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Commit 74f05bbb authored by Claes's avatar Claes
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Support for Hilscher cifX Profinet Controller added

parent 5bc8a36a
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Showing with 1604 additions and 177 deletions
otherio/lib/rt/src/os_linux/rt_io_m_hilscher_cifx.h
View file @ 74f05bbb
/*
* Proview $Id$
* Copyright (C) 2005 SSAB Oxelösund AB.
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation, either version 2 of
* the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the program, if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
**/
#ifndef rt_io_hilscher_cifx_h
#define rt_io_hilscher_cifx_h
typedef struct { typedef struct {
unsigned long channel; unsigned long channel;
...@@ -9,6 +29,7 @@ typedef struct { ...@@ -9,6 +29,7 @@ typedef struct {
unsigned int dev_init; unsigned int dev_init;
unsigned int dev_init_cnt; unsigned int dev_init_cnt;
unsigned int dev_init_limit; unsigned int dev_init_limit;
int softlimit_logged;
int input_area_size; int input_area_size;
int output_area_size; int output_area_size;
void *input_area; void *input_area;
...@@ -20,3 +41,20 @@ typedef struct { ...@@ -20,3 +41,20 @@ typedef struct {
int float_representation; int float_representation;
} io_sLocalHilscher_cifX_Device; } io_sLocalHilscher_cifX_Device;
typedef struct {
unsigned long channel;
unsigned long board;
CIFXHANDLE chan;
unsigned int diag_cnt;
unsigned int diag_interval;
unsigned int dev_init;
unsigned int dev_init_cnt;
unsigned int dev_init_limit;
int softlimit_logged;
int input_area_size;
int output_area_size;
void *input_area;
void *output_area;
} io_sLocalHilscher_cifX_PnController;
#endif
otherio/lib/rt/src/os_linux/rt_io_m_hilscher_cifx_master.c
View file @ 74f05bbb
...@@ -322,8 +322,10 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) ...@@ -322,8 +322,10 @@ static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap)
op->ErrorCount++; op->ErrorCount++;
} }
if ( op->ErrorCount == op->ErrorSoftLimit) if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name); errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name);
local->softlimit_logged = 1;
}
if ( op->ErrorCount >= op->ErrorHardLimit) { if ( op->ErrorCount >= op->ErrorHardLimit) {
ctx->Node->EmergBreakTrue = 1; ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE; return IO__ERRDEVICE;
...@@ -360,8 +362,10 @@ static pwr_tStatus IoAgentWrite( io_tCtx ctx, io_sAgent *ap) ...@@ -360,8 +362,10 @@ static pwr_tStatus IoAgentWrite( io_tCtx ctx, io_sAgent *ap)
xDriverGetErrorDescription( sts, op->ErrorStr, sizeof(op->ErrorStr)); xDriverGetErrorDescription( sts, op->ErrorStr, sizeof(op->ErrorStr));
} }
if ( op->ErrorCount == op->ErrorSoftLimit) if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name); errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name);
local->softlimit_logged = 1;
}
if ( op->ErrorCount >= op->ErrorHardLimit) { if ( op->ErrorCount >= op->ErrorHardLimit) {
ctx->Node->EmergBreakTrue = 1; ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE; return IO__ERRDEVICE;
......
otherio/lib/rt/src/os_linux/rt_io_m_hilscher_cifx_pncontroller.cpp 0 → 100644
View file @ 74f05bbb
/*
* Proview $Id$
* Copyright (C) 2005 SSAB Oxelsund AB.
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation, either version 2 of
* the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the program, if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
/* rt_io_m_hilscher_cifx_pncontroller.cpp -- I/O methods for class Hilscher_cifX_PnController. */
#include <vector>
#include <errno.h>
#include <fcntl.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <termios.h>
#include <unistd.h>
#include <sys/mman.h>
#include <time.h>
#include "pwr.h"
#include "pwr_basecomponentclasses.h"
#include "pwr_otherioclasses.h"
#include "pwr_profibusclasses.h"
#include "co_cdh.h"
#include "co_dcli.h"
#include "rt_io_base.h"
#include "rt_io_bus.h"
#include "rt_io_agent_init.h"
#include "rt_io_agent_close.h"
#include "rt_io_agent_read.h"
#include "rt_io_agent_write.h"
#include "rt_io_pn_locals.h"
#include "rt_io_msg.h"
#include "rt_pb_msg.h"
#if defined PWRE_CONF_CIFX
#define UUID_T TLR_UUID_T
#define __PACKED_PRE
#define __PACKED_POST __attribute__ ((packed))
#define PNM_CFG_IPFLAG_IP_ADDR_USED 1
#define PNM_CFG_IPFLAG_NETMASK_USED 2
#define PNM_CFG_IPFLAG_GATEWAY_USED 4
#include "cifxlinux.h"
#include "cifXEndianess.h"
#include "rcX_Public.h"
#include "RPCTask_Public.h"
#include "PNM_PNIOAPCTL_Public.h"
#include "PNM_PNIOAPCFG_Public.h"
#include "rt_io_m_hilscher_cifx.h"
#include "rt_pn_gsdml_data.h"
#define CIFX_DEV "cifX0"
#define PN_SRC 444
#define PN_SRCID 0
#define PNM_APPLICATION RCX_PACKET_DEST_DEFAULT_CHANNEL
union t_addr {
unsigned int m;
unsigned char b[4];
};
// One common handle to the driver
static CIFXHANDLE driver = 0;
static int msg_id = 1;
static void get_diag( pwr_sClass_Hilscher_cifX_Diag *diag, CIFXHANDLE chan)
{
int32_t sts;
uint32_t state;
CIFXHANDLE sysdevice = NULL;
sts = xSysdeviceOpen( driver, (char *)CIFX_DEV, &sysdevice);
if ( sts == CIFX_NO_ERROR) {
SYSTEM_CHANNEL_SYSTEM_STATUS_BLOCK statusblock = {0};
sts = xSysdeviceInfo( sysdevice, CIFX_INFO_CMD_SYSTEM_STATUS_BLOCK, sizeof(statusblock),
&statusblock);
if ( sts == CIFX_NO_ERROR) {
diag->SystemStatus = statusblock.ulSystemStatus;
diag->SystemError = statusblock.ulSystemError;
diag->TimeSinceStart.tv_sec = statusblock.ulTimeSinceStart;
diag->CpuLoad = (float) statusblock.usCpuLoad / 100.0;
}
}
NETX_COMMON_STATUS_BLOCK csb = {0};
sts = xChannelCommonStatusBlock( chan, CIFX_CMD_READ_DATA, 0, sizeof(csb), &csb);
if ( sts == CIFX_NO_ERROR) {
diag->CommState = csb.ulCommunicationState;
diag->CommError = csb.ulCommunicationError;
diag->ErrorCount = csb.ulErrorCount;
diag->ConfigSlaves = csb.uStackDepended.tMasterStatusBlock.ulNumOfConfigSlaves;
diag->ActiveSlaves = csb.uStackDepended.tMasterStatusBlock.ulNumOfActiveSlaves;
diag->SlaveState = csb.uStackDepended.tMasterStatusBlock.ulSlaveState;
}
sts = xChannelHostState( chan, CIFX_HOST_STATE_READ, &state, 0);
if ( sts == CIFX_NO_ERROR) {
diag->HostState = state;
}
sts = xChannelBusState( chan, CIFX_BUS_STATE_GETSTATE, &state, 0);
if ( sts == CIFX_NO_ERROR) {
diag->BusState = state;
}
}
static bool status_check( pwr_sClass_Hilscher_cifX_PnController *op,
io_sAgent *ap, int sts, const char *text)
{
if ( sts == CIFX_NO_ERROR)
return true;
xDriverGetErrorDescription( sts, op->ErrorStr, sizeof(op->ErrorStr));
op->Status = sts;
if ( text)
errh_Error( "IO init %s, '%s', %s", ap->Name, op->ErrorStr, text);
else
errh_Error( "IO init %s, '%s'", ap->Name, op->ErrorStr);
return false;
}
static bool cmd_check( pwr_sClass_Hilscher_cifX_PnController *op,
io_sAgent *ap, unsigned int cmd1, unsigned int cmd2)
{
if ( cmd1 == cmd2)
return true;
strcpy( op->ErrorStr, "Unexpected message received");
errh_Error( "IO init %s, '%s'", ap->Name, op->ErrorStr);
return false;
}
static pwr_tStatus IoAgentInit( io_tCtx ctx,
io_sAgent *ap)
{
int sts;
io_sLocalHilscher_cifX_PnController *local;
pwr_sClass_Hilscher_cifX_PnController *op = (pwr_sClass_Hilscher_cifX_PnController *)ap->op;
local = (io_sLocalHilscher_cifX_PnController *) calloc( 1, sizeof(io_sLocalHilscher_cifX_PnController));
ap->Local = local;
strcpy( op->ErrorStr, "");
op->Status = 0;
if ( driver == 0) {
struct CIFX_LINUX_INIT init;
memset( &init, 0, sizeof(init));
init.init_options = CIFX_DRIVER_INIT_AUTOSCAN;
init.trace_level = 255;
sts = cifXDriverInit( &init);
if ( !status_check( op, ap, sts, "cifXDriverInit"))
return IO__INITFAIL;
sts = xDriverOpen( &driver);
if ( !status_check( op, ap, sts, "xDriverOpen"))
return IO__INITFAIL;
}
// Find the board
unsigned long board = 0;
BOARD_INFORMATION boardinfo;
boardinfo.lBoardError = 0;
int found = 0;
while ( xDriverEnumBoards( driver, board, sizeof(boardinfo), &boardinfo)
== CIFX_NO_ERROR) {
if ( cdh_NoCaseStrcmp( boardinfo.abBoardAlias, op->Alias) == 0) {
found = 1;
break;
}
board++;
}
if ( !found) {
sprintf( op->ErrorStr, "Board with alias \"%s\" not found", op->Alias);
errh_Error( "IO init %s, '%s'", ap->Name, op->ErrorStr);
return IO__INITFAIL;
}
op->Diag.DeviceNumber = boardinfo.tSystemInfo.ulDeviceNumber;
op->Diag.SerialNumber = boardinfo.tSystemInfo.ulSerialNumber;
op->Diag.SystemError = boardinfo.ulSystemError;
//op->Diag.VendorId = boardinfo.tSystemInfo.usManufacturer;
local->channel = 0;
local->chan = NULL;
