Profinet, Added functionality for acyclic write to a device

profibus/changelog.txt

@@ -29,4 +29,5 @@
 110328 cs profinet    Profinet configurator, choice wether to clear or keep data when gsdml file is changed.
 110429 cs profibus    Profibus gsd Bit and BitArea syntax fix for space between Bit and (
 110531 cs profinet    Recall buffer added to profinet configurator.
-110531 cs profinet    Script functions GetIoDeviceData and SetIoDeviceData to modify profinet configuration added.
+110531 cs profinet    Script functions GetIoDeviceData and SetIoDeviceData to modify profinet configuration added.
\ No newline at end of file
+110909 rk profinet    Added functionality for acyclic write to a device
\ No newline at end of file

profibus/lib/rt/src/os_linux/rt_io_m_pncontrollersoftingpnak.cpp

@@ -220,6 +220,7 @@ static pwr_tStatus IoAgentInit (
 	pn_subslot_data = new PnSubmoduleData;
         pn_subslot_data->subslot_number = dev_data->slot_data[jj]->subslot_data[kk]->subslot_number;
 	pn_subslot_data->ident_number = dev_data->slot_data[jj]->subslot_data[kk]->submodule_ident_number;
+	pn_subslot_data->api = dev_data->slot_data[jj]->subslot_data[kk]->api;
         if (dev_data->slot_data[jj]->subslot_data[kk]->io_input_length > 0) {
 	  pn_subslot_data->io_in_data_length = dev_data->slot_data[jj]->subslot_data[kk]->io_input_length;
 	  pn_subslot_data->type = PROFINET_IO_SUBMODULE_TYPE_INPUT ;
@@ -261,7 +262,7 @@ static pwr_tStatus IoAgentInit (
     sts = pnak_send_service_req_res(0, &local->service_req_res);
     
     if (sts == PNAK_OK) {
-      sts = handle_service_con(local, ap);
+      sts = wait_service_con(local, ap);
       
       if (sts == PNAK_OK) { 
 	/* Loop through devices and calculate offset for io */
@@ -324,7 +325,7 @@ static pwr_tStatus IoAgentInit (
   sts = pnak_send_service_req_res(0, &local->service_req_res);
 
   if (sts == PNAK_OK) {
-    sts = handle_service_con(local, ap);
+    sts = wait_service_con(local, ap);
   }
 
   /* Set mode online */
@@ -393,7 +394,7 @@ static pwr_tStatus IoAgentInit (
     sts = pnak_send_service_req_res(0, &local->service_req_res);
 
     if (sts == PNAK_OK) {
-      sts = handle_service_con(local, ap);
+      sts = wait_service_con(local, ap);
     }
   }
 
@@ -484,6 +485,8 @@ static pwr_tStatus IoAgentWrite (
   unsigned char *io_datap;
   unsigned char *clean_io_datap;
   PnSubmoduleData *submodule;
+  io_sRack *slave_list;
+  pwr_sClass_PnDevice *sp;
 
   unsigned short data_length, ii, jj, kk, ll;
   unsigned char *status_datap;
@@ -492,6 +495,9 @@ static pwr_tStatus IoAgentWrite (
 
   /* Write i/o for all devices fetch it first from clean io data area */
 
+  /* Iterate over the slaves.  */
+  slave_list = ap->racklist; 
+
   for (ii = 1; ii < local->device_data.size(); ii++) {
 
