/******************************************************************************
 *
 *  $Id$
 *
 *  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.
 *
 *****************************************************************************/

/**
   \file
   EtherCAT sync manager.
*/

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

#ifndef _EC_SYNC_H_
#define _EC_SYNC_H_

#include <linux/list.h>

#include "../include/ecrt.h"
#include "globals.h"

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

/** size of a sync manager configuration page */
#define EC_SYNC_SIZE 8

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

/**
 * EtherCAT sync manager PDO mapping information source.
 */

typedef enum {
    EC_SYNC_MAPPING_NONE, /**< No PDO mapping information */
    EC_SYNC_MAPPING_SII, /**< PDO mapping information from SII */
    EC_SYNC_MAPPING_COE /**< PDO mapping information from CoE dictionary */
}
ec_sync_mapping_source_t;

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

/**
 * Sync manager.
 */

typedef struct
{
    ec_slave_t *slave; /**< slave, the sync manager belongs to */
    unsigned int index; /**< sync manager index */
    uint16_t physical_start_address; /**< physical start address */
    uint16_t length; /**< data length in bytes */
    uint8_t control_register; /**< control register value */
    uint8_t enable; /**< enable bit */

    uint16_t est_length; /**< used to calculate the length via PDO ranges */
    struct list_head pdos; /**< list of mapped PDOs */
    unsigned int alt_mapping; /**< alternative mapping configured */
    ec_sync_mapping_source_t mapping_source; /**< pdo mapping source */
}
ec_sync_t;

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

void ec_sync_init(ec_sync_t *, ec_slave_t *, unsigned int);
void ec_sync_clear(ec_sync_t *);

uint16_t ec_sync_size(const ec_sync_t *);
void ec_sync_config(const ec_sync_t *, uint8_t *);

int ec_sync_add_pdo(ec_sync_t *, const ec_pdo_t *);
void ec_sync_clear_pdos(ec_sync_t *);

ec_pdo_type_t ec_sync_get_pdo_type(const ec_sync_t *);

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

#endif