# HG changeset patch # User Florian Pose # Date 1144226848 0 # Node ID 94d780887be010feb57467bd5e21bb4f19f1b3ae # Parent 32446a24c322074632f2a9aeff6d833431f56cc7 Plugfest: Sch?nheitskorrekturen an Mailbox. diff -r 32446a24c322 -r 94d780887be0 master/mailbox.c --- a/master/mailbox.c Wed Apr 05 08:45:34 2006 +0000 +++ b/master/mailbox.c Wed Apr 05 08:47:28 2006 +0000 @@ -106,8 +106,7 @@ uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< Slave */ uint8_t type, /**< Protokoll */ - size_t *size /**< Größe der empfangenen - Daten */ + size_t *size /**< Größe der empfangenen Daten */ ) { ec_command_t *command = &slave->mbox_command; @@ -213,165 +212,3 @@ } /*****************************************************************************/ - -#if 0 -/** - Sendet ein Mailbox-Kommando. - */ - -int ec_slave_mbox_send(ec_slave_t *slave, /**< EtherCAT-Slave */ - uint8_t type, /**< Unterliegendes Protokoll */ - const uint8_t *prot_data, /**< Protokoll-Daten */ - size_t size /**< Datengröße */ - ) -{ - uint8_t *data; - ec_command_t command; - - - } - - if (!(data = kmalloc(slave->sii_rx_mailbox_size, GFP_KERNEL))) { - EC_ERR("Failed to allocate %i bytes of memory for mailbox data!\n", - slave->sii_rx_mailbox_size); - return -1; - } - - memset(data, 0x00, slave->sii_rx_mailbox_size); - EC_WRITE_U16(data, size); // Length of the Mailbox service data - EC_WRITE_U16(data + 2, slave->station_address); // Station address - EC_WRITE_U8 (data + 4, 0x00); // Channel & priority - EC_WRITE_U8 (data + 5, type); // Underlying protocol type - memcpy(data + 6, prot_data, size); - - ec_command_init_npwr(&command, slave->station_address, - slave->sii_rx_mailbox_offset, - slave->sii_rx_mailbox_size, data); - if (unlikely(ec_master_simple_io(slave->master, &command))) { - EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position); - kfree(data); - return -1; - } - - kfree(data); - return 0; -} - -/*****************************************************************************/ - -/** - Sendet ein Mailbox-Kommando. - */ - -int ec_slave_mailbox_receive(ec_slave_t *slave, /**< EtherCAT-Slave */ - uint8_t type, /**< Unterliegendes Protokoll */ - uint8_t *prot_data, /**< Protokoll-Daten */ - size_t *size /**< Datengröße des Puffers, später - Größe der gelesenen Daten */ - ) -{ - ec_command_t command; - size_t data_size; - cycles_t start, end, timeout; - - // Read "written bit" of Sync-Manager - start = get_cycles(); - timeout = (cycles_t) 100 * cpu_khz; // 100ms - - while (1) - { - // FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox? - ec_command_init_nprd(&command, slave->station_address, 0x808, 8); - if (unlikely(ec_master_simple_io(slave->master, &command))) { - EC_ERR("Mailbox checking failed on slave %i!\n", - slave->ring_position); - return -1; - } - - end = get_cycles(); - - if (EC_READ_U8(command.data + 5) & 8) - break; // Proceed with received data - - if ((end - start) >= timeout) { - EC_ERR("Mailbox check - Slave %i timed out.\n", - slave->ring_position); - return -1; - } - - udelay(100); - } - - ec_command_init_nprd(&command, slave->station_address, - slave->sii_tx_mailbox_offset, - slave->sii_tx_mailbox_size); - if (unlikely(ec_master_simple_io(slave->master, &command))) { - EC_ERR("Mailbox receiving failed on slave %i!\n", - slave->ring_position); - return -1; - } - - if ((EC_READ_U8(command.data + 5) & 0x0F) != type) { - EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at" - " slave %i!\n", EC_READ_U8(command.data + 5), type, - slave->ring_position); - return -1; - } - - if (unlikely(slave->master->debug_level) > 1) - EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000 - / cpu_khz)); - - if ((data_size = EC_READ_U16(command.data)) > *size) { - EC_ERR("Mailbox service data does not fit into buffer (%i > %i).\n", - data_size, *size); - return -1; - } - - if (data_size > slave->sii_tx_mailbox_size - 6) { - EC_ERR("Currupt mailbox response detected!\n"); - return -1; - } - - memcpy(prot_data, command.data + 6, data_size); - *size = data_size; - return 0; -} - -/*****************************************************************************/ - -uint8_t *ec_slave_init_mbox_send_cmd(ec_slave_t *slave, /**< EtherCAT-Slave */ - ec_command_t *command, /**< Kommando */ - uint8_t type, /**< Protokolltyp */ - size_t size /**< Datengröße */ - ) -{ - size_t total_size; - uint8_t *data; - - if (unlikely(!slave->sii_mailbox_protocols)) { - EC_ERR("Slave %i does not support mailbox communication!\n", - slave->ring_position); - return NULL; - } - - total_size = size + 6; - if (unlikely(total_size > slave->sii_rx_mailbox_size)) { - EC_ERR("Data size does not fit into mailbox of slave %i!\n", - slave->ring_position); - return NULL; - } - - data = command->data; - - memset(data, 0x00, slave->sii_rx_mailbox_size); - EC_WRITE_U16(data, size); // Length of the Mailbox service data - EC_WRITE_U16(data + 2, slave->station_address); // Station address - EC_WRITE_U8 (data + 4, 0x00); // Channel & priority - EC_WRITE_U8 (data + 5, type); // Underlying protocol type - - return data + 6; -} -#endif - -/*****************************************************************************/ diff -r 32446a24c322 -r 94d780887be0 master/mailbox.h --- a/master/mailbox.h Wed Apr 05 08:45:34 2006 +0000 +++ b/master/mailbox.h Wed Apr 05 08:47:28 2006 +0000 @@ -16,9 +16,9 @@ /*****************************************************************************/ uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *, uint8_t, size_t); -int ec_slave_mbox_prepare_check(ec_slave_t *); -int ec_slave_mbox_check(const ec_slave_t *); -int ec_slave_mbox_prepare_fetch(ec_slave_t *); +int ec_slave_mbox_prepare_check(ec_slave_t *); +int ec_slave_mbox_check(const ec_slave_t *); +int ec_slave_mbox_prepare_fetch(ec_slave_t *); uint8_t *ec_slave_mbox_fetch(ec_slave_t *, uint8_t, size_t *); uint8_t *ec_slave_mbox_simple_io(ec_slave_t *, size_t *);