/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
Mailbox functionality.
*/
/*****************************************************************************/
#include <linux/slab.h>
#include <linux/delay.h>
#include "slave.h"
#include "mailbox.h"
#include "datagram.h"
#include "master.h"
/*****************************************************************************/
/**
Mailbox constructor.
*/
void ec_mbox_init(ec_mailbox_t* mbox, /** mailbox */
ec_datagram_t* datagram /**< Datagram used for the mailbox content. */
)
{
mbox->datagram = datagram;
#ifdef EC_REDUCE_MBOXFRAMESIZE
ec_datagram_init(&mbox->end_datagram);
#endif
}
/*****************************************************************************/
/**
Clears mailbox datagrams.
*/
void ec_mbox_clear(ec_mailbox_t* mbox /** mailbox */
)
{
#ifdef EC_REDUCE_MBOXFRAMESIZE
ec_datagram_clear(&mbox->end_datagram);
#endif
}
/*****************************************************************************/
/** Queues the slave datagrams.
*/
void ec_slave_mbox_queue_datagrams(
const ec_slave_t *slave, /** slave */
ec_mailbox_t *mbox /** mailbox */
)
{
ec_master_queue_request_fsm_datagram(slave->master, mbox->datagram);
#ifdef EC_REDUCE_MBOXFRAMESIZE
if (mbox->end_datagram.type != EC_DATAGRAM_NONE) {
ec_master_queue_request_fsm_datagram(slave->master,
&mbox->end_datagram);
}
#endif
}
/*****************************************************************************/
/** Queues the datagrams.
*/
void ec_master_mbox_queue_datagrams(
ec_master_t *master, /** master */
ec_mailbox_t *mbox /** mailbox */
)
{
ec_master_queue_fsm_datagram(master, mbox->datagram);
#ifdef EC_REDUCE_MBOXFRAMESIZE
if (mbox->end_datagram.type != EC_DATAGRAM_NONE) {
ec_master_queue_fsm_datagram(master, &mbox->end_datagram);
}
#endif
}
/*****************************************************************************/
/**
Prepares a mailbox-send datagram.
\return Pointer to mailbox datagram data, or ERR_PTR() code.
*/
uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t* slave, /** slave */
ec_mailbox_t* mbox, /** mailbox */
uint8_t type, /**< mailbox protocol */
size_t size /**< size of the data */
)
{
ec_datagram_t* datagram = mbox->datagram;
size_t total_size;
int ret;
if (unlikely(!slave->sii.mailbox_protocols)) {
EC_SLAVE_ERR(slave, "Slave does not support mailbox"
" communication!\n");
return ERR_PTR(-EPROTONOSUPPORT);
}
total_size = EC_MBOX_HEADER_SIZE + size;
if (unlikely(total_size > slave->configured_rx_mailbox_size)) {
EC_SLAVE_ERR(slave, "Data size (%zu) does not fit in mailbox (%u)!\n",
total_size, slave->configured_rx_mailbox_size);
return ERR_PTR(-EOVERFLOW);
}
ret = ec_datagram_fpwr(datagram, slave->station_address,
slave->configured_rx_mailbox_offset,
#ifdef EC_REDUCE_MBOXFRAMESIZE
total_size
#else
slave->configured_rx_mailbox_size
#endif
);
if (ret)
return ERR_PTR(ret);
EC_WRITE_U16(datagram->data, size); // mailbox service data length
EC_WRITE_U16(datagram->data + 2, slave->station_address); // station addr.
EC_WRITE_U8 (datagram->data + 4, 0x00); // channel & priority
EC_WRITE_U8 (datagram->data + 5, type); // underlying protocol type
#ifdef EC_REDUCE_MBOXFRAMESIZE
/* in order to fulfil the ESC's mailbox protocol,
at least the last byte of the mailbox must be written */
if (total_size < slave->configured_rx_mailbox_size) {
ret = ec_datagram_fpwr(&mbox->end_datagram, slave->station_address,
slave->configured_rx_mailbox_offset+slave->configured_rx_mailbox_size-1,
1);
if (ret)
return ERR_PTR(ret);
}
#endif
return datagram->data + EC_MBOX_HEADER_SIZE;
}
/*****************************************************************************/
/**
Prepares a datagram for checking the mailbox state.