sts = xChannelOpen( NULL, (char *)CIFX_DEV, local->channel, &local->chan);
if ( !status_check( op, ap, sts, "xChannelOpen"))
return IO__INITFAIL;
uint32_t state;
strcpy( op->ErrorStr, "Device host state not ready");
for (;;) {
sts = xChannelHostState( local->chan, CIFX_HOST_STATE_READY, &state, 100);
if ( sts != CIFX_DEV_NOT_READY)
break;
sleep(1);
}
strcpy( op->ErrorStr, "");
sts = xChannelReset( local->chan, CIFX_SYSTEMSTART, 2000);
if ( sts != CIFX_NO_ERROR) {
printf( "xChannelReset: 0x%08x\n", sts);
}
for (;;) {
sts = xChannelHostState( local->chan, CIFX_HOST_STATE_READY, &state, 100);
if ( sts != CIFX_DEV_NOT_READY)
break;
sleep(1);
}
CHANNEL_INFORMATION channelinfo = {{0}};
sts = xDriverEnumChannels( driver, board, local->channel, sizeof(channelinfo), &channelinfo);
if ( sts == CIFX_NO_ERROR) {
strncpy( op->Diag.FirmwareName, (char *)channelinfo.abFWName, sizeof(op->Diag.FirmwareName));
snprintf( op->Diag.FirmwareVersion, sizeof(op->Diag.FirmwareVersion),
"%u.%u.%u-%u (%4u-%02hu-%02hu)", channelinfo.usFWMajor, channelinfo.usFWMinor,
channelinfo.usFWBuild, channelinfo.usFWRevision, channelinfo.usFWYear,
channelinfo.bFWMonth, channelinfo.bFWDay);
}
// Register application
RCX_REGISTER_APP_REQ_T regapp = {{0}};
RCX_REGISTER_APP_CNF_T regapp_cnf = {{0}};
regapp.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
regapp.tHead.ulLen = 0;
regapp.tHead.ulCmd = HOST_TO_LE32(RCX_REGISTER_APP_REQ);
regapp.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
regapp.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&regapp, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(regapp_cnf), (CIFX_PACKET *)&regapp_cnf, 1000);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, regapp_cnf.tHead.ulCmd, RCX_REGISTER_APP_CNF) ||
!status_check( op, ap, regapp_cnf.tHead.ulSta, "Register Application"))
return IO__INITFAIL;
RCX_LOCK_UNLOCK_CONFIG_REQ_T unlock = {{0}};
RCX_LOCK_UNLOCK_CONFIG_CNF_T unlock_cnf = {{0}};
unlock.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
unlock.tHead.ulLen = HOST_TO_LE32(sizeof(unlock.tData));
unlock.tHead.ulCmd = HOST_TO_LE32(RCX_LOCK_UNLOCK_CONFIG_REQ);
unlock.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
unlock.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
unlock.tData.ulParam = 2; // Unlock
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&unlock, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(unlock_cnf), (CIFX_PACKET *)&unlock_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, unlock_cnf.tHead.ulCmd, RCX_LOCK_UNLOCK_CONFIG_CNF) ||
!status_check( op, ap, unlock_cnf.tHead.ulSta, "Unlock channel"))
return IO__INITFAIL;
// Delete configuration, This doesn't work....
#if 0
RCX_DELETE_CONFIG_REQ_T delete_msg;
RCX_DELETE_CONFIG_CNF_T delete_cnf = {{0}};
memset( &delete_msg, 0, sizeof(delete_msg));
delete_msg.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
delete_msg.tHead.ulLen = 0;
delete_msg.tHead.ulId = HOST_TO_LE32(msg_id++);
delete_msg.tHead.ulCmd = HOST_TO_LE32(RCX_DELETE_CONFIG_REQ);
delete_msg.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
delete_msg.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&delete_msg, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(delete_cnf), (CIFX_PACKET *)&delete_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, delete_cnf.tHead.ulCmd, RCX_DELETE_CONFIG_CNF) ||
!status_check( op, ap, delete_cnf.tHead.ulSta, "Delete Config"))
return IO__INITFAIL;
#endif
// char op_ip_address[20] = "10.0.0.1";
// char op_subnet_mask[20] = "255.255.255.0";
// char op_device_name[40] = "controller";
// char op_device_type[40] = "cifX RE/PNM";
t_addr ipaddress;
t_addr subnetmask;
int num;
num = sscanf( op->IP_Address, "%hhu.%hhu.%hhu.%hhu",
&ipaddress.b[3], &ipaddress.b[2], &ipaddress.b[1], &ipaddress.b[0]);
if ( num != 4) {
sprintf( op->ErrorStr, "IP Address syntax error, %s", ap->Name);
return IO__INITFAIL;
}
num = sscanf( op->SubnetMask, "%hhu.%hhu.%hhu.%hhu",
&subnetmask.b[3], &subnetmask.b[2], &subnetmask.b[1], &subnetmask.b[0]);
if ( num != 4) {
sprintf( op->ErrorStr, "SubnetMask syntax error, %s", ap->Name);
return IO__INITFAIL;
}
PNM_APCFG_CFG_PNM_REQ_T pnm_config = {{0}};
PNM_APCFG_CFG_PNM_CNF_T pnm_config_cnf;
memset( &pnm_config, 0, sizeof(pnm_config));
memset( &pnm_config_cnf, 0, sizeof(pnm_config_cnf));
pnm_config.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
pnm_config.tHead.ulDestId = 0;
pnm_config.tHead.ulLen = HOST_TO_LE32(sizeof(pnm_config.tData));
pnm_config.tHead.ulId = HOST_TO_LE32(msg_id++);
pnm_config.tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_PNM_REQ);
pnm_config.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
pnm_config.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
pnm_config.tData.tSubHead.ulTrCntrId = 0;
pnm_config.tData.tSubHead.ulTrDevId = 0;
pnm_config.tData.tSubHead.ulTrApId = 0;
pnm_config.tData.tSubHead.ulTrModId = 0;
pnm_config.tData.tSubHead.ulTrSubModId = 0;
pnm_config.tData.tSubHead.ulTrIdCnt = 1;
pnm_config.tData.atData[0].ulTrId = 1;
pnm_config.tData.atData[0].ulSystemFlags = PNM_APCFG_STARTMODE_APPLICATION;
pnm_config.tData.atData[0].ulWdgTime = 1000;
strncpy( (char *)pnm_config.tData.atData[0].abTypeOfStation, op->DeviceType,
sizeof(pnm_config.tData.atData[0].abTypeOfStation));
pnm_config.tData.atData[0].usTypeOfStationLen =
strlen((char *)pnm_config.tData.atData[0].abTypeOfStation);
strncpy( (char *)pnm_config.tData.atData[0].abNameOfStation, op->DeviceName,
sizeof(pnm_config.tData.atData[0].abNameOfStation));
pnm_config.tData.atData[0].usNameOfStationLen =
strlen((char *)pnm_config.tData.atData[0].abNameOfStation);
pnm_config.tData.atData[0].usVendorID = 0x011E; /* Hilscher Profinet VendorID */
pnm_config.tData.atData[0].usDeviceID = 0x0203; /* Hilscher cifX DeviceID for IO-Controller */
pnm_config.tData.atData[0].ulIPAddr = ipaddress.m;
pnm_config.tData.atData[0].ulNetmask = subnetmask.m;
pnm_config.tData.atData[0].ulGateway = 0;
pnm_config.tData.atData[0].ulIPFlags = 0;
// These are in the 'EXT' message
// pnm_config.tData.atData[0].usMAUTypePort0 = PNM_APCFG_PNM_MAUTYPE_AUTO;
// pnm_config.tData.atData[0].usMAUTypePort1 = PNM_APCFG_PNM_MAUTYPE_AUTO;
// pnm_config.tData.atData[0].ulStructVersion = PNM_APCFG_CFG_PNM_STRUCT_VERS_1;
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&pnm_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(pnm_config_cnf), (CIFX_PACKET *)&pnm_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, pnm_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_PNM_CNF) ||
!status_check( op, ap, pnm_config_cnf.tHead.ulSta, "Controller Config"))
return IO__INITFAIL;
// Device loop
int device = 0;
int input_dpm_offset = 0;
int output_dpm_offset = 0;
int prev_input_dpm_offset = 0;
int prev_output_dpm_offset = 0;
io_sRack *rp;
io_sCard *cp;
for ( rp = ap->racklist; rp; rp = rp->next) {
io_sPnRackLocal *rp_local;
rp_local = (io_sPnRackLocal *) calloc( 1, sizeof(io_sPnRackLocal));
rp->Local = rp_local;
for ( cp = rp->cardlist; cp; cp = cp->next)
cp->Local = calloc( 1, sizeof(io_sPnCardLocal));
// Read device xml-file
t_addr ipaddress;
t_addr subnetmask;
unsigned char macaddr[6];
GsdmlDeviceData *dev_data;
dev_data = new GsdmlDeviceData;
pwr_tFileName fname;
sprintf( fname, "$pwrp_load/pwr_pn_%s.xml", cdh_ObjidToFnString(NULL, rp->Objid ));
dcli_translate_filename( fname, fname);
sts = dev_data->read( fname);
if ( EVEN(sts)) {
snprintf( op->ErrorStr, sizeof(op->ErrorStr), "Missing device xml file, %s", rp->Name);
return IO__INITFAIL;
}
// PNM_IOD
sscanf( dev_data->ip_address, "%hhu.%hhu.%hhu.%hhu",
&ipaddress.b[3], &ipaddress.b[2], &ipaddress.b[1], &ipaddress.b[0]);
sscanf( dev_data->subnet_mask, "%hhu.%hhu.%hhu.%hhu",
&subnetmask.b[3], &subnetmask.b[2], &subnetmask.b[1], &subnetmask.b[0]);
PNM_APCFG_CFG_IOD_REQ_T iod_config = {{0}};
PNM_APCFG_CFG_IOD_CNF_T iod_config_cnf = {{0}};
memset( &iod_config, 0, sizeof(iod_config));
iod_config.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
iod_config.tHead.ulLen = HOST_TO_LE32(sizeof(iod_config.tData));
iod_config.tHead.ulId = HOST_TO_LE32(msg_id++);
iod_config.tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_REQ);
iod_config.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
iod_config.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
iod_config.tData.tSubHead.ulTrCntrId = 1;
iod_config.tData.tSubHead.ulTrDevId = 0;
iod_config.tData.tSubHead.ulTrApId = 0;
iod_config.tData.tSubHead.ulTrModId = 0;
iod_config.tData.tSubHead.ulTrSubModId = 0;
iod_config.tData.tSubHead.ulTrIdCnt = 1;
