master/mailbox.c
author Florian Pose <fp@igh-essen.com>
Tue, 01 Aug 2006 15:19:11 +0000
changeset 321 64e20e6e9d0b
parent 295 934ec4051dd4
child 325 7833cf70c4f2
permissions -rw-r--r--
Renamed master parameter ec_eoe_devices to ec_eoeif_count.
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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 "datagram.h"
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#include "master.h"
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/*****************************************************************************/
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/**
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   Prepares a mailbox-send datagram.
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   \return pointer to mailbox datagram data
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*/
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uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *slave, /**< slave */
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                                    ec_datagram_t *datagram, /**< datagram */
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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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    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_datagram_npwr(datagram, 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(datagram->data,     size); // mailbox service data length
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    EC_WRITE_U16(datagram->data + 2, slave->station_address); // station addr.
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    EC_WRITE_U8 (datagram->data + 4, 0x00); // channel & priority
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    EC_WRITE_U8 (datagram->data + 5, type); // underlying protocol type
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    return datagram->data + 6;
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}
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/*****************************************************************************/
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/**
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   Prepares a datagram 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(const ec_slave_t *slave, /**< slave */
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                                ec_datagram_t *datagram /**< datagram */
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                                )
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{
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    // FIXME: second sync manager?
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    if (ec_datagram_nprd(datagram, 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 datagram.
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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_datagram_t *datagram /**< datagram */)
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{
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    return EC_READ_U8(datagram->data + 5) & 8 ? 1 : 0;
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}
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/*****************************************************************************/
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/**
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   Prepares a datagram 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(const ec_slave_t *slave, /**< slave */
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                                ec_datagram_t *datagram /**< datagram */
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                                )
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{
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    if (ec_datagram_nprd(datagram, 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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/**
195
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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(const ec_slave_t *slave, /**< slave */
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                             ec_datagram_t *datagram, /**< datagram */
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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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    size_t data_size;
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    if ((EC_READ_U8(datagram->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(datagram->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(datagram->data)) >
145
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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 datagram->data + 6;
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}
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/*****************************************************************************/
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/**
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   Sends a mailbox datagram 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(const ec_slave_t *slave, /**< slave */
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                                 ec_datagram_t *datagram, /**< datagram */
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                                 size_t *size /**< size of the received data */
145
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                                 )
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{
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    uint8_t type;
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    type = EC_READ_U8(datagram->data + 5);
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    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
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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, datagram, 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 datagram.
195
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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(const ec_slave_t *slave, /**< slave */
293
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                                      ec_datagram_t *datagram, /**< datagram */
195
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                                      uint8_t type, /**< expected protocol */
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                                      size_t *size /**< received data size */
145
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                                      )
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{
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    cycles_t start, end, timeout;
279
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145
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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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    {
293
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        if (ec_slave_mbox_prepare_check(slave, datagram)) return NULL;
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        if (unlikely(ec_master_simple_io(slave->master, datagram))) {
145
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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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293
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        if (ec_slave_mbox_check(datagram))
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            break; // proceed with receiving data
145
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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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293
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    if (ec_slave_mbox_prepare_fetch(slave, datagram)) return NULL;
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    if (unlikely(ec_master_simple_io(slave->master, datagram))) {
145
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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)
295
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   241
        EC_DBG("Mailbox receive took %ius.\n",
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   242
               ((unsigned int) (end - start) * 1000 / cpu_khz));
145
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293
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    return ec_slave_mbox_fetch(slave, datagram, type, size);
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   245
}
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/*****************************************************************************/