//------------------------------------------------------------------------------
static tOplkError processSyncCn(tNmtState nmtState_p, BOOL fReadyFlag_p)
{
tOplkError ret = kErrorOk;
tPlkFrame * pTxFrame;
tEdrvTxBuffer* pTxBuffer;
tFrameInfo FrameInfo;
UINT nextTxBufferOffset = dllkInstance_g.curTxBufferOffsetCycle ^ 1;
// local node is CN, update only the PRes
pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES + nextTxBufferOffset];
if (pTxBuffer->pBuffer != NULL)
{ // PRes does exist
pTxFrame = (tPlkFrame*)pTxBuffer->pBuffer;
if (nmtState_p != kNmtCsOperational)
fReadyFlag_p = FALSE;
FrameInfo.frame.pBuffer = pTxFrame;
FrameInfo.frameSize = pTxBuffer->txFrameSize;
ret = dllkframe_processTpdo(&FrameInfo, fReadyFlag_p);
if (ret != kErrorOk)
return ret;
// BENCHMARK_MOD_02_TOGGLE(7);
ret = dllkframe_updateFramePres(pTxBuffer, nmtState_p);
if (ret != kErrorOk)
return ret;
// switch to next cycle
dllkInstance_g.curTxBufferOffsetCycle = (UINT8)nextTxBufferOffset;
}
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllknode_setupSyncPhase(tNmtState nmtState_p, BOOL fReadyFlag_p,
UINT nextTxBufferOffset_p,
UINT32* pNextTimeOffsetNs_p, UINT* pIndex_p)
{
tOplkError ret = kErrorOk;
BYTE* pCnNodeId;
UINT32 accFrameLenNs = 0;
tPlkFrame* pTxFrame;
tEdrvTxBuffer* pTxBuffer;
tFrameInfo FrameInfo;
tDllkNodeInfo* pIntNodeInfo;
BYTE flag1;
// calculate WaitSoCPReq delay
if (dllkInstance_g.dllConfigParam.waitSocPreq != 0)
{
*pNextTimeOffsetNs_p = dllkInstance_g.dllConfigParam.waitSocPreq +
C_DLL_T_PREAMBLE + C_DLL_T_MIN_FRAME + C_DLL_T_IFG;
}
else
{
accFrameLenNs = C_DLL_T_PREAMBLE + C_DLL_T_MIN_FRAME + C_DLL_T_IFG;
}
pCnNodeId = &dllkInstance_g.aCnNodeIdList[nextTxBufferOffset_p][0];
if (nmtState_p != kNmtMsOperational)
fReadyFlag_p = FALSE;
pIntNodeInfo = dllkInstance_g.pFirstNodeInfo;
while (pIntNodeInfo != NULL)
{
pTxBuffer = &pIntNodeInfo->pPreqTxBuffer[nextTxBufferOffset_p];
if ((pTxBuffer != NULL) && (pTxBuffer->pBuffer != NULL))
{ // PReq does exist
pTxFrame = (tPlkFrame*)pTxBuffer->pBuffer;
flag1 = pIntNodeInfo->soaFlag1 & PLK_FRAME_FLAG1_EA;
// $$$ d.k. set PLK_FRAME_FLAG1_MS if necessary
// update frame (Flag1)
ami_setUint8Le(&pTxFrame->data.preq.flag1, flag1);
// process TPDO
FrameInfo.pFrame = pTxFrame;
FrameInfo.frameSize = pTxBuffer->txFrameSize;
ret = dllkframe_processTpdo(&FrameInfo, fReadyFlag_p);
if (ret != kErrorOk)
return ret;
pTxBuffer->timeOffsetNs = *pNextTimeOffsetNs_p;
dllkInstance_g.ppTxBufferList[*pIndex_p] = pTxBuffer;
(*pIndex_p)++;
if (pTxBuffer == &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES + nextTxBufferOffset_p])
{ // PRes of MN will be sent
// update NMT state
ami_setUint8Le(&pTxFrame->data.pres.nmtStatus, (BYTE) nmtState_p);
*pNextTimeOffsetNs_p = pIntNodeInfo->presTimeoutNs;
{
tDllkNodeInfo* pIntPrcNodeInfo;
pIntPrcNodeInfo = dllkInstance_g.pFirstPrcNodeInfo;
while (pIntPrcNodeInfo != NULL)
{
*pCnNodeId = (BYTE)pIntPrcNodeInfo->nodeId;
pCnNodeId++;
*pNextTimeOffsetNs_p = pIntNodeInfo->presTimeoutNs;
pIntPrcNodeInfo = pIntPrcNodeInfo->pNextNodeInfo;
}
*pCnNodeId = C_ADR_BROADCAST; // mark this entry as PRC slot finished
pCnNodeId++;
}
}
else
{ // PReq to CN
*pCnNodeId = (BYTE)pIntNodeInfo->nodeId;
pCnNodeId++;
*pNextTimeOffsetNs_p = pIntNodeInfo->presTimeoutNs;
}
if (*pNextTimeOffsetNs_p == 0)
{ // add SoC frame length
accFrameLenNs += C_DLL_T_PREAMBLE +
(pTxBuffer->txFrameSize * C_DLL_T_BITTIME) + C_DLL_T_IFG;
}
else
{
*pNextTimeOffsetNs_p += accFrameLenNs;
accFrameLenNs = 0;
}
}
pIntNodeInfo = pIntNodeInfo->pNextNodeInfo;
}
*pCnNodeId = C_ADR_INVALID; // mark last entry in node-ID list
return ret;
}
