//------------------------------------------------------------------------------
static tOplkError cbProcessRpdo(tFrameInfo* pFrameInfo_p)
{
tOplkError ret = kErrorOk;
tEvent event;
event.eventSink = kEventSinkPdokCal;
event.eventType = kEventTypePdoRx;
#if CONFIG_DLL_DEFERRED_RXFRAME_RELEASE_SYNC != FALSE
event.eventArgSize = sizeof(tFrameInfo);
event.pEventArg = pFrameInfo_p;
#else
// limit copied data to size of PDO (because from some CNs the frame is larger than necessary)
event.eventArgSize = ami_getUint16Le(&pFrameInfo_p->pFrame->data.pres.sizeLe) +
PLK_FRAME_OFFSET_PDO_PAYLOAD; // pFrameInfo_p->frameSize;
event.pEventArg = pFrameInfo_p->pFrame;
#endif
ret = eventk_postEvent(&event);
#if CONFIG_DLL_DEFERRED_RXFRAME_RELEASE_SYNC != FALSE
if (ret == kErrorOk)
{
ret = kErrorReject; // Reject release of rx buffer
}
#endif
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllknode_issueLossOfPres(UINT nodeId_p)
{
tOplkError ret = kErrorOk;
tDllkNodeInfo* pIntNodeInfo;
tEvent event;
tDllNodeOpParam nodeOpParam;
pIntNodeInfo = dllknode_getNodeInfo(nodeId_p);
if (pIntNodeInfo != NULL)
{
if (pIntNodeInfo->fSoftDelete == FALSE)
{ // normal isochronous CN
tEventDllError dllEvent;
dllEvent.dllErrorEvents = DLL_ERR_MN_CN_LOSS_PRES;
dllEvent.nodeId = pIntNodeInfo->nodeId;
ret = errhndk_postError(&dllEvent);
if (ret != kErrorOk)
return ret;
}
else
{ // CN shall be deleted softly, so remove it now without issuing any error
nodeOpParam.opNodeType = kDllNodeOpTypeIsochronous;
nodeOpParam.nodeId = pIntNodeInfo->nodeId;
event.eventSink = kEventSinkDllkCal;
event.eventType = kEventTypeDllkDelNode;
// $$$ d.k. set Event.netTime to current time
event.eventArgSize = sizeof(nodeOpParam);
event.pEventArg = &nodeOpParam;
eventk_postEvent(&event);
}
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError controlTimeSync(BOOL fEnable_p)
{
tOplkError ret = kErrorOk;
tEvent event;
BOOL fEnable = fEnable_p;
event.eventSink = kEventSinkTimesynck;
event.eventType = kEventTypeTimesynckControl;
event.eventArg.pEventArg = &fEnable;
event.eventArgSize = sizeof(fEnable);
ret = eventk_postEvent(&event);
#if CONFIG_DLL_PROCESS_SYNC == DLL_PROCESS_SYNC_ON_TIMER
if (ret == kErrorOk)
{
// Activate/deactivate external synchronization interrupt
synctimer_controlExtSyncIrq(fEnable);
}
#endif
#if CONFIG_TIMER_USE_HIGHRES == TRUE
if (ret == kErrorOk)
{
// Activate/deactivate external synchronization interrupt
hrestimer_controlExtSyncIrq(fEnable);
}
#endif
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllk_postEvent(tEventType eventType_p)
{
tOplkError ret;
tEvent event;
event.eventSink = kEventSinkDllk;
event.eventType = eventType_p;
event.eventArgSize = 0;
event.pEventArg = NULL;
ret = eventk_postEvent(&event);
return ret;
}
//------------------------------------------------------------------------------
static tOplkError postHistoryEntryEvent(tErrHistoryEntry* pHistoryEntry_p)
{
tOplkError ret;
tEvent event;
event.eventSink = kEventSinkApi;
event.eventType = kEventTypeHistoryEntry;
event.eventArgSize = sizeof(*pHistoryEntry_p);
