drivers/staging/epl/EplApiGeneric.c

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   2
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   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for generic EPL API module
   9
  10   License:
  11
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  39     POSSIBILITY OF SUCH DAMAGE.
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  41     Severability Clause:
  42
  43         If a provision of this License is or becomes illegal, invalid or
  44         unenforceable in any jurisdiction, that shall not affect:
  45         1. the validity or enforceability in that jurisdiction of any other
  46            provision of this License; or
  47         2. the validity or enforceability in other jurisdictions of that or
  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplApiGeneric.c,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.21 $  $Date: 2008/11/21 09:00:38 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/09/05 d.k.:   start of the implementation, version 1.00
  68
  69 ****************************************************************************/
  70
  71 #include "Epl.h"
  72 #include "kernel/EplDllk.h"
  73 #include "kernel/EplErrorHandlerk.h"
  74 #include "kernel/EplEventk.h"
  75 #include "kernel/EplNmtk.h"
  76 #include "kernel/EplObdk.h"
  77 #include "kernel/EplTimerk.h"
  78 #include "kernel/EplDllkCal.h"
  79 #include "kernel/EplPdokCal.h"
  80 #include "user/EplDlluCal.h"
  81 #include "user/EplLedu.h"
  82 #include "user/EplNmtCnu.h"
  83 #include "user/EplNmtMnu.h"
  84 #include "user/EplSdoComu.h"
  85 #include "user/EplIdentu.h"
  86 #include "user/EplStatusu.h"
  87
  88 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
  89 #include "kernel/EplPdok.h"
  90 #endif
  91
  92 #include "SharedBuff.h"
  93
  94 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) == 0)
  95 #error "EPL API layer needs EPL module OBDK!"
  96 #endif
  97
  98 /***************************************************************************/
  99 /*                                                                         */
 100 /*                                                                         */
 101 /*          G L O B A L   D E F I N I T I O N S                            */
 102 /*                                                                         */
 103 /*                                                                         */
 104 /***************************************************************************/
 105
 106 //---------------------------------------------------------------------------
 107 // const defines
 108 //---------------------------------------------------------------------------
 109
 110 //---------------------------------------------------------------------------
 111 // local types
 112 //---------------------------------------------------------------------------
 113
 114 //---------------------------------------------------------------------------
 115 // modul globale vars
 116 //---------------------------------------------------------------------------
 117
 118 //---------------------------------------------------------------------------
 119 // local function prototypes
 120 //---------------------------------------------------------------------------
 121
 122 /***************************************************************************/
 123 /*                                                                         */
 124 /*                                                                         */
 125 /*          C L A S S  EplApi                                              */
 126 /*                                                                         */
 127 /*                                                                         */
 128 /***************************************************************************/
 129 //
 130 // Description:
 131 //
 132 //
 133 /***************************************************************************/
 134
 135 //=========================================================================//
 136 //                                                                         //
 137 //          P R I V A T E   D E F I N I T I O N S                          //
 138 //                                                                         //
 139 //=========================================================================//
 140
 141 //---------------------------------------------------------------------------
 142 // const defines
 143 //---------------------------------------------------------------------------
 144
 145 //---------------------------------------------------------------------------
 146 // local types
 147 //---------------------------------------------------------------------------
 148
 149 typedef struct {
 150         tEplApiInitParam m_InitParam;
 151
 152 } tEplApiInstance;
 153
 154 //---------------------------------------------------------------------------
 155 // local vars
 156 //---------------------------------------------------------------------------
 157
 158 static tEplApiInstance EplApiInstance_g;
 159
 160 //---------------------------------------------------------------------------
 161 // local function prototypes
 162 //---------------------------------------------------------------------------
 163
 164 // NMT state change event callback function
 165 static tEplKernel EplApiCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p);
 166
 167 // update DLL configuration from OD
 168 static tEplKernel EplApiUpdateDllConfig(BOOL fUpdateIdentity_p);
 169
 170 // update OD from init param
 171 static tEplKernel EplApiUpdateObd(void);
 172
 173 // process events from user event queue
 174 static tEplKernel EplApiProcessEvent(tEplEvent *pEplEvent_p);
 175
 176 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
 177 // callback function of SDO module
 178 static tEplKernel EplApiCbSdoCon(tEplSdoComFinished *pSdoComFinished_p);
 179 #endif
 180
 181 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 182 // callback functions of NmtMnu module
 183 static tEplKernel EplApiCbNodeEvent(unsigned int uiNodeId_p,
 184                                     tEplNmtNodeEvent NodeEvent_p,
 185                                     tEplNmtState NmtState_p,
 186                                     u16 wErrorCode_p, BOOL fMandatory_p);
 187
 188 static tEplKernel EplApiCbBootEvent(tEplNmtBootEvent BootEvent_p,
 189                                     tEplNmtState NmtState_p,
 190                                     u16 wErrorCode_p);
 191 #endif
 192
 193 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
 194 // callback function of Ledu module
 195 static tEplKernel EplApiCbLedStateChange(tEplLedType LedType_p, BOOL fOn_p);
 196 #endif
 197
 198 // OD initialization function (implemented in Objdict.c)
 199 tEplKernel EplObdInitRam(tEplObdInitParam *pInitParam_p);
 200
 201 //=========================================================================//
 202 //                                                                         //
 203 //          P U B L I C   F U N C T I O N S                                //
 204 //                                                                         //
 205 //=========================================================================//
 206
 207 //---------------------------------------------------------------------------
 208 //
 209 // Function:    EplApiInitialize()
 210 //
 211 // Description: add and initialize new instance of EPL stack.
 212 //              After return from this function the application must start
 213 //              the NMT state machine via
 214 //              EplApiExecNmtCommand(kEplNmtEventSwReset)
 215 //              and thereby the whole EPL stack :-)
 216 //
 217 // Parameters:  pInitParam_p            = initialisation parameters
 218 //
 219 // Returns:     tEplKernel              = error code
 220 //
 221 //
 222 // State:
 223 //
 224 //---------------------------------------------------------------------------
 225
 226 tEplKernel EplApiInitialize(tEplApiInitParam *pInitParam_p)
 227 {
 228         tEplKernel Ret = kEplSuccessful;
 229         tEplObdInitParam ObdInitParam;
 230         tEplDllkInitParam DllkInitParam;
 231 #ifndef EPL_NO_FIFO
 232         tShbError ShbError;
 233 #endif
 234
 235         // reset instance structure
 236         EPL_MEMSET(&EplApiInstance_g, 0, sizeof(EplApiInstance_g));
 237
 238         EPL_MEMCPY(&EplApiInstance_g.m_InitParam, pInitParam_p,
 239                    min(sizeof(tEplApiInitParam),
 240                        pInitParam_p->m_uiSizeOfStruct));
 241
 242         // check event callback function pointer
 243         if (EplApiInstance_g.m_InitParam.m_pfnCbEvent == NULL) {        // application must always have an event callback function
 244                 Ret = kEplApiInvalidParam;
 245                 goto Exit;
 246         }
 247 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_OBDK)) != 0)
 248         // init OD
 249 // FIXME
 250 //    Ret = EplObdInitRam(&ObdInitParam);
 251 //    if (Ret != kEplSuccessful)
 252 //    {
 253 //        goto Exit;
 254 //    }
 255
 256         // initialize EplObd module
 257         Ret = EplObdInit(&ObdInitParam);
 258         if (Ret != kEplSuccessful) {
 259                 goto Exit;
 260         }
 261 #endif
 262
 263 #ifndef EPL_NO_FIFO
 264         ShbError = ShbInit();
 265         if (ShbError != kShbOk) {
 266                 Ret = kEplNoResource;
 267                 goto Exit;
 268         }
 269 #endif
 270
 271         // initialize EplEventk module
 272         Ret = EplEventkInit(EplApiInstance_g.m_InitParam.m_pfnCbSync);
 273         if (Ret != kEplSuccessful) {
 274                 goto Exit;
 275         }
 276         // initialize EplEventu module
 277         Ret = EplEventuInit(EplApiProcessEvent);
 278         if (Ret != kEplSuccessful) {
 279                 goto Exit;
 280         }
 281         // init EplTimerk module
 282         Ret = EplTimerkInit();
 283         if (Ret != kEplSuccessful) {
 284                 goto Exit;
 285         }
 286         // initialize EplNmtk module before DLL
 287 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
 288         Ret = EplNmtkInit();
 289         if (Ret != kEplSuccessful) {
 290                 goto Exit;
 291         }
 292 #endif
 293
 294         // initialize EplDllk module
 295 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
 296         EPL_MEMCPY(DllkInitParam.m_be_abSrcMac,
 297                    EplApiInstance_g.m_InitParam.m_abMacAddress, 6);
 298         Ret = EplDllkAddInstance(&DllkInitParam);
 299         if (Ret != kEplSuccessful) {
 300                 goto Exit;
 301         }
 302         // initialize EplErrorHandlerk module
 303         Ret = EplErrorHandlerkInit();
 304         if (Ret != kEplSuccessful) {
 305                 goto Exit;
 306         }
 307         // initialize EplDllkCal module
 308         Ret = EplDllkCalAddInstance();
 309         if (Ret != kEplSuccessful) {
