tEplKernel PUBLIC EplLinCbSync(void)
{
tEplKernel EplRet = kEplSuccessful;
int iErr;
// check if user process waits for sync
if (atomic_read(&AtomicSyncState_g) == EVENT_STATE_IOCTL) {
// pass control to application, i.e. EplApiProcessImageExchangeIn()
atomic_set(&AtomicSyncState_g, EVENT_STATE_READY);
wake_up_interruptible(&WaitQueuePI_In_g);
// now, the application processes the sync event
// wait for call of EplApiProcessImageExchangeOut()
iErr = wait_event_interruptible(WaitQueueCbSync_g,
(atomic_read(&AtomicSyncState_g)
== EVENT_STATE_IOCTL)
||
(atomic_read(&AtomicSyncState_g)
== EVENT_STATE_TERM));
if ((iErr != 0) || (atomic_read(&AtomicEventState_g) == EVENT_STATE_IOCTL)) { // waiting was interrupted by signal or application called wrong function
EplRet = kEplShutdown;
}
} else { // application is currently not waiting for sync
// continue without interruption
// TPDO are set valid by caller (i.e. EplEventkProcess())
}
TGT_DBG_SIGNAL_TRACE_POINT(1);
return EplRet;
}
static void EplEventuRxSignalHandlerCb (
tShbInstance pShbRxInstance_p,
unsigned long ulDataSize_p)
{
tEplEvent *pEplEvent;
tShbError ShbError;
BYTE* pabDataBuffer;
TGT_DBG_SIGNAL_TRACE_POINT(21);
pabDataBuffer = &EplEventuInstance_g.m_abRxBuffer[0];
// copy data from event queue
ShbError = ShbCirReadDataBlock (pShbRxInstance_p,
pabDataBuffer,
sizeof(EplEventuInstance_g.m_abRxBuffer),
&ulDataSize_p);
if(ShbError != kShbOk)
{
EplEventuPostError(kEplEventSourceEventu, kEplEventReadError, sizeof (ShbError), &ShbError);
// error goto exit
goto Exit;
}
// resolve the pointer to the event structure
pEplEvent = (tEplEvent *) pabDataBuffer;
// set Datasize
pEplEvent->m_uiSize = (ulDataSize_p - sizeof(tEplEvent));
if(pEplEvent->m_uiSize > 0)
{
// set pointer to argument
pEplEvent->m_pArg = &pabDataBuffer[sizeof(tEplEvent)];
}
else
{
//set pointer to NULL
pEplEvent->m_pArg = NULL;
}
BENCHMARK_MOD_28_SET(1);
// call processfunction
EplEventuProcess(pEplEvent);
BENCHMARK_MOD_28_RESET(1);
Exit:
return;
}
static void EplEventkRxSignalHandlerCb (
tShbInstance pShbRxInstance_p,
unsigned long ulDataSize_p)
{
tEplEvent *pEplEvent;
tShbError ShbError;
//unsigned long ulBlockCount;
//unsigned long ulDataSize;
BYTE abDataBuffer[sizeof(tEplEvent) + EPL_MAX_EVENT_ARG_SIZE];
// d.k.: abDataBuffer contains the complete tEplEvent structure
// and behind this the argument
TGT_DBG_SIGNAL_TRACE_POINT(20);
BENCHMARK_MOD_27_RESET(0);
// copy data from event queue
ShbError = ShbCirReadDataBlock (pShbRxInstance_p,
&abDataBuffer[0],
sizeof(abDataBuffer),
&ulDataSize_p);
if(ShbError != kShbOk)
{
// error goto exit
goto Exit;
}
// resolve the pointer to the event structure
pEplEvent = (tEplEvent *) abDataBuffer;
// set Datasize
pEplEvent->m_uiSize = (ulDataSize_p - sizeof(tEplEvent));
if(pEplEvent->m_uiSize > 0)
{
// set pointer to argument
pEplEvent->m_pArg = &abDataBuffer[sizeof(tEplEvent)];
}
else
{
//set pointer to NULL
pEplEvent->m_pArg = NULL;
}
BENCHMARK_MOD_27_SET(0);
// call processfunction
EplEventkProcess(pEplEvent);
Exit:
return;
}
tEplKernel PUBLIC EplEventkProcess(tEplEvent* pEvent_p)
{
tEplKernel Ret;
tEplEventSource EventSource;
Ret = kEplSuccessful;
#if (EPL_USE_SHAREDBUFF != FALSE) \
&& (EPL_EVENT_USE_KERNEL_QUEUE != FALSE)
// error handling if event queue is full
if (EplEventkInstance_g.m_uiUserToKernelFullCount > 0)
{ // UserToKernel event queue has run out of space -> kEplNmtEventInternComError
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
tEplEvent Event;
tEplNmtEvent NmtEvent;
#endif
// directly call NMTk process function, because event queue is full
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
NmtEvent = kEplNmtEventInternComError;
Event.m_EventSink = kEplEventSinkNmtk;
Event.m_NetTime.m_dwNanoSec = 0;
Event.m_NetTime.m_dwSec = 0;
Event.m_EventType = kEplEventTypeNmtEvent;
Event.m_pArg = &NmtEvent;
Event.m_uiSize = sizeof(NmtEvent);
Ret = EplNmtkProcess(&Event);
#endif
