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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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 *****************************************************************************/

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/**

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   \file

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   Canopen-over-EtherCAT functions.

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*/

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/*****************************************************************************/

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#include <linux/module.h>

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#include "canopen.h"

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/*****************************************************************************/

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ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);

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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

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                                    char *);

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void ec_sdo_clear(struct kobject *);

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void ec_sdo_entry_clear(struct kobject *);

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/*****************************************************************************/

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/** \cond */

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EC_SYSFS_READ_ATTR(info);

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static struct attribute *sdo_def_attrs[] = {

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    &attr_info,

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    NULL,

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};

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static struct sysfs_ops sdo_sysfs_ops = {

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    .show = &ec_show_sdo_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_sdo = {

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    .release = ec_sdo_clear,

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    .sysfs_ops = &sdo_sysfs_ops,

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    .default_attrs = sdo_def_attrs

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};

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static struct attribute *sdo_entry_def_attrs[] = {

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    &attr_info,

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    NULL,

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};

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static struct sysfs_ops sdo_entry_sysfs_ops = {

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    .show = &ec_show_sdo_entry_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_sdo_entry = {

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    .release = ec_sdo_entry_clear,

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    .sysfs_ops = &sdo_entry_sysfs_ops,

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    .default_attrs = sdo_entry_def_attrs

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};

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/** \endcond */

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/*****************************************************************************/

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/**

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   SDO constructor.

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*/

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int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

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                uint16_t index, /**< SDO index */

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                ec_slave_t *slave /**< parent slave */

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                )

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{

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    sdo->index = index;

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    sdo->object_code = 0x00;

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    sdo->name = NULL;

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    sdo->subindices = 0;

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    INIT_LIST_HEAD(&sdo->entries);

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    // init kobject and add it to the hierarchy

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    memset(&sdo->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&sdo->kobj);

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    sdo->kobj.ktype = &ktype_ec_sdo;

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    sdo->kobj.parent = &slave->kobj;

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    if (kobject_set_name(&sdo->kobj, "sdo%4X", sdo->index)) {

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        EC_ERR("Failed to set kobj name.\n");

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        return -1;

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO destructor.

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*/

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void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

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{

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    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

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    ec_sdo_entry_t *entry, *next;

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    // free all entries

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    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

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        list_del(&entry->list);

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        kobject_del(&entry->kobj);

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        kobject_put(&entry->kobj);

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    }

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    if (sdo->name) kfree(sdo->name);

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    kfree(sdo);

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}

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/*****************************************************************************/

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ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

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                    char *buffer /**< target buffer */

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                    )

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{

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    off_t off = 0;

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    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

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    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

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    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

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    return off;

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}

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/*****************************************************************************/

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ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

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                              struct attribute *attr,

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                              char *buffer

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                              )

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{

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    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

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    if (attr == &attr_info) {

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        return ec_sdo_info(sdo, buffer);

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO entry constructor.

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*/

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int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

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                      uint8_t subindex, /**< SDO entry subindex */

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                      ec_sdo_t *sdo /**< parent SDO */

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                      )

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{

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    entry->subindex = subindex;

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    entry->data_type = 0x0000;

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    entry->bit_length = 0;

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    entry->description = NULL;

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    // init kobject and add it to the hierarchy

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    memset(&entry->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&entry->kobj);

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    entry->kobj.ktype = &ktype_ec_sdo_entry;

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    entry->kobj.parent = &sdo->kobj;

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    if (kobject_set_name(&entry->kobj, "entry%02X", entry->subindex)) {

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        EC_ERR("Failed to set kobj name.\n");

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        return -1;

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    }

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    return 0;

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}

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/*****************************************************************************/

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/**

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   SDO destructor.

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*/

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void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

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{

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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

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    if (entry->description) kfree(entry->description);

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    kfree(entry);

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}

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/*****************************************************************************/

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ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

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                          char *buffer /**< target buffer */

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                          )

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{

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    off_t off = 0;

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    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

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    off += sprintf(buffer + off, "Description: %s\n",

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                   entry->description ? entry->description : "");

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    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

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    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

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    return off;

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}

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/*****************************************************************************/

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ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

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                                    struct attribute *attr,

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                                    char *buffer

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                                    )

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{

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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

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    if (attr == &attr_info) {

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        return ec_sdo_entry_info(entry, buffer);

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    }

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    return 0;

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}

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/*****************************************************************************/

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#if 0

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int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */

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                        uint16_t sdo_index, /**< SDO index */

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                        uint8_t sdo_subindex, /**< SDO subindex */

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                        uint8_t *target, /**< memory for value */

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                        size_t *size /**< target memory size */

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                        )

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{

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    uint8_t *data;

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    size_t rec_size, data_size;

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    uint32_t complete_size;

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    ec_datagram_t datagram;

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    ec_datagram_init(&datagram);

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    if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))

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        goto err;

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    EC_WRITE_U16(data, 0x2 << 12); // SDO request

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    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request

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    EC_WRITE_U16(data + 3, sdo_index);

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    EC_WRITE_U8 (data + 5, sdo_subindex);

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    if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))

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        goto err;

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    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request

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        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request

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        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",

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               sdo_index, sdo_subindex, slave->ring_position);

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        ec_canopen_abort_msg(EC_READ_U32(data + 6));

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        goto err;

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    }

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    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response

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        EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response

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        EC_READ_U16(data + 3) != sdo_index || // index

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        EC_READ_U8 (data + 5) != sdo_subindex) { // subindex

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        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);

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        EC_ERR("Invalid SDO upload response at slave %i!\n",

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               slave->ring_position);

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        ec_print_data(data, rec_size);

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        goto err;

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    }

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    if (rec_size < 10) {

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        EC_ERR("Received currupted SDO upload response!\n");

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        ec_print_data(data, rec_size);

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        goto err;

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    }

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    if ((complete_size = EC_READ_U32(data + 6)) > *size) {

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        EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",

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               complete_size, *size);

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        goto err;

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    }

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    data_size = rec_size - 10;

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    if (data_size != complete_size) {

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        EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");

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        goto err;

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    }

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    memcpy(target, data + 10, data_size);

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    ec_datagram_clear(&datagram);

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    return 0;

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 err:

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    ec_datagram_clear(&datagram);

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    return -1;

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}

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#endif

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/*****************************************************************************/