 310                 goto Exit;
 311         }
 312 #endif
 313
 314         // initialize EplDlluCal module
 315 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 316         Ret = EplDlluCalAddInstance();
 317         if (Ret != kEplSuccessful) {
 318                 goto Exit;
 319         }
 320 #endif
 321
 322         // initialize EplPdok module
 323 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_PDOK)) != 0)
 324         Ret = EplPdokAddInstance();
 325         if (Ret != kEplSuccessful) {
 326                 goto Exit;
 327         }
 328
 329         Ret = EplPdokCalAddInstance();
 330         if (Ret != kEplSuccessful) {
 331                 goto Exit;
 332         }
 333 #endif
 334
 335         // initialize EplNmtCnu module
 336 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
 337         Ret = EplNmtCnuAddInstance(EplApiInstance_g.m_InitParam.m_uiNodeId);
 338         if (Ret != kEplSuccessful) {
 339                 goto Exit;
 340         }
 341 #endif
 342
 343         // initialize EplNmtu module
 344 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
 345         Ret = EplNmtuInit();
 346         if (Ret != kEplSuccessful) {
 347                 goto Exit;
 348         }
 349         // register NMT event callback function
 350         Ret = EplNmtuRegisterStateChangeCb(EplApiCbNmtStateChange);
 351         if (Ret != kEplSuccessful) {
 352                 goto Exit;
 353         }
 354 #endif
 355
 356 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 357         // initialize EplNmtMnu module
 358         Ret = EplNmtMnuInit(EplApiCbNodeEvent, EplApiCbBootEvent);
 359         if (Ret != kEplSuccessful) {
 360                 goto Exit;
 361         }
 362         // initialize EplIdentu module
 363         Ret = EplIdentuInit();
 364         if (Ret != kEplSuccessful) {
 365                 goto Exit;
 366         }
 367         // initialize EplStatusu module
 368         Ret = EplStatusuInit();
 369         if (Ret != kEplSuccessful) {
 370                 goto Exit;
 371         }
 372 #endif
 373
 374         // initialize EplLedu module
 375 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
 376         Ret = EplLeduInit(EplApiCbLedStateChange);
 377         if (Ret != kEplSuccessful) {
 378                 goto Exit;
 379         }
 380 #endif
 381
 382         // init SDO module
 383 #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) || \
 384      (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0))
 385         // init sdo command layer
 386         Ret = EplSdoComInit();
 387         if (Ret != kEplSuccessful) {
 388                 goto Exit;
 389         }
 390 #endif
 391
 392         // the application must start NMT state machine
 393         // via EplApiExecNmtCommand(kEplNmtEventSwReset)
 394         // and thereby the whole EPL stack
 395
 396       Exit:
 397         return Ret;
 398 }
 399
 400 //---------------------------------------------------------------------------
 401 //
 402 // Function:    EplApiShutdown()
 403 //
 404 // Description: deletes an instance of EPL stack
 405 //
 406 // Parameters:  (none)
 407 //
 408 // Returns:     tEplKernel              = error code
 409 //
 410 //
 411 // State:
 412 //
 413 //---------------------------------------------------------------------------
 414
 415 tEplKernel EplApiShutdown(void)
 416 {
 417         tEplKernel Ret = kEplSuccessful;
 418
 419         // $$$ d.k.: check if NMT state is NMT_GS_OFF
 420
 421         // $$$ d.k.: maybe delete event queues at first, but this implies that
 422         //           no other module must not use the event queues for communication
 423         //           during shutdown.
 424
 425         // delete instance for all modules
 426
 427         // deinitialize EplSdoCom module
 428 #if ((((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOS)) != 0) || \
 429      (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0))
 430         Ret = EplSdoComDelInstance();
 431 //    PRINTF1("EplSdoComDelInstance():  0x%X\n", Ret);
 432 #endif
 433
 434         // deinitialize EplLedu module
 435 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
 436         Ret = EplLeduDelInstance();
 437 //    PRINTF1("EplLeduDelInstance():    0x%X\n", Ret);
 438 #endif
 439
 440 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 441         // deinitialize EplNmtMnu module
 442         Ret = EplNmtMnuDelInstance();
 443 //    PRINTF1("EplNmtMnuDelInstance():  0x%X\n", Ret);
 444
 445         // deinitialize EplIdentu module
 446         Ret = EplIdentuDelInstance();
 447 //    PRINTF1("EplIdentuDelInstance():  0x%X\n", Ret);
 448
 449         // deinitialize EplStatusu module
 450         Ret = EplStatusuDelInstance();
 451 //    PRINTF1("EplStatusuDelInstance():  0x%X\n", Ret);
 452 #endif
 453
 454         // deinitialize EplNmtCnu module
 455 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_CN)) != 0)
 456         Ret = EplNmtCnuDelInstance();
 457 //    PRINTF1("EplNmtCnuDelInstance():  0x%X\n", Ret);
 458 #endif
 459
 460         // deinitialize EplNmtu module
 461 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
 462         Ret = EplNmtuDelInstance();
 463 //    PRINTF1("EplNmtuDelInstance():    0x%X\n", Ret);
 464 #endif
 465
 466         // deinitialize EplDlluCal module
 467 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLU)) != 0)
 468         Ret = EplDlluCalDelInstance();
 469 //    PRINTF1("EplDlluCalDelInstance(): 0x%X\n", Ret);
 470
 471 #endif
 472
 473         // deinitialize EplEventu module
 474         Ret = EplEventuDelInstance();
 475 //    PRINTF1("EplEventuDelInstance():  0x%X\n", Ret);
 476
 477         // deinitialize EplNmtk module
 478 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
 479         Ret = EplNmtkDelInstance();
 480 //    PRINTF1("EplNmtkDelInstance():    0x%X\n", Ret);
 481 #endif
 482
 483         // deinitialize EplDllk module
 484 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
 485         Ret = EplDllkDelInstance();
 486 //    PRINTF1("EplDllkDelInstance():    0x%X\n", Ret);
 487
 488         // deinitialize EplDllkCal module
 489         Ret = EplDllkCalDelInstance();
 490 //    PRINTF1("EplDllkCalDelInstance(): 0x%X\n", Ret);
 491 #endif
 492
 493         // deinitialize EplEventk module
 494         Ret = EplEventkDelInstance();
 495 //    PRINTF1("EplEventkDelInstance():  0x%X\n", Ret);
 496
 497         // deinitialize EplTimerk module
 498         Ret = EplTimerkDelInstance();
 499 //    PRINTF1("EplTimerkDelInstance():  0x%X\n", Ret);
 500
 501 #ifndef EPL_NO_FIFO
 502         ShbExit();
 503 #endif
 504
 505         return Ret;
 506 }
 507
 508 //----------------------------------------------------------------------------
 509 // Function:    EplApiExecNmtCommand()
 510 //
 511 // Description: executes a NMT command, i.e. post the NMT command/event to the
 512 //              NMTk module. NMT commands which are not appropriate in the current
 513 //              NMT state are silently ignored. Please keep in mind that the
 514 //              NMT state may change until the NMT command is actually executed.
 515 //
 516 // Parameters:  NmtEvent_p              = NMT command/event
 517 //
 518 // Returns:     tEplKernel              = error code
 519 //
 520 // State:
 521 //----------------------------------------------------------------------------
 522
 523 tEplKernel EplApiExecNmtCommand(tEplNmtEvent NmtEvent_p)
 524 {
 525         tEplKernel Ret = kEplSuccessful;
 526
 527 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
 528         Ret = EplNmtuNmtEvent(NmtEvent_p);
 529 #endif
 530
 531         return Ret;
 532 }
 533
 534 //----------------------------------------------------------------------------
 535 // Function:    EplApiLinkObject()
 536 //
 537 // Description: Function maps array of application variables onto specified object in OD
 538 //
 539 // Parameters:  uiObjIndex_p            = Function maps variables for this object index
 540 //              pVar_p                  = Pointer to data memory area for the specified object
 541 //              puiVarEntries_p         = IN: pointer to number of entries to map
 542 //                                        OUT: pointer to number of actually used entries
 543 //              pEntrySize_p            = IN: pointer to size of one entry;
 544 //                                            if size is zero, the actual size will be read from OD
 545 //                                        OUT: pointer to entire size of all entries mapped
 546 //              uiFirstSubindex_p       = This is the first subindex to be mapped.
 547 //
 548 // Returns:     tEplKernel              = error code
 549 //
 550 // State:
 551 //----------------------------------------------------------------------------
 552
 553 tEplKernel EplApiLinkObject(unsigned int uiObjIndex_p,
 554                             void *pVar_p,
 555                             unsigned int *puiVarEntries_p,
 556                             tEplObdSize *pEntrySize_p,
 557                             unsigned int uiFirstSubindex_p)
 558 {
 559         u8 bVarEntries;
 560         u8 bIndexEntries;
 561         u8 *pbData;
 562         unsigned int uiSubindex;
 563         tEplVarParam VarParam;
 564         tEplObdSize EntrySize;
 565         tEplObdSize UsedSize;
 566
 567         tEplKernel RetCode = kEplSuccessful;
 568
 569         if ((pVar_p == NULL)
 570             || (puiVarEntries_p == NULL)
 571             || (*puiVarEntries_p == 0)
 572             || (pEntrySize_p == NULL)) {
 573                 RetCode = kEplApiInvalidParam;
 574                 goto Exit;
 575         }
 576
 577         pbData = (u8 *)pVar_p;
 578         bVarEntries = (u8) * puiVarEntries_p;
 579         UsedSize = 0;
 580
 581         // init VarParam structure with default values
 582         VarParam.m_uiIndex = uiObjIndex_p;
 583         VarParam.m_ValidFlag = kVarValidAll;
 584
 585         if (uiFirstSubindex_p != 0) {   // check if object exists by reading subindex 0x00,
 586                 // because user wants to link a variable to a subindex unequal 0x00
 587                 // read number of entries
 588                 EntrySize = (tEplObdSize) sizeof(bIndexEntries);
 589                 RetCode = EplObdReadEntry(uiObjIndex_p,
 590                                           0x00,
 591                                           (void *)&bIndexEntries,
 592                                           &EntrySize);
 593
 594                 if ((RetCode != kEplSuccessful) || (bIndexEntries == 0x00)) {
 595                         // Object doesn't exist or invalid entry number
 596                         RetCode = kEplObdIndexNotExist;
 597                         goto Exit;
 598                 }
 599         } else {                // user wants to link a variable to subindex 0x00
 600                 // that's OK
 601                 bIndexEntries = 0;
 602         }
 603
 604         // Correct number of entries if number read from OD is greater
 605         // than the specified number.
