/******************************************************************************
 *
 *  $Id$
 *
 *  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 Real-Time Interface.
 *
 * \defgroup RealtimeInterface EtherCAT Real-Time Interface
 *
 * EtherCAT interface for realtime modules. This interface is designed for
 * realtime modules that want to use EtherCAT. There are functions to request
 * a master, to map process data, to communicate with slaves via CoE and to
 * configure and activate the bus.
 */

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

#ifndef __ECRT_H__
#define __ECRT_H__

#include <asm/byteorder.h>

#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <stdint.h>
#endif

/******************************************************************************
 * Global definitions
 *****************************************************************************/

/** EtherCAT real-time interface major version number.
 */
#define ECRT_VER_MAJOR 1

/** EtherCAT real-time interface minor version number.
 */
#define ECRT_VER_MINOR 4

/** EtherCAT real-time interface version word generator.
 */
#define ECRT_VERSION(a, b) (((a) << 8) + (b))

/** EtherCAT real-time interface version word.
 */
#define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)

/******************************************************************************
 * Data types 
 *****************************************************************************/

struct ec_master;
typedef struct ec_master ec_master_t; /**< \see ec_master */

struct ec_domain;
typedef struct ec_domain ec_domain_t; /**< \see ec_domain */

struct ec_slave;
typedef struct ec_slave ec_slave_t; /**< \see ec_slave */

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

/** Bus status.
 * This is used in ec_master_status_t.
 */
typedef enum {
    EC_BUS_FAILURE = -1, /**< At least one slave with process data exchange
                           is offline. */
    EC_BUS_OK            /**< All slaves with process data exchange are
                           online. */
}
ec_bus_status_t;

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

/** Master status.
 * This is used for the output parameter of ecrt_master_get_status().
 */
typedef struct {
    ec_bus_status_t bus_status; /**< \see ec_bus_status_t */
    unsigned int bus_tainted; /**< non-zero, if the bus topology is invalid */
    unsigned int slaves_responding; /**< number of responding slaves */
}
ec_master_status_t;

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

/** List entry for domain PDO registrations.
 * This type is used as a parameter for the ecrt_domain_register_pdo_list()
 * convenience function.
 */
typedef struct {
    const char *slave_address; /**< slave address string
                                 \see ec_master_parse_slave_address() */
    uint32_t vendor_id; /**< vendor ID */
    uint32_t product_code; /**< product code */
    uint16_t pdo_entry_index; /**< PDO entry index */
    uint8_t pdo_entry_subindex; /**< PDO entry subindex */
    void **data_ptr; /**< address of the process data pointer */
}
ec_pdo_reg_t;

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

/** Direction type for PDO mapping and range registration functions.
 */
typedef enum {
    EC_DIR_OUTPUT, /**< values written by master */
    EC_DIR_INPUT   /**< values read by master */
}
ec_direction_t;

/******************************************************************************
 * Global functions
 *****************************************************************************/

ec_master_t *ecrt_request_master(unsigned int master_index);
void ecrt_release_master(ec_master_t *master);

unsigned int ecrt_version_magic(void);

/******************************************************************************
 * Master methods
 *****************************************************************************/

void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
                           void (*release_cb)(void *), void *cb_data);

ec_domain_t *ecrt_master_create_domain(ec_master_t *master);

ec_slave_t *ecrt_master_get_slave(const ec_master_t *master,
        const char *address, uint32_t vendor_id, uint32_t product_code);
ec_slave_t *ecrt_master_get_slave_by_pos(const ec_master_t *master,
        uint16_t position, uint32_t vendor_id, uint32_t product_code);

int ecrt_master_activate(ec_master_t *master);

void ecrt_master_send(ec_master_t *master);
void ecrt_master_receive(ec_master_t *master);

void ecrt_master_get_status(const ec_master_t *master, ec_master_status_t *s);

/******************************************************************************
 * Domain methods
 *****************************************************************************/

int ecrt_domain_register_pdo(ec_domain_t *domain, ec_slave_t *slave,
        uint16_t pdo_entry_index, uint8_t pdo_entry_subindex, void **data_ptr);

int ecrt_domain_register_pdo_range(ec_domain_t *domain, ec_slave_t *slave,
        ec_direction_t direction, uint16_t offset, uint16_t length,
        void **data_ptr);

int ecrt_domain_register_pdo_list(ec_domain_t *domain,
        const ec_pdo_reg_t *pdos);

void ecrt_domain_process(ec_domain_t *domain);
void ecrt_domain_queue(ec_domain_t *domain);

int ecrt_domain_state(const ec_domain_t *domain);

