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Commit b38c9521 authored by Claes Sjofors's avatar Claes Sjofors
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Powerlink CN server added

parent 8418ca20
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Showing with 3856 additions and 29 deletions
otherio/exe/rt_powerlink/src/rt_powerlink.c
View file @ b38c9521
......@@ -90,6 +90,12 @@ int main()
exit(sts);
}
sts = gdh_GetClassList(pwr_cClass_Epl_CNServer, &oid);
if ( ODD(sts)) {
system("rt_powerlink_cn &");
exit(0);
}
// Get Powerlink handler object
sts = io_get_plhandler_object(&plhp, &oid);
if (EVEN(sts)) {
......
otherio/exe/rt_powerlink_cn/src/os_templ/hw_templ/makefile 0 → 100644
View file @ b38c9521
include $(pwre_dir_symbols)
-include $(pwre_kroot)/tools/bld/src/$(os_name)/$(hw_name)/$(type_name)_generic.mk
ifeq ($($(type_name)_generic_mk),)
-include $(pwre_kroot)/tools/bld/src/$(os_name)/$(type_name)_generic.mk
endif
ifeq ($($(type_name)_generic_mk),)
include $(pwre_kroot)/tools/bld/src/$(type_name)_generic.mk
endif
-include ../../special.mk
-include ../special.mk
-include special.mk
otherio/exe/rt_powerlink_cn/src/os_templ/link_rule.mk 0 → 100644
View file @ b38c9521
ifndef link_rule_mk
link_rule_mk := 1
link = $(ldxx) $(explinkflags) $(domap) -o $(export_exe) \
$(export_obj) $(pwr_eobj)/rt_io_user.o \
$(pwre_conf_libdir) $(pwre_conf_libpwrrt) $(pwre_conf_lib) \
-lpwr_usbio_dummy -lpwr_usb_dummy -lpwr_cifx_dummy -lpwr_nodave_dummy \
$(pwre_conf_libpwrprofibus) $(pwre_conf_libpwrpowerlinkcn) -lpcap
endif
otherio/exe/rt_powerlink_cn/src/rt_powerlink_cn.c 0 → 100644
View file @ b38c9521
/*
* Proview Open Source Process Control.
* Copyright (C) 2005-2012 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 "pwr.h"
#include "rt_io_msg.h"
#include "rt_pwr_msg.h"
#include "rt_gdh.h"
#include "rt_io_base.h"
#include "rt_errh.h"
#include "rt_aproc.h"
#include "pwr_basecomponentclasses.h"
#include "pwr_otherioclasses.h"
// Test for CN build
#include "Epl.h"
tEplKernel EplApiSetCdcFilename(char* pszCdcFilename_p)
{
return 0;
}
pwr_tStatus io_get_plhandler_object (
pwr_sClass_EplHandler **o,
pwr_tObjid *roid
)
{
pwr_tStatus sts;
pwr_tObjid oid;
// Get EplHandler object
sts = gdh_GetClassList(pwr_cClass_EplHandler, &oid);
if (EVEN(sts)) return sts;
sts = gdh_ObjidToPointer( oid, (void *) o);
if (EVEN(sts)) return sts;
if (roid != NULL)
*roid = oid;
return IO__SUCCESS;
}
int main()
{
pwr_tStatus sts;
io_tCtx io_ctx;
float ctime = 1;
pwr_sClass_EplHandler *plhp;
pwr_tOid oid;
struct timespec tim1, tim2;
// Make connection to error handler
errh_Init("pwr_powerlink", errh_eAnix_powerlink);
errh_SetStatus( PWR__SRVSTARTUP);
// Make connection to realtime database
sts = gdh_Init("rt_powerlink");
if (EVEN(sts)) {
errh_Fatal("rt_powerlink aborted, gdh_Init failed\n%m", sts);
errh_SetStatus( PWR__SRVTERM);
exit(sts);
}
// Get Powerlink handler object
sts = io_get_plhandler_object(&plhp, &oid);
if (EVEN(sts)) {
errh_SetStatus( 0);
errh_Info("rt_powerlink terminated, no EplHandler object found");
exit(sts);
}
// Create context and call init functions of all agent,
// rack and cardobjects
sts = io_init(io_mProcess_Powerlink, pwr_cNObjid, &io_ctx, 1, ctime);
if ( EVEN(sts)) {
errh_SetStatus( PWR__SRVTERM);
errh_Fatal("rt_powerlink aborted, io_init() failed\n%m", sts);
exit(sts);
}
tim1.tv_sec = 0;
tim1.tv_nsec = (plhp->CycleTime)*1000000000L;
aproc_TimeStamp( plhp->CycleTime, 5.0);
errh_SetStatus( PWR__SRUN);
aproc_RegisterObject( oid);
// Call IoAgentRead() IoAgentWrite() IoCardRead() IoCardWrite()
// IoModuleRead() IoModuleWrite() forever
for (;;) {
sts = io_read(io_ctx);
sts = io_write(io_ctx);
nanosleep(&tim1, &tim2);
aproc_TimeStamp( plhp->CycleTime, 5.0);
}
}
otherio/exp/powerlink/src/README 0 → 100644
View file @ b38c9521
Instructions to build openPOWERLINK for Proview:
Define enviroment variable epl to the root of the openPOWERLINK
installation
> export epl=/usr/local/openPOWERLINK-Vx.x.x
Copy otherio/exp/powerlink/src/objdict.h to $epl/ObjDicts/CiA401_CN/.
Create one build directory for MN (build) and one for CN (buildcn)
> mkdir $epl/build
> mkdir $epl/buildcn
Go to $epl/build and build for MN, then go to $epl/buildcn and build for CN.
Execute 'pwre configure' and check powerlink includes and archives are found,
and finally build Proview.
otherio/exp/powerlink/src/objdict.h 0 → 100644
View file @ b38c9521
This source diff could not be displayed because it is too large. You can view the blob instead.
otherio/lib/rt/src/os_linux/rt_io_m_epl.h
View file @ b38c9521
......@@ -55,4 +55,16 @@ typedef struct {
struct timespec tpe, tps;
} io_sLocalEpl_CN;
typedef struct {
int byte_ordering;
int float_representation;
struct timespec tpe, tps;
int input_area_size;
int output_area_size;
void *input_area;
void *output_area;
void *tmp_area;
short inputResetEnabled;
} io_sLocalEpl_CNServer;
#endif
otherio/lib/rt/src/os_linux/rt_io_m_epl_cnserver.c 0 → 100644
View file @ b38c9521
/*
* Proview Open Source Process Control.
