diff options
Diffstat (limited to 'drivers/staging/epl/EplNmtMnu.c')
| -rw-r--r-- | drivers/staging/epl/EplNmtMnu.c | 3905 |
1 files changed, 1971 insertions, 1934 deletions
diff --git a/drivers/staging/epl/EplNmtMnu.c b/drivers/staging/epl/EplNmtMnu.c index 80453601a4a..4ed0b6ce487 100644 --- a/drivers/staging/epl/EplNmtMnu.c +++ b/drivers/staging/epl/EplNmtMnu.c @@ -94,42 +94,41 @@ // TracePoint support for realtime-debugging #ifdef _DBG_TRACE_POINTS_ - void PUBLIC TgtDbgSignalTracePoint (BYTE bTracePointNumber_p); - void PUBLIC TgtDbgPostTraceValue (DWORD dwTraceValue_p); - #define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) - #define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v) +void PUBLIC TgtDbgSignalTracePoint(BYTE bTracePointNumber_p); +void PUBLIC TgtDbgPostTraceValue(DWORD dwTraceValue_p); +#define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p) +#define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v) #else - #define TGT_DBG_SIGNAL_TRACE_POINT(p) - #define TGT_DBG_POST_TRACE_VALUE(v) +#define TGT_DBG_SIGNAL_TRACE_POINT(p) +#define TGT_DBG_POST_TRACE_VALUE(v) #endif #define EPL_NMTMNU_DBG_POST_TRACE_VALUE(Event_p, uiNodeId_p, wErrorCode_p) \ TGT_DBG_POST_TRACE_VALUE((kEplEventSinkNmtMnu << 28) | (Event_p << 24) \ | (uiNodeId_p << 16) | wErrorCode_p) - // defines for flags in node info structure -#define EPL_NMTMNU_NODE_FLAG_ISOCHRON 0x0001 // CN is being accessed isochronously -#define EPL_NMTMNU_NODE_FLAG_NOT_SCANNED 0x0002 // CN was not scanned once -> decrement SignalCounter and reset flag -#define EPL_NMTMNU_NODE_FLAG_HALTED 0x0004 // boot process for this CN is halted -#define EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED 0x0008 // NMT command was just issued, wrong NMT states will be tolerated -#define EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ 0x0300 // counter for StatusRequest timer handle -#define EPL_NMTMNU_NODE_FLAG_COUNT_LONGER 0x0C00 // counter for longer timeouts timer handle -#define EPL_NMTMNU_NODE_FLAG_INC_STATREQ 0x0100 // increment for StatusRequest timer handle -#define EPL_NMTMNU_NODE_FLAG_INC_LONGER 0x0400 // increment for longer timeouts timer handle - // These counters will be incremented at every timer start - // and copied to timerarg. When the timer event occures - // both will be compared and if unequal the timer event - // will be discarded, because it is an old one. +#define EPL_NMTMNU_NODE_FLAG_ISOCHRON 0x0001 // CN is being accessed isochronously +#define EPL_NMTMNU_NODE_FLAG_NOT_SCANNED 0x0002 // CN was not scanned once -> decrement SignalCounter and reset flag +#define EPL_NMTMNU_NODE_FLAG_HALTED 0x0004 // boot process for this CN is halted +#define EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED 0x0008 // NMT command was just issued, wrong NMT states will be tolerated +#define EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ 0x0300 // counter for StatusRequest timer handle +#define EPL_NMTMNU_NODE_FLAG_COUNT_LONGER 0x0C00 // counter for longer timeouts timer handle +#define EPL_NMTMNU_NODE_FLAG_INC_STATREQ 0x0100 // increment for StatusRequest timer handle +#define EPL_NMTMNU_NODE_FLAG_INC_LONGER 0x0400 // increment for longer timeouts timer handle + // These counters will be incremented at every timer start + // and copied to timerarg. When the timer event occures + // both will be compared and if unequal the timer event + // will be discarded, because it is an old one. // defines for timer arguments to draw a distinction between serveral events -#define EPL_NMTMNU_TIMERARG_NODE_MASK 0x000000FFL // mask that contains the node-ID -#define EPL_NMTMNU_TIMERARG_IDENTREQ 0x00010000L // timer event is for IdentRequest -#define EPL_NMTMNU_TIMERARG_STATREQ 0x00020000L // timer event is for StatusRequest -#define EPL_NMTMNU_TIMERARG_LONGER 0x00040000L // timer event is for longer timeouts -#define EPL_NMTMNU_TIMERARG_STATE_MON 0x00080000L // timer event for StatusRequest to monitor execution of NMT state changes -#define EPL_NMTMNU_TIMERARG_COUNT_SR 0x00000300L // counter for StatusRequest -#define EPL_NMTMNU_TIMERARG_COUNT_LO 0x00000C00L // counter for longer timeouts - // The counters must have the same position as in the node flags above. +#define EPL_NMTMNU_TIMERARG_NODE_MASK 0x000000FFL // mask that contains the node-ID +#define EPL_NMTMNU_TIMERARG_IDENTREQ 0x00010000L // timer event is for IdentRequest +#define EPL_NMTMNU_TIMERARG_STATREQ 0x00020000L // timer event is for StatusRequest +#define EPL_NMTMNU_TIMERARG_LONGER 0x00040000L // timer event is for longer timeouts +#define EPL_NMTMNU_TIMERARG_STATE_MON 0x00080000L // timer event for StatusRequest to monitor execution of NMT state changes +#define EPL_NMTMNU_TIMERARG_COUNT_SR 0x00000300L // counter for StatusRequest +#define EPL_NMTMNU_TIMERARG_COUNT_LO 0x00000C00L // counter for longer timeouts + // The counters must have the same position as in the node flags above. #define EPL_NMTMNU_SET_FLAGS_TIMERARG_STATREQ(pNodeInfo_p, uiNodeId_p, TimerArg_p) \ pNodeInfo_p->m_wFlags = \ @@ -167,10 +166,9 @@ (pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ); \ TimerArg_p.m_EventSink = kEplEventSinkNmtMnu; - // defines for global flags -#define EPL_NMTMNU_FLAG_HALTED 0x0001 // boot process is halted -#define EPL_NMTMNU_FLAG_APP_INFORMED 0x0002 // application was informed about possible NMT state change +#define EPL_NMTMNU_FLAG_HALTED 0x0001 // boot process is halted +#define EPL_NMTMNU_FLAG_APP_INFORMED 0x0002 // application was informed about possible NMT state change // return pointer to node info structure for specified node ID // d.k. may be replaced by special (hash) function if node ID array is smaller than 254 @@ -180,73 +178,64 @@ // local types //--------------------------------------------------------------------------- -typedef enum -{ - kEplNmtMnuIntNodeEventNoIdentResponse = 0x00, - kEplNmtMnuIntNodeEventIdentResponse = 0x01, - kEplNmtMnuIntNodeEventBoot = 0x02, - kEplNmtMnuIntNodeEventExecReset = 0x03, - kEplNmtMnuIntNodeEventConfigured = 0x04, - kEplNmtMnuIntNodeEventNoStatusResponse = 0x05, - kEplNmtMnuIntNodeEventStatusResponse = 0x06, - kEplNmtMnuIntNodeEventHeartbeat = 0x07, - kEplNmtMnuIntNodeEventNmtCmdSent = 0x08, - kEplNmtMnuIntNodeEventTimerIdentReq = 0x09, - kEplNmtMnuIntNodeEventTimerStatReq = 0x0A, - kEplNmtMnuIntNodeEventTimerStateMon = 0x0B, - kEplNmtMnuIntNodeEventTimerLonger = 0x0C, - kEplNmtMnuIntNodeEventError = 0x0D, +typedef enum { + kEplNmtMnuIntNodeEventNoIdentResponse = 0x00, + kEplNmtMnuIntNodeEventIdentResponse = 0x01, + kEplNmtMnuIntNodeEventBoot = 0x02, + kEplNmtMnuIntNodeEventExecReset = 0x03, + kEplNmtMnuIntNodeEventConfigured = 0x04, + kEplNmtMnuIntNodeEventNoStatusResponse = 0x05, + kEplNmtMnuIntNodeEventStatusResponse = 0x06, + kEplNmtMnuIntNodeEventHeartbeat = 0x07, + kEplNmtMnuIntNodeEventNmtCmdSent = 0x08, + kEplNmtMnuIntNodeEventTimerIdentReq = 0x09, + kEplNmtMnuIntNodeEventTimerStatReq = 0x0A, + kEplNmtMnuIntNodeEventTimerStateMon = 0x0B, + kEplNmtMnuIntNodeEventTimerLonger = 0x0C, + kEplNmtMnuIntNodeEventError = 0x0D, } tEplNmtMnuIntNodeEvent; - -typedef enum -{ - kEplNmtMnuNodeStateUnknown = 0x00, - kEplNmtMnuNodeStateIdentified = 0x01, - kEplNmtMnuNodeStateResetConf = 0x02, // CN reset after configuration update - kEplNmtMnuNodeStateConfigured = 0x03, // BootStep1 completed - kEplNmtMnuNodeStateReadyToOp = 0x04, // BootStep2 completed - kEplNmtMnuNodeStateComChecked = 0x05, // Communication checked successfully - kEplNmtMnuNodeStateOperational = 0x06, // CN is in NMT state OPERATIONAL +typedef enum { + kEplNmtMnuNodeStateUnknown = 0x00, + kEplNmtMnuNodeStateIdentified = 0x01, + kEplNmtMnuNodeStateResetConf = 0x02, // CN reset after configuration update + kEplNmtMnuNodeStateConfigured = 0x03, // BootStep1 completed + kEplNmtMnuNodeStateReadyToOp = 0x04, // BootStep2 completed + kEplNmtMnuNodeStateComChecked = 0x05, // Communication checked successfully + kEplNmtMnuNodeStateOperational = 0x06, // CN is in NMT state OPERATIONAL } tEplNmtMnuNodeState; - -typedef struct -{ - tEplTimerHdl m_TimerHdlStatReq; // timer to delay StatusRequests and IdentRequests - tEplTimerHdl m_TimerHdlLonger; // 2nd timer for NMT command EnableReadyToOp and CheckCommunication - tEplNmtMnuNodeState m_NodeState; // internal node state (kind of sub state of NMT state) - DWORD m_dwNodeCfg; // subindex from 0x1F81 - WORD m_wFlags; // flags: CN is being accessed isochronously +typedef struct { + tEplTimerHdl m_TimerHdlStatReq; // timer to delay StatusRequests and IdentRequests + tEplTimerHdl m_TimerHdlLonger; // 2nd timer for NMT command EnableReadyToOp and CheckCommunication + tEplNmtMnuNodeState m_NodeState; // internal node state (kind of sub state of NMT state) + DWORD m_dwNodeCfg; // subindex from 0x1F81 + WORD m_wFlags; // flags: CN is being accessed isochronously } tEplNmtMnuNodeInfo; - -typedef struct -{ - tEplNmtMnuNodeInfo m_aNodeInfo[EPL_NMT_MAX_NODE_ID]; - tEplTimerHdl m_TimerHdlNmtState; // timeout for stay in NMT state - unsigned int m_uiMandatorySlaveCount; - unsigned int m_uiSignalSlaveCount; - unsigned long m_ulStatusRequestDelay; // in [ms] (object 0x1006 * EPL_C_NMT_STATREQ_CYCLE) - unsigned long m_ulTimeoutReadyToOp; // in [ms] (object 0x1F89/5) - unsigned long m_ulTimeoutCheckCom; // in [ms] (object 0x1006 * MultiplexedCycleCount) - WORD m_wFlags; // global flags - DWORD m_dwNmtStartup; // object 0x1F80 NMT_StartUp_U32 - tEplNmtMnuCbNodeEvent m_pfnCbNodeEvent; - tEplNmtMnuCbBootEvent m_pfnCbBootEvent; +typedef struct { + tEplNmtMnuNodeInfo m_aNodeInfo[EPL_NMT_MAX_NODE_ID]; + tEplTimerHdl m_TimerHdlNmtState; // timeout for stay in NMT state + unsigned int m_uiMandatorySlaveCount; + unsigned int m_uiSignalSlaveCount; + unsigned long m_ulStatusRequestDelay; // in [ms] (object 0x1006 * EPL_C_NMT_STATREQ_CYCLE) + unsigned long m_ulTimeoutReadyToOp; // in [ms] (object 0x1F89/5) + unsigned long m_ulTimeoutCheckCom; // in [ms] (object 0x1006 * MultiplexedCycleCount) + WORD m_wFlags; // global flags + DWORD m_dwNmtStartup; // object 0x1F80 NMT_StartUp_U32 + tEplNmtMnuCbNodeEvent m_pfnCbNodeEvent; + tEplNmtMnuCbBootEvent m_pfnCbBootEvent; } tEplNmtMnuInstance; - //--------------------------------------------------------------------------- // local vars //--------------------------------------------------------------------------- -static tEplNmtMnuInstance EplNmtMnuInstance_g; - +static tEplNmtMnuInstance EplNmtMnuInstance_g; //--------------------------------------------------------------------------- // local function prototypes @@ -254,20 +243,19 @@ static tEplNmtMnuInstance EplNmtMnuInstance_g; static tEplKernel PUBLIC EplNmtMnuCbNmtRequest(tEplFrameInfo * pFrameInfo_p); -static tEplKernel PUBLIC EplNmtMnuCbIdentResponse( - unsigned int uiNodeId_p, - tEplIdentResponse* pIdentResponse_p); +static tEplKernel PUBLIC EplNmtMnuCbIdentResponse(unsigned int uiNodeId_p, + tEplIdentResponse * + pIdentResponse_p); -static tEplKernel PUBLIC EplNmtMnuCbStatusResponse( - unsigned int uiNodeId_p, - tEplStatusResponse* pStatusResponse_p); +static tEplKernel PUBLIC EplNmtMnuCbStatusResponse(unsigned int uiNodeId_p, + tEplStatusResponse * + pStatusResponse_p); -static tEplKernel EplNmtMnuCheckNmtState( - unsigned int uiNodeId_p, - tEplNmtMnuNodeInfo* pNodeInfo_p, - tEplNmtState NodeNmtState_p, - WORD wErrorCode_p, - tEplNmtState LocalNmtState_p); +static tEplKernel EplNmtMnuCheckNmtState(unsigned int uiNodeId_p, + tEplNmtMnuNodeInfo * pNodeInfo_p, + tEplNmtState NodeNmtState_p, + WORD wErrorCode_p, + tEplNmtState LocalNmtState_p); static tEplKernel EplNmtMnuStartBootStep1(void); @@ -275,22 +263,22 @@ static tEplKernel EplNmtMnuStartBootStep2(void); static tEplKernel EplNmtMnuStartCheckCom(void); -static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p); +static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, + tEplNmtMnuNodeInfo * pNodeInfo_p); -static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p); +static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, + tEplNmtMnuNodeInfo * pNodeInfo_p); static tEplKernel EplNmtMnuStartNodes(void); -static tEplKernel EplNmtMnuProcessInternalEvent( - unsigned int uiNodeId_p, - tEplNmtState NodeNmtState_p, - WORD wErrorCode_p, - tEplNmtMnuIntNodeEvent NodeEvent_p); +static tEplKernel EplNmtMnuProcessInternalEvent(unsigned int uiNodeId_p, + tEplNmtState NodeNmtState_p, + WORD wErrorCode_p, + tEplNmtMnuIntNodeEvent + NodeEvent_p); static tEplKernel EplNmtMnuReset(void); - - //=========================================================================// // // // P U B L I C F U N C T I O N S // @@ -316,16 +304,15 @@ static tEplKernel EplNmtMnuReset(void); //--------------------------------------------------------------------------- tEplKernel EplNmtMnuInit(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p, - tEplNmtMnuCbBootEvent pfnCbBootEvent_p) + tEplNmtMnuCbBootEvent pfnCbBootEvent_p) { -tEplKernel Ret; + tEplKernel Ret; - Ret = EplNmtMnuAddInstance(pfnCbNodeEvent_p, pfnCbBootEvent_p); + Ret = EplNmtMnuAddInstance(pfnCbNodeEvent_p, pfnCbBootEvent_p); - return Ret; + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuAddInstance @@ -345,35 +332,36 @@ tEplKernel Ret; //--------------------------------------------------------------------------- tEplKernel EplNmtMnuAddInstance(tEplNmtMnuCbNodeEvent pfnCbNodeEvent_p, - tEplNmtMnuCbBootEvent pfnCbBootEvent_p) + tEplNmtMnuCbBootEvent pfnCbBootEvent_p) { -tEplKernel Ret; + tEplKernel Ret; - Ret = kEplSuccessful; + Ret = kEplSuccessful; - // reset instance structure - EPL_MEMSET(&EplNmtMnuInstance_g, 0, sizeof (EplNmtMnuInstance_g)); + // reset instance structure + EPL_MEMSET(&EplNmtMnuInstance_g, 0, sizeof(EplNmtMnuInstance_g)); - if ((pfnCbNodeEvent_p == NULL) || (pfnCbBootEvent_p == NULL)) - { - Ret = kEplNmtInvalidParam; - goto Exit; - } - EplNmtMnuInstance_g.m_pfnCbNodeEvent = pfnCbNodeEvent_p; - EplNmtMnuInstance_g.m_pfnCbBootEvent = pfnCbBootEvent_p; + if ((pfnCbNodeEvent_p == NULL) || (pfnCbBootEvent_p == NULL)) { + Ret = kEplNmtInvalidParam; + goto Exit; + } + EplNmtMnuInstance_g.m_pfnCbNodeEvent = pfnCbNodeEvent_p; + EplNmtMnuInstance_g.m_pfnCbBootEvent = pfnCbBootEvent_p; - // initialize StatusRequest delay - EplNmtMnuInstance_g.m_ulStatusRequestDelay = 5000L; + // initialize StatusRequest delay + EplNmtMnuInstance_g.m_ulStatusRequestDelay = 5000L; - // register NmtMnResponse callback function - Ret = EplDlluCalRegAsndService(kEplDllAsndNmtRequest, EplNmtMnuCbNmtRequest, kEplDllAsndFilterLocal); + // register NmtMnResponse callback function + Ret = + EplDlluCalRegAsndService(kEplDllAsndNmtRequest, + EplNmtMnuCbNmtRequest, + kEplDllAsndFilterLocal); -Exit: - return Ret; + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuDelInstance @@ -394,20 +382,21 @@ Exit: tEplKernel EplNmtMnuDelInstance() { -tEplKernel Ret; + tEplKernel Ret; - Ret = kEplSuccessful; + Ret = kEplSuccessful; - // deregister NmtMnResponse callback function - Ret = EplDlluCalRegAsndService(kEplDllAsndNmtRequest, NULL, kEplDllAsndFilterNone); + // deregister NmtMnResponse callback function + Ret = + EplDlluCalRegAsndService(kEplDllAsndNmtRequest, NULL, + kEplDllAsndFilterNone); - Ret = EplNmtMnuReset(); + Ret = EplNmtMnuReset(); - return Ret; + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuSendNmtCommandEx @@ -424,124 +413,118 @@ tEplKernel Ret; //--------------------------------------------------------------------------- tEplKernel EplNmtMnuSendNmtCommandEx(unsigned int uiNodeId_p, - tEplNmtCommand NmtCommand_p, - void* pNmtCommandData_p, - unsigned int uiDataSize_p) + tEplNmtCommand NmtCommand_p, + void *pNmtCommandData_p, + unsigned int uiDataSize_p) { -tEplKernel Ret = kEplSuccessful; -tEplFrameInfo FrameInfo; -BYTE abBuffer[EPL_C_DLL_MINSIZE_NMTCMDEXT]; -tEplFrame* pFrame = (tEplFrame*) abBuffer; -BOOL fSoftDeleteNode = FALSE; - - if ((uiNodeId_p == 0) || (uiNodeId_p > EPL_C_ADR_BROADCAST)) - { // invalid node ID specified - Ret = kEplInvalidNodeId; - goto Exit; - } - - if ((pNmtCommandData_p != NULL) && (uiDataSize_p > (EPL_C_DLL_MINSIZE_NMTCMDEXT - EPL_C_DLL_MINSIZE_NMTCMD))) - { - Ret = kEplNmtInvalidParam; - goto Exit; - } - - // $$$ d.k. may be check in future versions if the caller wants to perform prohibited state transitions - // the CN should not perform these transitions, but the expected NMT state will be changed and never fullfilled. - - // build frame - EPL_MEMSET(pFrame, 0x00, sizeof(abBuffer)); - AmiSetByteToLe(&pFrame->m_le_bDstNodeId, (BYTE) uiNodeId_p); - AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId, (BYTE) kEplDllAsndNmtCommand); - AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_bNmtCommandId, - (BYTE)NmtCommand_p); - if ((pNmtCommandData_p != NULL) && (uiDataSize_p > 0)) - { // copy command data to frame - EPL_MEMCPY(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_abNmtCommandData[0], pNmtCommandData_p, uiDataSize_p); - } - - // build info structure - FrameInfo.m_NetTime.m_dwNanoSec = 0; - FrameInfo.m_NetTime.m_dwSec = 0; - FrameInfo.m_pFrame = pFrame; - FrameInfo.m_uiFrameSize = sizeof(abBuffer); - - // send NMT-Request + tEplKernel Ret = kEplSuccessful; + tEplFrameInfo FrameInfo; + BYTE abBuffer[EPL_C_DLL_MINSIZE_NMTCMDEXT]; + tEplFrame *pFrame = (tEplFrame *) abBuffer; + BOOL fSoftDeleteNode = FALSE; + + if ((uiNodeId_p == 0) || (uiNodeId_p > EPL_C_ADR_BROADCAST)) { // invalid node ID specified + Ret = kEplInvalidNodeId; + goto Exit; + } + + if ((pNmtCommandData_p != NULL) + && (uiDataSize_p > + (EPL_C_DLL_MINSIZE_NMTCMDEXT - EPL_C_DLL_MINSIZE_NMTCMD))) { + Ret = kEplNmtInvalidParam; + goto Exit; + } + // $$$ d.k. may be check in future versions if the caller wants to perform prohibited state transitions + // the CN should not perform these transitions, but the expected NMT state will be changed and never fullfilled. + + // build frame + EPL_MEMSET(pFrame, 0x00, sizeof(abBuffer)); + AmiSetByteToLe(&pFrame->m_le_bDstNodeId, (BYTE) uiNodeId_p); + AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_le_bServiceId, + (BYTE) kEplDllAsndNmtCommand); + AmiSetByteToLe(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService. + m_le_bNmtCommandId, (BYTE) NmtCommand_p); + if ((pNmtCommandData_p != NULL) && (uiDataSize_p > 0)) { // copy command data to frame + EPL_MEMCPY(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService. + m_le_abNmtCommandData[0], pNmtCommandData_p, + uiDataSize_p); + } + // build info structure + FrameInfo.m_NetTime.m_dwNanoSec = 0; + FrameInfo.m_NetTime.m_dwSec = 0; + FrameInfo.m_pFrame = pFrame; + FrameInfo.m_uiFrameSize = sizeof(abBuffer); + + // send NMT-Request #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0) - Ret = EplDlluCalAsyncSend(&FrameInfo, // pointer to frameinfo - kEplDllAsyncReqPrioNmt); // priority + Ret = EplDlluCalAsyncSend(&FrameInfo, // pointer to frameinfo + kEplDllAsyncReqPrioNmt); // priority #endif - if (Ret != kEplSuccessful) - { - goto Exit; - } - - EPL_DBGLVL_NMTMN_TRACE2("NMTCmd(%02X->%02X)\n", NmtCommand_p, uiNodeId_p); - - switch (NmtCommand_p) - { - case kEplNmtCmdStartNode: - case kEplNmtCmdEnterPreOperational2: - case kEplNmtCmdEnableReadyToOperate: - { - // nothing left to do, - // because any further processing is done - // when the NMT command is actually sent - goto Exit; - } - - case kEplNmtCmdStopNode: - { - fSoftDeleteNode = TRUE; - break; - } - - case kEplNmtCmdResetNode: - case kEplNmtCmdResetCommunication: - case kEplNmtCmdResetConfiguration: - case kEplNmtCmdSwReset: - { - break; - } - - default: - goto Exit; - } - - // remove CN from isochronous phase; - // This must be done here and not when NMT command is actually sent - // because it will be too late and may cause unwanted errors - if (uiNodeId_p != EPL_C_ADR_BROADCAST) - { - if (fSoftDeleteNode == FALSE) - { // remove CN immediately from isochronous phase - Ret = EplDlluCalDeleteNode(uiNodeId_p); - } - else - { // remove CN from isochronous phase softly - Ret = EplDlluCalSoftDeleteNode(uiNodeId_p); - } - } - else - { // do it for all active CNs - for (uiNodeId_p = 1; uiNodeId_p <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiNodeId_p++) - { - if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId_p)->m_dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0) - { - if (fSoftDeleteNode == FALSE) - { // remove CN immediately from isochronous phase - Ret = EplDlluCalDeleteNode(uiNodeId_p); - } - else - { // remove CN from isochronous phase softly - Ret = EplDlluCalSoftDeleteNode(uiNodeId_p); - } - } - } - } - -Exit: - return Ret; + if (Ret != kEplSuccessful) { + goto Exit; + } + + EPL_DBGLVL_NMTMN_TRACE2("NMTCmd(%02X->%02X)\n", NmtCommand_p, + uiNodeId_p); + + switch (NmtCommand_p) { + case kEplNmtCmdStartNode: + case kEplNmtCmdEnterPreOperational2: + case kEplNmtCmdEnableReadyToOperate: + { + // nothing left to do, + // because any further processing is done + // when the NMT command is actually sent + goto Exit; + } + + case kEplNmtCmdStopNode: + { + fSoftDeleteNode = TRUE; + break; + } + + case kEplNmtCmdResetNode: + case kEplNmtCmdResetCommunication: + case kEplNmtCmdResetConfiguration: + case kEplNmtCmdSwReset: + { + break; + } + + default: + goto Exit; + } + + // remove CN from isochronous phase; + // This must be done here and not when NMT command is actually sent + // because it will be too late and may cause unwanted errors + if (uiNodeId_p != EPL_C_ADR_BROADCAST) { + if (fSoftDeleteNode == FALSE) { // remove CN immediately from isochronous phase + Ret = EplDlluCalDeleteNode(uiNodeId_p); + } else { // remove CN from isochronous phase softly + Ret = EplDlluCalSoftDeleteNode(uiNodeId_p); + } + } else { // do it for all active CNs + for (uiNodeId_p = 1; + uiNodeId_p <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); + uiNodeId_p++) { + if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId_p)-> + m_dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | + EPL_NODEASSIGN_NODE_EXISTS)) != 0) { + if (fSoftDeleteNode == FALSE) { // remove CN immediately from isochronous phase + Ret = EplDlluCalDeleteNode(uiNodeId_p); + } else { // remove CN from isochronous phase softly + Ret = + EplDlluCalSoftDeleteNode + (uiNodeId_p); + } + } + } + } + + Exit: + return Ret; } //--------------------------------------------------------------------------- @@ -560,14 +543,14 @@ Exit: //--------------------------------------------------------------------------- tEplKernel EplNmtMnuSendNmtCommand(unsigned int uiNodeId_p, - tEplNmtCommand NmtCommand_p) + tEplNmtCommand NmtCommand_p) { -tEplKernel Ret = kEplSuccessful; + tEplKernel Ret = kEplSuccessful; - Ret = EplNmtMnuSendNmtCommandEx(uiNodeId_p, NmtCommand_p, NULL, 0); + Ret = EplNmtMnuSendNmtCommandEx(uiNodeId_p, NmtCommand_p, NULL, 0); //Exit: - return Ret; + return Ret; } //--------------------------------------------------------------------------- @@ -586,68 +569,65 @@ tEplKernel Ret = kEplSuccessful; //--------------------------------------------------------------------------- tEplKernel EplNmtMnuTriggerStateChange(unsigned int uiNodeId_p, - tEplNmtNodeCommand NodeCommand_p) + tEplNmtNodeCommand NodeCommand_p) { -tEplKernel Ret = kEplSuccessful; -tEplNmtMnuIntNodeEvent NodeEvent; -tEplObdSize ObdSize; -BYTE bNmtState; -WORD wErrorCode = EPL_E_NO_ERROR; - - if ((uiNodeId_p == 0) || (uiNodeId_p >= EPL_C_ADR_BROADCAST)) - { - Ret = kEplInvalidNodeId; - goto Exit; - } - - switch (NodeCommand_p) - { - case kEplNmtNodeCommandBoot: - { - NodeEvent = kEplNmtMnuIntNodeEventBoot; - break; - } - - case kEplNmtNodeCommandConfOk: - { - NodeEvent = kEplNmtMnuIntNodeEventConfigured; - break; - } - - case kEplNmtNodeCommandConfErr: - { - NodeEvent = kEplNmtMnuIntNodeEventError; - wErrorCode = EPL_E_NMT_BPO1_CF_VERIFY; - break; - } - - case kEplNmtNodeCommandConfReset: - { - NodeEvent = kEplNmtMnuIntNodeEventExecReset; - break; - } - - default: - { // invalid node command - goto Exit; - } - } - - // fetch current NMT state - ObdSize = 1; - Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtState, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - wErrorCode, - NodeEvent); - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + tEplNmtMnuIntNodeEvent NodeEvent; + tEplObdSize ObdSize; + BYTE bNmtState; + WORD wErrorCode = EPL_E_NO_ERROR; + + if ((uiNodeId_p == 0) || (uiNodeId_p >= EPL_C_ADR_BROADCAST)) { + Ret = kEplInvalidNodeId; + goto Exit; + } + + switch (NodeCommand_p) { + case kEplNmtNodeCommandBoot: + { + NodeEvent = kEplNmtMnuIntNodeEventBoot; + break; + } + + case kEplNmtNodeCommandConfOk: + { + NodeEvent = kEplNmtMnuIntNodeEventConfigured; + break; + } + + case kEplNmtNodeCommandConfErr: + { + NodeEvent = kEplNmtMnuIntNodeEventError; + wErrorCode = EPL_E_NMT_BPO1_CF_VERIFY; + break; + } + + case kEplNmtNodeCommandConfReset: + { + NodeEvent = kEplNmtMnuIntNodeEventExecReset; + break; + } + + default: + { // invalid node command + goto Exit; + } + } + + // fetch current NMT state + ObdSize = 1; + Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtState, &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + + Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, + (tEplNmtState) (bNmtState | + EPL_NMT_TYPE_CS), + wErrorCode, NodeEvent); + + Exit: + return Ret; } //--------------------------------------------------------------------------- @@ -665,14 +645,14 @@ Exit: // //--------------------------------------------------------------------------- -tEplKernel PUBLIC EplNmtMnuCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p) +tEplKernel PUBLIC EplNmtMnuCbNmtStateChange(tEplEventNmtStateChange + NmtStateChange_p) { -tEplKernel Ret = kEplSuccessful; + tEplKernel Ret = kEplSuccessful; - // do work which must be done in that state - switch (NmtStateChange_p.m_NewNmtState) - { - // EPL stack is not running + // do work which must be done in that state + switch (NmtStateChange_p.m_NewNmtState) { + // EPL stack is not running /* case kEplNmtGsOff: break; @@ -693,66 +673,61 @@ tEplKernel Ret = kEplSuccessful; break; } */ - // build the configuration with infos from OD - case kEplNmtGsResetConfiguration: - { - DWORD dwTimeout; - tEplObdSize ObdSize; - - // read object 0x1F80 NMT_StartUp_U32 - ObdSize = 4; - Ret = EplObduReadEntry(0x1F80, 0, &EplNmtMnuInstance_g.m_dwNmtStartup, &ObdSize); - if (Ret != kEplSuccessful) - { - break; - } - - // compute StatusReqDelay = object 0x1006 * EPL_C_NMT_STATREQ_CYCLE - ObdSize = sizeof (dwTimeout); - Ret = EplObduReadEntry(0x1006, 0, &dwTimeout, &ObdSize); - if (Ret != kEplSuccessful) - { - break; - } - if (dwTimeout != 0L) - { - EplNmtMnuInstance_g.m_ulStatusRequestDelay = dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L; - if (EplNmtMnuInstance_g.m_ulStatusRequestDelay == 0L) - { - EplNmtMnuInstance_g.m_ulStatusRequestDelay = 1L; // at least 1 ms - } - - // $$$ fetch and use MultiplexedCycleCount from OD - EplNmtMnuInstance_g.m_ulTimeoutCheckCom = dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L; - if (EplNmtMnuInstance_g.m_ulTimeoutCheckCom == 0L) - { - EplNmtMnuInstance_g.m_ulTimeoutCheckCom = 1L; // at least 1 ms - } - } - - // fetch ReadyToOp Timeout from OD - ObdSize = sizeof (dwTimeout); - Ret = EplObduReadEntry(0x1F89, 5, &dwTimeout, &ObdSize); - if (Ret != kEplSuccessful) - { - break; - } - if (dwTimeout != 0L) - { - // convert [us] to [ms] - dwTimeout /= 1000L; - if (dwTimeout == 0L) - { - dwTimeout = 1L; // at least 1 ms - } - EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = dwTimeout; - } - else - { - EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = 0L; - } - break; - } + // build the configuration with infos from OD + case kEplNmtGsResetConfiguration: + { + DWORD dwTimeout; + tEplObdSize ObdSize; + + // read object 0x1F80 NMT_StartUp_U32 + ObdSize = 4; + Ret = + EplObduReadEntry(0x1F80, 0, + &EplNmtMnuInstance_g. + m_dwNmtStartup, &ObdSize); + if (Ret != kEplSuccessful) { + break; + } + // compute StatusReqDelay = object 0x1006 * EPL_C_NMT_STATREQ_CYCLE + ObdSize = sizeof(dwTimeout); + Ret = EplObduReadEntry(0x1006, 0, &dwTimeout, &ObdSize); + if (Ret != kEplSuccessful) { + break; + } + if (dwTimeout != 0L) { + EplNmtMnuInstance_g.m_ulStatusRequestDelay = + dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L; + if (EplNmtMnuInstance_g. + m_ulStatusRequestDelay == 0L) { + EplNmtMnuInstance_g.m_ulStatusRequestDelay = 1L; // at least 1 ms + } + // $$$ fetch and use MultiplexedCycleCount from OD + EplNmtMnuInstance_g.m_ulTimeoutCheckCom = + dwTimeout * EPL_C_NMT_STATREQ_CYCLE / 1000L; + if (EplNmtMnuInstance_g.m_ulTimeoutCheckCom == + 0L) { + EplNmtMnuInstance_g.m_ulTimeoutCheckCom = 1L; // at least 1 ms + } + } + // fetch ReadyToOp Timeout from OD + ObdSize = sizeof(dwTimeout); + Ret = EplObduReadEntry(0x1F89, 5, &dwTimeout, &ObdSize); + if (Ret != kEplSuccessful) { + break; + } + if (dwTimeout != 0L) { + // convert [us] to [ms] + dwTimeout /= 1000L; + if (dwTimeout == 0L) { + dwTimeout = 1L; // at least 1 ms + } + EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = + dwTimeout; + } else { + EplNmtMnuInstance_g.m_ulTimeoutReadyToOp = 0L; + } + break; + } /* //----------------------------------------------------------- // CN part of the state machine @@ -801,142 +776,141 @@ tEplKernel Ret = kEplSuccessful; break; } */ - //----------------------------------------------------------- - // MN