 606         // This is done, so that we do not set more entries than subindexes the
 607         // object actually has.
 608         if ((bIndexEntries > (bVarEntries + uiFirstSubindex_p - 1)) &&
 609             (bVarEntries != 0x00)) {
 610                 bIndexEntries = (u8) (bVarEntries + uiFirstSubindex_p - 1);
 611         }
 612         // map entries
 613         for (uiSubindex = uiFirstSubindex_p; uiSubindex <= bIndexEntries;
 614              uiSubindex++) {
 615                 // if passed entry size is 0, then get size from OD
 616                 if (*pEntrySize_p == 0x00) {
 617                         // read entry size
 618                         EntrySize = EplObdGetDataSize(uiObjIndex_p, uiSubindex);
 619
 620                         if (EntrySize == 0x00) {
 621                                 // invalid entry size (maybe object doesn't exist or entry of type DOMAIN is empty)
 622                                 RetCode = kEplObdSubindexNotExist;
 623                                 break;
 624                         }
 625                 } else {        // use passed entry size
 626                         EntrySize = *pEntrySize_p;
 627                 }
 628
 629                 VarParam.m_uiSubindex = uiSubindex;
 630
 631                 // set pointer to user var
 632                 VarParam.m_Size = EntrySize;
 633                 VarParam.m_pData = pbData;
 634
 635                 UsedSize += EntrySize;
 636                 pbData += EntrySize;
 637
 638                 RetCode = EplObdDefineVar(&VarParam);
 639                 if (RetCode != kEplSuccessful) {
 640                         break;
 641                 }
 642         }
 643
 644         // set number of mapped entries and entry size
 645         *puiVarEntries_p = ((bIndexEntries - uiFirstSubindex_p) + 1);
 646         *pEntrySize_p = UsedSize;
 647
 648       Exit:
 649
 650         return (RetCode);
 651
 652 }
 653
 654 // ----------------------------------------------------------------------------
 655 //
 656 // Function:    EplApiReadObject()
 657 //
 658 // Description: reads the specified entry from the OD of the specified node.
 659 //              If this node is a remote node, it performs a SDO transfer, which
 660 //              means this function returns kEplApiTaskDeferred and the application
 661 //              is informed via the event callback function when the task is completed.
 662 //
 663 // Parameters:  pSdoComConHdl_p         = INOUT: pointer to SDO connection handle (may be NULL in case of local OD access)
 664 //              uiNodeId_p              = IN: node ID (0 = itself)
 665 //              uiIndex_p               = IN: index of object in OD
 666 //              uiSubindex_p            = IN: sub-index of object in OD
 667 //              pDstData_le_p           = OUT: pointer to data in little endian
 668 //              puiSize_p               = INOUT: pointer to size of data
 669 //              SdoType_p               = IN: type of SDO transfer
 670 //              pUserArg_p              = IN: user-definable argument pointer,
 671 //                                            which will be passed to the event callback function
 672 //
 673 // Return:      tEplKernel              = error code
 674 //
 675 // ----------------------------------------------------------------------------
 676
 677 tEplKernel EplApiReadObject(tEplSdoComConHdl *pSdoComConHdl_p,
 678                             unsigned int uiNodeId_p,
 679                             unsigned int uiIndex_p,
 680                             unsigned int uiSubindex_p,
 681                             void *pDstData_le_p,
 682                             unsigned int *puiSize_p,
 683                             tEplSdoType SdoType_p, void *pUserArg_p)
 684 {
 685         tEplKernel Ret = kEplSuccessful;
 686
 687         if ((uiIndex_p == 0) || (pDstData_le_p == NULL) || (puiSize_p == NULL)
 688             || (*puiSize_p == 0)) {
 689                 Ret = kEplApiInvalidParam;
 690                 goto Exit;
 691         }
 692
 693         if (uiNodeId_p == 0 || uiNodeId_p == EplObdGetNodeId()) {       // local OD access can be performed
 694                 tEplObdSize ObdSize;
 695
 696                 ObdSize = (tEplObdSize) * puiSize_p;
 697                 Ret =
 698                     EplObdReadEntryToLe(uiIndex_p, uiSubindex_p, pDstData_le_p,
 699                                         &ObdSize);
 700                 *puiSize_p = (unsigned int)ObdSize;
 701         } else {                // perform SDO transfer
 702 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
 703                 tEplSdoComTransParamByIndex TransParamByIndex;
 704 //    tEplSdoComConHdl            SdoComConHdl;
 705
 706                 // check if application provides space for handle
 707                 if (pSdoComConHdl_p == NULL) {
 708                         Ret = kEplApiInvalidParam;
 709                         goto Exit;
 710 //            pSdoComConHdl_p = &SdoComConHdl;
 711                 }
 712                 // init command layer connection
 713                 Ret = EplSdoComDefineCon(pSdoComConHdl_p, uiNodeId_p,   // target node id
 714                                          SdoType_p);    // SDO type
 715                 if ((Ret != kEplSuccessful) && (Ret != kEplSdoComHandleExists)) {
 716                         goto Exit;
 717                 }
 718                 TransParamByIndex.m_pData = pDstData_le_p;
 719                 TransParamByIndex.m_SdoAccessType = kEplSdoAccessTypeRead;
 720                 TransParamByIndex.m_SdoComConHdl = *pSdoComConHdl_p;
 721                 TransParamByIndex.m_uiDataSize = *puiSize_p;
 722                 TransParamByIndex.m_uiIndex = uiIndex_p;
 723                 TransParamByIndex.m_uiSubindex = uiSubindex_p;
 724                 TransParamByIndex.m_pfnSdoFinishedCb = EplApiCbSdoCon;
 725                 TransParamByIndex.m_pUserArg = pUserArg_p;
 726
 727                 Ret = EplSdoComInitTransferByIndex(&TransParamByIndex);
 728                 if (Ret != kEplSuccessful) {
 729                         goto Exit;
 730                 }
 731                 Ret = kEplApiTaskDeferred;
 732
 733 #else
 734                 Ret = kEplApiInvalidParam;
 735 #endif
 736         }
 737
 738       Exit:
 739         return Ret;
 740 }
 741
 742 // ----------------------------------------------------------------------------
 743 //
 744 // Function:    EplApiWriteObject()
 745 //
 746 // Description: writes the specified entry to the OD of the specified node.
 747 //              If this node is a remote node, it performs a SDO transfer, which
 748 //              means this function returns kEplApiTaskDeferred and the application
 749 //              is informed via the event callback function when the task is completed.
 750 //
 751 // Parameters:  pSdoComConHdl_p         = INOUT: pointer to SDO connection handle (may be NULL in case of local OD access)
 752 //              uiNodeId_p              = IN: node ID (0 = itself)
 753 //              uiIndex_p               = IN: index of object in OD
 754 //              uiSubindex_p            = IN: sub-index of object in OD
 755 //              pSrcData_le_p           = IN: pointer to data in little endian
 756 //              uiSize_p                = IN: size of data in bytes
 757 //              SdoType_p               = IN: type of SDO transfer
 758 //              pUserArg_p              = IN: user-definable argument pointer,
 759 //                                            which will be passed to the event callback function
 760 //
 761 // Return:      tEplKernel              = error code
 762 //
 763 // ----------------------------------------------------------------------------
 764
 765 tEplKernel EplApiWriteObject(tEplSdoComConHdl *pSdoComConHdl_p,
 766                              unsigned int uiNodeId_p,
 767                              unsigned int uiIndex_p,
 768                              unsigned int uiSubindex_p,
 769                              void *pSrcData_le_p,
 770                              unsigned int uiSize_p,
 771                              tEplSdoType SdoType_p, void *pUserArg_p)
 772 {
 773         tEplKernel Ret = kEplSuccessful;
 774
 775         if ((uiIndex_p == 0) || (pSrcData_le_p == NULL) || (uiSize_p == 0)) {
 776                 Ret = kEplApiInvalidParam;
 777                 goto Exit;
 778         }
 779
 780         if (uiNodeId_p == 0 || uiNodeId_p == EplObdGetNodeId()) {       // local OD access can be performed
 781
 782                 Ret =
 783                     EplObdWriteEntryFromLe(uiIndex_p, uiSubindex_p,
 784                                            pSrcData_le_p, uiSize_p);
 785         } else {                // perform SDO transfer
 786 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
 787                 tEplSdoComTransParamByIndex TransParamByIndex;
 788 //    tEplSdoComConHdl            SdoComConHdl;
 789
 790                 // check if application provides space for handle
 791                 if (pSdoComConHdl_p == NULL) {
 792                         Ret = kEplApiInvalidParam;
 793                         goto Exit;
 794 //            pSdoComConHdl_p = &SdoComConHdl;
 795                 }
 796                 // d.k.: How to recycle command layer connection?