* Copyright (C) 2005-2012 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 "pwr.h"
#include "pwr_basecomponentclasses.h"
#include "rt_io_base.h"
#include "rt_io_rack_init.h"
#include "rt_io_rack_close.h"
#include "rt_io_rack_read.h"
#include "rt_io_rack_write.h"
#include "rt_io_msg.h"
#include "rt_iom_msg.h"
#include "pwr_otherioclasses.h"
#include "rt_io_m_epl.h"
#include "rt_io_bus.h"
#if defined PWRE_CONF_EPL
#include "Epl.h"
#include <errno.h>
#include <math.h>
/***************************************************************************/
/* */
/* */
/* G L O B A L D E F I N I T I O N S */
/* */
/* */
/***************************************************************************/
//---------------------------------------------------------------------------
// const defines
//---------------------------------------------------------------------------
#define IP_ADDR 0xc0a86401 // 192.168.100.1
#define SUBNET_MASK 0xFFFFFF00 // 255.255.255.0 "
#define MAIN_THREAD_PRIORITY 20
//---------------------------------------------------------------------------
// module global vars
//---------------------------------------------------------------------------
static const char abMacAddr[] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
static unsigned int uiCycleLen_g = 0;
static unsigned int uiCurCycleLen_g = 0;
// process image stuff
static void *AppProcessImageIn_g;
static void *AppProcessImageOut_g;
static tEplApiProcessImageCopyJob AppProcessImageCopyJob_g;
/*----------------------------------------------------------------------------*/
//---------------------------------------------------------------------------
// local function prototypes
//---------------------------------------------------------------------------
// This function is the entry point for your object dictionary. It is defined
// in OBJDICT.C by define EPL_OBD_INIT_RAM_NAME. Use this function name to define
// this function prototype here. If you want to use more than one Epl
// instances then the function name of each object dictionary has to differ.
tEplKernel PUBLIC EplObdInitRam (tEplObdInitParam MEM* pInitParam_p);
static tEplKernel AppCbEvent(
tEplApiEventType EventType_p, // IN: event type (enum)
tEplApiEventArg* pEventArg_p, // IN: event argument (union)
io_sAgent* pUserArg_p);
static tEplKernel AppCbSync(void);
//---------------------------------------------------------------------------
//
// Function: AppCbEvent
//
// Description: event callback function called by EPL API layer within
// user part (low priority).
//
// Parameters: EventType_p = event type
// pEventArg_p = pointer to union, which describes
// the event in detail
// pUserArg_p = user specific argument
//
// Returns: tEplKernel = error code,
// kEplSuccessful = no error
// kEplReject = reject further processing
// otherwise = post error event to API layer
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC AppCbEvent (
tEplApiEventType EventType_p, // IN: event type (enum)
tEplApiEventArg* pEventArg_p, // IN: event argument (union)
io_sAgent* pUserArg_p
)
{
UINT uiVarLen;
tEplKernel EplRet = kEplSuccessful;
pwr_sClass_Epl_CNServer *op = (pwr_sClass_Epl_CNServer *)pUserArg_p->op;
// check if NMT_GS_OFF is reached
switch (EventType_p)
{
case kEplApiEventNmtStateChange:
{
op->NmtState = pEventArg_p->m_NmtStateChange.m_NewNmtState;
op->Status = op->NmtState == pwr_eEplNmtState_EplNmtCsOperational ? IOM__EPL_OPER : IOM__EPL_NOOPER;
switch (pEventArg_p->m_NmtStateChange.m_NewNmtState)
{
case kEplNmtGsOff:
{
// NMT state machine was shut down,
// because of user signal (CTRL-C) or critical EPL stack error
// -> also shut down EplApiProcess() and main()
EplRet = kEplShutdown;
errh_Fatal("Event:kEplNmtGsOff originating event = 0x%X (%s)", pEventArg_p->m_NmtStateChange.m_NmtEvent,
EplGetNmtEventStr(pEventArg_p->m_NmtStateChange.m_NmtEvent));
break;
}
case kEplNmtGsResetCommunication:
{
break;
}
case kEplNmtGsResetConfiguration:
{
if (uiCycleLen_g != 0)
{
EplRet = EplApiWriteLocalObject(0x1006, 0x00, &uiCycleLen_g, sizeof (uiCycleLen_g));
uiCurCycleLen_g = uiCycleLen_g;
}
else
{
uiVarLen = sizeof(uiCurCycleLen_g);
EplApiReadLocalObject(0x1006, 0x00, &uiCurCycleLen_g, &uiVarLen);
}
break;
}
case kEplNmtCsPreOperational1:
case kEplNmtMsPreOperational1:
{
errh_Info("AppCbEvent(0x%X) originating event = 0x%X (%s)", pEventArg_p->m_NmtStateChange.m_NewNmtState, pEventArg_p->m_NmtStateChange.m_NmtEvent, EplGetNmtEventStr(pEventArg_p->m_NmtStateChange.m_NmtEvent));
break;
}
case kEplNmtCsPreOperational2:
case kEplNmtMsPreOperational2:
{
break;
}
case kEplNmtCsReadyToOperate:
case kEplNmtMsReadyToOperate:
{
break;
}
case kEplNmtGsInitialising:
{
break;
}
case kEplNmtGsResetApplication:
{
break;
}
case kEplNmtMsNotActive:
case kEplNmtCsNotActive:
{
break;
}
case kEplNmtCsOperational:
case kEplNmtMsOperational:
{
break;
}
case kEplNmtCsBasicEthernet:
case kEplNmtMsBasicEthernet:
{
break;
}
default:
{
}
}
break;
}
case kEplApiEventCriticalError:
case kEplApiEventWarning:
{ // error or warning occurred within the stack or the application
// on error the API layer stops the NMT state machine
errh_Error( "%s(Err/Warn): Source = %s (%02X) EplError = %s (0x%03X)",
__func__,
EplGetEventSourceStr(pEventArg_p->m_InternalError.m_EventSource),
pEventArg_p->m_InternalError.m_EventSource,
EplGetEplKernelStr(pEventArg_p->m_InternalError.m_EplError),
pEventArg_p->m_InternalError.m_EplError);
// check additional argument
switch (pEventArg_p->m_InternalError.m_EventSource)
{
case kEplEventSourceEventk:
case kEplEventSourceEventu:
{ // error occurred within event processing
// either in kernel or in user part
errh_Error(" OrgSource = %s %02X", EplGetEventSourceStr(pEventArg_p->m_InternalError.m_Arg.m_EventSource),
pEventArg_p->m_InternalError.m_Arg.m_EventSource);
break;
}
case kEplEventSourceDllk:
{ // error occurred within the data link layer (e.g. interrupt processing)
// the DWORD argument contains the DLL state and the NMT event
errh_Error(" val = %X", pEventArg_p->m_InternalError.m_Arg.m_dwArg);
break;
}
default:
{
break;
}
}
break;
}
case kEplApiEventHistoryEntry:
{ // new history entry
errh_Info("%s(HistoryEntry): Type=0x%04X Code=0x%04X (0x%02X %02X %02X %02X %02X %02X %02X %02X)",
__func__,
pEventArg_p->m_ErrHistoryEntry.m_wEntryType,
pEventArg_p->m_ErrHistoryEntry.m_wErrorCode,
