/*

Copyright (C) 2022 unref-ptr

This file is part of lwIOLink.
lwIOLink 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, either version 3 of the License, or
(at your option) any later version.
lwIOLink 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 lwIOLink. If not, see <https://www.gnu.org/licenses/>.

Contact information:
<[email protected]>
*/
#define pragma once
#include <stdint.h>
#include <Arduino.h>

namespace lwIOLink
{
//IO-Link device modes
enum Mode
{
start,
preoperate,
operate
};
//IO-Link baudrates
enum BaudRate: uint32_t
{
COM1 = 4800,
COM2 = 38400,
COM3 = 230400
};
//Table A.5
enum PDStatus
{
Valid = 0,
Invalid = 1
};

namespace Event
{
constexpr unsigned SizeRawEvent = 3U;
constexpr unsigned SizeStatusCode = 1U;
constexpr unsigned StatusCodeDefault = 0x80; //Event details << 6
//Figure A.24
namespace Qualifier
{
namespace BitOffset
{
constexpr unsigned Instance = 0x00;
constexpr unsigned Source = 0x03;
constexpr unsigned Type = 0x04;
constexpr unsigned Mode = 0x06;
}
 enum Instance
{
Unknown = 0x00,
Rsv1 = 0x01,
Rsv2 = 0x02,
Rsv3 = 0x03,
Application = 0x04,
Rsv5 = 0x05,
Rsv6 = 0x06,
Rsv7 = 0x07
};
enum Source
{
Device = 0x00,
Master = 0x01
};
enum Type
{
Reserved = 0x00,
SingleShot = 0x01,
Disappears = 0x02,
Appears = 0x03
};
}
// Table 58
struct POD
{
POD(Qualifier::Instance instance,Qualifier::Type type,uint16_t
event_code)
{
EventQualifier = instance << Qualifier::BitOffset::Instance
| Qualifier::Master <<
Qualifier::BitOffset::Source
| type << Qualifier::BitOffset::Type;
EventCode = event_code;
}
POD()
{
EventQualifier = Qualifier::Master << Qualifier::BitOffset::Source;
EventCode = 0x00;
}
uint8_t EventQualifier;
uint16_t EventCode;
};
}

class Device
{
public:
/*
Device Constructor
PDIn = total # bytes the device sends (Device->Master)
PDOut = total # bytes the device gets (Master->Device)
min_cycletime = minimum cycle time in us (See B.1.3)
*/
Device(uint8_t PDIn, uint8_t PDOut,uint32_t min_cycletime);

struct HWConfig
{
 Stream &SerialPort; //reference to Arduino Serial port
BaudRate Baud; // baud rate for transmission
int WakeupMode; /* Type of interrupt to detect wakeup from
transceiver
FALLING, RISING */
struct Pin_t
{
unsigned TxEN; //Digital Output pin used to enable TX of data
unsigned Wakeup; /* Digital Input pin used to get Wakeup
Requests
Must be interrupt capable. */
#if defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_RASPBERRY_PI_PICO)
/* Some Arduino boards require to specify the UART Pins

*/
unsigned Tx;
unsigned Rx;
#endif
};
Pin_t Pin;
};

/*
Begin the IOLink Device Hardware
*/
void begin(const HWConfig config);
/*
Run the IOLink Device, should be called in a loop
*/
void run();
/*
Get the Process Data Output
buffer = Pointer to Buffer where to store PDOut
pStats = Pointer to memory where status of PDOut will be saved
Returns false if the device is not in operate mode
*/
bool GetPDOut(uint8_t * buffer, PDStatus * pStatus) const;
/*
Sets the Process Data Input
Returns false if the device is not in operate mode
or the len > than the available PDIn Size
*/
bool SetPDIn(uint8_t * pData, uint8_t len);
/*
* Sets the validity of PDIn
* Return false if not in operate mode
* By default the PDIN status is set to valid
* See Table A.5
*/
bool SetPDInStatus(PDStatus pd_status);
// Gets the current Mode of the IOLink device
Mode GetMode() const;
/* Callback for whenever an IOLink Cycle is completed in operate mode
* Can be used to update the PDIN data, read a sensor or do a specific
operation
* for the application
*/
static void OnNewCycle(void);
 enum class EventResult
{
EventOK, /* Event Added, will be processed by the master */
EventMemoryFull, /* Cant add events to Device memory */
ProcessingEvents /* The Master is already reading events, wait until it
finished */
};

/*
Add an event to the device, which will be processed by the Master
Asynchronously
Note: Function is not concurrent safe. Do not Call inside ISR
*/
EventResult SetEvent(Event::POD newEvent);
/* User Callback for whenever IO-Link Master has processed Events
[Optional]
* Events sent from the IO-Link device are read from the so-called Event
Memory.
* The Master can take up some IO-Link MSeq Frames to complete reading the
data.
* This function is called once the Master confirms it has read the complete
Event Memory
* It can be useful to call this function in case more events are pending to
be sent.
*/
static void OnEventsProcessed(void);
private:
static unsigned constexpr MaxPD = 32;
static unsigned constexpr MaxOD = 32;
static unsigned constexpr SizeDP1 = 16;
static unsigned constexpr ChecksumSize = 1;
static unsigned constexpr MCSize = 1;
static unsigned constexpr MaxIOLMsgSize = MCSize + ChecksumSize + MaxOD +
MaxPD;
static unsigned constexpr MasterMetadataOffset = MCSize + ChecksumSize;
static unsigned constexpr MCOffset = 0;
static unsigned constexpr CKTFrameOffset = 1;
static unsigned constexpr EventFlagBitOffset = 6; //Figure A.3
static unsigned constexpr MaxEvents = 6; //Table 58
static unsigned constexpr EventStatusCodeAddr = 0x00;

