text: /******************************************************************************
   *
   *  $Id$
   *
   *  Copyright (C)      2011  IgH Andreas Stewering-Bone
   *                     2012  Florian Pose <fp@igh-essen.com>
   *
   *  This file is part of the IgH EtherCAT master
   *
   *  The IgH EtherCAT Master is free software; you can redistribute it and/or
   *  modify it under the terms of the GNU General Public License version 2, as
   *  published by the Free Software Foundation.
   *
   *  The IgH EtherCAT master 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 the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>.
   *
   *  ---
   *
   *  The license mentioned above concerns the source code only. Using the
   *  EtherCAT technology and brand is only permitted in compliance with the
   *  industrial property and similar rights of Beckhoff Automation GmbH.
   *
   *****************************************************************************/
  
  #include <sched.h>
  #include <stdio.h>
  #include <stdlib.h>
  #include <fcntl.h>
  #include <signal.h>
  
  #include <rtai_lxrt.h>
  #include <rtdm/rtdm.h>
  
  #include "ecrt.h"
  
  #define rt_printf(X, Y)
  
  #define NSEC_PER_SEC 1000000000
  
  RT_TASK *task;
  
  const static unsigned int cycle_us = 1000; /* 1 ms */
  
  static int run = 1;
  
  /****************************************************************************/
  
  // EtherCAT
  static ec_master_t *master = NULL;
  static ec_master_state_t master_state = {};
  
  static ec_domain_t *domain1 = NULL;
  static ec_domain_state_t domain1_state = {};
  
  static uint8_t *domain1_pd = NULL;
  
  static ec_slave_config_t *sc_dig_out_01 = NULL;
  
  /****************************************************************************/
  
  // process data
  
  #define BusCoupler01_Pos  0, 0
  #define DigOutSlave01_Pos 0, 1
  
  #define Beckhoff_EK1100 0x00000002, 0x044c2c52
  #define Beckhoff_EL2004 0x00000002, 0x07d43052
  
  // offsets for PDO entries
  static unsigned int off_dig_out0 = 0;
  
  // process data
  
  const static ec_pdo_entry_reg_t domain1_regs[] = {
     {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL},
     {}
  };
  
  /****************************************************************************/
  
  /* Slave 1, "EL2004"
   * Vendor ID:       0x00000002
   * Product code:    0x07d43052
   * Revision number: 0x00100000
   */
  
  ec_pdo_entry_info_t slave_1_pdo_entries[] = {
     {0x7000, 0x01, 1}, /* Output */
     {0x7010, 0x01, 1}, /* Output */
     {0x7020, 0x01, 1}, /* Output */
     {0x7030, 0x01, 1}, /* Output */
  };
  
  ec_pdo_info_t slave_1_pdos[] = {
     {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */
     {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */
     {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */
     {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */
  };
  
  ec_sync_info_t slave_1_syncs[] = {
     {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},
     {0xff}
  };
  
  /*****************************************************************************
   * Realtime task
   ****************************************************************************/
  
  void rt_check_domain_state(void)
  {
      ec_domain_state_t ds = {};
  
      ecrt_domain_state(domain1, &ds);
  
      if (ds.working_counter != domain1_state.working_counter) {
          rt_printf("Domain1: WC %u.\n", ds.working_counter);
      }
  
      if (ds.wc_state != domain1_state.wc_state) {
          rt_printf("Domain1: State %u.\n", ds.wc_state);
      }
  
      domain1_state = ds;
  }
  
  /****************************************************************************/
  
  void rt_check_master_state(void)
  {
      ec_master_state_t ms;
  
      ecrt_master_state(master, &ms);
  
      if (ms.slaves_responding != master_state.slaves_responding) {
          rt_printf("%u slave(s).\n", ms.slaves_responding);
      }
  
      if (ms.al_states != master_state.al_states) {
          rt_printf("AL states: 0x%02X.\n", ms.al_states);
      }
  
      if (ms.link_up != master_state.link_up) {
          rt_printf("Link is %s.\n", ms.link_up ? "up" : "down");
      }
  
      master_state = ms;
  }
  
  /****************************************************************************/
  
  void my_cyclic(void)
  {
      int cycle_counter = 0;
      int period;
      unsigned int blink = 0;
  
      rt_set_periodic_mode();
      period = (int) nano2count((RTIME) cycle_us * 1000);
      start_rt_timer(period);
      rt_make_hard_real_time();
      rt_task_make_periodic(task, rt_get_time() + 10 * period, period);
  
      while (run) {
          rt_task_wait_period();
  
          cycle_counter++;
  
          // receive EtherCAT
          ecrt_master_receive(master);
          ecrt_domain_process(domain1);
  
          rt_check_domain_state();
  
          if (!(cycle_counter % 1000)) {
              rt_check_master_state();
          }
  
          if (!(cycle_counter % 200)) {
              blink = !blink;
          }
  
          EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x00 : 0x0F);
  
          // send process data
          ecrt_domain_queue(domain1);
          ecrt_master_send(master);
      }
  
      rt_make_soft_real_time();
      stop_rt_timer();
  }
  
  /****************************************************************************
   * Signal handler
   ***************************************************************************/
  
  void signal_handler(int sig)
  {
      run = 0;
  }
  
  /****************************************************************************
   * Main function
   ***************************************************************************/
  
  int main(int argc, char *argv[])
  {
      ec_slave_config_t *sc;
  
      signal(SIGTERM, signal_handler);
      signal(SIGINT, signal_handler);
  
      mlockall(MCL_CURRENT | MCL_FUTURE);
  
      printf("Requesting master...\n");
      master = ecrt_request_master(0);
      if (!master) {
          return -1;
      }
  
      domain1 = ecrt_master_create_domain(master);
      if (!domain1) {
          return -1;
      }
  
      printf("Creating slave configurations...\n");
  
      // Create configuration for bus coupler
      sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);
      if (!sc) {
          return -1;
      }
  
      sc_dig_out_01 =
          ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);
      if (!sc_dig_out_01) {
          fprintf(stderr, "Failed to get slave configuration.\n");
          return -1;
      }
  
      if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {
          fprintf(stderr, "Failed to configure PDOs.\n");
          return -1;
      }
  
      if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
          fprintf(stderr, "PDO entry registration failed!\n");
          return -1;
      }
  
      printf("Activating master...\n");
      if (ecrt_master_activate(master)) {
          return -1;
      }
  
      if (!(domain1_pd = ecrt_domain_data(domain1))) {
          fprintf(stderr, "Failed to get domain data pointer.\n");
          return -1;
      }
  
      /* Create cyclic RT-thread */
      struct sched_param param;
      param.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;
      if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
          puts("ERROR IN SETTING THE SCHEDULER");
          perror("errno");
          return -1;
      }
  
      task = rt_task_init(nam2num("ec_rtai_rtdm_example"),
              0 /* priority */, 0 /* stack size */, 0 /* msg size */);
  
      my_cyclic();
  
      rt_task_delete(task);
  
      printf("End of Program\n");
      ecrt_release_master(master);
  
      return 0;
  }
  
  /****************************************************************************/
  