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[0],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[1],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[2],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[3],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[4],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[5],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[6],
(WORD) pEventArg_p->m_ErrHistoryEntry.m_abAddInfo[7]);
break;
}
case kEplApiEventNode:
{
switch (pEventArg_p->m_Node.m_NodeEvent)
{
case kEplNmtNodeEventCheckConf:
{
errh_Info("%s(Node=0x%X, CheckConf)", __func__, pEventArg_p->m_Node.m_uiNodeId);
break;
}
case kEplNmtNodeEventUpdateConf:
{
errh_Info("%s(Node=0x%X, UpdateConf)", __func__, pEventArg_p->m_Node.m_uiNodeId);
break;
}
case kEplNmtNodeEventFound:
{
break;
}
case kEplNmtNodeEventNmtState:
{
#if 0
io_sRack *rp;
rp = (io_sRack *)pUserArg_p;
((pwr_sClass_Epl_CNServer *)rp->op)->NmtState = pEventArg_p->m_Node.m_NmtState;
((pwr_sClass_Epl_CNServer *)rp->op)->Status = ((pwr_sClass_Epl_CNServer *)rp->op)->NmtState == pwr_eEplNmtState_EplNmtCsOperational ? IOM__EPL_OPER : IOM__EPL_NOOPER;
#endif
switch (pEventArg_p->m_Node.m_NmtState)
{
case kEplNmtGsOff:
case kEplNmtGsInitialising:
case kEplNmtGsResetApplication:
case kEplNmtGsResetCommunication:
case kEplNmtGsResetConfiguration:
case kEplNmtCsNotActive:
{
break;
}
case kEplNmtCsPreOperational1:
case kEplNmtCsPreOperational2:
case kEplNmtCsReadyToOperate:
{
break;
}
case kEplNmtCsOperational:
{
break;
}
case kEplNmtCsBasicEthernet:
case kEplNmtCsStopped:
default:
{
break;
}
}
break;
}
case kEplNmtNodeEventError:
{
errh_Error("AppCbEvent (Node=0x%X): Error = %s (0x%.4X)",
pEventArg_p->m_Node.m_uiNodeId,
EplGetEmergErrCodeStr(pEventArg_p->m_Node.m_wErrorCode),
pEventArg_p->m_Node.m_wErrorCode);
break;
}
default:
{
break;
}
}
break;
}
case kEplApiEventCfmProgress:
{
errh_Info("%s(Node=0x%X, CFM-Progress: Object 0x%X/%u, %lu/%lu Bytes", __func__, pEventArg_p->m_CfmProgress.m_uiNodeId, pEventArg_p->m_CfmProgress.m_uiObjectIndex, pEventArg_p->m_CfmProgress.m_uiObjectSubIndex, (ULONG) pEventArg_p->m_CfmProgress.m_dwBytesDownloaded, (ULONG) pEventArg_p->m_CfmProgress.m_dwTotalNumberOfBytes);
if ((pEventArg_p->m_CfmProgress.m_dwSdoAbortCode != 0)
|| (pEventArg_p->m_CfmProgress.m_EplError != kEplSuccessful))
{
errh_Error(" -> SDO Abort=0x%lX, Error=0x%X)", (unsigned long) pEventArg_p->m_CfmProgress.m_dwSdoAbortCode,
pEventArg_p->m_CfmProgress.m_EplError);
}
else
{
}
break;
}
case kEplApiEventCfmResult:
{
switch (pEventArg_p->m_CfmResult.m_NodeCommand)
{
case kEplNmtNodeCommandConfOk:
{
errh_Info("%s(Node=0x%X, ConfOk)", __func__, pEventArg_p->m_CfmResult.m_uiNodeId);
break;
}
case kEplNmtNodeCommandConfErr:
{
errh_Info("%s(Node=0x%X, ConfErr)", __func__, pEventArg_p->m_CfmResult.m_uiNodeId);
break;
}
case kEplNmtNodeCommandConfReset:
{
errh_Info("%s(Node=0x%X, ConfReset)", __func__, pEventArg_p->m_CfmResult.m_uiNodeId);
break;
}
case kEplNmtNodeCommandConfRestored:
{
errh_Info("%s(Node=0x%X, ConfRestored)", __func__, pEventArg_p->m_CfmResult.m_uiNodeId);
break;
}
default:
{
errh_Info("%s(Node=0x%X, CfmResult=0x%X)", __func__, pEventArg_p->m_CfmResult.m_uiNodeId, pEventArg_p->m_CfmResult.m_NodeCommand);
break;
}
}
break;
}
default:
break;
}
return EplRet;
}
//---------------------------------------------------------------------------
//
// Function: AppCbSync
//
// Description: sync event callback function called by event module within
// kernel part (high priority).
// This function sets the outputs, reads the inputs and runs
// the control loop.
//
// Parameters: void
//
// Returns: tEplKernel = error code,
// kEplSuccessful = no error
// otherwise = post error event to API layer
//
// State:
//
//---------------------------------------------------------------------------
tEplKernel PUBLIC AppCbSync(void)
{
tEplKernel EplRet = kEplSuccessful;
EplRet = EplApiProcessImageExchange(&AppProcessImageCopyJob_g);
if (EplRet != kEplSuccessful)
{
return EplRet;
}
return EplRet;
}
static pwr_tStatus IoRackInit (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp
)
{
io_sLocalEpl_CNServer *local;
pwr_sClass_Epl_CNServer *op = (pwr_sClass_Epl_CNServer *)rp->op;
local = (io_sLocalEpl_CNServer *) calloc( 1, sizeof(io_sLocalEpl_CNServer));
rp->Local = local;
local->inputResetEnabled = 0;
static tEplApiInitParam EplApiInitParam;
tEplKernel EplRet = kEplSuccessful;
char* sHostname = malloc(1023);
gethostname(sHostname, 1023);
if ( op->StallAction == pwr_eStallActionEnum_ResetInputs)
local->inputResetEnabled = 1;
// Init the I/O area
unsigned int input_area_offset = 0;
unsigned int input_area_chansize = 0;
unsigned int output_area_offset = 0;
unsigned int output_area_chansize = 0;
io_sCard *cp;
pwr_tCid cid;
int obd_size;
unsigned int obd_entries;
int obd_offset;
int i;
if ( op->StallAction == pwr_eStallActionEnum_ResetInputs)
local->inputResetEnabled = 1;
// Show device offset and size
if ( rp->Class == pwr_cClass_Epl_CN && rp->op) {
((pwr_sClass_Epl_CN *)rp->op)->InputAreaOffset = input_area_offset + input_area_chansize;
((pwr_sClass_Epl_CN *)rp->op)->OutputAreaOffset = output_area_offset + output_area_chansize;
}
// Get byte ordering
local->byte_ordering = pwr_eByteOrderingEnum_LittleEndian;
for ( cp = rp->cardlist; cp; cp = cp->next) {
cid = cp->Class;
while ( ODD( gdh_GetSuperClass( cid, &cid, cp->Objid))) ;
if ( cid != pwr_cClass_Epl_CNServerModule || !cp->op)
continue;
cp->MethodDisabled = 1;
// Show module offset and size
((pwr_sClass_Epl_CNServerModule *)cp->op)->InputAreaOffset =
input_area_offset + input_area_chansize;
((pwr_sClass_Epl_CNServerModule *)cp->op)->OutputAreaOffset =
output_area_offset + output_area_chansize;
io_bus_card_init( ctx, cp, &input_area_offset, &input_area_chansize,
&output_area_offset, &output_area_chansize, local->byte_ordering,
io_eAlignment_Powerlink);
// Show module offset and size
((pwr_sClass_Epl_CNServerModule *)cp->op)->InputAreaSize =
input_area_offset + input_area_chansize - ((pwr_sClass_Epl_CNServerModule *)cp->op)->InputAreaOffset;
((pwr_sClass_Epl_CNServerModule *)cp->op)->OutputAreaSize =
output_area_offset + output_area_chansize - ((pwr_sClass_Epl_CNServerModule *)cp->op)->OutputAreaOffset;
if( cp->next == NULL) {
((pwr_sClass_Epl_CNServerModule *)cp->op)->InputAreaSize +=
