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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 master structure.

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*/

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

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#include <linux/list.h>

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#include <linux/sysfs.h>

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#include <linux/timer.h>

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#include <linux/wait.h>

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#include <asm/semaphore.h>

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#include "device.h"

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#include "domain.h"

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#include "fsm_master.h"

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

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/** EtherCAT master mode.

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 */

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typedef enum {

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    EC_MASTER_MODE_ORPHANED,

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    EC_MASTER_MODE_IDLE,

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    EC_MASTER_MODE_OPERATION

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} ec_master_mode_t;

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

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/** Cyclic statistics.

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 */

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typedef struct {

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    unsigned int timeouts; /**< datagram timeouts */

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    unsigned int corrupted; /**< corrupted frames */

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    unsigned int unmatched; /**< unmatched datagrams (received, but not

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                               queued any longer) */

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    unsigned long output_jiffies; /**< time of last output */

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} ec_stats_t;

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

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/** EtherCAT master.

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 *

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 * Manages slaves, domains and IO.

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 */

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struct ec_master {

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    struct kobject kobj; /**< kobject */

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    unsigned int index; /**< master index */

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    unsigned int reserved; /**< non-zero, if the master is reserved for RT */

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    ec_device_t main_device; /**< EtherCAT device */

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    const uint8_t *main_mac; /**< MAC address of main device */

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    ec_device_t backup_device; /**< EtherCAT backup device */

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    const uint8_t *backup_mac; /**< MAC address of backup device */

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    struct semaphore device_sem; /**< device semaphore */

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    ec_fsm_master_t fsm; /**< master state machine */

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    ec_datagram_t fsm_datagram; /**< datagram used for state machines */

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    ec_master_mode_t mode; /**< master mode */

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    unsigned int injection_seq_fsm; /**< datagram injection sequence number

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                                      for the FSM side */

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    unsigned int injection_seq_rt; /**< datagram injection sequence number

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                                     for the realtime side */

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    struct list_head slaves; /**< list of slaves on the bus */

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    unsigned int slave_count; /**< number of slaves on the bus */

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    struct list_head configs; /**< Bus configuration list. */

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    unsigned int configs_attached; /**< Slave configurations were attached. */

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    ec_request_state_t scan_state; /**< current scanning state */

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    unsigned int allow_scan; /**< non-zero, if slave scanning is allowed */

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    struct semaphore scan_sem; /**< semaphore protecting the scan_state

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                                 variable and the allow_scan flag */

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    wait_queue_head_t scan_queue; /**< queue for processes that wait for

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                                    slave scanning */

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    ec_request_state_t config_state; /**< state of slave configuration */

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    unsigned int allow_config; /**< non-zero, if slave scanning is allowed */

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    struct semaphore config_sem; /**< semaphore protecting the config_state

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                                   variable and the allow_config flag */

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    wait_queue_head_t config_queue; /**< queue for processes that wait for

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                                      slave configuration */

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    struct list_head datagram_queue; /**< datagram queue */

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    uint8_t datagram_index; /**< current datagram index */

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    struct list_head domains; /**< list of domains */

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    int debug_level; /**< master debug level */

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    ec_stats_t stats; /**< cyclic statistics */

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    unsigned int pdo_slaves_offline; /**< number of slaves, for which Pdos

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                                       were registered and that are offline

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                                       (used for bus status) */

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    unsigned int frames_timed_out; /**< there were frame timeouts in the last

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                                     call to ecrt_master_receive() */

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    int thread_id; /**< master thread PID */

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    struct completion thread_exit; /**< thread completion object */

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    uint32_t idle_cycle_times[HZ]; /**< Idle cycle times ring */

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    unsigned int idle_cycle_time_pos; /**< time ring buffer position */

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#ifdef EC_EOE

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    struct timer_list eoe_timer; /**< EoE timer object */

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    unsigned int eoe_running; /**< non-zero, if EoE processing is active. */

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    struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */

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    uint32_t eoe_cycle_times[HZ]; /**< EoE cycle times ring */

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    unsigned int eoe_cycle_time_pos; /**< time ring buffer position */

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#endif

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    spinlock_t internal_lock; /**< spinlock used in idle mode */

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    int (*request_cb)(void *); /**< lock request callback */

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    void (*release_cb)(void *); /**< lock release callback */

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    void *cb_data; /**< data parameter of locking callbacks */

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    int (*ext_request_cb)(void *); /**< external lock request callback */

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    void (*ext_release_cb)(void *); /**< externam lock release callback */

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    void *ext_cb_data; /**< data parameter of external locking callbacks */

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    struct list_head sii_requests; /**< SII write requests */

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    struct semaphore sii_sem; /**< semaphore protecting the list of

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                                   SII write requests */

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    wait_queue_head_t sii_queue; /**< wait queue for SII

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                                      write requests from user space */

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    struct list_head slave_sdo_requests; /**< Sdo access requests. */

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    struct semaphore sdo_sem; /**< semaphore protecting the list of

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                                   Sdo access requests */

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    wait_queue_head_t sdo_queue; /**< wait queue for Sdo access requests

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                                   from user space */

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};

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

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// master creation/deletion

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int ec_master_init(ec_master_t *, struct kobject *, unsigned int,

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        const uint8_t *, const uint8_t *);

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void ec_master_clear(ec_master_t *);

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// mode transitions

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int ec_master_enter_idle_mode(ec_master_t *);

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void ec_master_leave_idle_mode(ec_master_t *);

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int ec_master_enter_operation_mode(ec_master_t *);

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void ec_master_leave_operation_mode(ec_master_t *);

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#ifdef EC_EOE

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// EoE

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void ec_master_eoe_start(ec_master_t *);

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void ec_master_eoe_stop(ec_master_t *);

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#endif

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// datagram IO

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void ec_master_receive_datagrams(ec_master_t *, const uint8_t *, size_t);

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void ec_master_queue_datagram(ec_master_t *, ec_datagram_t *);

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// misc.

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int ec_master_attach_slave_configs(ec_master_t *);

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void ec_master_output_stats(ec_master_t *);

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#ifdef EC_EOE

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void ec_master_clear_eoe_handlers(ec_master_t *);

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#endif

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void ec_master_destroy_slaves(ec_master_t *);

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

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#endif