diff options
Diffstat (limited to 'drivers/staging/epl/EplSdoAsySequ.c')
| -rw-r--r-- | drivers/staging/epl/EplSdoAsySequ.c | 3601 |
1 files changed, 1861 insertions, 1740 deletions
diff --git a/drivers/staging/epl/EplSdoAsySequ.c b/drivers/staging/epl/EplSdoAsySequ.c index 8a4e1e29b58..991c6be880c 100644 --- a/drivers/staging/epl/EplSdoAsySequ.c +++ b/drivers/staging/epl/EplSdoAsySequ.c @@ -70,11 +70,10 @@ #include "user/EplSdoAsySequ.h" - #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) == 0) &&\ (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) == 0) ) - #error 'ERROR: At least UDP or Asnd module needed!' +#error 'ERROR: At least UDP or Asnd module needed!' #endif /***************************************************************************/ @@ -95,11 +94,11 @@ #define EPL_MAX_SDO_SEQ_CON 10 #endif -#define EPL_SEQ_DEFAULT_TIMEOUT 5000 // in [ms] => 5 sec +#define EPL_SEQ_DEFAULT_TIMEOUT 5000 // in [ms] => 5 sec -#define EPL_SEQ_RETRY_COUNT 5 // => max. Timeout 30 sec +#define EPL_SEQ_RETRY_COUNT 5 // => max. Timeout 30 sec -#define EPL_SEQ_NUM_THRESHOLD 100 // threshold which distinguishes between old and new sequence numbers +#define EPL_SEQ_NUM_THRESHOLD 100 // threshold which distinguishes between old and new sequence numbers // define frame with size of Asnd-Header-, SDO Sequenze Header size, SDO Command header // and Ethernet-Header size @@ -118,120 +117,115 @@ //--------------------------------------------------------------------------- // events for processfunction -typedef enum -{ - kAsySdoSeqEventNoEvent = 0x00, // no Event - kAsySdoSeqEventInitCon = 0x01, // init connection - kAsySdoSeqEventFrameRec = 0x02, // frame received - kAsySdoSeqEventFrameSend= 0x03, // frame to send - kAsySdoSeqEventTimeout = 0x04, // Timeout for connection - kAsySdoSeqEventCloseCon = 0x05 // higher layer close connection - -}tEplAsySdoSeqEvent; +typedef enum { + kAsySdoSeqEventNoEvent = 0x00, // no Event + kAsySdoSeqEventInitCon = 0x01, // init connection + kAsySdoSeqEventFrameRec = 0x02, // frame received + kAsySdoSeqEventFrameSend = 0x03, // frame to send + kAsySdoSeqEventTimeout = 0x04, // Timeout for connection + kAsySdoSeqEventCloseCon = 0x05 // higher layer close connection +} tEplAsySdoSeqEvent; // structure for History-Buffer -typedef struct -{ - BYTE m_bFreeEntries; - BYTE m_bWrite; // index of the next free buffer entry - BYTE m_bAck; // index of the next message which should become acknowledged - BYTE m_bRead; // index between m_bAck and m_bWrite to the next message for retransmission - BYTE m_aabHistoryFrame[EPL_SDO_HISTORY_SIZE][EPL_SEQ_HISTROY_FRAME_SIZE]; - unsigned int m_auiFrameSize[EPL_SDO_HISTORY_SIZE]; +typedef struct { + BYTE m_bFreeEntries; + BYTE m_bWrite; // index of the next free buffer entry + BYTE m_bAck; // index of the next message which should become acknowledged + BYTE m_bRead; // index between m_bAck and m_bWrite to the next message for retransmission + BYTE m_aabHistoryFrame[EPL_SDO_HISTORY_SIZE] + [EPL_SEQ_HISTROY_FRAME_SIZE]; + unsigned int m_auiFrameSize[EPL_SDO_HISTORY_SIZE]; -}tEplAsySdoConHistory; +} tEplAsySdoConHistory; // state of the statemaschine -typedef enum -{ - kEplAsySdoStateIdle = 0x00, - kEplAsySdoStateInit1 = 0x01, - kEplAsySdoStateInit2 = 0x02, - kEplAsySdoStateInit3 = 0x03, - kEplAsySdoStateConnected = 0x04, - kEplAsySdoStateWaitAck = 0x05 - -}tEplAsySdoState; +typedef enum { + kEplAsySdoStateIdle = 0x00, + kEplAsySdoStateInit1 = 0x01, + kEplAsySdoStateInit2 = 0x02, + kEplAsySdoStateInit3 = 0x03, + kEplAsySdoStateConnected = 0x04, + kEplAsySdoStateWaitAck = 0x05 +} tEplAsySdoState; // connection control structure -typedef struct -{ - tEplSdoConHdl m_ConHandle; - tEplAsySdoState m_SdoState; - BYTE m_bRecSeqNum; // name from view of the communication partner - BYTE m_bSendSeqNum; // name from view of the communication partner - tEplAsySdoConHistory m_SdoConHistory; - tEplTimerHdl m_EplTimerHdl; - unsigned int m_uiRetryCount; // retry counter - unsigned int m_uiUseCount; // one sequence layer connection may be used by - // multiple command layer connections - -}tEplAsySdoSeqCon; +typedef struct { + tEplSdoConHdl m_ConHandle; + tEplAsySdoState m_SdoState; + BYTE m_bRecSeqNum; // name from view of the communication partner + BYTE m_bSendSeqNum; // name from view of the communication partner + tEplAsySdoConHistory m_SdoConHistory; + tEplTimerHdl m_EplTimerHdl; + unsigned int m_uiRetryCount; // retry counter + unsigned int m_uiUseCount; // one sequence layer connection may be used by + // multiple command layer connections + +} tEplAsySdoSeqCon; // instance structure -typedef struct -{ - tEplAsySdoSeqCon m_AsySdoConnection[EPL_MAX_SDO_SEQ_CON]; - tEplSdoComReceiveCb m_fpSdoComReceiveCb; - tEplSdoComConCb m_fpSdoComConCb; +typedef struct { + tEplAsySdoSeqCon m_AsySdoConnection[EPL_MAX_SDO_SEQ_CON]; + tEplSdoComReceiveCb m_fpSdoComReceiveCb; + tEplSdoComConCb m_fpSdoComConCb; #if defined(WIN32) || defined(_WIN32) - LPCRITICAL_SECTION m_pCriticalSection; - CRITICAL_SECTION m_CriticalSection; + LPCRITICAL_SECTION m_pCriticalSection; + CRITICAL_SECTION m_CriticalSection; - LPCRITICAL_SECTION m_pCriticalSectionReceive; - CRITICAL_SECTION m_CriticalSectionReceive; + LPCRITICAL_SECTION m_pCriticalSectionReceive; + CRITICAL_SECTION m_CriticalSectionReceive; #endif -}tEplAsySdoSequInstance; +} tEplAsySdoSequInstance; //--------------------------------------------------------------------------- // modul globale vars //--------------------------------------------------------------------------- -static tEplAsySdoSequInstance AsySdoSequInstance_g; +static tEplAsySdoSequInstance AsySdoSequInstance_g; //--------------------------------------------------------------------------- // local function prototypes //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p, - unsigned int uiDataSize_p, - tEplFrame* pData_p, - tEplAsySdoSeq* pRecFrame_p, - tEplAsySdoSeqEvent Event_p); +static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p, + unsigned int uiDataSize_p, + tEplFrame * pData_p, + tEplAsySdoSeq * pRecFrame_p, + tEplAsySdoSeqEvent Event_p); -static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - unsigned int uiDataSize_p, - tEplFrame* pData_p, - BOOL fFrameInHistory); +static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + unsigned int uiDataSize_p, + tEplFrame * pData_p, + BOOL fFrameInHistory); -static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - unsigned int uiDataSize_p, - tEplFrame* pEplFrame_p); +static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + unsigned int uiDataSize_p, + tEplFrame * pEplFrame_p); -tEplKernel PUBLIC EplSdoAsyReceiveCb (tEplSdoConHdl ConHdl_p, - tEplAsySdoSeq* pSdoSeqData_p, - unsigned int uiDataSize_p); +tEplKernel PUBLIC EplSdoAsyReceiveCb(tEplSdoConHdl ConHdl_p, + tEplAsySdoSeq * pSdoSeqData_p, + unsigned int uiDataSize_p); static tEplKernel EplSdoAsyInitHistory(void); -static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - tEplFrame* pFrame_p, - unsigned int uiSize_p); +static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + tEplFrame * pFrame_p, + unsigned int uiSize_p); -static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - BYTE bRecSeqNumber_p); +static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + BYTE bRecSeqNumber_p); -static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - tEplFrame** ppFrame_p, - unsigned int* puiSize_p, - BOOL fInitRead); +static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + tEplFrame ** ppFrame_p, + unsigned int *puiSize_p, + BOOL fInitRead); -static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p); +static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon * + pAsySdoSeqCon_p); -static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - unsigned long ulTimeout); +static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + unsigned long ulTimeout); /***************************************************************************/ /* */ @@ -274,14 +268,13 @@ static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon* pAsySdoSeqCon_p, // //--------------------------------------------------------------------------- tEplKernel PUBLIC EplSdoAsySeqInit(tEplSdoComReceiveCb fpSdoComCb_p, - tEplSdoComConCb fpSdoComConCb_p) + tEplSdoComConCb fpSdoComConCb_p) { -tEplKernel Ret; + tEplKernel Ret; + Ret = EplSdoAsySeqAddInstance(fpSdoComCb_p, fpSdoComConCb_p); - Ret = EplSdoAsySeqAddInstance(fpSdoComCb_p, fpSdoComConCb_p); - - return Ret; + return Ret; } @@ -304,78 +297,69 @@ tEplKernel Ret; // State: // //--------------------------------------------------------------------------- -tEplKernel PUBLIC EplSdoAsySeqAddInstance (tEplSdoComReceiveCb fpSdoComCb_p, - tEplSdoComConCb fpSdoComConCb_p) +tEplKernel PUBLIC EplSdoAsySeqAddInstance(tEplSdoComReceiveCb fpSdoComCb_p, + tEplSdoComConCb fpSdoComConCb_p) { -tEplKernel Ret; - - Ret = kEplSuccessful; - - // check functionpointer - if(fpSdoComCb_p == NULL) - { - Ret = kEplSdoSeqMissCb; - goto Exit; - } - else - { - AsySdoSequInstance_g.m_fpSdoComReceiveCb = fpSdoComCb_p; - } - - // check functionpointer - if(fpSdoComConCb_p == NULL) - { - Ret = kEplSdoSeqMissCb; - goto Exit; - } - else - { - AsySdoSequInstance_g.m_fpSdoComConCb = fpSdoComConCb_p; - } - - // set controllstructure to 0 - EPL_MEMSET(&AsySdoSequInstance_g.m_AsySdoConnection[0], 0x00, sizeof(AsySdoSequInstance_g.m_AsySdoConnection)); - - // init History - Ret = EplSdoAsyInitHistory(); - if(Ret != kEplSuccessful) - { - goto Exit; - } - + tEplKernel Ret; + + Ret = kEplSuccessful; + + // check functionpointer + if (fpSdoComCb_p == NULL) { + Ret = kEplSdoSeqMissCb; + goto Exit; + } else { + AsySdoSequInstance_g.m_fpSdoComReceiveCb = fpSdoComCb_p; + } + + // check functionpointer + if (fpSdoComConCb_p == NULL) { + Ret = kEplSdoSeqMissCb; + goto Exit; + } else { + AsySdoSequInstance_g.m_fpSdoComConCb = fpSdoComConCb_p; + } + + // set controllstructure to 0 + EPL_MEMSET(&AsySdoSequInstance_g.m_AsySdoConnection[0], 0x00, + sizeof(AsySdoSequInstance_g.m_AsySdoConnection)); + + // init History + Ret = EplSdoAsyInitHistory(); + if (Ret != kEplSuccessful) { + goto Exit; + } #if defined(WIN32) || defined(_WIN32) - // create critical section for process function - AsySdoSequInstance_g.m_pCriticalSection = &AsySdoSequInstance_g.m_CriticalSection; - InitializeCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); - - // init critical section for receive cb function - AsySdoSequInstance_g.m_pCriticalSectionReceive = &AsySdoSequInstance_g.m_CriticalSectionReceive; - InitializeCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive); + // create critical section for process function + AsySdoSequInstance_g.m_pCriticalSection = + &AsySdoSequInstance_g.m_CriticalSection; + InitializeCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); + + // init critical section for receive cb function + AsySdoSequInstance_g.m_pCriticalSectionReceive = + &AsySdoSequInstance_g.m_CriticalSectionReceive; + InitializeCriticalSection(AsySdoSequInstance_g. + m_pCriticalSectionReceive); #endif - #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - // init lower layer - Ret = EplSdoUdpuAddInstance(EplSdoAsyReceiveCb); - if(Ret != kEplSuccessful) - { - goto Exit; - } + // init lower layer + Ret = EplSdoUdpuAddInstance(EplSdoAsyReceiveCb); + if (Ret != kEplSuccessful) { + goto Exit; + } #endif #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - // init lower layer - Ret = EplSdoAsnduAddInstance(EplSdoAsyReceiveCb); - if(Ret != kEplSuccessful) - { - goto Exit; - } + // init lower layer + Ret = EplSdoAsnduAddInstance(EplSdoAsyReceiveCb); + if (Ret != kEplSuccessful) { + goto Exit; + } #endif - - -Exit: - return Ret; + Exit: + return Ret; } @@ -398,45 +382,42 @@ Exit: //--------------------------------------------------------------------------- tEplKernel PUBLIC EplSdoAsySeqDelInstance() { -tEplKernel Ret; -unsigned int uiCount; -tEplAsySdoSeqCon* pAsySdoSeqCon; - - Ret = kEplSuccessful; - - // delete timer of open connections - uiCount = 0; - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0]; - while(uiCount < EPL_MAX_SDO_SEQ_CON) - { - if (pAsySdoSeqCon->m_ConHandle != 0) - { - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - } - uiCount++; - pAsySdoSeqCon++; - } - + tEplKernel Ret; + unsigned int uiCount; + tEplAsySdoSeqCon *pAsySdoSeqCon; + + Ret = kEplSuccessful; + + // delete timer of open connections + uiCount = 0; + pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0]; + while (uiCount < EPL_MAX_SDO_SEQ_CON) { + if (pAsySdoSeqCon->m_ConHandle != 0) { + EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); + } + uiCount++; + pAsySdoSeqCon++; + } #if defined(WIN32) || defined(_WIN32) - // delete critical section for process function - DeleteCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); + // delete critical section for process function + DeleteCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); #endif - // set instance-table to 0 - EPL_MEMSET(&AsySdoSequInstance_g, 0x00, sizeof(AsySdoSequInstance_g)); + // set instance-table to 0 + EPL_MEMSET(&AsySdoSequInstance_g, 0x00, sizeof(AsySdoSequInstance_g)); #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - // delete lower layer - Ret = EplSdoUdpuDelInstance(); + // delete lower layer + Ret = EplSdoUdpuDelInstance(); #endif #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - // delete lower layer - Ret = EplSdoAsnduDelInstance(); + // delete lower layer + Ret = EplSdoAsnduDelInstance(); #endif - return Ret; + return Ret; } //--------------------------------------------------------------------------- @@ -458,159 +439,139 @@ tEplAsySdoSeqCon* pAsySdoSeqCon; // State: // //--------------------------------------------------------------------------- -tEplKernel PUBLIC EplSdoAsySeqInitCon(tEplSdoSeqConHdl* pSdoSeqConHdl_p, - unsigned int uiNodeId_p, - tEplSdoType SdoType) +tEplKernel PUBLIC EplSdoAsySeqInitCon(tEplSdoSeqConHdl * pSdoSeqConHdl_p, + unsigned int uiNodeId_p, + tEplSdoType SdoType) { -tEplKernel Ret; -unsigned int uiCount; -unsigned int uiFreeCon; -tEplSdoConHdl ConHandle; -tEplAsySdoSeqCon* pAsySdoSeqCon; - Ret = kEplSuccessful; - - // check SdoType - // call init function of the protcol abstraction layer - // which tries to find an existing connection to the same node - switch (SdoType) - { - // SDO over UDP - case kEplSdoTypeUdp: - { + tEplKernel Ret; + unsigned int uiCount; + unsigned int uiFreeCon; + tEplSdoConHdl ConHandle; + tEplAsySdoSeqCon *pAsySdoSeqCon; + Ret = kEplSuccessful; + + // check SdoType + // call init function of the protcol abstraction layer + // which tries to find an existing connection to the same node + switch (SdoType) { + // SDO over UDP + case kEplSdoTypeUdp: + { #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - Ret = EplSdoUdpuInitCon(&ConHandle, - uiNodeId_p); - if(Ret != kEplSuccessful) - { - goto Exit; - } + Ret = EplSdoUdpuInitCon(&ConHandle, uiNodeId_p); + if (Ret != kEplSuccessful) { + goto Exit; + } #else - Ret = kEplSdoSeqUnsupportedProt; + Ret = kEplSdoSeqUnsupportedProt; #endif - break; - } + break; + } - // SDO over Asnd - case kEplSdoTypeAsnd: - { + // SDO over Asnd + case kEplSdoTypeAsnd: + { #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - Ret = EplSdoAsnduInitCon(&ConHandle, - uiNodeId_p); - if(Ret != kEplSuccessful) - { - goto Exit; - } + Ret = EplSdoAsnduInitCon(&ConHandle, uiNodeId_p); + if (Ret != kEplSuccessful) { + goto Exit; + } #else - Ret = kEplSdoSeqUnsupportedProt; + Ret = kEplSdoSeqUnsupportedProt; #endif - break; - } - - // unsupported protocols - // -> auto should be replaced by command layer - case kEplSdoTypeAuto: - case kEplSdoTypePdo: - default: - { - Ret = kEplSdoSeqUnsupportedProt; - goto Exit; - } - - }// end of switch(SdoType) - - - // find existing connection to the same node or find empty entry for connection - uiCount = 0; - uiFreeCon = EPL_MAX_SDO_SEQ_CON; - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0]; - - while (uiCount < EPL_MAX_SDO_SEQ_CON) - { - if (pAsySdoSeqCon->m_ConHandle == ConHandle) - { // existing connection found - break; - } - if (pAsySdoSeqCon->m_ConHandle == 0) - { - uiFreeCon = uiCount; - } - uiCount++; - pAsySdoSeqCon++; - } - - if (uiCount == EPL_MAX_SDO_SEQ_CON) - { - if (uiFreeCon == EPL_MAX_SDO_SEQ_CON) - { // no free entry found - switch (SdoType) - { - // SDO over UDP - case kEplSdoTypeUdp: - { + break; + } + + // unsupported protocols + // -> auto should be replaced by command layer + case kEplSdoTypeAuto: + case kEplSdoTypePdo: + default: + { + Ret = kEplSdoSeqUnsupportedProt; + goto Exit; + } + + } // end of switch(SdoType) + + // find existing connection to the same node or find empty entry for connection + uiCount = 0; + uiFreeCon = EPL_MAX_SDO_SEQ_CON; + pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[0]; + + while (uiCount < EPL_MAX_SDO_SEQ_CON) { + if (pAsySdoSeqCon->m_ConHandle == ConHandle) { // existing connection found + break; + } + if (pAsySdoSeqCon->m_ConHandle == 0) { + uiFreeCon = uiCount; + } + uiCount++; + pAsySdoSeqCon++; + } + + if (uiCount == EPL_MAX_SDO_SEQ_CON) { + if (uiFreeCon == EPL_MAX_SDO_SEQ_CON) { // no free entry found + switch (SdoType) { + // SDO over UDP + case kEplSdoTypeUdp: + { #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - Ret = EplSdoUdpuDelCon(ConHandle); - if(Ret != kEplSuccessful) - { - goto Exit; - } + Ret = EplSdoUdpuDelCon(ConHandle); + if (Ret != kEplSuccessful) { + goto Exit; + } #endif - break; - } + break; + } - // SDO over Asnd - case kEplSdoTypeAsnd: - { + // SDO over Asnd + case kEplSdoTypeAsnd: + { #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - Ret = EplSdoAsnduDelCon(ConHandle); - if(Ret != kEplSuccessful) - { - goto Exit; - } + Ret = EplSdoAsnduDelCon(ConHandle); + if (Ret != kEplSuccessful) { + goto Exit; + } #endif - break; - } - - // unsupported protocols - // -> auto should be replaced by command layer - case kEplSdoTypeAuto: - case kEplSdoTypePdo: - default: - { - Ret = kEplSdoSeqUnsupportedProt; - goto Exit; - } - - }// end of switch(SdoType) - - Ret = kEplSdoSeqNoFreeHandle; - goto Exit; - } - else - { // free entry found - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiFreeCon]; - pAsySdoSeqCon->m_ConHandle = ConHandle; - uiCount = uiFreeCon; - } - } - - // set handle - *pSdoSeqConHdl_p = (uiCount | EPL_SDO_ASY_HANDLE); - - // increment use counter - pAsySdoSeqCon->m_uiUseCount++; - - // call intern process function - Ret = EplSdoAsySeqProcess(uiCount, - 0, - NULL, - NULL, - kAsySdoSeqEventInitCon); - -Exit: - return Ret; + break; + } + + // unsupported protocols + // -> auto should be replaced by command layer + case kEplSdoTypeAuto: + case kEplSdoTypePdo: + default: + { + Ret = kEplSdoSeqUnsupportedProt; + goto Exit; + } + + } // end of switch(SdoType) + + Ret = kEplSdoSeqNoFreeHandle; + goto Exit; + } else { // free entry found + pAsySdoSeqCon = + &AsySdoSequInstance_g.m_AsySdoConnection[uiFreeCon]; + pAsySdoSeqCon->m_ConHandle = ConHandle; + uiCount = uiFreeCon; + } + } + // set handle + *pSdoSeqConHdl_p = (uiCount | EPL_SDO_ASY_HANDLE); + + // increment use counter + pAsySdoSeqCon->m_uiUseCount++; + + // call intern process function + Ret = EplSdoAsySeqProcess(uiCount, + 0, NULL, NULL, kAsySdoSeqEventInitCon); + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplSdoAsySeqSendData @@ -634,39 +595,33 @@ Exit: // //--------------------------------------------------------------------------- tEplKernel PUBLIC EplSdoAsySeqSendData(tEplSdoSeqConHdl SdoSeqConHdl_p, - unsigned int uiDataSize_p, - tEplFrame* pabData_p ) + unsigned int uiDataSize_p, + tEplFrame * pabData_p) { -tEplKernel Ret; -unsigned int uiHandle; - - - - uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK); - - // check if connection ready - if(AsySdoSequInstance_g.m_AsySdoConnection[uiHandle].m_SdoState == kEplAsySdoStateIdle ) - { - // no connection with this handle - Ret = kEplSdoSeqInvalidHdl; - goto Exit; - } - else if(AsySdoSequInstance_g.m_AsySdoConnection[uiHandle].m_SdoState != kEplAsySdoStateConnected) - { - Ret = kEplSdoSeqConnectionBusy; - goto Exit; - } - - Ret = EplSdoAsySeqProcess(uiHandle, - uiDataSize_p, - pabData_p, - NULL, - kAsySdoSeqEventFrameSend); -Exit: - return Ret; + tEplKernel Ret; + unsigned int uiHandle; + + uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK); + + // check if connection ready + if (AsySdoSequInstance_g.m_AsySdoConnection[uiHandle].m_SdoState == + kEplAsySdoStateIdle) { + // no connection with this handle + Ret = kEplSdoSeqInvalidHdl; + goto Exit; + } else if (AsySdoSequInstance_g.m_AsySdoConnection[uiHandle]. + m_SdoState != kEplAsySdoStateConnected) { + Ret = kEplSdoSeqConnectionBusy; + goto Exit; + } + + Ret = EplSdoAsySeqProcess(uiHandle, + uiDataSize_p, + pabData_p, NULL, kAsySdoSeqEventFrameSend); + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplSdoAsySeqProcessEvent @@ -685,71 +640,60 @@ Exit: // State: // //--------------------------------------------------------------------------- -tEplKernel PUBLIC EplSdoAsySeqProcessEvent(tEplEvent* pEvent_p) +tEplKernel PUBLIC EplSdoAsySeqProcessEvent(tEplEvent * pEvent_p) { -tEplKernel Ret; -tEplTimerEventArg* pTimerEventArg; -tEplAsySdoSeqCon* pAsySdoSeqCon; -tEplTimerHdl EplTimerHdl; -unsigned int uiCount; - - Ret = kEplSuccessful; - // check parameter - if(pEvent_p == NULL) - { - Ret = kEplSdoSeqInvalidEvent; - goto Exit; - } - - if(pEvent_p->m_EventType != kEplEventTypeTimer) - { - Ret = kEplSdoSeqInvalidEvent; - goto Exit; - } - - // get timerhdl - pTimerEventArg = (tEplTimerEventArg*)pEvent_p->m_pArg; - EplTimerHdl = pTimerEventArg->m_TimerHdl; - - // get pointer to intern control structure of connection - if(pTimerEventArg->m_ulArg == 0) - { - goto Exit; - } - pAsySdoSeqCon = (tEplAsySdoSeqCon*)pTimerEventArg->m_ulArg; - - // check if time is current - if(EplTimerHdl != pAsySdoSeqCon->m_EplTimerHdl) - { - // delete timer - EplTimeruDeleteTimer(&EplTimerHdl); - goto Exit; - } - - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - - // get indexnumber of control structure - uiCount = 0; - while((&AsySdoSequInstance_g.m_AsySdoConnection[uiCount]) != pAsySdoSeqCon) - { - uiCount++; - if(uiCount > EPL_MAX_SDO_SEQ_CON) - { - goto Exit; - } - } - - - // process event and call processfunction if needed - Ret = EplSdoAsySeqProcess(uiCount, - 0, - NULL, - NULL, - kAsySdoSeqEventTimeout); - -Exit: - return Ret; + tEplKernel Ret; + tEplTimerEventArg *pTimerEventArg; + tEplAsySdoSeqCon *pAsySdoSeqCon; + tEplTimerHdl EplTimerHdl; + unsigned int uiCount; + + Ret = kEplSuccessful; + // check parameter + if (pEvent_p == NULL) { + Ret = kEplSdoSeqInvalidEvent; + goto Exit; + } + + if (pEvent_p->m_EventType != kEplEventTypeTimer) { + Ret = kEplSdoSeqInvalidEvent; + goto Exit; + } + // get timerhdl + pTimerEventArg = (tEplTimerEventArg *) pEvent_p->m_pArg; + EplTimerHdl = pTimerEventArg->m_TimerHdl; + + // get pointer to intern control structure of connection + if (pTimerEventArg->m_ulArg == 0) { + goto Exit; + } + pAsySdoSeqCon = (tEplAsySdoSeqCon *) pTimerEventArg->m_ulArg; + + // check if time is current + if (EplTimerHdl != pAsySdoSeqCon->m_EplTimerHdl) { + // delete timer + EplTimeruDeleteTimer(&EplTimerHdl); + goto Exit; + } + // delete timer + EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); + + // get indexnumber of control structure + uiCount = 0; + while ((&AsySdoSequInstance_g.m_AsySdoConnection[uiCount]) != + pAsySdoSeqCon) { + uiCount++; + if (uiCount > EPL_MAX_SDO_SEQ_CON) { + goto Exit; + } + } + + // process event and call processfunction if needed + Ret = EplSdoAsySeqProcess(uiCount, + 0, NULL, NULL, kAsySdoSeqEventTimeout); + + Exit: + return Ret; } @@ -772,60 +716,54 @@ Exit: //--------------------------------------------------------------------------- tEplKernel PUBLIC EplSdoAsySeqDelCon(tEplSdoSeqConHdl SdoSeqConHdl_p) { -tEplKernel Ret = kEplSuccessful; -unsigned int uiHandle; -tEplAsySdoSeqCon* pAsySdoSeqCon; - - uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK); - - // check if handle invalid - if(uiHandle >= EPL_MAX_SDO_SEQ_CON) - { - Ret = kEplSdoSeqInvalidHdl; - goto Exit; - } - - // get pointer to connection - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle]; - - // decrement use counter - pAsySdoSeqCon->m_uiUseCount--; - - if (pAsySdoSeqCon->m_uiUseCount == 0) - { - // process close in processfunction - Ret = EplSdoAsySeqProcess(uiHandle, - 0, - NULL, - NULL, - kAsySdoSeqEventCloseCon); - - //check protocol - if((pAsySdoSeqCon->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_UDP_HANDLE) - { - #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - // call close function of lower layer - EplSdoUdpuDelCon(pAsySdoSeqCon->m_ConHandle); - #endif// end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - } - else - { - #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - // call close function of lower layer - EplSdoAsnduDelCon(pAsySdoSeqCon->m_ConHandle); - #endif// end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - } - - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - - // clean controllstructure - EPL_MEMSET(pAsySdoSeqCon, 0x00, sizeof(tEplAsySdoSeqCon)); - pAsySdoSeqCon->m_SdoConHistory.m_bFreeEntries = EPL_SDO_HISTORY_SIZE; - } - -Exit: - return Ret; + tEplKernel Ret = kEplSuccessful; + unsigned int uiHandle; + tEplAsySdoSeqCon *pAsySdoSeqCon; + + uiHandle = (SdoSeqConHdl_p & ~EPL_SDO_SEQ_HANDLE_MASK); + + // check if handle invalid + if (uiHandle >= EPL_MAX_SDO_SEQ_CON) { + Ret = kEplSdoSeqInvalidHdl; + goto Exit; + } + // get pointer to connection + pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle]; + + // decrement use counter + pAsySdoSeqCon->m_uiUseCount--; + + if (pAsySdoSeqCon->m_uiUseCount == 0) { + // process close in processfunction + Ret = EplSdoAsySeqProcess(uiHandle, + 0, + NULL, NULL, kAsySdoSeqEventCloseCon); + + //check protocol + if ((pAsySdoSeqCon->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == + EPL_SDO_UDP_HANDLE) { +#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) + // call close function of lower layer + EplSdoUdpuDelCon(pAsySdoSeqCon->m_ConHandle); +#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) + } else { +#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) + // call close function of lower layer + EplSdoAsnduDelCon(pAsySdoSeqCon->m_ConHandle); +#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) + } + + // delete timer + EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); + + // clean controllstructure + EPL_MEMSET(pAsySdoSeqCon, 0x00, sizeof(tEplAsySdoSeqCon)); + pAsySdoSeqCon->m_SdoConHistory.m_bFreeEntries = + EPL_SDO_HISTORY_SIZE; + } + + Exit: + return Ret; } @@ -860,966 +798,1191 @@ Exit: // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p, - unsigned int uiDataSize_p, - tEplFrame* pData_p, - tEplAsySdoSeq* pRecFrame_p, - tEplAsySdoSeqEvent Event_p) - +static tEplKernel EplSdoAsySeqProcess(unsigned int uiHandle_p, + unsigned int uiDataSize_p, + tEplFrame * pData_p, + tEplAsySdoSeq * pRecFrame_p, + tEplAsySdoSeqEvent Event_p) { -tEplKernel Ret; -unsigned int uiFrameSize; -tEplFrame* pEplFrame; -tEplAsySdoSeqCon* pAsySdoSeqCon; -tEplSdoSeqConHdl SdoSeqConHdl; -unsigned int uiFreeEntries; + tEplKernel Ret; + unsigned int uiFrameSize; + tEplFrame *pEplFrame; + tEplAsySdoSeqCon *pAsySdoSeqCon; + tEplSdoSeqConHdl SdoSeqConHdl; + unsigned int uiFreeEntries; #if defined(WIN32) || defined(_WIN32) - // enter critical section for process function - EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); + // enter critical section for process function + EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); #endif - Ret = kEplSuccessful; - - // get handle for hinger layer - SdoSeqConHdl = uiHandle_p | EPL_SDO_ASY_HANDLE; - - // check if handle invalid - if((SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == EPL_SDO_SEQ_INVALID_HDL) - { - Ret = kEplSdoSeqInvalidHdl; - goto Exit; - } - - // get pointer to connection - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle_p]; - - // check size - if((pData_p == NULL)&& (pRecFrame_p == NULL) && (uiDataSize_p != 0)) - { - Ret = kEplSdoSeqInvalidFrame; - goto Exit; - } - - // check state - switch(pAsySdoSeqCon->m_SdoState) - { - // idle state - case kEplAsySdoStateIdle: - { - // check event - switch(Event_p) - { - // new connection - // -> send init frame and change to - // kEplAsySdoStateInit1 - case kAsySdoSeqEventInitCon: - { - // set sending scon to 1 - pAsySdoSeqCon->m_bRecSeqNum = 0x01; - // set set send rcon to 0 - pAsySdoSeqCon->m_bSendSeqNum = 0x00; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - - // change state - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit1; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - break; - } - - // init con from extern - // check rcon and scon - // -> send answer - case kAsySdoSeqEventFrameRec: - { + Ret = kEplSuccessful; + + // get handle for hinger layer + SdoSeqConHdl = uiHandle_p | EPL_SDO_ASY_HANDLE; + + // check if handle invalid + if ((SdoSeqConHdl & ~EPL_SDO_SEQ_HANDLE_MASK) == + EPL_SDO_SEQ_INVALID_HDL) { + Ret = kEplSdoSeqInvalidHdl; + goto Exit; + } + // get pointer to connection + pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiHandle_p]; + + // check size + if ((pData_p == NULL) && (pRecFrame_p == NULL) && (uiDataSize_p != 0)) { + Ret = kEplSdoSeqInvalidFrame; + goto Exit; + } + // check state + switch (pAsySdoSeqCon->m_SdoState) { + // idle state + case kEplAsySdoStateIdle: + { + // check event + switch (Event_p) { + // new connection + // -> send init frame and change to + // kEplAsySdoStateInit1 + case kAsySdoSeqEventInitCon: + { + // set sending scon to 1 + pAsySdoSeqCon->m_bRecSeqNum = 0x01; + // set set send rcon to 0 + pAsySdoSeqCon->m_bSendSeqNum = 0x00; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // change state + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateInit1; + + // set timer + Ret = + EplSdoAsySeqSetTimer(pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + + break; + } + + // init con from extern + // check rcon and scon + // -> send answer + case kAsySdoSeqEventFrameRec: + { /* PRINTF3("%s scon=%u rcon=%u\n", __FUNCTION__, pRecFrame_p->m_le_bSendSeqNumCon, pRecFrame_p->m_le_bRecSeqNumCon); */ - // check if scon == 1 and rcon == 0 - if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x00) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)) - { - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // create answer and send answer - // set rcon to 1 (in send direction own scon) - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // change state to kEplAsySdoStateInit2 - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit2; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - } - else - { // error -> close - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00) - || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) - { // d.k. only answer with close message if the message sent was not a close message - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - } - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - } - break; - } - - default: - // d.k. do nothing - break; - - }// end of switch(Event_p) - break; - } - - // init connection step 1 - // wait for frame with scon = 1 - // and rcon = 1 - case kEplAsySdoStateInit1: - { + // check if scon == 1 and rcon == 0 + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == 0x00) + && + ((pRecFrame_p-> + m_le_bSendSeqNumCon & + EPL_ASY_SDO_CON_MASK) == 0x01)) { + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // create answer and send answer + // set rcon to 1 (in send direction own scon) + pAsySdoSeqCon->m_bRecSeqNum++; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // change state to kEplAsySdoStateInit2 + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateInit2; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + } else { // error -> close + // delete timer + EplTimeruDeleteTimer + (&pAsySdoSeqCon-> + m_EplTimerHdl); + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) != + 