extern eOresult_t eo_nvset_InitBRD_LoadEPs(EOnvSet* p, eOnvsetOwnership_t ownership, eOipv4addr_t ipaddress, eOnvset_BRDcfg_t* cfgofbrd, eObool_t initNVs)
{
uint16_t nendpoints = 0;
uint16_t i = 0;
if((NULL == p) || (NULL == cfgofbrd))
{
return(eores_NOK_nullpointer);
}
if(eores_OK != eo_nvset_InitBRD(p, ownership, ipaddress, cfgofbrd->boardnum))
{
return(eores_NOK_generic);
}
nendpoints = eo_constvector_Size(cfgofbrd->epcfg_constvect);
for(i=0; i<nendpoints; i++)
{
eOprot_EPcfg_t* pepcfg = (eOprot_EPcfg_t*) eo_constvector_At(cfgofbrd->epcfg_constvect, i);
if(eobool_true == eoprot_EPcfg_isvalid(pepcfg))
{
eo_nvset_LoadEP(p, pepcfg, initNVs);
}
else
{
//#warning TBD: put diagnostic message
}
}
return(eores_OK);
}
extern void eom_emsappl_hid_userdef_initialise(EOMtheEMSappl* p)
{
EOMtheEMSapplCfg* emsapplcfg = eom_emsapplcfg_GetHandle();
// the led-pulser is initted as first thing
// pulse led3 forever at 20 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/20, 0);
{
// marco.accame on 24 apr 2015: here is how to customise the eth protocol from a generic to a specific board
// so far, we can keep it in here. but further on we shall customise one endpoint at a time in runtime.
EOnvSet* nvset = eom_emstransceiver_GetNVset(eom_emstransceiver_GetHandle());
uint8_t i = 0;
// 1. set the board number. the value of the generic board is 99.
// the correct value is used only for retrieving it later on and perform specific actions based on the board number
eo_nvset_BRDlocalsetnumber(nvset, s_boardnum);
// 2. load all the endpoints specific to this board. the generic board loads only management
for(i=0; i<s_theEPcfgsOthers_NumberOf; i++)
{
eOprot_EPcfg_t* epcfg = (eOprot_EPcfg_t*) &s_theEPcfgsOthers[i];
if(eobool_true == eoprot_EPcfg_isvalid(epcfg))
{
eo_nvset_LoadEP(nvset, epcfg, eobool_true);
}
}
// now we must define the .... proxy rules
// if we have board number equal to 1 or 3 ... (eb2 or eb4) then we set it for mc only
// in teh future we can set this proxy mode on teh basis of the board number received
eOprotBRD_t localboard = eoprot_board_local_get();
if((1 == localboard) || (3 == localboard))
{
eoprot_config_proxied_variables(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_b02_b04_mc_isproxied);
}
}
// initialise diagnostics
eo_theEMSdgn_Initialize();
// start the application body
//const eOemsapplbody_cfg_t *applbodycfg = &theemsapplbodycfg;
const eOemsapplbody_cfg_t * applbodycfg = (const eOemsapplbody_cfg_t *)emsapplcfg->applbodycfg->thetrueconfig;
eo_emsapplBody_Initialise(applbodycfg);
}
extern eOresult_t eo_nvsetbrdbuilder_EP_Load(EOnvsetBRDbuilder* p, eOprot_EPcfg_t* epcfg)
{
EOvector *v = NULL;
if((NULL == p) || (NULL == epcfg))
{
return(eores_NOK_nullpointer);
}
if(eobool_false == eoprot_EPcfg_isvalid(epcfg))
{
return(eores_NOK_generic);
}
// ok. now i put the item inside p->brdcfg->epcfg_constvect
v = p->epcfg_vector;
eo_vector_PushBack(v, epcfg);
// and make sure that the constvector is udapted
eo_constvector_Load(p->brdcfg->epcfg_constvect);
return(eores_OK);
}
extern void eom_emsappl_hid_userdef_initialise(EOMtheEMSappl* p)
{
EOMtheEMSapplCfg* emsapplcfg = eom_emsapplcfg_GetHandle();
// the led-pulser is initted as first thing
// pulse led3 forever at 20 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/20, 0);
{ // board number is from IP address
s_boardnum = 0;
eOipv4addr_t ipaddress = eom_ipnet_GetIPaddress(eom_ipnet_GetHandle());
s_boardnum = ipaddress >> 24;
s_boardnum --;
if(s_boardnum > 16)
{
//return;
s_boardnum = 0;
}
//s_boardnum = 0; //it imposes that the board is the eb1
}
{ // CAN-MAPPING
// marco.accame on 19 may 2015: here we load the map of can ... and also we map the entities into some can boards
// ... if we have any.