\todo Determine sync manager used for receive mailbox
\return 0 in case of success, else < 0
*/
int ec_slave_mbox_prepare_check(const ec_slave_t* slave, /** slave */
ec_mailbox_t* mbox /** mailbox */
)
{
ec_datagram_t* datagram = mbox->datagram;
int ret = ec_datagram_fprd(datagram, slave->station_address, 0x808, 8);
if (ret)
return ret;
ec_datagram_zero(datagram);
#ifdef EC_REDUCE_MBOXFRAMESIZE
mbox->end_datagram.type = EC_DATAGRAM_NONE;
#endif
return 0;
}
/*****************************************************************************/
/**
Processes a mailbox state checking datagram.
\return 0 in case of success, else < 0
*/
int ec_slave_mbox_check(ec_mailbox_t* mbox /** mailbox */)
{
return EC_READ_U8(mbox->datagram->data + 5) & 8 ? 1 : 0;
}
/*****************************************************************************/
/**
Prepares a datagram to fetch mailbox data.
\return 0 in case of success, else < 0
*/
int ec_slave_mbox_prepare_fetch(const ec_slave_t* slave, /** slave */
ec_mailbox_t* mbox /** mailbox */
)
{
ec_datagram_t* datagram = mbox->datagram;
int ret = ec_datagram_fprd(datagram, slave->station_address,
slave->configured_tx_mailbox_offset,
slave->configured_tx_mailbox_size);
if (ret)
return ret;
ec_datagram_zero(datagram);
#ifdef EC_REDUCE_MBOXFRAMESIZE
mbox->end_datagram.type = EC_DATAGRAM_NONE;
#endif
return 0;
}
/*****************************************************************************/
/**
Mailbox error codes.
*/
const ec_code_msg_t mbox_error_messages[] = {
{0x00000001, "MBXERR_SYNTAX"},
{0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},
{0x00000003, "MBXERR_INVAILDCHANNEL"},
{0x00000004, "MBXERR_SERVICENOTSUPPORTED"},
{0x00000005, "MBXERR_INVALIDHEADER"},
{0x00000006, "MBXERR_SIZETOOSHORT"},
{0x00000007, "MBXERR_NOMOREMEMORY"},
{0x00000008, "MBXERR_INVALIDSIZE"},
{}
};
/*****************************************************************************/
/** Processes received mailbox data.
*
* \return Pointer to the received data, or ERR_PTR() code.
*/
uint8_t *ec_slave_mbox_fetch(const ec_slave_t* slave, /** slave */
ec_mailbox_t* mbox, /** mailbox */
uint8_t *type, /**< expected mailbox protocol */
size_t *size /**< size of the received data */
)
{
ec_datagram_t* datagram = mbox->datagram;
size_t data_size;
data_size = EC_READ_U16(datagram->data);
if (data_size + EC_MBOX_HEADER_SIZE > slave->configured_tx_mailbox_size) {
EC_SLAVE_ERR(slave, "Corrupt mailbox response received!\n");
ec_print_data(datagram->data, slave->configured_tx_mailbox_size);
return ERR_PTR(-EPROTO);
}
*type = EC_READ_U8(datagram->data + 5) & 0x0F;
*size = data_size;
if (*type == 0x00) {
const ec_code_msg_t *mbox_msg;
uint16_t code = EC_READ_U16(datagram->data + 8);
EC_SLAVE_ERR(slave, "Mailbox error response received - ");
for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) {
if (mbox_msg->code != code)
continue;
printk("Code 0x%04X: \"%s\".\n",
mbox_msg->code, mbox_msg->message);
break;
}
if (!mbox_msg->code)
printk("Unknown error reply code 0x%04X.\n", code);
if (slave->master->debug_level)
ec_print_data(datagram->data + EC_MBOX_HEADER_SIZE, data_size);
return ERR_PTR(-EPROTO);
}
return datagram->data + EC_MBOX_HEADER_SIZE;
}
/*****************************************************************************/