Merge branch 'master' of pwrcvs:/data1/git/pwr

profibus/changelog.txt

@@ -61,4 +61,5 @@
 130415 rk  profibus  Removed re-request for diagnostics
 131107 rk  profibus  Fixed problem with profibus diagnostic messages handling
 131113 cs  profibus  Profibus gsd file for ABB ACS880 added
+140825 rk  profibus  Added support for Profibus FDL.
 

profibus/lib/rt/src/os_linux/rt_io_m_pb_ai.c

@@ -45,8 +45,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -54,6 +52,7 @@
 #include "rt_io_bus.h"
 #include "rt_io_msg.h"
 #include "rt_errh.h"
+#include "rt_io_pb_locals.h"
 
 /*----------------------------------------------------------------------------*\
   Convert ai from rawvalue to actualvalue.

profibus/lib/rt/src/os_linux/rt_io_m_pb_ao.c

@@ -43,8 +43,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -53,6 +51,8 @@
 #include "rt_io_msg.h"
 #include "rt_errh.h"
 
+#include "rt_io_pb_locals.h"
+
 
 /*----------------------------------------------------------------------------*\
    Init method for the Pb module Ao

profibus/lib/rt/src/os_linux/rt_io_m_pb_di.c

@@ -43,8 +43,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -53,6 +51,8 @@
 #include "rt_io_msg.h"
 #include "rt_errh.h"
 
+#include "rt_io_pb_locals.h"
+
 #define IO_CONVMASK_ALL         0xFFFF
 
 /*----------------------------------------------------------------------------*\

profibus/lib/rt/src/os_linux/rt_io_m_pb_do.c

@@ -43,8 +43,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -53,6 +51,8 @@
 #include "rt_io_msg.h"
 #include "rt_errh.h"
 
+#include "rt_io_pb_locals.h"
+
 
 /*----------------------------------------------------------------------------*\
    Init method for the Pb module Do

profibus/lib/rt/src/os_linux/rt_io_m_pb_dp_slave.c

@@ -42,8 +42,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "co_cdh.h"
 #include "pwr_baseclasses.h"
@@ -57,6 +55,8 @@
 #include "rt_io_profiboard.h"
 #include "rt_pb_msg.h"
 
+#include "rt_io_pb_locals.h"
+
 /* Check if channel should be fetched from diagnostic area, 
    i.e. channel name starts with "Diag_" */
 
@@ -98,6 +98,13 @@ static pwr_tStatus IoRackInit (
   pwr_sClass_ChanAo *chan_ao;
   pwr_sClass_ChanIo *chan_io;
 
+  io_sRackLocal *local;
+
+  local= calloc(1, sizeof(*local));
+  rp->Local = local;
+
+  local->dp = 1;
+
   sts = gdh_ObjidToName(rp->Objid, (char *) &name, sizeof(name), cdh_mNName);
   errh_Info( "Init of Profibus DP Slave and Modules %s", name);
 

