALSE)
1179 { // new state PreOp1
1180 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
1181 EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = FALSE;
1182 EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = FALSE;
1183
1184 }
1185 break;
1186 }
1187
1188 default:
1189 {
1190 break;
1191 }
1192
1193 }// end of switch(NmtEvent)
1194
1195 #endif // ((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
1196
1197 break;
1198 }
1199#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
1200 // MN process reduces epl cycle
1201 case kEplNmtMsPreOperational1:
1202 {
1203 // check events
1204 switch(NmtEvent)
1205 {
1206 // NMT Command SwitchOff
1207 case kEplNmtEventCriticalError:
1208 case kEplNmtEventSwitchOff:
1209 {
1210 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1211 break;
1212 }
1213
1214 // NMT Command SwReset
1215 case kEplNmtEventSwReset:
1216 {
1217 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1218 break;
1219 }
1220
1221 // NMT Command ResetNode
1222 case kEplNmtEventResetNode:
1223 {
1224 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1225 break;
1226 }
1227
1228 // NMT Command ResetCommunication
1229 // or internal Communication error
1230 case kEplNmtEventResetCom:
1231 case kEplNmtEventInternComError:
1232 {
1233 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1234 break;
1235 }
1236
1237 // NMT Command ResetConfiguration
1238 case kEplNmtEventResetConfig:
1239 {
1240 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1241 break;
1242 }
1243
1244 // EPL frames received
1245 case kEplNmtEventDllCeSoc:
1246 case kEplNmtEventDllCeSoa:
1247 { // other MN in network
1248 // $$$ d.k.: generate error history entry
1249 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1250 break;
1251 }
1252
1253 // error occured
1254 // d.k. MSPreOp1->CSPreOp1: nonsense -> keep state
1255 /*
1256 case kEplNmtEventNmtCycleError:
1257 {
1258 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
1259 break;
1260 }
1261 */
1262
1263 case kEplNmtEventAllMandatoryCNIdent:
1264 { // all mandatory CN identified
1265 if (EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) != FALSE)
1266 {
1267 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational2;
1268 }
1269 else
1270 {
1271 EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = TRUE;
1272 }
1273 break;
1274 }
1275
1276 case kEplNmtEventTimerMsPreOp2:
1277 { // residence time for PreOp1 is elapsed
1278 if (EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) != FALSE)
1279 {
1280 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational2;
1281 }
1282 else
1283 {
1284 EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = TRUE;
1285 }
1286 break;
1287 }
1288
1289 default:
1290 {
1291 break;
1292 }
1293
1294 }// end of switch(NmtEvent)
1295 break;
1296 }
1297
1298 // MN process full epl cycle
1299 case kEplNmtMsPreOperational2:
1300 {
1301 // check events
1302 switch(NmtEvent)
1303 {
1304 // NMT Command SwitchOff
1305 case kEplNmtEventCriticalError:
1306 case kEplNmtEventSwitchOff:
1307 {
1308 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1309 break;
1310 }
1311
1312 // NMT Command SwReset
1313 case kEplNmtEventSwReset:
1314 {
1315 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1316 break;
1317 }
1318
1319 // NMT Command ResetNode
1320 case kEplNmtEventResetNode:
1321 {
1322 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1323 break;
1324 }
1325
1326 // NMT Command ResetCommunication
1327 // or internal Communication error
1328 case kEplNmtEventResetCom:
1329 case kEplNmtEventInternComError:
1330 {
1331 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1332 break;
1333 }
1334
1335 // NMT Command ResetConfiguration
1336 case kEplNmtEventResetConfig:
1337 {
1338 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1339 break;
1340 }
1341
1342 // EPL frames received
1343 case kEplNmtEventDllCeSoc:
1344 case kEplNmtEventDllCeSoa:
1345 { // other MN in network
1346 // $$$ d.k.: generate error history entry
1347 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1348 break;
1349 }
1350
1351 // error occured
1352 case kEplNmtEventNmtCycleError:
1353 {
1354 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
1355 break;
1356 }
1357
1358 case kEplNmtEventEnterReadyToOperate:
1359 {
1360 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsReadyToOperate;
1361 break;
1362 }
1363
1364 default:
1365 {
1366 break;
1367 }
1368
1369 }// end of switch(NmtEvent)
1370
1371 break;
1372 }
1373
1374 // all madatory nodes ready to operate
1375 // -> MN process full epl cycle
1376 case kEplNmtMsReadyToOperate:
1377 {
1378
1379 // check events
1380 switch(NmtEvent)
1381 {
1382 // NMT Command SwitchOff
1383 case kEplNmtEventCriticalError:
1384 case kEplNmtEventSwitchOff:
1385 {
1386 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1387 break;
1388 }
1389
1390 // NMT Command SwReset
1391 case kEplNmtEventSwReset:
1392 {
1393 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1394 break;
1395 }
1396
1397 // NMT Command ResetNode
1398 case kEplNmtEventResetNode:
1399 {
1400 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1401 break;
1402 }
1403
1404 // NMT Command ResetCommunication
1405 // or internal Communication error
1406 case kEplNmtEventResetCom:
1407 case kEplNmtEventInternComError:
1408 {
1409 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1410 break;
1411 }
1412
1413 // NMT Command ResetConfiguration
1414 case kEplNmtEventResetConfig:
1415 {
1416 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1417 break;
1418 }
1419
1420 // EPL frames received
1421 case kEplNmtEventDllCeSoc:
1422 case kEplNmtEventDllCeSoa:
1423 { // other MN in network
1424 // $$$ d.k.: generate error history entry
1425 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1426 break;
1427 }
1428
1429 // error occured
1430 case kEplNmtEventNmtCycleError:
1431 {
1432 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
1433 break;
1434 }
1435
1436 case kEplNmtEventEnterMsOperational:
1437 {
1438 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsOperational;
1439 break;
1440 }
1441
1442 default:
1443 {
1444 break;
1445 }
1446
1447 }// end of switch(NmtEvent)
1448
1449 break;
1450 }
1451
1452 // normal eplcycle processing
1453 case kEplNmtMsOperational:
1454 {
1455 // check events
1456 switch(NmtEvent)
1457 {
1458 // NMT Command SwitchOff
1459 case kEplNmtEventCriticalError:
1460 case kEplNmtEventSwitchOff:
1461 {
1462 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1463 break;
1464 }
1465
1466 // NMT Command SwReset
1467 case kEplNmtEventSwReset:
1468 {
1469 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1470 break;
1471 }
1472
1473 // NMT Command ResetNode
1474 case kEplNmtEventResetNode:
1475 {
1476 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1477 break;
1478 }
1479
1480 // NMT Command ResetCommunication
1481 // or internal Communication error
1482 case kEplNmtEventResetCom:
1483 case kEplNmtEventInternComError:
1484 {
1485 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1486 break;
1487 }
1488
1489 // NMT Command ResetConfiguration
1490 case kEplNmtEventResetConfig:
1491 {
1492 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1493 break;
1494 }
1495
1496 // EPL frames received
1497 case kEplNmtEventDllCeSoc:
1498 case kEplNmtEventDllCeSoa:
1499 { // other MN in network
1500 // $$$ d.k.: generate error history entry
1501 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1502 break;