event.pEventArg = pHistoryEntry_p;
ret = eventk_postEvent(&event);
return ret;
}
//------------------------------------------------------------------------------
tOplkError errhndk_postError(tEventDllError* pErrEvent_p)
{
tOplkError Ret;
tEvent Event;
Event.eventSink = kEventSinkErrk;
Event.eventType = kEventTypeDllError;
Event.eventArgSize = sizeof(tEventDllError);
Event.pEventArg = pErrEvent_p;
Ret = eventk_postEvent(&Event);
return Ret;
}
//------------------------------------------------------------------------------
static tOplkError postNmtEvent(tNmtEvent nmtEvent_p)
{
tOplkError ret;
tNmtEvent nmtEvent;
tEvent event;
nmtEvent = nmtEvent_p;
event.eventSink = kEventSinkNmtk;
event.eventType = kEventTypeNmtEvent;
event.pEventArg = &nmtEvent;
event.eventArgSize = sizeof(nmtEvent);
ret = eventk_postEvent(&event);
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllk_cbTimerSwitchOver(tTimerEventArg* pEventArg_p)
{
tOplkError ret = kErrorOk;
tNmtState nmtState;
UINT32 arg;
tNmtEvent nmtEvent;
tEvent event;
TGT_DLLK_DECLARE_FLAGS;
TGT_DLLK_ENTER_CRITICAL_SECTION();
#if CONFIG_TIMER_USE_HIGHRES != FALSE
if (pEventArg_p->timerHdl != dllkInstance_g.timerHdlSwitchOver)
{ // zombie callback - just exit
goto Exit;
}
#endif
nmtState = dllkInstance_g.nmtState;
if (!NMT_IF_ACTIVE_CN(nmtState))
goto Exit;
ret = edrv_sendTxBuffer(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_AMNI]);
if (ret != kErrorOk)
goto Exit;
// increment relativeTime for missing SoC
dllkInstance_g.relativeTime += dllkInstance_g.dllConfigParam.cycleLen;
nmtEvent = kNmtEventDllReSwitchOverTimeout;
event.eventSink = kEventSinkNmtk;
event.eventType = kEventTypeNmtEvent;
event.eventArgSize = sizeof(nmtEvent);
event.pEventArg = &nmtEvent;
ret = eventk_postEvent(&event);
Exit:
if (ret != kErrorOk)
{
BENCHMARK_MOD_02_TOGGLE(7);
arg = dllkInstance_g.dllState | (kNmtEventDllReSwitchOverTimeout << 8);
// Error event for API layer
ret = eventk_postError(kEventSourceDllk, ret, sizeof(arg), &arg);
}
TGT_DLLK_LEAVE_CRITICAL_SECTION();
return ret;
}
//------------------------------------------------------------------------------
static tOplkError postHeartbeatEvent(UINT nodeId_p, tNmtState state_p,
UINT16 errorCode_p)
{
tOplkError ret;
tHeartbeatEvent heartbeatEvent;
tEvent event;
heartbeatEvent.nodeId = nodeId_p;
heartbeatEvent.nmtState = state_p;
heartbeatEvent.errorCode = errorCode_p;
event.eventSink = kEventSinkNmtMnu;
event.eventType = kEventTypeHeartbeat;
event.eventArgSize = sizeof(heartbeatEvent);
event.pEventArg = &heartbeatEvent;
ret = eventk_postEvent(&event);
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllkcal_asyncFrameReceived(tFrameInfo* pFrameInfo_p)
{
tOplkError ret = kErrorOk;
tEvent event;
#if CONFIG_DLL_DEFERRED_RXFRAME_RELEASE_ASYNC == FALSE
// Copy the frame into event queue
event.eventType = kEventTypeAsndRx;
event.eventArg.pEventArg = pFrameInfo_p->frame.pBuffer;
event.eventArgSize = pFrameInfo_p->frameSize;
#else
tPlkFrame* pTempFrame;
// Clear padding before forwarding the event to user layer.