     if (local->device_data[ii]->device_state == PNAK_DEVICE_STATE_CONNECTED) {
@@ -520,6 +526,36 @@ static pwr_tStatus IoAgentWrite (
 	  sts = pnak_set_iocr_data(0, pn_iocr_data->identifier, pn_iocr_data->io_data, pn_iocr_data->io_data_length);
 	}
       }
+
+      if (slave_list != NULL) {
+	sp = (pwr_sClass_PnDevice *) slave_list->op;
+	slave_list = slave_list->next;
+
+	/* Check if there is a write request pending ?? */
+
+	if (sp->WriteReq.SendReq) {
+	  if ((sp->WriteReq.Length > 0) && (sp->WriteReq.Length <= sizeof(sp->WriteReq.Data))) {
+	    for (jj = 0; jj < local->device_data[ii]->module_data.size(); jj++) {
+	      if (local->device_data[ii]->module_data[jj]->slot_number == sp->WriteReq.SlotNumber) {
+		for (kk = 0; kk < local->device_data[ii]->module_data[jj]->submodule_data.size(); kk++) {
+		  if (local->device_data[ii]->module_data[jj]->submodule_data[kk]->subslot_number == sp->WriteReq.SubslotNumber) {
+		    if (local->device_data[ii]->module_data[jj]->submodule_data[kk]->api > 0) {
+		      sp->WriteReq.Api = local->device_data[ii]->module_data[jj]->submodule_data[kk]->api;
+		    }
+		    pack_write_req(&local->service_req_res, local->device_data[ii]->device_ref, &sp->WriteReq);
+		    sts = pnak_send_service_req_res(0, &local->service_req_res);
+		    
+		    break;
+		  }
+		}
+		break;
+	      }
+	    }
+	  }
+	  sp->WriteReq.SendReq = 0;
+	}
+      }
+
     }
   }
    

profibus/lib/rt/src/os_linux/rt_io_pnak_locals.h

@@ -74,7 +74,7 @@ class PnIOCRData {
 
 class PnSubmoduleData {
  public:
-  PnSubmoduleData() : subslot_number(0), subslot_idx(0), type(0), state(0), ident_number(0), phys_ident_number(0) {}
+  PnSubmoduleData() : subslot_number(0), subslot_idx(0), type(0), state(0), ident_number(0), phys_ident_number(0), api(0) {}
   
   unsigned short subslot_number;
   unsigned short subslot_idx;
@@ -82,6 +82,7 @@ class PnSubmoduleData {
   unsigned short state;
   unsigned int   ident_number;
   unsigned int   phys_ident_number;
+  unsigned int   api;
 
   unsigned short io_in_data_length; // bytes of pure io-data
   unsigned short offset_io_in;      // offset in io-data area for this iocr

profibus/lib/rt/src/os_linux/rt_pn_iface.cpp

@@ -242,6 +242,54 @@ void pack_get_device_state_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, unsigned s
 
 }
 
+void pack_write_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, unsigned short device_ref, pwr_sClass_PnWriteReq *wr_req)
+{
+  unsigned offset = 0u;
+
+  T_PNAK_SERVICE_DESCRIPTION  *service_desc;
+  T_PN_SERVICE_WRITE_REQ  *pWR;
+  unsigned char           *pData;
+
+  memset(ServiceReqRes, 0, sizeof(T_PNAK_SERVICE_REQ_RES));
+  ServiceReqRes->NumberEntries = 1;
+  ServiceReqRes->ServiceEntry[0].ServiceOffset = 0;
+ 
+  service_desc = (T_PNAK_SERVICE_DESCRIPTION *) &ServiceReqRes->ServiceChannel[offset];
+
+  service_desc->DeviceRef  = device_ref;
+  service_desc->Instance   = PN_CONTROLLER;
+  service_desc->Service    = PN_SERVICE_WRITE;
+  service_desc->Primitive  = PNAK_SERVICE_REQ;
+  service_desc->ClientId   = 0;
+  service_desc->InvokeId   = 0;
+ 
+  /* Calculate length of service */
+
+  service_desc->DataLength = sizeof(T_PN_SERVICE_GET_DEVICE_STATE_REQ) + wr_req->Length;
+
+  pWR = (T_PN_SERVICE_WRITE_REQ *) service_desc + 1;
+
+  pWR->VersionHighByte = 1;
+  pWR->VersionLowByte = 0;
+  pWR->APIHighWordHighByte = _PN_U32_HIGH_HIGH_BYTE(wr_req->Api);
+  pWR->APIHighWordLowByte  = _PN_U32_HIGH_LOW_BYTE(wr_req->Api);
+  pWR->APILowWordHighByte  = _PN_U32_LOW_HIGH_BYTE(wr_req->Api);
+  pWR->APILowWordLowByte   = _PN_U32_LOW_LOW_BYTE(wr_req->Api);
+
+  pWR->SlotNumberHighByte = _PN_U16_HIGH_BYTE(wr_req->SlotNumber);
+  pWR->SlotNumberLowByte  = _PN_U16_LOW_BYTE(wr_req->SlotNumber);
+  pWR->SubSlotNumberHighByte = _PN_U16_HIGH_BYTE(wr_req->SubslotNumber);
+  pWR->SubSlotNumberLowByte  = _PN_U16_LOW_BYTE(wr_req->SubslotNumber);
+  pWR->IndexHighByte = _PN_U16_HIGH_BYTE(wr_req->Index);
+  pWR->IndexLowByte  = _PN_U16_LOW_BYTE(wr_req->Index);
+  pWR->LengthHighByte = _PN_U16_HIGH_BYTE(wr_req->Length);
+  pWR->LengthLowByte  = _PN_U16_LOW_BYTE(wr_req->Length);
+
+  pData = (unsigned char *) pWR + 1;
+
+  memcpy(pData, wr_req->Data, wr_req->Length);
+}
+
 void pack_get_los_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes)
 {
   unsigned offset = 0u;
@@ -724,11 +772,6 @@ void pack_download_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, GsdmlDeviceData *d
 	memcpy(pData, dev_data->slot_data[ii]->subslot_data[jj]->data_record[kk]->data, dev_data->slot_data[ii]->subslot_data[jj]->data_record[kk]->data_length);
 	pData += dev_data->slot_data[ii]->subslot_data[jj]->data_record[kk]->data_length;
 