0x00) + || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) { // d.k. only answer with close message if the message sent was not a close message + // save sequence numbers + pAsySdoSeqCon-> + m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon-> + m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // set rcon and scon to 0 + pAsySdoSeqCon-> + m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon-> + m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, + NULL, FALSE); + } + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateInitError); + } + break; + } + + default: + // d.k. do nothing + break; + + } // end of switch(Event_p) + break; + } + + // init connection step 1 + // wait for frame with scon = 1 + // and rcon = 1 + case kEplAsySdoStateInit1: + { // PRINTF0("EplSdoAsySequ: StateInit1\n"); - // check event - switch(Event_p) - { - // frame received - case kAsySdoSeqEventFrameRec: - { - // check scon == 1 and rcon == 1 - if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)) - { // create answer own scon = 2 - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // change state to kEplAsySdoStateInit3 - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit3; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - } - // check if scon == 1 and rcon == 0, i.e. other side wants me to be server - else if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x00) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)) - { - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // create answer and send answer - // set rcon to 1 (in send direction own scon) - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // change state to kEplAsySdoStateInit2 - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit2; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - } - else - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00) - || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) - { // d.k. only answer with close message if the message sent was not a close message - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - } - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - } - break; - } - - // timeout - case kAsySdoSeqEventTimeout: - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - break; - } - - default: - // d.k. do nothing - break; - - }// end of switch(Event_p) - break; - } - - // init connection step 2 - case kEplAsySdoStateInit2: - { + // check event + switch (Event_p) { + // frame received + case kAsySdoSeqEventFrameRec: + { + // check scon == 1 and rcon == 1 + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == 0x01) + && ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)) { // create answer own scon = 2 + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + + pAsySdoSeqCon->m_bRecSeqNum++; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // change state to kEplAsySdoStateInit3 + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateInit3; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + + } + // check if scon == 1 and rcon == 0, i.e. other side wants me to be server + else if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == + 0x00) + && + ((pRecFrame_p-> + m_le_bSendSeqNumCon & + EPL_ASY_SDO_CON_MASK) == + 0x01)) { + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // create answer and send answer + // set rcon to 1 (in send direction own scon) + pAsySdoSeqCon->m_bRecSeqNum++; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // change state to kEplAsySdoStateInit2 + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateInit2; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + } else { // error -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // delete timer + EplTimeruDeleteTimer + (&pAsySdoSeqCon-> + m_EplTimerHdl); + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) != + 0x00) + || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) { // d.k. only answer with close message if the message sent was not a close message + // save sequence numbers + pAsySdoSeqCon-> + m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon-> + m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + + // set rcon and scon to 0 + pAsySdoSeqCon-> + m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon-> + m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, + NULL, FALSE); + } + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateInitError); + } + break; + } + + // timeout + case kAsySdoSeqEventTimeout: + { // error -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + + // set rcon and scon to 0 + pAsySdoSeqCon->m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon->m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern(pAsySdoSeqCon, + 0, NULL, FALSE); + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb(SdoSeqConHdl, + kAsySdoConStateInitError); + break; + } + + default: + // d.k. do nothing + break; + + } // end of switch(Event_p) + break; + } + + // init connection step 2 + case kEplAsySdoStateInit2: + { // PRINTF0("EplSdoAsySequ: StateInit2\n"); - // check event - switch(Event_p) - { - // frame received - case kAsySdoSeqEventFrameRec: - { - // check scon == 2 and rcon == 1 - if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02)) - { // create answer own rcon = 2 - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // change state to kEplAsySdoStateConnected - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateConnected); - - } - // check scon == 1 and rcon == 1, i.e. other side wants me to initiate the connection - else if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01)) - { - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // create answer and send answer - // set rcon to 1 (in send direction own scon) - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - // change state to kEplAsySdoStateInit3 - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateInit3; - - } - else - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00) - || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) - { // d.k. only answer with close message if the message sent was not a close message - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - } - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - } - break; - } - - // timeout - case kAsySdoSeqEventTimeout: - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - break; - } - - default: - // d.k. do nothing - break; - - }// end of switch(Event_p) - break; - } - - // init connection step 3 - case kEplAsySdoStateInit3: - { - // check event - switch(Event_p) - { - // frame received - case kAsySdoSeqEventFrameRec: - { - // check scon == 2 and rcon == 2 - if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02)) - { - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // change state to kEplAsySdoStateConnected - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateConnected); - - } - // check scon == 2 and rcon == 1 - else if(((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x01) - &&((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02)) - { // create answer own rcon = 2 - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - - pAsySdoSeqCon->m_bRecSeqNum++; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // change state to kEplAsySdoStateConnected - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateConnected); - - } - else - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - if (((pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00) - || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) - { // d.k. only answer with close message if the message sent was not a close message - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - } - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - } - break; - } - - // timeout - case kAsySdoSeqEventTimeout: - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateInitError); - break; - } - - default: - // d.k. do nothing - break; - - }// end of switch(Event_p) - break; - } - - // connection established - case kEplAsySdoStateConnected: - { - // check event - switch(Event_p) - { - - // frame to send - case kAsySdoSeqEventFrameSend: - { - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - // check if data frame or ack - if(pData_p == NULL) - { // send ack - // inc scon - //pAsySdoSeqCon->m_bRecSeqNum += 4; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - } - else - { // send dataframe - // increment send sequence number - pAsySdoSeqCon->m_bRecSeqNum += 4; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - uiDataSize_p, - pData_p, - TRUE); - if(Ret == kEplSdoSeqRequestAckNeeded) - { // request ack - // change state to wait ack - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateWaitAck; - // set Ret to kEplSuccessful, because no error - // for higher layer - Ret = kEplSuccessful; - - } - else if(Ret != kEplSuccessful) - { - goto Exit; - } - else - { - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateFrameSended); - } - } - break; - }// end of case kAsySdoSeqEventFrameSend - - // frame received - case kAsySdoSeqEventFrameRec: - { - BYTE bSendSeqNumCon = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - // check scon - switch (bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) - { - // close from other node - case 0: - case 1: - { - // return to idle - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateConClosed); - - break; - } - - // Request Ack or Error Ack - // possible contain data - case 3: - // normal frame - case 2: - { - if ((AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon) & EPL_ASY_SDO_CON_MASK) == 3) - { + // check event + switch (Event_p) { + // frame received + case kAsySdoSeqEventFrameRec: + { + // check scon == 2 and rcon == 1 + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == 0x01) + && ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02)) { // create answer own rcon = 2 + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + + pAsySdoSeqCon->m_bRecSeqNum++; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // change state to kEplAsySdoStateConnected + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateConnected; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateConnected); + + } + // check scon == 1 and rcon == 1, i.e. other side wants me to initiate the connection + else if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == + 0x01) + && + ((pRecFrame_p-> + m_le_bSendSeqNumCon & + EPL_ASY_SDO_CON_MASK) == + 0x01)) { + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // create answer and send answer + // set rcon to 1 (in send direction own scon) + pAsySdoSeqCon->m_bRecSeqNum++; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + // change state to kEplAsySdoStateInit3 + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateInit3; + + } else { // error -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // delete timer + EplTimeruDeleteTimer + (&pAsySdoSeqCon-> + m_EplTimerHdl); + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) != + 0x00) + || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) { // d.k. only answer with close message if the message sent was not a close message + // save sequence numbers + pAsySdoSeqCon-> + m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon-> + m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // set rcon and scon to 0 + pAsySdoSeqCon-> + m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon-> + m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, + NULL, FALSE); + } + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateInitError); + } + break; + } + + // timeout + case kAsySdoSeqEventTimeout: + { // error -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // set rcon and scon to 0 + pAsySdoSeqCon->m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon->m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern(pAsySdoSeqCon, + 0, NULL, FALSE); + + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb(SdoSeqConHdl, + kAsySdoConStateInitError); + break; + } + + default: + // d.k. do nothing + break; + + } // end of switch(Event_p) + break; + } + + // init connection step 3 + case kEplAsySdoStateInit3: + { + // check event + switch (Event_p) { + // frame received + case kAsySdoSeqEventFrameRec: + { + // check scon == 2 and rcon == 2 + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == 0x02) + && + ((pRecFrame_p-> + m_le_bSendSeqNumCon & + EPL_ASY_SDO_CON_MASK) == 0x02)) { + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // change state to kEplAsySdoStateConnected + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateConnected; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateConnected); + + } + // check scon == 2 and rcon == 1 + else if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) == + 0x01) + && ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 0x02)) { // create answer own rcon = 2 + // save sequence numbers + pAsySdoSeqCon->m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon->m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + + pAsySdoSeqCon->m_bRecSeqNum++; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + // change state to kEplAsySdoStateConnected + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateConnected; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateConnected); + + } else { // error -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // delete timer + EplTimeruDeleteTimer + (&pAsySdoSeqCon-> + m_EplTimerHdl); + if (((pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) != + 0x00) + || ((pRecFrame_p->m_le_bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) != 0x00)) { // d.k. only answer with close message if the message sent was not a close message + // save sequence numbers + pAsySdoSeqCon-> + m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon-> + m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + // set rcon and scon to 0 + pAsySdoSeqCon-> + m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon-> + m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, + NULL, FALSE); + } + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateInitError); + } + break; + } + + // timeout + case kAsySdoSeqEventTimeout: + { // error -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // set rcon and scon to 0 + pAsySdoSeqCon->m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon->m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern(pAsySdoSeqCon, + 0, NULL, FALSE); + + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb(SdoSeqConHdl, + kAsySdoConStateInitError); + break; + } + + default: + // d.k. do nothing + break; + + } // end of switch(Event_p) + break; + } + + // connection established + case kEplAsySdoStateConnected: + { + // check event + switch (Event_p) { + + // frame to send + case kAsySdoSeqEventFrameSend: + { + // set timer + Ret = + EplSdoAsySeqSetTimer(pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + // check if data frame or ack + if (pData_p == NULL) { // send ack + // inc scon + //pAsySdoSeqCon->m_bRecSeqNum += 4; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + if (Ret != kEplSuccessful) { + goto Exit; + } + } else { // send dataframe + // increment send sequence number + pAsySdoSeqCon->m_bRecSeqNum += + 4; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, + uiDataSize_p, pData_p, + TRUE); + if (Ret == kEplSdoSeqRequestAckNeeded) { // request ack + // change state to wait ack + pAsySdoSeqCon-> + m_SdoState = + kEplAsySdoStateWaitAck; + // set Ret to kEplSuccessful, because no error + // for higher layer + Ret = kEplSuccessful; + + } else if (Ret != + kEplSuccessful) { + goto Exit; + } else { + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateFrameSended); + } + } + break; + } // end of case kAsySdoSeqEventFrameSend + + // frame received + case kAsySdoSeqEventFrameRec: + { + BYTE bSendSeqNumCon = + AmiGetByteFromLe(&pRecFrame_p-> + m_le_bSendSeqNumCon); + + // set timer + Ret = + EplSdoAsySeqSetTimer(pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + // check scon + switch (bSendSeqNumCon & + EPL_ASY_SDO_CON_MASK) { + // close from other node + case 0: + case 1: + { + // return to idle + pAsySdoSeqCon-> + m_SdoState = + kEplAsySdoStateIdle; + // delete timer + EplTimeruDeleteTimer + (&pAsySdoSeqCon-> + m_EplTimerHdl); + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateConClosed); + + break; + } + + // Request Ack or Error Ack + // possible contain data + case 3: + // normal frame + case 2: + { + if ((AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon) + & + EPL_ASY_SDO_CON_MASK) + == 3) { // PRINTF0("EplSdoAsySequ: error response received\n"); - // error response (retransmission request) - // resend frames from history - - // read frame from history - Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon, - &pEplFrame, - &uiFrameSize, - TRUE); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - while ((pEplFrame != NULL) - && (uiFrameSize != 0)) - { - // send frame - Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon, - uiFrameSize, - pEplFrame); - if(Ret != kEplSuccessful) - { - goto Exit; - } - - // read next frame from history - Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon, - &pEplFrame, - &uiFrameSize, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - } // end of while((pabFrame != NULL) - } // end of if (error response) - - if (((pAsySdoSeqCon->m_bSendSeqNum + 4) & EPL_SEQ_NUM_MASK) == (bSendSeqNumCon & EPL_SEQ_NUM_MASK)) - { // next frame of sequence received - // save send sequence number (without ack request) - pAsySdoSeqCon->m_bSendSeqNum = bSendSeqNumCon & ~0x01; - - // check if ack or data-frame - //ignore ack -> already processed - if(uiDataSize_p > EPL_SEQ_HEADER_SIZE) - { - AsySdoSequInstance_g.m_fpSdoComReceiveCb( - SdoSeqConHdl, - ((tEplAsySdoCom*) &pRecFrame_p->m_le_abSdoSeqPayload), - (uiDataSize_p - EPL_SEQ_HEADER_SIZE)); - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateFrameSended); - - - } - else - { - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateAckReceived); - } - } - else if (((bSendSeqNumCon - pAsySdoSeqCon->m_bSendSeqNum - 4) & EPL_SEQ_NUM_MASK) < EPL_SEQ_NUM_THRESHOLD) - { // frame of sequence was lost, - // because difference of received and old value - // is less then halve of the values range. - - // send error frame with own rcon = 3 - pAsySdoSeqCon->m_bSendSeqNum |= 0x03; - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - // restore send sequence number - pAsySdoSeqCon->m_bSendSeqNum = (pAsySdoSeqCon->m_bSendSeqNum & EPL_SEQ_NUM_MASK) | 0x02; - if(Ret != kEplSuccessful) - { - goto Exit; - } - - // break here, because a requested acknowledge - // was sent implicitly above - break; - } - // else, ignore repeated frame - - if ((bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 3) - { // ack request received - - // create ack with own scon = 2 - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - } - - break; - } - - } // switch(pAsySdoSeqCon->m_bSendSeqNum & EPL_ASY_SDO_CON_MASK) - break; - } // end of case kAsySdoSeqEventFrameRec: - - - //close event from higher layer - case kAsySdoSeqEventCloseCon: - { - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - // call Command Layer Cb is not necessary, because the event came from there + // error response (retransmission request) + // resend frames from history + + // read frame from history + Ret = + EplSdoAsyReadFromHistory + (pAsySdoSeqCon, + &pEplFrame, + &uiFrameSize, + TRUE); + if (Ret != + kEplSuccessful) + { + goto Exit; + } + + while ((pEplFrame != NULL) + && + (uiFrameSize + != 0)) { + // send frame + Ret = + EplSdoAsySeqSendLowerLayer + (pAsySdoSeqCon, + uiFrameSize, + pEplFrame); + if (Ret + != + kEplSuccessful) + { + goto Exit; + } + // read next frame from history + Ret = + EplSdoAsyReadFromHistory + (pAsySdoSeqCon, + &pEplFrame, + &uiFrameSize, + FALSE); + if (Ret + != + kEplSuccessful) + { + goto Exit; + } + } // end of while((pabFrame != NULL) + } // end of if (error response) + + if (((pAsySdoSeqCon->m_bSendSeqNum + 4) & EPL_SEQ_NUM_MASK) == (bSendSeqNumCon & EPL_SEQ_NUM_MASK)) { // next frame of sequence received + // save send sequence number (without ack request) + pAsySdoSeqCon-> + m_bSendSeqNum + = + bSendSeqNumCon + & ~0x01; + + // check if ack or data-frame + //ignore ack -> already processed + if (uiDataSize_p + > + EPL_SEQ_HEADER_SIZE) + { + AsySdoSequInstance_g. + m_fpSdoComReceiveCb + (SdoSeqConHdl, + ((tEplAsySdoCom *) & pRecFrame_p->m_le_abSdoSeqPayload), (uiDataSize_p - EPL_SEQ_HEADER_SIZE)); + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateFrameSended); + + } else { + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateAckReceived); + } + } else if (((bSendSeqNumCon - pAsySdoSeqCon->m_bSendSeqNum - 4) & EPL_SEQ_NUM_MASK) < EPL_SEQ_NUM_THRESHOLD) { // frame of sequence was lost, + // because difference of received and old value + // is less then halve of the values range. + + // send error frame with own rcon = 3 + pAsySdoSeqCon-> + m_bSendSeqNum + |= 0x03; + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, + 0, NULL, + FALSE); + // restore send sequence number + pAsySdoSeqCon-> + m_bSendSeqNum + = + (pAsySdoSeqCon-> + m_bSendSeqNum + & + EPL_SEQ_NUM_MASK) + | 0x02; + if (Ret != + kEplSuccessful) + { + goto Exit; + } + // break here, because a requested acknowledge + // was