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

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 *

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 *  $Id$

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 *

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 *  Copyright (C)      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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 *

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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, see <http://www.gnu.org/licenses/>.

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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 <mqueue.h>

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#include <signal.h>

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#include <pthread.h>

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#include <stdio.h>

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#include <stdlib.h>

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#include <string.h>

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#include <unistd.h>

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#include <limits.h>

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#include <sys/ioctl.h>

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#include <sys/mman.h>

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#include <time.h>

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#include <rtdm/rtdm.h>

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#include <rtdk.h>

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#include "ecrt.h"

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#define NSEC_PER_SEC 1000000000

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static unsigned int cycle_us = 1000; /* 1 ms */

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static pthread_t cyclic_thread;

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static int run = 1;

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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 uint8_t *domain1_pd = NULL;

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static ec_slave_config_t *sc_dig_out_01 = NULL;

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

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// process data

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#define BusCoupler01_Pos  0, 0

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#define DigOutSlave01_Pos 0, 1

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#define Beckhoff_EK1100 0x00000002, 0x044c2c52

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#define Beckhoff_EL2004 0x00000002, 0x07d43052

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// offsets for PDO entries

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static unsigned int off_dig_out0 = 0;

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// process data

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const static ec_pdo_entry_reg_t domain1_regs[] = {

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

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/* Slave 1, "EL2004"

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 * Vendor ID:       0x00000002

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 * Product code:    0x07d43052

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 * Revision number: 0x00100000

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 */

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ec_pdo_entry_info_t slave_1_pdo_entries[] = {

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   {0x7000, 0x01, 1}, /* Output */

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   {0x7010, 0x01, 1}, /* Output */

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   {0x7020, 0x01, 1}, /* Output */

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   {0x7030, 0x01, 1}, /* Output */

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};

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ec_pdo_info_t slave_1_pdos[] = {

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   {0x1600, 1, slave_1_pdo_entries + 0}, /* Channel 1 */

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   {0x1601, 1, slave_1_pdo_entries + 1}, /* Channel 2 */

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   {0x1602, 1, slave_1_pdo_entries + 2}, /* Channel 3 */

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   {0x1603, 1, slave_1_pdo_entries + 3}, /* Channel 4 */

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};

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ec_sync_info_t slave_1_syncs[] = {

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   {0, EC_DIR_OUTPUT, 4, slave_1_pdos + 0, EC_WD_ENABLE},

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   {0xff}

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};

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

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 * Realtime task

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

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void rt_check_domain_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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        rt_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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        rt_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 rt_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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        rt_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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        rt_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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        rt_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 *my_thread(void *arg)

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{

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    struct timespec next_period;

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    int cycle_counter = 0;

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	unsigned int blink = 0;

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    clock_gettime(CLOCK_REALTIME, &next_period);

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    while (run) {

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        next_period.tv_nsec += cycle_us * 1000;

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        while (next_period.tv_nsec >= NSEC_PER_SEC) {

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			next_period.tv_nsec -= NSEC_PER_SEC;

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			next_period.tv_sec++;

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		}

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        clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &next_period, NULL);

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        cycle_counter++;

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        // receive EtherCAT

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        ecrt_master_receive(master);

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        ecrt_domain_process(domain1);

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        rt_check_domain_state();

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        if (!(cycle_counter % 1000)) {

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			rt_check_master_state();

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		}

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        if (!(cycle_counter % 200)) {

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			blink = !blink;

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		}

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

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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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    return NULL;

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}

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

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 * Signal handler

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

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void signal_handler(int sig)

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{

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    run = 0;

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}

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

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 * Main function

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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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    int ret;

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    signal(SIGTERM, signal_handler);

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    signal(SIGINT, signal_handler);

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    mlockall(MCL_CURRENT | MCL_FUTURE);

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

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

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    // Create configuration for bus coupler

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    sc = ecrt_master_slave_config(master, BusCoupler01_Pos, Beckhoff_EK1100);

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    if (!sc) {

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        return -1;

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    }

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    sc_dig_out_01 =

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        ecrt_master_slave_config(master, DigOutSlave01_Pos, Beckhoff_EL2004);

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    if (!sc_dig_out_01) {

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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_dig_out_01, EC_END, slave_1_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 (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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        fprintf(stderr, "Failed to get domain data pointer.\n");

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        return -1;

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    }

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    /* Create cyclic RT-thread */

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    struct sched_param param = { .sched_priority = 82 };

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    pthread_attr_t thattr;

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    pthread_attr_init(&thattr);

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    pthread_attr_setdetachstate(&thattr, PTHREAD_CREATE_JOINABLE);

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    pthread_attr_setinheritsched(&thattr, PTHREAD_EXPLICIT_SCHED);

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    pthread_attr_setschedpolicy(&thattr, SCHED_FIFO);

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    pthread_setschedparam(cyclic_thread, SCHED_FIFO, &param);

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    ret = pthread_create(&cyclic_thread, &thattr, &my_thread, NULL);

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    if (ret) {

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        fprintf(stderr, "%s: pthread_create cyclic task failed\n",

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                strerror(-ret));

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		return 1;

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    }

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	while (run) {

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		sched_yield();

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	}

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    pthread_join(cyclic_thread, NULL);

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    printf("End of Program\n");

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    ecrt_release_master(master);

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    return 0;

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}

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