//------------------------------------------------------------------------------
static BOOL processCnStateChange(tNmtState newNmtState_p, tOplkError* pRet_p)
{
tOplkError ret = kErrorOk;
BOOL fHandled = TRUE;
UINT32 basicEthernetTimeout;
tObdSize obdSize;
switch (newNmtState_p)
{
// node listens for POWERLINK frames and check timeout
case kNmtCsNotActive:
// create timer to switch automatically to BasicEthernet if no MN
// is available in the network
// read NMT_CNBasicEthernetTimeout_U32 from OD
obdSize = sizeof(basicEthernetTimeout);
ret = obd_readEntry(0x1F99, 0x00, &basicEthernetTimeout, &obdSize);
if (ret != kErrorOk)
break;
if (basicEthernetTimeout != 0)
{ // BasicEthernet is enabled
ret = setupNmtTimerEvent(basicEthernetTimeout, kNmtEventTimerBasicEthernet);
// potential error is forwarded to event queue which generates error event
}
break;
// node processes only async frames
case kNmtCsPreOperational1:
break;
// node processes isochronous and asynchronous frames
case kNmtCsPreOperational2:
ret = nmtu_postNmtEvent(kNmtEventEnterReadyToOperate);
break;
// node should be configured and application is ready
case kNmtCsReadyToOperate:
break;
// normal work state
case kNmtCsOperational:
break;
// node stopped by MN
// -> only process asynchronous frames
case kNmtCsStopped:
break;
// no POWERLINK cycle
// -> normal ethernet communication
case kNmtCsBasicEthernet:
break;
default:
fHandled = FALSE;
break;
}
*pRet_p = ret;
return fHandled;
}
//------------------------------------------------------------------------------
static BOOL processGeneralStateChange(tNmtState newNmtState_p, tOplkError* pRet_p)
{
tOplkError ret = kErrorOk;
UINT nodeId;
BOOL fHandled = TRUE;
#if defined(CONFIG_INCLUDE_NMT_RMN)
UINT32 startUp;
tObdSize obdSize;
#endif
switch (newNmtState_p)
{
// POWERLINK stack is not running
case kNmtGsOff:
break;
// first init of the hardware
case kNmtGsInitialising:
ret = nmtu_postNmtEvent(kNmtEventEnterResetApp);
break;
// init of the manufacturer-specific profile area and the
// standardised device profile area
case kNmtGsResetApplication:
ret = nmtu_postNmtEvent(kNmtEventEnterResetCom);
break;
// init of the communication profile area
case kNmtGsResetCommunication:
ret = nmtu_postNmtEvent(kNmtEventEnterResetConfig);
break;
// build the configuration with infos from OD
case kNmtGsResetConfiguration:
#if NMT_MAX_NODE_ID > 0
// configure the DLL (PReq/PRes payload limits and PRes timeout)
ret = configureDll();
if (ret != kErrorOk)
{
break;
}
#endif // NMT_MAX_NODE_ID > 0
#if defined(CONFIG_INCLUDE_NMT_RMN)
obdSize = sizeof(startUp);
ret = obd_readEntry(0x1F80, 0x00, &startUp, &obdSize);
if (ret != kErrorOk)
break;
if ((startUp & NMT_STARTUP_REDUNDANCY) != 0)
{ // NMT_StartUp_U32.Bit14 == 1
ret = nmtu_postNmtEvent(kNmtEventEnterRmsNotActive);
break;
}
#endif
// get node ID from OD
nodeId = obd_getNodeId();
//check node ID if not should be master or slave
if (nodeId == C_ADR_MN_DEF_NODE_ID)
{ // node shall be MN
#if defined(CONFIG_INCLUDE_NMT_MN)
ret = nmtu_postNmtEvent(kNmtEventEnterMsNotActive);
#else
DEBUG_LVL_ERROR_TRACE("processGeneralStateChange(): no MN functionality implemented\n");
#endif
}
else
{ // node shall be CN
ret = nmtu_postNmtEvent(kNmtEventEnterCsNotActive);
}
break;
default:
fHandled = FALSE;
break;
}
*pRet_p = ret;
return fHandled;
}
//------------------------------------------------------------------------------
static BOOL processMnStateChange(tNmtState newNmtState_p, tOplkError* pRet_p)
{
tOplkError ret = kErrorOk;
BOOL fHandled = TRUE;
UINT32 waitTime;
UINT32 startUp;
tNmtEvent timerEvent = kNmtEventTimerMsPreOp1;
tObdSize obdSize;
switch (newNmtState_p)
{
// node listens for POWERLINK frames and check timeout
case kNmtMsNotActive:
// create timer to switch automatically to BasicEthernet/PreOp1 if no other MN active in network
// check NMT_StartUp_U32.Bit13
obdSize = sizeof(startUp);
ret = obd_readEntry(0x1F80, 0x00, &startUp, &obdSize);
if (ret != kErrorOk)
break;
if ((startUp & NMT_STARTUP_BASICETHERNET) != 0)
{ // NMT_StartUp_U32.Bit13 == 1 -> new state BasicEthernet
timerEvent = kNmtEventTimerBasicEthernet;
}
// intentional fall through
case kNmtRmsNotActive:
// read NMT_BootTime_REC.MNWaitNotAct_U32 from OD
obdSize = sizeof(waitTime);
ret = obd_readEntry(0x1F89, 0x01, &waitTime, &obdSize);
if (ret != kErrorOk)
break;
ret = setupNmtTimerEvent(waitTime, timerEvent);
// potential error is forwarded to event queue which generates error event
break;
// node processes only async frames
case kNmtMsPreOperational1:
// create timer to switch automatically to PreOp2 if MN identified all mandatory CNs
