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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 sync manager methods.

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*/

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

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#include "globals.h"

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#include "slave.h"

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#include "master.h"

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#include "pdo.h"

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#include "sync.h"

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

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/**

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 * Constructor.

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 */

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void ec_sync_init(

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        ec_sync_t *sync, /**< EtherCAT sync manager */

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        ec_slave_t *slave, /**< EtherCAT slave */

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        unsigned int index /**< sync manager index */

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        )

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{

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    sync->slave = slave;

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    sync->index = index;    

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    sync->est_length = 0;

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    INIT_LIST_HEAD(&sync->pdos);

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    sync->alt_mapping = 0;

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}

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

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/**

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 * Destructor.

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 */

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void ec_sync_clear(

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        ec_sync_t *sync /**< EtherCAT sync manager */

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        )

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{

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    ec_sync_clear_pdos(sync);

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}

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

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/**

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 * Calculates the size of a sync manager by evaluating PDO sizes.

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 * \return sync manager size

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 */

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uint16_t ec_sync_size(

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        const ec_sync_t *sync /**< sync manager */

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        )

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{

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    const ec_pdo_t *pdo;

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    const ec_pdo_entry_t *pdo_entry;

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    unsigned int bit_size, byte_size;

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    if (sync->length) return sync->length;

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    if (sync->est_length) return sync->est_length;

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    bit_size = 0;

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    list_for_each_entry(pdo, &sync->pdos, list) {

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        list_for_each_entry(pdo_entry, &pdo->entries, list) {

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            bit_size += pdo_entry->bit_length;

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        }

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    }

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    if (bit_size % 8) // round up to full bytes

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        byte_size = bit_size / 8 + 1;

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    else

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        byte_size = bit_size / 8;

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    return byte_size;

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}

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

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/**

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   Initializes a sync manager configuration page with EEPROM data.

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   The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.

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*/

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void ec_sync_config(

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        const ec_sync_t *sync, /**< sync manager */

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        uint8_t *data /**> configuration memory */

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        )

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{

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    size_t sync_size = ec_sync_size(sync);

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    if (sync->slave->master->debug_level) {

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        EC_DBG("SM%i: Addr 0x%04X, Size %3i, Ctrl 0x%02X, En %i\n",

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               sync->index, sync->physical_start_address,

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               sync_size, sync->control_register, sync->enable);

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    }

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    EC_WRITE_U16(data,     sync->physical_start_address);

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    EC_WRITE_U16(data + 2, sync_size);

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    EC_WRITE_U8 (data + 4, sync->control_register);

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    EC_WRITE_U8 (data + 5, 0x00); // status byte (read only)

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    EC_WRITE_U16(data + 6, sync->enable ? 0x0001 : 0x0000); // enable

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}

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

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/**

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 */

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int ec_sync_add_pdo(

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        ec_sync_t *sync, /**< EtherCAT sync manager */

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        const ec_pdo_t *pdo /**< PDO to map */

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        )

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{

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    ec_pdo_t *mapped_pdo;

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    // PDO already mapped?

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    list_for_each_entry(mapped_pdo, &sync->pdos, list) {

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        if (mapped_pdo->index != pdo->index) continue;

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        EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);

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        return -1;

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    }

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    if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

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        EC_ERR("Failed to allocate memory for PDO mapping.\n");

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        return -1;

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    }

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    ec_pdo_init(mapped_pdo);

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    if (ec_pdo_copy(mapped_pdo, pdo)) {

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        ec_pdo_clear(mapped_pdo);

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        kfree(mapped_pdo);

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        return -1;

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    }

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    // set appropriate sync manager index

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    mapped_pdo->sync_index = sync->index;

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    list_add_tail(&mapped_pdo->list, &sync->pdos);

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    sync->alt_mapping = 1;

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    return 0;

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}

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

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/**

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 */

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void ec_sync_clear_pdos(

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        ec_sync_t *sync /**< EtherCAT sync manager */

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        )

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{

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    ec_pdo_t *pdo, *next;

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    // free all mapped PDOs

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    list_for_each_entry_safe(pdo, next, &sync->pdos, list) {

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        list_del(&pdo->list);

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        ec_pdo_clear(pdo);

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        kfree(pdo);

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    }

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    sync->alt_mapping = 1;

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}

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