pwr_Align(input_area_offset + input_area_chansize, 4) -
(input_area_offset + input_area_chansize);
((pwr_sClass_Epl_CNServerModule *)cp->op)->OutputAreaSize +=
pwr_Align(output_area_offset + output_area_chansize, 4) -
(output_area_offset + output_area_chansize);
}
}
// This is the calculated in- and outputarea size
local->input_area_size = pwr_Align(input_area_offset + input_area_chansize, 4);
local->output_area_size = pwr_Align(output_area_offset + output_area_chansize, 4);
// Show agent in- and output area size
op->InputAreaSize = local->input_area_size;
op->OutputAreaSize = local->output_area_size;
struct sched_param schedParam;
// adjust process priority
// push nice level in case we have no RTPreempt
if (nice (-20) == -1) {
errh_Error("%s() couldn't set nice value! (%s)", __func__, strerror(errno));
}
//schedParam.sched_priority = MIN(sched_get_priority_max(SCHED_FIFO),
// sched_get_priority_min(SCHED_FIFO) + op->Priority);
schedParam.__sched_priority = op->Priority;
if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0) {
errh_Error("%s() couldn't set thread scheduling parameters! %d", __func__, schedParam.__sched_priority);
}
// binds all openPOWERLINK threads to the second CPU core
cpu_set_t affinity;
CPU_ZERO(&affinity);
CPU_SET(1, &affinity);
sched_setaffinity(0, sizeof(cpu_set_t), &affinity);
// Initialize target specific stuff
EplTgtInit();
EPL_MEMSET(&EplApiInitParam, 0, sizeof (EplApiInitParam));
EplApiInitParam.m_uiSizeOfStruct = sizeof (EplApiInitParam);
EplApiInitParam.m_pEventUserArg = rp;
// Get devicename from attribute in agent
EplApiInitParam.m_HwParam.m_pszDevName = op->Device;
// Get nodeid from attribute in agent
EplApiInitParam.m_uiNodeId = op->NodeId;
EplApiInitParam.m_dwIpAddress = (0xFFFFFF00 & IP_ADDR) | EplApiInitParam.m_uiNodeId;
// write 00:00:00:00:00:00 to MAC address, so that the driver uses the real hardware address
EPL_MEMCPY(EplApiInitParam.m_abMacAddress, abMacAddr, sizeof (EplApiInitParam.m_abMacAddress));
EplApiInitParam.m_fAsyncOnly = FALSE;
EplApiInitParam.m_dwFeatureFlags = -1;
// required for error detection
EplApiInitParam.m_dwCycleLen = 0; // 5000;
// const
EplApiInitParam.m_uiIsochrTxMaxPayload = 256;
// const
EplApiInitParam.m_uiIsochrRxMaxPayload = 256;
// const; only required for IdentRes
EplApiInitParam.m_dwPresMaxLatency = 50000;
// required for initialisation (+28 bytes)
EplApiInitParam.m_uiPreqActPayloadLimit = 36;
// required for initialisation of Pres frame (+28 bytes)
EplApiInitParam.m_uiPresActPayloadLimit = 36;
// const; only required for IdentRes
EplApiInitParam.m_dwAsndMaxLatency = 150000;
// required for error detection
EplApiInitParam.m_uiMultiplCycleCnt = 0;
// required to set up max frame size
EplApiInitParam.m_uiAsyncMtu = 1500;
// required for sync
EplApiInitParam.m_uiPrescaler = 2;
EplApiInitParam.m_dwLossOfFrameTolerance = 500000;
EplApiInitParam.m_dwAsyncSlotTimeout = 3000000;
EplApiInitParam.m_dwWaitSocPreq = 150000;
// NMT_DeviceType_U32
EplApiInitParam.m_dwDeviceType = -1;
// NMT_IdentityObject_REC.VendorId_U32
EplApiInitParam.m_dwVendorId = -1;
// NMT_IdentityObject_REC.ProductCode_U32
EplApiInitParam.m_dwProductCode = -1;
// NMT_IdentityObject_REC.RevisionNo_U32
EplApiInitParam.m_dwRevisionNumber = -1;
// NMT_IdentityObject_REC.SerialNo_U32
EplApiInitParam.m_dwSerialNumber = -1;
EplApiInitParam.m_dwApplicationSwDate = 0;
EplApiInitParam.m_dwApplicationSwTime = 0;
EplApiInitParam.m_dwSubnetMask = SUBNET_MASK;
EplApiInitParam.m_dwDefaultGateway = 0;
EPL_MEMCPY(EplApiInitParam.m_sHostname, sHostname, sizeof(EplApiInitParam.m_sHostname));
EplApiInitParam.m_uiSyncNodeId = EPL_C_ADR_SYNC_ON_SOA;
EplApiInitParam.m_fSyncOnPrcNode = FALSE;
// set callback functions
EplApiInitParam.m_pfnCbEvent = (tEplApiCbEvent)AppCbEvent;
EplApiInitParam.m_pfnObdInitRam = EplObdInitRam;
EplApiInitParam.m_pfnCbSync = AppCbSync;
// initialize POWERLINK stack
EplRet = EplApiInitialize(&EplApiInitParam);
if(EplRet != kEplSuccessful)
{
errh_Error("EplApiInitialize() failed (Error:0x%x!", EplRet);
goto Exit;
}
// Allocate memory for the in- and outputareas
if( local->output_area_size > 0)
AppProcessImageIn_g = malloc(local->output_area_size);
if( local->input_area_size > 0) {
AppProcessImageOut_g = malloc(local->input_area_size);
}
// Save pointer to in- and outputareas in THIS agent object
local->input_area = AppProcessImageOut_g;
local->output_area = AppProcessImageIn_g;
if( local->inputResetEnabled && local->input_area_size > 0)
local->tmp_area = malloc(local->input_area_size);
else
local->tmp_area = local->input_area;
AppProcessImageCopyJob_g.m_fNonBlocking = FALSE;
AppProcessImageCopyJob_g.m_uiPriority = 0;
AppProcessImageCopyJob_g.m_In.m_pPart = AppProcessImageIn_g;
AppProcessImageCopyJob_g.m_In.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_In.m_uiSize = local->output_area_size;
AppProcessImageCopyJob_g.m_Out.m_pPart = AppProcessImageOut_g;
AppProcessImageCopyJob_g.m_Out.m_uiOffset = 0;
AppProcessImageCopyJob_g.m_Out.m_uiSize = local->input_area_size;
EplRet = EplApiProcessImageAlloc(local->output_area_size, local->input_area_size, 2, 2);
if (EplRet != kEplSuccessful) {
goto Exit;
}
// Link area values to object dictionary
int prev_in_offs = -1;
int prev_out_offs = -1;
int di_subidx = 0x01;
int do_subidx = 0x01;
int ai8_subidx = 0x01;
int ai16_subidx = 0x01;
int ai32_subidx = 0x01;
int ao8_subidx = 0x01;
int ao16_subidx = 0x01;
int ao32_subidx = 0x01;
for ( cp = rp->cardlist; cp; cp = cp->next) {
for ( i = 0; i < cp->ChanListSize; i++) {
io_sChannel *chanp = &cp->chanlist[i];
if ( !chanp->sop || !chanp->size)
continue;
switch (chanp->ChanClass) {
case pwr_cClass_ChanDi: {
if ( chanp->offset == prev_in_offs)
break;
obd_size = 1;
obd_entries = chanp->size;
obd_offset = chanp->offset;
EplRet = EplApiProcessImageLinkObject(0x6000, di_subidx,
obd_offset, FALSE, obd_size, &obd_entries);
if (EplRet != kEplSuccessful) {
goto Exit;
}
di_subidx += obd_entries;
prev_in_offs = chanp->offset;
break;
}
case pwr_cClass_ChanAi:
case pwr_cClass_ChanAit:
case pwr_cClass_ChanIi: {
if ( chanp->offset == prev_in_offs)
break;
obd_size = chanp->size;
obd_entries = 1;
obd_offset = chanp->offset;
if ( chanp->size == 1)
EplRet = EplApiProcessImageLinkObject(0x6400, ai8_subidx++,
obd_offset, FALSE, obd_size, &obd_entries);
else if ( chanp->size == 2)
