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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 structure.

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*/

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

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#include <linux/list.h>

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#include <linux/kobject.h>

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

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#include "globals.h"

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#include "datagram.h"

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#include "pdo.h"

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#include "sync.h"

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#include "sdo.h"

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

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/** Slave state mask.

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 *

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 * Apply this mask to a slave state byte to get the slave state without

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 * the error flag.

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 */

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#define EC_SLAVE_STATE_MASK 0x0F

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

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/** State of an EtherCAT slave.

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 */

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typedef enum {

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    EC_SLAVE_STATE_UNKNOWN = 0x00,

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    /**< unknown state */

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    EC_SLAVE_STATE_INIT = 0x01,

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    /**< INIT state (no mailbox communication, no IO) */

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    EC_SLAVE_STATE_PREOP = 0x02,

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    /**< PREOP state (mailbox communication, no IO) */

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    EC_SLAVE_STATE_SAFEOP = 0x04,

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    /**< SAFEOP (mailbox communication and input update) */

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    EC_SLAVE_STATE_OP = 0x08,

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    /**< OP (mailbox communication and input/output update) */

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    EC_SLAVE_STATE_ACK_ERR = 0x10

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    /**< Acknowledge/Error bit (no actual state) */

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} ec_slave_state_t;

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

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/** EtherCAT slave online state.

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 */

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typedef enum {

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    EC_SLAVE_OFFLINE,

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    EC_SLAVE_ONLINE

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} ec_slave_online_state_t;

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

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/** Supported mailbox protocols.

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 */

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enum {

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    EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */

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    EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */

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    EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */

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    EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */

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    EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */

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    EC_MBOX_VOE = 0x20  /**< Vendor specific */

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};

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

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/** Slave information interface CANopen-over-EtherCAT details flags.

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 */

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typedef struct {

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    uint8_t enable_sdo : 1; /**< Enable Sdo access. */

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    uint8_t enable_sdo_info : 1; /**< SDO information service available. */

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    uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */

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    uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */

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    uint8_t enable_upload_at_startup : 1; /**< ?. */

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    uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */

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} ec_sii_coe_details_t;

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

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/** Slave information interface general flags.

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 */

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typedef struct {

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    uint8_t enable_safeop : 1; /**< ?. */

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    uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */

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} ec_sii_general_flags_t;

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

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/** Slave information interface data.

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 */

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typedef struct {

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    // Non-category data 

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    uint16_t alias; /**< Configured station alias. */

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    uint32_t vendor_id; /**< Vendor ID. */

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    uint32_t product_code; /**< Vendor-specific product code. */

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    uint32_t revision_number; /**< Revision number. */

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    uint32_t serial_number; /**< Serial number. */

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    uint16_t rx_mailbox_offset; /**< Mailbox address (master to slave). */

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    uint16_t rx_mailbox_size; /**< Mailbox size (master to slave). */

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    uint16_t tx_mailbox_offset; /**< Mailbox address (slave to master). */

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    uint16_t tx_mailbox_size; /**< Mailbox size (slave to master). */

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    uint16_t mailbox_protocols; /**< Supported mailbox protocols. */

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    // Strings

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    char **strings; /**< Strings in SII categories. */

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    unsigned int string_count; /**< number of SII strings */

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    // General

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    unsigned int has_general; /**< General category present. */

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    char *group; /**< slave group acc. to SII */

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    char *image; /**< slave image name acc. to SII */

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    char *order; /**< slave order number acc. to SII */

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    char *name; /**< slave name acc. to SII */

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    uint8_t physical_layer[4]; /**< port media */

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    ec_sii_coe_details_t coe_details; /**< CoE detail flags. */

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    ec_sii_general_flags_t general_flags; /**< General flags. */

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    int16_t current_on_ebus; /**< power consumption */

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    // SyncM

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    ec_sync_t *syncs; /**< SII SYNC MANAGER categories */

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    unsigned int sync_count; /**< number of sync managers in SII */

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    // [RT]XPDO

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    struct list_head pdos; /**< SII [RT]XPDO categories */

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} ec_sii_t;

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

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/** EtherCAT slave.

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 */

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struct ec_slave

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{

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

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    struct kobject kobj; /**< kobject */

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    ec_master_t *master; /**< master owning the slave */

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    // addresses

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    uint16_t ring_position; /**< ring position */

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    uint16_t station_address; /**< configured station address */

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    // configuration

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    ec_slave_config_t *config; /**< Current configuration. */

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    ec_slave_state_t requested_state; /**< Requested application state. */

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    ec_slave_state_t current_state; /**< Current application state. */

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    ec_slave_online_state_t online_state; /**< online state */

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    unsigned int self_configured; /**< Slave was configured by this master. */

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    unsigned int error_flag; /**< Stop processing after an error. */

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    // base data

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    uint8_t base_type; /**< slave type */

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    uint8_t base_revision; /**< revision */

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    uint16_t base_build; /**< build number */

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    uint16_t base_fmmu_count; /**< number of supported FMMUs */

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    // data link status

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    uint8_t dl_link[4]; /**< link detected */

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    uint8_t dl_loop[4]; /**< loop closed */

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    uint8_t dl_signal[4]; /**< detected signal on RX port */

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    // SII

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    uint8_t *sii_data; /**< Complete SII image */

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    size_t sii_size; /**< size of the SII contents in bytes */

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    // slave information interface

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    ec_sii_t sii; /**< SII data. */

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    struct kobject sdo_kobj; /**< kobject for Sdos */

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    struct list_head sdo_dictionary; /**< Sdo dictionary list */

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    uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */

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    unsigned long jiffies_preop; /**< time, the slave went to PREOP */

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};

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

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// slave construction/destruction

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int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);

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void ec_slave_destroy(ec_slave_t *);

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void ec_slave_clear_sync_managers(ec_slave_t *);

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void ec_slave_request_state(ec_slave_t *, ec_slave_state_t);

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void ec_slave_set_state(ec_slave_t *, ec_slave_state_t);

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void ec_slave_set_online_state(ec_slave_t *, ec_slave_online_state_t);

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// SII categories

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int ec_slave_fetch_sii_strings(ec_slave_t *, const uint8_t *, size_t);

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int ec_slave_fetch_sii_general(ec_slave_t *, const uint8_t *, size_t);

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int ec_slave_fetch_sii_syncs(ec_slave_t *, const uint8_t *, size_t);

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int ec_slave_fetch_sii_pdos(ec_slave_t *, const uint8_t *, size_t,

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        ec_direction_t);

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// misc.

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ec_sync_t *ec_slave_get_pdo_sync(ec_slave_t *, ec_direction_t); 

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int ec_slave_validate(const ec_slave_t *, uint32_t, uint32_t);

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void ec_slave_sdo_dict_info(const ec_slave_t *,

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        unsigned int *, unsigned int *);

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ec_sdo_t *ec_slave_get_sdo(ec_slave_t *, uint16_t);

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const ec_pdo_t *ec_slave_find_pdo(const ec_slave_t *, uint16_t);

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

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#endif