laurent@2022: /*
laurent@2022:  * Etherlab Asynchronous execution code
laurent@2022:  *
laurent@2022:  * */
laurent@2022: 
laurent@2022: #include <rtdm/rtdm.h>
laurent@2022: #include <native/task.h>
laurent@2022: #include <native/timer.h>
laurent@2022: 
laurent@2022: #include "ecrt.h"
laurent@2022: #include "ec_rtdm.h"
laurent@2022: 
laurent@2022: #ifdef _WINDOWS_H
laurent@2022:   #include "iec_types.h"
laurent@2022: #else
laurent@2022:   #include "iec_std_lib.h"
laurent@2022: #endif
laurent@2022: 
laurent@2022: // declaration of interface variables
laurent@2022: %(located_variables_declaration)s
laurent@2022: 
laurent@2022: // Optional features
laurent@2022: #define CONFIGURE_PDOS  %(configure_pdos)d
laurent@2022: 
laurent@2022: // process data
laurent@2022: static uint8_t *domain1_pd = NULL;
laurent@2022: %(used_pdo_entry_offset_variables_declaration)s
laurent@2022: 
laurent@2022: const static ec_pdo_entry_reg_t domain1_regs[] = {
laurent@2022: %(used_pdo_entry_configuration)s
laurent@2022:     {}
laurent@2022: };
laurent@2022: /*****************************************************************************/
laurent@2022: 
laurent@2022: #if CONFIGURE_PDOS
laurent@2022: %(pdos_configuration_declaration)s
laurent@2022: #endif
laurent@2022: 
laurent@2022: int rt_fd = -1;
laurent@2022: CstructMstrAttach MstrAttach;
laurent@2022: char rt_dev_file[64];
laurent@2022: long long wait_period_ns = 100000LL;
laurent@2022: 
laurent@2022: // EtherCAT
laurent@2022: static ec_master_t *master = NULL;
laurent@2022: static ec_domain_t *domain1 = NULL;
laurent@2022: %(slaves_declaration)s
laurent@2022: 
laurent@2022: /* Beremiz plugin functions */
laurent@2022: int __init_%(location)s(int argc,char **argv)
laurent@2022: {
laurent@2022: 	int rtstatus;
laurent@2022: 
laurent@2022: 	MstrAttach.masterindex = %(master_number)d;
laurent@2022: 
laurent@2022: 	master = ecrt_request_master(MstrAttach.masterindex);
laurent@2022: 	if (!master) return -1;
laurent@2022: 
laurent@2022: 	domain1 = ecrt_master_create_domain(master);
laurent@2022: 	if (!domain1) return -1;
laurent@2022: 
laurent@2022: #if CONFIGURE_PDOS
laurent@2022: 	%(slaves_configuration)s
laurent@2022: #endif
laurent@2022: 
laurent@2022:     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
laurent@2022:         fprintf(stderr, "PDO entry registration failed!\n");
laurent@2022:         return -1;
laurent@2022:     }
laurent@2022: 
laurent@2022:     sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);
laurent@2022:     rt_fd = rt_dev_open( &rt_dev_file[0], 0);
laurent@2022:     if (rt_fd < 0) {
laurent@2022:         printf("Can't open %%s\n", &rt_dev_file[0]);
laurent@2022:         return -1;
laurent@2022:     }
laurent@2022: 
laurent@2022:     // attach the master over rtdm driver
laurent@2022:     MstrAttach.domainindex = ecrt_domain_index(domain1);
laurent@2022:     rtstatus = ecrt_rtdm_master_attach(rt_fd, &MstrAttach);
laurent@2022:     if (rtstatus < 0) {
laurent@2022:         printf("Cannot attach to master over rtdm\n");
laurent@2022:         return -1;
laurent@2022:     }
laurent@2022: 
laurent@2022:     if (ecrt_master_activate(master))
laurent@2022:         return -1;
laurent@2022: 
laurent@2022:     if (!(domain1_pd = ecrt_domain_data(domain1))) {
laurent@2022:         fprintf(stderr, "domain1_pd:  0x%%.6lx\n", (unsigned long)domain1_pd);
laurent@2022:         return -1;
laurent@2022:     }
laurent@2022: 
laurent@2022:     fprintf(stdout, "Master %(master_number)d activated...\n");
laurent@2022:     return 0;
laurent@2022: }
laurent@2022: 
laurent@2022: void __cleanup_%(location)s(void)
laurent@2022: {
laurent@2022: 	if (rt_fd >= 0) {
laurent@2022: 		rt_dev_close(rt_fd);
laurent@2022: 	}
dgkang@2024: 	//release master
dgkang@2025: 	ecrt_release_master(master);
laurent@2022: }
laurent@2022: 
laurent@2022: void __retrieve_%(location)s(void)
laurent@2022: {
laurent@2022:     // receive ethercat
laurent@2022:     ecrt_rtdm_master_recieve(rt_fd);
laurent@2022:     ecrt_rtdm_domain_process(rt_fd);
laurent@2022: 
laurent@2022:     rt_task_sleep(rt_timer_ns2tsc(wait_period_ns));
laurent@2022: 
laurent@2022:     // send process data
laurent@2022:     ecrt_rtdm_domain_queque(rt_fd);
laurent@2022:     ecrt_rtdm_master_send(rt_fd);
laurent@2022: 
laurent@2022: %(retrieve_variables)s
laurent@2022: }
laurent@2022: 
laurent@2022: void __publish_%(location)s(void)
laurent@2022: {
laurent@2022: %(publish_variables)s
laurent@2022: }