//---------------------------------------------------------------------------
//
// Function: EplLinExit
//
// Description: Exit point of kernel module
////
//
// Parameters: N/A
//
//
// Returns: Return code
//
//---------------------------------------------------------------------------
static void __exit EplLinExit (void)
{
tEplKernel EplRet;
// halt the NMT state machine
// so the processing of POWERLINK frames stops
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
// wait until NMT state machine is shut down
wait_event_interruptible(WaitQueueShutdown_g,
(atomic_read(&AtomicShutdown_g) == TRUE));
/* if ((iErr != 0) || (atomic_read(&AtomicShutdown_g) == EVENT_STATE_IOCTL))
{ // waiting was interrupted by signal or application called wrong function
EplRet = kEplShutdown;
}*/
// Free resources used by the process image API
EplRet = EplApiProcessImageFree();
// delete instance for all modules
EplRet = EplApiShutdown();
PRINTF("EplApiShutdown(): 0x%X\n", EplRet);
// deinitialize proc fs
EplRet = EplLinProcFree();
PRINTF("EplLinProcFree(): 0x%X\n", EplRet);
if (IS_FD_VALID(hAppFdTracingEnabled_g))
{
close(hAppFdTracingEnabled_g);
}
}
static int EplLinRelease (
struct inode* pDeviceFile_p, // information about the device to open
struct file* pInstance_p) // information about driver instance
{
tEplKernel EplRet = kEplSuccessful;
int iRet;
TRACE0("EPL: + EplLinRelease...\n");
if (uiEplState_g != EPL_STATE_NOTINIT)
{
// pass control to sync kernel thread, but signal termination
atomic_set(&AtomicSyncState_g, EVENT_STATE_TERM);
wake_up_interruptible(&WaitQueueCbSync_g);
wake_up_interruptible(&WaitQueuePI_In_g);
// pass control to event queue kernel thread
atomic_set(&AtomicEventState_g, EVENT_STATE_TERM);
wake_up_interruptible(&WaitQueueCbEvent_g);
if (uiEplState_g == EPL_STATE_RUNNING)
{ // post NmtEventSwitchOff
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
if (EplRet == kEplSuccessful)
{
TRACE0("EPL: waiting for NMT_GS_OFF\n");
wait_event_interruptible(WaitQueueRelease_g,
(uiEplState_g == EPL_STATE_SHUTDOWN));
// $$$ d.k.: What if waiting was interrupted by signal?
}
else
{ // post NmtEventSwitchOff failed
TRACE0("EPL: event post failed\n");
}
}
TRACE0("EPL: call EplApiShutdown()\n");
// EPL stack can be safely shut down
// delete instance for all EPL modules
EplRet = EplApiShutdown();
printk("EplApiShutdown(): 0x%X\n", EplRet);
}
uiEplState_g = EPL_STATE_NOTOPEN;
iRet = 0;
MOD_DEC_USE_COUNT;
TRACE1("EPL: - EplLinRelease (iRet=%d)\n", iRet);
return (iRet);
}
/**
********************************************************************************
\brief Destructor
Destructs a POWERLINK object.