// NMT state machine changed to reset (i.e. NMT_GS_RESET_COMMUNICATION)
// now, it is safe to reset the counter and empty the event queue
ShbCirResetBuffer (EplEventkInstance_g.m_pShbUserToKernelInstance, 1000, NULL);
EplEventkInstance_g.m_uiUserToKernelFullCount = 0;
TGT_DBG_SIGNAL_TRACE_POINT(22);
// also discard the current event (it doesn't matter if we lose another event)
goto Exit;
}
#endif
// check m_EventSink
switch(pEvent_p->m_EventSink)
{
// NMT-Kernel-Modul
case kEplEventSinkNmtk:
{
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
Ret = EplNmtkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
{
EventSource = kEplEventSourceNmtk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
BENCHMARK_MOD_27_RESET(0);
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
if ((pEvent_p->m_EventType == kEplEventTypeNmtEvent)
&& (*((tEplNmtEvent*)pEvent_p->m_pArg) == kEplNmtEventDllCeSoa))
{
BENCHMARK_MOD_27_SET(0);
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
// forward SoA event to DLLk module for cycle preprocessing
Ret = EplDllkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
{
EventSource = kEplEventSourceDllk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
BENCHMARK_MOD_27_RESET(0);
}
#endif
break;
}
// events for Dllk module
case kEplEventSinkDllk:
{
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
Ret = EplDllkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
{
EventSource = kEplEventSourceDllk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
break;
}
// events for DllkCal module
case kEplEventSinkDllkCal:
{
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
Ret = EplDllkCalProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
{
EventSource = kEplEventSourceDllk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
break;
}
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
// events for PDO CAL module
case kEplEventSinkPdokCal:
{
Ret = EplPdokCalProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
{
EventSource = kEplEventSourcePdok;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
break;
}
#endif
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
// events for Error handler module
case kEplEventSinkErrk:
{
// only call error handler if DLL is present
Ret = EplErrorHandlerkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown))
{
EventSource = kEplEventSourceErrk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
break;
}
#endif
// unknown sink
default:
{
Ret = kEplEventUnknownSink;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(pEvent_p->m_EventSink),
&pEvent_p->m_EventSink);
}
} // end of switch(pEvent_p->m_EventSink)
#if (EPL_USE_SHAREDBUFF != FALSE) \
&& (EPL_EVENT_USE_KERNEL_QUEUE != FALSE)
Exit:
#endif
return Ret;
}
static void EplEventuRxSignalHandlerCb(tShbInstance pShbRxInstance_p,
unsigned long ulDataSize_p)
{
tEplEvent *pEplEvent;
tShbError ShbError;
//unsigned long ulBlockCount;
//unsigned long ulDataSize;
u8 abDataBuffer[sizeof(tEplEvent) + EPL_MAX_EVENT_ARG_SIZE];
// d.k.: abDataBuffer contains the complete tEplEvent structure
// and behind this the argument
TGT_DBG_SIGNAL_TRACE_POINT(21);
// d.k. not needed because it is already done in SharedBuff
/* do
{
BENCHMARK_MOD_28_SET(1); // 4 µs until reset
// get messagesize
ShbError = ShbCirGetReadDataSize (pShbRxInstance_p, &ulDataSize);
if(ShbError != kShbOk)
{
// error goto exit
goto Exit;
}
BENCHMARK_MOD_28_RESET(1); // 14 µs until set
*/
// copy data from event queue
ShbError = ShbCirReadDataBlock(pShbRxInstance_p,
&abDataBuffer[0],
sizeof(abDataBuffer), &ulDataSize_p);
if (ShbError != kShbOk) {
// error goto exit
goto Exit;
}
// resolve the pointer to the event structure
pEplEvent = (tEplEvent *) abDataBuffer;
// set Datasize
pEplEvent->m_uiSize = (ulDataSize_p - sizeof(tEplEvent));
if (pEplEvent->m_uiSize > 0) {
// set pointer to argument
pEplEvent->m_pArg = &abDataBuffer[sizeof(tEplEvent)];
} else {
