1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
|
/****************************************************************************
(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
www.systec-electronic.com
Project: openPOWERLINK
Description: global include file for EPL-NMT-Modules
License:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. Neither the name of SYSTEC electronic GmbH nor the names of its
contributors may be used to endorse or promote products derived
from this software without prior written permission. For written
permission, please contact info@systec-electronic.com.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
Severability Clause:
If a provision of this License is or becomes illegal, invalid or
unenforceable in any jurisdiction, that shall not affect:
1. the validity or enforceability in that jurisdiction of any other
provision of this License; or
2. the validity or enforceability in other jurisdictions of that or
any other provision of this License.
-------------------------------------------------------------------------
$RCSfile: EplNmt.h,v $
$Author: D.Krueger $
$Revision: 1.6 $ $Date: 2008/11/17 16:40:39 $
$State: Exp $
Build Environment:
GCC V3.4
-------------------------------------------------------------------------
Revision History:
2006/06/09 k.t.: start of the implementation
****************************************************************************/
#ifndef _EPLNMT_H_
#define _EPLNMT_H_
#include "EplInc.h"
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
// define super-states and masks to identify a super-state
#define EPL_NMT_GS_POWERED 0x0008 // super state
#define EPL_NMT_GS_INITIALISATION 0x0009 // super state
#define EPL_NMT_GS_COMMUNICATING 0x000C // super state
#define EPL_NMT_CS_EPLMODE 0x000D // super state
#define EPL_NMT_MS_EPLMODE 0x000D // super state
#define EPL_NMT_SUPERSTATE_MASK 0x000F // mask to select state
#define EPL_NMT_TYPE_UNDEFINED 0x0000 // type of NMT state is still undefined
#define EPL_NMT_TYPE_CS 0x0100 // CS type of NMT state
#define EPL_NMT_TYPE_MS 0x0200 // MS type of NMT state
#define EPL_NMT_TYPE_MASK 0x0300 // mask to select type of NMT state (i.e. CS or MS)
//---------------------------------------------------------------------------
// typedef
//---------------------------------------------------------------------------
// the lower Byte of the NMT-State is encoded
// like the values in the EPL-Standard
// the higher byte is used to encode MN
// (Bit 1 of the higher byte = 1) or CN (Bit 0 of the
// higher byte = 1)
// the super-states are not mentioned in this
// enum because they are no real states
// --> there are masks defined to indentify the
// super-states
typedef enum {
kEplNmtGsOff = 0x0000,
kEplNmtGsInitialising = 0x0019,
kEplNmtGsResetApplication = 0x0029,
kEplNmtGsResetCommunication = 0x0039,
kEplNmtGsResetConfiguration = 0x0079,
kEplNmtCsNotActive = 0x011C,
kEplNmtCsPreOperational1 = 0x011D,
kEplNmtCsStopped = 0x014D,
kEplNmtCsPreOperational2 = 0x015D,
kEplNmtCsReadyToOperate = 0x016D,
kEplNmtCsOperational = 0x01FD,
kEplNmtCsBasicEthernet = 0x011E,
kEplNmtMsNotActive = 0x021C,
kEplNmtMsPreOperational1 = 0x021D,
kEplNmtMsPreOperational2 = 0x025D,
kEplNmtMsReadyToOperate = 0x026D,
kEplNmtMsOperational = 0x02FD,
kEplNmtMsBasicEthernet = 0x021E
} tEplNmtState;
// NMT-events
typedef enum {
// Events from DLL
// Events defined by EPL V2 specification
kEplNmtEventNoEvent = 0x00,
// kEplNmtEventDllMePres = 0x01,
kEplNmtEventDllMePresTimeout = 0x02,
// kEplNmtEventDllMeAsnd = 0x03,
// kEplNmtEventDllMeAsndTimeout = 0x04,
kEplNmtEventDllMeSoaSent = 0x04,
kEplNmtEventDllMeSocTrig = 0x05,
kEplNmtEventDllMeSoaTrig = 0x06,
kEplNmtEventDllCeSoc = 0x07,
kEplNmtEventDllCePreq = 0x08,
kEplNmtEventDllCePres = 0x09,
kEplNmtEventDllCeSoa = 0x0A,
kEplNmtEventDllCeAsnd = 0x0B,
kEplNmtEventDllCeFrameTimeout = 0x0C,
// Events triggered by NMT-Commands
kEplNmtEventSwReset = 0x10, // NMT_GT1, NMT_GT2, NMT_GT8
