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"

    45

#include "datagram.h"

    46

#include "master.h"

    47

    48

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

    49

    50

/**

    51

   Prepares a mailbox-send datagram.

    52

   \return pointer to mailbox datagram data

    53

*/

    54

    55

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

    56

                                    ec_datagram_t *datagram, /**< datagram */

    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 %u 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_datagram_fpwr(datagram, slave->station_address,

    76

                         slave->sii.rx_mailbox_offset,

    77

                         slave->sii.rx_mailbox_size))

    78

        return NULL;

    79

    80

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

    81

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

    82

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

    83

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

    84

    85

    return datagram->data + 6;

    86

}

    87

    88

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

    89

    90

/**

    91

   Prepares a datagram for checking the mailbox state.

    92

   \todo Determine sync manager used for receive mailbox

    93

   \return 0 in case of success, else < 0

    94

*/

    95

    96

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

    97

                                ec_datagram_t *datagram /**< datagram */

    98

                                )

    99

{

   100

    if (ec_datagram_fprd(datagram, slave->station_address, 0x808, 8))

   101

        return -1;

   102

   103

    return 0;

   104

}

   105

   106

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

   107

   108

/**

   109

   Processes a mailbox state checking datagram.

   110

   \return 0 in case of success, else < 0

   111

*/

   112

   113

int ec_slave_mbox_check(const ec_datagram_t *datagram /**< datagram */)

   114

{

   115

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

   116

}

   117

   118

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

   119

   120

/**

   121

   Prepares a datagram to fetch mailbox data.

   122

   \return 0 in case of success, else < 0

   123

*/

   124

   125

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

   126

                                ec_datagram_t *datagram /**< datagram */

   127

                                )

   128

{

   129

    if (ec_datagram_fprd(datagram, 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

   Mailbox error codes.

   139

*/

   140

   141

const ec_code_msg_t mbox_error_messages[] = {

   142

    {0x00000001, "MBXERR_SYNTAX"},

   143

    {0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},

   144

    {0x00000003, "MBXERR_INVAILDCHANNEL"},

   145

    {0x00000004, "MBXERR_SERVICENOTSUPPORTED"},

   146

    {0x00000005, "MBXERR_INVALIDHEADER"},

   147

    {0x00000006, "MBXERR_SIZETOOSHORT"},

   148

    {0x00000007, "MBXERR_NOMOREMEMORY"},

   149

    {0x00000008, "MBXERR_INVALIDSIZE"},

   150

    {}

   151

};

   152

   153

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

   154

   155

/**

   156

   Processes received mailbox data.

   157

   \return pointer to the received data

   158

*/

   159

   160

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

   161

                             ec_datagram_t *datagram, /**< datagram */

   162

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

   163

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

   164

                             )

   165

{

   166

    size_t data_size;

   167

   168

    data_size = EC_READ_U16(datagram->data);

   169

   170

    if (data_size > slave->sii.tx_mailbox_size - 6) {

   171

        EC_ERR("Corrupt mailbox response received from slave %u!\n",

   172

               slave->ring_position);

   173

        ec_print_data(datagram->data, slave->sii.tx_mailbox_size);

   174

        return NULL;

   175

    }

   176

   177

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

   178

    *size = data_size;

   179

   180

    if (*type == 0x00) {

   181

        const ec_code_msg_t *mbox_msg;

   182

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

   183

   184

        EC_ERR("Mailbox error response received from slave %u - ",

   185

               slave->ring_position);

   186

   187

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

   188

            if (mbox_msg->code != code) continue;

   189

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

   190

                   mbox_msg->code, mbox_msg->message);

   191

            break;

   192

        }

   193

   194

        if (!mbox_msg->code)

   195

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

   196

   197

        if (slave->master->debug_level)

   198

            ec_print_data(datagram->data + 6, data_size);

   199

   200

        return NULL;

   201

    }

   202

   203

    return datagram->data + 6;

   204

}

   205

   206

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