fp@145: /******************************************************************************
fp@145: *
fp@145: * $Id$
fp@145: *
fp@197: * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
fp@197: *
fp@197: * This file is part of the IgH EtherCAT Master.
fp@197: *
fp@197: * The IgH EtherCAT Master is free software; you can redistribute it
fp@197: * and/or modify it under the terms of the GNU General Public License
fp@246: * as published by the Free Software Foundation; either version 2 of the
fp@246: * License, or (at your option) any later version.
fp@197: *
fp@197: * The IgH EtherCAT Master is distributed in the hope that it will be
fp@197: * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@197: * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
fp@197: * GNU General Public License for more details.
fp@197: *
fp@197: * You should have received a copy of the GNU General Public License
fp@197: * along with the IgH EtherCAT Master; if not, write to the Free Software
fp@197: * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
fp@197: *
fp@246: * The right to use EtherCAT Technology is granted and comes free of
fp@246: * charge under condition of compatibility of product made by
fp@246: * Licensee. People intending to distribute/sell products based on the
fp@246: * code, have to sign an agreement to guarantee that products using
fp@246: * software based on IgH EtherCAT master stay compatible with the actual
fp@246: * EtherCAT specification (which are released themselves as an open
fp@246: * standard) as the (only) precondition to have the right to use EtherCAT
fp@246: * Technology, IP and trade marks.
fp@246: *
fp@145: *****************************************************************************/
fp@145:
fp@199: /**
fp@199: \file
fp@199: Mailbox functionality.
fp@199: */
fp@199:
fp@199: /*****************************************************************************/
fp@199:
fp@145: #include <linux/slab.h>
fp@145: #include <linux/delay.h>
fp@145:
fp@145: #include "mailbox.h"
fp@293: #include "datagram.h"
fp@145: #include "master.h"
fp@145:
fp@145: /*****************************************************************************/
fp@145:
fp@145: /**
fp@293: Prepares a mailbox-send datagram.
fp@293: \return pointer to mailbox datagram data
fp@195: */
fp@195:
fp@279: uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *slave, /**< slave */
fp@293: ec_datagram_t *datagram, /**< datagram */
fp@195: uint8_t type, /**< mailbox protocol */
fp@195: size_t size /**< size of the data */
fp@145: )
fp@145: {
fp@145: size_t total_size;
fp@145:
fp@834: 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@834: 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@815: if (ec_datagram_fpwr(datagram, slave->station_address,
fp@834: slave->sii.rx_mailbox_offset,
fp@834: slave->sii.rx_mailbox_size))
fp@293: return NULL;
fp@293:
fp@293: EC_WRITE_U16(datagram->data, size); // mailbox service data length
fp@293: EC_WRITE_U16(datagram->data + 2, slave->station_address); // station addr.
fp@293: EC_WRITE_U8 (datagram->data + 4, 0x00); // channel & priority
fp@293: EC_WRITE_U8 (datagram->data + 5, type); // underlying protocol type
fp@293:
fp@293: return datagram->data + 6;
fp@293: }
fp@293:
fp@293: /*****************************************************************************/
fp@293:
fp@293: /**
fp@293: Prepares a datagram for checking the mailbox state.
fp@786: \todo Determine sync manager used for receive mailbox
fp@195: \return 0 in case of success, else < 0
fp@195: */
fp@195:
fp@279: int ec_slave_mbox_prepare_check(const ec_slave_t *slave, /**< slave */
fp@293: ec_datagram_t *datagram /**< datagram */
fp@279: )
fp@279: {
fp@815: if (ec_datagram_fprd(datagram, 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@293: Processes a mailbox state checking datagram.
fp@195: \return 0 in case of success, else < 0
fp@195: */
fp@195:
fp@293: int ec_slave_mbox_check(const ec_datagram_t *datagram /**< datagram */)
fp@293: {
fp@293: return EC_READ_U8(datagram->data + 5) & 8 ? 1 : 0;
fp@293: }
fp@293:
fp@293: /*****************************************************************************/
fp@293:
fp@293: /**
fp@293: Prepares a datagram to fetch mailbox data.
fp@195: \return 0 in case of success, else < 0
fp@195: */
fp@195:
fp@279: int ec_slave_mbox_prepare_fetch(const ec_slave_t *slave, /**< slave */
fp@293: ec_datagram_t *datagram /**< datagram */
fp@279: )
fp@279: {
fp@815: if (ec_datagram_fprd(datagram, slave->station_address,
fp@834: slave->sii.tx_mailbox_offset,
fp@834: slave->sii.tx_mailbox_size)) return -1;
fp@145: return 0;
fp@145: }
fp@145:
fp@145: /*****************************************************************************/
fp@145:
fp@145: /**
fp@390: Mailbox error codes.
fp@390: */
fp@390:
fp@390: const ec_code_msg_t mbox_error_messages[] = {
fp@390: {0x00000001, "MBXERR_SYNTAX"},
fp@390: {0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},
fp@390: {0x00000003, "MBXERR_INVAILDCHANNEL"},
fp@390: {0x00000004, "MBXERR_SERVICENOTSUPPORTED"},
fp@390: {0x00000005, "MBXERR_INVALIDHEADER"},
fp@390: {0x00000006, "MBXERR_SIZETOOSHORT"},
fp@390: {0x00000007, "MBXERR_NOMOREMEMORY"},
fp@390: {0x00000008, "MBXERR_INVALIDSIZE"},
fp@390: {}
fp@390: };
fp@390:
fp@390: /*****************************************************************************/
fp@390:
fp@390: /**
fp@195: Processes received mailbox data.
fp@195: \return pointer to the received data
fp@195: */
fp@195:
fp@279: uint8_t *ec_slave_mbox_fetch(const ec_slave_t *slave, /**< slave */
fp@293: ec_datagram_t *datagram, /**< datagram */
fp@390: uint8_t *type, /**< expected mailbox protocol */
fp@195: size_t *size /**< size of the received data */
fp@145: )
fp@145: {
fp@145: size_t data_size;
fp@145:
fp@431: data_size = EC_READ_U16(datagram->data);
fp@431:
fp@834: if (data_size > slave->sii.tx_mailbox_size - 6) {
fp@504: EC_ERR("Corrupt mailbox response received from slave %i!\n",
fp@504: slave->ring_position);
fp@834: ec_print_data(datagram->data, slave->sii.tx_mailbox_size);
fp@293: return NULL;
fp@293: }
fp@293:
fp@390: *type = EC_READ_U8(datagram->data + 5) & 0x0F;
fp@390: *size = data_size;
fp@390:
fp@390: if (*type == 0x00) {
fp@390: const ec_code_msg_t *mbox_msg;
fp@390: uint16_t code = EC_READ_U16(datagram->data + 8);
fp@390:
fp@504: EC_ERR("Mailbox error response received from slave %i - ",
fp@504: slave->ring_position);
fp@424:
fp@390: for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) {
fp@390: if (mbox_msg->code != code) continue;
fp@431: printk("Code 0x%04X: \"%s\".\n",
fp@390: mbox_msg->code, mbox_msg->message);
fp@390: break;
fp@390: }
fp@390:
fp@390: if (!mbox_msg->code)
fp@431: printk("Unknown error reply code 0x%04X.\n", code);
fp@431:
fp@431: if (slave->master->debug_level)
fp@431: ec_print_data(datagram->data + 6, data_size);
fp@390:
fp@145: return NULL;
fp@145: }
fp@145:
fp@293: return datagram->data + 6;
fp@293: }
fp@293:
fp@293: /*****************************************************************************/