iod_config.tData.atData[0].ulTrId = device + 1;
iod_config.tData.atData[0].ulFlags = PNM_APCFG_IOD_FLAG_IOD_ACTIVE;
strncpy( (char *)iod_config.tData.atData[0].abNameOfStation, dev_data->device_name,
sizeof(iod_config.tData.atData[0].abNameOfStation));
iod_config.tData.atData[0].usNameOfStationLen =
strlen((char *)iod_config.tData.atData[0].abNameOfStation);
iod_config.tData.atData[0].usVendorID = dev_data->vendor_id;
iod_config.tData.atData[0].usDeviceID = dev_data->device_id;
iod_config.tData.atData[0].ulIPAddr = ipaddress.m;
iod_config.tData.atData[0].ulNetworkMask = subnetmask.m;
iod_config.tData.atData[0].ulGatewayAddr = 0;
iod_config.tData.atData[0].ulArUuidData1 = device + 1;
iod_config.tData.atData[0].usArUuidData2 = device + 1;
iod_config.tData.atData[0].usArUuidData3 = device + 1;
iod_config.tData.atData[0].usARType = PNIO_API_AR_TYPE_SINGLE;
iod_config.tData.atData[0].ulARProp = PNIO_API_AR_PROP_SUPERVISOR_NONE |
PNIO_API_AR_PROP_STATE_PRIMARY | PNIO_API_AR_PROP_SINGLE_AR | ( 1 << 4) | (1 << 5);
iod_config.tData.atData[0].usAlarmCRType = PNIO_API_ALCR_TYPE_ALARM;
iod_config.tData.atData[0].ulAlarmCRProp = PNIO_API_ALCR_PROP_PRIO_DEFAULT;
iod_config.tData.atData[0].usAlarmCRVLANID = 0;
iod_config.tData.atData[0].ulIPFlags = 0;
iod_config.tData.atData[0].usRTATimeoutFact = 1;
iod_config.tData.atData[0].usRTARetries = PNIO_API_RTA_RETRIES_MIN;
iod_config.tData.atData[0].usObjUUIDInst = dev_data->instance;
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&iod_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(iod_config_cnf), (CIFX_PACKET *)&iod_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, iod_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_CNF) ||
!status_check( op, ap, pnm_config_cnf.tHead.ulSta, "Device Config"))
return IO__INITFAIL;
// PNM_IOCR
// Calculate data length
unsigned int io_input_length = 0;
unsigned int io_output_length = 0;
unsigned int io_iocr_input_length = 0;
unsigned int io_iocr_output_length = 0;
for ( unsigned int i = 0; i < dev_data->slot_data.size(); i++) {
for ( unsigned int j = 0; j < dev_data->slot_data[i]->subslot_data.size(); j++) {
if ( dev_data->slot_data[i]->subslot_data[j]->io_input_length > 0) {
io_input_length += dev_data->slot_data[i]->subslot_data[j]->io_input_length + 1;
io_iocr_input_length += 1;
}
if ( dev_data->slot_data[i]->subslot_data[j]->io_output_length > 0) {
io_output_length += dev_data->slot_data[i]->subslot_data[j]->io_output_length + 1;
io_iocr_output_length += 1;
}
if ( dev_data->slot_data[i]->subslot_data[j]->io_input_length == 0 &&
dev_data->slot_data[i]->subslot_data[j]->io_output_length == 0) {
io_input_length += 1;
io_iocr_input_length += 1;
}
}
}
PNM_APCFG_CFG_IOCR_REQ_T *iocr_config =
(PNM_APCFG_CFG_IOCR_REQ_T *) calloc( 1, sizeof(*iocr_config) + sizeof(iocr_config->tData.atData));
PNM_APCFG_CFG_IOCR_CNF_T iocr_config_cnf = {{0}};
sscanf( dev_data->mac_address, "%2hhx-%2hhx-%2hhx-%2hhx-%2hhx-%2hhx",
&macaddr[0], &macaddr[1], &macaddr[2], &macaddr[3], &macaddr[4], &macaddr[5]);
iocr_config->tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
iocr_config->tHead.ulLen = HOST_TO_LE32(sizeof(iocr_config->tData)+sizeof(iocr_config->tData.atData));
iocr_config->tHead.ulId = HOST_TO_LE32(msg_id++);
iocr_config->tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_IOCR_REQ);
iocr_config->tHead.ulSrc = HOST_TO_LE32(PN_SRC);
iocr_config->tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
iocr_config->tData.tSubHead.ulTrCntrId = 1;
iocr_config->tData.tSubHead.ulTrDevId = device + 1;
iocr_config->tData.tSubHead.ulTrApId = 0;
iocr_config->tData.tSubHead.ulTrModId = 0;
iocr_config->tData.tSubHead.ulTrSubModId = 0;
iocr_config->tData.tSubHead.ulTrIdCnt = 2;
for ( int i = 0; i < 2; i++) {
iocr_config->tData.atData[i].ulTrId = i + 1;
iocr_config->tData.atData[i].usType = dev_data->iocr_data[i?0:1]->type;
iocr_config->tData.atData[i].usVLANID = 0;
iocr_config->tData.atData[i].ulProp = PNIO_API_IOCR_PROP_RTCLASS_DATA1;
// strncpy( (char *)iocr_config->tData.atData[i].abMcastMACAddr, (char *)macaddr,
// sizeof(iocr_config->tData.atData[i].abMcastMACAddr));
memset( (char *)iocr_config->tData.atData[i].abMcastMACAddr, 0,
sizeof(iocr_config->tData.atData[i].abMcastMACAddr));
if ( iocr_config->tData.atData[i].usType == 1)
iocr_config->tData.atData[i].usDataLen = io_input_length + io_iocr_output_length;
else
iocr_config->tData.atData[i].usDataLen = io_output_length + io_iocr_input_length;
iocr_config->tData.atData[i].usSendClockFact = dev_data->iocr_data[i?0:1]->send_clock_factor;
iocr_config->tData.atData[i].usReductRatio = dev_data->iocr_data[i?0:1]->reduction_ratio;
iocr_config->tData.atData[i].usPhase = dev_data->iocr_data[i?0:1]->phase;
iocr_config->tData.atData[i].usSequ = 0;
iocr_config->tData.atData[i].ulFrameSendOffs = PNIO_API_FRAME_SEND_OFFSET_DEFAULT;
iocr_config->tData.atData[i].usWatchdogFact = PNIO_API_CYCLIC_WATCHDOG_DEFAULT;
iocr_config->tData.atData[i].usDataHoldFact = PNIO_API_CYCLIC_DATAHOLD_DEFAULT;
}
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)iocr_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(iocr_config_cnf), (CIFX_PACKET *)&iocr_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, iocr_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_IOCR_CNF) ||
!status_check( op, ap, pnm_config_cnf.tHead.ulSta, "IOCR Config"))
return IO__INITFAIL;
free( iocr_config);
// PNM_IOD_AP
PNM_APCFG_CFG_AP_REQ_T ap_config = {{0}};
PNM_APCFG_CFG_AP_CNF_T ap_config_cnf = {{0}};
ap_config.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
ap_config.tHead.ulLen = HOST_TO_LE32(sizeof(ap_config.tData));
ap_config.tHead.ulId = HOST_TO_LE32(msg_id++);
ap_config.tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_AP_REQ);
ap_config.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
ap_config.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
ap_config.tData.tSubHead.ulTrCntrId = 1;
ap_config.tData.tSubHead.ulTrDevId = device + 1;
ap_config.tData.tSubHead.ulTrApId = 0;
ap_config.tData.tSubHead.ulTrModId = 0;
ap_config.tData.tSubHead.ulTrSubModId = 0;
ap_config.tData.tSubHead.ulTrIdCnt = 1;
ap_config.tData.atData[0].ulTrId = 1;
ap_config.tData.atData[0].ulAPI = 0;
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&ap_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(ap_config_cnf), (CIFX_PACKET *)&ap_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, ap_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_AP_CNF) ||
!status_check( op, ap, ap_config_cnf.tHead.ulSta, "Application Process"))
return IO__INITFAIL;
// PNM_MODULE
// Check number of configured slots
int slots = 0;
for ( unsigned int i = 0; i < dev_data->slot_data.size(); i++) {
if ( dev_data->slot_data[i]->module_ident_number == 0)
break;
slots++;
}
PNM_APCFG_CFG_MODULE_REQ_T *module_config =
(PNM_APCFG_CFG_MODULE_REQ_T *) calloc( 1, sizeof(*module_config) + (slots - 1) * sizeof(module_config->tData.atData));
PNM_APCFG_CFG_MODULE_CNF_T module_config_cnf = {{0}};
module_config->tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
module_config->tHead.ulLen = HOST_TO_LE32(sizeof(module_config->tData)+(slots-1)*sizeof(module_config->tData.atData));
module_config->tHead.ulId = HOST_TO_LE32(msg_id++);
module_config->tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_MODULE_REQ);
module_config->tHead.ulSrc = HOST_TO_LE32(PN_SRC);
module_config->tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
module_config->tData.tSubHead.ulTrCntrId = 1;
module_config->tData.tSubHead.ulTrDevId = device + 1;
module_config->tData.tSubHead.ulTrApId = 1;
module_config->tData.tSubHead.ulTrModId = 0;
module_config->tData.tSubHead.ulTrSubModId = 0;
module_config->tData.tSubHead.ulTrIdCnt = slots;
for ( int i = 0; i < slots; i++) {
module_config->tData.atData[i].ulTrId = i + 1;
module_config->tData.atData[i].ulModuleID = dev_data->slot_data[i]->module_ident_number;
module_config->tData.atData[i].usModuleProp = 0;
module_config->tData.atData[i].usSlotNumber = dev_data->slot_data[i]->slot_number;
}
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)module_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(module_config_cnf), (CIFX_PACKET *)&module_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, module_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_MODULE_CNF) ||
!status_check( op, ap, module_config_cnf.tHead.ulSta, "Module Config"))
return IO__INITFAIL;
free( module_config);
// PNM_SUBMODULE
for ( int i = 0; i < slots; i++) {
