1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

 *  and/or modify it under the terms of the GNU General Public License

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    32

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

    33

    34

/**

    35

   \file

    36

   Mailbox functionality.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

#include <linux/delay.h>

    43

    44

#include "mailbox.h"

    45

#include "command.h"

    46

#include "master.h"

    47

    48

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

    49

    50

/**

    51

   Prepares a mailbox-send command.

    52

   \return pointer to mailbox command data

    53

*/

    54

    55

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

    56

                                    uint8_t type, /**< mailbox protocol */

    57

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

    58

                                    )

    59

{

    60

    ec_command_t *command = &slave->mbox_command;

    61

    size_t total_size;

    62

    63

    if (unlikely(!slave->sii_mailbox_protocols)) {

    64

        EC_ERR("Slave %i does not support mailbox communication!\n",

    65

               slave->ring_position);

    66

        return NULL;

    67

    }

    68

    69

    total_size = size + 6;

    70

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

    71

        EC_ERR("Data size does not fit in mailbox!\n");

    72

        return NULL;

    73

    }

    74

    75

    if (ec_command_npwr(command, slave->station_address,

    76

                        slave->sii_rx_mailbox_offset,

    77

                        slave->sii_rx_mailbox_size))

    78

        return NULL;

    79

    80

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

    81

    EC_WRITE_U16(command->data + 2, slave->station_address); // station address

    82

    EC_WRITE_U8 (command->data + 4, 0x00); // hhannel & priority

    83

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

    84

    85

    return command->data + 6;

    86

}

    87

    88

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

    89

    90

/**

    91

   Prepares a command for checking the mailbox state.

    92

   \return 0 in case of success, else < 0

    93

*/

    94

    95

int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< slave */)

    96

{

    97

    ec_command_t *command = &slave->mbox_command;

    98

    99

    // FIXME: second sync manager?

   100

    if (ec_command_nprd(command, slave->station_address, 0x808, 8))

   101

        return -1;

   102

   103

    return 0;

   104

}

   105

   106

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

   107

   108

/**

   109

   Processes a mailbox state checking command.

   110

   \return 0 in case of success, else < 0

   111

*/

   112

   113

int ec_slave_mbox_check(const ec_slave_t *slave /**< slave */)

   114

{

   115

    return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;

   116

}

   117

   118

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

   119

   120

/**

   121

   Prepares a command to fetch mailbox data.

   122

   \return 0 in case of success, else < 0

   123

*/

   124

   125

int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< slave */)

   126

{

   127

    ec_command_t *command = &slave->mbox_command;

   128

   129

    if (ec_command_nprd(command, slave->station_address,

   130

                        slave->sii_tx_mailbox_offset,

   131

                        slave->sii_tx_mailbox_size)) return -1;

   132

    return 0;

   133

}

   134

   135

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

   136

   137

/**

   138

   Processes received mailbox data.

   139

   \return pointer to the received data

   140

*/

   141

   142

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

   143

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

   144

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

   145

                             )

   146

{

   147

    ec_command_t *command = &slave->mbox_command;

   148

    size_t data_size;

   149

   150

    if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {

   151

        EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"

   152

               " slave %i!\n", EC_READ_U8(command->data + 5), type,

   153

               slave->ring_position);

   154

        return NULL;

   155

    }

   156

   157

    if ((data_size = EC_READ_U16(command->data)) >

   158

        slave->sii_tx_mailbox_size - 6) {

   159

        EC_ERR("Currupt mailbox response detected!\n");

   160

        return NULL;

   161

    }

   162

   163

    *size = data_size;

   164

    return command->data + 6;

   165

}

   166

   167

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

   168

   169

/**

   170

   Sends a mailbox command and waits for its reception.

   171

   \return pointer to the received data

   172

*/

   173

   174

uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< slave */

   175

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

   176

                                 )

   177

{

   178

    uint8_t type;

   179

    ec_command_t *command;

   180

   181

    command = &slave->mbox_command;

   182

    type = EC_READ_U8(command->data + 5);

   183

   184

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   185

        EC_ERR("Mailbox checking failed on slave %i!\n",

   186

               slave->ring_position);

   187

        return NULL;

   188

    }

   189

   190

    return ec_slave_mbox_simple_receive(slave, type, size);

   191

}

   192

   193

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

   194

   195

/**

   196

   Waits for the reception of a mailbox command.

   197

   \return pointer to the received data

   198

*/

   199

   200

uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< slave */

   201

                                      uint8_t type, /**< expected protocol */

   202

                                      size_t *size /**< received data size */

   203

                                      )

   204

{

   205

    cycles_t start, end, timeout;

   206

    ec_command_t *command;

   207

   208

    command = &slave->mbox_command;

   209

    start = get_cycles();

   210

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   211

   212

    while (1)

   213

    {

   214

        if (ec_slave_mbox_prepare_check(slave)) return NULL;

   215

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   216

            EC_ERR("Mailbox checking failed on slave %i!\n",

   217

                   slave->ring_position);

   218

            return NULL;

   219

        }

   220

   221

        end = get_cycles();

   222

   223

        if (ec_slave_mbox_check(slave))

   224

            break; // proceed with receiving data

   225

   226

        if ((end - start) >= timeout) {

   227

            EC_ERR("Mailbox check - Slave %i timed out.\n",

   228

                   slave->ring_position);

   229

            return NULL;

   230

        }

   231

   232

        udelay(100);

   233

    }

   234

   235

    if (ec_slave_mbox_prepare_fetch(slave)) return NULL;

   236

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   237

        EC_ERR("Mailbox receiving failed on slave %i!\n",

   238

               slave->ring_position);

   239

        return NULL;

   240

    }

   241

   242

    if (unlikely(slave->master->debug_level) > 1)

   243

        EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000

   244

                                                / cpu_khz));

   245

   246

    return ec_slave_mbox_fetch(slave, type, size);

   247

}

   248

   249

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