//------------------------------------------------------------------------------
static tOplkError initPowerlink(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
static tOplkApiInitParam initParam;
PRINTF("Initializing openPOWERLINK stack...\n");
OPLK_MEMSET(&initParam, 0, sizeof(initParam));
initParam.sizeOfInitParam = sizeof(initParam);
initParam.nodeId = pInstance_p->nodeId;
initParam.ipAddress = (0xFFFFFF00 & IP_ADDR) | initParam.nodeId;
OPLK_MEMCPY(initParam.aMacAddress, pInstance_p->aMacAddr, sizeof(initParam.aMacAddress));
initParam.fAsyncOnly = FALSE;
initParam.featureFlags = -1;
initParam.cycleLen = pInstance_p->cycleLen; // required for error detection
initParam.isochrTxMaxPayload = 36; // const
initParam.isochrRxMaxPayload = 36; // const
initParam.presMaxLatency = 2000; // const; only required for IdentRes
initParam.asndMaxLatency = 2000; // const; only required for IdentRes
initParam.preqActPayloadLimit = 36; // required for initialization (+28 bytes)
initParam.presActPayloadLimit = 36; // required for initialization of Pres frame (+28 bytes)
initParam.multiplCylceCnt = 0; // required for error detection
initParam.asyncMtu = 300; // required to set up max frame size
initParam.prescaler = 2; // required for sync
initParam.lossOfFrameTolerance = 100000;
initParam.asyncSlotTimeout = 3000000;
initParam.waitSocPreq = 0;
initParam.deviceType = -1; // NMT_DeviceType_U32
initParam.vendorId = -1; // NMT_IdentityObject_REC.VendorId_U32
initParam.productCode = -1; // NMT_IdentityObject_REC.ProductCode_U32
initParam.revisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32
initParam.serialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32
initParam.applicationSwDate = 0;
initParam.applicationSwTime = 0;
initParam.subnetMask = SUBNET_MASK;
initParam.defaultGateway = DEFAULT_GATEWAY;
sprintf((char*)initParam.sHostname, "%02x-%08x", initParam.nodeId, initParam.vendorId);
initParam.syncNodeId = C_ADR_SYNC_ON_SOC;
initParam.fSyncOnPrcNode = FALSE;
// set callback functions
initParam.pfnCbEvent = processEvents;
initParam.pfnCbSync = processSync;
// initialize POWERLINK stack
ret = oplk_init(&initParam);
if (ret != kErrorOk)
{
PRINTF("oplk_init() failed (Error:0x%x!\n", ret);
return ret;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
static tOplkError initPowerlink(UINT32 cycleLen_p, char* pszCdcFileName_p,
const BYTE* macAddr_p)
{
tOplkError ret = kErrorOk;
static tOplkApiInitParam initParam;
static char devName[128];
printf("Initializing openPOWERLINK stack...\n");
#if defined(CONFIG_USE_PCAP)
if (selectPcapDevice(devName) < 0)
return kErrorIllegalInstance;
#elif defined(__COBALT__)
if (selectDevice(devName) < 0)
return kErrorIllegalInstance;
#endif
memset(&initParam, 0, sizeof(initParam));
initParam.sizeOfInitParam = sizeof(initParam);
// pass selected device name to Edrv
initParam.hwParam.pDevName = devName;
initParam.nodeId = NODEID;
initParam.ipAddress = (0xFFFFFF00 & IP_ADDR) | initParam.nodeId;
/* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
memcpy(initParam.aMacAddress, macAddr_p, sizeof(initParam.aMacAddress));
initParam.fAsyncOnly = FALSE;
initParam.featureFlags = UINT_MAX;
initParam.cycleLen = cycleLen_p; // required for error detection
initParam.isochrTxMaxPayload = 256; // const
initParam.isochrRxMaxPayload = 256; // const
initParam.presMaxLatency = 50000; // const; only required for IdentRes
initParam.preqActPayloadLimit = 36; // required for initialisation (+28 bytes)
initParam.presActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
initParam.asndMaxLatency = 150000; // const; only required for IdentRes
initParam.multiplCylceCnt = 0; // required for error detection
initParam.asyncMtu = 1500; // required to set up max frame size
initParam.prescaler = 2; // required for sync
initParam.lossOfFrameTolerance = 500000;
initParam.asyncSlotTimeout = 3000000;
initParam.waitSocPreq = 1000;
initParam.deviceType = UINT_MAX; // NMT_DeviceType_U32
initParam.vendorId = UINT_MAX; // NMT_IdentityObject_REC.VendorId_U32
initParam.productCode = UINT_MAX; // NMT_IdentityObject_REC.ProductCode_U32
initParam.revisionNumber = UINT_MAX; // NMT_IdentityObject_REC.RevisionNo_U32