-	/*	if (((dev_data->slot_data[ii]->subslot_data[jj]->data_record[kk]->data_length % 2) > 0) &&
-	    (kk != dev_data->slot_data[ii]->subslot_data[jj]->data_record.size() - 1)) {
-	  length++;
-	  pData++;
-	  } */
 	pDataRecord = (T_PN_DATA_RECORD *) pData;
       }
     }
@@ -737,7 +780,7 @@ void pack_download_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, GsdmlDeviceData *d
   service_desc->DataLength = length;
 
 
-  if (device_ref != 0) {
+  /*  if (device_ref != 0) {
 
     pData = (char *) (pSDR);
     printf("Download of device: %s\n", dev_data->device_name);
@@ -748,7 +791,7 @@ void pack_download_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, GsdmlDeviceData *d
     }
     printf("\n");
     printf("\n");
-  }
+    }*/
 }
 
 int unpack_get_los_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local)
@@ -833,6 +876,34 @@ int unpack_get_los_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local)
   return -1;
 }
 
+int unpack_write_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local)
+{
+
+  if (pSdb->Result == PNAK_RESULT_POS) {
+    return PNAK_OK;
+  }
+  else if (pSdb->Result == PNAK_RESULT_NEG) {
+    T_PN_SERVICE_ERROR_CON*   pErrorCon = (T_PN_SERVICE_ERROR_CON*) (pSdb + 1);
+
+
+    printf(
+	   "channel %d: write.con [-] (%d)\r\n"
+	   "            code       : %d (0x%02x)\r\n"
+	   "            detail     : %d (0x%02x)\r\n"
+	   "            add. detail: %d (0x%02x)\r\n"
+	   "            area       : %d (0x%02x)\r\n",
+	   0,
+	   pSdb->DeviceRef,
+	   pErrorCon->Code, pErrorCon->Code,
+	   pErrorCon->Detail, pErrorCon->Detail,
+	   pErrorCon->AdditionalDetail, pErrorCon->AdditionalDetail,
+	   pErrorCon->AreaCode, pErrorCon->AreaCode
+	   );
+  }
+
+  return -1;
+}
+
 int unpack_get_alarm_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local, io_sAgent *ap)
 {
 
@@ -1309,101 +1380,97 @@ int unpack_download_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local)
 int handle_service_con(io_sAgentLocal *local, io_sAgent *ap)
 {
 
-  T_PNAK_WAIT_OBJECT           wait_object;
   int                          sts;
   unsigned short               ii;
 
-  wait_object = PNAK_WAIT_OBJECT_SERVICE_CON;
-
-  sts = pnak_wait_for_multiple_objects(0, &wait_object, PNAK_INFINITE_TIMEOUT);
-
-  if (sts == PNAK_OK) {
-
-    memset(&local->service_con, 0, sizeof(T_PNAK_SERVICE_CON));
-    sts = pnak_get_service_con(0, &local->service_con);
+  memset(&local->service_con, 0, sizeof(T_PNAK_SERVICE_CON));
+  sts = pnak_get_service_con(0, &local->service_con);
 
