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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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

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

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

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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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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#include <linux/slab.h>

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#include <linux/delay.h>

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#include "mailbox.h"

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#include "command.h"

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#include "master.h"

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

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/**

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   Prepares a mailbox-send command.

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   \return pointer to mailbox command data

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*/

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

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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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    ec_command_t *command = &slave->mbox_command;

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    size_t total_size;

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

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

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               slave->ring_position);

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        return NULL;

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    }

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    total_size = size + 6;

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

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

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        return NULL;

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    }

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    if (ec_command_npwr(command, slave->station_address,

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                        slave->sii_rx_mailbox_offset,

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                        slave->sii_rx_mailbox_size))

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        return NULL;

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

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

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

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

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    return command->data + 6;

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}

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

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/**

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   Prepares a command for checking the mailbox state.

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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(ec_slave_t *slave /**< slave */)

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{

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    ec_command_t *command = &slave->mbox_command;

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    // FIXME: second sync manager?

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

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        return -1;

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    return 0;

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}

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

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/**

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   Processes a mailbox state checking command.

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   \return 0 in case of success, else < 0

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*/

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

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{

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

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}

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

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/**

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   Prepares a command to fetch mailbox data.

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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_fetch(ec_slave_t *slave /**< slave */)

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{

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    ec_command_t *command = &slave->mbox_command;

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    if (ec_command_nprd(command, slave->station_address,

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                        slave->sii_tx_mailbox_offset,

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                        slave->sii_tx_mailbox_size)) return -1;

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    return 0;

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}

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

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/**

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   Processes received mailbox data.

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   \return pointer to the received data

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*/

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

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

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

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                             )

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{

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    ec_command_t *command = &slave->mbox_command;

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    size_t data_size;

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

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

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

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               slave->ring_position);

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        return NULL;

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    }

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

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        slave->sii_tx_mailbox_size - 6) {

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

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        return NULL;

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    }

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    *size = data_size;

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    return command->data + 6;

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}

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

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/**

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   Sends a mailbox command and waits for its reception.

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   \return pointer to the received data

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*/

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

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

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                                 )

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{

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    uint8_t type;

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    ec_command_t *command;

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    command = &slave->mbox_command;

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

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

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

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               slave->ring_position);

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        return NULL;

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    }

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    return ec_slave_mbox_simple_receive(slave, type, size);

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}

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

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/**

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   Waits for the reception of a mailbox command.

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   \return pointer to the received data

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*/

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

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                                      uint8_t type, /**< expected protocol */

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

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                                      )

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{

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    cycles_t start, end, timeout;

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    ec_command_t *command;

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    command = &slave->mbox_command;

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    start = get_cycles();

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

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    while (1)

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    {

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        if (ec_slave_mbox_prepare_check(slave)) return NULL;

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

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

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                   slave->ring_position);

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            return NULL;

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        }

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        end = get_cycles();

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        if (ec_slave_mbox_check(slave))

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            break; // proceed with receiving data

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

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

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                   slave->ring_position);

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            return NULL;

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        }

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        udelay(100);

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    }

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    if (ec_slave_mbox_prepare_fetch(slave)) return NULL;

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

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

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               slave->ring_position);

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        return NULL;

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    }

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

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

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                                                / cpu_khz));

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    return ec_slave_mbox_fetch(slave, type, size);

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}

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