initParam.serialNumber = UINT_MAX; // NMT_IdentityObject_REC.SerialNo_U32
initParam.subnetMask = SUBNET_MASK;
initParam.defaultGateway = DEFAULT_GATEWAY;
sprintf((char*)initParam.sHostname, "%02x-%08x", initParam.nodeId, initParam.vendorId);
initParam.syncNodeId = C_ADR_SYNC_ON_SOA;
initParam.fSyncOnPrcNode = FALSE;
// set callback functions
initParam.pfnCbEvent = processEvents;
#if defined(CONFIG_KERNELSTACK_DIRECTLINK)
initParam.pfnCbSync = processSync;
#else
initParam.pfnCbSync = NULL;
#endif
// initialize POWERLINK stack
ret = oplk_init(&initParam);
if (ret != kErrorOk)
{
fprintf(stderr, "oplk_init() failed with \"%s\" (0x%04x)\n", debugstr_getRetValStr(ret), ret);
return ret;
}
ret = oplk_setCdcFilename(pszCdcFileName_p);
if (ret != kErrorOk)
{
fprintf(stderr, "oplk_setCdcFilename() failed with \"%s\" (0x%04x)\n", debugstr_getRetValStr(ret), ret);
return ret;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
static tOplkError initPowerlink(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
static tOplkApiInitParam initParam;
PRINTF("Initializing openPOWERLINK stack...\n");
memset(&initParam, 0, sizeof(initParam));
initParam.sizeOfInitParam = sizeof(initParam);
initParam.nodeId = pInstance_p->nodeId;
initParam.ipAddress = (0xFFFFFF00 & IP_ADDR) | initParam.nodeId;
memcpy(initParam.aMacAddress, pInstance_p->aMacAddr, sizeof(initParam.aMacAddress));
initParam.fAsyncOnly = FALSE;
initParam.featureFlags = -1;
initParam.cycleLen = pInstance_p->cycleLen; // required for error detection
initParam.isochrTxMaxPayload = 256; // const
initParam.isochrRxMaxPayload = 256; // const
initParam.presMaxLatency = 50000; // const; only required for IdentRes
initParam.preqActPayloadLimit = 36; // required for initialisation (+28 bytes)
initParam.presActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
initParam.asndMaxLatency = 150000; // const; only required for IdentRes
initParam.multiplCylceCnt = 0; // required for error detection
initParam.asyncMtu = 1500; // required to set up max frame size
initParam.prescaler = 2; // required for sync
initParam.lossOfFrameTolerance = 500000;
initParam.asyncSlotTimeout = 3000000;
initParam.waitSocPreq = -1;
initParam.deviceType = -1; // NMT_DeviceType_U32
initParam.vendorId = -1; // NMT_IdentityObject_REC.VendorId_U32
initParam.productCode = -1; // NMT_IdentityObject_REC.ProductCode_U32
initParam.revisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32
initParam.serialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32
initParam.subnetMask = SUBNET_MASK;
initParam.defaultGateway = DEFAULT_GATEWAY;
sprintf((char*)initParam.sHostname, "%02x-%08x", initParam.nodeId, initParam.vendorId);
initParam.syncNodeId = C_ADR_SYNC_ON_SOC;
initParam.fSyncOnPrcNode = FALSE;
// set callback functions
initParam.pfnCbEvent = processEvents;
initParam.pfnCbSync = processSync;
// initialize POWERLINK stack
ret = oplk_init(&initParam);
if (ret != kErrorOk)
{
PRINTF("oplk_init() failed with \"%s\"\n(Error:0x%x!)\n", debugstr_getRetValStr(ret), ret);
return ret;
}
ret = oplk_setCdcBuffer(pInstance_p->pCdcBuffer, pInstance_p->cdcBufferSize);
if (ret != kErrorOk)
{
PRINTF("oplk_setCdcBuffer() failed with \"%s\"\n(Error:0x%x!)\n", debugstr_getRetValStr(ret), ret);
return ret;
}
// Set real MAC address to ARP module
oplk_getEthMacAddr(initParam.aMacAddress);
arp_setMacAddr(initParam.aMacAddress);
// Set IP address to ARP module
arp_setIpAddr(initParam.ipAddress);
// Set default gateway to ARP module
arp_setDefGateway(initParam.defaultGateway);
return kErrorOk;
}
//------------------------------------------------------------------------------
Api::Api(MainWindow* pMainWindow_p, UINT nodeId_p, QString devName_p)
{
tOplkError ret;
State* pState;
Output* pOutput;
Input* pInput;
CnState* pCnState;
pState = pMainWindow_p->getStateWidget();
pOutput = pMainWindow_p->getOutputWidget();
pInput = pMainWindow_p->getInputWidget();
pCnState = pMainWindow_p->getCnStateWidget();
pProcessThread = new ProcessThread(pMainWindow_p);
QObject::connect(pProcessThread, SIGNAL(oplkStatusChanged(int)),
pState, SLOT(setStatusLed(int)));
QObject::connect(pProcessThread, SIGNAL(nmtStateChanged(const QString&)),