1503 }
1504
1505 // error occured
1506 case kEplNmtEventNmtCycleError:
1507 {
1508 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtMsPreOperational1;
1509 break;
1510 }
1511
1512 default:
1513 {
1514 break;
1515 }
1516
1517 }// end of switch(NmtEvent)
1518 break;
1519 }
1520
1521 // normal ethernet traffic
1522 case kEplNmtMsBasicEthernet:
1523 {
1524
1525 // check events
1526 switch(NmtEvent)
1527 {
1528 // NMT Command SwitchOff
1529 case kEplNmtEventCriticalError:
1530 case kEplNmtEventSwitchOff:
1531 {
1532 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
1533 break;
1534 }
1535
1536 // NMT Command SwReset
1537 case kEplNmtEventSwReset:
1538 {
1539 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
1540 break;
1541 }
1542
1543 // NMT Command ResetNode
1544 case kEplNmtEventResetNode:
1545 {
1546 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1547 break;
1548 }
1549
1550 // NMT Command ResetCommunication
1551 // or internal Communication error
1552 case kEplNmtEventResetCom:
1553 case kEplNmtEventInternComError:
1554 {
1555 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1556 break;
1557 }
1558
1559 // NMT Command ResetConfiguration
1560 case kEplNmtEventResetConfig:
1561 {
1562 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetConfiguration;
1563 break;
1564 }
1565
1566 // EPL frames received
1567 case kEplNmtEventDllCeSoc:
1568 case kEplNmtEventDllCeSoa:
1569 { // other MN in network
1570 // $$$ d.k.: generate error history entry
1571 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetCommunication;
1572 break;
1573 }
1574
1575 // error occured
1576 // d.k. BE->PreOp1 on cycle error? No
1577/* case kEplNmtEventNmtCycleError:
1578 {
1579 EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
1580 break;
1581 }
1582*/
1583 default:
1584 {
1585 break;
1586 }
1587
1588 }// end of switch(NmtEvent)
1589 break;
1590 }
1591#endif //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
1592
1593 default:
1594 {
1595 //DEBUG_EPL_DBGLVL_NMTK_TRACE0(EPL_DBGLVL_NMT ,"Error in EplNmtProcess: Unknown NMT-State");
1596 //EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
1597 Ret = kEplNmtInvalidState;
1598 goto Exit;
1599 }
1600
1601 }// end of switch(NmtEvent)
1602
1603 // inform higher layer about State-Change if needed
1604 if(OldNmtState != EPL_MCO_GLB_VAR(m_NmtState))
1605 {
1606 EPL_NMTK_DBG_POST_TRACE_VALUE(NmtEvent, OldNmtState, EPL_MCO_GLB_VAR(m_NmtState));
1607
1608 // d.k.: memorize NMT state before posting any events
1609 NmtStateChange.m_NewNmtState = EPL_MCO_GLB_VAR(m_NmtState);
1610
1611 // inform DLL
1612 if ((OldNmtState > kEplNmtGsResetConfiguration)
1613 && (EPL_MCO_GLB_VAR(m_NmtState) <= kEplNmtGsResetConfiguration))
1614 {
1615 // send DLL DEINIT
1616 Event.m_EventSink = kEplEventSinkDllk;
1617 Event.m_EventType = kEplEventTypeDllkDestroy;
1618 EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
1619 Event.m_pArg = &OldNmtState;
1620 Event.m_uiSize = sizeof (OldNmtState);
1621 // d.k.: directly call DLLk process function, because
1622 // 1. execution of process function is still synchonized and serialized,
1623 // 2. it is the same as without event queues (i.e. well tested),
1624 // 3. DLLk will get those necessary events even if event queue is full,
1625 // 4. event queue is very inefficient
1626#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
1627 Ret = EplDllkProcess(&Event);
1628#else
1629 Ret = EplEventkPost(&Event);
1630#endif
1631 }
1632 else if ((OldNmtState <= kEplNmtGsResetConfiguration)
1633 && (EPL_MCO_GLB_VAR(m_NmtState) > kEplNmtGsResetConfiguration))
1634 {
1635 // send DLL INIT
1636 Event.m_EventSink = kEplEventSinkDllk;
1637 Event.m_EventType = kEplEventTypeDllkCreate;
