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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 %u 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 = EC_MBOX_HEADER_SIZE + size;

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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_fpwr(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 + EC_MBOX_HEADER_SIZE;

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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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   \todo Determine sync manager used for receive mailbox

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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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    if (ec_datagram_fprd(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_fprd(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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/**

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   Mailbox error codes.

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*/

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const ec_code_msg_t mbox_error_messages[] = {

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    {0x00000001, "MBXERR_SYNTAX"},

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    {0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},

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    {0x00000003, "MBXERR_INVAILDCHANNEL"},

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    {0x00000004, "MBXERR_SERVICENOTSUPPORTED"},

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    {0x00000005, "MBXERR_INVALIDHEADER"},

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    {0x00000006, "MBXERR_SIZETOOSHORT"},

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    {0x00000007, "MBXERR_NOMOREMEMORY"},

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    {0x00000008, "MBXERR_INVALIDSIZE"},

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    {}

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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(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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    data_size = EC_READ_U16(datagram->data);

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    if (data_size + EC_MBOX_HEADER_SIZE > slave->sii.tx_mailbox_size) {

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

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               slave->ring_position);

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

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        return NULL;

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    }

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

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    *size = data_size;

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    if (*type == 0x00) {

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        const ec_code_msg_t *mbox_msg;

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

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

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                slave->ring_position);

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

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

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

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                   mbox_msg->code, mbox_msg->message);

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            break;

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        }

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        if (!mbox_msg->code)

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

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        if (slave->master->debug_level)

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

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        return NULL;

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    }

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    return datagram->data + EC_MBOX_HEADER_SIZE;

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}

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