/******************************************************************************
 * Slave methods
 *****************************************************************************/

int ecrt_slave_conf_sdo8(ec_slave_t *slave, uint16_t sdo_index,
                         uint8_t sdo_subindex, uint8_t value);
int ecrt_slave_conf_sdo16(ec_slave_t *slave, uint16_t sdo_index,
                          uint8_t sdo_subindex, uint16_t value);
int ecrt_slave_conf_sdo32(ec_slave_t *slave, uint16_t sdo_index,
                          uint8_t sdo_subindex, uint32_t value);

void ecrt_slave_pdo_mapping_clear(ec_slave_t *, ec_direction_t);
int ecrt_slave_pdo_mapping_add(ec_slave_t *, ec_direction_t, uint16_t);
int ecrt_slave_pdo_mapping(ec_slave_t *, ec_direction_t, unsigned int, ...);

/******************************************************************************
 * Bitwise read/write macros
 *****************************************************************************/

/** Read a certain bit of an EtherCAT data byte.
 * \param DATA EtherCAT data pointer
 * \param POS bit position
 */
#define EC_READ_BIT(DATA, POS) ((*((uint8_t *) (DATA)) >> (POS)) & 0x01)

/** Write a certain bit of an EtherCAT data byte.
 * \param DATA EtherCAT data pointer
 * \param POS bit position
 * \param VAL new bit value
 */
#define EC_WRITE_BIT(DATA, POS, VAL) \
    do { \
        if (VAL) *((uint8_t *) (DATA)) |=  (1 << (POS)); \
        else     *((uint8_t *) (DATA)) &= ~(1 << (POS)); \
    } while (0)

/******************************************************************************
 * Read macros
 *****************************************************************************/

/** Read an 8-bit unsigned value from EtherCAT data.
 * \return EtherCAT data value
 */
#define EC_READ_U8(DATA) \
    ((uint8_t) *((uint8_t *) (DATA)))

/** Read an 8-bit signed value from EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \return EtherCAT data value
 */
#define EC_READ_S8(DATA) \
     ((int8_t) *((uint8_t *) (DATA)))

/** Read a 16-bit unsigned value from EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \return EtherCAT data value
 */
#define EC_READ_U16(DATA) \
     ((uint16_t) le16_to_cpup((void *) (DATA)))

/** Read a 16-bit signed value from EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \return EtherCAT data value
 */
#define EC_READ_S16(DATA) \
     ((int16_t) le16_to_cpup((void *) (DATA)))

/** Read a 32-bit unsigned value from EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \return EtherCAT data value
 */
#define EC_READ_U32(DATA) \
     ((uint32_t) le32_to_cpup((void *) (DATA)))

/** Read a 32-bit signed value from EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \return EtherCAT data value
 */
#define EC_READ_S32(DATA) \
     ((int32_t) le32_to_cpup((void *) (DATA)))

/******************************************************************************
 * Write macros
 *****************************************************************************/

/** Write an 8-bit unsigned value to EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \param VAL new value
 */
#define EC_WRITE_U8(DATA, VAL) \
    do { \
        *((uint8_t *)(DATA)) = ((uint8_t) (VAL)); \
    } while (0)

/** Write an 8-bit signed value to EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \param VAL new value
 */
#define EC_WRITE_S8(DATA, VAL) EC_WRITE_U8(DATA, VAL)

/** Write a 16-bit unsigned value to EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \param VAL new value
 */
#define EC_WRITE_U16(DATA, VAL) \
    do { \
        *((uint16_t *) (DATA)) = (uint16_t) (VAL); \
        cpu_to_le16s(DATA); \
    } while (0)

/** Write a 16-bit signed value to EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \param VAL new value
 */
#define EC_WRITE_S16(DATA, VAL) EC_WRITE_U16(DATA, VAL)

/** Write a 32-bit unsigned value to EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \param VAL new value
 */
#define EC_WRITE_U32(DATA, VAL) \
    do { \
        *((uint32_t *) (DATA)) = (uint32_t) (VAL); \
        cpu_to_le32s(DATA); \
    } while (0)

/** Write a 32-bit signed value to EtherCAT data.
 * \param DATA EtherCAT data pointer
 * \param VAL new value
 */
#define EC_WRITE_S32(DATA, VAL) EC_WRITE_U32(DATA, VAL)

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

#endif