*******************************************************************************/
EplApi::~EplApi()
{
tEplKernel EplRet;
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
pEplProcessThread->waitForNmtStateOff();
EplRet = EplApiProcessImageFree();
EplRet = EplApiShutdown();
}
//---------------------------------------------------------------------------
//
// Function: openPowerlinkExit
//
// Description:
// Shutdown and cleanup openPOWERLINK demo application
//
// Parameters:
// none
//
// Returns:
// void
//---------------------------------------------------------------------------
void openPowerlinkExit (void)
{
tEplKernel EplRet;
// halt the NMT state machine
// so the processing of POWERLINK frames stops
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
// wait until NMT state machine is shut down
taskDelay (sysClkRateGet());
fOpenPowerlinkIsRunning_g = FALSE;
EplApiProcessImageFree();
// delete instance for all modules
EplRet = EplApiShutdown();
PRINTF("EplApiShutdown(): 0x%X\n", EplRet);
hrtimer_shutdown();
}
/*----------------------------------------------------------------------------*\
Close method for the Powerlink master
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoAgentClose( io_tCtx ctx, io_sAgent *ap) {
tEplKernel EplRet = kEplSuccessful;
io_sLocalEpl_MN *local = (io_sLocalEpl_MN *)ap->Local;
io_sRack *rp;
free(local);
ap->Local = 0;
for ( rp = ap->racklist; rp; rp = rp->next)
free( (io_sLocalEpl_CN *)rp->Local);
// halt the NMT state machine
// so the processing of POWERLINK frames stops
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
// delete process image
EplRet = EplApiProcessImageFree();
// delete instance for all modules
EplRet = EplApiShutdown();
return IO__SUCCESS;
}
//---------------------------------------------------------------------------
//
// Function: main
//
// Description: main function of demo application
//
// Parameters:
//
// Returns:
//---------------------------------------------------------------------------
int main (int argc, char **argv)
{
tEplKernel EplRet = kEplSuccessful;
static tEplApiInitParam EplApiInitParam;
char* sHostname = HOSTNAME;
char cKey = 0;
#ifdef CONFIG_POWERLINK_USERSTACK
// variables for Pcap
char sErr_Msg[ PCAP_ERRBUF_SIZE ];
char devName[128];
pcap_if_t * alldevs;
pcap_if_t * seldev;
int i = 0;
int inum;
#endif
int opt;
#if (TARGET_SYSTEM == _LINUX_)
/* get command line parameters */
while ((opt = getopt(argc, argv, "c:l:")) != -1)
{
switch (opt)
{
case 'c':
uiCycleLen_g = strtoul(optarg, NULL, 10);
break;
case 'l':
pLogFile_g = optarg;
break;
default: /* '?' */
fprintf (stderr, "Usage: %s [-c CYCLE_TIME] [-l LOGFILE]\n", argv[0]);
goto Exit;
}
}
#endif
#ifdef CONFIG_POWERLINK_USERSTACK
#if (TARGET_SYSTEM == _LINUX_)
struct sched_param schedParam;
/* adjust process priority */
if (nice (-20) == -1) // push nice level in case we have no RTPreempt
{
EPL_DBGLVL_ERROR_TRACE("%s() couldn't set nice value! (%s)\n", __func__, strerror(errno));
}
schedParam.__sched_priority = MAIN_THREAD_PRIORITY;
if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0)
{
EPL_DBGLVL_ERROR_TRACE("%s() couldn't set thread scheduling parameters! %d\n",
__func__, schedParam.__sched_priority);
}
/* Initialize target specific stuff */
EplTgtInit();
#elif (TARGET_SYSTEM == _WIN32_)
// activate realtime priority class
SetPriorityClass(GetCurrentProcess(), REALTIME_PRIORITY_CLASS);
// lower the priority of this thread
SetThreadPriority(GetCurrentThread(), THREAD_PRIORITY_IDLE);
#endif // (TARGET_SYSTEM == _WIN32_)
#endif // CONFIG_POWERLINK_USERSTACK
#if (TARGET_SYSTEM == _LINUX_)
#ifdef SET_CPU_AFFINITY
{
/* binds all openPOWERLINK threads to the second CPU core */
cpu_set_t affinity;
CPU_ZERO(&affinity);
CPU_SET(1, &affinity);
sched_setaffinity(0, sizeof(cpu_set_t), &affinity);
}
#endif
#endif
