//------------------------------------------------------------------------------
tOplkError edrvcyclic_stopCycle(void)
{
tOplkError ret = kErrorOk;
ret = hrestimer_deleteTimer(&edrvcyclicInstance_l.timerHdlCycle);
#if (EDRV_USE_TTTX == FALSE)
ret = hrestimer_deleteTimer(&edrvcyclicInstance_l.timerHdlSlot);
#endif
#if CONFIG_EDRV_CYCLIC_USE_DIAGNOSTICS != FALSE
edrvcyclicInstance_l.startCycleTimeStamp = 0;
#endif
return ret;
}
//------------------------------------------------------------------------------
tOplkError edrvcyclic_stopCycle(BOOL fKeepCycle_p)
{
tOplkError ret = kErrorOk;
if (!fKeepCycle_p)
{
ret = hrestimer_deleteTimer(&edrvcyclicInstance_l.timerHdlCycle);
}
#if (EDRV_USE_TTTX == FALSE)
ret = hrestimer_deleteTimer(&edrvcyclicInstance_l.timerHdlSlot);
#endif
// clear current and next Tx buffer list
OPLK_MEMSET(edrvcyclicInstance_l.ppTxBufferList, 0,
sizeof(*edrvcyclicInstance_l.ppTxBufferList) * edrvcyclicInstance_l.maxTxBufferCount * 2);
#if CONFIG_EDRV_CYCLIC_USE_DIAGNOSTICS != FALSE
edrvcyclicInstance_l.startCycleTimeStamp = 0;
#endif
return ret;
}
//------------------------------------------------------------------------------
static tOplkError processNmtStateChange(tNmtState newNmtState_p,
tNmtState oldNmtState_p, tNmtEvent nmtEvent_p)
{
tOplkError ret = kErrorOk;
#if !defined(CONFIG_INCLUDE_NMT_RMN)
UNUSED_PARAMETER(nmtEvent_p);
#endif
switch (newNmtState_p)
{
case kNmtGsOff:
case kNmtGsInitialising:
dllkInstance_g.socTime.relTime = 0;
// set EC flag in Flag 1, so the MN can detect a reboot and
// will initialize the Error Signaling.
dllkInstance_g.flag1 = PLK_FRAME_FLAG1_EC;
dllkInstance_g.nmtState = newNmtState_p;
if (oldNmtState_p > kNmtGsResetConfiguration)
{
ret = dllknode_cleanupLocalNode(oldNmtState_p); // deinitialize DLL and destroy frames
}
break;
case kNmtGsResetApplication:
case kNmtGsResetCommunication:
case kNmtGsResetConfiguration:
// at first, update NMT state in instance structure to disable frame processing
dllkInstance_g.nmtState = newNmtState_p;
if (oldNmtState_p > kNmtGsResetConfiguration)
{
ret = dllknode_cleanupLocalNode(oldNmtState_p); // deinitialize DLL and destroy frames
}
break;
// node listens for POWERLINK frames and check timeout
case kNmtMsNotActive:
case kNmtCsNotActive:
case kNmtRmsNotActive:
if (oldNmtState_p <= kNmtGsResetConfiguration)
{
// setup DLL and create frames
ret = dllknode_setupLocalNode(newNmtState_p);
}
break;
// node processes only async frames
case kNmtCsPreOperational1:
#if CONFIG_TIMER_USE_HIGHRES != FALSE
if ((ret = hrestimer_deleteTimer(&dllkInstance_g.timerHdlCycle)) != kErrorOk)
return ret;
#endif
#if defined(CONFIG_INCLUDE_NMT_RMN)
if (dllkInstance_g.fRedundancy)
{
ret = edrvcyclic_stopCycle(FALSE);
if (ret != kErrorOk)
return ret;
hrestimer_modifyTimer(&dllkInstance_g.timerHdlSwitchOver,
dllkInstance_g.dllConfigParam.reducedSwitchOverTimeMn * 1000ULL,
dllk_cbTimerSwitchOver, 0L, FALSE);
}
#endif
// deactivate sync generation