int subslots = dev_data->slot_data[i]->subslot_data.size();
PNM_APCFG_CFG_SUBMODULE_REQ_T *submodule_config =
(PNM_APCFG_CFG_SUBMODULE_REQ_T *) calloc( 1, sizeof(*submodule_config) + (subslots - 1) * sizeof(submodule_config->tData.atData));
PNM_APCFG_CFG_SUBMODULE_CNF_T submodule_config_cnf = {{0}};
submodule_config->tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
submodule_config->tHead.ulLen = HOST_TO_LE32(sizeof(submodule_config->tData)+(subslots-1)*sizeof(submodule_config->tData.atData));
submodule_config->tHead.ulId = HOST_TO_LE32(msg_id++);
submodule_config->tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_SUBMODULE_REQ);
submodule_config->tHead.ulSrc = HOST_TO_LE32(PN_SRC);
submodule_config->tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
submodule_config->tData.tSubHead.ulTrCntrId = 1;
submodule_config->tData.tSubHead.ulTrDevId = device + 1;
submodule_config->tData.tSubHead.ulTrApId = 1;
submodule_config->tData.tSubHead.ulTrModId = i + 1;
submodule_config->tData.tSubHead.ulTrSubModId = 0;
submodule_config->tData.tSubHead.ulTrIdCnt = subslots;
for ( int j = 0; j < subslots; j++) {
submodule_config->tData.atData[j].ulTrId = j + 1;
submodule_config->tData.atData[j].ulSubmoduleID = dev_data->slot_data[i]->subslot_data[j]->submodule_ident_number;
submodule_config->tData.atData[j].usSubmoduleProp = 0;
if ( dev_data->slot_data[i]->subslot_data[j]->io_input_length > 0 &&
dev_data->slot_data[i]->subslot_data[j]->io_output_length > 0)
submodule_config->tData.atData[j].usSubmoduleProp = PNIO_API_SUBM_PROP_TYPE_BOTH;
else if ( dev_data->slot_data[i]->subslot_data[j]->io_input_length > 0)
submodule_config->tData.atData[j].usSubmoduleProp = PNIO_API_SUBM_PROP_TYPE_INPUT;
else if ( dev_data->slot_data[i]->subslot_data[j]->io_output_length > 0)
submodule_config->tData.atData[j].usSubmoduleProp = PNIO_API_SUBM_PROP_TYPE_OUTPUT;
else
submodule_config->tData.atData[j].usSubmoduleProp = PNIO_API_SUBM_PROP_TYPE_NONE;
submodule_config->tData.atData[j].usSubslotNumber = dev_data->slot_data[i]->subslot_data[j]->subslot_number;
// printf( "Submodule %d %d\n", i+1, j+1);
}
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)submodule_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(submodule_config_cnf), (CIFX_PACKET *)&submodule_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, submodule_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_SUBMODULE_CNF) ||
!status_check( op, ap, submodule_config_cnf.tHead.ulSta, "Submodule Config"))
return IO__INITFAIL;
free( submodule_config);
}
// PNM_SUBMDESCR
int input_frame_offset = 0;
int output_frame_offset = 0;
int input_iocs_frame_offset = io_output_length;
int output_iocs_frame_offset = io_input_length;
for ( int i = 0; i < slots; i++) {
int subslots = dev_data->slot_data[i]->subslot_data.size();
int prev_slot_input_dpm_offset = input_dpm_offset;
int prev_slot_output_dpm_offset = output_dpm_offset;
for ( int j = 0; j < subslots; j++) {
int io_input_length = dev_data->slot_data[i]->subslot_data[j]->io_input_length;
int io_output_length = dev_data->slot_data[i]->subslot_data[j]->io_output_length;
int size = 1;
if ( io_input_length > 0 && io_output_length > 0)
size = 2;
PNM_APCFG_CFG_SUBMDESCR_REQ_T *submdescr_config =
(PNM_APCFG_CFG_SUBMDESCR_REQ_T *) calloc( 1, sizeof(*submdescr_config) + (size-1) * sizeof(submdescr_config->tData.atData));
PNM_APCFG_CFG_SUBMDESCR_CNF_T submdescr_config_cnf = {{0}};
submdescr_config->tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
submdescr_config->tHead.ulLen = HOST_TO_LE32(sizeof(submdescr_config->tData)+(size-1)*sizeof(submdescr_config->tData.atData));
submdescr_config->tHead.ulId = HOST_TO_LE32(msg_id++);
submdescr_config->tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_SUBMDESCR_REQ);
submdescr_config->tHead.ulSrc = HOST_TO_LE32(PN_SRC);
submdescr_config->tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
submdescr_config->tData.tSubHead.ulTrCntrId = 1;
submdescr_config->tData.tSubHead.ulTrDevId = device + 1;
submdescr_config->tData.tSubHead.ulTrApId = 1;
submdescr_config->tData.tSubHead.ulTrModId = i + 1;
submdescr_config->tData.tSubHead.ulTrSubModId = j + 1;
submdescr_config->tData.tSubHead.ulTrIdCnt = size;
for ( int k = 0; k < size; k++) {
submdescr_config->tData.atData[k].ulTrId = k + 1;
if ( io_input_length == 0 && io_output_length == 0) {
submdescr_config->tData.atData[k].usDataDescr = PNIO_API_SUBMDESCR_DATA_DESCR_INPUT;
submdescr_config->tData.atData[k].usSubmDataLen = 0;
submdescr_config->tData.atData[k].usFrameOffs = input_frame_offset;
submdescr_config->tData.atData[k].usIOCSFrameOffs = input_iocs_frame_offset;
submdescr_config->tData.atData[k].ulIO_Block = 0;
submdescr_config->tData.atData[k].ulDPM_Offset = 0;
// printf( "%d %d None: iocsoffs %d offs %d len %d\n", i+1, j+1, input_iocs_frame_offset, input_frame_offset, io_input_length);
}
else if ( (size == 1 && io_input_length > 0) ||
(size == 2 && k == 0)) {
submdescr_config->tData.atData[k].usDataDescr = PNIO_API_SUBMDESCR_DATA_DESCR_INPUT;
submdescr_config->tData.atData[k].usSubmDataLen = io_input_length;
submdescr_config->tData.atData[k].usFrameOffs = input_frame_offset;
submdescr_config->tData.atData[k].usIOCSFrameOffs = input_iocs_frame_offset;
submdescr_config->tData.atData[k].ulIO_Block = 0;
submdescr_config->tData.atData[k].ulDPM_Offset = input_dpm_offset;
// printf( "%d %d Input: iocsoffs %d offs %d len %d\n", i+1, j+1, input_iocs_frame_offset, input_frame_offset, io_input_length);
}
else {
submdescr_config->tData.atData[k].usDataDescr = PNIO_API_SUBMDESCR_DATA_DESCR_OUTPUT;
submdescr_config->tData.atData[k].usSubmDataLen = io_output_length;
submdescr_config->tData.atData[k].usFrameOffs = output_frame_offset;
submdescr_config->tData.atData[k].usIOCSFrameOffs = output_iocs_frame_offset;
submdescr_config->tData.atData[k].ulIO_Block = 0;
submdescr_config->tData.atData[k].ulDPM_Offset = output_dpm_offset;
// printf( "%d %d Output: iocsoffs %d offs %d len %d\n", i+1, j+1, output_iocs_frame_offset, output_frame_offset, io_output_length);
}
submdescr_config->tData.atData[k].bIOPSLen = 1;
submdescr_config->tData.atData[k].bIOCSLen = 1;
submdescr_config->tData.atData[k].ulIOCRIdProd = 1;
submdescr_config->tData.atData[k].ulIOCRIdCons = 2;
submdescr_config->tData.atData[k].ulSignla_Attrib = 0;
}
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)submdescr_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(submdescr_config_cnf), (CIFX_PACKET *)&submdescr_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, submdescr_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_SUBMDESCR_CNF) ||
!status_check( op, ap, submdescr_config_cnf.tHead.ulSta, "Submodule Description"))
return IO__INITFAIL;
if ( io_input_length > 0) {
input_frame_offset += io_input_length + 1;
input_iocs_frame_offset += 1;
input_dpm_offset += io_input_length;
}
if ( io_output_length > 0) {
output_frame_offset += io_output_length + 1;
output_iocs_frame_offset += 1;
output_dpm_offset += io_output_length;
}
if ( io_input_length == 0 && io_output_length == 0) {
input_frame_offset += 1;
input_iocs_frame_offset += 1;
}
free( submdescr_config);
}
if ( i > 0) {
// First slot is the device and has no card
if ( i == 1)
cp = rp->cardlist;
else
cp = cp->next;
if ( !cp) {
snprintf( op->ErrorStr, sizeof(op->ErrorStr), "Module config mismatch in xml-file, %s", rp->Name);
errh_Error( "IO init %s, '%s'", ap->Name, op->ErrorStr);
return IO__INITFAIL;
}
io_sPnCardLocal *cp_local = (io_sPnCardLocal *)cp->Local;
cp_local->input_area_size = input_dpm_offset - prev_slot_input_dpm_offset;
cp_local->output_area_size = output_dpm_offset - prev_slot_output_dpm_offset;
}
prev_slot_input_dpm_offset = input_dpm_offset;
prev_slot_output_dpm_offset = output_dpm_offset;
}
rp_local->bytes_of_input = input_dpm_offset - prev_input_dpm_offset;
rp_local->bytes_of_output = output_dpm_offset - prev_output_dpm_offset;
prev_input_dpm_offset = input_dpm_offset;
prev_output_dpm_offset = output_dpm_offset;
// PNM_RECORD
for ( int i = 0; i < slots; i++) {
int subslots = dev_data->slot_data[i]->subslot_data.size();
for ( int j = 0; j < subslots; j++) {
int records = dev_data->slot_data[i]->subslot_data[j]->data_record.size();
if ( !records)
continue;
int size = sizeof(PNM_APCFG_CFG_RECORD_REQ_T) +
(records - 1) * (sizeof(PNM_APCFG_CFG_RECORD_DATA_T) - 1);
for ( int k = 0; k < records; k++)
size += dev_data->slot_data[i]->subslot_data[j]->data_record[k]->data_length;
PNM_APCFG_CFG_RECORD_REQ_T *record_config = (PNM_APCFG_CFG_RECORD_REQ_T *) calloc( 1, size);