 797                 //       Try to redefine it, which will return kEplSdoComHandleExists
 798                 //       and the existing command layer handle.
 799                 //       If the returned handle is busy, EplSdoComInitTransferByIndex()
 800                 //       will return with error.
 801                 // $$$ d.k.: Collisions may occur with Configuration Manager, if both the application and
 802                 //           Configuration Manager, are trying to communicate with the very same node.
 803                 //     possible solution: disallow communication by application if Configuration Manager is busy
 804
 805                 // init command layer connection
 806                 Ret = EplSdoComDefineCon(pSdoComConHdl_p, uiNodeId_p,   // target node id
 807                                          SdoType_p);    // SDO type
 808                 if ((Ret != kEplSuccessful) && (Ret != kEplSdoComHandleExists)) {
 809                         goto Exit;
 810                 }
 811                 TransParamByIndex.m_pData = pSrcData_le_p;
 812                 TransParamByIndex.m_SdoAccessType = kEplSdoAccessTypeWrite;
 813                 TransParamByIndex.m_SdoComConHdl = *pSdoComConHdl_p;
 814                 TransParamByIndex.m_uiDataSize = uiSize_p;
 815                 TransParamByIndex.m_uiIndex = uiIndex_p;
 816                 TransParamByIndex.m_uiSubindex = uiSubindex_p;
 817                 TransParamByIndex.m_pfnSdoFinishedCb = EplApiCbSdoCon;
 818                 TransParamByIndex.m_pUserArg = pUserArg_p;
 819
 820                 Ret = EplSdoComInitTransferByIndex(&TransParamByIndex);
 821                 if (Ret != kEplSuccessful) {
 822                         goto Exit;
 823                 }
 824                 Ret = kEplApiTaskDeferred;
 825
 826 #else
 827                 Ret = kEplApiInvalidParam;
 828 #endif
 829         }
 830
 831       Exit:
 832         return Ret;
 833 }
 834
 835 // ----------------------------------------------------------------------------
 836 //
 837 // Function:    EplApiFreeSdoChannel()
 838 //
 839 // Description: frees the specified SDO channel.
 840 //              This function must be called after each call to EplApiReadObject()/EplApiWriteObject()
 841 //              which returns kEplApiTaskDeferred and the application
 842 //              is informed via the event callback function when the task is completed.
 843 //
 844 // Parameters:  SdoComConHdl_p          = IN: SDO connection handle
 845 //
 846 // Return:      tEplKernel              = error code
 847 //
 848 // ----------------------------------------------------------------------------
 849
 850 tEplKernel EplApiFreeSdoChannel(tEplSdoComConHdl SdoComConHdl_p)
 851 {
 852         tEplKernel Ret = kEplSuccessful;
 853
 854 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
 855
 856         // init command layer connection
 857         Ret = EplSdoComUndefineCon(SdoComConHdl_p);
 858
 859 #else
 860         Ret = kEplApiInvalidParam;
 861 #endif
 862
 863         return Ret;
 864 }
 865
 866 // ----------------------------------------------------------------------------
 867 //
 868 // Function:    EplApiReadLocalObject()
 869 //
 870 // Description: reads the specified entry from the local OD.
 871 //
 872 // Parameters:  uiIndex_p               = IN: index of object in OD
 873 //              uiSubindex_p            = IN: sub-index of object in OD
 874 //              pDstData_p              = OUT: pointer to data in platform byte order
 875 //              puiSize_p               = INOUT: pointer to size of data
 876 //
 877 // Return:      tEplKernel              = error code
 878 //
 879 // ----------------------------------------------------------------------------
 880
 881 tEplKernel EplApiReadLocalObject(unsigned int uiIndex_p,
 882                                  unsigned int uiSubindex_p,
 883                                  void *pDstData_p, unsigned int *puiSize_p)
 884 {
 885         tEplKernel Ret = kEplSuccessful;
 886         tEplObdSize ObdSize;
 887
 888         ObdSize = (tEplObdSize) * puiSize_p;
 889         Ret = EplObdReadEntry(uiIndex_p, uiSubindex_p, pDstData_p, &ObdSize);
 890         *puiSize_p = (unsigned int)ObdSize;
 891
 892         return Ret;
 893 }
 894
 895 // ----------------------------------------------------------------------------
 896 //
 897 // Function:    EplApiWriteLocalObject()
 898 //
 899 // Description: writes the specified entry to the local OD.
 900 //
 901 // Parameters:  uiIndex_p               = IN: index of object in OD
 902 //              uiSubindex_p            = IN: sub-index of object in OD
 903 //              pSrcData_p              = IN: pointer to data in platform byte order
 904 //              uiSize_p                = IN: size of data in bytes
 905 //
 906 // Return:      tEplKernel              = error code
 907 //
 908 // ----------------------------------------------------------------------------
 909
 910 tEplKernel EplApiWriteLocalObject(unsigned int uiIndex_p,
 911                                   unsigned int uiSubindex_p,
 912                                   void *pSrcData_p,
 913                                   unsigned int uiSize_p)
 914 {
 915         tEplKernel Ret = kEplSuccessful;
 916
 917         Ret =
 918             EplObdWriteEntry(uiIndex_p, uiSubindex_p, pSrcData_p,
 919                              (tEplObdSize) uiSize_p);
 920
 921         return Ret;
 922 }
 923
 924 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 925 // ----------------------------------------------------------------------------
 926 //
 927 // Function:    EplApiMnTriggerStateChange()
 928 //
 929 // Description: triggers the specified node command for the specified node.
 930 //
 931 // Parameters:  uiNodeId_p              = node ID for which the node command will be executed
 932 //              NodeCommand_p           = node command
 933 //
 934 // Return:      tEplKernel              = error code
 935 //
 936 // ----------------------------------------------------------------------------
 937
 938 tEplKernel EplApiMnTriggerStateChange(unsigned int uiNodeId_p,
 939                                       tEplNmtNodeCommand NodeCommand_p)
 940 {
 941         tEplKernel Ret = kEplSuccessful;
 942
 943         Ret = EplNmtMnuTriggerStateChange(uiNodeId_p, NodeCommand_p);
 944
 945         return Ret;
 946 }
 947
 948 #endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
 949
 950 //---------------------------------------------------------------------------
 951 //
 952 // Function:    EplApiCbObdAccess
 953 //
 954 // Description: callback function for OD accesses
 955 //
 956 // Parameters:  pParam_p                = OBD parameter
 957 //
 958 // Returns:     tEplKernel              = error code
 959 //
 960 //
 961 // State:
 962 //
 963 //---------------------------------------------------------------------------
 964
 965 tEplKernel EplApiCbObdAccess(tEplObdCbParam *pParam_p)
 966 {
 967         tEplKernel Ret = kEplSuccessful;
 968
 969 #if (EPL_API_OBD_FORWARD_EVENT != FALSE)
 970         tEplApiEventArg EventArg;
 971
 972         // call user callback
 973         // must be disabled for EplApiLinuxKernel.c, because of reentrancy problem
 974         // for local OD access. This is not so bad as user callback function in
 975         // application does not use OD callbacks at the moment.
 976         EventArg.m_ObdCbParam = *pParam_p;
 977         Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventObdAccess,
 978                                                         &EventArg,
 979                                                         EplApiInstance_g.
 980                                                         m_InitParam.
