d9068d622f
This isn't a DLL, so we don't need this :) Cc: Daniel Krueger <daniel.krueger@systec-electronic.com> Cc: Ronald Sieber <Ronald.Sieber@systec-electronic.com> Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
1841 lines
44 KiB
C
1841 lines
44 KiB
C
/****************************************************************************
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(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
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www.systec-electronic.com
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Project: openPOWERLINK
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Description: source file for NMT-Kernelspace-Module
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License:
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions
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are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of SYSTEC electronic GmbH nor the names of its
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contributors may be used to endorse or promote products derived
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from this software without prior written permission. For written
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permission, please contact info@systec-electronic.com.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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Severability Clause:
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If a provision of this License is or becomes illegal, invalid or
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unenforceable in any jurisdiction, that shall not affect:
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1. the validity or enforceability in that jurisdiction of any other
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provision of this License; or
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2. the validity or enforceability in other jurisdictions of that or
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any other provision of this License.
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-------------------------------------------------------------------------
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$RCSfile: EplNmtk.c,v $
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$Author: D.Krueger $
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$Revision: 1.12 $ $Date: 2008/11/13 17:13:09 $
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$State: Exp $
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Build Environment:
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GCC V3.4
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-------------------------------------------------------------------------
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Revision History:
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2006/06/09 k.t.: start of the implementation
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****************************************************************************/
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#include "kernel/EplNmtk.h"
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#include "kernel/EplTimerk.h"
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#include "kernel/EplDllk.h" // for EplDllkProcess()
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#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
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/***************************************************************************/
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/* */
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/* */
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/* G L O B A L D E F I N I T I O N S */
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/* */
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/* */
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/***************************************************************************/
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//---------------------------------------------------------------------------
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// const defines
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//---------------------------------------------------------------------------
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// TracePoint support for realtime-debugging
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#ifdef _DBG_TRACE_POINTS_
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void TgtDbgSignalTracePoint(u8 bTracePointNumber_p);
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void TgtDbgPostTraceValue(u32 dwTraceValue_p);
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#define TGT_DBG_SIGNAL_TRACE_POINT(p) TgtDbgSignalTracePoint(p)
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#define TGT_DBG_POST_TRACE_VALUE(v) TgtDbgPostTraceValue(v)
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#else
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#define TGT_DBG_SIGNAL_TRACE_POINT(p)
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#define TGT_DBG_POST_TRACE_VALUE(v)
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#endif
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#define EPL_NMTK_DBG_POST_TRACE_VALUE(NmtEvent_p, OldNmtState_p, NewNmtState_p) \
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TGT_DBG_POST_TRACE_VALUE((kEplEventSinkNmtk << 28) | (NmtEvent_p << 16) \
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| ((OldNmtState_p & 0xFF) << 8) \
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| (NewNmtState_p & 0xFF))
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//---------------------------------------------------------------------------
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// local types
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//---------------------------------------------------------------------------
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// struct for instance table
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INSTANCE_TYPE_BEGIN EPL_MCO_DECL_INSTANCE_MEMBER()
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STATIC volatile tEplNmtState m_NmtState;
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STATIC volatile BOOL m_fEnableReadyToOperate;
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STATIC volatile BOOL m_fAppReadyToOperate;
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STATIC volatile BOOL m_fTimerMsPreOp2;
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STATIC volatile BOOL m_fAllMandatoryCNIdent;
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STATIC volatile BOOL m_fFrozen;
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INSTANCE_TYPE_END
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//---------------------------------------------------------------------------
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// modul globale vars
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//---------------------------------------------------------------------------
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// This macro replace the unspecific pointer to an instance through
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// the modul specific type for the local instance table. This macro
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// must defined in each modul.