part of the state machine - - // node listens for EPL-Frames and check timeout - case kEplNmtMsNotActive: - { - break; - } - - // node processes only async frames - case kEplNmtMsPreOperational1: - { - DWORD dwTimeout; - tEplTimerArg TimerArg; - tEplObdSize ObdSize; - tEplEvent Event; - - // clear global flags, e.g. reenable boot process - EplNmtMnuInstance_g.m_wFlags = 0; - - // reset IdentResponses and running IdentRequests and StatusRequests - Ret = EplIdentuReset(); - Ret = EplStatusuReset(); - - // reset timers - Ret = EplNmtMnuReset(); - - // 2008/11/18 d.k. reset internal node info is not necessary, - // because timer flags are important and other - // things are reset by EplNmtMnuStartBootStep1(). + //----------------------------------------------------------- + // MN part of the state machine + + // node listens for EPL-Frames and check timeout + case kEplNmtMsNotActive: + { + break; + } + + // node processes only async frames + case kEplNmtMsPreOperational1: + { + DWORD dwTimeout; + tEplTimerArg TimerArg; + tEplObdSize ObdSize; + tEplEvent Event; + + // clear global flags, e.g. reenable boot process + EplNmtMnuInstance_g.m_wFlags = 0; + + // reset IdentResponses and running IdentRequests and StatusRequests + Ret = EplIdentuReset(); + Ret = EplStatusuReset(); + + // reset timers + Ret = EplNmtMnuReset(); + + // 2008/11/18 d.k. reset internal node info is not necessary, + // because timer flags are important and other + // things are reset by EplNmtMnuStartBootStep1(). /* EPL_MEMSET(EplNmtMnuInstance_g.m_aNodeInfo, 0, sizeof (EplNmtMnuInstance_g.m_aNodeInfo)); */ - // inform DLL about NMT state change, - // so that it can clear the asynchonous queues and start the reduced cycle - Event.m_EventSink = kEplEventSinkDllk; - Event.m_EventType = kEplEventTypeDllkStartReducedCycle; - EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime)); - Event.m_pArg = NULL; - Event.m_uiSize = 0; - Ret = EplEventuPost(&Event); - if (Ret != kEplSuccessful) - { - break; - } - - // reset all nodes - // d.k.: skip this step if was just done before, e.g. because of a ResetNode command from a diagnostic node - if (NmtStateChange_p.m_NmtEvent == kEplNmtEventTimerMsPreOp1) - { - BENCHMARK_MOD_07_TOGGLE(9); - - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - EPL_C_ADR_BROADCAST, - kEplNmtCmdResetNode); - - Ret = EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, kEplNmtCmdResetNode); - if (Ret != kEplSuccessful) - { - break; - } - } - // start network scan - Ret = EplNmtMnuStartBootStep1(); - - // start timer for 0x1F89/2 MNTimeoutPreOp1_U32 - ObdSize = sizeof (dwTimeout); - Ret = EplObduReadEntry(0x1F89, 2, &dwTimeout, &ObdSize); - if (Ret != kEplSuccessful) - { - break; - } - if (dwTimeout != 0L) - { - dwTimeout /= 1000L; - if (dwTimeout == 0L) - { - dwTimeout = 1L; // at least 1 ms - } - TimerArg.m_EventSink = kEplEventSinkNmtMnu; - TimerArg.m_ulArg = 0; - Ret = EplTimeruModifyTimerMs(&EplNmtMnuInstance_g.m_TimerHdlNmtState, dwTimeout, TimerArg); - } - break; - } - - // node processes isochronous and asynchronous frames - case kEplNmtMsPreOperational2: - { - // add identified CNs to isochronous phase - // send EnableReadyToOp to all identified CNs - Ret = EplNmtMnuStartBootStep2(); - - // wait for NMT state change of CNs - break; - } - - // node should be configured und application is ready - case kEplNmtMsReadyToOperate: - { - // check if PRes of CNs are OK - // d.k. that means wait CycleLength * MultiplexCycleCount (i.e. start timer) - // because Dllk checks PRes of CNs automatically in ReadyToOp - Ret = EplNmtMnuStartCheckCom(); - break; - } - - // normal work state - case kEplNmtMsOperational: - { - // send StartNode to CNs - // wait for NMT state change of CNs - Ret = EplNmtMnuStartNodes(); - break; - } - - // no EPL cycle - // -> normal ethernet communication - case kEplNmtMsBasicEthernet: - { - break; - } - - default: - { + // inform DLL about NMT state change, + // so that it can clear the asynchonous queues and start the reduced cycle + Event.m_EventSink = kEplEventSinkDllk; + Event.m_EventType = kEplEventTypeDllkStartReducedCycle; + EPL_MEMSET(&Event.m_NetTime, 0x00, + sizeof(Event.m_NetTime)); + Event.m_pArg = NULL; + Event.m_uiSize = 0; + Ret = EplEventuPost(&Event); + if (Ret != kEplSuccessful) { + break; + } + // reset all nodes + // d.k.: skip this step if was just done before, e.g. because of a ResetNode command from a diagnostic node + if (NmtStateChange_p.m_NmtEvent == + kEplNmtEventTimerMsPreOp1) { + BENCHMARK_MOD_07_TOGGLE(9); + + EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, + EPL_C_ADR_BROADCAST, + kEplNmtCmdResetNode); + + Ret = + EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, + kEplNmtCmdResetNode); + if (Ret != kEplSuccessful) { + break; + } + } + // start network scan + Ret = EplNmtMnuStartBootStep1(); + + // start timer for 0x1F89/2 MNTimeoutPreOp1_U32 + ObdSize = sizeof(dwTimeout); + Ret = EplObduReadEntry(0x1F89, 2, &dwTimeout, &ObdSize); + if (Ret != kEplSuccessful) { + break; + } + if (dwTimeout != 0L) { + dwTimeout /= 1000L; + if (dwTimeout == 0L) { + dwTimeout = 1L; // at least 1 ms + } + TimerArg.m_EventSink = kEplEventSinkNmtMnu; + TimerArg.m_ulArg = 0; + Ret = + EplTimeruModifyTimerMs(&EplNmtMnuInstance_g. + m_TimerHdlNmtState, + dwTimeout, TimerArg); + } + break; + } + + // node processes isochronous and asynchronous frames + case kEplNmtMsPreOperational2: + { + // add identified CNs to isochronous phase + // send EnableReadyToOp to all identified CNs + Ret = EplNmtMnuStartBootStep2(); + + // wait for NMT state change of CNs + break; + } + + // node should be configured und application is ready + case kEplNmtMsReadyToOperate: + { + // check if PRes of CNs are OK + // d.k. that means wait CycleLength * MultiplexCycleCount (i.e. start timer) + // because Dllk checks PRes of CNs automatically in ReadyToOp + Ret = EplNmtMnuStartCheckCom(); + break; + } + + // normal work state + case kEplNmtMsOperational: + { + // send StartNode to CNs + // wait for NMT state change of CNs + Ret = EplNmtMnuStartNodes(); + break; + } + + // no EPL cycle + // -> normal ethernet communication + case kEplNmtMsBasicEthernet: + { + break; + } + + default: + { // TRACE0("EplNmtMnuCbNmtStateChange(): unhandled NMT state\n"); - } - } + } + } - return Ret; + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuCbCheckEvent @@ -956,12 +930,11 @@ tEplKernel Ret = kEplSuccessful; tEplKernel PUBLIC EplNmtMnuCbCheckEvent(tEplNmtEvent NmtEvent_p) { -tEplKernel Ret = kEplSuccessful; + tEplKernel Ret = kEplSuccessful; - return Ret; + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtuProcessEvent @@ -976,52 +949,58 @@ tEplKernel Ret = kEplSuccessful; // //--------------------------------------------------------------------------- -EPLDLLEXPORT tEplKernel PUBLIC EplNmtMnuProcessEvent( - tEplEvent* pEvent_p) +EPLDLLEXPORT tEplKernel PUBLIC EplNmtMnuProcessEvent(tEplEvent * pEvent_p) { -tEplKernel Ret; - - Ret = kEplSuccessful; - - // process event - switch(pEvent_p->m_EventType) - { - // timer event - case kEplEventTypeTimer: - { - tEplTimerEventArg* pTimerEventArg = (tEplTimerEventArg*)pEvent_p->m_pArg; - unsigned int uiNodeId; - - uiNodeId = (unsigned int) (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_NODE_MASK); - if (uiNodeId != 0) - { - tEplObdSize ObdSize; - BYTE bNmtState; - tEplNmtMnuNodeInfo* pNodeInfo; - - pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId); - - ObdSize = 1; - Ret = EplObduReadEntry(0x1F8E, uiNodeId, &bNmtState, &ObdSize); - if (Ret != kEplSuccessful) - { - break; - } - - if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_IDENTREQ) != 0L) - { - if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) - { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerIdentReq, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0xFF)); - - break; - } + tEplKernel Ret; + + Ret = kEplSuccessful; + + // process event + switch (pEvent_p->m_EventType) { + // timer event + case kEplEventTypeTimer: + { + tEplTimerEventArg *pTimerEventArg = + (tEplTimerEventArg *) pEvent_p->m_pArg; + unsigned int uiNodeId; + + uiNodeId = + (unsigned int)(pTimerEventArg-> + m_ulArg & + EPL_NMTMNU_TIMERARG_NODE_MASK); + if (uiNodeId != 0) { + tEplObdSize ObdSize; + BYTE bNmtState; + tEplNmtMnuNodeInfo *pNodeInfo; + + pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId); + + ObdSize = 1; + Ret = + EplObduReadEntry(0x1F8E, uiNodeId, + &bNmtState, &ObdSize); + if (Ret != kEplSuccessful) { + break; + } + + if ((pTimerEventArg-> + m_ulArg & EPL_NMTMNU_TIMERARG_IDENTREQ) != + 0L) { + if ((pNodeInfo-> + m_wFlags & + EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) + != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) { // this is an old (already deleted or modified) timer + // but not the current timer + // so discard it + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (kEplNmtMnuIntNodeEventTimerIdentReq, + uiNodeId, + ((pNodeInfo-> + m_NodeState << 8) + | 0xFF)); + + break; + } /* EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerIdentReq, uiNodeId, @@ -1030,26 +1009,33 @@ tEplKernel Ret; | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); */ - Ret = EplNmtMnuProcessInternalEvent(uiNodeId, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventTimerIdentReq); - } - - else if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_STATREQ) != 0L) - { - if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) - { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0xFF)); - - break; - } + Ret = + EplNmtMnuProcessInternalEvent + (uiNodeId, + (tEplNmtState) (bNmtState | + EPL_NMT_TYPE_CS), + EPL_E_NO_ERROR, + kEplNmtMnuIntNodeEventTimerIdentReq); + } + + else if ((pTimerEventArg-> + m_ulArg & EPL_NMTMNU_TIMERARG_STATREQ) + != 0L) { + if ((pNodeInfo-> + m_wFlags & + EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) + != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) { // this is an old (already deleted or modified) timer + // but not the current timer + // so discard it + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (kEplNmtMnuIntNodeEventTimerStatReq, + uiNodeId, + ((pNodeInfo-> + m_NodeState << 8) + | 0xFF)); + + break; + } /* EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq, uiNodeId, @@ -1058,26 +1044,34 @@ tEplKernel Ret; | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); */ - Ret = EplNmtMnuProcessInternalEvent(uiNodeId, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventTimerStatReq); - } - - else if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_STATE_MON) != 0L) - { - if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) - { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStateMon, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0xFF)); - - break; - } + Ret = + EplNmtMnuProcessInternalEvent + (uiNodeId, + (tEplNmtState) (bNmtState | + EPL_NMT_TYPE_CS), + EPL_E_NO_ERROR, + kEplNmtMnuIntNodeEventTimerStatReq); + } + + else if ((pTimerEventArg-> + m_ulArg & + EPL_NMTMNU_TIMERARG_STATE_MON) != + 0L) { + if ((pNodeInfo-> + m_wFlags & + EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) + != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR)) { // this is an old (already deleted or modified) timer + // but not the current timer + // so discard it + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (kEplNmtMnuIntNodeEventTimerStateMon, + uiNodeId, + ((pNodeInfo-> + m_NodeState << 8) + | 0xFF)); + + break; + } /* EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerStatReq, uiNodeId, @@ -1086,26 +1080,33 @@ tEplKernel Ret; | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); */ - Ret = EplNmtMnuProcessInternalEvent(uiNodeId, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventTimerStateMon); - } - - else if ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_LONGER) != 0L) - { - if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER) - != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_LO)) - { // this is an old (already deleted or modified) timer - // but not the current timer - // so discard it - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerLonger, - uiNodeId, - ((pNodeInfo->m_NodeState << 8) - | 0xFF)); - - break; - } + Ret = + EplNmtMnuProcessInternalEvent + (uiNodeId, + (tEplNmtState) (bNmtState | + EPL_NMT_TYPE_CS), + EPL_E_NO_ERROR, + kEplNmtMnuIntNodeEventTimerStateMon); + } + + else if ((pTimerEventArg-> + m_ulArg & EPL_NMTMNU_TIMERARG_LONGER) + != 0L) { + if ((pNodeInfo-> + m_wFlags & + EPL_NMTMNU_NODE_FLAG_COUNT_LONGER) + != (pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_LO)) { // this is an old (already deleted or modified) timer + // but not the current timer + // so discard it + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (kEplNmtMnuIntNodeEventTimerLonger, + uiNodeId, + ((pNodeInfo-> + m_NodeState << 8) + | 0xFF)); + + break; + } /* EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventTimerLonger, uiNodeId, @@ -1114,117 +1115,134 @@ tEplKernel Ret; | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_LONGER) >> 6) | ((pTimerEventArg->m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_LO) >> 8))); */ - Ret = EplNmtMnuProcessInternalEvent(uiNodeId, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventTimerLonger); - } - - } - else - { // global timer event - } - break; - } - - case kEplEventTypeHeartbeat: - { - tEplHeartbeatEvent* pHeartbeatEvent = (tEplHeartbeatEvent*)pEvent_p->m_pArg; - - Ret = EplNmtMnuProcessInternalEvent(pHeartbeatEvent->m_uiNodeId, - pHeartbeatEvent->m_NmtState, - pHeartbeatEvent->m_wErrorCode, - kEplNmtMnuIntNodeEventHeartbeat); - break; - } - - case kEplEventTypeNmtMnuNmtCmdSent: - { - tEplFrame* pFrame = (tEplFrame*)pEvent_p->m_pArg; - unsigned int uiNodeId; - tEplNmtCommand NmtCommand; - BYTE bNmtState; - - uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId); - NmtCommand = (tEplNmtCommand) AmiGetByteFromLe(&pFrame->m_Data.m_Asnd.m_Payload.m_NmtCommandService.m_le_bNmtCommandId); - - switch (NmtCommand) - { - case kEplNmtCmdStartNode: - bNmtState = (BYTE) (kEplNmtCsOperational & 0xFF); - break; - - case kEplNmtCmdStopNode: - bNmtState = (BYTE) (kEplNmtCsStopped & 0xFF); - break; - - case kEplNmtCmdEnterPreOperational2: - bNmtState = (BYTE) (kEplNmtCsPreOperational2 & 0xFF); - break; - - case kEplNmtCmdEnableReadyToOperate: - // d.k. do not change expected node state, because of DS 1.0.0 7.3.1.2.1 Plain NMT State Command - // and because node may not change NMT state within EPL_C_NMT_STATE_TOLERANCE - bNmtState = (BYTE) (kEplNmtCsPreOperational2 & 0xFF); - break; - - case kEplNmtCmdResetNode: - case