/******************************************************************************
 *
 *  c o m m a n d . h
 *
 *  EtherCAT command structure.
 *
 *  $Id$
 *
 *****************************************************************************/

#ifndef _EC_COMMAND_H_
#define _EC_COMMAND_H_

#include <linux/list.h>

#include "globals.h"

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

/**
   EtherCAT command type.
*/

typedef enum
{
    EC_CMD_NONE = 0x00, /**< Dummy */
    EC_CMD_APRD = 0x01, /**< Auto-increment physical read */
    EC_CMD_APWR = 0x02, /**< Auto-increment physical write */
    EC_CMD_NPRD = 0x04, /**< Node-addressed physical read */
    EC_CMD_NPWR = 0x05, /**< Node-addressed physical write */
    EC_CMD_BRD  = 0x07, /**< Broadcast read */
    EC_CMD_BWR  = 0x08, /**< Broadcast write */
    EC_CMD_LRW  = 0x0C  /**< Logical read/write */
}
ec_command_type_t;

/**
   EtherCAT command state.
*/

typedef enum
{
    EC_CMD_INIT, /**< new command */
    EC_CMD_QUEUED, /**< command queued by master */
    EC_CMD_SENT, /**< command has been sent */
    EC_CMD_RECEIVED, /**< command has been received */
    EC_CMD_TIMEOUT, /**< command timed out */
    EC_CMD_ERROR /**< error while sending/receiving */
}
ec_command_state_t;

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

/**
   EtherCAT address.
*/

typedef union
{
    struct
    {
        uint16_t slave; /**< configured or autoincrement address */
        uint16_t mem; /**< physical memory address */
    }
    physical; /**< physical address */

    uint32_t logical; /**< logical address */
}
ec_address_t;

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

/**
   EtherCAT command
*/

typedef struct
{
    struct list_head list; /**< needed by domain command lists */
    struct list_head queue; /**< master command queue item */
    ec_command_type_t type; /**< command type (APRD, BWR, etc) */
    ec_address_t address; /**< receipient address */
    uint8_t *data; /**< command data */
    size_t mem_size; /**< command \a data memory size */
    size_t data_size; /**< size of the data in \a data */
    uint8_t index; /**< command index (set by master) */
    uint16_t working_counter; /**< working counter */
    ec_command_state_t state; /**< command state */
}
ec_command_t;

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

void ec_command_init(ec_command_t *);
void ec_command_clear(ec_command_t *);

int ec_command_nprd(ec_command_t *, uint16_t, uint16_t, size_t);
int ec_command_npwr(ec_command_t *, uint16_t, uint16_t, size_t);
int ec_command_aprd(ec_command_t *, uint16_t, uint16_t, size_t);
int ec_command_apwr(ec_command_t *, uint16_t, uint16_t, size_t);
int ec_command_brd(ec_command_t *, uint16_t, size_t);
int ec_command_bwr(ec_command_t *, uint16_t, size_t);
int ec_command_lrw(ec_command_t *, uint32_t, size_t);

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

#endif