/******************************************************************************
 *
 *  s l a v e . h
 *
 *  EtherCAT stave structure.
 *
 *  $Id$
 *
 *****************************************************************************/

#ifndef _EC_SLAVE_H_
#define _EC_SLAVE_H_

#include <linux/list.h>
#include <linux/kobject.h>

#include "globals.h"
#include "command.h"
#include "types.h"

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

/**
   State of an EtherCAT slave.
*/

typedef enum
{
    EC_SLAVE_STATE_UNKNOWN = 0x00,
    /**< unknown state */
    EC_SLAVE_STATE_INIT = 0x01,
    /**< INIT state (no mailbox communication, no IO) */
    EC_SLAVE_STATE_PREOP = 0x02,
    /**< PREOP state (mailbox communication, no IO) */
    EC_SLAVE_STATE_SAVEOP = 0x04,
    /**< SAVEOP (mailbox communication and input update) */
    EC_SLAVE_STATE_OP = 0x08,
    /**< OP (mailbox communication and input/output update) */
    EC_ACK = 0x10
    /**< Acknoledge bit (no state) */
}
ec_slave_state_t;

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

/**
   Supported mailbox protocols.
*/

enum
{
    EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
    EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
    EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
    EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
    EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
    EC_MBOX_VOE = 0x20  /**< Vendor specific */
};

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

/**
   FMMU configuration.
*/

typedef struct
{
    const ec_domain_t *domain; /**< domain */
    const ec_sync_t *sync; /**< sync manager */
    uint32_t logical_start_address; /**< logical start address */
}
ec_fmmu_t;

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

/**
   String object (EEPROM).
*/

typedef struct
{
    struct list_head list; /**< list item */
    size_t size; /**< size in bytes */
    char *data; /**< string data */
}
ec_eeprom_string_t;

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

/**
   Sync manager configuration (EEPROM).
*/

typedef struct
{
    struct list_head list; /**< list item */
    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 */
}
ec_eeprom_sync_t;

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

/**
   PDO type.
*/

typedef enum
{
    EC_RX_PDO, /**< Reveive PDO */
    EC_TX_PDO /**< Transmit PDO */
}
ec_pdo_type_t;

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

/**
   PDO description (EEPROM).
*/

typedef struct
{
    struct list_head list; /**< list item */
    ec_pdo_type_t type; /**< PDO type */
    uint16_t index; /**< PDO index */
    uint8_t sync_manager; /**< assigned sync manager */
    char *name; /**< PDO name */
    struct list_head entries; /**< entry list */
}
ec_eeprom_pdo_t;

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

/**
   PDO entry description (EEPROM).
*/

typedef struct
{
    struct list_head list; /**< list item */
    uint16_t index; /**< PDO index */
    uint8_t subindex; /**< entry subindex */
    char *name; /**< entry name */
    uint8_t bit_length; /**< entry length in bit */
}
ec_eeprom_pdo_entry_t;

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

/**
   CANopen SDO.
*/

typedef struct
{
    struct list_head list; /**< list item */
    uint16_t index; /**< SDO index */
    //uint16_t type;
    uint8_t object_code; /**< object code */
    char *name; /**< SDO name */
    struct list_head entries; /**< entry list */
}
ec_sdo_t;

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

/**
   CANopen SDO entry.
*/

typedef struct
{
    struct list_head list; /**< list item */
    uint8_t subindex; /**< entry subindex */
    uint16_t data_type; /**< entry data type */
    uint16_t bit_length; /**< entry length in bit */
    char *name; /**< entry name */
}
ec_sdo_entry_t;

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

/**
   EtherCAT-Slave
*/

struct ec_slave
{
    struct list_head list; /**< list item */
    struct kobject kobj; /**< kobject */
    ec_master_t *master; /**< master owning the slave */

    // addresses
    uint16_t ring_position; /**< ring position */
    uint16_t station_address; /**< configured station address */
    uint16_t coupler_index; /**< index of the last bus coupler */
    uint16_t coupler_subindex; /**< index of this slave after last coupler */

    // base data
    uint8_t base_type; /**< slave type */
    uint8_t base_revision; /**< revision */
    uint16_t base_build; /**< build number */
    uint16_t base_fmmu_count; /**< number of supported FMMUs */
    uint16_t base_sync_count; /**< number of supported sync managers */

    // data link status
    uint8_t dl_link[4]; /**< link detected */
    uint8_t dl_loop[4]; /**< loop closed */
    uint8_t dl_signal[4]; /**< detected signal on RX port */

    // slave information interface
    uint16_t sii_alias; /**< configured station alias */
    uint32_t sii_vendor_id; /**< vendor id */
    uint32_t sii_product_code; /**< vendor's product code */
    uint32_t sii_revision_number; /**< revision number */
    uint32_t sii_serial_number; /**< serial number */
    uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */
    uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */
    uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */
    uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */
    uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */
    uint8_t sii_physical_layer[4]; /**< port media */

    const ec_slave_type_t *type; /**< pointer to slave type object */

    uint8_t registered; /**< true, if slave has been registered */

    ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */
    uint8_t fmmu_count; /**< number of FMMUs used */

    struct list_head eeprom_strings; /**< EEPROM STRING categories */
    struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */
    struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */

    char *eeprom_name; /**< slave name acc. to EEPROM */
    char *eeprom_group; /**< slave group acc. to EEPROM */
    char *eeprom_desc; /**< slave description acc. to EEPROM */

    struct list_head sdo_dictionary; /**< SDO directory list */

    ec_command_t mbox_command; /**< mailbox command */
};

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

// slave construction/destruction
int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t);
void ec_slave_clear(struct kobject *);

// slave control
int ec_slave_fetch(ec_slave_t *);
int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *);
int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *);
int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);
int ec_slave_state_change(ec_slave_t *, uint8_t);
int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *,
                          const ec_sync_t *);

// CoE
int ec_slave_fetch_sdo_list(ec_slave_t *);

// misc.
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);

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

#endif