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//#define tEplPtrInstance tEplInstanceInfo*
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EPL_MCO_DECL_INSTANCE_VAR()
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//---------------------------------------------------------------------------
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// local function prototypes
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//---------------------------------------------------------------------------
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EPL_MCO_DEFINE_INSTANCE_FCT()
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/***************************************************************************/
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/* */
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/* */
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/* C L A S S <NMT_Kernel-Module> */
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/* */
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/* */
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/***************************************************************************/
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//
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// Description: This module realize the NMT-State-Machine of the EPL-Stack
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//
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//
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/***************************************************************************/
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//=========================================================================//
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// //
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// P U B L I C F U N C T I O N S //
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// //
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//=========================================================================//
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtkInit
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//
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// Description: initializes the first instance
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//
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//
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//
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// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
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// uiNodeId_p = Node Id of the lokal node
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//
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//
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// Returns: tEplKernel = Errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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tEplKernel EplNmtkInit(EPL_MCO_DECL_PTR_INSTANCE_PTR)
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{
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tEplKernel Ret;
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Ret = EplNmtkAddInstance(EPL_MCO_PTR_INSTANCE_PTR);
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtkAddInstance
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//
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// Description: adds a new instance
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//
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//
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//
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// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
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//
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//
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// Returns: tEplKernel = Errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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tEplKernel EplNmtkAddInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR)
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{
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EPL_MCO_DECL_INSTANCE_PTR_LOCAL tEplKernel Ret;
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//tEplEvent Event;
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//tEplEventNmtStateChange NmtStateChange;
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// check if pointer to instance pointer valid
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// get free instance and set the globale instance pointer
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// set also the instance addr to parameterlist
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EPL_MCO_CHECK_PTR_INSTANCE_PTR();
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EPL_MCO_GET_FREE_INSTANCE_PTR();
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EPL_MCO_SET_PTR_INSTANCE_PTR();
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// sign instance as used
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EPL_MCO_WRITE_INSTANCE_STATE(kStateUsed);
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Ret = kEplSuccessful;
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// initialize intern vaiables
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// 2006/07/31 d.k.: set NMT-State to kEplNmtGsOff
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EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
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// set NMT-State to kEplNmtGsInitialising
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//EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsInitialising;
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// set flags to FALSE
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EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
