/******************************************************************************
 *
 *  RTAI sample for the IgH EtherCAT master.
 *
 *  $Id$
 *
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it
 *  and/or modify it under the terms of the GNU General Public License
 *  as published by the Free Software Foundation; either version 2 of the
 *  License, or (at your option) any later version.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  The right to use EtherCAT Technology is granted and comes free of
 *  charge under condition of compatibility of product made by
 *  Licensee. People intending to distribute/sell products based on the
 *  code, have to sign an agreement to guarantee that products using
 *  software based on IgH EtherCAT master stay compatible with the actual
 *  EtherCAT specification (which are released themselves as an open
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/

// Linux
#include <linux/module.h>

// RTAI
#include <rtai_sched.h>
#include <rtai_sem.h>

// EtherCAT
#include "../../include/ecrt.h"

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

// Module parameters

#define FREQUENCY 2000 // task frequency in Hz
#define INHIBIT_TIME 20

#define TIMERTICKS (1000000000 / FREQUENCY)

// Optional features (comment to disable)
#define CONFIGURE_PDOS

#define PFX "ec_rtai_sample: "

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

// EtherCAT
static ec_master_t *master = NULL;
static ec_master_state_t master_state = {};
spinlock_t master_lock = SPIN_LOCK_UNLOCKED;

static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};

static ec_slave_config_t *sc_ana_in = NULL;
static ec_slave_config_state_t sc_ana_in_state = {};

// RTAI
static RT_TASK task;
static SEM master_sem;
static cycles_t t_last_cycle = 0, t_critical;

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

// process data
static uint8_t *domain1_pd; // process data memory

#define AnaInSlavePos  0, 1
#define DigOutSlavePos 0, 3

#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052

static unsigned int off_ana_in; // offsets for Pdo entries
static unsigned int off_dig_out;

const static ec_pdo_entry_reg_t domain1_regs[] = {
    {AnaInSlavePos,  Beckhoff_EL3162, 0x3101, 2, &off_ana_in},
    {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
    {}
};

static unsigned int counter = 0;
static unsigned int blink = 0;

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

#ifdef CONFIGURE_PDOS
static ec_pdo_entry_info_t el3162_channel1[] = {
    {0x3101, 1,  8}, // status
    {0x3101, 2, 16}  // value
};

static ec_pdo_entry_info_t el3162_channel2[] = {
    {0x3102, 1,  8}, // status
    {0x3102, 2, 16}  // value
};

static ec_pdo_info_t el3162_pdos[] = {
    {0x1A00, 2, el3162_channel1},
    {0x1A01, 2, el3162_channel2}
};

static ec_sync_info_t el3162_syncs[] = {
    {2, EC_DIR_OUTPUT},
    {3, EC_DIR_INPUT, 2, el3162_pdos},
    {0xff}
};

static ec_pdo_entry_info_t el2004_channels[] = {
    {0x3001, 1, 1}, // Value 1
    {0x3001, 2, 1}, // Value 2
    {0x3001, 3, 1}, // Value 3
    {0x3001, 4, 1}  // Value 4
};

static ec_pdo_info_t el2004_pdos[] = {
    {0x1600, 1, &el2004_channels[0]},
    {0x1601, 1, &el2004_channels[1]},
    {0x1602, 1, &el2004_channels[2]},
    {0x1603, 1, &el2004_channels[3]}
};

static ec_sync_info_t el2004_syncs[] = {
    {0, EC_DIR_OUTPUT, 4, el2004_pdos},
    {1, EC_DIR_INPUT},
    {0xff}
};
#endif

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

void check_domain1_state(void)
{
    ec_domain_state_t ds;

    spin_lock(&master_lock);
    ecrt_domain_state(domain1, &ds);
    spin_unlock(&master_lock);

    if (ds.working_counter != domain1_state.working_counter)
        printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
    if (ds.wc_state != domain1_state.wc_state)
        printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);

    domain1_state = ds;
}

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

void check_master_state(void)
{
    ec_master_state_t ms;

    spin_lock(&master_lock);
    ecrt_master_state(master, &ms);
    spin_unlock(&master_lock);

    if (ms.slaves_responding != master_state.slaves_responding)
        printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
    if (ms.al_states != master_state.al_states)
        printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
    if (ms.link_up != master_state.link_up)
        printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");

    master_state = ms;
}

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

void check_slave_config_states(void)
{
    ec_slave_config_state_t s;

    spin_lock(&master_lock);
    ecrt_slave_config_state(sc_ana_in, &s);
    spin_unlock(&master_lock);

    if (s.al_state != sc_ana_in_state.al_state)
        printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
    if (s.online != sc_ana_in_state.online)
        printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
    if (s.operational != sc_ana_in_state.operational)
        printk(KERN_INFO PFX "AnaIn: %soperational.\n",
                s.operational ? "" : "Not ");

    sc_ana_in_state = s;
}

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

void run(long data)
{
    while (1) {
        t_last_cycle = get_cycles();