kEplNmtEventResetNode = 0x11,
kEplNmtEventResetCom = 0x12,
kEplNmtEventResetConfig = 0x13,
kEplNmtEventEnterPreOperational2 = 0x14,
kEplNmtEventEnableReadyToOperate = 0x15,
kEplNmtEventStartNode = 0x16, // NMT_CT7
kEplNmtEventStopNode = 0x17,
// Events triggered by higher layer
kEplNmtEventEnterResetApp = 0x20,
kEplNmtEventEnterResetCom = 0x21,
kEplNmtEventInternComError = 0x22, // NMT_GT6, internal communication error -> enter ResetCommunication
kEplNmtEventEnterResetConfig = 0x23,
kEplNmtEventEnterCsNotActive = 0x24,
kEplNmtEventEnterMsNotActive = 0x25,
kEplNmtEventTimerBasicEthernet = 0x26, // NMT_CT3; timer triggered state change (NotActive -> BasicEth)
kEplNmtEventTimerMsPreOp1 = 0x27, // enter PreOp1 on MN (NotActive -> MsPreOp1)
kEplNmtEventNmtCycleError = 0x28, // NMT_CT11, NMT_MT6; error during cycle -> enter PreOp1
kEplNmtEventTimerMsPreOp2 = 0x29, // enter PreOp2 on MN (MsPreOp1 -> MsPreOp2 if kEplNmtEventAllMandatoryCNIdent)
kEplNmtEventAllMandatoryCNIdent = 0x2A, // enter PreOp2 on MN if kEplNmtEventTimerMsPreOp2
kEplNmtEventEnterReadyToOperate = 0x2B, // application ready for the state ReadyToOp
kEplNmtEventEnterMsOperational = 0x2C, // enter Operational on MN
kEplNmtEventSwitchOff = 0x2D, // enter state Off
kEplNmtEventCriticalError = 0x2E, // enter state Off because of critical error
} tEplNmtEvent;
// type for argument of event kEplEventTypeNmtStateChange
typedef struct {
tEplNmtState m_NewNmtState;
tEplNmtEvent m_NmtEvent;
} tEplEventNmtStateChange;
// structure for kEplEventTypeHeartbeat
typedef struct {
unsigned int m_uiNodeId; // NodeId
tEplNmtState m_NmtState; // NMT state (remember distinguish between MN / CN)
u16 m_wErrorCode; // EPL error code in case of NMT state NotActive
} tEplHeartbeatEvent;
typedef enum {
kEplNmtNodeEventFound = 0x00,
kEplNmtNodeEventUpdateSw = 0x01, // application shall update software on CN
kEplNmtNodeEventCheckConf = 0x02, // application / Configuration Manager shall check and update configuration on CN
kEplNmtNodeEventUpdateConf = 0x03, // application / Configuration Manager shall update configuration on CN (check was done by NmtMn module)
kEplNmtNodeEventVerifyConf = 0x04, // application / Configuration Manager shall verify configuration of CN
kEplNmtNodeEventReadyToStart = 0x05, // issued if EPL_NMTST_NO_STARTNODE set
// application must call EplNmtMnuSendNmtCommand(kEplNmtCmdStartNode) manually
kEplNmtNodeEventNmtState = 0x06,
kEplNmtNodeEventError = 0x07, // NMT error of CN
} tEplNmtNodeEvent;
typedef enum {
kEplNmtNodeCommandBoot = 0x01, // if EPL_NODEASSIGN_START_CN not set it must be issued after kEplNmtNodeEventFound
kEplNmtNodeCommandSwOk = 0x02, // application updated software on CN successfully
kEplNmtNodeCommandSwUpdated = 0x03, // application updated software on CN successfully
kEplNmtNodeCommandConfOk = 0x04, // application / Configuration Manager has updated configuration on CN successfully
kEplNmtNodeCommandConfReset = 0x05, // application / Configuration Manager has updated configuration on CN successfully
// and CN needs ResetConf so that the configuration gets actived
kEplNmtNodeCommandConfErr = 0x06, // application / Configuration Manager failed on updating configuration on CN
kEplNmtNodeCommandStart = 0x07, // if EPL_NMTST_NO_STARTNODE set it must be issued after kEplNmtNodeEventReadyToStart
} tEplNmtNodeCommand;
typedef enum {
kEplNmtBootEventBootStep1Finish = 0x00, // PreOp2 is possible
kEplNmtBootEventBootStep2Finish = 0x01, // ReadyToOp is possible
kEplNmtBootEventCheckComFinish = 0x02, // Operational is possible
kEplNmtBootEventOperational = 0x03, // all mandatory CNs are Operational
kEplNmtBootEventError = 0x04, // boot process halted because of an error
} tEplNmtBootEvent;
//---------------------------------------------------------------------------
// function prototypes
//---------------------------------------------------------------------------
#endif // #ifndef _EPLNMT_H_
|