EplRet = EplApiProcessImageLinkObject(0x6401, ai16_subidx++,
obd_offset, FALSE, obd_size, &obd_entries);
else if ( chanp->size == 4)
EplRet = EplApiProcessImageLinkObject(0x6402, ai32_subidx++,
obd_offset, FALSE, obd_size, &obd_entries);
else
break;
if (EplRet != kEplSuccessful) {
goto Exit;
}
prev_in_offs = chanp->offset;
break;
}
case pwr_cClass_ChanDo: {
if ( chanp->offset == prev_out_offs)
break;
obd_size = 1;
obd_entries = chanp->size;
obd_offset = chanp->offset;
EplRet = EplApiProcessImageLinkObject(0x6200, do_subidx,
obd_offset, TRUE, obd_size, &obd_entries);
if (EplRet != kEplSuccessful) {
goto Exit;
}
do_subidx += obd_entries;
prev_out_offs = chanp->offset;
break;
}
case pwr_cClass_ChanAo:
case pwr_cClass_ChanIo: {
if ( chanp->offset == prev_out_offs)
break;
obd_size = chanp->size;
obd_entries = 1;
obd_offset = chanp->offset;
if ( chanp->size == 1)
EplRet = EplApiProcessImageLinkObject(0x6410, ao8_subidx++,
obd_offset, TRUE, obd_size, &obd_entries);
else if ( chanp->size == 2)
EplRet = EplApiProcessImageLinkObject(0x6411, ao16_subidx++,
obd_offset, TRUE, obd_size, &obd_entries);
else if ( chanp->size == 4)
EplRet = EplApiProcessImageLinkObject(0x6412, ao32_subidx++,
obd_offset, TRUE, obd_size, &obd_entries);
else
break;
if (EplRet != kEplSuccessful) {
goto Exit;
}
prev_out_offs = chanp->offset;
break;
}
case pwr_cClass_ChanD: {
pwr_sClass_ChanD *chan_d = (pwr_sClass_ChanD *) chanp->cop;
if ( chan_d->Type == pwr_eDChanTypeEnum_Di) {
/* Di type */
if ( chanp->offset == prev_in_offs)
break;
obd_size = 1;
obd_entries = chanp->size;
obd_offset = chanp->offset;
EplRet = EplApiProcessImageLinkObject(0x6000, di_subidx,
obd_offset, FALSE, obd_size, &obd_entries);
if (EplRet != kEplSuccessful) {
goto Exit;
}
di_subidx += obd_entries;
prev_in_offs = chanp->offset;
}
else {
/* Do type */
if ( chanp->offset == prev_out_offs)
break;
obd_size = 1;
obd_entries = chanp->size;
obd_offset = chanp->offset;
EplRet = EplApiProcessImageLinkObject(0x6200, do_subidx,
obd_offset, TRUE, obd_size, &obd_entries);
if (EplRet != kEplSuccessful) {
goto Exit;
}
break;
do_subidx += obd_entries;
prev_out_offs = chanp->offset;
}
break;
}
case pwr_cClass_ChanBi:
case pwr_cClass_ChanBo:
case pwr_cClass_ChanBiBlob:
case pwr_cClass_ChanBoBlob: {
// TODO
break;
}
}
}
}
// EplRet = EplApiProcessImageSetup();
// if (EplRet != kEplSuccessful) {
// goto Exit;
// }
// start processing
EplRet = EplApiExecNmtCommand(kEplNmtEventSwReset);
if (EplRet != kEplSuccessful) {
IoRackClose( ctx, ap, rp);
goto Exit;
}
errh_Success ("Powerlink init successfull");
return IO__SUCCESS;
Exit:
errh_Error("IoCardInit: returns 0x%X", EplRet);
return IO__SUCCESS;
}
static pwr_tStatus IoRackClose (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp
)
{
tEplKernel EplRet = kEplSuccessful;
io_sLocalEpl_CNServer *local = (io_sLocalEpl_CNServer *)rp->Local;
free(local);
// halt the NMT state machine
// so the processing of POWERLINK frames stops
EplRet = EplApiExecNmtCommand(kEplNmtEventSwitchOff);
// delete process image
EplRet = EplApiProcessImageFree();
// delete instance for all modules
EplRet = EplApiShutdown();
return IO__SUCCESS;
}
static pwr_tStatus IoRackRead (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp
)
{
io_sLocalEpl_CNServer *local = (io_sLocalEpl_CNServer *)rp->Local;
pwr_sClass_Epl_CNServer *op = (pwr_sClass_Epl_CNServer *)rp->op;
io_sCard *cp;
pwr_tUInt32 error_count = op->ErrorCount;
int ret = IO__SUCCESS;
// Time now (tps = time when bad state occurred)
clock_gettime(CLOCK_REALTIME, &local->tpe);
// Copy Powerlink process image to temp memory (only if stallaction=resetinputs else tmp_area=input_area)
if( op->StallAction == pwr_eStallActionEnum_ResetInputs)
memcpy( local->tmp_area , local->input_area, local->input_area_size);
// Save time when bad state occurs
if( op->NmtState == pwr_eEplNmtState_EplNmtCsOperational) {
op->ErrorCount = 0;
(local->tps).tv_sec = 0;
}
else if( (local->tps).tv_sec == 0) {
clock_gettime(CLOCK_REALTIME, &local->tps);
}
// If Timeout time has passed and still in bad state, start adding to ErrorCount
if( (local->tpe).tv_sec - (local->tps).tv_sec >= op->Timeout && (local->tps).tv_sec != 0)
op->ErrorCount++;
// Agent error soft limit reached, tell log (once)
if ( op->ErrorCount >= op->ErrorSoftLimit && error_count < op->ErrorSoftLimit) {
errh_Warning( "IO Agent ErrorSoftLimit reached, '%s'", rp->Name);
}
// Agent error hard limit reached, tell log (once)
if ( op->ErrorCount >= op->ErrorHardLimit && error_count < op->ErrorHardLimit) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
errh_Error( "IO Agent ErrorHardLimit reached '%s', IO stopped", rp->Name);
}
else if( op->StallAction == pwr_eStallActionEnum_ResetInputs) {
errh_Error( "IO Agent ErrorHardLimit reached '%s', IO input area reset", rp->Name);
}
else
errh_Error( "IO Agent ErrorHardLimit reached '%s'", rp->Name);
}
// Agent error hard limit reached, take action (always)
if ( op->ErrorCount >= op->ErrorHardLimit) {
if( op->StallAction == pwr_eStallActionEnum_EmergencyBreak) {
ctx->Node->EmergBreakTrue = 1;
}
else if( op->StallAction == pwr_eStallActionEnum_ResetInputs) {
memset( local->tmp_area, 0, local->input_area_size);
}
ret = IO__ERRDEVICE;
}
// Update Proview chan-objects with data from Powerlink process image
for ( cp = rp->cardlist; cp; cp = cp->next) {
io_bus_card_read( ctx, rp, cp, local->tmp_area, 0, local->byte_ordering,
pwr_eFloatRepEnum_FloatIEEE);
}
return ret;
}
static pwr_tStatus IoRackWrite (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp
)
{
io_sLocalEpl_CNServer *local = (io_sLocalEpl_CNServer *)rp->Local;
io_sCard *cp;
for ( cp = rp->cardlist; cp; cp = cp->next) {
io_bus_card_write( ctx, cp, local->output_area, local->byte_ordering, pwr_eFloatRepEnum_FloatIEEE);
}
return IO__SUCCESS;
}
#else
static pwr_tStatus IoRackInit( io_tCtx ctx, io_sAgent *ap, io_sRack *rp) { return IO__RELEASEBUILD;}
static pwr_tStatus IoRackClose( io_tCtx ctx, io_sAgent *ap, io_sRack *rp) { return IO__RELEASEBUILD;}
static pwr_tStatus IoRackRead( io_tCtx ctx, io_sAgent *ap, io_sRack *rp) { return IO__RELEASEBUILD;}
static pwr_tStatus IoRackWrite( io_tCtx ctx, io_sAgent *ap, io_sRack *rp) { return IO__RELEASEBUILD;}
#endif
/*----------------------------------------------------------------------------*\
Every method to be exported to the workbench should be registred here.
