author | Florian Pose <fp@igh-essen.com> |
Wed, 29 Apr 2009 09:43:04 +0000 | |
changeset 1421 | 043a518831b2 |
parent 1363 | 11c0b2caa253 |
child 1492 | c44308ec691b |
permissions | -rw-r--r-- |
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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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/*****************************************************************************/ |
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#include <linux/slab.h> |
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#include <linux/delay.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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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_datagram_t *datagram, /**< datagram */ |
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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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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_ERR("Slave %u does not support mailbox communication!\n", |
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slave->ring_position); |
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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_ERR("Data size (%u) 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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slave->configured_rx_mailbox_size); |
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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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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_datagram_t *datagram /**< datagram */ |
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) |
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{ |
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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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return 0; |
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} |
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/*****************************************************************************/ |
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/** |
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|
111 |
Processes a mailbox state checking datagram. |
195
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|
112 |
\return 0 in case of success, else < 0 |
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|
113 |
*/ |
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|
114 |
|
293
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|
115 |
int ec_slave_mbox_check(const ec_datagram_t *datagram /**< datagram */) |
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116 |
{ |
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|
117 |
return EC_READ_U8(datagram->data + 5) & 8 ? 1 : 0; |
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|
118 |
} |
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|
119 |
|
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|
120 |
/*****************************************************************************/ |
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|
121 |
|
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|
122 |
/** |
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|
123 |
Prepares a datagram to fetch mailbox data. |
195
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|
124 |
\return 0 in case of success, else < 0 |
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|
125 |
*/ |
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|
126 |
|
279
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|
127 |
int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, /**< slave */ |
293
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128 |
ec_datagram_t *datagram /**< datagram */ |
279
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|
129 |
) |
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|
130 |
{ |
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
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131 |
int ret = ec_datagram_fprd(datagram, slave->station_address, |
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132 |
slave->configured_tx_mailbox_offset, |
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|
133 |
slave->configured_tx_mailbox_size); |
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|
134 |
if (ret) |
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|
135 |
return ret; |
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|
136 |
|
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|
137 |
ec_datagram_zero(datagram); |
145
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|
138 |
return 0; |
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|
139 |
} |
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|
140 |
|
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|
141 |
/*****************************************************************************/ |
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|
142 |
|
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|
143 |
/** |
390
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|
144 |
Mailbox error codes. |
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Fixed mailbox bug, added mailbox error codes.
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|
145 |
*/ |
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Fixed mailbox bug, added mailbox error codes.
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changeset
|
146 |
|
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Fixed mailbox bug, added mailbox error codes.
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|
147 |
const ec_code_msg_t mbox_error_messages[] = { |
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|
148 |
{0x00000001, "MBXERR_SYNTAX"}, |
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|
149 |
{0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"}, |
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Fixed mailbox bug, added mailbox error codes.
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|
150 |
{0x00000003, "MBXERR_INVAILDCHANNEL"}, |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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changeset
|
151 |
{0x00000004, "MBXERR_SERVICENOTSUPPORTED"}, |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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|
152 |
{0x00000005, "MBXERR_INVALIDHEADER"}, |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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|
153 |
{0x00000006, "MBXERR_SIZETOOSHORT"}, |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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changeset
|
154 |
{0x00000007, "MBXERR_NOMOREMEMORY"}, |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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|
155 |
{0x00000008, "MBXERR_INVALIDSIZE"}, |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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|
156 |
{} |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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changeset
|
157 |
}; |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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changeset
|
158 |
|
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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changeset
|
159 |
/*****************************************************************************/ |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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changeset
|
160 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
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|
161 |
/** Processes received mailbox data. |
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Improved error case return codes of many functions.
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|
162 |
* |
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Improved error case return codes of many functions.
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|
163 |
* \return Pointer to the received data, or ERR_PTR() code. |
ed15eef57d5c
Improved error case return codes of many functions.
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diff
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|
164 |
*/ |
279
12f48c1cb143
Removed mbox_command out of slave.
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diff
changeset
|
165 |
uint8_t *ec_slave_mbox_fetch(const ec_slave_t *slave, /**< slave */ |
293
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changeset
|
166 |
ec_datagram_t *datagram, /**< datagram */ |
390
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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diff
changeset
|
167 |
uint8_t *type, /**< expected mailbox protocol */ |
195
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diff
changeset
|
168 |
size_t *size /**< size of the received data */ |
145
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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parents:
diff
changeset
|
169 |
) |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
{ |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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parents:
diff
changeset
|
171 |
size_t data_size; |
11a82e4fd31b
Mailbox-Interface ausgelagert, erster EOE-Ansatz.
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parents:
diff
changeset
|
172 |
|
431
47e7f99005c0
Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
173 |
data_size = EC_READ_U16(datagram->data); |
47e7f99005c0
Improved output at mailbox error.
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diff
changeset
|
174 |
|
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
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diff
changeset
|
175 |
if (data_size + EC_MBOX_HEADER_SIZE > slave->configured_tx_mailbox_size) { |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
176 |
EC_ERR("Corrupt mailbox response received from slave %u!\n", |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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diff
changeset
|
177 |
slave->ring_position); |
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
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diff
changeset
|
178 |
ec_print_data(datagram->data, slave->configured_tx_mailbox_size); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
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changeset
|
179 |
return ERR_PTR(-EPROTO); |
293
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
180 |
} |
14aeb79aa992
Renamed command structure to datagram.
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diff
changeset
|
181 |
|
390
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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325
diff
changeset
|
182 |
*type = EC_READ_U8(datagram->data + 5) & 0x0F; |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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diff
changeset
|
183 |
*size = data_size; |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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parents:
325
diff
changeset
|
184 |
|
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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parents:
325
diff
changeset
|
185 |
if (*type == 0x00) { |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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325
diff
changeset
|
186 |
const ec_code_msg_t *mbox_msg; |
1217
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
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986
diff
changeset
|
187 |
uint16_t code = EC_READ_U16(datagram->data + 8); |
390
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
188 |
|
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
189 |
EC_ERR("Mailbox error response received from slave %u - ", |
1217
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
190 |
slave->ring_position); |
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
191 |
|
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
192 |
for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) { |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
193 |
if (mbox_msg->code != code) |
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
194 |
continue; |
431
47e7f99005c0
Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
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424
diff
changeset
|
195 |
printk("Code 0x%04X: \"%s\".\n", |
1337
0253c74d0940
merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
196 |
mbox_msg->code, mbox_msg->message); |
390
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
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325
diff
changeset
|
197 |
break; |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
198 |
} |
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
199 |
|
685c267d80d8
Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents:
325
diff
changeset
|
200 |
if (!mbox_msg->code) |
431
47e7f99005c0
Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents:
424
diff
changeset
|
201 |
printk("Unknown error reply code 0x%04X.\n", code); |
47e7f99005c0
Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents:
424
diff
changeset
|
202 |
|
47e7f99005c0
Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents:
424
diff
changeset
|
203 |
if (slave->master->debug_level) |
1217
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
204 |
ec_print_data(datagram->data + EC_MBOX_HEADER_SIZE, data_size); |
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
205 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1225
diff
changeset
|
206 |
return ERR_PTR(-EPROTO); |
1217
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
207 |
} |
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
208 |
|
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
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986
diff
changeset
|
209 |
return datagram->data + EC_MBOX_HEADER_SIZE; |
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
210 |
} |
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
211 |
|
e8a9785e63c3
Introduced EC_MBOX_HEADER_SIZE.
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diff
changeset
|
212 |
/*****************************************************************************/ |