kEplNmtCmdResetCommunication: - case kEplNmtCmdResetConfiguration: - case kEplNmtCmdSwReset: - bNmtState = (BYTE) (kEplNmtCsNotActive & 0xFF); - // EplNmtMnuProcessInternalEvent() sets internal node state to kEplNmtMnuNodeStateUnknown - // after next unresponded IdentRequest/StatusRequest - break; - - default: - goto Exit; - } - - // process as internal event which update expected NMT state in OD - if (uiNodeId != EPL_C_ADR_BROADCAST) - { - Ret = EplNmtMnuProcessInternalEvent(uiNodeId, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - 0, - kEplNmtMnuIntNodeEventNmtCmdSent); - - } - else - { // process internal event for all active nodes (except myself) - - for (uiNodeId = 1; uiNodeId <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiNodeId++) - { - if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId)->m_dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0) - { - Ret = EplNmtMnuProcessInternalEvent(uiNodeId, - (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS), - 0, - kEplNmtMnuIntNodeEventNmtCmdSent); - - if (Ret != kEplSuccessful) - { - goto Exit; - } - } - } - } - - break; - } - - default: - { - Ret = kEplNmtInvalidEvent; - } - - } - -Exit: - return Ret; + Ret = + EplNmtMnuProcessInternalEvent + (uiNodeId, + (tEplNmtState) (bNmtState | + EPL_NMT_TYPE_CS), + EPL_E_NO_ERROR, + kEplNmtMnuIntNodeEventTimerLonger); + } + + } else { // global timer event + } + break; + } + + case kEplEventTypeHeartbeat: + { + tEplHeartbeatEvent *pHeartbeatEvent = + (tEplHeartbeatEvent *) pEvent_p->m_pArg; + + Ret = + EplNmtMnuProcessInternalEvent(pHeartbeatEvent-> + m_uiNodeId, + pHeartbeatEvent-> + m_NmtState, + pHeartbeatEvent-> + m_wErrorCode, + kEplNmtMnuIntNodeEventHeartbeat); + break; + } + + case kEplEventTypeNmtMnuNmtCmdSent: + { + tEplFrame *pFrame = (tEplFrame *) pEvent_p->m_pArg; + unsigned int uiNodeId; + tEplNmtCommand NmtCommand; + BYTE bNmtState; + + uiNodeId = AmiGetByteFromLe(&pFrame->m_le_bDstNodeId); + NmtCommand = + (tEplNmtCommand) AmiGetByteFromLe(&pFrame->m_Data. + m_Asnd.m_Payload. + m_NmtCommandService. + m_le_bNmtCommandId); + + switch (NmtCommand) { + case kEplNmtCmdStartNode: + bNmtState = + (BYTE) (kEplNmtCsOperational & 0xFF); + break; + + case kEplNmtCmdStopNode: + bNmtState = (BYTE) (kEplNmtCsStopped & 0xFF); + break; + + case kEplNmtCmdEnterPreOperational2: + bNmtState = + (BYTE) (kEplNmtCsPreOperational2 & 0xFF); + break; + + case kEplNmtCmdEnableReadyToOperate: + // d.k. do not change expected node state, because of DS 1.0.0 7.3.1.2.1 Plain NMT State Command + // and because node may not change NMT state within EPL_C_NMT_STATE_TOLERANCE + bNmtState = + (BYTE) (kEplNmtCsPreOperational2 & 0xFF); + break; + + case kEplNmtCmdResetNode: + case kEplNmtCmdResetCommunication: + case kEplNmtCmdResetConfiguration: + case kEplNmtCmdSwReset: + bNmtState = (BYTE) (kEplNmtCsNotActive & 0xFF); + // EplNmtMnuProcessInternalEvent() sets internal node state to kEplNmtMnuNodeStateUnknown + // after next unresponded IdentRequest/StatusRequest + break; + + default: + goto Exit; + } + + // process as internal event which update expected NMT state in OD + if (uiNodeId != EPL_C_ADR_BROADCAST) { + Ret = EplNmtMnuProcessInternalEvent(uiNodeId, + (tEplNmtState) + (bNmtState | + EPL_NMT_TYPE_CS), + 0, + kEplNmtMnuIntNodeEventNmtCmdSent); + + } else { // process internal event for all active nodes (except myself) + + for (uiNodeId = 1; + uiNodeId <= + tabentries(EplNmtMnuInstance_g. + m_aNodeInfo); uiNodeId++) { + if ((EPL_NMTMNU_GET_NODEINFO(uiNodeId)-> + m_dwNodeCfg & + (EPL_NODEASSIGN_NODE_IS_CN | + EPL_NODEASSIGN_NODE_EXISTS)) != + 0) { + Ret = + EplNmtMnuProcessInternalEvent + (uiNodeId, + (tEplNmtState) (bNmtState | + EPL_NMT_TYPE_CS), + 0, + kEplNmtMnuIntNodeEventNmtCmdSent); + + if (Ret != kEplSuccessful) { + goto Exit; + } + } + } + } + + break; + } + + default: + { + Ret = kEplNmtInvalidEvent; + } + + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuGetRunningTimerStatReq @@ -1240,29 +1258,29 @@ Exit: // //--------------------------------------------------------------------------- -tEplKernel PUBLIC EplNmtMnuGetDiagnosticInfo(unsigned int* puiMandatorySlaveCount_p, - unsigned int* puiSignalSlaveCount_p, - WORD* pwFlags_p) +tEplKernel PUBLIC EplNmtMnuGetDiagnosticInfo(unsigned int + *puiMandatorySlaveCount_p, + unsigned int + *puiSignalSlaveCount_p, + WORD * pwFlags_p) { -tEplKernel Ret = kEplSuccessful; + tEplKernel Ret = kEplSuccessful; - if ((puiMandatorySlaveCount_p == NULL) - || (puiSignalSlaveCount_p == NULL) - || (pwFlags_p == NULL)) - { - Ret = kEplNmtInvalidParam; - goto Exit; - } + if ((puiMandatorySlaveCount_p == NULL) + || (puiSignalSlaveCount_p == NULL) + || (pwFlags_p == NULL)) { + Ret = kEplNmtInvalidParam; + goto Exit; + } - *puiMandatorySlaveCount_p = EplNmtMnuInstance_g.m_uiMandatorySlaveCount; - *puiSignalSlaveCount_p = EplNmtMnuInstance_g.m_uiSignalSlaveCount; - *pwFlags_p = EplNmtMnuInstance_g.m_wFlags; + *puiMandatorySlaveCount_p = EplNmtMnuInstance_g.m_uiMandatorySlaveCount; + *puiSignalSlaveCount_p = EplNmtMnuInstance_g.m_uiSignalSlaveCount; + *pwFlags_p = EplNmtMnuInstance_g.m_wFlags; -Exit: - return Ret; + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuGetRunningTimerStatReq @@ -1331,13 +1349,12 @@ Exit: static tEplKernel PUBLIC EplNmtMnuCbNmtRequest(tEplFrameInfo * pFrameInfo_p) { -tEplKernel Ret = kEplSuccessful; + tEplKernel Ret = kEplSuccessful; - // $$$ perform NMTRequest - return Ret; + // $$$ perform NMTRequest + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuCbIdentResponse @@ -1354,55 +1371,50 @@ tEplKernel Ret = kEplSuccessful; // //--------------------------------------------------------------------------- -static tEplKernel PUBLIC EplNmtMnuCbIdentResponse( - unsigned int uiNodeId_p, - tEplIdentResponse* pIdentResponse_p) +static tEplKernel PUBLIC EplNmtMnuCbIdentResponse(unsigned int uiNodeId_p, + tEplIdentResponse * + pIdentResponse_p) { -tEplKernel Ret = kEplSuccessful; - - if (pIdentResponse_p == NULL) - { // node did not answer - Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, - kEplNmtCsNotActive, - EPL_E_NMT_NO_IDENT_RES, // was EPL_E_NO_ERROR - kEplNmtMnuIntNodeEventNoIdentResponse); - } - else - { // node answered IdentRequest - tEplObdSize ObdSize; - DWORD dwDevType; - WORD wErrorCode = EPL_E_NO_ERROR; - tEplNmtState NmtState = (tEplNmtState) (AmiGetByteFromLe(&pIdentResponse_p->m_le_bNmtStatus) | EPL_NMT_TYPE_CS); - - // check IdentResponse $$$ move to ProcessIntern, because this function may be called also if CN - - // check DeviceType (0x1F84) - ObdSize = 4; - Ret = EplObduReadEntry(0x1F84, uiNodeId_p, &dwDevType, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - if (dwDevType != 0L) - { // actually compare it with DeviceType from IdentResponse - if (AmiGetDwordFromLe(&pIdentResponse_p->m_le_dwDeviceType) != dwDevType) - { // wrong DeviceType - NmtState = kEplNmtCsNotActive; - wErrorCode = EPL_E_NMT_BPO1_DEVICE_TYPE; - } - } - - Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, - NmtState, - wErrorCode, - kEplNmtMnuIntNodeEventIdentResponse); - } - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + + if (pIdentResponse_p == NULL) { // node did not answer + Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, kEplNmtCsNotActive, EPL_E_NMT_NO_IDENT_RES, // was EPL_E_NO_ERROR + kEplNmtMnuIntNodeEventNoIdentResponse); + } else { // node answered IdentRequest + tEplObdSize ObdSize; + DWORD dwDevType; + WORD wErrorCode = EPL_E_NO_ERROR; + tEplNmtState NmtState = + (tEplNmtState) (AmiGetByteFromLe + (&pIdentResponse_p-> + m_le_bNmtStatus) | EPL_NMT_TYPE_CS); + + // check IdentResponse $$$ move to ProcessIntern, because this function may be called also if CN + + // check DeviceType (0x1F84) + ObdSize = 4; + Ret = + EplObduReadEntry(0x1F84, uiNodeId_p, &dwDevType, &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + if (dwDevType != 0L) { // actually compare it with DeviceType from IdentResponse + if (AmiGetDwordFromLe(&pIdentResponse_p->m_le_dwDeviceType) != dwDevType) { // wrong DeviceType + NmtState = kEplNmtCsNotActive; + wErrorCode = EPL_E_NMT_BPO1_DEVICE_TYPE; + } + } + + Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, + NmtState, + wErrorCode, + kEplNmtMnuIntNodeEventIdentResponse); + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuCbStatusResponse @@ -1419,31 +1431,29 @@ Exit: // //--------------------------------------------------------------------------- -static tEplKernel PUBLIC EplNmtMnuCbStatusResponse( - unsigned int uiNodeId_p, - tEplStatusResponse* pStatusResponse_p) +static tEplKernel PUBLIC EplNmtMnuCbStatusResponse(unsigned int uiNodeId_p, + tEplStatusResponse * + pStatusResponse_p) { -tEplKernel Ret = kEplSuccessful; - - if (pStatusResponse_p == NULL) - { // node did not answer - Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, - kEplNmtCsNotActive, - EPL_E_NMT_NO_STATUS_RES, // was EPL_E_NO_ERROR - kEplNmtMnuIntNodeEventNoStatusResponse); - } - else - { // node answered StatusRequest - Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, - (tEplNmtState) (AmiGetByteFromLe(&pStatusResponse_p->m_le_bNmtStatus) | EPL_NMT_TYPE_CS), - EPL_E_NO_ERROR, - kEplNmtMnuIntNodeEventStatusResponse); - } - - return Ret; + tEplKernel Ret = kEplSuccessful; + + if (pStatusResponse_p == NULL) { // node did not answer + Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, kEplNmtCsNotActive, EPL_E_NMT_NO_STATUS_RES, // was EPL_E_NO_ERROR + kEplNmtMnuIntNodeEventNoStatusResponse); + } else { // node answered StatusRequest + Ret = EplNmtMnuProcessInternalEvent(uiNodeId_p, + (tEplNmtState) + (AmiGetByteFromLe + (&pStatusResponse_p-> + m_le_bNmtStatus) | + EPL_NMT_TYPE_CS), + EPL_E_NO_ERROR, + kEplNmtMnuIntNodeEventStatusResponse); + } + + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuStartBootStep1 @@ -1460,83 +1470,82 @@ tEplKernel Ret = kEplSuccessful; static tEplKernel EplNmtMnuStartBootStep1(void) { -tEplKernel Ret = kEplSuccessful; -unsigned int uiSubIndex; -unsigned int uiLocalNodeId; -DWORD dwNodeCfg; -tEplObdSize ObdSize; - - // $$$ d.k.: save current time for 0x1F89/2 MNTimeoutPreOp1_U32 - - // start network scan - EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; - EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; - // check 0x1F81 - uiLocalNodeId = EplObduGetNodeId(); - for (uiSubIndex = 1; uiSubIndex <= 254; uiSubIndex++) - { - ObdSize = 4; - Ret = EplObduReadEntry(0x1F81, uiSubIndex, &dwNodeCfg, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - if (uiSubIndex != uiLocalNodeId) - { - // reset flags "not scanned" and "isochronous" - EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_wFlags &= ~(EPL_NMTMNU_NODE_FLAG_ISOCHRON | EPL_NMTMNU_NODE_FLAG_NOT_SCANNED); - - if (uiSubIndex == EPL_C_ADR_DIAG_DEF_NODE_ID) - { // diagnostic node must be scanned by MN in any case - dwNodeCfg |= (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS); - // and it must be isochronously accessed - dwNodeCfg &= ~EPL_NODEASSIGN_ASYNCONLY_NODE; - } - - // save node config in local node info structure - EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_dwNodeCfg = dwNodeCfg; - EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_NodeState = kEplNmtMnuNodeStateUnknown; - - if ((dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0) - { // node is configured as CN - // identify the node - Ret = EplIdentuRequestIdentResponse(uiSubIndex, EplNmtMnuCbIdentResponse); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - // set flag "not scanned" - EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - EplNmtMnuInstance_g.m_uiSignalSlaveCount++; - // signal slave counter shall be decremented if IdentRequest was sent once to a CN - - if ((dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // node is a mandatory CN - EplNmtMnuInstance_g.m_uiMandatorySlaveCount++; - // mandatory slave counter shall be decremented if mandatory CN was configured successfully - } - } - } - else - { // subindex of MN - if ((dwNodeCfg & (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS)) != 0) - { // MN shall send PRes - tEplDllNodeInfo DllNodeInfo; - - EPL_MEMSET(&DllNodeInfo, 0, sizeof (DllNodeInfo)); - DllNodeInfo.m_uiNodeId = uiLocalNodeId; - - Ret = EplDlluCalAddNode(&DllNodeInfo); - } - } - } - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + unsigned int uiSubIndex; + unsigned int uiLocalNodeId; + DWORD dwNodeCfg; + tEplObdSize ObdSize; + + // $$$ d.k.: save current time for 0x1F89/2 MNTimeoutPreOp1_U32 + + // start network scan + EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; + EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; + // check 0x1F81 + uiLocalNodeId = EplObduGetNodeId(); + for (uiSubIndex = 1; uiSubIndex <= 254; uiSubIndex++) { + ObdSize = 4; + Ret = + EplObduReadEntry(0x1F81, uiSubIndex, &dwNodeCfg, &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + if (uiSubIndex != uiLocalNodeId) { + // reset flags "not scanned" and "isochronous" + EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_wFlags &= + ~(EPL_NMTMNU_NODE_FLAG_ISOCHRON | + EPL_NMTMNU_NODE_FLAG_NOT_SCANNED); + + if (uiSubIndex == EPL_C_ADR_DIAG_DEF_NODE_ID) { // diagnostic node must be scanned by MN in any case + dwNodeCfg |= + (EPL_NODEASSIGN_NODE_IS_CN | + EPL_NODEASSIGN_NODE_EXISTS); + // and it must be isochronously accessed + dwNodeCfg &= ~EPL_NODEASSIGN_ASYNCONLY_NODE; + } + // save node config in local node info structure + EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_dwNodeCfg = + dwNodeCfg; + EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_NodeState = + kEplNmtMnuNodeStateUnknown; + + if ((dwNodeCfg & (EPL_NODEASSIGN_NODE_IS_CN | EPL_NODEASSIGN_NODE_EXISTS)) != 0) { // node is configured as CN + // identify the node + Ret = + EplIdentuRequestIdentResponse(uiSubIndex, + EplNmtMnuCbIdentResponse); + if (Ret != kEplSuccessful) { + goto Exit; + } + // set flag "not scanned" + EPL_NMTMNU_GET_NODEINFO(uiSubIndex)->m_wFlags |= + EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + EplNmtMnuInstance_g.m_uiSignalSlaveCount++; + // signal slave counter shall be decremented if IdentRequest was sent once to a CN + + if ((dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // node is a mandatory CN + EplNmtMnuInstance_g. + m_uiMandatorySlaveCount++; + // mandatory slave counter shall be decremented if mandatory CN was configured successfully + } + } + } else { // subindex of MN + if ((dwNodeCfg & (EPL_NODEASSIGN_MN_PRES | EPL_NODEASSIGN_NODE_EXISTS)) != 0) { // MN shall send PRes + tEplDllNodeInfo DllNodeInfo; + + EPL_MEMSET(&DllNodeInfo, 0, + sizeof(DllNodeInfo)); + DllNodeInfo.m_uiNodeId = uiLocalNodeId; + + Ret = EplDlluCalAddNode(&DllNodeInfo); + } + } + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuStartBootStep2 @@ -1555,51 +1564,48 @@ Exit: static tEplKernel EplNmtMnuStartBootStep2(void) { -tEplKernel Ret = kEplSuccessful; -unsigned int uiIndex; -tEplNmtMnuNodeInfo* pNodeInfo; - - - if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0) - { // boot process is not halted - // add nodes to isochronous phase and send NMT EnableReadyToOp - EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; - EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; - // reset flag that application was informed about possible state change - EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED; - - pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo; - for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++) - { - if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateConfigured) - { - Ret = EplNmtMnuNodeBootStep2(uiIndex, pNodeInfo); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - // set flag "not scanned" - pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - - EplNmtMnuInstance_g.m_uiSignalSlaveCount++; - // signal slave counter shall be decremented if StatusRequest was sent once to a CN - - if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // node is a mandatory CN - EplNmtMnuInstance_g.m_uiMandatorySlaveCount++; - } - - // mandatory slave counter shall be decremented if mandatory CN is ReadyToOp - } - } - } - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + unsigned int uiIndex; + tEplNmtMnuNodeInfo *pNodeInfo; + + if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0) { // boot process is not halted + // add nodes to isochronous phase and send NMT EnableReadyToOp + EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; + EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; + // reset flag that application was informed about possible state change + EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED; + + pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo; + for (uiIndex = 1; + uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); + uiIndex++, pNodeInfo++) { + if (pNodeInfo->m_NodeState == + kEplNmtMnuNodeStateConfigured) { + Ret = + EplNmtMnuNodeBootStep2(uiIndex, pNodeInfo); + if (Ret != kEplSuccessful) { + goto Exit; + } + // set flag "not scanned" + pNodeInfo->m_wFlags |= + EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + + EplNmtMnuInstance_g.m_uiSignalSlaveCount++; + // signal slave counter shall be decremented if StatusRequest was sent once to a CN + + if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // node is a mandatory CN + EplNmtMnuInstance_g. + m_uiMandatorySlaveCount++; + } + // mandatory slave counter shall be decremented if mandatory CN is ReadyToOp + } + } + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuNodeBootStep2 @@ -1622,74 +1628,79 @@ Exit: // //--------------------------------------------------------------------------- -static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p) +static tEplKernel EplNmtMnuNodeBootStep2(unsigned int uiNodeId_p, + tEplNmtMnuNodeInfo * pNodeInfo_p) { -tEplKernel Ret = kEplSuccessful; -tEplDllNodeInfo DllNodeInfo; -DWORD dwNodeCfg; -tEplObdSize ObdSize; -tEplTimerArg TimerArg; - - dwNodeCfg = pNodeInfo_p->m_dwNodeCfg; - if ((dwNodeCfg & EPL_NODEASSIGN_ASYNCONLY_NODE) == 0) - { // add node to isochronous phase - DllNodeInfo.m_uiNodeId = uiNodeId_p; - ObdSize = 4; - Ret = EplObduReadEntry(0x1F92, uiNodeId_p, &DllNodeInfo.m_dwPresTimeout, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - ObdSize = 2; - Ret = EplObduReadEntry(0x1F8B, uiNodeId_p, &DllNodeInfo.m_wPreqPayloadLimit, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - ObdSize = 2; - Ret = EplObduReadEntry(0x1F8D, uiNodeId_p, &DllNodeInfo.m_wPresPayloadLimit, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - pNodeInfo_p->m_wFlags |= EPL_NMTMNU_NODE_FLAG_ISOCHRON; - - Ret = EplDlluCalAddNode(&DllNodeInfo); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - } - - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - uiNodeId_p, - kEplNmtCmdEnableReadyToOperate); - - Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdEnableReadyToOperate); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - if (EplNmtMnuInstance_g.m_ulTimeoutReadyToOp != 0L) - { // start timer - // when the timer expires the CN must be ReadyToOp - EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER( - pNodeInfo_p, uiNodeId_p, TimerArg); + tEplKernel Ret = kEplSuccessful; + tEplDllNodeInfo DllNodeInfo; + DWORD dwNodeCfg; + tEplObdSize ObdSize; + tEplTimerArg TimerArg; + + dwNodeCfg = pNodeInfo_p->m_dwNodeCfg; + if ((dwNodeCfg & EPL_NODEASSIGN_ASYNCONLY_NODE) == 0) { // add node to isochronous phase + DllNodeInfo.m_uiNodeId = uiNodeId_p; + ObdSize = 4; + Ret = + EplObduReadEntry(0x1F92, uiNodeId_p, + &DllNodeInfo.m_dwPresTimeout, &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + + ObdSize = 2; + Ret = + EplObduReadEntry(0x1F8B, uiNodeId_p, + &DllNodeInfo.m_wPreqPayloadLimit, + &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + + ObdSize = 2; + Ret = + EplObduReadEntry(0x1F8D, uiNodeId_p, + &DllNodeInfo.m_wPresPayloadLimit, + &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + + pNodeInfo_p->m_wFlags |= EPL_NMTMNU_NODE_FLAG_ISOCHRON; + + Ret = EplDlluCalAddNode(&DllNodeInfo); + if (Ret != kEplSuccessful) { + goto Exit; + } + + } + + EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, + uiNodeId_p, + kEplNmtCmdEnableReadyToOperate); + + Ret = + EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdEnableReadyToOperate); + if (Ret != kEplSuccessful) { + goto Exit; + } + + if (EplNmtMnuInstance_g.m_ulTimeoutReadyToOp != 0L) { // start timer + // when the timer expires the CN must be ReadyToOp + EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER(pNodeInfo_p, uiNodeId_p, + TimerArg); // TimerArg.m_EventSink = kEplEventSinkNmtMnu; // TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_LONGER | uiNodeId_p; - Ret = EplTimeruModifyTimerMs(&pNodeInfo_p->m_TimerHdlLonger, EplNmtMnuInstance_g.m_ulTimeoutReadyToOp, TimerArg); - } - -Exit: - return Ret; + Ret = + EplTimeruModifyTimerMs(&pNodeInfo_p->m_TimerHdlLonger, + EplNmtMnuInstance_g. + m_ulTimeoutReadyToOp, TimerArg); + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuStartCheckCom @@ -1706,55 +1717,50 @@ Exit: static tEplKernel EplNmtMnuStartCheckCom(void) { -tEplKernel Ret = kEplSuccessful; -unsigned int uiIndex; -tEplNmtMnuNodeInfo* pNodeInfo; - - - if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0) - { // boot process is not halted - // wait some time and check that no communication error occurs - EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; - EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; - // reset flag that application was informed about possible state change - EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED; - - pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo; - for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++) - { - if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateReadyToOp) - { - Ret = EplNmtMnuNodeCheckCom(uiIndex, pNodeInfo); - if (Ret == kEplReject) - { // timer was started - // wait until it expires - if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // node is a mandatory CN - EplNmtMnuInstance_g.m_uiMandatorySlaveCount++; - } - } - else if (Ret != kEplSuccessful) - { - goto Exit; - } - - // set flag "not scanned" - pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - - EplNmtMnuInstance_g.m_uiSignalSlaveCount++; - // signal slave counter shall be decremented if timeout elapsed and regardless of an error - // mandatory slave counter shall be decremented if timeout elapsed and no error occured - } - } - } - - Ret = kEplSuccessful; - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + unsigned int uiIndex; + tEplNmtMnuNodeInfo *pNodeInfo; + + if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0) { // boot process is not halted + // wait some time and check that no communication error occurs + EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; + EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; + // reset flag that application was informed about possible state change + EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED; + + pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo; + for (uiIndex = 1; + uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); + uiIndex++, pNodeInfo++) { + if (pNodeInfo->m_NodeState == + kEplNmtMnuNodeStateReadyToOp) { + Ret = EplNmtMnuNodeCheckCom(uiIndex, pNodeInfo); + if (Ret == kEplReject) { // timer was started + // wait until it expires + if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // node is a mandatory CN + EplNmtMnuInstance_g. + m_uiMandatorySlaveCount++; + } + } else if (Ret != kEplSuccessful) { + goto Exit; + } + // set flag "not scanned" + pNodeInfo->m_wFlags |= + EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + + EplNmtMnuInstance_g.m_uiSignalSlaveCount++; + // signal slave counter shall be decremented if timeout elapsed and regardless of an error + // mandatory slave counter shall be decremented if timeout elapsed and no error occured + } + } + } + + Ret = kEplSuccessful; + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuNodeCheckCom @@ -1772,44 +1778,43 @@ Exit: // //--------------------------------------------------------------------------- -static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, tEplNmtMnuNodeInfo* pNodeInfo_p) +static tEplKernel EplNmtMnuNodeCheckCom(unsigned int uiNodeId_p, + tEplNmtMnuNodeInfo * pNodeInfo_p) { -tEplKernel Ret = kEplSuccessful; -DWORD dwNodeCfg; -tEplTimerArg TimerArg; + tEplKernel Ret = kEplSuccessful; + DWORD dwNodeCfg; + tEplTimerArg TimerArg; - dwNodeCfg = pNodeInfo_p->m_dwNodeCfg; - if (((dwNodeCfg & EPL_NODEASSIGN_ASYNCONLY_NODE) == 0) - && (EplNmtMnuInstance_g.m_ulTimeoutCheckCom != 0L)) - { // CN is not async-only and timeout for CheckCom was set + dwNodeCfg = pNodeInfo_p->m_dwNodeCfg; + if (((dwNodeCfg & EPL_NODEASSIGN_ASYNCONLY_NODE) == 0) + && (EplNmtMnuInstance_g.m_ulTimeoutCheckCom != 0L)) { // CN is not async-only and timeout for CheckCom was set - // check communication, - // that means wait some time and if no error occured everything is OK; + // check communication, + // that means wait some time and if no error occured everything is OK; - // start timer (when the timer expires the CN must be still ReadyToOp) - EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER( - pNodeInfo_p, uiNodeId_p, TimerArg); + // start timer (when the timer expires the CN must be still ReadyToOp) + EPL_NMTMNU_SET_FLAGS_TIMERARG_LONGER(pNodeInfo_p, uiNodeId_p, + TimerArg); // TimerArg.m_EventSink = kEplEventSinkNmtMnu; // TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_LONGER | uiNodeId_p; - Ret = EplTimeruModifyTimerMs(&pNodeInfo_p->m_TimerHdlLonger, EplNmtMnuInstance_g.m_ulTimeoutCheckCom, TimerArg); - - // update mandatory slave counter, because timer was started - if (Ret == kEplSuccessful) - { - Ret = kEplReject; - } - } - else - { // timer was not started - // assume everything is OK - pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateComChecked; - } + Ret = + EplTimeruModifyTimerMs(&pNodeInfo_p->m_TimerHdlLonger, + EplNmtMnuInstance_g. + m_ulTimeoutCheckCom, TimerArg); + + // update mandatory slave counter, because timer was started + if (Ret == kEplSuccessful) { + Ret = kEplReject; + } + } else { // timer was not started + // assume everything is OK + pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateComChecked; + } //Exit: - return Ret; + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuStartNodes @@ -1826,72 +1831,72 @@ tEplTimerArg TimerArg; static tEplKernel EplNmtMnuStartNodes(void) { -tEplKernel Ret = kEplSuccessful; -unsigned int uiIndex; -tEplNmtMnuNodeInfo* pNodeInfo; - - - if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0) - { // boot process is not halted - // send NMT command Start Node - EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; - EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; - // reset flag that application was informed about possible state change - EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED; - - pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo; - for (uiIndex = 1; uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); uiIndex++, pNodeInfo++) - { - if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateComChecked) - { - if ((EplNmtMnuInstance_g.m_dwNmtStartup & EPL_NMTST_STARTALLNODES) == 0) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - uiIndex, - kEplNmtCmdStartNode); - - Ret = EplNmtMnuSendNmtCommand(uiIndex, kEplNmtCmdStartNode); - if (Ret != kEplSuccessful) - { - goto Exit; - } - } - - if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // node is a mandatory CN - EplNmtMnuInstance_g.m_uiMandatorySlaveCount++; - } - - // set flag "not scanned" - pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - - EplNmtMnuInstance_g.m_uiSignalSlaveCount++; - // signal slave counter shall be decremented if StatusRequest was sent once to a CN - // mandatory slave counter shall be decremented if mandatory CN is OPERATIONAL - } - } - - // $$$ inform application if EPL_NMTST_NO_STARTNODE is set - - if ((EplNmtMnuInstance_g.m_dwNmtStartup & EPL_NMTST_STARTALLNODES) != 0) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - EPL_C_ADR_BROADCAST, - kEplNmtCmdStartNode); - - Ret = EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, kEplNmtCmdStartNode); - if (Ret != kEplSuccessful) - { - goto Exit; - } - } - } - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + unsigned int uiIndex; + tEplNmtMnuNodeInfo *pNodeInfo; + + if ((EplNmtMnuInstance_g.m_wFlags & EPL_NMTMNU_FLAG_HALTED) == 0) { // boot process is not halted + // send NMT command Start Node + EplNmtMnuInstance_g.m_uiMandatorySlaveCount = 0; + EplNmtMnuInstance_g.m_uiSignalSlaveCount = 0; + // reset flag that application was informed about possible state change + EplNmtMnuInstance_g.m_wFlags &= ~EPL_NMTMNU_FLAG_APP_INFORMED; + + pNodeInfo = EplNmtMnuInstance_g.m_aNodeInfo; + for (uiIndex = 1; + uiIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); + uiIndex++, pNodeInfo++) { + if (pNodeInfo->m_NodeState == + kEplNmtMnuNodeStateComChecked) { + if ((EplNmtMnuInstance_g. + m_dwNmtStartup & EPL_NMTST_STARTALLNODES) + == 0) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, + uiIndex, + kEplNmtCmdStartNode); + + Ret = + EplNmtMnuSendNmtCommand(uiIndex, + kEplNmtCmdStartNode); + if (Ret != kEplSuccessful) { + goto