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EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
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EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) = FALSE;
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EPL_MCO_GLB_VAR(m_fAllMandatoryCNIdent) = FALSE;
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EPL_MCO_GLB_VAR(m_fFrozen) = FALSE;
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// EPL_MCO_GLB_VAR(m_TimerHdl) = 0;
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// inform higher layer about state change
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// 2006/07/31 d.k.: The EPL API layer/application has to start NMT state
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// machine via NmtEventSwReset after initialisation of
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// all modules has been completed. DLL has to be initialised
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// after NMTk because NMT state shall not be uninitialised
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// at that time.
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/* NmtStateChange.m_NewNmtState = EPL_MCO_GLB_VAR(m_NmtState);
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NmtStateChange.m_NmtEvent = kEplNmtEventNoEvent;
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Event.m_EventSink = kEplEventSinkNmtu;
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Event.m_EventType = kEplEventTypeNmtStateChange;
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EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
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Event.m_pArg = &NmtStateChange;
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Event.m_uiSize = sizeof(NmtStateChange);
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Ret = EplEventkPost(&Event);
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*/
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return Ret;
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}
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtkDelInstance
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//
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// Description: delete instance
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//
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//
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//
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// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR = Instance pointer
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//
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//
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// Returns: tEplKernel = Errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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#if (EPL_USE_DELETEINST_FUNC != FALSE)
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tEplKernel EplNmtkDelInstance(EPL_MCO_DECL_PTR_INSTANCE_PTR)
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{
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tEplKernel Ret = kEplSuccessful;
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// check for all API function if instance is valid
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EPL_MCO_CHECK_INSTANCE_STATE();
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// set NMT-State to kEplNmtGsOff
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EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsOff;
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// sign instance as unused
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EPL_MCO_WRITE_INSTANCE_STATE(kStateUnused);
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// delete timer
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// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
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return Ret;
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}
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#endif // (EPL_USE_DELETEINST_FUNC != FALSE)
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//---------------------------------------------------------------------------
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//
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// Function: EplNmtkProcess
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//
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// Description: main process function
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// -> process NMT-State-Maschine und read NMT-Events from Queue
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//
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//
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//
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// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR_ = Instance pointer
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// pEvent_p = Epl-Event with NMT-event to process
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//
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//
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// Returns: tEplKernel = Errorcode
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//
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//
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// State:
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//
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//---------------------------------------------------------------------------
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tEplKernel EplNmtkProcess(EPL_MCO_DECL_PTR_INSTANCE_PTR_ tEplEvent *pEvent_p)
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{
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tEplKernel Ret;
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tEplNmtState OldNmtState;
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tEplNmtEvent NmtEvent;