-    if (sts == PNAK_NOTIFICATION_RECEIVED) {
-      for (ii = 0; ii < local->service_con.NumberEntries; ii++) {
-	T_PNAK_SERVICE_DESCRIPTION*   pSdb;
-	unsigned int                  offset;
-
-	offset = local->service_con.ServiceEntry[ii].ServiceOffset;
-	pSdb = (T_PNAK_SERVICE_DESCRIPTION *) &local->service_con.ServiceChannel[offset];
+  if (sts == PNAK_NOTIFICATION_RECEIVED) {
+    for (ii = 0; ii < local->service_con.NumberEntries; ii++) {
+      T_PNAK_SERVICE_DESCRIPTION*   pSdb;
+      unsigned int                  offset;
 
-	if ((pSdb->Instance == PN) || (pSdb->Instance == PN_CONTROLLER)) {
-	  switch (pSdb->Service) {
-	  case PN_SERVICE_DOWNLOAD          : {
-            sts = unpack_download_con(pSdb, local);
-	    break;
-	  }
+      offset = local->service_con.ServiceEntry[ii].ServiceOffset;
+      pSdb = (T_PNAK_SERVICE_DESCRIPTION *) &local->service_con.ServiceChannel[offset];
+      
+      if ((pSdb->Instance == PN) || (pSdb->Instance == PN_CONTROLLER)) {
+	switch (pSdb->Service) {
+	case PN_SERVICE_DOWNLOAD          : {
+	  sts = unpack_download_con(pSdb, local);
+	  break;
+	}
+	  
+	case PN_SERVICE_SET_IDENTIFICATION:
+	case PN_SERVICE_READ              : {
+	  break;
+	}
 
-	  case PN_SERVICE_SET_IDENTIFICATION:
-	  case PN_SERVICE_READ              :
-	  case PN_SERVICE_WRITE             : {
-	    break;
-	  }
+	case PN_SERVICE_WRITE       : {
+	  sts = unpack_write_con(pSdb, local);
+	  break;
+	}
 
-	  case PN_SERVICE_GET_ALARM       : {
-	    sts = unpack_get_alarm_con(pSdb, local, ap);
-	    break;
-	  }
+	case PN_SERVICE_GET_ALARM       : {
+	  sts = unpack_get_alarm_con(pSdb, local, ap);
+	  break;
+	}
 	  
-	  case PN_SERVICE_GET_DEVICE_STATE: {
-	    sts = unpack_get_device_state_con(pSdb, local, ap);
-	    break;
-	  }
-	  case PN_SERVICE_ALARM_ACK       : {
-	    break;
-	  }
-
+	case PN_SERVICE_GET_DEVICE_STATE: {
+	  sts = unpack_get_device_state_con(pSdb, local, ap);
+	  break;
+	}
+	case PN_SERVICE_ALARM_ACK       : {
+	  break;
+	}
 	  
