//------------------------------------------------------------------------------
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;
}
//------------------------------------------------------------------------------
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_initialize();
if (ret != kErrorOk)
{
PRINTF("oplk_initialize() failed with \"%s\"\n(Error:0x%x!)\n", debugstr_getRetValStr(ret), ret);
return ret;
}
ret = oplk_create(&initParam);
if (ret != kErrorOk)
{
PRINTF("oplk_create() 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;
}