//------------------------------------------------------------------------------
void SdoDialog::userDefEvent(void* pUserArg_p)
{
tSdoComConHdl SdoComConHdl;
tObdSize obdSize;
tOplkError ret;
obdSize = data.size();
if (pUserArg_p == readButton)
{
ret = oplk_readObject(&SdoComConHdl, targetNodeId,
targetIndex, targetSubindex,
data.data(), &obdSize,
(tSdoType) sdoType, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
return;
}
else if (ret == kErrorOk)
{ // local OD access
data.resize(obdSize);
emit sigUpdateData("Successfully read from local OD");
}
else
{
data.resize(0);
emit sigUpdateData(QString("Error 0x%1: %2")
.arg(ret, 0, 16)
.arg(debugstr_getRetValStr(ret)));
}
}
else if (pUserArg_p == writeButton)
{
ret = oplk_writeObject(&SdoComConHdl, targetNodeId,
targetIndex, targetSubindex,
data.data(), obdSize,
(tSdoType) sdoType, NULL);
if (ret == kErrorApiTaskDeferred)
{ // SDO transfer started
return;
}
else if (ret == kErrorOk)
{ // local OD access
data.resize(obdSize);
emit sigUpdateData("Successfully written to local OD");
}
else
{
data.resize(0);
emit sigUpdateData(QString("Error 0x%1: %2")
.arg(ret, 0, 16)
.arg(debugstr_getRetValStr(ret)));
}
}
}
//------------------------------------------------------------------------------
static tOplkError processErrorWarningEvent(tOplkApiEventType EventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
// error or warning occurred within the stack or the application
// on error the API layer stops the NMT state machine
tEventError* pInternalError = &pEventArg_p->internalError;
UNUSED_PARAMETER(EventType_p);
UNUSED_PARAMETER(pUserArg_p);
PRINTF("Err/Warn: Source = %s (%02X) OplkError = %s (0x%03X)\n",
debugstr_getEventSourceStr(pInternalError->eventSource),
pInternalError->eventSource,
debugstr_getRetValStr(pInternalError->oplkError),
pInternalError->oplkError);
PRINTF("Err/Warn: Source = %s (%02X) OplkError = %s (0x%03X)\n",
debugstr_getEventSourceStr(pInternalError->eventSource),
pInternalError->eventSource,
debugstr_getRetValStr(pInternalError->oplkError),
pInternalError->oplkError);
// check additional argument
switch (pInternalError->eventSource)
{
case kEventSourceEventk:
case kEventSourceEventu:
// error occurred within event processing
// either in kernel or in user part
PRINTF(" OrgSource = %s %02X\n",
debugstr_getEventSourceStr(pInternalError->errorArg.eventSource),
pInternalError->errorArg.eventSource);
PRINTF(" OrgSource = %s %02X\n",
debugstr_getEventSourceStr(pInternalError->errorArg.eventSource),
pInternalError->errorArg.eventSource);
break;
case kEventSourceDllk:
// error occurred within the data link layer (e.g. interrupt processing)
// the DWORD argument contains the DLL state and the NMT event
PRINTF(" val = %X\n", pInternalError->errorArg.uintArg);
PRINTF(" val = %X\n", pInternalError->errorArg.uintArg);
break;
default:
PRINTF("\n");
break;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
static tOplkError initProcessImage(void)
{
tOplkError ret = kErrorOk;
UINT varEntries;
tObdSize obdSize;
/* Allocate process image */
PRINTF("Initializing process image...\n");
PRINTF("Size of input process image: %d\n", (UINT32)sizeof(PI_IN));
PRINTF("Size of output process image: %d\n", (UINT32)sizeof (PI_OUT));