/* Enabling ftrace for debugging */
FTRACE_OPEN();
FTRACE_ENABLE(TRUE);
/*
EPL_DBGLVL_ALWAYS_TRACE("%s(): Main Thread Id:%ld\n", __func__,
syscall(SYS_gettid));
*/
printf("----------------------------------------------------\n");
printf("openPOWERLINK console MN DEMO application\n");
printf("----------------------------------------------------\n");
EPL_MEMSET(&EplApiInitParam, 0, sizeof (EplApiInitParam));
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
#ifdef CONFIG_POWERLINK_USERSTACK
/* Retrieve the device list on the local machine */
if (pcap_findalldevs(&alldevs, sErr_Msg) == -1)
{
fprintf(stderr, "Error in pcap_findalldevs: %s\n", sErr_Msg);
EplRet = kEplNoResource;
goto Exit;
}
PRINTF("--------------------------------------------------\n");
PRINTF("List of Ethernet Cards Found in this System: \n");
PRINTF("--------------------------------------------------\n");
/* Print the list */
for (seldev = alldevs; seldev != NULL; seldev = seldev->next)
{
PRINTF("%d. ", ++i);
if (seldev->description)
{
PRINTF("%s\n %s\n", seldev->description, seldev->name);
}
else
{
PRINTF("%s\n", seldev->name);
}
}
if (i == 0)
{
PRINTF("\nNo interfaces found! Make sure pcap library is installed.\n");
EplRet = kEplNoResource;
goto Exit;
}
PRINTF("--------------------------------------------------\n");
PRINTF("Select the interface to be used for POWERLINK (1-%d):",i);
if (scanf("%d", &inum) == EOF)
{
pcap_freealldevs(alldevs);
EplRet = kEplNoResource;
goto Exit;
}
PRINTF("--------------------------------------------------\n");
if ((inum < 1) || (inum > i))
{
PRINTF("\nInterface number out of range.\n");
/* Free the device list */
pcap_freealldevs(alldevs);
EplRet = kEplNoResource;
goto Exit;
}
/* Jump to the selected adapter */
for (seldev = alldevs, i = 0;
i < (inum - 1);
seldev = seldev->next, i++)
{ // do nothing
}
strncpy(devName, seldev->name, 127);
// pass selected device name to Edrv
EplApiInitParam.m_HwParam.m_pszDevName = devName;
#endif
EplApiInitParam.m_uiNodeId = uiNodeId_g = NODEID;
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
/* write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address */
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_dwFeatureFlags = -1;
EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
EplApiInitParam.m_uiIsochrTxMaxPayload = 256; // const
EplApiInitParam.m_uiIsochrRxMaxPayload = 256; // const
EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
EplApiInitParam.m_uiPrescaler = 2; // required for sync
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 150000;
EplApiInitParam.m_dwDeviceType = -1; // NMT_DeviceType_U32
EplApiInitParam.m_dwVendorId = -1; // NMT_IdentityObject_REC.VendorId_U32
EplApiInitParam.m_dwProductCode = -1; // NMT_IdentityObject_REC.ProductCode_U32
EplApiInitParam.m_dwRevisionNumber = -1; // NMT_IdentityObject_REC.RevisionNo_U32
EplApiInitParam.m_dwSerialNumber = -1; // NMT_IdentityObject_REC.SerialNo_U32
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
EplApiInitParam.m_uiSyncNodeId = EPL_C_ADR_SYNC_ON_SOA;
EplApiInitParam.m_fSyncOnPrcNode = FALSE;
// set callback functions
EplApiInitParam.m_pfnCbEvent = AppCbEvent;
#ifdef CONFIG_POWERLINK_USERSTACK
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
EplApiInitParam.m_pfnCbSync = AppCbSync;
#else
EplApiInitParam.m_pfnCbSync = NULL;
#endif
printf("\n\nHello, I'm a Userspace POWERLINK node running as %s!\n (build: %s / %s)\n\n",
(uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
"Managing Node" : "Controlled Node"),
__DATE__, __TIME__);
// initialize POWERLINK stack
printf ("Initializing openPOWERLINK stack...\n");
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful)
{
printf("EplApiInitialize() failed (Error:0x%x!\n", EplRet);
goto Exit;
}
// initialize application
printf ("Initializing openPOWERLINK application...\n");