-	  default: {
-	    printf("channel %d: unhandled service confirmation [0x%x]\r\n",
-		   0,
-		   pSdb->Service
-		   );
-	  }
-	  }
+	  
+	default: {
+	  printf("channel %d: unhandled service confirmation [0x%x]\r\n",
+		 0,
+		 pSdb->Service
+		 );
 	}
-	else if (pSdb->Instance == PN_SUPERVISOR) {
-	  switch (pSdb->Service) {
-
-	  case PN_SERVICE_GET_LIST_OF_STATION: {
-            sts = unpack_get_los_con(pSdb, local);
-	    break;
-	  }
-
-	  case PN_SERVICE_SET_IDENTIFICATION:
-	  case PN_SERVICE_SET_IP_SETTINGS   :
-	  case PN_SERVICE_SET_DEVICE_NAME   : {
-	    if (pSdb->Result == PNAK_RESULT_NEG) {
-	      T_PN_SERVICE_ERROR_CON*   pErrorCon = (T_PN_SERVICE_ERROR_CON*) (pSdb + 1);
-
-
-	      printf(
-		     "channel %d: get_los.con [-] (%d)\r\n"
-		     "            code       : %d (0x%02x)\r\n"
-		     "            detail     : %d (0x%02x)\r\n"
-		     "            add. detail: %d (0x%02x)\r\n"
-		     "            area       : %d (0x%02x)\r\n",
-		     0,
-		     pSdb->DeviceRef,
-		     pErrorCon->Code, pErrorCon->Code,
-		     pErrorCon->Detail, pErrorCon->Detail,
-		     pErrorCon->AdditionalDetail, pErrorCon->AdditionalDetail,
-		     pErrorCon->AreaCode, pErrorCon->AreaCode
-		     );
-	    }
-	    break;
-	  }
-
-	  default: {
-	    printf("channel %d: unhandled service confirmation [0x%x]\r\n",
+	}
+      }
+      else if (pSdb->Instance == PN_SUPERVISOR) {
+	switch (pSdb->Service) {
+	  
+	case PN_SERVICE_GET_LIST_OF_STATION: {
+	  sts = unpack_get_los_con(pSdb, local);
+	  break;
+	}
+	  
+	case PN_SERVICE_SET_IDENTIFICATION:
+	case PN_SERVICE_SET_IP_SETTINGS   :
+	case PN_SERVICE_SET_DEVICE_NAME   : {
+	  if (pSdb->Result == PNAK_RESULT_NEG) {
+	    T_PN_SERVICE_ERROR_CON*   pErrorCon = (T_PN_SERVICE_ERROR_CON*) (pSdb + 1);
+	    
+	    
+	    printf(
+		   "channel %d: get_los.con [-] (%d)\r\n"
+		   "            code       : %d (0x%02x)\r\n"
+		   "            detail     : %d (0x%02x)\r\n"
+		   "            add. detail: %d (0x%02x)\r\n"
+		   "            area       : %d (0x%02x)\r\n",
 		   0,
-		   pSdb->Service
+		   pSdb->DeviceRef,
+		   pErrorCon->Code, pErrorCon->Code,
+		   pErrorCon->Detail, pErrorCon->Detail,
+		   pErrorCon->AdditionalDetail, pErrorCon->AdditionalDetail,
+		   pErrorCon->AreaCode, pErrorCon->AreaCode
 		   );
 	  }
-	  }
+	  break;
+	}
+	  
+	default: {
+	  printf("channel %d: unhandled service confirmation [0x%x]\r\n",
+		 0,
+		 pSdb->Service
+		 );
+	}
 	}
       }
     }
@@ -1412,6 +1479,22 @@ int handle_service_con(io_sAgentLocal *local, io_sAgent *ap)
   return sts;
 }
 
+int wait_service_con(io_sAgentLocal *local, io_sAgent *ap)
+{
+
+  T_PNAK_WAIT_OBJECT           wait_object;
+  int                          sts;
+
+  wait_object = PNAK_WAIT_OBJECT_SERVICE_CON;
+
+  sts = pnak_wait_for_multiple_objects(0, &wait_object, PNAK_INFINITE_TIMEOUT);
+
+  if (sts == PNAK_OK) {
+    sts = handle_service_con(local, ap);
+  }
+
+  return sts;
+}
 
 void handle_exception (io_sAgentLocal *local) {
   return;
@@ -1459,7 +1542,7 @@ void handle_device_state_changed (io_sAgentLocal *local, io_sAgent *ap) {
 	  sts = pnak_send_service_req_res(0, &local->service_req_res);
       
 	  if (sts == PNAK_OK) {
-	    sts = handle_service_con(local, ap);
+	    sts = wait_service_con(local, ap);
 	  }
 	}
       }
@@ -1491,14 +1574,14 @@ void handle_alarm_indication (io_sAgentLocal *local, io_sAgent *ap) {
 	sts = pnak_send_service_req_res(0, &local->service_req_res);
 
 	if (sts == PNAK_OK) {
-	  sts = handle_service_con(local, ap);
+	  sts = wait_service_con(local, ap);
 	  if (sts == PNAK_OK) {
 	    pack_alarm_ack_req(&local->service_req_res, local->device_data[ii]->alarm_ref, local->device_data[ii]->alarm_data.alarm_prio, local->device_data[ii]->device_ref);
 
 	    sts = pnak_send_service_req_res(0, &local->service_req_res);
 
 	    if (sts == PNAK_OK) {
-	      sts = handle_service_con(local, ap);
+	      sts = wait_service_con(local, ap);
 	    }
 	  }
 	}
@@ -1526,7 +1609,7 @@ void *handle_events(void *ptr) {
   /* Do forever ... */
 