\*----------------------------------------------------------------------------*/
pwr_dExport pwr_BindIoMethods(Epl_CNServer) = {
pwr_BindIoMethod(IoRackInit),
pwr_BindIoMethod(IoRackClose),
pwr_BindIoMethod(IoRackRead),
pwr_BindIoMethod(IoRackWrite),
pwr_NullMethod
};
otherio/lib/rt/src/os_linux/rt_io_m_epl_cnservermodule.c 0 → 100644
View file @ b38c9521
/*
* Proview Open Source Process Control.
* Copyright (C) 2005-2012 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 "pwr.h"
#include "pwr_basecomponentclasses.h"
#include "rt_io_base.h"
#include "rt_io_card_init.h"
#include "rt_io_card_close.h"
#include "rt_io_card_read.h"
#include "rt_io_card_write.h"
#include "rt_io_msg.h"
#include "pwr_otherioclasses.h"
/*----------------------------------------------------------------------------*\
Init method for the Powerlink module
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoCardInit (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp,
io_sCard *cp
)
{
return IO__SUCCESS;
}
/*----------------------------------------------------------------------------*\
Read method for the Powerlink module
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoCardRead (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp,
io_sCard *cp
)
{
return IO__SUCCESS;
}
/*----------------------------------------------------------------------------*\
Write method for the Powerlink module
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoCardWrite (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp,
io_sCard *cp
)
{
return IO__SUCCESS;
}
/*----------------------------------------------------------------------------*\
Close method for the Powerlink module
\*----------------------------------------------------------------------------*/
static pwr_tStatus IoCardClose (
io_tCtx ctx,
io_sAgent *ap,
io_sRack *rp,
io_sCard *cp
)
{
return IO__SUCCESS;
}
/*----------------------------------------------------------------------------*\
Every method to be exported to the workbench should be registred here.
\*----------------------------------------------------------------------------*/
pwr_dExport pwr_BindIoMethods(Epl_CNServerModule) = {
pwr_BindIoMethod(IoCardInit),
pwr_BindIoMethod(IoCardRead),
pwr_BindIoMethod(IoCardWrite),
pwr_BindIoMethod(IoCardClose),
pwr_NullMethod
};
otherio/lib/rt/src/os_linux/rt_io_m_epl_mn.c
View file @ b38c9521
......@@ -147,15 +147,6 @@ tEplKernel PUBLIC AppCbEvent(
io_sAgent* pUserArg_p);
tEplKernel PUBLIC AppCbSync(void);
pwr_tStatus io_bus_card_init_pl( io_tCtx ctx,
io_sCard *cp,
unsigned int *input_area_offset,
unsigned int *input_area_chansize,
unsigned int *output_area_offset,
unsigned int *output_area_chansize,
pwr_tByteOrderingEnum byte_order
);
/*----------------------------------------------------------------------------*\
Init method for the Powerlink module
......@@ -281,15 +272,16 @@ static pwr_tStatus IoAgentInit (io_tCtx ctx, io_sAgent *ap) {
struct sched_param schedParam;
// adjust process priority
if (nice (-20) == -1) // push nice level in case we have no RTPreempt
{
errh_Error("%s() couldn't set nice value! (%s)", __func__, strerror(errno));
}
schedParam.__sched_priority = MAIN_THREAD_PRIORITY;
if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0)
{
errh_Error("%s() couldn't set thread scheduling parameters! %d", __func__, schedParam.__sched_priority);
}
// push nice level in case we have no RTPreempt
if (nice (-20) == -1) {
errh_Error("%s() couldn't set nice value! (%s)", __func__, strerror(errno));
}
//schedParam.sched_priority = MIN(sched_get_priority_max(SCHED_FIFO),
// sched_get_priority_min(SCHED_FIFO) + op->Priority);
schedParam.__sched_priority = op->Priority;
if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0) {
errh_Error("%s() couldn't set thread scheduling parameters! %d", __func__, schedParam.__sched_priority);
}
// binds all openPOWERLINK threads to the second CPU core
cpu_set_t affinity;
......
otherio/lib/rt/src/rt_io_otherio.meth
View file @ b38c9521
......@@ -30,4 +30,6 @@ Nodave_PLC
Nodave_Transaction
Epl_MN
Epl_Module
Epl_CNServer
Epl_CNServerModule
#endif
\ No newline at end of file
otherio/lib/wb/src/wb_c_epl_mn.cpp
View file @ b38c9521
......@@ -61,7 +61,7 @@ static pwr_tStatus Configure (
ldh_sMenuCall *ip
)
{
pwr_tCmd cmd = "openCONFIGURATOR";
pwr_tCmd cmd = "export HOME=$pwrp_login;openCONFIGURATOR";
system( cmd);
......
