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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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#include <linux/module.h>

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#include <linux/timer.h>

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#include <linux/spinlock.h>

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#include <linux/interrupt.h>

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#include "../../include/ecrt.h" // EtherCAT realtime interface

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#include "../../include/ecdb.h" // EtherCAT slave database

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#define PFX "ec_mini: "

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#define FREQUENCY 100

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//#define KBUS

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

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static struct timer_list timer;

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// EtherCAT

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static ec_master_t *master = NULL;

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static ec_domain_t *domain1 = NULL;

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spinlock_t master_lock = SPIN_LOCK_UNLOCKED;

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static ec_master_status_t master_status, old_status = {};

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// data fields

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#ifdef KBUS

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static void *r_inputs;

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static void *r_outputs;

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#endif

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static void *r_dig_out;

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#if 1

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ec_pdo_reg_t domain1_pdos[] = {

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    {"4", Beckhoff_EL2004_Outputs, &r_dig_out},

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    {}

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};

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#endif

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

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void run(unsigned long data)

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{

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    static unsigned int counter = 0;

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    static unsigned int blink = 0;

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    // receive

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    spin_lock(&master_lock);

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    ecrt_master_receive(master);

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    ecrt_domain_process(domain1);

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    spin_unlock(&master_lock);

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    // process data

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    // k_pos = EC_READ_U32(r_ssi);

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    EC_WRITE_U8(r_dig_out, blink ? 0x0F : 0x00);

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    if (counter) {

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        counter--;

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    }

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    else {

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        counter = FREQUENCY;

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        blink = !blink;

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        spin_lock(&master_lock);

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        ecrt_master_get_status(master, &master_status);

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        spin_unlock(&master_lock);

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        if (master_status.bus_status != old_status.bus_status) {

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            printk(KERN_INFO PFX "bus status changed to %u.\n",

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                    master_status.bus_status);

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        }

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        if (master_status.bus_tainted != old_status.bus_tainted) {

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            printk(KERN_INFO PFX "tainted flag changed to %u.\n",

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                    master_status.bus_tainted);

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        }

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        if (master_status.slaves_responding !=

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                old_status.slaves_responding) {

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            printk(KERN_INFO PFX "slaves_responding changed to %u.\n",

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                    master_status.slaves_responding);

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        }

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        old_status = master_status;

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    }

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#ifdef KBUS

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    EC_WRITE_U8(r_outputs + 2, blink ? 0xFF : 0x00);

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#endif

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    // send

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    spin_lock(&master_lock);

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    ecrt_domain_queue(domain1);

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    spin_unlock(&master_lock);

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    ecrt_master_run(master);

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    spin_lock(&master_lock);

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    ecrt_master_send(master);

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    spin_unlock(&master_lock);

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    // restart timer

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    timer.expires += HZ / FREQUENCY;

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    add_timer(&timer);

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}

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

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int request_lock(void *data)

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{

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    spin_lock(&master_lock);

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    return 0; // access allowed

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}

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

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void release_lock(void *data)

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{

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    spin_unlock(&master_lock);

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}

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

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int __init init_mini_module(void)

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{

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#if 0

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    ec_slave_t *slave;

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#endif

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    printk(KERN_INFO PFX "Starting...\n");

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    if (!(master = ecrt_request_master(0))) {

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        printk(KERN_ERR PFX "Requesting master 0 failed!\n");

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        goto out_return;

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    }

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    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

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    printk(KERN_INFO PFX "Registering domain...\n");

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    if (!(domain1 = ecrt_master_create_domain(master))) {

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        printk(KERN_ERR PFX "Domain creation failed!\n");

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        goto out_release_master;

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    }

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    printk(KERN_INFO PFX "Registering PDOs...\n");

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#if 1

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    if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {

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        printk(KERN_ERR PFX "PDO registration failed!\n");

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        goto out_release_master;

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    }

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#endif

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#ifdef KBUS

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    if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,

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                                        EC_DIR_OUTPUT, 0, 4, &r_outputs)) {

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        printk(KERN_ERR PFX "PDO registration failed!\n");

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        goto out_release_master;

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    }

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    if (!ecrt_domain_register_pdo_range(domain1, "0", Beckhoff_BK1120,

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                                        EC_DIR_INPUT, 0, 4, &r_inputs)) {

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        printk(KERN_ERR PFX "PDO registration failed!\n");

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        goto out_release_master;

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    }

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#endif

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#if 0

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    if (!(slave = ecrt_master_get_slave(master, "2")))

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        goto out_release_master;

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    if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))

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        goto out_release_master;

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#endif

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    printk(KERN_INFO PFX "Activating master...\n");

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    if (ecrt_master_activate(master)) {

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        printk(KERN_ERR PFX "Failed to activate master!\n");

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        goto out_release_master;

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    }

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    printk(KERN_INFO PFX "Starting cyclic sample thread.\n");

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    init_timer(&timer);

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    timer.function = run;

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    timer.expires = jiffies + 10;

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    add_timer(&timer);

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    printk(KERN_INFO PFX "Started.\n");

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    return 0;

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 out_release_master:

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    ecrt_release_master(master);

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 out_return:

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    return -1;

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}

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

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void __exit cleanup_mini_module(void)

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{

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    printk(KERN_INFO PFX "Stopping...\n");

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    del_timer_sync(&timer);

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    printk(KERN_INFO PFX "Releasing master...\n");

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    ecrt_release_master(master);

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    printk(KERN_INFO PFX "Stopped.\n");

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}

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

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MODULE_LICENSE("GPL");

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MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");

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MODULE_DESCRIPTION("EtherCAT minimal test environment");

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module_init(init_mini_module);

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module_exit(cleanup_mini_module);

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