Plugfest: Sch?nheitskorrekturen an Mailbox.
authorFlorian Pose <fp@igh-essen.com>
Wed, 05 Apr 2006 08:47:28 +0000
changeset 154 94d780887be0
parent 153 32446a24c322
child 155 ff65679b65fe
Plugfest: Sch?nheitskorrekturen an Mailbox.
master/mailbox.c
master/mailbox.h
--- 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
-
-/*****************************************************************************/
--- 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 *);