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tEplEvent Event;
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tEplEventNmtStateChange NmtStateChange;
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// check for all API function if instance is valid
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EPL_MCO_CHECK_INSTANCE_STATE();
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Ret = kEplSuccessful;
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switch (pEvent_p->m_EventType) {
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case kEplEventTypeNmtEvent:
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{
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NmtEvent = *((tEplNmtEvent *) pEvent_p->m_pArg);
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break;
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}
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case kEplEventTypeTimer:
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{
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NmtEvent =
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(tEplNmtEvent) ((tEplTimerEventArg *) pEvent_p->
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m_pArg)->m_ulArg;
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break;
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}
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default:
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{
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Ret = kEplNmtInvalidEvent;
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goto Exit;
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}
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}
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// save NMT-State
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// needed for later comparison to
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// inform hgher layer about state change
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OldNmtState = EPL_MCO_GLB_VAR(m_NmtState);
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// NMT-State-Maschine
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switch (EPL_MCO_GLB_VAR(m_NmtState)) {
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//-----------------------------------------------------------
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// general part of the statemaschine
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// first init of the hardware
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case kEplNmtGsOff:
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{
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// leave this state only if higher layer says so
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if (NmtEvent == kEplNmtEventSwReset) { // new state kEplNmtGsInitialising
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsInitialising;
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}
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break;
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}
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// first init of the hardware
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case kEplNmtGsInitialising:
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{
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// leave this state only if higher layer says so
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// check events
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switch (NmtEvent) {
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// 2006/07/31 d.k.: react also on NMT reset commands in ResetApp state
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// NMT Command SwitchOff
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case kEplNmtEventCriticalError:
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case kEplNmtEventSwitchOff:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsOff;
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break;
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}
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// new state kEplNmtGsResetApplication
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case kEplNmtEventEnterResetApp:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsResetApplication;
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break;
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}
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default:
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{
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break;
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}
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}
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break;
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}
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// init of the manufacturer-specific profile area and the
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// standardised device profile area
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case kEplNmtGsResetApplication:
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{
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// check events
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switch (NmtEvent) {
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// 2006/07/31 d.k.: react also on NMT reset commands in ResetApp state
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// NMT Command SwitchOff
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case kEplNmtEventCriticalError:
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case kEplNmtEventSwitchOff:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsOff;
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break;
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}
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// NMT Command SwReset
