fp@145: /******************************************************************************
fp@145:  *
fp@145:  *  m a i l b o x . c
fp@145:  *
fp@145:  *  Mailbox-Funktionen
fp@145:  *
fp@145:  *  $Id$
fp@145:  *
fp@145:  *****************************************************************************/
fp@145: 
fp@145: #include <linux/slab.h>
fp@145: #include <linux/delay.h>
fp@145: 
fp@145: #include "mailbox.h"
fp@145: #include "command.h"
fp@145: #include "master.h"
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Bereitet ein Mailbox-Send-Kommando vor.
fp@145:  */
fp@145: 
fp@145: uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< Slave */
fp@145:                                     uint8_t type, /**< Mailbox-Protokoll */
fp@145:                                     size_t size /**< Datengröße */
fp@145:                                     )
fp@145: {
fp@145:     ec_command_t *command = &slave->mbox_command;
fp@145:     size_t total_size;
fp@145: 
fp@145:     if (unlikely(!slave->sii_mailbox_protocols)) {
fp@145:         EC_ERR("Slave %i does not support mailbox communication!\n",
fp@145:                slave->ring_position);
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     total_size = size + 6;
fp@145:     if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
fp@145:         EC_ERR("Data size does not fit in mailbox!\n");
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     if (ec_command_npwr(command, slave->station_address,
fp@145:                         slave->sii_rx_mailbox_offset,
fp@145:                         slave->sii_rx_mailbox_size))
fp@145:         return NULL;
fp@145: 
fp@145:     EC_WRITE_U16(command->data,     size); // Mailbox service data length
fp@145:     EC_WRITE_U16(command->data + 2, slave->station_address); // Station address
fp@145:     EC_WRITE_U8 (command->data + 4, 0x00); // Channel & priority
fp@145:     EC_WRITE_U8 (command->data + 5, type); // Underlying protocol type
fp@145: 
fp@145:     return command->data + 6;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Bereitet ein Kommando zum Abfragen des Mailbox-Zustandes vor.
fp@145:  */
fp@145: 
fp@145: int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< Slave */)
fp@145: {
fp@145:     ec_command_t *command = &slave->mbox_command;
fp@145: 
fp@145:     // FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
fp@145:     if (ec_command_nprd(command, slave->station_address, 0x808, 8))
fp@145:         return -1;
fp@145: 
fp@145:     return 0;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Liest den Mailbox-Zustand aus einem empfangenen Kommando.
fp@145:  */
fp@145: 
fp@145: int ec_slave_mbox_check(const ec_slave_t *slave /**< Slave */)
fp@145: {
fp@145:     return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Bereitet ein Kommando zum Laden von Daten von der Mailbox vor.
fp@145:  */
fp@145: 
fp@145: int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< Slave */)
fp@145: {
fp@145:     ec_command_t *command = &slave->mbox_command;
fp@145: 
fp@145:     if (ec_command_nprd(command, slave->station_address,
fp@145:                         slave->sii_tx_mailbox_offset,
fp@145:                         slave->sii_tx_mailbox_size)) return -1;
fp@145:     return 0;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Verarbeitet empfangene Mailbox-Daten.
fp@145:  */
fp@145: 
fp@145: uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< Slave */
fp@145:                              uint8_t type, /**< Protokoll */
fp@145:                              size_t *size /**< Größe der empfangenen
fp@145:                                              Daten */
fp@145:                              )
fp@145: {
fp@145:     ec_command_t *command = &slave->mbox_command;
fp@145:     size_t data_size;
fp@145: 
fp@145:     if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {
fp@145:         EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
fp@145:                " slave %i!\n", EC_READ_U8(command->data + 5), type,
fp@145:                slave->ring_position);
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     if ((data_size = EC_READ_U16(command->data)) >
fp@145:         slave->sii_tx_mailbox_size - 6) {
fp@145:         EC_ERR("Currupt mailbox response detected!\n");
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     *size = data_size;
fp@145:     return command->data + 6;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Sendet und wartet auf den Empfang eines Mailbox-Kommandos.
