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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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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_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_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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/** \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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    // 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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        kobject_put(&slave->kobj);

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        return -1;

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    }

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    slave->master = master;

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    slave->coupler_index = 0;

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    slave->coupler_subindex = 0xFFFF;

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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->base_sync_count = 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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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->varsize_fields);

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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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    return 0;

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}

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

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/**

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   Slave destructor.

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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_t *sdo, *next_sdo;

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    ec_sdo_entry_t *en, *next_en;

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    ec_varsize_t *var, *next_var;

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    slave = container_of(kobj, ec_slave_t, kobj);

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    // free all string objects

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        list_del(&string->list);

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        kfree(string);

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    }

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    // free all sync managers

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        list_del(&sync->list);

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        kfree(sync);

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    }

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    // free all PDOs

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        list_del(&pdo->list);

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        if (pdo->name) kfree(pdo->name);

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        // free all PDO entries

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        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

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            list_del(&entry->list);

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            if (entry->name) kfree(entry->name);

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            kfree(entry);

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        }

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        kfree(pdo);

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    }

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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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        if (sdo->name) kfree(sdo->name);

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        // free all SDO entries

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        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {

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            list_del(&en->list);

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            kfree(en);

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        }

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        kfree(sdo);

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    }

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    // free information about variable sized data fields

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    list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {

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        list_del(&var->list);

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        kfree(var);

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    }

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

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

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

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                           const uint8_t *data /**< category data */

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                           )

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{

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    unsigned int string_count, i;

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    size_t size;

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    off_t offset;

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    string_count = data[0];

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    offset = 1;

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

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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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            return -1;

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        }

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        string->size = size;

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        // string memory appended to string structure

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        memcpy(string->data, data + offset + 1, size);

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        string->data[size] = 0x00;

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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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}

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

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                        const uint8_t *data, /**< category data */

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                        size_t word_count /**< number of words */

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                        )

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{

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    unsigned int sync_count, i;

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    sync_count = word_count / 4; // sync manager struct is 4 words long

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    for (i = 0; i < sync_count; i++, data += 8) {

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            EC_ERR("Failed to allocate Sync-Manager memory.\n");

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            return -1;

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        }

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        sync->index = i;

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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 [RT]XPDO category.

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   \return 0 in case of success, else < 0

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*/

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

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                       const uint8_t *data, /**< category data */

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                       size_t word_count, /**< number of words */

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                       )

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{

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    unsigned int entry_count, i;

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    while (word_count >= 4) {

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

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            return -1;

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        }

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        INIT_LIST_HEAD(&pdo->entries);

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        pdo->type = pdo_type;

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        pdo->name = NULL;

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        word_count -= 4;

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        data += 8;

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

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

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                return -1;

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            }

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            entry->name = NULL;

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            list_add_tail(&entry->list, &pdo->entries);

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            word_count -= 4;

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            data += 8;

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        }

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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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   Searches the string list for an index and allocates a new string.

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   \return 0 in case of success, else < 0

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   \todo documentation

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*/

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

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                           unsigned int index, /**< string index */

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                           char **ptr /**< Address of the string pointer */

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                           )

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{

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    char *err_string;

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    // Erst alten Speicher freigeben

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    if (*ptr) {

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        kfree(*ptr);

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        *ptr = NULL;

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    }

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    // Index 0 bedeutet "nicht belegt"

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    if (!index) return 0;

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    // EEPROM-String mit Index finden und kopieren

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        if (--index) continue;

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        if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_ATOMIC))) {

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

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            return -1;

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        }

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        memcpy(*ptr, string->data, string->size + 1);

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        return 0;

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    }

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    EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);

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    err_string = "(string not found)";

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    if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_ATOMIC))) {

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        return -1;

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    }

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    memcpy(*ptr, err_string, strlen(err_string) + 1);

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    return 0;

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}

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

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/**

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   Prepares an FMMU configuration.

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   Configuration data for the FMMU is saved in the slave structure and is

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   written to the slave in ecrt_master_activate().

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   The FMMU configuration is done in a way, that the complete data range

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   for each domain.

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   If the FMMU configuration is already prepared, the function returns with

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   success.

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   \return 0 in case of success, else < 0

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*/

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

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                          const ec_domain_t *domain, /**< domain */

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                          )

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{

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    unsigned int i;

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    // FMMU configuration already prepared?

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

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        if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)

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            return 0;

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    // reserve new FMMU...

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    if (slave->fmmu_count >= slave->base_fmmu_count) {

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        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);

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        return -1;

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    }

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    slave->fmmus[slave->fmmu_count].domain = domain;

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