EOtheCANmapping * canmap = eo_canmap_Initialise(NULL);
// now i load the map of can boards
EOconstvector *canboards = eoboardconfig_code2canboards(s_boardnum);
eo_canmap_LoadBoards(canmap, canboards);
// now i load mc-joints, mc-motors, as-strain, as-mais, sk-skin
EOconstvector *entitydes = NULL;
// mc
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint, entitydes);
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, entitydes);
// as
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_analogsensors, eoprot_entity_as_strain);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_analogsensors, eoprot_entity_as_strain, entitydes);
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_analogsensors, eoprot_entity_as_mais);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_analogsensors, eoprot_entity_as_mais, entitydes);
// sk
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_skin, eoprot_entity_sk_skin);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_skin, eoprot_entity_sk_skin, entitydes);
}
{ // CAN-PROTOCOL
EOtheCANprotocol * canprot = eo_canprot_Initialise(NULL);
}
{ // ETH-PROTOCOL
// marco.accame on 24 apr 2015: here is how to customise the eth protocol from a generic to a specific board
// so far, we can keep it in here. but further on we shall customise one endpoint at a time in runtime.
EOnvSet* nvset = eom_emstransceiver_GetNVset(eom_emstransceiver_GetHandle());
uint8_t i = 0;
// 1. set the board number. the value of the generic board is 99.
// the correct value is used only for retrieving it later on and perform specific actions based on the board number
eo_nvset_BRDlocalsetnumber(nvset, s_boardnum);
EOconstvector* epcfg_cvector = eoboardconfig_code2EPcfg(s_boardnum);
// 2. load all the endpoints specific to this board. the generic board loads only management
uint16_t numofepcfgs = eo_constvector_Size(epcfg_cvector);
for(i=0; i<numofepcfgs; i++)
{
eOprot_EPcfg_t* epcfg = (eOprot_EPcfg_t*) eo_constvector_At(epcfg_cvector, i);
if(eobool_true == eoprot_EPcfg_isvalid(epcfg))
{
eo_nvset_LoadEP(nvset, epcfg, eobool_true);
}
}
// now we must define the .... proxy rules
// if we have board number equal to 1 or 3 ... (eb2 or eb4) then we set it for mc only
eOprotBRD_t localboard = eoprot_board_local_get();
if((1 == localboard) || (3 == localboard))
{
eoprot_config_proxied_variables(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_b02_b04_mc_isproxied);
}
}
// start the application body
eOemsapplbody_cfg_t applbodyconfig;
memcpy(&applbodyconfig, &theemsapplbodycfg, sizeof(eOemsapplbody_cfg_t));
// now i get the encoder config
const eOappEncReader_cfg_t *enccfg = eoboardconfig_code2encoderconfig(s_boardnum);
memcpy(&applbodyconfig.encoderreaderconfig, enccfg, sizeof(eOappEncReader_cfg_t));
eo_emsapplBody_Initialise(&applbodyconfig);
}
static void s_eoprot_ep_mn_fun_configcommand(eOmn_command_t* command)
{
uint8_t size, i;
eOropSIGcfg_t *sigcfg;
eOropdescriptor_t ropdesc;
EOtransceiver* theems00transceiver;
//eOmn_cmd_config_t* cmdconfig = (eOmn_cmd_config_t*)&command->cmd; /////// not correct.