   while (1) {
-    wait_object = PNAK_WAIT_OBJECTS_EVENT_IND | PNAK_WAIT_OBJECTS_OTHER;
+    wait_object = PNAK_WAIT_OBJECTS_EVENT_IND | PNAK_WAIT_OBJECTS_OTHER | PNAK_WAIT_OBJECT_SERVICE_CON;
     sts = pnak_wait_for_multiple_objects(0, &wait_object, PNAK_INFINITE_TIMEOUT);
     
     if (sts == PNAK_OK) {
@@ -1563,7 +1646,12 @@ void *handle_events(void *ptr) {
 	//	printf("Interrupted !!"); 
 	//     What to do if interrupted ???;
       }
-      
+
+      if (wait_object & PNAK_WAIT_OBJECT_SERVICE_CON) {
+	//	printf("Service con !!"); 
+	sts = handle_service_con(local, ap);
+      }
+
     }
     else if ( (sts == PNAK_ERR_FATAL_ERROR ) ||
 	      (sts == PNAK_EXCEPTION_THROWN) ) {

profibus/lib/rt/src/os_linux/rt_pn_iface.h

@@ -63,6 +63,8 @@ void pack_set_identification_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes);
 
 void pack_get_device_state_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, unsigned short device_ref);
 
+void pack_write_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, unsigned short device_ref, pwr_sClass_PnWriteReq *wr_req);
+
 void pack_get_los_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes);
 
 void pack_get_alarm_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, unsigned short ref);
@@ -71,6 +73,8 @@ void pack_alarm_ack_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, unsigned short re
 
 void pack_download_req(T_PNAK_SERVICE_REQ_RES *ServiceReqRes, GsdmlDeviceData *dev_data, unsigned short device_ref);
 
+int unpack_write_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local);
+
 int unpack_get_los_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local);
 
 int unpack_get_alarm_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local, io_sAgent *ap);
@@ -80,6 +84,8 @@ int unpack_download_con(T_PNAK_SERVICE_DESCRIPTION* pSdb, io_sAgentLocal *local)
 
 int handle_service_con(io_sAgentLocal *local, io_sAgent *ap);
 
+int wait_service_con(io_sAgentLocal *local, io_sAgent *ap);
+
 void handle_exception (io_sAgentLocal *local);
 
 void handle_state_changed (io_sAgentLocal *local);

