/******************************************************************************
 *
 *  c a n o p e n . c
 *
 *  CANopen over EtherCAT
 *
 *  $Id$
 *
 *  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; version 2 of the License.
 *
 *  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
 *
 *****************************************************************************/

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

#include "master.h"
#include "mailbox.h"

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

void ec_canopen_abort_msg(uint32_t);
int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_sdo_t *, uint8_t);

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

const ec_code_msg_t sdo_abort_messages[];

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

/**
   Reads 32 bit of a CANopen SDO in expedited mode.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
                          uint16_t sdo_index, /**< SDO index */
                          uint8_t sdo_subindex, /**< SDO subindex */
                          uint8_t *target /**< 4-byte memory */
                          )
{
    size_t rec_size;
    uint8_t *data;

    if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;

    EC_WRITE_U16(data, 0x2 << 12); // SDO request
    EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
                            | 0x2 << 5)); // initiate upload request
    EC_WRITE_U16(data + 3, sdo_index);
    EC_WRITE_U8 (data + 5, sdo_subindex);

    if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;

    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
               sdo_index, sdo_subindex, slave->ring_position);
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
        return -1;
    }

    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
        EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
        EC_READ_U16(data + 3) != sdo_index || // index
        EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
        EC_ERR("Invalid SDO upload response at slave %i!\n",
               slave->ring_position);
        ec_print_data(data, rec_size);
        return -1;
    }

    memcpy(target, data + 6, 4);
    return 0;
}

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

/**
   Writes a CANopen SDO using expedited mode.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
                           uint16_t sdo_index, /**< SDO index */
                           uint8_t sdo_subindex, /**< SDO subindex */
                           const uint8_t *sdo_data, /**< new value */
                           size_t size /**< Data size in bytes (1 - 4) */
                           )
{
    uint8_t *data;
    size_t rec_size;

    if (size == 0 || size > 4) {
        EC_ERR("Invalid data size!\n");
        return -1;
    }

    if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;

    EC_WRITE_U16(data, 0x2 << 12); // SDO request
    EC_WRITE_U8 (data + 2, (0x1 // size specified
                            | 0x1 << 1 // expedited transfer
                            | (4 - size) << 2 // data set size
                            | 0x1 << 5)); // initiate download request
    EC_WRITE_U16(data + 3, sdo_index);
    EC_WRITE_U8 (data + 5, sdo_subindex);
    memcpy(data + 6, sdo_data, size);
    if (size < 4) memset(data + 6 + size, 0x00, 4 - size);

    if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;

    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
        EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
               sdo_index, sdo_subindex, size, slave->ring_position);
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
        return -1;
    }

    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
        EC_READ_U8 (data + 2) >> 5 != 0x3 || // download response
        EC_READ_U16(data + 3) != sdo_index || // index
        EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
        EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
               sdo_index, sdo_subindex, size);
        EC_ERR("Invalid SDO download response at slave %i!\n",
               slave->ring_position);
        ec_print_data(data, rec_size);
        return -1;
    }

    return 0;
}

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

/**
   Reads a CANopen SDO in normal mode.
   \return 0 in case of success, else < 0
   \ingroup Slave
   \todo size
*/

int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
                        uint16_t sdo_index, /**< SDO index */
                        uint8_t sdo_subindex, /**< SDO subindex */
                        uint8_t *target, /**< memory for value */
                        size_t *size /**< target memory size */
                        )
{
    uint8_t *data;
    size_t rec_size, data_size;
    uint32_t complete_size;

    if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;

    EC_WRITE_U16(data, 0x2 << 12); // SDO request
    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
    EC_WRITE_U16(data + 3, sdo_index);
    EC_WRITE_U8 (data + 5, sdo_subindex);

    if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;

    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
               sdo_index, sdo_subindex, slave->ring_position);
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
        return -1;
    }

    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
        EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
        EC_READ_U16(data + 3) != sdo_index || // index
        EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
        EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
        EC_ERR("Invalid SDO upload response at slave %i!\n",
               slave->ring_position);
        ec_print_data(data, rec_size);
        return -1;
    }

    if (rec_size < 10) {
        EC_ERR("Received currupted SDO upload response!\n");
        ec_print_data(data, rec_size);
        return -1;
    }

    if ((complete_size = EC_READ_U32(data + 6)) > *size) {
        EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
               complete_size, *size);
        return -1;
    }

    data_size = rec_size - 10;

    if (data_size != complete_size) {
        EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
        return -1;
    }

    memcpy(target, data + 10, data_size);
    return 0;
}

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

/**
   Fetches the SDO dictionary of a slave.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
{
    uint8_t *data;
    size_t rec_size;
    unsigned int i, sdo_count;
    ec_sdo_t *sdo;
    uint16_t sdo_index;

    if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;

    EC_WRITE_U16(data, 0x8 << 12); // SDO information
    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
    EC_WRITE_U8 (data + 3, 0x00);
    EC_WRITE_U16(data + 4, 0x0000);
    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!

