diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/plc_etherlab.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/plc_etherlab.c	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,168 @@
+/*
+
+Template C code used to produce target Ethercat C code
+
+Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+
+Distributed under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+See COPYING file for copyrights details.
+
+*/
+
+#include <rtdm/rtdm.h>
+#include <native/task.h>
+#include <native/timer.h>
+
+#include "ecrt.h"
+
+#include "beremiz.h"
+#include "iec_types_all.h"
+
+// declaration of interface variables
+%(located_variables_declaration)s
+
+// process data
+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
+    {}
+};
+/*****************************************************************************/
+
+%(pdos_configuration_declaration)s
+
+long long wait_period_ns = 100000LL;
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_domain_t *domain1 = NULL;
+static int first_sent=0;
+%(slaves_declaration)s
+#define SLOGF(level, format, args...)\
+{\
+    char sbuf[256];\
+    int slen = snprintf(sbuf , sizeof(sbuf) , format , ##args);\
+    LogMessage(level, sbuf, slen);\
+}
+
+/* Beremiz plugin functions */
+int __init_%(location)s(int argc,char **argv)
+{
+    uint32_t abort_code;
+    size_t result_size;
+    
+    abort_code = 0;
+    result_size = 0;
+
+    master = ecrt_request_master(%(master_number)d);
+    if (!master) {
+        SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
+        return -1;
+    }
+
+    if(!(domain1 = ecrt_master_create_domain(master))){
+        SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!");
+        goto ecat_failed;
+    }
+
+    // slaves PDO configuration
+%(slaves_configuration)s
+
+    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
+        SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!");
+        goto ecat_failed;
+    }
+
+    ecrt_master_set_send_interval(master, common_ticktime__);
+
+    // slaves initialization
+%(slaves_initialization)s
+
+    // extracting default value for not mapped entry in output PDOs
+%(slaves_output_pdos_default_values_extraction)s
+
+    if (ecrt_master_activate(master)){
+        SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed");
+        goto ecat_failed;
+    }
+
+    if (!(domain1_pd = ecrt_domain_data(domain1))) {
+        SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data");
+        goto ecat_failed;
+    }
+
+    SLOGF(LOG_INFO, "Master %(master_number)d activated.");
+    
+    first_sent = 0;
+
+    return 0;
+
+ecat_failed:
+    ecrt_release_master(master);
+    return -1;
+
+}
+
+void __cleanup_%(location)s(void)
+{
+    //release master
+    ecrt_release_master(master);
+    first_sent = 0;
+}
+
+void __retrieve_%(location)s(void)
+{
+    // receive ethercat
+    if(first_sent){
+        ecrt_master_receive(master);
+        ecrt_domain_process(domain1);
+%(retrieve_variables)s
+    }
+
+}
+
+static RTIME _last_occur=0;
+static RTIME _last_publish=0;
+RTIME _current_lag=0;
+RTIME _max_jitter=0;
+static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;}
+
+void __publish_%(location)s(void)
+{
+%(publish_variables)s
+    ecrt_domain_queue(domain1);
+    {
+        RTIME current_time = rt_timer_read();
+        // Limit spining max 1/5 of common_ticktime
+        RTIME maxdeadline = current_time + (common_ticktime__ / 5);
+        RTIME deadline = _last_occur ? 
+            _last_occur + common_ticktime__ : 
+            current_time + _max_jitter; 
+        if(deadline > maxdeadline) deadline = maxdeadline;
+        _current_lag = deadline - current_time;
+        if(_last_publish != 0){
+            RTIME period = current_time - _last_publish;
+            if(period > common_ticktime__ )
+                _max_jitter = max(_max_jitter, period - common_ticktime__);
+            else
+                _max_jitter = max(_max_jitter, common_ticktime__ - period);
+        }
+        _last_publish = current_time;
+        _last_occur = current_time;
+        while(current_time < deadline) {
+            _last_occur = current_time; //Drift backward by default
+            current_time = rt_timer_read();
+        }
+        if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){
+            //Consuming security margin ?
+            _last_occur = current_time; //Drift forward
+        }
+    }
+    ecrt_master_send(master);
+    first_sent = 1;
+}