 981                                                         m_pEventUserArg);
 982 #endif
 983
 984         switch (pParam_p->m_uiIndex) {
 985                 //case 0x1006:    // NMT_CycleLen_U32 (valid on reset)
 986         case 0x1C14:            // DLL_LossOfFrameTolerance_U32
 987                 //case 0x1F98:    // NMT_CycleTiming_REC (valid on reset)
 988                 {
 989                         if (pParam_p->m_ObdEvent == kEplObdEvPostWrite) {
 990                                 // update DLL configuration
 991                                 Ret = EplApiUpdateDllConfig(FALSE);
 992                         }
 993                         break;
 994                 }
 995
 996         case 0x1020:            // CFM_VerifyConfiguration_REC.ConfId_U32 != 0
 997                 {
 998                         if ((pParam_p->m_ObdEvent == kEplObdEvPostWrite)
 999                             && (pParam_p->m_uiSubIndex == 3)
1000                             && (*((u32 *) pParam_p->m_pArg) != 0)) {
1001                                 u32 dwVerifyConfInvalid = 0;
1002                                 // set CFM_VerifyConfiguration_REC.VerifyConfInvalid_U32 to 0
1003                                 Ret =
1004                                     EplObdWriteEntry(0x1020, 4,
1005                                                      &dwVerifyConfInvalid, 4);
1006                                 // ignore any error because this objekt is optional
1007                                 Ret = kEplSuccessful;
1008                         }
1009                         break;
1010                 }
1011
1012         case 0x1F9E:            // NMT_ResetCmd_U8
1013                 {
1014                         if (pParam_p->m_ObdEvent == kEplObdEvPreWrite) {
1015                                 u8 bNmtCommand;
1016
1017                                 bNmtCommand = *((u8 *) pParam_p->m_pArg);
1018                                 // check value range
1019                                 switch ((tEplNmtCommand) bNmtCommand) {
1020                                 case kEplNmtCmdResetNode:
1021                                 case kEplNmtCmdResetCommunication:
1022                                 case kEplNmtCmdResetConfiguration:
1023                                 case kEplNmtCmdSwReset:
1024                                 case kEplNmtCmdInvalidService:
1025                                         // valid command identifier specified
1026                                         break;
1027
1028                                 default:
1029                                         pParam_p->m_dwAbortCode =
1030                                             EPL_SDOAC_VALUE_RANGE_EXCEEDED;
1031                                         Ret = kEplObdAccessViolation;
1032                                         break;
1033                                 }
1034                         } else if (pParam_p->m_ObdEvent == kEplObdEvPostWrite) {
1035                                 u8 bNmtCommand;
1036
1037                                 bNmtCommand = *((u8 *) pParam_p->m_pArg);
1038                                 // check value range
1039                                 switch ((tEplNmtCommand) bNmtCommand) {
1040                                 case kEplNmtCmdResetNode:
1041 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
1042                                         Ret =
1043                                             EplNmtuNmtEvent
1044                                             (kEplNmtEventResetNode);
1045 #endif
1046                                         break;
1047
1048                                 case kEplNmtCmdResetCommunication:
1049 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
1050                                         Ret =
1051                                             EplNmtuNmtEvent
1052                                             (kEplNmtEventResetCom);
1053 #endif
1054                                         break;
1055
1056                                 case kEplNmtCmdResetConfiguration:
1057 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
1058                                         Ret =
1059                                             EplNmtuNmtEvent
1060                                             (kEplNmtEventResetConfig);
1061 #endif
1062                                         break;
1063
1064                                 case kEplNmtCmdSwReset:
1065 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTU)) != 0)
1066                                         Ret =
1067                                             EplNmtuNmtEvent
1068                                             (kEplNmtEventSwReset);
1069 #endif
1070                                         break;
1071
1072                                 case kEplNmtCmdInvalidService:
1073                                         break;
1074
1075                                 default:
1076                                         pParam_p->m_dwAbortCode =
1077                                             EPL_SDOAC_VALUE_RANGE_EXCEEDED;
1078                                         Ret = kEplObdAccessViolation;
1079                                         break;
1080                                 }
1081                         }
1082                         break;
1083                 }
1084
1085         default:
1086                 break;
1087         }
1088
1089 //Exit:
1090         return Ret;
1091 }
1092
1093 //=========================================================================//
1094 //                                                                         //
1095 //          P R I V A T E   F U N C T I O N S                              //
1096 //                                                                         //
1097 //=========================================================================//
1098
1099 //---------------------------------------------------------------------------
1100 //
1101 // Function:    EplApiProcessEvent
1102 //
1103 // Description: processes events from event queue and forwards these to
1104 //              the application's event callback function
1105 //
1106 // Parameters:  pEplEvent_p =   pointer to event
1107 //
1108 // Returns:     tEplKernel  = errorcode
1109 //
1110 // State:
1111 //
1112 //---------------------------------------------------------------------------
1113
1114 static tEplKernel EplApiProcessEvent(tEplEvent *pEplEvent_p)
1115 {
1116         tEplKernel Ret;
1117         tEplEventError *pEventError;
1118         tEplApiEventType EventType;
1119
1120         Ret = kEplSuccessful;
1121
1122         // process event
1123         switch (pEplEvent_p->m_EventType) {
1124                 // error event
1125         case kEplEventTypeError:
1126                 {
1127                         pEventError = (tEplEventError *) pEplEvent_p->m_pArg;
1128                         switch (pEventError->m_EventSource) {
1129                                 // treat the errors from the following sources as critical
1130                         case kEplEventSourceEventk:
1131                         case kEplEventSourceEventu:
1132                         case kEplEventSourceDllk:
1133                                 {
1134                                         EventType = kEplApiEventCriticalError;
1135                                         // halt the stack by entering NMT state Off
1136                                         Ret =
1137                                             EplNmtuNmtEvent
1138                                             (kEplNmtEventCriticalError);
1139                                         break;
1140                                 }
1141
1142                                 // the other errors are just warnings
1143                         default:
1144                                 {
1145                                         EventType = kEplApiEventWarning;
1146                                         break;
1147                                 }
1148                         }
1149
1150                         // call user callback
1151                         Ret =
1152                             EplApiInstance_g.m_InitParam.m_pfnCbEvent(EventType,
1153                                                                       (tEplApiEventArg
1154                                                                        *)
1155                                                                       pEventError,
1156                                                                       EplApiInstance_g.
1157                                                                       m_InitParam.
1158                                                                       m_pEventUserArg);
1159                         // discard error from callback function, because this could generate an endless loop
1160                         Ret = kEplSuccessful;
1161                         break;
1162                 }
1163
1164                 // at present, there are no other events for this module
1165         default:
1166                 break;
1167         }
1168
1169         return Ret;
1170 }
1171
1172 //---------------------------------------------------------------------------
1173 //
1174 // Function:    EplApiCbNmtStateChange
1175 //
1176 // Description: callback function for NMT state changes
1177 //
1178 // Parameters:  NmtStateChange_p        = NMT state change event
1179 //
1180 // Returns:     tEplKernel              = error code
1181 //
1182 //
1183 // State:
1184 //
1185 //---------------------------------------------------------------------------
1186
1187 static tEplKernel EplApiCbNmtStateChange(tEplEventNmtStateChange NmtStateChange_p)
1188 {
1189         tEplKernel Ret = kEplSuccessful;
1190         u8 bNmtState;
1191         tEplApiEventArg EventArg;
1192
1193         // save NMT state in OD
1194         bNmtState = (u8) NmtStateChange_p.m_NewNmtState;
1195         Ret = EplObdWriteEntry(0x1F8C, 0, &bNmtState, 1);
1196         if (Ret != kEplSuccessful) {
1197                 goto Exit;
1198         }
1199         // do work which must be done in that state
1200         switch (NmtStateChange_p.m_NewNmtState) {
1201                 // EPL stack is not running
1202         case kEplNmtGsOff:
1203                 break;
1204
1205                 // first init of the hardware
1206         case kEplNmtGsInitialising:
1207 #if 0
1208 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
1209                 // configure SDO via UDP (i.e. bind it to the EPL ethernet interface)
1210                 Ret =
1211                     EplSdoUdpuConfig(EplApiInstance_g.m_InitParam.m_dwIpAddress,
1212                                      EPL_C_SDO_EPL_PORT);
1213                 if (Ret != kEplSuccessful) {
1214                         goto Exit;
1215                 }
1216 #endif
1217 #endif
1218
1219                 break;
1220
1221                 // init of the manufacturer-specific profile area and the
1222                 // standardised device profile area
1223         case kEplNmtGsResetApplication:
1224                 {
1225                         // reset application part of OD
1226                         Ret = EplObdAccessOdPart(kEplObdPartApp,
1227                                                  kEplObdDirLoad);
1228                         if (Ret != kEplSuccessful) {
1229                                 goto Exit;
1230                         }
1231
1232                         break;
1233                 }
1234
1235                 // init of the communication profile area
1236         case kEplNmtGsResetCommunication:
1237                 {
1238                         // reset communication part of OD
1239                         Ret = EplObdAccessOdPart(kEplObdPartGen,
1240                                                  kEplObdDirLoad);
1241
1242                         if (Ret != kEplSuccessful) {
1243                                 goto Exit;
1244                         }
1245                         // $$$ d.k.: update OD only if OD was not loaded from non-volatile memory
1246                         Ret = EplApiUpdateObd();
1247                         if (Ret != kEplSuccessful) {
1248                                 goto Exit;
1249                         }
1250
1251                         break;
1252                 }
1253
1254                 // build the configuration with infos from OD
1255         case kEplNmtGsResetConfiguration:
1256                 {
1257
1258                         Ret = EplApiUpdateDllConfig(TRUE);
1259                         if (Ret != kEplSuccessful) {
1260                                 goto Exit;
1261                         }
1262
1263                         break;
1264                 }
1265
1266                 //-----------------------------------------------------------
1267                 // CN part of the state machine
1268
1269                 // node liste for EPL-Frames and check timeout
1270         case kEplNmtCsNotActive:
1271                 {
1272                         // indicate completion of reset in NMT_ResetCmd_U8
1273                         bNmtState = (u8) kEplNmtCmdInvalidService;
1274                         Ret = EplObdWriteEntry(0x1F9E, 0, &bNmtState, 1);
1275                         if (Ret != kEplSuccessful) {
1276                                 goto Exit;
1277                         }
1278
1279                         break;
1280                 }
1281
1282                 // node process only async frames
1283         case kEplNmtCsPreOperational1:
1284                 {
1285                         break;
1286                 }
1287
1288                 // node process isochronus and asynchronus frames
1289         case kEplNmtCsPreOperational2:
1290                 {
1291                         break;
1292                 }
1293
1294                 // node should be configured und application is ready
1295         case kEplNmtCsReadyToOperate:
1296                 {
1297                         break;
1298                 }
1299
1300                 // normal work state
1301         case kEplNmtCsOperational:
1302                 {
1303                         break;
1304                 }
1305
1306                 // node stopped by MN
1307                 // -> only process asynchronus frames
1308         case kEplNmtCsStopped:
1309                 {
1310                         break;
1311                 }
1312
1313                 // no EPL cycle
1314                 // -> normal ethernet communication
1315         case kEplNmtCsBasicEthernet:
1316                 {
1317                         break;
1318                 }
1319
1320                 //-----------------------------------------------------------
1321                 // MN part of the state machine
1322
1323                 // node listens for EPL-Frames and check timeout
1324         case kEplNmtMsNotActive:
1325                 {
1326                         break;
1327                 }
1328
1329                 // node processes only async frames
1330         case kEplNmtMsPreOperational1:
1331                 {
1332                         break;
1333                 }
1334
1335                 // node processes isochronous and asynchronous frames
1336         case kEplNmtMsPreOperational2:
1337                 {
1338                         break;
1339                 }
1340
1341                 // node should be configured und application is ready
1342         case kEplNmtMsReadyToOperate:
1343                 {
1344                         break;
1345                 }
1346
1347                 // normal work state
1348         case kEplNmtMsOperational:
1349                 {
1350                         break;
1351                 }
1352
1353                 // no EPL cycle
1354                 // -> normal ethernet communication
1355         case kEplNmtMsBasicEthernet:
1356                 {
1357                         break;
1358                 }
1359
1360         default:
1361                 {
1362                         TRACE0
1363                             ("EplApiCbNmtStateChange(): unhandled NMT state\n");
1364                 }
1365         }
1366
1367 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
1368         // forward event to Led module
1369         Ret = EplLeduCbNmtStateChange(NmtStateChange_p);
1370         if (Ret != kEplSuccessful) {
1371                 goto Exit;
1372         }
1373 #endif
1374
1375 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
1376         // forward event to NmtMn module
1377         Ret = EplNmtMnuCbNmtStateChange(NmtStateChange_p);
1378         if (Ret != kEplSuccessful) {
1379                 goto Exit;