sent implicitly above + break; + } + // else, ignore repeated frame + + if ((bSendSeqNumCon & EPL_ASY_SDO_CON_MASK) == 3) { // ack request received + + // create ack with own scon = 2 + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, + 0, NULL, + FALSE); + if (Ret != + kEplSuccessful) + { + goto Exit; + } + } + + break; + } + + } // switch(pAsySdoSeqCon->m_bSendSeqNum & EPL_ASY_SDO_CON_MASK) + break; + } // end of case kAsySdoSeqEventFrameRec: + + //close event from higher layer + case kAsySdoSeqEventCloseCon: + { + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // set rcon and scon to 0 + pAsySdoSeqCon->m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon->m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern(pAsySdoSeqCon, + 0, NULL, FALSE); + + // delete timer + EplTimeruDeleteTimer(&pAsySdoSeqCon-> + m_EplTimerHdl); + // call Command Layer Cb is not necessary, because the event came from there // AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, // kAsySdoConStateInitError); - break; - } - - // timeout - case kAsySdoSeqEventTimeout: - { - - uiFreeEntries = EplSdoAsyGetFreeEntriesFromHistory(pAsySdoSeqCon); - if ((uiFreeEntries < EPL_SDO_HISTORY_SIZE) - && (pAsySdoSeqCon->m_uiRetryCount < EPL_SEQ_RETRY_COUNT)) - { // unacknowlegded frames in history - // and retry counter not exceeded - - // resend data with acknowledge request - - // increment retry counter - pAsySdoSeqCon->m_uiRetryCount++; - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - // read first frame from history - Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon, - &pEplFrame, - &uiFrameSize, - TRUE); - if (Ret != kEplSuccessful) - { - goto Exit; - } - - if ((pEplFrame != NULL) - && (uiFrameSize != 0)) - { - - // set ack request in scon - AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon, - AmiGetByteFromLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon) | 0x03); - - // send frame - Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon, - uiFrameSize, - pEplFrame); - if(Ret != kEplSuccessful) - { - goto Exit; - } - - } - } - else - { - // timeout, because of no traffic -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateTimeout); - } - - break; - } - - default: - // d.k. do nothing - break; - - }// end of switch(Event_p) - break; - } - - // wait for Acknowledge (history buffer full) - case kEplAsySdoStateWaitAck: - { - PRINTF0("EplSdoAsySequ: StateWaitAck\n"); - - // set timer - Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, - EPL_SEQ_DEFAULT_TIMEOUT); - - //TODO: retry of acknowledge - if(Event_p == kAsySdoSeqEventFrameRec) - { - // check rcon - switch(pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) - { - // close-frome other node - case 0: - { - // return to idle - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // delete timer - EplTimeruDeleteTimer(&pAsySdoSeqCon->m_EplTimerHdl); - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateConClosed); - - break; - } - - // normal frame - case 2: - { - // should be ack - // -> change to state kEplAsySdoStateConnected - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected; - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateAckReceived); - // send data to higher layer if needed - if(uiDataSize_p > EPL_SEQ_HEADER_SIZE) - { - AsySdoSequInstance_g.m_fpSdoComReceiveCb( - SdoSeqConHdl, - ((tEplAsySdoCom*) &pRecFrame_p->m_le_abSdoSeqPayload), - (uiDataSize_p - EPL_SEQ_HEADER_SIZE)); - } - break; - } - - // Request Ack or Error Ack - case 3: - { - // -> change to state kEplAsySdoStateConnected - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateConnected; - - if(pRecFrame_p->m_le_bRecSeqNumCon == pAsySdoSeqCon->m_bRecSeqNum ) - { // ack request - // -> send ack - // save sequence numbers - pAsySdoSeqCon->m_bRecSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bRecSeqNumCon); - pAsySdoSeqCon->m_bSendSeqNum = AmiGetByteFromLe(&pRecFrame_p->m_le_bSendSeqNumCon); - - // create answer own rcon = 2 - pAsySdoSeqCon->m_bRecSeqNum--; - - // check if ack or data-frame - if(uiDataSize_p > EPL_SEQ_HEADER_SIZE) - { - AsySdoSequInstance_g.m_fpSdoComReceiveCb( - SdoSeqConHdl, - ((tEplAsySdoCom*) &pRecFrame_p->m_le_abSdoSeqPayload), - (uiDataSize_p - EPL_SEQ_HEADER_SIZE)); - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateFrameSended); - - - } - else - { - Ret = EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - if(Ret != kEplSuccessful) - { - goto Exit; - } - } - - } - else - { - // error ack - // resend frames from history - - // read frame from history - Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon, - &pEplFrame, - &uiFrameSize, - TRUE); - while ((pEplFrame != NULL) - && (uiFrameSize != 0)) - { - // send frame - Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon, - uiFrameSize, - pEplFrame); - if(Ret != kEplSuccessful) - { - goto Exit; - } - // read next frame - - // read frame from history - Ret = EplSdoAsyReadFromHistory(pAsySdoSeqCon, - &pEplFrame, - &uiFrameSize, - FALSE); - } // end of while((pabFrame != NULL) - } - break; - } - }// end of switch(pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) - - } - else if(Event_p == kAsySdoSeqEventTimeout) - { // error -> Close - pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; - // set rcon and scon to 0 - pAsySdoSeqCon->m_bSendSeqNum &= EPL_SEQ_NUM_MASK; - pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; - // send frame - EplSdoAsySeqSendIntern(pAsySdoSeqCon, - 0, - NULL, - FALSE); - - // call Command Layer Cb - AsySdoSequInstance_g.m_fpSdoComConCb(SdoSeqConHdl, - kAsySdoConStateTimeout); - } - - break; - } - - // unknown state - default: - { - EPL_DBGLVL_SDO_TRACE0("Error: Unknown State in EplSdoAsySeqProcess\n"); - - } - }// end of switch(pAsySdoSeqCon->m_SdoState) - - - -Exit: + break; + } + + // timeout + case kAsySdoSeqEventTimeout: + { + + uiFreeEntries = + EplSdoAsyGetFreeEntriesFromHistory + (pAsySdoSeqCon); + if ((uiFreeEntries < + EPL_SDO_HISTORY_SIZE) + && (pAsySdoSeqCon->m_uiRetryCount < EPL_SEQ_RETRY_COUNT)) { // unacknowlegded frames in history + // and retry counter not exceeded + + // resend data with acknowledge request + + // increment retry counter + pAsySdoSeqCon->m_uiRetryCount++; + + // set timer + Ret = + EplSdoAsySeqSetTimer + (pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + + // read first frame from history + Ret = + EplSdoAsyReadFromHistory + (pAsySdoSeqCon, &pEplFrame, + &uiFrameSize, TRUE); + if (Ret != kEplSuccessful) { + goto Exit; + } + + if ((pEplFrame != NULL) + && (uiFrameSize != 0)) { + + // set ack request in scon + AmiSetByteToLe + (&pEplFrame->m_Data. + m_Asnd.m_Payload. + m_SdoSequenceFrame. + m_le_bSendSeqNumCon, + AmiGetByteFromLe + (&pEplFrame-> + m_Data.m_Asnd. + m_Payload. + m_SdoSequenceFrame. + m_le_bSendSeqNumCon) + | 0x03); + + // send frame + Ret = + EplSdoAsySeqSendLowerLayer + (pAsySdoSeqCon, + uiFrameSize, + pEplFrame); + if (Ret != + kEplSuccessful) { + goto Exit; + } + + } + } else { + // timeout, because of no traffic -> Close + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // set rcon and scon to 0 + pAsySdoSeqCon->m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon->m_bRecSeqNum &= + EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, 0, NULL, + FALSE); + + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateTimeout); + } + + break; + } + + default: + // d.k. do nothing + break; + + } // end of switch(Event_p) + break; + } + + // wait for Acknowledge (history buffer full) + case kEplAsySdoStateWaitAck: + { + PRINTF0("EplSdoAsySequ: StateWaitAck\n"); + + // set timer + Ret = EplSdoAsySeqSetTimer(pAsySdoSeqCon, + EPL_SEQ_DEFAULT_TIMEOUT); + + //TODO: retry of acknowledge + if (Event_p == kAsySdoSeqEventFrameRec) { + // check rcon + switch (pRecFrame_p-> + m_le_bRecSeqNumCon & + EPL_ASY_SDO_CON_MASK) { + // close-frome other node + case 0: + { + // return to idle + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateIdle; + // delete timer + EplTimeruDeleteTimer + (&pAsySdoSeqCon-> + m_EplTimerHdl); + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateConClosed); + + break; + } + + // normal frame + case 2: + { + // should be ack + // -> change to state kEplAsySdoStateConnected + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateConnected; + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateAckReceived); + // send data to higher layer if needed + if (uiDataSize_p > + EPL_SEQ_HEADER_SIZE) { + AsySdoSequInstance_g. + m_fpSdoComReceiveCb + (SdoSeqConHdl, + ((tEplAsySdoCom *) + & pRecFrame_p-> + m_le_abSdoSeqPayload), + (uiDataSize_p - + EPL_SEQ_HEADER_SIZE)); + } + break; + } + + // Request Ack or Error Ack + case 3: + { + // -> change to state kEplAsySdoStateConnected + pAsySdoSeqCon->m_SdoState = + kEplAsySdoStateConnected; + + if (pRecFrame_p->m_le_bRecSeqNumCon == pAsySdoSeqCon->m_bRecSeqNum) { // ack request + // -> send ack + // save sequence numbers + pAsySdoSeqCon-> + m_bRecSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bRecSeqNumCon); + pAsySdoSeqCon-> + m_bSendSeqNum = + AmiGetByteFromLe + (&pRecFrame_p-> + m_le_bSendSeqNumCon); + + // create answer own rcon = 2 + pAsySdoSeqCon-> + m_bRecSeqNum--; + + // check if ack or data-frame + if (uiDataSize_p > + EPL_SEQ_HEADER_SIZE) + { + AsySdoSequInstance_g. + m_fpSdoComReceiveCb + (SdoSeqConHdl, + ((tEplAsySdoCom *) & pRecFrame_p->m_le_abSdoSeqPayload), (uiDataSize_p - EPL_SEQ_HEADER_SIZE)); + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb + (SdoSeqConHdl, + kAsySdoConStateFrameSended); + + } else { + Ret = + EplSdoAsySeqSendIntern + (pAsySdoSeqCon, + 0, NULL, + FALSE); + if (Ret != + kEplSuccessful) + { + goto Exit; + } + } + + } else { + // error ack + // resend frames from history + + // read frame from history + Ret = + EplSdoAsyReadFromHistory + (pAsySdoSeqCon, + &pEplFrame, + &uiFrameSize, + TRUE); + while ((pEplFrame != + NULL) + && (uiFrameSize + != 0)) { + // send frame + Ret = + EplSdoAsySeqSendLowerLayer + (pAsySdoSeqCon, + uiFrameSize, + pEplFrame); + if (Ret != + kEplSuccessful) + { + goto Exit; + } + // read next frame + + // read frame from history + Ret = + EplSdoAsyReadFromHistory + (pAsySdoSeqCon, + &pEplFrame, + &uiFrameSize, + FALSE); + } // end of while((pabFrame != NULL) + } + break; + } + } // end of switch(pRecFrame_p->m_le_bRecSeqNumCon & EPL_ASY_SDO_CON_MASK) + + } else if (Event_p == kAsySdoSeqEventTimeout) { // error -> Close + pAsySdoSeqCon->m_SdoState = kEplAsySdoStateIdle; + // set rcon and scon to 0 + pAsySdoSeqCon->m_bSendSeqNum &= + EPL_SEQ_NUM_MASK; + pAsySdoSeqCon->m_bRecSeqNum &= EPL_SEQ_NUM_MASK; + // send frame + EplSdoAsySeqSendIntern(pAsySdoSeqCon, + 