otherio/wbl/mcomp/src/otherio.wb_load
View file @ b38c9521
Volume OtherIO $ClassVolume 0.0.250.10
Body SysBody 01-JAN-1970 01:00:00.00
Attr NextOix = "_X549"
Attr NextCix = "_X43"
Attr NextOix = "_X585"
Attr NextCix = "_X45"
Attr NextTix[0] = "_X17"
EndBody
Object Type $TypeHier 1 15-NOV-2007 14:35:37.90
......@@ -8866,7 +8866,7 @@ Volume OtherIO $ClassVolume 0.0.250.10
Object RtBody $ObjBodyDef 1 01-JUL-2013 17:26:15.35
Body SysBody 04-JUL-2013 08:13:20.05
Attr StructName = "Epl_MN"
Attr NextAix = "_X47"
Attr NextAix = "_X48"
EndBody
!/**
! Used to add a short description of the master
......@@ -8935,6 +8935,13 @@ Volume OtherIO $ClassVolume 0.0.250.10
Attr TypeRef = "pwrb:Type-StallActionEnum"
EndBody
EndObject
Object Priority $Attribute 47 05-JUL-2013 12:21:40.90
Body SysBody 05-JUL-2013 12:21:56.73
Attr PgmName = "Priority"
Attr Size = 4
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object Timeout $Attribute 38 01-JUL-2013 17:26:15.35
Body SysBody 01-JUL-2013 17:26:15.35
Attr PgmName = "Timeout"
......@@ -9116,16 +9123,278 @@ Volume OtherIO $ClassVolume 0.0.250.10
EndObject
EndObject
Object Template Epl_MN 2158198784 01-JAN-1970 01:00:00.00
Body RtBody 04-JUL-2013 08:54:52.00
Body RtBody 05-JUL-2013 12:22:16.05
Attr CDCfile = "$pwrp_exe/mnobd.cdc"
Attr Device = "eth0"
Attr NodeId = 240
Attr Process = 128
Attr Priority = 20
Attr ErrorSoftLimit = 25
Attr ErrorHardLimit = 50
EndBody
EndObject
EndObject
Object Epl_CNServer $ClassDef 43 08-JUL-2013 10:32:46.08
Body SysBody 08-JUL-2013 10:33:43.41
Attr Editor = 0
Attr Method = 0
Attr Flags = 10320
EndBody
Object RtBody $ObjBodyDef 1 08-JUL-2013 10:33:15.71
Body SysBody 08-JUL-2013 10:35:31.78
Attr StructName = "Epl_CNServer"
Attr NextAix = "_X65"
EndBody
Object Description $Attribute 48 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "Description"
Attr Size = 80
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object Device $Attribute 50 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "Device"
Attr Size = 80
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object NodeId $Attribute 51 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 15:17:29.33
Attr PgmName = "NodeId"
Attr Size = 2
Attr TypeRef = "pwrs:Type-$UInt16"
EndBody
EndObject
Object Process $Attribute 52 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "Process"
Attr Size = 4
Attr TypeRef = "pwrb:Type-IoProcessMask"
EndBody
EndObject
Object ThreadObject $Attribute 53 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "ThreadObject"
Attr Size = 8
Attr TypeRef = "pwrs:Type-$Objid"
EndBody
EndObject
Object StallAction $Attribute 54 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "StallAction"
Attr Size = 4
Attr TypeRef = "pwrb:Type-StallActionEnum"
EndBody
EndObject
Object Priority $Attribute 55 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "Priority"
Attr Size = 4
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object Timeout $Attribute 56 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "Timeout"
Attr Size = 2
Attr TypeRef = "pwrs:Type-$UInt16"
EndBody
EndObject
Object NmtState $Attribute 57 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "NmtState"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "OtherIO:Type-EplNmtState"
EndBody
EndObject
Object Status $Attribute 58 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "Status"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$Status"
EndBody
EndObject
Object ErrorCount $Attribute 59 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "ErrorCount"
Attr Size = 2
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt16"
EndBody
EndObject
Object ErrorSoftLimit $Attribute 60 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "ErrorSoftLimit"
Attr Size = 2
Attr TypeRef = "pwrs:Type-$UInt16"
EndBody
EndObject
Object ErrorHardLimit $Attribute 61 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "ErrorHardLimit"
Attr Size = 2
Attr TypeRef = "pwrs:Type-$UInt16"
EndBody
EndObject
Object InputAreaSize $Attribute 62 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "InputAreaSize"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object OutputAreaSize $Attribute 63 08-JUL-2013 10:17:49.38
Body SysBody 08-JUL-2013 10:17:49.38
Attr PgmName = "OutputAreaSize"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
EndObject
Object IoMethods $RtMethod 574 08-JUL-2013 10:17:49.38
Object IoRackInit $Method 575 08-JUL-2013 15:30:22.45
Body SysBody 08-JUL-2013 15:29:51.66
Attr MethodName = "Epl_CNServer-IoRackInit"
EndBody
EndObject
Object IoRackClose $Method 576 08-JUL-2013 15:30:30.65
Body SysBody 08-JUL-2013 15:30:00.15
Attr MethodName = "Epl_CNServer-IoRackClose"
EndBody
EndObject
Object IoRackRead $Method 577 08-JUL-2013 15:30:45.85
Body SysBody 08-JUL-2013 15:30:07.91
Attr MethodName = "Epl_CNServer-IoRackRead"
EndBody
EndObject
Object IoRackWrite $Method 578 08-JUL-2013 15:30:54.23
Body SysBody 08-JUL-2013 15:30:15.18
Attr MethodName = "Epl_CNServer-IoRackWrite"
EndBody
EndObject
EndObject
Object Template Epl_CNServer 2158985216 01-JAN-1970 01:00:00.00
Body RtBody 08-JUL-2013 10:37:34.48
Attr Device = "eth0"
Attr Process = 128
Attr Priority = 20
Attr ErrorSoftLimit = 25
Attr ErrorHardLimit = 50
EndBody
EndObject
EndObject
Object Epl_CnServerModule $ClassDef 44 08-JUL-2013 14:47:28.97
Body SysBody 08-JUL-2013 10:33:59.56
Attr Editor = 0
Attr Method = 0
Attr Flags = 18512
EndBody
Object RtBody $ObjBodyDef 1 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:35:44.53
Attr StructName = "Epl_CNServerModule"
Attr NextAix = "_X42"
EndBody
Object Description $Attribute 33 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "Description"
Attr Size = 80
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object Specification $Attribute 34 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "Specification"
Attr Size = 80
Attr TypeRef = "pwrs:Type-$String80"
EndBody
EndObject
Object DataSheet $Attribute 35 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "DataSheet"
Attr Size = 160
Attr TypeRef = "pwrs:Type-$URL"
EndBody
EndObject
Object Process $Attribute 36 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "Process"
Attr Size = 4
Attr TypeRef = "pwrb:Type-IoProcessMask"
EndBody
EndObject
Object ThreadObject $Attribute 37 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "ThreadObject"
Attr Size = 8
Attr TypeRef = "pwrs:Type-$Objid"
EndBody
EndObject
Object InputAreaOffset $Attribute 38 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "InputAreaOffset"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object InputAreaSize $Attribute 39 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "InputAreaSize"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object OutputAreaOffset $Attribute 40 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "OutputAreaOffset"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
Object OutputAreaSize $Attribute 41 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:33:59.56
Attr PgmName = "OutputAreaSize"
Attr Size = 4
Attr Flags = 1040
Attr TypeRef = "pwrs:Type-$UInt32"
EndBody
EndObject
EndObject
Object IoMethods $RtMethod 580 08-JUL-2013 10:33:59.56
Object IoCardInit $Method 581 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:35:54.02
Attr MethodName = "Epl_CNServerModule-IoCardInit"
EndBody
EndObject
Object IoCardClose $Method 582 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:36:02.20
Attr MethodName = "Epl_CNServerModule-IoCardClose"
EndBody
EndObject
Object IoCardRead $Method 583 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:36:09.91
Attr MethodName = "Epl_CNServerModule-IoCardRead"
EndBody
EndObject
Object IoCardWrite $Method 584 08-JUL-2013 10:33:59.56
Body SysBody 08-JUL-2013 10:36:16.80
Attr MethodName = "Epl_CNServerModule-IoCardWrite"
EndBody
EndObject
EndObject
Object Template Epl_CnServerModule 2159247360 01-JAN-1970 01:00:00.00
Body RtBody 08-JUL-2013 10:37:52.25
Attr Process = 128
EndBody
EndObject
EndObject
Object EplHandler $ClassDef 41 04-JUL-2013 08:14:02.80
Body SysBody 01-JUL-2013 17:26:15.35
Attr Editor = 0
......