profibus/wbl/mcomp/src/profibus.wb_load

 Volume Profibus $ClassVolume 0.0.250.7 
   Body SysBody 05-SEP-2005 17:51:40.00
     Attr NextOix = "_X209"
-    Attr NextCix = "_X19"
+    Attr NextCix = "_X20"
     Attr NextTix[0] = "_X12"
   EndBody
   Object Type $TypeHier 55 16-JAN-2006 10:07:43.21
@@ -2695,7 +2695,7 @@ Volume Profibus $ClassVolume 0.0.250.7
         ! 
         ! Furthermore, manufacturer specific alarms may be used and alarms 
         ! are reserved for profile specific definitions. 
-        !
+        ! 
         !*/
         Object Type $Attribute 1 10-JUN-2010 10:53:19.20
           Body SysBody 21-OCT-2010 08:59:53.40
@@ -2803,12 +2803,103 @@ Volume Profibus $ClassVolume 0.0.250.7
       EndObject
     EndObject
     !/**
+    ! Sends an acyclic write request to a device
+    ! for a certain slot and subslot.
+    !*/
+    Object PnWriteReq $ClassDef 19 07-SEP-2011 08:49:46.86
+      Body SysBody 07-SEP-2011 08:49:30.59
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 16
+      EndBody
+      Object RtBody $ObjBodyDef 1 07-SEP-2011 08:49:53.46
+        Body SysBody 07-SEP-2011 08:49:53.46
+          Attr StructName = "PnWriteReq"
+          Attr NextAix = "_X8"
+        EndBody
+        !/**
+        ! Application Process Identifier, usually 0 but can be
+        ! defined to other by a device profile.
+        !*/
+        Object Api $Attribute 1 07-SEP-2011 08:50:09.27
+          Body SysBody 07-SEP-2011 08:50:29.19
+            Attr PgmName = "Api"
+            Attr TypeRef = "pwrs:Type-$UInt32"
+          EndBody
+        EndObject
+        !/**
+        ! Number of slot to write to.
+        !*/
+        Object SlotNumber $Attribute 2 07-SEP-2011 08:50:58.89
+          Body SysBody 07-SEP-2011 08:50:58.89
+            Attr PgmName = "SlotNumber"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt16"
+          EndBody
+        EndObject
+        !/**
+        ! Number of subslot to write to.
+        !*/
+        Object SubslotNumber $Attribute 3 07-SEP-2011 08:50:58.89
+          Body SysBody 07-SEP-2011 08:50:58.89
+            Attr PgmName = "SubslotNumber"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt16"
+          EndBody
+        EndObject
+        !/**
+        ! Unique ID of record data object to write to.
+        !*/
+        Object Index $Attribute 4 07-SEP-2011 08:51:20.46
+          Body SysBody 07-SEP-2011 08:51:21.42
+            Attr PgmName = "Index"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt16"
+          EndBody
+        EndObject
+        !/**
+        ! Bytes of data to write.
+        !*/
+        Object Length $Attribute 5 07-SEP-2011 08:55:25.16
+          Body SysBody 07-SEP-2011 08:55:25.53
+            Attr PgmName = "Length"
+            Attr Flags = 1024
+            Attr TypeRef = "pwrs:Type-$UInt16"
+          EndBody
+        EndObject
+        !/**
+        ! The data to write.
+        !*/
+        Object Data $Attribute 6 07-SEP-2011 08:56:03.58
+          Body SysBody 07-SEP-2011 08:56:48.30
+            Attr PgmName = "Data"
+            Attr Flags = 1026
+            Attr Elements = 256
+            Attr TypeRef = "pwrs:Type-$UInt8"
+          EndBody
+        EndObject
+        !/**
+        ! Send the write request.
+        !*/
+        Object SendReq $Attribute 7 07-SEP-2011 09:13:01.58
+          Body SysBody 07-SEP-2011 09:13:16.75
+            Attr PgmName = "SendReq"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+          EndBody
+        EndObject
+      EndObject
+      Object Template PnWriteReq 2152693760 01-JAN-1970 01:00:00.00
+        Body RtBody 01-JAN-1970 01:00:00.00
+        EndBody
+      EndObject
+    EndObject
+    !/**
     ! @Author Robert Karlsson
     ! @Version 1.0
     ! @Group IO
     ! @Summary Defines that a Profinet controller stack is installed.
     ! Configures a Profinet controller stack.
-    !
+    ! 
     ! @b See also
     ! @classlink PnDevice profibus_pndevice.html
     !*/
@@ -2915,7 +3006,7 @@ Volume Profibus $ClassVolume 0.0.250.7
     ! @Group IO
     ! @Summary Configures one Profinet device.
     ! Configures one Profinet device.
-    !
+    ! 
     ! @b See also
     ! @classlink PnControllerSoftingPNAK profibus_pncontrollersoftingpnak.html
     ! @classlink Hilscher_cifX_PnController otherio_hilscher_cifx_pncontroller.html
@@ -2929,7 +3020,7 @@ Volume Profibus $ClassVolume 0.0.250.7
       Object RtBody $ObjBodyDef 1 21-APR-2009 13:41:08.17
         Body SysBody 21-APR-2009 13:41:08.17
           Attr StructName = "PnDevice"
-          Attr NextAix = "_X105"
+          Attr NextAix = "_X106"
         EndBody
         !/**
         ! Description.
@@ -3107,6 +3198,16 @@ Volume Profibus $ClassVolume 0.0.250.7
             Attr TypeRef = "Profibus:Class-PnAlarm"
           EndBody
         EndObject
+        !/**
+        ! Request to write data to a subslot
+        !*/
+        Object WriteReq $Attribute 105 07-SEP-2011 10:24:03.67
+          Body SysBody 07-SEP-2011 10:24:13.69
+            Attr PgmName = "WriteReq"
+            Attr Flags = 16908288
+            Attr TypeRef = "Profibus:Class-PnWriteReq"
+          EndBody
+        EndObject
       EndObject
       Object ConfiguratorPosnn $Menu 122 21-APR-2009 13:41:08.17
         Object Pointed $Menu 123 21-APR-2009 13:41:08.17