if ((ret = controlTimeSync(FALSE)) != kErrorOk)
return ret;
#if (CONFIG_DLL_PROCESS_SYNC == DLL_PROCESS_SYNC_ON_TIMER)
if ((ret = synctimer_stopSync()) != kErrorOk)
return ret;
#endif
#if CONFIG_DLL_PRES_CHAINING_CN != FALSE
if ((ret = dllkframe_presChainingDisable()) != kErrorOk)
return ret;
#endif
// update IdentRes and StatusRes
ret = dllkframe_updateFrameStatusRes(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_STATUSRES +
dllkInstance_g.curTxBufferOffsetStatusRes],
newNmtState_p);
if (ret != kErrorOk)
return ret;
ret = dllkframe_updateFrameIdentRes(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_IDENTRES +
dllkInstance_g.curTxBufferOffsetIdentRes],
newNmtState_p);
if (ret != kErrorOk)
return ret;
// enable IdentRes and StatusRes
#if (CONFIG_EDRV_AUTO_RESPONSE != FALSE)
// enable corresponding Rx filter
dllkInstance_g.aFilter[DLLK_FILTER_SOA_STATREQ].fEnable = TRUE;
ret = edrv_changeRxFilter(dllkInstance_g.aFilter, DLLK_FILTER_COUNT,
DLLK_FILTER_SOA_STATREQ, EDRV_FILTER_CHANGE_STATE);
if (ret != kErrorOk)
return ret;
// enable corresponding Rx filter
dllkInstance_g.aFilter[DLLK_FILTER_SOA_IDREQ].fEnable = TRUE;
ret = edrv_changeRxFilter(dllkInstance_g.aFilter, DLLK_FILTER_COUNT,
DLLK_FILTER_SOA_IDREQ, EDRV_FILTER_CHANGE_STATE);
if (ret != kErrorOk)
return ret;
#if CONFIG_DLL_PRES_CHAINING_CN != FALSE
// enable SyncReq Rx filter
dllkInstance_g.aFilter[DLLK_FILTER_SOA_SYNCREQ].fEnable = TRUE;
ret = edrv_changeRxFilter(dllkInstance_g.aFilter, DLLK_FILTER_COUNT,
DLLK_FILTER_SOA_SYNCREQ, EDRV_FILTER_CHANGE_STATE);
if (ret != kErrorOk)
return ret;
#endif
#endif
// update PRes (for sudden changes to PreOp2)
ret = dllkframe_updateFramePres(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES +
(dllkInstance_g.curTxBufferOffsetCycle ^ 1)],
kNmtCsPreOperational2);
if (ret != kErrorOk)
return ret;
ret = dllkframe_updateFramePres(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES +
dllkInstance_g.curTxBufferOffsetCycle],
kNmtCsPreOperational2);
if (ret != kErrorOk)
return ret;
// enable PRes (for sudden changes to PreOp2)
#if (CONFIG_EDRV_AUTO_RESPONSE != FALSE)
// enable corresponding Rx filter
dllkInstance_g.aFilter[DLLK_FILTER_PREQ].fEnable = TRUE;
dllkInstance_g.aFilter[DLLK_FILTER_PREQ].pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES];
ret = edrv_changeRxFilter(dllkInstance_g.aFilter, DLLK_FILTER_COUNT,
DLLK_FILTER_PREQ, EDRV_FILTER_CHANGE_STATE | EDRV_FILTER_CHANGE_AUTO_RESPONSE);
if (ret != kErrorOk)
return ret;
#endif
break;
// node processes isochronous and asynchronous frames
case kNmtCsPreOperational2:
// signal update of IdentRes and StatusRes on SoA
dllkInstance_g.updateTxFrame = DLLK_UPDATE_BOTH;
// enable PRes (necessary if coming from Stopped)
#if (CONFIG_EDRV_AUTO_RESPONSE != FALSE)
// enable corresponding Rx filter
dllkInstance_g.aFilter[DLLK_FILTER_PREQ].fEnable = TRUE;
dllkInstance_g.aFilter[DLLK_FILTER_PREQ].pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES];
