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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *****************************************************************************/

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/**

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   \file

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   Mailbox functionality.

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*/

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/*****************************************************************************/

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#include <linux/slab.h>

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#include <linux/delay.h>

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#include "slave.h"

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#include "mailbox.h"

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#include "datagram.h"

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#include "master.h"

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/*****************************************************************************/

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/**

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   Mailbox constructor.

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*/

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void ec_mbox_init(ec_mailbox_t* mbox, /** mailbox */

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                        ec_datagram_t* datagram  /**< Datagram used for the mailbox content. */

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                        )

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{

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    mbox->datagram = datagram;

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    ec_datagram_init(&mbox->end_datagram);

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#endif

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}

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/*****************************************************************************/

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/**

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   Clears mailbox datagrams.

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*/

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void ec_mbox_clear(ec_mailbox_t* mbox /** mailbox */

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                         )

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{

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    ec_datagram_clear(&mbox->end_datagram);

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#endif

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}

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/*****************************************************************************/

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/** Queues the slave datagrams.

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 */

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void ec_slave_mbox_queue_datagrams(

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        const ec_slave_t *slave, /** slave */

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        ec_mailbox_t *mbox /** mailbox */

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        )

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{

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    ec_master_queue_request_fsm_datagram(slave->master, mbox->datagram);

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    if (mbox->end_datagram.type != EC_DATAGRAM_NONE) {

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        ec_master_queue_request_fsm_datagram(slave->master,

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                &mbox->end_datagram);

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    }

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#endif

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}

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/*****************************************************************************/

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/** Queues the datagrams.

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 */

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void ec_master_mbox_queue_datagrams(

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        ec_master_t *master, /** master */

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        ec_mailbox_t *mbox /** mailbox */

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        )

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{

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    ec_master_queue_fsm_datagram(master, mbox->datagram);

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    if (mbox->end_datagram.type != EC_DATAGRAM_NONE) {

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        ec_master_queue_fsm_datagram(master, &mbox->end_datagram);

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    }

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#endif

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}

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/*****************************************************************************/

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/**

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   Prepares a mailbox-send datagram.

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   \return Pointer to mailbox datagram data, or ERR_PTR() code.

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*/

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uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t* slave, /** slave */

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                                    ec_mailbox_t* mbox, /** mailbox */

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                                    uint8_t type, /**< mailbox protocol */

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                                    size_t size /**< size of the data */

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                                    )

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{

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    ec_datagram_t* datagram = mbox->datagram;

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    size_t total_size;

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    int ret;

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    if (unlikely(!slave->sii.mailbox_protocols)) {

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        EC_SLAVE_ERR(slave, "Slave does not support mailbox"

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                " communication!\n");

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        return ERR_PTR(-EPROTONOSUPPORT);

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    }

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    total_size = EC_MBOX_HEADER_SIZE + size;

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    if (unlikely(total_size > slave->configured_rx_mailbox_size)) {

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        EC_SLAVE_ERR(slave, "Data size (%zu) does not fit in mailbox (%u)!\n",

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                total_size, slave->configured_rx_mailbox_size);

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        return ERR_PTR(-EOVERFLOW);

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    }

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    ret = ec_datagram_fpwr(datagram, slave->station_address,

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                           slave->configured_rx_mailbox_offset,

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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                           total_size

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#else

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                           slave->configured_rx_mailbox_size

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#endif

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                           );

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    if (ret)

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        return ERR_PTR(ret);

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    EC_WRITE_U16(datagram->data,     size); // mailbox service data length

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    EC_WRITE_U16(datagram->data + 2, slave->station_address); // station addr.

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    EC_WRITE_U8 (datagram->data + 4, 0x00); // channel & priority

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    EC_WRITE_U8 (datagram->data + 5, type); // underlying protocol type

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    /* in order to fulfil the ESC's mailbox protocol,

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       at least the last byte of the mailbox must be written */

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    if (total_size < slave->configured_rx_mailbox_size) {

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        ret = ec_datagram_fpwr(&mbox->end_datagram, slave->station_address,

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            slave->configured_rx_mailbox_offset+slave->configured_rx_mailbox_size-1,

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            1);

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        if (ret)

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            return ERR_PTR(ret);

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    }

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#endif

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    return datagram->data + EC_MBOX_HEADER_SIZE;

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}

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/*****************************************************************************/

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/**

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   Prepares a datagram for checking the mailbox state.

