--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/plc_etherlab.c	Sun Dec 18 19:42:13 2011 +0100
@@ -0,0 +1,123 @@
+/*
+ * Etherlab Asynchronous execution code
+ *
+ * */
+
+#include <rtdm/rtdm.h>
+#include <native/task.h>
+#include <native/timer.h>
+
+#include "ecrt.h"
+#include "ec_rtdm.h"
+
+#ifdef _WINDOWS_H
+  #include "iec_types.h"
+#else
+  #include "iec_std_lib.h"
+#endif
+
+// declaration of interface variables
+%(located_variables_declaration)s
+
+// Optional features
+#define CONFIGURE_PDOS  %(configure_pdos)d
+
+// process data
+static uint8_t *domain1_pd = NULL;
+%(used_pdo_entry_offset_variables_declaration)s
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+%(used_pdo_entry_configuration)s
+    {}
+};
+/*****************************************************************************/
+
+#if CONFIGURE_PDOS
+%(pdos_configuration_declaration)s
+#endif
+
+int rt_fd = -1;
+CstructMstrAttach MstrAttach;
+char rt_dev_file[64];
+long long wait_period_ns = 100000LL;
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_domain_t *domain1 = NULL;
+%(slaves_declaration)s
+
+/* Beremiz plugin functions */
+int __init_%(location)s(int argc,char **argv)
+{
+	int rtstatus;
+
+	MstrAttach.masterindex = %(master_number)d;
+
+	master = ecrt_request_master(MstrAttach.masterindex);
+	if (!master) return -1;
+
+	domain1 = ecrt_master_create_domain(master);
+	if (!domain1) return -1;
+
+#if CONFIGURE_PDOS
+	%(slaves_configuration)s
+#endif
+
+    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
+        fprintf(stderr, "PDO entry registration failed!\n");
+        return -1;
+    }
+
+    sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);
+    rt_fd = rt_dev_open( &rt_dev_file[0], 0);
+    if (rt_fd < 0) {
+        printf("Can't open %%s\n", &rt_dev_file[0]);
+        return -1;
+    }
+
+    // attach the master over rtdm driver
+    MstrAttach.domainindex = ecrt_domain_index(domain1);
+    rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);
+    if (rtstatus < 0) {
+        printf("Cannot attach to master over rtdm\n");
+        return -1;
+    }
+
+    if (ecrt_master_activate(master))
+        return -1;
+
+    if (!(domain1_pd = ecrt_domain_data(domain1))) {
+        fprintf(stderr, "domain1_pd:  0x%%.6lx\n", (unsigned long)domain1_pd);
+        return -1;
+    }
+
+    fprintf(stdout, "Master %(master_number)d activated...\n");
+    return 0;
+}
+
+void __cleanup_%(location)s(void)
+{
+	if (rt_fd >= 0) {
+		rt_dev_close(rt_fd);
+	}
+}
+
+void __retrieve_%(location)s(void)
+{
+    // receive ethercat
+    ecrt_rtdm_master_recieve(rt_fd);
+    ecrt_rtdm_domain_process(rt_fd);
+
+    rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
+
+    // send process data
+    ecrt_rtdm_domain_queque(rt_fd);
+    ecrt_rtdm_master_send(rt_fd);
+
+%(retrieve_variables)s
+}
+
+void __publish_%(location)s(void)
+{
+%(publish_variables)s
+}