master/mailbox.c
author Florian Pose <fp@igh-essen.com>
Thu, 09 Oct 2008 09:31:23 +0000
changeset 1251 3c3f8cb76748
parent 1225 4d5b739edcb5
child 1313 ed15eef57d5c
permissions -rw-r--r--
Added e100 driver for kernel 2.6.26 basically provided by Mario
Witkowski.
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     5
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     6
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     8
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    10
 *  and/or modify it under the terms of the GNU General Public License
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    11
 *  as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    12
 *  License, or (at your option) any later version.
197
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    13
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    14
 *  The IgH EtherCAT Master is distributed in the hope that it will be
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    15
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    16
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    17
 *  GNU General Public License for more details.
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    18
 *
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    19
 *  You should have received a copy of the GNU General Public License
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    20
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    21
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
b9a6e2c22745 GPLv2 License and enhanced Doxygen output.
Florian Pose <fp@igh-essen.com>
parents: 195
diff changeset
    22
 *
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    23
 *  The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    24
 *  charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    25
 *  Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    26
 *  code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    27
 *  software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    28
 *  EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    29
 *  standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    30
 *  Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 199
diff changeset
    31
 *
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
 *****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
199
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    34
/**
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    35
   \file
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    36
   Mailbox functionality.
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    37
*/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    38
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    39
/*****************************************************************************/
04ecf40fc2e9 Doxygen added interface modules and file documentation.
Florian Pose <fp@igh-essen.com>
parents: 197
diff changeset
    40
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#include <linux/slab.h>
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#include <linux/delay.h>
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "mailbox.h"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    45
#include "datagram.h"
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
#include "master.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
/**
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    51
   Prepares a mailbox-send datagram.
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    52
   \return pointer to mailbox datagram data
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    53
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    54
279
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
    55
uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *slave, /**< slave */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    56
                                    ec_datagram_t *datagram, /**< datagram */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    57
                                    uint8_t type, /**< mailbox protocol */
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    58
                                    size_t size /**< size of the data */
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
                                    )
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    60
{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
    size_t total_size;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
    63
    if (unlikely(!slave->sii.mailbox_protocols)) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
    64
        EC_ERR("Slave %u does not support mailbox communication!\n",
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
               slave->ring_position);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
        return NULL;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
    }
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
    69
    total_size = EC_MBOX_HEADER_SIZE + size;
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
    70
    if (unlikely(total_size > slave->sii.rx_mailbox_size)) {
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
        EC_ERR("Data size does not fit in mailbox!\n");
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
        return NULL;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
    }
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
    75
    if (ec_datagram_fpwr(datagram, slave->station_address,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
    76
                         slave->sii.rx_mailbox_offset,
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
    77
                         slave->sii.rx_mailbox_size))
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    78
        return NULL;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    79
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    80
    EC_WRITE_U16(datagram->data,     size); // mailbox service data length
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    81
    EC_WRITE_U16(datagram->data + 2, slave->station_address); // station addr.
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    82
    EC_WRITE_U8 (datagram->data + 4, 0x00); // channel & priority
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    83
    EC_WRITE_U8 (datagram->data + 5, type); // underlying protocol type
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    84
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
    85
    return datagram->data + EC_MBOX_HEADER_SIZE;
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    86
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    87
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    88
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    89
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    90
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    91
   Prepares a datagram for checking the mailbox state.
786
ad618c76e9bd Updated doxygen docs.
Florian Pose <fp@igh-essen.com>
parents: 504
diff changeset
    92
   \todo Determine sync manager used for receive mailbox
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    93
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    94
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
    95
279
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
    96
int ec_slave_mbox_prepare_check(const ec_slave_t *slave, /**< slave */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
    97
                                ec_datagram_t *datagram /**< datagram */
279
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
    98
                                )
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
    99
{
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   100
    if (ec_datagram_fprd(datagram, slave->station_address, 0x808, 8))
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
        return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   102
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1217
diff changeset
   103
    ec_datagram_zero(datagram);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
    return 0;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   107
/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   108
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   109
/**
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   110
   Processes a mailbox state checking datagram.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   111
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   112
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   113
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   114
int ec_slave_mbox_check(const ec_datagram_t *datagram /**< datagram */)
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   115
{
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   116
    return EC_READ_U8(datagram->data + 5) & 8 ? 1 : 0;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   117
}
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   118
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   119
/*****************************************************************************/
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   120
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   121
/**
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   122
   Prepares a datagram to fetch mailbox data.