0, NULL, FALSE); + + // call Command Layer Cb + AsySdoSequInstance_g. + m_fpSdoComConCb(SdoSeqConHdl, + kAsySdoConStateTimeout); + } + + break; + } + + // unknown state + default: + { + EPL_DBGLVL_SDO_TRACE0 + ("Error: Unknown State in EplSdoAsySeqProcess\n"); + + } + } // end of switch(pAsySdoSeqCon->m_SdoState) + + Exit: #if defined(WIN32) || defined(_WIN32) - // leave critical section for process function - LeaveCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); + // leave critical section for process function + LeaveCriticalSection(AsySdoSequInstance_g.m_pCriticalSection); #endif - return Ret; + return Ret; } @@ -1847,77 +2010,67 @@ Exit: // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - unsigned int uiDataSize_p, - tEplFrame* pData_p, - BOOL fFrameInHistory_p) +static tEplKernel EplSdoAsySeqSendIntern(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + unsigned int uiDataSize_p, + tEplFrame * pData_p, + BOOL fFrameInHistory_p) { -tEplKernel Ret; -BYTE abFrame[EPL_SEQ_FRAME_SIZE]; -tEplFrame* pEplFrame; -unsigned int uiFreeEntries; - - if(pData_p == NULL) - { // set pointer to own frame - EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame)); - pEplFrame = (tEplFrame*)&abFrame[0]; - } - else - { // set pointer to frame from calling function - pEplFrame = pData_p; - } - - if(fFrameInHistory_p != FALSE) - { - // check if only one free entry in history buffer - uiFreeEntries = EplSdoAsyGetFreeEntriesFromHistory(pAsySdoSeqCon_p); - if(uiFreeEntries == 1) - { // request an acknowledge in dataframe - // own scon = 3 - pAsySdoSeqCon_p->m_bRecSeqNum |= 0x03; - } - } - - // fillin header informations - // set service id sdo - AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_le_bServiceId, 0x05); - AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_abReserved,0x00); - // set receive sequence number and rcon - AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bRecSeqNumCon, pAsySdoSeqCon_p->m_bSendSeqNum); - // set send sequence number and scon - AmiSetByteToLe( &pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon, pAsySdoSeqCon_p->m_bRecSeqNum); - - // add size - uiDataSize_p += EPL_SEQ_HEADER_SIZE; - - - // forward frame to appropriate lower layer - Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon_p, - uiDataSize_p, - pEplFrame); // pointer to frame - - // check if all allright - if ((Ret == kEplSuccessful) - && (fFrameInHistory_p != FALSE)) - { - // set own scon to 2 if needed - if((pAsySdoSeqCon_p->m_bRecSeqNum & 0x03) == 0x03) - { - pAsySdoSeqCon_p->m_bRecSeqNum--; - } - - // save frame to history - Ret = EplSdoAsyAddFrameToHistory(pAsySdoSeqCon_p, - pEplFrame, - uiDataSize_p); - if (Ret == kEplSdoSeqNoFreeHistory) - { // request Ack needed - Ret = kEplSdoSeqRequestAckNeeded; - } - - } - - return Ret; + tEplKernel Ret; + BYTE abFrame[EPL_SEQ_FRAME_SIZE]; + tEplFrame *pEplFrame; + unsigned int uiFreeEntries; + + if (pData_p == NULL) { // set pointer to own frame + EPL_MEMSET(&abFrame[0], 0x00, sizeof(abFrame)); + pEplFrame = (tEplFrame *) & abFrame[0]; + } else { // set pointer to frame from calling function + pEplFrame = pData_p; + } + + if (fFrameInHistory_p != FALSE) { + // check if only one free entry in history buffer + uiFreeEntries = + EplSdoAsyGetFreeEntriesFromHistory(pAsySdoSeqCon_p); + if (uiFreeEntries == 1) { // request an acknowledge in dataframe + // own scon = 3 + pAsySdoSeqCon_p->m_bRecSeqNum |= 0x03; + } + } + // fillin header informations + // set service id sdo + AmiSetByteToLe(&pEplFrame->m_Data.m_Asnd.m_le_bServiceId, 0x05); + AmiSetByteToLe(&pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame. + m_le_abReserved, 0x00); + // set receive sequence number and rcon + AmiSetByteToLe(&pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame. + m_le_bRecSeqNumCon, pAsySdoSeqCon_p->m_bSendSeqNum); + // set send sequence number and scon + AmiSetByteToLe(&pEplFrame->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame. + m_le_bSendSeqNumCon, pAsySdoSeqCon_p->m_bRecSeqNum); + + // add size + uiDataSize_p += EPL_SEQ_HEADER_SIZE; + + // forward frame to appropriate lower layer + Ret = EplSdoAsySeqSendLowerLayer(pAsySdoSeqCon_p, uiDataSize_p, pEplFrame); // pointer to frame + + // check if all allright + if ((Ret == kEplSuccessful) + && (fFrameInHistory_p != FALSE)) { + // set own scon to 2 if needed + if ((pAsySdoSeqCon_p->m_bRecSeqNum & 0x03) == 0x03) { + pAsySdoSeqCon_p->m_bRecSeqNum--; + } + // save frame to history + Ret = EplSdoAsyAddFrameToHistory(pAsySdoSeqCon_p, + pEplFrame, uiDataSize_p); + if (Ret == kEplSdoSeqNoFreeHistory) { // request Ack needed + Ret = kEplSdoSeqRequestAckNeeded; + } + + } + + return Ret; } //--------------------------------------------------------------------------- @@ -1937,41 +2090,34 @@ unsigned int uiFreeEntries; // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - unsigned int uiDataSize_p, - tEplFrame* pEplFrame_p) +static tEplKernel EplSdoAsySeqSendLowerLayer(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + unsigned int uiDataSize_p, + tEplFrame * pEplFrame_p) { -tEplKernel Ret; + tEplKernel Ret; - // call send-function - // check handle for UDP or Asnd - if ((pAsySdoSeqCon_p->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_UDP_HANDLE) - { // send over UDP + // call send-function + // check handle for UDP or Asnd + if ((pAsySdoSeqCon_p->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_UDP_HANDLE) { // send over UDP #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - Ret = EplSdoUdpuSendData(pAsySdoSeqCon_p->m_ConHandle, - pEplFrame_p, // pointer to frame - uiDataSize_p); + Ret = EplSdoUdpuSendData(pAsySdoSeqCon_p->m_ConHandle, pEplFrame_p, // pointer to frame + uiDataSize_p); #else - Ret = kEplSdoSeqUnsupportedProt; + Ret = kEplSdoSeqUnsupportedProt; #endif - } - else if ((pAsySdoSeqCon_p->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_ASND_HANDLE) - { // ASND + } else if ((pAsySdoSeqCon_p->m_ConHandle & EPL_SDO_ASY_HANDLE_MASK) == EPL_SDO_ASND_HANDLE) { // ASND #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_ASND)) != 0) - Ret = EplSdoAsnduSendData(pAsySdoSeqCon_p->m_ConHandle, - pEplFrame_p, // pointer to frame - uiDataSize_p); + Ret = EplSdoAsnduSendData(pAsySdoSeqCon_p->m_ConHandle, pEplFrame_p, // pointer to frame + uiDataSize_p); #else - Ret = kEplSdoSeqUnsupportedProt; + Ret = kEplSdoSeqUnsupportedProt; #endif - } - else - { // error - Ret = kEplSdoSeqInvalidHdl; - } + } else { // error + Ret = kEplSdoSeqInvalidHdl; + } - return Ret; + return Ret; } //--------------------------------------------------------------------------- @@ -1993,82 +2139,73 @@ tEplKernel Ret; // State: // //--------------------------------------------------------------------------- -tEplKernel PUBLIC EplSdoAsyReceiveCb ( - tEplSdoConHdl ConHdl_p, - tEplAsySdoSeq* pSdoSeqData_p, - unsigned int uiDataSize_p) +tEplKernel PUBLIC EplSdoAsyReceiveCb(tEplSdoConHdl ConHdl_p, + tEplAsySdoSeq * pSdoSeqData_p, + unsigned int uiDataSize_p) { -tEplKernel Ret; -unsigned int uiCount = 0; -unsigned int uiFreeEntry = EPL_MAX_SDO_SEQ_CON; -tEplAsySdoSeqCon* pAsySdoSeqCon; + tEplKernel Ret; + unsigned int uiCount = 0; + unsigned int uiFreeEntry = EPL_MAX_SDO_SEQ_CON; + tEplAsySdoSeqCon *pAsySdoSeqCon; #if defined(WIN32) || defined(_WIN32) - // enter critical section - EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive); + // enter critical section + EnterCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive); #endif - EPL_DBGLVL_SDO_TRACE2("Handle: 0x%x , First Databyte 0x%x\n", ConHdl_p,((BYTE*)pSdoSeqData_p)[0]); - - // search controll structure for this connection - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiCount]; - while (uiCount < EPL_MAX_SDO_SEQ_CON) - { - if (pAsySdoSeqCon->m_ConHandle == ConHdl_p) - { - break; - } - else if ((pAsySdoSeqCon->m_ConHandle == 0) - && (uiFreeEntry == EPL_MAX_SDO_SEQ_CON)) - { - // free entry - uiFreeEntry = uiCount; - } - uiCount++; - pAsySdoSeqCon++; - } - - if (uiCount == EPL_MAX_SDO_SEQ_CON) - { // new connection - if (uiFreeEntry == EPL_MAX_SDO_SEQ_CON) - { - Ret = kEplSdoSeqNoFreeHandle; - goto Exit; - } - else - { - pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiFreeEntry]; - // save handle from lower layer - pAsySdoSeqCon->m_ConHandle = ConHdl_p; - // increment use counter - pAsySdoSeqCon->m_uiUseCount++; - uiCount = uiFreeEntry ; - } - } - - // call history ack function - Ret = EplSdoAsyAckFrameToHistory(pAsySdoSeqCon, - (AmiGetByteFromLe(&pSdoSeqData_p->m_le_bRecSeqNumCon)& EPL_SEQ_NUM_MASK)); - if (Ret != kEplSuccessful) - { - goto Exit; - } - + EPL_DBGLVL_SDO_TRACE2("Handle: 0x%x , First Databyte 0x%x\n", ConHdl_p, + ((BYTE *) pSdoSeqData_p)[0]); + + // search controll structure for this connection + pAsySdoSeqCon = &AsySdoSequInstance_g.m_AsySdoConnection[uiCount]; + while (uiCount < EPL_MAX_SDO_SEQ_CON) { + if (pAsySdoSeqCon->m_ConHandle == ConHdl_p) { + break; + } else if ((pAsySdoSeqCon->m_ConHandle == 0) + && (uiFreeEntry == EPL_MAX_SDO_SEQ_CON)) { + // free entry + uiFreeEntry = uiCount; + } + uiCount++; + pAsySdoSeqCon++; + } + + if (uiCount == EPL_MAX_SDO_SEQ_CON) { // new connection + if (uiFreeEntry == EPL_MAX_SDO_SEQ_CON) { + Ret = kEplSdoSeqNoFreeHandle; + goto Exit; + } else { + pAsySdoSeqCon = + &AsySdoSequInstance_g. + m_AsySdoConnection[uiFreeEntry]; + // save handle from lower layer + pAsySdoSeqCon->m_ConHandle = ConHdl_p; + // increment use counter + pAsySdoSeqCon->m_uiUseCount++; + uiCount = uiFreeEntry; + } + } + // call history ack function + Ret = EplSdoAsyAckFrameToHistory(pAsySdoSeqCon, + (AmiGetByteFromLe + (&pSdoSeqData_p-> + m_le_bRecSeqNumCon) & + EPL_SEQ_NUM_MASK)); + if (Ret != kEplSuccessful) { + goto Exit; + } #if defined(WIN32) || defined(_WIN32) - // leave critical section - LeaveCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive); + // leave critical section + LeaveCriticalSection(AsySdoSequInstance_g.m_pCriticalSectionReceive); #endif - // call process function with pointer of frame and event kAsySdoSeqEventFrameRec - Ret = EplSdoAsySeqProcess(uiCount, - uiDataSize_p, - NULL, - pSdoSeqData_p, - kAsySdoSeqEventFrameRec); - + // call process function with pointer of frame and event kAsySdoSeqEventFrameRec + Ret = EplSdoAsySeqProcess(uiCount, + uiDataSize_p, + NULL, pSdoSeqData_p, kAsySdoSeqEventFrameRec); -Exit: - return Ret; + Exit: + return Ret; } //--------------------------------------------------------------------------- @@ -2090,20 +2227,19 @@ Exit: //--------------------------------------------------------------------------- static tEplKernel EplSdoAsyInitHistory(void) { -tEplKernel Ret; -unsigned int uiCount; + tEplKernel Ret; + unsigned