profibus/lib/rt/src/os_linux/rt_io_m_pb_fdl_datatransfer.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2014 SSAB EMEA AB.
+ *
+ * This file is part of Proview.
+ *
+ * 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 Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <math.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+
+#include "pwr.h"
+#include "pwr_baseclasses.h"
+#include "pwr_profibusclasses.h"
+#include "rt_io_base.h"
+#include "rt_io_bus.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "rt_pb_msg.h"
+
+#include "rt_io_pb_locals.h"
+
+#include "keywords.h"
+
+#pragma pack(1)
+#include "pb_type.h"
+#include "pb_conf.h"
+#include "pb_if.h"
+#include "pb_err.h"
+#include "pb_fmb.h"
+#include "pb_dp.h"
+#include "pb_fdl.h"
+#pragma pack(0)
+
+
+static unsigned char                 req_res_buffer[512];
+
+static short fdlif_sda_sdn_sdr_req(io_sAgentLocal *local_agent,  
+                           pwr_sClass_Pb_FDL_SAP *sap,
+                           pwr_sClass_Pb_FDL_DataTransfer *op,
+                           io_sFDLCardLocal *local)
+
+/*-----------------------------------------------------------------------------
+    FUNCTIONAL_DESCRIPTION
+
+    this function is used to activate a SAP
+
+possible return values:
+
+    - == E_OK    -> no error
+    - != E_OK    -> error
+
+    -----------------------------------------------------------------------------*/
+{
+// LOCAL_VARIABLES
+
+  short                    result;              /* !!! local result variable !!! */
+
+// FUNCTION_BODY
+
+  T_FDLIF_SDN_SDA_SRD_REQ *req = (T_FDLIF_SDN_SDA_SRD_REQ*) req_res_buffer;
+  unsigned char           *data_ptr;
+  T_PROFI_SERVICE_DESCR sdb;
+
+
+  /* --- set data block parameters ------------------------------------------- */
+  data_ptr = (USIGN8*) (req+1);
+
+  req->ssap      = sap->SAP_Nr;
+  req->dsap      = op->DestSAP;
+  req->rem_add   = sap->SlaveAddress;
+  req->priority  = HIGH;
+
+  memcpy(data_ptr, local->output_area, local->output_area_size);
+  req->length = local->output_area_size;
+
+  /* --- set parameter block parameters -------------------------------------- */
+  sdb.comm_ref   = 0;
+  sdb.layer      = FDLIF;
+  switch (op->Type) {
+  case pwr_ePbFDLDataTransferTypeEnum_FDLIF_SDA: {
+    sdb.service    = FDLIF_SDA;
+    break;
+  }
+  case pwr_ePbFDLDataTransferTypeEnum_FDLIF_SDN: {
+    sdb.service    = FDLIF_SDN;
+    break;
+  }
+  case pwr_ePbFDLDataTransferTypeEnum_FDLIF_SRD: {
+    sdb.service    = FDLIF_SRD;
+    break;
+  }
+  default:
+    sdb.service    = FDLIF_SDN;
+    break;
+  }
+
+  sdb.primitive  = REQ;
+  sdb.invoke_id  = local->invoke_id = local_agent->invoke_id;
+  local_agent->invoke_id = (local_agent->invoke_id + 1) % 128;
+
+  result = profi_snd_req_res((T_PROFI_DEVICE_HANDLE *) local_agent, &sdb, (void *) req, PB_FALSE);
+
+  return ((pwr_tBoolean) (result == E_OK));
+
+
+}
+
+
+static short fdlif_reply_update_mult_req(io_sAgentLocal *local_agent,
+                                         pwr_sClass_Pb_FDL_SAP *sap,
+                                         pwr_sClass_Pb_FDL_DataTransfer *op,
+                                         io_sFDLCardLocal *local)
+
+/*-----------------------------------------------------------------------------
+    FUNCTIONAL_DESCRIPTION
+
+    this function is used to activate a SAP
+
+possible return values:
+
+    - == E_OK    -> no error
+    - != E_OK    -> error
+
+    -----------------------------------------------------------------------------*/
+{
+// LOCAL_VARIABLES
+
+  INT16                    result;              /* !!! local result variable !!! */
+
+// FUNCTION_BODY
+
+
+  T_FDLIF_RUP_REQ         *req = (T_FDLIF_RUP_REQ*) req_res_buffer;
+  USIGN8                  *data_ptr;
+  T_PROFI_SERVICE_DESCR sdb;
+
+  /* --- set data block parameters ------------------------------------------- */
+  data_ptr = (USIGN8*) (req+1);
+
