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

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#include "ecrt.h"

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

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// Application parameters

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#define FREQUENCY 100

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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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// Timer

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static unsigned int sig_alarms = 0;

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static unsigned int user_alarms = 0;

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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 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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    {2, EC_DIR_OUTPUT},

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    {0xff}

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};

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

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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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    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 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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    if (s.online != sc_ana_in_state.online)

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

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    if (s.operational != sc_ana_in_state.operational)

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        printf("AnaIn: %soperational.\n",

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                s.operational ? "" : "Not ");

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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 (optional)

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    check_domain1_state();

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    if (counter) {

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        counter--;

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        // calculate new process data

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        // check for master state (optional)

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        check_master_state();

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

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        check_slave_config_states();

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    // write process data

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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 signal_handler(int signum) {

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    switch (signum) {

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        case SIGALRM:

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            sig_alarms++;

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            break;

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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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    struct sigaction sa;

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    struct itimerval tv;

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

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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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    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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#if PRIORITY

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    pid_t pid = getpid();

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    if (setpriority(PRIO_PROCESS, pid, -19))

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        fprintf(stderr, "Warning: Failed to set priority: %s\n",

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                strerror(errno));

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#endif

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    sa.sa_handler = signal_handler;

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    sigemptyset(&sa.sa_mask);

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    sa.sa_flags = 0;

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    if (sigaction(SIGALRM, &sa, 0)) {

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        fprintf(stderr, "Failed to install signal handler!\n");

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        return -1;

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    }

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

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    tv.it_interval.tv_sec = 0;

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    tv.it_interval.tv_usec = 1000000 / FREQUENCY;

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    tv.it_value.tv_sec = 0;

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    tv.it_value.tv_usec = 1000;

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    if (setitimer(ITIMER_REAL, &tv, NULL)) {

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        fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));

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        return 1;

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    }

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    printf("Started.\n");

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    while (1) {

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        pause();

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#if 0

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        struct timeval t;

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        gettimeofday(&t, NULL);

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        printf("%u.%06u\n", t.tv_sec, t.tv_usec);

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#endif

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        while (sig_alarms != user_alarms) {

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            cyclic_task();

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            user_alarms++;

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        }

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    }

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    return 0;

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}

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