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

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    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

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    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"

    46

#include "master.h"

    47

    48

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

    49

    50

/**

    53

*/

    54

    55

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

    57

                                    uint8_t type, /**< mailbox protocol */

    58

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

    59

                                    )

    60

{

    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

    92

   \return 0 in case of success, else < 0

    93

*/

    94

    95

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

    97

                                )

    98

{

    99

    // FIXME: second sync manager?

   101

        return -1;

   102

   103

    return 0;

   104

}

   105

   106

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

   107

   108

/**

   110

   \return 0 in case of success, else < 0

   111

*/

   112

   122

   \return 0 in case of success, else < 0

   123

*/

   124

   125

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

   127

                                )

   128

{

   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(const ec_slave_t *slave, /**< slave */

   144

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

   145

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

   146

                             )

   147

{

   148

    size_t data_size;

   149

   151

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

   158

        slave->sii_tx_mailbox_size - 6) {

   159

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

   160

        return NULL;

   161

    }

   162

   163

    *size = data_size;

   171

   \return pointer to the received data

   172

*/

   173

   174

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

   176

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

   177

                                 )

   178

{

   179

    uint8_t type;

   180

   184

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

   185

               slave->ring_position);

   186

        return NULL;

   187

    }

   188

   196

   \return pointer to the received data

   197

*/

   198

   199

uint8_t *ec_slave_mbox_simple_receive(const 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

   207

    start = get_cycles();

   208

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

   209

   210

    while (1)

   211

    {

   214

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

   215

                   slave->ring_position);

   216

            return NULL;

   217

        }

   218

   219

        end = get_cycles();

   220

   222

            break; // proceed with receiving data

   223

   224

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

   225

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

   226

                   slave->ring_position);

   227

            return NULL;

   228

        }

   229

   230

        udelay(100);

   231

    }

   232

   235

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

   236

               slave->ring_position);

   237

        return NULL;

   238

    }

   239

   240

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

   241

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

   242

                                                / cpu_khz));

   243