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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  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 and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  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 along

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 *  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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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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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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#ifndef __EC_SLAVE_H__

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#define __EC_SLAVE_H__

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#include <linux/list.h>

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#include <linux/kobject.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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#include "fsm_slave.h"

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#include "mailbox.h"

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

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/** Convenience macro for printing slave-specific information to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and

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 * POSITION is the slave's ring position.

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 *

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 * \param slave EtherCAT slave

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_SLAVE_INFO(slave, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT %u-%u: " fmt, slave->master->index, \

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                slave->ring_position, ##args); \

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        printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \

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                slave->ring_position, ##args);  \

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    } while (0)

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#else

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#define EC_SLAVE_INFO(slave, fmt, args...) \

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    printk(KERN_INFO "EtherCAT %u-%u: " fmt, slave->master->index, \

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            slave->ring_position, ##args)

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#endif

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/** Convenience macro for printing slave-specific errors to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and

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 * POSITION is the slave's ring position.

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 *

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 * \param slave EtherCAT slave

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_SLAVE_ERR(slave, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT ERROR %u-%u: " fmt, slave->master->index, \

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                slave->ring_position, ##args); \

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        printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \

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                slave->ring_position, ##args);  \

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    } while (0)

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#else

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#define EC_SLAVE_ERR(slave, fmt, args...) \

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    printk(KERN_ERR "EtherCAT ERROR %u-%u: " fmt, slave->master->index, \

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            slave->ring_position, ##args)

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#endif

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/** Convenience macro for printing slave-specific warnings to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and

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 * POSITION is the slave's ring position.

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 *

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 * \param slave EtherCAT slave

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_SLAVE_WARN(slave, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT WARNING %u-%u: " fmt, \

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                slave->master->index, slave->ring_position, ##args); \

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        printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \

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                slave->master->index, slave->ring_position, ##args);    \

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    } while (0)

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#else

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#define EC_SLAVE_WARN(slave, fmt, args...) \

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    printk(KERN_WARNING "EtherCAT WARNING %u-%u: " fmt, \

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            slave->master->index, slave->ring_position, ##args)

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#endif

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/** Convenience macro for printing slave-specific debug messages to syslog.

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 *

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 * This will print the message in \a fmt with a prefixed

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 * "EtherCAT <INDEX>-<POSITION>: ", where INDEX is the master index and

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 * POSITION is the slave's ring position.

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 *

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 * \param slave EtherCAT slave

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 * \param fmt format string (like in printf())

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 * \param args arguments (optional)

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 */

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#ifdef USE_TRACE_PRINTK

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#define EC_SLAVE_DBG(slave, level, fmt, args...) \

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    do { \

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        __trace_printk(_THIS_IP_,"EtherCAT DEBUG%u %u-%u: " fmt, \

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            level,slave->master->index, slave->ring_position, ##args); \

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        if (slave->master->debug_level >= level) { \

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            printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \

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                    slave->master->index, slave->ring_position, ##args); \

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        } \

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    } while (0)

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#else

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#define EC_SLAVE_DBG(slave, level, fmt, args...) \

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    do { \

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        if (slave->master->debug_level >= level) { \

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            printk(KERN_DEBUG "EtherCAT DEBUG %u-%u: " fmt, \

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                    slave->master->index, slave->ring_position, ##args); \

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        } \

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    } while (0)

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#endif

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

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/** Slave port.

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 */

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typedef struct {

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    ec_slave_port_desc_t desc; /**< Port descriptors. */

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    ec_slave_port_link_t link; /**< Port link status. */

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    ec_slave_t *next_slave; /**< Connected slaves. */

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    uint32_t receive_time; /**< Port receive times for delay

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                                            measurement. */

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    uint32_t delay_to_next_dc; /**< Delay to next slave with DC support behind

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                                 this port [ns]. */

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} ec_slave_port_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 boot_rx_mailbox_offset; /**< Bootstrap receive mailbox address. */

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    uint16_t boot_rx_mailbox_size; /**< Bootstrap receive mailbox size. */

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    uint16_t boot_tx_mailbox_offset; /**< Bootstrap transmit mailbox address. */

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    uint16_t boot_tx_mailbox_size; /**< Bootstrap transmit mailbox size. */

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    uint16_t std_rx_mailbox_offset; /**< Standard receive mailbox address. */

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    uint16_t std_rx_mailbox_size; /**< Standard receive mailbox size. */

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    uint16_t std_tx_mailbox_offset; /**< Standard transmit mailbox address. */

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    uint16_t std_tx_mailbox_size; /**< Standard transmit mailbox size. */

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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; /**< Group name. */

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    char *image; /**< Image name. */

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    char *order; /**< Order number. */

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    char *name; /**< Slave name. */

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    uint8_t physical_layer[EC_MAX_PORTS]; /**< 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 in mA. */

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    // SyncM

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

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    unsigned int sync_count; /**< Number of sync managers. */

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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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    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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    uint16_t effective_alias; /**< Effective alias address. */

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    ec_slave_port_t ports[EC_MAX_PORTS]; /**< Ports. */

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

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    unsigned int force_config; /**< Force (re-)configuration. */

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    uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox

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                                             offset. */

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    uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size.

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                                          */

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    uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox

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                                             offset. */

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    uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */

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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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    uint8_t base_fmmu_count; /**< Number of supported FMMUs. */

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    uint8_t base_sync_count; /**< Number of supported sync managers. */

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    uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */

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    uint8_t base_dc_supported; /**< Distributed clocks are supported. */

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    ec_slave_dc_range_t base_dc_range; /**< DC range. */

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    uint8_t has_dc_system_time; /**< The slave supports the DC system time

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                                  register. Otherwise it can only be used for

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                                  delay measurement. */

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    uint32_t transmission_delay; /**< DC system time transmission delay

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                                   (offset from reference clock). */

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    // SII

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    uint16_t *sii_words; /**< Complete SII image. */

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    size_t sii_nwords; /**< Size of the SII contents in words. */

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    // Slave information interface

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

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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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    struct list_head slave_sdo_requests; /**< 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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    struct list_head foe_requests; /**< FoE write requests. */

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    wait_queue_head_t foe_queue; /**< Wait queue for FoE requests from user

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                                   space. */

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    struct list_head soe_requests; /**< FoE write requests. */

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    wait_queue_head_t soe_queue; /**< Wait queue for SoE requests from user

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                                   space. */

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    ec_fsm_slave_t fsm; /**< Slave state machine. */

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    ec_datagram_t datagram; /** Datagram used for data transfers */

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    ec_mailbox_t mbox; /**< Mailbox used for data transfers. */

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};

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

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// slave construction/destruction

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

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void ec_slave_clear(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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// 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_sync(ec_slave_t *, uint8_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_sdo_t *ec_slave_get_sdo_const(const ec_slave_t *, uint16_t);

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const ec_sdo_t *ec_slave_get_sdo_by_pos_const(const ec_slave_t *, uint16_t);

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uint16_t ec_slave_sdo_count(const ec_slave_t *);

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

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void ec_slave_attach_pdo_names(ec_slave_t *);

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void ec_slave_calc_port_delays(ec_slave_t *);

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void ec_slave_calc_transmission_delays_rec(ec_slave_t *, uint32_t *);

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

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#endif