eOmn_cmd_config_t* cmdconfig = &command->cmd.config;
EOarray *array = (EOarray*)cmdconfig->array;
uint16_t targetcapacity = (sizeof(cmdconfig->array) - sizeof(eOarray_head_t)) / sizeof(eOropSIGcfg_t);
eOmn_opc_t opc = (eOmn_opc_t) cmdconfig->opcpar.opc;
eOresult_t res;
if(NULL == (theems00transceiver = eo_boardtransceiver_GetTransceiver(eo_boardtransceiver_GetHandle())))
{
return;
}
switch(opc)
{
case eomn_opc_config_REGROPs_clear:
{ // just clear
eo_transceiver_RegularROPs_Clear(theems00transceiver);
} break;
case eomn_opc_config_REGROPs_assign:
{ // clear and load all the sigcfg in the array
if((eo_array_ItemSize(array) != sizeof(eOropSIGcfg_t)) || (targetcapacity != eo_array_Capacity(array)) || ((size = eo_array_Size(array)) > targetcapacity))
{
return;
}
eo_transceiver_RegularROPs_Clear(theems00transceiver);
for(i=0; i<size; i++)
{
sigcfg = (eOropSIGcfg_t*)eo_array_At(array, i);
memcpy(&ropdesc.control, &eok_ropctrl_basic, sizeof(eOropctrl_t));
ropdesc.control.plustime = (eobool_true == cmdconfig->opcpar.plustime) ? (1) : (0);
ropdesc.control.plussign = (eobool_true == cmdconfig->opcpar.plussign) ? (1) : (0);
ropdesc.ropcode = eo_ropcode_sig;
ropdesc.id32 = sigcfg->id32;
ropdesc.signature = cmdconfig->opcpar.signature;
res = eo_transceiver_RegularROP_Load(theems00transceiver, &ropdesc);
res = res;
if(eores_OK != res)
{
eo_theEMSdgn_UpdateApplCore(eo_theEMSdgn_GetHandle());
eo_theEMSdgn_Signalerror(eo_theEMSdgn_GetHandle(), eodgn_nvidbdoor_emsapplcommon , 1000);
}
}
} break;
case eomn_opc_config_REGROPs_append:
{ // dont clear and load all the sigcfg in the array
if((eo_array_ItemSize(array) != sizeof(eOropSIGcfg_t)) || (targetcapacity != eo_array_Capacity(array)) || ((size = eo_array_Size(array)) > targetcapacity))
{
return;
}
for(i=0; i<size; i++)
{
sigcfg = (eOropSIGcfg_t*)eo_array_At(array, i);
memcpy(&ropdesc.control, &eok_ropctrl_basic, sizeof(eOropctrl_t));
ropdesc.control.plustime = (eobool_true == cmdconfig->opcpar.plustime) ? (1) : (0);
ropdesc.control.plussign = (eobool_true == cmdconfig->opcpar.plussign) ? (1) : (0);
ropdesc.ropcode = eo_ropcode_sig;
ropdesc.id32 = sigcfg->id32;
ropdesc.signature = cmdconfig->opcpar.signature;
res = eo_transceiver_RegularROP_Load(theems00transceiver, &ropdesc);
res = res;
if(eores_OK != res)
{
eo_theEMSdgn_UpdateApplCore(eo_theEMSdgn_GetHandle());
eo_theEMSdgn_Signalerror(eo_theEMSdgn_GetHandle(), eodgn_nvidbdoor_emsapplcommon , 1000);
}
}
} break;
case eomn_opc_config_REGROPs_remove:
{ // remove all the sigcfg in the array
if((eo_array_ItemSize(array) != sizeof(eOropSIGcfg_t)) || (targetcapacity != eo_array_Capacity(array)) || ((size = eo_array_Size(array)) > targetcapacity))
{
return;
}
for(i=0; i<size; i++)
{
sigcfg = (eOropSIGcfg_t*)eo_array_At(array, i);
memcpy(&ropdesc.control, &eok_ropctrl_basic, sizeof(eOropctrl_t));
ropdesc.control.plustime = (eobool_true == cmdconfig->opcpar.plustime) ? (1) : (0);
ropdesc.control.plussign = (eobool_true == cmdconfig->opcpar.plussign) ? (1) : (0);
ropdesc.ropcode = eo_ropcode_sig;
ropdesc.id32 = sigcfg->id32;
ropdesc.signature = cmdconfig->opcpar.signature;
res = eo_transceiver_RegularROP_Unload(theems00transceiver, &ropdesc);
res = res;
}
} break;
case eomn_opc_config_PROT_boardnumber:
{ // simply set the byte in array[0] as the new localboard number
//eOprotBRD_t brdnum = command->cmd.config.array[0];
eoprot_config_board_local(command->cmd.config.array[0]);
} break;
case eomn_opc_config_PROT_endpoint:
{ // simply use the bytes in array[0->7] as a eOprot_EPcfg_t. but only if the EP is valid and not loaded yet.
eOprot_EPcfg_t *epcfg = (eOprot_EPcfg_t*) &command->cmd.config.array[0];
if(eobool_true == eoprot_EPcfg_isvalid(epcfg))
{
if(eobool_false == eoprot_endpoint_configured_is(eoprot_board_localboard, epcfg->endpoint))
{
EOnvSet* nvset = eom_emstransceiver_GetNVset(eom_emstransceiver_GetHandle());
eo_nvset_LoadEP(nvset, epcfg, eobool_true);
}
}
} break;
default:
{
} break;
}
}