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   \todo Determine sync manager used for receive mailbox

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_mbox_prepare_check(const ec_slave_t* slave, /** slave */

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                                ec_mailbox_t* mbox /** mailbox */

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                                )

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{

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    ec_datagram_t* datagram = mbox->datagram;

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    int ret = ec_datagram_fprd(datagram, slave->station_address, 0x808, 8);

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    if (ret)

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        return ret;

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    ec_datagram_zero(datagram);

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    mbox->end_datagram.type = EC_DATAGRAM_NONE;

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#endif

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    return 0;

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}

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/*****************************************************************************/

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/**

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   Processes a mailbox state checking datagram.

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_mbox_check(ec_mailbox_t* mbox /** mailbox */)

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{

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    return EC_READ_U8(mbox->datagram->data + 5) & 8 ? 1 : 0;

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}

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/*****************************************************************************/

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/**

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   Prepares a datagram to fetch mailbox data.

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_mbox_prepare_fetch(const ec_slave_t* slave, /** slave */

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                                ec_mailbox_t* mbox /** mailbox */

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                                )

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{

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    ec_datagram_t* datagram = mbox->datagram;

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    int ret = ec_datagram_fprd(datagram, slave->station_address,

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            slave->configured_tx_mailbox_offset,

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            slave->configured_tx_mailbox_size);

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    if (ret)

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        return ret;

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    ec_datagram_zero(datagram);

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#ifdef EC_REDUCE_MBOXFRAMESIZE

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    mbox->end_datagram.type = EC_DATAGRAM_NONE;

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#endif

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    return 0;

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}

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/*****************************************************************************/

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/**

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   Mailbox error codes.

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*/

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const ec_code_msg_t mbox_error_messages[] = {

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    {0x00000001, "MBXERR_SYNTAX"},

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    {0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},

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    {0x00000003, "MBXERR_INVAILDCHANNEL"},

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    {0x00000004, "MBXERR_SERVICENOTSUPPORTED"},

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    {0x00000005, "MBXERR_INVALIDHEADER"},

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    {0x00000006, "MBXERR_SIZETOOSHORT"},

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    {0x00000007, "MBXERR_NOMOREMEMORY"},

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    {0x00000008, "MBXERR_INVALIDSIZE"},

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    {}

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};

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/*****************************************************************************/

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/** Processes received mailbox data.

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 *

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 * \return Pointer to the received data, or ERR_PTR() code.

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 */

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uint8_t *ec_slave_mbox_fetch(const ec_slave_t* slave, /** slave */

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                             ec_mailbox_t* mbox, /** mailbox */

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                             uint8_t *type, /**< expected mailbox protocol */

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                             size_t *size /**< size of the received data */

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                             )

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{

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    ec_datagram_t* datagram = mbox->datagram;

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    size_t data_size;

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    data_size = EC_READ_U16(datagram->data);

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    if (data_size + EC_MBOX_HEADER_SIZE > slave->configured_tx_mailbox_size) {

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        EC_SLAVE_ERR(slave, "Corrupt mailbox response received!\n");

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        ec_print_data(datagram->data, slave->configured_tx_mailbox_size);

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        return ERR_PTR(-EPROTO);

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    }

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    *type = EC_READ_U8(datagram->data + 5) & 0x0F;

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    *size = data_size;

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    if (*type == 0x00) {

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        const ec_code_msg_t *mbox_msg;

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        uint16_t code = EC_READ_U16(datagram->data + 8);

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        EC_SLAVE_ERR(slave, "Mailbox error response received - ");

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        for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) {

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            if (mbox_msg->code != code)

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                continue;

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            printk("Code 0x%04X: \"%s\".\n",

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                    mbox_msg->code, mbox_msg->message);

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            break;

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        }

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        if (!mbox_msg->code)

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            printk("Unknown error reply code 0x%04X.\n", code);

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        if (slave->master->debug_level)

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            ec_print_data(datagram->data + EC_MBOX_HEADER_SIZE, data_size);

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        return ERR_PTR(-EPROTO);

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    }

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    return datagram->data + EC_MBOX_HEADER_SIZE;

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}

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/*****************************************************************************/