Exit; + } + } + + if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // node is a mandatory CN + EplNmtMnuInstance_g. + m_uiMandatorySlaveCount++; + } + // set flag "not scanned" + pNodeInfo->m_wFlags |= + EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + + EplNmtMnuInstance_g.m_uiSignalSlaveCount++; + // signal slave counter shall be decremented if StatusRequest was sent once to a CN + // mandatory slave counter shall be decremented if mandatory CN is OPERATIONAL + } + } + + // $$$ inform application if EPL_NMTST_NO_STARTNODE is set + + if ((EplNmtMnuInstance_g. + m_dwNmtStartup & EPL_NMTST_STARTALLNODES) != 0) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, EPL_C_ADR_BROADCAST, + kEplNmtCmdStartNode); + + Ret = + EplNmtMnuSendNmtCommand(EPL_C_ADR_BROADCAST, + kEplNmtCmdStartNode); + if (Ret != kEplSuccessful) { + goto Exit; + } + } + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuProcessInternalEvent @@ -1909,216 +1914,220 @@ Exit: // //--------------------------------------------------------------------------- -static tEplKernel EplNmtMnuProcessInternalEvent( - unsigned int uiNodeId_p, - tEplNmtState NodeNmtState_p, - WORD wErrorCode_p, - tEplNmtMnuIntNodeEvent NodeEvent_p) +static tEplKernel EplNmtMnuProcessInternalEvent(unsigned int uiNodeId_p, + tEplNmtState NodeNmtState_p, + WORD wErrorCode_p, + tEplNmtMnuIntNodeEvent + NodeEvent_p) { -tEplKernel Ret = kEplSuccessful; -tEplNmtState NmtState; -tEplNmtMnuNodeInfo* pNodeInfo; -tEplTimerArg TimerArg; - - pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId_p); - NmtState = EplNmtuGetNmtState(); - if (NmtState <= kEplNmtMsNotActive) - { // MN is not active - goto Exit; - } - - switch (NodeEvent_p) - { - case kEplNmtMnuIntNodeEventIdentResponse: - { - BYTE bNmtState; - - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - pNodeInfo->m_NodeState); - - if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf) - { - pNodeInfo->m_NodeState = kEplNmtMnuNodeStateIdentified; - } - - // reset flags ISOCHRON and NMT_CMD_ISSUED - pNodeInfo->m_wFlags &= ~(EPL_NMTMNU_NODE_FLAG_ISOCHRON - | EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED); - - if ((NmtState == kEplNmtMsPreOperational1) - && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)) - { - // decrement only signal slave count - EplNmtMnuInstance_g.m_uiSignalSlaveCount--; - pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - } - - // update object 0x1F8F NMT_MNNodeExpState_AU8 to PreOp1 (even if local state >= PreOp2) - bNmtState = (BYTE) (kEplNmtCsPreOperational1 & 0xFF); - Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1); - - // check NMT state of CN - Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - Ret = kEplSuccessful; - } - break; - } - - // request StatusResponse immediately, - // because we want a fast boot-up of CNs - Ret = EplStatusuRequestStatusResponse(uiNodeId_p, EplNmtMnuCbStatusResponse); - if (Ret != kEplSuccessful) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - Ret); - - if (Ret == kEplInvalidOperation) - { // the only situation when this should happen is, when - // StatusResponse was already requested from within - // the StatReq timer event. - // so ignore this error. - Ret = kEplSuccessful; - } - else - { - break; - } - } - - if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf) - { - // inform application - Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p, - kEplNmtNodeEventFound, - NodeNmtState_p, - EPL_E_NO_ERROR, - (pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0); - if (Ret == kEplReject) - { // interrupt boot process on user request - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - ((pNodeInfo->m_NodeState << 8) - | Ret)); - - Ret = kEplSuccessful; - break; - } - else if (Ret != kEplSuccessful) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - ((pNodeInfo->m_NodeState << 8) - | Ret)); - - break; - } - } - - // continue BootStep1 - } - - case kEplNmtMnuIntNodeEventBoot: - { - - // $$$ check identification (vendor ID, product code, revision no, serial no) - - if (pNodeInfo->m_NodeState == kEplNmtMnuNodeStateIdentified) - { - // $$$ check software - - // check/start configuration - // inform application - Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p, - kEplNmtNodeEventCheckConf, - NodeNmtState_p, - EPL_E_NO_ERROR, - (pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0); - if (Ret == kEplReject) - { // interrupt boot process on user request - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventBoot, - uiNodeId_p, - ((pNodeInfo->m_NodeState << 8) - | Ret)); - - Ret = kEplSuccessful; - break; - } - else if (Ret != kEplSuccessful) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(kEplNmtMnuIntNodeEventBoot, - uiNodeId_p, - ((pNodeInfo->m_NodeState << 8) - | Ret)); - - break; - } - } - else if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf) - { // wrong CN state - // ignore event - break; - } - - // $$$ d.k.: currently we assume configuration is OK - - // continue BootStep1 - } - - case kEplNmtMnuIntNodeEventConfigured: - { - if ((pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified) - && (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf)) - { // wrong CN state - // ignore event - break; - } - - pNodeInfo->m_NodeState = kEplNmtMnuNodeStateConfigured; - - if (NmtState == kEplNmtMsPreOperational1) - { - if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // decrement mandatory CN counter - EplNmtMnuInstance_g.m_uiMandatorySlaveCount--; - } - } - else - { - // put optional node to next step (BootStep2) - Ret = EplNmtMnuNodeBootStep2(uiNodeId_p, pNodeInfo); - } - break; - } - - case kEplNmtMnuIntNodeEventNoIdentResponse: - { - if ((NmtState == kEplNmtMsPreOperational1) - && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)) - { - // decrement only signal slave count - EplNmtMnuInstance_g.m_uiSignalSlaveCount--; - pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - } - - if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf) - { - pNodeInfo->m_NodeState = kEplNmtMnuNodeStateUnknown; - } - - // $$$ d.k. check start time for 0x1F89/2 MNTimeoutPreOp1_U32 - // $$$ d.k. check individual timeout 0x1F89/6 MNIdentificationTimeout_U32 - // if mandatory node and timeout elapsed -> halt boot procedure - // trigger IdentRequest again (if >= PreOp2, after delay) - if (NmtState >= kEplNmtMsPreOperational2) - { // start timer - EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ( - pNodeInfo, uiNodeId_p, TimerArg); + tEplKernel Ret = kEplSuccessful; + tEplNmtState NmtState; + tEplNmtMnuNodeInfo *pNodeInfo; + tEplTimerArg TimerArg; + + pNodeInfo = EPL_NMTMNU_GET_NODEINFO(uiNodeId_p); + NmtState = EplNmtuGetNmtState(); + if (NmtState <= kEplNmtMsNotActive) { // MN is not active + goto Exit; + } + + switch (NodeEvent_p) { + case kEplNmtMnuIntNodeEventIdentResponse: + { + BYTE bNmtState; + + EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, + uiNodeId_p, + pNodeInfo->m_NodeState); + + if (pNodeInfo->m_NodeState != + kEplNmtMnuNodeStateResetConf) { + pNodeInfo->m_NodeState = + kEplNmtMnuNodeStateIdentified; + } + // reset flags ISOCHRON and NMT_CMD_ISSUED + pNodeInfo->m_wFlags &= ~(EPL_NMTMNU_NODE_FLAG_ISOCHRON + | + EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED); + + if ((NmtState == kEplNmtMsPreOperational1) + && + ((pNodeInfo-> + m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != + 0)) { + // decrement only signal slave count + EplNmtMnuInstance_g.m_uiSignalSlaveCount--; + pNodeInfo->m_wFlags &= + ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + } + // update object 0x1F8F NMT_MNNodeExpState_AU8 to PreOp1 (even if local state >= PreOp2) + bNmtState = (BYTE) (kEplNmtCsPreOperational1 & 0xFF); + Ret = + EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, + 1); + + // check NMT state of CN + Ret = + EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, + NodeNmtState_p, wErrorCode_p, + NmtState); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + Ret = kEplSuccessful; + } + break; + } + // request StatusResponse immediately, + // because we want a fast boot-up of CNs + Ret = + EplStatusuRequestStatusResponse(uiNodeId_p, + EplNmtMnuCbStatusResponse); + if (Ret != kEplSuccessful) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, + uiNodeId_p, + Ret); + + if (Ret == kEplInvalidOperation) { // the only situation when this should happen is, when + // StatusResponse was already requested from within + // the StatReq timer event. + // so ignore this error. + Ret = kEplSuccessful; + } else { + break; + } + } + + if (pNodeInfo->m_NodeState != + kEplNmtMnuNodeStateResetConf) { + // inform application + Ret = + EplNmtMnuInstance_g. + m_pfnCbNodeEvent(uiNodeId_p, + kEplNmtNodeEventFound, + NodeNmtState_p, + EPL_E_NO_ERROR, + (pNodeInfo-> + m_dwNodeCfg & + EPL_NODEASSIGN_MANDATORY_CN) + != 0); + if (Ret == kEplReject) { // interrupt boot process on user request + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (NodeEvent_p, uiNodeId_p, + ((pNodeInfo->m_NodeState << 8) + | Ret)); + + Ret = kEplSuccessful; + break; + } else if (Ret != kEplSuccessful) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (NodeEvent_p, uiNodeId_p, + ((pNodeInfo->m_NodeState << 8) + | Ret)); + + break; + } + } + // continue BootStep1 + } + + case kEplNmtMnuIntNodeEventBoot: + { + + // $$$ check identification (vendor ID, product code, revision no, serial no) + + if (pNodeInfo->m_NodeState == + kEplNmtMnuNodeStateIdentified) { + // $$$ check software + + // check/start configuration + // inform application + Ret = + EplNmtMnuInstance_g. + m_pfnCbNodeEvent(uiNodeId_p, + kEplNmtNodeEventCheckConf, + NodeNmtState_p, + EPL_E_NO_ERROR, + (pNodeInfo-> + m_dwNodeCfg & + EPL_NODEASSIGN_MANDATORY_CN) + != 0); + if (Ret == kEplReject) { // interrupt boot process on user request + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (kEplNmtMnuIntNodeEventBoot, + uiNodeId_p, + ((pNodeInfo->m_NodeState << 8) + | Ret)); + + Ret = kEplSuccessful; + break; + } else if (Ret != kEplSuccessful) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (kEplNmtMnuIntNodeEventBoot, + uiNodeId_p, + ((pNodeInfo->m_NodeState << 8) + | Ret)); + + break; + } + } else if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf) { // wrong CN state + // ignore event + break; + } + // $$$ d.k.: currently we assume configuration is OK + + // continue BootStep1 + } + + case kEplNmtMnuIntNodeEventConfigured: + { + if ((pNodeInfo->m_NodeState != + kEplNmtMnuNodeStateIdentified) + && (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateResetConf)) { // wrong CN state + // ignore event + break; + } + + pNodeInfo->m_NodeState = kEplNmtMnuNodeStateConfigured; + + if (NmtState == kEplNmtMsPreOperational1) { + if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // decrement mandatory CN counter + EplNmtMnuInstance_g. + m_uiMandatorySlaveCount--; + } + } else { + // put optional node to next step (BootStep2) + Ret = + EplNmtMnuNodeBootStep2(uiNodeId_p, + pNodeInfo); + } + break; + } + + case kEplNmtMnuIntNodeEventNoIdentResponse: + { + if ((NmtState == kEplNmtMsPreOperational1) + && + ((pNodeInfo-> + m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != + 0)) { + // decrement only signal slave count + EplNmtMnuInstance_g.m_uiSignalSlaveCount--; + pNodeInfo->m_wFlags &= + ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + } + + if (pNodeInfo->m_NodeState != + kEplNmtMnuNodeStateResetConf) { + pNodeInfo->m_NodeState = + kEplNmtMnuNodeStateUnknown; + } + // $$$ d.k. check start time for 0x1F89/2 MNTimeoutPreOp1_U32 + // $$$ d.k. check individual timeout 0x1F89/6 MNIdentificationTimeout_U32 + // if mandatory node and timeout elapsed -> halt boot procedure + // trigger IdentRequest again (if >= PreOp2, after delay) + if (NmtState >= kEplNmtMsPreOperational2) { // start timer + EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ + (pNodeInfo, uiNodeId_p, TimerArg); // TimerArg.m_EventSink = kEplEventSinkNmtMnu; // TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_IDENTREQ | uiNodeId_p; /* @@ -2129,53 +2138,59 @@ tEplTimerArg TimerArg; | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) | ((TimerArg.m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); */ - Ret = EplTimeruModifyTimerMs(&pNodeInfo->m_TimerHdlStatReq, EplNmtMnuInstance_g.m_ulStatusRequestDelay, TimerArg); - } - else - { // trigger IdentRequest immediately - Ret = EplIdentuRequestIdentResponse(uiNodeId_p, EplNmtMnuCbIdentResponse); - } - break; - } - - case kEplNmtMnuIntNodeEventStatusResponse: - { - if ((NmtState >= kEplNmtMsPreOperational2) - && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)) - { - // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational - EplNmtMnuInstance_g.m_uiSignalSlaveCount--; - pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - } - - // check NMT state of CN - Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - Ret = kEplSuccessful; - } - break; - } - - if (NmtState == kEplNmtMsPreOperational1) - { - // request next StatusResponse immediately - Ret = EplStatusuRequestStatusResponse(uiNodeId_p, EplNmtMnuCbStatusResponse); - if (Ret != kEplSuccessful) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - Ret); - } - - } - else if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_ISOCHRON) == 0) - { // start timer - // not isochronously accessed CN (e.g. async-only or stopped CN) - EPL_NMTMNU_SET_FLAGS_TIMERARG_STATREQ( - pNodeInfo, uiNodeId_p, TimerArg); + Ret = + EplTimeruModifyTimerMs(&pNodeInfo-> + m_TimerHdlStatReq, + EplNmtMnuInstance_g. + m_ulStatusRequestDelay, + TimerArg); + } else { // trigger IdentRequest immediately + Ret = + EplIdentuRequestIdentResponse(uiNodeId_p, + EplNmtMnuCbIdentResponse); + } + break; + } + + case kEplNmtMnuIntNodeEventStatusResponse: + { + if ((NmtState >= kEplNmtMsPreOperational2) + && + ((pNodeInfo-> + m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != + 0)) { + // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational + EplNmtMnuInstance_g.m_uiSignalSlaveCount--; + pNodeInfo->m_wFlags &= + ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + } + // check NMT state of CN + Ret = + EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, + NodeNmtState_p, wErrorCode_p, + NmtState); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + Ret = kEplSuccessful; + } + break; + } + + if (NmtState == kEplNmtMsPreOperational1) { + // request next StatusResponse immediately + Ret = + EplStatusuRequestStatusResponse(uiNodeId_p, + EplNmtMnuCbStatusResponse); + if (Ret != kEplSuccessful) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (NodeEvent_p, uiNodeId_p, Ret); + } + + } else if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_ISOCHRON) == 0) { // start timer + // not isochronously accessed CN (e.g. async-only or stopped CN) + EPL_NMTMNU_SET_FLAGS_TIMERARG_STATREQ(pNodeInfo, + uiNodeId_p, + TimerArg); // TimerArg.m_EventSink = kEplEventSinkNmtMnu; // TimerArg.m_ulArg = EPL_NMTMNU_TIMERARG_STATREQ | uiNodeId_p; /* @@ -2186,15 +2201,20 @@ tEplTimerArg TimerArg; | ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_COUNT_STATREQ) >> 6) | ((TimerArg.m_ulArg & EPL_NMTMNU_TIMERARG_COUNT_SR) >> 8))); */ - Ret = EplTimeruModifyTimerMs(&pNodeInfo->m_TimerHdlStatReq, EplNmtMnuInstance_g.m_ulStatusRequestDelay, TimerArg); - } - - break; - } - - case kEplNmtMnuIntNodeEventNoStatusResponse: - { - // function CheckNmtState sets node state to unknown if necessary + Ret = + EplTimeruModifyTimerMs(&pNodeInfo-> + m_TimerHdlStatReq, + EplNmtMnuInstance_g. + m_ulStatusRequestDelay, + TimerArg); + } + + break; + } + + case kEplNmtMnuIntNodeEventNoStatusResponse: + { + // function CheckNmtState sets node state to unknown if necessary /* if ((NmtState >= kEplNmtMsPreOperational2) && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)) @@ -2204,66 +2224,69 @@ tEplTimerArg TimerArg; pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; } */ - // check NMT state of CN - Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - Ret = kEplSuccessful; - } - break; - } - - break; - } - - case kEplNmtMnuIntNodeEventError: - { // currently only issued on kEplNmtNodeCommandConfErr - - if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified) - { // wrong CN state - // ignore event - break; - } - - // check NMT state of CN - Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, kEplNmtCsNotActive, wErrorCode_p, NmtState); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - Ret = kEplSuccessful; - } - break; - } - - break; - } - - case kEplNmtMnuIntNodeEventExecReset: - { - if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified) - { // wrong CN state - // ignore event - break; - } - - pNodeInfo->m_NodeState = kEplNmtMnuNodeStateResetConf; - - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - (((NodeNmtState_p & 0xFF) << 8) - | kEplNmtCmdResetConfiguration)); - - // send NMT reset configuration to CN for activation of configuration - Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdResetConfiguration); - - break; - } - - case kEplNmtMnuIntNodeEventHeartbeat: - { + // check NMT state of CN + Ret = + EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, + NodeNmtState_p, wErrorCode_p, + NmtState); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + Ret = kEplSuccessful; + } + break; + } + + break; + } + + case kEplNmtMnuIntNodeEventError: + { // currently only issued on kEplNmtNodeCommandConfErr + + if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified) { // wrong CN state + // ignore event + break; + } + // check NMT state of CN + Ret = + EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, + kEplNmtCsNotActive, + wErrorCode_p, NmtState); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + Ret = kEplSuccessful; + } + break; + } + + break; + } + + case kEplNmtMnuIntNodeEventExecReset: + { + if (pNodeInfo->m_NodeState != kEplNmtMnuNodeStateIdentified) { // wrong CN state + // ignore event + break; + } + + pNodeInfo->m_NodeState = kEplNmtMnuNodeStateResetConf; + + EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, + uiNodeId_p, + (((NodeNmtState_p & + 0xFF) << 8) + | + kEplNmtCmdResetConfiguration)); + + // send NMT reset configuration to CN for activation of configuration + Ret = + EplNmtMnuSendNmtCommand(uiNodeId_p, + kEplNmtCmdResetConfiguration); + + break; + } + + case kEplNmtMnuIntNodeEventHeartbeat: + { /* if ((NmtState >= kEplNmtMsPreOperational2) && ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0)) @@ -2273,290 +2296,318 @@ tEplTimerArg TimerArg; pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; } */ - // check NMT state of CN - Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, NodeNmtState_p, wErrorCode_p, NmtState); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - Ret = kEplSuccessful; - } - break; - } - - break; - } - - case kEplNmtMnuIntNodeEventTimerIdentReq: - { - EPL_DBGLVL_NMTMN_TRACE1("TimerStatReq->IdentReq(%02X)\n", uiNodeId_p); - // trigger IdentRequest again - Ret = EplIdentuRequestIdentResponse(uiNodeId_p, EplNmtMnuCbIdentResponse); - if (Ret != kEplSuccessful) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - (((NodeNmtState_p & 0xFF) << 8) - | Ret)); - if (Ret == kEplInvalidOperation) - { // this can happen because of a bug in EplTimeruLinuxKernel.c - // so ignore this error. - Ret = kEplSuccessful; - } - } - - break; - } - - case kEplNmtMnuIntNodeEventTimerStateMon: - { - // reset NMT state change flag - // because from now on the CN must have the correct NMT state - pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED; - - // continue with normal StatReq processing - } - - case kEplNmtMnuIntNodeEventTimerStatReq: - { - EPL_DBGLVL_NMTMN_TRACE1("TimerStatReq->StatReq(%02X)\n", uiNodeId_p); - // request next StatusResponse - Ret = EplStatusuRequestStatusResponse(uiNodeId_p, EplNmtMnuCbStatusResponse); - if (Ret != kEplSuccessful) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - (((NodeNmtState_p & 0xFF) << 8) - | Ret)); - if (Ret == kEplInvalidOperation) - { // the only situation when this should happen is, when - // StatusResponse was already requested while processing - // event IdentResponse. - // so ignore this error. - Ret = kEplSuccessful; - } - } - - break; - } - - case kEplNmtMnuIntNodeEventTimerLonger: - { - switch (pNodeInfo->m_NodeState) - { - case kEplNmtMnuNodeStateConfigured: - { // node should be ReadyToOp but it is not - - // check NMT state which shall be intentionally wrong, so that ERROR_TREATMENT will be started - Ret = EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, kEplNmtCsNotActive, EPL_E_NMT_BPO2, NmtState); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - Ret = kEplSuccessful; - } - break; - } - - break; - } - - case kEplNmtMnuNodeStateReadyToOp: - { // CheckCom finished successfully - - pNodeInfo->m_NodeState = kEplNmtMnuNodeStateComChecked; - - if ((pNodeInfo->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0) - { - // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational - EplNmtMnuInstance_g.m_uiSignalSlaveCount--; - pNodeInfo->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - } - - if ((pNodeInfo->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { - // decrement mandatory slave counter - EplNmtMnuInstance_g.m_uiMandatorySlaveCount--; - } - if (NmtState != kEplNmtMsReadyToOperate) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, - uiNodeId_p, - (((NodeNmtState_p & 0xFF) << 8) - | kEplNmtCmdStartNode)); - - // start optional CN - Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdStartNode); - } - break; - } - - default: - { - break; - } - } - break; - } - - case kEplNmtMnuIntNodeEventNmtCmdSent: - { - BYTE bNmtState; - - // update expected NMT state with the one that results - // from the sent NMT command - bNmtState = (BYTE) (NodeNmtState_p & 0xFF); - - // write object 0x1F8F NMT_MNNodeExpState_AU8 - Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - if (NodeNmtState_p == kEplNmtCsNotActive) - { // restart processing with IdentRequest - EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ( - pNodeInfo, uiNodeId_p, TimerArg); - } - else - { // monitor NMT state change with StatusRequest after - // the corresponding delay; - // until then wrong NMT states will be ignored - EPL_NMTMNU_SET_FLAGS_TIMERARG_STATE_MON( - pNodeInfo, uiNodeId_p, TimerArg); - - // set NMT state change flag - pNodeInfo->m_wFlags |= EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED; - } - - Ret = EplTimeruModifyTimerMs(&pNodeInfo->m_TimerHdlStatReq, EplNmtMnuInstance_g.m_ulStatusRequestDelay, TimerArg); - - // finish processing, because NmtState_p is the expected and not the current state - goto Exit; - } - - default: - { - break; - } - } - - // check if network is ready to change local NMT state and this was not done before - if ((EplNmtMnuInstance_g.m_wFlags & (EPL_NMTMNU_FLAG_HALTED | EPL_NMTMNU_FLAG_APP_INFORMED)) == 0) - { // boot process is not halted - switch (NmtState) - { - case kEplNmtMsPreOperational1: - { - if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0) - && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) - { // all optional CNs scanned once and all mandatory CNs configured successfully - EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED; - // inform application - Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventBootStep1Finish, - NmtState, - EPL_E_NO_ERROR); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - // wait for application - Ret = kEplSuccessful; - } - break; - } - // enter PreOp2 - Ret = EplNmtuNmtEvent(kEplNmtEventAllMandatoryCNIdent); - } - break; - } - - case kEplNmtMsPreOperational2: - { - if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0) - && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) - { // all optional CNs checked once for ReadyToOp and all mandatory CNs are ReadyToOp - EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED; - // inform application - Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventBootStep2Finish, - NmtState, - EPL_E_NO_ERROR); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - // wait for application - Ret = kEplSuccessful; - } - break; - } - // enter ReadyToOp - Ret = EplNmtuNmtEvent(kEplNmtEventEnterReadyToOperate); - } - break; - } - - case kEplNmtMsReadyToOperate: - { - if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0) - && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) - { // all CNs checked for errorless communication - EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED; - // inform application - Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventCheckComFinish, - NmtState, - EPL_E_NO_ERROR); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - // wait for application - Ret = kEplSuccessful; - } - break; - } - // enter Operational - Ret = EplNmtuNmtEvent(kEplNmtEventEnterMsOperational); - } - break; - } - - case kEplNmtMsOperational: - { - if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == 0) - && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) - { // all optional CNs scanned once and all mandatory CNs are OPERATIONAL - EplNmtMnuInstance_g.m_wFlags |= EPL_NMTMNU_FLAG_APP_INFORMED; - // inform application - Ret = EplNmtMnuInstance_g.m_pfnCbBootEvent(kEplNmtBootEventOperational, - NmtState, - EPL_E_NO_ERROR); - if (Ret != kEplSuccessful) - { - if (Ret == kEplReject) - { - // ignore error code - Ret = kEplSuccessful; - } - break; - } - } - break; - } - - default: - { - break; - } - } - } - -Exit: - return Ret; + // check NMT state of CN + Ret = + EplNmtMnuCheckNmtState(uiNodeId_p, pNodeInfo, + NodeNmtState_p, wErrorCode_p, + NmtState); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + Ret = kEplSuccessful; + } + break; + } + + break; + } + + case kEplNmtMnuIntNodeEventTimerIdentReq: + { + EPL_DBGLVL_NMTMN_TRACE1 + ("TimerStatReq->IdentReq(%02X)\n", uiNodeId_p); + // trigger IdentRequest again + Ret = + EplIdentuRequestIdentResponse(uiNodeId_p, + EplNmtMnuCbIdentResponse); + if (Ret != kEplSuccessful) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, + uiNodeId_p, + (((NodeNmtState_p & 0xFF) << 8) + | Ret)); + if (Ret == kEplInvalidOperation) { // this can happen because of a bug in EplTimeruLinuxKernel.c + // so ignore this error. + Ret = kEplSuccessful; + } + } + + break; + } + + case kEplNmtMnuIntNodeEventTimerStateMon: + { + // reset NMT state change flag + // because from now on the CN must have the correct NMT state + pNodeInfo->m_wFlags &= + ~EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED; + + // continue with normal StatReq processing + } + + case kEplNmtMnuIntNodeEventTimerStatReq: + { + EPL_DBGLVL_NMTMN_TRACE1("TimerStatReq->StatReq(%02X)\n", + uiNodeId_p); + // request next StatusResponse + Ret = + EplStatusuRequestStatusResponse(uiNodeId_p, + EplNmtMnuCbStatusResponse); + if (Ret != kEplSuccessful) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE(NodeEvent_p, + uiNodeId_p, + (((NodeNmtState_p & 0xFF) << 8) + | Ret)); + if (Ret == kEplInvalidOperation) { // the only situation when this should happen is, when + // StatusResponse was already requested while processing + // event IdentResponse. + // so ignore this error. + Ret = kEplSuccessful; + } + } + + break; + } + + case kEplNmtMnuIntNodeEventTimerLonger: + { + switch (pNodeInfo->m_NodeState) { + case kEplNmtMnuNodeStateConfigured: + { // node should be ReadyToOp but it is not + + // check NMT state which shall be intentionally wrong, so that ERROR_TREATMENT will be started + Ret = + EplNmtMnuCheckNmtState(uiNodeId_p, + pNodeInfo, + kEplNmtCsNotActive, + EPL_E_NMT_BPO2, + NmtState); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + Ret = kEplSuccessful; + } + break; + } + + break; + } + + case kEplNmtMnuNodeStateReadyToOp: + { // CheckCom finished successfully + + pNodeInfo->m_NodeState = + kEplNmtMnuNodeStateComChecked; + + if ((pNodeInfo-> + m_wFlags & + EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) + != 0) { + // decrement only signal slave count if checked once for ReadyToOp, CheckCom, Operational + EplNmtMnuInstance_g. + m_uiSignalSlaveCount--; + pNodeInfo->m_wFlags &= + ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + } + + if ((pNodeInfo-> + m_dwNodeCfg & + EPL_NODEASSIGN_MANDATORY_CN) != + 0) { + // decrement mandatory slave counter + EplNmtMnuInstance_g. + m_uiMandatorySlaveCount--; + } + if (NmtState != kEplNmtMsReadyToOperate) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE + (NodeEvent_p, uiNodeId_p, + (((NodeNmtState_p & 0xFF) + << 8) + | kEplNmtCmdStartNode)); + + // start optional CN + Ret = + EplNmtMnuSendNmtCommand + (uiNodeId_p, + kEplNmtCmdStartNode); + } + break; + } + + default: + { + break; + } + } + break; + } + + case kEplNmtMnuIntNodeEventNmtCmdSent: + { + BYTE bNmtState; + + // update expected NMT state with the one that results + // from the sent NMT command + bNmtState = (BYTE) (NodeNmtState_p & 0xFF); + + // write object 0x1F8F NMT_MNNodeExpState_AU8 + Ret = + EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, + 1); + if (Ret != kEplSuccessful) { + goto Exit; + } + + if (NodeNmtState_p == kEplNmtCsNotActive) { // restart processing with IdentRequest + EPL_NMTMNU_SET_FLAGS_TIMERARG_IDENTREQ + (pNodeInfo, uiNodeId_p, TimerArg); + } else { // monitor NMT state change with