ret = oplk_allocProcessImage(sizeof(PI_IN), sizeof(PI_OUT));
if (ret != kErrorOk)
{
return ret;
}
pProcessImageIn_l = oplk_getProcessImageIn();
pProcessImageOut_l = oplk_getProcessImageOut();
/* link process variables used by CN to object dictionary */
PRINTF("Linking process image vars:\n");
obdSize = sizeof(pProcessImageIn_l->digitalIn[0]);
varEntries = 4;
ret = oplk_linkProcessImageObject(0x6000, 0x01, offsetof(PI_IN, digitalIn),
FALSE, obdSize, &varEntries);
if (ret != kErrorOk)
{
PRINTF("linking process vars ... error %04x\n\"%s\"\n\n", ret, debugstr_getRetValStr(ret));
return ret;
}
obdSize = sizeof(pProcessImageOut_l->digitalOut[0]);
varEntries = 4;
ret = oplk_linkProcessImageObject(0x6200, 0x01, offsetof(PI_OUT, digitalOut),
TRUE, obdSize, &varEntries);
if (ret != kErrorOk)
{
PRINTF("linking process vars ... error %04x\n\"%s\"\n\n", ret, debugstr_getRetValStr(ret));
return ret;
}
PRINTF("Linking process vars... ok\n\n");
return kErrorOk;
}
//------------------------------------------------------------------------------
tOplkError pdok_deAllocChannelMem(void)
{
tOplkError Ret = kErrorOk;
#if NMT_MAX_NODE_ID > 0
tDllNodeOpParam NodeOpParam;
NodeOpParam.opNodeType = kDllNodeOpTypeFilterPdo;
NodeOpParam.nodeId = C_ADR_BROADCAST;
Ret = dllk_deleteNode(&NodeOpParam);
if (Ret != kErrorOk)
{
DEBUG_LVL_PDO_TRACE("%s() dllk_deleteNode failed (%s)\n",
__func__, debugstr_getRetValStr(Ret));
return Ret;
}
#endif // NMT_MAX_NODE_ID > 0
// de-allocate mem for RX PDO channels
if (pdokInstance_g.pdoChannels.allocation.rxPdoChannelCount != 0)
{
pdokInstance_g.pdoChannels.allocation.rxPdoChannelCount = 0;
if (pdokInstance_g.pdoChannels.pRxPdoChannel != NULL)
{
OPLK_FREE(pdokInstance_g.pdoChannels.pRxPdoChannel);
pdokInstance_g.pdoChannels.pRxPdoChannel = NULL;
}
}
// de-allocate mem for TX PDO channels
if (pdokInstance_g.pdoChannels.allocation.txPdoChannelCount != 0)
{
pdokInstance_g.pdoChannels.allocation.txPdoChannelCount = 0;
if (pdokInstance_g.pdoChannels.pTxPdoChannel != NULL)
{
OPLK_FREE(pdokInstance_g.pdoChannels.pTxPdoChannel);
pdokInstance_g.pdoChannels.pTxPdoChannel = NULL;
}
}
return Ret;
}
//------------------------------------------------------------------------------
tOplkError ProcessThread::processPdoChangeEvent(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tOplkApiEventPdoChange* pPdoChange = &pEventArg_p->pdoChange;
UINT subIndex;
UINT64 mappObject;
tOplkError ret;
UINT varLen;
UNUSED_PARAMETER(eventType_p);
UNUSED_PARAMETER(pUserArg_p);
sigPrintLog(QString("PDO change event: (%1PDO = 0x%2 to node 0x%3 with %4 objects %5)")
.arg(pPdoChange->fTx ? "T" : "R")
.arg(pPdoChange->mappParamIndex, 4, 16, QLatin1Char('0'))
.arg(pPdoChange->nodeId, 2, 16, QLatin1Char('0'))
.arg(pPdoChange->mappObjectCount)
.arg(pPdoChange->fActivated ? "activated" : "deleted"));
for (subIndex = 1; subIndex <= pPdoChange->mappObjectCount; subIndex++)
{
varLen = sizeof(mappObject);
ret = oplk_readLocalObject(pPdoChange->mappParamIndex, subIndex, &mappObject, &varLen);
if (ret != kErrorOk)
{
sigPrintLog(QString(" Reading 0x%1/%2 failed with 0x%3\n\"4\"")
.arg(pPdoChange->mappParamIndex, 4, 16, QLatin1Char('0'))
.arg(subIndex)
.arg(ret, 4, 16, QLatin1Char('0'))
