extern eOresult_t eo_nvset_InitBRD_LoadEPs(EOnvSet* p, eOnvsetOwnership_t ownership, eOipv4addr_t ipaddress, eOnvset_BRDcfg_t* cfgofbrd, eObool_t initNVs)
{
uint16_t nendpoints = 0;
uint16_t i = 0;
if((NULL == p) || (NULL == cfgofbrd))
{
return(eores_NOK_nullpointer);
}
if(eores_OK != eo_nvset_InitBRD(p, ownership, ipaddress, cfgofbrd->boardnum))
{
return(eores_NOK_generic);
}
nendpoints = eo_constvector_Size(cfgofbrd->epcfg_constvect);
for(i=0; i<nendpoints; i++)
{
eOprot_EPcfg_t* pepcfg = (eOprot_EPcfg_t*) eo_constvector_At(cfgofbrd->epcfg_constvect, i);
if(eobool_true == eoprot_EPcfg_isvalid(pepcfg))
{
eo_nvset_LoadEP(p, pepcfg, initNVs);
}
else
{
//#warning TBD: put diagnostic message
}
}
return(eores_OK);
}
extern const eOnvset_DEVcfg_t* eoprot_robot_DEVcfg_get(uint8_t n)
{
if(n > eoprot_robot_DEVcfg_numberof())
{
return(NULL);
}
if(0 == s_eoprot_robot_initted)
{
eoprot_robot_Initialise();
}
const eOnvset_DEVcfg_t **p = (const eOnvset_DEVcfg_t**) eo_constvector_At(eoprot_robot_ROBOTcfg.vectorof_devcfgptr, n);
return(*p);
}
static EOnvsCfg* s_eo_boardtransceiver_nvscfg_get(const eOboardtransceiver_cfg_t *cfg)
{
EOnvsCfg* nvscfg = s_eo_theboardtrans.nvscfg;
eOnvscfg_EP_t *epcfg;
const EOconstvector* theepcfgs = NULL;
uint16_t nendpoints = 0;
uint16_t i;
const uint16_t numofdevices = 1; // one device only
const uint16_t ondevindex = 0; // hence only index 0
if(NULL != nvscfg)
{
// if i call it more than once ... then i return the configuration but allocate and init only once
return(nvscfg);
}
theepcfgs = cfg->vectorof_endpoint_cfg;
// #warning --> so far the BOARDtransceiver does not use any storage. if needed ... change the NULL into a ...
nvscfg = eo_nvscfg_New(numofdevices, NULL, cfg->nvscfgprotection, cfg->mutex_fn_new);
//foreach<device>
// begin
nendpoints = eo_constvector_Size(theepcfgs);
// use local-host address as we dont need to put the actual address of board in nvscfg.
eo_nvscfg_PushBackDevice(nvscfg, eo_nvscfg_ownership_local, EO_COMMON_IPV4ADDR_LOCALHOST, cfg->hashfunction_ep2index, nendpoints);
for(i=0; i<nendpoints; i++)
{
epcfg = (eOnvscfg_EP_t*) eo_constvector_At(theepcfgs, i);
eo_nvscfg_ondevice_PushBackEP(nvscfg, ondevindex, epcfg);
}
//end
eo_nvscfg_data_Initialise(nvscfg);
return(nvscfg);
}
extern void eom_emsappl_hid_userdef_initialise(EOMtheEMSappl* p)
{
EOMtheEMSapplCfg* emsapplcfg = eom_emsapplcfg_GetHandle();
// the led-pulser is initted as first thing
// pulse led3 forever at 20 hz.
eo_ledpulser_Start(eo_ledpulser_GetHandle(), eo_ledpulser_led_three, EOK_reltime1sec/20, 0);
{ // board number is from IP address
s_boardnum = 0;
eOipv4addr_t ipaddress = eom_ipnet_GetIPaddress(eom_ipnet_GetHandle());
s_boardnum = ipaddress >> 24;
s_boardnum --;
if(s_boardnum > 16)
{
//return;
s_boardnum = 0;
}
//s_boardnum = 0; //it imposes that the board is the eb1
}
{ // CAN-MAPPING
// marco.accame on 19 may 2015: here we load the map of can ... and also we map the entities into some can boards
// ... if we have any.
EOtheCANmapping * canmap = eo_canmap_Initialise(NULL);
// now i load the map of can boards
EOconstvector *canboards = eoboardconfig_code2canboards(s_boardnum);
eo_canmap_LoadBoards(canmap, canboards);
// now i load mc-joints, mc-motors, as-strain, as-mais, sk-skin
EOconstvector *entitydes = NULL;
// mc
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_motioncontrol, eoprot_entity_mc_joint, entitydes);
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, entitydes);
// as
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_analogsensors, eoprot_entity_as_strain);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_analogsensors, eoprot_entity_as_strain, entitydes);
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_analogsensors, eoprot_entity_as_mais);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_analogsensors, eoprot_entity_as_mais, entitydes);
// sk
entitydes = eoboardconfig_code2entitydescriptors(s_boardnum, eoprot_endpoint_skin, eoprot_entity_sk_skin);
eo_canmap_ConfigEntity(canmap, eoprot_endpoint_skin, eoprot_entity_sk_skin, entitydes);
}
{ // CAN-PROTOCOL
EOtheCANprotocol * canprot = eo_canprot_Initialise(NULL);
}
{ // ETH-PROTOCOL
// marco.accame on 24 apr 2015: here is how to customise the eth protocol from a generic to a specific board
// so far, we can keep it in here. but further on we shall customise one endpoint at a time in runtime.
EOnvSet* nvset = eom_emstransceiver_GetNVset(eom_emstransceiver_GetHandle());
uint8_t i = 0;
// 1. set the board number. the value of the generic board is 99.
// the correct value is used only for retrieving it later on and perform specific actions based on the board number
eo_nvset_BRDlocalsetnumber(nvset, s_boardnum);
EOconstvector* epcfg_cvector = eoboardconfig_code2EPcfg(s_boardnum);
// 2. load all the endpoints specific to this board. the generic board loads only management
uint16_t numofepcfgs = eo_constvector_Size(epcfg_cvector);
for(i=0; i<numofepcfgs; i++)
{
eOprot_EPcfg_t* epcfg = (eOprot_EPcfg_t*) eo_constvector_At(epcfg_cvector, i);
if(eobool_true == eoprot_EPcfg_isvalid(epcfg))
{
eo_nvset_LoadEP(nvset, epcfg, eobool_true);
}
}
// now we must define the .... proxy rules
// if we have board number equal to 1 or 3 ... (eb2 or eb4) then we set it for mc only
eOprotBRD_t localboard = eoprot_board_local_get();
if((1 == localboard) || (3 == localboard))
{
eoprot_config_proxied_variables(eoprot_board_localboard, eoprot_endpoint_motioncontrol, eoprot_b02_b04_mc_isproxied);
}
}
// start the application body
eOemsapplbody_cfg_t applbodyconfig;
memcpy(&applbodyconfig, &theemsapplbodycfg, sizeof(eOemsapplbody_cfg_t));
// now i get the encoder config
const eOappEncReader_cfg_t *enccfg = eoboardconfig_code2encoderconfig(s_boardnum);
memcpy(&applbodyconfig.encoderreaderconfig, enccfg, sizeof(eOappEncReader_cfg_t));
eo_emsapplBody_Initialise(&applbodyconfig);
}