EplRet = AppInit();
if(EplRet != kEplSuccessful)
{
printf("ApiInit() failed!\n");
goto Exit;
}
#ifdef CONFIG_POWERLINK_USERSTACK
/* At this point, we don't need any more the device list. Free it */
pcap_freealldevs(alldevs);
EplRet = EplApiSetCdcFilename(pszCdcFilename_g);
if(EplRet != kEplSuccessful)
{
goto Exit;
}
#else
// create event thread
if (pthread_create(&eventThreadId, NULL,
&powerlinkEventThread, NULL) != 0)
{
goto Exit;
}
// create sync thread
if (pthread_create(&syncThreadId, NULL,
&powerlinkSyncThread, NULL) != 0)
{
goto Exit;
}
#endif
printf("Initializing process image...\n");
printf("Size of input process image: %ld\n", sizeof(AppProcessImageIn_g));
printf("Size of output process image: %ld\n", sizeof (AppProcessImageOut_g));
AppProcessImageCopyJob_g.m_fNonBlocking = FALSE;
AppProcessImageCopyJob_g.m_uiPriority = 0;
AppProcessImageCopyJob_g.m_In.m_pPart = &AppProcessImageIn_g;
AppProcessImageCopyJob_g.m_In.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_In.m_uiSize = sizeof (AppProcessImageIn_g);
AppProcessImageCopyJob_g.m_Out.m_pPart = &AppProcessImageOut_g;
AppProcessImageCopyJob_g.m_Out.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_Out.m_uiSize = sizeof (AppProcessImageOut_g);
EplRet = EplApiProcessImageAlloc(sizeof (AppProcessImageIn_g), sizeof (AppProcessImageOut_g), 2, 2);
if (EplRet != kEplSuccessful)
{
goto Exit;
}
EplRet = EplApiProcessImageSetup();
if (EplRet != kEplSuccessful)
{
goto Exit;
}
// start processing
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
if (EplRet != kEplSuccessful)
{
goto ExitShutdown;
}
printf("\n-------------------------------\n");
printf("Press Esc to leave the program\n");
printf("Press r to reset the node\n");
printf("-------------------------------\n\n");
// wait for key hit
while (cKey != 0x1B)
{
if( EplTgtKbhit() )
{
cKey = (BYTE) EplTgtGetch();
switch (cKey)
{
case 'r':
{
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
if (EplRet != kEplSuccessful)
{
goto ExitShutdown;
}
break;
}
case 'c':
{
EplRet = EplApiExecNmtCommand(kEplNmtEventNmtCycleError);
if (EplRet != kEplSuccessful)
{
goto ExitShutdown;
}
break;
}
default:
{
break;
}
}
}
EplTgtMilliSleep( 1500 );
}
FTRACE_ENABLE(FALSE);
ExitShutdown:
// halt the NMT state machine
// so the processing of POWERLINK frames stops
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
// delete process image
EplRet = EplApiProcessImageFree();
// delete instance for all modules
EplRet = EplApiShutdown();
Exit:
PRINTF("main(): returns 0x%X\n", EplRet);
#if (TARGET_SYSTEM == _WIN32_)
PRINTF("Press Enter to quit!\n");
EplTgtGetch();
#endif
return EplRet;
}
//---------------------------------------------------------------------------
//
// Function: EplLinInit
//
// Description: Entry point of kernel module
////
//
// Parameters: N/A
//
//
// Returns: Return code
//
//---------------------------------------------------------------------------
static int __init EplLinInit (void)
{
tEplKernel EplRet;
static tEplApiInitParam EplApiInitParam = {0};
char* sHostname = HOSTNAME;
BOOL fApiInit = FALSE;
BOOL fLinProcInit =FALSE;
atomic_set(&AtomicShutdown_g, TRUE);
// open character device from debugfs to disable tracing when necessary
hAppFdTracingEnabled_g = open("/sys/kernel/debug/tracing/tracing_enabled", O_WRONLY, 0666);
// get node ID from insmod command line
EplApiInitParam.m_uiNodeId = uiNodeId_g;
if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
{ // invalid node ID set
// set default node ID
EplApiInitParam.m_uiNodeId = NODEID;
}
uiNodeId_g = EplApiInitParam.m_uiNodeId;
// calculate IP address
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_dwFeatureFlags = (DWORD) ~0UL;
EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const
EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const
EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