//set pointer to NULL
pEplEvent->m_pArg = NULL;
}
BENCHMARK_MOD_28_SET(1);
// call processfunction
EplEventuProcess(pEplEvent);
BENCHMARK_MOD_28_RESET(1);
// read number of left messages to process
// d.k. not needed because it is already done in SharedBuff
/* ShbError = ShbCirGetReadBlockCount (pShbRxInstance_p, &ulBlockCount);
if (ShbError != kShbOk)
{
// error goto exit
goto Exit;
}
} while (ulBlockCount > 0);
*/
Exit:
return;
}
//------------------------------------------------------------------------------
tOplkError dllknode_setupAsyncPhase(tNmtState nmtState_p, UINT nextTxBufferOffset_p,
UINT32 nextTimeOffsetNs_p, UINT* pIndex_p)
{
tOplkError ret = kErrorOk;
tEdrvTxBuffer* pTxBuffer;
pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_SOA + nextTxBufferOffset_p];
pTxBuffer->timeOffsetNs = nextTimeOffsetNs_p;
// switch SoAReq buffer
dllkInstance_g.syncLastSoaReq++;
if (dllkInstance_g.syncLastSoaReq >= DLLK_SOAREQ_COUNT)
{
dllkInstance_g.syncLastSoaReq = 0;
}
// $$$ d.k. fEnableInvitation_p = ((NmtState_p != kNmtMsPreOperational1) ||
// (dllkInstance_g.cycleCount >= C_DLL_PREOP1_START_CYCLES))
// currently, processSync is not called in PreOp1
ret = dllkframe_updateFrameSoa(pTxBuffer, nmtState_p, TRUE, dllkInstance_g.syncLastSoaReq);
dllkInstance_g.ppTxBufferList[*pIndex_p] = pTxBuffer;
(*pIndex_p)++;
// check if we are invited in SoA
if (dllkInstance_g.aLastTargetNodeId[dllkInstance_g.syncLastSoaReq] ==
dllkInstance_g.dllConfigParam.nodeId)
{ // Note: The Tx buffers exist / are ready!
// This is checked in dllk_updateFrameSoa()
switch (dllkInstance_g.aLastReqServiceId[dllkInstance_g.syncLastSoaReq])
{
case kDllReqServiceStatus:
// StatusRequest
pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_STATUSRES +
dllkInstance_g.curTxBufferOffsetStatusRes];
dllkInstance_g.ppTxBufferList[*pIndex_p] = pTxBuffer;
(*pIndex_p)++;
TGT_DBG_SIGNAL_TRACE_POINT(8);
break;
case kDllReqServiceIdent:
// IdentRequest
pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_IDENTRES +
dllkInstance_g.curTxBufferOffsetIdentRes];
dllkInstance_g.ppTxBufferList[*pIndex_p] = pTxBuffer;
(*pIndex_p)++;
TGT_DBG_SIGNAL_TRACE_POINT(7);
break;
case kDllReqServiceNmtRequest:
// NmtRequest
pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_NMTREQ +
dllkInstance_g.curTxBufferOffsetNmtReq];
dllkInstance_g.ppTxBufferList[*pIndex_p] = pTxBuffer;
(*pIndex_p)++;
dllkInstance_g.curTxBufferOffsetNmtReq ^= 1;
break;
case kDllReqServiceUnspecified:
// unspecified invite
pTxBuffer = &dllkInstance_g.pTxBuffer[DLLK_TXFRAME_NONPLK +
dllkInstance_g.curTxBufferOffsetNonPlk];
dllkInstance_g.ppTxBufferList[*pIndex_p] = pTxBuffer;
(*pIndex_p)++;
dllkInstance_g.curTxBufferOffsetNonPlk ^= 1;
break;
default:
break;
}
// Asnd frame will be sent, remove the request
dllkInstance_g.aLastReqServiceId[dllkInstance_g.syncLastSoaReq] = kDllReqServiceNo;
}
return ret;
}
tEplKernel EplEventkProcess(tEplEvent *pEvent_p)
{
tEplKernel Ret;
tEplEventSource EventSource;
Ret = kEplSuccessful;
// error handling if event queue is full
if (EplEventkInstance_g.m_uiUserToKernelFullCount > 0) { // UserToKernel event queue has run out of space -> kEplNmtEventInternComError
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
tEplEvent Event;
tEplNmtEvent NmtEvent;
#endif
#ifndef EPL_NO_FIFO
tShbError ShbError;
#endif
// directly call NMTk process function, because event queue is full
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
NmtEvent = kEplNmtEventInternComError;
Event.m_EventSink = kEplEventSinkNmtk;
Event.m_NetTime.m_dwNanoSec = 0;
Event.m_NetTime.m_dwSec = 0;
Event.m_EventType = kEplEventTypeNmtEvent;
Event.m_pArg = &NmtEvent;
Event.m_uiSize = sizeof(NmtEvent);
Ret = EplNmtkProcess(&Event);
#endif
// NMT state machine changed to reset (i.e. NMT_GS_RESET_COMMUNICATION)
// now, it is safe to reset the counter and empty the event queue
#ifndef EPL_NO_FIFO
ShbError =
ShbCirResetBuffer(EplEventkInstance_g.
