/*
 * efc_ecat.h
 *
 *  Created on: 20 Nov 2023
 *      Author: titov
 */

#ifndef INCLUDE_EFC_ECAT_H_
#define INCLUDE_EFC_ECAT_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include <stdbool.h>

#include "../src/ssc/applInterface.h"

/**
 * @defgroup Api API
 *
 * @{
 */

/**
 * @defgroup Common Общий API
 *
 * @{
 */

/**
 * @brief Инициализация EtherCat драйвера
 *
 * Вызов функции инициализации должен предшествовать всем оставльным функциям драйвера
 *
 * @return @c true при успешной инициализации; иначе @c false
 */
bool efc_ecat_init(void);

/**
 * @brief Денициализация EtherCat драйвера
 *
 * После вызова драйвера обращения к его функциям запрещено
 *
 * @return @c void
 */
void efc_ecat_fini(void);

/**
 * @brief Обработчик циклических задач EtherCat драйвера
 *
 * Обработчик должен исполняться в низкоприоритетном потоке
 *
 * @return void
 */
void efc_ecat_loop(void);

/** @} */ /* Common */

/**
 * @defgroup EthercatStateMachine Обработка событий машины состояния API
 *
 * @{
 */

typedef enum ESMS1 {
    PreOp = 1,
    SafeOp = 2,
    Op = 3
} EcatStateMachineStates;

bool efc_ecat_state_pending( EcatStateMachineStates state );
void efc_ecat_state_approve( EcatStateMachineStates state );

typedef void (*efc_ecat_state_pend_handler)( EcatStateMachineStates state );
void efc_ecat_set_state_pend_handler( efc_ecat_state_pend_handler pf );

/** @} */ /* EthercatStateMachine */

typedef void (*efc_ecat_update_sync0_time)( uint32_t time_in_us );
void efc_ecat_set_sync0_time_update_handler( efc_ecat_update_sync0_time pf );

void efc_ecat_set_device_id( uint16_t device_id );

typedef void (*efc_ecat_application_handler)( void );
void efc_ecat_set_application_handler( efc_ecat_application_handler pf );

/**
 * @defgroup ProcessDataInterface Обработка данных реального времени
 *
 * @{
 */




/** @} */ /* ProcessDataInterface */

/**
 * @defgroup ServiceDataInterface Обработка сервисных данных
 *
 * @{
 */

typedef UINT16 Index;
typedef UINT8 SubIndex;
typedef UINT32 Size;
typedef UINT8 CompliteAccess;

typedef UINT16 Data;

typedef UINT8 ResultType;

enum ResultCode {
    Done = 0x00,    //!<Успешное завершение.
    ToggleBitNotChanged = 0x01, /**< Index of "Toggle bit not changed" */
    SdoProtocolTimeout = 0x02, /**< Index of "SDO timeout" */
    CommandSpecifierUnknown = 0x03, /**< Index of "Command specifier unknown" */
    OutOfMemory = 0x04, /**< Index of "Out of memory" */
    UnsupportedAccess = 0x05, /**< Index of "Unsupported Access" */
    WriteOnlyEntry = 0x06, /**< Index of "Write only entry" */
    ReadOnlyEntry = 0x07, /**< Index of "Read only entry" */
    ObjectNotExisting = 0x08, /**< Index of "Object not existing" */
    ObjectCantBePdoMapped = 0x09, /**< Index of "Object can not be mapped to PDO" */
    MappedObjectsExceedPdo = 0x0A, /**< Index of "Mapped Object exceeds PDO" */
    ParamIsIncompatible = 0x0B, /**< Index of "Parameter is incompatible" */
    InternalDeviceIncompatibility = 0x0C, /**< Index of "Device incompatibility" */
    HardwareError = 0x0D, /**< Index of "Hardware error" */
    ParamLengthError = 0x0E, /**< Index of "Parameter length error" */
    ParamLengthTooLong = 0x0F, /**< Index of "Parameter is too long" */
    ParamLengthTooShort = 0x10, /**< Index of "Parameter is too short" */
    SubindexNotExisting = 0x11, /**< Index of "Subindex (Entry) not exists" */
    ValueExceeded = 0x12, /**< Index of "Value exceeds" */
    ValueTooGreat = 0x13, /**< Index of "Value is too great" */
    ValueTooSmall = 0x14, /**< Index of "Value is too small" */
    ModuleIdListNotMatch = 0x15, /**< Index of "Unequal Module Id list" */
    MaxValueIsLessThanMinValue = 0x16, /**< Index of "Value is less than minimum value" */
    GeneralError = 0x17, /**< Index of "General error" */
    DataCannotBeReadWrite = 0x18, /**< Index of "Data can not be read or written" */
    DataCannotBeAccessedWithLocalControl = 0x19, /**< Index of "Data can not be accessed because of local control" */
    DataCannotBeReadWriteInCurrentState = 0x1A, /**< Index of "Data can not be read or written in the current state" */
    NoObjectDictionaryIsPresent = 0x1B, /**< Index of "Object is not in the object dictionary" */
    EntryCantBeWrittenSi0Not0 = 0x1C, /**< Index of "Entry can not be written because Subindex0 is not 0" */
    CompleteAccessNotSupported = 0x1D, /**< The object can not be accessed via complete access */
    Working = 0xFF /**< Index of application is handling the SDO request */
};

typedef ResultType (* InterfaceRead)( Index index, SubIndex subindex, Size size, Data * data, CompliteAccess complete_access );
typedef ResultType (* InterfaceWrite)( Index index, SubIndex subindex, Size size, Data * data, CompliteAccess complete_access );


/** @} */ /* Api */

#ifdef __cplusplus
}
#endif

#endif /* INCLUDE_EFC_ECAT_H_ */