master/mailbox.c
author Andreas Stewering-Bone <ab@igh-essen.com>
Mon, 23 May 2011 12:23:21 +0200
changeset 2071 e797dc47018b
parent 2045 ff2a13a4603c
child 2094 83e9160319ec
permissions -rw-r--r--
Fix for new locking for rtdm module
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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 "slave.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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   Mailbox constructor.
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*/
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void ec_mbox_init(ec_mailbox_t* mbox, /** mailbox */
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                        ec_datagram_t* datagram  /**< Datagram used for the mailbox content. */
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                        )
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{
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    mbox->datagram = datagram;
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    ec_datagram_init(&mbox->end_datagram);
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#endif
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}
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/*****************************************************************************/
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/**
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   Clears mailbox datagrams.
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*/
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void ec_mbox_clear(ec_mailbox_t* mbox /** mailbox */
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                         )
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{
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    ec_datagram_clear(&mbox->end_datagram);
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#endif
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}
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/*****************************************************************************/
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/**
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   Queues the slave datagrams.
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*/
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void  ec_slave_mbox_queue_datagrams(const ec_slave_t* slave, /** slave */
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                                    ec_mailbox_t* mbox /** mailbox */
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                                    )
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{
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    ec_master_queue_request_fsm_datagram(slave->master, mbox->datagram);
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    if (mbox->end_datagram.type != EC_DATAGRAM_NONE)
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    {
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        ec_master_queue_request_fsm_datagram(slave->master, &mbox->end_datagram);
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    }
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#endif
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}
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/*****************************************************************************/
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/**
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   Queues the datagrams.
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*/
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void  ec_master_mbox_queue_datagrams(ec_master_t* master, /** master */
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                                    ec_mailbox_t* mbox /** mailbox */
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                                    )
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{
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    ec_master_queue_fsm_datagram(master, mbox->datagram);
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    if (mbox->end_datagram.type != EC_DATAGRAM_NONE)
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    {
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        ec_master_queue_fsm_datagram(master, &mbox->end_datagram);
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    }
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#endif
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}
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145
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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, or ERR_PTR() code.
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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_mailbox_t* mbox, /** mailbox */
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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_datagram_t* datagram = mbox->datagram;
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    size_t total_size;
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    int ret;
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    if (unlikely(!slave->sii.mailbox_protocols)) {
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        EC_SLAVE_ERR(slave, "Slave does not support mailbox"
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                " communication!\n");
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        return ERR_PTR(-EPROTONOSUPPORT);
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    }
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    total_size = EC_MBOX_HEADER_SIZE + size;
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    if (unlikely(total_size > slave->configured_rx_mailbox_size)) {
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        EC_SLAVE_ERR(slave, "Data size (%zu) does not fit in mailbox (%u)!\n",
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                total_size, slave->configured_rx_mailbox_size);
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        return ERR_PTR(-EOVERFLOW);
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    }
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    ret = ec_datagram_fpwr(datagram, slave->station_address,
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                           slave->configured_rx_mailbox_offset,
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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                           total_size
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#else
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                           slave->configured_rx_mailbox_size
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#endif
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                           );
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    if (ret)
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        return ERR_PTR(ret);
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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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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    /* in order to fulfil the ESC's mailbox protocol,
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       at least the last byte of the mailbox must be written */
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    if (total_size < slave->configured_rx_mailbox_size) {
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        ret = ec_datagram_fpwr(&mbox->end_datagram, slave->station_address,
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            slave->configured_rx_mailbox_offset+slave->configured_rx_mailbox_size-1,
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            1);
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        if (ret)
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            return ERR_PTR(ret);
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    }
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#endif
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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_mailbox_t* mbox /** mailbox */
279
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                                )
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{
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    ec_datagram_t* datagram = mbox->datagram;
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    int ret = ec_datagram_fprd(datagram, slave->station_address, 0x808, 8);
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    if (ret)
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        return ret;
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    ec_datagram_zero(datagram);
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    mbox->end_datagram.type = EC_DATAGRAM_NONE;
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#endif
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    return 0;
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}
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/*****************************************************************************/
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/**
293
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   Processes a mailbox state checking datagram.
195
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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(ec_mailbox_t* mbox /** mailbox */)
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{
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    return EC_READ_U8(mbox->datagram->data + 5) & 8 ? 1 : 0;
293
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}
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/*****************************************************************************/
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/**
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   Prepares a datagram to fetch mailbox data.
195
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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_mailbox_t* mbox /** mailbox */
279
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                                )
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{
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    ec_datagram_t* datagram = mbox->datagram;
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    int ret = ec_datagram_fprd(datagram, slave->station_address,
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            slave->configured_tx_mailbox_offset,
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            slave->configured_tx_mailbox_size);
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    if (ret)
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   231
        return ret;
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    ec_datagram_zero(datagram);
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#ifdef EC_REDUCE_MBOXFRAMESIZE
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    mbox->end_datagram.type = EC_DATAGRAM_NONE;
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#endif
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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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/** Processes received mailbox data.
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 *
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 * \return Pointer to the received data, or ERR_PTR() code.
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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_mailbox_t* mbox, /** mailbox */
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                             uint8_t *type, /**< expected mailbox protocol */
195
674071846ee3 Translated all comments and documentation to english language.
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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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ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
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    ec_datagram_t* datagram = mbox->datagram;
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    size_t data_size;
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431
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    data_size = EC_READ_U16(datagram->data);
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1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
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    if (data_size + EC_MBOX_HEADER_SIZE > slave->configured_tx_mailbox_size) {
1921
d9cf40facbc4 Improved syslog macros.
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        EC_SLAVE_ERR(slave, "Corrupt mailbox response received!\n");
1338
eb31b5a135da merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
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        ec_print_data(datagram->data, slave->configured_tx_mailbox_size);
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        return ERR_PTR(-EPROTO);
293
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   279
    }
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390
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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;
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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        uint16_t code = EC_READ_U16(datagram->data + 8);
390
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1921
d9cf40facbc4 Improved syslog macros.
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        EC_SLAVE_ERR(slave, "Mailbox error response received - ");
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   290
        for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) {
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   291
            if (mbox_msg->code != code)
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   292
                continue;
431
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   293
            printk("Code 0x%04X: \"%s\".\n",
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   294
                    mbox_msg->code, mbox_msg->message);
390
685c267d80d8 Fixed mailbox bug, added mailbox error codes.
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   295
            break;
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   296
        }
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   297
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   298
        if (!mbox_msg->code)
431
47e7f99005c0 Improved output at mailbox error.
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   299
            printk("Unknown error reply code 0x%04X.\n", code);
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   300
47e7f99005c0 Improved output at mailbox error.
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   301
        if (slave->master->debug_level)
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   302
            ec_print_data(datagram->data + EC_MBOX_HEADER_SIZE, data_size);
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   303
1313
ed15eef57d5c Improved error case return codes of many functions.
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   304
        return ERR_PTR(-EPROTO);
1217
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   305
    }
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   306
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   307
    return datagram->data + EC_MBOX_HEADER_SIZE;
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   308
}
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   309
e8a9785e63c3 Introduced EC_MBOX_HEADER_SIZE.
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   310
/*****************************************************************************/