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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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#define PRIORITY 1

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// Optional features

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#define CONFIGURE_PDOS  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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// 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 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_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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struct timeval app_time;

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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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    int i;

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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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        // 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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    }

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    if (blink_counter) {

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        blink_counter--;

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    } else {

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        blink_counter = 9;

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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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    app_time.tv_usec += 1000000 / FREQUENCY;

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    if (app_time.tv_usec >= 1000000)  {

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        app_time.tv_usec -= 1000000;

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        app_time.tv_sec++;

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    }

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    ecrt_master_application_time(master, EC_TIMEVAL2NANO(app_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 = 9;

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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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}

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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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    // 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, 10000000, 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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#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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    gettimeofday(&app_time, NULL);

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