    if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
        EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
        return -1;
    }

    do {
        if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
            return -1;

        if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
            (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
            EC_ERR("SDO information error response at slave %i!\n",
                   slave->ring_position);
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
            return -1;
        }

        if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
            (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
            EC_ERR("Invalid SDO list response at slave %i!\n",
                   slave->ring_position);
            ec_print_data(data, rec_size);
            return -1;
        }

        if (rec_size < 8) {
            EC_ERR("Invalid data size!\n");
            ec_print_data(data, rec_size);
            return -1;
        }

        sdo_count = (rec_size - 8) / 2;
        for (i = 0; i < sdo_count; i++) {
            sdo_index = EC_READ_U16(data + 8 + i * 2);
            if (!sdo_index) continue; // sometimes index is 0... ???

            if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
                EC_ERR("Failed to allocate memory for SDO!\n");
                return -1;
            }

            // Initialize SDO object
            sdo->index = sdo_index;
            //sdo->unkown = 0x0000;
            sdo->object_code = 0x00;
            sdo->name = NULL;
            INIT_LIST_HEAD(&sdo->entries);

            list_add_tail(&sdo->list, &slave->sdo_dictionary);
        }
    }
    while (EC_READ_U8(data + 2) & 0x80);

    // Fetch all SDO descriptions
    if (ec_slave_fetch_sdo_descriptions(slave)) return -1;

    return 0;
}

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

/**
   Fetches the SDO descriptions for the known SDOs.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
{
    uint8_t *data;
    size_t rec_size, name_size;
    ec_sdo_t *sdo;

    list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
        if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
        EC_WRITE_U8 (data + 2, 0x03); // Get object description request
        EC_WRITE_U8 (data + 3, 0x00);
        EC_WRITE_U16(data + 4, 0x0000);
        EC_WRITE_U16(data + 6, sdo->index); // SDO index

        if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;

        if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
            (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
            EC_ERR("SDO information error response at slave %i while"
                   " fetching SDO 0x%04X!\n", slave->ring_position,
                   sdo->index);
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
            return -1;
        }

        if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
            (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
            EC_READ_U16(data + 6) != sdo->index) { // SDO index
            EC_ERR("Invalid object description response at slave %i while"
                   " fetching SDO 0x%04X!\n", slave->ring_position,
                   sdo->index);
            ec_print_data(data, rec_size);
            return -1;
        }

        if (rec_size < 12) {
            EC_ERR("Invalid data size!\n");
            ec_print_data(data, rec_size);
            return -1;
        }

        EC_DBG("object desc response:\n");
        ec_print_data(data, rec_size);

        //sdo->unknown = EC_READ_U16(data + 8);
        sdo->object_code = EC_READ_U8(data + 11);

        name_size = rec_size - 12;
        if (name_size) {
            if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
                EC_ERR("Failed to allocate SDO name!\n");
                return -1;
            }

            memcpy(sdo->name, data + 12, name_size);
            sdo->name[name_size] = 0;
        }

        if (EC_READ_U8(data + 2) & 0x80) {
            EC_ERR("Fragment follows (not implemented)!\n");
            return -1;
        }

        // Fetch all entries (subindices)
        if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
            return -1;
    }

    return 0;
}

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

/**
   Fetches all entries (subindices) to an SDO.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
                               ec_sdo_t *sdo, /**< SDO */
                               uint8_t subindices /**< number of subindices */
                               )
{
    uint8_t *data;
    size_t rec_size, data_size;
    uint8_t i;
    ec_sdo_entry_t *entry;

    for (i = 1; i <= subindices; i++) {
        if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
            return -1;

        EC_WRITE_U16(data, 0x8 << 12); // SDO information
        EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
        EC_WRITE_U8 (data + 3, 0x00);
        EC_WRITE_U16(data + 4, 0x0000);
        EC_WRITE_U16(data + 6, sdo->index); // SDO index
        EC_WRITE_U8 (data + 8, i); // SDO subindex
        EC_WRITE_U8 (data + 9, 0x00); // value info (no values)

        if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;

        if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
            (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
            EC_ERR("SDO information error response at slave %i while"
                   " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
                   sdo->index, i);
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
            return -1;
        }

        if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
            (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
            EC_READ_U16(data + 6) != sdo->index || // SDO index
            EC_READ_U8(data + 8) != i) { // SDO subindex
            EC_ERR("Invalid entry description response at slave %i while"
                   " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
                   sdo->index, i);
            ec_print_data(data, rec_size);
            return -1;
        }

        if (rec_size < 16) {
            EC_ERR("Invalid data size!\n");
            ec_print_data(data, rec_size);
            return -1;
        }

        if (!EC_READ_U16(data + 12)) // bit length = 0
            continue;

        data_size = rec_size - 16;

        if (!(entry = (ec_sdo_entry_t *)
              kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
            EC_ERR("Failed to allocate entry!\n");
            return -1;
        }

        entry->subindex = i;
        entry->data_type = EC_READ_U16(data + 10);
        entry->bit_length = EC_READ_U16(data + 12);