.arg(debugstr_getRetValStr(ret)));
continue;
}
sigPrintLog(QString(" %1. mapped object 0x%2/%3")
.arg(subIndex)
.arg(mappObject & 0x00FFFFULL, 4, 16, QLatin1Char('0'))
.arg((mappObject & 0xFF0000ULL) >> 16, 4, 16, QLatin1Char('0')));
}
return kErrorOk;
}
//------------------------------------------------------------------------------
tOplkError ProcessThread::processErrorWarningEvent(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tEventError* pInternalError = &pEventArg_p->internalError;
UNUSED_PARAMETER(eventType_p);
UNUSED_PARAMETER(pUserArg_p);
sigPrintLog(QString("Err/Warn: Source = %1 (0x%2) OplkError = %3 (0x%4)")
.arg(debugstr_getEventSourceStr(pInternalError->eventSource))
.arg(pInternalError->eventSource, 2, 16, QLatin1Char('0'))
.arg(debugstr_getRetValStr(pInternalError->oplkError))
.arg(pInternalError->oplkError, 3, 16, QLatin1Char('0')));
switch (pInternalError->eventSource)
{
case kEventSourceEventk:
case kEventSourceEventu:
// error occurred within event processing
// either in kernel or in user part
sigPrintLog(QString(" OrgSource = %1 %2")
.arg(debugstr_getEventSourceStr(pInternalError->errorArg.eventSource))
.arg(pInternalError->errorArg.eventSource, 2, 16, QLatin1Char('0')));
break;
case kEventSourceObdu:
case kEventSourceDllk:
// error occurred within the data link layer (e.g. interrupt processing)
// the DWORD argument contains the DLL state and the NMT event
sigPrintLog(QString(" val = %1").arg(pInternalError->errorArg.uintArg, 0, 16));
break;
default:
//sigPrintLog(QString("\n"));
break;
}
return kErrorOk;
}
//------------------------------------------------------------------------------
static tOplkError processPdoChangeEvent(const tOplkApiEventPdoChange* pPdoChange_p,
void* pUserArg_p)
{
UINT subIndex;
UINT64 mappObject;
tOplkError ret;
size_t varLen;
UNUSED_PARAMETER(pUserArg_p);
eventlog_printPdoEvent(pPdoChange_p);
for (subIndex = 1; subIndex <= pPdoChange_p->mappObjectCount; subIndex++)
{
varLen = sizeof(mappObject);
ret = oplk_readLocalObject(pPdoChange_p->mappParamIndex,
subIndex,
&mappObject,
&varLen);
if (ret != kErrorOk)
{
eventlog_printMessage(kEventlogLevelError,
kEventlogCategoryObjectDictionary,
"Reading 0x%X/%d failed with %s(0x%X)",
pPdoChange_p->mappParamIndex,
subIndex,
debugstr_getRetValStr(ret),
ret);
continue;
}
eventlog_printPdoMap(pPdoChange_p->mappParamIndex,
subIndex,
mappObject);
}
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 = 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 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,
const QString& rDevName_p)
: pCdcFilename("mnobd.cdc")
{
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&)));
QObject::connect(pProcessThread,
SIGNAL(userDefEvent(void*)),
this,
SIGNAL(userDefEvent(void*)),
Qt::DirectConnection);
QObject::connect(pProcessThread,
SIGNAL(sdoFinished(tSdoComFinished)),
this,
SIGNAL(sdoFinished(tSdoComFinished)));
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)));
QObject::connect(pDataInOutThread,
SIGNAL(disableOutputs(int)),
pOutput,
SLOT(disable(int)));
QObject::connect(pProcessThread,
SIGNAL(isMnActive(bool)),
pDataInOutThread,
SLOT(setMnActiveFlag(bool)));
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 = 1490; // const