fp@145:  */
fp@145: 
fp@145: uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< Slave */
fp@145:                                  size_t *size /**< Größe der gelesenen
fp@145:                                                  Daten */
fp@145:                                  )
fp@145: {
fp@145:     uint8_t type;
fp@145:     ec_command_t *command;
fp@145: 
fp@145:     command = &slave->mbox_command;
fp@145:     type = EC_READ_U8(command->data + 5);
fp@145: 
fp@145:     if (unlikely(ec_master_simple_io(slave->master, command))) {
fp@145:         EC_ERR("Mailbox checking failed on slave %i!\n",
fp@145:                slave->ring_position);
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     return ec_slave_mbox_simple_receive(slave, type, size);
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Wartet auf den Empfang eines Mailbox-Kommandos.
fp@145:  */
fp@145: 
fp@145: uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< Slave */
fp@145:                                       uint8_t type, /**< Protokoll */
fp@145:                                       size_t *size /**< Größe der gelesenen
fp@145:                                                       Daten */
fp@145:                                       )
fp@145: {
fp@145:     cycles_t start, end, timeout;
fp@145:     ec_command_t *command;
fp@145: 
fp@145:     command = &slave->mbox_command;
fp@145:     start = get_cycles();
fp@145:     timeout = (cycles_t) 100 * cpu_khz; // 100ms
fp@145: 
fp@145:     while (1)
fp@145:     {
fp@145:         if (ec_slave_mbox_prepare_check(slave)) return NULL;
fp@145:         if (unlikely(ec_master_simple_io(slave->master, command))) {
fp@145:             EC_ERR("Mailbox checking failed on slave %i!\n",
fp@145:                    slave->ring_position);
fp@145:             return NULL;
fp@145:         }
fp@145: 
fp@145:         end = get_cycles();
fp@145: 
fp@145:         if (ec_slave_mbox_check(slave))
fp@145:             break; // Proceed with receiving data
fp@145: 
fp@145:         if ((end - start) >= timeout) {
fp@145:             EC_ERR("Mailbox check - Slave %i timed out.\n",
fp@145:                    slave->ring_position);
fp@145:             return NULL;
fp@145:         }
fp@145: 
fp@145:         udelay(100);
fp@145:     }
fp@145: 
fp@145:     if (ec_slave_mbox_prepare_fetch(slave)) return NULL;
fp@145:     if (unlikely(ec_master_simple_io(slave->master, command))) {
fp@145:         EC_ERR("Mailbox receiving failed on slave %i!\n",
fp@145:                slave->ring_position);
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     if (unlikely(slave->master->debug_level) > 1)
fp@145:         EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
fp@145:                                                 / cpu_khz));
fp@145: 
fp@145:     return ec_slave_mbox_fetch(slave, type, size);
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: #if 0
fp@145: /**
fp@145:    Sendet ein Mailbox-Kommando.
fp@145:  */
fp@145: 
fp@145: int ec_slave_mbox_send(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@145:                        uint8_t type, /**< Unterliegendes Protokoll */
fp@145:                        const uint8_t *prot_data, /**< Protokoll-Daten */
fp@145:                        size_t size /**< Datengröße */
fp@145:                        )
fp@145: {
fp@145:     uint8_t *data;
fp@145:     ec_command_t command;
fp@145: 
fp@145: 
fp@145:     }
fp@145: 
fp@145:     if (!(data = kmalloc(slave->sii_rx_mailbox_size, GFP_KERNEL))) {
fp@145:         EC_ERR("Failed to allocate %i bytes of memory for mailbox data!\n",
fp@145:                slave->sii_rx_mailbox_size);
fp@145:         return -1;
fp@145:     }
fp@145: 
fp@145:     memset(data, 0x00, slave->sii_rx_mailbox_size);
fp@145:     EC_WRITE_U16(data,      size); // Length of the Mailbox service data
fp@145:     EC_WRITE_U16(data + 2,  slave->station_address); // Station address
fp@145:     EC_WRITE_U8 (data + 4,  0x00); // Channel & priority
fp@145:     EC_WRITE_U8 (data + 5,  type); // Underlying protocol type
fp@145:     memcpy(data + 6, prot_data, size);
fp@145: 
fp@145:     ec_command_init_npwr(&command, slave->station_address,
fp@145:                          slave->sii_rx_mailbox_offset,
fp@145:                          slave->sii_rx_mailbox_size, data);
fp@145:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@145:         EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fp@145:         kfree(data);
fp@145:         return -1;
fp@145:     }
fp@145: 
fp@145:     kfree(data);
fp@145:     return 0;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: /**
fp@145:    Sendet ein Mailbox-Kommando.
