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 *  Copyright (C) 2009-2010  Moehwald GmbH B. Benner

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 *                     2011  IgH Andreas Stewering-Bone

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 *                     2012  Florian Pose <fp@igh-essen.com>

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 *

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 *  This file is part of the IgH EtherCAT master

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 *  The IgH EtherCAT master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT master. If not, see <http://www.gnu.org/licenses/>.

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 *

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 *  ---

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 *

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#include "ecrt.h"

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static int run = 1;

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static ec_slave_config_t *sc_dig_out_01 = NULL;

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/****************************************************************************/

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#define BusCoupler01_Pos  0, 0

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#define DigOutSlave01_Pos 0, 1

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static unsigned int off_dig_out0 = 0;

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   {DigOutSlave01_Pos, Beckhoff_EL2004, 0x7000, 0x01, &off_dig_out0, NULL},

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/****************************************************************************/

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/*****************************************************************************

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 * Realtime task

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 ****************************************************************************/

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    ec_domain_state_t ds = {};

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	ecrt_domain_state(domain1, &ds);

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    if (ds.working_counter != domain1_state.working_counter) {

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    }

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    if (ds.wc_state != domain1_state.wc_state) {

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        rt_printf("Domain1: State %u.\n", ds.wc_state);

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    }

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/****************************************************************************/

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   141

	ecrt_master_state(master, &ms);

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    if (ms.slaves_responding != master_state.slaves_responding) {

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   147

    if (ms.al_states != master_state.al_states) {

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   151

    if (ms.link_up != master_state.link_up) {

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   158

/****************************************************************************/

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   162

	int cycle_counter = 0;

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    unsigned int blink = 0;

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	rt_task_set_periodic(NULL, TM_NOW, 1000000); // ns

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   167

	while (run) {

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		rt_task_wait_period(NULL);

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		cycle_counter++;

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   172

		// receive EtherCAT frames

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		ecrt_master_receive(master);

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		ecrt_domain_process(domain1);

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   176

		rt_check_domain_state();

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   178

		if (!(cycle_counter % 1000)) {

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			rt_check_master_state();

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		}

   181

   182

		if (!(cycle_counter % 200)) {

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			blink = !blink;

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		}

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   186

		EC_WRITE_U8(domain1_pd + off_dig_out0, blink ? 0x0 : 0x0F);

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   188

		// send process data

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		ecrt_domain_queue(domain1);

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		ecrt_master_send(master);

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	}

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}

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   194

/****************************************************************************

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 * Signal handler

   196

 ***************************************************************************/

   197

   198

void signal_handler(int sig)

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{

   200

    run = 0;

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}

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   203

/****************************************************************************

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 * Main function

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 ***************************************************************************/

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   207

int main(int argc, char *argv[])

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    int ret;

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    signal(SIGTERM, signal_handler);

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    signal(SIGINT, signal_handler);

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   218

    mlockall(MCL_CURRENT | MCL_FUTURE);

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   220

    printf("Requesting master...\n");

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    master = ecrt_request_master(0);

   222

    if (!master) {

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        return -1;

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    }

   227

    if (!domain1) {

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        return -1;

   229

    }

   230

   231

    printf("Creating slave configurations...\n");

   232

   233

    // Create configuration for bus coupler

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    sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);

   235

    if (!sc) {

   236

        return -1;

   237

    }

   238

   239

    sc_dig_out_01 =

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        ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);

   246

    if (ecrt_slave_config_pdos(sc_dig_out_01, EC_END, slave_1_syncs)) {

   250

   257

    if (ecrt_master_activate(master)) {

   258

        return -1;

   259

    }

   262

        fprintf(stderr, "Failed to get domain data pointer.\n");

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        return -1;

   264

    }

   265

   266

    ret = rt_task_create(&my_task, "my_task", 0, 80, T_FPU);

   267

    if (ret < 0) {

   268

        fprintf(stderr, "Failed to create task: %s\n", strerror(-ret));

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        return -1;

   270

    }

   271

   272

    printf("Starting my_task...\n");

   273

    ret = rt_task_start(&my_task, &my_task_proc, NULL);

   274

    if (ret < 0) {

   275

        fprintf(stderr, "Failed to start task: %s\n", strerror(-ret));

   276

        return -1;

   277

    }

   278

   279

	while (run) {

   280

		sched_yield();

   281

	}

   282

   283

    printf("Deleting realtime task...\n");