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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 domain methods.

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*/

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

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#include <linux/module.h>

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#include "globals.h"

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#include "domain.h"

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#include "master.h"

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

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

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

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/** \cond */

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static struct attribute *def_attrs[] = {

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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_domain_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_domain = {

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    .release = ec_domain_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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/** \endcond */

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

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/**

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   Domain constructor.

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   \return 0 in case of success, else < 0

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*/

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int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */

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                   ec_master_t *master, /**< owning master */

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                   unsigned int index /**< domain index */

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                   )

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{

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    domain->master = master;

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    domain->index = index;

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    domain->data_size = 0;

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    domain->base_address = 0;

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    domain->response_count = 0xFFFFFFFF;

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    INIT_LIST_HEAD(&domain->datagrams);

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    // init kobject and add it to the hierarchy

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

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    kobject_init(&domain->kobj);

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    domain->kobj.ktype = &ktype_ec_domain;

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

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    if (kobject_set_name(&domain->kobj, "domain%i", index)) {

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

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        return -1;

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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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   Domain destructor.

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*/

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void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)

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{

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    ec_datagram_t *datagram, *next;

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    ec_domain_t *domain;

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    domain = container_of(kobj, ec_domain_t, kobj);

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    EC_INFO("Clearing domain %i.\n", domain->index);

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    list_for_each_entry_safe(datagram, next, &domain->datagrams, list) {

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        ec_datagram_clear(datagram);

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        kfree(datagram);

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    }

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    kfree(domain);

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}

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

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/**

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   Registeres a data field in a domain.

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   \return 0 in case of success, else < 0

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*/

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        return -1;

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    }

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    if (ec_slave_prepare_fmmu(slave, domain, sync)) {

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        EC_ERR("FMMU configuration failed.\n");

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        return -1;

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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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   Clears the list of the registered data fields.

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*/

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    }

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}

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

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/**

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   Allocates a process data datagram and appends it to the list.

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   \return 0 in case of success, else < 0

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*/

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int ec_domain_add_datagram(ec_domain_t *domain, /**< EtherCAT domain */

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                           uint32_t offset, /**< logical offset */

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                           size_t data_size /**< size of the datagram data */

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                           )

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{

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    ec_datagram_t *datagram;

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    if (!(datagram = kmalloc(sizeof(ec_datagram_t), GFP_KERNEL))) {

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        EC_ERR("Failed to allocate domain datagram!\n");

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        return -1;

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    }

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    ec_datagram_init(datagram);

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    if (ec_datagram_lrw(datagram, offset, data_size)) {

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        kfree(datagram);

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        return -1;

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    }

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    list_add_tail(&datagram->list, &domain->datagrams);

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    return 0;

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}

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

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/**

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   Creates a domain.

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   Reserves domain memory, calculates the logical addresses of the

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   corresponding FMMUs and sets the process data pointer of the registered

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   \return 0 in case of success, else < 0

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*/

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int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */

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                    uint32_t base_address /**< logical base address */

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                    )

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{

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    ec_slave_t *slave;

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    ec_fmmu_t *fmmu;

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    ec_datagram_t *datagram;

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    domain->base_address = base_address;

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    // calculate size of process data and allocate memory

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    domain->data_size = 0;

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    list_for_each_entry(slave, &domain->master->slaves, list) {

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        for (j = 0; j < slave->fmmu_count; j++) {

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            fmmu = &slave->fmmus[j];

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            if (fmmu->domain == domain) {

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                fmmu->logical_start_address = base_address + domain->data_size;

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                sync_size = ec_slave_calc_sync_size(slave, fmmu->sync);

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                domain->data_size += sync_size;

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                }

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            }

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        }

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    }

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    // allocate last datagram

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            return -1;

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        EC_WARN("Domain %i contains no data!\n", domain->index);

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        return 0;

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    }

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    // set all process data pointers

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                // search datagram

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                list_for_each_entry(datagram, &domain->datagrams, list) {

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                    }

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                }

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                    EC_ERR("Failed to assign data pointer!\n");

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                    return -1;

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                }

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                break;

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            }

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        }

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    }

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    EC_INFO("Domain %i - Allocated %i bytes in %i datagram%s\n",

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    }

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}

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

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/**

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   Formats attribute data for SysFS reading.

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   \return number of bytes to read

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*/

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ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */

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                                 struct attribute *attr, /**< attribute */

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                                 char *buffer /**< memory to store data in */

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                                 )

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{

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    ec_domain_t *domain = container_of(kobj, ec_domain_t, kobj);

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        return sprintf(buffer, "%i\n", domain->data_size);

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    }

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    return 0;

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}

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

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 *  Realtime interface

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

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/**

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   \return pointer to the slave on success, else NULL

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   \ingroup RealtimeInterface

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*/

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{

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    ec_slave_t *slave;

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    ec_master_t *master;

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    master = domain->master;

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    // translate address

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    if (!(slave = ecrt_master_get_slave(master, address))) return NULL;

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        return NULL;

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    }

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    if (!data_ptr) {

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        // data_ptr is NULL => mark slave as "registered" (do not warn)

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        slave->registered = 1;

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    }

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            }

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        }

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    }

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    return NULL;

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}

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

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/**

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   Registeres a bunch of data fields.

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   Caution! The list has to be terminated with a NULL structure ({})!

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   \return 0 in case of success, else < 0

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   \ingroup RealtimeInterface

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*/

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