fp@145:  */
fp@145: 
fp@145: int ec_slave_mailbox_receive(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@145:                              uint8_t type, /**< Unterliegendes Protokoll */
fp@145:                              uint8_t *prot_data, /**< Protokoll-Daten */
fp@145:                              size_t *size /**< Datengröße des Puffers, später
fp@145:                                              Größe der gelesenen Daten */
fp@145:                              )
fp@145: {
fp@145:     ec_command_t command;
fp@145:     size_t data_size;
fp@145:     cycles_t start, end, timeout;
fp@145: 
fp@145:     // Read "written bit" of Sync-Manager
fp@145:     start = get_cycles();
fp@145:     timeout = (cycles_t) 100 * cpu_khz; // 100ms
fp@145: 
fp@145:     while (1)
fp@145:     {
fp@145:         // FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
fp@145:         ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
fp@145:         if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@145:             EC_ERR("Mailbox checking failed on slave %i!\n",
fp@145:                    slave->ring_position);
fp@145:             return -1;
fp@145:         }
fp@145: 
fp@145:         end = get_cycles();
fp@145: 
fp@145:         if (EC_READ_U8(command.data + 5) & 8)
fp@145:             break; // Proceed with received data
fp@145: 
fp@145:         if ((end - start) >= timeout) {
fp@145:             EC_ERR("Mailbox check - Slave %i timed out.\n",
fp@145:                    slave->ring_position);
fp@145:             return -1;
fp@145:         }
fp@145: 
fp@145:         udelay(100);
fp@145:     }
fp@145: 
fp@145:     ec_command_init_nprd(&command, slave->station_address,
fp@145:                          slave->sii_tx_mailbox_offset,
fp@145:                          slave->sii_tx_mailbox_size);
fp@145:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@145:         EC_ERR("Mailbox receiving failed on slave %i!\n",
fp@145:                slave->ring_position);
fp@145:         return -1;
fp@145:     }
fp@145: 
fp@145:     if ((EC_READ_U8(command.data + 5) & 0x0F) != type) {
fp@145:         EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
fp@145:                " slave %i!\n", EC_READ_U8(command.data + 5), type,
fp@145:                slave->ring_position);
fp@145:         return -1;
fp@145:     }
fp@145: 
fp@145:     if (unlikely(slave->master->debug_level) > 1)
fp@145:         EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
fp@145:                                                 / cpu_khz));
fp@145: 
fp@145:     if ((data_size = EC_READ_U16(command.data)) > *size) {
fp@145:         EC_ERR("Mailbox service data does not fit into buffer (%i > %i).\n",
fp@145:                data_size, *size);
fp@145:         return -1;
fp@145:     }
fp@145: 
fp@145:     if (data_size > slave->sii_tx_mailbox_size - 6) {
fp@145:         EC_ERR("Currupt mailbox response detected!\n");
fp@145:         return -1;
fp@145:     }
fp@145: 
fp@145:     memcpy(prot_data, command.data + 6, data_size);
fp@145:     *size = data_size;
fp@145:     return 0;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@145: uint8_t *ec_slave_init_mbox_send_cmd(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@145:                                      ec_command_t *command, /**< Kommando */
fp@145:                                      uint8_t type, /**< Protokolltyp */
fp@145:                                      size_t size /**< Datengröße */
fp@145:                                      )
fp@145: {
fp@145:     size_t total_size;
fp@145:     uint8_t *data;
fp@145: 
fp@145:     if (unlikely(!slave->sii_mailbox_protocols)) {
fp@145:         EC_ERR("Slave %i does not support mailbox communication!\n",
fp@145:                slave->ring_position);
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     total_size = size + 6;
fp@145:     if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
fp@145:         EC_ERR("Data size does not fit into mailbox of slave %i!\n",
fp@145:                slave->ring_position);
fp@145:         return NULL;
fp@145:     }
fp@145: 
fp@145:     data = command->data;
fp@145: 
fp@145:     memset(data, 0x00, slave->sii_rx_mailbox_size);
fp@145:     EC_WRITE_U16(data,     size); // Length of the Mailbox service data
fp@145:     EC_WRITE_U16(data + 2, slave->station_address); // Station address
fp@145:     EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
fp@145:     EC_WRITE_U8 (data + 5, type); // Underlying protocol type
fp@145: 
fp@145:     return data + 6;
fp@145: }
fp@145: #endif
fp@145: 
fp@145: /*****************************************************************************/