1380         }
1381 #endif
1382
1383         // call user callback
1384         EventArg.m_NmtStateChange = NmtStateChange_p;
1385         Ret =
1386             EplApiInstance_g.m_InitParam.
1387             m_pfnCbEvent(kEplApiEventNmtStateChange, &EventArg,
1388                          EplApiInstance_g.m_InitParam.m_pEventUserArg);
1389
1390       Exit:
1391         return Ret;
1392 }
1393
1394 //---------------------------------------------------------------------------
1395 //
1396 // Function:    EplApiUpdateDllConfig
1397 //
1398 // Description: update configuration of DLL
1399 //
1400 // Parameters:  fUpdateIdentity_p       = TRUE, if identity must be updated
1401 //
1402 // Returns:     tEplKernel              = error code
1403 //
1404 //
1405 // State:
1406 //
1407 //---------------------------------------------------------------------------
1408
1409 static tEplKernel EplApiUpdateDllConfig(BOOL fUpdateIdentity_p)
1410 {
1411         tEplKernel Ret = kEplSuccessful;
1412         tEplDllConfigParam DllConfigParam;
1413         tEplDllIdentParam DllIdentParam;
1414         tEplObdSize ObdSize;
1415         u16 wTemp;
1416         u8 bTemp;
1417
1418         // configure Dll
1419         EPL_MEMSET(&DllConfigParam, 0, sizeof(DllConfigParam));
1420         DllConfigParam.m_uiNodeId = EplObdGetNodeId();
1421
1422         // Cycle Length (0x1006: NMT_CycleLen_U32) in [us]
1423         ObdSize = 4;
1424         Ret =
1425             EplObdReadEntry(0x1006, 0, &DllConfigParam.m_dwCycleLen, &ObdSize);
1426         if (Ret != kEplSuccessful) {
1427                 goto Exit;
1428         }
1429         // 0x1F82: NMT_FeatureFlags_U32
1430         ObdSize = 4;
1431         Ret =
1432             EplObdReadEntry(0x1F82, 0, &DllConfigParam.m_dwFeatureFlags,
1433                             &ObdSize);
1434         if (Ret != kEplSuccessful) {
1435                 goto Exit;
1436         }
1437         // d.k. There is no dependance between FeatureFlags and async-only CN
1438         DllConfigParam.m_fAsyncOnly = EplApiInstance_g.m_InitParam.m_fAsyncOnly;
1439
1440         // 0x1C14: DLL_LossOfFrameTolerance_U32 in [ns]
1441         ObdSize = 4;
1442         Ret =
1443             EplObdReadEntry(0x1C14, 0, &DllConfigParam.m_dwLossOfFrameTolerance,
1444                             &ObdSize);
1445         if (Ret != kEplSuccessful) {
1446                 goto Exit;
1447         }
1448         // 0x1F98: NMT_CycleTiming_REC
1449         // 0x1F98.1: IsochrTxMaxPayload_U16
1450         ObdSize = 2;
1451         Ret = EplObdReadEntry(0x1F98, 1, &wTemp, &ObdSize);
1452         if (Ret != kEplSuccessful) {
1453                 goto Exit;
1454         }
1455         DllConfigParam.m_uiIsochrTxMaxPayload = wTemp;
1456
1457         // 0x1F98.2: IsochrRxMaxPayload_U16
1458         ObdSize = 2;
1459         Ret = EplObdReadEntry(0x1F98, 2, &wTemp, &ObdSize);
1460         if (Ret != kEplSuccessful) {
1461                 goto Exit;
1462         }
1463         DllConfigParam.m_uiIsochrRxMaxPayload = wTemp;
1464
1465         // 0x1F98.3: PResMaxLatency_U32
1466         ObdSize = 4;
1467         Ret =
1468             EplObdReadEntry(0x1F98, 3, &DllConfigParam.m_dwPresMaxLatency,
1469                             &ObdSize);
1470         if (Ret != kEplSuccessful) {
1471                 goto Exit;
1472         }
1473         // 0x1F98.4: PReqActPayloadLimit_U16
1474         ObdSize = 2;
1475         Ret = EplObdReadEntry(0x1F98, 4, &wTemp, &ObdSize);
1476         if (Ret != kEplSuccessful) {
1477                 goto Exit;
1478         }
1479         DllConfigParam.m_uiPreqActPayloadLimit = wTemp;
1480
1481         // 0x1F98.5: PResActPayloadLimit_U16
1482         ObdSize = 2;
1483         Ret = EplObdReadEntry(0x1F98, 5, &wTemp, &ObdSize);
1484         if (Ret != kEplSuccessful) {
1485                 goto Exit;
1486         }
1487         DllConfigParam.m_uiPresActPayloadLimit = wTemp;
1488
1489         // 0x1F98.6: ASndMaxLatency_U32
1490         ObdSize = 4;
1491         Ret =
1492             EplObdReadEntry(0x1F98, 6, &DllConfigParam.m_dwAsndMaxLatency,
1493                             &ObdSize);
1494         if (Ret != kEplSuccessful) {
1495                 goto Exit;
1496         }
1497         // 0x1F98.7: MultiplCycleCnt_U8
1498         ObdSize = 1;
1499         Ret = EplObdReadEntry(0x1F98, 7, &bTemp, &ObdSize);
1500         if (Ret != kEplSuccessful) {
1501                 goto Exit;
1502         }
1503         DllConfigParam.m_uiMultiplCycleCnt = bTemp;
1504
1505         // 0x1F98.8: AsyncMTU_U16
1506         ObdSize = 2;
1507         Ret = EplObdReadEntry(0x1F98, 8, &wTemp, &ObdSize);
1508         if (Ret != kEplSuccessful) {
1509                 goto Exit;
1510         }
1511         DllConfigParam.m_uiAsyncMtu = wTemp;
1512
1513         // $$$ Prescaler
1514
1515 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
1516         // 0x1F8A.1: WaitSoCPReq_U32 in [ns]
1517         ObdSize = 4;
1518         Ret =
1519             EplObdReadEntry(0x1F8A, 1, &DllConfigParam.m_dwWaitSocPreq,
1520                             &ObdSize);
1521         if (Ret != kEplSuccessful) {
1522                 goto Exit;
1523         }
1524         // 0x1F8A.2: AsyncSlotTimeout_U32 in [ns] (optional)
1525         ObdSize = 4;
1526         Ret =
1527             EplObdReadEntry(0x1F8A, 2, &DllConfigParam.m_dwAsyncSlotTimeout,
1528                             &ObdSize);
1529 /*    if(Ret != kEplSuccessful)
1530     {
1531         goto Exit;
1532     }*/
1533 #endif
1534
1535         DllConfigParam.m_uiSizeOfStruct = sizeof(DllConfigParam);
1536         Ret = EplDllkConfig(&DllConfigParam);
1537         if (Ret != kEplSuccessful) {
1538                 goto Exit;
1539         }
1540
1541         if (fUpdateIdentity_p != FALSE) {
1542                 // configure Identity
1543                 EPL_MEMSET(&DllIdentParam, 0, sizeof(DllIdentParam));
1544                 ObdSize = 4;
1545                 Ret =
1546                     EplObdReadEntry(0x1000, 0, &DllIdentParam.m_dwDeviceType,
1547                                     &ObdSize);
1548                 if (Ret != kEplSuccessful) {
1549                         goto Exit;
1550                 }
1551
1552                 ObdSize = 4;
1553                 Ret =
1554                     EplObdReadEntry(0x1018, 1, &DllIdentParam.m_dwVendorId,
1555                                     &ObdSize);
1556                 if (Ret != kEplSuccessful) {
1557                         goto Exit;
1558                 }
1559                 ObdSize = 4;
1560                 Ret =
1561                     EplObdReadEntry(0x1018, 2, &DllIdentParam.m_dwProductCode,
1562                                     &ObdSize);
1563                 if (Ret != kEplSuccessful) {
1564                         goto Exit;
1565                 }
1566                 ObdSize = 4;
1567                 Ret =
1568                     EplObdReadEntry(0x1018, 3,
1569                                     &DllIdentParam.m_dwRevisionNumber,
1570                                     &ObdSize);
1571                 if (Ret != kEplSuccessful) {
1572                         goto Exit;
1573                 }
1574                 ObdSize = 4;
1575                 Ret =
1576                     EplObdReadEntry(0x1018, 4, &DllIdentParam.m_dwSerialNumber,
1577                                     &ObdSize);
1578                 if (Ret != kEplSuccessful) {
1579                         goto Exit;
1580                 }
1581
1582                 DllIdentParam.m_dwIpAddress =
1583                     EplApiInstance_g.m_InitParam.m_dwIpAddress;
1584                 DllIdentParam.m_dwSubnetMask =
