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ethercat
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ethercat/master/mailbox.c

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/******************************************************************************
*
* m a i l b o x . c
*
* Mailbox-Funktionen
*
* $Id$
*
*****************************************************************************/
#include <linux/slab.h>
#include <linux/delay.h>
#include "mailbox.h"
#include "command.h"
#include "master.h"
/*****************************************************************************/
/**
Bereitet ein Mailbox-Send-Kommando vor.
*/
uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Mailbox-Protokoll */
size_t size /**< Datengröße */
)
{
ec_command_t *command = &slave->mbox_command;
size_t total_size;
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 in mailbox!\n");
return NULL;
}
if (ec_command_npwr(command, slave->station_address,
slave->sii_rx_mailbox_offset,
slave->sii_rx_mailbox_size))
return NULL;
EC_WRITE_U16(command->data, size); // Mailbox service data length
EC_WRITE_U16(command->data + 2, slave->station_address); // Station address
EC_WRITE_U8 (command->data + 4, 0x00); // Channel & priority
EC_WRITE_U8 (command->data + 5, type); // Underlying protocol type
return command->data + 6;
}
/*****************************************************************************/
/**
Bereitet ein Kommando zum Abfragen des Mailbox-Zustandes vor.
*/
int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< Slave */)
{
ec_command_t *command = &slave->mbox_command;
// FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
if (ec_command_nprd(command, slave->station_address, 0x808, 8))
return -1;
return 0;
}
/*****************************************************************************/
/**
Liest den Mailbox-Zustand aus einem empfangenen Kommando.
*/
int ec_slave_mbox_check(const ec_slave_t *slave /**< Slave */)
{
return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;
}
/*****************************************************************************/
/**
Bereitet ein Kommando zum Laden von Daten von der Mailbox vor.
*/
int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< Slave */)
{
ec_command_t *command = &slave->mbox_command;
if (ec_command_nprd(command, slave->station_address,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size)) return -1;
return 0;
}
/*****************************************************************************/
/**
Verarbeitet empfangene Mailbox-Daten.
*/
uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Protokoll */
size_t *size /**< Größe der empfangenen
Daten */
)
{
ec_command_t *command = &slave->mbox_command;
size_t data_size;
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 NULL;
}
if ((data_size = EC_READ_U16(command->data)) >
slave->sii_tx_mailbox_size - 6) {
EC_ERR("Currupt mailbox response detected!\n");
return NULL;
}
*size = data_size;
return command->data + 6;
}
/*****************************************************************************/
/**
Sendet und wartet auf den Empfang eines Mailbox-Kommandos.
*/
uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< Slave */
size_t *size /**< Größe der gelesenen
Daten */
)
{
uint8_t type;
ec_command_t *command;
command = &slave->mbox_command;
type = EC_READ_U8(command->data + 5);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return NULL;
}
return ec_slave_mbox_simple_receive(slave, type, size);
}
/*****************************************************************************/
/**
Wartet auf den Empfang eines Mailbox-Kommandos.
*/
uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Protokoll */
size_t *size /**< Größe der gelesenen
Daten */
)
{
cycles_t start, end, timeout;
ec_command_t *command;
command = &slave->mbox_command;
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
if (ec_slave_mbox_prepare_check(slave)) return NULL;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return NULL;
}
end = get_cycles();
if (ec_slave_mbox_check(slave))
break; // Proceed with receiving data
if ((end - start) >= timeout) {
EC_ERR("Mailbox check - Slave %i timed out.\n",
slave->ring_position);
return NULL;
}
udelay(100);
}
if (ec_slave_mbox_prepare_fetch(slave)) return NULL;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return NULL;
}
if (unlikely(slave->master->debug_level) > 1)
EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
/ cpu_khz));
return ec_slave_mbox_fetch(slave, type, size);
}
/*****************************************************************************/
#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
/*****************************************************************************/
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