/******************************************************************************
 *
 *  m i n i . c
 *
 *  Minimalmodul für EtherCAT
 *
 *  $Id$
 *
 *****************************************************************************/

#include <linux/module.h>
#include <linux/delay.h>
#include <linux/timer.h>

#include "../include/ecrt.h" // Echtzeitschnittstelle

#define ASYNC

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

#define ABTASTFREQUENZ 100

struct timer_list timer;

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

// EtherCAT
ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;

// Datenfelder
//void *r_ssi_input, *r_ssi_status, *r_4102[3];

// Kanäle
uint32_t k_pos;
uint8_t k_stat;

ec_field_init_t domain1_fields[] = {
    {NULL, "1", "Beckhoff", "EL5001", "InputValue", 0},
    {NULL, "2", "Beckhoff", "EL4132", "OutputValue",  0},
    {}
};

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

void run(unsigned long data)
{
    static unsigned int counter = 0;

#ifdef ASYNC
    // Empfangen
    ecrt_master_async_receive(master);
    ecrt_domain_process(domain1);
#else
    // Senden und empfangen
    ecrt_domain_queue(domain1);
    ecrt_master_run(master);
    ecrt_master_sync_io(master);
    ecrt_domain_process(domain1);
#endif

    // Prozessdaten verarbeiten
    //k_pos = EC_READ_U32(r_ssi);

#ifdef ASYNC
    // Senden
    ecrt_domain_queue(domain1);
    ecrt_master_run(master);
    ecrt_master_async_send(master);
#endif

    if (counter) {
        counter--;
    }
    else {
        counter = ABTASTFREQUENZ;
        //printk(KERN_INFO "k_pos    = %i\n", k_pos);
        //printk(KERN_INFO "k_stat   = 0x%02X\n", k_stat);
    }

    // Timer neu starten
    timer.expires += HZ / ABTASTFREQUENZ;
    add_timer(&timer);
}

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

int __init init_mini_module(void)
{
    printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");

    if ((master = ecrt_request_master(0)) == NULL) {
        printk(KERN_ERR "Requesting master 0 failed!\n");
        goto out_return;
    }

    printk(KERN_INFO "Registering domain...\n");
    if (!(domain1 = ecrt_master_create_domain(master)))
    {
        printk(KERN_ERR "Domain creation failed!\n");
        goto out_release_master;
    }

    printk(KERN_INFO "Registering domain fields...\n");
    if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
        printk(KERN_ERR "Field registration failed!\n");
        goto out_release_master;
    }

    printk(KERN_INFO "Activating master...\n");
    if (ecrt_master_activate(master)) {
        printk(KERN_ERR "Failed to activate master!\n");
        goto out_release_master;
    }

#if 0
    if (ecrt_master_fetch_sdo_lists(master)) {
        printk(KERN_ERR "Failed to fetch SDO lists!\n");
        goto out_deactivate;
    }
    ecrt_master_print(master, 2);
#else
    ecrt_master_print(master, 0);
#endif


#if 0
    if (!(slave = ecrt_master_get_slave(master, "5"))) {
        printk(KERN_ERR "Failed to get slave 5!\n");
        goto out_deactivate;
    }

    if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1,  0) ||
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 2,  1) ||
        ecrt_slave_sdo_write_exp8(slave, 0x4061, 3,  1) ||
        ecrt_slave_sdo_write_exp8(slave, 0x4066, 0,  0) ||
        ecrt_slave_sdo_write_exp8(slave, 0x4067, 0,  4) ||
        ecrt_slave_sdo_write_exp8(slave, 0x4068, 0,  0) ||
        ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) ||
        ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) ||
        ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) {
        printk(KERN_ERR "Failed to configure SSI slave!\n");
        goto out_deactivate;
    }
#endif

#if 0
    printk(KERN_INFO "Writing alias...\n");
    if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
        printk(KERN_ERR "Failed to write alias!\n");
        goto out_deactivate;
    }
#endif

#ifdef ASYNC
    // Einmal senden und warten...
    ecrt_master_prepare_async_io(master);
#endif

    printk("Starting cyclic sample thread.\n");
    init_timer(&timer);
    timer.function = run;
    timer.expires = jiffies + 10; // Das erste Mal sofort feuern
    add_timer(&timer);

    printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
    return 0;

#if 0
 out_deactivate:
    ecrt_master_deactivate(master);
#endif
 out_release_master:
    ecrt_release_master(master);
 out_return:
    return -1;
}

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

void __exit cleanup_mini_module(void)
{
    printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");

    if (master) {
        del_timer_sync(&timer);
        printk(KERN_INFO "Deactivating master...\n");
        ecrt_master_deactivate(master);
        ecrt_release_master(master);
    }

    printk(KERN_INFO "=== Minimal EtherCAT environment stopped. ===\n");
}

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

MODULE_LICENSE("GPL");
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT minimal test environment");

module_init(init_mini_module);
module_exit(cleanup_mini_module);

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

/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/