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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>

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#include <sys/mman.h>

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#include <malloc.h>

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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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// Application parameters

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#define FREQUENCY 1000

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#define CLOCK_TO_USE CLOCK_MONOTONIC

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#define MEASURE_TIMING

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

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#define NSEC_PER_SEC (1000000000L)

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#define PERIOD_NS (NSEC_PER_SEC / FREQUENCY)

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#define DIFF_NS(A, B) (((B).tv_sec - (A).tv_sec) * NSEC_PER_SEC + \

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	(B).tv_nsec - (A).tv_nsec)

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#define TIMESPEC2NS(T) ((uint64_t) (T).tv_sec * NSEC_PER_SEC + (T).tv_nsec)

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

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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, 1

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#define CounterSlavePos  0, 2

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#define Beckhoff_EK1100 0x00000002, 0x044c2c52

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#define Beckhoff_EL2008 0x00000002, 0x07d83052

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#define IDS_Counter     0x000012ad, 0x05de3052

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// offsets for PDO entries

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static int off_dig_out;

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static int off_counter_in;

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static int off_counter_out;

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static unsigned int counter = 0;

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static unsigned int blink = 0;

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static unsigned int sync_ref_counter = 0;

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const struct timespec cycletime = {0, PERIOD_NS};

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

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struct timespec timespec_add(struct timespec time1, struct timespec time2)

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{

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	struct timespec result;

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	if ((time1.tv_nsec + time2.tv_nsec) >= NSEC_PER_SEC) {

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		result.tv_sec = time1.tv_sec + time2.tv_sec + 1;

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		result.tv_nsec = time1.tv_nsec + time2.tv_nsec - NSEC_PER_SEC;

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	} else {

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		result.tv_sec = time1.tv_sec + time2.tv_sec;

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		result.tv_nsec = time1.tv_nsec + time2.tv_nsec;

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	}

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	return result;

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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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    if (ds.wc_state != domain1_state.wc_state)

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

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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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    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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    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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    master_state = ms;

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}

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

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void cyclic_task()

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{

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    struct timespec wakeupTime, time;

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#ifdef MEASURE_TIMING

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    struct timespec startTime, endTime, lastStartTime = {};

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    uint32_t period_ns = 0, exec_ns = 0, latency_ns = 0,

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             latency_min_ns = 0, latency_max_ns = 0,

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             period_min_ns = 0, period_max_ns = 0,

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             exec_min_ns = 0, exec_max_ns = 0;

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#endif

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    // get current time

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    clock_gettime(CLOCK_TO_USE, &wakeupTime);

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	while(1) {

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		wakeupTime = timespec_add(wakeupTime, cycletime);

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        clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL);

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#ifdef MEASURE_TIMING

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        clock_gettime(CLOCK_TO_USE, &startTime);

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        latency_ns = DIFF_NS(wakeupTime, startTime);

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        period_ns = DIFF_NS(lastStartTime, startTime);

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        exec_ns = DIFF_NS(lastStartTime, endTime);

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        lastStartTime = startTime;

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        if (latency_ns > latency_max_ns) {

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            latency_max_ns = latency_ns;

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        }

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        if (latency_ns < latency_min_ns) {

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            latency_min_ns = latency_ns;

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        }

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        if (period_ns > period_max_ns) {

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            period_max_ns = period_ns;

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        }

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        if (period_ns < period_min_ns) {

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            period_min_ns = period_ns;

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        }

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        if (exec_ns > exec_max_ns) {

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            exec_max_ns = exec_ns;

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        }

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        if (exec_ns < exec_min_ns) {

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            exec_min_ns = exec_ns;

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        }

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#endif

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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 (optional)

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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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			// check for master state (optional)

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			check_master_state();

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#ifdef MEASURE_TIMING

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            // output timing stats

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            printf("period     %10u ... %10u\n",

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                    period_min_ns, period_max_ns);

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            printf("exec       %10u ... %10u\n",

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                    exec_min_ns, exec_max_ns);

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            printf("latency    %10u ... %10u\n",

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                    latency_min_ns, latency_max_ns);

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            period_max_ns = 0;

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            period_min_ns = 0xffffffff;

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            exec_max_ns = 0;

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            exec_min_ns = 0xffffffff;

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            latency_max_ns = 0;

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            latency_min_ns = 0xffffffff;

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#endif

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			// calculate new process data

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			blink = !blink;

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		}

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		// write process data

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		EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x66 : 0x99);

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		EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02);

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		// write application time to master

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		clock_gettime(CLOCK_TO_USE, &time);

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		ecrt_master_application_time(master, TIMESPEC2NS(time));

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		if (sync_ref_counter) {

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			sync_ref_counter--;

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		} else {

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			sync_ref_counter = 1; // sync every cycle

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			ecrt_master_sync_reference_clock(master);

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		}

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		ecrt_master_sync_slave_clocks(master);

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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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#ifdef MEASURE_TIMING

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        clock_gettime(CLOCK_TO_USE, &endTime);

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#endif

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	}

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

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		perror("mlockall failed");

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		return -1;

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	}

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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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    domain1 = ecrt_master_create_domain(master);

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    if (!domain1)

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        return -1;

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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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    if (!(sc = ecrt_master_slave_config(master,

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                    DigOutSlavePos, Beckhoff_EL2008))) {

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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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    off_dig_out = ecrt_slave_config_reg_pdo_entry(sc,

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            0x7000, 1, domain1, NULL);

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    if (off_dig_out < 0)

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        return -1;

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	if (!(sc = ecrt_master_slave_config(master,

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					CounterSlavePos, IDS_Counter))) {

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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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	off_counter_in = ecrt_slave_config_reg_pdo_entry(sc,

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			0x6020, 0x11, domain1, NULL);

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	if (off_counter_in < 0)

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        return -1;

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	off_counter_out = ecrt_slave_config_reg_pdo_entry(sc,

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			0x7020, 1, domain1, NULL);

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	if (off_counter_out < 0)

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        return -1;

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    // configure SYNC signals for this slave

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	ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);

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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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    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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	printf("Starting cyclic function.\n");

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    cyclic_task();

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    return 0;

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}

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