//------------------------------------------------------------------------------
tOplkError sdoasnd_sendData(tSdoConHdl sdoConHandle_p,
tPlkFrame* pSrcData_p,
size_t dataSize_p)
{
tOplkError ret;
UINT array;
tFrameInfo frameInfo;
array = ((UINT)sdoConHandle_p & ~SDO_ASY_HANDLE_MASK);
if (array > CONFIG_SDO_MAX_CONNECTION_ASND)
return kErrorSdoAsndInvalidHandle;
// fill Asnd header
// own node id not needed -> filled by DLL
ami_setUint8Le(&pSrcData_p->messageType, (UINT8)kMsgTypeAsnd); // ASnd == 0x06
ami_setUint8Le(&pSrcData_p->dstNodeId, (UINT8)sdoAsndInstance_l.aSdoAsndConnection[array]);
ami_setUint8Le(&pSrcData_p->srcNodeId, 0x00); // set source-nodeid (filled by DLL 0)
// calc size (add Ethernet and ASnd header size)
dataSize_p += (size_t)((UINT8*)&pSrcData_p->data.asnd.payload.sdoSequenceFrame - (UINT8*)pSrcData_p);
// send function of DLL
frameInfo.frameSize = (UINT)dataSize_p;
frameInfo.frame.pBuffer = pSrcData_p;
ret = dllucal_sendAsyncFrame(&frameInfo, kDllAsyncReqPrioGeneric);
return ret;
}
//------------------------------------------------------------------------------
tOplkError nmtcnu_sendNmtRequestEx(UINT nodeId_p, tNmtCommand nmtCommand_p,
void* pNmtCommandData_p, UINT dataSize_p)
{
tOplkError ret;
tFrameInfo nmtRequestFrameInfo;
tPlkFrame nmtRequestFrame;
ret = kErrorOk;
// build frame
OPLK_MEMSET(&nmtRequestFrame.aDstMac[0], 0x00, sizeof(nmtRequestFrame.aDstMac)); // set by DLL
OPLK_MEMSET(&nmtRequestFrame.aSrcMac[0], 0x00, sizeof(nmtRequestFrame.aSrcMac)); // set by DLL
ami_setUint16Be(&nmtRequestFrame.etherType, C_DLL_ETHERTYPE_EPL);
ami_setUint8Le(&nmtRequestFrame.dstNodeId, (BYTE)C_ADR_MN_DEF_NODE_ID); // node id of the MN
ami_setUint8Le(&nmtRequestFrame.messageType, (BYTE)kMsgTypeAsnd);
ami_setUint8Le(&nmtRequestFrame.data.asnd.serviceId, (BYTE)kDllAsndNmtRequest);
ami_setUint8Le(&nmtRequestFrame.data.asnd.payload.nmtRequestService.nmtCommandId,
(BYTE)nmtCommand_p);
ami_setUint8Le(&nmtRequestFrame.data.asnd.payload.nmtRequestService.targetNodeId,
(BYTE)nodeId_p); // target for the nmt command
OPLK_MEMSET(&nmtRequestFrame.data.asnd.payload.nmtRequestService.aNmtCommandData[0], 0x00,
sizeof(nmtRequestFrame.data.asnd.payload.nmtRequestService.aNmtCommandData));
if (pNmtCommandData_p && (dataSize_p != 0))
{
OPLK_MEMCPY(&nmtRequestFrame.data.asnd.payload.nmtRequestService.aNmtCommandData[0],
pNmtCommandData_p,
min(dataSize_p,
sizeof(nmtRequestFrame.data.asnd.payload.nmtRequestService.aNmtCommandData)));
}
// build info-structure
nmtRequestFrameInfo.pFrame = &nmtRequestFrame;
nmtRequestFrameInfo.frameSize = C_DLL_MINSIZE_NMTREQ; // sizeof(nmtRequestFrame);
// send NMT request
ret = dllucal_sendAsyncFrame(&nmtRequestFrameInfo, kDllAsyncReqPrioNmt);
return ret;
}