pState, SLOT(setNmtStateText(const QString &)));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pInput, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pInput, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pInput, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pOutput, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pOutput, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pOutput, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeAppeared(int)),
pCnState, SLOT(addNode(int)));
QObject::connect(pProcessThread, SIGNAL(nodeDisappeared(int)),
pCnState, SLOT(removeNode(int)));
QObject::connect(pProcessThread, SIGNAL(allNodesRemoved()),
pCnState, SLOT(removeAllNodes()));
QObject::connect(pProcessThread, SIGNAL(nodeStatusChanged(int, int)),
pCnState, SLOT(setState(int, int)));
QObject::connect(pProcessThread, SIGNAL(printLog(const QString&)),
pMainWindow_p, SLOT(printlog(const QString&)));
pDataInOutThread = new DataInOutThread;
QObject::connect(pDataInOutThread, SIGNAL(processImageOutChanged(int, int)),
pOutput, SLOT(setValue(int, int)));
QObject::connect(pDataInOutThread, SIGNAL(processImageInChanged(int, int)),
pInput, SLOT(setLeds(int, int)));
OPLK_MEMSET(&initParam, 0, sizeof(initParam));
initParam.sizeOfInitParam = sizeof(initParam);
initParam.nodeId = nodeId_p;
initParam.ipAddress = (IP_ADDR & 0xFFFFFF00) | initParam.nodeId;
initParam.fAsyncOnly = FALSE;
initParam.featureFlags = UINT_MAX;
initParam.cycleLen = CYCLE_LEN; // required for error detection
initParam.isochrTxMaxPayload = 256; // const
initParam.isochrRxMaxPayload = 256; // const
initParam.presMaxLatency = 50000; // const; only required for IdentRes
initParam.preqActPayloadLimit = 36; // required for initialisation (+28 bytes)
initParam.presActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
initParam.asndMaxLatency = 150000; // const; only required for IdentRes
initParam.multiplCylceCnt = 0; // required for error detection
initParam.asyncMtu = 1500; // required to set up max frame size
initParam.prescaler = 2; // required for sync
initParam.lossOfFrameTolerance = 500000;
initParam.asyncSlotTimeout = 3000000;
initParam.waitSocPreq = 150000;
initParam.deviceType = UINT_MAX; // NMT_DeviceType_U32
initParam.vendorId = UINT_MAX; // NMT_IdentityObject_REC.VendorId_U32
initParam.productCode = UINT_MAX; // NMT_IdentityObject_REC.ProductCode_U32
initParam.revisionNumber = UINT_MAX; // NMT_IdentityObject_REC.RevisionNo_U32
initParam.serialNumber = UINT_MAX; // NMT_IdentityObject_REC.SerialNo_U32
initParam.subnetMask = SUBNET_MASK;
initParam.defaultGateway = DEFAULT_GATEWAY;
sprintf((char*)initParam.sHostname, "%02x-%08x", initParam.nodeId, initParam.vendorId);
initParam.syncNodeId = C_ADR_SYNC_ON_SOA;
initParam.fSyncOnPrcNode = FALSE;
// set callback functions
initParam.pfnCbEvent = pProcessThread->getEventCbFunc();
/* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
OPLK_MEMCPY(initParam.aMacAddress, abMacAddr, sizeof(initParam.aMacAddress));
// Copy the selected interface string to a local variable
strcpy(devName_g, devName_p.toStdString().c_str());
initParam.hwParam.pDevName = devName_g;
#if defined(CONFIG_KERNELSTACK_DIRECTLINK)
initParam.pfnCbSync = pDataInOutThread->getSyncCbFunc();
#else
initParam.pfnCbSync = NULL;
#endif
// init POWERLINK
ret = oplk_init(&initParam);
if (ret != kErrorOk)
{
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of openPOWERLINK Stack failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) +
"\nThe most common error source are an unsupported Ethernet controller or the kernel module is not loaded."
"\nFor further information please consult the manual.");
goto Exit;
}
ret = oplk_setCdcFilename(pszCdcFilename_g);
if (ret != kErrorOk)
{
goto Exit;
}
ret = pDataInOutThread->setupProcessImage();
if (ret != kErrorOk)
{
QMessageBox::critical(0, "POWERLINK demo",
QString("Initialization of process image failed.\n") +
"Error code: 0x"+ QString::number(ret, 16));
goto Exit;
}
// start the openPOWERLINK stack
ret = oplk_execNmtCommand(kNmtEventSwReset);
// start process thread
pProcessThread->start();
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
// start data in out thread
pDataInOutThread->start();
#endif
Exit:
return;
}