        // receive process data
        rt_sem_wait(&master_sem);
        ecrt_master_receive(master);
        ecrt_domain_process(domain1);
        rt_sem_signal(&master_sem);

        // check process data state (optional)
        check_domain1_state();

        if (counter) {
            counter--;
        } else { // do this at 1 Hz
            counter = FREQUENCY;

            // calculate new process data
            blink = !blink;

            // check for master state (optional)
            check_master_state();

            // check for islave configuration state(s) (optional)
            check_slave_config_states();
        }

        // write process data
        EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);

        rt_sem_wait(&master_sem);
        ecrt_domain_queue(domain1);
        ecrt_master_send(master);
        rt_sem_signal(&master_sem);
		
        rt_task_wait_period();
    }
}

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

int request_lock(void *data)
{
    // too close to the next real time cycle: deny access...
    if (get_cycles() - t_last_cycle > t_critical) return -1;

    // allow access
    rt_sem_wait(&master_sem);
    return 0;
}

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

void release_lock(void *data)
{
    rt_sem_signal(&master_sem);
}

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

int __init init_mod(void)
{
    RTIME tick_period, requested_ticks, now;
#ifdef CONFIGURE_PDOS
    ec_slave_config_t *sc;
#endif

    printk(KERN_INFO PFX "Starting...\n");

    rt_sem_init(&master_sem, 1);

    t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;

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

    ecrt_master_callbacks(master, request_lock, release_lock, NULL);

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

    if (!(sc_ana_in = ecrt_master_slave_config(
                    master, AnaInSlavePos, Beckhoff_EL3162))) {
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
        goto out_release_master;
    }

#ifdef CONFIGURE_PDOS
    printk(KERN_INFO PFX "Configuring Pdos...\n");
    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
        goto out_release_master;
    }

    if (!(sc = ecrt_master_slave_config(master, DigOutSlavePos, Beckhoff_EL2004))) {
        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
        goto out_release_master;
    }

    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
        goto out_release_master;
    }
#endif

    printk(KERN_INFO PFX "Registering Pdo entries...\n");
    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
        printk(KERN_ERR PFX "Pdo entry registration failed!\n");
        goto out_release_master;
    }

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

    // Get internal process data for domain
    domain1_pd = ecrt_domain_data(domain1);

    printk(KERN_INFO PFX "Starting cyclic sample thread...\n");
    requested_ticks = nano2count(TIMERTICKS);
    tick_period = start_rt_timer(requested_ticks);
    printk(KERN_INFO PFX "RT timer started with %i/%i ticks.\n",
           (int) tick_period, (int) requested_ticks);

    if (rt_task_init(&task, run, 0, 2000, 0, 1, NULL)) {
        printk(KERN_ERR PFX "Failed to init RTAI task!\n");
        goto out_stop_timer;
    }

    now = rt_get_time();
    if (rt_task_make_periodic(&task, now + tick_period, tick_period)) {
        printk(KERN_ERR PFX "Failed to run RTAI task!\n");
        goto out_stop_task;
    }

    printk(KERN_INFO PFX "Initialized.\n");
    return 0;

 out_stop_task:
    rt_task_delete(&task);
 out_stop_timer:
    stop_rt_timer();
 out_release_master:
    printk(KERN_ERR PFX "Releasing master...\n");
    ecrt_release_master(master);
 out_return:
    rt_sem_delete(&master_sem);
    printk(KERN_ERR PFX "Failed to load. Aborting.\n");
    return -1;
}

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

void __exit cleanup_mod(void)
{
    printk(KERN_INFO PFX "Stopping...\n");

    rt_task_delete(&task);
    stop_rt_timer();
    ecrt_release_master(master);
    rt_sem_delete(&master_sem);

    printk(KERN_INFO PFX "Unloading.\n");
}

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

MODULE_LICENSE("GPL");
MODULE_AUTHOR("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION("EtherCAT RTAI sample module");

module_init(init_mod);
module_exit(cleanup_mod);

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