initParam.presMaxLatency = 50000; // 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.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 = pProcessThread->getEventCbFunc();
/* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
memcpy(initParam.aMacAddress, aMacAddr_l, sizeof(initParam.aMacAddress));
// Copy the selected interface string to a local variable
strcpy(devName_l, rDevName_p.toStdString().c_str());
initParam.hwParam.pDevName = devName_l;
#if defined(CONFIG_KERNELSTACK_DIRECTLINK)
initParam.pfnCbSync = pDataInOutThread->getSyncCbFunc();
#else
initParam.pfnCbSync = NULL;
#endif
// Initialize object dictionary
ret = obdcreate_initObd(&initParam.obdInitParam);
if (ret != kErrorOk)
{
QMessageBox::critical(0,
"POWERLINK demo",
QString("Initialization of openPOWERLINK stack failed.\n") +
"Error code: 0x" + QString::number(ret, 16) + "\n" +
"\"" + debugstr_getRetValStr(ret) + "\"\n" +
"For further information please consult the manual.");
goto Exit;
}
// init POWERLINK
ret = oplk_initialize();
if (ret != kErrorOk)
{
QMessageBox::critical(0,
"POWERLINK demo",
QString("Initialization of openPOWERLINK stack failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) + "\n" +
"\"" + debugstr_getRetValStr(ret) + "\"\n" +
"For further information please consult the manual.");
goto Exit;
}
ret = oplk_create(&initParam);
if (ret != kErrorOk)
{
QMessageBox::critical(0,
"POWERLINK demo",
QString("Creation of openPOWERLINK stack failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) + "\n" +
"\"" + debugstr_getRetValStr(ret) + "\"\n" +
"The most common error source are an unsupported Ethernet controller or the kernel module is not loaded.\n" +
"For further information please consult the manual.");
goto Exit;
}
ret = oplk_setCdcFilename(Api::pCdcFilename);
if (ret != kErrorOk)
{
QMessageBox::critical(0,
"POWERLINK demo",
QString("oplk_setCdcFilename() failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) + "\n" +
"\"" + debugstr_getRetValStr(ret) + "\"");
goto Exit;
}
ret = pDataInOutThread->setupProcessImage();
if (ret != kErrorOk)
{
QMessageBox::critical(0,
"POWERLINK demo",
QString("setupProcessImage() failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) + "\n" +
"\"" + debugstr_getRetValStr(ret) + "\"");
goto Exit;
}
// start the openPOWERLINK stack
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
QMessageBox::critical(0,
"POWERLINK demo",
QString("oplk_execNmtCommand() failed.\n") +
"Error code: 0x"+ QString::number(ret, 16) + "\n" +
"\"" + debugstr_getRetValStr(ret) + "\"");
goto Exit;
}
// start process thread
pProcessThread->start();
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
// start data in out thread
pDataInOutThread->start();
#endif
Exit:
return;
}
//------------------------------------------------------------------------------
int main(void)
{
tOplkError ret = kErrorOk;
const UINT8 aMacAddr[] = {MAC_ADDR};
UINT8 nodeid;
// Initialize helper modules
gpio_init();
lcd_init();
// get node ID from input
nodeid = gpio_getNodeid();
// initialize instance
memset(&instance_l, 0, sizeof(instance_l));
instance_l.cycleLen = CYCLE_LEN;
instance_l.nodeId = (nodeid != 0) ? nodeid : NODEID;
instance_l.fShutdown = FALSE;
instance_l.fGsOff = FALSE;