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case kEplNmtEventSwReset:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsInitialising;
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break;
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}
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// leave this state only if higher layer
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// say so
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case kEplNmtEventEnterResetCom:
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{
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// new state kEplNmtGsResetCommunication
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsResetCommunication;
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break;
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}
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default:
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{
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break;
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}
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}
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break;
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}
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// init of the communication profile area
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case kEplNmtGsResetCommunication:
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{
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// check events
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switch (NmtEvent) {
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// 2006/07/31 d.k.: react also on NMT reset commands in ResetComm state
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// NMT Command SwitchOff
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case kEplNmtEventCriticalError:
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case kEplNmtEventSwitchOff:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsOff;
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break;
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}
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// NMT Command SwReset
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case kEplNmtEventSwReset:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsInitialising;
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break;
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}
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// NMT Command ResetNode
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case kEplNmtEventResetNode:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsResetApplication;
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break;
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}
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// leave this state only if higher layer
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// say so
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case kEplNmtEventEnterResetConfig:
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{
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// new state kEplNmtGsResetCommunication
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsResetConfiguration;
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break;
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}
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default:
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{
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break;
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}
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}
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break;
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}
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// build the configuration with infos from OD
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case kEplNmtGsResetConfiguration:
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{
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// reset flags
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EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) = FALSE;
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EPL_MCO_GLB_VAR(m_fAppReadyToOperate) = FALSE;
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EPL_MCO_GLB_VAR(m_fFrozen) = FALSE;
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// check events
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switch (NmtEvent) {
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// 2006/07/31 d.k.: react also on NMT reset commands in ResetConf state
|
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// NMT Command SwitchOff
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case kEplNmtEventCriticalError:
|
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case kEplNmtEventSwitchOff:
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{
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsOff;
|
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break;
|
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}
|
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|
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// NMT Command SwReset
|
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case kEplNmtEventSwReset:
|
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{
|
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EPL_MCO_GLB_VAR(m_NmtState) =
|
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kEplNmtGsInitialising;
|
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break;
|
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}
|
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|
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// NMT Command ResetNode
|
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case kEplNmtEventResetNode:
|
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{
|