EplApiInitParam.m_uiPrescaler = 2; // required for sync
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 150000;
EplApiInitParam.m_dwDeviceType = (DWORD) ~0UL; // NMT_DeviceType_U32
EplApiInitParam.m_dwVendorId = (DWORD) ~0UL; // NMT_IdentityObject_REC.VendorId_U32
EplApiInitParam.m_dwProductCode = (DWORD) ~0UL; // NMT_IdentityObject_REC.ProductCode_U32
EplApiInitParam.m_dwRevisionNumber = (DWORD) ~0UL; // NMT_IdentityObject_REC.RevisionNo_U32
EplApiInitParam.m_dwSerialNumber = (DWORD) ~0UL; // NMT_IdentityObject_REC.SerialNo_U32
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
EplApiInitParam.m_uiSyncNodeId = EPL_C_ADR_SYNC_ON_SOA;
EplApiInitParam.m_fSyncOnPrcNode = FALSE;
// set callback functions
EplApiInitParam.m_pfnCbEvent = AppCbEvent;
EplApiInitParam.m_pfnCbSync = AppCbSync;
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
printk("\n\n Hello, I'm a simple POWERLINK node running as %s!\n (build: %s / %s)\n\n",
(uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
"Managing Node" : "Controlled Node"),
__DATE__, __TIME__);
// initialize the Linux a wait queue for shutdown of this module
init_waitqueue_head(&WaitQueueShutdown_g);
// initialize the procfs device
EplRet = EplLinProcInit();
if (EplRet != kEplSuccessful)
{
PRINTF("EplLinProcInit failed!\n");
goto Exit;
}
fLinProcInit = TRUE;
// initialize POWERLINK stack
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful)
{
PRINTF("EplApiInitialize failed!\n");
goto Exit;
}
fApiInit = TRUE;
EplRet = EplApiSetCdcFilename(pszCdcFilename_g);
if(EplRet != kEplSuccessful)
{
goto Exit;
}
PRINTF("Initializing process image...\n");
PRINTF("Size of input process image: %ld\n", sizeof(AppProcessImageIn_g));
PRINTF("Size of output process image: %ld\n", sizeof (AppProcessImageOut_g));
AppProcessImageCopyJob_g.m_fNonBlocking = FALSE;
AppProcessImageCopyJob_g.m_uiPriority = 0;
AppProcessImageCopyJob_g.m_In.m_pPart = &AppProcessImageIn_g;
AppProcessImageCopyJob_g.m_In.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_In.m_uiSize = sizeof (AppProcessImageIn_g);
AppProcessImageCopyJob_g.m_Out.m_pPart = &AppProcessImageOut_g;
AppProcessImageCopyJob_g.m_Out.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_Out.m_uiSize = sizeof (AppProcessImageOut_g);
EplRet = EplApiProcessImageAlloc(sizeof (AppProcessImageIn_g), sizeof (AppProcessImageOut_g), 2, 2);
if (EplRet != kEplSuccessful)
{
goto Exit;
}
EplRet = EplApiProcessImageSetup();
if (EplRet != kEplSuccessful)
{
goto Exit;
}
// start the NMT state machine
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
atomic_set(&AtomicShutdown_g, FALSE);
Exit:
PRINTF("EplLinInit(): returns 0x%X\n", EplRet);
if (EplRet != kEplSuccessful)
{
if (fApiInit != FALSE)
{
EplApiShutdown();
}
if (fLinProcInit != FALSE)
{
EplLinProcFree();
}
return -ENODEV;
}
else
{
return 0;
}
}
//---------------------------------------------------------------------------
//
// Function: openPowerlinkInit
//
// Description:
// Initialize and start the openPOWERLINK demo application
//
// Parameters:
// pszEthName = pointer to string with name of network interface to use
//
// Returns: int
//
//---------------------------------------------------------------------------
int openPowerlinkInit (char *pszEthName, unsigned int uiDevNumber)
{
tEplKernel EplRet;
static tEplApiInitParam EplApiInitParam = {0};
char* sHostname = HOSTNAME;
BOOL fApiInit = FALSE;
int tid;
// Adjust task priorities of system tasks
/* shell task is normally set to priority 1 which could disturb
* openPOWERLINK if long-running commands are entered. Therefore
* we lower the performance to 20
*/
tid = taskIdSelf();
printf ("Task ID: %d\n", tid);
taskPrioritySet(tid, 20);
/* The priority of the network stack task has to be increased (default:50)
* in order to get network packets in time!
