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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2007-2009  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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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, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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#include <errno.h>

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#include <signal.h>

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#include <stdio.h>

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#include <string.h>

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#include <sys/resource.h>

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#include <sys/time.h>

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#include <sys/types.h>

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#include <unistd.h>

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#include <time.h> /* clock_gettime() */

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#include <sys/mman.h> /* mlockall() */

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#include <sched.h> /* sched_setscheduler() */

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

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#include "ecrt.h"

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

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/** Task period in ns. */

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#define PERIOD_NS   (1000000)

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#define MAX_SAFE_STACK (8 * 1024) /* The maximum stack size which is

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                                     guranteed safe to access without

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                                     faulting */

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

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/* Constants */

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#define NSEC_PER_SEC (1000000000)

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#define FREQUENCY (NSEC_PER_SEC / PERIOD_NS)

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

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// EtherCAT

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static ec_master_t *master = NULL;

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static ec_master_state_t master_state = {};

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static ec_domain_t *domain1 = NULL;

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static ec_domain_state_t domain1_state = {};

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static ec_slave_config_t *sc_ana_in = NULL;

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static ec_slave_config_state_t sc_ana_in_state = {};

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

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// process data

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static uint8_t *domain1_pd = NULL;

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#define BusCouplerPos  0, 0

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#define DigOutSlavePos 0, 2

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#define AnaInSlavePos  0, 3

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#define AnaOutSlavePos 0, 4

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#define Beckhoff_EK1100 0x00000002, 0x044c2c52

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#define Beckhoff_EL2004 0x00000002, 0x07d43052

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#define Beckhoff_EL2032 0x00000002, 0x07f03052

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#define Beckhoff_EL3152 0x00000002, 0x0c503052

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#define Beckhoff_EL3102 0x00000002, 0x0c1e3052

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#define Beckhoff_EL4102 0x00000002, 0x10063052

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// offsets for PDO entries

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static unsigned int off_ana_in_status;

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static unsigned int off_ana_in_value;

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static unsigned int off_ana_out;

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static unsigned int off_dig_out;

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const static ec_pdo_entry_reg_t domain1_regs[] = {

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    {AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},

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    {AnaInSlavePos,  Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},

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    {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},

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    {DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},

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    {}

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};

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static unsigned int counter = 0;

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static unsigned int blink = 0;

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

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// Analog in --------------------------

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static ec_pdo_entry_info_t el3102_pdo_entries[] = {

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    {0x3101, 1,  8}, // channel 1 status

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    {0x3101, 2, 16}, // channel 1 value

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    {0x3102, 1,  8}, // channel 2 status

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    {0x3102, 2, 16}, // channel 2 value

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    {0x6401, 1, 16}, // channel 1 value (alt.)

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    {0x6401, 2, 16}  // channel 2 value (alt.)

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};

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static ec_pdo_info_t el3102_pdos[] = {

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    {0x1A00, 2, el3102_pdo_entries},

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    {0x1A01, 2, el3102_pdo_entries + 2}

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};

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static ec_sync_info_t el3102_syncs[] = {

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    {2, EC_DIR_OUTPUT},

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    {3, EC_DIR_INPUT, 2, el3102_pdos},

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    {0xff}

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};

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// Analog out -------------------------

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static ec_pdo_entry_info_t el4102_pdo_entries[] = {

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    {0x3001, 1, 16}, // channel 1 value

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    {0x3002, 1, 16}, // channel 2 value

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};

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static ec_pdo_info_t el4102_pdos[] = {

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    {0x1600, 1, el4102_pdo_entries},

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    {0x1601, 1, el4102_pdo_entries + 1}

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};

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static ec_sync_info_t el4102_syncs[] = {

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    {2, EC_DIR_OUTPUT, 2, el4102_pdos},

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    {3, EC_DIR_INPUT},

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    {0xff}

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};

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// Digital out ------------------------

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static ec_pdo_entry_info_t el2004_channels[] = {

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    {0x3001, 1, 1}, // Value 1

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    {0x3001, 2, 1}, // Value 2

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    {0x3001, 3, 1}, // Value 3

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    {0x3001, 4, 1}  // Value 4

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};

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static ec_pdo_info_t el2004_pdos[] = {

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    {0x1600, 1, &el2004_channels[0]},

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    {0x1601, 1, &el2004_channels[1]},

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    {0x1602, 1, &el2004_channels[2]},

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    {0x1603, 1, &el2004_channels[3]}

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};

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static ec_sync_info_t el2004_syncs[] = {

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    {0, EC_DIR_OUTPUT, 4, el2004_pdos},

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    {1, EC_DIR_INPUT},

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    {0xff}

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};

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

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void check_domain1_state(void)

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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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        printf("Domain1: WC %u.\n", ds.working_counter);

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    }

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

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

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    }

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    domain1_state = ds;

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}

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

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void check_master_state(void)

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{

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    ec_master_state_t ms;

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    ecrt_master_state(master, &ms);