ret = edrv_changeRxFilter(dllkInstance_g.aFilter, DLLK_FILTER_COUNT,
DLLK_FILTER_PREQ, EDRV_FILTER_CHANGE_STATE | EDRV_FILTER_CHANGE_AUTO_RESPONSE);
if (ret != kErrorOk)
return ret;
#endif
break;
#if defined (CONFIG_INCLUDE_NMT_MN)
case kNmtMsPreOperational1:
#if CONFIG_TIMER_USE_HIGHRES != FALSE
ret = hrestimer_deleteTimer(&dllkInstance_g.timerHdlCycle);
if (ret != kErrorOk)
return ret;
#endif
/// deactivate sync generation
if ((ret = controlTimeSync(FALSE)) != kErrorOk)
return ret;
ret = edrvcyclic_stopCycle(FALSE);
if (ret != kErrorOk)
return ret;
#if defined(CONFIG_INCLUDE_NMT_RMN)
if (dllkInstance_g.fRedundancy)
{
if ((ret = hrestimer_deleteTimer(&dllkInstance_g.timerHdlSwitchOver)) != kErrorOk)
return ret;
if (oldNmtState_p == kNmtRmsNotActive)
{ // send AMNI
ret = edrv_sendTxBuffer(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_AMNI]);
if (ret != kErrorOk)
return ret;
}
// initialize cycle counter
if (dllkInstance_g.dllConfigParam.fAsyncOnly == FALSE)
{
dllkInstance_g.cycleCount = 0;
}
else
{ // it is an async-only CN -> fool changeState() to think that PRes was not expected
dllkInstance_g.cycleCount = 1;
}
}
#endif
// update IdentRes and StatusRes
ret = dllkframe_updateFrameIdentRes(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_IDENTRES +
dllkInstance_g.curTxBufferOffsetIdentRes],
newNmtState_p);
if (ret != kErrorOk)
return ret;
ret = dllkframe_updateFrameStatusRes(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_STATUSRES +
dllkInstance_g.curTxBufferOffsetStatusRes],
newNmtState_p);
break;
case kNmtMsReadyToOperate:
/// activate sync generation
if ((ret = controlTimeSync(TRUE)) != kErrorOk)
return ret;
break;
case kNmtMsPreOperational2:
case kNmtMsOperational:
// signal update of IdentRes and StatusRes on SoA
dllkInstance_g.updateTxFrame = DLLK_UPDATE_BOTH;
#if defined(CONFIG_INCLUDE_NMT_RMN)
if (dllkInstance_g.fRedundancy && (oldNmtState_p == kNmtCsOperational))
{
dllkInstance_g.dllState = kDllMsWaitSocTrig;
if ((ret = hrestimer_deleteTimer(&dllkInstance_g.timerHdlSwitchOver)) != kErrorOk)
return ret;
dllkInstance_g.socTime.relTime += dllkInstance_g.dllConfigParam.cycleLen;
// initialize SoAReq number for ProcessSync (cycle preparation)
dllkInstance_g.syncLastSoaReq = dllkInstance_g.curLastSoaReq;
// trigger synchronous task for cycle preparation
dllkInstance_g.fSyncProcessed = TRUE;
ret = dllk_postEvent(kEventTypeSync);
}
#endif
break;
#endif
case kNmtCsReadyToOperate:
/// activate sync generation
if ((ret = controlTimeSync(TRUE)) != kErrorOk)
return ret;
// signal update of IdentRes and StatusRes on SoA
dllkInstance_g.updateTxFrame = DLLK_UPDATE_BOTH;
break;
case kNmtCsOperational:
// signal update of IdentRes and StatusRes on SoA
dllkInstance_g.updateTxFrame = DLLK_UPDATE_BOTH;
#if defined(CONFIG_INCLUDE_NMT_RMN)
if (dllkInstance_g.fRedundancy && (oldNmtState_p == kNmtMsOperational))
{
dllkInstance_g.dllState = kDllCsWaitSoc;