*/
if ((tid = taskNameToId("tNet0")) != -1 )
{
taskPrioritySet(tid, 5);
}
// Initialize high-resolution timer library
hrtimer_init(EPL_TASK_PRIORITY_HRTIMER, EPL_TASK_STACK_SIZE);
// get node ID from insmod command line
EplApiInitParam.m_uiNodeId = uiNodeId_g;
if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
{ // invalid node ID set
// set default node ID
EplApiInitParam.m_uiNodeId = NODEID;
}
uiNodeId_g = EplApiInitParam.m_uiNodeId;
// calculate IP address
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) |
EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_fAsyncOnly = FALSE;
// store the specified device name
EplApiInitParam.m_HwParam.m_pszDevName = pszEthName;
EplApiInitParam.m_HwParam.m_uiDevNumber = uiDevNumber;
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr,
sizeof (EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_dwFeatureFlags = (DWORD) ~0UL;
EplApiInitParam.m_dwCycleLen = uiCycleLen_g; // required for error detection
EplApiInitParam.m_uiIsochrTxMaxPayload = 100; // const
EplApiInitParam.m_uiIsochrRxMaxPayload = 100; // const
EplApiInitParam.m_dwPresMaxLatency = 50000; // const; only required for IdentRes
EplApiInitParam.m_uiPreqActPayloadLimit = 36; // required for initialisation (+28 bytes)
EplApiInitParam.m_uiPresActPayloadLimit = 36; // required for initialisation of Pres frame (+28 bytes)
EplApiInitParam.m_dwAsndMaxLatency = 150000; // const; only required for IdentRes
EplApiInitParam.m_uiMultiplCycleCnt = 0; // required for error detection
EplApiInitParam.m_uiAsyncMtu = 1500; // required to set up max frame size
EplApiInitParam.m_uiPrescaler = 2; // required for sync
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 0;
EplApiInitParam.m_dwDeviceType = (DWORD) ~0UL; // NMT_DeviceType_U32
EplApiInitParam.m_dwVendorId = (DWORD) ~0UL; // NMT_IdentityObject_REC.VendorId_U32
EplApiInitParam.m_dwProductCode = (DWORD) ~0UL; // NMT_IdentityObject_REC.ProductCode_U32
EplApiInitParam.m_dwRevisionNumber = (DWORD) ~0UL; // NMT_IdentityObject_REC.RevisionNo_U32
EplApiInitParam.m_dwSerialNumber = (DWORD) ~0UL; // NMT_IdentityObject_REC.SerialNo_U32
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
EplApiInitParam.m_uiSyncNodeId = EPL_C_ADR_SYNC_ON_SOA; // for fSyncOnPrcNode==TRUE, this means last PRC node
EplApiInitParam.m_fSyncOnPrcNode = TRUE;
// set callback functions
EplApiInitParam.m_pfnCbEvent = AppCbEvent;
EplApiInitParam.m_pfnCbSync = AppCbSync;
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
printf("\n\n Hello, I'm a VxWorks POWERLINK node running as %s!\n"
"(build: %s / %s)\n\n",
(uiNodeId_g == EPL_C_ADR_MN_DEF_NODE_ID ?