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

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        printf("%u slave(s).\n", ms.slaves_responding);

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    }

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

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        printf("AL states: 0x%02X.\n", ms.al_states);

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    }

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

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        printf("Link is %s.\n", ms.link_up ? "up" : "down");

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    }

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    master_state = ms;

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}

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

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void check_slave_config_states(void)

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{

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    ec_slave_config_state_t s;

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    ecrt_slave_config_state(sc_ana_in, &s);

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    if (s.al_state != sc_ana_in_state.al_state) {

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        printf("AnaIn: State 0x%02X.\n", s.al_state);

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    }

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    if (s.online != sc_ana_in_state.online) {

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        printf("AnaIn: %s.\n", s.online ? "online" : "offline");

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    }

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    if (s.operational != sc_ana_in_state.operational) {

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        printf("AnaIn: %soperational.\n", s.operational ? "" : "Not ");

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    }

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    sc_ana_in_state = s;

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}

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

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void cyclic_task()

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{

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    // receive process data

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    ecrt_master_receive(master);

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    ecrt_domain_process(domain1);

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    // check process data state

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    check_domain1_state();

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    if (counter) {

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        counter--;

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    } else { // do this at 1 Hz

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        counter = FREQUENCY;

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        // calculate new process data

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        blink = !blink;

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        // check for master state (optional)

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        check_master_state();

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        // check for slave configuration state(s) (optional)

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        check_slave_config_states();

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    }

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#if 0

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    // read process data

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    printf("AnaIn: state %u value %u\n",

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            EC_READ_U8(domain1_pd + off_ana_in_status),

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            EC_READ_U16(domain1_pd + off_ana_in_value));

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#endif

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#if 1

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    // write process data

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    EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09);

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#endif

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    // 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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void stack_prefault(void)

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{

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    unsigned char dummy[MAX_SAFE_STACK];

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    memset(dummy, 0, MAX_SAFE_STACK);

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}

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

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int main(int argc, char **argv)

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{

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    ec_slave_config_t *sc;

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    struct timespec wakeup_time;

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    int ret = 0;

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    master = ecrt_request_master(0);

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    if (!master) {

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        return -1;

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    }

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    domain1 = ecrt_master_create_domain(master);

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    if (!domain1) {

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        return -1;

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    }

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    if (!(sc_ana_in = ecrt_master_slave_config(

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                    master, AnaInSlavePos, Beckhoff_EL3102))) {

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        fprintf(stderr, "Failed to get slave configuration.\n");

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        return -1;

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    }

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    printf("Configuring PDOs...\n");

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    if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {

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        fprintf(stderr, "Failed to configure PDOs.\n");

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        return -1;

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    }

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    if (!(sc = ecrt_master_slave_config(

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                    master, AnaOutSlavePos, Beckhoff_EL4102))) {

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        fprintf(stderr, "Failed to get slave configuration.\n");

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        return -1;

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    }

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    if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {

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        fprintf(stderr, "Failed to configure PDOs.\n");

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        return -1;

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    }

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    if (!(sc = ecrt_master_slave_config(

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                    master, DigOutSlavePos, Beckhoff_EL2032))) {

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        fprintf(stderr, "Failed to get slave configuration.\n");

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        return -1;

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    }

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    if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {

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        fprintf(stderr, "Failed to configure PDOs.\n");

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        return -1;

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    }

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    // Create configuration for bus coupler

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    sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);

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    if (!sc) {

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        return -1;

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    }

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    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {

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        fprintf(stderr, "PDO entry registration failed!\n");

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        return -1;

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    }

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

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    if (ecrt_master_activate(master)) {

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        return -1;

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    }

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    if (!(domain1_pd = ecrt_domain_data(domain1))) {

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        return -1;

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    }

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    /* Set priority */

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    struct sched_param param = {};

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    param.sched_priority = sched_get_priority_max(SCHED_FIFO);

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    printf("Using priority %i.", param.sched_priority);

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    if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {

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        perror("sched_setscheduler failed");

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    }

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    /* Lock memory */

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    if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {

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        fprintf(stderr, "Warning: Failed to lock memory: %s\n",

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                strerror(errno));

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    }

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    stack_prefault();

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    printf("Starting RT task with dt=%u ns.\n", PERIOD_NS);

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    clock_gettime(CLOCK_MONOTONIC, &wakeup_time);

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    wakeup_time.tv_sec += 1; /* start in future */

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    wakeup_time.tv_nsec = 0;

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    while (1) {

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        ret = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME,

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                &wakeup_time, NULL);

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        if (ret) {

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            fprintf(stderr, "clock_nanosleep(): %s\n", strerror(ret));

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            break;

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        }

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        cyclic_task();

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        wakeup_time.tv_nsec += PERIOD_NS;

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        while (wakeup_time.tv_nsec >= NSEC_PER_SEC) {

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            wakeup_time.tv_nsec -= NSEC_PER_SEC;

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            wakeup_time.tv_sec++;

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        }

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    }

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    return ret;

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}

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