//------------------------------------------------------------------------------
static tOplkError generateHistoryEntryWithError(UINT16 errorCode_p,
tNetTime netTime_p,
UINT16 oplkError_p)
{
tOplkError ret;
tErrHistoryEntry historyEntry;
historyEntry.entryType = ERR_ENTRYTYPE_MODE_OCCURRED |
ERR_ENTRYTYPE_PROF_PLK |
ERR_ENTRYTYPE_HISTORY;
historyEntry.errorCode = errorCode_p;
historyEntry.timeStamp = netTime_p;
ami_setUint16Le(&historyEntry.aAddInfo[0], (UINT16)oplkError_p);
ret = postHistoryEntryEvent(&historyEntry);
return ret;
}
//------------------------------------------------------------------------------
void ami_setTimeOfDay(void* pAddr_p, tTimeOfDay* pTimeOfDay_p)
{
ami_setUint32Le(((UINT8*)pAddr_p), pTimeOfDay_p->msec & 0x0FFFFFFF);
ami_setUint16Le(((UINT8*)pAddr_p) + 4, pTimeOfDay_p->days);
}
//---------------------------------------------------------------------------
static tOplkError copyTxPdo(tPlkFrame* pFrame_p, UINT frameSize_p, BOOL fReadyFlag_p)
{
tOplkError ret = kErrorOk;
BYTE flag1;
UINT nodeId;
tMsgType msgType;
tPdoChannel* pPdoChannel;
UINT channelId;
UINT16 pdoSize;
// set TPDO invalid, so that only fully processed TPDOs are sent as valid
flag1 = ami_getUint8Le(&pFrame_p->data.pres.flag1);
ami_setUint8Le(&pFrame_p->data.pres.flag1, (flag1 & ~PLK_FRAME_FLAG1_RD));
// retrieve POWERLINK message type
msgType = (tMsgType)ami_getUint8Le(&pFrame_p->messageType);
if (msgType == kMsgTypePres)
{ // TPDO is PRes frame
nodeId = PDO_PRES_NODE_ID; // 0x00
}
else
{ // TPDO is PReq frame
// retrieve node ID
nodeId = ami_getUint8Le(&pFrame_p->dstNodeId);
}
if (pdokInstance_g.fRunning)
{
// Get PDO channel reference
channelId = pdokInstance_g.aTpdoChannelIdLut[nodeId];
pPdoChannel = &pdokInstance_g.pdoChannels.pTxPdoChannel[channelId];
// valid TPDO found
if ((pPdoChannel->nodeId == nodeId) &&
((unsigned int)(pPdoChannel->pdoSize + 24) <= frameSize_p))
{
/*
TRACE("%s() Channel:%d Node:%d MapObjectCnt:%d PdoSize:%d\n",
__func__, channelId, nodeId, pPdoChannel->mappObjectCount,
pPdoChannel->pdoSize);
*/
// set PDO version in frame
ami_setUint8Le(&pFrame_p->data.pres.pdoVersion, pPdoChannel->mappingVersion);
pdokcal_readTxPdo(channelId, &pFrame_p->data.pres.aPayload[0],
pPdoChannel->pdoSize);
// set PDO size in frame
pdoSize = pPdoChannel->pdoSize;
}
else
{ // TPDO is too short or invalid
// $$$ raise PDO error, set ret
pdoSize = 0;
}
}
else
{
// set PDO size in frame to zero, because no TPDO mapped
pdoSize = 0;
}
// set PDO size in frame
ami_setUint16Le(&pFrame_p->data.pres.sizeLe, pdoSize);
if (fReadyFlag_p != FALSE)
{
// set TPDO valid
ami_setUint8Le(&pFrame_p->data.pres.flag1, (flag1 | PLK_FRAME_FLAG1_RD));
}
return ret;
}