// read NMT_BootTime_REC.MNWaitPreOp1_U32 from OD
obdSize = sizeof(waitTime);
ret = obd_readEntry(0x1F89, 0x03, &waitTime, &obdSize);
if (ret != kErrorOk)
{
// ignore error, because this timeout is optional
waitTime = 0;
}
if (waitTime == 0)
{ // delay is deactivated, immediately post timer event
ret = nmtu_postNmtEvent(kNmtEventTimerMsPreOp2);
}
else
{
ret = setupNmtTimerEvent(waitTime, kNmtEventTimerMsPreOp2);
}
// potential error is forwarded to event queue which generates error event
break;
// node processes isochronous and asynchronous frames
case kNmtMsPreOperational2:
break;
// node should be configured and application is ready
case kNmtMsReadyToOperate:
break;
// normal work state
case kNmtMsOperational:
break;
// no POWERLINK cycle
// -> normal ethernet communication
case kNmtMsBasicEthernet:
break;
default:
fHandled = FALSE;
break;
}
*pRet_p = ret;
return fHandled;
}
//------------------------------------------------------------------------------
static tOplkError commandCb(tFrameInfo* pFrameInfo_p)
{
tOplkError ret = kErrorOk;
tNmtCommand nmtCommand;
BOOL fNodeIdInList;
tNmtEvent nmtEvent = kNmtEventNoEvent;
if (pFrameInfo_p == NULL)
return kErrorNmtInvalidFramePointer;
nmtCommand = getNmtCommand(pFrameInfo_p);
switch (nmtCommand)
{
//------------------------------------------------------------------------
// plain NMT state commands
case kNmtCmdStartNode:
nmtEvent = kNmtEventStartNode;
break;
case kNmtCmdStopNode:
nmtEvent = kNmtEventStopNode;
break;
case kNmtCmdEnterPreOperational2:
nmtEvent = kNmtEventEnterPreOperational2;
break;
case kNmtCmdEnableReadyToOperate:
nmtEvent = kNmtEventEnableReadyToOperate;
break;
case kNmtCmdResetNode:
nmtEvent = kNmtEventResetNode;
break;
case kNmtCmdResetCommunication:
nmtEvent = kNmtEventResetCom;
break;
case kNmtCmdResetConfiguration:
nmtEvent = kNmtEventResetConfig;
break;
case kNmtCmdSwReset:
nmtEvent = kNmtEventSwReset;
break;
//------------------------------------------------------------------------
// extended NMT state commands
case kNmtCmdStartNodeEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&(pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]));
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventStartNode;
}
break;
case kNmtCmdStopNodeEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventStopNode;
}
break;
case kNmtCmdEnterPreOperational2Ex:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventEnterPreOperational2;
}
break;
case kNmtCmdEnableReadyToOperateEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventEnableReadyToOperate;
}
break;
case kNmtCmdResetNodeEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventResetNode;
}
break;
case kNmtCmdResetCommunicationEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventResetCom;
}
break;
case kNmtCmdResetConfigurationEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventResetConfig;
}
break;
case kNmtCmdSwResetEx:
// check if own nodeid is in the POWERLINK node list
fNodeIdInList = checkNodeIdList(&pFrameInfo_p->frame.pBuffer->data.asnd.payload.nmtCommandService.aNmtCommandData[0]);
if (fNodeIdInList != FALSE)
{ // own nodeid in list
// send event to process command
nmtEvent = kNmtEventSwReset;
}
break;
//------------------------------------------------------------------------
// NMT managing commands
// TODO: add functions to process managing command (optional)
case kNmtCmdNetHostNameSet:
break;
case kNmtCmdFlushArpEntry:
break;
//------------------------------------------------------------------------
// NMT info services
// TODO: forward event with infos to the application (optional)
case kNmtCmdPublishConfiguredCN:
break;
case kNmtCmdPublishActiveCN:
break;
case kNmtCmdPublishPreOperational1:
break;
case kNmtCmdPublishPreOperational2:
break;
case kNmtCmdPublishReadyToOperate:
break;
case kNmtCmdPublishOperational:
break;
case kNmtCmdPublishStopped:
break;
case kNmtCmdPublishEmergencyNew:
break;
case kNmtCmdPublishTime:
break;
//-----------------------------------------------------------------------
// error from MN
// -> requested command not supported by MN
case kNmtCmdInvalidService:
// TODO: errorevent to application
break;
//------------------------------------------------------------------------
// default
default:
return kErrorNmtUnknownCommand;
break;
} // end of switch (nmtCommand)
if (nmtEvent != kNmtEventNoEvent)
{
if (nmtCnuInstance_g.pfnCheckEventCb != NULL)
{
ret = nmtCnuInstance_g.pfnCheckEventCb(nmtEvent);
if (ret == kErrorReject)
{
return kErrorOk;
}
else if (ret != kErrorOk)
{
return ret;
}
}
ret = nmtu_postNmtEvent(nmtEvent);
}
return ret;
}