+  req->sap_nr    = sap->SAP_Nr;
+  req->priority  = HIGH;
+
+  memcpy(data_ptr, local->output_area, local->output_area_size);
+  req->length = local->output_area_size;
+
+  /* --- set parameter block parameters -------------------------------------- */
+  sdb.comm_ref   = 0;
+  sdb.layer      = FDLIF;
+  sdb.service    = FDLIF_REPLY_UPDATE_MULTIPLE;
+  sdb.primitive  = REQ;
+  sdb.invoke_id  = local->invoke_id = local_agent->invoke_id;
+  local_agent->invoke_id = (local_agent->invoke_id + 1) % 128;
+
+  result = profi_snd_req_res((T_PROFI_DEVICE_HANDLE *) local_agent, &sdb, (void *) req, PB_FALSE);
+
+  return ((pwr_tBoolean) (result == E_OK));
+
+
+}
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Pb module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+
+  io_sFDLCardLocal *local;
+  pwr_sClass_Pb_FDL_DataTransfer *op = (pwr_sClass_Pb_FDL_DataTransfer *)cp->op;
+  unsigned int input_area_offset = 0;
+  unsigned int input_area_chansize = 0;
+  unsigned int output_area_offset = 0;
+  unsigned int output_area_chansize = 0;
+
+  local = (io_sFDLCardLocal *) calloc( 1, sizeof(io_sFDLCardLocal));
+  cp->Local = local;
+
+  /* Initialize remote address structure */
+
+  local->byte_ordering = ((pwr_sClass_Pb_FDL_SAP *) rp->op)->ByteOrdering;
+  
+  io_bus_card_init( ctx, cp, &input_area_offset, &input_area_chansize,
+		    &output_area_offset, &output_area_chansize, local->byte_ordering,
+		    io_eAlignment_Packed);
+
+  local->input_area_size = input_area_offset + input_area_chansize;
+  local->output_area_size = output_area_offset + output_area_chansize;
+
+  if ( local->input_area_size > 0)
+    local->input_area = calloc( 1, local->input_area_size);
+  if ( local->output_area_size > 0)
+    local->output_area = calloc( 1, local->output_area_size);
+
+  errh_Info( "Init of Profibus FDL Data transfer '%s'", cp->Name);
+
+  op->Status = PB__NORMAL;
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Read method for the Pb FDL Data transfer module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardRead (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sFDLCardLocal *local = (io_sFDLCardLocal *) cp->Local;
+
+  io_bus_card_read(ctx, rp, cp, local->input_area, 0, local->byte_ordering,
+		   local->float_representation);  
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Write method for the Pb  FDL Data transfer module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardWrite (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sAgentLocal *local_agent = (io_sAgentLocal *)ap->Local;
+  pwr_sClass_Pb_FDL_DataTransfer *op = (pwr_sClass_Pb_FDL_DataTransfer *) cp->op;
+  pwr_sClass_Pb_FDL_SAP *sap = (pwr_sClass_Pb_FDL_SAP * ) rp->op;
+  io_sFDLCardLocal *local = (io_sFDLCardLocal *) cp->Local;
+
+  op->Status = sap->Status;  
+
+  if (op->Status == PB__NORMAL) { 
+    io_bus_card_write(ctx, cp, local->output_area, local->byte_ordering,
+		      local->float_representation);  
+
+    if (op->SendReq) {
+      pthread_mutex_lock(&local_agent->mutex);
+
+      if (sap->Responder) {
+        fdlif_reply_update_mult_req(local_agent, sap, op, local);
+      }
+      else {
+        fdlif_sda_sdn_sdr_req(local_agent, sap, op, local);
+      }
+      op->SendReq = 0;
+
+      pthread_mutex_unlock(&local_agent->mutex);
+    }
+  }
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+   Close method for the Pb module
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoCardClose (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp,
+  io_sCard	*cp
+) 
+{
+  io_sCardLocal *local;
+  local = cp->Local;
+
+  free ((char *) local);
+  
+  printf("Method Pb_Module-IoCardClose\n");
+  return IO__SUCCESS;
+}
+
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Pb_FDL_DataTransfer) = {
+  pwr_BindIoMethod(IoCardInit),
+  pwr_BindIoMethod(IoCardRead),
+  pwr_BindIoMethod(IoCardWrite),
+  pwr_BindIoMethod(IoCardClose),
+  pwr_NullMethod
+};
+