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsResetApplication;
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break;
|
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}
|
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|
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// NMT Command ResetCommunication
|
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case kEplNmtEventResetCom:
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{
|
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EPL_MCO_GLB_VAR(m_NmtState) =
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kEplNmtGsResetCommunication;
|
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break;
|
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}
|
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|
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// leave this state only if higher layer says so
|
|
case kEplNmtEventEnterCsNotActive:
|
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{ // Node should be CN
|
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EPL_MCO_GLB_VAR(m_NmtState) =
|
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kEplNmtCsNotActive;
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break;
|
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|
|
}
|
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|
|
case kEplNmtEventEnterMsNotActive:
|
|
{ // Node should be CN
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
|
|
// no MN functionality
|
|
// TODO: -create error E_NMT_BA1_NO_MN_SUPPORT
|
|
EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
|
|
#else
|
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|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsNotActive;
|
|
#endif
|
|
break;
|
|
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
//-----------------------------------------------------------
|
|
// CN part of the statemaschine
|
|
|
|
// node liste for EPL-Frames and check timeout
|
|
case kEplNmtCsNotActive:
|
|
{
|
|
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// 2006/07/31 d.k.: react also on NMT reset commands in NotActive state
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
|
|
break;
|
|
}
|
|
|
|
// NMT Command Reset Configuration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
|
|
break;
|
|
}
|
|
|
|
// see if SoA or SoC received
|
|
// k.t. 20.07.2006: only SoA forces change of state
|
|
// see EPL V2 DS 1.0.0 p.267
|
|
// case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // new state PRE_OPERATIONAL1
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational1;
|
|
// Ret = EplTimerkDeleteTimer(&EPL_MCO_GLB_VAR(m_TimerHdl));
|
|
break;
|
|
}
|
|
// timeout for SoA and Soc
|
|
case kEplNmtEventTimerBasicEthernet:
|
|
{
|
|
// new state BASIC_ETHERNET
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsBasicEthernet;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
} // end of switch(NmtEvent)
|
|
|
|
break;
|
|
}
|
|
|
|
// node processes only async frames
|
|
case kEplNmtCsPreOperational1:
|
|
{
|
|
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command Reset Configuration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// NMT Command StopNode
|
|
case kEplNmtEventStopNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsStopped;
|
|
break;
|
|
}
|
|
|
|
// check if SoC received
|
|
case kEplNmtEventDllCeSoc:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational2;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
|
|
break;
|
|
}
|
|
|
|
// node processes isochronous and asynchronous frames
|
|
case kEplNmtCsPreOperational2:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command Reset Configuration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// NMT Command StopNode
|
|
case kEplNmtEventStopNode:
|
|
{
|
|
// reset flags
|
|
EPL_MCO_GLB_VAR(m_fEnableReadyToOperate)
|
|
= FALSE;
|
|
EPL_MCO_GLB_VAR(m_fAppReadyToOperate) =
|
|
FALSE;
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsStopped;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
// reset flags
|
|
EPL_MCO_GLB_VAR(m_fEnableReadyToOperate)
|
|
= FALSE;
|
|
EPL_MCO_GLB_VAR(m_fAppReadyToOperate) =
|
|
FALSE;
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
// check if application is ready to operate
|
|
case kEplNmtEventEnterReadyToOperate:
|
|
{
|
|
// check if command NMTEnableReadyToOperate from MN was received
|
|
if (EPL_MCO_GLB_VAR(m_fEnableReadyToOperate) == TRUE) { // reset flags
|
|
EPL_MCO_GLB_VAR
|
|
(m_fEnableReadyToOperate) =
|
|
FALSE;
|
|
EPL_MCO_GLB_VAR
|
|
(m_fAppReadyToOperate) =
|
|
FALSE;
|
|
// change state
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsReadyToOperate;
|
|
} else { // set Flag
|
|
EPL_MCO_GLB_VAR
|
|
(m_fAppReadyToOperate) =
|
|
TRUE;
|
|
}
|
|
break;
|
|
}
|
|
|
|
// NMT Commando EnableReadyToOperate
|
|
case kEplNmtEventEnableReadyToOperate:
|
|
{
|
|
// check if application is ready
|
|
if (EPL_MCO_GLB_VAR(m_fAppReadyToOperate) == TRUE) { // reset flags
|
|
EPL_MCO_GLB_VAR
|
|
(m_fEnableReadyToOperate) =
|
|
FALSE;
|
|
EPL_MCO_GLB_VAR
|
|
(m_fAppReadyToOperate) =
|
|
FALSE;
|
|
// change state
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsReadyToOperate;
|
|
} else { // set Flag
|
|
EPL_MCO_GLB_VAR
|
|
(m_fEnableReadyToOperate) =
|
|
TRUE;
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
|
|
// node should be configured und application is ready
|
|
case kEplNmtCsReadyToOperate:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// NMT Command StopNode
|
|
case kEplNmtEventStopNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsStopped;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
// NMT Command StartNode
|
|
case kEplNmtEventStartNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsOperational;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
|
|
// normal work state
|
|
case kEplNmtCsOperational:
|
|
{
|
|
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// NMT Command StopNode
|
|
case kEplNmtEventStopNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsStopped;