PNM_APCFG_CFG_RECORD_CNF_T record_config_cnf = {{0}};
record_config->tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
record_config->tHead.ulLen = HOST_TO_LE32(size);
record_config->tHead.ulId = HOST_TO_LE32(msg_id++);
record_config->tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_IOD_RECDATA_REQ);
record_config->tHead.ulSrc = HOST_TO_LE32(PN_SRC);
record_config->tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
record_config->tData.tSubHead.ulTrCntrId = 1;
record_config->tData.tSubHead.ulTrDevId = device + 1;
record_config->tData.tSubHead.ulTrApId = 1;
record_config->tData.tSubHead.ulTrModId = i + 1;
record_config->tData.tSubHead.ulTrSubModId = j + 1;
record_config->tData.tSubHead.ulTrIdCnt = records;
PNM_APCFG_CFG_RECORD_DATA_T *rp = &record_config->tData.tRecord;
for ( int k = 0; k < records; k++) {
rp->ulTrId = k + 1;
rp->usIndex = k + 1;
rp->ulDataLen =
dev_data->slot_data[i]->subslot_data[j]->data_record[k]->data_length;
memcpy( rp->abRecordData,
dev_data->slot_data[i]->subslot_data[j]->data_record[k]->data, rp->ulDataLen);
rp = (PNM_APCFG_CFG_RECORD_DATA_T *) ((char *)rp + sizeof(*rp) + rp->ulDataLen - 1);
}
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)record_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(record_config_cnf), (CIFX_PACKET *)&record_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, record_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_IOD_RECDATA_CNF) ||
!status_check( op, ap, record_config_cnf.tHead.ulSta, "Record Data"))
return IO__INITFAIL;
free( record_config);
}
}
device++;
}
// PNM_FIN
PNM_APCFG_DWNL_FIN_REQ_T dwnl_fin_config = {{0}};
PNM_APCFG_DWNL_FIN_CNF_T dwnl_fin_config_cnf = {{0}};
dwnl_fin_config.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
dwnl_fin_config.tHead.ulLen = 0;
dwnl_fin_config.tHead.ulId = HOST_TO_LE32(msg_id++);
dwnl_fin_config.tHead.ulCmd = HOST_TO_LE32(PNM_APCTL_CMD_SET_CONFIG_DWNL_FIN_REQ);
dwnl_fin_config.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
dwnl_fin_config.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&dwnl_fin_config, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(dwnl_fin_config_cnf), (CIFX_PACKET *)&dwnl_fin_config_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, dwnl_fin_config_cnf.tHead.ulCmd, PNM_APCTL_CMD_SET_CONFIG_DWNL_FIN_CNF) ||
!status_check( op, ap, dwnl_fin_config_cnf.tHead.ulSta, "Controller Config"))
return IO__INITFAIL;
// LOCK
RCX_LOCK_UNLOCK_CONFIG_REQ_T lock = {{0}};
RCX_LOCK_UNLOCK_CONFIG_CNF_T lock_cnf = {{0}};
lock.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
lock.tHead.ulLen = HOST_TO_LE32(sizeof(lock.tData));
lock.tHead.ulCmd = HOST_TO_LE32(RCX_LOCK_UNLOCK_CONFIG_REQ);
lock.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
lock.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
lock.tData.ulParam = 1; // Lock
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&lock, 10);
if ( !status_check( op, ap, sts, "xChannelPutPacket"))
return IO__INITFAIL;
sts = xChannelGetPacket( local->chan, sizeof(lock_cnf), (CIFX_PACKET *)&lock_cnf, 20);
if ( !status_check( op, ap, sts, "xChannelGetPacket") ||
!cmd_check( op, ap, lock_cnf.tHead.ulCmd, RCX_LOCK_UNLOCK_CONFIG_CNF) ||
!status_check( op, ap, lock_cnf.tHead.ulSta, "Unlock channel"))
return IO__INITFAIL;
// Create input/output area
local->input_area_size = input_dpm_offset;
local->output_area_size = output_dpm_offset;
local->input_area = calloc( 1, MAX(local->input_area_size,4));
local->output_area = calloc( 1, MAX(local->output_area_size,4));
int input_offset = 0;
int output_offset = 0;
for ( rp = ap->racklist; rp; rp = rp->next) {
io_sPnRackLocal *rp_local = (io_sPnRackLocal *)rp->Local;
rp_local->inputs = (unsigned char *)local->input_area + input_offset;
rp_local->outputs = (unsigned char *)local->output_area + output_offset;
int slot_input_offset = input_offset;
int slot_output_offset = output_offset;
for ( cp = rp->cardlist; cp; cp = cp->next) {
io_sPnCardLocal *cp_local = (io_sPnCardLocal *)cp->Local;
cp_local->input_area = (unsigned char *)local->input_area + slot_input_offset;
cp_local->output_area = (unsigned char *)local->output_area + slot_output_offset;
slot_input_offset += cp_local->input_area_size;
slot_output_offset += cp_local->output_area_size;
}
input_offset += rp_local->bytes_of_input;
output_offset += rp_local->bytes_of_output;
// Set OK status on device
((pwr_sClass_PnDevice *)rp->op)->Status = PB__NORMAL;
((pwr_sClass_PnDevice *)rp->op)->State = pwr_ePnDeviceStateEnum_Connected;
}
for (;;) {
sts = xChannelHostState( local->chan, CIFX_HOST_STATE_READY, &state, 100);
if ( sts != CIFX_DEV_NOT_RUNNING)
break;
sleep(1);
}
sts = xChannelHostState( local->chan, CIFX_HOST_STATE_READ, &state, 0);
// printf( "Host state: %d\n", state);
sts = xChannelBusState( local->chan, CIFX_BUS_STATE_GETSTATE, &state, 0);
// printf( "Bus state: %d\n", state);
sts = xChannelBusState( local->chan, CIFX_BUS_STATE_ON, &state, 5000 /* 20000 */);
// printf( "Set bus state: 0x%08x\n", sts);
sts = xChannelBusState( local->chan, CIFX_BUS_STATE_GETSTATE, &state, 0);
// printf( "Bus state: %d\n", state);
// It takes ~20 s to get COM-flag
local->dev_init = 1;
local->dev_init_limit = (unsigned int) (30.0 / ctx->ScanTime + 0.5);
errh_Info( "Init of Hilscher cifX Profinet Controller '%s'", ap->Name);
return IO__SUCCESS;
}
static pwr_tStatus IoAgentClose( io_tCtx ctx,
io_sAgent *ap)
{
io_sRack *rp;
io_sLocalHilscher_cifX_PnController *local = (io_sLocalHilscher_cifX_PnController *)ap->Local;
if ( driver) {
xDriverClose( driver);
driver = 0;
}
if ( local->input_area_size > 0)
free( local->input_area);
if ( local->output_area_size > 0)
free( local->output_area);
for ( rp = ap->racklist; rp; rp = rp->next) {
if ( rp->Local)
free( rp->Local);
}
free( local);
return IO__SUCCESS;
}
static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap)
{
io_sLocalHilscher_cifX_PnController *local = (io_sLocalHilscher_cifX_PnController *)ap->Local;
pwr_sClass_Hilscher_cifX_PnController *op = (pwr_sClass_Hilscher_cifX_PnController *)ap->op;
int32_t sts;
if ( local->diag_cnt == 0)
get_diag( &op->Diag, local->chan);
if ( local->diag_cnt > local->diag_interval)
local->diag_cnt = 0;
else
local->diag_cnt++;
// Get Alarm or Diag
int msg_size = 500;
APIOC_ALARM_IND_T *msg = (APIOC_ALARM_IND_T *)calloc( 1, msg_size);
sts = xChannelGetPacket( local->chan, msg_size, (CIFX_PACKET *)msg, 20);
if ( sts == CIFX_NO_ERROR) {
printf( "Diag message ?\n");
if ( msg->tHead.ulCmd == PNIO_APCTL_CMD_APPL_ALARM_IND) {
// Response, return the package
APIOC_ALARM_RSP_T alarm_rsp = {{0}};
alarm_rsp.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
alarm_rsp.tHead.ulLen = HOST_TO_LE32(sizeof(alarm_rsp.tData));
alarm_rsp.tHead.ulCmd = HOST_TO_LE32(PNIO_APCTL_CMD_APPL_ALARM_RSP);
alarm_rsp.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
alarm_rsp.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
alarm_rsp.tData.ulHandle = msg->tData.ulHandle;
alarm_rsp.tData.usAlarmSpecifier = msg->tData.usAlarmSpecifier;
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&alarm_rsp, 10);
printf( "Alarm ind\n");
// Ack the alarm
APIOC_ALARM_ACK_REQ_T alarm_ack = {{0}};
APIOC_ALARM_ACK_CNF_T alarm_ack_cnf = {{0}};
alarm_ack.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
alarm_ack.tHead.ulLen = HOST_TO_LE32(sizeof(alarm_ack.tData));
alarm_ack.tHead.ulCmd = HOST_TO_LE32(PNIO_APCTL_CMD_APPL_ALARM_ACK_CNF);
alarm_ack.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
alarm_ack.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
alarm_ack.tData.ulHandle = msg->tData.ulHandle;
alarm_ack.tData.usAlarmSpecifier = msg->tData.usAlarmSpecifier;
alarm_ack.tData.usReserved = 0;
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&alarm_ack, 10);
if ( sts == CIFX_NO_ERROR) {
sts = xChannelGetPacket( local->chan, sizeof(alarm_ack_cnf), (CIFX_PACKET *)&alarm_ack_cnf, 20);
if ( sts == CIFX_NO_ERROR) {
printf( "ALARM_ACK\n");
printf( "Status 0x%08x\n", alarm_ack_cnf.tHead.ulSta);
}
}
}
else if ( msg->tHead.ulCmd == PNIO_APCTL_CMD_APPL_DIAG_DATA_IND) {
// Response, return the package
APIOC_DIAG_DATA_RSP_T diag_data_rsp = {{0}};
diag_data_rsp.tHead.ulDest = HOST_TO_LE32(PNM_APPLICATION);
diag_data_rsp.tHead.ulLen = HOST_TO_LE32(sizeof(diag_data_rsp.tData));
diag_data_rsp.tHead.ulCmd = HOST_TO_LE32(PNIO_APCTL_CMD_APPL_DIAG_DATA_RSP);
diag_data_rsp.tHead.ulSrc = HOST_TO_LE32(PN_SRC);
diag_data_rsp.tHead.ulSrcId = HOST_TO_LE32(PN_SRCID);
