sitara_depot/components/free_rtos/ethernet_industry/eth_ecat_command.hpp

/*
 * eth_ecat_commands.hpp
 *
 *  Created on: May 2, 2023
 *      Author: algin
 */

#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_COMMAND_HPP_
#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_COMMAND_HPP_

#include <cstdint>
#include <array>
#include <type_traits>

#include "ethernet_industry/ethercattype.hpp"
#include "ethernet_industry/eth_ecat_types.h"
#include "ethernet_industry/eth_ecat_custom_tuple.hpp"

namespace free_rtos {

namespace address {

// Slave addressing types
using Position          = int16_t;
using Broadcast         = uint16_t;
using Station           = uint16_t;
using Logical           = uint32_t;

using SlaveAddresses = free_rtos::custom_tuple<Position, Broadcast, Station, Logical>;

// Register offset
using Offset = uint16_t;

using PositionAddress    = free_rtos::custom_tuple<Position, Offset>;
using BroadcastAddress   = free_rtos::custom_tuple<Broadcast, Offset>;
using StationAddress     = free_rtos::custom_tuple<Station, Offset>;
using LogicalAddress     = free_rtos::custom_tuple<Logical>;

using Addresses = free_rtos::custom_tuple<PositionAddress, BroadcastAddress, StationAddress, LogicalAddress>;

} // namespace address

namespace command {

enum class DIR_INDEX : uint16_t {
    RD = 0,
    WR,
    RW,
    RMW,
    NO = RMW
};

enum class TYPE_INDEX : uint16_t {
    AP = 0,
    B,
    FP,
    L
};


struct DirBase {

};

template<DIR_INDEX dir_index>
struct Dir : public DirBase {
    static constexpr DIR_INDEX dir = dir_index;
};

using RD    = Dir<DIR_INDEX::RD>;
using WR    = Dir<DIR_INDEX::WR>;
using RW    = Dir<DIR_INDEX::RW>;
using RMW   = Dir<DIR_INDEX::RMW>;
using NO    = Dir<DIR_INDEX::NO>;

struct TypeBase {

};

template<TYPE_INDEX type_index>
struct Type : public TypeBase {
    using TAddress = typename free_rtos::custom_tuple_element<static_cast<size_t>(type_index), address::Addresses>::type;
    using TSlaveAddress = typename free_rtos::custom_tuple_element<0, TAddress>::type;

    static constexpr TYPE_INDEX type = type_index;
};

using AP    = Type<TYPE_INDEX::AP>;
using B     = Type<TYPE_INDEX::B>;
using FP    = Type<TYPE_INDEX::FP>;
using L     = Type<TYPE_INDEX::L>;

class EcatCommandBase {
public:
    EcatCommandBase(TYPE_INDEX type, DIR_INDEX dir)
    : cmd_{get_cmd_from_table(type, dir)} { }

    EcatCommandBase()
    : cmd_{ec_cmdtype::EC_CMD_NOP} { }

    uint8_t get_cmd() {
        return cmd_;
    }

private:
    ec_cmdtype cmd_;

    static constexpr ec_cmdtype get_cmd_from_table(TYPE_INDEX type, DIR_INDEX dir) {
        std::array<std::array<ec_cmdtype, 4>, 4> commands = {{
            {{EC_CMD_APRD,   EC_CMD_APWR,    EC_CMD_APRW,    EC_CMD_ARMW}},
            {{EC_CMD_BRD,    EC_CMD_BWR,     EC_CMD_BRW,     EC_CMD_NOP}},
            {{EC_CMD_FPRD,   EC_CMD_FPWR,    EC_CMD_FPRW,    EC_CMD_FRMW}},
            {{EC_CMD_LRD,    EC_CMD_LWR,     EC_CMD_LRW,     EC_CMD_NOP}}
        }};

        return commands[static_cast<uint16_t>(type)][static_cast<uint16_t>(dir)];
    }
};

template<typename TypeT, typename DirT>
class EcatCommand : public EcatCommandBase {
    static_assert(std::is_base_of<TypeBase, TypeT>::value == true, "TypeT should be derived from command::TypeBase");
    static_assert(std::is_base_of<DirBase, DirT>::value == true, "DirT should be derived from command::DirBase");

public:
    EcatCommand(typename TypeT::TAddress address)
    : EcatCommandBase{TypeT::type, DirT::dir}
    , address_{address} { }

    EcatCommand() { }

    uint32_t get_address() {
        uint32_t address{0x00000000};

        address_.pack(reinterpret_cast<uint8_t*>(&address));

        return address;
    }

private:
    typename TypeT::TAddress address_;
};

/*
 * Position addressing
 * arg0: Each slave increments Position. Slave is addressed if Position = 0.
 * arg1: Local register or memory address of the ESC
 */
using APRD = EcatCommand<AP, RD>;
using APWR = EcatCommand<AP, WR>;
using APRW = EcatCommand<AP, RW>;
using ARMW = EcatCommand<AP, RMW>;

/*
 * Broadcast addressing
 * arg0: Each slave increments Position (not used for addressing)
 * arg1: Local register or memory address of the ESC
 */
using NOP = EcatCommand<B, NO>;
using BRD = EcatCommand<B, RD>;
using BRW = EcatCommand<B, RW>;
using BWR = EcatCommand<B, WR>;

/*
 * arg0: Slave is addressed if Address matches Configured Station Address or Configured Station Alias (if enabled).
 * arg1: Local register or memory address of the ESC
 */
using FPRD = EcatCommand<FP, RD>;
using FPRW = EcatCommand<FP, RW>;
using FPWR = EcatCommand<FP, WR>;
using FPMW = EcatCommand<FP, RMW>;

/*
 * Logical addressing
 * arg0: Logical Address (configured by FMMUs) Slave is addressed if FMMU configuration matches Address.
 */
using LRD = EcatCommand<L, RD>;
using LRW = EcatCommand<L, RW>;
using LWR = EcatCommand<L, WR>;

} // namespace command

}

#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_COMMAND_HPP_ */