1585                     EplApiInstance_g.m_InitParam.m_dwSubnetMask;
1586                 EPL_MEMCPY(DllIdentParam.m_sHostname,
1587                            EplApiInstance_g.m_InitParam.m_sHostname,
1588                            sizeof(DllIdentParam.m_sHostname));
1589
1590                 ObdSize = 4;
1591                 Ret =
1592                     EplObdReadEntry(0x1020, 1,
1593                                     &DllIdentParam.m_dwVerifyConfigurationDate,
1594                                     &ObdSize);
1595                 // ignore any error, because this object is optional
1596
1597                 ObdSize = 4;
1598                 Ret =
1599                     EplObdReadEntry(0x1020, 2,
1600                                     &DllIdentParam.m_dwVerifyConfigurationTime,
1601                                     &ObdSize);
1602                 // ignore any error, because this object is optional
1603
1604                 // $$$ d.k.: fill rest of ident structure
1605
1606                 DllIdentParam.m_uiSizeOfStruct = sizeof(DllIdentParam);
1607                 Ret = EplDllkSetIdentity(&DllIdentParam);
1608                 if (Ret != kEplSuccessful) {
1609                         goto Exit;
1610                 }
1611         }
1612
1613       Exit:
1614         return Ret;
1615 }
1616
1617 //---------------------------------------------------------------------------
1618 //
1619 // Function:    EplApiUpdateObd
1620 //
1621 // Description: update OD from init param
1622 //
1623 // Parameters:  (none)
1624 //
1625 // Returns:     tEplKernel              = error code
1626 //
1627 //
1628 // State:
1629 //
1630 //---------------------------------------------------------------------------
1631
1632 static tEplKernel EplApiUpdateObd(void)
1633 {
1634         tEplKernel Ret = kEplSuccessful;
1635         u16 wTemp;
1636         u8 bTemp;
1637
1638         // set node id in OD
1639         Ret = EplObdSetNodeId(EplApiInstance_g.m_InitParam.m_uiNodeId,  // node id
1640                               kEplObdNodeIdHardware);   // set by hardware
1641         if (Ret != kEplSuccessful) {
1642                 goto Exit;
1643         }
1644
1645         if (EplApiInstance_g.m_InitParam.m_dwCycleLen != -1) {
1646                 Ret =
1647                     EplObdWriteEntry(0x1006, 0,
1648                                      &EplApiInstance_g.m_InitParam.m_dwCycleLen,
1649                                      4);
1650 /*    if(Ret != kEplSuccessful)
1651     {
1652         goto Exit;
1653     }*/
1654         }
1655
1656         if (EplApiInstance_g.m_InitParam.m_dwLossOfFrameTolerance != -1) {
1657                 Ret =
1658                     EplObdWriteEntry(0x1C14, 0,
1659                                      &EplApiInstance_g.m_InitParam.
1660                                      m_dwLossOfFrameTolerance, 4);
1661                 /*        if(Ret != kEplSuccessful)
1662                    {
1663                    goto Exit;
1664                    } */
1665         }
1666         // d.k. There is no dependance between FeatureFlags and async-only CN.
1667         if (EplApiInstance_g.m_InitParam.m_dwFeatureFlags != -1) {
1668                 Ret =
1669                     EplObdWriteEntry(0x1F82, 0,
1670                                      &EplApiInstance_g.m_InitParam.
1671                                      m_dwFeatureFlags, 4);
1672                 /*    if(Ret != kEplSuccessful)
1673                    {
1674                    goto Exit;
1675                    } */
1676         }
1677
1678         wTemp = (u16) EplApiInstance_g.m_InitParam.m_uiIsochrTxMaxPayload;
1679         Ret = EplObdWriteEntry(0x1F98, 1, &wTemp, 2);
1680 /*    if(Ret != kEplSuccessful)
1681     {
1682         goto Exit;
1683     }*/
1684
1685         wTemp = (u16) EplApiInstance_g.m_InitParam.m_uiIsochrRxMaxPayload;
1686         Ret = EplObdWriteEntry(0x1F98, 2, &wTemp, 2);
1687 /*    if(Ret != kEplSuccessful)
1688     {
1689         goto Exit;
1690     }*/
1691
1692         Ret =
1693             EplObdWriteEntry(0x1F98, 3,
1694                              &EplApiInstance_g.m_InitParam.m_dwPresMaxLatency,
1695                              4);
1696 /*    if(Ret != kEplSuccessful)
1697     {
1698         goto Exit;
1699     }*/
1700
1701         if (EplApiInstance_g.m_InitParam.m_uiPreqActPayloadLimit <=
1702             EPL_C_DLL_ISOCHR_MAX_PAYL) {
1703                 wTemp =
1704                     (u16) EplApiInstance_g.m_InitParam.m_uiPreqActPayloadLimit;
1705                 Ret = EplObdWriteEntry(0x1F98, 4, &wTemp, 2);
1706 /*    if(Ret != kEplSuccessful)
1707     {
1708         goto Exit;
1709     }*/
1710         }
1711
1712         if (EplApiInstance_g.m_InitParam.m_uiPresActPayloadLimit <=
1713             EPL_C_DLL_ISOCHR_MAX_PAYL) {
1714                 wTemp =
1715                     (u16) EplApiInstance_g.m_InitParam.m_uiPresActPayloadLimit;
1716                 Ret = EplObdWriteEntry(0x1F98, 5, &wTemp, 2);
1717 /*    if(Ret != kEplSuccessful)
1718     {
1719         goto Exit;
1720     }*/
1721         }
1722
1723         Ret =
1724             EplObdWriteEntry(0x1F98, 6,
1725                              &EplApiInstance_g.m_InitParam.m_dwAsndMaxLatency,
1726                              4);
1727 /*    if(Ret != kEplSuccessful)
1728     {
1729         goto Exit;
1730     }*/
1731
1732         if (EplApiInstance_g.m_InitParam.m_uiMultiplCycleCnt <= 0xFF) {
1733                 bTemp = (u8) EplApiInstance_g.m_InitParam.m_uiMultiplCycleCnt;
1734                 Ret = EplObdWriteEntry(0x1F98, 7, &bTemp, 1);
1735 /*    if(Ret != kEplSuccessful)
1736     {
1737         goto Exit;
1738     }*/
1739         }
1740
1741         if (EplApiInstance_g.m_InitParam.m_uiAsyncMtu <=
1742             EPL_C_DLL_MAX_ASYNC_MTU) {
1743                 wTemp = (u16) EplApiInstance_g.m_InitParam.m_uiAsyncMtu;
1744                 Ret = EplObdWriteEntry(0x1F98, 8, &wTemp, 2);
1745 /*    if(Ret != kEplSuccessful)
1746     {
1747         goto Exit;
1748     }*/
1749         }
1750
1751         if (EplApiInstance_g.m_InitParam.m_uiPrescaler <= 1000) {
1752                 wTemp = (u16) EplApiInstance_g.m_InitParam.m_uiPrescaler;
1753                 Ret = EplObdWriteEntry(0x1F98, 9, &wTemp, 2);
1754                 // ignore return code
1755                 Ret = kEplSuccessful;
1756         }
1757 #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
1758         if (EplApiInstance_g.m_InitParam.m_dwWaitSocPreq != -1) {
1759                 Ret =
1760                     EplObdWriteEntry(0x1F8A, 1,
1761                                      &EplApiInstance_g.m_InitParam.
1762                                      m_dwWaitSocPreq, 4);
1763                 /*        if(Ret != kEplSuccessful)
1764                    {
1765                    goto Exit;
1766                    } */
1767         }
1768
1769         if ((EplApiInstance_g.m_InitParam.m_dwAsyncSlotTimeout != 0)
1770             && (EplApiInstance_g.m_InitParam.m_dwAsyncSlotTimeout != -1)) {
1771                 Ret =
1772                     EplObdWriteEntry(0x1F8A, 2,
1773                                      &EplApiInstance_g.m_InitParam.
1774                                      m_dwAsyncSlotTimeout, 4);
1775                 /*        if(Ret != kEplSuccessful)
1776                    {
1777                    goto Exit;
1778                    } */
1779         }
1780 #endif
1781
1782         // configure Identity
1783         if (EplApiInstance_g.m_InitParam.m_dwDeviceType != -1) {
1784                 Ret =
1785                     EplObdWriteEntry(0x1000, 0,
1786                                      &EplApiInstance_g.m_InitParam.
