//------------------------------------------------------------------------------
static tOplkError eventCbPowerlink(tOplkApiEventType EventType_p,
tOplkApiEventArg* pEventArg_p, void* pUserArg_p)
{
tOplkError ret = kErrorOk;
tOplkApiEventReceivedNonPlk* pFrameInfo = &pEventArg_p->receivedEth;
UNUSED_PARAMETER(pUserArg_p);
switch (EventType_p)
{
case kOplkApiEventNmtStateChange:
lcd_printNmtState(pEventArg_p->nmtStateChange.newNmtState);
switch (pEventArg_p->nmtStateChange.newNmtState)
{
case kNmtGsOff:
// NMT state machine was shut down
ret = kErrorShutdown;
// NMT off state is reached
instance_l.fGsOff = TRUE;
break;
case kNmtCsBasicEthernet:
// ARP demo: Send request to MN
arp_sendRequest((0xFFFFFF00 & IP_ADDR) | C_ADR_MN_DEF_NODE_ID);
break;
default:
break;
}
break;
case kOplkApiEventReceivedNonPlk:
if (arp_processReceive(pFrameInfo->pFrame, pFrameInfo->frameSize) == 0)
return kErrorOk;
// If you get here, the received Ethernet frame is no ARP frame.
// Here you can call other protocol stacks for processing.
ret = kErrorOk; // Frame wasn't processed, so simply dump it.
break;
case kOplkApiEventDefaultGwChange:
// ARP demo: Set default gateway and send request
arp_setDefGateway(pEventArg_p->defaultGwChange.defaultGateway);
arp_sendRequest(pEventArg_p->defaultGwChange.defaultGateway);
break;
default:
break;
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError eventCbPowerlink(tOplkApiEventType EventType_p,
tOplkApiEventArg* pEventArg_p, void* pUserArg_p)
{
tOplkError ret = kErrorOk;
UNUSED_PARAMETER(pUserArg_p);
// Handle ARP demo:
// - If a node is found (e.g. plug in a CN), then an ARP request is sent
// to this node. There is no timeout handling done.
// - If an Ethernet frame is received, it is forwarded to process reply.
// The function prints the ARP reply information.
if (EventType_p == kOplkApiEventNode)
{
tOplkApiEventNode* pNode = &pEventArg_p->nodeEvent;
// Note: This is a demonstration to generate non-POWERLINK frames.
if (pNode->nodeEvent == kNmtNodeEventFound)
{
arp_sendRequest((0xFFFFFF00 & IP_ADDR) | pNode->nodeId);
}
}
else if (EventType_p == kOplkApiEventReceivedNonPlk)
{
tOplkApiEventReceivedNonPlk* pFrameInfo = &pEventArg_p->receivedEth;
// Note: This is a demonstration how to forward Ethernet frames to upper
// layers. Instead you can insert an IP stack and forward the
// pFrameInfo content to it. Frames that are sent from the IP
// stack to lower layers must be forwarded with the function
// \ref oplk_sendEthFrame.
// Forward received frame to ARP processing
if (arp_processReceive(pFrameInfo->pFrame, pFrameInfo->frameSize) == 0)
return kErrorOk;
// If you get here, the received Ethernet frame is no ARP frame.
// Here you can call other protocol stacks for processing.
ret = kErrorOk; // Frame wasn't processed, so simply dump it.
}
else if (EventType_p == kOplkApiEventDefaultGwChange)
{
// ARP demo: Set default gateway and send request
arp_setDefGateway(pEventArg_p->defaultGwChange.defaultGateway);
arp_sendRequest(pEventArg_p->defaultGwChange.defaultGateway);
}
return ret;
}
//------------------------------------------------------------------------------
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;
}
//------------------------------------------------------------------------------
static tOplkError eventCbPowerlink(tOplkApiEventType eventType_p,
tOplkApiEventArg* pEventArg_p, void* pUserArg_p)
{
tOplkError ret = kErrorOk;
tOplkApiEventReceivedNonPlk* pFrameInfo = &pEventArg_p->receivedEth;
UNUSED_PARAMETER(pUserArg_p);
switch (eventType_p)
{
case kOplkApiEventNmtStateChange:
lcd_printNmtState(pEventArg_p->nmtStateChange.newNmtState);
switch (pEventArg_p->nmtStateChange.newNmtState)
{
case kNmtGsOff:
// NMT state machine was shut down
ret = kErrorShutdown;
// NMT off state is reached
instance_l.fGsOff = TRUE;
break;
case kNmtCsBasicEthernet:
// ARP demo: Send request to MN
arp_sendRequest((0xFFFFFF00 & IP_ADDR) | C_ADR_MN_DEF_NODE_ID);
break;
case kNmtCsPreOperational2:
// automatic change to kEplNmtCsReadyToOperate can be
// prevented with:
// ret = kErrorReject;
// As soon as application is ready for OPERATIONAL state,
// execute the following function call:
// oplk_execNmtCommand(kNmtEventEnterReadyToOperate);
break;
default:
break;
}
break;
case kOplkApiEventReceivedNonPlk:
if (arp_processReceive(pFrameInfo->pFrame, pFrameInfo->frameSize) == 0)
return kErrorOk;
// If you get here, the received Ethernet frame is no ARP frame.
// Here you can call other protocol stacks for processing.
ret = kErrorOk; // Frame wasn't processed, so simply dump it.
break;
case kOplkApiEventDefaultGwChange:
// ARP demo: Set default gateway and send request
arp_setDefGateway(pEventArg_p->defaultGwChange.defaultGateway);
arp_sendRequest(pEventArg_p->defaultGwChange.defaultGateway);
break;
default:
break;
}
return ret;
}