ret = edrvcyclic_stopCycle(TRUE);
if (ret != kErrorOk)
return ret;
hrestimer_modifyTimer(&dllkInstance_g.timerHdlSwitchOver,
dllkInstance_g.dllConfigParam.switchOverTimeMn * 1000ULL,
dllk_cbTimerSwitchOver, 0L, FALSE);
if ((nmtEvent_p == kNmtEventGoToStandby) || (nmtEvent_p == kNmtEventGoToStandbyDelayed))
{ // save event, so cbCyclicError can start switch-over timeout
// appropriately
dllkInstance_g.nmtEventGoToStandby = nmtEvent_p;
}
}
#endif
break;
// node stopped by MN
case kNmtCsStopped:
// signal update of IdentRes and StatusRes on SoA
dllkInstance_g.updateTxFrame = DLLK_UPDATE_BOTH;
#if (CONFIG_EDRV_AUTO_RESPONSE != FALSE)
// disable auto-response for PRes filter
dllkInstance_g.aFilter[DLLK_FILTER_PREQ].pTxBuffer = NULL;
ret = edrv_changeRxFilter(dllkInstance_g.aFilter, DLLK_FILTER_COUNT,
DLLK_FILTER_PREQ, EDRV_FILTER_CHANGE_AUTO_RESPONSE);
if (ret != kErrorOk)
return ret;
#endif
// update PRes
ret = dllkframe_updateFramePres(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES +
(dllkInstance_g.curTxBufferOffsetCycle ^ 1)],
newNmtState_p);
if (ret != kErrorOk)
return ret;
ret = dllkframe_updateFramePres(&dllkInstance_g.pTxBuffer[DLLK_TXFRAME_PRES +
dllkInstance_g.curTxBufferOffsetCycle],
newNmtState_p);
if (ret != kErrorOk)
return ret;
break;
// no POWERLINK cycle -> normal ethernet communication
case kNmtMsBasicEthernet:
case kNmtCsBasicEthernet:
// Fill Async Tx Buffer, because state BasicEthernet was entered
ret = processFillTx(kDllAsyncReqPrioGeneric, newNmtState_p);
if (ret != kErrorOk)
return ret;
break;
default:
return kErrorNmtInvalidState;
break;
}
// update NMT state in instance structure. This is done after updating all
// Tx frames, so no frame will be transmitted by callback function, when it
// is not up to date yet.
dllkInstance_g.nmtState = newNmtState_p;
return ret;
}
//------------------------------------------------------------------------------
tOplkError dllknode_cleanupLocalNode(tNmtState oldNmtState_p)
{
tOplkError ret = kErrorOk;
BYTE aMulticastMac[6];
#if NMT_MAX_NODE_ID > 0
UINT index;
#endif
#if defined(CONFIG_INCLUDE_NMT_MN)
UINT handle;
#else
UNUSED_PARAMETER(oldNmtState_p);
#endif
// remove all filters from Edrv
ret = edrv_changeRxFilter(NULL, 0, 0, 0);
// delete timer
#if CONFIG_TIMER_USE_HIGHRES != FALSE
if ((ret = hrestimer_deleteTimer(&dllkInstance_g.timerHdlCycle)) != kErrorOk)
return ret;
#if defined(CONFIG_INCLUDE_NMT_RMN)
if ((ret = hrestimer_deleteTimer(&dllkInstance_g.timerHdlSwitchOver)) != kErrorOk)
return ret;
#endif
#endif
#if defined(CONFIG_INCLUDE_NMT_MN)
if ((ret = edrvcyclic_stopCycle(FALSE)) != kErrorOk)
return ret;
if ((ret = edrvcyclic_regSyncHandler(NULL)) != kErrorOk)
return ret;
#endif
#if (CONFIG_DLL_PROCESS_SYNC == DLL_PROCESS_SYNC_ON_TIMER)
if ((ret = synctimer_stopSync()) != kErrorOk)
return ret;
#endif
#if defined(CONFIG_INCLUDE_NMT_MN)
// destroy all data structures
OPLK_FREE(dllkInstance_g.ppTxBufferList);