profibus/lib/rt/src/os_linux/rt_io_m_pb_fdl_sap.c

+/* 
+ * Proview   Open Source Process Control.
+ * Copyright (C) 2005-2014 SSAB EMEA AB.
+ *
+ * This file is part of Proview.
+ *
+ * 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 Proview. If not, see <http://www.gnu.org/licenses/>
+ *
+ * Linking Proview statically or dynamically with other modules is
+ * making a combined work based on Proview. Thus, the terms and 
+ * conditions of the GNU General Public License cover the whole 
+ * combination.
+ *
+ * In addition, as a special exception, the copyright holders of
+ * Proview give you permission to, from the build function in the
+ * Proview Configurator, combine Proview with modules generated by the
+ * Proview PLC Editor to a PLC program, regardless of the license
+ * terms of these modules. You may copy and distribute the resulting
+ * combined work under the terms of your choice, provided that every 
+ * copy of the combined work is accompanied by a complete copy of 
+ * the source code of Proview (the version used to produce the 
+ * combined work), being distributed under the terms of the GNU 
+ * General Public License plus this exception.
+ */
+
+/* rt_io_m_pb_fdl_sap.c -- io methods for a profibus FDL SAP */
+
+#include <stdio.h>
+#include <string.h>
+#include <errno.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+
+#include "pwr.h"
+#include "co_cdh.h"
+#include "pwr_baseclasses.h"
+#include "pwr_profibusclasses.h"
+#include "rt_gdh.h"
+#include "rt_io_base.h"
+#include "rt_io_bus.h"
+#include "rt_io_msg.h"
+#include "rt_errh.h"
+#include "co_cdh.h"
+#include "rt_io_profiboard.h"
+#include "rt_pb_msg.h"
+
+#include "rt_io_pb_locals.h"
+
+
+/*----------------------------------------------------------------------------*\
+   Init method for the Pb FDL SAP 
+\*----------------------------------------------------------------------------*/
+
+static pwr_tStatus IoRackInit (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+  io_sRackLocal *local;
+  char name[196];
+  pwr_tStatus sts;
+
+  sts = gdh_ObjidToName(rp->Objid, (char *) &name, sizeof(name), cdh_mNName);
+  errh_Info( "Init of Profibus FDL SAP %s", name);
+
+  local= calloc(1, sizeof(*local));
+  rp->Local = local;
+
+  local->fdl = 1;  
+
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  
+\*----------------------------------------------------------------------------*/
+static pwr_tStatus IoRackClose (
+  io_tCtx	ctx,
+  io_sAgent	*ap,
+  io_sRack	*rp
+) 
+{
+  return IO__SUCCESS;
+}
+
+
+/*----------------------------------------------------------------------------*\
+  Every method to be exported to the workbench should be registred here.
+\*----------------------------------------------------------------------------*/
+
+pwr_dExport pwr_BindIoMethods(Pb_FDL_SAP) = {
+  pwr_BindIoMethod(IoRackInit),
+  pwr_BindIoMethod(IoRackClose),
+  pwr_NullMethod
+};

profibus/lib/rt/src/os_linux/rt_io_m_pb_hilscher.c

@@ -74,8 +74,6 @@ The code refers to some documents provided by Hilscher, the documents are:
 #include "rcs_user.h"
 #include "dpm_user.h"
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "co_cdh.h"
 #include "pwr_baseclasses.h"
@@ -87,6 +85,8 @@ The code refers to some documents provided by Hilscher, the documents are:
 #include "rt_io_agent_init.h"
 #include "rt_pb_msg.h"
 
+#include "rt_io_pb_locals.h"
+
 typedef struct {
 	/* Board number.  */
 	unsigned short dev_number;
@@ -101,7 +101,7 @@ typedef struct {
 	/* Watchdog counter, used by DevTriggerWatchDog() as explained on page
 	58 of CIFLinux_en.pdf.  */
 	unsigned short watchdog;
-} io_sAgentLocal;
+} io_sAgentLocalHilscher;
 
 /* Prototypes for functions exported to Proview.  */
 static pwr_tStatus IoAgentInit(io_tCtx ctx, io_sAgent *ap);
@@ -141,7 +141,7 @@ boards known_boards[] = {
 /* Initializes Profibus DP interface on the CIF board referred to by local.
 DRV_NO_ERROR is returned upon success.  */
 static short
-dpm_init_master(io_sAgentLocal *local, pwr_sClass_Pb_Hilscher *op,
+dpm_init_master(io_sAgentLocalHilscher *local, pwr_sClass_Pb_Hilscher *op,
 		io_sAgent *ap)
 {
 	short rv;
@@ -193,7 +193,7 @@ dpm_init_master(io_sAgentLocal *local, pwr_sClass_Pb_Hilscher *op,
 /* Opens and initializes the board referred to by local. Upon success
  * DRV_NO_ERROR will be returned.  */
 static short
-dpm_init(io_sAgentLocal *local, io_sAgent *ap)
+dpm_init(io_sAgentLocalHilscher *local, io_sAgent *ap)
 {
 	short rv;
 
