//------------------------------------------------------------------------------
static tOplkError timerHdlSlotCb(tTimerEventArg* pEventArg_p)
{
tOplkError ret = kErrorOk;
tEdrvTxBuffer* pTxBuffer = NULL;
if (pEventArg_p->timerHdl != edrvcyclicInstance_l.timerHdlSlot)
{ // zombie callback
// just exit
goto Exit;
}
#if CONFIG_EDRV_CYCLIC_USE_DIAGNOSTICS != FALSE
edrvcyclicInstance_l.lastSlotTimeStamp = target_getCurrentTimestamp();
#endif
pTxBuffer = edrvcyclicInstance_l.ppTxBufferList[edrvcyclicInstance_l.curTxBufferEntry];
ret = edrv_sendTxBuffer(pTxBuffer);
if (ret != kErrorOk)
{
goto Exit;
}
edrvcyclicInstance_l.curTxBufferEntry++;
ret = processTxBufferList();
Exit:
if (ret != kErrorOk)
{
if (edrvcyclicInstance_l.pfnErrorCb != NULL)
{
ret = edrvcyclicInstance_l.pfnErrorCb(ret, pTxBuffer);
}
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError processTxBufferList(void)
{
tOplkError ret = kErrorOk;
tEdrvTxBuffer* pTxBuffer = NULL;
#if (EDRV_USE_TTTX == TRUE)
BOOL fFirstPacket = TRUE;
UINT64 launchTime;
UINT64 cycleMin;
UINT64 cycleMax;
UINT64 currentMacTime = 0;
#endif
#if (EDRV_USE_TTTX == TRUE)
edrv_getMacTime(¤tMacTime);
if (!edrvcyclicInstance_l.fNextCycleValid)
{
edrvcyclicInstance_l.nextCycleTime = currentMacTime + EDRV_SHIFT;
launchTime = edrvcyclicInstance_l.nextCycleTime;
edrvcyclicInstance_l.fNextCycleValid = TRUE;
}
else
{
launchTime = edrvcyclicInstance_l.nextCycleTime;
if (currentMacTime > launchTime)
{
ret = kErrorEdrvTxListNotFinishedYet;
goto Exit;
}
}
cycleMin = launchTime;
cycleMax = launchTime + (edrvcyclicInstance_l.cycleTimeUs * 1000ULL);
while ((pTxBuffer = edrvcyclicInstance_l.ppTxBufferList[edrvcyclicInstance_l.curTxBufferEntry]) != NULL)
{
if (pTxBuffer == NULL)
{
ret = kErrorEdrvBufNotExisting;
goto Exit;
}
if (fFirstPacket)
{
pTxBuffer->launchTime = launchTime ;
fFirstPacket = FALSE;
}
else
{
launchTime = launchTime + (UINT64)pTxBuffer->timeOffsetNs;
pTxBuffer->launchTime = launchTime;
}
if ((pTxBuffer->launchTime - cycleMin) > (cycleMax - cycleMin))
{
ret = kErrorEdrvTxListNotFinishedYet;
goto Exit;
}
ret = edrv_sendTxBuffer(pTxBuffer);
if (ret != kErrorOk)
goto Exit;
pTxBuffer->launchTime = 0;
edrvcyclicInstance_l.curTxBufferEntry++;
}
#else
while ((pTxBuffer = edrvcyclicInstance_l.ppTxBufferList[edrvcyclicInstance_l.curTxBufferEntry]) != NULL)
{
if (pTxBuffer->timeOffsetNs == 0)
{
ret = edrv_sendTxBuffer(pTxBuffer);
if (ret != kErrorOk)
{
goto Exit;
}
}
else
{
ret = hrestimer_modifyTimer(&edrvcyclicInstance_l.timerHdlSlot,
pTxBuffer->timeOffsetNs,
timerHdlSlotCb,
0L,
FALSE);
break;
}
edrvcyclicInstance_l.curTxBufferEntry++;
}
#endif
Exit:
if (ret != kErrorOk)
{
if (edrvcyclicInstance_l.pfnErrorCb != NULL)
{
ret = edrvcyclicInstance_l.pfnErrorCb(ret, pTxBuffer);
}
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError timerHdlCycleCb(tTimerEventArg* pEventArg_p)
{
tOplkError ret = kErrorOk;
#if CONFIG_EDRV_CYCLIC_USE_DIAGNOSTICS != FALSE
UINT32 cycleTime;
UINT32 usedCycleTime;
UINT32 spareCycleTime;
ULONGLONG startNewCycleTimeStamp;
#endif
if (pEventArg_p->timerHdl != edrvcyclicInstance_l.timerHdlCycle)
{ // zombie callback
// just exit
goto Exit;
}
#if CONFIG_EDRV_CYCLIC_USE_DIAGNOSTICS != FALSE
startNewCycleTimeStamp = target_getCurrentTimestamp();
#endif
if (edrvcyclicInstance_l.ppTxBufferList[edrvcyclicInstance_l.curTxBufferEntry] != NULL)
{
ret = kErrorEdrvTxListNotFinishedYet;
goto Exit;
}
edrvcyclicInstance_l.ppTxBufferList[edrvcyclicInstance_l.curTxBufferList] = NULL;
// enter new cycle -> switch Tx buffer list