src/lib/rt/src/rt_io_bus.c
View file @ b38c9521
......@@ -269,6 +269,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
if (chan_di->Number == 0) {
*input_area_offset += *input_area_chansize;
*input_area_chansize = GetChanSize( chan_di->Representation);
chanp->size = *input_area_chansize;
}
if ( !chanp->sop)
continue;
......@@ -278,6 +279,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
chanp->offset = *input_area_offset;
chanp->mask = 1 << chan_di->Number;
chanp->size = *input_area_chansize;
if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
if ( chan_di->Representation == pwr_eDataRepEnum_Bit16)
chanp->mask = swap16( (unsigned short)chanp->mask);
......@@ -415,6 +417,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
if (chan_do->Number == 0) {
*output_area_offset += *output_area_chansize;
*output_area_chansize = GetChanSize( chan_do->Representation);
chanp->size = *output_area_chansize;
}
if ( !chanp->sop)
continue;
......@@ -424,6 +427,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
chanp->offset = *output_area_offset;
chanp->mask = 1 << chan_do->Number;
chanp->size = *output_area_chansize;
if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
if ( chan_do->Representation == pwr_eDataRepEnum_Bit16)
chanp->mask = swap16( (unsigned short)chanp->mask);
......@@ -473,6 +477,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
if (chan_d->Number == 0) {
*input_area_offset += *input_area_chansize;
*input_area_chansize = GetChanSize( chan_d->Representation);
chanp->size = *input_area_chansize;
}
if ( !chanp->sop)
continue;
......@@ -482,6 +487,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
chanp->offset = *input_area_offset;
chanp->mask = 1 << chan_d->Number;
chanp->size = *input_area_chansize;
if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
if ( chan_d->Representation == pwr_eDataRepEnum_Bit16)
chanp->mask = swap16( (unsigned short)chanp->mask);
......@@ -494,6 +500,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
if (chan_d->Number == 0) {
*output_area_offset += *output_area_chansize;
*output_area_chansize = GetChanSize( chan_d->Representation);
chanp->size = *output_area_chansize;
}
if ( !chanp->sop)
continue;
......@@ -503,6 +510,7 @@ pwr_tStatus io_bus_card_init( io_tCtx ctx,
chanp->offset = *output_area_offset;
chanp->mask = 1 << chan_d->Number;
chanp->size = *output_area_chansize;
if ( byte_order == pwr_eByteOrderingEnum_BigEndian) {
if ( chan_d->Representation == pwr_eDataRepEnum_Bit16)
chanp->mask = swap16( (unsigned short)chanp->mask);
......
src/tools/pwre/src/os_linux/pwre_configure.sh
View file @ b38c9521
......@@ -142,8 +142,14 @@ pwre_config_check_lib()
fi
if test $libfound -eq 0; then
lib_array[$lib_cnt]=$libdir
lib_cnt=$((lib_cnt+1))
if test $4 == "powerlink"; then
lib_path=$libdir
elif test $4 == "powerlinkcn"; then
lib_path=$libdir
else
lib_array[$lib_cnt]=$libdir
lib_cnt=$((lib_cnt+1))
fi
fi
lib=${file##/*/lib}
......@@ -162,7 +168,9 @@ pwre_config_check_lib()
elif test $4 == "libusb"; then
conf_lib=$conf_lib" -lusb-1.0"
elif test $4 == "powerlink"; then
conf_libpowerlink=$conf_libpowerlink" -l${lib%.*}"
conf_libpowerlink=$conf_libpowerlink" -L$lib_path -l${lib%.*}"
elif test $4 == "powerlinkcn"; then
conf_libpowerlinkcn=$conf_libpowerlinkcn" -L$lib_path -l${lib%.*}"
else
conf_lib=$conf_lib" -l${lib%%.*}"
fi
......@@ -433,7 +441,8 @@ else
pwre_config_check_lib libpnioif PNAK lib pnak 1 "/usr/lib/libpnioif.a:/usr/local/lib/libpnioif.a"
pwre_config_check_lib libusb LIBUSB lib libusb 1 "/usr/lib/libusb-1.0.so:/usr/lib/$hwpl-linux-$gnu/libusb-1.0.so"
pwre_config_check_lib powerlink POWERLINK lib powerlink 1 "$epl/build/Examples/X86/Generic/powerlink_user_lib/libpowerlink.a"
pwre_config_check_lib powerlinkcn POWERLINKCN lib powerlinkcn 1 "$epl/buildcn/Examples/X86/Generic/powerlink_user_lib/libpowerlink.a"
pwre_config_check_include mq MQ 0 "/usr/local/dmq/include/p_entry.h"
pwre_config_check_include wmq WMQ 1 "/opt/mqm/inc/cmqc.h"
pwre_config_check_include cifx CIFX 1 "/usr/local/include/cifx/cifxlinux.h"
......@@ -465,6 +474,7 @@ else
echo "export pwre_conf_libpwrotherio=\"-lpwr_usbio_dummy -lpwr_usb_dummy -lpwr_cifx_dummy -lpwr_nodave_dummy -lpwr_epl_dummy\"" >> $cfile
echo "export pwre_conf_libpwrprofibus=\"-lpwr_pnak_dummy\"" >> $cfile
echo "export pwre_conf_libpwrpowerlink=\"$conf_libpowerlink\"" >> $cfile
echo "export pwre_conf_libpwrpowerlinkcn=\"$conf_libpowerlinkcn\"" >> $cfile
echo "export pwre_conf_libpwrxtt=\"-lpwr_xtt -lpwr_ge -lpwr_cow -lpwr_flow -lpwr_glow\"" >> $cfile
echo "export pwre_conf_libpwrxttgtk=\" -lpwr_xtt_gtk -lpwr_ge_gtk -lpwr_cow_gtk -lpwr_flow_gtk -lpwr_glow_gtk\"" >> $cfile
echo "export pwre_conf_libpwrxttmotif=\" -lpwr_xtt_motif -lpwr_ge_motif -lpwr_cow_motif -lpwr_flow_motif -lpwr_glow_motif\"" >> $cfile
......
wb/exp/wb/src/pwr_wb_palette.cnf
View file @ b38c9521
......@@ -332,8 +332,8 @@ palette NavigatorPalette
class EPl_Module
menu Server
{
class Epl_Server
class Epl_ServerModule
class Epl_CNServer
class Epl_CNServerModule
}
}
menu Profibus
......
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