diag_data_rsp.tData.ulHandle = ((APIOC_DIAG_DATA_IND_T *)msg)->tData.ulHandle;
sts = xChannelPutPacket( local->chan, (CIFX_PACKET*)&diag_data_rsp, 10);
printf( "Diag data\n");
}
else
printf( "Unexpected cmd received: %u\n", msg->tHead.ulCmd);
}
else {
// printf( "Diag msg status 0x%08x\n", sts);
}
free(msg);
// Read input area
if ( local->input_area_size) {
sts = xChannelIORead( local->chan, 0, 0, local->input_area_size, local->input_area, 10);
op->Status = sts;
if ( sts == CIFX_NO_ERROR) {
if ( local->dev_init)
local->dev_init = 0;
}
else {
if ( sts == CIFX_DEV_NO_COM_FLAG && local->dev_init &&
local->dev_init_cnt < local->dev_init_limit)
local->dev_init_cnt++;
else {
xDriverGetErrorDescription( sts, op->ErrorStr, sizeof(op->ErrorStr));
op->ErrorCount++;
}
}
if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name);
local->softlimit_logged = 1;
}
if ( op->ErrorCount >= op->ErrorHardLimit) {
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
}
return IO__SUCCESS;
}
static pwr_tStatus IoAgentWrite( io_tCtx ctx, io_sAgent *ap)
{
io_sLocalHilscher_cifX_PnController *local = (io_sLocalHilscher_cifX_PnController *)ap->Local;
pwr_sClass_Hilscher_cifX_PnController *op = (pwr_sClass_Hilscher_cifX_PnController *)ap->op;
int32_t sts;
if ( local->output_area_size) {
sts = xChannelIOWrite( local->chan, 0, 0, local->output_area_size, local->output_area, 10);
op->Status = sts;
if ( sts != CIFX_NO_ERROR) {
if ( ! local->dev_init) {
op->ErrorCount++;
xDriverGetErrorDescription( sts, op->ErrorStr, sizeof(op->ErrorStr));
}
if ( op->ErrorCount == op->ErrorSoftLimit && !local->softlimit_logged) {
errh_Error( "IO Error soft limit reached on agent '%s'", ap->Name);
local->softlimit_logged = 1;
}
if ( op->ErrorCount >= op->ErrorHardLimit) {
ctx->Node->EmergBreakTrue = 1;
return IO__ERRDEVICE;
}
}
}
return IO__SUCCESS;
}
#else
static pwr_tStatus IoAgentInit( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
static pwr_tStatus IoAgentClose( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
static pwr_tStatus IoAgentRead( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
static pwr_tStatus IoAgentWrite( io_tCtx ctx, io_sAgent *ap) { return IO__RELEASEBUILD;}
#endif
/* Every method should be registred here. */
pwr_dExport pwr_BindIoMethods(Hilscher_cifX_PnController) = {
pwr_BindIoMethod(IoAgentInit),
pwr_BindIoMethod(IoAgentClose),
pwr_BindIoMethod(IoAgentRead),
pwr_BindIoMethod(IoAgentWrite),
pwr_NullMethod
};
otherio/lib/rt/src/rt_io_otherio.meth
View file @ 74f05bbb
...@@ -12,6 +12,7 @@ GPIO_Module ...@@ -12,6 +12,7 @@ GPIO_Module
Maxim_DS18B20 Maxim_DS18B20
USB_Agent USB_Agent
Velleman_K8055_Board Velleman_K8055_Board
Hilscher_cifX_PnController
Hilscher_cifX_Master Hilscher_cifX_Master
Hilscher_cifX_Module Hilscher_cifX_Module
USB_Joystick USB_Joystick
......
otherio/wbl/mcomp/src/otherio.wb_load
View file @ 74f05bbb
Volume OtherIO $ClassVolume 0.0.250.10 Volume OtherIO $ClassVolume 0.0.250.10
Body SysBody 01-JAN-1970 01:00:00.00 Body SysBody 01-JAN-1970 01:00:00.00
Attr NextOix = "_X233" Attr NextOix = "_X242"
Attr NextCix = "_X24" Attr NextCix = "_X25"
Attr NextTix[0] = "_X10" Attr NextTix[0] = "_X10"
EndBody EndBody
Object Type $TypeHier 1 15-NOV-2007 14:35:37.90 Object Type $TypeHier 1 15-NOV-2007 14:35:37.90
...@@ -2904,6 +2904,176 @@ Volume OtherIO $ClassVolume 0.0.250.10 ...@@ -2904,6 +2904,176 @@ Volume OtherIO $ClassVolume 0.0.250.10
EndBody EndBody
EndObject EndObject
EndObject EndObject
Object Hilscher_cifX_PnController $ClassDef 24 23-MAY-2011 11:01:53.65
Body SysBody 23-MAY-2011 11:01:37.07
Attr Editor = 0
Attr Method = 0
Attr Flags = 38992
EndBody
Object RtBody $ObjBodyDef 1 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:02:08.50
Attr StructName = "Hilscher_cifX_PnController"
Attr NextAix = "_X31"
EndBody
Object Description $Attribute 14 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Description"
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object Specification $Attribute 15 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Specification"
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object DataSheet $Attribute 16 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "DataSheet"
Attr TypeRef = "pwrs:Type-$URL"
EndBody
EndObject
Object IP_Address $Attribute 27 24-MAY-2011 08:21:37.53
Body SysBody 24-MAY-2011 08:21:12.63
Attr PgmName = "IP_Address"
Attr TypeRef = "pwrs:Type-$String32"
EndBody
EndObject
Object SubnetMask $Attribute 28 24-MAY-2011 08:21:57.03
Body SysBody 24-MAY-2011 08:23:57.17
Attr PgmName = "SubnetMask"
Attr TypeRef = "pwrs:Type-$String40"
EndBody
EndObject
Object DeviceName $Attribute 29 24-MAY-2011 08:22:20.62
Body SysBody 24-MAY-2011 08:24:00.64
Attr PgmName = "DeviceName"
Attr TypeRef = "pwrs:Type-$String40"
EndBody
EndObject
Object DeviceType $Attribute 30 24-MAY-2011 08:22:25.89
Body SysBody 24-MAY-2011 08:24:03.36
Attr PgmName = "DeviceType"
Attr TypeRef = "pwrs:Type-$String40"
EndBody
EndObject
Object Alias $Attribute 17 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Alias"
Attr TypeRef = "pwrs:Type-$String40"
EndBody
EndObject
Object Channel $Attribute 18 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Channel"
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object Status $Attribute 19 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Status"
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object Process $Attribute 20 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Process"
Attr TypeRef = "pwrb:Type-IoProcessMask"
EndBody
EndObject
Object ThreadObject $Attribute 21 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "ThreadObject"
Attr TypeRef = "pwrs:Type-$Objid"
EndBody
EndObject
Object ErrorCount $Attribute 22 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "ErrorCount"
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object ErrorStr $Attribute 23 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "ErrorStr"
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object ErrorSoftLimit $Attribute 24 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "ErrorSoftLimit"
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object ErrorHardLimit $Attribute 25 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "ErrorHardLimit"
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object Diag $Attribute 26 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr PgmName = "Diag"
Attr Flags = 131072
Attr TypeRef = "OtherIO:Class-Hilscher_cifX_Diag"
EndBody
EndObject
EndObject
Object IoMethods $RtMethod 234 23-MAY-2011 11:01:37.07
Object IoAgentInit $Method 235 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:02:25.93
Attr MethodName = "Hilscher_cifX_PnController-IoAgentInit"
EndBody
EndObject
Object IoAgentClose $Method 236 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:02:36.54
Attr MethodName = "Hilscher_cifX_PnController-IoAgentClose"
EndBody
EndObject
Object IoAgentRead $Method 237 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:02:43.74
Attr MethodName = "Hilscher_cifX_PnController-IoAgentRead"
EndBody
EndObject
Object IoAgentWrite $Method 238 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:02:50.73
Attr MethodName = "Hilscher_cifX_PnController-IoAgentWrite"
EndBody
EndObject
EndObject
Object ConfiguratorPoson $Menu 239 23-MAY-2011 11:01:37.07
Object Pointed $Menu 240 23-MAY-2011 11:01:37.07
Object Connect $MenuButton 241 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr ButtonName = "Connect PlcThread"
Attr MethodName = "$Objid-Connect"
Attr MethodArguments[0] = "ThreadObject"
Attr MethodArguments[1] = "PlcThread"
Attr FilterName = "$Objid-IsOkConnect"
Attr FilterArguments[0] = "ThreadObject"
Attr FilterArguments[1] = "PlcThread"
EndBody
EndObject
EndObject
EndObject
Object PostCreate $DbCallBack 242 23-MAY-2011 11:01:37.07
Body SysBody 23-MAY-2011 11:01:37.07
Attr MethodName = "BaseIORack-PostCreate"
EndBody
EndObject
Object Template Hilscher_cifX_PnController 2154004480 01-JAN-1970 01:00:00.00
Body RtBody 24-MAY-2011 08:26:34.69
Attr IP_Address = "10.0.0.1"
Attr SubnetMask = "255.255.255.0"
Attr DeviceName = "controller"
Attr DeviceType = "cifX RE/PNM"
Attr Process = 1
Attr ErrorSoftLimit = 25
Attr ErrorHardLimit = 50
EndBody
EndObject
EndObject
Object Hilscher_cifX_Master $ClassDef 17 23-FEB-2011 15:22:46.32 Object Hilscher_cifX_Master $ClassDef 17 23-FEB-2011 15:22:46.32
Body SysBody 23-FEB-2011 14:03:13.10 Body SysBody 23-FEB-2011 14:03:13.10
Attr Editor = 0 Attr Editor = 0
......