"Managing Node" : "Controlled Node"),
__DATE__, __TIME__);
// initialize POWERLINK stack
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful)
{
goto Exit;
}
fApiInit = TRUE;
// set CDC filename
EplRet = EplApiSetCdcFilename(pszCdcFilename_g);
if(EplRet != kEplSuccessful)
{
printf ("Error set cdc filename!\n");
goto Exit;
}
// initialize application
printf ("Initializing openPOWERLINK application...\n");
EplRet = AppInit();
if(EplRet != kEplSuccessful)
{
printf("ApiInit() failed!\n");
goto Exit;
}
// initialize process image
printf("Initializing process image...\n");
printf("Size of input process image: %ld\n", sizeof(AppProcessImageIn_g));
printf("Size of output process image: %ld\n", sizeof (AppProcessImageOut_g));
AppProcessImageCopyJob_g.m_fNonBlocking = FALSE;
AppProcessImageCopyJob_g.m_uiPriority = 0;
AppProcessImageCopyJob_g.m_In.m_pPart = &AppProcessImageIn_g;
AppProcessImageCopyJob_g.m_In.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_In.m_uiSize = sizeof (AppProcessImageIn_g);
AppProcessImageCopyJob_g.m_Out.m_pPart = &AppProcessImageOut_g;
AppProcessImageCopyJob_g.m_Out.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_Out.m_uiSize = sizeof (AppProcessImageOut_g);
EplRet = EplApiProcessImageAlloc(sizeof (AppProcessImageIn_g),
sizeof (AppProcessImageOut_g), 2, 2);
if (EplRet != kEplSuccessful)
{
goto Exit;
}
EplRet = EplApiProcessImageSetup();
if (EplRet != kEplSuccessful)
{
goto Exit;
}
// start the NMT state machine
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
Exit:
PRINTF("%s(): returns 0x%X\n", __func__, EplRet);
if (EplRet != kEplSuccessful)
{
if (fApiInit != FALSE)
{
EplApiShutdown();
}
// Shutdown high-resolution timer library
hrtimer_shutdown();
fOpenPowerlinkIsRunning_g = FALSE;
return -ENODEV;
}
else
{
fOpenPowerlinkIsRunning_g = TRUE;
return 0;
}
}
int openPowerlink(void)
{
const BYTE abMacAddr[] = {MAC_ADDR};
static tEplApiInitParam EplApiInitParam = {0};
// needed for process var
tEplObdSize ObdSize;
tEplKernel EplRet;
unsigned int uiVarEntries;
fShutdown_l = FALSE;
////////////////////////
// setup th EPL Stack //
////////////////////////
// set EPL init parameters
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
#ifdef NODESWITCH_SPI_BASE
// read node-ID from hex switch on baseboard, which is connected via SPI shift register
IOWR_ALTERA_AVALON_SPI_TXDATA(NODESWITCH_SPI_BASE, 0xFF); // generate pulse for latching inputs
while ((IORD_ALTERA_AVALON_SPI_STATUS(NODESWITCH_SPI_BASE) & ALTERA_AVALON_SPI_STATUS_RRDY_MSK) == 0)
{ // wait
}
EplApiInitParam.m_uiNodeId = IORD_ALTERA_AVALON_SPI_RXDATA(NODESWITCH_SPI_BASE);
#endif
#ifdef NODESWITCH_PIO_BASE
EplApiInitParam.m_uiNodeId = IORD_ALTERA_AVALON_PIO_DATA(NODESWITCH_PIO_BASE);
#endif
if (EplApiInitParam.m_uiNodeId == EPL_C_ADR_INVALID)
{
EplApiInitParam.m_uiNodeId = NODEID; // defined at the top of this file!