@@ -215,7 +215,7 @@ dpm_init(io_sAgentLocal *local, io_sAgent *ap)
 /* Closes the board referred to by local. Upon success DRV_NO_ERROR will
 be returned.  */
 static short
-dpm_exit(io_sAgentLocal *local, io_sAgent *ap)
+dpm_exit(io_sAgentLocalHilscher *local, io_sAgent *ap)
 {
 	short rv;
 	short rv_ret = DRV_NO_ERROR;
@@ -414,9 +414,9 @@ dpm_set_add_tab(pwr_sClass_Pb_DP_Slave *op, io_sAgent *ap, io_sRack *rp,
 	slaves/modules have occupied so far.  */
 	unsigned short *input_size;
 	unsigned short *output_size;
-	input_size = (unsigned short *) &((io_sAgentLocal *) ap->Local)->input_size;
+	input_size = (unsigned short *) &((io_sAgentLocalHilscher *) ap->Local)->input_size;
 	output_size =
-			(unsigned short *) &((io_sAgentLocal *) ap->Local)->output_size;
+			(unsigned short *) &((io_sAgentLocalHilscher *) ap->Local)->output_size;
 
 	/* This lets Proview find the IO-area for this module (in this case it is
 	actually handled at the agent level, thus in this file).  The offsets
@@ -606,7 +606,7 @@ or 127 to set master bus parameters.  The bus parameters are read from
 the buffer prmdata and shall be of length prmlen.  DRV_NO_ERROR is returned
 if successful.  */
 static short
-dpm_ddlm_download(io_sAgentLocal *local, unsigned char address,
+dpm_ddlm_download(io_sAgentLocalHilscher *local, unsigned char address,
 		unsigned int prmlen, void *prmdata, io_sAgent *ap)
 {
 	short rv;
@@ -673,7 +673,7 @@ dpm_ddlm_download(io_sAgentLocal *local, unsigned char address,
 /* Configures the master bus parameters of the board referred to by
 local, the struct containing the parameters should be passed in op.  */
 static short
-dpm_download_master_prm(io_sAgentLocal *local, pwr_sClass_Pb_Hilscher *op,
+dpm_download_master_prm(io_sAgentLocalHilscher *local, pwr_sClass_Pb_Hilscher *op,
 		io_sAgent *ap)
 {
 	DPM_BUS_DP prm;
@@ -719,7 +719,7 @@ is passed in local.  op holds the slave to configure, the corresponding
 agent pointer and rack pointer must be passed in ap and rp respectively.
 DRV_NO_ERROR will be returned upon success.  */
 static short
-dpm_download_slave_prm(io_sAgentLocal *local, pwr_sClass_Pb_DP_Slave *op,
+dpm_download_slave_prm(io_sAgentLocalHilscher *local, pwr_sClass_Pb_DP_Slave *op,
 		io_sAgent *ap, io_sRack *rp)
 {
 	unsigned char buf[DPM_MAX_LEN_DATA_UNIT];
@@ -815,7 +815,7 @@ board referred to by local.  The function will return DRV_NO_ERROR if
 the request was sent without error, however, it tells us nothing
 about whether any diagnostics data was sent back.  */
 static short
-dpm_req_slave_diag(io_sAgentLocal *local, unsigned char address, io_sAgent *ap)
+dpm_req_slave_diag(io_sAgentLocalHilscher *local, unsigned char address, io_sAgent *ap)
 {
 	short rv;
 	RCS_MESSAGETELEGRAM_10 msg;
@@ -858,7 +858,7 @@ to gather diagnostics data asynchronously.  The desired agent's local
 struct is passed via local and the associated rack list (Profibus slaves) is
 passed in slave_list.  */
 static void
-dpm_update_slave_diag(io_sAgentLocal *local, io_sRack *slave_list,
+dpm_update_slave_diag(io_sAgentLocalHilscher *local, io_sRack *slave_list,
 		io_sAgent *ap)
 {
 	short rv;
@@ -1000,7 +1000,7 @@ dpm_print_diag(io_sAgent *ap, DPM_DIAGNOSTICS *diag)
 If the board was found in the database, the function returns DRV_NO_ERROR
 and the startsegment will be written to what db_startsegment points to.  */
 static short
-dpm_check_board_type(io_sAgentLocal *local, io_sAgent *ap,
+dpm_check_board_type(io_sAgentLocalHilscher *local, io_sAgent *ap,
 		unsigned char *db_startsegment)
 {
 	short rv;
@@ -1064,7 +1064,7 @@ dpm_check_board_type(io_sAgentLocal *local, io_sAgent *ap,
 /* Deletes the "PROFIBUS" protocol settings database from the card referred
 to by local, this procedure is described on page 32 -- 33 in dpm_pie.pdf.  */
 static short
-dpm_delete_flash_prmdb(io_sAgentLocal *local, io_sAgent *ap)
+dpm_delete_flash_prmdb(io_sAgentLocalHilscher *local, io_sAgent *ap)
 {
 	unsigned char db_startsegment;
 	int s = 3;
@@ -1151,7 +1151,7 @@ dpm_delete_flash_prmdb(io_sAgentLocal *local, io_sAgent *ap)
 /* Wrapper for dpm_init_master(), takes care of checking for (and optionally
 removing) the sycon database if present.  */
 static short
-dpm_init_master_check_sycon_db(io_sAgentLocal *local,
+dpm_init_master_check_sycon_db(io_sAgentLocalHilscher *local,
 		pwr_sClass_Pb_Hilscher *op, io_sAgent *ap)
 {
 	short rv;
@@ -1201,7 +1201,7 @@ IoAgentInit(io_tCtx ctx, io_sAgent *ap)
 {
 	pwr_sClass_Pb_Hilscher *op;
 	pwr_tStatus status;
-	io_sAgentLocal *local;
+	io_sAgentLocalHilscher *local;
 	char ok;
 