1787                                      m_dwDeviceType, 4);
1788 /*        if(Ret != kEplSuccessful)
1789         {
1790             goto Exit;
1791         }*/
1792         }
1793
1794         if (EplApiInstance_g.m_InitParam.m_dwVendorId != -1) {
1795                 Ret =
1796                     EplObdWriteEntry(0x1018, 1,
1797                                      &EplApiInstance_g.m_InitParam.m_dwVendorId,
1798                                      4);
1799 /*        if(Ret != kEplSuccessful)
1800         {
1801             goto Exit;
1802         }*/
1803         }
1804
1805         if (EplApiInstance_g.m_InitParam.m_dwProductCode != -1) {
1806                 Ret =
1807                     EplObdWriteEntry(0x1018, 2,
1808                                      &EplApiInstance_g.m_InitParam.
1809                                      m_dwProductCode, 4);
1810 /*        if(Ret != kEplSuccessful)
1811         {
1812             goto Exit;
1813         }*/
1814         }
1815
1816         if (EplApiInstance_g.m_InitParam.m_dwRevisionNumber != -1) {
1817                 Ret =
1818                     EplObdWriteEntry(0x1018, 3,
1819                                      &EplApiInstance_g.m_InitParam.
1820                                      m_dwRevisionNumber, 4);
1821 /*        if(Ret != kEplSuccessful)
1822         {
1823             goto Exit;
1824         }*/
1825         }
1826
1827         if (EplApiInstance_g.m_InitParam.m_dwSerialNumber != -1) {
1828                 Ret =
1829                     EplObdWriteEntry(0x1018, 4,
1830                                      &EplApiInstance_g.m_InitParam.
1831                                      m_dwSerialNumber, 4);
1832 /*        if(Ret != kEplSuccessful)
1833         {
1834             goto Exit;
1835         }*/
1836         }
1837
1838         if (EplApiInstance_g.m_InitParam.m_pszDevName != NULL) {
1839                 // write Device Name (0x1008)
1840                 Ret =
1841                     EplObdWriteEntry(0x1008, 0,
1842                                      (void *)EplApiInstance_g.
1843                                      m_InitParam.m_pszDevName,
1844                                      (tEplObdSize) strlen(EplApiInstance_g.
1845                                                           m_InitParam.
1846                                                           m_pszDevName));
1847 /*        if (Ret != kEplSuccessful)
1848         {
1849             goto Exit;
1850         }*/
1851         }
1852
1853         if (EplApiInstance_g.m_InitParam.m_pszHwVersion != NULL) {
1854                 // write Hardware version (0x1009)
1855                 Ret =
1856                     EplObdWriteEntry(0x1009, 0,
1857                                      (void *)EplApiInstance_g.
1858                                      m_InitParam.m_pszHwVersion,
1859                                      (tEplObdSize) strlen(EplApiInstance_g.
1860                                                           m_InitParam.
1861                                                           m_pszHwVersion));
1862 /*        if (Ret != kEplSuccessful)
1863         {
1864             goto Exit;
1865         }*/
1866         }
1867
1868         if (EplApiInstance_g.m_InitParam.m_pszSwVersion != NULL) {
1869                 // write Software version (0x100A)
1870                 Ret =
1871                     EplObdWriteEntry(0x100A, 0,
1872                                      (void *)EplApiInstance_g.
1873                                      m_InitParam.m_pszSwVersion,
1874                                      (tEplObdSize) strlen(EplApiInstance_g.
1875                                                           m_InitParam.
1876                                                           m_pszSwVersion));
1877 /*        if (Ret != kEplSuccessful)
1878         {
1879             goto Exit;
1880         }*/
1881         }
1882
1883       Exit:
1884         return Ret;
1885 }
1886
1887 //---------------------------------------------------------------------------
1888 //
1889 // Function:    EplApiCbSdoCon
1890 //
1891 // Description: callback function for SDO transfers
1892 //
1893 // Parameters:  pSdoComFinished_p       = SDO parameter
1894 //
1895 // Returns:     tEplKernel              = error code
1896 //
1897 //
1898 // State:
1899 //
1900 //---------------------------------------------------------------------------
1901
1902 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDOC)) != 0)
1903 static tEplKernel EplApiCbSdoCon(tEplSdoComFinished *pSdoComFinished_p)
1904 {
1905         tEplKernel Ret;
1906         tEplApiEventArg EventArg;
1907
1908         Ret = kEplSuccessful;
1909
1910         // call user callback
1911         EventArg.m_Sdo = *pSdoComFinished_p;
1912         Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventSdo,
1913                                                         &EventArg,
1914                                                         EplApiInstance_g.
1915                                                         m_InitParam.
1916                                                         m_pEventUserArg);
1917
1918         return Ret;
1919
1920 }
1921 #endif
1922
1923 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
1924
1925 //---------------------------------------------------------------------------
1926 //
1927 // Function:    EplApiCbNodeEvent
1928 //
1929 // Description: callback function for node events
1930 //
1931 // Parameters:  uiNodeId_p              = node ID of the CN
1932 //              NodeEvent_p             = event from the specified CN
1933 //              NmtState_p              = current NMT state of the CN
1934 //              wErrorCode_p            = EPL error code if NodeEvent_p==kEplNmtNodeEventError
1935 //              fMandatory_p            = flag if CN is mandatory
1936 //
1937 // Returns:     tEplKernel              = error code
1938 //
1939 //
1940 // State:
1941 //
1942 //---------------------------------------------------------------------------
1943
1944 static tEplKernel EplApiCbNodeEvent(unsigned int uiNodeId_p,
1945                                     tEplNmtNodeEvent NodeEvent_p,
1946                                     tEplNmtState NmtState_p,
1947                                     u16 wErrorCode_p, BOOL fMandatory_p)
1948 {
1949         tEplKernel Ret;
1950         tEplApiEventArg EventArg;
1951
1952         Ret = kEplSuccessful;
1953
1954         // call user callback
1955         EventArg.m_Node.m_uiNodeId = uiNodeId_p;
1956         EventArg.m_Node.m_NodeEvent = NodeEvent_p;
1957         EventArg.m_Node.m_NmtState = NmtState_p;
1958         EventArg.m_Node.m_wErrorCode = wErrorCode_p;
1959         EventArg.m_Node.m_fMandatory = fMandatory_p;
1960
1961         Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventNode,
1962                                                         &EventArg,
1963                                                         EplApiInstance_g.
1964                                                         m_InitParam.
1965                                                         m_pEventUserArg);
1966
1967         return Ret;
1968
1969 }
1970
1971 //---------------------------------------------------------------------------
1972 //
1973 // Function:    EplApiCbBootEvent
1974 //
1975 // Description: callback function for boot events
1976 //
1977 // Parameters:  BootEvent_p             = event from the boot-up process
1978 //              NmtState_p              = current local NMT state
1979 //              wErrorCode_p            = EPL error code if BootEvent_p==kEplNmtBootEventError
1980 //
1981 // Returns:     tEplKernel              = error code
1982 //
1983 //
1984 // State:
1985 //
1986 //---------------------------------------------------------------------------
1987
1988 static tEplKernel EplApiCbBootEvent(tEplNmtBootEvent BootEvent_p,
1989                                     tEplNmtState NmtState_p,
1990                                     u16 wErrorCode_p)
1991 {
1992         tEplKernel Ret;
1993         tEplApiEventArg EventArg;
1994
1995         Ret = kEplSuccessful;
1996
1997         // call user callback
1998         EventArg.m_Boot.m_BootEvent = BootEvent_p;
1999         EventArg.m_Boot.m_NmtState = NmtState_p;
2000         EventArg.m_Boot.m_wErrorCode = wErrorCode_p;
2001
2002         Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventBoot,
2003                                                         &EventArg,
2004                                                         EplApiInstance_g.
2005                                                         m_InitParam.
2006                                                         m_pEventUserArg);
2007
2008         return Ret;
2009
2010 }
2011
2012 #endif // (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
2013
2014 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_LEDU)) != 0)
2015
2016 //---------------------------------------------------------------------------
2017 //
2018 // Function:    EplApiCbLedStateChange
2019 //
2020 // Description: callback function for LED change events.
2021 //
2022 // Parameters:  LedType_p       = type of LED
2023 //              fOn_p           = state of LED
2024 //
2025 // Returns:     tEplKernel      = errorcode
2026 //
2027 // State:
2028 //
2029 //---------------------------------------------------------------------------
2030
2031 static tEplKernel EplApiCbLedStateChange(tEplLedType LedType_p, BOOL fOn_p)
2032 {
2033         tEplKernel Ret;
2034         tEplApiEventArg EventArg;
2035
2036         Ret = kEplSuccessful;
2037
2038         // call user callback
2039         EventArg.m_Led.m_LedType = LedType_p;
2040         EventArg.m_Led.m_fOn = fOn_p;
2041
2042         Ret = EplApiInstance_g.m_InitParam.m_pfnCbEvent(kEplApiEventLed,
2043                                                         &EventArg,
2044                                                         EplApiInstance_g.
2045                                                         m_InitParam.
2046                                                         m_pEventUserArg);
2047
2048         return Ret;
2049
2050 }
2051
2052 #endif
2053
2054 // EOF