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13 #ifdef _WINDOWS_H |
13 #ifdef _WINDOWS_H |
14 #include "iec_types.h" |
14 #include "iec_types.h" |
15 #else |
15 #else |
16 #include "iec_std_lib.h" |
16 #include "iec_std_lib.h" |
17 #endif |
17 #endif |
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18 |
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19 extern unsigned long long common_ticktime__; |
18 |
20 |
19 // declaration of interface variables |
21 // declaration of interface variables |
20 %(located_variables_declaration)s |
22 %(located_variables_declaration)s |
21 |
23 |
22 // Optional features |
24 // Optional features |
68 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
70 if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { |
69 fprintf(stderr, "PDO entry registration failed!\n"); |
71 fprintf(stderr, "PDO entry registration failed!\n"); |
70 return -1; |
72 return -1; |
71 } |
73 } |
72 |
74 |
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75 ecrt_master_set_send_interval(master, common_ticktime__); |
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76 |
73 %(slaves_initialization)s |
77 %(slaves_initialization)s |
74 |
78 |
75 sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0); |
79 sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0); |
76 rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
80 rt_fd = rt_dev_open( &rt_dev_file[0], 0); |
77 if (rt_fd < 0) { |
81 if (rt_fd < 0) { |
109 ecrt_release_master(master); |
113 ecrt_release_master(master); |
110 } |
114 } |
111 |
115 |
112 void __retrieve_%(location)s(void) |
116 void __retrieve_%(location)s(void) |
113 { |
117 { |
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118 // send process data |
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119 ecrt_rtdm_domain_queque(rt_fd); |
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120 ecrt_rtdm_master_send(rt_fd); |
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121 |
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122 rt_task_sleep(rt_timer_ns2tsc(wait_period_ns)); |
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123 |
114 // receive ethercat |
124 // receive ethercat |
115 ecrt_rtdm_master_recieve(rt_fd); |
125 ecrt_rtdm_master_recieve(rt_fd); |
116 ecrt_rtdm_domain_process(rt_fd); |
126 ecrt_rtdm_domain_process(rt_fd); |
117 |
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118 rt_task_sleep(rt_timer_ns2tsc(wait_period_ns)); |
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119 |
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120 // send process data |
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121 ecrt_rtdm_domain_queque(rt_fd); |
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122 ecrt_rtdm_master_send(rt_fd); |
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123 |
127 |
124 %(retrieve_variables)s |
128 %(retrieve_variables)s |
125 } |
129 } |
126 |
130 |
127 void __publish_%(location)s(void) |
131 void __publish_%(location)s(void) |