 	pwr_tObjid slave_objid;
@@ -1215,7 +1215,7 @@ IoAgentInit(io_tCtx ctx, io_sAgent *ap)
 	int retry;
 
 	/* Allocates area for local data structure */
-	ap->Local = calloc(1, sizeof(io_sAgentLocal));
+	ap->Local = calloc(1, sizeof(io_sAgentLocalHilscher));
 	if (!ap->Local) {
 		errh_Error("ERROR config Profibus DP Master %s - %s",
 				ap->Name, "calloc");
@@ -1223,7 +1223,7 @@ IoAgentInit(io_tCtx ctx, io_sAgent *ap)
 	}
 
 	/* Handles for easy access to local variables.  */
-	local = (io_sAgentLocal *) ap->Local;
+	local = (io_sAgentLocalHilscher *) ap->Local;
 	op = (pwr_sClass_Pb_Hilscher *) ap->op;
 
 	op->Status = PB__NOTINIT;
@@ -1342,7 +1342,7 @@ IoAgentRead(io_tCtx ctx, io_sAgent *ap)
 {
 	pwr_sClass_Pb_Hilscher *mp;
 	pwr_sClass_Pb_DP_Slave *sp;
-	io_sAgentLocal *local;
+	io_sAgentLocalHilscher *local;
 	io_sRack *slave_list;
 
 	pwr_sClass_Pb_Hilscher *op;
@@ -1352,7 +1352,7 @@ IoAgentRead(io_tCtx ctx, io_sAgent *ap)
 	DPM_DIAGNOSTICS diag;
 
 	/* Handle for local data structure.  */
-	local = (io_sAgentLocal *) ap->Local;
+	local = (io_sAgentLocalHilscher *) ap->Local;
 
 	/*** Data exchange code goes here:  ***/
 
@@ -1382,7 +1382,7 @@ IoAgentRead(io_tCtx ctx, io_sAgent *ap)
 
 	/*** Diagnostics collecting code goes here:  ***/
 
-	local = (io_sAgentLocal *) ap->Local;
+	local = (io_sAgentLocalHilscher *) ap->Local;
 	op = (pwr_sClass_Pb_Hilscher *) ap->op;
 
 	/* If everything is fine we should be in state OPERATE.
@@ -1474,11 +1474,11 @@ IoAgentWrite(io_tCtx ctx, io_sAgent *ap)
 {
 	pwr_sClass_Pb_Hilscher *mp;
 	pwr_sClass_Pb_DP_Slave *sp;
-	io_sAgentLocal *local;
+	io_sAgentLocalHilscher *local;
 	io_sRack *slave_list;
 