|
|
break;
|
|
}
|
|
|
|
// NMT Command EnterPreOperational2
|
|
case kEplNmtEventEnterPreOperational2:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational2;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
|
|
// node stopped by MN
|
|
// -> only process asynchronous frames
|
|
case kEplNmtCsStopped:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// NMT Command EnterPreOperational2
|
|
case kEplNmtEventEnterPreOperational2:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational2;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
|
|
// no epl cycle
|
|
// -> normal ethernet communication
|
|
case kEplNmtCsBasicEthernet:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
// d.k.: how does this error occur? on CRC errors
|
|
/* case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
*/
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCePreq:
|
|
case kEplNmtEventDllCePres:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // Epl-Frame on net -> stop any communication
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
|
|
break;
|
|
}
|
|
|
|
//-----------------------------------------------------------
|
|
// MN part of the statemaschine
|
|
|
|
// MN listen to network
|
|
// -> if no EPL traffic go to next state
|
|
case kEplNmtMsNotActive:
|
|
{
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
|
|
// no MN functionality
|
|
// TODO: -create error E_NMT_BA1_NO_MN_SUPPORT
|
|
EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
|
|
#else
|
|
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// EPL frames received
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // other MN in network
|
|
// $$$ d.k.: generate error history entry
|
|
EPL_MCO_GLB_VAR(m_fFrozen) = TRUE;
|
|
break;
|
|
}
|
|
|
|
// timeout event
|
|
case kEplNmtEventTimerBasicEthernet:
|
|
{
|
|
if (EPL_MCO_GLB_VAR(m_fFrozen) == FALSE) { // new state BasicEthernet
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsBasicEthernet;
|
|
}
|
|
break;
|
|
}
|
|
|
|
// timeout event
|
|
case kEplNmtEventTimerMsPreOp1:
|
|
{
|
|
if (EPL_MCO_GLB_VAR(m_fFrozen) == FALSE) { // new state PreOp1
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsPreOperational1;
|
|
EPL_MCO_GLB_VAR
|
|
(m_fTimerMsPreOp2) = FALSE;
|
|
EPL_MCO_GLB_VAR
|
|
(m_fAllMandatoryCNIdent) =
|
|
FALSE;
|
|
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
|
|
#endif // ((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) == 0)
|
|
|
|
break;
|
|
}
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
|
|
// MN process reduces epl cycle
|
|
case kEplNmtMsPreOperational1:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// EPL frames received
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // other MN in network
|
|
// $$$ d.k.: generate error history entry
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
// d.k. MSPreOp1->CSPreOp1: nonsense -> keep state
|
|
/*
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
*/
|
|
|
|
case kEplNmtEventAllMandatoryCNIdent:
|
|
{ // all mandatory CN identified
|
|
if (EPL_MCO_GLB_VAR(m_fTimerMsPreOp2) !=
|
|
FALSE) {
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsPreOperational2;
|
|
} else {
|
|
EPL_MCO_GLB_VAR
|
|
(m_fAllMandatoryCNIdent) =
|
|
TRUE;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case kEplNmtEventTimerMsPreOp2:
|
|
{ // residence time for PreOp1 is elapsed
|
|
if (EPL_MCO_GLB_VAR
|
|
(m_fAllMandatoryCNIdent) != FALSE) {
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsPreOperational2;
|
|
} else {
|
|
EPL_MCO_GLB_VAR
|
|
(m_fTimerMsPreOp2) = TRUE;
|
|
}
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
|
|
// MN process full epl cycle
|
|
case kEplNmtMsPreOperational2:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// EPL frames received
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // other MN in network
|
|
// $$$ d.k.: generate error history entry
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
case kEplNmtEventEnterReadyToOperate:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsReadyToOperate;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
|
|
break;
|
|
}
|
|
|
|
// all madatory nodes ready to operate
|
|
// -> MN process full epl cycle
|
|
case kEplNmtMsReadyToOperate:
|
|
{
|
|
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// EPL frames received
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // other MN in network
|
|
// $$$ d.k.: generate error history entry
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
case kEplNmtEventEnterMsOperational:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsOperational;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
|
|
break;
|
|
}
|
|
|
|
// normal eplcycle processing
|
|
case kEplNmtMsOperational:
|
|
{
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// EPL frames received
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // other MN in network
|
|
// $$$ d.k.: generate error history entry
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtMsPreOperational1;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
|
|
// normal ethernet traffic
|
|
case kEplNmtMsBasicEthernet:
|
|
{
|
|
|
|
// check events
|
|
switch (NmtEvent) {
|
|
// NMT Command SwitchOff
|
|
case kEplNmtEventCriticalError:
|
|
case kEplNmtEventSwitchOff:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsOff;
|
|
break;
|
|
}
|
|
|
|
// NMT Command SwReset
|
|
case kEplNmtEventSwReset:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsInitialising;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetNode
|
|
case kEplNmtEventResetNode:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetApplication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetCommunication
|
|
// or internal Communication error
|
|
case kEplNmtEventResetCom:
|
|
case kEplNmtEventInternComError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// NMT Command ResetConfiguration
|
|