dllkInstance_g.ppTxBufferList = NULL;
#endif
// delete Tx frames
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_IDENTRES)) != kErrorOk)
return ret;
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_STATUSRES)) != kErrorOk)
return ret;
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_PRES)) != kErrorOk)
return ret;
#if defined(CONFIG_INCLUDE_NMT_RMN)
if (dllkInstance_g.fRedundancy)
{
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_AMNI)) != kErrorOk)
return ret;
}
#endif
dllkInstance_g.aTxBufferStateNmtReq[0] = kDllkTxBufEmpty;
dllkInstance_g.aTxBufferStateNmtReq[1] = kDllkTxBufEmpty;
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_NMTREQ)) != kErrorOk)
return ret;
#if CONFIG_DLL_PRES_CHAINING_CN != FALSE
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_SYNCRES)) != kErrorOk)
return ret;
#endif
dllkInstance_g.aTxBufferStateNonPlk[0] = kDllkTxBufEmpty;
dllkInstance_g.aTxBufferStateNonPlk[1] = kDllkTxBufEmpty;
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_NONPLK)) != kErrorOk)
return ret;
#if defined(CONFIG_INCLUDE_NMT_MN)
#if !defined(CONFIG_INCLUDE_NMT_RMN)
if (NMT_IF_MN_OR_RMN(oldNmtState_p))
#else
if (NMT_IF_MN_OR_RMN(oldNmtState_p) || (dllkInstance_g.fRedundancy))
#endif
{ // local node was MN
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_SOC)) != kErrorOk)
return ret;
if ((ret = dllkframe_deleteTxFrame(DLLK_TXFRAME_SOA)) != kErrorOk)
return ret;
for (index = 0; index < tabentries (dllkInstance_g.aNodeInfo); index++)
{
if (dllkInstance_g.aNodeInfo[index].pPreqTxBuffer != NULL)
{
handle = (UINT)(dllkInstance_g.aNodeInfo[index].pPreqTxBuffer - dllkInstance_g.pTxBuffer);
dllkInstance_g.aNodeInfo[index].pPreqTxBuffer = NULL;
if (handle != DLLK_TXFRAME_PRES)
{
if ((ret = dllkframe_deleteTxFrame(handle)) != kErrorOk)
return ret;
}
}
// disable PReq and PRes for this node
dllkInstance_g.aNodeInfo[index].preqPayloadLimit = 0;
dllkInstance_g.aNodeInfo[index].presPayloadLimit = 0;
}
}
else
{ // local node was CN
for (index = 0; index < tabentries(dllkInstance_g.aNodeInfo); index++)
{
// disable PReq and PRes for this node
dllkInstance_g.aNodeInfo[index].presPayloadLimit = 0;
dllkInstance_g.aNodeInfo[index].preqPayloadLimit = 0;
}
}
#else
// must be CN, because MN part is not compiled!
#if NMT_MAX_NODE_ID > 0
for (index = 0; index < tabentries(dllkInstance_g.aNodeInfo); index++)
{
// disable PRes for this node
dllkInstance_g.aNodeInfo[index].presPayloadLimit = 0;
}
#endif
#endif
// de-register multicast MACs in Ethernet driver
ami_setUint48Be(&aMulticastMac[0], C_DLL_MULTICAST_SOC);
ret = edrv_clearRxMulticastMacAddr(aMulticastMac);
ami_setUint48Be(&aMulticastMac[0], C_DLL_MULTICAST_SOA);
ret = edrv_clearRxMulticastMacAddr(aMulticastMac);
ami_setUint48Be(&aMulticastMac[0], C_DLL_MULTICAST_PRES);
ret = edrv_clearRxMulticastMacAddr(aMulticastMac);
ami_setUint48Be(&aMulticastMac[0], C_DLL_MULTICAST_ASND);
ret = edrv_clearRxMulticastMacAddr(aMulticastMac);
return ret;
}