 	/* Handle for local data structure.  */
-	local = (io_sAgentLocal *) ap->Local;
+	local = (io_sAgentLocalHilscher *) ap->Local;
 
 	/* Iterates over the slaves on the bus and writes process data to their
 	respective addresses.  This is really the rack level's responsibility,
@@ -1519,9 +1519,9 @@ IoAgentWrite(io_tCtx ctx, io_sAgent *ap)
 static pwr_tStatus
 IoAgentClose(io_tCtx ctx, io_sAgent *ap)
 {
-	io_sAgentLocal *local;
+	io_sAgentLocalHilscher *local;
 
-	local = (io_sAgentLocal *) ap->Local;
+	local = (io_sAgentLocalHilscher *) ap->Local;
 
 	dpm_exit(local, ap);
 	free(local);

profibus/lib/rt/src/os_linux/rt_io_m_pb_ii.c

@@ -42,8 +42,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -52,6 +50,8 @@
 #include "rt_io_msg.h"
 #include "rt_errh.h"
 
+#include "rt_io_pb_locals.h"
+
 
 /*----------------------------------------------------------------------------*\
    Init method for the Pb module Ii

profibus/lib/rt/src/os_linux/rt_io_m_pb_io.c

@@ -40,8 +40,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -50,6 +48,8 @@
 #include "rt_io_msg.h"
 #include "rt_errh.h"
 
+#include "rt_io_pb_locals.h"
+
 
 /*----------------------------------------------------------------------------*\
    Init method for the Pb module Io

profibus/lib/rt/src/os_linux/rt_io_m_pb_module.c

@@ -42,8 +42,6 @@
 #include <sys/file.h>
 #include <sys/ioctl.h>
 
-#include "rt_io_pb_locals.h"
-
 #include "pwr.h"
 #include "pwr_baseclasses.h"
 #include "pwr_profibusclasses.h"
@@ -53,6 +51,8 @@
 #include "rt_errh.h"
 #include "rt_pb_msg.h"
 
+#include "rt_io_pb_locals.h"
+
 /*----------------------------------------------------------------------------*\
    Init method for the Pb module
 \*----------------------------------------------------------------------------*/

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

@@ -72,12 +72,48 @@
 
 /* io_sAgentLocal now lives in the respective agent modules.  */
 
-typedef struct {
-  int initialized;
+
+typedef struct _io_sRackLocal {
+  unsigned char   fdl;
+  unsigned char   dp;
 } io_sRackLocal;
 
+
 typedef struct {
   void *input_area;
   void *output_area;
   int scancount[IO_MAXCHAN];
 } io_sCardLocal;
+
+typedef struct {
+  unsigned short  invoke_id;
+  unsigned short  input_area_size;
+  unsigned short  output_area_size;
+  unsigned char   *input_area;
+  unsigned char   *output_area;
+  unsigned short  byte_ordering;
+  unsigned short  float_representation;
+} io_sFDLCardLocal;
+
+typedef struct _agent_args {
+  void           *local;
+  io_sAgent	 *ap;
+} agent_args;
+
+typedef struct {
+  int             hServiceReadDevice;               // Handle for Service device
+  int             hServiceWriteDevice;              // Handle for Service device
+  int             hDpDataDevice;                    // Handle for DP-Data device
+  int             hDpsInputDataDevice;              // Handle for DP-Slave Input-Data device
+  int             hDpsOutputDataDevice;             // Handle for DP-Slave Output-Data device
+  unsigned char   CurrentBoardNumber;
+  int             slave_diag_requested;             // Slave diag requested
+  int             parallel_service;                 // parallel activity
+  int             hDpsBoardDevice;                  // Handle for DP-Slave Output-Data device
+  pthread_t       events;
+  pthread_mutex_t mutex;
+  agent_args      args;
+  unsigned char   fdl;
+  unsigned char   dp;
+  unsigned char   invoke_id;
+} io_sAgentLocal;

profibus/lib/rt/src/rt_io_profibus.meth

@@ -9,6 +9,8 @@ Pb_Ai
 Pb_Ao
 Pb_Ii
 Pb_Io
+Pb_FDL_SAP
+Pb_FDL_DataTransfer
 PnControllerSoftingPNAK
 PnDevice
 PnModule