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   123
   \return 0 in case of success, else < 0
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   124
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   125
279
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
   126
int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, /**< slave */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   127
                                ec_datagram_t *datagram /**< datagram */
279
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
   128
                                )
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
   129
{
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 786
diff changeset
   130
    if (ec_datagram_fprd(datagram, slave->station_address,
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   131
                         slave->sii.tx_mailbox_offset,
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1217
diff changeset
   132
                         slave->sii.tx_mailbox_size))
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1217
diff changeset
   133
        return -1;
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1217
diff changeset
   134
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1217
diff changeset
   135
    ec_datagram_zero(datagram);
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   136
    return 0;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   137
}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   138
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   139
/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   140
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   141
/**
390
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   142
   Mailbox error codes.
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   143
*/
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   144
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   145
const ec_code_msg_t mbox_error_messages[] = {
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   146
    {0x00000001, "MBXERR_SYNTAX"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   147
    {0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   148
    {0x00000003, "MBXERR_INVAILDCHANNEL"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   149
    {0x00000004, "MBXERR_SERVICENOTSUPPORTED"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   150
    {0x00000005, "MBXERR_INVALIDHEADER"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   151
    {0x00000006, "MBXERR_SIZETOOSHORT"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   152
    {0x00000007, "MBXERR_NOMOREMEMORY"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   153
    {0x00000008, "MBXERR_INVALIDSIZE"},
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   154
    {}
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   155
};
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   156
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   157
/*****************************************************************************/
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   158
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   159
/**
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   160
   Processes received mailbox data.
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   161
   \return pointer to the received data
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   162
*/
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   163
279
12f48c1cb143 Removed mbox_command out of slave.
Florian Pose <fp@igh-essen.com>
parents: 276
diff changeset
   164
uint8_t *ec_slave_mbox_fetch(const ec_slave_t *slave, /**< slave */
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   165
                             ec_datagram_t *datagram, /**< datagram */
390
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   166
                             uint8_t *type, /**< expected mailbox protocol */
195
674071846ee3 Translated all comments and documentation to english language.
Florian Pose <fp@igh-essen.com>
parents: 154
diff changeset
   167
                             size_t *size /**< size of the received data */
145
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
                             )
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   170
    size_t data_size;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   171
431
47e7f99005c0 Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents: 424
diff changeset
   172
    data_size = EC_READ_U16(datagram->data);
47e7f99005c0 Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents: 424
diff changeset
   173
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   174
    if (data_size + EC_MBOX_HEADER_SIZE > slave->sii.tx_mailbox_size) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   175
        EC_ERR("Corrupt mailbox response received from slave %u!\n",
504
63d11bdfe3df Improved error messages in mailbox.c
Florian Pose <fp@igh-essen.com>
parents: 431
diff changeset
   176
               slave->ring_position);
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   177
        ec_print_data(datagram->data, slave->sii.tx_mailbox_size);
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   178
        return NULL;
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   179
    }
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 279
diff changeset
   180
390
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   181
    *type = EC_READ_U8(datagram->data + 5) & 0x0F;
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   182
    *size = data_size;
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   183
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   184
    if (*type == 0x00) {
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   185
        const ec_code_msg_t *mbox_msg;
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   186
        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
   187
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   188
        EC_ERR("Mailbox error response received from slave %u - ",
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   189
                slave->ring_position);
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   190
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   191
        for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) {
390
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   192
            if (mbox_msg->code != code) continue;
431
47e7f99005c0 Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents: 424
diff changeset
   193
            printk("Code 0x%04X: \"%s\".\n",
390
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   194
                   mbox_msg->code, mbox_msg->message);
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   195
            break;
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   196
        }
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   197
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
Florian Pose <fp@igh-essen.com>
parents: 325
diff changeset
   198
        if (!mbox_msg->code)
431
47e7f99005c0 Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents: 424
diff changeset
   199
            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
   200
47e7f99005c0 Improved output at mailbox error.
Florian Pose <fp@igh-essen.com>
parents: 424
diff changeset
   201
        if (slave->master->debug_level)
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   202
            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
   203
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   204
        return NULL;
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   205
    }
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   206
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   207
    return datagram->data + EC_MBOX_HEADER_SIZE;
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>
parents: 986
diff changeset
   209
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   210
/*****************************************************************************/