edrvcyclicInstance_l.curTxBufferList ^= edrvcyclicInstance_l.maxTxBufferCount;
edrvcyclicInstance_l.curTxBufferEntry = edrvcyclicInstance_l.curTxBufferList;
if (edrvcyclicInstance_l.ppTxBufferList[edrvcyclicInstance_l.curTxBufferEntry] == NULL)
{
ret = kErrorEdrvCurTxListEmpty;
goto Exit;
}
ret = processTxBufferList();
if (ret != kErrorOk)
{
goto Exit;
}
if (edrvcyclicInstance_l.pfnSyncCb != NULL)
{
ret = edrvcyclicInstance_l.pfnSyncCb();
}
#if CONFIG_EDRV_CYCLIC_USE_DIAGNOSTICS != FALSE
if (edrvcyclicInstance_l.startCycleTimeStamp != 0)
{
// calculate time diffs of previous cycle
cycleTime = (UINT32)(startNewCycleTimeStamp - edrvcyclicInstance_l.startCycleTimeStamp);
if (edrvcyclicInstance_l.diagnostics.cycleTimeMin > cycleTime)
{
edrvcyclicInstance_l.diagnostics.cycleTimeMin = cycleTime;
}
if (edrvcyclicInstance_l.diagnostics.cycleTimeMax < cycleTime)
{
edrvcyclicInstance_l.diagnostics.cycleTimeMax = cycleTime;
}
if (edrvcyclicInstance_l.lastSlotTimeStamp != 0)
{
usedCycleTime = (UINT32)(edrvcyclicInstance_l.lastSlotTimeStamp - edrvcyclicInstance_l.startCycleTimeStamp);
spareCycleTime = (UINT32)(startNewCycleTimeStamp - edrvcyclicInstance_l.lastSlotTimeStamp);
if (edrvcyclicInstance_l.diagnostics.usedCycleTimeMin > usedCycleTime)
{
edrvcyclicInstance_l.diagnostics.usedCycleTimeMin = usedCycleTime;
}
if (edrvcyclicInstance_l.diagnostics.usedCycleTimeMax < usedCycleTime)
{
edrvcyclicInstance_l.diagnostics.usedCycleTimeMax = usedCycleTime;
}
if (edrvcyclicInstance_l.diagnostics.spareCycleTimeMin > spareCycleTime)
{
edrvcyclicInstance_l.diagnostics.spareCycleTimeMin = spareCycleTime;
}
if (edrvcyclicInstance_l.diagnostics.spareCycleTimeMax < spareCycleTime)
{
edrvcyclicInstance_l.diagnostics.spareCycleTimeMax = spareCycleTime;
}
}
else
{
usedCycleTime = 0;
spareCycleTime = cycleTime;
}
edrvcyclicInstance_l.diagnostics.cycleTimeMeanSum += cycleTime;
edrvcyclicInstance_l.diagnostics.usedCycleTimeMeanSum += usedCycleTime;
edrvcyclicInstance_l.diagnostics.spareCycleTimeMeanSum += spareCycleTime;
edrvcyclicInstance_l.diagnostics.cycleCount++;
// sample previous cycle if deviations exceed threshold
if ((edrvcyclicInstance_l.diagnostics.sampleNum == 0) || /* sample first cycle for start time */
(abs(cycleTime - edrvcyclicInstance_l.cycleTimeUs * 1000) > EDRV_CYCLIC_SAMPLE_TH_CYCLE_TIME_DIFF_US * 1000) ||
(spareCycleTime < EDRV_CYCLIC_SAMPLE_TH_SPARE_TIME_US * 1000))
{
UINT uiSampleNo = edrvcyclicInstance_l.sampleCount;
edrvcyclicInstance_l.diagnostics.aSampleTimeStamp[uiSampleNo] = edrvcyclicInstance_l.startCycleTimeStamp;
edrvcyclicInstance_l.diagnostics.aCycleTime[uiSampleNo] = cycleTime;
edrvcyclicInstance_l.diagnostics.aUsedCycleTime[uiSampleNo] = usedCycleTime;
edrvcyclicInstance_l.diagnostics.aSpareCycleTime[uiSampleNo] = spareCycleTime;
edrvcyclicInstance_l.diagnostics.sampleNum++;
if (edrvcyclicInstance_l.diagnostics.sampleBufferedNum != EDRV_CYCLIC_SAMPLE_NUM)
{
edrvcyclicInstance_l.diagnostics.sampleBufferedNum++;
}
edrvcyclicInstance_l.sampleCount++;
if (edrvcyclicInstance_l.sampleCount == EDRV_CYCLIC_SAMPLE_NUM)
{
edrvcyclicInstance_l.sampleCount = 1;
}
}
}
edrvcyclicInstance_l.startCycleTimeStamp = startNewCycleTimeStamp;
edrvcyclicInstance_l.lastSlotTimeStamp = 0;
#endif
Exit:
if (ret != kErrorOk)
{
if (edrvcyclicInstance_l.pfnErrorCb != NULL)
{
ret = edrvcyclicInstance_l.pfnErrorCb(ret, NULL);
}
}
#if (EDRV_USE_TTTX == TRUE)
edrvcyclicInstance_l.nextCycleTime += (edrvcyclicInstance_l.cycleTimeUs * 1000ULL);
#endif
return ret;
}
