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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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   EtherCAT slave configuration structure.

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*/

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

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#ifndef __EC_SLAVE_CONFIG_H__

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#define __EC_SLAVE_CONFIG_H__

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#include <linux/list.h>

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#include "../include/ecrt.h"

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#include "globals.h"

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#include "slave.h"

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#include "fmmu_config.h"

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#include "pdo_list.h"

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

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/** EtherCAT slave configuration.

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 */

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struct ec_slave_config {

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    struct list_head list; /**< List item. */

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    ec_master_t *master; /**< Master owning the slave configuration. */

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    uint16_t alias; /**< Slave alias. */

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    uint16_t position; /**< Index after alias. If alias is zero, this is the

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                         ring position. */

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    uint32_t vendor_id; /**< Slave vendor ID. */

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    uint32_t product_code; /**< Slave product code. */

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    ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is

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                         offline. */

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    ec_pdo_list_t pdos[2]; /**< Output and input Pdo assignment / mapping. */

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    struct list_head sdo_configs; /**< List of Sdo configurations. */

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    struct list_head sdo_requests; /**< List of Sdo requests. */

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    ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */

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    uint8_t used_fmmus; /**< Number of FMMUs used. */

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};

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

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void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t,

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        uint16_t, uint32_t, uint32_t);

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void ec_slave_config_clear(ec_slave_config_t *);

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int ec_slave_config_attach(ec_slave_config_t *);

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void ec_slave_config_detach(ec_slave_config_t *);

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void ec_slave_config_load_default_assignment(ec_slave_config_t *);

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void ec_slave_config_load_default_mapping(const ec_slave_config_t *,

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        ec_pdo_t *);

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unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);

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const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

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        const ec_slave_config_t *, unsigned int);

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

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#endif