        // memory for name string appended to entry
        entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);

        memcpy(entry->name, data + 16, data_size);
        entry->name[data_size] = 0;

        list_add_tail(&entry->list, &sdo->entries);
    }

    return 0;
}

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

/**
   Outputs an SDO abort message.
*/

void ec_canopen_abort_msg(uint32_t abort_code)
{
    const ec_code_msg_t *abort_msg;

    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
        if (abort_msg->code == abort_code) {
            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
                   abort_msg->code, abort_msg->message);
            return;
        }
    }

    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
}

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

const ec_code_msg_t sdo_abort_messages[] = {
    {0x05030000, "Toggle bit not changed"},
    {0x05040000, "SDO protocol timeout"},
    {0x05040001, "Client/Server command specifier not valid or unknown"},
    {0x05040005, "Out of memory"},
    {0x06010000, "Unsupported access to an object"},
    {0x06010001, "Attempt to read a write-only object"},
    {0x06010002, "Attempt to write a read-only object"},
    {0x06020000, "This object does not exist in the object directory"},
    {0x06040041, "The object cannot be mapped into the PDO"},
    {0x06040042, "The number and length of the objects to be mapped would"
     " exceed the PDO length"},
    {0x06040043, "General parameter incompatibility reason"},
    {0x06040047, "Gerneral internal incompatibility in device"},
    {0x06060000, "Access failure due to a hardware error"},
    {0x06070010, "Data type does not match, length of service parameter does"
     " not match"},
    {0x06070012, "Data type does not match, length of service parameter too"
     " high"},
    {0x06070013, "Data type does not match, length of service parameter too"
     " low"},
    {0x06090011, "Subindex does not exist"},
    {0x06090030, "Value range of parameter exceeded"},
    {0x06090031, "Value of parameter written too high"},
    {0x06090032, "Value of parameter written too low"},
    {0x06090036, "Maximum value is less than minimum value"},
    {0x08000000, "General error"},
    {0x08000020, "Data cannot be transferred or stored to the application"},
    {0x08000021, "Data cannot be transferred or stored to the application"
     " because of local control"},
    {0x08000022, "Data cannot be transferred or stored to the application"
     " because of the present device state"},
    {0x08000023, "Object dictionary dynamic generation fails or no object"
     " dictionary is present"},
    {}
};

/******************************************************************************
 *  Realtime interface
 *****************************************************************************/

/**
   Reads an 8-bit SDO in expedited mode.
   See ec_slave_sdo_read_exp()
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */
                             uint16_t sdo_index, /**< SDO index */
                             uint8_t sdo_subindex, /**< SDO subindex */
                             uint8_t *target /**< memory for read value */
                             )
{
    uint8_t data[4];
    if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
    *target = EC_READ_U8(data);
    return 0;
}

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

/**
   Reads a 16-bit SDO in expedited mode.
   See ec_slave_sdo_read_exp()
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */
                              uint16_t sdo_index, /**< SDO index */
                              uint8_t sdo_subindex, /**< SDO subindex */
                              uint16_t *target /**< memory for read value */
                              )
{
    uint8_t data[4];
    if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
    *target = EC_READ_U16(data);
    return 0;
}

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

/**
   Reads a 32-bit SDO in expedited mode.
   See ec_slave_sdo_read_exp()
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */
                              uint16_t sdo_index, /**< SDO index */
                              uint8_t sdo_subindex, /**< SDO subindex */
                              uint32_t *target /**< memory for read value */
                              )
{
    uint8_t data[4];
    if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
    *target = EC_READ_U32(data);
    return 0;
}

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

/**
   Writes an 8-bit SDO in expedited mode.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */
                              uint16_t sdo_index, /**< SDO index */
                              uint8_t sdo_subindex, /**< SDO subindex */
                              uint8_t value /**< new value */
                              )
{
    return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
}

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

/**
   Writes a 16-bit SDO in expedited mode.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */
                               uint16_t sdo_index, /**< SDO index */
                               uint8_t sdo_subindex, /**< SDO subindex */
                               uint16_t value /**< new value */
                               )
{
    uint8_t data[2];
    EC_WRITE_U16(data, value);
    return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
}

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

/**
   Writes a 32-bit SDO in expedited mode.
   \return 0 in case of success, else < 0
   \ingroup Slave
*/

int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */
                               uint16_t sdo_index, /**< SDO index */
                               uint8_t sdo_subindex, /**< SDO subindex */
                               uint32_t value /**< new value */
                               )
{
    uint8_t data[4];
    EC_WRITE_U32(data, value);
    return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
}

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

EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
EXPORT_SYMBOL(ecrt_slave_sdo_read);

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