StatusRequest after + // the corresponding delay; + // until then wrong NMT states will be ignored + EPL_NMTMNU_SET_FLAGS_TIMERARG_STATE_MON + (pNodeInfo, uiNodeId_p, TimerArg); + + // set NMT state change flag + pNodeInfo->m_wFlags |= + EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED; + } + + Ret = + EplTimeruModifyTimerMs(&pNodeInfo-> + m_TimerHdlStatReq, + EplNmtMnuInstance_g. + m_ulStatusRequestDelay, + TimerArg); + + // finish processing, because NmtState_p is the expected and not the current state + goto Exit; + } + + default: + { + break; + } + } + + // check if network is ready to change local NMT state and this was not done before + if ((EplNmtMnuInstance_g.m_wFlags & (EPL_NMTMNU_FLAG_HALTED | EPL_NMTMNU_FLAG_APP_INFORMED)) == 0) { // boot process is not halted + switch (NmtState) { + case kEplNmtMsPreOperational1: + { + if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == + 0) + && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) { // all optional CNs scanned once and all mandatory CNs configured successfully + EplNmtMnuInstance_g.m_wFlags |= + EPL_NMTMNU_FLAG_APP_INFORMED; + // inform application + Ret = + EplNmtMnuInstance_g. + m_pfnCbBootEvent + (kEplNmtBootEventBootStep1Finish, + NmtState, EPL_E_NO_ERROR); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + // wait for application + Ret = kEplSuccessful; + } + break; + } + // enter PreOp2 + Ret = + EplNmtuNmtEvent + (kEplNmtEventAllMandatoryCNIdent); + } + break; + } + + case kEplNmtMsPreOperational2: + { + if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == + 0) + && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) { // all optional CNs checked once for ReadyToOp and all mandatory CNs are ReadyToOp + EplNmtMnuInstance_g.m_wFlags |= + EPL_NMTMNU_FLAG_APP_INFORMED; + // inform application + Ret = + EplNmtMnuInstance_g. + m_pfnCbBootEvent + (kEplNmtBootEventBootStep2Finish, + NmtState, EPL_E_NO_ERROR); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + // wait for application + Ret = kEplSuccessful; + } + break; + } + // enter ReadyToOp + Ret = + EplNmtuNmtEvent + (kEplNmtEventEnterReadyToOperate); + } + break; + } + + case kEplNmtMsReadyToOperate: + { + if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == + 0) + && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) { // all CNs checked for errorless communication + EplNmtMnuInstance_g.m_wFlags |= + EPL_NMTMNU_FLAG_APP_INFORMED; + // inform application + Ret = + EplNmtMnuInstance_g. + m_pfnCbBootEvent + (kEplNmtBootEventCheckComFinish, + NmtState, EPL_E_NO_ERROR); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + // wait for application + Ret = kEplSuccessful; + } + break; + } + // enter Operational + Ret = + EplNmtuNmtEvent + (kEplNmtEventEnterMsOperational); + } + break; + } + + case kEplNmtMsOperational: + { + if ((EplNmtMnuInstance_g.m_uiSignalSlaveCount == + 0) + && (EplNmtMnuInstance_g.m_uiMandatorySlaveCount == 0)) { // all optional CNs scanned once and all mandatory CNs are OPERATIONAL + EplNmtMnuInstance_g.m_wFlags |= + EPL_NMTMNU_FLAG_APP_INFORMED; + // inform application + Ret = + EplNmtMnuInstance_g. + m_pfnCbBootEvent + (kEplNmtBootEventOperational, + NmtState, EPL_E_NO_ERROR); + if (Ret != kEplSuccessful) { + if (Ret == kEplReject) { + // ignore error code + Ret = kEplSuccessful; + } + break; + } + } + break; + } + + default: + { + break; + } + } + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplNmtMnuCheckNmtState @@ -2576,188 +2627,172 @@ Exit: // //--------------------------------------------------------------------------- -static tEplKernel EplNmtMnuCheckNmtState( - unsigned int uiNodeId_p, - tEplNmtMnuNodeInfo* pNodeInfo_p, - tEplNmtState NodeNmtState_p, - WORD wErrorCode_p, - tEplNmtState LocalNmtState_p) +static tEplKernel EplNmtMnuCheckNmtState(unsigned int uiNodeId_p, + tEplNmtMnuNodeInfo * pNodeInfo_p, + tEplNmtState NodeNmtState_p, + WORD wErrorCode_p, + tEplNmtState LocalNmtState_p) { -tEplKernel Ret = kEplSuccessful; -tEplObdSize ObdSize; -BYTE bNmtState; -BYTE bNmtStatePrev; -tEplNmtState ExpNmtState; - - ObdSize = 1; - // read object 0x1F8F NMT_MNNodeExpState_AU8 - Ret = EplObduReadEntry(0x1F8F, uiNodeId_p, &bNmtState, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - // compute expected NMT state - ExpNmtState = (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS); - // compute BYTE of current NMT state - bNmtState = ((BYTE) NodeNmtState_p & 0xFF); - - if (ExpNmtState == kEplNmtCsNotActive) - { // ignore the current state, because the CN shall be not active - Ret = kEplReject; - goto Exit; - } - else if ((ExpNmtState == kEplNmtCsPreOperational2) - && (NodeNmtState_p == kEplNmtCsReadyToOperate)) - { // CN switched to ReadyToOp - // delete timer for timeout handling - Ret = EplTimeruDeleteTimer(&pNodeInfo_p->m_TimerHdlLonger); - if (Ret != kEplSuccessful) - { - goto Exit; - } - pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateReadyToOp; - - // update object 0x1F8F NMT_MNNodeExpState_AU8 to ReadyToOp - Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - if ((pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // node is a mandatory CN -> decrement counter - EplNmtMnuInstance_g.m_uiMandatorySlaveCount--; - } - if (LocalNmtState_p >= kEplNmtMsReadyToOperate) - { // start procedure CheckCommunication for this node - Ret = EplNmtMnuNodeCheckCom(uiNodeId_p, pNodeInfo_p); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - if ((LocalNmtState_p == kEplNmtMsOperational) - && (pNodeInfo_p->m_NodeState == kEplNmtMnuNodeStateComChecked)) - { - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - uiNodeId_p, - (((NodeNmtState_p & 0xFF) << 8) - | kEplNmtCmdStartNode)); - - // immediately start optional CN, because communication is always OK (e.g. async-only CN) - Ret = EplNmtMnuSendNmtCommand(uiNodeId_p, kEplNmtCmdStartNode); - if (Ret != kEplSuccessful) - { - goto Exit; - } - } - } - - } - else if ((ExpNmtState == kEplNmtCsReadyToOperate) - && (NodeNmtState_p == kEplNmtCsOperational)) - { // CN switched to OPERATIONAL - pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateOperational; - - if ((pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) - { // node is a mandatory CN -> decrement counter - EplNmtMnuInstance_g.m_uiMandatorySlaveCount--; - } - - } - else if ((ExpNmtState != NodeNmtState_p) - && !((ExpNmtState == kEplNmtCsPreOperational1) - && (NodeNmtState_p == kEplNmtCsPreOperational2))) - { // CN is not in expected NMT state (without the exceptions above) - WORD wbeErrorCode; - - if ((pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0) - { - // decrement only signal slave count if checked once - EplNmtMnuInstance_g.m_uiSignalSlaveCount--; - pNodeInfo_p->m_wFlags &= ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; - } - - if (pNodeInfo_p->m_NodeState == kEplNmtMnuNodeStateUnknown) - { // CN is already in state unknown, which means that it got - // NMT reset command earlier - goto Exit; - } - - // -> CN is in wrong NMT state - pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateUnknown; - - if (wErrorCode_p == 0) - { // assume wrong NMT state error - if ((pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED) != 0) - { // NMT command has been just issued; - // ignore wrong NMT state until timer expires; - // other errors like LOSS_PRES_TH are still processed - goto Exit; - } - - wErrorCode_p = EPL_E_NMT_WRONG_STATE; - } - - BENCHMARK_MOD_07_TOGGLE(9); - - // $$$ start ERROR_TREATMENT and inform application - Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p, - kEplNmtNodeEventError, - NodeNmtState_p, - wErrorCode_p, - (pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, - uiNodeId_p, - (((NodeNmtState_p & 0xFF) << 8) - | kEplNmtCmdResetNode)); - - // reset CN - // store error code in NMT command data for diagnostic purpose - AmiSetWordToLe(&wbeErrorCode, wErrorCode_p); - Ret = EplNmtMnuSendNmtCommandEx(uiNodeId_p, kEplNmtCmdResetNode, &wbeErrorCode, sizeof (wbeErrorCode)); - if (Ret == kEplSuccessful) - { - Ret = kEplReject; - } - - goto Exit; - } - - // check if NMT_MNNodeCurrState_AU8 has to be changed - ObdSize = 1; - Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtStatePrev, &ObdSize); - if (Ret != kEplSuccessful) - { - goto Exit; - } - if (bNmtState != bNmtStatePrev) - { - // update object 0x1F8E NMT_MNNodeCurrState_AU8 - Ret = EplObduWriteEntry(0x1F8E, uiNodeId_p, &bNmtState, 1); - if (Ret != kEplSuccessful) - { - goto Exit; - } - Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p, - kEplNmtNodeEventNmtState, - NodeNmtState_p, - wErrorCode_p, - (pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0); - if (Ret != kEplSuccessful) - { - goto Exit; - } - } - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + tEplObdSize ObdSize; + BYTE bNmtState; + BYTE bNmtStatePrev; + tEplNmtState ExpNmtState; + + ObdSize = 1; + // read object 0x1F8F NMT_MNNodeExpState_AU8 + Ret = EplObduReadEntry(0x1F8F, uiNodeId_p, &bNmtState, &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + // compute expected NMT state + ExpNmtState = (tEplNmtState) (bNmtState | EPL_NMT_TYPE_CS); + // compute BYTE of current NMT state + bNmtState = ((BYTE) NodeNmtState_p & 0xFF); + + if (ExpNmtState == kEplNmtCsNotActive) { // ignore the current state, because the CN shall be not active + Ret = kEplReject; + goto Exit; + } else if ((ExpNmtState == kEplNmtCsPreOperational2) + && (NodeNmtState_p == kEplNmtCsReadyToOperate)) { // CN switched to ReadyToOp + // delete timer for timeout handling + Ret = EplTimeruDeleteTimer(&pNodeInfo_p->m_TimerHdlLonger); + if (Ret != kEplSuccessful) { + goto Exit; + } + pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateReadyToOp; + + // update object 0x1F8F NMT_MNNodeExpState_AU8 to ReadyToOp + Ret = EplObduWriteEntry(0x1F8F, uiNodeId_p, &bNmtState, 1); + if (Ret != kEplSuccessful) { + goto Exit; + } + + if ((pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // node is a mandatory CN -> decrement counter + EplNmtMnuInstance_g.m_uiMandatorySlaveCount--; + } + if (LocalNmtState_p >= kEplNmtMsReadyToOperate) { // start procedure CheckCommunication for this node + Ret = EplNmtMnuNodeCheckCom(uiNodeId_p, pNodeInfo_p); + if (Ret != kEplSuccessful) { + goto Exit; + } + + if ((LocalNmtState_p == kEplNmtMsOperational) + && (pNodeInfo_p->m_NodeState == + kEplNmtMnuNodeStateComChecked)) { + EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, uiNodeId_p, + (((NodeNmtState_p & 0xFF) << 8) + | + kEplNmtCmdStartNode)); + + // immediately start optional CN, because communication is always OK (e.g. async-only CN) + Ret = + EplNmtMnuSendNmtCommand(uiNodeId_p, + kEplNmtCmdStartNode); + if (Ret != kEplSuccessful) { + goto Exit; + } + } + } + + } else if ((ExpNmtState == kEplNmtCsReadyToOperate) + && (NodeNmtState_p == kEplNmtCsOperational)) { // CN switched to OPERATIONAL + pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateOperational; + + if ((pNodeInfo_p->m_dwNodeCfg & EPL_NODEASSIGN_MANDATORY_CN) != 0) { // node is a mandatory CN -> decrement counter + EplNmtMnuInstance_g.m_uiMandatorySlaveCount--; + } + + } else if ((ExpNmtState != NodeNmtState_p) + && !((ExpNmtState == kEplNmtCsPreOperational1) + && (NodeNmtState_p == kEplNmtCsPreOperational2))) { // CN is not in expected NMT state (without the exceptions above) + WORD wbeErrorCode; + + if ((pNodeInfo_p-> + m_wFlags & EPL_NMTMNU_NODE_FLAG_NOT_SCANNED) != 0) { + // decrement only signal slave count if checked once + EplNmtMnuInstance_g.m_uiSignalSlaveCount--; + pNodeInfo_p->m_wFlags &= + ~EPL_NMTMNU_NODE_FLAG_NOT_SCANNED; + } + + if (pNodeInfo_p->m_NodeState == kEplNmtMnuNodeStateUnknown) { // CN is already in state unknown, which means that it got + // NMT reset command earlier + goto Exit; + } + // -> CN is in wrong NMT state + pNodeInfo_p->m_NodeState = kEplNmtMnuNodeStateUnknown; + + if (wErrorCode_p == 0) { // assume wrong NMT state error + if ((pNodeInfo_p->m_wFlags & EPL_NMTMNU_NODE_FLAG_NMT_CMD_ISSUED) != 0) { // NMT command has been just issued; + // ignore wrong NMT state until timer expires; + // other errors like LOSS_PRES_TH are still processed + goto Exit; + } + + wErrorCode_p = EPL_E_NMT_WRONG_STATE; + } + + BENCHMARK_MOD_07_TOGGLE(9); + + // $$$ start ERROR_TREATMENT and inform application + Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p, + kEplNmtNodeEventError, + NodeNmtState_p, + wErrorCode_p, + (pNodeInfo_p-> + m_dwNodeCfg & + EPL_NODEASSIGN_MANDATORY_CN) + != 0); + if (Ret != kEplSuccessful) { + goto Exit; + } + + EPL_NMTMNU_DBG_POST_TRACE_VALUE(0, + uiNodeId_p, + (((NodeNmtState_p & 0xFF) << 8) + | kEplNmtCmdResetNode)); + + // reset CN + // store error code in NMT command data for diagnostic purpose + AmiSetWordToLe(&wbeErrorCode, wErrorCode_p); + Ret = + EplNmtMnuSendNmtCommandEx(uiNodeId_p, kEplNmtCmdResetNode, + &wbeErrorCode, + sizeof(wbeErrorCode)); + if (Ret == kEplSuccessful) { + Ret = kEplReject; + } + + goto Exit; + } + // check if NMT_MNNodeCurrState_AU8 has to be changed + ObdSize = 1; + Ret = EplObduReadEntry(0x1F8E, uiNodeId_p, &bNmtStatePrev, &ObdSize); + if (Ret != kEplSuccessful) { + goto Exit; + } + if (bNmtState != bNmtStatePrev) { + // update object 0x1F8E NMT_MNNodeCurrState_AU8 + Ret = EplObduWriteEntry(0x1F8E, uiNodeId_p, &bNmtState, 1); + if (Ret != kEplSuccessful) { + goto Exit; + } + Ret = EplNmtMnuInstance_g.m_pfnCbNodeEvent(uiNodeId_p, + kEplNmtNodeEventNmtState, + NodeNmtState_p, + wErrorCode_p, + (pNodeInfo_p-> + m_dwNodeCfg & + EPL_NODEASSIGN_MANDATORY_CN) + != 0); + if (Ret != kEplSuccessful) { + goto Exit; + } + } + + Exit: + return Ret; } //--------------------------------------------------------------------------- @@ -2776,23 +2811,25 @@ Exit: static tEplKernel EplNmtMnuReset(void) { -tEplKernel Ret; -int iIndex; - - Ret = EplTimeruDeleteTimer(&EplNmtMnuInstance_g.m_TimerHdlNmtState); - - for (iIndex = 1; iIndex <= tabentries (EplNmtMnuInstance_g.m_aNodeInfo); iIndex++) - { - // delete timer handles - Ret = EplTimeruDeleteTimer(&EPL_NMTMNU_GET_NODEINFO(iIndex)->m_TimerHdlStatReq); - Ret = EplTimeruDeleteTimer(&EPL_NMTMNU_GET_NODEINFO(iIndex)->m_TimerHdlLonger); - } - - return Ret; + tEplKernel Ret; + int iIndex; + + Ret = EplTimeruDeleteTimer(&EplNmtMnuInstance_g.m_TimerHdlNmtState); + + for (iIndex = 1; iIndex <= tabentries(EplNmtMnuInstance_g.m_aNodeInfo); + iIndex++) { + // delete timer handles + Ret = + EplTimeruDeleteTimer(&EPL_NMTMNU_GET_NODEINFO(iIndex)-> + m_TimerHdlStatReq); + Ret = + EplTimeruDeleteTimer(&EPL_NMTMNU_GET_NODEINFO(iIndex)-> + m_TimerHdlLonger); + } + + return Ret; } - #endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0) // EOF - |