/* Cycle time constants See B.3*/

static unsigned constexpr TotalTimeEncodings = 3;
static uint32_t constexpr TimeBaseLUT[TotalTimeEncodings] = {100, 400,
1600}; //us
static uint32_t constexpr TimeOffsetLUT[TotalTimeEncodings] =
{0,6400,32000}; //us

uint8_t TotalEvents = 0;
bool ReadingEventMemory = false;
bool EventsProcessed = false;
uint8_t EventMemory[Event::SizeStatusCode + (MaxEvents *
Event::SizeRawEvent)];

//ISDU Not implemented

static bool constexpr ISDUSupported = false;
//Message struct for IO-Link
struct ioLink_message_t
{
uint8_t channel;
uint8_t addr;
};

enum Channel
{
Process = 0,
Page ,
Diagnosis,
ISDU
};
struct ODSize_t
{
uint8_t Startup;
uint8_t Preop;
uint8_t Op;
};
//OD Size for the device (1,2,8 or 32)
static ODSize_t constexpr ODSize =
{
.Startup = 1,
.Preop = 8,
.Op = 2
};
//Table A.2
enum class MCAccess
{
Read = 1,
Write = 0
};

//Table A.3
enum class MSeqType
{
Type0 = 0,
Type1,
Type2
};
//States for interpreting IO-Link data
enum ioLink_states
{
wait_wake, //Waiting for wakeup signal
wait_valid_frame, //Waiting for a valid startup message
run_mode //Master started communication with device
};

//Table B.2
enum MasterCommands
{
MasterIdent = 0x95,
DeviceIden = 0x96,
DeviceStartup = 0x97,
PDOutOperate = 0x98,
Operate = 0x99,
Preoperate = 0x9A,
};
/* Table B.1 */
enum DP1_Param
{
MasterCommand = 0x00,
MasterCycleTime,
MinCycleTime,
MSeqCap,
RevisionID,
ProcessDataIn,
ProcessDataOut,
VID1,
VID2,
VID3,
DID1,
DID2,
DID3,
FID1,
FID2,
Res,
SystemCommand
};

struct Status
{
PDStatus PDIn;
PDStatus PDOut;
};

struct PDBuffer
{
uint8_t Data[MaxPD];
size_t Size;
};

struct PD
{
PDBuffer Out;
PDBuffer In;
};

uint8_t GetMasterTXSize();
//Reset the RX Line
void ResetRX();
//Get the MSeq Cap according B.1.4
uint8_t GetMseqCap() const;
//Process an incoming Master Message
void ProcessMessage();
//Sets the Response for the Master, returns the total bytes to send
uint8_t SetResponse();
uint8_t rxBuffer[MaxIOLMsgSize];
uint8_t txBuffer[MaxIOLMsgSize];
void initTransciever(int wakeup_mode) const;
//Parse the MC (Figure A.1)
void ParseMC();
//Send device response to master
void DeviceRsp(uint8_t *data, uint8_t len);
//Prepare the device message
void prepareMessage(uint8_t od_size);
/*
* Called whenever a new RX frame
 * from the master is recieved
* rx_byte = byte recieved from the UART
*/
void SaveMasterFrame(uint8_t rx_byte);
//Generate IOLink checksum
uint8_t GetChecksum(const uint8_t *data, uint8_t length) const;
//Decode cycletime according to Table B.3, return value time in
microseconds
uint32_t DecodeCycleTime(uint8_t encoded_time) const;
/* Encode cycletime according to Table B.3
* If the cycle time time cannot be encoded
* the nearest greater cycle time will be used.
* e.g., cycleTime_us = 1333 us -> encoded value = 1340 us
*/
uint8_t EncodeCycleTime(uint32_t cycleTime_us) const;
Stream * SerialPort = nullptr;
ioLink_message_t message;
PD Pd;
uint8_t ODBuffer[MaxOD];
/* Process Data status */
Status status = { .PDIn = Valid, .PDOut = Invalid};
/* Table B.1 */
uint8_t ParameterPage1[SizeDP1] = {0};
bool NewCmd = false;
unsigned TxEn;
unsigned WuPin;
MasterCommands Cmd;
Mode deviceMode = start;
MCAccess MasterAccess;
uint8_t ExpectedRXCnt = 0;
ioLink_states deviceState = wait_wake;
bool NewMasterMsg = false;
uint8_t rxCnt = 0;
unsigned long CurrentCycleTime = 0;
unsigned long LastMessage = 0;
};
};