int uiCount; - Ret = kEplSuccessful; - // init m_bFreeEntries in history-buffer - for(uiCount = 0; uiCount < EPL_MAX_SDO_SEQ_CON; uiCount++) - { - AsySdoSequInstance_g.m_AsySdoConnection[uiCount].m_SdoConHistory.m_bFreeEntries = EPL_SDO_HISTORY_SIZE; - } + Ret = kEplSuccessful; + // init m_bFreeEntries in history-buffer + for (uiCount = 0; uiCount < EPL_MAX_SDO_SEQ_CON; uiCount++) { + AsySdoSequInstance_g.m_AsySdoConnection[uiCount]. + m_SdoConHistory.m_bFreeEntries = EPL_SDO_HISTORY_SIZE; + } - return Ret; + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplSdoAsyAddFrameToHistory @@ -2124,61 +2260,55 @@ unsigned int uiCount; // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - tEplFrame* pFrame_p, - unsigned int uiSize_p) +static tEplKernel EplSdoAsyAddFrameToHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + tEplFrame * pFrame_p, + unsigned int uiSize_p) { -tEplKernel Ret; -tEplAsySdoConHistory* pHistory; - - Ret = kEplSuccessful; - - // add frame to history buffer - - // check size - // $$$ d.k. EPL_SEQ_HISTORY_FRAME_SIZE includes the header size, but uiSize_p does not!!! - if(uiSize_p > EPL_SEQ_HISTROY_FRAME_SIZE) - { - Ret = kEplSdoSeqFrameSizeError; - goto Exit; - } - - // save pointer to history - pHistory = &pAsySdoSeqCon_p->m_SdoConHistory; - - - // check if a free entry is available - if(pHistory->m_bFreeEntries > 0) - { // write message in free entry - EPL_MEMCPY(&((tEplFrame*)pHistory->m_aabHistoryFrame[pHistory->m_bWrite])->m_le_bMessageType, - &pFrame_p->m_le_bMessageType, - uiSize_p + EPL_ASND_HEADER_SIZE); - // store size - pHistory->m_auiFrameSize[pHistory->m_bWrite] = uiSize_p; - - // decremend number of free bufferentries - pHistory->m_bFreeEntries--; - - // increment writeindex - pHistory->m_bWrite++; - - // check if write-index run over array-boarder - if(pHistory->m_bWrite == EPL_SDO_HISTORY_SIZE) - { - pHistory->m_bWrite = 0; - } - - } - else - { // no free entry - Ret = kEplSdoSeqNoFreeHistory; - } - -Exit: - return Ret; + tEplKernel Ret; + tEplAsySdoConHistory *pHistory; + + Ret = kEplSuccessful; + + // add frame to history buffer + + // check size + // $$$ d.k. EPL_SEQ_HISTORY_FRAME_SIZE includes the header size, but uiSize_p does not!!! + if (uiSize_p > EPL_SEQ_HISTROY_FRAME_SIZE) { + Ret = kEplSdoSeqFrameSizeError; + goto Exit; + } + // save pointer to history + pHistory = &pAsySdoSeqCon_p->m_SdoConHistory; + + // check if a free entry is available + if (pHistory->m_bFreeEntries > 0) { // write message in free entry + EPL_MEMCPY(& + ((tEplFrame *) pHistory-> + m_aabHistoryFrame[pHistory->m_bWrite])-> + m_le_bMessageType, &pFrame_p->m_le_bMessageType, + uiSize_p + EPL_ASND_HEADER_SIZE); + // store size + pHistory->m_auiFrameSize[pHistory->m_bWrite] = uiSize_p; + + // decremend number of free bufferentries + pHistory->m_bFreeEntries--; + + // increment writeindex + pHistory->m_bWrite++; + + // check if write-index run over array-boarder + if (pHistory->m_bWrite == EPL_SDO_HISTORY_SIZE) { + pHistory->m_bWrite = 0; + } + + } else { // no free entry + Ret = kEplSdoSeqNoFreeHistory; + } + + Exit: + return Ret; } - //--------------------------------------------------------------------------- // // Function: EplSdoAsyAckFrameToHistory @@ -2197,56 +2327,56 @@ Exit: // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - BYTE bRecSeqNumber_p) +static tEplKernel EplSdoAsyAckFrameToHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + BYTE bRecSeqNumber_p) { -tEplKernel Ret; -tEplAsySdoConHistory* pHistory; -BYTE bAckIndex; -BYTE bCurrentSeqNum; - - Ret = kEplSuccessful; - - // get pointer to history buffer - pHistory = &pAsySdoSeqCon_p->m_SdoConHistory; - - // release all acknowledged frames from history buffer - - // check if there are entries in history - if (pHistory->m_bFreeEntries < EPL_SDO_HISTORY_SIZE) - { - bAckIndex = pHistory->m_bAck; - do - { - bCurrentSeqNum = (((tEplFrame*)pHistory->m_aabHistoryFrame[bAckIndex])->m_Data.m_Asnd.m_Payload.m_SdoSequenceFrame.m_le_bSendSeqNumCon & EPL_SEQ_NUM_MASK); - if (((bRecSeqNumber_p - bCurrentSeqNum) & EPL_SEQ_NUM_MASK) - < EPL_SEQ_NUM_THRESHOLD) - { - pHistory->m_auiFrameSize[bAckIndex] = 0; - bAckIndex++; - pHistory->m_bFreeEntries++; - if (bAckIndex == EPL_SDO_HISTORY_SIZE) - { // read index run over array-boarder - bAckIndex = 0; - } - } - else - { // nothing to do anymore, - // because any further frame in history has larger sequence - // number than the acknowledge - goto Exit; - } - } - while ((((bRecSeqNumber_p - 1 - bCurrentSeqNum) & EPL_SEQ_NUM_MASK) - < EPL_SEQ_NUM_THRESHOLD) - && (pHistory->m_bWrite != bAckIndex)); - - // store local read-index to global var - pHistory->m_bAck = bAckIndex; - } - -Exit: - return Ret; + tEplKernel Ret; + tEplAsySdoConHistory *pHistory; + BYTE bAckIndex; + BYTE bCurrentSeqNum; + + Ret = kEplSuccessful; + + // get pointer to history buffer + pHistory = &pAsySdoSeqCon_p->m_SdoConHistory; + + // release all acknowledged frames from history buffer + + // check if there are entries in history + if (pHistory->m_bFreeEntries < EPL_SDO_HISTORY_SIZE) { + bAckIndex = pHistory->m_bAck; + do { + bCurrentSeqNum = + (((tEplFrame *) pHistory-> + m_aabHistoryFrame[bAckIndex])->m_Data.m_Asnd. + m_Payload.m_SdoSequenceFrame. + m_le_bSendSeqNumCon & EPL_SEQ_NUM_MASK); + if (((bRecSeqNumber_p - + bCurrentSeqNum) & EPL_SEQ_NUM_MASK) + < EPL_SEQ_NUM_THRESHOLD) { + pHistory->m_auiFrameSize[bAckIndex] = 0; + bAckIndex++; + pHistory->m_bFreeEntries++; + if (bAckIndex == EPL_SDO_HISTORY_SIZE) { // read index run over array-boarder + bAckIndex = 0; + } + } else { // nothing to do anymore, + // because any further frame in history has larger sequence + // number than the acknowledge + goto Exit; + } + } + while ((((bRecSeqNumber_p - 1 - + bCurrentSeqNum) & EPL_SEQ_NUM_MASK) + < EPL_SEQ_NUM_THRESHOLD) + && (pHistory->m_bWrite != bAckIndex)); + + // store local read-index to global var + pHistory->m_bAck = bAckIndex; + } + + Exit: + return Ret; } //--------------------------------------------------------------------------- @@ -2270,59 +2400,55 @@ Exit: // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - tEplFrame** ppFrame_p, - unsigned int* puiSize_p, - BOOL fInitRead_p) +static tEplKernel EplSdoAsyReadFromHistory(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + tEplFrame ** ppFrame_p, + unsigned int *puiSize_p, + BOOL fInitRead_p) { -tEplKernel Ret; -tEplAsySdoConHistory* pHistory; + tEplKernel Ret; + tEplAsySdoConHistory *pHistory; - Ret = kEplSuccessful; + Ret = kEplSuccessful; - // read one message from History + // read one message from History - // get pointer to history buffer - pHistory = &pAsySdoSeqCon_p->m_SdoConHistory; + // get pointer to history buffer + pHistory = &pAsySdoSeqCon_p->m_SdoConHistory; - // check if init - if (fInitRead_p != FALSE) - { // initialize read index to the index which shall be acknowledged next - pHistory->m_bRead = pHistory->m_bAck; - } - - // check if entries are available for reading - if ((pHistory->m_bFreeEntries < EPL_SDO_HISTORY_SIZE) - && (pHistory->m_bWrite != pHistory->m_bRead)) - { + // check if init + if (fInitRead_p != FALSE) { // initialize read index to the index which shall be acknowledged next + pHistory->m_bRead = pHistory->m_bAck; + } + // check if entries are available for reading + if ((pHistory->m_bFreeEntries < EPL_SDO_HISTORY_SIZE) + && (pHistory->m_bWrite != pHistory->m_bRead)) { // PRINTF4("EplSdoAsyReadFromHistory(): init = %d, read = %u, write = %u, ack = %u", (int) fInitRead_p, (WORD)pHistory->m_bRead, (WORD)pHistory->m_bWrite, (WORD)pHistory->m_bAck); // PRINTF2(", free entries = %u, next frame size = %u\n", (WORD)pHistory->m_bFreeEntries, pHistory->m_auiFrameSize[pHistory->m_bRead]); - // return pointer to stored frame - *ppFrame_p = (tEplFrame*)pHistory->m_aabHistoryFrame[pHistory->m_bRead]; + // return pointer to stored frame + *ppFrame_p = + (tEplFrame *) pHistory->m_aabHistoryFrame[pHistory-> + m_bRead]; - // save size - *puiSize_p = pHistory->m_auiFrameSize[pHistory->m_bRead]; + // save size + *puiSize_p = pHistory->m_auiFrameSize[pHistory->m_bRead]; - pHistory->m_bRead++; - if(pHistory->m_bRead == EPL_SDO_HISTORY_SIZE) - { - pHistory->m_bRead = 0; - } + pHistory->m_bRead++; + if (pHistory->m_bRead == EPL_SDO_HISTORY_SIZE) { + pHistory->m_bRead = 0; + } - } - else - { + } else { // PRINTF3("EplSdoAsyReadFromHistory(): read = %u, ack = %u, free entries = %u, no frame\n", (WORD)pHistory->m_bRead, (WORD)pHistory->m_bAck, (WORD)pHistory->m_bFreeEntries); - // no more frames to send - // return null pointer - *ppFrame_p = NULL; + // no more frames to send + // return null pointer + *ppFrame_p = NULL; - *puiSize_p = 0; - } + *puiSize_p = 0; + } - return Ret; + return Ret; } @@ -2343,13 +2469,15 @@ tEplAsySdoConHistory* pHistory; // State: // //--------------------------------------------------------------------------- -static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon* pAsySdoSeqCon_p) +static unsigned int EplSdoAsyGetFreeEntriesFromHistory(tEplAsySdoSeqCon * + pAsySdoSeqCon_p) { -unsigned int uiFreeEntries; + unsigned int uiFreeEntries; - uiFreeEntries = (unsigned int)pAsySdoSeqCon_p->m_SdoConHistory.m_bFreeEntries; + uiFreeEntries = + (unsigned int)pAsySdoSeqCon_p->m_SdoConHistory.m_bFreeEntries; - return uiFreeEntries; + return uiFreeEntries; } //--------------------------------------------------------------------------- @@ -2370,32 +2498,25 @@ unsigned int uiFreeEntries; // State: // //--------------------------------------------------------------------------- -static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon* pAsySdoSeqCon_p, - unsigned long ulTimeout) +static tEplKernel EplSdoAsySeqSetTimer(tEplAsySdoSeqCon * pAsySdoSeqCon_p, + unsigned long ulTimeout) { -tEplKernel Ret; -tEplTimerArg TimerArg; - - TimerArg.m_EventSink = kEplEventSinkSdoAsySeq; - TimerArg.m_ulArg = (unsigned long)pAsySdoSeqCon_p; + tEplKernel Ret; + tEplTimerArg TimerArg; - if(pAsySdoSeqCon_p->m_EplTimerHdl == 0) - { // create new timer - Ret = EplTimeruSetTimerMs(&pAsySdoSeqCon_p->m_EplTimerHdl, - ulTimeout, - TimerArg); - } - else - { // modify exisiting timer - Ret = EplTimeruModifyTimerMs(&pAsySdoSeqCon_p->m_EplTimerHdl, - ulTimeout, - TimerArg); + TimerArg.m_EventSink = kEplEventSinkSdoAsySeq; + TimerArg.m_ulArg = (unsigned long)pAsySdoSeqCon_p; - } + if (pAsySdoSeqCon_p->m_EplTimerHdl == 0) { // create new timer + Ret = EplTimeruSetTimerMs(&pAsySdoSeqCon_p->m_EplTimerHdl, + ulTimeout, TimerArg); + } else { // modify exisiting timer + Ret = EplTimeruModifyTimerMs(&pAsySdoSeqCon_p->m_EplTimerHdl, + ulTimeout, TimerArg); + } - return Ret; + return Ret; } // EOF - |