case kEplNmtEventResetConfig:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetConfiguration;
|
|
break;
|
|
}
|
|
|
|
// EPL frames received
|
|
case kEplNmtEventDllCeSoc:
|
|
case kEplNmtEventDllCeSoa:
|
|
{ // other MN in network
|
|
// $$$ d.k.: generate error history entry
|
|
EPL_MCO_GLB_VAR(m_NmtState) =
|
|
kEplNmtGsResetCommunication;
|
|
break;
|
|
}
|
|
|
|
// error occured
|
|
// d.k. BE->PreOp1 on cycle error? No
|
|
/* case kEplNmtEventNmtCycleError:
|
|
{
|
|
EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtCsPreOperational1;
|
|
break;
|
|
}
|
|
*/
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
break;
|
|
}
|
|
#endif //#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMT_MN)) != 0)
|
|
|
|
default:
|
|
{
|
|
//DEBUG_EPL_DBGLVL_NMTK_TRACE0(EPL_DBGLVL_NMT ,"Error in EplNmtProcess: Unknown NMT-State");
|
|
//EPL_MCO_GLB_VAR(m_NmtState) = kEplNmtGsResetApplication;
|
|
Ret = kEplNmtInvalidState;
|
|
goto Exit;
|
|
}
|
|
|
|
} // end of switch(NmtEvent)
|
|
|
|
// inform higher layer about State-Change if needed
|
|
if (OldNmtState != EPL_MCO_GLB_VAR(m_NmtState)) {
|
|
EPL_NMTK_DBG_POST_TRACE_VALUE(NmtEvent, OldNmtState,
|
|
EPL_MCO_GLB_VAR(m_NmtState));
|
|
|
|
// d.k.: memorize NMT state before posting any events
|
|
NmtStateChange.m_NewNmtState = EPL_MCO_GLB_VAR(m_NmtState);
|
|
|
|
// inform DLL
|
|
if ((OldNmtState > kEplNmtGsResetConfiguration)
|
|
&& (EPL_MCO_GLB_VAR(m_NmtState) <=
|
|
kEplNmtGsResetConfiguration)) {
|
|
// send DLL DEINIT
|
|
Event.m_EventSink = kEplEventSinkDllk;
|
|
Event.m_EventType = kEplEventTypeDllkDestroy;
|
|
EPL_MEMSET(&Event.m_NetTime, 0x00,
|
|
sizeof(Event.m_NetTime));
|
|
Event.m_pArg = &OldNmtState;
|
|
Event.m_uiSize = sizeof(OldNmtState);
|
|
// d.k.: directly call DLLk process function, because
|
|
// 1. execution of process function is still synchonized and serialized,
|
|
// 2. it is the same as without event queues (i.e. well tested),
|
|
// 3. DLLk will get those necessary events even if event queue is full,
|
|
// 4. event queue is very inefficient
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
|
|
Ret = EplDllkProcess(&Event);
|
|
#else
|
|
Ret = EplEventkPost(&Event);
|
|
#endif
|
|
} else if ((OldNmtState <= kEplNmtGsResetConfiguration)
|
|
&& (EPL_MCO_GLB_VAR(m_NmtState) >
|
|
kEplNmtGsResetConfiguration)) {
|
|
// send DLL INIT
|
|
Event.m_EventSink = kEplEventSinkDllk;
|
|
Event.m_EventType = kEplEventTypeDllkCreate;
|
|
EPL_MEMSET(&Event.m_NetTime, 0x00,
|
|
sizeof(Event.m_NetTime));
|
|
Event.m_pArg = &NmtStateChange.m_NewNmtState;
|
|
Event.m_uiSize = sizeof(NmtStateChange.m_NewNmtState);
|
|
// d.k.: directly call DLLk process function, because
|
|
// 1. execution of process function is still synchonized and serialized,
|
|
// 2. it is the same as without event queues (i.e. well tested),
|
|
// 3. DLLk will get those necessary events even if event queue is full
|
|
// 4. event queue is very inefficient
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
|
|
Ret = EplDllkProcess(&Event);
|
|
#else
|
|
Ret = EplEventkPost(&Event);
|
|
#endif
|
|
} else
|
|
if ((EPL_MCO_GLB_VAR(m_NmtState) == kEplNmtCsBasicEthernet)
|
|
|| (EPL_MCO_GLB_VAR(m_NmtState) ==
|
|
kEplNmtMsBasicEthernet)) {
|
|
tEplDllAsyncReqPriority AsyncReqPriority;
|
|
|
|
// send DLL Fill Async Tx Buffer, because state BasicEthernet was entered
|
|
Event.m_EventSink = kEplEventSinkDllk;
|
|
Event.m_EventType = kEplEventTypeDllkFillTx;
|
|
EPL_MEMSET(&Event.m_NetTime, 0x00,
|
|
sizeof(Event.m_NetTime));
|
|
AsyncReqPriority = kEplDllAsyncReqPrioGeneric;
|
|
Event.m_pArg = &AsyncReqPriority;
|
|
Event.m_uiSize = sizeof(AsyncReqPriority);
|
|
// d.k.: directly call DLLk process function, because
|
|
// 1. execution of process function is still synchonized and serialized,
|
|
// 2. it is the same as without event queues (i.e. well tested),
|
|
// 3. DLLk will get those necessary events even if event queue is full
|
|
// 4. event queue is very inefficient
|
|
#if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_DLLK)) != 0)
|
|
Ret = EplDllkProcess(&Event);
|
|
#else
|
|
Ret = EplEventkPost(&Event);
|
|
#endif
|
|
}
|
|
// inform higher layer about state change
|
|
NmtStateChange.m_NmtEvent = NmtEvent;
|
|
Event.m_EventSink = kEplEventSinkNmtu;
|
|
Event.m_EventType = kEplEventTypeNmtStateChange;
|
|
EPL_MEMSET(&Event.m_NetTime, 0x00, sizeof(Event.m_NetTime));
|
|
Event.m_pArg = &NmtStateChange;
|
|
Event.m_uiSize = sizeof(NmtStateChange);
|
|
Ret = EplEventkPost(&Event);
|
|
EPL_DBGLVL_NMTK_TRACE2
|
|
("EplNmtkProcess(NMT-Event = 0x%04X): New NMT-State = 0x%03X\n",
|
|
NmtEvent, NmtStateChange.m_NewNmtState);
|
|
|
|
}
|
|
|
|
Exit:
|
|
|
|
return Ret;
|
|
}
|
|
|
|
//---------------------------------------------------------------------------
|
|
//
|
|
// Function: EplNmtkGetNmtState
|
|
//
|
|
// Description: return the actuell NMT-State and the bits
|
|
// to for MN- or CN-mode
|
|
//
|
|
//
|
|
//
|
|
// Parameters: EPL_MCO_DECL_PTR_INSTANCE_PTR_ = Instancepointer
|
|
//
|
|
//
|
|
// Returns: tEplNmtState = NMT-State
|
|
//
|
|
//
|
|
// State:
|
|
//
|
|
//---------------------------------------------------------------------------
|
|
tEplNmtState EplNmtkGetNmtState(EPL_MCO_DECL_PTR_INSTANCE_PTR)
|
|
{
|
|
tEplNmtState NmtState;
|
|
|
|
NmtState = EPL_MCO_GLB_VAR(m_NmtState);
|
|
|
|
return NmtState;
|
|
|
|
}
|
|
|
|
//=========================================================================//
|
|
// //
|
|
// P R I V A T E D E F I N I T I O N S //
|
|
// //
|
|
//=========================================================================//
|
|
EPL_MCO_DECL_INSTANCE_FCT()
|
|
//---------------------------------------------------------------------------
|
|
//
|
|
// Function:
|
|
//
|
|
// Description:
|
|
//
|
|
//
|
|
//
|
|
// Parameters:
|
|
//
|
|
//
|
|
// Returns:
|
|
//
|
|
//
|
|
// State:
|
|
//
|
|
//---------------------------------------------------------------------------
|
|
#endif // #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_NMTK)) != 0)
|
|
// EOF
|