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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 methods.

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*/

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

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#include <linux/module.h>

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#include <linux/delay.h>

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#include "globals.h"

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#include "slave.h"

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#include "datagram.h"

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#include "master.h"

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

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extern const ec_code_msg_t al_status_messages[];

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

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void ec_slave_clear(struct kobject *);

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void ec_slave_sdos_clear(struct kobject *);

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

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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

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                                 const char *, size_t);

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

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/** \cond */

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EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_WRITE_ATTR(state);

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EC_SYSFS_READ_WRITE_ATTR(eeprom);

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static struct attribute *def_attrs[] = {

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    &attr_info,

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    &attr_state,

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    &attr_eeprom,

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    NULL,

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};

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static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

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static struct kobj_type ktype_ec_slave = {

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    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

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static struct kobj_type ktype_ec_slave_sdos = {

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    .release = ec_slave_sdos_clear

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};

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/** \endcond */

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

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/**

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   Slave constructor.

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   \return 0 in case of success, else < 0

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*/

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

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                  ec_master_t *master, /**< EtherCAT master */

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                  uint16_t ring_position, /**< ring position */

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                  uint16_t station_address /**< station address to configure */

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                  )

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{

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    unsigned int i;

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    slave->ring_position = ring_position;

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    slave->station_address = station_address;

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    slave->master = master;

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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->self_configured = 0;

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    slave->error_flag = 0;

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    slave->fmmu_count = 0;

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    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

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    slave->eeprom_data = NULL;

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    slave->eeprom_size = 0;

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    slave->sii_alias = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->sii_rx_mailbox_offset = 0;

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    slave->sii_rx_mailbox_size = 0;

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    slave->sii_tx_mailbox_offset = 0;

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    slave->sii_tx_mailbox_size = 0;

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    slave->sii_mailbox_protocols = 0;

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    slave->sii_group = NULL;

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    slave->sii_image = NULL;

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    slave->sii_order = NULL;

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    slave->sii_name = NULL;

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    slave->sii_current_on_ebus = 0;

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    INIT_LIST_HEAD(&slave->sii_pdos);

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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->sdo_confs);

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    slave->sdo_dictionary_fetched = 0;

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    slave->jiffies_preop = 0;

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    for (i = 0; i < 4; i++) {

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        slave->dl_link[i] = 0;

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        slave->dl_loop[i] = 0;

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        slave->dl_signal[i] = 0;

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        slave->sii_physical_layer[i] = 0xFF;

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    }

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    // init kobject and add it to the hierarchy

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

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    kobject_init(&slave->kobj);

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    slave->kobj.ktype = &ktype_ec_slave;

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

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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

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

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        goto out_slave_put;

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    }

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    if (kobject_add(&slave->kobj)) {

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        EC_ERR("Failed to add slave's kobject.\n");

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        goto out_slave_put;

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    }

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    // init SDO kobject and add it to the hierarchy

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    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&slave->sdo_kobj);

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    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

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

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    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

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

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        goto out_sdo_put;

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    }

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    if (kobject_add(&slave->sdo_kobj)) {

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        EC_ERR("Failed to add SDOs kobject.\n");

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        goto out_sdo_put;

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    }

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    return 0;

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 out_sdo_put:

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    kobject_put(&slave->sdo_kobj);

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    kobject_del(&slave->kobj);

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 out_slave_put:

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    kobject_put(&slave->kobj);

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    return -1;

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}

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

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/**

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   Slave destructor.

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   Clears and frees a slave object.

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*/

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void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)

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{

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    ec_sdo_t *sdo, *next_sdo;

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    // free all SDOs

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    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {

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        list_del(&sdo->list);

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        ec_sdo_destroy(sdo);

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    }

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    // free SDO kobject

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    kobject_del(&slave->sdo_kobj);

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    kobject_put(&slave->sdo_kobj);

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    // destroy self

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    kobject_del(&slave->kobj);

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    kobject_put(&slave->kobj);

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}

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

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/**

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   Clear and free slave.

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   This method is called by the kobject,

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   once there are no more references to it.

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*/

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void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

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{

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    ec_slave_t *slave;

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    ec_sdo_data_t *sdodata, *next_sdodata;

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    slave = container_of(kobj, ec_slave_t, kobj);

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    }

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    // free all sync managers

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    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {

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        list_del(&pdo->list);

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        kfree(pdo);

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    }

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    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

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        list_del(&sdodata->list);

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        kfree(sdodata->data);

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        kfree(sdodata);

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    }

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    if (slave->eeprom_data) kfree(slave->eeprom_data);

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    kfree(slave);

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}

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

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/**

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*/

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void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)

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{

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}

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

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/**

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   Reset slave from operation mode.

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*/

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void ec_slave_reset(ec_slave_t *slave /**< EtherCAT slave */)

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{

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    ec_sdo_data_t *sdodata, *next_sdodata;

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    slave->fmmu_count = 0;

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    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

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        list_del(&sdodata->list);

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        kfree(sdodata->data);

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        kfree(sdodata);

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    }

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    // remove estimated sync manager sizes

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 */

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                            ec_slave_state_t state /**< new state */

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                            )

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{

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    slave->requested_state = state;

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    slave->error_flag = 0;

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}

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

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/**

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   Fetches data from a STRING category.

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   \return 0 in case of success, else < 0

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*/

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    size_t size;

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    off_t offset;

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    offset = 1;

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        size = data[offset];

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        // allocate memory for string structure and data at a single blow

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            EC_ERR("Failed to allocate string memory.\n");

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        offset += 1 + size;

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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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   Fetches data from a GENERAL category.

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   \return 0 in case of success, else < 0

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*/

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{

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    unsigned int i;

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    for (i = 0; i < 4; i++)

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        slave->sii_physical_layer[i] =

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            (data[4] & (0x03 << (i * 2))) >> (i * 2);

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    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);

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}

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

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/**

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   Fetches data from a SYNC MANAGER category.

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   \return 0 in case of success, else < 0

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*/

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