}
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof(EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_abMacAddress[5] = (BYTE) EplApiInitParam.m_uiNodeId;
// calculate IP address
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
EplApiInitParam.m_uiIsochrTxMaxPayload = 256;
EplApiInitParam.m_uiIsochrRxMaxPayload = 256;
EplApiInitParam.m_dwPresMaxLatency = 2000;
EplApiInitParam.m_dwAsndMaxLatency = 2000;
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_dwFeatureFlags = -1;
EplApiInitParam.m_dwCycleLen = CYCLE_LEN;
EplApiInitParam.m_uiPreqActPayloadLimit = 36;
EplApiInitParam.m_uiPresActPayloadLimit = 36;
EplApiInitParam.m_uiMultiplCycleCnt = 0;
EplApiInitParam.m_uiAsyncMtu = 1500;
EplApiInitParam.m_uiPrescaler = 2;
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 0;
EplApiInitParam.m_dwDeviceType = -1;
EplApiInitParam.m_dwVendorId = -1;
EplApiInitParam.m_dwProductCode = -1;
EplApiInitParam.m_dwRevisionNumber = -1;
EplApiInitParam.m_dwSerialNumber = -1;
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EplApiInitParam.m_dwApplicationSwDate = 1; // PDL_LocVerApplSw_REC.ApplSwDate_U32 on programmable device or date portion of NMT_ManufactSwVers_VS on non-programmable device
EplApiInitParam.m_pfnCbEvent = AppCbEvent;
EplApiInitParam.m_pfnCbSync = AppCbSync;
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
EplApiInitParam.m_dwSyncResLatency = EPL_C_DLL_T_IFG;
// initialize EPL stack
printf("init EPL Stack with node-ID 0x%02X:\n", EplApiInitParam.m_uiNodeId);
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful) {
printf("init EPL Stack... error %X\n\n", EplRet);
goto Exit;
}
printf("init EPL Stack...ok\n\n");
// link process variables used by CN to object dictionary
printf("linking process vars:\n");
ObdSize = sizeof(bButtonInputs_l);
uiVarEntries = 1;
EplRet = EplApiLinkObject(0x6000, &bButtonInputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(abVirtualInputs_l[0]);
uiVarEntries = 17;
EplRet = EplApiLinkObject(0x2000, abVirtualInputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(adwVirtualInputs_l[0]);
uiVarEntries = 8;
EplRet = EplApiLinkObject(0x2001, adwVirtualInputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(wDigitalOutputs_l);
uiVarEntries = 1;
EplRet = EplApiLinkObject(0x6300, &wDigitalOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(bLedOutputs_l);
uiVarEntries = 1;
EplRet = EplApiLinkObject(0x6200, &bLedOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(abVirtualOutputs_l[0]);
uiVarEntries = 15;
EplRet = EplApiLinkObject(0x2200, abVirtualOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
ObdSize = sizeof(adwVirtualOutputs_l[0]);
uiVarEntries = 8;
EplRet = EplApiLinkObject(0x2201, adwVirtualOutputs_l, &uiVarEntries, &ObdSize, 0x01);
if (EplRet != kEplSuccessful)
{
printf("linking process vars... error\n\n");
goto ExitShutdown;
}
printf("linking process vars... ok\n\n");
// start the EPL stack
printf("start EPL Stack...\n");
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
if (EplRet != kEplSuccessful) {
printf("start EPL Stack... error\n\n");
goto ExitShutdown;
}
printf("start EPL Stack... ok\n\n");
printf("NIOS II with openPowerlink is ready!\n\n");
#ifdef LED_PIO_BASE
IOWR_ALTERA_AVALON_PIO_DATA(LED_PIO_BASE, 0xFF);
#endif
while(1)
{
EplApiProcess();
if (fShutdown_l == TRUE)
break;
}
ExitShutdown:
printf("Shutdown EPL Stack\n");
EplApiShutdown(); //shutdown node
Exit:
return EplRet;
}