profibus/lib/rt/src/os_linux/rt_io_m_pncontrollersoftingpnak.cpp
View file @ 74f05bbb
...@@ -44,6 +44,7 @@ ...@@ -44,6 +44,7 @@
#include "rt_pnak.h" #include "rt_pnak.h"
#include "co_dcli.h" #include "co_dcli.h"
#include "rt_pn_gsdml_data.h" #include "rt_pn_gsdml_data.h"
#include "rt_io_pnak_locals.h"
#include "rt_io_pn_locals.h" #include "rt_io_pn_locals.h"
#include "rt_pn_iface.h" #include "rt_pn_iface.h"
...@@ -86,7 +87,7 @@ static pwr_tStatus IoAgentInit ( ...@@ -86,7 +87,7 @@ static pwr_tStatus IoAgentInit (
pwr_sClass_PnControllerSoftingPNAK *op; pwr_sClass_PnControllerSoftingPNAK *op;
pwr_tUInt16 sts; pwr_tUInt16 sts;
io_sAgentLocal *local; io_sAgentLocal *local;
io_sRackLocal *r_local; io_sPnRackLocal *r_local;
char fname[196]; char fname[196];
char hname[40]; char hname[40];
...@@ -281,8 +282,8 @@ static pwr_tStatus IoAgentInit ( ...@@ -281,8 +282,8 @@ static pwr_tStatus IoAgentInit (
for (slave_list = ap->racklist, ii = 0; slave_list != NULL; for (slave_list = ap->racklist, ii = 0; slave_list != NULL;
slave_list = slave_list->next, ii++) { slave_list = slave_list->next, ii++) {
slave_list->Local = (unsigned char *) calloc(1, sizeof(io_sRackLocal)); slave_list->Local = (unsigned char *) calloc(1, sizeof(io_sPnRackLocal));
r_local = (io_sRackLocal *) slave_list->Local; r_local = (io_sPnRackLocal *) slave_list->Local;
for (jj = 0; jj < local->device_data[ii + 1]->iocr_data.size(); jj++) { for (jj = 0; jj < local->device_data[ii + 1]->iocr_data.size(); jj++) {
......
profibus/lib/rt/src/os_linux/rt_io_m_pndevice.cpp
View file @ 74f05bbb
...@@ -36,10 +36,11 @@ ...@@ -36,10 +36,11 @@
#include "rt_errh.h" #include "rt_errh.h"
#include "rt_pb_msg.h" #include "rt_pb_msg.h"
#include "rt_profinet.h" //#include "rt_profinet.h"
#include "rt_pnak.h" //#include "rt_pnak.h"
#include "co_dcli.h" #include "co_dcli.h"
#include "rt_pn_gsdml_data.h" #include "rt_pn_gsdml_data.h"
//#include "rt_io_pnak_locals.h"
#include "rt_io_pn_locals.h" #include "rt_io_pn_locals.h"
...@@ -53,7 +54,7 @@ static pwr_tStatus IoRackInit ( ...@@ -53,7 +54,7 @@ static pwr_tStatus IoRackInit (
io_sRack *rp io_sRack *rp
) )
{ {
io_sCardLocal *local_card; io_sPnCardLocal *local_card;
io_sCard *cardp; io_sCard *cardp;
short input_counter; short input_counter;
short output_counter; short output_counter;
...@@ -89,10 +90,10 @@ static pwr_tStatus IoRackInit ( ...@@ -89,10 +90,10 @@ static pwr_tStatus IoRackInit (
latent_output_count = 0; latent_output_count = 0;
while(cardp) { while(cardp) {
local_card = (io_sCardLocal *) calloc(1, sizeof(*local_card)); local_card = (io_sPnCardLocal *) calloc(1, sizeof(*local_card));
cardp->Local = local_card; cardp->Local = local_card;
local_card->input_area = ((io_sRackLocal *)(rp->Local))->inputs; local_card->input_area = ((io_sPnRackLocal *)(rp->Local))->inputs;
local_card->output_area = ((io_sRackLocal *)(rp->Local))->outputs; local_card->output_area = ((io_sPnRackLocal *)(rp->Local))->outputs;
/* From v4.1.3 we can have subclasses, find the super class */ /* From v4.1.3 we can have subclasses, find the super class */
...@@ -230,11 +231,9 @@ static pwr_tStatus IoRackRead ( ...@@ -230,11 +231,9 @@ static pwr_tStatus IoRackRead (
io_sRack *rp io_sRack *rp
) )
{ {
pwr_sClass_PnControllerSoftingPNAK *mp;
pwr_sClass_PnDevice *sp; pwr_sClass_PnDevice *sp;
sp = (pwr_sClass_PnDevice *) rp->op; sp = (pwr_sClass_PnDevice *) rp->op;
mp = (pwr_sClass_PnControllerSoftingPNAK *) ap->op;
/* The reading of the process image is now performed at the agent level, /* The reading of the process image is now performed at the agent level,
this eliminates the need for board specific code at the rack level. */ this eliminates the need for board specific code at the rack level. */
...@@ -247,7 +246,7 @@ static pwr_tStatus IoRackRead ( ...@@ -247,7 +246,7 @@ static pwr_tStatus IoRackRead (
} }
if (sp->ErrorCount > sp->ErrorSoftLimit ) { if (sp->ErrorCount > sp->ErrorSoftLimit ) {
memset(((io_sRackLocal *)(rp->Local))->inputs, 0, ((io_sRackLocal *)(rp->Local))->bytes_of_input); memset(((io_sPnRackLocal *)(rp->Local))->inputs, 0, ((io_sPnRackLocal *)(rp->Local))->bytes_of_input);
} }
// if (sp->ErrorCount > sp->ErrorHardLimit && sp->StallAction >= pwr_ePbStallAction_EmergencyBreak) { // if (sp->ErrorCount > sp->ErrorHardLimit && sp->StallAction >= pwr_ePbStallAction_EmergencyBreak) {
...@@ -267,11 +266,9 @@ static pwr_tStatus IoRackWrite ( ...@@ -267,11 +266,9 @@ static pwr_tStatus IoRackWrite (
io_sRack *rp io_sRack *rp
) )
{ {
pwr_sClass_PnControllerSoftingPNAK *mp;
pwr_sClass_PnDevice *sp; pwr_sClass_PnDevice *sp;
sp = (pwr_sClass_PnDevice *) rp->op; sp = (pwr_sClass_PnDevice *) rp->op;
mp = (pwr_sClass_PnControllerSoftingPNAK *) ap->op;
/* The writing of the process image is now performed at the agent level, /* The writing of the process image is now performed at the agent level,
this eliminates the need for board specific code at the rack level. */ this eliminates the need for board specific code at the rack level. */
......
profibus/lib/rt/src/os_linux/rt_io_m_pnmodule.cpp
View file @ 74f05bbb
...@@ -52,11 +52,11 @@ static pwr_tStatus IoCardInit ( ...@@ -52,11 +52,11 @@ static pwr_tStatus IoCardInit (
io_sCard *cp io_sCard *cp
) )
{ {
io_sCardLocal *local; io_sPnCardLocal *local;
pwr_sClass_PnModule *op; pwr_sClass_PnModule *op;
op = (pwr_sClass_PnModule *) cp->op; op = (pwr_sClass_PnModule *) cp->op;
local = (io_sCardLocal *) cp->Local; local = (io_sPnCardLocal *) cp->Local;
op->Status = PB__NORMAL; op->Status = PB__NORMAL;
...@@ -74,12 +74,12 @@ static pwr_tStatus IoCardRead ( ...@@ -74,12 +74,12 @@ static pwr_tStatus IoCardRead (
io_sCard *cp io_sCard *cp
) )
{ {
io_sCardLocal *local; io_sPnCardLocal *local;
pwr_sClass_PnModule *op; pwr_sClass_PnModule *op;
pwr_sClass_PnDevice *slave; pwr_sClass_PnDevice *slave;
op = (pwr_sClass_PnModule *) cp->op; op = (pwr_sClass_PnModule *) cp->op;
local = (io_sCardLocal *) cp->Local; local = (io_sPnCardLocal *) cp->Local;
slave = (pwr_sClass_PnDevice *) rp->op; slave = (pwr_sClass_PnDevice *) rp->op;
op->Status = slave->Status; op->Status = slave->Status;
...@@ -105,12 +105,12 @@ static pwr_tStatus IoCardWrite ( ...@@ -105,12 +105,12 @@ static pwr_tStatus IoCardWrite (
io_sCard *cp io_sCard *cp
) )
{ {
io_sCardLocal *local; io_sPnCardLocal *local;
pwr_sClass_PnModule *op; pwr_sClass_PnModule *op;
pwr_sClass_PnDevice *slave; pwr_sClass_PnDevice *slave;
op = (pwr_sClass_PnModule *) cp->op; op = (pwr_sClass_PnModule *) cp->op;
local = (io_sCardLocal *) cp->Local; local = (io_sPnCardLocal *) cp->Local;
slave = (pwr_sClass_PnDevice *) rp->op; slave = (pwr_sClass_PnDevice *) rp->op;
op->Status = slave->Status; op->Status = slave->Status;
...@@ -134,8 +134,8 @@ static pwr_tStatus IoCardClose ( ...@@ -134,8 +134,8 @@ static pwr_tStatus IoCardClose (
io_sCard *cp io_sCard *cp
) )
{ {
io_sCardLocal *local; io_sPnCardLocal *local;
local = (io_sCardLocal *) cp->Local; local = (io_sPnCardLocal *) cp->Local;
free ((char *) local); free ((char *) local);
......
