/*
* co_srdo.h - contains defines for srdo services
*
* Copyright (c) 2015-2024 emotas embedded communication GmbH
*
*-------------------------------------------------------------------
* $Id: co_srdo.h 54943 2024-08-07 06:33:18Z boe $
*-------------------------------------------------------------------
*
*
*
*/

/**
* \brief defines for srdo services
*
* \file co_srdo.h - contains defines for srdo services
*/

#ifndef CO_SRDO_H
#define CO_SRDO_H 1

#include <co_datatype.h>


#define CO_SRDO_TYPE_NONE		0u
#define CO_SRDO_TYPE_PRODUCER	1u
#define CO_SRDO_TYPE_CONSUMER	2u


#define CO_SRDO_VALID_SIGNATURE		0xa5u

/* datatypes */

typedef enum {
	CO_SRDO_STATE_UNKNOWN,
	CO_SRDO_STATE_AWAIT_FIRST_MSG1,
	CO_SRDO_STATE_AWAIT_MSG1,
	CO_SRDO_STATE_AWAIT_MSG2,
	CO_SRDO_STATE_ERROR
} CO_SRDO_STATE_T;


typedef enum {
	CO_SRDO_DATA_UNKNOWN,
	CO_SRDO_DATA_VALID,
	CO_SRDO_DATA_INVALID
} CO_SRDO_DATA_VALID_T;


typedef enum {
	CO_SRDO_TIMER_TYPE_REFRESH,
	CO_SRDO_TIMER_TYPE_SRVT,
	CO_SRDO_TIMER_TYPE_SCT
} CO_SRDO_TIMER_TYPE_T;


struct srdo_timer {
	struct srdo_timer *pNext;	/* pointer to next timer */
	UNSIGNED32		actTicks;	/* actual timer ticks */
	CO_SRDO_TIMER_TYPE_T	type;	/* srdo timer type */
	UNSIGNED16		srdoNr;		/* srdo number */
};
typedef struct srdo_timer CO_SRDO_TIMER_T;


typedef struct {
	UNSIGNED8	direction;		/* information direction */
	UNSIGNED16	refreshTime;	/* refresh time */
	UNSIGNED8	srvt;			/* SRVT */
	UNSIGNED8	transType;		/* transmission type */
	UNSIGNED32	cobId1;			/* cob id 1 */
	UNSIGNED32	cobId2;			/* cob id 2 */

	UNSIGNED8	mapCnt;			/* number of actual mappings */
	UNSIGNED8	maxMapCnt;		/* number of maximum mappings */
	UNSIGNED8	mapLen;			/* len of mapped data in bytes (1..8) */
	UNSIGNED16  signature;		/* signature for the srdo */
	const UNSIGNED32	*mapTable;	/* pointer to mapping table */

	CO_SRDO_STATE_T	state;			/* internal srdo state */
	CO_SRDO_DATA_VALID_T	dataValid;		/* srdo data valid/not valid */
	CO_SRDO_TIMER_T	timerSct;		/* SCT timer */
	CO_SRDO_TIMER_T	timerSrvt;		/* SRVT timer */
} CO_SRDO_DATA_T;


/*
 * defines for error reasons
 */
typedef enum {
	CO_SRDO_ERROR_WRONG_MSG = 0,		/* wrong message received */
	CO_SRDO_ERROR_DATA_MISMATCH,		/* data doesnt match */
	CO_SRDO_ERROR_TIMEOUT_SCT,			/* timeout SCT */
	CO_SRDO_ERROR_TIMEOUT_SRVT,			/* timeout SRVT */
	CO_SRDO_ERROR_WRONG_LEN				/* wrong len received */
} CO_SRDO_ERROR_T;


EXTERN_DECL RET_T coSrdoInit(CO_LINE_DECL, UNSIGNED16 srdoNr);
EXTERN_DECL RET_T coSrdoTransmit(CO_LINE_DECL, UNSIGNED8 srdoNr);


EXTERN_DECL RET_T genSrdoGetState(CO_LINE_DECL, UNSIGNED8	srdoNr);

EXTERN_DECL RET_T genSrdoDataGet_u8(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8	subIndex,
				UNSIGNED8	*pData);
EXTERN_DECL RET_T genSrdoDataGet_u16(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				UNSIGNED16 *pData);
EXTERN_DECL RET_T genSrdoDataGet_u32(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				UNSIGNED32 *pData);
EXTERN_DECL RET_T genSrdoDataGet_i8(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8	subIndex,
				INTEGER8	*pData);
EXTERN_DECL RET_T genSrdoDataGet_i16(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				INTEGER16 *pData);
EXTERN_DECL RET_T genSrdoDataGet_i32(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				INTEGER32 *pData);
EXTERN_DECL RET_T genSrdoDataGet_r32(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				REAL32 *pData);
EXTERN_DECL RET_T genSrdoDataPut_u8(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				UNSIGNED8 data);
EXTERN_DECL RET_T genSrdoDataPut_u16(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				UNSIGNED16 data);
EXTERN_DECL RET_T genSrdoDataPut_u32(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				UNSIGNED32 data);
EXTERN_DECL RET_T genSrdoDataPut_i8(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				INTEGER8 data);
EXTERN_DECL RET_T genSrdoDataPut_i16(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				INTEGER16 data);
EXTERN_DECL RET_T genSrdoDataPut_i32(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				INTEGER32 data);
EXTERN_DECL RET_T genSrdoDataPut_r32(CO_LINE_DECL, UNSIGNED16 index, UNSIGNED8 subIndex,
				REAL32 data);
EXTERN_DECL void genSrdoSetDefaultValue(CO_LINE_DECL, UNSIGNED8 ownNodeId);

EXTERN_DECL RET_T genSrdoCheckOperational(CO_LINE_DECL);
EXTERN_DECL void genSrdoGoOperational(CO_LINE_DECL);
EXTERN_DECL void genSrdoGoPreOperational(CO_LINE_DECL);

EXTERN_DECL RET_T genSrdoTransmitMapping(CO_LINE_DECL, UNSIGNED16 srdoNr,
		UNSIGNED8 *pBufferNormal, UNSIGNED8 *pBufferInverted);

EXTERN_DECL void genSrdoReceiveHandler(CO_LINE_DECL, UNSIGNED16 srdoNr,
		CO_CONST CO_CAN_REC_MSG_T *pRecMsg);

EXTERN_DECL void genSrdoTimerInit(CO_LINE_DECL, UNSIGNED32 timerVal);
EXTERN_DECL void genSrdoTimerIsr(void);
EXTERN_DECL void genSrdoTimerCheck(CO_LINE_DECL);

void	srdoErrorIndication(CO_LINE_DECL, UNSIGNED16 srdoNr, CO_SRDO_ERROR_T reason);
void	srdoConsumerIndication(CO_LINE_DECL, UNSIGNED16 srdoNr);
void	srdoProducerIndication(CO_LINE_DECL, UNSIGNED16 srdoNr);

#endif /* CO_SRDO_H */