m_pShbUserToKernelInstance, 1000, NULL);
#endif
EplEventkInstance_g.m_uiUserToKernelFullCount = 0;
TGT_DBG_SIGNAL_TRACE_POINT(22);
// also discard the current event (it doesn't matter if we lose another event)
goto Exit;
}
// check m_EventSink
switch (pEvent_p->m_EventSink) {
case kEplEventSinkSync:
{
if (EplEventkInstance_g.m_pfnCbSync != NULL) {
Ret = EplEventkInstance_g.m_pfnCbSync();
if (Ret == kEplSuccessful) {
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
// mark TPDOs as valid
Ret = EplPdokCalSetTpdosValid(TRUE);
#endif
} else if ((Ret != kEplReject)
&& (Ret != kEplShutdown)) {
EventSource = kEplEventSourceSyncCb;
// Error event for API layer
EplEventkPostError
(kEplEventSourceEventk, Ret,
sizeof(EventSource), &EventSource);
}
}
break;
}
// NMT-Kernel-Modul
case kEplEventSinkNmtk:
{
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
Ret = EplNmtkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown)) {
EventSource = kEplEventSourceNmtk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
if ((pEvent_p->m_EventType == kEplEventTypeNmtEvent)
&&
((*((tEplNmtEvent *) pEvent_p->m_pArg) ==
kEplNmtEventDllCeSoa)
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
|| (*((tEplNmtEvent *) pEvent_p->m_pArg) ==
kEplNmtEventDllMeSoaSent)
#endif
)) { // forward SoA event to error handler
Ret = EplErrorHandlerkProcess(pEvent_p);
if ((Ret != kEplSuccessful)
&& (Ret != kEplShutdown)) {
EventSource = kEplEventSourceErrk;
// Error event for API layer
EplEventkPostError
(kEplEventSourceEventk, Ret,
sizeof(EventSource), &EventSource);
}
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
// forward SoA event to PDO module
pEvent_p->m_EventType = kEplEventTypePdoSoa;
Ret = EplPdokProcess(pEvent_p);
if ((Ret != kEplSuccessful)
&& (Ret != kEplShutdown)) {
EventSource = kEplEventSourcePdok;
// Error event for API layer
EplEventkPostError
(kEplEventSourceEventk, Ret,
sizeof(EventSource), &EventSource);
}
#endif
}
break;
#endif
}
// events for Dllk module
case kEplEventSinkDllk:
{
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
Ret = EplDllkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown)) {
EventSource = kEplEventSourceDllk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
break;
}
// events for DllkCal module
case kEplEventSinkDllkCal:
{
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
Ret = EplDllkCalProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown)) {
EventSource = kEplEventSourceDllk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
break;
}
//
case kEplEventSinkPdok:
{
// PDO-Module
#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
Ret = EplPdokProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown)) {
EventSource = kEplEventSourcePdok;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
#endif
break;
}
// events for Error handler module
case kEplEventSinkErrk:
{
// only call error handler if DLL is present
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
Ret = EplErrorHandlerkProcess(pEvent_p);
if ((Ret != kEplSuccessful) && (Ret != kEplShutdown)) {
EventSource = kEplEventSourceErrk;
// Error event for API layer
EplEventkPostError(kEplEventSourceEventk,
Ret,
sizeof(EventSource),
&EventSource);
}
break;
#endif
}
// unknown sink
default:
{
Ret = kEplEventUnknownSink;
}
} // end of switch(pEvent_p->m_EventSink)
Exit:
return Ret;
}