1638 EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
1639 Event.m_pArg = &NmtStateChange.m_NewNmtState;
1640 Event.m_uiSize = sizeof (NmtStateChange.m_NewNmtState);
1641 // d.k.: directly call DLLk process function, because
1642 // 1. execution of process function is still synchonized and serialized,
1643 // 2. it is the same as without event queues (i.e. well tested),
1644 // 3. DLLk will get those necessary events even if event queue is full
1645 // 4. event queue is very inefficient
1646#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
1647 Ret = EplDllkProcess(&Event);
1648#else
1649 Ret = EplEventkPost(&Event);
1650#endif
1651 }
1652 else if ((EPL_MCO_GLB_VAR(m_NmtState) == kEplNmtCsBasicEthernet)
1653 || (EPL_MCO_GLB_VAR(m_NmtState) == kEplNmtMsBasicEthernet))
1654 {
1655 tEplDllAsyncReqPriority AsyncReqPriority;
1656
1657 // send DLL Fill Async Tx Buffer, because state BasicEthernet was entered
1658 Event.m_EventSink = kEplEventSinkDllk;
1659 Event.m_EventType = kEplEventTypeDllkFillTx;
1660 EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
1661 AsyncReqPriority = kEplDllAsyncReqPrioGeneric;
1662 Event.m_pArg = &AsyncReqPriority;
1663 Event.m_uiSize = sizeof (AsyncReqPriority);
1664 // d.k.: directly call DLLk process function, because
1665 // 1. execution of process function is still synchonized and serialized,
1666 // 2. it is the same as without event queues (i.e. well tested),
1667 // 3. DLLk will get those necessary events even if event queue is full
1668 // 4. event queue is very inefficient
1669#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
1670 Ret = EplDllkProcess(&Event);
1671#else
1672 Ret = EplEventkPost(&Event);
1673#endif
1674 }
1675
1676 // inform higher layer about state change
1677 NmtStateChange.m_NmtEvent = NmtEvent;
1678 Event.m_EventSink = kEplEventSinkNmtu;
1679 Event.m_EventType = kEplEventTypeNmtStateChange;
1680 EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
1681 Event.m_pArg = &NmtStateChange;
1682 Event.m_uiSize = sizeof(NmtStateChange);
1683 Ret = EplEventkPost(&Event);
1684 EPL_DBGLVL_NMTK_TRACE2("EplNmtkProcess(NMT-Event = 0x%04X): New NMT-State = 0x%03X\n", NmtEvent, NmtStateChange.m_NewNmtState);
1685
1686
1687 }
1688
1689Exit:
1690
1691 return Ret;
1692}
1693
1694//---------------------------------------------------------------------------
1695//
1696// Function: EplNmtkGetNmtState
1697//
1698// Description: return the actuell NMT-State and the bits
1699// to for MN- or CN-mode
1700//
1701//
1702//
1703// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR_ = Instancepointer
1704//
1705//
1706// Returns: tEplNmtState = NMT-State
1707//
1708//
1709// State:
1710//
1711//---------------------------------------------------------------------------
1712EPLDLLEXPORT tEplNmtState PUBLIC EplNmtkGetNmtState(EPL_MCO_DECL_PTR_INSTANCE_PTR)
1713{
1714tEplNmtState NmtState;
1715
1716 NmtState = EPL_MCO_GLB_VAR(m_NmtState);
1717
1718 return NmtState;
1719
1720}
1721
1722//=========================================================================//
1723// //
1724// P R I V A T E D E F I N I T I O N S //
1725// //
1726//=========================================================================//
1727EPL_MCO_DECL_INSTANCE_FCT ()
1728//---------------------------------------------------------------------------
1729//
1730// Function:
1731//
1732// Description:
1733//
1734//
1735//
1736// Parameters:
1737//
1738//
1739// Returns:
1740//
1741//
1742// State:
1743//
1744//---------------------------------------------------------------------------
1745
1746
1747#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
1748
1749// EOF
1750
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