profibus/lib/rt/src/os_linux/rt_io_pn_locals.h
View file @ 74f05bbb
...@@ -20,160 +20,20 @@ ...@@ -20,160 +20,20 @@
#ifndef rt_io_pn_locals_h #ifndef rt_io_pn_locals_h
#define rt_io_pn_locals_h #define rt_io_pn_locals_h
#include "rt_profinet.h"
#include "rt_pnak.h"
/* rt_io_pn_locals.h -- Profinet io handling locals. */ /* rt_io_pn_locals.h -- Profinet io handling locals. */
typedef struct _PN_Alarm_Data { typedef struct _io_sPnRackLocal {
unsigned short alarm_type;
unsigned short alarm_prio;
unsigned short rem_alarms;
unsigned int slot_number;
unsigned int sub_slot_number;
unsigned int module_ident_number;
unsigned int submodule_ident_number;
unsigned short alarm_spec;
unsigned short data_length;
unsigned char *data;
} PN_Alarm_Data;
class PnIOCRData {
public:
PnIOCRData() : type(0), number_modules(0), identifier(0), io_data_length(0) {}
unsigned short type;
unsigned short number_modules;
unsigned short identifier;
unsigned short io_data_length; // bytes of io-data including status;
unsigned short clean_io_data_length; // bytes of io-data including status;
unsigned char *io_data;
unsigned char *clean_io_data;
~PnIOCRData() {}
int print( ofstream& fp);
};
class PnSubmoduleData {
public:
PnSubmoduleData() : subslot_number(0), subslot_idx(0), type(0), state(0), ident_number(0), phys_ident_number(0) {}
unsigned short subslot_number;
unsigned short subslot_idx;
unsigned short type;
unsigned short state;
unsigned int ident_number;
unsigned int phys_ident_number;
unsigned short io_in_data_length; // bytes of pure io-data
unsigned short offset_io_in; // offset in io-data area for this iocr
unsigned short offset_clean_io_in; // offset in io-data area for this iocr
unsigned short offset_status_in; // offset in io-data area for this iocr
unsigned short io_out_data_length; // bytes of pure io-data
unsigned short offset_io_out; // offset in io-data area for this iocr
unsigned short offset_clean_io_out; // offset in io-data area for this iocr
unsigned short offset_status_out; // offset in io-data area for this iocr
~PnSubmoduleData() {}
int print( ofstream& fp);
};
class PnModuleData {
public:
PnModuleData() : slot_number(0), slot_idx(0), state(0), ident_number(0), phys_ident_number(0) {}
unsigned int slot_number;
unsigned int slot_idx;
unsigned short state;
unsigned int ident_number;
unsigned int phys_ident_number;
vector<PnSubmoduleData *> submodule_data;
~PnModuleData() {
for ( unsigned int i = 0; i < submodule_data.size(); i++)
delete submodule_data[i];
}
int print( ofstream& fp);
};
class PnDeviceData {
public:
PnDeviceData() : device_ref(0), alarm_ref(0), device_state(0), no_diff_modules(0) {memset(&alarm_data, 0, sizeof(PN_Alarm_Data));}
unsigned short device_ref;
unsigned short alarm_ref;
unsigned short device_state;
unsigned short no_diff_modules;
PN_Alarm_Data alarm_data;
vector<PnModuleData *> module_data;
vector<PnIOCRData *> iocr_data;
~PnDeviceData() { device_reset();}
void device_reset() {
for ( unsigned int i = 0; i < module_data.size(); i++)
delete module_data[i];
module_data.clear();
for ( unsigned int i = 0; i < iocr_data.size(); i++)
delete iocr_data[i];
iocr_data.clear();
}
int copy_slot( unsigned int slot_idx);
int cut_slot( unsigned int slot_idx);
int paste_slot( unsigned int slot_idx);
};
class PnDeviceInfo {
public:
PnDeviceInfo() {}
unsigned char ipaddress[4];
unsigned char macaddress[6];
unsigned char subnetmask[4];
char devname[80];
int vendorid;
int deviceid;
};
typedef struct _agent_args {
void *local;
io_sAgent *ap;
} agent_args;
class io_sAgentLocal {
public :
io_sAgentLocal() {}
T_PNAK_SERVICE_REQ_RES service_req_res;
T_PNAK_SERVICE_CON service_con;
unsigned char ipaddress[4];
unsigned char macaddress[6];
unsigned char subnetmask[4];
vector<PnDeviceData *> device_data;
vector<PnDeviceInfo *> dev_info;
pthread_t handle_events;
agent_args args;
};
typedef struct _io_sRackLocal {
unsigned short bytes_of_input; unsigned short bytes_of_input;
unsigned short bytes_of_output; unsigned short bytes_of_output;
unsigned char *inputs; unsigned char *inputs;
unsigned char *outputs; unsigned char *outputs;
} io_sRackLocal; } io_sPnRackLocal;
typedef struct _io_sCardLocal { typedef struct _io_sPnCardLocal {
unsigned int input_area_size;
unsigned int output_area_size;
unsigned char *input_area; unsigned char *input_area;
unsigned char *output_area; unsigned char *output_area;
} io_sCardLocal; } io_sPnCardLocal;
#endif #endif
profibus/lib/rt/src/os_linux/rt_io_pnak_locals.h 0 → 100644
View file @ 74f05bbb
/*
* Proview $Id$
* Copyright (C) 2005 SSAB Oxelsund AB.
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation, either version 2 of
* the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the program, if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
**/
#ifndef rt_io_pnak_locals_h
#define rt_io_pnak_locals_h
#include "rt_profinet.h"
#include "rt_pnak.h"
/* rt_io_pnak_locals.h -- Profinet io handling locals. */
typedef struct _PN_Alarm_Data {
unsigned short alarm_type;
unsigned short alarm_prio;
unsigned short rem_alarms;
unsigned int slot_number;
unsigned int sub_slot_number;
unsigned int module_ident_number;
unsigned int submodule_ident_number;
unsigned short alarm_spec;
unsigned short data_length;
unsigned char *data;
} PN_Alarm_Data;
class PnIOCRData {
public:
PnIOCRData() : type(0), number_modules(0), identifier(0), io_data_length(0) {}
unsigned short type;
unsigned short number_modules;
unsigned short identifier;
unsigned short io_data_length; // bytes of io-data including status;
unsigned short clean_io_data_length; // bytes of io-data including status;
unsigned char *io_data;
unsigned char *clean_io_data;
~PnIOCRData() {}
int print( ofstream& fp);
};
class PnSubmoduleData {
public:
PnSubmoduleData() : subslot_number(0), subslot_idx(0), type(0), state(0), ident_number(0), phys_ident_number(0) {}
unsigned short subslot_number;
unsigned short subslot_idx;
unsigned short type;
unsigned short state;
unsigned int ident_number;
unsigned int phys_ident_number;
unsigned short io_in_data_length; // bytes of pure io-data
unsigned short offset_io_in; // offset in io-data area for this iocr
unsigned short offset_clean_io_in; // offset in io-data area for this iocr
unsigned short offset_status_in; // offset in io-data area for this iocr
unsigned short io_out_data_length; // bytes of pure io-data
unsigned short offset_io_out; // offset in io-data area for this iocr
unsigned short offset_clean_io_out; // offset in io-data area for this iocr
unsigned short offset_status_out; // offset in io-data area for this iocr
~PnSubmoduleData() {}
int print( ofstream& fp);
};
class PnModuleData {
public:
PnModuleData() : slot_number(0), slot_idx(0), state(0), ident_number(0), phys_ident_number(0) {}
unsigned int slot_number;
unsigned int slot_idx;
unsigned short state;
unsigned int ident_number;
unsigned int phys_ident_number;
vector<PnSubmoduleData *> submodule_data;
~PnModuleData() {
for ( unsigned int i = 0; i < submodule_data.size(); i++)
delete submodule_data[i];
}
int print( ofstream& fp);
};
class PnDeviceData {
public:
PnDeviceData() : device_ref(0), alarm_ref(0), device_state(0), no_diff_modules(0) {memset(&alarm_data, 0, sizeof(PN_Alarm_Data));}
unsigned short device_ref;
unsigned short alarm_ref;
unsigned short device_state;
unsigned short no_diff_modules;
PN_Alarm_Data alarm_data;
vector<PnModuleData *> module_data;
vector<PnIOCRData *> iocr_data;
~PnDeviceData() { device_reset();}
void device_reset() {
for ( unsigned int i = 0; i < module_data.size(); i++)
delete module_data[i];
module_data.clear();
for ( unsigned int i = 0; i < iocr_data.size(); i++)
delete iocr_data[i];
iocr_data.clear();
}
int copy_slot( unsigned int slot_idx);
int cut_slot( unsigned int slot_idx);
int paste_slot( unsigned int slot_idx);
};
class PnDeviceInfo {
public:
PnDeviceInfo() {}
unsigned char ipaddress[4];
unsigned char macaddress[6];
unsigned char subnetmask[4];
char devname[80];
int vendorid;
int deviceid;
};
typedef struct _agent_args {
void *local;
io_sAgent *ap;
} agent_args;
class io_sAgentLocal {
public :
io_sAgentLocal() {}
T_PNAK_SERVICE_REQ_RES service_req_res;
T_PNAK_SERVICE_CON service_con;
unsigned char ipaddress[4];
unsigned char macaddress[6];
unsigned char subnetmask[4];
vector<PnDeviceData *> device_data;
vector<PnDeviceInfo *> dev_info;
pthread_t handle_events;
agent_args args;
};
#endif
profibus/lib/rt/src/os_linux/rt_pn_iface.cpp
View file @ 74f05bbb
...@@ -41,7 +41,7 @@ ...@@ -41,7 +41,7 @@
#include "co_dcli.h" #include "co_dcli.h"
#include "rt_pn_gsdml_data.h" #include "rt_pn_gsdml_data.h"
#include "rt_io_base.h" #include "rt_io_base.h"
#include "rt_io_pn_locals.h" #include "rt_io_pnak_locals.h"
#define _PN_U32_HIGH_WORD(U32) ((PN_U16) ((U32) >> 16)) #define _PN_U32_HIGH_WORD(U32) ((PN_U16) ((U32) >> 16))
#define _PN_U32_LOW_WORD(U32) ((PN_U16) (U32) ) #define _PN_U32_LOW_WORD(U32) ((PN_U16) (U32) )
...@@ -1546,5 +1546,6 @@ void *handle_events(void *ptr) { ...@@ -1546,5 +1546,6 @@ void *handle_events(void *ptr) {
// pThisSmObject->Running = PN_FALSE; // pThisSmObject->Running = PN_FALSE;
} }
} }
return 0;
} }
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