pTempFrame = pFrameInfo_p->frame.pBuffer;
pFrameInfo_p->frame.padding2 = 0;
pFrameInfo_p->frame.pBuffer = pTempFrame;
event.eventType = kEventTypeAsndRxInfo;
event.eventArg.pEventArg = pFrameInfo_p;
event.eventArgSize = sizeof(tFrameInfo);
#endif
event.eventSink = kEventSinkDlluCal;
ret = eventk_postEvent(&event);
#if CONFIG_DLL_DEFERRED_RXFRAME_RELEASE_ASYNC == TRUE
if (ret == kErrorOk)
{
instance_l.asyncFrameReceived++;
instance_l.statistics.curRxFrameCount = instance_l.asyncFrameReceived - instance_l.asyncFrameFreed;
if (instance_l.statistics.curRxFrameCount > instance_l.statistics.maxRxFrameCount)
instance_l.statistics.maxRxFrameCount = instance_l.statistics.curRxFrameCount;
ret = kErrorReject; // Signalizes dllk to release buffer later
}
#endif
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllkcal_sendAsyncFrame(tFrameInfo* pFrameInfo_p,
tDllAsyncReqPriority priority_p)
{
tOplkError ret = kErrorOk;
tEvent event;
switch (priority_p)
{
case kDllAsyncReqPrioNmt: // NMT request priority
ret = instance_l.pTxNmtFuncs->pfnInsertDataBlock(
instance_l.dllCalQueueTxNmt,
(BYTE*)pFrameInfo_p->frame.pBuffer,
&(pFrameInfo_p->frameSize));
break;
default: // generic priority
ret = sendGenericAsyncFrame(pFrameInfo_p);
break;
}
if (ret != kErrorOk)
{
goto Exit;
}
// post event to DLL
event.eventSink = kEventSinkDllk;
event.eventType = kEventTypeDllkFillTx;
OPLK_MEMSET(&event.netTime, 0x00, sizeof(event.netTime));
event.eventArg.pEventArg = &priority_p;
event.eventArgSize = sizeof(priority_p);
ret = eventk_postEvent(&event);
Exit:
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllknode_addNodeIsochronous(tDllkNodeInfo* pIntNodeInfo_p)
{
tOplkError ret = kErrorOk;
tDllkNodeInfo** ppIntNodeInfo;
tPlkFrame * pTxFrame;
if (pIntNodeInfo_p->nodeId == dllkInstance_g.dllConfigParam.nodeId)
{ // we shall send PRes ourself
// insert our node as first entry in the list
ppIntNodeInfo = &dllkInstance_g.pFirstNodeInfo;
if (*ppIntNodeInfo != NULL)
{
if ((*ppIntNodeInfo)->nodeId == pIntNodeInfo_p->nodeId)
{ // node was already added to list
// $$$ d.k. maybe this should be an error
goto Exit;
}
}
// set "PReq"-TxBuffer to PRes-TxBuffer
pIntNodeInfo_p->pPreqTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES];
// Reset PRC Slot Timeout
// which is required if falling back to PreOp1
pIntNodeInfo_p->presTimeoutNs = 0;
}
else
{ // normal CN shall be added to isochronous phase
// insert node into list in ascending order
if (pIntNodeInfo_p->pPreqTxBuffer == NULL)
{
ppIntNodeInfo = &dllkInstance_g.pFirstPrcNodeInfo;
}
else
{
ppIntNodeInfo = &dllkInstance_g.pFirstNodeInfo;
}
while ((*ppIntNodeInfo != NULL) &&
(((*ppIntNodeInfo)->nodeId < pIntNodeInfo_p->nodeId) ||
((*ppIntNodeInfo)->nodeId == dllkInstance_g.dllConfigParam.nodeId)))
{
ppIntNodeInfo = &(*ppIntNodeInfo)->pNextNodeInfo;
}
if ((*ppIntNodeInfo != NULL) && ((*ppIntNodeInfo)->nodeId == pIntNodeInfo_p->nodeId))
{ // node was already added to list
// $$$ d.k. maybe this should be an error
goto Exit;
}
if (pIntNodeInfo_p->pPreqTxBuffer != NULL)
{ // TxBuffer entry exists
tEvent event;
pTxFrame = (tPlkFrame*)pIntNodeInfo_p->pPreqTxBuffer[0].pBuffer;
// set up destination MAC address
OPLK_MEMCPY(pTxFrame->aDstMac, pIntNodeInfo_p->aMacAddr, 6);
// set destination node-ID in PReq
ami_setUint8Le(&pTxFrame->dstNodeId, (UINT8)pIntNodeInfo_p->nodeId);
// do the same for second frame buffer
pTxFrame = (tPlkFrame*)pIntNodeInfo_p->pPreqTxBuffer[1].pBuffer;
// set up destination MAC address
OPLK_MEMCPY(pTxFrame->aDstMac, pIntNodeInfo_p->aMacAddr, 6);
// set destination node-ID in PReq
ami_setUint8Le(&pTxFrame->dstNodeId, (UINT8) pIntNodeInfo_p->nodeId);
event.eventSink = kEventSinkNmtMnu;
event.eventType = kEventTypeNmtMnuNodeAdded;
event.eventArgSize = sizeof(pIntNodeInfo_p->nodeId);
event.pEventArg = &pIntNodeInfo_p->nodeId;
ret = eventk_postEvent(&event);
if (ret != kErrorOk)
goto Exit;
}
ret = errhndk_resetCnError(pIntNodeInfo_p->nodeId);
}
// initialize elements of internal node info structure
pIntNodeInfo_p->fSoftDelete = FALSE;
pIntNodeInfo_p->nmtState = kNmtCsNotActive;
pIntNodeInfo_p->dllErrorEvents = 0L;
// add node to list
pIntNodeInfo_p->pNextNodeInfo = *ppIntNodeInfo;
*ppIntNodeInfo = pIntNodeInfo_p;
Exit:
return ret;
}