// set mac address (last byte is set to node ID)
memcpy(instance_l.aMacAddr, aMacAddr, sizeof(aMacAddr));
instance_l.aMacAddr[5] = instance_l.nodeId;
initEvents(&eventCbPowerlink);
arp_init((UINT8)instance_l.nodeId);
PRINTF("----------------------------------------------------\n");
PRINTF("openPOWERLINK embedded CN DEMO application\n");
PRINTF("using openPOWERLINK Stack: %s\n", oplk_getVersionString());
PRINTF("----------------------------------------------------\n");
PRINTF("NODEID=0x%02X\n", instance_l.nodeId);
lcd_printNodeId(instance_l.nodeId);
if ((ret = initPowerlink(&instance_l)) != kErrorOk)
goto Exit;
if ((ret = initApp()) != kErrorOk)
goto Exit;
if ((ret = oplk_setNonPlkForward(TRUE)) != kErrorOk)
{
PRINTF("WARNING: oplk_setNonPlkForward() failed with \"%s\"\n(Error:0x%x!)\n",
debugstr_getRetValStr(ret), ret);
}
loopMain(&instance_l);
Exit:
arp_exit();
shutdownApp();
shutdownPowerlink(&instance_l);
// Shutdown helper modules
lcd_exit();
gpio_exit();
return 0;
}
//------------------------------------------------------------------------------
tOplkError ProcessThread::processStateChangeEvent(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p,
void* pUserArg_p)
{
tOplkError ret = kErrorOk;
tEventNmtStateChange* pNmtStateChange = &pEventArg_p->nmtStateChange;
#if !defined(CONFIG_INCLUDE_CFM)
UINT varLen;
#endif
QString str;
UNUSED_PARAMETER(eventType_p);
UNUSED_PARAMETER(pUserArg_p);
sigNmtState(pNmtStateChange->newNmtState);
sigPrintLog(QString("StateChangeEvent %1: %2 -> %3")
.arg(debugstr_getNmtEventStr(pNmtStateChange->nmtEvent))
.arg(debugstr_getNmtStateStr(pNmtStateChange->oldNmtState))
.arg(debugstr_getNmtStateStr(pNmtStateChange->newNmtState)));
switch (pNmtStateChange->newNmtState)
{
case kNmtGsOff:
pProcessThread_g->sigOplkStatus(0);
// NMT state machine was shut down,
// because of user signal (CTRL-C) or critical POWERLINK stack error
// -> also shut down oplk_process()
ret = kErrorShutdown;
// and unblock DataInDataOutThread
oplk_freeProcessImage(); //jba do we need it here?
reachedNmtStateOff();
break;
case kNmtGsResetCommunication:
#if !defined(CONFIG_INCLUDE_CFM)
ret = setDefaultNodeAssignment();
#endif
pProcessThread_g->sigOplkStatus(1);
break;
case kNmtGsResetConfiguration:
#if !defined(CONFIG_INCLUDE_CFM)
// Configuration Manager is not available,
// so fetch object 0x1006 NMT_CycleLen_U32 from local OD
// (in little endian byte order)
// for configuration of remote CN
varLen = sizeof(UINT32);
ret = oplk_readObject(NULL, 0, 0x1006, 0x00, &cycleLen_g,
&varLen, kSdoTypeAsnd, NULL);
if (ret != kErrorOk)
{
sigPrintLog(QString(" oplk_readObject() failed with 0x%1\n\"2\"")
.arg(ret)
.arg(debugstr_getRetValStr(ret)));
break;
}
#endif
sigOplkStatus(1);
break;
case kNmtCsNotActive:
case kNmtMsNotActive:
case kNmtRmsNotActive:
case kNmtGsInitialising:
case kNmtGsResetApplication:
case kNmtCsPreOperational1:
case kNmtMsPreOperational1:
case kNmtCsPreOperational2:
case kNmtMsPreOperational2:
case kNmtCsReadyToOperate:
case kNmtMsReadyToOperate:
case kNmtCsBasicEthernet:
case kNmtMsBasicEthernet:
sigOplkStatus(1);
break;
case kNmtCsOperational:
case kNmtMsOperational:
sigOplkStatus(2);
break;
default:
sigOplkStatus(-1);
break;
}
return ret;
}
